prepare release candidate

Reviewed-on: #125

Cargo.toml

@@ -1,11 +1,13 @@
 [workspace]
-
+resolver = "2"
 members = [
-    "satrs-core",
+    "satrs",
     "satrs-mib",
     "satrs-example",
+    "satrs-shared",
 ]
 
 exclude = [
     "satrs-example-stm32f3-disco",
 ]
+

NOTICE

@@ -1 +1,3 @@
 This software contains code developed at the University of Stuttgart's Institute of Space Systems.
+
+The sat-rs logo was designed by Nadine Eunous.

README.md

@@ -1,9 +1,18 @@
+<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
+
+[![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
+[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
+[![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs)
+[![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs)
+
 sat-rs
 =========
 
 This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
-for the special requirements for these systems.
+for the special requirements for these systems. You can find an overview of the project and the
+link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
+at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
 
 A lot of the architecture and general design considerations are based on the
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
@@ -14,14 +23,18 @@ and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-
 
 This project currently contains following crates:
 
-* [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core):
-   Core components of sat-rs.
-* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-example):
+* [`satrs-book`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-book):
+   Primary information resource in addition to the API documentation, hosted
+   [here](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/). It can be useful to read
+   this first before delving into the example application and the API documentation.
+* [`satrs`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs):
+   Primary crate.
+* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
    Example of a simple example on-board software using various sat-rs components which can be run
    on a host computer or on any system with a standard runtime like a Raspberry Pi.
-* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-mib):
+* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
    Components to build a mission information base from the on-board software directly.
-* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/satrs-example-stm32f3-disco):
+* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
    Example of a simple example on-board software using sat-rs components on a bare-metal system
    with constrained resources.
 
@@ -33,5 +46,18 @@ Each project has its own `CHANGELOG.md`.
 
  * [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS
    packet protocol implementations. This repository is re-exported in the
-   [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core)
+   [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
    crate.
+
+# Coverage
+
+Coverage was generated using [`grcov`](https://github.com/mozilla/grcov). If you have not done so
+already, install the `llvm-tools-preview`:
+
+```sh
+rustup component add llvm-tools-preview
+cargo install grcov --locked
+```
+
+After that, you can simply run `coverage.py` to test the `satrs-core` crate with coverage. You can
+optionally supply the `--open` flag to open the coverage report in your webbrowser.

automation/Dockerfile

@@ -2,10 +2,10 @@
 # docker build -f automation/Dockerfile -t <NAME> .
 # docker run -it <NAME>
 FROM rust:latest
-RUN apt-get update
-RUN apt-get --yes upgrade
+RUN apt-get update && apt-get --yes upgrade
 # tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get --yes install rsync curl
 
 # set CROSS_CONTAINER_IN_CONTAINER to inform `cross` that it is executed from within a container
 ENV CROSS_CONTAINER_IN_CONTAINER=true
@@ -13,3 +13,20 @@ ENV CROSS_CONTAINER_IN_CONTAINER=true
 RUN rustup install nightly && \
     rustup target add thumbv7em-none-eabihf armv7-unknown-linux-gnueabihf && \
     rustup component add rustfmt clippy
+
+WORKDIR "/tmp"
+# Install cargo-nextest
+RUN curl -LsSf https://get.nexte.st/latest/linux | tar zxf - -C ${CARGO_HOME:-~/.cargo}/bin
+# Install mdbook and mdbook-linkcheck
+RUN curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.37/mdbook-v0.4.37-x86_64-unknown-linux-gnu.tar.gz | tar -xz --directory /usr/local/bin
+RUN curl -sSL https://github.com/Michael-F-Bryan/mdbook-linkcheck/releases/latest/download/mdbook-linkcheck.x86_64-unknown-linux-gnu.zip -o mdbook-linkcheck.zip && \
+    unzip mdbook-linkcheck.zip && \
+    chmod +x mdbook-linkcheck && \
+    cp mdbook-linkcheck /usr/local/bin
+
+# SSH stuff to allow deployment to doc server
+RUN adduser --uid 114 jenkins
+
+# Add documentation server to known hosts
+RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
+RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

automation/Jenkinsfile

@@ -1,52 +1,76 @@
 pipeline {
-
-    agent {
-        dockerfile {
-            dir 'automation'
-            reuseNode true
-        }
+  agent {
+    dockerfile {
+      dir 'automation'
+      reuseNode true
+      args '--network host'
     }
+  }
 
-    stages {
-        stage('Clippy') {
-            steps {
-                sh 'cargo clippy'
-            }
-        }
-        stage('Docs') {
-            steps {
-                sh 'cargo +nightly doc --all-features'
-            }
-        }
-        stage('Rustfmt') {
-            steps {
-                sh 'cargo fmt --all --check'
-            }
-        }
-        stage('Test') {
-            steps {
-                sh 'cargo test --all-features'
-            }
-        }
-        stage('Check with all features') {
-            steps {
-                sh 'cargo check --all-features'
-            }
-        }
-        stage('Check with no features') {
-            steps {
-                sh 'cargo check --no-default-features'
-            }
-        }
-        stage('Check Cross Embedded Bare Metal') {
-            steps {
-                sh 'cargo check -p satrs-core --target thumbv7em-none-eabihf --no-default-features'
-            }
-        }
-        stage('Check Cross Embedded Linux') {
-            steps {
-                sh 'cargo check --target armv7-unknown-linux-gnueabihf'
-            }
-        }
+  stages {
+    stage('Rust Toolchain Info') {
+      steps {
+        sh 'rustc --version'
+      }
     }
+    stage('Clippy') {
+      steps {
+        sh 'cargo clippy'
+      }
+    }
+    stage('Docs') {
+      steps {
+        catchError(buildResult: 'SUCCESS', stageResult: 'FAILURE') {
+          sh 'cargo +nightly doc --all-features'
+        }
+      }
+    }
+    stage('Rustfmt') {
+      steps {
+        sh 'cargo fmt --all --check'
+      }
+    }
+    stage('Test') {
+      steps {
+        sh 'cargo nextest r --all-features'
+      }
+    }
+    stage('Check with all features') {
+      steps {
+        sh 'cargo check --all-features'
+      }
+    }
+    stage('Check with no features') {
+      steps {
+        sh 'cargo check --no-default-features'
+      }
+    }
+    stage('Check Cross Embedded Bare Metal') {
+      steps {
+        sh 'cargo check -p satrs --target thumbv7em-none-eabihf --no-default-features'
+      }
+    }
+    stage('Check Cross Embedded Linux') {
+      steps {
+        sh 'cargo check --target armv7-unknown-linux-gnueabihf'
+      }
+    }
+    stage('Deploy satrs-book') {
+      when {
+        anyOf {
+          branch 'main';
+          branch pattern: 'mdbook-deployment*'
+        }
+      }
+      steps {
+        dir('satrs-book') {
+          sh 'mdbook build'
+          sshagent(credentials: ['documentation-buildfix']) {
+            // Deploy to Apache webserver
+            sh 'rsync -r --delete book/html/ buildfix@documentation.irs.uni-stuttgart.de:/projects/sat-rs/book/'
+          }
+        }
+      }
+    }
+  }
 }

coverage.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import os
+import logging
+import argparse
+import webbrowser
+
+
+_LOGGER = logging.getLogger()
+
+
+def generate_cov_report(open_report: bool, format: str, package: str):
+    logging.basicConfig(level=logging.INFO)
+    os.environ["RUSTFLAGS"] = "-Cinstrument-coverage"
+    os.environ["LLVM_PROFILE_FILE"] = "target/coverage/%p-%m.profraw"
+    _LOGGER.info("Executing tests with coverage")
+    os.system(f"cargo test -p {package}")
+
+    out_path = "./target/debug/coverage"
+    if format == "lcov":
+        out_path = "./target/debug/lcov.info"
+    os.system(
+        f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
+        f"-o {out_path}"
+    )
+    if format == "lcov":
+        os.system(
+            "genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
+            "--legend ./target/debug/lcov.info"
+        )
+    if open_report:
+        coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
+        webbrowser.open_new_tab(coverage_report_path)
+    _LOGGER.info("Done")
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Generate coverage report and optionally open it in a browser"
+    )
+    parser.add_argument(
+        "--open", action="store_true", help="Open the coverage report in a browser"
+    )
+    parser.add_argument(
+        "-p",
+        "--package",
+        choices=["satrs"],
+        default="satrs",
+        help="Choose project to generate coverage for",
+    )
+    parser.add_argument(
+        "--format",
+        choices=["html", "lcov"],
+        default="html",
+        help="Choose report format (html or lcov)",
+    )
+    args = parser.parse_args()
+    generate_cov_report(args.open, args.format, args.package)
+
+
+if __name__ == "__main__":
+    main()

images/events/event_man_arch.graphml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <graphml xmlns="http://graphml.graphdrawing.org/xmlns" xmlns:java="http://www.yworks.com/xml/yfiles-common/1.0/java" xmlns:sys="http://www.yworks.com/xml/yfiles-common/markup/primitives/2.0" xmlns:x="http://www.yworks.com/xml/yfiles-common/markup/2.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:y="http://www.yworks.com/xml/graphml" xmlns:yed="http://www.yworks.com/xml/yed/3" xsi:schemaLocation="http://graphml.graphdrawing.org/xmlns http://www.yworks.com/xml/schema/graphml/1.1/ygraphml.xsd">
-  <!--Created by yEd 3.22-->
+  <!--Created by yEd 3.23.2-->
   <key attr.name="Description" attr.type="string" for="graph" id="d0"/>
   <key for="port" id="d1" yfiles.type="portgraphics"/>
   <key for="port" id="d2" yfiles.type="portgeometry"/>
@@ -20,7 +20,7 @@
           <y:Geometry height="509.9999999999999" width="768.7000000000003" x="579.3105418719211" y="304.7"/>
           <y:Fill hasColor="false" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="21.936037063598633" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="150.1282958984375" x="26.197490701913352" xml:space="preserve" y="24.234711021505348">Example Event Flow<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="-0.5" labelRatioY="-0.5" nodeRatioX="-0.46591974671274444" nodeRatioY="-0.452480958781362" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="18" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="24.177873611450195" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="168.3929901123047" x="26.197490701913352" xml:space="preserve" y="24.234711021505348">Example Event Flow<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="-0.5" labelRatioY="-0.5" nodeRatioX="-0.46591974671274444" nodeRatioY="-0.452480958781362" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
       </data>
@@ -31,7 +31,7 @@
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           <y:Fill color="#FFFF00" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.452094078063965" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="86.21258544921875" x="58.393707275390625" xml:space="preserve" y="21.27395296096796">Event Manager<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="18" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="24.177873611450195" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="127.31723022460938" x="37.84138488769531" xml:space="preserve" y="17.911063194274846">Event Manager<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
       </data>
@@ -39,10 +39,10 @@
     <node id="n2">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="82.0" x="617.6" y="413.23"/>
+          <y:Geometry height="60.0" width="92.24000000000001" x="607.36" y="413.23"/>
           <y:Fill color="#FF9900" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="55.120361328125" x="13.4398193359375" xml:space="preserve" y="14.547905921936035">Event
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="10.039937133789067" xml:space="preserve" y="10.063962936401367">Event
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           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -54,7 +54,7 @@ Creator 0<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="2.199937133789035" xml:space="preserve" y="10.063962936401367">Event
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           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -63,10 +63,10 @@ Creator 2<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
     <node id="n4">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="72.55999999999983" x="860.6610837438426" y="335.62999999999994"/>
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           <y:Fill color="#FF9900" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="55.120361328125" x="8.719819335937359" xml:space="preserve" y="14.547905921936035">Event
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="7.559937133789049" xml:space="preserve" y="10.063962936401367">Event
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           <y:Shape type="rectangle"/>
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="7.559937133788935" xml:space="preserve" y="10.063962936401367">Event
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           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -87,10 +87,10 @@ Creator 3<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
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       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="126.0" x="781.0" y="620.26"/>
+          <y:Geometry height="60.0" width="145.19999999999993" x="734.2060377358491" y="620.26"/>
           <y:Fill color="#FFCC00" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="92.78865051269531" x="16.605674743652344" xml:space="preserve" y="14.547905921936035">PUS Service 5
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="122.38423156738281" x="11.407884216308503" xml:space="preserve" y="10.063962936401367">PUS Service 5
 Event Reporting
 <y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
@@ -100,10 +100,10 @@ Event Reporting
     <node id="n7">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="118.63999999999987" x="928.2" y="620.26"/>
+          <y:Geometry height="60.0" width="136.8599999999999" x="901.8" y="620.26"/>
           <y:Fill color="#FFCC00" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="84.08859252929688" x="17.2757037353515" xml:space="preserve" y="14.547905921936035">PUS Service 19
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="110.78424072265625" x="13.037879638671825" xml:space="preserve" y="10.063962936401367">PUS Service 19
 Event Action<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -112,10 +112,10 @@ Event Action<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel>
     <node id="n8">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="87.27999999999997" x="792.1260377358491" y="733.8400000000001"/>
+          <y:Geometry height="60.0" width="97.27999999999997" x="787.1260377358491" y="733.8400000000001"/>
           <y:Fill color="#FFCC99" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="59.932403564453125" x="13.673798217773424" xml:space="preserve" y="14.547905921936035">Telemetry
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="78.57614135742188" x="9.351929321289049" xml:space="preserve" y="10.063962936401367">Telemetry
 Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -124,10 +124,10 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
     <node id="n9">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="170.79999999999995" width="210.80000000000018" x="1076.84" y="601.88"/>
+          <y:Geometry height="218.79999999999995" width="256.8800000000001" x="1068.6599999999999" y="575.0400000000002"/>
           <y:Fill hasColor="false" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="left" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="143.6875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="181.591796875" x="8.373079774614325" xml:space="preserve" y="7.444138124199753">Subscriptions
+          <y:NodeLabel alignment="left" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="190.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="240.7890625" x="10.203400059311889" xml:space="preserve" y="9.536167573623516">Subscriptions
 
 1. Event Creator 0 subscribes
     for event 0
@@ -144,10 +144,10 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
     <edge id="e0" source="n4" target="n1">
       <data key="d10">
         <y:PolyLineEdge>
-          <y:Path sx="8.058916256157545" sy="0.0" tx="-10.5" ty="0.0"/>
+          <y:Path sx="15.418916256157559" sy="0.0" tx="-10.5" ty="0.0"/>
           <y:LineStyle color="#000000" type="line" width="1.0"/>
           <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="53.92036437988281" x="8.639817810058275" xml:space="preserve" y="29.00100609374465">event 1
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="35.38786315917969" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="62.23976135253906" x="4.48011932373015" xml:space="preserve" y="27.465240361497138">event 1
 (group 1)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="35.59999999999969" distanceToCenter="true" position="left" ratio="0.34252387409930674" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
           <y:BendStyle smoothed="false"/>
         </y:PolyLineEdge>
@@ -161,7 +161,7 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
           </y:Path>
           <y:LineStyle color="#000000" type="line" width="1.0"/>
           <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="53.92036437988281" x="25.334655000000453" xml:space="preserve" y="-40.972107505798476">event 0
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="35.38786315917969" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="62.23976135253906" x="24.477808328186484" xml:space="preserve" y="-43.213945007324355">event 0
 (group 0)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="25.520000000000095" distanceToCenter="true" position="left" ratio="0.20267159489379444" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
           <y:BendStyle smoothed="false"/>
         </y:PolyLineEdge>
@@ -173,7 +173,7 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
           <y:Path sx="-23.719999999999914" sy="5.5" tx="87.56000000000006" ty="0.0"/>
           <y:LineStyle color="#000000" type="line" width="1.0"/>
           <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="53.92036437988281" x="5.6761352539062955" xml:space="preserve" y="27.551854405966765">event 2
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="35.38786315917969" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="62.23976135253906" x="5.6761352539062955" xml:space="preserve" y="26.10821814399378">event 2
 (group 3)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="5.676132812499983" distanceToCenter="false" position="left" ratio="0.3219761157957032" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
           <y:BendStyle smoothed="false"/>
         </y:PolyLineEdge>
@@ -187,8 +187,8 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
           </y:Path>
           <y:LineStyle color="#000000" type="line" width="1.0"/>
           <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="97.38468933105469" x="26.667665869801795" xml:space="preserve" y="43.287014528669715">event 3 (group 2)
-event 4 (group 2)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="75.3599999999999" distanceToCenter="true" position="left" ratio="0.2967848459873102" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="35.38786315917969" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="112.94757080078125" x="8.646225134939186" xml:space="preserve" y="27.90167113105076">event 3 (group 2)
+event 4 (group 2)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="65.12000000000057" distanceToCenter="true" position="left" ratio="0.18074782715730137" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
           <y:BendStyle smoothed="false"/>
         </y:PolyLineEdge>
       </data>
@@ -196,10 +196,10 @@ event 4 (group 2)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false
     <edge id="e4" source="n1" target="n6">
       <data key="d10">
         <y:PolyLineEdge>
-          <y:Path sx="-65.0" sy="0.0" tx="6.5" ty="0.0"/>
+          <y:Path sx="-80.36000000000001" sy="0.0" tx="28.333962264150955" ty="0.0"/>
           <y:LineStyle color="#000000" type="line" width="1.0"/>
           <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.452094078063965" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="83.16456604003906" x="-98.78228302001958" xml:space="preserve" y="16.63042580701972">&lt;&lt;all events&gt;&gt;<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="57.20000000000004" distanceToCenter="true" position="right" ratio="0.4441995640590947" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="19.693931579589844" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="96.35763549804688" x="-105.378832397461" xml:space="preserve" y="15.634602566150534">&lt;&lt;all events&gt;&gt;<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="57.20000000000004" distanceToCenter="true" position="right" ratio="0.4441995640590947" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
           <y:BendStyle smoothed="false"/>
         </y:PolyLineEdge>
       </data>
@@ -207,10 +207,10 @@ event 4 (group 2)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false
     <edge id="e5" source="n1" target="n7">
       <data key="d10">
         <y:PolyLineEdge>
-          <y:Path sx="42.660000000000196" sy="0.0" tx="-29.359999999999786" ty="0.0"/>
+          <y:Path sx="32.38107215104537" sy="0.0" tx="-22.34892784895453" ty="0.0"/>
           <y:LineStyle color="#000000" type="line" width="1.0"/>
           <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.452094078063965" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="83.16456604003906" x="20.4177438354493" xml:space="preserve" y="17.885881494816203">&lt;&lt;all events&gt;&gt;<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="62.0" distanceToCenter="true" position="left" ratio="0.492249939452652" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="19.693931579589844" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" underlinedText="true" verticalTextPosition="bottom" visible="true" width="96.35763549804688" x="13.821211921553186" xml:space="preserve" y="16.782337120427428">&lt;&lt;all events&gt;&gt;<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="62.0" distanceToCenter="true" position="left" ratio="0.492249939452652" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
           <y:BendStyle smoothed="false"/>
         </y:PolyLineEdge>
       </data>
@@ -219,11 +219,11 @@ event 4 (group 2)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false
       <data key="d10">
         <y:PolyLineEdge>
           <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0">
-            <y:Point x="658.6" y="536.6799999999998"/>
+            <y:Point x="653.48" y="536.6799999999998"/>
           </y:Path>
           <y:LineStyle color="#000000" type="line" width="1.0"/>
           <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="44.69230651855469" x="-131.99129340961497" xml:space="preserve" y="-45.45208675384538">event 1
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="35.38786315917969" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="51.47381591796875" x="-139.88417228306275" xml:space="preserve" y="-47.69392425537126">event 1
 event 2<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="0.0" distance="30.0" distanceToCenter="true" position="right" ratio="0.6426904695623505" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
           <y:BendStyle smoothed="false"/>
         </y:PolyLineEdge>
@@ -232,10 +232,10 @@ event 2<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultA
     <edge id="e7" source="n1" target="n4">
       <data key="d10">
         <y:PolyLineEdge>
-          <y:Path sx="-35.69940886699487" sy="0.0" tx="-17.140492610837327" ty="1.5"/>
+          <y:Path sx="-35.69940886699487" sy="0.0" tx="-9.780492610837314" ty="1.5"/>
           <y:LineStyle color="#000000" type="line" width="1.0"/>
           <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.452094078063965" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="46.14430236816406" x="-54.352158195608126" xml:space="preserve" y="-79.29459128622307">group 2<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="31.279999999999973" distanceToCenter="true" position="left" ratio="0.6800790648728832" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="19.693931579589844" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="53.16780090332031" x="-57.86390746318625" xml:space="preserve" y="-80.0118020361142">group 2<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="31.279999999999973" distanceToCenter="true" position="left" ratio="0.6800790648728832" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
           <y:BendStyle smoothed="false"/>
         </y:PolyLineEdge>
       </data>
@@ -243,10 +243,10 @@ event 2<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultA
     <edge id="e8" source="n6" target="n8">
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images/mode-tree/mode-tree.graphml

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+&lt;center&gt;
+    &lt;h4&gt;ACS IDLE Sequence&lt;/h4&gt;
+&lt;/center&gt;
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satrs-book/.gitignore

@@ -0,0 +1 @@
+book

satrs-book/README.md

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

satrs-book/book.toml

@@ -0,0 +1,9 @@
+[book]
+authors = ["Robin Mueller"]
+language = "en"
+multilingual = false
+src = "src"
+title = "The sat-rs book"
+
+[output.html]
+[output.linkcheck]

satrs-book/src/SUMMARY.md

@@ -0,0 +1,17 @@
+# Summary
+
+- [Introduction](./introduction.md)
+- [Design](./design.md)
+
+# Basic concepts and components
+
+- [Communication with Space Systems](./communication.md)
+- [Working with Constrained Systems](./constrained-systems.md)
+- [Actions](./actions.md)
+- [Modes and Health](./modes-and-health.md)
+- [Housekeeping Data](./housekeeping.md)
+- [Events](./events.md)
+
+# Example project
+
+- [The satrs-example application](./example.md)

satrs-book/src/TODO.md

@@ -0,0 +1,9 @@
+- [Power Components](./power.md)
+- [Thermal Components](./thermal.md)
+- [Persistent TM storage](./persistent-tm-storage.md)
+- [FDIR](./fdir.md)
+- [Serialization of Data](./serialization.md)
+- [Logging](./logging.md)
+- [Modelling space systems](./modelling-space-systems.md)
+- [Ground Segments](./ground-segments.md)
+

satrs-book/src/actions.md

@@ -0,0 +1,42 @@
+# Working with Actions
+
+Space systems generally need to be commanded regularly. This can include commands periodically
+required to ensure a healthy system, or commands to reach the mission goals.
+
+These commands can be modelled using the concept of Actions. the ECSS PUS standard also provides
+the PUS service 8 for actions, but provides few concrete subservices and specification on how
+action commanding could look like.
+
+`sat-rs` proposes two recommended ways to perform action commanding:
+
+1. Target ID and Action ID based. The target ID is a 32-bit unsigned ID for an OBSW object entity
+   which can also accept Actions. The action ID is a 32-bit unsigned ID for each action that a
+   target is able to perform.
+2. Target ID and Action String based. The target ID is the same as in the first proposal, but
+   the unique action is identified by a string.
+
+The framework provides an `ActionRequest` abstraction to model both of these cases.
+
+## Commanding with ECSS PUS 8
+
+`sat-rs` provides a generic ECSS PUS 8 action command handler. This handler can convert PUS 8
+telecommands which use the commanding scheme 1 explained above to an `ActionRequest` which is
+then forwarded to the target specified by the Target ID.
+
+There are 3 requirements for the PUS 8 telecommand:
+
+1. The subservice 128 must be used
+2. Bytes 0 to 4 of application data must contain the target ID in `u32` big endian format.
+3. Bytes 4 to 8 of application data must contain the action ID in `u32` big endian format.
+4. The rest of the application data are assumed to be command specific additional parameters. They
+   will be added to an IPC store and the corresponding store address will be sent as part of the
+   `ActionRequest`.
+
+## Sending back telemetry
+
+There are some cases where the regular verification provided by PUS in response to PUS action
+commands is not sufficient and some additional telemetry needs to be sent to ground. In that
+case, it is recommended to chose some custom subservice for action TM data and then send the
+telemetry using the same scheme as shown above, where the first 8 bytes of the application
+data is reserved for the target ID and action ID.
+

satrs-book/src/communication.md

@@ -0,0 +1,54 @@
+<div id="communication-chapter"/>
+
+# Communication with sat-rs based software
+
+Communication is a vital topic for remote system which are usually not (directly)
+connected to the internet and only have 1-2 communication links during nominal operation. However,
+most of these systems have internet access during development cycle. There are various standards
+provided by CCSDS and ECSS which can be useful to determine how to communicate with the satellite
+and the primary On-Board Software.
+
+# Application layer
+
+Most communication with space systems is usually packet based. For example, the CCSDS space
+packet standard only specifies a 6 byte header with at least 1 byte payload. The PUS packet
+standard is a subset of the space packet standard, which adds some fields and a 16 bit CRC, but
+it is still centered around small packets. `sat-rs` provides support for these ECSS and CCSDS
+standards and also attempts to fill the gap to the internet protocol by providing the following
+components.
+
+1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/host/udp_server/index.html).
+   UDP is already packet based which makes it an excellent fit for exchanging space packets.
+2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
+   TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
+   from an arbitrary bytestream. Two concrete implementations are provided:
+    - [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
+      to parse tightly packed CCSDS Spacepackets.
+    - [TCP COBS server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
+      to parse generic frames wrapped with the
+      [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
+
+# Working with telemetry and telecommands (TMTC)
+
+The commands sent to a space system are commonly called telecommands (TC) while the data received
+from it are called telemetry (TM). Keeping in mind the previous section, the concept of a TC source
+and a TM sink can be applied to most satellites. The TM sink is the one entity where all generated
+telemetry arrives in real-time. The most important task of the TM sink usually is to send all
+arriving telemetry to the ground segment of a satellite mission immediately. Another important
+task might be to store all arriving telemetry persistently. This is especially important for
+space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
+
+The most important task of a TC source is to deliver the telecommands to the correct recipients.
+For modern component oriented software using message passing, this usually includes staged
+demultiplexing components to determine where a command needs to be sent.
+
+# Low-level protocols and the bridge to the communcation subsystem
+
+Many satellite systems usually use the lower levels of the OSI layer in addition to the application
+layer covered by the PUS standard or the CCSDS space packets standard. This oftentimes requires
+special hardware like dedicated FPGAs to handle forward error correction fast enough. `sat-rs`
+might provide components to handle standard like the Unified Space Data Link Standard (USLP) in
+software but most of the time the handling of communication is performed through custom
+software and hardware. Still, connecting this custom software and hardware to `sat-rs` can mostly
+be done by using the concept of TC sources and TM sinks mentioned previously.
+

satrs-book/src/constrained-systems.md

@@ -0,0 +1,90 @@
+# Working with Constrained Systems
+
+Software for space systems oftentimes has different requirements than the software for host
+systems or servers. Currently, most space systems are considered embedded systems.
+
+For these systems, the computation power and the available heap are the most important resources
+which are constrained. This might make completeley heap based memory management schemes which
+are oftentimes used on host and server based systems unfeasable. Still, completely forbidding
+heap allocations might make software development unnecessarilly difficult, especially in a
+time where the OBSW might be running on Linux based systems with hundreds of MBs of RAM.
+
+A useful pattern used commonly in space systems is to limit heap allocations to program
+initialization time and avoid frequent run-time allocations. This prevents issues like
+running out of memory (something even Rust can not protect from) or heap fragmentation on systems
+without a MMU.
+
+# Using pre-allocated pool structures
+
+A huge candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
+candidates where the data size might vary greatly. The regular solution for host systems
+might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
+another solution to avoid run-time allocations by offering pre-allocated static
+pools. These pools are split into subpools where each subpool can have different page sizes.
+For example, a very small telecommand (TC) pool might look like this:
+
+![Example Pool](images/pools/static-pools.png)
+
+The core of the pool abstractions is the
+[PoolProvider trait](https://docs.rs/satrs/latest/satrs/pool/trait.PoolProvider.html).
+This trait specifies the general API a pool structure should have without making assumption
+of how the data is stored.
+
+This trait is implemented by a static memory pool implementation.
+The code to generate this static pool would look like this:
+
+<!-- Would be nice to test this code sample, but need to wait
+for https://github.com/rust-lang/mdBook/issues/706 to be merged.. -->
+```rust, ignore
+use satrs::pool::{StaticMemoryPool, StaticPoolConfig};
+
+let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
+    (6, 16),
+    (4, 32),
+    (2, 64),
+    (1, 128)
+]));
+```
+
+It should be noted that the buckets only show the maximum size of data being stored inside them.
+The store will keep a separate structure to track the actual size of the data being stored.
+A TC entry inside this pool has a store address which can then be sent around without having
+to dynamically allocate memory. The same principle can also be applied to the telemetry (TM) and
+inter-process communication (IPC) data.
+
+You can read
+
+- [`StaticPoolConfig` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticPoolConfig.html)
+- [`StaticMemoryPool` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticMemoryPool.html)
+
+for more details.
+
+In the future, optimized pool structures which use standard containers or are
+[`Sync`](https://doc.rust-lang.org/std/marker/trait.Sync.html) by default might be added as well.
+
+# Using special crates to prevent smaller allocations
+
+Another common way to use the heap on host systems is using containers like `String` and `Vec<u8>`
+to work with data where the size is not known beforehand. The most common solution for embedded
+systems is to determine the maximum expected size and then use a pre-allocated `u8` buffer and a
+size variable. Alternatively, you can use the following crates for more convenience or a smart
+behaviour which at the very least reduces heap allocations:
+
+1. [`smallvec`](https://docs.rs/smallvec/latest/smallvec/).
+2. [`arrayvec`](https://docs.rs/arrayvec/latest/arrayvec/index.html) which also contains an
+   [`ArrayString`](https://docs.rs/arrayvec/latest/arrayvec/struct.ArrayString.html) helper type.
+3. [`tinyvec`](https://docs.rs/tinyvec/latest/tinyvec/).
+
+# Using a fixed amount of threads
+
+On host systems, it is a common practice to dynamically spawn new threads to handle workloads.
+On space systems this is generally considered an anti-pattern as this is considered undeterministic
+and might lead to similar issues like when dynamically using the heap. For example, spawning a new
+thread might use up the remaining heap of a system, leading to undeterministic errors.
+
+The most common way to avoid this is to simply spawn all required threads at program initialization
+time. If a thread is done with its task, it can go back to sleeping regularly, only occasionally
+checking for new jobs. If a system still needs to handle bursty concurrent loads, another possible
+way commonly used for host systems as well would be to use a threadpool, for example by using the
+[`threadpool`](https://crates.io/crates/threadpool) crate.
+

satrs-book/src/design.md

@@ -0,0 +1,57 @@
+# Framework Design
+
+Satellites and space systems in general are complex systems with a wide range of requirements for
+both the hardware and the software. Consequently, the general design of the framework is centered
+around many light-weight components which try to impose as few restrictions as possible on how to
+solve certain problems.
+
+There are still a lot of common patterns and architectures across these systems where guidance
+of how to solve a problem and a common structure would still be extremely useful to avoid pitfalls
+which were already solved and to avoid boilerplate code. This framework tries to provide this
+structure and guidance the following way:
+
+1. Providing this book which explains the architecture and design patterns in respect to common
+   issues and requirements of space systems.
+2. Providing an example application. Space systems still commonly have large monolithic
+   primary On-Board Softwares, so the choice was made to provide one example software which
+   contains the various features provided by sat-rs.
+3. Providing a good test suite. This includes both unittests and integration tests. The integration
+   tests can also serve as smaller usage examples than the large `satrs-example` application.
+
+This framework has special support for standards used in the space industry. This especially
+includes standards provided by Consultative Committee for Space Data Systems (CCSDS) and European
+Cooperation for Space Standardization (ECSS). It does not enforce using any of those standards,
+but it is always recommended to use some sort of standard for interoperability.
+
+A lot of the modules and design considerations are based on the Flight Software Framework (FSFW).
+The FSFW has its own [documentation](https://documentation.irs.uni-stuttgart.de/fsfw/), which
+will be referred to when applicable. The FSFW was developed over a period of 10 years for the
+Flying Laptop Project by the University of Stuttgart with Airbus Defence and Space GmbH.
+It has flight heritage through the 2 mssions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
+and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
+Therefore, a lot of the design concepts were ported more or less unchanged to the `sat-rs`
+framework.
+FLP is a medium-size small satellite with a higher budget and longer development time than EIVE,
+which allowed to build a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
+shorter development cycle and was built using cheaper COTS components. This framework also tries
+to accumulate the knowledge of developing the OBSW and operating the satellite for both these
+different systems and provide a solution for a wider range of small satellite systems.
+
+`sat-rs` can be seen as a modern port of the FSFW which uses common principles of software
+engineering to provide a reliable and robust basis for space On-Board Software. The choice
+of using the Rust programming language was made for the following reasons:
+
+1. Rust has safety guarantees which are a perfect fit for space systems which generally have high
+   robustness and reliablity guarantees.
+2. Rust is suitable for embedded systems. It can also be run on smaller embedded systems like the
+   STM32 which have also become common in the space sector. All space systems are embedded systems,
+   which makes using large languages like Python challenging even for OBCs with more performance.
+3. Rust has support for linking C APIs through its excellent FFI support. This is especially
+   important because many vendor provided libaries are still C based.
+4. Modern tooling like a package managers and various development helper, which can further reduce
+   development cycles for space systems. `cargo` provides tools like auto-formatters and linters
+   which can immediately ensure a high software quality throughout each development cycle.
+5. A large ecosystem with excellent libraries which also leverages the excellent tooling provided
+   previously. Integrating these libraries is a lot easier compared to languages like C/C++ where
+   there is still no standardized way to use packages.
+

satrs-book/src/events.md

@@ -0,0 +1,16 @@
+# Events
+
+Events can be an extremely important mechanism used for remote systems to monitor unexpected
+or expected anomalies and events occuring on these systems. They are oftentimes tied to
+Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.
+
+Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
+also observable for the Ground segment. The PUS Service 5 standardizes how the ground interface
+for events might look like, but does not specify how other software components might react
+to those events. There is the PUS Service 19, which might be used for that purpose, but the
+event components recommended by this framework do not really need this service.
+
+The following images shows how the flow of events could look like in a system where components
+can generate events, and where other system components might be interested in those events:
+
+![Event flow](images/events/event_man_arch.png)

satrs-book/src/example.md

@@ -0,0 +1,152 @@
+# sat-rs Example Application
+
+The `sat-rs` framework includes a monolithic example application which can be found inside
+the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
+subdirectory of the repository. The primary purpose of this example application is to show how
+the various components of the sat-rs framework could be used as part of a larger on-board
+software application.
+
+## Structure of the example project
+
+The example project contains components which could also be expected to be part of a production
+On-Board Software. A structural diagram of the example application is given to provide
+a brief high-level view of the components used inside the example application:
+
+![satrs-example component structure](images/satrs-example/satrs-example-structure.png)
+
+The dotted lines are used to denote optional components. In this case, the static pool components
+are optional because the heap can be used as a simpler mechanism to store TMTC packets as well.
+Some additional explanation is provided for the various components.
+
+### TCP/IP server components
+
+The example includes a UDP and TCP server to receive telecommands and poll telemetry from. This
+might be an optional component for an OBSW which is only used during the development phase on
+ground. The UDP server is strongly based on the
+[UDP TC server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/struct.UdpTcServer.html).
+This server component is wrapped by a TMTC server which handles all telemetry to the last connected
+client.
+
+The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
+class. It parses space packets by using the CCSDS space packet ID as the packet
+start delimiter. All available telemetry will be sent back to a client after having read all
+telecommands from the client.
+
+### TMTC Infrastructure
+
+The most important components of the TMTC infrastructure include the following components:
+
+- A TC source component which demultiplexes and routes telecommands based on parameters like
+  packet APID or PUS service and subservice type.
+- A TM sink sink component which is the target of all sent telemetry and sends it to downlink
+   handlers like the UDP and TCP server.
+
+You can read the [Communications chapter](./communication.md) for more
+background information on the chosen TMTC infrastructure approach.
+
+### PUS Service Components
+
+A PUS service stack is provided which exposes some functionality conformant with the ECSS PUS
+services. This currently includes the following services:
+
+- Service 1 for telecommand verification. The verification handling is handled locally: Each
+  component which generates verification telemetry in some shape or form receives a
+  [reporter](https://docs.rs/satrs/latest/satrs/pus/verification/struct.VerificationReporterWithSender.html)
+  object which can be used to send PUS 1 verification telemetry to the TM funnel.
+- Service 3 for housekeeping telemetry handling.
+- Service 5 for management and downlink of on-board events.
+- Service 8 for handling on-board actions.
+- Service 11 for scheduling telecommands to be released at a specific time. This component
+  uses the [PUS scheduler class](https://docs.rs/satrs/latest/satrs/pus/scheduler/alloc_mod/struct.PusScheduler.html)
+  which performs the core logic of scheduling telecommands. All telecommands released by the
+  scheduler are sent to the central TC source using a message.
+- Service 17 for test purposes like pings.
+
+### Event Management Component
+
+An event manager based on the sat-rs
+[event manager component](https://docs.rs/satrs/latest/satrs/event_man/index.html)
+is provided to handle the event IPC and FDIR mechanism. The event message are converted to PUS 5
+telemetry by the
+[PUS event dispatcher](https://docs.rs/satrs/latest/satrs/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
+
+You can read the [events](./events.md) chapter for more in-depth information about event management.
+
+### Sample Application Components
+
+These components are example mission specific. They provide an idea how mission specific modules
+would look like the sat-rs context. It currently includes the following components:
+
+- An Attitute and Orbit Control (AOCS) example task which can also process some PUS commands.
+
+## Dataflow
+
+The interaction of the various components is provided in the following diagram:
+
+![satrs-example dataflow diagram](images/satrs-example/satrs-example-dataflow.png)
+
+It should be noted that an arrow coming out of a component group refers to multiple components
+in that group. An explanation for important component groups will be given.
+
+#### TMTC component group
+
+This groups is the primary interface for clients to communicate with the on-board software
+using a standardized TMTC protocol. The example uses the
+[ECSS PUS protocol](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
+In the future, this might be extended with the
+[CCSDS File Delivery Protocol](https://public.ccsds.org/Pubs/727x0b5.pdf).
+
+A client can connect to the UDP or TCP server to send these PUS packets to the on-board software.
+These servers then forward the telecommads to a centralized TC source component using a dedicated
+message abstraction.
+
+This TC source component then demultiplexes the message and forwards it to the relevant components.
+Right now, it forwards all PUS requests to the respective PUS service handlers using the PUS
+receiver component. The individual PUS services are running in a separate thread. In the future,
+additional forwarding to components like a CFDP handler might be added as well. It should be noted
+that PUS11 commands might contain other PUS commands which should be scheduled in the future.
+These wrapped commands are forwarded to the PUS11 handler. When the schedule releases those
+commands, it forwards the released commands to the TC source again. This allows the scheduler
+and the TC source to run in separate threads and keeps them cleanly separated.
+
+All telemetry generated by the on-board software is sent to a centralized TM funnel. This component
+also performs a demultiplexing step to forward all telemetry to the relevant TM recipients.
+In the example case, this is the last UDP client, or a connected TCP client. In the future,
+forwarding to a persistent telemetry store and a simulated communication component might be
+added here as well. The centralized TM funnel also takes care of some packet processing steps which
+need to be applied for each ECSS PUS packet, for example CCSDS specific APID incrementation and
+PUS specific message counter incrementation.
+
+#### Application Group
+
+The application components generally do not receive raw PUS packets directly, even though
+this is certainly possible. Instead, they receive internalized messages from the PUS service
+handlers. For example, instead of receiving a PUS 8 Action Telecommand directly, an application
+component will receive a special `ActionRequest` message type reduced to the basic important
+information required to execute a request. These special requests are denoted by the blue arrow
+in the diagram.
+
+It should be noted that the arrow pointing towards the event manager points in both directions.
+This is because the application components might be interested in events generated by other
+components as well. This mechanism is oftentimes used to implement the FDIR functionality on system
+and component level.
+
+#### Shared components and functional interfaces
+
+It should be noted that sometimes, a functional interface is used instead of a message. This
+is used for the generation of verification telemetry. The verification reporter is a clonable
+component which generates and sends PUS1 verification telemetry directly to the TM funnel. This
+introduces a loose coupling to the PUS standard but was considered the easiest solution for
+a project which utilizes PUS as the main communication protocol. In the future, a generic
+verification abstraction might be introduced to completely decouple the application layer from
+PUS.
+
+The same concept is applied if the backing store of TMTC packets are shared pools. Every
+component which needs to read telecommands inside that shared pool or generate new telemetry
+into that shared pool will received a clonable shared handle to that pool.
+
+The same concept could be extended to power or thermal handling. For example, a shared power helper
+component might be used to retrieve power state information and send power switch commands through
+a functional interface. The actual implementation of the functional interface might still use
+shared memory and/or messages, but the functional interface makes using and testing the interaction
+with these components easier.

satrs-book/src/fdir.md

@@ -0,0 +1 @@
+# Fault Detecion, Isolation And Recovery (FDIR)

satrs-book/src/ground-segments.md

@@ -0,0 +1 @@
+# Ground Segments

satrs-book/src/housekeeping.md

@@ -0,0 +1,24 @@
+# Housekeeping Data
+
+Remote systems like satellites and rovers oftentimes generate data autonomously and periodically.
+The most common example for this is temperature or attitude data. Data like this is commonly
+referred to as housekeeping data, and is usually one of the most important and most resource heavy
+data sources received from a satellite. Standards like the PUS Service 3 make recommendation how to
+expose housekeeping data, but the applicability of the interface offered by PUS 3 has proven to be
+partially difficult and clunky for modular systems.
+
+First, we are going to list some assumption and requirements about Housekeeping (HK) data:
+
+1. HK data is generated periodically by various system components throughout the
+   systems.
+2. An autonomous and periodic sampling of that HK data to be stored and sent to Ground is generally
+   required. A minimum interface consists of requesting a one-shot sample of HK, enabling and
+   disabling the periodic autonomous generation of samples and modifying the collection interval
+   of the periodic autonomous generation.
+3. HK data often needs to be shared to other software components. For example, a thermal controller
+   wants to read the data samples of all sensor components.
+
+A commonly required way to model HK data in a clean way is also to group related HK data into sets,
+which can then dumped via a similar interface.
+
+TODO: Write down `sat-rs` recommendations how to expose and work with HK data.

satrs-book/src/introduction.md

@@ -0,0 +1,29 @@
+The sat-rs book
+======
+
+This book is the primary information resource for the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+in addition to the regular API documentation. It contains the following resources:
+
+1. Architecture informations and consideration which would exceeds the scope of the regular API.
+2. General information on how to build On-Board Software and how `sat-rs` can help to fulfill
+   the unique requirements of writing software for remote systems.
+2. A Getting-Started workshop where a small On-Board Software is built from scratch using
+   sat-rs components.
+
+# Introduction
+
+The primary goal of the sat-rs framework is to provide re-usable components
+to write on-board software for remote systems like rovers or satellites. It is specifically written
+for the special requirements for these systems.
+
+A lot of the architecture and general design considerations are based on the
+[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
+through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
+and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
+
+# Getting started with the example
+
+The [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
+provides various practical usage examples of the `sat-rs` framework. If you are more interested in
+the practical application of `sat-rs` inside an application, it is recommended to have a look at
+the example application.

satrs-book/src/logging.md

@@ -0,0 +1 @@
+# Logging

satrs-book/src/modelling-space-systems.md

@@ -0,0 +1 @@
+# Modelling Space Systems

satrs-book/src/modes-and-health.md

@@ -0,0 +1,102 @@
+# Modes
+
+Modes are an extremely useful concept for complex system in general. They also allow simplified
+system reasoning for both system operators and OBSW developers. They model the behaviour of a
+component and also provide observability of a system. A few examples of how to model
+different components of a space system with modes will be given.
+
+## Modelling a pyhsical devices with modes
+
+The following simple mode scheme with the following three mode
+
+- `OFF`
+- `ON`
+- `NORMAL`
+
+can be applied to a large number of simpler devices of a remote system, for example sensors.
+
+1. `OFF` means that a device is physically switched off, and the corresponding software component
+does not poll the device regularly.
+2. `ON` means that a device is pyhsically switched on, but the device is not polled perically.
+3. `NORMAL` means that a device is powered on and polled periodically.
+
+If a devices is `OFF`, the device handler will deny commands which include physical communication
+with the connected devices. In `NORMAL` mode, it will autonomously perform periodic polling
+of a connected physical device in addition to handling remote commands by the operator.
+Using these three basic modes, there are two important transitions which need to be taken care of
+for the majority of devices:
+
+1. `OFF` to `ON` or `NORMAL`: The device first needs to be powered on. After that, the
+   device initial startup configuration must be performed.
+2. `NORMAL` or `ON` to `OFF`: Any important shutdown configuration or handling must be performed
+   before powering off the device.
+
+## Modelling a controller with modes
+
+Controller components are not modelling physical devices, but a mode scheme is still the best
+way to model most of these components.
+
+For example, a hypothetical attitude controller might have the following modes:
+
+- `SAFE`
+- `TARGET IDLE`
+- `TARGET POINTING GROUND`
+- `TARGET POINTING NADIR`
+
+We can also introduce the concept of submodes: The `SAFE` mode can for example have a
+`DEFAULT` submode and a `DETUMBLE` submode.
+
+## Achieving system observability with modes
+
+If a system component has a mode in some shape or form, this mode should be observable. This means
+that the operator can also retrieve the mode for a particular component. This is especially
+important if these components can change their mode autonomously.
+
+If a component is able to change its mode autonomously, this is also something which is relevant
+information for the operator or for other software components. This means that a component
+should also be able to announce its mode.
+
+This concept becomes especially important when applying the mode concept on the whole
+system level. This will also be explained in detail in a dedicated chapter, but the basic idea
+is to model the whole system as a tree where each node has a mode. A new capability is added now:
+A component can announce its mode recursively. This means that the component will announce its
+own mode first before announcing the mode of all its children. Using a scheme like this, the mode
+of the whole system can be retrieved using only one command. The same concept can also be used
+for commanding the whole system, which will be explained in more detail in the dedicated systems
+modelling chapter.
+
+In summary, a component which has modes has to expose the following 4 capabilities:
+
+1. Set a mode
+2. Read the mode
+3. Announce the mode
+4. Announce the mode recursively
+
+## Using ECSS PUS to perform mode commanding
+
+# Health
+
+Health is an important concept for systems and components which might fail.
+Oftentimes, the health is tied to the mode of a system component in some shape or form, and
+determines whether a system component is usable. Health is also an extremely useful concept
+to simplify the Fault Detection, Isolation and Recovery (FDIR) concept of a system.
+
+The following health states are based on the ones used inside the FSFW and are enough to model most
+use-cases:
+
+- `HEALTHY`
+- `FAULTY`
+- `NEEDS RECOVERY`
+- `EXTERNAL CONTROL`
+
+1. `HEALTHY` means that a component is working nominally, and can perform its task without any issues.
+2. `FAULTY` means that a component does not work properly. This might also impact other system
+components, so the passivation and isolation of that component is desirable for FDIR purposes.
+3. `NEEDS RECOVERY` is used to attempt a recovery of a component. For example, a simple sensor
+could be power-cycled if there were multiple communication issues in the last time.
+4. `EXTERNAL CONTROL` is used to isolate an individual component from the rest of the system. For
+   example, on operator might be interested in testing a component in isolation, and the interference
+   of the system is not desired. In that case, the `EXTERNAL CONTROL` health state might be used
+   to prevent mode commands from the system while allowing external mode commands.
+
+

satrs-book/src/persistent-tm-storage.md

@@ -0,0 +1 @@
+# Persistent Telemetry (TM) Storage

satrs-book/src/power.md

@@ -0,0 +1 @@
+# Power Components

satrs-book/src/serialization.md

@@ -0,0 +1 @@
+# Serialization

satrs-book/src/thermal.md

@@ -0,0 +1 @@
+# Thermal Components

satrs-core/README.md

@@ -1,9 +0,0 @@
-[![Crates.io](https://img.shields.io/crates/v/satrs-core)](https://crates.io/crates/satrs-core)
-[![docs.rs](https://img.shields.io/docsrs/satrs-core)](https://docs.rs/satrs-core)
-
-satrs-core
-======
-
-This crate contains the core components of the sat-rs framework.
-You can find more information on [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
-

satrs-core/src/error.rs

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

satrs-core/src/hal/host/mod.rs

@@ -1,2 +0,0 @@
-//! Helper modules intended to be used on hosts with a full [std] runtime
-pub mod udp_server;

satrs-core/src/hk.rs

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

satrs-core/src/pool.rs

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

satrs-core/src/pus/event_srv.rs

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

satrs-core/src/pus/hk.rs

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

satrs-core/src/pus/mod.rs

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

satrs-core/src/pus/scheduler_srv.rs

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

satrs-core/src/pus/test.rs

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

satrs-core/src/request.rs

@@ -1 +0,0 @@
-

satrs-core/src/tmtc/mod.rs

@@ -1,94 +0,0 @@
-//! Telemetry and Telecommanding (TMTC) module. Contains packet routing components with special
-//! support for CCSDS and ECSS packets.
-//!
-//! The distributor modules provided by this module use trait objects provided by the user to
-//! directly dispatch received packets to packet listeners based on packet fields like the CCSDS
-//! Application Process ID (APID) or the ECSS PUS service type. This allows for fast packet
-//! routing without the overhead and complication of using message queues. However, it also requires
-#[cfg(feature = "alloc")]
-use downcast_rs::{impl_downcast, Downcast};
-#[cfg(feature = "serde")]
-use serde::{Deserialize, Serialize};
-use spacepackets::{ByteConversionError, SpHeader};
-
-#[cfg(feature = "alloc")]
-pub mod ccsds_distrib;
-#[cfg(feature = "alloc")]
-pub mod pus_distrib;
-pub mod tm_helper;
-
-#[cfg(feature = "alloc")]
-pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
-#[cfg(feature = "alloc")]
-pub use pus_distrib::{PusDistributor, PusServiceProvider};
-
-pub type TargetId = u32;
-
-#[derive(Copy, Clone, PartialEq, Eq, Debug, Hash)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct AddressableId {
-    pub target_id: TargetId,
-    pub unique_id: u32,
-}
-
-impl AddressableId {
-    pub fn from_raw_be(buf: &[u8]) -> Result<Self, ByteConversionError> {
-        if buf.len() < 8 {
-            return Err(ByteConversionError::FromSliceTooSmall {
-                found: buf.len(),
-                expected: 8,
-            });
-        }
-        Ok(Self {
-            target_id: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
-            unique_id: u32::from_be_bytes(buf[4..8].try_into().unwrap()),
-        })
-    }
-
-    pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-        if buf.len() < 8 {
-            return Err(ByteConversionError::ToSliceTooSmall {
-                found: buf.len(),
-                expected: 8,
-            });
-        }
-        buf[0..4].copy_from_slice(&self.target_id.to_be_bytes());
-        buf[4..8].copy_from_slice(&self.unique_id.to_be_bytes());
-        Ok(8)
-    }
-}
-
-/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
-/// no assumptions about the received protocol.
-///
-/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
-/// [crate::tmtc::ccsds_distrib::CcsdsDistributor]  which allows to pass the respective packets in
-/// raw byte format into them.
-pub trait ReceivesTcCore {
-    type Error;
-    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
-}
-
-/// Extension trait of [ReceivesTcCore] which allows downcasting by implementing [Downcast] and
-/// is also sendable.
-#[cfg(feature = "alloc")]
-pub trait ReceivesTc: ReceivesTcCore + Downcast + Send {}
-
-/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
-/// is enabled.
-#[cfg(feature = "alloc")]
-impl<T> ReceivesTc for T where T: ReceivesTcCore + Send + 'static {}
-
-#[cfg(feature = "alloc")]
-impl_downcast!(ReceivesTc assoc Error);
-
-/// Generic trait for object which can receive CCSDS space packets, for example ECSS PUS packets
-/// for CCSDS File Delivery Protocol (CFDP) packets.
-///
-/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
-/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows
-/// to pass the respective packets in raw byte format or in CCSDS format into them.
-pub trait ReceivesCcsdsTc {
-    type Error;
-    fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error>;
-}

satrs-core/src/tmtc/tm_helper.rs

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

satrs-example/.gitignore

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

satrs-example/Cargo.toml

@@ -15,11 +15,18 @@ crossbeam-channel = "0.5"
 delegate = "0.10"
 zerocopy = "0.6"
 csv = "1"
-num_enum = "0.6"
+num_enum = "0.7"
 thiserror = "1"
+derive-new = "0.5"
 
-[dependencies.satrs-core]
-path = "../satrs-core"
+[dependencies.satrs]
+# version = "0.1.1"
+path = "../satrs"
 
 [dependencies.satrs-mib]
+# version = "0.1.0"
 path = "../satrs-mib"
+
+[features]
+dyn_tmtc = []
+default = ["dyn_tmtc"]

satrs-example/README.md

@@ -3,10 +3,32 @@ sat-rs example
 
 This crate contains an example application which simulates an on-board software.
 It uses various components provided by the sat-rs framework to do this. As such, it shows how
-a more complex real on-board software could be built from these components.
-The application opens a UDP server on port 7301 to receive telecommands.
+a more complex real on-board software could be built from these components. It is recommended to
+read the dedicated
+[example chapters](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/example.html) inside
+the sat-rs book.
 
-You can run the application using `cargo run`. The `simpleclient` binary target sends a
+The application opens a UDP and a TCP server on port 7301 to receive telecommands.
+
+You can run the application using `cargo run`.
+
+# Features
+
+The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
+TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
+stores.
+
+You can run the application without this feature using
+
+```sh
+cargo run --no-default-features
+```
+
+# Interacting with the sat-rs example
+
+## Simple Client
+
+The `simpleclient` binary target sends a
 ping telecommand and then verifies the telemetry generated by the example application.
 It can be run like this:
 
@@ -17,7 +39,7 @@ cargo run --bin simpleclient
 This repository also contains a more complex client using the
 [Python tmtccmd](https://github.com/robamu-org/tmtccmd) module.
 
-# Using the tmtccmd Python client
+## <a id="tmtccmd"></a> Using the tmtccmd Python client
 
 The python client requires a valid installation of the
 [tmtccmd package](https://github.com/robamu-org/tmtccmd).
@@ -46,8 +68,7 @@ as Python code. For example, you can use the following command to send a ping li
 the `simpleclient`:
 
 ```sh
-./main.py -s test -o ping
+./main.py -p /test/ping
 ```
 
-You can also simply call the script without any arguments to view a list of services (`-s` flag)
-and corresponding op codes (`-o` flag) for each service.
+You can also simply call the script without any arguments to view the command tree.

satrs-example/pyclient/pus_tc.py

@@ -1,50 +0,0 @@
-import datetime
-
-from spacepackets.ccsds import CdsShortTimestamp
-from spacepackets.ecss import PusTelecommand
-from tmtccmd.config import CoreServiceList
-from tmtccmd.tc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_11_tc_sched import create_time_tagged_cmd
-from tmtccmd.tc.pus_3_fsfw_hk import create_request_one_hk_command
-
-from common import (
-    EXAMPLE_PUS_APID,
-    HkOpCodes,
-    make_addressable_id,
-    RequestTargetId,
-    AcsHkIds,
-)
-
-
-def pack_pus_telecommands(q: DefaultPusQueueHelper, service: str, op_code: str):
-    if (
-        service == CoreServiceList.SERVICE_17
-        or service == CoreServiceList.SERVICE_17_ALT
-    ):
-        if op_code == "ping":
-            q.add_log_cmd("Sending PUS ping telecommand")
-            return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-        elif op_code == "trigger_event":
-            q.add_log_cmd("Triggering test event")
-            return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
-    if service == CoreServiceList.SERVICE_11:
-        q.add_log_cmd("Sending PUS scheduled TC telecommand")
-        crt_time = CdsShortTimestamp.from_now()
-        time_stamp = crt_time + datetime.timedelta(seconds=10)
-        time_stamp = time_stamp.pack()
-        return q.add_pus_tc(
-            create_time_tagged_cmd(
-                time_stamp,
-                PusTelecommand(service=17, subservice=1),
-                apid=EXAMPLE_PUS_APID,
-            )
-        )
-    if service == CoreServiceList.SERVICE_3:
-        if op_code in HkOpCodes.GENERATE_ONE_SHOT:
-            q.add_log_cmd("Sending HK one shot request")
-            q.add_pus_tc(
-                create_request_one_hk_command(
-                    make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
-                )
-            )
-        pass

satrs-example/pyclient/tmtc_conf.json

@@ -1,6 +0,0 @@
-{
-    "com_if": "udp",
-    "tcpip_udp_ip_addr": "127.0.0.1",
-    "tcpip_udp_port": 7301,
-    "tcpip_udp_recv_max_size": 1500
-}

satrs-example/satrs-tmtc/.gitignore

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

satrs-example/satrs-tmtc/common.py

@@ -4,7 +4,11 @@ import dataclasses
 import enum
 import struct
 
+from spacepackets.ecss.tc import PacketId, PacketType
+
 EXAMPLE_PUS_APID = 0x02
+EXAMPLE_PUS_PACKET_ID_TM = PacketId(PacketType.TM, True, EXAMPLE_PUS_APID)
+TM_PACKET_IDS = [EXAMPLE_PUS_PACKET_ID_TM]
 
 
 class EventSeverity(enum.IntEnum):
@@ -40,10 +44,6 @@ class AcsHkIds(enum.IntEnum):
     MGM_SET = 1
 
 
-class HkOpCodes:
-    GENERATE_ONE_SHOT = ["0", "oneshot"]
-
-
 def make_addressable_id(target_id: int, unique_id: int) -> bytes:
     byte_string = bytearray(struct.pack("!I", target_id))
     byte_string.extend(struct.pack("!I", unique_id))

satrs-example/satrs-tmtc/main.py

@@ -4,6 +4,8 @@ import logging
 import sys
 import time
 from typing import Optional
+from prompt_toolkit.history import History
+from prompt_toolkit.history import FileHistory
 
 import tmtccmd
 from spacepackets.ecss import PusTelemetry, PusVerificator
@@ -11,16 +13,16 @@ from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
 from spacepackets.ccsds.time import CdsShortTimestamp
 
-from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
+from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
 from tmtccmd.com import ComInterface
 from tmtccmd.config import (
+    CmdTreeNode,
     default_json_path,
     SetupParams,
     HookBase,
-    TmtcDefinitionWrapper,
     params_to_procedure_conversion,
 )
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
@@ -30,7 +32,7 @@ from tmtccmd.logging.pus import (
     RawTmtcTimedLogWrapper,
     TimedLogWhen,
 )
-from tmtccmd.tc import (
+from tmtccmd.tmtc import (
     TcQueueEntryType,
     ProcedureWrapper,
     TcProcedureType,
@@ -39,13 +41,12 @@ from tmtccmd.tc import (
     DefaultPusQueueHelper,
     QueueWrapper,
 )
-from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
+from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
 
 import pus_tc
-import tc_definitions
-from common import EXAMPLE_PUS_APID, EventU32
+from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
 
 _LOGGER = logging.getLogger()
 
@@ -54,25 +55,29 @@ class SatRsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
         super().__init__(json_cfg_path=json_cfg_path)
 
-    def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
         from tmtccmd.config.com import (
             create_com_interface_default,
             create_com_interface_cfg_default,
         )
 
+        assert self.cfg_path is not None
         cfg = create_com_interface_cfg_default(
             com_if_key=com_if_key,
             json_cfg_path=self.cfg_path,
-            space_packet_ids=None,
+            space_packet_ids=TM_PACKET_IDS,
         )
+        assert cfg is not None
         return create_com_interface_default(cfg)
 
-    def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
-        return tc_definitions.tc_definitions()
+    def get_command_definitions(self) -> CmdTreeNode:
+        """This function should return the root node of the command definition tree."""
+        return pus_tc.create_cmd_definition_tree()
 
-    def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
-        _LOGGER.info("Mode operation hook was called")
-        pass
+    def get_cmd_history(self) -> Optional[History]:
+        """Optionlly return a history class for the past command paths which will be used
+        when prompting a command path from the user in CLI mode."""
+        return FileHistory(".tmtc-history.txt")
 
     def get_object_ids(self) -> ObjectIdDictT:
         from tmtccmd.config.objects import get_core_object_ids
@@ -94,15 +99,12 @@ class PusHandler(SpecificApidHandlerBase):
 
     def handle_tm(self, packet: bytes, _user_args: any):
         try:
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
+            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
         except ValueError as e:
             _LOGGER.warning("Could not generate PUS TM object from raw data")
             _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
             raise e
-        service = tm_packet.service
-        dedicated_handler = False
+        service = pus_tm.service
         if service == 1:
             tm_packet = Service1Tm.unpack(
                 data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
@@ -119,8 +121,7 @@ class PusHandler(SpecificApidHandlerBase):
             else:
                 self.verif_wrapper.log_to_console(tm_packet, res)
                 self.verif_wrapper.log_to_file(tm_packet, res)
-            dedicated_handler = True
-        if service == 3:
+        elif service == 3:
             _LOGGER.info("No handling for HK packets implemented")
             _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
             pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
@@ -128,8 +129,8 @@ class PusHandler(SpecificApidHandlerBase):
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
-            dedicated_handler = True
-        if service == 5:
+                _LOGGER.info(json_str)
+        elif service == 5:
             tm_packet = PusTelemetry.unpack(
                 packet, time_reader=CdsShortTimestamp.empty()
             )
@@ -138,11 +139,10 @@ class PusHandler(SpecificApidHandlerBase):
             _LOGGER.info(f"Received event packet. Event: {event_u32}")
             if event_u32.group_id == 0 and event_u32.unique_id == 0:
                 _LOGGER.info("Received test event")
-        if service == 17:
+        elif service == 17:
             tm_packet = Service17Tm.unpack(
                 packet, time_reader=CdsShortTimestamp.empty()
             )
-            dedicated_handler = True
             if tm_packet.subservice == 2:
                 self.file_logger.info("Received Ping Reply TM[17,2]")
                 _LOGGER.info("Received Ping Reply TM[17,2]")
@@ -153,17 +153,14 @@ class PusHandler(SpecificApidHandlerBase):
                 _LOGGER.info(
                     f"Received Test Packet with unknown subservice {tm_packet.subservice}"
                 )
-        if tm_packet is None:
+        else:
             _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
             tm_packet = PusTelemetry.unpack(
                 packet, time_reader=CdsShortTimestamp.empty()
             )
-        self.raw_logger.log_tm(tm_packet)
-        if not dedicated_handler and tm_packet is not None:
-            pass
-            # self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
+        self.raw_logger.log_tm(pus_tm)
 
 
 class TcHandler(TcHandlerBase):
@@ -195,22 +192,18 @@ class TcHandler(TcHandlerBase):
             log_entry = entry_helper.to_log_entry()
             _LOGGER.info(log_entry.log_str)
 
-    def queue_finished_cb(self, helper: ProcedureWrapper):
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            _LOGGER.info(
-                f"Queue handling finished for service {def_proc.service} and "
-                f"op code {def_proc.op_code}"
-            )
+    def queue_finished_cb(self, info: ProcedureWrapper):
+        if info.proc_type == TcProcedureType.DEFAULT:
+            def_proc = info.to_def_procedure()
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
-    def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
+    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            service = def_proc.service
-            op_code = def_proc.op_code
-            pus_tc.pack_pus_telecommands(q, service, op_code)
+        if info.proc_type == TcProcedureType.DEFAULT:
+            def_proc = info.to_def_procedure()
+            assert def_proc.cmd_path is not None
+            pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
 
 
 def main():

satrs-example/satrs-tmtc/pus_tc.py

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

satrs-example/satrs-tmtc/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 5.0.0rc0
+tmtccmd == 8.0.0rc1
 # -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

satrs-example/satrs-tmtc/tmtc_conf.json

@@ -0,0 +1,8 @@
+{
+    "com_if": "tcp",
+    "tcpip_udp_ip_addr": "127.0.0.1",
+    "tcpip_udp_port": 7301,
+    "tcpip_udp_recv_max_size": 1500,
+    "tcpip_tcp_ip_addr": "127.0.0.1",
+    "tcpip_tcp_port": 7301
+}

satrs-example/src/acs.rs

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

satrs-example/src/bin/simpleclient.rs

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

satrs-example/src/ccsds.rs

@@ -1,14 +1,22 @@
-use crate::tmtc::{MpscStoreAndSendError, PusTcSource};
-use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
-use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
-use satrs_example::PUS_APID;
+use satrs::pus::ReceivesEcssPusTc;
+use satrs::spacepackets::{CcsdsPacket, SpHeader};
+use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
+use satrs_example::config::PUS_APID;
 
-pub struct CcsdsReceiver {
-    pub tc_source: PusTcSource,
+#[derive(Clone)]
+pub struct CcsdsReceiver<
+    TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
+    E,
+> {
+    pub tc_source: TcSource,
 }
 
-impl CcsdsPacketHandler for CcsdsReceiver {
-    type Error = MpscStoreAndSendError;
+impl<
+        TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
+        E: 'static,
+    > CcsdsPacketHandler for CcsdsReceiver<TcSource, E>
+{
+    type Error = E;
 
     fn valid_apids(&self) -> &'static [u16] {
         &[PUS_APID]

satrs-example/src/config.rs

@@ -0,0 +1,165 @@
+use satrs::res_code::ResultU16;
+use satrs_mib::res_code::ResultU16Info;
+use satrs_mib::resultcode;
+use std::net::Ipv4Addr;
+
+use num_enum::{IntoPrimitive, TryFromPrimitive};
+use satrs::{
+    events::{EventU32TypedSev, SeverityInfo},
+    pool::{StaticMemoryPool, StaticPoolConfig},
+};
+
+pub const PUS_APID: u16 = 0x02;
+
+#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
+#[repr(u8)]
+pub enum CustomPusServiceId {
+    Mode = 200,
+    Health = 201,
+}
+
+#[derive(Copy, Clone, Eq, PartialEq, Debug)]
+pub enum RequestTargetId {
+    AcsSubsystem = 1,
+}
+
+pub const AOCS_APID: u16 = 1;
+
+#[derive(Debug)]
+pub enum GroupId {
+    Tmtc = 0,
+    Hk = 1,
+}
+
+pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
+pub const SERVER_PORT: u16 = 7301;
+
+pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
+    EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
+
+pub mod tmtc_err {
+
+    use super::*;
+
+    #[resultcode]
+    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 0);
+    #[resultcode]
+    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 1);
+    #[resultcode]
+    pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
+    #[resultcode]
+    pub const PUS_SUBSERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 3);
+    #[resultcode]
+    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
+    #[resultcode]
+    pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
+
+    #[resultcode(
+        info = "Not enough data inside the TC application data field. Optionally includes: \
+          8 bytes of failure data containing 2 failure parameters, \
+          P1 (u32 big endian): Expected data length, P2: Found data length"
+    )]
+    pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
+
+    pub const TMTC_RESULTS: &[ResultU16Info] = &[
+        INVALID_PUS_SERVICE_EXT,
+        INVALID_PUS_SUBSERVICE_EXT,
+        PUS_SERVICE_NOT_IMPLEMENTED_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        ROUTING_ERROR_EXT,
+        NOT_ENOUGH_APP_DATA_EXT,
+    ];
+}
+
+pub mod hk_err {
+
+    use super::*;
+
+    #[resultcode]
+    pub const TARGET_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 0);
+    #[resultcode]
+    pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 1);
+    #[resultcode]
+    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Hk as u8, 2);
+    #[resultcode]
+    pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 3);
+
+    pub const HK_ERR_RESULTS: &[ResultU16Info] = &[
+        TARGET_ID_MISSING_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        COLLECTION_INTERVAL_MISSING_EXT,
+    ];
+}
+
+#[allow(clippy::enum_variant_names)]
+#[derive(Copy, Clone, PartialEq, Eq)]
+pub enum TmSenderId {
+    PusVerification = 0,
+    PusTest = 1,
+    PusEvent = 2,
+    PusHk = 3,
+    PusAction = 4,
+    PusSched = 5,
+    AllEvents = 6,
+    AcsSubsystem = 7,
+}
+
+#[derive(Copy, Clone, PartialEq, Eq)]
+pub enum TcReceiverId {
+    PusTest = 1,
+    PusEvent = 2,
+    PusHk = 3,
+    PusAction = 4,
+    PusSched = 5,
+}
+pub mod pool {
+    use super::*;
+    pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
+        (
+            StaticMemoryPool::new(StaticPoolConfig::new(
+                vec![
+                    (30, 32),
+                    (15, 64),
+                    (15, 128),
+                    (15, 256),
+                    (15, 1024),
+                    (15, 2048),
+                ],
+                true,
+            )),
+            StaticMemoryPool::new(StaticPoolConfig::new(
+                vec![
+                    (30, 32),
+                    (15, 64),
+                    (15, 128),
+                    (15, 256),
+                    (15, 1024),
+                    (15, 2048),
+                ],
+                true,
+            )),
+        )
+    }
+
+    pub fn create_sched_tc_pool() -> StaticMemoryPool {
+        StaticMemoryPool::new(StaticPoolConfig::new(
+            vec![
+                (30, 32),
+                (15, 64),
+                (15, 128),
+                (15, 256),
+                (15, 1024),
+                (15, 2048),
+            ],
+            true,
+        ))
+    }
+}
+
+pub mod tasks {
+    pub const FREQ_MS_UDP_TMTC: u64 = 200;
+    pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
+    pub const FREQ_MS_AOCS: u64 = 500;
+    pub const FREQ_MS_PUS_STACK: u64 = 200;
+}

satrs-example/src/events.rs

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

satrs-example/src/hk.rs

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

satrs-example/src/lib.rs

@@ -1,98 +1 @@
-use num_enum::{IntoPrimitive, TryFromPrimitive};
-use satrs_core::events::{EventU32TypedSev, SeverityInfo};
-use satrs_core::objects::ObjectId;
-use std::net::Ipv4Addr;
-
-use satrs_mib::res_code::{ResultU16, ResultU16Info};
-use satrs_mib::resultcode;
-
-pub const PUS_APID: u16 = 0x02;
-
-#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
-#[repr(u8)]
-pub enum CustomPusServiceId {
-    Mode = 200,
-    Health = 201,
-}
-
-#[derive(Copy, Clone, Eq, PartialEq, Debug)]
-pub enum RequestTargetId {
-    AcsSubsystem = 1,
-}
-
-pub const ACS_OBJECT_ID: ObjectId = ObjectId {
-    id: RequestTargetId::AcsSubsystem as u32,
-    name: "ACS_SUBSYSTEM",
-};
-
-#[derive(Debug)]
-pub enum GroupId {
-    Tmtc = 0,
-    Hk = 1,
-}
-
-pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
-pub const SERVER_PORT: u16 = 7301;
-
-pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
-    EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
-
-pub mod tmtc_err {
-    use super::*;
-
-    #[resultcode]
-    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 0);
-    #[resultcode]
-    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 1);
-    #[resultcode]
-    pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
-    #[resultcode]
-    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 3);
-
-    #[resultcode(
-        info = "Not enough data inside the TC application data field. Optionally includes: \
-          8 bytes of failure data containing 2 failure parameters, \
-          P1 (u32 big endian): Expected data length, P2: Found data length"
-    )]
-    pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
-
-    pub const TMTC_RESULTS: &[ResultU16Info] = &[
-        INVALID_PUS_SERVICE_EXT,
-        INVALID_PUS_SUBSERVICE_EXT,
-        NOT_ENOUGH_APP_DATA_EXT,
-    ];
-}
-
-pub mod hk_err {
-    use super::*;
-
-    #[resultcode]
-    pub const TARGET_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 0);
-    #[resultcode]
-    pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 1);
-    #[resultcode]
-    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 2);
-    #[resultcode]
-    pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 3);
-}
-
-#[allow(clippy::enum_variant_names)]
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TmSenderId {
-    PusVerification = 0,
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
-    AllEvents = 6,
-}
-
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TcReceiverId {
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
-}
+pub mod config;

satrs-example/src/logger.rs

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

satrs-example/src/main.rs

@@ -1,149 +1,116 @@
+mod acs;
 mod ccsds;
+mod events;
 mod hk;
-mod logging;
+mod logger;
 mod pus;
 mod requests;
+mod tcp;
+mod tm_funnel;
 mod tmtc;
+mod udp;
 
-use log::{info, warn};
+use crate::events::EventHandler;
+use crate::pus::stack::PusStack;
+use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
+use log::info;
+use pus::test::create_test_service_dynamic;
+use satrs::hal::std::tcp_server::ServerConfig;
+use satrs::hal::std::udp_server::UdpTcServer;
+use satrs::request::TargetAndApidId;
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
+use satrs_example::config::tasks::{
+    FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
+};
+use satrs_example::config::{RequestTargetId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT};
+use tmtc::PusTcSourceProviderDynamic;
+use udp::DynamicUdpTmHandler;
 
-use crate::hk::AcsHkIds;
-use crate::logging::setup_logger;
-use crate::pus::action::{Pus8Wrapper, PusService8ActionHandler};
-use crate::pus::event::Pus5Wrapper;
-use crate::pus::hk::{Pus3Wrapper, PusService3HkHandler};
-use crate::pus::scheduler::Pus11Wrapper;
-use crate::pus::test::Service17CustomWrapper;
-use crate::pus::PusTcMpscRouter;
-use crate::requests::{Request, RequestWithToken};
-use crate::tmtc::{core_tmtc_task, PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel};
-use satrs_core::event_man::{
-    EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
+use crate::acs::AcsTask;
+use crate::ccsds::CcsdsReceiver;
+use crate::logger::setup_logger;
+use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
+use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
+use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
+use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
+use crate::pus::test::create_test_service_static;
+use crate::pus::{PusReceiver, PusTcMpscRouter};
+use crate::requests::{GenericRequestRouter, RequestWithToken};
+use crate::tcp::{SyncTcpTmSource, TcpTask};
+use crate::tmtc::{
+    PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
 };
-use satrs_core::events::EventU32;
-use satrs_core::hk::HkRequest;
-use satrs_core::pool::{LocalPool, PoolCfg};
-use satrs_core::pus::event_man::{
-    DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
-    PusEventDispatcher,
-};
-use satrs_core::pus::event_srv::PusService5EventHandler;
-use satrs_core::pus::hk::Subservice as HkSubservice;
-use satrs_core::pus::scheduler::PusScheduler;
-use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
-use satrs_core::pus::test::PusService17TestHandler;
-use satrs_core::pus::verification::{
-    TcStateStarted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
-};
-use satrs_core::pus::{MpscTcInStoreReceiver, MpscTmInStoreSender};
-use satrs_core::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
-use satrs_core::spacepackets::ecss::tm::{PusTmCreator, PusTmZeroCopyWriter};
-use satrs_core::spacepackets::{
-    ecss::tm::PusTmSecondaryHeader, time::cds::TimeProvider, time::TimeWriter, SequenceFlags,
-    SpHeader,
-};
-use satrs_core::tmtc::tm_helper::SharedTmStore;
-use satrs_core::tmtc::{AddressableId, TargetId};
-use satrs_core::ChannelId;
-use satrs_example::{
-    RequestTargetId, TcReceiverId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT,
-};
-use std::collections::HashMap;
+use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
+use satrs::pus::event_man::EventRequestWithToken;
+use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
+use satrs::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
+use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
+use satrs::tmtc::CcsdsDistributor;
+use satrs::ChannelId;
 use std::net::{IpAddr, SocketAddr};
-use std::sync::mpsc::{channel, TryRecvError};
+use std::sync::mpsc::{self, channel};
 use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
 
-fn main() {
-    setup_logger().expect("setting up logging with fern failed");
-    println!("Running OBSW example");
-    let tm_pool = LocalPool::new(PoolCfg::new(vec![
-        (30, 32),
-        (15, 64),
-        (15, 128),
-        (15, 256),
-        (15, 1024),
-        (15, 2048),
-    ]));
-    let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
-    let tm_store_event = shared_tm_store.clone();
-    let tc_pool = LocalPool::new(PoolCfg::new(vec![
-        (30, 32),
-        (15, 64),
-        (15, 128),
-        (15, 256),
-        (15, 1024),
-        (15, 2048),
-    ]));
-    let tc_store = TcStore {
-        pool: Arc::new(RwLock::new(Box::new(tc_pool))),
-    };
-
-    let seq_count_provider = CcsdsSimpleSeqCountProvider::new();
-    let mut msg_counter_map: HashMap<u8, u16> = HashMap::new();
-    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let (tc_source_tx, tc_source_rx) = channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
-    let (tm_server_tx, tm_server_rx) = channel();
-    let verif_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusVerification as ChannelId,
-        "verif_sender",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
+fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
     let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
     // Every software component which needs to generate verification telemetry, gets a cloned
     // verification reporter.
-    let verif_reporter = VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
-    let reporter_event_handler = verif_reporter.clone();
-    let reporter_aocs = verif_reporter.clone();
+    VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
+}
 
-    // Create event handling components
-    // These sender handles are used to send event requests, for example to enable or disable
-    // certain events
-    let (event_request_tx, event_request_rx) = channel::<EventRequestWithToken>();
-    // The sender handle is the primary sender handle for all components which want to create events.
-    // The event manager will receive the RX handle to receive all the events.
-    let (event_sender, event_man_rx) = channel();
-    let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
-    let test_srv_event_sender = event_sender;
-    let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_recv));
+#[allow(dead_code)]
+fn static_tmtc_pool_main() {
+    let (tm_pool, tc_pool) = create_static_pools();
+    let shared_tm_pool = SharedTmPool::new(tm_pool);
+    let shared_tc_pool = SharedTcPool {
+        pool: Arc::new(RwLock::new(tc_pool)),
+    };
+    let (tc_source_tx, tc_source_rx) = channel();
+    let (tm_funnel_tx, tm_funnel_rx) = channel();
+    let (tm_server_tx, tm_server_rx) = channel();
 
-    // All events sent to the manager are routed to the PUS event manager, which generates PUS event
-    // telemetry for each event.
-    let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
-    let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
-    let mut pus_event_dispatcher =
-        PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
-    let (pus_event_man_tx, pus_event_man_rx) = channel();
-    let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
-    event_man.subscribe_all(pus_event_man_send_provider.id());
-    event_man.add_sender(pus_event_man_send_provider);
+    // Every software component which needs to generate verification telemetry, receives a cloned
+    // verification reporter.
+    let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
+        TmSenderId::PusVerification as ChannelId,
+        "verif_sender",
+        shared_tm_pool.clone(),
+        tm_funnel_tx.clone(),
+    ));
 
-    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let mut request_map = HashMap::new();
+    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
     let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
-    request_map.insert(RequestTargetId::AcsSubsystem as TargetId, acs_thread_tx);
+    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
+    let mut request_map = GenericRequestRouter::default();
+    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
 
-    let tc_source_wrapper = PusTcSource {
-        tc_store: tc_store.clone(),
+    // This helper structure is used by all telecommand providers which need to send telecommands
+    // to the TC source.
+    let tc_source = PusTcSourceProviderSharedPool {
+        shared_pool: shared_tc_pool.clone(),
         tc_source: tc_source_tx,
     };
 
-    // Create clones here to allow moving the values
-    let tc_args = TcArgs {
-        tc_source: tc_source_wrapper.clone(),
-        tc_receiver: tc_source_rx,
-    };
-    let tm_args = TmArgs {
-        tm_store: shared_tm_store.clone(),
-        tm_sink_sender: tm_funnel_tx.clone(),
-        tm_server_rx,
-    };
+    // Create event handling components
+    // These sender handles are used to send event requests, for example to enable or disable
+    // certain events.
+    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
 
-    let aocs_tm_funnel = tm_funnel_tx.clone();
-    let aocs_tm_store = shared_tm_store.clone();
+    // The event task is the core handler to perform the event routing and TM handling as specified
+    // in the sat-rs documentation.
+    let mut event_handler = EventHandler::new(
+        MpscTmInSharedPoolSender::new(
+            TmSenderId::AllEvents as ChannelId,
+            "ALL_EVENTS_TX",
+            shared_tm_pool.clone(),
+            tm_funnel_tx.clone(),
+        ),
+        verif_reporter.clone(),
+        event_request_rx,
+    );
 
     let (pus_test_tx, pus_test_rx) = channel();
     let (pus_event_tx, pus_event_rx) = channel();
@@ -157,335 +124,391 @@ fn main() {
         hk_service_receiver: pus_hk_tx,
         action_service_receiver: pus_action_tx,
     };
-    let test_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusTest as ChannelId,
-        "PUS_17_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_test_service = create_test_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let test_srv_receiver = MpscTcInStoreReceiver::new(
-        TcReceiverId::PusTest as ChannelId,
-        "PUS_17_TC_RECV",
+        verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
+        event_handler.clone_event_sender(),
         pus_test_rx,
     );
-    let pus17_handler = PusService17TestHandler::new(
-        Box::new(test_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(test_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-    );
-    let mut pus_17_wrapper = Service17CustomWrapper {
-        pus17_handler,
-        test_srv_event_sender,
-    };
-
-    let sched_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusSched as ChannelId,
-        "PUS_11_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_scheduler_service = create_scheduler_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let sched_srv_receiver = MpscTcInStoreReceiver::new(
-        TcReceiverId::PusSched as ChannelId,
-        "PUS_11_TC_RECV",
+        verif_reporter.clone(),
+        tc_source.clone(),
         pus_sched_rx,
+        create_sched_tc_pool(),
     );
-    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
-        .expect("Creating PUS Scheduler failed");
-    let pus_11_handler = PusService11SchedHandler::new(
-        Box::new(sched_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(sched_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        scheduler,
-    );
-    let mut pus_11_wrapper = Pus11Wrapper {
-        pus_11_handler,
-        tc_source_wrapper,
-    };
-
-    let event_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusEvent as ChannelId,
-        "PUS_5_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_event_service = create_event_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let event_srv_receiver = MpscTcInStoreReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
-        Box::new(event_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(event_srv_tm_sender),
-        PUS_APID,
         verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
+        pus_event_rx,
         event_request_tx,
     );
-    let mut pus_5_wrapper = Pus5Wrapper { pus_5_handler };
-
-    let action_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusAction as ChannelId,
-        "PUS_8_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_action_service = create_action_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcInStoreReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
-    let pus_8_handler = PusService8ActionHandler::new(
-        Box::new(action_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(action_srv_tm_sender),
-        PUS_APID,
         verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
+        pus_action_rx,
         request_map.clone(),
     );
-    let mut pus_8_wrapper = Pus8Wrapper { pus_8_handler };
-
-    let hk_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusHk as ChannelId,
-        "PUS_3_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_hk_service = create_hk_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver =
-        MpscTcInStoreReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
-    let pus_3_handler = PusService3HkHandler::new(
-        Box::new(hk_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(hk_srv_tm_sender),
-        PUS_APID,
         verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
+        pus_hk_rx,
         request_map,
     );
-    let mut pus_3_wrapper = Pus3Wrapper { pus_3_handler };
+    let mut pus_stack = PusStack::new(
+        pus_hk_service,
+        pus_event_service,
+        pus_action_service,
+        pus_scheduler_service,
+        pus_test_service,
+    );
 
-    info!("Starting TMTC task");
-    let jh0 = thread::Builder::new()
-        .name("TMTC".to_string())
+    let ccsds_receiver = CcsdsReceiver { tc_source };
+    let mut tmtc_task = TcSourceTaskStatic::new(
+        shared_tc_pool.clone(),
+        tc_source_rx,
+        PusReceiver::new(verif_reporter.clone(), pus_router),
+    );
+
+    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
+    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
+        .expect("creating UDP TMTC server failed");
+    let mut udp_tmtc_server = UdpTmtcServer {
+        udp_tc_server,
+        tm_handler: StaticUdpTmHandler {
+            tm_rx: tm_server_rx,
+            tm_store: shared_tm_pool.clone_backing_pool(),
+        },
+    };
+
+    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
+    let sync_tm_tcp_source = SyncTcpTmSource::new(200);
+    let mut tcp_server = TcpTask::new(
+        tcp_server_cfg,
+        sync_tm_tcp_source.clone(),
+        tcp_ccsds_distributor,
+    )
+    .expect("tcp server creation failed");
+
+    let mut acs_task = AcsTask::new(
+        MpscTmInSharedPoolSender::new(
+            TmSenderId::AcsSubsystem as ChannelId,
+            "ACS_TASK_SENDER",
+            shared_tm_pool.clone(),
+            tm_funnel_tx.clone(),
+        ),
+        acs_thread_rx,
+        verif_reporter,
+    );
+
+    let mut tm_funnel = TmFunnelStatic::new(
+        shared_tm_pool,
+        sync_tm_tcp_source,
+        tm_funnel_rx,
+        tm_server_tx,
+    );
+
+    info!("Starting TMTC and UDP task");
+    let jh_udp_tmtc = thread::Builder::new()
+        .name("TMTC and UDP".to_string())
         .spawn(move || {
-            core_tmtc_task(sock_addr, tc_args, tm_args, verif_reporter, pus_router);
+            info!("Running UDP server on port {SERVER_PORT}");
+            loop {
+                udp_tmtc_server.periodic_operation();
+                tmtc_task.periodic_operation();
+                thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
+            }
+        })
+        .unwrap();
+
+    info!("Starting TCP task");
+    let jh_tcp = thread::Builder::new()
+        .name("TCP".to_string())
+        .spawn(move || {
+            info!("Running TCP server on port {SERVER_PORT}");
+            loop {
+                tcp_server.periodic_operation();
+            }
         })
         .unwrap();
 
     info!("Starting TM funnel task");
-    let jh1 = thread::Builder::new()
+    let jh_tm_funnel = thread::Builder::new()
         .name("TM Funnel".to_string())
-        .spawn(move || {
-            let tm_funnel = TmFunnel {
-                tm_server_tx,
-                tm_funnel_rx,
-            };
-            loop {
-                if let Ok(addr) = tm_funnel.tm_funnel_rx.recv() {
-                    // Read the TM, set sequence counter and message counter, and finally update
-                    // the CRC.
-                    let shared_pool = shared_tm_store.clone_backing_pool();
-                    let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
-                    let tm_raw = pool_guard
-                        .modify(&addr)
-                        .expect("Reading TM from pool failed");
-                    let mut zero_copy_writer = PusTmZeroCopyWriter::new(tm_raw)
-                        .expect("Creating TM zero copy writer failed");
-                    zero_copy_writer.set_apid(PUS_APID);
-                    zero_copy_writer.set_seq_count(seq_count_provider.get_and_increment());
-                    let entry = msg_counter_map
-                        .entry(zero_copy_writer.service())
-                        .or_insert(0);
-                    zero_copy_writer.set_msg_count(*entry);
-                    if *entry == u16::MAX {
-                        *entry = 0;
-                    } else {
-                        *entry += 1;
-                    }
-
-                    // This operation has to come last!
-                    zero_copy_writer.finish();
-                    tm_funnel
-                        .tm_server_tx
-                        .send(addr)
-                        .expect("Sending TM to server failed");
-                }
-            }
+        .spawn(move || loop {
+            tm_funnel.operation();
         })
         .unwrap();
 
     info!("Starting event handling task");
-    let jh2 = thread::Builder::new()
+    let jh_event_handling = thread::Builder::new()
         .name("Event".to_string())
-        .spawn(move || {
-            let mut timestamp: [u8; 7] = [0; 7];
-            let mut sender = MpscTmInStoreSender::new(
-                TmSenderId::AllEvents as ChannelId,
-                "ALL_EVENTS_TX",
-                tm_store_event.clone(),
-                tm_funnel_tx,
-            );
-            let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
-            let report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
-                let started_token: VerificationToken<TcStateStarted> = event_req
-                    .token
-                    .try_into()
-                    .expect("expected start verification token");
-                reporter_event_handler
-                    .completion_success(started_token, Some(timestamp))
-                    .expect("Sending completion success failed");
-            };
-            loop {
-                // handle event requests
-                if let Ok(event_req) = event_request_rx.try_recv() {
-                    match event_req.request {
-                        EventRequest::Enable(event) => {
-                            pus_event_dispatcher
-                                .enable_tm_for_event(&event)
-                                .expect("Enabling TM failed");
-                            update_time(&mut time_provider, &mut timestamp);
-                            report_completion(event_req, &timestamp);
-                        }
-                        EventRequest::Disable(event) => {
-                            pus_event_dispatcher
-                                .disable_tm_for_event(&event)
-                                .expect("Disabling TM failed");
-                            update_time(&mut time_provider, &mut timestamp);
-                            report_completion(event_req, &timestamp);
-                        }
-                    }
-                }
-
-                // Perform the event routing.
-                event_man
-                    .try_event_handling()
-                    .expect("event handling failed");
-
-                // Perform the generation of PUS event packets
-                if let Ok((event, _param)) = pus_event_man_rx.try_recv() {
-                    update_time(&mut time_provider, &mut timestamp);
-                    pus_event_dispatcher
-                        .generate_pus_event_tm_generic(&mut sender, &timestamp, event, None)
-                        .expect("Sending TM as event failed");
-                }
-                thread::sleep(Duration::from_millis(400));
-            }
+        .spawn(move || loop {
+            event_handler.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
         })
         .unwrap();
 
     info!("Starting AOCS thread");
-    let jh3 = thread::Builder::new()
+    let jh_aocs = thread::Builder::new()
         .name("AOCS".to_string())
-        .spawn(move || {
-            let mut timestamp: [u8; 7] = [0; 7];
-            let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
-            loop {
-                match acs_thread_rx.try_recv() {
-                    Ok(request) => {
-                        info!(
-                            "ACS thread: Received HK request {:?}",
-                            request.targeted_request
-                        );
-                        update_time(&mut time_provider, &mut timestamp);
-                        match request.targeted_request.request {
-                            Request::Hk(hk_req) => match hk_req {
-                                HkRequest::OneShot(unique_id) => {
-                                    let target = request.targeted_request.target_id;
-                                    assert_eq!(target, RequestTargetId::AcsSubsystem as u32);
-                                    if request.targeted_request.target_id
-                                        == AcsHkIds::TestMgmSet as u32
-                                    {
-                                        let mut sp_header = SpHeader::tm(
-                                            PUS_APID,
-                                            SequenceFlags::Unsegmented,
-                                            0,
-                                            0,
-                                        )
-                                        .unwrap();
-                                        let sec_header = PusTmSecondaryHeader::new_simple(
-                                            3,
-                                            HkSubservice::TmHkPacket as u8,
-                                            &timestamp,
-                                        );
-                                        let mut buf: [u8; 8] = [0; 8];
-                                        let addressable_id = AddressableId {
-                                            target_id: target,
-                                            unique_id,
-                                        };
-                                        addressable_id.write_to_be_bytes(&mut buf).unwrap();
-                                        let pus_tm = PusTmCreator::new(
-                                            &mut sp_header,
-                                            sec_header,
-                                            Some(&buf),
-                                            true,
-                                        );
-                                        let addr = aocs_tm_store
-                                            .add_pus_tm(&pus_tm)
-                                            .expect("Adding PUS TM failed");
-                                        aocs_tm_funnel.send(addr).expect("Sending HK TM failed");
-                                    }
-                                }
-                                HkRequest::Enable(_) => {}
-                                HkRequest::Disable(_) => {}
-                                HkRequest::ModifyCollectionInterval(_, _) => {}
-                            },
-                            Request::Mode(_mode_req) => {
-                                warn!("mode request handling not implemented yet")
-                            }
-                            Request::Action(_action_req) => {
-                                warn!("action request handling not implemented yet")
-                            }
-                        }
-                        let started_token = reporter_aocs
-                            .start_success(request.token, Some(&timestamp))
-                            .expect("Sending start success failed");
-                        reporter_aocs
-                            .completion_success(started_token, Some(&timestamp))
-                            .expect("Sending completion success failed");
-                    }
-                    Err(e) => match e {
-                        TryRecvError::Empty => {}
-                        TryRecvError::Disconnected => {
-                            warn!("ACS thread: Message Queue TX disconnected!")
-                        }
-                    },
-                }
-                thread::sleep(Duration::from_millis(500));
-            }
+        .spawn(move || loop {
+            acs_task.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
 
     info!("Starting PUS handler thread");
-    let jh4 = thread::Builder::new()
+    let jh_pus_handler = thread::Builder::new()
         .name("PUS".to_string())
         .spawn(move || loop {
-            pus_11_wrapper.release_tcs();
-            loop {
-                let mut all_queues_empty = true;
-                let mut is_srv_finished = |srv_handler_finished: bool| {
-                    if !srv_handler_finished {
-                        all_queues_empty = false;
-                    }
-                };
-                is_srv_finished(pus_17_wrapper.handle_next_packet());
-                is_srv_finished(pus_11_wrapper.handle_next_packet());
-                is_srv_finished(pus_5_wrapper.handle_next_packet());
-                is_srv_finished(pus_8_wrapper.handle_next_packet());
-                is_srv_finished(pus_3_wrapper.handle_next_packet());
-                if all_queues_empty {
-                    break;
-                }
-            }
-            thread::sleep(Duration::from_millis(200));
+            pus_stack.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
         })
         .unwrap();
-    jh0.join().expect("Joining UDP TMTC server thread failed");
-    jh1.join().expect("Joining TM Funnel thread failed");
-    jh2.join().expect("Joining Event Manager thread failed");
-    jh3.join().expect("Joining AOCS thread failed");
-    jh4.join().expect("Joining PUS handler thread failed");
+
+    jh_udp_tmtc
+        .join()
+        .expect("Joining UDP TMTC server thread failed");
+    jh_tcp
+        .join()
+        .expect("Joining TCP TMTC server thread failed");
+    jh_tm_funnel
+        .join()
+        .expect("Joining TM Funnel thread failed");
+    jh_event_handling
+        .join()
+        .expect("Joining Event Manager thread failed");
+    jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_pus_handler
+        .join()
+        .expect("Joining PUS handler thread failed");
+}
+
+#[allow(dead_code)]
+fn dyn_tmtc_pool_main() {
+    let (tc_source_tx, tc_source_rx) = channel();
+    let (tm_funnel_tx, tm_funnel_rx) = channel();
+    let (tm_server_tx, tm_server_rx) = channel();
+    // Every software component which needs to generate verification telemetry, gets a cloned
+    // verification reporter.
+    let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
+        TmSenderId::PusVerification as ChannelId,
+        "verif_sender",
+        tm_funnel_tx.clone(),
+    ));
+
+    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
+    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
+    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
+    let mut request_map = GenericRequestRouter::default();
+    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
+
+    let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
+
+    // Create event handling components
+    // These sender handles are used to send event requests, for example to enable or disable
+    // certain events.
+    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
+    // The event task is the core handler to perform the event routing and TM handling as specified
+    // in the sat-rs documentation.
+    let mut event_handler = EventHandler::new(
+        MpscTmAsVecSender::new(
+            TmSenderId::AllEvents as ChannelId,
+            "ALL_EVENTS_TX",
+            tm_funnel_tx.clone(),
+        ),
+        verif_reporter.clone(),
+        event_request_rx,
+    );
+
+    let (pus_test_tx, pus_test_rx) = channel();
+    let (pus_event_tx, pus_event_rx) = channel();
+    let (pus_sched_tx, pus_sched_rx) = channel();
+    let (pus_hk_tx, pus_hk_rx) = channel();
+    let (pus_action_tx, pus_action_rx) = channel();
+    let pus_router = PusTcMpscRouter {
+        test_service_receiver: pus_test_tx,
+        event_service_receiver: pus_event_tx,
+        sched_service_receiver: pus_sched_tx,
+        hk_service_receiver: pus_hk_tx,
+        action_service_receiver: pus_action_tx,
+    };
+
+    let pus_test_service = create_test_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        event_handler.clone_event_sender(),
+        pus_test_rx,
+    );
+    let pus_scheduler_service = create_scheduler_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        tc_source.0.clone(),
+        pus_sched_rx,
+        create_sched_tc_pool(),
+    );
+
+    let pus_event_service = create_event_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        pus_event_rx,
+        event_request_tx,
+    );
+    let pus_action_service = create_action_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        pus_action_rx,
+        request_map.clone(),
+    );
+    let pus_hk_service = create_hk_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        pus_hk_rx,
+        request_map,
+    );
+    let mut pus_stack = PusStack::new(
+        pus_hk_service,
+        pus_event_service,
+        pus_action_service,
+        pus_scheduler_service,
+        pus_test_service,
+    );
+
+    let ccsds_receiver = CcsdsReceiver { tc_source };
+
+    let mut tmtc_task = TcSourceTaskDynamic::new(
+        tc_source_rx,
+        PusReceiver::new(verif_reporter.clone(), pus_router),
+    );
+
+    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
+    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
+        .expect("creating UDP TMTC server failed");
+    let mut udp_tmtc_server = UdpTmtcServer {
+        udp_tc_server,
+        tm_handler: DynamicUdpTmHandler {
+            tm_rx: tm_server_rx,
+        },
+    };
+
+    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
+    let sync_tm_tcp_source = SyncTcpTmSource::new(200);
+    let mut tcp_server = TcpTask::new(
+        tcp_server_cfg,
+        sync_tm_tcp_source.clone(),
+        tcp_ccsds_distributor,
+    )
+    .expect("tcp server creation failed");
+
+    let mut acs_task = AcsTask::new(
+        MpscTmAsVecSender::new(
+            TmSenderId::AcsSubsystem as ChannelId,
+            "ACS_TASK_SENDER",
+            tm_funnel_tx.clone(),
+        ),
+        acs_thread_rx,
+        verif_reporter,
+    );
+    let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
+
+    info!("Starting TMTC and UDP task");
+    let jh_udp_tmtc = thread::Builder::new()
+        .name("TMTC and UDP".to_string())
+        .spawn(move || {
+            info!("Running UDP server on port {SERVER_PORT}");
+            loop {
+                udp_tmtc_server.periodic_operation();
+                tmtc_task.periodic_operation();
+                thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
+            }
+        })
+        .unwrap();
+
+    info!("Starting TCP task");
+    let jh_tcp = thread::Builder::new()
+        .name("TCP".to_string())
+        .spawn(move || {
+            info!("Running TCP server on port {SERVER_PORT}");
+            loop {
+                tcp_server.periodic_operation();
+            }
+        })
+        .unwrap();
+
+    info!("Starting TM funnel task");
+    let jh_tm_funnel = thread::Builder::new()
+        .name("TM Funnel".to_string())
+        .spawn(move || loop {
+            tm_funnel.operation();
+        })
+        .unwrap();
+
+    info!("Starting event handling task");
+    let jh_event_handling = thread::Builder::new()
+        .name("Event".to_string())
+        .spawn(move || loop {
+            event_handler.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
+        })
+        .unwrap();
+
+    info!("Starting AOCS thread");
+    let jh_aocs = thread::Builder::new()
+        .name("AOCS".to_string())
+        .spawn(move || loop {
+            acs_task.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
+        })
+        .unwrap();
+
+    info!("Starting PUS handler thread");
+    let jh_pus_handler = thread::Builder::new()
+        .name("PUS".to_string())
+        .spawn(move || loop {
+            pus_stack.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
+        })
+        .unwrap();
+
+    jh_udp_tmtc
+        .join()
+        .expect("Joining UDP TMTC server thread failed");
+    jh_tcp
+        .join()
+        .expect("Joining TCP TMTC server thread failed");
+    jh_tm_funnel
+        .join()
+        .expect("Joining TM Funnel thread failed");
+    jh_event_handling
+        .join()
+        .expect("Joining Event Manager thread failed");
+    jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_pus_handler
+        .join()
+        .expect("Joining PUS handler thread failed");
+}
+
+fn main() {
+    setup_logger().expect("setting up logging with fern failed");
+    println!("Running OBSW example");
+    #[cfg(not(feature = "dyn_tmtc"))]
+    static_tmtc_pool_main();
+    #[cfg(feature = "dyn_tmtc")]
+    dyn_tmtc_pool_main();
 }
 
 pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {

satrs-example/src/pus/action.rs

@@ -1,159 +1,155 @@
-use crate::requests::{ActionRequest, Request, RequestWithToken};
 use log::{error, warn};
-use satrs_core::pool::{SharedPool, StoreAddr};
-use satrs_core::pus::verification::{
-    FailParams, StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
+use satrs::action::ActionRequest;
+use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
+    VerificationToken,
 };
-use satrs_core::pus::{
-    EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase,
-    PusServiceHandler,
+use satrs::pus::{
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper,
 };
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::tmtc::TargetId;
-use satrs_example::tmtc_err;
-use std::collections::HashMap;
-use std::sync::mpsc::Sender;
+use satrs::request::TargetAndApidId;
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::{ChannelId, TargetId};
+use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
+use std::sync::mpsc::{self};
 
-pub struct PusService8ActionHandler {
-    psb: PusServiceBase,
-    request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
-}
+use crate::requests::GenericRequestRouter;
 
-impl PusService8ActionHandler {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        shared_tc_pool: SharedPool,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
-        request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
-    ) -> Self {
-        Self {
-            psb: PusServiceBase::new(
-                tc_receiver,
-                shared_tc_pool,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-            ),
-            request_handlers,
-        }
-    }
-}
+use super::GenericRoutingErrorHandler;
 
-impl PusService8ActionHandler {
-    fn handle_action_request_with_id(
-        &self,
+#[derive(Default)]
+pub struct ExampleActionRequestConverter {}
+
+impl PusActionToRequestConverter for ExampleActionRequestConverter {
+    type Error = PusPacketHandlingError;
+
+    fn convert(
+        &mut self,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
         time_stamp: &[u8],
-    ) -> Result<(), PusPacketHandlingError> {
+        verif_reporter: &impl VerificationReportingProvider,
+    ) -> Result<(TargetId, ActionRequest), Self::Error> {
+        let subservice = tc.subservice();
         let user_data = tc.user_data();
         if user_data.len() < 8 {
-            self.psb()
-                .verification_handler
-                .borrow_mut()
+            verif_reporter
                 .start_failure(
                     token,
-                    FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
                 )
                 .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 4 bytes".into(),
-            ));
+            return Err(PusPacketHandlingError::NotEnoughAppData {
+                expected: 8,
+                found: user_data.len(),
+            });
         }
-        let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap());
+        let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
         let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
-        if let Some(sender) = self.request_handlers.get(&target_id) {
-            sender
-                .send(RequestWithToken::new(
-                    target_id,
-                    Request::Action(ActionRequest::CmdWithU32Id((
-                        action_id,
-                        Vec::from(&user_data[8..]),
-                    ))),
-                    token,
-                ))
-                .expect("Forwarding action request failed");
+        if subservice == 128 {
+            Ok((
+                target_id.raw(),
+                ActionRequest::UnsignedIdAndVecData {
+                    action_id,
+                    data: user_data[8..].to_vec(),
+                },
+            ))
         } else {
-            let mut fail_data: [u8; 4] = [0; 4];
-            fail_data.copy_from_slice(&target_id.to_be_bytes());
-            self.psb()
-                .verification_handler
-                .borrow_mut()
+            verif_reporter
                 .start_failure(
                     token,
-                    FailParams::new(
-                        Some(time_stamp),
-                        &tmtc_err::UNKNOWN_TARGET_ID,
-                        Some(&fail_data),
-                    ),
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
                 )
                 .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::Other(format!(
-                "Unknown target ID {target_id}"
-            )));
+            Err(PusPacketHandlingError::InvalidSubservice(subservice))
         }
-        Ok(())
     }
 }
 
-impl PusServiceHandler for PusService8ActionHandler {
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
-        &mut self.psb
-    }
-    fn psb(&self) -> &PusServiceBase {
-        &self.psb
-    }
-
-    fn handle_one_tc(
-        &mut self,
-        addr: StoreAddr,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb().pus_buf).unwrap();
-        let subservice = tc.subservice();
-        let mut partial_error = None;
-        let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
-        match subservice {
-            128 => {
-                self.handle_action_request_with_id(token, &tc, &time_stamp)?;
-            }
-            _ => {
-                let fail_data = [subservice];
-                self.psb_mut()
-                    .verification_handler
-                    .get_mut()
-                    .start_failure(
-                        token,
-                        FailParams::new(
-                            Some(&time_stamp),
-                            &tmtc_err::INVALID_PUS_SUBSERVICE,
-                            Some(&fail_data),
-                        ),
-                    )
-                    .expect("Sending start failure failed");
-                return Err(PusPacketHandlingError::InvalidSubservice(subservice));
-            }
-        }
-        if let Some(partial_error) = partial_error {
-            return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                partial_error,
-            ));
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
+pub fn create_action_service_static(
+    shared_tm_store: SharedTmPool,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_pool: SharedStaticMemoryPool,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    action_router: GenericRequestRouter,
+) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
+    let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
+        TmSenderId::PusAction as ChannelId,
+        "PUS_8_TM_SENDER",
+        shared_tm_store.clone(),
+        tm_funnel_tx.clone(),
+    );
+    let action_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusAction as ChannelId,
+        "PUS_8_TC_RECV",
+        pus_action_rx,
+    );
+    let pus_8_handler = PusService8ActionHandler::new(
+        PusServiceHelper::new(
+            Box::new(action_srv_receiver),
+            Box::new(action_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
+        ),
+        ExampleActionRequestConverter::default(),
+        action_router,
+        GenericRoutingErrorHandler::<8>::default(),
+    );
+    Pus8Wrapper { pus_8_handler }
 }
 
-pub struct Pus8Wrapper {
-    pub(crate) pus_8_handler: PusService8ActionHandler,
+pub fn create_action_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    action_router: GenericRequestRouter,
+) -> Pus8Wrapper<EcssTcInVecConverter> {
+    let action_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusAction as ChannelId,
+        "PUS_8_TM_SENDER",
+        tm_funnel_tx.clone(),
+    );
+    let action_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusAction as ChannelId,
+        "PUS_8_TC_RECV",
+        pus_action_rx,
+    );
+    let pus_8_handler = PusService8ActionHandler::new(
+        PusServiceHelper::new(
+            Box::new(action_srv_receiver),
+            Box::new(action_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInVecConverter::default(),
+        ),
+        ExampleActionRequestConverter::default(),
+        action_router,
+        GenericRoutingErrorHandler::<8>::default(),
+    );
+    Pus8Wrapper { pus_8_handler }
 }
 
-impl Pus8Wrapper {
+pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) pus_8_handler: PusService8ActionHandler<
+        TcInMemConverter,
+        VerificationReporterWithSender,
+        ExampleActionRequestConverter,
+        GenericRequestRouter,
+        GenericRoutingErrorHandler<8>,
+    >,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_8_handler.handle_next_packet() {
+        match self.pus_8_handler.handle_one_tc() {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/event.rs

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

satrs-example/src/pus/hk.rs

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

satrs-example/src/pus/mod.rs

@@ -1,27 +1,31 @@
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
-use satrs_core::pool::StoreAddr;
-use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
-use satrs_core::pus::{PusPacketHandlerResult, TcAddrWithToken};
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusServiceId;
-use satrs_core::spacepackets::time::cds::TimeProvider;
-use satrs_core::spacepackets::time::TimeWriter;
-use satrs_example::{tmtc_err, CustomPusServiceId};
+use satrs::pus::verification::{
+    FailParams, StdVerifReporterWithSender, VerificationReportingProvider,
+};
+use satrs::pus::{
+    EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
+};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusServiceId;
+use satrs::spacepackets::time::cds::TimeProvider;
+use satrs::spacepackets::time::TimeWriter;
+use satrs_example::config::{tmtc_err, CustomPusServiceId};
 use std::sync::mpsc::Sender;
 
 pub mod action;
 pub mod event;
 pub mod hk;
 pub mod scheduler;
+pub mod stack;
 pub mod test;
 
 pub struct PusTcMpscRouter {
-    pub test_service_receiver: Sender<TcAddrWithToken>,
-    pub event_service_receiver: Sender<TcAddrWithToken>,
-    pub sched_service_receiver: Sender<TcAddrWithToken>,
-    pub hk_service_receiver: Sender<TcAddrWithToken>,
-    pub action_service_receiver: Sender<TcAddrWithToken>,
+    pub test_service_receiver: Sender<EcssTcAndToken>,
+    pub event_service_receiver: Sender<EcssTcAndToken>,
+    pub sched_service_receiver: Sender<EcssTcAndToken>,
+    pub hk_service_receiver: Sender<EcssTcAndToken>,
+    pub action_service_receiver: Sender<EcssTcAndToken>,
 }
 
 pub struct PusReceiver {
@@ -70,7 +74,7 @@ impl PusReceiver {
 impl PusReceiver {
     pub fn handle_tc_packet(
         &mut self,
-        store_addr: StoreAddr,
+        tc_in_memory: TcInMemory,
         service: u8,
         pus_tc: &PusTcReader,
     ) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
@@ -78,35 +82,46 @@ impl PusReceiver {
         self.stamp_helper.update_from_now();
         let accepted_token = self
             .verif_reporter
-            .acceptance_success(init_token, Some(self.stamp_helper.stamp()))
+            .acceptance_success(init_token, self.stamp_helper.stamp())
             .expect("Acceptance success failure");
         let service = PusServiceId::try_from(service);
         match service {
             Ok(standard_service) => match standard_service {
                 PusServiceId::Test => {
-                    self.pus_router
-                        .test_service_receiver
-                        .send((store_addr, accepted_token.into()))?;
+                    self.pus_router.test_service_receiver.send(EcssTcAndToken {
+                        tc_in_memory,
+                        token: Some(accepted_token.into()),
+                    })?
+                }
+                PusServiceId::Housekeeping => {
+                    self.pus_router.hk_service_receiver.send(EcssTcAndToken {
+                        tc_in_memory,
+                        token: Some(accepted_token.into()),
+                    })?
+                }
+                PusServiceId::Event => {
+                    self.pus_router
+                        .event_service_receiver
+                        .send(EcssTcAndToken {
+                            tc_in_memory,
+                            token: Some(accepted_token.into()),
+                        })?
+                }
+                PusServiceId::Scheduling => {
+                    self.pus_router
+                        .sched_service_receiver
+                        .send(EcssTcAndToken {
+                            tc_in_memory,
+                            token: Some(accepted_token.into()),
+                        })?
                 }
-                PusServiceId::Housekeeping => self
-                    .pus_router
-                    .hk_service_receiver
-                    .send((store_addr, accepted_token.into()))?,
-                PusServiceId::Event => self
-                    .pus_router
-                    .event_service_receiver
-                    .send((store_addr, accepted_token.into()))?,
-                PusServiceId::Scheduling => self
-                    .pus_router
-                    .sched_service_receiver
-                    .send((store_addr, accepted_token.into()))?,
                 _ => {
                     let result = self.verif_reporter.start_failure(
                         accepted_token,
                         FailParams::new(
-                            Some(self.stamp_helper.stamp()),
+                            self.stamp_helper.stamp(),
                             &tmtc_err::PUS_SERVICE_NOT_IMPLEMENTED,
-                            Some(&[standard_service as u8]),
+                            &[standard_service as u8],
                         ),
                     );
                     if result.is_err() {
@@ -128,9 +143,9 @@ impl PusReceiver {
                         .start_failure(
                             accepted_token,
                             FailParams::new(
-                                Some(self.stamp_helper.stamp()),
+                                self.stamp_helper.stamp(),
                                 &tmtc_err::INVALID_PUS_SUBSERVICE,
-                                Some(&[e.number]),
+                                &[e.number],
                             ),
                         )
                         .expect("Start failure verification failed")
@@ -140,3 +155,56 @@ impl PusReceiver {
         Ok(PusPacketHandlerResult::RequestHandled)
     }
 }
+
+#[derive(Default)]
+pub struct GenericRoutingErrorHandler<const SERVICE_ID: u8> {}
+
+impl<const SERVICE_ID: u8> PusRoutingErrorHandler for GenericRoutingErrorHandler<SERVICE_ID> {
+    type Error = satrs::pus::GenericRoutingError;
+
+    fn handle_error(
+        &self,
+        target_id: satrs::TargetId,
+        token: satrs::pus::verification::VerificationToken<
+            satrs::pus::verification::TcStateAccepted,
+        >,
+        _tc: &PusTcReader,
+        error: Self::Error,
+        time_stamp: &[u8],
+        verif_reporter: &impl VerificationReportingProvider,
+    ) {
+        warn!("Routing request for service {SERVICE_ID} failed: {error:?}");
+        match error {
+            GenericRoutingError::UnknownTargetId(id) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&id.to_be_bytes());
+                verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+            GenericRoutingError::SendError(_) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&target_id.to_be_bytes());
+                verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+            GenericRoutingError::NotEnoughAppData { expected, found } => {
+                let mut context_info = (found as u32).to_be_bytes().to_vec();
+                context_info.extend_from_slice(&(expected as u32).to_be_bytes());
+                verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
+                    )
+                    .expect("Sending start failure failed");
+            }
+        }
+    }
+}

satrs-example/src/pus/scheduler.rs

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

satrs-example/src/pus/stack.rs

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

satrs-example/src/pus/test.rs

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

satrs-example/src/queue.rs

@@ -0,0 +1,45 @@
+/// Generic error type for sending something via a message queue.
+#[derive(Debug, Copy, Clone)]
+pub enum GenericSendError {
+    RxDisconnected,
+    QueueFull(Option<u32>),
+}
+
+impl Display for GenericSendError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            GenericSendError::RxDisconnected => {
+                write!(f, "rx side has disconnected")
+            }
+            GenericSendError::QueueFull(max_cap) => {
+                write!(f, "queue with max capacity of {max_cap:?} is full")
+            }
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for GenericSendError {}
+
+/// Generic error type for sending something via a message queue.
+#[derive(Debug, Copy, Clone)]
+pub enum GenericRecvError {
+    Empty,
+    TxDisconnected,
+}
+
+impl Display for GenericRecvError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::TxDisconnected => {
+                write!(f, "tx side has disconnected")
+            }
+            Self::Empty => {
+                write!(f, "nothing to receive")
+            }
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for GenericRecvError {}

satrs-example/src/requests.rs

@@ -1,14 +1,16 @@
-use satrs_core::hk::HkRequest;
-use satrs_core::mode::ModeRequest;
-use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
-use satrs_core::tmtc::TargetId;
+use std::collections::HashMap;
+use std::sync::mpsc;
 
-#[allow(dead_code)]
-#[derive(Clone, Eq, PartialEq, Debug)]
-pub enum ActionRequest {
-    CmdWithU32Id((u32, Vec<u8>)),
-    CmdWithStringId((String, Vec<u8>)),
-}
+use derive_new::new;
+use satrs::action::ActionRequest;
+use satrs::hk::HkRequest;
+use satrs::mode::ModeRequest;
+use satrs::pus::action::PusActionRequestRouter;
+use satrs::pus::hk::PusHkRequestRouter;
+use satrs::pus::verification::{TcStateAccepted, VerificationToken};
+use satrs::pus::GenericRoutingError;
+use satrs::queue::GenericSendError;
+use satrs::TargetId;
 
 #[allow(dead_code)]
 #[derive(Clone, Eq, PartialEq, Debug)]
@@ -19,18 +21,12 @@ pub enum Request {
     Action(ActionRequest),
 }
 
-#[derive(Clone, Eq, PartialEq, Debug)]
+#[derive(Clone, Eq, PartialEq, Debug, new)]
 pub struct TargetedRequest {
     pub(crate) target_id: TargetId,
     pub(crate) request: Request,
 }
 
-impl TargetedRequest {
-    pub fn new(target_id: TargetId, request: Request) -> Self {
-        Self { target_id, request }
-    }
-}
-
 #[derive(Clone, Eq, PartialEq, Debug)]
 pub struct RequestWithToken {
     pub(crate) targeted_request: TargetedRequest,
@@ -39,7 +35,7 @@ pub struct RequestWithToken {
 
 impl RequestWithToken {
     pub fn new(
-        target_id: u32,
+        target_id: TargetId,
         request: Request,
         token: VerificationToken<TcStateAccepted>,
     ) -> Self {
@@ -49,3 +45,50 @@ impl RequestWithToken {
         }
     }
 }
+
+#[derive(Default, Clone)]
+pub struct GenericRequestRouter(pub HashMap<TargetId, mpsc::Sender<RequestWithToken>>);
+
+impl PusHkRequestRouter for GenericRequestRouter {
+    type Error = GenericRoutingError;
+
+    fn route(
+        &self,
+        target_id: TargetId,
+        hk_request: HkRequest,
+        token: VerificationToken<TcStateAccepted>,
+    ) -> Result<(), Self::Error> {
+        if let Some(sender) = self.0.get(&target_id) {
+            sender
+                .send(RequestWithToken::new(
+                    target_id,
+                    Request::Hk(hk_request),
+                    token,
+                ))
+                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+        }
+        Ok(())
+    }
+}
+
+impl PusActionRequestRouter for GenericRequestRouter {
+    type Error = GenericRoutingError;
+
+    fn route(
+        &self,
+        target_id: TargetId,
+        action_request: ActionRequest,
+        token: VerificationToken<TcStateAccepted>,
+    ) -> Result<(), Self::Error> {
+        if let Some(sender) = self.0.get(&target_id) {
+            sender
+                .send(RequestWithToken::new(
+                    target_id,
+                    Request::Action(action_request),
+                    token,
+                ))
+                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+        }
+        Ok(())
+    }
+}

satrs-example/src/tcp.rs

@@ -0,0 +1,113 @@
+use std::{
+    collections::VecDeque,
+    sync::{Arc, Mutex},
+};
+
+use log::{info, warn};
+use satrs::{
+    hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
+    spacepackets::PacketId,
+    tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
+};
+use satrs_example::config::PUS_APID;
+
+pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
+
+#[derive(Default, Clone)]
+pub struct SyncTcpTmSource {
+    tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
+    max_packets_stored: usize,
+    pub silent_packet_overwrite: bool,
+}
+
+impl SyncTcpTmSource {
+    pub fn new(max_packets_stored: usize) -> Self {
+        Self {
+            tm_queue: Arc::default(),
+            max_packets_stored,
+            silent_packet_overwrite: true,
+        }
+    }
+
+    pub fn add_tm(&mut self, tm: &[u8]) {
+        let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failec");
+        if tm_queue.len() > self.max_packets_stored {
+            if !self.silent_packet_overwrite {
+                warn!("TPC TM source is full, deleting oldest packet");
+            }
+            tm_queue.pop_front();
+        }
+        tm_queue.push_back(tm.to_vec());
+    }
+}
+
+impl TmPacketSourceCore for SyncTcpTmSource {
+    type Error = ();
+
+    fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
+        let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failed");
+        if !tm_queue.is_empty() {
+            let next_vec = tm_queue.front().unwrap();
+            if buffer.len() < next_vec.len() {
+                panic!(
+                    "provided buffer too small, must be at least {} bytes",
+                    next_vec.len()
+                );
+            }
+            let next_vec = tm_queue.pop_front().unwrap();
+            buffer[0..next_vec.len()].copy_from_slice(&next_vec);
+            if next_vec.len() > 9 {
+                let service = next_vec[7];
+                let subservice = next_vec[8];
+                info!("Sending PUS TM[{service},{subservice}]")
+            } else {
+                info!("Sending PUS TM");
+            }
+            return Ok(next_vec.len());
+        }
+        Ok(0)
+    }
+}
+
+pub struct TcpTask<MpscErrorType: 'static> {
+    server: TcpSpacepacketsServer<
+        (),
+        CcsdsError<MpscErrorType>,
+        SyncTcpTmSource,
+        CcsdsDistributor<MpscErrorType>,
+    >,
+}
+
+impl<MpscErrorType: 'static + core::fmt::Debug> TcpTask<MpscErrorType> {
+    pub fn new(
+        cfg: ServerConfig,
+        tm_source: SyncTcpTmSource,
+        tc_receiver: CcsdsDistributor<MpscErrorType>,
+    ) -> Result<Self, std::io::Error> {
+        Ok(Self {
+            server: TcpSpacepacketsServer::new(
+                cfg,
+                tm_source,
+                tc_receiver,
+                Box::new(PACKET_ID_LOOKUP),
+            )?,
+        })
+    }
+
+    pub fn periodic_operation(&mut self) {
+        loop {
+            let result = self.server.handle_next_connection();
+            match result {
+                Ok(conn_result) => {
+                    info!(
+                        "Served {} TMs and {} TCs for client {:?}",
+                        conn_result.num_sent_tms, conn_result.num_received_tcs, conn_result.addr
+                    );
+                }
+                Err(e) => {
+                    warn!("TCP server error: {e:?}");
+                }
+            }
+        }
+    }
+}

satrs-example/src/tm_funnel.rs

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

satrs-example/src/tmtc.rs

@@ -1,96 +1,68 @@
-use log::{info, warn};
-use satrs_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
-use std::net::SocketAddr;
-use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
-use std::thread;
-use std::time::Duration;
+use log::warn;
+use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
+use satrs::spacepackets::SpHeader;
+use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
 use thiserror::Error;
 
-use crate::ccsds::CcsdsReceiver;
-use crate::pus::{PusReceiver, PusTcMpscRouter};
-use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
-use satrs_core::pus::verification::StdVerifReporterWithSender;
-use satrs_core::pus::{ReceivesEcssPusTc, TcAddrWithToken};
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::spacepackets::SpHeader;
-use satrs_core::tmtc::tm_helper::SharedTmStore;
-use satrs_core::tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc};
-
-pub struct TmArgs {
-    pub tm_store: SharedTmStore,
-    pub tm_sink_sender: Sender<StoreAddr>,
-    pub tm_server_rx: Receiver<StoreAddr>,
-}
-
-pub struct TcArgs {
-    pub tc_source: PusTcSource,
-    pub tc_receiver: Receiver<StoreAddr>,
-}
-
-impl TcArgs {
-    #[allow(dead_code)]
-    fn split(self) -> (PusTcSource, Receiver<StoreAddr>) {
-        (self.tc_source, self.tc_receiver)
-    }
-}
+use crate::pus::PusReceiver;
+use satrs::pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::tmtc::ReceivesCcsdsTc;
 
 #[derive(Debug, Clone, PartialEq, Eq, Error)]
 pub enum MpscStoreAndSendError {
     #[error("Store error: {0}")]
     Store(#[from] StoreError),
     #[error("TC send error: {0}")]
-    TcSend(#[from] SendError<TcAddrWithToken>),
+    TcSend(#[from] SendError<EcssTcAndToken>),
     #[error("TMTC send error: {0}")]
     TmTcSend(#[from] SendError<StoreAddr>),
 }
 
 #[derive(Clone)]
-pub struct TcStore {
-    pub pool: SharedPool,
+pub struct SharedTcPool {
+    pub pool: SharedStaticMemoryPool,
 }
 
-impl TcStore {
+impl SharedTcPool {
     pub fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<StoreAddr, StoreError> {
         let mut pg = self.pool.write().expect("error locking TC store");
-        let (addr, buf) = pg.free_element(pus_tc.len_packed())?;
-        buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
+        let addr = pg.free_element(pus_tc.len_packed(), |buf| {
+            buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
+        })?;
         Ok(addr)
     }
 }
 
-pub struct TmFunnel {
-    pub tm_funnel_rx: Receiver<StoreAddr>,
-    pub tm_server_tx: Sender<StoreAddr>,
-}
-
-pub struct UdpTmtcServer {
-    udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
-    tm_rx: Receiver<StoreAddr>,
-    tm_store: SharedPool,
-}
-
 #[derive(Clone)]
-pub struct PusTcSource {
+pub struct PusTcSourceProviderSharedPool {
     pub tc_source: Sender<StoreAddr>,
-    pub tc_store: TcStore,
+    pub shared_pool: SharedTcPool,
 }
 
-impl ReceivesEcssPusTc for PusTcSource {
+impl PusTcSourceProviderSharedPool {
+    #[allow(dead_code)]
+    pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
+        self.shared_pool.pool.clone()
+    }
+}
+
+impl ReceivesEcssPusTc for PusTcSourceProviderSharedPool {
     type Error = MpscStoreAndSendError;
 
     fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-        let addr = self.tc_store.add_pus_tc(pus_tc)?;
+        let addr = self.shared_pool.add_pus_tc(pus_tc)?;
         self.tc_source.send(addr)?;
         Ok(())
     }
 }
 
-impl ReceivesCcsdsTc for PusTcSource {
+impl ReceivesCcsdsTc for PusTcSourceProviderSharedPool {
     type Error = MpscStoreAndSendError;
 
     fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        let mut pool = self.tc_store.pool.write().expect("locking pool failed");
+        let mut pool = self.shared_pool.pool.write().expect("locking pool failed");
         let addr = pool.add(tc_raw)?;
         drop(pool);
         self.tc_source.send(addr)?;
@@ -98,131 +70,138 @@ impl ReceivesCcsdsTc for PusTcSource {
     }
 }
 
-pub fn core_tmtc_task(
-    socket_addr: SocketAddr,
-    mut tc_args: TcArgs,
-    tm_args: TmArgs,
-    verif_reporter: StdVerifReporterWithSender,
-    pus_router: PusTcMpscRouter,
-) {
-    let mut pus_receiver = PusReceiver::new(verif_reporter, pus_router);
+// Newtype, can not implement necessary traits on MPSC sender directly because of orphan rules.
+#[derive(Clone)]
+pub struct PusTcSourceProviderDynamic(pub Sender<Vec<u8>>);
 
-    let ccsds_receiver = CcsdsReceiver {
-        tc_source: tc_args.tc_source.clone(),
-    };
+impl ReceivesEcssPusTc for PusTcSourceProviderDynamic {
+    type Error = SendError<Vec<u8>>;
 
-    let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
-
-    let udp_tc_server = UdpTcServer::new(socket_addr, 2048, Box::new(ccsds_distributor))
-        .expect("creating UDP TMTC server failed");
-
-    let mut udp_tmtc_server = UdpTmtcServer {
-        udp_tc_server,
-        tm_rx: tm_args.tm_server_rx,
-        tm_store: tm_args.tm_store.clone_backing_pool(),
-    };
-
-    let mut tc_buf: [u8; 4096] = [0; 4096];
-    loop {
-        core_tmtc_loop(
-            &mut udp_tmtc_server,
-            &mut tc_args,
-            &mut tc_buf,
-            &mut pus_receiver,
-        );
-        thread::sleep(Duration::from_millis(400));
+    fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
+        self.0.send(pus_tc.raw_data().to_vec())?;
+        Ok(())
     }
 }
 
-fn core_tmtc_loop(
-    udp_tmtc_server: &mut UdpTmtcServer,
-    tc_args: &mut TcArgs,
-    tc_buf: &mut [u8],
-    pus_receiver: &mut PusReceiver,
-) {
-    while poll_tc_server(udp_tmtc_server) {}
-    match tc_args.tc_receiver.try_recv() {
-        Ok(addr) => {
-            let pool = tc_args
-                .tc_source
-                .tc_store
-                .pool
-                .read()
-                .expect("locking tc pool failed");
-            let data = pool.read(&addr).expect("reading pool failed");
-            tc_buf[0..data.len()].copy_from_slice(data);
-            drop(pool);
-            match PusTcReader::new(tc_buf) {
+impl ReceivesCcsdsTc for PusTcSourceProviderDynamic {
+    type Error = mpsc::SendError<Vec<u8>>;
+
+    fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        self.0.send(tc_raw.to_vec())?;
+        Ok(())
+    }
+}
+
+// TC source components where static pools are the backing memory of the received telecommands.
+pub struct TcSourceTaskStatic {
+    shared_tc_pool: SharedTcPool,
+    tc_receiver: Receiver<StoreAddr>,
+    tc_buf: [u8; 4096],
+    pus_receiver: PusReceiver,
+}
+
+impl TcSourceTaskStatic {
+    pub fn new(
+        shared_tc_pool: SharedTcPool,
+        tc_receiver: Receiver<StoreAddr>,
+        pus_receiver: PusReceiver,
+    ) -> Self {
+        Self {
+            shared_tc_pool,
+            tc_receiver,
+            tc_buf: [0; 4096],
+            pus_receiver,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.poll_tc();
+    }
+
+    pub fn poll_tc(&mut self) -> bool {
+        match self.tc_receiver.try_recv() {
+            Ok(addr) => {
+                let pool = self
+                    .shared_tc_pool
+                    .pool
+                    .read()
+                    .expect("locking tc pool failed");
+                pool.read(&addr, &mut self.tc_buf)
+                    .expect("reading pool failed");
+                drop(pool);
+                match PusTcReader::new(&self.tc_buf) {
+                    Ok((pus_tc, _)) => {
+                        self.pus_receiver
+                            .handle_tc_packet(
+                                satrs::pus::TcInMemory::StoreAddr(addr),
+                                pus_tc.service(),
+                                &pus_tc,
+                            )
+                            .ok();
+                        true
+                    }
+                    Err(e) => {
+                        warn!("error creating PUS TC from raw data: {e}");
+                        warn!("raw data: {:x?}", self.tc_buf);
+                        true
+                    }
+                }
+            }
+            Err(e) => match e {
+                TryRecvError::Empty => false,
+                TryRecvError::Disconnected => {
+                    warn!("tmtc thread: sender disconnected");
+                    false
+                }
+            },
+        }
+    }
+}
+
+// TC source components where the heap is the backing memory of the received telecommands.
+pub struct TcSourceTaskDynamic {
+    pub tc_receiver: Receiver<Vec<u8>>,
+    pus_receiver: PusReceiver,
+}
+
+impl TcSourceTaskDynamic {
+    pub fn new(tc_receiver: Receiver<Vec<u8>>, pus_receiver: PusReceiver) -> Self {
+        Self {
+            tc_receiver,
+            pus_receiver,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.poll_tc();
+    }
+
+    pub fn poll_tc(&mut self) -> bool {
+        match self.tc_receiver.try_recv() {
+            Ok(tc) => match PusTcReader::new(&tc) {
                 Ok((pus_tc, _)) => {
-                    pus_receiver
-                        .handle_tc_packet(addr, pus_tc.service(), &pus_tc)
+                    self.pus_receiver
+                        .handle_tc_packet(
+                            satrs::pus::TcInMemory::Vec(tc.clone()),
+                            pus_tc.service(),
+                            &pus_tc,
+                        )
                         .ok();
+                    true
                 }
                 Err(e) => {
                     warn!("error creating PUS TC from raw data: {e}");
-                    warn!("raw data: {tc_buf:x?}");
-                }
-            }
-        }
-        Err(e) => {
-            if let TryRecvError::Disconnected = e {
-                warn!("tmtc thread: sender disconnected")
-            }
-        }
-    }
-    if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
-        core_tm_handling(udp_tmtc_server, &recv_addr);
-    }
-}
-
-fn poll_tc_server(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
-    match udp_tmtc_server.udp_tc_server.try_recv_tc() {
-        Ok(_) => true,
-        Err(e) => match e {
-            ReceiveResult::ReceiverError(e) => match e {
-                CcsdsError::ByteConversionError(e) => {
-                    warn!("packet error: {e:?}");
-                    true
-                }
-                CcsdsError::CustomError(e) => {
-                    warn!("mpsc store and send error {e:?}");
+                    warn!("raw data: {:x?}", tc);
                     true
                 }
             },
-            ReceiveResult::IoError(e) => {
-                warn!("IO error {e}");
-                false
-            }
-            ReceiveResult::NothingReceived => false,
-        },
-    }
-}
-
-fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr) {
-    while let Ok(addr) = udp_tmtc_server.tm_rx.try_recv() {
-        let store_lock = udp_tmtc_server.tm_store.write();
-        if store_lock.is_err() {
-            warn!("Locking TM store failed");
-            continue;
-        }
-        let mut store_lock = store_lock.unwrap();
-        let pg = store_lock.read_with_guard(addr);
-        let read_res = pg.read();
-        if read_res.is_err() {
-            warn!("Error reading TM pool data");
-            continue;
-        }
-        let buf = read_res.unwrap();
-        if buf.len() > 9 {
-            let service = buf[7];
-            let subservice = buf[8];
-            info!("Sending PUS TM[{service},{subservice}]")
-        } else {
-            info!("Sending PUS TM");
-        }
-        let result = udp_tmtc_server.udp_tc_server.socket.send_to(buf, recv_addr);
-        if let Err(e) = result {
-            warn!("Sending TM with UDP socket failed: {e}")
+            Err(e) => match e {
+                TryRecvError::Empty => false,
+                TryRecvError::Disconnected => {
+                    warn!("tmtc thread: sender disconnected");
+                    false
+                }
+            },
         }
     }
 }

satrs-example/src/udp.rs

@@ -0,0 +1,215 @@
+use std::{
+    net::{SocketAddr, UdpSocket},
+    sync::mpsc::Receiver,
+};
+
+use log::{info, warn};
+use satrs::{
+    hal::std::udp_server::{ReceiveResult, UdpTcServer},
+    pool::{PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr},
+    tmtc::CcsdsError,
+};
+
+pub trait UdpTmHandler {
+    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
+}
+
+pub struct StaticUdpTmHandler {
+    pub tm_rx: Receiver<StoreAddr>,
+    pub tm_store: SharedStaticMemoryPool,
+}
+
+impl UdpTmHandler for StaticUdpTmHandler {
+    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, &recv_addr: &SocketAddr) {
+        while let Ok(addr) = self.tm_rx.try_recv() {
+            let store_lock = self.tm_store.write();
+            if store_lock.is_err() {
+                warn!("Locking TM store failed");
+                continue;
+            }
+            let mut store_lock = store_lock.unwrap();
+            let pg = store_lock.read_with_guard(addr);
+            let read_res = pg.read_as_vec();
+            if read_res.is_err() {
+                warn!("Error reading TM pool data");
+                continue;
+            }
+            let buf = read_res.unwrap();
+            let result = socket.send_to(&buf, recv_addr);
+            if let Err(e) = result {
+                warn!("Sending TM with UDP socket failed: {e}")
+            }
+        }
+    }
+}
+
+pub struct DynamicUdpTmHandler {
+    pub tm_rx: Receiver<Vec<u8>>,
+}
+
+impl UdpTmHandler for DynamicUdpTmHandler {
+    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
+        while let Ok(tm) = self.tm_rx.try_recv() {
+            if tm.len() > 9 {
+                let service = tm[7];
+                let subservice = tm[8];
+                info!("Sending PUS TM[{service},{subservice}]")
+            } else {
+                info!("Sending PUS TM");
+            }
+            let result = socket.send_to(&tm, recv_addr);
+            if let Err(e) = result {
+                warn!("Sending TM with UDP socket failed: {e}")
+            }
+        }
+    }
+}
+
+pub struct UdpTmtcServer<TmHandler: UdpTmHandler, SendError> {
+    pub udp_tc_server: UdpTcServer<CcsdsError<SendError>>,
+    pub tm_handler: TmHandler,
+}
+
+impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
+    UdpTmtcServer<TmHandler, SendError>
+{
+    pub fn periodic_operation(&mut self) {
+        while self.poll_tc_server() {}
+        if let Some(recv_addr) = self.udp_tc_server.last_sender() {
+            self.tm_handler
+                .send_tm_to_udp_client(&self.udp_tc_server.socket, &recv_addr);
+        }
+    }
+
+    fn poll_tc_server(&mut self) -> bool {
+        match self.udp_tc_server.try_recv_tc() {
+            Ok(_) => true,
+            Err(e) => match e {
+                ReceiveResult::ReceiverError(e) => match e {
+                    CcsdsError::ByteConversionError(e) => {
+                        warn!("packet error: {e:?}");
+                        true
+                    }
+                    CcsdsError::CustomError(e) => {
+                        warn!("mpsc custom error {e:?}");
+                        true
+                    }
+                },
+                ReceiveResult::IoError(e) => {
+                    warn!("IO error {e}");
+                    false
+                }
+                ReceiveResult::NothingReceived => false,
+            },
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::{
+        collections::VecDeque,
+        net::IpAddr,
+        sync::{Arc, Mutex},
+    };
+
+    use satrs::{
+        spacepackets::{
+            ecss::{tc::PusTcCreator, WritablePusPacket},
+            SpHeader,
+        },
+        tmtc::ReceivesTcCore,
+    };
+    use satrs_example::config::{OBSW_SERVER_ADDR, PUS_APID};
+
+    use super::*;
+
+    #[derive(Default, Debug, Clone)]
+    pub struct TestReceiver {
+        tc_vec: Arc<Mutex<VecDeque<Vec<u8>>>>,
+    }
+
+    impl ReceivesTcCore for TestReceiver {
+        type Error = CcsdsError<()>;
+        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+            self.tc_vec.lock().unwrap().push_back(tc_raw.to_vec());
+            Ok(())
+        }
+    }
+
+    #[derive(Default, Debug, Clone)]
+    pub struct TestTmHandler {
+        addrs_to_send_to: Arc<Mutex<VecDeque<SocketAddr>>>,
+    }
+
+    impl UdpTmHandler for TestTmHandler {
+        fn send_tm_to_udp_client(&mut self, _socket: &UdpSocket, recv_addr: &SocketAddr) {
+            self.addrs_to_send_to.lock().unwrap().push_back(*recv_addr);
+        }
+    }
+
+    #[test]
+    fn test_basic() {
+        let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
+        let test_receiver = TestReceiver::default();
+        let tc_queue = test_receiver.tc_vec.clone();
+        let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
+        let tm_handler = TestTmHandler::default();
+        let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
+        let mut udp_dyn_server = UdpTmtcServer {
+            udp_tc_server,
+            tm_handler,
+        };
+        udp_dyn_server.periodic_operation();
+        assert!(tc_queue.lock().unwrap().is_empty());
+        assert!(tm_handler_calls.lock().unwrap().is_empty());
+    }
+
+    #[test]
+    fn test_transactions() {
+        let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
+        let test_receiver = TestReceiver::default();
+        let tc_queue = test_receiver.tc_vec.clone();
+        let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
+        let server_addr = udp_tc_server.socket.local_addr().unwrap();
+        let tm_handler = TestTmHandler::default();
+        let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
+        let mut udp_dyn_server = UdpTmtcServer {
+            udp_tc_server,
+            tm_handler,
+        };
+        let mut sph = SpHeader::tc_unseg(PUS_APID, 0, 0).unwrap();
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
+            .to_vec()
+            .unwrap();
+        let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
+        let client_addr = client.local_addr().unwrap();
+        client.connect(server_addr).unwrap();
+        client.send(&ping_tc).unwrap();
+        udp_dyn_server.periodic_operation();
+        {
+            let mut tc_queue = tc_queue.lock().unwrap();
+            assert!(!tc_queue.is_empty());
+            let received_tc = tc_queue.pop_front().unwrap();
+            assert_eq!(received_tc, ping_tc);
+        }
+
+        {
+            let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
+            assert!(!tm_handler_calls.is_empty());
+            assert_eq!(tm_handler_calls.len(), 1);
+            let received_addr = tm_handler_calls.pop_front().unwrap();
+            assert_eq!(received_addr, client_addr);
+        }
+        udp_dyn_server.periodic_operation();
+        assert!(tc_queue.lock().unwrap().is_empty());
+        // Still tries to send to the same client.
+        {
+            let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
+            assert!(!tm_handler_calls.is_empty());
+            assert_eq!(tm_handler_calls.len(), 1);
+            let received_addr = tm_handler_calls.pop_front().unwrap();
+            assert_eq!(received_addr, client_addr);
+        }
+    }
+}

satrs-mib/CHANGELOG.md

@@ -7,3 +7,11 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
+
+# [v0.1.1] 2024-02-17
+
+- Bumped `spacepackets` to v0.10.0
+
+# [v0.1.0] 2024-02-12
+
+Initial release containing the `resultcode` macro.

satrs-mib/Cargo.toml

@@ -1,7 +1,17 @@
 [package]
 name = "satrs-mib"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
+rust-version = "1.61"
+authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
+description = """
+Helper crate of the sat-rs framework to build a mission information base (MIB) from the
+On-Board Software (OBSW) code directly."""
+homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
+repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
+license = "Apache-2.0"
+keywords = ["no-std", "space", "aerospace"]
+categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
@@ -12,11 +22,13 @@ serde-hex = "0.1.0"
 version = "1"
 optional = true
 
-[dependencies.satrs-core]
-path = "../satrs-core"
+[dependencies.satrs-shared]
+version = "0.1.2"
+features = ["serde"]
 
 [dependencies.satrs-mib-codegen]
 path = "codegen"
+version = "0.1.1"
 
 [dependencies.serde]
 version = "1"

satrs-mib/README.md

@@ -1,2 +1,8 @@
+[![Crates.io](https://img.shields.io/crates/v/satrs-mib)](https://crates.io/crates/satrs-mib)
+[![docs.rs](https://img.shields.io/docsrs/satrs-mib)](https://docs.rs/satrs-mib)
+
 satrs-mib
 =========
+
+This helper crate contains the procedural macros for the sat-rs framework.
+You can find more information on the [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).