Merge pull request 'prep next release' (#171) from pre-v0.2.0-rc.4 into main

Reviewed-on: #171

.gitignore

@@ -1,5 +1,9 @@
-/target
+target/
+
+output.log
 /Cargo.lock
 
+output.log
+
 /.idea/*
 !/.idea/runConfigurations

Cargo.toml

@@ -1,11 +1,14 @@
 [workspace]
-
+resolver = "2"
 members = [
-    "satrs-core",
+    "satrs",
     "satrs-mib",
     "satrs-example",
+    "satrs-minisim",
+    "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 +1,23 @@
+<p align="center"> <img src="misc/satrs-logo-v2.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
+This is the repository of the sat-rs library. 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/).
+
+This is early-stage software. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this library if your are willing to work in this
+environment.
 
 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
@@ -14,15 +28,19 @@ 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):
-   Example of a simple example on-board software using sat-rs components on a bare-metal system
+* [`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 using low-level sat-rs components on a bare-metal system
    with constrained resources.
 
 Each project has its own `CHANGELOG.md`.
@@ -33,5 +51,18 @@ 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 +1,65 @@
+#!/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"
+    grcov_cmd = (
+        f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
+        f"-o {out_path}"
+    )
+    print(f"Running: {grcov_cmd}")
+    os.system(grcov_cmd)
+    if format == "lcov":
+        lcov_cmd = (
+            "genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
+            "--legend ./target/debug/lcov.info"
+        )
+        print(f"Running: {lcov_cmd}")
+        os.system(lcov_cmd)
+    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", "satrs-minisim", "satrs-example"],
+        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 @@
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           <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>
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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:
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       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="72.55999999999983" x="860.6610837438426" y="335.62999999999994"/>
+          <y:Geometry height="60.0" width="87.27999999999997" x="845.9410837438425" y="335.62999999999994"/>
           <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: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="16.079819335937373" 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="7.559937133788935" xml:space="preserve" y="10.063962936401367">Event
 Creator 3<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>
@@ -87,10 +87,10 @@ Creator 3<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
     <node id="n6">
       <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"/>
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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 library 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 +1,58 @@
+<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/std/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 library 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 component oriented software using message passing, this usually includes staged demultiplexing
+components to determine where a command needs to be sent.
+
+Using a generic concept of a TC source and a TM sink as part of the software design simplifies
+the flexibility of the TMTC infrastructure: Newly added TM generators and TC receiver only have to
+forward their generated or received packets to those handler objects.
+
+# 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 +1,58 @@
+# Library 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 library is centered
+around many light-weight components which try to impose as few restrictions as possible on how to
+solve certain problems. This is also the reason why sat-rs is explicitely called a library
+instead of a framework.
+
+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 library 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 library 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`
+library.
+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 library 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` library 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 +1,34 @@
+The sat-rs book
+======
+
+This book is the primary information resource for the [sat-rs library](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 library 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.
+
+It should be noted that sat-rs is early-stage software. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this library if your are willing to work in this
+environment.
+
+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 +1,103 @@
+# Modes
+
+Modes are an extremely useful concept to model complex systems. They allow simplified
+system reasoning for both system operators and OBSW developers. They also provide a way to alter
+the behaviour of a component and also provide observability of a system. A few examples of how to
+model the mode of different components within a space system with modes will be given.
+
+## Pyhsical device component with modes
+
+The following simple mode scheme with the following three mode
+
+- `OFF`
+- `ON`
+- `NORMAL`
+
+can be applied to a large number of simpler device controllers 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.
+
+## Controller components 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/CHANGELOG.md

@@ -1,9 +0,0 @@
-Change Log
-=======
-
-All notable changes to this project will be documented in this file.
-
-The format is based on [Keep a Changelog](http://keepachangelog.com/)
-and this project adheres to [Semantic Versioning](http://semver.org/).
-
-# [unreleased]

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/event_man.rs

@@ -1,720 +0,0 @@
-//! Event management and forwarding
-//!
-//! This module provides components to perform event routing. The most important component for this
-//! task is the [EventManager]. It receives all events and then routes them to event subscribers
-//! where appropriate.
-#![cfg_attr(feature = "doc-images",
-cfg_attr(all(),
-doc = ::embed_doc_image::embed_image!("event_man_arch", "images/event_man_arch.png"
-)))]
-#![cfg_attr(
-    not(feature = "doc-images"),
-    doc = "**Doc images not enabled**. Compile with feature `doc-images` and Rust version >= 1.54 \
-           to enable."
-)]
-//! One common use case for satellite systems is to offer a light-weight publish-subscribe mechanism
-//! and IPC mechanism for software and hardware events which are also packaged as telemetry (TM) or
-//! can trigger a system response.
-//!
-//! The following graph shows how the event flow for such a setup could look like:
-//!
-//! ![Event flow][event_man_arch]
-//!
-//! The event manager has a listener table abstracted by the [ListenerTable], which maps
-//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
-//! It also contains a sender table abstracted by the [SenderTable] which maps these sender IDs
-//! to a concrete [SendEventProvider]s. A simple approach would be to use one send event provider
-//! for each OBSW thread and then subscribe for all interesting events for a particular thread
-//! using the send event provider ID.
-//!
-//! This can be done with the [EventManager] like this:
-//!
-//!  1. Provide a concrete [EventReceiver] implementation. This abstraction allow to use different
-//!     message queue backends. A straightforward implementation where dynamic memory allocation is
-//!     not a big concern could use [std::sync::mpsc::channel] to do this and is provided in
-//!     form of the [MpscEventReceiver].
-//!  2. To set up event creators, create channel pairs using some message queue implementation.
-//!     Each event creator gets a (cloned) sender component which allows it to send events to the
-//!     manager.
-//!  3. The event manager receives the receiver component as part of a [EventReceiver]
-//!     implementation so all events are routed to the manager.
-//!  4. Create the [send event providers][SendEventProvider]s which allow routing events to
-//!     subscribers. You can now use their [sender IDs][SendEventProvider::id] to subscribe for
-//!     event groups, for example by using the [EventManager::subscribe_single] method.
-//!  5. Add the send provider as well using the [EventManager::add_sender] call so the event
-//!     manager can route listener groups to a the send provider.
-//!
-//! Some components like a PUS Event Service or PUS Event Action Service might require all
-//! events to package them as telemetry or start actions where applicable.
-//! Other components might only be interested in certain events. For example, a thermal system
-//! handler might only be interested in temperature events generated by a thermal sensor component.
-//!
-//! # Examples
-//!
-//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/pus_events.rs)
-//! for a concrete example using multi-threading where events are routed to
-//! different threads.
-use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
-use crate::params::{Params, ParamsHeapless};
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
-use alloc::vec;
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
-use core::slice::Iter;
-#[cfg(feature = "alloc")]
-use hashbrown::HashMap;
-
-use crate::ChannelId;
-#[cfg(feature = "std")]
-pub use stdmod::*;
-
-#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
-pub enum ListenerKey {
-    Single(LargestEventRaw),
-    Group(LargestGroupIdRaw),
-    All,
-}
-
-pub type EventWithHeaplessAuxData<Event> = (Event, Option<ParamsHeapless>);
-pub type EventU32WithHeaplessAuxData = EventWithHeaplessAuxData<EventU32>;
-pub type EventU16WithHeaplessAuxData = EventWithHeaplessAuxData<EventU16>;
-
-pub type EventWithAuxData<Event> = (Event, Option<Params>);
-pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
-pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
-
-pub trait SendEventProvider<Provider: GenericEvent, AuxDataProvider = Params> {
-    type Error;
-
-    fn id(&self) -> ChannelId;
-    fn send_no_data(&self, event: Provider) -> Result<(), Self::Error> {
-        self.send(event, None)
-    }
-    fn send(&self, event: Provider, aux_data: Option<AuxDataProvider>) -> Result<(), Self::Error>;
-}
-
-/// Generic abstraction for an event receiver.
-pub trait EventReceiver<Event: GenericEvent, AuxDataProvider = Params> {
-    /// This function has to be provided by any event receiver. A receive call may or may not return
-    /// an event.
-    ///
-    /// To allow returning arbitrary additional auxiliary data, a mutable slice is passed to the
-    /// [Self::receive] call as well. Receivers can write data to this slice, but care must be taken
-    /// to avoid panics due to size missmatches or out of bound writes.
-    fn receive(&self) -> Option<(Event, Option<AuxDataProvider>)>;
-}
-
-pub trait ListenerTable {
-    fn get_listeners(&self) -> Vec<ListenerKey>;
-    fn contains_listener(&self, key: &ListenerKey) -> bool;
-    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
-    fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
-    fn remove_duplicates(&mut self, key: &ListenerKey);
-}
-
-pub trait SenderTable<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params> {
-    fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
-    fn get_send_event_provider(
-        &self,
-        id: &ChannelId,
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>;
-    fn add_send_event_provider(
-        &mut self,
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool;
-}
-
-/// Generic event manager implementation.
-///
-/// # Generics
-///
-///  * `SendProviderError`: [SendEventProvider] error type
-///  * `Event`: Concrete event provider, currently either [EventU32] or [EventU16]
-///  * `AuxDataProvider`: Concrete auxiliary data provider, currently either [Params] or
-///     [ParamsHeapless]
-pub struct EventManager<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params>
-{
-    listener_table: Box<dyn ListenerTable>,
-    sender_table: Box<dyn SenderTable<SendProviderError, Event, AuxDataProvider>>,
-    event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
-}
-
-/// Safety: It is safe to implement [Send] because all fields in the [EventManager] are [Send]
-/// as well
-#[cfg(feature = "std")]
-unsafe impl<E, Event: GenericEvent + Send, AuxDataProvider: Send> Send
-    for EventManager<E, Event, AuxDataProvider>
-{
-}
-
-#[cfg(feature = "std")]
-pub type EventManagerWithMpscQueue<Event, AuxDataProvider> = EventManager<
-    std::sync::mpsc::SendError<(Event, Option<AuxDataProvider>)>,
-    Event,
-    AuxDataProvider,
->;
-
-#[derive(Debug)]
-pub enum EventRoutingResult<Event: GenericEvent, AuxDataProvider> {
-    /// No event was received
-    Empty,
-    /// An event was received and routed.
-    /// The first tuple entry will contain the number of recipients.
-    Handled(u32, Event, Option<AuxDataProvider>),
-}
-
-#[derive(Debug)]
-pub enum EventRoutingError<E> {
-    SendError(E),
-    NoSendersForKey(ListenerKey),
-    NoSenderForId(ChannelId),
-}
-
-#[derive(Debug)]
-pub struct EventRoutingErrorsWithResult<Event: GenericEvent, AuxDataProvider, E> {
-    pub result: EventRoutingResult<Event, AuxDataProvider>,
-    pub errors: [Option<EventRoutingError<E>>; 3],
-}
-
-impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
-    pub fn remove_duplicates(&mut self, key: &ListenerKey) {
-        self.listener_table.remove_duplicates(key)
-    }
-
-    /// Subscribe for a unique event.
-    pub fn subscribe_single(&mut self, event: &Event, sender_id: ChannelId) {
-        self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
-    }
-
-    /// Subscribe for an event group.
-    pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ChannelId) {
-        self.update_listeners(ListenerKey::Group(group_id), sender_id);
-    }
-
-    /// Subscribe for all events received by the manager.
-    ///
-    /// For example, this can be useful for a handler component which sends every event as
-    /// a telemetry packet.
-    pub fn subscribe_all(&mut self, sender_id: ChannelId) {
-        self.update_listeners(ListenerKey::All, sender_id);
-    }
-}
-
-impl<E: 'static, Event: GenericEvent + Copy + 'static, AuxDataProvider: Clone + 'static>
-    EventManager<E, Event, AuxDataProvider>
-{
-    /// Create an event manager where the sender table will be the [DefaultSenderTableProvider]
-    /// and the listener table will be the [DefaultListenerTableProvider].
-    pub fn new(event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>) -> Self {
-        let listener_table: Box<DefaultListenerTableProvider> = Box::default();
-        let sender_table: Box<DefaultSenderTableProvider<E, Event, AuxDataProvider>> =
-            Box::default();
-        Self::new_custom_tables(listener_table, sender_table, event_receiver)
-    }
-}
-
-impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
-    EventManager<E, Event, AuxDataProvider>
-{
-    pub fn new_custom_tables(
-        listener_table: Box<dyn ListenerTable>,
-        sender_table: Box<dyn SenderTable<E, Event, AuxDataProvider>>,
-        event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
-    ) -> Self {
-        EventManager {
-            listener_table,
-            sender_table,
-            event_receiver,
-        }
-    }
-
-    pub fn add_sender(
-        &mut self,
-        send_provider: impl SendEventProvider<Event, AuxDataProvider, Error = E> + 'static,
-    ) {
-        if !self
-            .sender_table
-            .contains_send_event_provider(&send_provider.id())
-        {
-            self.sender_table
-                .add_send_event_provider(Box::new(send_provider));
-        }
-    }
-
-    fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
-        self.listener_table.add_listener(key, sender_id);
-    }
-
-    /// This function will use the cached event receiver and try to receive one event.
-    /// If an event was received, it will try to route that event to all subscribed event listeners.
-    /// If this works without any issues, the [EventRoutingResult] will contain context information
-    /// about the routed event.
-    ///
-    /// This function will track up to 3 errors returned as part of the
-    /// [EventRoutingErrorsWithResult] error struct.
-    pub fn try_event_handling(
-        &self,
-    ) -> Result<
-        EventRoutingResult<Event, AuxDataProvider>,
-        EventRoutingErrorsWithResult<Event, AuxDataProvider, E>,
-    > {
-        let mut err_idx = 0;
-        let mut err_slice = [None, None, None];
-        let mut num_recipients = 0;
-        let mut add_error = |error: EventRoutingError<E>| {
-            if err_idx < 3 {
-                err_slice[err_idx] = Some(error);
-                err_idx += 1;
-            }
-        };
-        let mut send_handler =
-            |key: &ListenerKey, event: Event, aux_data: &Option<AuxDataProvider>| {
-                if self.listener_table.contains_listener(key) {
-                    if let Some(ids) = self.listener_table.get_listener_ids(key) {
-                        for id in ids {
-                            if let Some(sender) = self.sender_table.get_send_event_provider(id) {
-                                if let Err(e) = sender.send(event, aux_data.clone()) {
-                                    add_error(EventRoutingError::SendError(e));
-                                } else {
-                                    num_recipients += 1;
-                                }
-                            } else {
-                                add_error(EventRoutingError::NoSenderForId(*id));
-                            }
-                        }
-                    } else {
-                        add_error(EventRoutingError::NoSendersForKey(*key));
-                    }
-                }
-            };
-        if let Some((event, aux_data)) = self.event_receiver.receive() {
-            let single_key = ListenerKey::Single(event.raw_as_largest_type());
-            send_handler(&single_key, event, &aux_data);
-            let group_key = ListenerKey::Group(event.group_id_as_largest_type());
-            send_handler(&group_key, event, &aux_data);
-            send_handler(&ListenerKey::All, event, &aux_data);
-            if err_idx > 0 {
-                return Err(EventRoutingErrorsWithResult {
-                    result: EventRoutingResult::Handled(num_recipients, event, aux_data),
-                    errors: err_slice,
-                });
-            }
-            return Ok(EventRoutingResult::Handled(num_recipients, event, aux_data));
-        }
-        Ok(EventRoutingResult::Empty)
-    }
-}
-
-#[derive(Default)]
-pub struct DefaultListenerTableProvider {
-    listeners: HashMap<ListenerKey, Vec<ChannelId>>,
-}
-
-pub struct DefaultSenderTableProvider<
-    SendProviderError,
-    Event: GenericEvent = EventU32,
-    AuxDataProvider = Params,
-> {
-    senders: HashMap<
-        ChannelId,
-        Box<dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>,
-    >,
-}
-
-impl<SendProviderError, Event: GenericEvent, AuxDataProvider> Default
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
-{
-    fn default() -> Self {
-        Self {
-            senders: HashMap::new(),
-        }
-    }
-}
-
-impl ListenerTable for DefaultListenerTableProvider {
-    fn get_listeners(&self) -> Vec<ListenerKey> {
-        let mut key_list = Vec::new();
-        for key in self.listeners.keys() {
-            key_list.push(*key);
-        }
-        key_list
-    }
-
-    fn contains_listener(&self, key: &ListenerKey) -> bool {
-        self.listeners.contains_key(key)
-    }
-
-    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
-        self.listeners.get(key).map(|vec| vec.iter())
-    }
-
-    fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
-        if let Some(existing_list) = self.listeners.get_mut(&key) {
-            existing_list.push(sender_id);
-        } else {
-            let new_list = vec![sender_id];
-            self.listeners.insert(key, new_list);
-        }
-        true
-    }
-
-    fn remove_duplicates(&mut self, key: &ListenerKey) {
-        if let Some(list) = self.listeners.get_mut(key) {
-            list.sort_unstable();
-            list.dedup();
-        }
-    }
-}
-
-impl<SendProviderError, Event: GenericEvent, AuxDataProvider>
-    SenderTable<SendProviderError, Event, AuxDataProvider>
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
-{
-    fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
-        self.senders.contains_key(id)
-    }
-
-    fn get_send_event_provider(
-        &self,
-        id: &ChannelId,
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>> {
-        self.senders
-            .get(id)
-            .filter(|sender| sender.id() == *id)
-            .map(|v| v.as_ref())
-    }
-
-    fn add_send_event_provider(
-        &mut self,
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool {
-        let id = send_provider.id();
-        if self.senders.contains_key(&id) {
-            return false;
-        }
-        self.senders.insert(id, send_provider).is_none()
-    }
-}
-
-#[cfg(feature = "std")]
-pub mod stdmod {
-    use super::*;
-    use crate::event_man::{EventReceiver, EventWithAuxData};
-    use crate::events::{EventU16, EventU32, GenericEvent};
-    use crate::params::Params;
-    use std::sync::mpsc::{Receiver, SendError, Sender};
-
-    pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
-        mpsc_receiver: Receiver<(Event, Option<Params>)>,
-    }
-
-    impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
-        pub fn new(receiver: Receiver<(Event, Option<Params>)>) -> Self {
-            Self {
-                mpsc_receiver: receiver,
-            }
-        }
-    }
-    impl<Event: GenericEvent + Send> EventReceiver<Event> for MpscEventReceiver<Event> {
-        fn receive(&self) -> Option<EventWithAuxData<Event>> {
-            if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
-                return Some(event_and_data);
-            }
-            None
-        }
-    }
-
-    pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
-    pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;
-
-    #[derive(Clone)]
-    pub struct MpscEventSendProvider<Event: GenericEvent + Send> {
-        id: u32,
-        sender: Sender<(Event, Option<Params>)>,
-    }
-
-    impl<Event: GenericEvent + Send> MpscEventSendProvider<Event> {
-        pub fn new(id: u32, sender: Sender<(Event, Option<Params>)>) -> Self {
-            Self { id, sender }
-        }
-    }
-
-    impl<Event: GenericEvent + Send> SendEventProvider<Event> for MpscEventSendProvider<Event> {
-        type Error = SendError<(Event, Option<Params>)>;
-
-        fn id(&self) -> u32 {
-            self.id
-        }
-        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), Self::Error> {
-            self.sender.send((event, aux_data))
-        }
-    }
-
-    pub type MpscEventU32SendProvider = MpscEventSendProvider<EventU32>;
-    pub type MpscEventU16SendProvider = MpscEventSendProvider<EventU16>;
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::event_man::EventManager;
-    use crate::events::{EventU32, GenericEvent, Severity};
-    use crate::params::ParamsRaw;
-    use alloc::boxed::Box;
-    use std::format;
-    use std::sync::mpsc::{channel, Receiver, SendError, Sender};
-
-    #[derive(Clone)]
-    struct MpscEventSenderQueue {
-        id: u32,
-        mpsc_sender: Sender<EventU32WithAuxData>,
-    }
-
-    impl MpscEventSenderQueue {
-        fn new(id: u32, mpsc_sender: Sender<EventU32WithAuxData>) -> Self {
-            Self { id, mpsc_sender }
-        }
-    }
-
-    impl SendEventProvider<EventU32> for MpscEventSenderQueue {
-        type Error = SendError<EventU32WithAuxData>;
-
-        fn id(&self) -> u32 {
-            self.id
-        }
-        fn send(&self, event: EventU32, aux_data: Option<Params>) -> Result<(), Self::Error> {
-            self.mpsc_sender.send((event, aux_data))
-        }
-    }
-
-    fn check_next_event(
-        expected: EventU32,
-        receiver: &Receiver<EventU32WithAuxData>,
-    ) -> Option<Params> {
-        if let Ok(event) = receiver.try_recv() {
-            assert_eq!(event.0, expected);
-            return event.1;
-        }
-        None
-    }
-
-    fn check_handled_event(
-        res: EventRoutingResult<EventU32, Params>,
-        expected: EventU32,
-        expected_num_sent: u32,
-    ) {
-        assert!(matches!(res, EventRoutingResult::Handled { .. }));
-        if let EventRoutingResult::Handled(num_recipients, event, _aux_data) = res {
-            assert_eq!(event, expected);
-            assert_eq!(num_recipients, expected_num_sent);
-        }
-    }
-
-    fn generic_event_man() -> (
-        Sender<EventU32WithAuxData>,
-        EventManager<SendError<EventU32WithAuxData>>,
-    ) {
-        let (event_sender, manager_queue) = channel();
-        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        (
-            event_sender,
-            EventManager::new(Box::new(event_man_receiver)),
-        )
-    }
-
-    #[test]
-    fn test_basic() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (single_event_sender, single_event_receiver) = channel();
-        let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
-        event_man.add_sender(single_event_listener);
-        let (group_event_sender_0, group_event_receiver_0) = channel();
-        let group_event_listener = MpscEventSenderQueue {
-            id: 1,
-            mpsc_sender: group_event_sender_0,
-        };
-        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.id());
-        event_man.add_sender(group_event_listener);
-
-        // Test event with one listener
-        event_sender
-            .send((event_grp_0, None))
-            .expect("Sending single error failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_0, 1);
-        check_next_event(event_grp_0, &single_event_receiver);
-
-        // Test event which is sent to all group listeners
-        event_sender
-            .send((event_grp_1_0, None))
-            .expect("Sending group error failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_1_0, 1);
-        check_next_event(event_grp_1_0, &group_event_receiver_0);
-    }
-
-    #[test]
-    fn test_with_basic_aux_data() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let (single_event_sender, single_event_receiver) = channel();
-        let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
-        event_man.add_sender(single_event_listener);
-        event_sender
-            .send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
-            .expect("Sending group error failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_0, 1);
-        let aux = check_next_event(event_grp_0, &single_event_receiver);
-        assert!(aux.is_some());
-        let aux = aux.unwrap();
-        if let Params::Heapless(ParamsHeapless::Raw(ParamsRaw::U32Pair(pair))) = aux {
-            assert_eq!(pair.0, 2);
-            assert_eq!(pair.1, 3);
-        } else {
-            panic!("{}", format!("Unexpected auxiliary value type {:?}", aux));
-        }
-    }
-
-    /// Test listening for multiple groups
-    #[test]
-    fn test_multi_group() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        let hres = res.unwrap();
-        assert!(matches!(hres, EventRoutingResult::Empty));
-
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_grp_0_sender, event_grp_0_receiver) = channel();
-        let event_grp_0_and_1_listener = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_grp_0_sender,
-        };
-        event_man.subscribe_group(event_grp_0.group_id(), event_grp_0_and_1_listener.id());
-        event_man.subscribe_group(event_grp_1_0.group_id(), event_grp_0_and_1_listener.id());
-        event_man.add_sender(event_grp_0_and_1_listener);
-
-        event_sender
-            .send((event_grp_0, None))
-            .expect("Sending Event Group 0 failed");
-        event_sender
-            .send((event_grp_1_0, None))
-            .expect("Sendign Event Group 1 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_0, 1);
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_1_0, 1);
-
-        check_next_event(event_grp_0, &event_grp_0_receiver);
-        check_next_event(event_grp_1_0, &event_grp_0_receiver);
-    }
-
-    /// Test listening to the same event from multiple listeners. Also test listening
-    /// to both group and single events from one listener
-    #[test]
-    fn test_listening_to_same_event_and_multi_type() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
-        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_0_tx_0, event_0_rx_0) = channel();
-        let (event_0_tx_1, event_0_rx_1) = channel();
-        let event_listener_0 = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_0_tx_0,
-        };
-        let event_listener_1 = MpscEventSenderQueue {
-            id: 1,
-            mpsc_sender: event_0_tx_1,
-        };
-        let event_listener_0_sender_id = event_listener_0.id();
-        event_man.subscribe_single(&event_0, event_listener_0_sender_id);
-        event_man.add_sender(event_listener_0);
-        let event_listener_1_sender_id = event_listener_1.id();
-        event_man.subscribe_single(&event_0, event_listener_1_sender_id);
-        event_man.add_sender(event_listener_1);
-        event_sender
-            .send((event_0, None))
-            .expect("Triggering Event 0 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_0, 2);
-        check_next_event(event_0, &event_0_rx_0);
-        check_next_event(event_0, &event_0_rx_1);
-        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
-        event_sender
-            .send((event_0, None))
-            .expect("Triggering Event 0 failed");
-        event_sender
-            .send((event_1, None))
-            .expect("Triggering Event 1 failed");
-
-        // 3 Events messages will be sent now
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_0, 2);
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_1, 1);
-        // Both the single event and the group event should arrive now
-        check_next_event(event_0, &event_0_rx_0);
-        check_next_event(event_1, &event_0_rx_0);
-
-        // Do double insertion and then remove duplicates
-        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
-        event_man.remove_duplicates(&ListenerKey::Group(event_1.group_id()));
-        event_sender
-            .send((event_1, None))
-            .expect("Triggering Event 1 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_1, 1);
-    }
-
-    #[test]
-    fn test_all_events_listener() {
-        let (event_sender, manager_queue) = channel();
-        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        let mut event_man: EventManager<SendError<EventU32WithAuxData>> =
-            EventManager::new(Box::new(event_man_receiver));
-        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
-        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_0_tx_0, all_events_rx) = channel();
-        let all_events_listener = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_0_tx_0,
-        };
-        event_man.subscribe_all(all_events_listener.id());
-        event_man.add_sender(all_events_listener);
-        event_sender
-            .send((event_0, None))
-            .expect("Triggering event 0 failed");
-        event_sender
-            .send((event_1, None))
-            .expect("Triggering event 1 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_0, 1);
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_1, 1);
-        check_next_event(event_0, &all_events_rx);
-        check_next_event(event_1, &all_events_rx);
-    }
-}

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/hal/host/udp_server.rs

@@ -1,214 +0,0 @@
-//! UDP server helper components
-use crate::tmtc::{ReceivesTc, ReceivesTcCore};
-use std::boxed::Box;
-use std::io::{Error, ErrorKind};
-use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
-use std::vec;
-use std::vec::Vec;
-
-/// This TC server helper can be used to receive raw PUS telecommands thorough a UDP interface.
-///
-/// It caches all received telecomands into a vector. The maximum expected telecommand size should
-/// be declared upfront. This avoids dynamic allocation during run-time. The user can specify a TC
-/// receiver in form of a special trait object which implements [ReceivesTc]. Please note that the
-/// receiver should copy out the received data if it the data is required past the
-/// [ReceivesTcCore::pass_tc] call.
-///
-/// # Examples
-///
-/// ```
-/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
-/// use spacepackets::ecss::SerializablePusPacket;
-/// use satrs_core::hal::host::udp_server::UdpTcServer;
-/// use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
-/// use spacepackets::SpHeader;
-/// use spacepackets::ecss::tc::PusTcCreator;
-///
-/// #[derive (Default)]
-/// struct PingReceiver {}
-/// impl ReceivesTcCore for PingReceiver {
-///    type Error = ();
-///    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-///         assert_eq!(tc_raw.len(), 13);
-///         Ok(())
-///     }
-/// }
-///
-/// let mut buf = [0; 32];
-/// let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
-/// let ping_receiver = PingReceiver::default();
-/// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
-///       .expect("Creating UDP TMTC server failed");
-/// let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
-/// let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-/// let len = pus_tc
-///     .write_to_bytes(&mut buf)
-///     .expect("Error writing PUS TC packet");
-/// assert_eq!(len, 13);
-/// let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
-/// client
-///     .send_to(&buf[0..len], dest_addr)
-///     .expect("Error sending PUS TC via UDP");
-/// ```
-///
-/// The [fsrc-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example)
-/// server code also includes
-/// [example code](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example/src/bin/obsw/tmtc.rs)
-/// on how to use this TC server. It uses the server to receive PUS telecommands on a specific port
-/// and then forwards them to a generic CCSDS packet receiver.
-pub struct UdpTcServer<E> {
-    pub socket: UdpSocket,
-    recv_buf: Vec<u8>,
-    sender_addr: Option<SocketAddr>,
-    tc_receiver: Box<dyn ReceivesTc<Error = E>>,
-}
-
-#[derive(Debug)]
-pub enum ReceiveResult<E> {
-    NothingReceived,
-    IoError(Error),
-    ReceiverError(E),
-}
-
-impl<E> From<Error> for ReceiveResult<E> {
-    fn from(e: Error) -> Self {
-        ReceiveResult::IoError(e)
-    }
-}
-
-impl<E: PartialEq> PartialEq for ReceiveResult<E> {
-    fn eq(&self, other: &Self) -> bool {
-        use ReceiveResult::*;
-        match (self, other) {
-            (IoError(ref e), IoError(ref other_e)) => e.kind() == other_e.kind(),
-            (NothingReceived, NothingReceived) => true,
-            (ReceiverError(e), ReceiverError(other_e)) => e == other_e,
-            _ => false,
-        }
-    }
-}
-
-impl<E: Eq + PartialEq> Eq for ReceiveResult<E> {}
-
-impl<E: 'static> ReceivesTcCore for UdpTcServer<E> {
-    type Error = E;
-
-    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        self.tc_receiver.pass_tc(tc_raw)
-    }
-}
-
-impl<E: 'static> UdpTcServer<E> {
-    pub fn new<A: ToSocketAddrs>(
-        addr: A,
-        max_recv_size: usize,
-        tc_receiver: Box<dyn ReceivesTc<Error = E>>,
-    ) -> Result<Self, Error> {
-        let server = Self {
-            socket: UdpSocket::bind(addr)?,
-            recv_buf: vec![0; max_recv_size],
-            sender_addr: None,
-            tc_receiver,
-        };
-        server.socket.set_nonblocking(true)?;
-        Ok(server)
-    }
-
-    pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
-        let res = match self.socket.recv_from(&mut self.recv_buf) {
-            Ok(res) => res,
-            Err(e) => {
-                return if e.kind() == ErrorKind::WouldBlock || e.kind() == ErrorKind::TimedOut {
-                    Err(ReceiveResult::NothingReceived)
-                } else {
-                    Err(e.into())
-                }
-            }
-        };
-        let (num_bytes, from) = res;
-        self.sender_addr = Some(from);
-        self.tc_receiver
-            .pass_tc(&self.recv_buf[0..num_bytes])
-            .map_err(|e| ReceiveResult::ReceiverError(e))?;
-        Ok(res)
-    }
-
-    pub fn last_sender(&self) -> Option<SocketAddr> {
-        self.sender_addr
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::hal::host::udp_server::{ReceiveResult, UdpTcServer};
-    use crate::tmtc::ReceivesTcCore;
-    use spacepackets::ecss::tc::PusTcCreator;
-    use spacepackets::ecss::SerializablePusPacket;
-    use spacepackets::SpHeader;
-    use std::boxed::Box;
-    use std::collections::VecDeque;
-    use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
-    use std::vec::Vec;
-
-    fn is_send<T: Send>(_: &T) {}
-
-    #[derive(Default)]
-    struct PingReceiver {
-        pub sent_cmds: VecDeque<Vec<u8>>,
-    }
-
-    impl ReceivesTcCore for PingReceiver {
-        type Error = ();
-
-        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-            let mut sent_data = Vec::new();
-            sent_data.extend_from_slice(tc_raw);
-            self.sent_cmds.push_back(sent_data);
-            Ok(())
-        }
-    }
-
-    #[test]
-    fn basic_test() {
-        let mut buf = [0; 32];
-        let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
-        let ping_receiver = PingReceiver::default();
-        is_send(&ping_receiver);
-        let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
-            .expect("Creating UDP TMTC server failed");
-        is_send(&udp_tc_server);
-        let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
-        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        let len = pus_tc
-            .write_to_bytes(&mut buf)
-            .expect("Error writing PUS TC packet");
-        let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
-        client
-            .send_to(&buf[0..len], dest_addr)
-            .expect("Error sending PUS TC via UDP");
-        let local_addr = client.local_addr().unwrap();
-        udp_tc_server
-            .try_recv_tc()
-            .expect("Error receiving sent telecommand");
-        assert_eq!(
-            udp_tc_server.last_sender().expect("No sender set"),
-            local_addr
-        );
-        let ping_receiver: &mut PingReceiver = udp_tc_server.tc_receiver.downcast_mut().unwrap();
-        assert_eq!(ping_receiver.sent_cmds.len(), 1);
-        let sent_cmd = ping_receiver.sent_cmds.pop_front().unwrap();
-        assert_eq!(sent_cmd, buf[0..len]);
-    }
-
-    #[test]
-    fn test_nothing_received() {
-        let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7779);
-        let ping_receiver = PingReceiver::default();
-        let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
-            .expect("Creating UDP TMTC server failed");
-        let res = udp_tc_server.try_recv_tc();
-        assert!(res.is_err());
-        let err = res.unwrap_err();
-        assert_eq!(err, ReceiveResult::NothingReceived);
-    }
-}

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/lib.rs

@@ -1,47 +0,0 @@
-//! # Core components of the sat-rs framework
-//!
-//! You can find more information about the sat-rs framework on the
-//! [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
-//!
-//! ## Overview
-//!
-//! The core modules of this crate include
-//!
-//!  - The [event manager][event_man] module which provides a publish and
-//!    and subscribe to route events.
-//!  - The [pus] module which provides special support for projects using
-//!    the [ECSS PUS C standard](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
-#![no_std]
-#![cfg_attr(doc_cfg, feature(doc_cfg))]
-#[cfg(feature = "alloc")]
-extern crate alloc;
-#[cfg(feature = "alloc")]
-extern crate downcast_rs;
-#[cfg(any(feature = "std", test))]
-extern crate std;
-
-pub mod error;
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub mod event_man;
-pub mod events;
-#[cfg(feature = "std")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
-pub mod executable;
-pub mod hal;
-pub mod hk;
-pub mod mode;
-pub mod objects;
-pub mod params;
-pub mod pool;
-pub mod power;
-pub mod pus;
-pub mod request;
-pub mod res_code;
-pub mod seq_count;
-pub mod tmtc;
-
-pub use spacepackets;
-
-// Generic channel ID type.
-pub type ChannelId = u32;

satrs-core/src/mode.rs

@@ -1,94 +0,0 @@
-use crate::tmtc::TargetId;
-use core::mem::size_of;
-#[cfg(feature = "serde")]
-use serde::{Deserialize, Serialize};
-use spacepackets::ByteConversionError;
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct ModeAndSubmode {
-    mode: u32,
-    submode: u16,
-}
-
-impl ModeAndSubmode {
-    pub const fn new_mode_only(mode: u32) -> Self {
-        Self { mode, submode: 0 }
-    }
-
-    pub const fn new(mode: u32, submode: u16) -> Self {
-        Self { mode, submode }
-    }
-
-    pub fn raw_len() -> usize {
-        size_of::<u32>() + size_of::<u16>()
-    }
-
-    pub fn from_be_bytes(buf: &[u8]) -> Result<Self, ByteConversionError> {
-        if buf.len() < 6 {
-            return Err(ByteConversionError::FromSliceTooSmall {
-                expected: 6,
-                found: buf.len(),
-            });
-        }
-        Ok(Self {
-            mode: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
-            submode: u16::from_be_bytes(buf[4..6].try_into().unwrap()),
-        })
-    }
-
-    pub fn mode(&self) -> u32 {
-        self.mode
-    }
-
-    pub fn submode(&self) -> u16 {
-        self.submode
-    }
-}
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct ModeCommand {
-    pub address: TargetId,
-    pub mode_submode: ModeAndSubmode,
-}
-
-impl ModeCommand {
-    pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
-        Self {
-            address,
-            mode_submode,
-        }
-    }
-
-    pub fn address(&self) -> TargetId {
-        self.address
-    }
-
-    pub fn mode_submode(&self) -> ModeAndSubmode {
-        self.mode_submode
-    }
-
-    pub fn mode(&self) -> u32 {
-        self.mode_submode.mode
-    }
-
-    pub fn submode(&self) -> u16 {
-        self.mode_submode.submode
-    }
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum ModeRequest {
-    SetMode(ModeAndSubmode),
-    ReadMode,
-    AnnounceMode,
-    AnnounceModeRecursive,
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct TargetedModeRequest {
-    target_id: TargetId,
-    mode_request: ModeRequest,
-}

satrs-core/src/objects.rs

@@ -1,307 +0,0 @@
-//! # Module providing addressable object support and a manager for them
-//!
-//! Each addressable object can be identified using an [object ID][ObjectId].
-//! The [system object][ManagedSystemObject] trait also allows storing these objects into the
-//! [object manager][ObjectManager]. They can then be retrieved and casted back to a known type
-//! using the object ID.
-//!
-//! # Examples
-//!
-//! ```rust
-//! use std::any::Any;
-//! use std::error::Error;
-//! use satrs_core::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
-//!
-//! struct ExampleSysObj {
-//!     id: ObjectId,
-//!     dummy: u32,
-//!     was_initialized: bool,
-//! }
-//!
-//! impl ExampleSysObj {
-//!     fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
-//!         ExampleSysObj {
-//!             id,
-//!             dummy,
-//!             was_initialized: false,
-//!         }
-//!     }
-//! }
-//!
-//! impl SystemObject for ExampleSysObj {
-//!     type Error = ();
-//!     fn get_object_id(&self) -> &ObjectId {
-//!         &self.id
-//!     }
-//!
-//!     fn initialize(&mut self) -> Result<(), Self::Error> {
-//!         self.was_initialized = true;
-//!         Ok(())
-//!     }
-//! }
-//!
-//! impl ManagedSystemObject for ExampleSysObj {}
-//!
-//!  let mut obj_manager = ObjectManager::default();
-//!  let obj_id = ObjectId { id: 0, name: "Example 0"};
-//!  let example_obj = ExampleSysObj::new(obj_id, 42);
-//!  obj_manager.insert(Box::new(example_obj));
-//!  let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&obj_id);
-//!  let example_obj = obj_back_casted.unwrap();
-//!  assert_eq!(example_obj.id, obj_id);
-//!  assert_eq!(example_obj.dummy, 42);
-//! ```
-use crate::tmtc::TargetId;
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-#[cfg(feature = "alloc")]
-use downcast_rs::Downcast;
-#[cfg(feature = "alloc")]
-use hashbrown::HashMap;
-#[cfg(feature = "std")]
-use std::error::Error;
-
-#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
-pub struct ObjectId {
-    pub id: TargetId,
-    pub name: &'static str,
-}
-
-#[cfg(feature = "alloc")]
-pub mod alloc_mod {
-    use super::*;
-
-    /// Each object which is stored inside the [object manager][ObjectManager] needs to implemented
-    /// this trait
-    pub trait SystemObject: Downcast {
-        type Error;
-        fn get_object_id(&self) -> &ObjectId;
-        fn initialize(&mut self) -> Result<(), Self::Error>;
-    }
-    downcast_rs::impl_downcast!(SystemObject assoc Error);
-
-    pub trait ManagedSystemObject: SystemObject + Send {}
-    downcast_rs::impl_downcast!(ManagedSystemObject assoc Error);
-
-    /// Helper module to manage multiple [ManagedSystemObjects][ManagedSystemObject] by mapping them
-    /// using an [object ID][ObjectId]
-    #[cfg(feature = "alloc")]
-    pub struct ObjectManager<E> {
-        obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject<Error = E>>>,
-    }
-
-    #[cfg(feature = "alloc")]
-    impl<E: 'static> Default for ObjectManager<E> {
-        fn default() -> Self {
-            Self::new()
-        }
-    }
-
-    #[cfg(feature = "alloc")]
-    impl<E: 'static> ObjectManager<E> {
-        pub fn new() -> Self {
-            ObjectManager {
-                obj_map: HashMap::new(),
-            }
-        }
-        pub fn insert(&mut self, sys_obj: Box<dyn ManagedSystemObject<Error = E>>) -> bool {
-            let obj_id = sys_obj.get_object_id();
-            if self.obj_map.contains_key(obj_id) {
-                return false;
-            }
-            self.obj_map.insert(*obj_id, sys_obj).is_none()
-        }
-
-        /// Initializes all System Objects in the hash map and returns the number of successful
-        /// initializations
-        pub fn initialize(&mut self) -> Result<u32, Box<dyn Error>> {
-            let mut init_success = 0;
-            for val in self.obj_map.values_mut() {
-                if val.initialize().is_ok() {
-                    init_success += 1
-                }
-            }
-            Ok(init_success)
-        }
-
-        /// Retrieve a reference to an object stored inside the manager. The type to retrieve needs to
-        /// be explicitly passed as a generic parameter or specified on the left hand side of the
-        /// expression.
-        pub fn get_ref<T: ManagedSystemObject<Error = E>>(&self, key: &ObjectId) -> Option<&T> {
-            self.obj_map.get(key).and_then(|o| o.downcast_ref::<T>())
-        }
-
-        /// Retrieve a mutable reference to an object stored inside the manager. The type to retrieve
-        /// needs to be explicitly passed as a generic parameter or specified on the left hand side
-        /// of the expression.
-        pub fn get_mut<T: ManagedSystemObject<Error = E>>(
-            &mut self,
-            key: &ObjectId,
-        ) -> Option<&mut T> {
-            self.obj_map
-                .get_mut(key)
-                .and_then(|o| o.downcast_mut::<T>())
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
-    use std::boxed::Box;
-    use std::string::String;
-    use std::sync::{Arc, Mutex};
-    use std::thread;
-
-    struct ExampleSysObj {
-        id: ObjectId,
-        dummy: u32,
-        was_initialized: bool,
-    }
-
-    impl ExampleSysObj {
-        fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
-            ExampleSysObj {
-                id,
-                dummy,
-                was_initialized: false,
-            }
-        }
-    }
-
-    impl SystemObject for ExampleSysObj {
-        type Error = ();
-        fn get_object_id(&self) -> &ObjectId {
-            &self.id
-        }
-
-        fn initialize(&mut self) -> Result<(), Self::Error> {
-            self.was_initialized = true;
-            Ok(())
-        }
-    }
-
-    impl ManagedSystemObject for ExampleSysObj {}
-
-    struct OtherExampleObject {
-        id: ObjectId,
-        string: String,
-        was_initialized: bool,
-    }
-
-    impl SystemObject for OtherExampleObject {
-        type Error = ();
-        fn get_object_id(&self) -> &ObjectId {
-            &self.id
-        }
-
-        fn initialize(&mut self) -> Result<(), Self::Error> {
-            self.was_initialized = true;
-            Ok(())
-        }
-    }
-
-    impl ManagedSystemObject for OtherExampleObject {}
-
-    #[test]
-    fn test_obj_manager_simple() {
-        let mut obj_manager = ObjectManager::default();
-        let expl_obj_id = ObjectId {
-            id: 0,
-            name: "Example 0",
-        };
-        let example_obj = ExampleSysObj::new(expl_obj_id, 42);
-        assert!(obj_manager.insert(Box::new(example_obj)));
-        let res = obj_manager.initialize();
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 1);
-        let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&expl_obj_id);
-        assert!(obj_back_casted.is_some());
-        let expl_obj_back_casted = obj_back_casted.unwrap();
-        assert_eq!(expl_obj_back_casted.dummy, 42);
-        assert!(expl_obj_back_casted.was_initialized);
-
-        let second_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let second_example_obj = OtherExampleObject {
-            id: second_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        assert!(obj_manager.insert(Box::new(second_example_obj)));
-        let res = obj_manager.initialize();
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 2);
-        let obj_back_casted: Option<&OtherExampleObject> = obj_manager.get_ref(&second_obj_id);
-        assert!(obj_back_casted.is_some());
-        let expl_obj_back_casted = obj_back_casted.unwrap();
-        assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
-        assert!(expl_obj_back_casted.was_initialized);
-
-        let existing_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let invalid_obj = OtherExampleObject {
-            id: existing_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        assert!(!obj_manager.insert(Box::new(invalid_obj)));
-    }
-
-    #[test]
-    fn object_man_threaded() {
-        let obj_manager = Arc::new(Mutex::new(ObjectManager::new()));
-        let expl_obj_id = ObjectId {
-            id: 0,
-            name: "Example 0",
-        };
-        let example_obj = ExampleSysObj::new(expl_obj_id, 42);
-        let second_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let second_example_obj = OtherExampleObject {
-            id: second_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        let mut obj_man_handle = obj_manager.lock().expect("Mutex lock failed");
-        assert!(obj_man_handle.insert(Box::new(example_obj)));
-        assert!(obj_man_handle.insert(Box::new(second_example_obj)));
-        let res = obj_man_handle.initialize();
-        std::mem::drop(obj_man_handle);
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 2);
-        let obj_man_0 = obj_manager.clone();
-        let jh0 = thread::spawn(move || {
-            let locked_man = obj_man_0.lock().expect("Mutex lock failed");
-            let obj_back_casted: Option<&ExampleSysObj> = locked_man.get_ref(&expl_obj_id);
-            assert!(obj_back_casted.is_some());
-            let expl_obj_back_casted = obj_back_casted.unwrap();
-            assert_eq!(expl_obj_back_casted.dummy, 42);
-            assert!(expl_obj_back_casted.was_initialized);
-            std::mem::drop(locked_man)
-        });
-
-        let jh1 = thread::spawn(move || {
-            let locked_man = obj_manager.lock().expect("Mutex lock failed");
-            let obj_back_casted: Option<&OtherExampleObject> = locked_man.get_ref(&second_obj_id);
-            assert!(obj_back_casted.is_some());
-            let expl_obj_back_casted = obj_back_casted.unwrap();
-            assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
-            assert!(expl_obj_back_casted.was_initialized);
-            std::mem::drop(locked_man)
-        });
-        jh0.join().expect("Joining thread 0 failed");
-        jh1.join().expect("Joining thread 1 failed");
-    }
-}

satrs-core/src/params.rs

@@ -1,679 +0,0 @@
-//! Parameter types and enums.
-//!
-//! This module contains various helper types.
-//!
-//! # Primtive Parameter Wrappers and Enumeration
-//!
-//! This module includes wrapper for primitive rust types using the newtype pattern.
-//! This was also done for pairs and triplets of these primitive types.
-//! The [WritableToBeBytes] was implemented for all those types as well, which allows to easily
-//! convert them into a network friendly raw byte format. The [ParamsRaw] enumeration groups
-//! all newtypes and implements the [WritableToBeBytes] trait itself.
-//!
-//! ## Example for primitive type wrapper
-//!
-//! ```
-//! use satrs_core::params::{ParamsRaw, ToBeBytes, U32Pair, WritableToBeBytes};
-//!
-//! let u32_pair = U32Pair(0x1010, 25);
-//! assert_eq!(u32_pair.0, 0x1010);
-//! assert_eq!(u32_pair.1, 25);
-//! // Convert to raw stream
-//! let raw_buf = u32_pair.to_be_bytes();
-//! assert_eq!(raw_buf, [0, 0, 0x10, 0x10, 0, 0, 0, 25]);
-//!
-//! // Convert to enum variant
-//! let params_raw: ParamsRaw = u32_pair.into();
-//! assert_eq!(params_raw, (0x1010_u32, 25_u32).into());
-//!
-//! // Convert to stream using the enum variant
-//! let mut other_raw_buf: [u8; 8] = [0; 8];
-//! params_raw.write_to_be_bytes(&mut other_raw_buf).expect("Writing parameter to buffer failed");
-//! assert_eq!(other_raw_buf, [0, 0, 0x10, 0x10, 0, 0, 0, 25]);
-//!
-//! // Create a pair from a raw stream
-//! let u32_pair_from_stream: U32Pair = raw_buf.as_slice().try_into().unwrap();
-//! assert_eq!(u32_pair_from_stream.0, 0x1010);
-//! assert_eq!(u32_pair_from_stream.1, 25);
-//! ```
-//!
-//! # Generic Parameter Enumeration
-//!
-//! The module also contains generic parameter enumerations.
-//! This includes the [ParamsHeapless] enumeration for contained values which do not require heap
-//! allocation, and the [Params] which enumerates [ParamsHeapless] and some additional types which
-//! require [alloc] support but allow for more flexbility.
-#[cfg(feature = "alloc")]
-use crate::pool::StoreAddr;
-#[cfg(feature = "alloc")]
-use alloc::string::{String, ToString};
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
-use core::fmt::Debug;
-use core::mem::size_of;
-use paste::paste;
-use spacepackets::ecss::{EcssEnumU16, EcssEnumU32, EcssEnumU64, EcssEnumU8};
-use spacepackets::util::UnsignedEnum;
-use spacepackets::ByteConversionError;
-
-#[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-pub use spacepackets::util::ToBeBytes;
-
-/// Generic trait which is used for objects which can be converted into a raw network (big) endian
-/// byte format.
-pub trait WritableToBeBytes {
-    fn raw_len(&self) -> usize;
-    /// Writes the object to a raw buffer in network endianness (big)
-    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
-}
-
-macro_rules! param_to_be_bytes_impl {
-    ($Newtype: ident) => {
-        impl WritableToBeBytes for $Newtype {
-            #[inline]
-            fn raw_len(&self) -> usize {
-                size_of::<<Self as ToBeBytes>::ByteArray>()
-            }
-
-            fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-                let raw_len = self.raw_len();
-                if buf.len() < raw_len {
-                    return Err(ByteConversionError::ToSliceTooSmall {
-                        found: buf.len(),
-                        expected: raw_len,
-                    });
-                }
-                buf[0..raw_len].copy_from_slice(&self.to_be_bytes());
-                Ok(raw_len)
-            }
-        }
-    };
-}
-
-macro_rules! primitive_newtypes_with_eq {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-                pub struct [<$ty:upper>](pub $ty);
-                #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-                pub struct [<$ty:upper Pair>](pub $ty, pub $ty);
-                #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-                pub struct [<$ty:upper Triplet>](pub $ty, pub $ty, pub $ty);
-
-                param_to_be_bytes_impl!([<$ty:upper>]);
-                param_to_be_bytes_impl!([<$ty:upper Pair>]);
-                param_to_be_bytes_impl!([<$ty:upper Triplet>]);
-
-                impl From<$ty> for [<$ty:upper>] {
-                    fn from(v: $ty) -> Self {
-                        Self(v)
-                    }
-                }
-                impl From<($ty, $ty)> for [<$ty:upper Pair>] {
-                    fn from(v: ($ty, $ty)) -> Self {
-                        Self(v.0, v.1)
-                    }
-                }
-                impl From<($ty, $ty, $ty)> for [<$ty:upper Triplet>] {
-                    fn from(v: ($ty, $ty, $ty)) -> Self {
-                        Self(v.0, v.1, v.2)
-                    }
-                }
-            }
-        )+
-    }
-}
-
-macro_rules! primitive_newtypes {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                #[derive(Debug, Copy, Clone, PartialEq)]
-                pub struct [<$ty:upper>](pub $ty);
-                #[derive(Debug, Copy, Clone, PartialEq)]
-                pub struct [<$ty:upper Pair>](pub $ty, pub $ty);
-                #[derive(Debug, Copy, Clone, PartialEq)]
-                pub struct [<$ty:upper Triplet>](pub $ty, pub $ty, pub $ty);
-
-                param_to_be_bytes_impl!([<$ty:upper>]);
-                param_to_be_bytes_impl!([<$ty:upper Pair>]);
-                param_to_be_bytes_impl!([<$ty:upper Triplet>]);
-
-                impl From<$ty> for [<$ty:upper>] {
-                    fn from(v: $ty) -> Self {
-                        Self(v)
-                    }
-                }
-                impl From<($ty, $ty)> for [<$ty:upper Pair>] {
-                    fn from(v: ($ty, $ty)) -> Self {
-                        Self(v.0, v.1)
-                    }
-                }
-                impl From<($ty, $ty, $ty)> for [<$ty:upper Triplet>] {
-                    fn from(v: ($ty, $ty, $ty)) -> Self {
-                        Self(v.0, v.1, v.2)
-                    }
-                }
-            }
-        )+
-    }
-}
-
-primitive_newtypes_with_eq!(u8, u16, u32, u64, i8, i16, i32, i64,);
-primitive_newtypes!(f32, f64,);
-
-macro_rules! scalar_byte_conversions_impl {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                impl ToBeBytes for [<$ty:upper>] {
-                    type ByteArray = [u8; size_of::<$ty>()];
-
-                    fn written_len(&self) -> usize {
-                        size_of::<Self::ByteArray>()
-                    }
-
-                    fn to_be_bytes(&self) -> Self::ByteArray {
-                        self.0.to_be_bytes()
-                    }
-                }
-
-                impl TryFrom<&[u8]> for [<$ty:upper>] {
-                    type Error = ByteConversionError;
-
-                    fn try_from(v: &[u8]) -> Result<Self, Self::Error>  {
-                        if v.len() < size_of::<$ty>() {
-                            return Err(ByteConversionError::FromSliceTooSmall{
-                                expected: size_of::<$ty>(),
-                                found: v.len()
-                            });
-                        }
-                        Ok([<$ty:upper>]($ty::from_be_bytes(v[0..size_of::<$ty>()].try_into().unwrap())))
-                    }
-                }
-            }
-        )+
-    }
-}
-
-macro_rules! pair_byte_conversions_impl {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                impl ToBeBytes for [<$ty:upper Pair>] {
-                    type ByteArray = [u8; size_of::<$ty>() * 2];
-
-                    fn written_len(&self) -> usize {
-                        size_of::<Self::ByteArray>()
-                    }
-
-                    fn to_be_bytes(&self) -> Self::ByteArray {
-                        let mut array = [0; size_of::<$ty>() * 2];
-                        array[0..size_of::<$ty>()].copy_from_slice(&self.0.to_be_bytes());
-                        array[
-                            size_of::<$ty>()..2 * size_of::<$ty>()
-                        ].copy_from_slice(&self.1.to_be_bytes());
-                        array
-                    }
-                }
-
-                impl TryFrom<&[u8]> for [<$ty:upper Pair>] {
-                    type Error = ByteConversionError;
-
-                    fn try_from(v: &[u8]) -> Result<Self, Self::Error>  {
-                        if v.len() < 2 * size_of::<$ty>() {
-                            return Err(ByteConversionError::FromSliceTooSmall{
-                                expected: 2 * size_of::<$ty>(),
-                                found: v.len()
-                            });
-                        }
-                        Ok([<$ty:upper Pair>](
-                            $ty::from_be_bytes(v[0..size_of::<$ty>()].try_into().unwrap()),
-                            $ty::from_be_bytes(v[size_of::<$ty>()..2 * size_of::<$ty>()].try_into().unwrap())
-                        ))
-                    }
-                }
-            }
-        )+
-    }
-}
-
-macro_rules! triplet_to_be_bytes_impl {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                impl ToBeBytes for [<$ty:upper Triplet>] {
-                    type ByteArray = [u8; size_of::<$ty>() * 3];
-
-                    fn written_len(&self) -> usize {
-                        size_of::<Self::ByteArray>()
-                    }
-
-                    fn to_be_bytes(&self) -> Self::ByteArray {
-                        let mut array = [0; size_of::<$ty>() * 3];
-                        array[0..size_of::<$ty>()].copy_from_slice(&self.0.to_be_bytes());
-                        array[
-                            size_of::<$ty>()..2 * size_of::<$ty>()
-                        ].copy_from_slice(&self.1.to_be_bytes());
-                        array[
-                            2 * size_of::<$ty>()..3 * size_of::<$ty>()
-                        ].copy_from_slice(&self.2.to_be_bytes());
-                        array
-                    }
-                }
-                impl TryFrom<&[u8]> for [<$ty:upper Triplet>] {
-                    type Error = ByteConversionError;
-
-                    fn try_from(v: &[u8]) -> Result<Self, Self::Error>  {
-                        if v.len() < 3 * size_of::<$ty>() {
-                            return Err(ByteConversionError::FromSliceTooSmall{
-                                expected: 3 * size_of::<$ty>(),
-                                found: v.len()
-                            });
-                        }
-                        Ok([<$ty:upper Triplet>](
-                            $ty::from_be_bytes(v[0..size_of::<$ty>()].try_into().unwrap()),
-                            $ty::from_be_bytes(v[size_of::<$ty>()..2 * size_of::<$ty>()].try_into().unwrap()),
-                            $ty::from_be_bytes(v[2 * size_of::<$ty>()..3 * size_of::<$ty>()].try_into().unwrap())
-                        ))
-                    }
-                }
-            }
-        )+
-    }
-}
-
-scalar_byte_conversions_impl!(u8, u16, u32, u64, i8, i16, i32, i64, f32, f64,);
-
-impl ToBeBytes for U8Pair {
-    type ByteArray = [u8; 2];
-
-    fn written_len(&self) -> usize {
-        size_of::<Self::ByteArray>()
-    }
-
-    fn to_be_bytes(&self) -> Self::ByteArray {
-        let mut array = [0; 2];
-        array[0] = self.0;
-        array[1] = self.1;
-        array
-    }
-}
-
-impl ToBeBytes for I8Pair {
-    type ByteArray = [u8; 2];
-
-    fn written_len(&self) -> usize {
-        size_of::<Self::ByteArray>()
-    }
-
-    fn to_be_bytes(&self) -> Self::ByteArray {
-        let mut array = [0; 2];
-        array[0] = self.0 as u8;
-        array[1] = self.1 as u8;
-        array
-    }
-}
-
-impl ToBeBytes for U8Triplet {
-    type ByteArray = [u8; 3];
-
-    fn written_len(&self) -> usize {
-        size_of::<Self::ByteArray>()
-    }
-
-    fn to_be_bytes(&self) -> Self::ByteArray {
-        let mut array = [0; 3];
-        array[0] = self.0;
-        array[1] = self.1;
-        array[2] = self.2;
-        array
-    }
-}
-
-impl ToBeBytes for I8Triplet {
-    type ByteArray = [u8; 3];
-
-    fn written_len(&self) -> usize {
-        size_of::<Self::ByteArray>()
-    }
-
-    fn to_be_bytes(&self) -> Self::ByteArray {
-        let mut array = [0; 3];
-        array[0] = self.0 as u8;
-        array[1] = self.1 as u8;
-        array[2] = self.2 as u8;
-        array
-    }
-}
-
-pair_byte_conversions_impl!(u16, u32, u64, i16, i32, i64, f32, f64,);
-triplet_to_be_bytes_impl!(u16, u32, u64, i16, i32, i64, f32, f64,);
-
-/// Generic enumeration for additonal parameters only consisting of primitive data types.
-///
-/// All contained variants and the enum itself implement the [WritableToBeBytes] trait, which
-/// allows to easily convert them into a network-friendly format.
-#[derive(Debug, Copy, Clone, PartialEq)]
-pub enum ParamsRaw {
-    U8(U8),
-    U8Pair(U8Pair),
-    U8Triplet(U8Triplet),
-    I8(I8),
-    I8Pair(I8Pair),
-    I8Triplet(I8Triplet),
-    U16(U16),
-    U16Pair(U16Pair),
-    U16Triplet(U16Triplet),
-    I16(I16),
-    I16Pair(I16Pair),
-    I16Triplet(I16Triplet),
-    U32(U32),
-    U32Pair(U32Pair),
-    U32Triplet(U32Triplet),
-    I32(I32),
-    I32Pair(I32Pair),
-    I32Triplet(I32Triplet),
-    F32(F32),
-    F32Pair(F32Pair),
-    F32Triplet(F32Triplet),
-    U64(U64),
-    I64(I64),
-    F64(F64),
-}
-
-impl WritableToBeBytes for ParamsRaw {
-    fn raw_len(&self) -> usize {
-        match self {
-            ParamsRaw::U8(v) => v.raw_len(),
-            ParamsRaw::U8Pair(v) => v.raw_len(),
-            ParamsRaw::U8Triplet(v) => v.raw_len(),
-            ParamsRaw::I8(v) => v.raw_len(),
-            ParamsRaw::I8Pair(v) => v.raw_len(),
-            ParamsRaw::I8Triplet(v) => v.raw_len(),
-            ParamsRaw::U16(v) => v.raw_len(),
-            ParamsRaw::U16Pair(v) => v.raw_len(),
-            ParamsRaw::U16Triplet(v) => v.raw_len(),
-            ParamsRaw::I16(v) => v.raw_len(),
-            ParamsRaw::I16Pair(v) => v.raw_len(),
-            ParamsRaw::I16Triplet(v) => v.raw_len(),
-            ParamsRaw::U32(v) => v.raw_len(),
-            ParamsRaw::U32Pair(v) => v.raw_len(),
-            ParamsRaw::U32Triplet(v) => v.raw_len(),
-            ParamsRaw::I32(v) => v.raw_len(),
-            ParamsRaw::I32Pair(v) => v.raw_len(),
-            ParamsRaw::I32Triplet(v) => v.raw_len(),
-            ParamsRaw::F32(v) => v.raw_len(),
-            ParamsRaw::F32Pair(v) => v.raw_len(),
-            ParamsRaw::F32Triplet(v) => v.raw_len(),
-            ParamsRaw::U64(v) => v.raw_len(),
-            ParamsRaw::I64(v) => v.raw_len(),
-            ParamsRaw::F64(v) => v.raw_len(),
-        }
-    }
-
-    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-        match self {
-            ParamsRaw::U8(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U8Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U8Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I8(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I8Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I8Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U16(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U16Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U16Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I16(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I16Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I16Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U32(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U32Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U32Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I32(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I32Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I32Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::F32(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::F32Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::F32Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U64(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I64(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::F64(v) => v.write_to_be_bytes(buf),
-        }
-    }
-}
-
-macro_rules! params_raw_from_newtype {
-    ($($newtype: ident,)+) => {
-        $(
-            impl From<$newtype> for ParamsRaw {
-                fn from(v: $newtype) -> Self {
-                    Self::$newtype(v)
-                }
-            }
-        )+
-    }
-}
-
-params_raw_from_newtype!(
-    U8, U8Pair, U8Triplet, U16, U16Pair, U16Triplet, U32, U32Pair, U32Triplet, I8, I8Pair,
-    I8Triplet, I16, I16Pair, I16Triplet, I32, I32Pair, I32Triplet, F32, F32Pair, F32Triplet, U64,
-    I64, F64,
-);
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum EcssEnumParams {
-    U8(EcssEnumU8),
-    U16(EcssEnumU16),
-    U32(EcssEnumU32),
-    U64(EcssEnumU64),
-}
-
-macro_rules! writable_as_be_bytes_ecss_enum_impl {
-    ($EnumIdent: ident) => {
-        impl WritableToBeBytes for $EnumIdent {
-            fn raw_len(&self) -> usize {
-                self.size()
-            }
-
-            fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-                <Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.raw_len())
-            }
-        }
-    };
-}
-
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64);
-
-impl WritableToBeBytes for EcssEnumParams {
-    fn raw_len(&self) -> usize {
-        match self {
-            EcssEnumParams::U8(e) => e.raw_len(),
-            EcssEnumParams::U16(e) => e.raw_len(),
-            EcssEnumParams::U32(e) => e.raw_len(),
-            EcssEnumParams::U64(e) => e.raw_len(),
-        }
-    }
-
-    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-        match self {
-            EcssEnumParams::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-        }
-    }
-}
-
-/// Generic enumeration for parameters which do not rely on heap allocations.
-#[derive(Debug, Copy, Clone, PartialEq)]
-pub enum ParamsHeapless {
-    Raw(ParamsRaw),
-    EcssEnum(EcssEnumParams),
-}
-
-macro_rules! from_conversions_for_raw {
-    ($(($raw_ty: ty, $TargetPath: path),)+) => {
-        $(
-            impl From<$raw_ty> for ParamsRaw {
-                fn from(val: $raw_ty) -> Self {
-                    $TargetPath(val.into())
-                }
-            }
-
-            impl From<$raw_ty> for ParamsHeapless {
-                fn from(val: $raw_ty) -> Self {
-                    ParamsHeapless::Raw(val.into())
-                }
-            }
-        )+
-    };
-}
-
-from_conversions_for_raw!(
-    (u8, Self::U8),
-    ((u8, u8), Self::U8Pair),
-    ((u8, u8, u8), Self::U8Triplet),
-    (i8, Self::I8),
-    ((i8, i8), Self::I8Pair),
-    ((i8, i8, i8), Self::I8Triplet),
-    (u16, Self::U16),
-    ((u16, u16), Self::U16Pair),
-    ((u16, u16, u16), Self::U16Triplet),
-    (i16, Self::I16),
-    ((i16, i16), Self::I16Pair),
-    ((i16, i16, i16), Self::I16Triplet),
-    (u32, Self::U32),
-    ((u32, u32), Self::U32Pair),
-    ((u32, u32, u32), Self::U32Triplet),
-    (i32, Self::I32),
-    ((i32, i32), Self::I32Pair),
-    ((i32, i32, i32), Self::I32Triplet),
-    (f32, Self::F32),
-    ((f32, f32), Self::F32Pair),
-    ((f32, f32, f32), Self::F32Triplet),
-    (u64, Self::U64),
-    (f64, Self::F64),
-);
-
-#[cfg(feature = "alloc")]
-mod alloc_mod {
-    use super::*;
-    /// Generic enumeration for additional parameters, including parameters which rely on heap
-    /// allocations.
-    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-    #[derive(Debug, Clone)]
-    pub enum Params {
-        Heapless(ParamsHeapless),
-        Store(StoreAddr),
-        Vec(Vec<u8>),
-        String(String),
-    }
-
-    impl From<StoreAddr> for Params {
-        fn from(x: StoreAddr) -> Self {
-            Self::Store(x)
-        }
-    }
-
-    impl From<ParamsHeapless> for Params {
-        fn from(x: ParamsHeapless) -> Self {
-            Self::Heapless(x)
-        }
-    }
-
-    impl From<Vec<u8>> for Params {
-        fn from(val: Vec<u8>) -> Self {
-            Self::Vec(val)
-        }
-    }
-
-    /// Converts a byte slice into the [Params::Vec] variant
-    impl From<&[u8]> for Params {
-        fn from(val: &[u8]) -> Self {
-            Self::Vec(val.to_vec())
-        }
-    }
-
-    impl From<String> for Params {
-        fn from(val: String) -> Self {
-            Self::String(val)
-        }
-    }
-
-    /// Converts a string slice into the [Params::String] variant
-    impl From<&str> for Params {
-        fn from(val: &str) -> Self {
-            Self::String(val.to_string())
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_basic_u32_pair() {
-        let u32_pair = U32Pair(4, 8);
-        assert_eq!(u32_pair.0, 4);
-        assert_eq!(u32_pair.1, 8);
-        let raw = u32_pair.to_be_bytes();
-        let mut u32_conv_back = u32::from_be_bytes(raw[0..4].try_into().unwrap());
-        assert_eq!(u32_conv_back, 4);
-        u32_conv_back = u32::from_be_bytes(raw[4..8].try_into().unwrap());
-        assert_eq!(u32_conv_back, 8);
-    }
-
-    #[test]
-    fn basic_signed_test_pair() {
-        let i8_pair = I8Pair(-3, -16);
-        assert_eq!(i8_pair.0, -3);
-        assert_eq!(i8_pair.1, -16);
-        let raw = i8_pair.to_be_bytes();
-        let mut i8_conv_back = i8::from_be_bytes(raw[0..1].try_into().unwrap());
-        assert_eq!(i8_conv_back, -3);
-        i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
-        assert_eq!(i8_conv_back, -16);
-    }
-
-    #[test]
-    fn basic_signed_test_triplet() {
-        let i8_triplet = I8Triplet(-3, -16, -126);
-        assert_eq!(i8_triplet.0, -3);
-        assert_eq!(i8_triplet.1, -16);
-        assert_eq!(i8_triplet.2, -126);
-        let raw = i8_triplet.to_be_bytes();
-        let mut i8_conv_back = i8::from_be_bytes(raw[0..1].try_into().unwrap());
-        assert_eq!(i8_conv_back, -3);
-        i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
-        assert_eq!(i8_conv_back, -16);
-        i8_conv_back = i8::from_be_bytes(raw[2..3].try_into().unwrap());
-        assert_eq!(i8_conv_back, -126);
-    }
-
-    #[test]
-    fn conversion_test_string() {
-        let param: Params = "Test String".into();
-        if let Params::String(str) = param {
-            assert_eq!(str, String::from("Test String"));
-        } else {
-            panic!("Params type is not String")
-        }
-    }
-
-    #[test]
-    fn conversion_from_slice() {
-        let test_slice: [u8; 5] = [0; 5];
-        let vec_param: Params = test_slice.as_slice().into();
-        if let Params::Vec(vec) = vec_param {
-            assert_eq!(vec, test_slice.to_vec());
-        } else {
-            panic!("Params type is not a vector")
-        }
-    }
-}

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/mode.rs

@@ -1,16 +0,0 @@
-use num_enum::{IntoPrimitive, TryFromPrimitive};
-#[cfg(feature = "serde")]
-use serde::{Deserialize, Serialize};
-
-#[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-#[repr(u8)]
-pub enum Subservice {
-    TcSetMode = 1,
-    TcReadMode = 3,
-    TcAnnounceMode = 4,
-    TcAnnounceModeRecursive = 5,
-    TmModeReply = 6,
-    TmCantReachMode = 7,
-    TmWrongModeReply = 8,
-}

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/ccsds_distrib.rs

@@ -1,366 +0,0 @@
-//! CCSDS packet routing components.
-//!
-//! The routing components consist of two core components:
-//!  1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
-//!  2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
-//!
-//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTcCore] trait which allows to
-//! pass raw or CCSDS packets to it. Upon receiving a packet, it performs the following steps:
-//!
-//! 1. It tries to identify the target Application Process Identifier (APID) based on the
-//!    respective CCSDS space packet header field. If that process fails, a [ByteConversionError] is
-//!    returned to the user
-//! 2. If a valid APID is found and matches one of the APIDs provided by
-//!    [CcsdsPacketHandler::valid_apids], it will pass the packet to the user provided
-//!    [CcsdsPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
-//!    will be passed to the [CcsdsPacketHandler::handle_unknown_apid] function.
-//!
-//! # Example
-//!
-//! ```rust
-//! use satrs_core::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
-//! use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
-//! use spacepackets::{CcsdsPacket, SpHeader};
-//! use spacepackets::ecss::SerializablePusPacket;
-//! use spacepackets::ecss::tc::{PusTc, PusTcCreator};
-//!
-//! #[derive (Default)]
-//! struct ConcreteApidHandler {
-//!     known_call_count: u32,
-//!     unknown_call_count: u32
-//! }
-//!
-//! impl ConcreteApidHandler {
-//!     fn mutable_foo(&mut self) {}
-//! }
-//!
-//! impl CcsdsPacketHandler for ConcreteApidHandler {
-//!     type Error = ();
-//!     fn valid_apids(&self) -> &'static [u16] { &[0x002] }
-//!     fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-//!         assert_eq!(sp_header.apid(), 0x002);
-//!         assert_eq!(tc_raw.len(), 13);
-//!         self.known_call_count += 1;
-//!         Ok(())
-//!     }
-//!     fn handle_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-//!         assert_eq!(sp_header.apid(), 0x003);
-//!         assert_eq!(tc_raw.len(), 13);
-//!         self.unknown_call_count += 1;
-//!         Ok(())
-//!     }
-//! }
-//!
-//! let apid_handler = ConcreteApidHandler::default();
-//! let mut ccsds_distributor = CcsdsDistributor::new(Box::new(apid_handler));
-//!
-//! // Create and pass PUS telecommand with a valid APID
-//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
-//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
-//! let mut test_buf: [u8; 32] = [0; 32];
-//! let mut size = pus_tc
-//!     .write_to_bytes(test_buf.as_mut_slice())
-//!     .expect("Error writing TC to buffer");
-//! let tc_slice = &test_buf[0..size];
-//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
-//!
-//! // Now pass a packet with an unknown APID to the distributor
-//! pus_tc.set_apid(0x003);
-//! size = pus_tc
-//!     .write_to_bytes(test_buf.as_mut_slice())
-//!     .expect("Error writing TC to buffer");
-//! let tc_slice = &test_buf[0..size];
-//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
-//!
-//! // User helper function to retrieve concrete class
-//! let concrete_handler_ref: &ConcreteApidHandler = ccsds_distributor
-//!     .apid_handler_ref()
-//!     .expect("Casting back to concrete type failed");
-//! assert_eq!(concrete_handler_ref.known_call_count, 1);
-//! assert_eq!(concrete_handler_ref.unknown_call_count, 1);
-//!
-//! // It's also possible to retrieve a mutable reference
-//! let mutable_ref: &mut ConcreteApidHandler = ccsds_distributor
-//!     .apid_handler_mut()
-//!     .expect("Casting back to concrete type failed");
-//! mutable_ref.mutable_foo();
-//! ```
-use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
-use alloc::boxed::Box;
-use core::fmt::{Display, Formatter};
-use downcast_rs::Downcast;
-use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
-#[cfg(feature = "std")]
-use std::error::Error;
-
-/// Generic trait for a handler or dispatcher object handling CCSDS packets.
-///
-/// Users should implement this trait on their custom CCSDS packet handler and then pass a boxed
-/// instance of this handler to the [CcsdsDistributor]. The distributor will use the trait
-/// interface to dispatch received packets to the user based on the Application Process Identifier
-/// (APID) field of the CCSDS packet.
-///
-/// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
-/// to cast trait objects back to their concrete type after the handler was passed to the
-/// distributor.
-pub trait CcsdsPacketHandler: Downcast {
-    type Error;
-
-    fn valid_apids(&self) -> &'static [u16];
-    fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8])
-        -> Result<(), Self::Error>;
-    fn handle_unknown_apid(
-        &mut self,
-        sp_header: &SpHeader,
-        tc_raw: &[u8],
-    ) -> Result<(), Self::Error>;
-}
-
-downcast_rs::impl_downcast!(CcsdsPacketHandler assoc Error);
-
-pub trait SendableCcsdsPacketHandler: CcsdsPacketHandler + Send {}
-
-impl<T: CcsdsPacketHandler + Send> SendableCcsdsPacketHandler for T {}
-
-downcast_rs::impl_downcast!(SendableCcsdsPacketHandler assoc Error);
-
-/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
-///
-/// The passed APID handler is required to be [Send]able to allow more ergonomic usage with
-/// threads.
-pub struct CcsdsDistributor<E> {
-    /// User provided APID handler stored as a generic trait object.
-    /// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
-    /// the [Self::apid_handler_mut] method.
-    pub apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>,
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum CcsdsError<E> {
-    CustomError(E),
-    ByteConversionError(ByteConversionError),
-}
-
-impl<E: Display> Display for CcsdsError<E> {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            Self::CustomError(e) => write!(f, "{e}"),
-            Self::ByteConversionError(e) => write!(f, "{e}"),
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl<E: Error> Error for CcsdsError<E> {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        match self {
-            Self::CustomError(e) => e.source(),
-            Self::ByteConversionError(e) => e.source(),
-        }
-    }
-}
-
-impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
-    type Error = CcsdsError<E>;
-
-    fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        self.dispatch_ccsds(header, tc_raw)
-    }
-}
-
-impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
-    type Error = CcsdsError<E>;
-
-    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        if tc_raw.len() < 7 {
-            return Err(CcsdsError::ByteConversionError(
-                ByteConversionError::FromSliceTooSmall {
-                    found: tc_raw.len(),
-                    expected: 7,
-                },
-            ));
-        }
-        let (sp_header, _) =
-            SpHeader::from_be_bytes(tc_raw).map_err(|e| CcsdsError::ByteConversionError(e))?;
-        self.dispatch_ccsds(&sp_header, tc_raw)
-    }
-}
-
-impl<E: 'static> CcsdsDistributor<E> {
-    pub fn new(apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>) -> Self {
-        CcsdsDistributor { apid_handler }
-    }
-
-    /// This function can be used to retrieve a reference to the concrete instance of the APID
-    /// handler after it was passed to the distributor. See the
-    /// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
-    pub fn apid_handler_ref<T: SendableCcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
-        self.apid_handler.downcast_ref::<T>()
-    }
-
-    /// This function can be used to retrieve a mutable reference to the concrete instance of the
-    /// APID handler after it was passed to the distributor.
-    pub fn apid_handler_mut<T: SendableCcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
-        self.apid_handler.downcast_mut::<T>()
-    }
-
-    fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
-        let apid = sp_header.apid();
-        let valid_apids = self.apid_handler.valid_apids();
-        for &valid_apid in valid_apids {
-            if valid_apid == apid {
-                return self
-                    .apid_handler
-                    .handle_known_apid(sp_header, tc_raw)
-                    .map_err(|e| CcsdsError::CustomError(e));
-            }
-        }
-        self.apid_handler
-            .handle_unknown_apid(sp_header, tc_raw)
-            .map_err(|e| CcsdsError::CustomError(e))
-    }
-}
-
-#[cfg(test)]
-pub(crate) mod tests {
-    use super::*;
-    use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
-    use spacepackets::ecss::tc::PusTcCreator;
-    use spacepackets::ecss::SerializablePusPacket;
-    use spacepackets::CcsdsPacket;
-    use std::collections::VecDeque;
-    use std::sync::{Arc, Mutex};
-    use std::vec::Vec;
-
-    fn is_send<T: Send>(_: &T) {}
-
-    pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
-        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
-        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        let size = pus_tc
-            .write_to_bytes(buf)
-            .expect("Error writing TC to buffer");
-        assert_eq!(size, 13);
-        &buf[0..size]
-    }
-
-    pub struct BasicApidHandlerSharedQueue {
-        pub known_packet_queue: Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>,
-        pub unknown_packet_queue: Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>,
-    }
-
-    #[derive(Default)]
-    pub struct BasicApidHandlerOwnedQueue {
-        pub known_packet_queue: VecDeque<(u16, Vec<u8>)>,
-        pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
-    }
-
-    impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
-        type Error = ();
-        fn valid_apids(&self) -> &'static [u16] {
-            &[0x000, 0x002]
-        }
-
-        fn handle_known_apid(
-            &mut self,
-            sp_header: &SpHeader,
-            tc_raw: &[u8],
-        ) -> Result<(), Self::Error> {
-            let mut vec = Vec::new();
-            vec.extend_from_slice(tc_raw);
-            Ok(self
-                .known_packet_queue
-                .lock()
-                .unwrap()
-                .push_back((sp_header.apid(), vec)))
-        }
-
-        fn handle_unknown_apid(
-            &mut self,
-            sp_header: &SpHeader,
-            tc_raw: &[u8],
-        ) -> Result<(), Self::Error> {
-            let mut vec = Vec::new();
-            vec.extend_from_slice(tc_raw);
-            Ok(self
-                .unknown_packet_queue
-                .lock()
-                .unwrap()
-                .push_back((sp_header.apid(), vec)))
-        }
-    }
-
-    impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
-        type Error = ();
-
-        fn valid_apids(&self) -> &'static [u16] {
-            &[0x000, 0x002]
-        }
-
-        fn handle_known_apid(
-            &mut self,
-            sp_header: &SpHeader,
-            tc_raw: &[u8],
-        ) -> Result<(), Self::Error> {
-            let mut vec = Vec::new();
-            vec.extend_from_slice(tc_raw);
-            Ok(self.known_packet_queue.push_back((sp_header.apid(), vec)))
-        }
-
-        fn handle_unknown_apid(
-            &mut self,
-            sp_header: &SpHeader,
-            tc_raw: &[u8],
-        ) -> Result<(), Self::Error> {
-            let mut vec = Vec::new();
-            vec.extend_from_slice(tc_raw);
-            Ok(self.unknown_packet_queue.push_back((sp_header.apid(), vec)))
-        }
-    }
-
-    #[test]
-    fn test_distribs_known_apid() {
-        let known_packet_queue = Arc::new(Mutex::default());
-        let unknown_packet_queue = Arc::new(Mutex::default());
-        let apid_handler = BasicApidHandlerSharedQueue {
-            known_packet_queue: known_packet_queue.clone(),
-            unknown_packet_queue: unknown_packet_queue.clone(),
-        };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
-        is_send(&ccsds_distrib);
-        let mut test_buf: [u8; 32] = [0; 32];
-        let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
-
-        ccsds_distrib.pass_tc(tc_slice).expect("Passing TC failed");
-        let recvd = known_packet_queue.lock().unwrap().pop_front();
-        assert!(unknown_packet_queue.lock().unwrap().is_empty());
-        assert!(recvd.is_some());
-        let (apid, packet) = recvd.unwrap();
-        assert_eq!(apid, 0x002);
-        assert_eq!(packet, tc_slice);
-    }
-
-    #[test]
-    fn test_distribs_unknown_apid() {
-        let known_packet_queue = Arc::new(Mutex::default());
-        let unknown_packet_queue = Arc::new(Mutex::default());
-        let apid_handler = BasicApidHandlerSharedQueue {
-            known_packet_queue: known_packet_queue.clone(),
-            unknown_packet_queue: unknown_packet_queue.clone(),
-        };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
-        let mut sph = SpHeader::tc_unseg(0x004, 0x34, 0).unwrap();
-        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        let mut test_buf: [u8; 32] = [0; 32];
-        pus_tc
-            .write_to_bytes(test_buf.as_mut_slice())
-            .expect("Error writing TC to buffer");
-        ccsds_distrib.pass_tc(&test_buf).expect("Passing TC failed");
-        let recvd = unknown_packet_queue.lock().unwrap().pop_front();
-        assert!(known_packet_queue.lock().unwrap().is_empty());
-        assert!(recvd.is_some());
-        let (apid, packet) = recvd.unwrap();
-        assert_eq!(apid, 0x004);
-        assert_eq!(packet.as_slice(), test_buf);
-    }
-}

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/pus_distrib.rs

@@ -1,369 +0,0 @@
-//! ECSS PUS packet routing components.
-//!
-//! The routing components consist of two core components:
-//!  1. [PusDistributor] component which dispatches received packets to a user-provided handler.
-//!  2. [PusServiceProvider] trait which should be implemented by the user-provided PUS packet
-//!     handler.
-//!
-//! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the
-//! [ReceivesTcCore] trait which allows to pass raw packets, CCSDS packets and PUS TC packets into
-//! it. Upon receiving a packet, it performs the following steps:
-//!
-//! 1. It tries to extract the [SpHeader] and [spacepackets::ecss::tc::PusTcReader] objects from
-//!    the raw bytestream. If this process fails, a [PusDistribError::PusError] is returned to the
-//!    user.
-//! 2. If it was possible to extract both components, the packet will be passed to the
-//!    [PusServiceProvider::handle_pus_tc_packet] method provided by the user.
-//!
-//! # Example
-//!
-//! ```rust
-//! use spacepackets::ecss::SerializablePusPacket;
-//! use satrs_core::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
-//! use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
-//! use spacepackets::SpHeader;
-//! use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
-//! struct ConcretePusHandler {
-//!     handler_call_count: u32
-//! }
-//!
-//! // This is a very simple possible service provider. It increments an internal call count field,
-//! // which is used to verify the handler was called
-//! impl PusServiceProvider for ConcretePusHandler {
-//!     type Error = ();
-//!     fn handle_pus_tc_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-//!         assert_eq!(service, 17);
-//!         assert_eq!(pus_tc.len_packed(), 13);
-//!         self.handler_call_count += 1;
-//!         Ok(())
-//!     }
-//! }
-//!
-//! let service_handler = ConcretePusHandler {
-//!     handler_call_count: 0
-//! };
-//! let mut pus_distributor = PusDistributor::new(Box::new(service_handler));
-//!
-//! // Create and pass PUS ping telecommand with a valid APID
-//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
-//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
-//! let mut test_buf: [u8; 32] = [0; 32];
-//! let mut size = pus_tc
-//!     .write_to_bytes(test_buf.as_mut_slice())
-//!     .expect("Error writing TC to buffer");
-//! let tc_slice = &test_buf[0..size];
-//!
-//! pus_distributor.pass_tc(tc_slice).expect("Passing PUS telecommand failed");
-//!
-//! // User helper function to retrieve concrete class. We check the call count here to verify
-//! // that the PUS ping telecommand was routed successfully.
-//! let concrete_handler_ref: &ConcretePusHandler = pus_distributor
-//!     .service_provider_ref()
-//!     .expect("Casting back to concrete type failed");
-//! assert_eq!(concrete_handler_ref.handler_call_count, 1);
-//! ```
-use crate::pus::ReceivesEcssPusTc;
-use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
-use alloc::boxed::Box;
-use core::fmt::{Display, Formatter};
-use downcast_rs::Downcast;
-use spacepackets::ecss::tc::PusTcReader;
-use spacepackets::ecss::{PusError, PusPacket};
-use spacepackets::SpHeader;
-#[cfg(feature = "std")]
-use std::error::Error;
-
-pub trait PusServiceProvider: Downcast {
-    type Error;
-    fn handle_pus_tc_packet(
-        &mut self,
-        service: u8,
-        header: &SpHeader,
-        pus_tc: &PusTcReader,
-    ) -> Result<(), Self::Error>;
-}
-downcast_rs::impl_downcast!(PusServiceProvider assoc Error);
-
-pub trait SendablePusServiceProvider: PusServiceProvider + Send {}
-
-impl<T: Send + PusServiceProvider> SendablePusServiceProvider for T {}
-
-downcast_rs::impl_downcast!(SendablePusServiceProvider assoc Error);
-
-/// Generic distributor object which dispatches received packets to a user provided handler.
-///
-/// This distributor expects the passed trait object to be [Send]able to allow more ergonomic
-/// usage with threads.
-pub struct PusDistributor<E> {
-    pub service_provider: Box<dyn SendablePusServiceProvider<Error = E>>,
-}
-
-impl<E> PusDistributor<E> {
-    pub fn new(service_provider: Box<dyn SendablePusServiceProvider<Error = E>>) -> Self {
-        PusDistributor { service_provider }
-    }
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum PusDistribError<E> {
-    CustomError(E),
-    PusError(PusError),
-}
-
-impl<E: Display> Display for PusDistribError<E> {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            PusDistribError::CustomError(e) => write!(f, "{e}"),
-            PusDistribError::PusError(e) => write!(f, "{e}"),
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl<E: Error> Error for PusDistribError<E> {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        match self {
-            Self::CustomError(e) => e.source(),
-            Self::PusError(e) => e.source(),
-        }
-    }
-}
-
-impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
-    type Error = PusDistribError<E>;
-    fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
-        // Convert to ccsds and call pass_ccsds
-        let (sp_header, _) = SpHeader::from_be_bytes(tm_raw)
-            .map_err(|e| PusDistribError::PusError(PusError::ByteConversion(e)))?;
-        self.pass_ccsds(&sp_header, tm_raw)
-    }
-}
-
-impl<E: 'static> ReceivesCcsdsTc for PusDistributor<E> {
-    type Error = PusDistribError<E>;
-    fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), Self::Error> {
-        let (tc, _) = PusTcReader::new(tm_raw).map_err(|e| PusDistribError::PusError(e))?;
-        self.pass_pus_tc(header, &tc)
-    }
-}
-
-impl<E: 'static> ReceivesEcssPusTc for PusDistributor<E> {
-    type Error = PusDistribError<E>;
-    fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-        self.service_provider
-            .handle_pus_tc_packet(pus_tc.service(), header, pus_tc)
-            .map_err(|e| PusDistribError::CustomError(e))
-    }
-}
-
-impl<E: 'static> PusDistributor<E> {
-    pub fn service_provider_ref<T: SendablePusServiceProvider<Error = E>>(&self) -> Option<&T> {
-        self.service_provider.downcast_ref::<T>()
-    }
-
-    pub fn service_provider_mut<T: SendablePusServiceProvider<Error = E>>(
-        &mut self,
-    ) -> Option<&mut T> {
-        self.service_provider.downcast_mut::<T>()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::tmtc::ccsds_distrib::tests::{
-        generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
-    };
-    use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
-    use alloc::vec::Vec;
-    use spacepackets::ecss::PusError;
-    use spacepackets::CcsdsPacket;
-    #[cfg(feature = "std")]
-    use std::collections::VecDeque;
-    #[cfg(feature = "std")]
-    use std::sync::{Arc, Mutex};
-
-    fn is_send<T: Send>(_: &T) {}
-
-    struct PusHandlerSharedQueue {
-        pub pus_queue: Arc<Mutex<VecDeque<(u8, u16, Vec<u8>)>>>,
-    }
-
-    #[derive(Default)]
-    struct PusHandlerOwnedQueue {
-        pub pus_queue: VecDeque<(u8, u16, Vec<u8>)>,
-    }
-
-    impl PusServiceProvider for PusHandlerSharedQueue {
-        type Error = PusError;
-        fn handle_pus_tc_packet(
-            &mut self,
-            service: u8,
-            sp_header: &SpHeader,
-            pus_tc: &PusTcReader,
-        ) -> Result<(), Self::Error> {
-            let mut vec: Vec<u8> = Vec::new();
-            vec.extend_from_slice(pus_tc.raw_data());
-            Ok(self
-                .pus_queue
-                .lock()
-                .expect("Mutex lock failed")
-                .push_back((service, sp_header.apid(), vec)))
-        }
-    }
-
-    impl PusServiceProvider for PusHandlerOwnedQueue {
-        type Error = PusError;
-        fn handle_pus_tc_packet(
-            &mut self,
-            service: u8,
-            sp_header: &SpHeader,
-            pus_tc: &PusTcReader,
-        ) -> Result<(), Self::Error> {
-            let mut vec: Vec<u8> = Vec::new();
-            vec.extend_from_slice(pus_tc.raw_data());
-            Ok(self.pus_queue.push_back((service, sp_header.apid(), vec)))
-        }
-    }
-
-    struct ApidHandlerShared {
-        pub pus_distrib: PusDistributor<PusError>,
-        pub handler_base: BasicApidHandlerSharedQueue,
-    }
-
-    struct ApidHandlerOwned {
-        pub pus_distrib: PusDistributor<PusError>,
-        handler_base: BasicApidHandlerOwnedQueue,
-    }
-
-    macro_rules! apid_handler_impl {
-        () => {
-            type Error = PusError;
-
-            fn valid_apids(&self) -> &'static [u16] {
-                &[0x000, 0x002]
-            }
-
-            fn handle_known_apid(
-                &mut self,
-                sp_header: &SpHeader,
-                tc_raw: &[u8],
-            ) -> Result<(), Self::Error> {
-                self.handler_base
-                    .handle_known_apid(&sp_header, tc_raw)
-                    .ok()
-                    .expect("Unexpected error");
-                match self.pus_distrib.pass_ccsds(&sp_header, tc_raw) {
-                    Ok(_) => Ok(()),
-                    Err(e) => match e {
-                        PusDistribError::CustomError(_) => Ok(()),
-                        PusDistribError::PusError(e) => Err(e),
-                    },
-                }
-            }
-
-            fn handle_unknown_apid(
-                &mut self,
-                sp_header: &SpHeader,
-                tc_raw: &[u8],
-            ) -> Result<(), Self::Error> {
-                self.handler_base
-                    .handle_unknown_apid(&sp_header, tc_raw)
-                    .ok()
-                    .expect("Unexpected error");
-                Ok(())
-            }
-        };
-    }
-
-    impl CcsdsPacketHandler for ApidHandlerOwned {
-        apid_handler_impl!();
-    }
-
-    impl CcsdsPacketHandler for ApidHandlerShared {
-        apid_handler_impl!();
-    }
-
-    #[test]
-    #[cfg(feature = "std")]
-    fn test_pus_distribution() {
-        let known_packet_queue = Arc::new(Mutex::default());
-        let unknown_packet_queue = Arc::new(Mutex::default());
-        let pus_queue = Arc::new(Mutex::default());
-        let pus_handler = PusHandlerSharedQueue {
-            pus_queue: pus_queue.clone(),
-        };
-        let handler_base = BasicApidHandlerSharedQueue {
-            known_packet_queue: known_packet_queue.clone(),
-            unknown_packet_queue: unknown_packet_queue.clone(),
-        };
-
-        let pus_distrib = PusDistributor {
-            service_provider: Box::new(pus_handler),
-        };
-        is_send(&pus_distrib);
-        let apid_handler = ApidHandlerShared {
-            pus_distrib,
-            handler_base,
-        };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
-        let mut test_buf: [u8; 32] = [0; 32];
-        let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
-
-        // Pass packet to distributor
-        ccsds_distrib
-            .pass_tc(tc_slice)
-            .expect("Passing TC slice failed");
-        let recvd_ccsds = known_packet_queue.lock().unwrap().pop_front();
-        assert!(unknown_packet_queue.lock().unwrap().is_empty());
-        assert!(recvd_ccsds.is_some());
-        let (apid, packet) = recvd_ccsds.unwrap();
-        assert_eq!(apid, 0x002);
-        assert_eq!(packet.as_slice(), tc_slice);
-        let recvd_pus = pus_queue.lock().unwrap().pop_front();
-        assert!(recvd_pus.is_some());
-        let (service, apid, tc_raw) = recvd_pus.unwrap();
-        assert_eq!(service, 17);
-        assert_eq!(apid, 0x002);
-        assert_eq!(tc_raw, tc_slice);
-    }
-
-    #[test]
-    fn test_as_any_cast() {
-        let pus_handler = PusHandlerOwnedQueue::default();
-        let handler_base = BasicApidHandlerOwnedQueue::default();
-        let pus_distrib = PusDistributor {
-            service_provider: Box::new(pus_handler),
-        };
-
-        let apid_handler = ApidHandlerOwned {
-            pus_distrib,
-            handler_base,
-        };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
-
-        let mut test_buf: [u8; 32] = [0; 32];
-        let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
-
-        ccsds_distrib
-            .pass_tc(tc_slice)
-            .expect("Passing TC slice failed");
-
-        let apid_handler_casted_back: &mut ApidHandlerOwned = ccsds_distrib
-            .apid_handler_mut()
-            .expect("Cast to concrete type ApidHandler failed");
-        assert!(!apid_handler_casted_back
-            .handler_base
-            .known_packet_queue
-            .is_empty());
-        let handler_casted_back: &mut PusHandlerOwnedQueue = apid_handler_casted_back
-            .pus_distrib
-            .service_provider_mut()
-            .expect("Cast to concrete type PusHandlerOwnedQueue failed");
-        assert!(!handler_casted_back.pus_queue.is_empty());
-        let (service, apid, packet_raw) = handler_casted_back.pus_queue.pop_front().unwrap();
-        assert_eq!(service, 17);
-        assert_eq!(apid, 0x002);
-        assert_eq!(packet_raw.as_slice(), tc_slice);
-    }
-}

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-stm32f3-disco/.cargo/def_config.toml

@@ -0,0 +1,37 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# uncomment ONE of these three option to make `cargo run` start a GDB session
+# which option to pick depends on your system
+# You can also replace openocd.gdb by jlink.gdb when using a J-Link.
+# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
+# runner = "gdb-multiarch -q -x openocd.gdb"
+# runner = "gdb -q -x openocd.gdb"
+runner = "probe-rs run --chip STM32F303VCTx"
+
+rustflags = [
+  "-C", "linker=flip-link",
+  # LLD (shipped with the Rust toolchain) is used as the default linker
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+
+  # if you run into problems with LLD switch to the GNU linker by commenting out
+  # this line
+  # "-C", "linker=arm-none-eabi-ld",
+
+  # if you need to link to pre-compiled C libraries provided by a C toolchain
+  # use GCC as the linker by commenting out both lines above and then
+  # uncommenting the three lines below
+  # "-C", "linker=arm-none-eabi-gcc",
+  # "-C", "link-arg=-Wl,-Tlink.x",
+  # "-C", "link-arg=-nostartfiles",
+]
+
+[build]
+# comment out the following line if you intend to run unit tests on host machine
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+
+[env]
+DEFMT_LOG = "info"

satrs-example-stm32f3-disco/.gitignore

@@ -1,3 +1,4 @@
 /target
 /itm.txt
 /.cargo/config*
+/.vscode

satrs-example-stm32f3-disco/.vscode/launch.json

@@ -1,66 +0,0 @@
-{
-    /* 
-     * Requires the Rust Language Server (RLS) and Cortex-Debug extensions
-     * https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
-     * https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
-     */
-    "version": "0.2.0",
-    "configurations": [
-        {
-            /* Launches debug session for currently open example */
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Debug",
-            "servertype": "openocd",
-            "cwd": "${workspaceRoot}",
-            "preLaunchTask": "cargo build",
-            "runToEntryPoint": "true",
-            "executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
-            "preLaunchCommands": ["break rust_begin_unwind"],
-            "device": "STM32F303VCT6",
-            "configFiles": [
-                "${workspaceRoot}/.vscode/openocd-helpers.tcl",
-                "interface/stlink.cfg",
-                "target/stm32f3x.cfg"
-            ],
-            "svdFile": "${env:HOME}/.svd/STM32F303.svd",
-            "swoConfig": {
-                "enabled": true,
-                "cpuFrequency": 8000000,
-                "swoFrequency": 2000000,
-                "source": "probe",
-                "decoders": [
-                    { "type": "console", "label": "ITM", "port": 0 }
-                ]
-            }
-        },
-        {
-            /* Launches debug session for currently open example */
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Release",
-            "servertype": "openocd",
-            "cwd": "${workspaceRoot}",
-            "preLaunchTask": "cargo build",
-            "runToEntryPoint": "true",
-            "executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
-            "preLaunchCommands": ["break rust_begin_unwind"],
-            "device": "STM32F303VCT6",
-            "configFiles": [
-                "${workspaceRoot}/.vscode/openocd-helpers.tcl",
-                "interface/stlink.cfg",
-                "target/stm32f3x.cfg"
-            ],
-            "svdFile": "${env:HOME}/.svd/STM32F303.svd",
-            "swoConfig": {
-                "enabled": true,
-                "cpuFrequency": 8000000,
-                "swoFrequency": 2000000,
-                "source": "probe",
-                "decoders": [
-                    { "type": "console", "label": "ITM", "port": 0 }
-                ]
-            }
-        }
-    ]
-}

satrs-example-stm32f3-disco/.vscode/settings_default.json

@@ -1,3 +0,0 @@
-{
-    "cortex-debug.gdbPath.linux": "gdb-multiarch"
-}

satrs-example-stm32f3-disco/Cargo.lock

@@ -13,18 +13,18 @@ dependencies = [
 
 [[package]]
 name = "atomic-polyfill"
-version = "0.1.11"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
 dependencies = [
  "critical-section",
 ]
 
 [[package]]
 name = "autocfg"
-version = "1.1.0"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
+checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
 
 [[package]]
 name = "bare-metal"
@@ -55,20 +55,21 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bxcan"
-version = "0.6.2"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
+checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
 dependencies = [
  "bitflags",
- "nb 1.0.0",
+ "embedded-hal 0.2.7",
+ "nb 1.1.0",
  "vcell",
 ]
 
 [[package]]
 name = "byteorder"
-version = "1.4.3"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "cast"
@@ -87,31 +88,36 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "chrono"
-version = "0.4.23"
+version = "0.4.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "16b0a3d9ed01224b22057780a37bb8c5dbfe1be8ba48678e7bf57ec4b385411f"
+checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
 dependencies = [
- "num-integer",
  "num-traits",
 ]
 
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
+
 [[package]]
 name = "cortex-m"
-version = "0.7.6"
+version = "0.7.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
+checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
- "embedded-hal",
+ "critical-section",
+ "embedded-hal 0.2.7",
  "volatile-register",
 ]
 
 [[package]]
 name = "cortex-m-rt"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d6d3328b8b5534f0c90acd66b68950f2763b37e0173cac4d8b4937c4a80761f9"
+checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
 dependencies = [
  "cortex-m-rt-macros",
 ]
@@ -124,48 +130,44 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
-name = "cortex-m-rtic"
-version = "1.1.3"
+name = "cortex-m-semihosting"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce"
+checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
 dependencies = [
- "bare-metal 1.0.0",
  "cortex-m",
- "cortex-m-rtic-macros",
- "heapless",
- "rtic-core",
- "rtic-monotonic",
- "version_check",
 ]
 
 [[package]]
-name = "cortex-m-rtic-macros"
-version = "1.1.5"
+name = "crc"
+version = "3.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607"
+checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
 dependencies = [
- "proc-macro-error",
- "proc-macro2",
- "quote",
- "rtic-syntax",
- "syn",
+ "crc-catalog",
 ]
 
+[[package]]
+name = "crc-catalog"
+version = "2.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
+
 [[package]]
 name = "critical-section"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "darling"
-version = "0.14.2"
+version = "0.20.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0dd3cd20dc6b5a876612a6e5accfe7f3dd883db6d07acfbf14c128f61550dfa"
+checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
 dependencies = [
  "darling_core",
  "darling_macro",
@@ -173,26 +175,102 @@ dependencies = [
 
 [[package]]
 name = "darling_core"
-version = "0.14.2"
+version = "0.20.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a784d2ccaf7c98501746bf0be29b2022ba41fd62a2e622af997a03e9f972859f"
+checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
 dependencies = [
  "fnv",
  "ident_case",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.58",
 ]
 
 [[package]]
 name = "darling_macro"
-version = "0.14.2"
+version = "0.20.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7618812407e9402654622dd402b0a89dff9ba93badd6540781526117b92aab7e"
+checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
 dependencies = [
  "darling_core",
  "quote",
- "syn",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "defmt"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
+dependencies = [
+ "bitflags",
+ "defmt-macros",
+]
+
+[[package]]
+name = "defmt-brtt"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2f0ac3635d0c89d12b8101fcb44a7625f5f030a1c0491124b74467eb5a58a78"
+dependencies = [
+ "critical-section",
+ "defmt",
+]
+
+[[package]]
+name = "defmt-macros"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
+dependencies = [
+ "defmt-parser",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "defmt-parser"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+dependencies = [
+ "thiserror",
+]
+
+[[package]]
+name = "defmt-test"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "290966e8c38f94b11884877242de876280d0eab934900e9642d58868e77c5df1"
+dependencies = [
+ "cortex-m-rt",
+ "cortex-m-semihosting",
+ "defmt",
+ "defmt-test-macros",
+]
+
+[[package]]
+name = "defmt-test-macros"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "delegate"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ee5df75c70b95bd3aacc8e2fd098797692fb1d54121019c4de481e42f04c8a1"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -214,6 +292,12 @@ dependencies = [
  "void",
 ]
 
+[[package]]
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
 [[package]]
 name = "embedded-time"
 version = "0.12.1"
@@ -225,25 +309,31 @@ dependencies = [
 
 [[package]]
 name = "enumset"
-version = "1.0.12"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19be8061a06ab6f3a6cf21106c873578bf01bd42ad15e0311a9c76161cb1c753"
+checksum = "226c0da7462c13fb57e5cc9e0dc8f0635e7d27f276a3a7fd30054647f669007d"
 dependencies = [
  "enumset_derive",
 ]
 
 [[package]]
 name = "enumset_derive"
-version = "0.6.1"
+version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03e7b551eba279bf0fa88b83a46330168c1560a52a94f5126f892f0b364ab3e0"
+checksum = "e08b6c6ab82d70f08844964ba10c7babb716de2ecaeab9be5717918a5177d3af"
 dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.58",
 ]
 
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -252,18 +342,42 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "fugit"
-version = "0.3.6"
+version = "0.3.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ab17bb279def6720d058cb6c052249938e7f99260ab534879281a95367a87e5"
+checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
 dependencies = [
  "gcd",
 ]
 
 [[package]]
-name = "gcd"
-version = "2.2.0"
+name = "futures-core"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4b1b088ad0a967aa29540456b82fc8903f854775d33f71e9709c4efb3dfbfd2"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+
+[[package]]
+name = "futures-task"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+
+[[package]]
+name = "futures-util"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "pin-project-lite",
+ "pin-utils",
+]
+
+[[package]]
+name = "gcd"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
 [[package]]
 name = "generic-array"
@@ -276,9 +390,9 @@ dependencies = [
 
 [[package]]
 name = "generic-array"
-version = "0.14.6"
+version = "0.14.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bff49e947297f3312447abdca79f45f4738097cc82b06e72054d2223f601f1b9"
+checksum = "85649ca51fd72272d7821adaf274ad91c288277713d9c18820d8499a7ff69e9a"
 dependencies = [
  "typenum",
  "version_check",
@@ -286,29 +400,26 @@ dependencies = [
 
 [[package]]
 name = "hash32"
-version = "0.2.1"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
 dependencies = [
  "byteorder",
 ]
 
 [[package]]
 name = "hashbrown"
-version = "0.12.3"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "heapless"
-version = "0.7.16"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
 dependencies = [
- "atomic-polyfill",
  "hash32",
- "rustc_version 0.4.0",
- "spin",
  "stable_deref_trait",
 ]
 
@@ -320,41 +431,14 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
 
 [[package]]
 name = "indexmap"
-version = "1.9.2"
+version = "2.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1885e79c1fc4b10f0e172c475f458b7f7b93061064d98c3293e98c5ba0c8b399"
+checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
 dependencies = [
- "autocfg",
+ "equivalent",
  "hashbrown",
 ]
 
-[[package]]
-name = "itm_logger"
-version = "0.1.3-pre.0"
-dependencies = [
- "cortex-m",
- "log",
-]
-
-[[package]]
-name = "lock_api"
-version = "0.4.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df"
-dependencies = [
- "autocfg",
- "scopeguard",
-]
-
-[[package]]
-name = "log"
-version = "0.4.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
-dependencies = [
- "cfg-if",
-]
-
 [[package]]
 name = "lsm303dlhc"
 version = "0.2.0"
@@ -362,7 +446,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9e5d1a5c290951321d1b0d4a40edd828537de9889134a0e67c5146542ae57706"
 dependencies = [
  "cast",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "generic-array 0.11.2",
 ]
 
@@ -372,7 +456,7 @@ version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bc4010833aea396656c2f91ee704d51a6f1329ec2ab56ffd00bfd56f7481ea94"
 dependencies = [
- "generic-array 0.14.6",
+ "generic-array 0.14.7",
 ]
 
 [[package]]
@@ -381,14 +465,14 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
 dependencies = [
- "nb 1.0.0",
+ "nb 1.1.0",
 ]
 
 [[package]]
 name = "nb"
-version = "1.0.0"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
+checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
 [[package]]
 name = "num"
@@ -414,19 +498,18 @@ dependencies = [
 
 [[package]]
 name = "num-integer"
-version = "0.1.45"
+version = "0.1.46"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
 dependencies = [
- "autocfg",
  "num-traits",
 ]
 
 [[package]]
 name = "num-iter"
-version = "0.1.43"
+version = "0.1.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d03e6c028c5dc5cac6e2dec0efda81fc887605bb3d884578bb6d6bf7514e252"
+checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -446,27 +529,60 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.15"
+version = "0.2.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
+checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
 dependencies = [
  "autocfg",
 ]
 
 [[package]]
-name = "panic-itm"
-version = "0.4.2"
+name = "num_enum"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d577d97d1b31268087b6dddf2470e6794ef5eee87d9dca7fcd0481695391a4c"
+checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+dependencies = [
+ "num_enum_derive",
+]
+
+[[package]]
+name = "num_enum_derive"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "panic-probe"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
 dependencies = [
  "cortex-m",
+ "defmt",
 ]
 
 [[package]]
 name = "paste"
-version = "1.0.11"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d01a5bd0424d00070b0098dd17ebca6f961a959dead1dbcbbbc1d1cd8d3deeba"
+checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+
+[[package]]
+name = "pin-project-lite"
+version = "0.2.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
 name = "proc-macro-error"
@@ -477,7 +593,7 @@ dependencies = [
  "proc-macro-error-attr",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
  "version_check",
 ]
 
@@ -494,31 +610,54 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.49"
+version = "1.0.79"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57a8eca9f9c4ffde41714334dee777596264c7825420f521abc92b5b5deb63a5"
+checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.23"
+version = "1.0.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8856d8364d252a14d474036ea1358d63c9e6965c8e5c1885c18f73d70bff9c7b"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
 dependencies = [
  "proc-macro2",
 ]
 
 [[package]]
 name = "rtcc"
-version = "0.3.0"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3623619ce77c09a7d87cf7c61c5c887b9c7dee8805f66af6c4aa5824be4d9930"
+checksum = "95973c3a0274adc4f3c5b70d2b5b85618d6de9559a6737d3293ecae9a2fc0839"
 dependencies = [
  "chrono",
 ]
 
+[[package]]
+name = "rtic"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+dependencies = [
+ "atomic-polyfill",
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "critical-section",
+ "rtic-core",
+ "rtic-macros",
+]
+
+[[package]]
+name = "rtic-common"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
+dependencies = [
+ "critical-section",
+]
+
 [[package]]
 name = "rtic-core"
 version = "1.0.0"
@@ -526,21 +665,41 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
 [[package]]
-name = "rtic-monotonic"
-version = "1.0.0"
+name = "rtic-macros"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82"
-
-[[package]]
-name = "rtic-syntax"
-version = "1.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3ad3ae243dd8d0a1b064615f664d4fa7e63929939074c564cbe5efdc4c503065"
+checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
 dependencies = [
  "indexmap",
+ "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "rtic-monotonics"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+dependencies = [
+ "atomic-polyfill",
+ "cfg-if",
+ "cortex-m",
+ "embedded-hal 1.0.0",
+ "fugit",
+ "rtic-time",
+]
+
+[[package]]
+name = "rtic-time"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+dependencies = [
+ "critical-section",
+ "futures-util",
+ "rtic-common",
 ]
 
 [[package]]
@@ -558,31 +717,52 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
- "semver 1.0.16",
+ "semver 1.0.22",
 ]
 
 [[package]]
-name = "sat-rs-example-stm32f-disco"
+name = "satrs"
+version = "0.2.0-rc.0"
+dependencies = [
+ "cobs",
+ "crc",
+ "delegate",
+ "num-traits",
+ "num_enum",
+ "paste",
+ "satrs-shared",
+ "smallvec",
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-example-stm32f3-disco"
 version = "0.1.0"
 dependencies = [
+ "cobs",
  "cortex-m",
  "cortex-m-rt",
- "cortex-m-rtic",
- "embedded-hal",
+ "cortex-m-semihosting",
+ "defmt",
+ "defmt-brtt",
+ "defmt-test",
+ "embedded-hal 0.2.7",
  "enumset",
  "heapless",
- "itm_logger",
- "panic-itm",
+ "panic-probe",
+ "rtic",
+ "rtic-monotonics",
+ "satrs",
  "stm32f3-discovery",
  "stm32f3xx-hal",
- "systick-monotonic",
 ]
 
 [[package]]
-name = "scopeguard"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
+name = "satrs-shared"
+version = "0.1.3"
+dependencies = [
+ "spacepackets",
+]
 
 [[package]]
 name = "semver"
@@ -595,9 +775,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.16"
+version = "1.0.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58bc9567378fc7690d6b2addae4e60ac2eeea07becb2c64b9f218b53865cba2a"
+checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
 
 [[package]]
 name = "semver-parser"
@@ -607,17 +787,28 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "slice-group-by"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03b634d87b960ab1a38c4fe143b508576f075e7c978bfad18217645ebfdfa2ec"
+checksum = "826167069c09b99d56f31e9ae5c99049e932a98c9dc2dac47645b08dbbf76ba7"
 
 [[package]]
-name = "spin"
-version = "0.9.4"
+name = "smallvec"
+version = "1.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
+
+[[package]]
+name = "spacepackets"
+version = "0.11.0-rc.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
 dependencies = [
- "lock_api",
+ "crc",
+ "defmt",
+ "delegate",
+ "num-traits",
+ "num_enum",
+ "zerocopy",
 ]
 
 [[package]]
@@ -639,9 +830,9 @@ dependencies = [
 
 [[package]]
 name = "stm32f3"
-version = "0.14.0"
+version = "0.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "265cda62ac13307414de4aca58dbbbd8038ddba85cffbb335823aa216f2e3200"
+checksum = "b28b37228ef3fa47956af38c6abd756e912f244c1657f14e66d42fc8d74ea96f"
 dependencies = [
  "bare-metal 1.0.0",
  "cortex-m",
@@ -651,7 +842,8 @@ dependencies = [
 
 [[package]]
 name = "stm32f3-discovery"
-version = "0.8.0-pre.0"
+version = "0.8.0-alpha.0"
+source = "git+https://github.com/robamu/stm32f3-discovery?branch=complete-dma-update-hal#5ccacae07ceff02d7d3649df67a6a0ba2a144752"
 dependencies = [
  "accelerometer",
  "cortex-m",
@@ -663,20 +855,20 @@ dependencies = [
 
 [[package]]
 name = "stm32f3xx-hal"
-version = "0.9.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e422c5c044e8f3a068b1e14b83c071449e27c9d4bc0e24f972b552d79f2be03"
+version = "0.11.0-alpha.0"
+source = "git+https://github.com/robamu/stm32f3xx-hal?branch=complete-dma-update#04fc76b7912649c84b57bd0ab803ea3ccf2aadae"
 dependencies = [
- "bare-metal 1.0.0",
  "bxcan",
  "cfg-if",
  "cortex-m",
  "cortex-m-rt",
+ "critical-section",
  "embedded-dma",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "embedded-time",
  "enumset",
- "nb 1.0.0",
+ "nb 1.1.0",
+ "num-traits",
  "paste",
  "rtcc",
  "slice-group-by",
@@ -691,14 +883,14 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "90a4adc8cbd1726249b161898e48e0f3f1ce74d34dc784cbbc98fba4ed283fbf"
 dependencies = [
- "embedded-hal",
+ "embedded-hal 0.2.7",
 ]
 
 [[package]]
 name = "syn"
-version = "1.0.107"
+version = "1.0.109"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f4064b5b16e03ae50984a5a8ed5d4f8803e6bc1fd170a3cda91a1be4b18e3f5"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -706,27 +898,47 @@ dependencies = [
 ]
 
 [[package]]
-name = "systick-monotonic"
-version = "1.0.1"
+name = "syn"
+version = "2.0.58"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67fb822d5c615a0ae3a4795ee5b1d06381c7faf488d861c0a4fa8e6a88d5ff84"
+checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
 dependencies = [
- "cortex-m",
- "fugit",
- "rtic-monotonic",
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "thiserror"
+version = "1.0.58"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.58"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
 ]
 
 [[package]]
 name = "typenum"
-version = "1.16.0"
+version = "1.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.6"
+version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "84a22b9f218b40614adcb3f4ff08b703773ad44fa9423e4e0d346d5db86e4ebc"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "usb-device"
@@ -754,9 +966,30 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
 
 [[package]]
 name = "volatile-register"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
 dependencies = [
  "vcell",
 ]
+
+[[package]]
+name = "zerocopy"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+dependencies = [
+ "byteorder",
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
+]

satrs-example-stm32f3-disco/Cargo.toml

@@ -2,58 +2,82 @@
 name = "satrs-example-stm32f3-disco"
 version = "0.1.0"
 edition = "2021"
+default-run = "satrs-example-stm32f3-disco"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-cortex-m = "0.7"
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-embedded-hal = "0.2.6"
-cortex-m-rtic = "1.0"
-enumset = "1.0"
-heapless = "0.7"
-systick-monotonic = "1.0"
+defmt = "0.3"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+embedded-hal = "0.2.7"
+cortex-m-semihosting = "0.5.0"
+enumset = "1"
+heapless = "0.8"
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]
 
 [dependencies.cobs]
 git = "https://github.com/robamu/cobs.rs.git"
 branch = "all_features"
 default-features = false
 
-[dependencies.panic-itm]
-version = "0.4"
-
-[dependencies.itm_logger]
-git = "https://github.com/robamu/itm_logger.rs.git"
-branch = "all_features"
-version = "0.1.3-alpha.0"
-
 [dependencies.stm32f3xx-hal]
 git = "https://github.com/robamu/stm32f3xx-hal"
-version = "0.10.0-alpha.0"
+version = "0.11.0-alpha.0"
 features = ["stm32f303xc", "rt", "enumset"]
-branch = "all_features"
+branch = "complete-dma-update"
 # Can be used in workspace to develop and update HAL
 # path = "../stm32f3xx-hal"
 
 [dependencies.stm32f3-discovery]
 git = "https://github.com/robamu/stm32f3-discovery"
 version = "0.8.0-alpha.0"
-branch = "all_features"
+branch = "complete-dma-update-hal"
 # Can be used in workspace to develop and update BSP
 # path = "../stm32f3-discovery"
 
-[dependencies.satrs-core]
-git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
-version = "0.1.0-alpha.0"
+[dependencies.satrs]
+path = "../satrs"
 default-features = false
+features = ["defmt"]
 
-# this lets you use `cargo fix`!
-# [[bin]]
-# name = "stm32f3-blinky"
-# test = false
-# bench = false
+[dev-dependencies]
+defmt-test = "0.3"
 
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = "s" # <-
+overflow-checks = true # <-
+
+# cargo build/run --release
 [profile.release]
-codegen-units = 1 # better optimizations
-debug = true # symbols are nice and they don't increase the size on Flash
-lto = true # better optimizations
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-

satrs-example-stm32f3-disco/README.md

@@ -2,15 +2,25 @@ sat-rs example for the STM32F3-Discovery board
 =======
 
 This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
-can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
-standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
-framework.
+can be used on an embedded target.
+It also shows how a relatively simple OBSW could be built when no standard runtime is available.
+It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
+[defmt](https://defmt.ferrous-systems.com/) framework for logging.
 
 The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
 used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
 [Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
 to embedded Rust.
 
+## Pre-Requisites
+
+Make sure the following tools are installed:
+
+1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
+2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
+   [probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
+   for debugging.
+
 ## Preparing Rust and the repository
 
 Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
@@ -40,15 +50,23 @@ you can simply build the application with
 cargo build
 ```
 
-## Flashing and Debugging from the command line
+## Flashing from the command line
 
-TODO
+You can flash the application from the command line using `probe-rs`:
+
+```sh
+probe-rs run --chip STM32F303VCTx
+```
 
 ## Debugging with VS Code
 
 The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
-the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
-and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
+the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
+and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
+Make sure to install this plugin first.
+
+Sample configuration files are provided inside the `vscode` folder.
+Use `cp vscode .vscode -r` to use them for your project.
 
 Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
 to automatically rebuild and flash your application.
@@ -56,20 +74,41 @@ to automatically rebuild and flash your application.
 The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
 the folder in VS code or adding it to a workspace.
 
-If you would like to use a custom GDB application, you can specify the gdb binary in the following
-configuration variables in your `settings.json`:
-
-- `"cortex-debug.gdbPath"`
-- `"cortex-debug.gdbPath.linux"`
-- `"cortex-debug.gdbPath.windows"`
-- `"cortex-debug.gdbPath.osx"`
-
 ## Commanding with Python
 
 When the SW is running on the Discovery board, you can command the MCU via a serial interface,
-using COBS encoded CCSDS packets.
- 
-TODO:
-  - How and where to connect serial interface on the MCU
-  - How to set up Python venv (or at least strongly recommend it) and install deps
-  - How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port
+using COBS encoded PUS packets.
+
+It is recommended to use a virtual environment to do this. To set up one in the command line,
+you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
+After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
+on how to activate the environment and then use the following command to install the required
+dependency:
+
+```sh
+pip install -r requirements.txt
+```
+
+The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
+converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
+
+A default configuration file for the python application is provided and can be used by running
+
+```sh
+cp def_tmtc_conf.json tmtc_conf.json
+```
+
+After that, you can for example send a ping to the MCU using the following command
+
+```sh
+./main.py -p /ping
+```
+
+You can configure the blinky frequency using
+
+```sh
+./main.py -p /change_blink_freq
+```
+
+All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
+format as the packet framing format.

satrs-example-stm32f3-disco/build.rs

@@ -1,18 +0,0 @@
-use std::env;
-use std::fs::File;
-use std::io::Write;
-use std::path::PathBuf;
-
-fn main() {
-    // Put the linker script somewhere the linker can find it
-    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
-    File::create(out.join("memory.x"))
-        .unwrap()
-        .write_all(include_bytes!("memory.x"))
-        .unwrap();
-    println!("cargo:rustc-link-search={}", out.display());
-
-    // Only re-run the build script when memory.x is changed,
-    // instead of when any part of the source code changes.
-    println!("cargo:rerun-if-changed=memory.x");
-}

satrs-example-stm32f3-disco/legacy/openocd.gdb

@@ -24,7 +24,9 @@ break main
 # # send captured ITM to the file itm.fifo
 # # (the microcontroller SWO pin must be connected to the programmer SWO pin)
 # # 8000000 must match the core clock frequency
-monitor tpiu config internal itm.txt uart off 8000000
+# # 2000000 is the frequency of the SWO pin. This was added for newer
+# openocd versions like v0.12.0.
+# monitor tpiu config internal itm.txt uart off 8000000 2000000
 
 # # OR: make the microcontroller SWO pin output compatible with UART (8N1)
 # # 8000000 must match the core clock frequency
@@ -32,7 +34,7 @@ monitor tpiu config internal itm.txt uart off 8000000
 # monitor tpiu config external uart off 8000000 2000000
 
 # # enable ITM port 0
-monitor itm port 0 on
+# monitor itm port 0 on
 
 load
 

satrs-example-stm32f3-disco/pyclient/.gitignore

@@ -1,4 +1,5 @@
 /venv
+/.tmtc-history.txt
 /log
 /.idea/*
 !/.idea/runConfigurations

satrs-example-stm32f3-disco/pyclient/def_tmtc_conf.json

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

satrs-example-stm32f3-disco/pyclient/main.py

@@ -1,39 +1,40 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
-import enum
 import struct
+import logging
 import sys
 import time
-from typing import Optional, cast
+from typing import Any, Optional, cast
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ecss.tm import CdsShortTimestamp
 
 import tmtccmd
 from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
 
-from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
+from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
+from tmtccmd.core.ccsds_backend import QueueWrapper
+from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
-from tmtccmd.com_if import ComInterface
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
+from tmtccmd.com import ComInterface
 from tmtccmd.config import (
+    CmdTreeNode,
     default_json_path,
     SetupParams,
-    TmTcCfgHookBase,
-    TmtcDefinitionWrapper,
-    CoreServiceList,
-    OpCodeEntry,
+    HookBase,
     params_to_procedure_conversion,
 )
-from tmtccmd.config.com_if import SerialCfgWrapper
+from tmtccmd.config.com import SerialCfgWrapper
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging import get_console_logger
 from tmtccmd.logging.pus import (
     RegularTmtcLogWrapper,
     RawTmtcTimedLogWrapper,
     TimedLogWhen,
 )
-from tmtccmd.tc import (
+from tmtccmd.tmtc import (
     TcQueueEntryType,
     ProcedureWrapper,
     TcProcedureType,
@@ -41,27 +42,26 @@ from tmtccmd.tc import (
     SendCbParams,
     DefaultPusQueueHelper,
 )
-from tmtccmd.tm.pus_5_event import Service5Tm
+from tmtccmd.pus.s5_fsfw_event import Service5Tm
 from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
-from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
-
-LOGGER = get_console_logger()
+_LOGGER = logging.getLogger()
 
 EXAMPLE_PUS_APID = 0x02
 
 
-class SatRsConfigHook(TmTcCfgHookBase):
+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]:
-        from tmtccmd.config.com_if import (
+    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,
@@ -76,35 +76,14 @@ class SatRsConfigHook(TmTcCfgHookBase):
             cfg.serial_cfg.serial_timeout = 0.5
         return create_com_interface_default(cfg)
 
-    def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
-        from tmtccmd.config.globals import get_default_tmtc_defs
+    def get_command_definitions(self) -> CmdTreeNode:
+        """This function should return the root node of the command definition tree."""
+        return create_cmd_definition_tree()
 
-        defs = get_default_tmtc_defs()
-        srv_5 = OpCodeEntry()
-        srv_5.add("0", "Event Test")
-        defs.add_service(
-            name=CoreServiceList.SERVICE_5.value,
-            info="PUS Service 5 Event",
-            op_code_entry=srv_5,
-        )
-        srv_17 = OpCodeEntry()
-        srv_17.add("0", "Ping Test")
-        defs.add_service(
-            name=CoreServiceList.SERVICE_17_ALT,
-            info="PUS Service 17 Test",
-            op_code_entry=srv_17,
-        )
-        srv_3 = OpCodeEntry()
-        defs.add_service(
-            name=CoreServiceList.SERVICE_3,
-            info="PUS Service 3 Housekeeping",
-            op_code_entry=srv_3,
-        )
-        return defs
-
-    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
@@ -112,74 +91,76 @@ class SatRsConfigHook(TmTcCfgHookBase):
         return get_core_object_ids()
 
 
+def create_cmd_definition_tree() -> CmdTreeNode:
+    root_node = CmdTreeNode.root_node()
+    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
+    return root_node
+
+
 class PusHandler(SpecificApidHandlerBase):
     def __init__(
         self,
+        file_logger: logging.Logger,
         verif_wrapper: VerificationWrapper,
-        printer: FsfwTmTcPrinter,
         raw_logger: RawTmtcTimedLogWrapper,
     ):
         super().__init__(EXAMPLE_PUS_APID, None)
-        self.printer = printer
+        self.file_logger = file_logger
         self.raw_logger = raw_logger
         self.verif_wrapper = verif_wrapper
 
-    def handle_tm(self, packet: bytes, _user_args: any):
+    def handle_tm(self, packet: bytes, _user_args: Any):
+        time_reader = CdsShortTimestamp.empty()
         try:
-            tm_packet = PusTelemetry.unpack(packet)
+            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}")
+            _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
+        tm_packet = None
         if service == 1:
-            tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(1, 2))
+            tm_packet = Service1Tm.unpack(
+                data=packet, params=UnpackParams(time_reader, 1, 2)
+            )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
-                LOGGER.info(
+                _LOGGER.info(
                     f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
                     f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
                 )
-                LOGGER.warning(
+                _LOGGER.warning(
                     f"No matching telecommand found for {tm_packet.tc_req_id}"
                 )
             else:
                 self.verif_wrapper.log_to_console(tm_packet, res)
                 self.verif_wrapper.log_to_file(tm_packet, res)
-            dedicated_handler = True
         if service == 3:
-            LOGGER.info("No handling for HK packets implemented")
-            LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet)
+            _LOGGER.info("No handling for HK packets implemented")
+            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
-            dedicated_handler = True
+                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
         if service == 5:
-            tm_packet = Service5Tm.unpack(packet)
+            tm_packet = Service5Tm.unpack(packet, time_reader)
         if service == 17:
-            tm_packet = Service17Tm.unpack(packet)
-            dedicated_handler = True
+            tm_packet = Service17Tm.unpack(packet, time_reader)
             if tm_packet.subservice == 2:
-                self.printer.file_logger.info("Received Ping Reply TM[17,2]")
-                LOGGER.info("Received Ping Reply TM[17,2]")
+                _LOGGER.info("Received Ping Reply TM[17,2]")
             else:
-                self.printer.file_logger.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
-                LOGGER.info(
+                _LOGGER.info(
                     f"Received Test Packet with unknown subservice {tm_packet.subservice}"
                 )
         if tm_packet is None:
-            LOGGER.info(
+            _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
-            tm_packet = PusTelemetry.unpack(packet)
-        self.raw_logger.log_tm(tm_packet)
-        if not dedicated_handler and tm_packet is not None:
-            self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
+            tm_packet = PusTelemetry.unpack(packet, time_reader)
+        self.raw_logger.log_tm(pus_tm)
 
 
 def make_addressable_id(target_id: int, unique_id: int) -> bytes:
@@ -198,8 +179,11 @@ class TcHandler(TcHandlerBase):
         self.seq_count_provider = seq_count_provider
         self.verif_wrapper = verif_wrapper
         self.queue_helper = DefaultPusQueueHelper(
-            queue_wrapper=None,
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=7,
             seq_cnt_provider=seq_count_provider,
+            pus_verificator=verif_wrapper.pus_verificator,
+            default_pus_apid=EXAMPLE_PUS_APID,
         )
 
     def send_cb(self, send_params: SendCbParams):
@@ -212,61 +196,74 @@ class TcHandler(TcHandlerBase):
                 )
                 self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
                 raw_tc = pus_tc_wrapper.pus_tc.pack()
-                LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
+                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
                 send_params.com_if.send(raw_tc)
         elif entry_helper.entry_type == TcQueueEntryType.LOG:
             log_entry = entry_helper.to_log_entry()
-            LOGGER.info(log_entry.log_str)
+            _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
-            if (
-                service == CoreServiceList.SERVICE_17
-                or service == CoreServiceList.SERVICE_17_ALT
-            ):
+        if info.proc_type == TcProcedureType.DEFAULT:
+            def_proc = info.to_def_procedure()
+            cmd_path = def_proc.cmd_path
+            if cmd_path == "/ping":
                 q.add_log_cmd("Sending PUS ping telecommand")
-                return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+            if cmd_path == "/change_blink_freq":
+                self.create_change_blink_freq_command(q)
+
+    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
+        q.add_log_cmd("Changing blink frequency")
+        while True:
+            blink_freq = int(
+                input(
+                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
+                )
+            )
+            if blink_freq < 2 or blink_freq > 10000:
+                print(
+                    "Invalid blink frequency. Please specify a value between 2 and 10000."
+                )
+                continue
+            break
+        app_data = struct.pack("!I", blink_freq)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
 
 
 def main():
+    add_colorlog_console_logger(_LOGGER)
     tmtccmd.init_printout(False)
     hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
     parser_wrapper = PreArgsParsingWrapper()
     parser_wrapper.create_default_parent_parser()
     parser_wrapper.create_default_parser()
     parser_wrapper.add_def_proc_args()
-    post_args_wrapper = parser_wrapper.parse(hook_obj)
     params = SetupParams()
+    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
     proc_wrapper = ProcedureParamsWrapper()
     if post_args_wrapper.use_gui:
-        post_args_wrapper.set_params_without_prompts(params, proc_wrapper)
+        post_args_wrapper.set_params_without_prompts(proc_wrapper)
     else:
-        post_args_wrapper.set_params_with_prompts(params, proc_wrapper)
+        post_args_wrapper.set_params_with_prompts(proc_wrapper)
     params.apid = EXAMPLE_PUS_APID
     setup_args = SetupWrapper(
         hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
     )
     # Create console logger helper and file loggers
     tmtc_logger = RegularTmtcLogWrapper()
-    printer = FsfwTmTcPrinter(tmtc_logger.logger)
+    file_logger = tmtc_logger.logger
     raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
     verificator = PusVerificator()
-    verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
+    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
     # Create primary TM handler and add it to the CCSDS Packet Handler
-    tm_handler = PusHandler(verification_wrapper, printer, raw_logger)
+    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
     ccsds_handler = CcsdsTmHandler(generic_handler=None)
     ccsds_handler.add_apid_handler(tm_handler)
 
@@ -288,7 +285,7 @@ def main():
             if state.request == BackendRequest.TERMINATION_NO_ERROR:
                 sys.exit(0)
             elif state.request == BackendRequest.DELAY_IDLE:
-                LOGGER.info("TMTC Client in IDLE mode")
+                _LOGGER.info("TMTC Client in IDLE mode")
                 time.sleep(3.0)
             elif state.request == BackendRequest.DELAY_LISTENER:
                 time.sleep(0.8)

satrs-example-stm32f3-disco/pyclient/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 4.0.0a0
+tmtccmd == 8.0.0rc.0
 # -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

satrs-example-stm32f3-disco/src/bin/blinky.rs

@@ -1,17 +1,15 @@
 #![no_std]
 #![no_main]
+use satrs_example_stm32f3_disco as _;
 
-extern crate panic_itm;
-
-use cortex_m_rt::entry;
-
+use stm32f3_discovery::leds::Leds;
 use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
 use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
-use stm32f3_discovery::leds::Leds;
 use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
 
-#[entry]
-fn main()-> ! {
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    defmt::println!("STM32F3 Discovery Blinky");
     let dp = pac::Peripherals::take().unwrap();
     let mut rcc = dp.RCC.constrain();
     let cp = cortex_m::Peripherals::take().unwrap();
@@ -30,49 +28,49 @@ fn main()-> ! {
         gpioe.pe14,
         gpioe.pe15,
         &mut gpioe.moder,
-        &mut gpioe.otyper
+        &mut gpioe.otyper,
     );
     let delay_ms = 200u16;
     loop {
-        leds.ld3.toggle().ok();
+        leds.ld3_n.toggle().ok();
         delay.delay_ms(delay_ms);
-        leds.ld3.toggle().ok();
+        leds.ld3_n.toggle().ok();
         delay.delay_ms(delay_ms);
 
         //explicit on/off
-        leds.ld4.on().ok();
+        leds.ld4_nw.on().ok();
         delay.delay_ms(delay_ms);
-        leds.ld4.off().ok();
+        leds.ld4_nw.off().ok();
         delay.delay_ms(delay_ms);
 
-        leds.ld5.on().ok();
+        leds.ld5_ne.on().ok();
         delay.delay_ms(delay_ms);
-        leds.ld5.off().ok();
+        leds.ld5_ne.off().ok();
         delay.delay_ms(delay_ms);
 
-        leds.ld6.on().ok();
+        leds.ld6_w.on().ok();
         delay.delay_ms(delay_ms);
-        leds.ld6.off().ok();
-        delay.delay_ms(delay_ms);
-        
-        leds.ld7.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld7.off().ok();
-        delay.delay_ms(delay_ms);
-        
-        leds.ld8.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld8.off().ok();
-        delay.delay_ms(delay_ms);
-        
-        leds.ld9.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld9.off().ok();
+        leds.ld6_w.off().ok();
         delay.delay_ms(delay_ms);
 
-        leds.ld10.on().ok();
+        leds.ld7_e.on().ok();
         delay.delay_ms(delay_ms);
-        leds.ld10.off().ok();
+        leds.ld7_e.off().ok();
+        delay.delay_ms(delay_ms);
+
+        leds.ld8_sw.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld8_sw.off().ok();
+        delay.delay_ms(delay_ms);
+
+        leds.ld9_se.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld9_se.off().ok();
+        delay.delay_ms(delay_ms);
+
+        leds.ld10_s.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld10_s.off().ok();
         delay.delay_ms(delay_ms);
     }
 }

satrs-example-stm32f3-disco/src/lib.rs

@@ -0,0 +1,51 @@
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::debug;
+
+use defmt_brtt as _; // global logger
+
+use stm32f3xx_hal as _; // memory layout
+
+use panic_probe as _;
+
+// same panicking *behavior* as `panic-probe` but doesn't print a panic message
+// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
+#[defmt::panic_handler]
+fn panic() -> ! {
+    cortex_m::asm::udf()
+}
+
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with status code 0.
+pub fn exit() -> ! {
+    loop {
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+}
+
+/// Hardfault handler.
+///
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with an error. This seems better than the default, which is to spin in a
+/// loop.
+#[cortex_m_rt::exception]
+unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
+    loop {
+        debug::exit(debug::EXIT_FAILURE);
+    }
+}
+
+// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
+// once within a crate. the module can be in any file but there can only be at most
+// one `#[tests]` module in this library crate
+#[cfg(test)]
+#[defmt_test::tests]
+mod unit_tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
+    }
+}

satrs-example-stm32f3-disco/src/main.rs

@@ -1,38 +1,40 @@
 #![no_std]
 #![no_main]
-extern crate panic_itm;
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
+};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::ecss::EcssEnumU16;
+use satrs::spacepackets::CcsdsPacket;
+use satrs::spacepackets::{ByteConversionError, SpHeader};
+// global logger + panicking-behavior + memory layout
+use satrs_example_stm32f3_disco as _;
 
 use rtic::app;
 
-use heapless::{
-    mpmc::Q16,
-    pool,
-    pool::singleton::{Box, Pool},
-};
+use heapless::{mpmc::Q8, Vec};
 #[allow(unused_imports)]
-use itm_logger::{debug, info, logger_init, warn};
-use satrs_core::spacepackets::{ecss::PusPacket, tm::PusTm};
-use satrs_core::{
-    pus::{EcssTmErrorWithSend, EcssTmSenderCore},
-    seq_count::SequenceCountProviderCore,
-};
+use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
+use rtic_monotonics::systick::ExtU32;
+use satrs::seq_count::SequenceCountProviderCore;
+use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
 use stm32f3xx_hal::dma::dma1;
 use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
 use stm32f3xx_hal::pac::USART2;
 use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
-use systick_monotonic::{fugit::Duration, Systick};
 
 const UART_BAUD: u32 = 115200;
-const BLINK_FREQ_MS: u64 = 1000;
-const TX_HANDLER_FREQ_MS: u64 = 20;
-const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u16 = 5;
-const MAX_TC_LEN: usize = 200;
-const MAX_TM_LEN: usize = 200;
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const TX_HANDLER_FREQ_MS: u32 = 20;
+const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
+const MAX_TC_LEN: usize = 128;
+const MAX_TM_LEN: usize = 128;
 pub const PUS_APID: u16 = 0x02;
 
 type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
 type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
-type MsDuration = Duration<u64, 1, 1000>;
+type InstantFugit = TimerInstantU32<1000>;
 type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
 type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
 
@@ -51,10 +53,11 @@ static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
 // transfer buffer.
 static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
 
-static TX_REQUESTS: Q16<(Box<poolmod::TM>, usize)> = Q16::new();
+type TmPacket = Vec<u8, MAX_TM_LEN>;
+type TcPacket = Vec<u8, MAX_TC_LEN>;
+
+static TM_REQUESTS: Q8<TmPacket> = Q8::new();
 
-const TC_POOL_SLOTS: usize = 12;
-const TM_POOL_SLOTS: usize = 12;
 use core::sync::atomic::{AtomicU16, Ordering};
 
 pub struct SeqCountProviderAtomicRef {
@@ -88,72 +91,50 @@ impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
 static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
     SeqCountProviderAtomicRef::new(Ordering::Relaxed);
 
-// Otherwise, warnings because of heapless pool macro.
-#[allow(non_camel_case_types)]
-mod poolmod {
-    use super::*;
-    // Must hold full TC length including COBS overhead.
-    pool!(TC: [u8; TC_BUF_LEN]);
-    // Only encoded at the end, so no need to account for COBS overhead.
-    pool!(TM: [u8; MAX_TM_LEN]);
-}
-
 pub struct TxIdle {
     tx: TxType,
     dma_channel: dma1::C7,
 }
 
-#[derive(Debug)]
-pub enum TmStoreError {
-    StoreFull,
-    StoreSlotsTooSmall,
+#[derive(Debug, defmt::Format)]
+pub enum TmSendError {
+    ByteConversion(ByteConversionError),
+    Queue,
 }
 
-impl From<TmStoreError> for EcssTmErrorWithSend<TmStoreError> {
-    fn from(value: TmStoreError) -> Self {
-        Self::SendError(value)
+impl From<ByteConversionError> for TmSendError {
+    fn from(value: ByteConversionError) -> Self {
+        Self::ByteConversion(value)
     }
 }
 
-pub struct TmSender {
-    mem_block: Option<Box<poolmod::TM>>,
-    ctx: &'static str,
+fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
+    if tm_creator.len_written() > MAX_TM_LEN {
+        return Err(ByteConversionError::ToSliceTooSmall {
+            expected: tm_creator.len_written(),
+            found: MAX_TM_LEN,
+        }
+        .into());
+    }
+    let mut tm_vec = TmPacket::new();
+    tm_vec
+        .resize(tm_creator.len_written(), 0)
+        .expect("vec resize failed");
+    tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
+    defmt::info!(
+        "Sending TM[{},{}] with size {}",
+        tm_creator.service(),
+        tm_creator.subservice(),
+        tm_creator.len_written()
+    );
+    TM_REQUESTS
+        .enqueue(tm_vec)
+        .map_err(|_| TmSendError::Queue)?;
+    Ok(())
 }
 
-impl TmSender {
-    pub fn new(mem_block: Box<poolmod::TM>, ctx: &'static str) -> Self {
-        Self {
-            mem_block: Some(mem_block),
-            ctx,
-        }
-    }
-}
-
-impl EcssTmSenderCore for TmSender {
-    type Error = TmStoreError;
-
-    fn send_tm(
-        &mut self,
-        tm: PusTm,
-    ) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
-        let mem_block = self.mem_block.take();
-        if mem_block.is_none() {
-            panic!("send_tm should only be called once");
-        }
-        let mut mem_block = mem_block.unwrap();
-        if tm.len_packed() > MAX_TM_LEN {
-            return Err(EcssTmErrorWithSend::SendError(
-                TmStoreError::StoreSlotsTooSmall,
-            ));
-        }
-        tm.write_to_bytes(mem_block.as_mut_slice())
-            .map_err(|e| EcssTmErrorWithSend::EcssTmError(e.into()))?;
-        info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_packed());
-        TX_REQUESTS
-            .enqueue((mem_block, tm.len_packed()))
-            .map_err(|_| TmStoreError::StoreFull)?;
-        Ok(())
-    }
+fn handle_tm_send_error(error: TmSendError) {
+    defmt::warn!("sending tm failed with error {}", error);
 }
 
 pub enum UartTxState {
@@ -163,56 +144,144 @@ pub enum UartTxState {
     Transmitting(Option<TxDmaTransferType>),
 }
 
-#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [TIM20_BRK, TIM20_UP, TIM20_TRG_COM])]
+pub struct UartTxShared {
+    last_completed: Option<InstantFugit>,
+    state: UartTxState,
+}
+
+pub struct RequestWithToken {
+    token: VerificationToken<TcStateAccepted>,
+    request: Request,
+}
+
+#[derive(Debug, defmt::Format)]
+pub enum Request {
+    Ping,
+    ChangeBlinkFrequency(u32),
+}
+
+#[derive(Debug, defmt::Format)]
+pub enum RequestError {
+    InvalidApid = 1,
+    InvalidService = 2,
+    InvalidSubservice = 3,
+    NotEnoughAppData = 4,
+}
+
+pub fn convert_pus_tc_to_request(
+    tc: &PusTcReader,
+    verif_reporter: &mut VerificationReportCreator,
+    src_data_buf: &mut [u8],
+    timestamp: &[u8],
+) -> Result<RequestWithToken, RequestError> {
+    defmt::info!(
+        "Found PUS TC [{},{}] with length {}",
+        tc.service(),
+        tc.subservice(),
+        tc.len_packed()
+    );
+
+    let token = verif_reporter.add_tc(tc);
+    if tc.apid() != PUS_APID {
+        defmt::warn!("Received tc with unknown APID {}", tc.apid());
+        let result = send_tm(
+            verif_reporter
+                .acceptance_failure(
+                    src_data_buf,
+                    token,
+                    SEQ_COUNT_PROVIDER.get_and_increment(),
+                    0,
+                    FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
+                )
+                .unwrap(),
+        );
+        if let Err(e) = result {
+            handle_tm_send_error(e);
+        }
+        return Err(RequestError::InvalidApid);
+    }
+    let (tm_creator, accepted_token) = verif_reporter
+        .acceptance_success(
+            src_data_buf,
+            token,
+            SEQ_COUNT_PROVIDER.get_and_increment(),
+            0,
+            timestamp,
+        )
+        .unwrap();
+
+    if let Err(e) = send_tm(tm_creator) {
+        handle_tm_send_error(e);
+    }
+
+    if tc.service() == 17 && tc.subservice() == 1 {
+        if tc.subservice() == 1 {
+            return Ok(RequestWithToken {
+                request: Request::Ping,
+                token: accepted_token,
+            });
+        } else {
+            return Err(RequestError::InvalidSubservice);
+        }
+    } else if tc.service() == 8 {
+        if tc.subservice() == 1 {
+            if tc.user_data().len() < 4 {
+                return Err(RequestError::NotEnoughAppData);
+            }
+            let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
+            return Ok(RequestWithToken {
+                request: Request::ChangeBlinkFrequency(new_freq_ms),
+                token: accepted_token,
+            });
+        } else {
+            return Err(RequestError::InvalidSubservice);
+        }
+    } else {
+        return Err(RequestError::InvalidService);
+    }
+}
+
+#[app(device = stm32f3xx_hal::pac, peripherals = true)]
 mod app {
     use super::*;
     use core::slice::Iter;
-    use cortex_m::iprintln;
-    use satrs_core::pus::verification::FailParams;
-    use satrs_core::pus::verification::VerificationReporterCore;
-    use satrs_core::spacepackets::{
-        ecss::EcssEnumU16,
-        tc::PusTc,
-        time::cds::P_FIELD_BASE,
-        tm::{PusTm, PusTmSecondaryHeader},
-        CcsdsPacket, SpHeader,
-    };
+    use rtic_monotonics::systick::Systick;
+    use rtic_monotonics::Monotonic;
+    use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
+    use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
     #[allow(unused_imports)]
     use stm32f3_discovery::leds::Direction;
     use stm32f3_discovery::leds::Leds;
     use stm32f3xx_hal::prelude::*;
-    use stm32f3xx_hal::Toggle;
 
     use stm32f3_discovery::switch_hal::OutputSwitch;
+    use stm32f3xx_hal::Switch;
     #[allow(dead_code)]
     type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
 
     #[shared]
     struct Shared {
-        tx_transfer: UartTxState,
+        blink_freq: MillisDurationU32,
+        tx_shared: UartTxShared,
         rx_transfer: Option<RxDmaTransferType>,
     }
 
     #[local]
     struct Local {
+        verif_reporter: VerificationReportCreator,
         leds: Leds,
         last_dir: Direction,
-        verif_reporter: VerificationReporterCore,
         curr_dir: Iter<'static, Direction>,
     }
 
-    #[monotonic(binds = SysTick, default = true)]
-    type MonoTimer = Systick<1000>;
-
-    #[init(local = [
-        tc_pool_mem: [u8; TC_BUF_LEN * TC_POOL_SLOTS] = [0; TC_BUF_LEN * TC_POOL_SLOTS],
-        tm_pool_mem: [u8; MAX_TM_LEN * TM_POOL_SLOTS] = [0; MAX_TM_LEN * TM_POOL_SLOTS]
-    ])]
-    fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
         let mut rcc = cx.device.RCC.constrain();
 
-        let mono = Systick::new(cx.core.SYST, 8_000_000);
-        logger_init();
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
+
         let mut flash = cx.device.FLASH.constrain();
         let clocks = rcc
             .cfgr
@@ -220,17 +289,12 @@ mod app {
             .sysclk(8.MHz())
             .pclk1(8.MHz())
             .freeze(&mut flash.acr);
-        // setup ITM output
-        iprintln!(
-            &mut cx.core.ITM.stim[0],
-            "Starting sat-rs demo application for the STM32F3-Discovery"
-        );
-        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
-        // Assign memory to the pools.
-        poolmod::TC::grow(cx.local.tc_pool_mem);
-        poolmod::TM::grow(cx.local.tm_pool_mem);
 
-        let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
+        // Set up monotonic timer.
+        //let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
+
+        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
+        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
 
         let leds = Leds::new(
             gpioe.pe8,
@@ -264,125 +328,160 @@ mod app {
             clocks,
             &mut rcc.apb1,
         );
-        usart2.configure_rx_interrupt(RxEvent::Idle, Toggle::On);
+        usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
         // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
-        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Toggle::On);
+        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
 
         let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
-        let (tx_serial, mut rx_serial) = usart2.split();
+        let (mut tx_serial, mut rx_serial) = usart2.split();
 
         // This interrupt is immediately triggered, clear it. It will only be reset
         // by the hardware when data is received on RX (RXNE event)
         rx_serial.clear_event(RxEvent::Idle);
+        // For some reason, this is also immediately triggered..
+        tx_serial.clear_event(TxEvent::TransmissionComplete);
         let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
-        info!(target: "init", "Spawning tasks");
+        defmt::info!("Spawning tasks");
         blink::spawn().unwrap();
         serial_tx_handler::spawn().unwrap();
+
+        let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
+
         (
             Shared {
-                tx_transfer: UartTxState::Idle(Some(TxIdle {
-                    tx: tx_serial,
-                    dma_channel: dma1.ch7,
-                })),
+                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
+                tx_shared: UartTxShared {
+                    last_completed: None,
+                    state: UartTxState::Idle(Some(TxIdle {
+                        tx: tx_serial,
+                        dma_channel: dma1.ch7,
+                    })),
+                },
                 rx_transfer: Some(rx_transfer),
             },
             Local {
+                verif_reporter,
                 leds,
                 last_dir: Direction::North,
                 curr_dir: Direction::iter(),
-                verif_reporter,
             },
-            init::Monotonics(mono),
         )
     }
 
-    #[task(local = [leds, curr_dir, last_dir])]
-    fn blink(cx: blink::Context) {
-        let toggle_leds = |dir: &Direction| {
-            let leds = cx.local.leds;
-            let last_led = leds.for_direction(*cx.local.last_dir);
+    #[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
+    async fn blink(mut cx: blink::Context) {
+        let blink::LocalResources {
+            leds,
+            curr_dir,
+            last_dir,
+            ..
+        } = cx.local;
+        let mut toggle_leds = |dir: &Direction| {
+            let last_led = leds.for_direction(*last_dir);
             last_led.off().ok();
             let led = leds.for_direction(*dir);
             led.on().ok();
-            *cx.local.last_dir = *dir;
+            *last_dir = *dir;
         };
-
-        match cx.local.curr_dir.next() {
-            Some(dir) => {
-                toggle_leds(dir);
-            }
-            None => {
-                *cx.local.curr_dir = Direction::iter();
-                toggle_leds(cx.local.curr_dir.next().unwrap());
+        loop {
+            match curr_dir.next() {
+                Some(dir) => {
+                    toggle_leds(dir);
+                }
+                None => {
+                    *curr_dir = Direction::iter();
+                    toggle_leds(curr_dir.next().unwrap());
+                }
             }
+            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Systick::delay(current_blink_freq).await;
         }
-        blink::spawn_after(MsDuration::from_ticks(BLINK_FREQ_MS)).unwrap();
     }
 
     #[task(
-        shared = [tx_transfer],
-        local = []
+        shared = [tx_shared],
     )]
-    fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
-        if let Some((buf, len)) = TX_REQUESTS.dequeue() {
-            cx.shared.tx_transfer.lock(|tx_state| match tx_state {
-                UartTxState::Idle(tx) => {
-                    //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
-                    // Safety: We only copy the data into the TX DMA buffer in this task.
-                    // If the DMA is active, another branch will be taken.
-                    let mut_tx_dma_buf = unsafe { &mut DMA_TX_BUF };
-                    // 0 sentinel value as start marker
-                    mut_tx_dma_buf[0] = 0;
-                    // Should never panic, we accounted for the overhead.
-                    // Write into transfer buffer directly, no need for intermediate
-                    // encoding buffer.
-                    let encoded_len = cobs::encode(&buf[0..len], &mut mut_tx_dma_buf[1..]);
-                    // 0 end marker
-                    mut_tx_dma_buf[encoded_len + 1] = 0;
-                    //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
-                    //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
-                    let tx_idle = tx.take().unwrap();
-                    // Transfer completion and re-scheduling of new TX transfers will be done
-                    // by the IRQ handler.
-                    let transfer = tx_idle
-                        .tx
-                        .write_all(&mut_tx_dma_buf[0..encoded_len + 2], tx_idle.dma_channel);
-                    *tx_state = UartTxState::Transmitting(Some(transfer));
-                    // The memory block is automatically returned to the pool when it is dropped.
-                }
-                UartTxState::Transmitting(_) => {
-                    // This is a SW configuration error. Only the ISR which
-                    // detects transfer completion should be able to spawn a new
-                    // task, and that ISR should set the state to IDLE.
-                    panic!("invalid internal tx state detected")
-                }
-            })
-        } else {
-            cx.shared.tx_transfer.lock(|tx_state| {
-                if let UartTxState::Idle(_) = tx_state {
-                    serial_tx_handler::spawn_after(MsDuration::from_ticks(TX_HANDLER_FREQ_MS))
-                        .unwrap();
+    async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
+        loop {
+            let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
+                if let UartTxState::Idle(_) = tx_shared.state {
+                    return true;
                 }
+                false
             });
+            if is_idle {
+                let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
+                if let Some(last_completed) = last_completed {
+                    let elapsed_ms = (Systick::now() - last_completed).to_millis();
+                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
+                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
+                            .await;
+                    }
+                }
+            } else {
+                // Check for completion after 1 ms
+                Systick::delay(1.millis()).await;
+                continue;
+            }
+            if let Some(vec) = TM_REQUESTS.dequeue() {
+                cx.shared
+                    .tx_shared
+                    .lock(|tx_shared| match &mut tx_shared.state {
+                        UartTxState::Idle(tx) => {
+                            let encoded_len;
+                            //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
+                            // Safety: We only copy the data into the TX DMA buffer in this task.
+                            // If the DMA is active, another branch will be taken.
+                            unsafe {
+                                // 0 sentinel value as start marker
+                                DMA_TX_BUF[0] = 0;
+                                encoded_len =
+                                    cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
+                                // Should never panic, we accounted for the overhead.
+                                // Write into transfer buffer directly, no need for intermediate
+                                // encoding buffer.
+                                // 0 end marker
+                                DMA_TX_BUF[encoded_len + 1] = 0;
+                            }
+                            //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
+                            //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
+                            let tx_idle = tx.take().unwrap();
+                            // Transfer completion and re-scheduling of new TX transfers will be done
+                            // by the IRQ handler.
+                            // SAFETY: The DMA is the exclusive writer to the DMA buffer now.
+                            let transfer = tx_idle.tx.write_all(
+                                unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
+                                tx_idle.dma_channel,
+                            );
+                            tx_shared.state = UartTxState::Transmitting(Some(transfer));
+                            // The memory block is automatically returned to the pool when it is dropped.
+                        }
+                        UartTxState::Transmitting(_) => (),
+                    });
+                // Check for completion after 1 ms
+                Systick::delay(1.millis()).await;
+                continue;
+            }
+            // Nothing to do, and we are idle.
+            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
         }
     }
 
     #[task(
         local = [
-            stamp_buf: [u8; 7] = [0; 7],
+            verif_reporter,
             decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
             src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
-            verif_reporter
+            timestamp: [u8; 7] = [0; 7],
         ],
+        shared = [blink_freq]
     )]
-    fn serial_rx_handler(
-        cx: serial_rx_handler::Context,
-        received_packet: Box<poolmod::TC>,
-        rx_len: usize,
+    async fn serial_rx_handler(
+        mut cx: serial_rx_handler::Context,
+        received_packet: Vec<u8, MAX_TC_LEN>,
     ) {
-        let tgt: &'static str = "serial_rx_handler";
-        cx.local.stamp_buf[0] = P_FIELD_BASE;
-        info!(target: tgt, "Received packet with {} bytes", rx_len);
+        cx.local.timestamp[0] = P_FIELD_BASE;
+        defmt::info!("Received packet with {} bytes", received_packet.len());
         let decode_buf = cx.local.decode_buf;
         let packet = received_packet.as_slice();
         let mut start_idx = None;
@@ -393,168 +492,149 @@ mod app {
             }
         }
         if start_idx.is_none() {
-            warn!(
-                target: tgt,
-                "decoding error, can only process cobs encoded frames, data is all 0"
-            );
+            defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
             return;
         }
         let start_idx = start_idx.unwrap();
         match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
             Ok(len) => {
-                info!(target: tgt, "Decoded packet length: {}", len);
-                let pus_tc = PusTc::from_bytes(decode_buf);
-                let verif_reporter = cx.local.verif_reporter;
+                defmt::info!("Decoded packet length: {}", len);
+                let pus_tc = PusTcReader::new(decode_buf);
                 match pus_tc {
-                    Ok((tc, tc_len)) => handle_tc(
-                        tc,
-                        tc_len,
-                        verif_reporter,
-                        cx.local.src_data_buf,
-                        cx.local.stamp_buf,
-                        tgt,
-                    ),
+                    Ok((tc, _tc_len)) => {
+                        match convert_pus_tc_to_request(
+                            &tc,
+                            cx.local.verif_reporter,
+                            cx.local.src_data_buf,
+                            cx.local.timestamp,
+                        ) {
+                            Ok(request_with_token) => {
+                                let started_token = handle_start_verification(
+                                    request_with_token.token,
+                                    cx.local.verif_reporter,
+                                    cx.local.src_data_buf,
+                                    cx.local.timestamp,
+                                );
+
+                                match request_with_token.request {
+                                    Request::Ping => {
+                                        handle_ping_request(cx.local.timestamp);
+                                    }
+                                    Request::ChangeBlinkFrequency(new_freq_ms) => {
+                                        defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
+                                        cx.shared.blink_freq.lock(|blink_freq| {
+                                            *blink_freq =
+                                                MillisDurationU32::from_ticks(new_freq_ms);
+                                        });
+                                    }
+                                }
+                                handle_completion_verification(
+                                    started_token,
+                                    cx.local.verif_reporter,
+                                    cx.local.src_data_buf,
+                                    cx.local.timestamp,
+                                );
+                            }
+                            Err(e) => {
+                                // TODO: Error handling: Send verification failure based on request error.
+                                defmt::warn!("request error {}", e);
+                            }
+                        }
+                    }
                     Err(e) => {
-                        warn!(target: tgt, "Error unpacking PUS TC: {}", e);
+                        defmt::warn!("Error unpacking PUS TC: {}", e);
                     }
                 }
             }
             Err(_) => {
-                warn!(
-                    target: tgt,
-                    "decoding error, can only process cobs encoded frames"
-                )
+                defmt::warn!("decoding error, can only process cobs encoded frames")
             }
         }
     }
 
-    fn handle_tc(
-        tc: PusTc,
-        tc_len: usize,
-        verif_reporter: &mut VerificationReporterCore,
-        src_data_buf: &mut [u8; MAX_TM_LEN],
-        stamp_buf: &[u8; 7],
-        tgt: &'static str,
-    ) {
-        info!(
-            target: tgt,
-            "Found PUS TC [{},{}] with length {}",
-            tc.service(),
-            tc.subservice(),
-            tc_len
-        );
-
-        let token = verif_reporter.add_tc(&tc);
-        if tc.apid() != PUS_APID {
-            warn!(target: tgt, "Received tc with unknown APID {}", tc.apid());
-            let sendable = verif_reporter
-                .acceptance_failure(
-                    src_data_buf,
-                    token,
-                    &SEQ_COUNT_PROVIDER,
-                    FailParams::new(stamp_buf, &EcssEnumU16::new(0), None),
-                )
-                .unwrap();
-            let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-            let mut sender = TmSender::new(mem_block, tgt);
-            if let Err(e) =
-                verif_reporter.send_acceptance_failure(sendable, &SEQ_COUNT_PROVIDER, &mut sender)
-            {
-                warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
-            };
+    fn handle_ping_request(timestamp: &[u8]) {
+        defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
+        let sp_header =
+            SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
+        let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
+        let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
+        let mut tm_packet = TmPacket::new();
+        tm_packet
+            .resize(ping_reply.len_written(), 0)
+            .expect("vec resize failed");
+        ping_reply.write_to_bytes(&mut tm_packet).unwrap();
+        if TM_REQUESTS.enqueue(tm_packet).is_err() {
+            defmt::warn!("TC queue full");
             return;
         }
-        let sendable = verif_reporter
-            .acceptance_success(src_data_buf, token, &SEQ_COUNT_PROVIDER, stamp_buf)
+    }
+
+    fn handle_start_verification(
+        accepted_token: VerificationToken<TcStateAccepted>,
+        verif_reporter: &mut VerificationReportCreator,
+        src_data_buf: &mut [u8],
+        timestamp: &[u8],
+    ) -> VerificationToken<TcStateStarted> {
+        let (tm_creator, started_token) = verif_reporter
+            .start_success(
+                src_data_buf,
+                accepted_token,
+                SEQ_COUNT_PROVIDER.get(),
+                0,
+                &timestamp,
+            )
             .unwrap();
+        let result = send_tm(tm_creator);
+        if let Err(e) = result {
+            handle_tm_send_error(e);
+        }
+        started_token
+    }
 
-        let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-        let mut sender = TmSender::new(mem_block, tgt);
-        let accepted_token = match verif_reporter.send_acceptance_success(
-            sendable,
-            &SEQ_COUNT_PROVIDER,
-            &mut sender,
-        ) {
-            Ok(token) => token,
-            Err(e) => {
-                warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
-                return;
-            }
-        };
-
-        if tc.service() == 17 {
-            if tc.subservice() == 1 {
-                let sendable = verif_reporter
-                    .start_success(src_data_buf, accepted_token, &SEQ_COUNT_PROVIDER, stamp_buf)
-                    .unwrap();
-                let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let mut sender = TmSender::new(mem_block, tgt);
-                let started_token = match verif_reporter.send_start_success(
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut sender,
-                ) {
-                    Ok(token) => token,
-                    Err(e) => {
-                        warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
-                        return;
-                    }
-                };
-                info!(
-                    target: tgt,
-                    "Received PUS ping telecommand, sending ping reply TM[17,2]"
-                );
-                let mut sp_header =
-                    SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
-                let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
-                let ping_reply = PusTm::new(&mut sp_header, sec_header, None, true);
-                let mut mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let reply_len = ping_reply.write_to_bytes(mem_block.as_mut_slice()).unwrap();
-                if TX_REQUESTS.enqueue((mem_block, reply_len)).is_err() {
-                    warn!(target: tgt, "TC queue full");
-                    return;
-                }
-                SEQ_COUNT_PROVIDER.increment();
-                let sendable = verif_reporter
-                    .completion_success(src_data_buf, started_token, &SEQ_COUNT_PROVIDER, stamp_buf)
-                    .unwrap();
-                let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let mut sender = TmSender::new(mem_block, tgt);
-                if let Err(e) = verif_reporter.send_step_or_completion_success(
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut sender,
-                ) {
-                    warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
-                }
-            } else {
-                // TODO: Invalid subservice
-            }
+    fn handle_completion_verification(
+        started_token: VerificationToken<TcStateStarted>,
+        verif_reporter: &mut VerificationReportCreator,
+        src_data_buf: &mut [u8],
+        timestamp: &[u8],
+    ) {
+        let result = send_tm(
+            verif_reporter
+                .completion_success(
+                    src_data_buf,
+                    started_token,
+                    SEQ_COUNT_PROVIDER.get(),
+                    0,
+                    timestamp,
+                )
+                .unwrap(),
+        );
+        if let Err(e) = result {
+            handle_tm_send_error(e);
         }
     }
 
     #[task(binds = DMA1_CH6, shared = [rx_transfer])]
     fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
+        let mut tc_packet = TcPacket::new();
         cx.shared.rx_transfer.lock(|rx_transfer| {
             let rx_ref = rx_transfer.as_ref().unwrap();
             if rx_ref.is_complete() {
                 let uart_rx_owned = rx_transfer.take().unwrap();
                 let (buf, c, rx) = uart_rx_owned.stop();
                 // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a memory pool here
+                // during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
                 // to do this.
-                let mut mem_block = poolmod::TC::alloc()
-                    .expect("allocating memory block for rx failed")
-                    .init([0u8; TC_BUF_LEN]);
-                // Copy data into memory pool.
-                mem_block.copy_from_slice(buf);
+                tc_packet.resize(buf.len(), 0).expect("vec resize failed");
+                tc_packet.copy_from_slice(buf);
+
+                // Start the next transfer as soon as possible.
                 *rx_transfer = Some(rx.read_exact(buf, c));
-                // Only send owning pointer to pool memory and the received packet length.
-                serial_rx_handler::spawn(mem_block, TC_BUF_LEN)
-                    .expect("spawning rx handler task failed");
+
+                // Send the vector to a regular task.
+                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
                 // If this happens, there is a high chance that the maximum packet length was
                 // exceeded. Circular mode is not used here, so data might be missed.
-                warn!(
+                defmt::warn!(
                     "rx transfer with maximum length {}, might miss data",
                     TC_BUF_LEN
                 );
@@ -562,23 +642,26 @@ mod app {
         });
     }
 
-    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_transfer])]
+    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
     fn serial_isr(mut cx: serial_isr::Context) {
-        cx.shared.tx_transfer.lock(|tx_state| match tx_state {
-            UartTxState::Idle(_) => (),
-            UartTxState::Transmitting(transfer) => {
-                let transfer_ref = transfer.as_ref().unwrap();
-                if transfer_ref.is_complete() {
-                    let transfer = transfer.take().unwrap();
-                    let (_, dma_channel, tx) = transfer.stop();
-                    *tx_state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
-                    serial_tx_handler::spawn_after(MsDuration::from_ticks(
-                        MIN_DELAY_BETWEEN_TX_PACKETS_MS.into(),
-                    ))
-                    .unwrap();
+        cx.shared
+            .tx_shared
+            .lock(|tx_shared| match &mut tx_shared.state {
+                UartTxState::Idle(_) => (),
+                UartTxState::Transmitting(transfer) => {
+                    let transfer_ref = transfer.as_ref().unwrap();
+                    if transfer_ref.is_complete() {
+                        let transfer = transfer.take().unwrap();
+                        let (_, dma_channel, mut tx) = transfer.stop();
+                        tx.clear_event(TxEvent::TransmissionComplete);
+                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
+                        // We cache the last completed time to ensure that there is a minimum delay between consecutive
+                        // transferred packets.
+                        tx_shared.last_completed = Some(Systick::now());
+                    }
                 }
-            }
-        });
+            });
+        let mut tc_packet = TcPacket::new();
         cx.shared.rx_transfer.lock(|rx_transfer| {
             let rx_transfer_ref = rx_transfer.as_ref().unwrap();
             // Received a partial packet.
@@ -586,17 +669,14 @@ mod app {
                 let rx_transfer_owned = rx_transfer.take().unwrap();
                 let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
                 // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a memory pool here
-                // to do this.
-                let mut mem_block = poolmod::TC::alloc()
-                    .expect("allocating memory block for rx failed")
-                    .init([0u8; TC_BUF_LEN]);
-                // Copy data into memory pool.
-                mem_block[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
+                // during the interrupt. There are multiple ways to do this, we use a stack
+                // allocated vector to do this.
+                tc_packet
+                    .resize(rx_len as usize, 0)
+                    .expect("vec resize failed");
+                tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
                 rx.clear_event(RxEvent::Idle);
-                // Only send owning pointer to pool memory and the received packet length.
-                serial_rx_handler::spawn(mem_block, rx_len as usize)
-                    .expect("spawning rx handler task failed");
+                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
                 *rx_transfer = Some(rx.read_exact(buf, ch));
             }
         });

satrs-example-stm32f3-disco/vscode/extensions.json

@@ -5,8 +5,8 @@
 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
 		"rust-lang.rust",
-		"marus25.cortex-debug",
+		"probe-rs.probe-rs-debugger"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": []
-}
+}

satrs-example-stm32f3-disco/vscode/launch.json

@@ -0,0 +1,22 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "preLaunchTask": "${defaultBuildTask}",
+      "type": "probe-rs-debug",
+      "request": "launch",
+      "name": "probe-rs Debugging ",
+      "flashingConfig": {
+        "flashingEnabled": true
+      },
+      "chip": "STM32F303VCTx",
+      "coreConfigs": [
+        {
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
+          "rttEnabled": true,
+          "svdFile": "STM32F303.svd"
+        }
+      ]
+    }
+  ]
+}

satrs-example-stm32f3-disco/vscode/openocd-helpers.tcl

@@ -11,7 +11,8 @@ proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
     # Alternative option: Pipe ITM output into itm.txt file
     # tpiu config internal itm.txt uart off $CDCPUFreqHz
 
-    # Default option so SWO display of VS code works.
+    # Default option so SWO display of VS code works. Please note that this might not be required
+    # anymore starting at openocd v0.12.0
     tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
     itm port 0 on
 }

satrs-example/.gitignore

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