First version of asynchronix based mini simulator

- Basic simulator with 3 devices
- Can be driven via a UDP interface
- Design allows to drive the simulation via different interface in the future
  by using Request/Reply messaging.

.gitignore

@@ -1,4 +1,5 @@
-/target
+target/
+
 /Cargo.lock
 
 /.idea/*

Cargo.toml

@@ -4,6 +4,7 @@ members = [
     "satrs",
     "satrs-mib",
     "satrs-example",
+    "satrs-minisim",
     "satrs-shared",
 ]
 

coverage.py

@@ -18,15 +18,19 @@ def generate_cov_report(open_report: bool, format: str, package: str):
     out_path = "./target/debug/coverage"
     if format == "lcov":
         out_path = "./target/debug/lcov.info"
-    os.system(
+    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":
-        os.system(
+        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)
@@ -43,7 +47,7 @@ def main():
     parser.add_argument(
         "-p",
         "--package",
-        choices=["satrs"],
+        choices=["satrs", "satrs-minisim"],
         default="satrs",
         help="Choose project to generate coverage for",
     )

satrs-example/Cargo.toml

@@ -20,8 +20,8 @@ thiserror = "1"
 derive-new = "0.5"
 
 [dependencies.satrs]
-version = "0.2.0-rc.0"
+# version = "0.2.0-rc.0"
-# path = "../satrs"
+path = "../satrs"
 
 [dependencies.satrs-mib]
 version = "0.1.1"

satrs-example/src/acs.rs

@@ -1,7 +1,7 @@
 use std::sync::mpsc::{self, TryRecvError};
 
 use log::{info, warn};
-use satrs::pus::verification::{VerificationReporterWithSender, VerificationReportingProvider};
+use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{EcssTmSender, PusTmWrapper};
 use satrs::request::TargetAndApidId;
 use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
@@ -21,19 +21,19 @@ use crate::{
     update_time,
 };
 
-pub struct AcsTask {
+pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
     timestamp: [u8; 7],
     time_provider: TimeProvider<DaysLen16Bits>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporter,
     tm_sender: Box<dyn EcssTmSender>,
     request_rx: mpsc::Receiver<RequestWithToken>,
 }
 
-impl AcsTask {
+impl<VerificationReporter: VerificationReportingProvider> AcsTask<VerificationReporter> {
     pub fn new(
         tm_sender: impl EcssTmSender,
         request_rx: mpsc::Receiver<RequestWithToken>,
-        verif_reporter: VerificationReporterWithSender,
+        verif_reporter: VerificationReporter,
     ) -> Self {
         Self {
             timestamp: [0; 7],

satrs-example/src/events.rs

@@ -1,21 +1,17 @@
-use std::sync::mpsc::{self, SendError};
+use std::sync::mpsc::{self};
 
 use satrs::{
     event_man::{
-        EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
+        EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
-        SendEventProvider,
+        MpscEventReceiver,
     },
     events::EventU32,
     params::Params,
     pus::{
         event_man::{
-            DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
+            DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
-            PusEventDispatcher,
-        },
-        verification::{
-            TcStateStarted, VerificationReporterWithSender, VerificationReportingProvider,
-            VerificationToken,
         },
+        verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
         EcssTmSender,
     },
     spacepackets::time::cds::{self, TimeProvider},
@@ -24,38 +20,37 @@ use satrs_example::config::PUS_APID;
 
 use crate::update_time;
 
-pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
+pub struct PusEventHandler<VerificationReporter: VerificationReportingProvider> {
-
-pub struct PusEventHandler {
     event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-    pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
+    pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
     pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
     tm_sender: Box<dyn EcssTmSender>,
     time_provider: TimeProvider,
     timestamp: [u8; 7],
-    verif_handler: VerificationReporterWithSender,
+    verif_handler: VerificationReporter,
 }
 /*
 */
 
-impl PusEventHandler {
+impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<VerificationReporter> {
     pub fn new(
-        verif_handler: VerificationReporterWithSender,
+        verif_handler: VerificationReporter,
-        event_manager: &mut MpscEventManager,
+        event_manager: &mut EventManagerWithBoundedMpsc,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
         tm_sender: impl EcssTmSender,
     ) -> Self {
-        let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
+        let event_queue_cap = 30;
+        let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);
 
         // All events sent to the manager are routed to the PUS event manager, which generates PUS event
         // telemetry for each event.
         let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
-        let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
         let pus_event_dispatcher =
-            PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
+            DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
-        let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+        let pus_event_man_send_provider =
+            EventU32SenderMpscBounded::new(1, pus_event_man_tx, event_queue_cap);
 
-        event_manager.subscribe_all(pus_event_man_send_provider.id());
+        event_manager.subscribe_all(pus_event_man_send_provider.channel_id());
         event_manager.add_sender(pus_event_man_send_provider);
 
         Self {
@@ -117,7 +112,7 @@ impl PusEventHandler {
 }
 
 pub struct EventManagerWrapper {
-    event_manager: MpscEventManager,
+    event_manager: EventManagerWithBoundedMpsc,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
 }
 
@@ -128,7 +123,7 @@ impl EventManagerWrapper {
         let (event_sender, event_man_rx) = mpsc::channel();
         let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
         Self {
-            event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
+            event_manager: EventManagerWithBoundedMpsc::new(event_recv),
             event_sender,
         }
     }
@@ -137,7 +132,7 @@ impl EventManagerWrapper {
         self.event_sender.clone()
     }
 
-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
         &mut self.event_manager
     }
 
@@ -149,15 +144,15 @@ impl EventManagerWrapper {
     }
 }
 
-pub struct EventHandler {
+pub struct EventHandler<VerificationReporter: VerificationReportingProvider> {
     pub event_man_wrapper: EventManagerWrapper,
-    pub pus_event_handler: PusEventHandler,
+    pub pus_event_handler: PusEventHandler<VerificationReporter>,
 }
 
-impl EventHandler {
+impl<VerificationReporter: VerificationReportingProvider> EventHandler<VerificationReporter> {
     pub fn new(
         tm_sender: impl EcssTmSender,
-        verif_handler: VerificationReporterWithSender,
+        verif_handler: VerificationReporter,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
     ) -> Self {
         let mut event_man_wrapper = EventManagerWrapper::new();
@@ -178,7 +173,7 @@ impl EventHandler {
     }
 
     #[allow(dead_code)]
-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
         self.event_man_wrapper.event_manager()
     }
 

satrs-example/src/main.rs

@@ -44,7 +44,7 @@ use crate::tmtc::{
 use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
-use satrs::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
+use satrs::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
 use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
 use satrs::tmtc::CcsdsDistributor;
 use satrs::ChannelId;
@@ -54,11 +54,13 @@ use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
 
-fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
+fn create_verification_reporter<Sender: EcssTmSender + Clone>(
+    verif_sender: Sender,
+) -> VerificationReporterWithSender<Sender> {
     let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
     // Every software component which needs to generate verification telemetry, gets a cloned
     // verification reporter.
-    VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
+    VerificationReporterWithSender::new(&verif_cfg, verif_sender)
 }
 
 #[allow(dead_code)]
@@ -68,13 +70,13 @@ fn static_tmtc_pool_main() {
     let shared_tc_pool = SharedTcPool {
         pool: Arc::new(RwLock::new(tc_pool)),
     };
-    let (tc_source_tx, tc_source_rx) = channel();
+    let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
+    let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
-    let (tm_server_tx, tm_server_rx) = channel();
+    let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
 
     // Every software component which needs to generate verification telemetry, receives a cloned
     // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
+    let verif_reporter = create_verification_reporter(TmInSharedPoolSenderWithId::new(
         TmSenderId::PusVerification as ChannelId,
         "verif_sender",
         shared_tm_pool.clone(),
@@ -102,7 +104,7 @@ fn static_tmtc_pool_main() {
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
     let mut event_handler = EventHandler::new(
-        MpscTmInSharedPoolSender::new(
+        TmInSharedPoolSenderWithId::new(
             TmSenderId::AllEvents as ChannelId,
             "ALL_EVENTS_TX",
             shared_tm_pool.clone(),
@@ -180,7 +182,7 @@ fn static_tmtc_pool_main() {
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
     let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
@@ -191,7 +193,7 @@ fn static_tmtc_pool_main() {
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
     let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
@@ -202,7 +204,7 @@ fn static_tmtc_pool_main() {
     .expect("tcp server creation failed");
 
     let mut acs_task = AcsTask::new(
-        MpscTmInSharedPoolSender::new(
+        TmInSharedPoolSenderWithId::new(
             TmSenderId::AcsSubsystem as ChannelId,
             "ACS_TASK_SENDER",
             shared_tm_pool.clone(),
@@ -303,7 +305,7 @@ fn dyn_tmtc_pool_main() {
     let (tm_server_tx, tm_server_rx) = channel();
     // Every software component which needs to generate verification telemetry, gets a cloned
     // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
+    let verif_reporter = create_verification_reporter(TmAsVecSenderWithId::new(
         TmSenderId::PusVerification as ChannelId,
         "verif_sender",
         tm_funnel_tx.clone(),
@@ -324,7 +326,7 @@ fn dyn_tmtc_pool_main() {
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
     let mut event_handler = EventHandler::new(
-        MpscTmAsVecSender::new(
+        TmAsVecSenderWithId::new(
             TmSenderId::AllEvents as ChannelId,
             "ALL_EVENTS_TX",
             tm_funnel_tx.clone(),
@@ -394,7 +396,7 @@ fn dyn_tmtc_pool_main() {
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
     let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
@@ -404,7 +406,7 @@ fn dyn_tmtc_pool_main() {
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
     let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
@@ -415,7 +417,7 @@ fn dyn_tmtc_pool_main() {
     .expect("tcp server creation failed");
 
     let mut acs_task = AcsTask::new(
-        MpscTmAsVecSender::new(
+        TmAsVecSenderWithId::new(
             TmSenderId::AcsSubsystem as ChannelId,
             "ACS_TASK_SENDER",
             tm_funnel_tx.clone(),

satrs-example/src/pus/action.rs

@@ -2,14 +2,17 @@ use log::{error, warn};
 use satrs::action::ActionRequest;
 use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
 use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
-    VerificationToken,
 };
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper,
+    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
 };
 use satrs::request::TargetAndApidId;
 use satrs::spacepackets::ecss::tc::PusTcReader;
@@ -74,13 +77,18 @@ impl PusActionToRequestConverter for ExampleActionRequestConverter {
 
 pub fn create_action_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
-) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
+) -> Pus8Wrapper<
-    let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusAction as ChannelId,
         "PUS_8_TM_SENDER",
         shared_tm_store.clone(),
@@ -93,8 +101,8 @@ pub fn create_action_service_static(
     );
     let pus_8_handler = PusService8ActionHandler::new(
         PusServiceHelper::new(
-            Box::new(action_srv_receiver),
+            action_srv_receiver,
-            Box::new(action_srv_tm_sender),
+            action_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
@@ -108,11 +116,16 @@ pub fn create_action_service_static(
 
 pub fn create_action_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
-) -> Pus8Wrapper<EcssTcInVecConverter> {
+) -> Pus8Wrapper<
-    let action_srv_tm_sender = MpscTmAsVecSender::new(
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let action_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusAction as ChannelId,
         "PUS_8_TM_SENDER",
         tm_funnel_tx.clone(),
@@ -124,8 +137,8 @@ pub fn create_action_service_dynamic(
     );
     let pus_8_handler = PusService8ActionHandler::new(
         PusServiceHelper::new(
-            Box::new(action_srv_receiver),
+            action_srv_receiver,
-            Box::new(action_srv_tm_sender),
+            action_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInVecConverter::default(),
@@ -137,17 +150,30 @@ pub fn create_action_service_dynamic(
     Pus8Wrapper { pus_8_handler }
 }
 
-pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+pub struct Pus8Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
     pub(crate) pus_8_handler: PusService8ActionHandler<
+        TcReceiver,
+        TmSender,
         TcInMemConverter,
-        VerificationReporterWithSender,
+        VerificationReporter,
         ExampleActionRequestConverter,
         GenericRequestRouter,
         GenericRoutingErrorHandler<8>,
     >,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_8_handler.handle_one_tc() {
             Ok(result) => match result {

satrs-example/src/pus/event.rs

@@ -4,11 +4,15 @@ use log::{error, warn};
 use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::event_srv::PusService5EventHandler;
-use satrs::pus::verification::VerificationReporterWithSender;
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
+use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
-    PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
 };
 use satrs::tmtc::tm_helper::SharedTmPool;
 use satrs::ChannelId;
@@ -16,13 +20,18 @@ use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
 
 pub fn create_event_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
+) -> Pus5Wrapper<
-    let event_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusEvent as ChannelId,
         "PUS_5_TM_SENDER",
         shared_tm_store.clone(),
@@ -35,8 +44,8 @@ pub fn create_event_service_static(
     );
     let pus_5_handler = PusService5EventHandler::new(
         PusServiceHelper::new(
-            Box::new(event_srv_receiver),
+            event_srv_receiver,
-            Box::new(event_srv_tm_sender),
+            event_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
@@ -48,11 +57,16 @@ pub fn create_event_service_static(
 
 pub fn create_event_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInVecConverter> {
+) -> Pus5Wrapper<
-    let event_srv_tm_sender = MpscTmAsVecSender::new(
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let event_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusEvent as ChannelId,
         "PUS_5_TM_SENDER",
         tm_funnel_tx,
@@ -64,8 +78,8 @@ pub fn create_event_service_dynamic(
     );
     let pus_5_handler = PusService5EventHandler::new(
         PusServiceHelper::new(
-            Box::new(event_srv_receiver),
+            event_srv_receiver,
-            Box::new(event_srv_tm_sender),
+            event_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInVecConverter::default(),
@@ -75,11 +89,23 @@ pub fn create_event_service_dynamic(
     Pus5Wrapper { pus_5_handler }
 }
 
-pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+pub struct Pus5Wrapper<
-    pub pus_5_handler: PusService5EventHandler<TcInMemConverter, VerificationReporterWithSender>,
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub pus_5_handler:
+        PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_5_handler.handle_one_tc() {
             Ok(result) => match result {

satrs-example/src/pus/hk.rs

@@ -2,14 +2,17 @@ use log::{error, warn};
 use satrs::hk::{CollectionIntervalFactor, HkRequest};
 use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
 use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
-    VerificationToken,
 };
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper,
+    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
 };
 use satrs::request::TargetAndApidId;
 use satrs::spacepackets::ecss::tc::PusTcReader;
@@ -143,13 +146,18 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
 
 pub fn create_hk_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
-) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
+) -> Pus3Wrapper<
-    let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusHk as ChannelId,
         "PUS_3_TM_SENDER",
         shared_tm_store.clone(),
@@ -159,8 +167,8 @@ pub fn create_hk_service_static(
         MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
     let pus_3_handler = PusService3HkHandler::new(
         PusServiceHelper::new(
-            Box::new(hk_srv_receiver),
+            hk_srv_receiver,
-            Box::new(hk_srv_tm_sender),
+            hk_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInSharedStoreConverter::new(tc_pool, 2048),
@@ -174,11 +182,16 @@ pub fn create_hk_service_static(
 
 pub fn create_hk_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
-) -> Pus3Wrapper<EcssTcInVecConverter> {
+) -> Pus3Wrapper<
-    let hk_srv_tm_sender = MpscTmAsVecSender::new(
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let hk_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusHk as ChannelId,
         "PUS_3_TM_SENDER",
         tm_funnel_tx.clone(),
@@ -187,8 +200,8 @@ pub fn create_hk_service_dynamic(
         MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
     let pus_3_handler = PusService3HkHandler::new(
         PusServiceHelper::new(
-            Box::new(hk_srv_receiver),
+            hk_srv_receiver,
-            Box::new(hk_srv_tm_sender),
+            hk_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInVecConverter::default(),
@@ -200,17 +213,30 @@ pub fn create_hk_service_dynamic(
     Pus3Wrapper { pus_3_handler }
 }
 
-pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+pub struct Pus3Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
     pub(crate) pus_3_handler: PusService3HkHandler<
+        TcReceiver,
+        TmSender,
         TcInMemConverter,
-        VerificationReporterWithSender,
+        VerificationReporter,
         ExampleHkRequestConverter,
         GenericRequestRouter,
         GenericRoutingErrorHandler<3>,
     >,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_3_handler.handle_one_tc() {
             Ok(result) => match result {

satrs-example/src/pus/mod.rs

@@ -1,8 +1,6 @@
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
-use satrs::pus::verification::{
+use satrs::pus::verification::{FailParams, VerificationReportingProvider};
-    FailParams, StdVerifReporterWithSender, VerificationReportingProvider,
-};
 use satrs::pus::{
     EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
 };
@@ -28,8 +26,8 @@ pub struct PusTcMpscRouter {
     pub action_service_receiver: Sender<EcssTcAndToken>,
 }
 
-pub struct PusReceiver {
+pub struct PusReceiver<VerificationReporter: VerificationReportingProvider> {
-    pub verif_reporter: StdVerifReporterWithSender,
+    pub verif_reporter: VerificationReporter,
     pub pus_router: PusTcMpscRouter,
     stamp_helper: TimeStampHelper,
 }
@@ -61,8 +59,8 @@ impl TimeStampHelper {
     }
 }
 
-impl PusReceiver {
+impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
-    pub fn new(verif_reporter: StdVerifReporterWithSender, pus_router: PusTcMpscRouter) -> Self {
+    pub fn new(verif_reporter: VerificationReporter, pus_router: PusTcMpscRouter) -> Self {
         Self {
             verif_reporter,
             pus_router,
@@ -71,7 +69,7 @@ impl PusReceiver {
     }
 }
 
-impl PusReceiver {
+impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
     pub fn handle_tc_packet(
         &mut self,
         tc_in_memory: TcInMemory,

satrs-example/src/pus/scheduler.rs

@@ -5,11 +5,15 @@ use log::{error, info, warn};
 use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
 use satrs::pus::scheduler::{PusScheduler, TcInfo};
 use satrs::pus::scheduler_srv::PusService11SchedHandler;
-use satrs::pus::verification::VerificationReporterWithSender;
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
+use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
-    PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
 };
 use satrs::tmtc::tm_helper::SharedTmPool;
 use satrs::ChannelId;
@@ -51,15 +55,31 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
     }
 }
 
-pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+pub struct Pus11Wrapper<
-    pub pus_11_handler:
+    TcReceiver: EcssTcReceiverCore,
-        PusService11SchedHandler<TcInMemConverter, VerificationReporterWithSender, PusScheduler>,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub pus_11_handler: PusService11SchedHandler<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        PusScheduler,
+    >,
     pub sched_tc_pool: StaticMemoryPool,
     pub releaser_buf: [u8; 4096],
     pub tc_releaser: Box<dyn TcReleaser + Send>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn release_tcs(&mut self) {
         let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
             self.tc_releaser.release(enabled, info, tc)
@@ -110,13 +130,18 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
 
 pub fn create_scheduler_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_releaser: PusTcSourceProviderSharedPool,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
+) -> Pus11Wrapper<
-    let sched_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusSched as ChannelId,
         "PUS_11_TM_SENDER",
         shared_tm_store.clone(),
@@ -131,8 +156,8 @@ pub fn create_scheduler_service_static(
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusService11SchedHandler::new(
         PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
+            sched_srv_receiver,
-            Box::new(sched_srv_tm_sender),
+            sched_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
@@ -149,12 +174,17 @@ pub fn create_scheduler_service_static(
 
 pub fn create_scheduler_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     tc_source_sender: mpsc::Sender<Vec<u8>>,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInVecConverter> {
+) -> Pus11Wrapper<
-    let sched_srv_tm_sender = MpscTmAsVecSender::new(
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let sched_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusSched as ChannelId,
         "PUS_11_TM_SENDER",
         tm_funnel_tx,
@@ -168,8 +198,8 @@ pub fn create_scheduler_service_dynamic(
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusService11SchedHandler::new(
         PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
+            sched_srv_receiver,
-            Box::new(sched_srv_tm_sender),
+            sched_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInVecConverter::default(),

satrs-example/src/pus/stack.rs

@@ -1,25 +1,44 @@
-use satrs::pus::EcssTcInMemConverter;
+use satrs::pus::{
+    verification::VerificationReportingProvider, EcssTcInMemConverter, EcssTcReceiverCore,
+    EcssTmSenderCore,
+};
 
 use super::{
     action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
     test::Service17CustomWrapper,
 };
 
-pub struct PusStack<TcInMemConverter: EcssTcInMemConverter> {
+pub struct PusStack<
-    event_srv: Pus5Wrapper<TcInMemConverter>,
+    TcReceiver: EcssTcReceiverCore,
-    hk_srv: Pus3Wrapper<TcInMemConverter>,
+    TmSender: EcssTmSenderCore,
-    action_srv: Pus8Wrapper<TcInMemConverter>,
+    TcInMemConverter: EcssTcInMemConverter,
-    schedule_srv: Pus11Wrapper<TcInMemConverter>,
+    VerificationReporter: VerificationReportingProvider,
-    test_srv: Service17CustomWrapper<TcInMemConverter>,
+> {
+    event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    test_srv: Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> PusStack<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > PusStack<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn new(
-        hk_srv: Pus3Wrapper<TcInMemConverter>,
+        hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-        event_srv: Pus5Wrapper<TcInMemConverter>,
+        event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-        action_srv: Pus8Wrapper<TcInMemConverter>,
+        action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-        schedule_srv: Pus11Wrapper<TcInMemConverter>,
+        schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-        test_srv: Service17CustomWrapper<TcInMemConverter>,
+        test_srv: Service17CustomWrapper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
     ) -> Self {
         Self {
             event_srv,

satrs-example/src/pus/test.rs

@@ -2,12 +2,15 @@ use log::{info, warn};
 use satrs::params::Params;
 use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs::pus::test::PusService17TestHandler;
+use satrs::pus::verification::{FailParams, VerificationReportingProvider};
 use satrs::pus::verification::{
-    FailParams, VerificationReporterWithSender, VerificationReportingProvider,
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
 };
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
-    MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
+    EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
 };
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
@@ -21,13 +24,18 @@ use std::sync::mpsc::{self, Sender};
 
 pub fn create_test_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
+) -> Service17CustomWrapper<
-    let test_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let test_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusTest as ChannelId,
         "PUS_17_TM_SENDER",
         shared_tm_store.clone(),
@@ -39,8 +47,8 @@ pub fn create_test_service_static(
         pus_test_rx,
     );
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
+        test_srv_receiver,
-        Box::new(test_srv_tm_sender),
+        test_srv_tm_sender,
         PUS_APID,
         verif_reporter.clone(),
         EcssTcInSharedStoreConverter::new(tc_pool, 2048),
@@ -53,11 +61,16 @@ pub fn create_test_service_static(
 
 pub fn create_test_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInVecConverter> {
+) -> Service17CustomWrapper<
-    let test_srv_tm_sender = MpscTmAsVecSender::new(
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let test_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusTest as ChannelId,
         "PUS_17_TM_SENDER",
         tm_funnel_tx.clone(),
@@ -68,8 +81,8 @@ pub fn create_test_service_dynamic(
         pus_test_rx,
     );
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
+        test_srv_receiver,
-        Box::new(test_srv_tm_sender),
+        test_srv_tm_sender,
         PUS_APID,
         verif_reporter.clone(),
         EcssTcInVecConverter::default(),
@@ -80,12 +93,24 @@ pub fn create_test_service_dynamic(
     }
 }
 
-pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
+pub struct Service17CustomWrapper<
-    pub pus17_handler: PusService17TestHandler<TcInMemConverter, VerificationReporterWithSender>,
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub pus17_handler:
+        PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
     pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn handle_next_packet(&mut self) -> bool {
         let res = self.pus17_handler.handle_one_tc();
         if res.is_err() {

satrs-example/src/tcp.rs

@@ -6,11 +6,14 @@ use std::{
 use log::{info, warn};
 use satrs::{
     hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
+    pus::ReceivesEcssPusTc,
     spacepackets::PacketId,
-    tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
+    tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
 };
 use satrs_example::config::PUS_APID;
 
+use crate::ccsds::CcsdsReceiver;
+
 pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
 
 #[derive(Default, Clone)]
@@ -69,20 +72,37 @@ impl TmPacketSourceCore for SyncTcpTmSource {
     }
 }
 
-pub struct TcpTask<MpscErrorType: 'static> {
+pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
-    server: TcpSpacepacketsServer<
+    (),
-        (),
+    CcsdsError<MpscErrorType>,
-        CcsdsError<MpscErrorType>,
+    SyncTcpTmSource,
-        SyncTcpTmSource,
+    CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
-        CcsdsDistributor<MpscErrorType>,
+>;
-    >,
+
+pub struct TcpTask<
+    TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+        + ReceivesEcssPusTc<Error = MpscErrorType>
+        + Clone
+        + Send
+        + 'static,
+    MpscErrorType: 'static,
+> {
+    server: TcpServerType<TcSource, MpscErrorType>,
 }
 
-impl<MpscErrorType: 'static + core::fmt::Debug> TcpTask<MpscErrorType> {
+impl<
+        TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+            + ReceivesEcssPusTc<Error = MpscErrorType>
+            + Clone
+            + Send
+            + 'static,
+        MpscErrorType: 'static + core::fmt::Debug,
+    > TcpTask<TcSource, MpscErrorType>
+{
     pub fn new(
         cfg: ServerConfig,
         tm_source: SyncTcpTmSource,
-        tc_receiver: CcsdsDistributor<MpscErrorType>,
+        tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             server: TcpSpacepacketsServer::new(

satrs-example/src/tm_funnel.rs

@@ -1,6 +1,6 @@
 use std::{
     collections::HashMap,
-    sync::mpsc::{Receiver, Sender},
+    sync::mpsc::{self},
 };
 
 use log::info;
@@ -77,16 +77,16 @@ impl TmFunnelCommon {
 pub struct TmFunnelStatic {
     common: TmFunnelCommon,
     shared_tm_store: SharedTmPool,
-    tm_funnel_rx: Receiver<StoreAddr>,
+    tm_funnel_rx: mpsc::Receiver<StoreAddr>,
-    tm_server_tx: Sender<StoreAddr>,
+    tm_server_tx: mpsc::SyncSender<StoreAddr>,
 }
 
 impl TmFunnelStatic {
     pub fn new(
         shared_tm_store: SharedTmPool,
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: Receiver<StoreAddr>,
+        tm_funnel_rx: mpsc::Receiver<StoreAddr>,
-        tm_server_tx: Sender<StoreAddr>,
+        tm_server_tx: mpsc::SyncSender<StoreAddr>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -123,15 +123,15 @@ impl TmFunnelStatic {
 
 pub struct TmFunnelDynamic {
     common: TmFunnelCommon,
-    tm_funnel_rx: Receiver<Vec<u8>>,
+    tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
-    tm_server_tx: Sender<Vec<u8>>,
+    tm_server_tx: mpsc::Sender<Vec<u8>>,
 }
 
 impl TmFunnelDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: Receiver<Vec<u8>>,
+        tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
-        tm_server_tx: Sender<Vec<u8>>,
+        tm_server_tx: mpsc::Sender<Vec<u8>>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),

satrs-example/src/tmtc.rs

@@ -1,7 +1,10 @@
 use log::warn;
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
 use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
 use satrs::spacepackets::SpHeader;
-use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
+use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
 use thiserror::Error;
 
 use crate::pus::PusReceiver;
@@ -37,7 +40,7 @@ impl SharedTcPool {
 
 #[derive(Clone)]
 pub struct PusTcSourceProviderSharedPool {
-    pub tc_source: Sender<StoreAddr>,
+    pub tc_source: SyncSender<StoreAddr>,
     pub shared_pool: SharedTcPool,
 }
 
@@ -97,14 +100,14 @@ pub struct TcSourceTaskStatic {
     shared_tc_pool: SharedTcPool,
     tc_receiver: Receiver<StoreAddr>,
     tc_buf: [u8; 4096],
-    pus_receiver: PusReceiver,
+    pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
 }
 
 impl TcSourceTaskStatic {
     pub fn new(
         shared_tc_pool: SharedTcPool,
         tc_receiver: Receiver<StoreAddr>,
-        pus_receiver: PusReceiver,
+        pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
     ) -> Self {
         Self {
             shared_tc_pool,
@@ -161,11 +164,14 @@ impl TcSourceTaskStatic {
 // TC source components where the heap is the backing memory of the received telecommands.
 pub struct TcSourceTaskDynamic {
     pub tc_receiver: Receiver<Vec<u8>>,
-    pus_receiver: PusReceiver,
+    pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
 }
 
 impl TcSourceTaskDynamic {
-    pub fn new(tc_receiver: Receiver<Vec<u8>>, pus_receiver: PusReceiver) -> Self {
+    pub fn new(
+        tc_receiver: Receiver<Vec<u8>>,
+        pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
+    ) -> Self {
         Self {
             tc_receiver,
             pus_receiver,

satrs-minisim/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+name = "satrs-minisim"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+serde = { version = "1", features = ["derive"] }
+serde_json = "1"
+log = "0.4"
+thiserror = "1"
+
+[dependencies.asynchronix]
+version = "0.2.1"
+# path = "../../asynchronix/asynchronix"
+# git = "https://github.com/us-irs/asynchronix.git"
+# branch = "clock-not-sendable"
+
+[dependencies.satrs]
+path = "../satrs"
+
+[dev-dependencies]
+delegate = "0.12"

satrs-minisim/src/acs.rs

@@ -0,0 +1,349 @@
+use std::{f32::consts::PI, sync::mpsc, time::Duration};
+
+use asynchronix::{
+    model::{Model, Output},
+    time::Scheduler,
+};
+use satrs::power::SwitchStateBinary;
+use satrs_minisim::{
+    acs::{MgmReply, MgmSensorValues, MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD},
+    SimReply, SimTarget,
+};
+
+use crate::time::current_millis;
+
+// Earth magnetic field varies between -30 uT and 30 uT
+const AMPLITUDE_MGM: f32 = 0.03;
+// Lets start with a simple frequency here.
+const FREQUENCY_MGM: f32 = 1.0;
+const PHASE_X: f32 = 0.0;
+// Different phases to have different values on the other axes.
+const PHASE_Y: f32 = 0.1;
+const PHASE_Z: f32 = 0.2;
+
+/// Simple model for a magnetometer where the measure magnetic fields are modeled with sine waves.
+///
+/// Please note that that a more realistic MGM model wouold include the following components
+/// which are not included here to simplify the model:
+///
+/// 1. It would probably generate signed [i16] values which need to be converted to SI units
+///    because it is a digital sensor
+/// 2. It would sample the magnetic field at a high fixed rate. This might not be possible for
+///    a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms) might
+///    stil lbe possible.
+pub struct MagnetometerModel {
+    pub switch_state: SwitchStateBinary,
+    pub periodicity: Duration,
+    pub external_mag_field: Option<MgmSensorValues>,
+    pub reply_sender: mpsc::Sender<SimReply>,
+}
+
+impl MagnetometerModel {
+    pub fn new(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
+        Self {
+            switch_state: SwitchStateBinary::Off,
+            periodicity,
+            external_mag_field: None,
+            reply_sender,
+        }
+    }
+
+    pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
+        self.switch_state = switch_state;
+    }
+
+    pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
+        self.reply_sender
+            .send(SimReply::new(
+                SimTarget::Mgm,
+                MgmReply {
+                    switch_state: self.switch_state,
+                    sensor_values: self
+                        .calculate_current_mgm_tuple(current_millis(scheduler.time())),
+                },
+            ))
+            .expect("sending MGM sensor values failed");
+    }
+
+    // Devices like magnetorquers generate a strong magnetic field which overrides the default
+    // model for the measured magnetic field.
+    pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValues) {
+        self.external_mag_field = Some(field);
+    }
+
+    fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValues {
+        if SwitchStateBinary::On == self.switch_state {
+            if let Some(ext_field) = self.external_mag_field {
+                return ext_field;
+            }
+            let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
+            return MgmSensorValues {
+                x: AMPLITUDE_MGM * (base_sin_val + PHASE_X).sin(),
+                y: AMPLITUDE_MGM * (base_sin_val + PHASE_Y).sin(),
+                z: AMPLITUDE_MGM * (base_sin_val + PHASE_Z).sin(),
+            };
+        }
+        MgmSensorValues {
+            x: 0.0,
+            y: 0.0,
+            z: 0.0,
+        }
+    }
+}
+
+impl Model for MagnetometerModel {}
+
+pub struct MagnetorquerModel {
+    switch_state: SwitchStateBinary,
+    torquing: bool,
+    torque_dipole: MgtDipole,
+    pub gen_magnetic_field: Output<MgmSensorValues>,
+    reply_sender: mpsc::Sender<SimReply>,
+}
+
+impl MagnetorquerModel {
+    pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
+        Self {
+            switch_state: SwitchStateBinary::Off,
+            torquing: false,
+            torque_dipole: MgtDipole::default(),
+            gen_magnetic_field: Output::new(),
+            reply_sender,
+        }
+    }
+
+    pub async fn apply_torque(
+        &mut self,
+        duration_and_dipole: (Duration, MgtDipole),
+        scheduler: &Scheduler<Self>,
+    ) {
+        self.torque_dipole = duration_and_dipole.1;
+        self.torquing = true;
+        if scheduler
+            .schedule_event(duration_and_dipole.0, Self::clear_torque, ())
+            .is_err()
+        {
+            log::warn!("torque clearing can only be set for a future time.");
+        }
+        self.generate_magnetic_field(()).await;
+    }
+
+    pub async fn clear_torque(&mut self, _: ()) {
+        self.torque_dipole = MgtDipole::default();
+        self.torquing = false;
+        self.generate_magnetic_field(()).await;
+    }
+
+    pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
+        self.switch_state = switch_state;
+        self.generate_magnetic_field(()).await;
+    }
+
+    pub async fn request_housekeeping_data(&mut self, _: (), scheduler: &Scheduler<Self>) {
+        if self.switch_state != SwitchStateBinary::On {
+            return;
+        }
+        scheduler
+            .schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
+            .expect("requesting housekeeping data failed")
+    }
+
+    pub fn send_housekeeping_data(&mut self) {
+        let mgt_reply = MgtReply::Hk(MgtHkSet {
+            dipole: self.torque_dipole,
+            torquing: self.torquing,
+        });
+        self.reply_sender
+            .send(SimReply::new(SimTarget::Mgt, mgt_reply))
+            .unwrap();
+    }
+
+    fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValues {
+        // Simplified model: Just returns some fixed magnetic field for now.
+        // Later, we could make this more fancy by incorporating the commanded dipole.
+        MGT_GEN_MAGNETIC_FIELD
+    }
+
+    /// A torquing magnetorquer generates a magnetic field. This function can be used to apply
+    /// the magnetic field.
+    async fn generate_magnetic_field(&mut self, _: ()) {
+        if self.switch_state != SwitchStateBinary::On || !self.torquing {
+            return;
+        }
+        self.gen_magnetic_field
+            .send(self.calc_magnetic_field(self.torque_dipole))
+            .await;
+    }
+}
+
+impl Model for MagnetorquerModel {}
+
+#[cfg(test)]
+pub mod tests {
+    use std::time::Duration;
+
+    use satrs::power::SwitchStateBinary;
+    use satrs_minisim::{
+        acs::{MgmReply, MgmRequest, MgtDipole, MgtHkSet, MgtReply, MgtRequest},
+        eps::PcduSwitch,
+        SimRequest, SimTarget,
+    };
+
+    use crate::{eps::tests::switch_device_on, test_helpers::SimTestbench};
+
+    #[test]
+    fn test_basic_mgm_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let mgm_request = MgmRequest::RequestSensorData;
+        let request = SimRequest::new(SimTarget::Mgm, mgm_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::Mgm);
+        let reply: MgmReply = serde_json::from_str(sim_reply.reply())
+            .expect("failed to deserialize MGM sensor values");
+        assert_eq!(reply.switch_state, SwitchStateBinary::Off);
+        assert_eq!(reply.sensor_values.x, 0.0);
+        assert_eq!(reply.sensor_values.y, 0.0);
+        assert_eq!(reply.sensor_values.z, 0.0);
+    }
+
+    #[test]
+    fn test_basic_mgm_request_switched_on() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, PcduSwitch::Mgm);
+
+        let mgm_request = MgmRequest::RequestSensorData;
+        let mut request = SimRequest::new(SimTarget::Mgm, mgm_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let mut sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let mut sim_reply = sim_reply_res.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::Mgm);
+        let first_reply: MgmReply = serde_json::from_str(sim_reply.reply())
+            .expect("failed to deserialize MGM sensor values");
+        let mgm_request = MgmRequest::RequestSensorData;
+        sim_testbench.step_by(Duration::from_millis(50));
+
+        request = SimRequest::new(SimTarget::Mgm, mgm_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        sim_reply = sim_reply_res.unwrap();
+
+        let second_reply: MgmReply = serde_json::from_str(sim_reply.reply())
+            .expect("failed to deserialize MGM sensor values");
+        // Check that the values are changing.
+        assert!(first_reply != second_reply);
+    }
+
+    #[test]
+    fn test_basic_mgt_request_is_off() {
+        let mut sim_testbench = SimTestbench::new();
+        let mgt_request = MgtRequest::RequestHk;
+        let request = SimRequest::new(SimTarget::Mgt, mgt_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_none());
+    }
+
+    #[test]
+    fn test_basic_mgt_request_is_on() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
+        let mgt_request = MgtRequest::RequestHk;
+        let request = SimRequest::new(SimTarget::Mgt, mgt_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let sim_reply = sim_reply_res.unwrap();
+        let mgt_reply: MgtReply = serde_json::from_str(sim_reply.reply())
+            .expect("failed to deserialize MGM sensor values");
+        match mgt_reply {
+            MgtReply::Hk(hk) => {
+                assert_eq!(hk.dipole, MgtDipole::default());
+                assert!(!hk.torquing);
+            }
+            _ => panic!("unexpected reply"),
+        }
+    }
+
+    fn check_mgt_hk(sim_testbench: &mut SimTestbench, expected_hk_set: MgtHkSet) {
+        let mgt_request = MgtRequest::RequestHk;
+        let request = SimRequest::new(SimTarget::Mgt, mgt_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let sim_reply = sim_reply_res.unwrap();
+        let mgt_reply: MgtReply = serde_json::from_str(sim_reply.reply())
+            .expect("failed to deserialize MGM sensor values");
+        match mgt_reply {
+            MgtReply::Hk(hk) => {
+                assert_eq!(hk, expected_hk_set);
+            }
+            _ => panic!("unexpected reply"),
+        }
+    }
+
+    #[test]
+    fn test_basic_mgt_request_is_on_and_torquing() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
+        let commanded_dipole = MgtDipole {
+            x: -200,
+            y: 200,
+            z: 1000,
+        };
+        let mgt_request = MgtRequest::ApplyTorque {
+            duration: Duration::from_millis(100),
+            dipole: commanded_dipole,
+        };
+        let request = SimRequest::new(SimTarget::Mgt, mgt_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step_by(Duration::from_millis(5));
+
+        check_mgt_hk(
+            &mut sim_testbench,
+            MgtHkSet {
+                dipole: commanded_dipole,
+                torquing: true,
+            },
+        );
+        sim_testbench.step_by(Duration::from_millis(100));
+        check_mgt_hk(
+            &mut sim_testbench,
+            MgtHkSet {
+                dipole: MgtDipole::default(),
+                torquing: false,
+            },
+        );
+    }
+}

satrs-minisim/src/controller.rs

@@ -0,0 +1,197 @@
+use std::{sync::mpsc, time::Duration};
+
+use asynchronix::{
+    simulation::{Address, Simulation},
+    time::{Clock, MonotonicTime, SystemClock},
+};
+use satrs_minisim::{
+    acs::{MgmRequest, MgtRequest},
+    eps::PcduRequest,
+    RequestError, SimCtrlReply, SimCtrlRequest, SimReply, SimRequest, SimTarget,
+};
+
+use crate::{
+    acs::{MagnetometerModel, MagnetorquerModel},
+    eps::PcduModel,
+};
+
+// The simulation controller processes requests and drives the simulation.
+pub struct SimController {
+    pub sys_clock: SystemClock,
+    pub request_receiver: mpsc::Receiver<SimRequest>,
+    pub reply_sender: mpsc::Sender<SimReply>,
+    pub simulation: Simulation,
+    pub mgm_addr: Address<MagnetometerModel>,
+    pub pcdu_addr: Address<PcduModel>,
+    pub mgt_addr: Address<MagnetorquerModel>,
+}
+
+impl SimController {
+    pub fn new(
+        sys_clock: SystemClock,
+        request_receiver: mpsc::Receiver<SimRequest>,
+        reply_sender: mpsc::Sender<SimReply>,
+        simulation: Simulation,
+        mgm_addr: Address<MagnetometerModel>,
+        pcdu_addr: Address<PcduModel>,
+        mgt_addr: Address<MagnetorquerModel>,
+    ) -> Self {
+        Self {
+            sys_clock,
+            request_receiver,
+            reply_sender,
+            simulation,
+            mgm_addr,
+            pcdu_addr,
+            mgt_addr,
+        }
+    }
+
+    pub fn run(&mut self, start_time: MonotonicTime, udp_polling_interval_ms: u64) {
+        let mut t = start_time + Duration::from_millis(udp_polling_interval_ms);
+        self.sys_clock.synchronize(t);
+        loop {
+            // Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
+            // replies lying in the past.
+            t += Duration::from_millis(udp_polling_interval_ms);
+            self.simulation
+                .step_until(t)
+                .expect("simulation step failed");
+            self.handle_sim_requests();
+
+            self.sys_clock.synchronize(t);
+        }
+    }
+
+    pub fn handle_sim_requests(&mut self) {
+        loop {
+            match self.request_receiver.try_recv() {
+                Ok(request) => {
+                    if let Err(e) = match request.target() {
+                        SimTarget::SimCtrl => self.handle_ctrl_request(&request),
+                        SimTarget::Mgm => self.handle_mgm_request(&request),
+                        SimTarget::Mgt => self.handle_mgt_request(&request),
+                        SimTarget::Pcdu => self.handle_pcdu_request(&request),
+                    } {
+                        self.handle_invalid_request_with_valid_target(e, &request)
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        panic!("all request sender disconnected")
+                    }
+                },
+            }
+        }
+    }
+
+    fn handle_ctrl_request(&mut self, request: &SimRequest) -> serde_json::Result<()> {
+        let sim_ctrl_request: SimCtrlRequest = serde_json::from_str(request.request())?;
+        match sim_ctrl_request {
+            SimCtrlRequest::Ping => {
+                self.reply_sender
+                    .send(SimReply::new(SimTarget::SimCtrl, SimCtrlReply::Pong))
+                    .expect("sending reply from sim controller failed");
+            }
+        }
+        Ok(())
+    }
+    fn handle_mgm_request(&mut self, request: &SimRequest) -> serde_json::Result<()> {
+        let mgm_request: MgmRequest = serde_json::from_str(request.request())?;
+        match mgm_request {
+            MgmRequest::RequestSensorData => {
+                self.simulation.send_event(
+                    MagnetometerModel::send_sensor_values,
+                    (),
+                    &self.mgm_addr,
+                );
+            }
+        }
+        Ok(())
+    }
+
+    fn handle_pcdu_request(&mut self, request: &SimRequest) -> serde_json::Result<()> {
+        let pcdu_request: PcduRequest = serde_json::from_str(request.request())?;
+        match pcdu_request {
+            PcduRequest::RequestSwitchInfo => {
+                self.simulation
+                    .send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
+            }
+            PcduRequest::SwitchDevice { switch, state } => {
+                self.simulation.send_event(
+                    PcduModel::switch_device,
+                    (switch, state),
+                    &self.pcdu_addr,
+                );
+            }
+        }
+        Ok(())
+    }
+
+    fn handle_mgt_request(&mut self, request: &SimRequest) -> serde_json::Result<()> {
+        let mgt_request: MgtRequest = serde_json::from_str(request.request())?;
+        match mgt_request {
+            MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
+                MagnetorquerModel::apply_torque,
+                (duration, dipole),
+                &self.mgt_addr,
+            ),
+            MgtRequest::RequestHk => self.simulation.send_event(
+                MagnetorquerModel::request_housekeeping_data,
+                (),
+                &self.mgt_addr,
+            ),
+        }
+        Ok(())
+    }
+
+    fn handle_invalid_request_with_valid_target(
+        &self,
+        error: serde_json::Error,
+        request: &SimRequest,
+    ) {
+        log::warn!(
+            "received invalid {:?} request: {:?}",
+            request.target(),
+            error
+        );
+        self.reply_sender
+            .send(SimReply::new(
+                SimTarget::SimCtrl,
+                SimCtrlReply::from(RequestError::TargetRequestMissmatch(request.clone())),
+            ))
+            .expect("sending reply from sim controller failed");
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::test_helpers::SimTestbench;
+
+    use super::*;
+
+    #[test]
+    fn test_basic_ping() {
+        let mut sim_testbench = SimTestbench::new();
+        let sim_ctrl_request = SimCtrlRequest::Ping;
+        let request = SimRequest::new(SimTarget::SimCtrl, sim_ctrl_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending sim ctrl request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
+        let reply: SimCtrlReply = serde_json::from_str(sim_reply.reply())
+            .expect("failed to deserialize MGM sensor values");
+        assert_eq!(reply, SimCtrlReply::Pong);
+    }
+
+    #[test]
+    fn test_invalid_request() {
+        // TODO: Implement this test. Check for the expected reply.
+    }
+}

satrs-minisim/src/eps.rs

@@ -0,0 +1,187 @@
+use std::{collections::HashMap, sync::mpsc, time::Duration};
+
+use asynchronix::{
+    model::{Model, Output},
+    time::Scheduler,
+};
+use satrs::power::SwitchStateBinary;
+use satrs_minisim::{
+    eps::{PcduReply, PcduSwitch, SwitchMap},
+    SimReply, SimTarget,
+};
+
+pub const SWITCH_INFO_DELAY_MS: u64 = 10;
+
+pub struct PcduModel {
+    pub switcher_map: SwitchMap,
+    pub mgm_switch: Output<SwitchStateBinary>,
+    pub mgt_switch: Output<SwitchStateBinary>,
+    pub reply_sender: mpsc::Sender<SimReply>,
+}
+
+impl PcduModel {
+    pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
+        let mut switcher_map = HashMap::new();
+        switcher_map.insert(PcduSwitch::Mgm, SwitchStateBinary::Off);
+        switcher_map.insert(PcduSwitch::Mgt, SwitchStateBinary::Off);
+
+        Self {
+            switcher_map,
+            mgm_switch: Output::new(),
+            mgt_switch: Output::new(),
+            reply_sender,
+        }
+    }
+
+    pub async fn request_switch_info(&mut self, _: (), scheduler: &Scheduler<Self>) {
+        scheduler
+            .schedule_event(
+                Duration::from_millis(SWITCH_INFO_DELAY_MS),
+                Self::send_switch_info,
+                (),
+            )
+            .expect("requesting switch info failed");
+    }
+
+    pub fn send_switch_info(&mut self) {
+        let switch_info = PcduReply::SwitchInfo(self.switcher_map.clone());
+        let reply = SimReply::new(SimTarget::Pcdu, switch_info);
+        self.reply_sender.send(reply).unwrap();
+    }
+
+    pub async fn switch_device(
+        &mut self,
+        switch_and_target_state: (PcduSwitch, SwitchStateBinary),
+    ) {
+        let val = self
+            .switcher_map
+            .get_mut(&switch_and_target_state.0)
+            .unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
+        *val = switch_and_target_state.1;
+        match switch_and_target_state.0 {
+            PcduSwitch::Mgm => {
+                self.mgm_switch.send(switch_and_target_state.1).await;
+            }
+            PcduSwitch::Mgt => {
+                self.mgt_switch.send(switch_and_target_state.1).await;
+            }
+        }
+    }
+}
+
+impl Model for PcduModel {}
+
+#[cfg(test)]
+pub(crate) mod tests {
+    use super::*;
+    use std::time::Duration;
+
+    use satrs_minisim::{eps::PcduRequest, SimRequest, SimTarget};
+
+    use crate::test_helpers::SimTestbench;
+
+    fn switch_device(
+        sim_testbench: &mut SimTestbench,
+        switch: PcduSwitch,
+        target: SwitchStateBinary,
+    ) {
+        let pcdu_request = PcduRequest::SwitchDevice {
+            switch,
+            state: target,
+        };
+        let request = SimRequest::new(SimTarget::Pcdu, pcdu_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM switch request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+    }
+
+    #[allow(dead_code)]
+    pub(crate) fn switch_device_off(sim_testbench: &mut SimTestbench, switch: PcduSwitch) {
+        switch_device(sim_testbench, switch, SwitchStateBinary::Off);
+    }
+    pub(crate) fn switch_device_on(sim_testbench: &mut SimTestbench, switch: PcduSwitch) {
+        switch_device(sim_testbench, switch, SwitchStateBinary::On);
+    }
+
+    pub(crate) fn get_all_off_switch_map() -> SwitchMap {
+        let mut switcher_map = SwitchMap::new();
+        switcher_map.insert(super::PcduSwitch::Mgm, super::SwitchStateBinary::Off);
+        switcher_map.insert(super::PcduSwitch::Mgt, super::SwitchStateBinary::Off);
+        switcher_map
+    }
+
+    fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
+        let pcdu_request = PcduRequest::RequestSwitchInfo;
+        let request = SimRequest::new(SimTarget::Pcdu, pcdu_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::Pcdu);
+        let pcdu_reply: PcduReply = serde_json::from_str(&sim_reply.reply())
+            .expect("failed to deserialize PCDU switch info");
+        match pcdu_reply {
+            PcduReply::SwitchInfo(switch_map) => {
+                assert_eq!(switch_map, *expected_switch_map);
+            }
+        }
+    }
+
+    fn test_pcdu_switching_single_switch(switch: PcduSwitch, target: SwitchStateBinary) {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device(&mut sim_testbench, switch, target);
+        let mut switcher_map = get_all_off_switch_map();
+        *switcher_map.get_mut(&switch).unwrap() = target;
+        check_switch_state(&mut sim_testbench, &switcher_map);
+    }
+
+    #[test]
+    fn test_pcdu_switcher_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let pcdu_request = PcduRequest::RequestSwitchInfo;
+        let request = SimRequest::new(SimTarget::Pcdu, pcdu_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step_by(Duration::from_millis(1));
+
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_none());
+        // Reply takes 20ms
+        sim_testbench.step_by(Duration::from_millis(25));
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::Pcdu);
+        let pcdu_reply: PcduReply = serde_json::from_str(&sim_reply.reply())
+            .expect("failed to deserialize PCDU switch info");
+        match pcdu_reply {
+            PcduReply::SwitchInfo(switch_map) => {
+                assert_eq!(switch_map, get_all_off_switch_map());
+            }
+        }
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgm_on() {
+        test_pcdu_switching_single_switch(PcduSwitch::Mgm, SwitchStateBinary::On);
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgt_on() {
+        test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgt_off() {
+        test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
+        test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::Off);
+    }
+}

satrs-minisim/src/lib.rs

@@ -0,0 +1,246 @@
+use serde::{Deserialize, Serialize};
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimTarget {
+    SimCtrl,
+    Mgm,
+    Mgt,
+    Pcdu,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub struct SimRequest {
+    target: SimTarget,
+    request: String,
+}
+
+impl SimRequest {
+    pub fn new<T: Serialize>(device: SimTarget, request: T) -> Self {
+        Self {
+            target: device,
+            request: serde_json::to_string(&request).unwrap(),
+        }
+    }
+
+    pub fn target(&self) -> SimTarget {
+        self.target
+    }
+
+    pub fn request(&self) -> &String {
+        &self.request
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub struct SimReply {
+    target: SimTarget,
+    reply: String,
+}
+
+impl SimReply {
+    pub fn new<T: Serialize>(device: SimTarget, reply: T) -> Self {
+        Self {
+            target: device,
+            reply: serde_json::to_string(&reply).unwrap(),
+        }
+    }
+
+    pub fn target(&self) -> SimTarget {
+        self.target
+    }
+
+    pub fn reply(&self) -> &String {
+        &self.reply
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimCtrlRequest {
+    Ping,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum RequestError {
+    TargetRequestMissmatch(SimRequest),
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimCtrlReply {
+    Pong,
+    InvalidRequest(RequestError),
+}
+
+impl From<RequestError> for SimCtrlReply {
+    fn from(error: RequestError) -> Self {
+        SimCtrlReply::InvalidRequest(error)
+    }
+}
+
+pub mod eps {
+    use super::*;
+    use std::collections::HashMap;
+
+    use satrs::power::SwitchStateBinary;
+
+    pub type SwitchMap = HashMap<PcduSwitch, SwitchStateBinary>;
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
+    pub enum PcduSwitch {
+        Mgm = 0,
+        Mgt = 1,
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum PcduRequest {
+        SwitchDevice {
+            switch: PcduSwitch,
+            state: SwitchStateBinary,
+        },
+        RequestSwitchInfo,
+    }
+
+    #[derive(Debug, Clone, Serialize, Deserialize)]
+    pub enum PcduReply {
+        SwitchInfo(SwitchMap),
+    }
+}
+
+pub mod acs {
+    use std::time::Duration;
+
+    use satrs::power::SwitchStateBinary;
+
+    use super::*;
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgmRequest {
+        RequestSensorData,
+    }
+
+    // Normally, small magnetometers generate their output as a signed 16 bit raw format or something
+    // similar which needs to be converted to a signed float value with physical units. We will
+    // simplify this now and generate the signed float values directly.
+    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    pub struct MgmSensorValues {
+        pub x: f32,
+        pub y: f32,
+        pub z: f32,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    pub struct MgmReply {
+        pub switch_state: SwitchStateBinary,
+        pub sensor_values: MgmSensorValues,
+    }
+
+    pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValues = MgmSensorValues {
+        x: 0.03,
+        y: -0.03,
+        z: 0.03,
+    };
+
+    // Simple model using i16 values.
+    #[derive(Default, Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub struct MgtDipole {
+        pub x: i16,
+        pub y: i16,
+        pub z: i16,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    pub enum MgtRequestType {
+        ApplyTorque,
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgtRequest {
+        ApplyTorque {
+            duration: Duration,
+            dipole: MgtDipole,
+        },
+        RequestHk,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub struct MgtHkSet {
+        pub dipole: MgtDipole,
+        pub torquing: bool,
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgtReply {
+        Ack(MgtRequestType),
+        Nak(MgtRequestType),
+        Hk(MgtHkSet),
+    }
+}
+
+pub mod udp {
+    use std::{
+        net::{SocketAddr, UdpSocket},
+        time::Duration,
+    };
+
+    use thiserror::Error;
+
+    use crate::{SimReply, SimRequest};
+
+    #[derive(Error, Debug)]
+    pub enum ReceptionError {
+        #[error("IO error: {0}")]
+        Io(#[from] std::io::Error),
+        #[error("Serde JSON error: {0}")]
+        SerdeJson(#[from] serde_json::Error),
+    }
+
+    pub struct SimUdpClient {
+        socket: UdpSocket,
+        pub reply_buf: [u8; 4096],
+    }
+
+    impl SimUdpClient {
+        pub fn new(
+            server_addr: &SocketAddr,
+            non_blocking: bool,
+            read_timeot_ms: Option<u64>,
+        ) -> std::io::Result<Self> {
+            let socket = UdpSocket::bind("127.0.0.1:0")?;
+            socket.set_nonblocking(non_blocking)?;
+            socket
+                .connect(server_addr)
+                .expect("could not connect to server addr");
+            if let Some(read_timeout) = read_timeot_ms {
+                // Set a read timeout so the test does not hang on failures.
+                socket.set_read_timeout(Some(Duration::from_millis(read_timeout)))?;
+            }
+            Ok(Self {
+                socket,
+                reply_buf: [0; 4096],
+            })
+        }
+
+        pub fn set_nonblocking(&self, non_blocking: bool) -> std::io::Result<()> {
+            self.socket.set_nonblocking(non_blocking)
+        }
+
+        pub fn set_read_timeout(&self, read_timeout_ms: u64) -> std::io::Result<()> {
+            self.socket
+                .set_read_timeout(Some(Duration::from_millis(read_timeout_ms)))
+        }
+
+        pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize> {
+            self.socket.send(
+                &serde_json::to_vec(sim_request).expect("conversion of request to vector failed"),
+            )
+        }
+
+        pub fn recv_raw(&mut self) -> std::io::Result<usize> {
+            self.socket.recv(&mut self.reply_buf)
+        }
+
+        pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError> {
+            let read_len = self.recv_raw()?;
+            Ok(serde_json::from_slice(&self.reply_buf[0..read_len])?)
+        }
+    }
+}

satrs-minisim/src/main.rs

@@ -0,0 +1,103 @@
+use acs::{MagnetometerModel, MagnetorquerModel};
+use asynchronix::simulation::{Mailbox, SimInit};
+use asynchronix::time::{MonotonicTime, SystemClock};
+use controller::SimController;
+use eps::PcduModel;
+use satrs_minisim::{SimReply, SimRequest};
+use std::sync::mpsc;
+use std::thread;
+use std::time::{Duration, SystemTime};
+use udp::SimUdpServer;
+
+mod acs;
+mod controller;
+mod eps;
+#[cfg(test)]
+mod test_helpers;
+mod time;
+mod udp;
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum ThreadingModel {
+    Default = 0,
+    Single = 1,
+}
+
+fn create_sim_controller(
+    threading_model: ThreadingModel,
+    start_time: MonotonicTime,
+    reply_sender: mpsc::Sender<SimReply>,
+    request_receiver: mpsc::Receiver<SimRequest>,
+) -> SimController {
+    // Instantiate models and their mailboxes.
+    let mgm_model = MagnetometerModel::new(Duration::from_millis(50), reply_sender.clone());
+
+    let mgm_mailbox = Mailbox::new();
+    let mgm_addr = mgm_mailbox.address();
+    let pcdu_mailbox = Mailbox::new();
+    let pcdu_addr = pcdu_mailbox.address();
+    let mgt_mailbox = Mailbox::new();
+    let mgt_addr = mgt_mailbox.address();
+
+    let mut pcdu_model = PcduModel::new(reply_sender.clone());
+    pcdu_model
+        .mgm_switch
+        .connect(MagnetometerModel::switch_device, &mgm_addr);
+
+    let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
+    // Input connections.
+    pcdu_model
+        .mgt_switch
+        .connect(MagnetorquerModel::switch_device, &mgt_addr);
+    // Output connections.
+    mgt_model
+        .gen_magnetic_field
+        .connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);
+
+    // Instantiate the simulator
+    let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
+    let sim_init = if threading_model == ThreadingModel::Single {
+        SimInit::with_num_threads(1)
+    } else {
+        SimInit::new()
+    };
+    let simulation = sim_init
+        .add_model(mgm_model, mgm_mailbox)
+        .add_model(pcdu_model, pcdu_mailbox)
+        .add_model(mgt_model, mgt_mailbox)
+        .init(start_time);
+    SimController::new(
+        sys_clock,
+        request_receiver,
+        reply_sender,
+        simulation,
+        mgm_addr,
+        pcdu_addr,
+        mgt_addr,
+    )
+}
+
+fn main() {
+    let (request_sender, request_receiver) = mpsc::channel();
+    let (reply_sender, reply_receiver) = mpsc::channel();
+    let t0 = MonotonicTime::EPOCH;
+    let mut sim_ctrl =
+        create_sim_controller(ThreadingModel::Default, t0, reply_sender, request_receiver);
+
+    // This thread schedules the simulator.
+    let sim_thread = thread::spawn(move || {
+        sim_ctrl.run(t0, 1);
+    });
+
+    let mut udp_server = SimUdpServer::new(0, request_sender, reply_receiver, 200, None)
+        .expect("could not create UDP request server");
+    // This thread manages the simulator UDP server.
+    let udp_tc_thread = thread::spawn(move || {
+        udp_server.run();
+    });
+
+    sim_thread.join().expect("joining simulation thread failed");
+    udp_tc_thread
+        .join()
+        .expect("joining UDP server thread failed");
+}

satrs-minisim/src/test_helpers.rs

@@ -0,0 +1,56 @@
+use delegate::delegate;
+use std::{sync::mpsc, time::Duration};
+
+use asynchronix::time::MonotonicTime;
+use satrs_minisim::{SimReply, SimRequest};
+
+use crate::{controller::SimController, create_sim_controller, ThreadingModel};
+
+pub struct SimTestbench {
+    pub sim_controller: SimController,
+    pub reply_receiver: mpsc::Receiver<SimReply>,
+    pub request_sender: mpsc::Sender<SimRequest>,
+}
+
+impl SimTestbench {
+    pub fn new() -> Self {
+        let (request_sender, request_receiver) = mpsc::channel();
+        let (reply_sender, reply_receiver) = mpsc::channel();
+        let t0 = MonotonicTime::EPOCH;
+        let sim_ctrl =
+            create_sim_controller(ThreadingModel::Single, t0, reply_sender, request_receiver);
+
+        Self {
+            sim_controller: sim_ctrl,
+            reply_receiver,
+            request_sender,
+        }
+    }
+
+    delegate! {
+        to self.sim_controller {
+            pub fn handle_sim_requests(&mut self);
+        }
+        to self.sim_controller.simulation {
+            pub fn step(&mut self);
+            pub fn step_by(&mut self, duration: Duration);
+        }
+    }
+
+    pub fn send_request(&self, request: SimRequest) -> Result<(), mpsc::SendError<SimRequest>> {
+        self.request_sender.send(request)
+    }
+
+    pub fn try_receive_next_reply(&self) -> Option<SimReply> {
+        match self.reply_receiver.try_recv() {
+            Ok(reply) => Some(reply),
+            Err(e) => {
+                if e == mpsc::TryRecvError::Empty {
+                    None
+                } else {
+                    panic!("reply_receiver disconnected");
+                }
+            }
+        }
+    }
+}

satrs-minisim/src/time.rs

@@ -0,0 +1,5 @@
+use asynchronix::time::MonotonicTime;
+
+pub fn current_millis(time: MonotonicTime) -> u64 {
+    (time.as_secs() as u64 * 1000) + (time.subsec_nanos() as u64 / 1_000_000)
+}

satrs-minisim/src/udp.rs

@@ -0,0 +1,403 @@
+use std::{
+    collections::VecDeque,
+    io::ErrorKind,
+    net::{SocketAddr, UdpSocket},
+    sync::{atomic::AtomicBool, mpsc, Arc},
+    time::Duration,
+};
+
+use satrs_minisim::{SimReply, SimRequest};
+
+// A UDP server which handles all TC received by a client application.
+pub struct SimUdpServer {
+    socket: UdpSocket,
+    request_sender: mpsc::Sender<SimRequest>,
+    // shared_last_sender: SharedSocketAddr,
+    reply_receiver: mpsc::Receiver<SimReply>,
+    reply_queue: VecDeque<SimReply>,
+    max_num_replies: usize,
+    // Stop signal to stop the server. Required for unittests and useful to allow clean shutdown
+    // of the application.
+    stop_signal: Option<Arc<AtomicBool>>,
+    idle_sleep_period_ms: u64,
+    req_buf: [u8; 4096],
+    sender_addr: Option<SocketAddr>,
+}
+
+impl SimUdpServer {
+    pub fn new(
+        local_port: u16,
+        request_sender: mpsc::Sender<SimRequest>,
+        reply_receiver: mpsc::Receiver<SimReply>,
+        max_num_replies: usize,
+        stop_signal: Option<Arc<AtomicBool>>,
+    ) -> std::io::Result<Self> {
+        let socket = UdpSocket::bind(SocketAddr::from(([0, 0, 0, 0], local_port)))?;
+        socket.set_nonblocking(true)?;
+        Ok(Self {
+            socket,
+            request_sender,
+            reply_receiver,
+            reply_queue: VecDeque::new(),
+            max_num_replies,
+            stop_signal,
+            idle_sleep_period_ms: 3,
+            req_buf: [0; 4096],
+            sender_addr: None,
+        })
+    }
+
+    #[allow(dead_code)]
+    pub fn server_addr(&self) -> std::io::Result<SocketAddr> {
+        self.socket.local_addr()
+    }
+
+    pub fn run(&mut self) {
+        loop {
+            if let Some(stop_signal) = &self.stop_signal {
+                if stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
+                    break;
+                }
+            }
+            let processed_requests = self.process_requests();
+            let processed_replies = self.process_replies();
+            let sent_replies = self.send_replies();
+            // Sleep for a bit if there is nothing to do to prevent burning CPU cycles. Delay
+            // should be kept short to ensure responsiveness of the system.
+            if !processed_requests && !processed_replies && !sent_replies {
+                std::thread::sleep(Duration::from_millis(self.idle_sleep_period_ms));
+            }
+        }
+    }
+
+    fn process_requests(&mut self) -> bool {
+        let mut processed_requests = false;
+        loop {
+            // Blocks for a certain amount of time until data is received to allow doing periodic
+            // work like checking the stop signal.
+            let (bytes_read, src) = match self.socket.recv_from(&mut self.req_buf) {
+                Ok((bytes_read, src)) => (bytes_read, src),
+                Err(e) if e.kind() == ErrorKind::WouldBlock => {
+                    // Continue to perform regular checks like the stop signal.
+                    break;
+                }
+                Err(e) => {
+                    // Handle unexpected errors (e.g., socket closed) here.
+                    log::error!("unexpected request server error: {e}");
+                    break;
+                }
+            };
+
+            self.sender_addr = Some(src);
+
+            // Convert the buffer into a string slice and print the message.
+            let req_string = std::str::from_utf8(&self.req_buf[..bytes_read])
+                .expect("Could not write buffer as string");
+            log::info!("Received request from {}: {}", src, req_string);
+            let sim_req: serde_json::Result<SimRequest> = serde_json::from_str(req_string);
+            if sim_req.is_err() {
+                log::warn!(
+                    "received UDP request with invalid format: {}",
+                    sim_req.unwrap_err()
+                );
+                return processed_requests;
+            }
+            self.request_sender.send(sim_req.unwrap()).unwrap();
+            processed_requests = true;
+        }
+        processed_requests
+    }
+
+    fn process_replies(&mut self) -> bool {
+        let mut processed_replies = false;
+        loop {
+            match self.reply_receiver.try_recv() {
+                Ok(reply) => {
+                    if self.reply_queue.len() >= self.max_num_replies {
+                        self.reply_queue.pop_front();
+                    }
+                    self.reply_queue.push_back(reply);
+                    processed_replies = true;
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => return processed_replies,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::error!("all UDP reply senders disconnected")
+                    }
+                },
+            }
+        }
+    }
+
+    fn send_replies(&mut self) -> bool {
+        if self.sender_addr.is_none() {
+            return false;
+        }
+        let mut sent_replies = false;
+        while !self.reply_queue.is_empty() {
+            let next_reply_to_send = self.reply_queue.pop_front().unwrap();
+            self.socket
+                .send_to(
+                    serde_json::to_string(&next_reply_to_send)
+                        .unwrap()
+                        .as_bytes(),
+                    self.sender_addr.unwrap(),
+                )
+                .expect("sending reply failed");
+            sent_replies = true;
+        }
+        sent_replies
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::{
+        io::ErrorKind,
+        sync::{
+            atomic::{AtomicBool, Ordering},
+            mpsc, Arc,
+        },
+        time::Duration,
+    };
+
+    use satrs_minisim::{
+        eps::{PcduReply, PcduRequest},
+        udp::{ReceptionError, SimUdpClient},
+        SimCtrlReply, SimCtrlRequest, SimReply, SimRequest, SimTarget,
+    };
+
+    use crate::eps::tests::get_all_off_switch_map;
+    use delegate::delegate;
+
+    use super::SimUdpServer;
+
+    // Wait time to ensure even possibly laggy systems like CI servers can run the tests.
+    const SERVER_WAIT_TIME_MS: u64 = 50;
+
+    struct UdpTestbench {
+        client: SimUdpClient,
+        stop_signal: Arc<AtomicBool>,
+        request_receiver: mpsc::Receiver<SimRequest>,
+        reply_sender: mpsc::Sender<SimReply>,
+    }
+
+    impl UdpTestbench {
+        pub fn new(
+            client_non_blocking: bool,
+            client_read_timeout_ms: Option<u64>,
+            max_num_replies: usize,
+        ) -> std::io::Result<(Self, SimUdpServer)> {
+            let (request_sender, request_receiver) = mpsc::channel();
+            let (reply_sender, reply_receiver) = mpsc::channel();
+            let stop_signal = Arc::new(AtomicBool::new(false));
+            let server = SimUdpServer::new(
+                0,
+                request_sender,
+                reply_receiver,
+                max_num_replies,
+                Some(stop_signal.clone()),
+            )?;
+            let server_addr = server.server_addr()?;
+            Ok((
+                Self {
+                    client: SimUdpClient::new(
+                        &server_addr,
+                        client_non_blocking,
+                        client_read_timeout_ms,
+                    )?,
+                    stop_signal,
+                    request_receiver,
+                    reply_sender,
+                },
+                server,
+            ))
+        }
+
+        pub fn try_recv_request(&self) -> Result<SimRequest, mpsc::TryRecvError> {
+            self.request_receiver.try_recv()
+        }
+
+        pub fn stop(&self) {
+            self.stop_signal.store(true, Ordering::Relaxed);
+        }
+
+        pub fn send_reply(&self, sim_reply: &SimReply) {
+            self.reply_sender
+                .send(sim_reply.clone())
+                .expect("sending sim reply failed");
+        }
+
+        delegate! {
+            to self.client {
+                pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize>;
+                pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError>;
+            }
+        }
+
+        pub fn check_no_sim_reply_available(&mut self) {
+            if let Err(ReceptionError::Io(ref io_error)) = self.recv_sim_reply() {
+                if io_error.kind() == ErrorKind::WouldBlock {
+                    // Continue to perform regular checks like the stop signal.
+                    return;
+                } else {
+                    // Handle unexpected errors (e.g., socket closed) here.
+                    panic!("unexpected request server error: {io_error}");
+                }
+            }
+            panic!("unexpected reply available");
+        }
+
+        pub fn check_next_sim_reply(&mut self, expected_reply: &SimReply) {
+            match self.recv_sim_reply() {
+                Ok(received_sim_reply) => assert_eq!(expected_reply, &received_sim_reply),
+                Err(e) => match e {
+                    ReceptionError::Io(ref io_error) => {
+                        if io_error.kind() == ErrorKind::WouldBlock {
+                            // Continue to perform regular checks like the stop signal.
+                            panic!("no simulation reply received");
+                        } else {
+                            // Handle unexpected errors (e.g., socket closed) here.
+                            panic!("unexpected request server error: {e}");
+                        }
+                    }
+                    ReceptionError::SerdeJson(json_error) => {
+                        panic!("unexpected JSON error: {json_error}");
+                    }
+                },
+            }
+        }
+    }
+    #[test]
+    fn test_basic_udp_request_reception() {
+        let (udp_testbench, mut udp_server) =
+            UdpTestbench::new(true, Some(SERVER_WAIT_TIME_MS), 10)
+                .expect("could not create testbench");
+        let server_thread = std::thread::spawn(move || udp_server.run());
+        let sim_request = SimRequest::new(SimTarget::Pcdu, PcduRequest::RequestSwitchInfo);
+        udp_testbench
+            .send_request(&sim_request)
+            .expect("sending request failed");
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+        // Check that the sim request has arrives and was forwarded.
+        let received_sim_request = udp_testbench
+            .try_recv_request()
+            .expect("did not receive request");
+        assert_eq!(sim_request, received_sim_request);
+        // Stop the server.
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_reply_server() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
+                .expect("could not create testbench");
+        let server_thread = std::thread::spawn(move || udp_server.run());
+        udp_testbench
+            .send_request(&SimRequest::new(SimTarget::SimCtrl, SimCtrlRequest::Ping))
+            .expect("sending request failed");
+
+        let sim_reply = SimReply::new(
+            SimTarget::Pcdu,
+            PcduReply::SwitchInfo(get_all_off_switch_map()),
+        );
+        udp_testbench.send_reply(&sim_reply);
+
+        udp_testbench.check_next_sim_reply(&sim_reply);
+
+        // Stop the server.
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_req_server_and_reply_sender() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
+                .expect("could not create testbench");
+
+        let server_thread = std::thread::spawn(move || udp_server.run());
+
+        // Send a ping so that the server knows the address of the client.
+        // Do not check that the request arrives on the receiver side, is done by other test.
+        udp_testbench
+            .send_request(&SimRequest::new(SimTarget::SimCtrl, SimCtrlRequest::Ping))
+            .expect("sending request failed");
+
+        // Send a reply to the server, ensure it gets forwarded to the client.
+        let sim_reply = SimReply::new(
+            SimTarget::Pcdu,
+            PcduReply::SwitchInfo(get_all_off_switch_map()),
+        );
+        udp_testbench.send_reply(&sim_reply);
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+
+        // Now we check that the reply server can send back replies to the client.
+        udp_testbench.check_next_sim_reply(&sim_reply);
+
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_replies_client_unconnected() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(true, None, 10).expect("could not create testbench");
+
+        let server_thread = std::thread::spawn(move || udp_server.run());
+
+        // Send a reply to the server. The client is not connected, so it won't get forwarded.
+        let sim_reply = SimReply::new(
+            SimTarget::Pcdu,
+            PcduReply::SwitchInfo(get_all_off_switch_map()),
+        );
+        udp_testbench.send_reply(&sim_reply);
+        std::thread::sleep(Duration::from_millis(10));
+
+        udp_testbench.check_no_sim_reply_available();
+
+        // Connect by sending a ping.
+        udp_testbench
+            .send_request(&SimRequest::new(SimTarget::SimCtrl, SimCtrlRequest::Ping))
+            .expect("sending request failed");
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+
+        udp_testbench.check_next_sim_reply(&sim_reply);
+
+        // Now we check that the reply server can sent back replies to the client.
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_reply_server_old_replies_overwritten() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(true, None, 3).expect("could not create testbench");
+
+        let server_thread = std::thread::spawn(move || udp_server.run());
+
+        // The server only caches up to 3 replies.
+        let sim_reply = SimReply::new(SimTarget::SimCtrl, SimCtrlReply::Pong);
+        for _ in 0..4 {
+            udp_testbench.send_reply(&sim_reply);
+        }
+        std::thread::sleep(Duration::from_millis(20));
+
+        udp_testbench.check_no_sim_reply_available();
+
+        // Connect by sending a ping.
+        udp_testbench
+            .send_request(&SimRequest::new(SimTarget::SimCtrl, SimCtrlRequest::Ping))
+            .expect("sending request failed");
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+
+        for _ in 0..3 {
+            udp_testbench.check_next_sim_reply(&sim_reply);
+        }
+        udp_testbench.check_no_sim_reply_available();
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+}

satrs/CHANGELOG.md

@@ -8,6 +8,27 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+## Changed
+
+- Refactored `EventManager` to heavily use generics instead of trait objects.
+  - `SendEventProvider` -> `EventSendProvider`. `id` trait method renamed to `channel_id`.
+  - `ListenerTable` -> `ListenerMapProvider`
+  - `SenderTable` -> `SenderMapProvider`
+  - There is an `EventManagerWithMpsc` and a `EventManagerWithBoundedMpsc` helper type now.
+- Refactored ECSS TM sender abstractions to be generic over different message queue backends.
+- Refactored Verification Reporter abstractions and implementation to be generic over the sender
+  instead of using trait objects.
+- `PusServiceProvider` renamed to `PusServiceDistributor` to make the purpose of the object
+  more clear
+- `PusServiceProvider::handle_pus_tc_packet` renamed to `PusServiceDistributor::distribute_packet`.
+- `PusServiceDistibutor` and `CcsdsDistributor` now use generics instead of trait objects.
+  This makes accessing the concrete trait implementations more easy as well.
+
+## Fixed
+
+- Update deprecated API for `PusScheduler::insert_wrapped_tc_cds_short`
+  and `PusScheduler::insert_wrapped_tc_cds_long`.
+
 # [v0.2.0-rc.0] 2024-02-21
 
 ## Added

satrs/src/action.rs

@@ -40,3 +40,24 @@ impl TargetedActionRequest {
         }
     }
 }
+
+/// A reply to an action request.
+#[non_exhaustive]
+#[derive(Clone, Eq, PartialEq, Debug)]
+pub enum ActionReply {
+    CompletionFailed(ActionId),
+    StepFailed {
+        id: ActionId,
+        step: u32,
+    },
+    Completed(ActionId),
+    #[cfg(feature = "alloc")]
+    CompletedStringId(alloc::string::String),
+    #[cfg(feature = "alloc")]
+    CompletionFailedStringId(alloc::string::String),
+    #[cfg(feature = "alloc")]
+    StepFailedStringId {
+        id: alloc::string::String,
+        step: u32,
+    },
+}

satrs/src/cfdp/filestore.rs

@@ -7,7 +7,7 @@ use spacepackets::ByteConversionError;
 use std::error::Error;
 use std::path::Path;
 #[cfg(feature = "std")]
-pub use stdmod::*;
+pub use std_mod::*;
 
 pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
 
@@ -148,12 +148,11 @@ pub trait VirtualFilestore {
 }
 
 #[cfg(feature = "std")]
-pub mod stdmod {
+pub mod std_mod {
     use super::*;
     use std::{
         fs::{self, File, OpenOptions},
         io::{BufReader, Read, Seek, SeekFrom, Write},
-        path::Path,
     };
 
     #[derive(Default)]

satrs/src/event_man.rs

@@ -10,27 +10,27 @@
 //! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
 //! about events first:
 //!
-//! The event manager has a listener table abstracted by the [ListenerTable], which maps
+//! The event manager has a listener table abstracted by the [ListenerMapProvider], 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
+//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
-//! to a concrete [SendEventProvider]s. A simple approach would be to use one send event provider
+//! IDs to concrete [EventSendProvider]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
+//!  1. Provide a concrete [EventReceiveProvider] 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]
+//!  3. The event manager receives the receiver component as part of a [EventReceiveProvider]
 //!     implementation so all events are routed to the manager.
-//!  4. Create the [send event providers][SendEventProvider]s which allow routing events to
+//!  4. Create the [send event providers][EventSendProvider]s which allow routing events to
-//!     subscribers. You can now use their [sender IDs][SendEventProvider::id] to subscribe for
+//!     subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
-//!     event groups, for example by using the [EventManager::subscribe_single] method.
+//!     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.
 //!
@@ -41,24 +41,22 @@
 //!
 //! # Examples
 //!
-//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/pus_events.rs)
+//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/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 crate::queue::GenericSendError;
-use alloc::boxed::Box;
+use core::marker::PhantomData;
-#[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 = "alloc")]
+pub use alloc_mod::*;
+
 #[cfg(feature = "std")]
-pub use stdmod::*;
+pub use std_mod::*;
 
 #[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
 pub enum ListenerKey {
@@ -75,108 +73,110 @@ pub type EventWithAuxData<Event> = (Event, Option<Params>);
 pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
 pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
 
-pub trait SendEventProvider<Provider: GenericEvent, AuxDataProvider = Params> {
+pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
-    type Error;
+    fn channel_id(&self) -> ChannelId;
 
-    fn id(&self) -> ChannelId;
+    fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
-    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>;
+
+    fn send(&self, event: EV, aux_data: Option<AuxDataProvider>) -> Result<(), GenericSendError>;
 }
 
 /// Generic abstraction for an event receiver.
-pub trait EventReceiver<Event: GenericEvent, AuxDataProvider = Params> {
+pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
-    /// This function has to be provided by any event receiver. A receive call may or may not return
+    /// This function has to be provided by any event receiver. A call may or may not return
-    /// an event.
+    /// an event and optional auxiliary data.
-    ///
+    fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
-    /// 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 {
+pub trait ListenerMapProvider {
-    fn get_listeners(&self) -> Vec<ListenerKey>;
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+    fn get_listeners(&self) -> alloc::vec::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> {
+pub trait SenderMapProvider<
+    SP: EventSendProvider<EV, AUX>,
+    EV: GenericEvent = EventU32,
+    AUX = Params,
+>
+{
     fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
-    fn get_send_event_provider(
+
-        &self,
+    fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
-        id: &ChannelId,
+    fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
-    ) -> 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
+///  * `ERP`: [EventReceiveProvider] used to receive all events.
-///  * `Event`: Concrete event provider, currently either [EventU32] or [EventU16]
+///  * `SMP`: [SenderMapProvider]  which maps channel IDs to send providers.
-///  * `AuxDataProvider`: Concrete auxiliary data provider, currently either [Params] or
+///  * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
-///     [ParamsHeapless]
+///  * `SP`: [EventSendProvider] contained within the sender map which sends the events.
-pub struct EventManager<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params>
+///  * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
-{
+///     and [EventU16] are supported.
-    listener_table: Box<dyn ListenerTable>,
+///  * `AUX`: Auxiliary data which is sent with the event to provide optional context information
-    sender_table: Box<dyn SenderTable<SendProviderError, Event, AuxDataProvider>>,
+pub struct EventManager<
-    event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
+    ERP: EventReceiveProvider<EV, AUX>,
+    SMP: SenderMapProvider<SP, EV, AUX>,
+    LTR: ListenerMapProvider,
+    SP: EventSendProvider<EV, AUX>,
+    EV: GenericEvent = EventU32,
+    AUX = Params,
+> {
+    event_receiver: ERP,
+    sender_map: SMP,
+    listener_map: LTR,
+    phantom: core::marker::PhantomData<(SP, EV, AUX)>,
 }
 
-/// 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> {
+pub enum EventRoutingResult<EV: GenericEvent, AUX> {
     /// No event was received
     Empty,
-    /// An event was received and routed.
+    /// An event was received and routed to listeners.
-    /// The first tuple entry will contain the number of recipients.
+    Handled {
-    Handled(u32, Event, Option<AuxDataProvider>),
+        num_recipients: u32,
+        event: EV,
+        aux_data: Option<AUX>,
+    },
 }
 
 #[derive(Debug)]
-pub enum EventRoutingError<E> {
+pub enum EventRoutingError {
-    SendError(E),
+    Send(GenericSendError),
     NoSendersForKey(ListenerKey),
     NoSenderForId(ChannelId),
 }
 
 #[derive(Debug)]
-pub struct EventRoutingErrorsWithResult<Event: GenericEvent, AuxDataProvider, E> {
+pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
-    pub result: EventRoutingResult<Event, AuxDataProvider>,
+    pub result: EventRoutingResult<EV, AUX>,
-    pub errors: [Option<EventRoutingError<E>>; 3],
+    pub errors: [Option<EventRoutingError>; 3],
 }
 
-impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
+impl<
+        ER: EventReceiveProvider<EV, AUX>,
+        S: SenderMapProvider<SP, EV, AUX>,
+        L: ListenerMapProvider,
+        SP: EventSendProvider<EV, AUX>,
+        EV: GenericEvent + Copy,
+        AUX: Clone,
+    > EventManager<ER, S, L, SP, EV, AUX>
+{
     pub fn remove_duplicates(&mut self, key: &ListenerKey) {
-        self.listener_table.remove_duplicates(key)
+        self.listener_map.remove_duplicates(key)
     }
 
     /// Subscribe for a unique event.
-    pub fn subscribe_single(&mut self, event: &Event, sender_id: ChannelId) {
+    pub fn subscribe_single(&mut self, event: &EV, sender_id: ChannelId) {
         self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
     }
 
@@ -194,49 +194,37 @@ impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
     }
 }
 
-impl<E: 'static, Event: GenericEvent + Copy + 'static, AuxDataProvider: Clone + 'static>
+impl<
-    EventManager<E, Event, AuxDataProvider>
+        ERP: EventReceiveProvider<EV, AUX>,
+        SMP: SenderMapProvider<SP, EV, AUX>,
+        LTR: ListenerMapProvider,
+        SP: EventSendProvider<EV, AUX>,
+        EV: GenericEvent + Copy,
+        AUX: Clone,
+    > EventManager<ERP, SMP, LTR, SP, EV, AUX>
 {
-    /// Create an event manager where the sender table will be the [DefaultSenderTableProvider]
+    pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
-    /// 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,
+            listener_map,
-            sender_table,
+            sender_map,
             event_receiver,
+            phantom: PhantomData,
         }
     }
 
-    pub fn add_sender(
+    /// Add a new sender component which can be used to send events to subscribers.
-        &mut self,
+    pub fn add_sender(&mut self, send_provider: SP) {
-        send_provider: impl SendEventProvider<Event, AuxDataProvider, Error = E> + 'static,
-    ) {
         if !self
-            .sender_table
+            .sender_map
-            .contains_send_event_provider(&send_provider.id())
+            .contains_send_event_provider(&send_provider.channel_id())
         {
-            self.sender_table
+            self.sender_map.add_send_event_provider(send_provider);
-                .add_send_event_provider(Box::new(send_provider));
         }
     }
 
+    /// Generic function to update the event subscribers.
     fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
-        self.listener_table.add_listener(key, sender_id);
+        self.listener_map.add_listener(key, sender_id);
     }
 
     /// This function will use the cached event receiver and try to receive one event.
@@ -248,40 +236,36 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
     /// [EventRoutingErrorsWithResult] error struct.
     pub fn try_event_handling(
         &self,
-    ) -> Result<
+    ) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
-        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>| {
+        let mut add_error = |error: EventRoutingError| {
             if err_idx < 3 {
                 err_slice[err_idx] = Some(error);
                 err_idx += 1;
             }
         };
-        let mut send_handler =
+        let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
-            |key: &ListenerKey, event: Event, aux_data: &Option<AuxDataProvider>| {
+            if self.listener_map.contains_listener(key) {
-                if self.listener_table.contains_listener(key) {
+                if let Some(ids) = self.listener_map.get_listener_ids(key) {
-                    if let Some(ids) = self.listener_table.get_listener_ids(key) {
+                    for id in ids {
-                        for id in ids {
+                        if let Some(sender) = self.sender_map.get_send_event_provider(id) {
-                            if let Some(sender) = self.sender_table.get_send_event_provider(id) {
+                            if let Err(e) = sender.send(event, aux_data.clone()) {
-                                if let Err(e) = sender.send(event, aux_data.clone()) {
+                                add_error(EventRoutingError::Send(e));
-                                    add_error(EventRoutingError::SendError(e));
-                                } else {
-                                    num_recipients += 1;
-                                }
                             } else {
-                                add_error(EventRoutingError::NoSenderForId(*id));
+                                num_recipients += 1;
                             }
+                        } else {
+                            add_error(EventRoutingError::NoSenderForId(*id));
                         }
-                    } else {
-                        add_error(EventRoutingError::NoSendersForKey(*key));
                     }
+                } else {
+                    add_error(EventRoutingError::NoSendersForKey(*key));
                 }
-            };
+            }
-        if let Some((event, aux_data)) = self.event_receiver.receive() {
+        };
+        if let Some((event, aux_data)) = self.event_receiver.try_recv_event() {
             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());
@@ -289,130 +273,177 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
             send_handler(&ListenerKey::All, event, &aux_data);
             if err_idx > 0 {
                 return Err(EventRoutingErrorsWithResult {
-                    result: EventRoutingResult::Handled(num_recipients, event, aux_data),
+                    result: EventRoutingResult::Handled {
+                        num_recipients,
+                        event,
+                        aux_data,
+                    },
                     errors: err_slice,
                 });
             }
-            return Ok(EventRoutingResult::Handled(num_recipients, event, aux_data));
+            return Ok(EventRoutingResult::Handled {
+                num_recipients,
+                event,
+                aux_data,
+            });
         }
         Ok(EventRoutingResult::Empty)
     }
 }
 
-#[derive(Default)]
+#[cfg(feature = "alloc")]
-pub struct DefaultListenerTableProvider {
+pub mod alloc_mod {
-    listeners: HashMap<ListenerKey, Vec<ChannelId>>,
+    use alloc::vec::Vec;
-}
+    use hashbrown::HashMap;
 
-pub struct DefaultSenderTableProvider<
+    use super::*;
-    SendProviderError,
-    Event: GenericEvent = EventU32,
-    AuxDataProvider = Params,
-> {
-    senders: HashMap<
-        ChannelId,
-        Box<dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>,
-    >,
-}
 
-impl<SendProviderError, Event: GenericEvent, AuxDataProvider> Default
+    /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
+    /// and the [DefaultListenerMap]. It uses regular mpsc channels as the message queue backend.
-{
+    pub type EventManagerWithMpsc<EV = EventU32, AUX = Params> = EventManager<
-    fn default() -> Self {
+        MpscEventReceiver,
-        Self {
+        DefaultSenderMap<EventSenderMpsc<EV>, EV, AUX>,
-            senders: HashMap::new(),
+        DefaultListenerMap,
+        EventSenderMpsc<EV>,
+    >;
+
+    /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
+    /// and the [DefaultListenerMap]. It uses
+    /// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
+    /// message queue backend.
+    pub type EventManagerWithBoundedMpsc<EV = EventU32, AUX = Params> = EventManager<
+        MpscEventReceiver,
+        DefaultSenderMap<EventSenderMpscBounded<EV>, EV, AUX>,
+        DefaultListenerMap,
+        EventSenderMpscBounded<EV>,
+    >;
+
+    impl<
+            ER: EventReceiveProvider<EV, AUX>,
+            SP: EventSendProvider<EV, AUX>,
+            EV: GenericEvent + Copy,
+            AUX: 'static,
+        > EventManager<ER, DefaultSenderMap<SP, EV, AUX>, DefaultListenerMap, SP, EV, AUX>
+    {
+        /// Create an event manager where the sender table will be the [DefaultSenderMap]
+        /// and the listener table will be the [DefaultListenerMap].
+        pub fn new(event_receiver: ER) -> Self {
+            Self {
+                listener_map: DefaultListenerMap::default(),
+                sender_map: DefaultSenderMap::default(),
+                event_receiver,
+                phantom: PhantomData,
+            }
         }
     }
-}
 
-impl ListenerTable for DefaultListenerTableProvider {
+    /// Default listener map.
-    fn get_listeners(&self) -> Vec<ListenerKey> {
+    ///
-        let mut key_list = Vec::new();
+    /// Simple implementation which uses a [HashMap] and a [Vec] internally.
-        for key in self.listeners.keys() {
+    #[derive(Default)]
-            key_list.push(*key);
+    pub struct DefaultListenerMap {
+        listeners: HashMap<ListenerKey, Vec<ChannelId>>,
+    }
+
+    impl ListenerMapProvider for DefaultListenerMap {
+        fn get_listeners(&self) -> Vec<ListenerKey> {
+            let mut key_list = Vec::new();
+            for key in self.listeners.keys() {
+                key_list.push(*key);
+            }
+            key_list
         }
-        key_list
-    }
 
-    fn contains_listener(&self, key: &ListenerKey) -> bool {
+        fn contains_listener(&self, key: &ListenerKey) -> bool {
-        self.listeners.contains_key(key)
+            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) {
+        fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
-        if let Some(list) = self.listeners.get_mut(key) {
+            self.listeners.get(key).map(|vec| vec.iter())
-            list.sort_unstable();
+        }
-            list.dedup();
+
+        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 = alloc::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>
+    /// Default sender map.
-    SenderTable<SendProviderError, Event, AuxDataProvider>
+    ///
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
+    /// Simple implementation which uses a [HashMap] internally.
-{
+    pub struct DefaultSenderMap<
-    fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
+        SP: EventSendProvider<EV, AUX>,
-        self.senders.contains_key(id)
+        EV: GenericEvent = EventU32,
+        AUX = Params,
+    > {
+        senders: HashMap<ChannelId, SP>,
+        phantom: PhantomData<(EV, AUX)>,
     }
 
-    fn get_send_event_provider(
+    impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> Default
-        &self,
+        for DefaultSenderMap<SP, EV, AUX>
-        id: &ChannelId,
+    {
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>> {
+        fn default() -> Self {
-        self.senders
+            Self {
-            .get(id)
+                senders: Default::default(),
-            .filter(|sender| sender.id() == *id)
+                phantom: Default::default(),
-            .map(|v| v.as_ref())
+            }
-    }
+        }
-
+    }
-    fn add_send_event_provider(
+
-        &mut self,
+    impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
-        send_provider: Box<
+        for DefaultSenderMap<SP, EV, AUX>
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
+    {
-        >,
+        fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
-    ) -> bool {
+            self.senders.contains_key(id)
-        let id = send_provider.id();
+        }
-        if self.senders.contains_key(&id) {
+
-            return false;
+        fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
+            self.senders
+                .get(id)
+                .filter(|sender| sender.channel_id() == *id)
+        }
+
+        fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
+            let id = send_provider.channel_id();
+            if self.senders.contains_key(&id) {
+                return false;
+            }
+            self.senders.insert(id, send_provider).is_none()
         }
-        self.senders.insert(id, send_provider).is_none()
     }
 }
 
 #[cfg(feature = "std")]
-pub mod stdmod {
+pub mod std_mod {
     use super::*;
-    use crate::event_man::{EventReceiver, EventWithAuxData};
+    use std::sync::mpsc;
-    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>)>,
+        mpsc_receiver: mpsc::Receiver<(Event, Option<Params>)>,
     }
 
     impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
-        pub fn new(receiver: Receiver<(Event, Option<Params>)>) -> Self {
+        pub fn new(receiver: mpsc::Receiver<(Event, Option<Params>)>) -> Self {
             Self {
                 mpsc_receiver: receiver,
             }
         }
     }
-    impl<Event: GenericEvent + Send> EventReceiver<Event> for MpscEventReceiver<Event> {
+    impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
-        fn receive(&self) -> Option<EventWithAuxData<Event>> {
+        fn try_recv_event(&self) -> Option<EventWithAuxData<Event>> {
             if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
                 return Some(event_and_data);
             }
@@ -423,31 +454,75 @@ pub mod stdmod {
     pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
     pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;
 
+    /// Generic event sender which uses a regular [mpsc::Sender] as the messaging backend to
+    /// send events.
     #[derive(Clone)]
-    pub struct MpscEventSendProvider<Event: GenericEvent + Send> {
+    pub struct EventSenderMpsc<Event: GenericEvent + Send> {
         id: u32,
-        sender: Sender<(Event, Option<Params>)>,
+        sender: mpsc::Sender<(Event, Option<Params>)>,
     }
 
-    impl<Event: GenericEvent + Send> MpscEventSendProvider<Event> {
+    impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
-        pub fn new(id: u32, sender: Sender<(Event, Option<Params>)>) -> Self {
+        pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
             Self { id, sender }
         }
     }
 
-    impl<Event: GenericEvent + Send> SendEventProvider<Event> for MpscEventSendProvider<Event> {
+    impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
-        type Error = SendError<(Event, Option<Params>)>;
+        fn channel_id(&self) -> u32 {
-
-        fn id(&self) -> u32 {
             self.id
         }
-        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), Self::Error> {
+        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
-            self.sender.send((event, aux_data))
+            self.sender
+                .send((event, aux_data))
+                .map_err(|_| GenericSendError::RxDisconnected)
         }
     }
 
-    pub type MpscEventU32SendProvider = MpscEventSendProvider<EventU32>;
+    /// Generic event sender which uses the [mpsc::SyncSender] as the messaging backend to send
-    pub type MpscEventU16SendProvider = MpscEventSendProvider<EventU16>;
+    /// events. This has the advantage that the channel is bounded and thus more deterministic.
+    #[derive(Clone)]
+    pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
+        channel_id: u32,
+        sender: mpsc::SyncSender<(Event, Option<Params>)>,
+        capacity: usize,
+    }
+
+    impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
+        pub fn new(
+            channel_id: u32,
+            sender: mpsc::SyncSender<(Event, Option<Params>)>,
+            capacity: usize,
+        ) -> Self {
+            Self {
+                channel_id,
+                sender,
+                capacity,
+            }
+        }
+    }
+
+    impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
+        fn channel_id(&self) -> u32 {
+            self.channel_id
+        }
+        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
+            if let Err(e) = self.sender.try_send((event, aux_data)) {
+                return match e {
+                    mpsc::TrySendError::Full(_) => {
+                        Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
+                    }
+                    mpsc::TrySendError::Disconnected(_) => Err(GenericSendError::RxDisconnected),
+                };
+            }
+            Ok(())
+        }
+    }
+
+    pub type EventU32SenderMpsc = EventSenderMpsc<EventU32>;
+    pub type EventU16SenderMpsc = EventSenderMpsc<EventU16>;
+    pub type EventU32SenderMpscBounded = EventSenderMpscBounded<EventU32>;
+    pub type EventU16SenderMpscBounded = EventSenderMpscBounded<EventU16>;
 }
 
 #[cfg(test)]
@@ -456,32 +531,10 @@ mod tests {
     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};
+    use std::sync::mpsc::{self, channel, Receiver, Sender};
 
-    #[derive(Clone)]
+    const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);
-    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,
@@ -500,22 +553,21 @@ mod tests {
         expected_num_sent: u32,
     ) {
         assert!(matches!(res, EventRoutingResult::Handled { .. }));
-        if let EventRoutingResult::Handled(num_recipients, event, _aux_data) = res {
+        if let EventRoutingResult::Handled {
+            num_recipients,
+            event,
+            ..
+        } = res
+        {
             assert_eq!(event, expected);
             assert_eq!(num_recipients, expected_num_sent);
         }
     }
 
-    fn generic_event_man() -> (
+    fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
-        Sender<EventU32WithAuxData>,
-        EventManager<SendError<EventU32WithAuxData>>,
-    ) {
         let (event_sender, manager_queue) = channel();
         let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        (
+        (event_sender, EventManager::new(event_man_receiver))
-            event_sender,
-            EventManager::new(Box::new(event_man_receiver)),
-        )
     }
 
     #[test]
@@ -524,15 +576,12 @@ mod tests {
         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);
+        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
+        event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
         event_man.add_sender(single_event_listener);
         let (group_event_sender_0, group_event_receiver_0) = channel();
-        let group_event_listener = MpscEventSenderQueue {
+        let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
-            id: 1,
+        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
-            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
@@ -559,8 +608,8 @@ mod tests {
         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);
+        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
+        event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
         event_man.add_sender(single_event_listener);
         event_sender
             .send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
@@ -591,12 +640,15 @@ mod tests {
         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 {
+        let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
-            id: 0,
+        event_man.subscribe_group(
-            mpsc_sender: event_grp_0_sender,
+            event_grp_0.group_id(),
-        };
+            event_grp_0_and_1_listener.channel_id(),
-        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.subscribe_group(
+            event_grp_1_0.group_id(),
+            event_grp_0_and_1_listener.channel_id(),
+        );
         event_man.add_sender(event_grp_0_and_1_listener);
 
         event_sender
@@ -625,18 +677,12 @@ mod tests {
         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 {
+        let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
-            id: 0,
+        let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
-            mpsc_sender: event_0_tx_0,
+        let event_listener_0_sender_id = event_listener_0.channel_id();
-        };
-        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();
+        let event_listener_1_sender_id = event_listener_1.channel_id();
         event_man.subscribe_single(&event_0, event_listener_1_sender_id);
         event_man.add_sender(event_listener_1);
         event_sender
@@ -681,16 +727,12 @@ mod tests {
     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>> =
+        let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
-            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 {
+        let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
-            id: 0,
+        event_man.subscribe_all(all_events_listener.channel_id());
-            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))
@@ -707,4 +749,36 @@ mod tests {
         check_next_event(event_0, &all_events_rx);
         check_next_event(event_1, &all_events_rx);
     }
+
+    #[test]
+    fn test_bounded_event_sender_queue_full() {
+        let (event_sender, _event_receiver) = mpsc::sync_channel(3);
+        let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
+        event_sender
+            .send_no_data(TEST_EVENT)
+            .expect("sending test event failed");
+        event_sender
+            .send_no_data(TEST_EVENT)
+            .expect("sending test event failed");
+        event_sender
+            .send_no_data(TEST_EVENT)
+            .expect("sending test event failed");
+        let error = event_sender.send_no_data(TEST_EVENT);
+        if let Err(e) = error {
+            assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
+        } else {
+            panic!("unexpected error {error:?}");
+        }
+    }
+    #[test]
+    fn test_bounded_event_sender_rx_dropped() {
+        let (event_sender, event_receiver) = mpsc::sync_channel(3);
+        let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
+        drop(event_receiver);
+        if let Err(e) = event_sender.send_no_data(TEST_EVENT) {
+            assert!(matches!(e, GenericSendError::RxDisconnected));
+        } else {
+            panic!("Expected error");
+        }
+    }
 }

satrs/src/hal/std/tcp_cobs_server.rs

@@ -107,7 +107,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
 ///
 /// ## Example
 ///
-/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
+/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
 /// test also serves as the example application for this module.
 pub struct TcpTmtcInCobsServer<
     TmError,

satrs/src/hal/std/tcp_spacepackets_server.rs

@@ -88,7 +88,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
 /// [spacepackets::PacketId]s as part of the server configuration for that purpose.
 ///
 /// ## Example
-/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
+/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
 /// also serves as the example application for this module.
 pub struct TcpSpacepacketsServer<
     TmError,

satrs/src/lib.rs

@@ -26,8 +26,6 @@ extern crate std;
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod cfdp;
 pub mod encoding;
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod event_man;
 pub mod events;
 #[cfg(feature = "std")]

satrs/src/params.rs

@@ -43,22 +43,19 @@
 //! 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};
+pub use spacepackets::util::ToBeBytes;
 use spacepackets::util::UnsignedEnum;
 use spacepackets::ByteConversionError;
 
 #[cfg(feature = "alloc")]
-pub use alloc_mod::*;
+use alloc::string::{String, ToString};
-pub use spacepackets::util::ToBeBytes;
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
 
 /// Generic trait which is used for objects which can be converted into a raw network (big) endian
 /// byte format.
@@ -560,56 +557,64 @@ from_conversions_for_raw!(
     (f64, Self::F64),
 );
 
-#[cfg(feature = "alloc")]
+/// Generic enumeration for additional parameters, including parameters which rely on heap
-mod alloc_mod {
+/// allocations.
-    use super::*;
+#[derive(Debug, Clone)]
-    /// Generic enumeration for additional parameters, including parameters which rely on heap
+#[non_exhaustive]
-    /// allocations.
+pub enum Params {
+    Heapless(ParamsHeapless),
+    Store(StoreAddr),
+    #[cfg(feature = "alloc")]
     #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-    #[derive(Debug, Clone)]
+    Vec(Vec<u8>),
-    pub enum Params {
+    #[cfg(feature = "alloc")]
-        Heapless(ParamsHeapless),
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-        Store(StoreAddr),
+    String(String),
-        Vec(Vec<u8>),
+}
-        String(String),
-    }
 
-    impl From<StoreAddr> for Params {
+impl From<StoreAddr> for Params {
-        fn from(x: StoreAddr) -> Self {
+    fn from(x: StoreAddr) -> Self {
-            Self::Store(x)
+        Self::Store(x)
-        }
     }
+}
 
-    impl From<ParamsHeapless> for Params {
+impl From<ParamsHeapless> for Params {
-        fn from(x: ParamsHeapless) -> Self {
+    fn from(x: ParamsHeapless) -> Self {
-            Self::Heapless(x)
+        Self::Heapless(x)
-        }
     }
+}
 
-    impl From<Vec<u8>> for Params {
+#[cfg(feature = "alloc")]
-        fn from(val: Vec<u8>) -> Self {
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-            Self::Vec(val)
+impl From<Vec<u8>> for Params {
-        }
+    fn from(val: Vec<u8>) -> Self {
+        Self::Vec(val)
     }
+}
 
-    /// Converts a byte slice into the [Params::Vec] variant
+/// Converts a byte slice into the [Params::Vec] variant
-    impl From<&[u8]> for Params {
+#[cfg(feature = "alloc")]
-        fn from(val: &[u8]) -> Self {
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-            Self::Vec(val.to_vec())
+impl From<&[u8]> for Params {
-        }
+    fn from(val: &[u8]) -> Self {
+        Self::Vec(val.to_vec())
     }
+}
 
-    impl From<String> for Params {
+#[cfg(feature = "alloc")]
-        fn from(val: String) -> Self {
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-            Self::String(val)
+impl From<String> for Params {
-        }
+    fn from(val: String) -> Self {
+        Self::String(val)
     }
+}
 
-    /// Converts a string slice into the [Params::String] variant
+#[cfg(feature = "alloc")]
-    impl From<&str> for Params {
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-        fn from(val: &str) -> Self {
+/// Converts a string slice into the [Params::String] variant
-            Self::String(val.to_string())
+impl From<&str> for Params {
-        }
+    fn from(val: &str) -> Self {
+        Self::String(val.to_string())
     }
 }
 

satrs/src/power.rs

@@ -24,6 +24,42 @@ pub enum SwitchState {
     Faulty = 3,
 }
 
+#[derive(Debug, Eq, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+pub enum SwitchStateBinary {
+    Off = 0,
+    On = 1,
+}
+
+impl TryFrom<SwitchState> for SwitchStateBinary {
+    type Error = ();
+    fn try_from(value: SwitchState) -> Result<Self, Self::Error> {
+        match value {
+            SwitchState::Off => Ok(SwitchStateBinary::Off),
+            SwitchState::On => Ok(SwitchStateBinary::On),
+            _ => Err(()),
+        }
+    }
+}
+
+impl<T: Into<u64>> From<T> for SwitchStateBinary {
+    fn from(value: T) -> Self {
+        if value.into() == 0 {
+            return SwitchStateBinary::Off;
+        }
+        SwitchStateBinary::On
+    }
+}
+
+impl From<SwitchStateBinary> for SwitchState {
+    fn from(value: SwitchStateBinary) -> Self {
+        match value {
+            SwitchStateBinary::Off => SwitchState::Off,
+            SwitchStateBinary::On => SwitchState::On,
+        }
+    }
+}
+
 pub type SwitchId = u16;
 
 /// Generic trait for a device capable of turning on and off switches.

satrs/src/pus/action.rs

@@ -44,7 +44,7 @@ pub mod alloc_mod {
     /// - Checking the validity of the APID, service ID, subservice ID.
     /// - Checking the validity of the user data.
     ///
-    /// A [VerificationReporterWithSender] instance is passed to the user to also allow handling
+    /// A [VerificationReportingProvider] instance is passed to the user to also allow handling
     /// of the verification process as part of the PUS standard requirements.
     pub trait PusActionToRequestConverter {
         type Error;
@@ -62,9 +62,9 @@ pub mod alloc_mod {
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
     use crate::pus::{
-        verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
+        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
+        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
-        PusServiceHelper,
+        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
     };
 
     use super::*;
@@ -81,6 +81,8 @@ pub mod std_mod {
     /// 3. Route the action request using the provided [PusActionRequestRouter].
     /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler].
     pub struct PusService8ActionHandler<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
         RequestConverter: PusActionToRequestConverter,
@@ -88,13 +90,16 @@ pub mod std_mod {
         RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
         RoutingError = GenericRoutingError,
     > {
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper:
+            PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
         pub request_converter: RequestConverter,
         pub request_router: RequestRouter,
         pub routing_error_handler: RoutingErrorHandler,
     }
 
     impl<
+            TcReceiver: EcssTcReceiverCore,
+            TmSender: EcssTmSenderCore,
             TcInMemConverter: EcssTcInMemConverter,
             VerificationReporter: VerificationReportingProvider,
             RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
@@ -103,6 +108,8 @@ pub mod std_mod {
             RoutingError: Clone,
         >
         PusService8ActionHandler<
+            TcReceiver,
+            TmSender,
             TcInMemConverter,
             VerificationReporter,
             RequestConverter,
@@ -114,7 +121,12 @@ pub mod std_mod {
         PusPacketHandlingError: From<RoutingError>,
     {
         pub fn new(
-            service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+            service_helper: PusServiceHelper<
+                TcReceiver,
+                TmSender,
+                TcInMemConverter,
+                VerificationReporter,
+            >,
             request_converter: RequestConverter,
             request_router: RequestRouter,
             routing_error_handler: RoutingErrorHandler,
@@ -139,10 +151,7 @@ pub mod std_mod {
                 .tc_in_mem_converter
                 .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
             let mut partial_error = None;
-            let time_stamp =
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
             let (target_id, action_request) = self.request_converter.convert(
                 ecss_tc_and_token.token,
                 &tc,
@@ -189,7 +198,8 @@ mod tests {
         verification::{
             tests::TestVerificationReporter, FailParams, RequestId, VerificationReportingProvider,
         },
-        EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError,
+        EcssTcInVecConverter, GenericRoutingError, MpscTcReceiver, PusPacketHandlerResult,
+        PusPacketHandlingError, TmAsVecSenderWithMpsc,
     };
 
     use super::*;
@@ -259,6 +269,8 @@ mod tests {
     struct Pus8HandlerWithVecTester {
         common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
         handler: PusService8ActionHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
             EcssTcInVecConverter,
             TestVerificationReporter,
             TestConverter<8>,

satrs/src/pus/event.rs

@@ -269,7 +269,7 @@ mod tests {
     }
 
     impl EcssChannel for TestSender {
-        fn id(&self) -> ChannelId {
+        fn channel_id(&self) -> ChannelId {
             0
         }
     }

satrs/src/pus/event_man.rs

@@ -2,8 +2,6 @@ use crate::events::{EventU32, GenericEvent, Severity};
 #[cfg(feature = "alloc")]
 use crate::events::{EventU32TypedSev, HasSeverity};
 #[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
 use core::hash::Hash;
 #[cfg(feature = "alloc")]
 use hashbrown::HashSet;
@@ -32,19 +30,19 @@ pub use heapless_mod::*;
 /// structure to track disabled events. A more primitive and embedded friendly
 /// solution could track this information in a static or pre-allocated list which contains
 /// the disabled events.
-pub trait PusEventMgmtBackendProvider<Provider: GenericEvent> {
+pub trait PusEventMgmtBackendProvider<Event: GenericEvent> {
     type Error;
 
-    fn event_enabled(&self, event: &Provider) -> bool;
+    fn event_enabled(&self, event: &Event) -> bool;
-    fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
+    fn enable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
-    fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
+    fn disable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
 }
 
 #[cfg(feature = "heapless")]
 pub mod heapless_mod {
     use super::*;
-    use crate::events::{GenericEvent, LargestEventRaw};
+    use crate::events::LargestEventRaw;
-    use std::marker::PhantomData;
+    use core::marker::PhantomData;
 
     #[cfg_attr(doc_cfg, doc(cfg(feature = "heapless")))]
     // TODO: After a new version of heapless is released which uses hash32 version 0.3, try using
@@ -108,6 +106,10 @@ impl From<EcssTmtcError> for EventManError {
 
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
+    use core::marker::PhantomData;
+
+    use crate::events::EventU16;
+
     use super::*;
 
     /// Default backend provider which uses a hash set as the event reporting status container
@@ -115,14 +117,11 @@ pub mod alloc_mod {
     ///
     /// This provider is a good option for host systems or larger embedded systems where
     /// the expected occasional memory allocation performed by the [HashSet] is not an issue.
-    pub struct DefaultPusMgmtBackendProvider<Event: GenericEvent = EventU32> {
+    pub struct DefaultPusEventMgmtBackend<Event: GenericEvent = EventU32> {
         disabled: HashSet<Event>,
     }
 
-    /// Safety: All contained field are [Send] as well
+    impl<Event: GenericEvent> Default for DefaultPusEventMgmtBackend<Event> {
-    unsafe impl<Event: GenericEvent + Send> Send for DefaultPusMgmtBackendProvider<Event> {}
-
-    impl<Event: GenericEvent> Default for DefaultPusMgmtBackendProvider<Event> {
         fn default() -> Self {
             Self {
                 disabled: HashSet::default(),
@@ -130,46 +129,50 @@ pub mod alloc_mod {
         }
     }
 
-    impl<Provider: GenericEvent + PartialEq + Eq + Hash + Copy + Clone>
+    impl<EV: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventMgmtBackendProvider<EV>
-        PusEventMgmtBackendProvider<Provider> for DefaultPusMgmtBackendProvider<Provider>
+        for DefaultPusEventMgmtBackend<EV>
     {
         type Error = ();
-        fn event_enabled(&self, event: &Provider) -> bool {
+
+        fn event_enabled(&self, event: &EV) -> bool {
             !self.disabled.contains(event)
         }
 
-        fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
+        fn enable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
             Ok(self.disabled.remove(event))
         }
 
-        fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
+        fn disable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
             Ok(self.disabled.insert(*event))
         }
     }
 
-    pub struct PusEventDispatcher<BackendError, Provider: GenericEvent> {
+    pub struct PusEventDispatcher<
+        B: PusEventMgmtBackendProvider<EV, Error = E>,
+        EV: GenericEvent,
+        E,
+    > {
         reporter: EventReporter,
-        backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
+        backend: B,
+        phantom: PhantomData<(E, EV)>,
     }
 
-    /// Safety: All contained fields are send as well.
+    impl<B: PusEventMgmtBackendProvider<EV, Error = E>, EV: GenericEvent, E>
-    unsafe impl<E: Send, Event: GenericEvent + Send> Send for PusEventDispatcher<E, Event> {}
+        PusEventDispatcher<B, EV, E>
-
+    {
-    impl<BackendError, Provider: GenericEvent> PusEventDispatcher<BackendError, Provider> {
+        pub fn new(reporter: EventReporter, backend: B) -> Self {
-        pub fn new(
+            Self {
-            reporter: EventReporter,
+                reporter,
-            backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
+                backend,
-        ) -> Self {
+                phantom: PhantomData,
-            Self { reporter, backend }
+            }
         }
-    }
 
-    impl<BackendError, Event: GenericEvent> PusEventDispatcher<BackendError, Event> {
+        pub fn enable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
-        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
             self.backend.enable_event_reporting(event)
         }
 
-        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
+        pub fn disable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
             self.backend.disable_event_reporting(event)
         }
 
@@ -177,7 +180,7 @@ pub mod alloc_mod {
             &mut self,
             sender: &mut (impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
-            event: Event,
+            event: EV,
             aux_data: Option<&[u8]>,
         ) -> Result<bool, EventManError> {
             if !self.backend.event_enabled(&event) {
@@ -208,18 +211,30 @@ pub mod alloc_mod {
         }
     }
 
-    impl<BackendError> PusEventDispatcher<BackendError, EventU32> {
+    impl<EV: GenericEvent + Copy + PartialEq + Eq + Hash>
+        PusEventDispatcher<DefaultPusEventMgmtBackend<EV>, EV, ()>
+    {
+        pub fn new_with_default_backend(reporter: EventReporter) -> Self {
+            Self {
+                reporter,
+                backend: DefaultPusEventMgmtBackend::default(),
+                phantom: PhantomData,
+            }
+        }
+    }
+
+    impl<B: PusEventMgmtBackendProvider<EventU32, Error = E>, E> PusEventDispatcher<B, EventU32, E> {
         pub fn enable_tm_for_event_with_sev<Severity: HasSeverity>(
             &mut self,
             event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, BackendError> {
+        ) -> Result<bool, E> {
             self.backend.enable_event_reporting(event.as_ref())
         }
 
         pub fn disable_tm_for_event_with_sev<Severity: HasSeverity>(
             &mut self,
             event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, BackendError> {
+        ) -> Result<bool, E> {
             self.backend.disable_event_reporting(event.as_ref())
         }
 
@@ -233,30 +248,38 @@ pub mod alloc_mod {
             self.generate_pus_event_tm_generic(sender, time_stamp, event.into(), aux_data)
         }
     }
+
+    pub type DefaultPusEventU16Dispatcher<E> =
+        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU16>, EventU16, E>;
+    pub type DefaultPusEventU32Dispatcher<E> =
+        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU32>, EventU32, E>;
 }
 #[cfg(test)]
 mod tests {
     use super::*;
-    use crate::events::SeverityInfo;
+    use crate::{events::SeverityInfo, pus::TmAsVecSenderWithMpsc};
-    use crate::pus::MpscTmAsVecSender;
+    use std::sync::mpsc::{self, TryRecvError};
-    use std::sync::mpsc::{channel, TryRecvError};
 
     const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
         EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
     const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
     const EMPTY_STAMP: [u8; 7] = [0; 7];
 
-    fn create_basic_man() -> PusEventDispatcher<(), EventU32> {
+    fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
         let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
-        let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
+        PusEventDispatcher::new_with_default_backend(reporter)
-        PusEventDispatcher::new(reporter, Box::new(backend))
+    }
+    fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
+        let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
+        let backend = DefaultPusEventMgmtBackend::default();
+        PusEventDispatcher::new(reporter, backend)
     }
 
     #[test]
     fn test_basic() {
-        let mut event_man = create_basic_man();
+        let mut event_man = create_basic_man_1();
-        let (event_tx, event_rx) = channel();
+        let (event_tx, event_rx) = mpsc::channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test_sender", event_tx);
+        let mut sender = TmAsVecSenderWithMpsc::new(0, "test_sender", event_tx);
         let event_sent = event_man
             .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
             .expect("Sending info event failed");
@@ -268,9 +291,9 @@ mod tests {
 
     #[test]
     fn test_disable_event() {
-        let mut event_man = create_basic_man();
+        let mut event_man = create_basic_man_2();
-        let (event_tx, event_rx) = channel();
+        let (event_tx, event_rx) = mpsc::channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
+        let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
         let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
         assert!(res.is_ok());
         assert!(res.unwrap());
@@ -291,9 +314,9 @@ mod tests {
 
     #[test]
     fn test_reenable_event() {
-        let mut event_man = create_basic_man();
+        let mut event_man = create_basic_man_1();
-        let (event_tx, event_rx) = channel();
+        let (event_tx, event_rx) = mpsc::channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
+        let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
         let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
         assert!(res.is_ok());
         assert!(res.unwrap());

satrs/src/pus/event_srv.rs

@@ -7,27 +7,40 @@ use spacepackets::ecss::PusPacket;
 use std::sync::mpsc::Sender;
 
 use super::verification::VerificationReportingProvider;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+use super::{
+    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore,
+    PusServiceHelper,
+};
 
 pub struct PusService5EventHandler<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
     VerificationReporter: VerificationReportingProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
     event_request_tx: Sender<EventRequestWithToken>,
 }
 
 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
-    > PusService5EventHandler<TcInMemConverter, VerificationReporter>
+    > PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     pub fn new(
-        service_handler: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
         event_request_tx: Sender<EventRequestWithToken>,
     ) -> Self {
         Self {
-            service_helper: service_handler,
+            service_helper,
             event_request_tx,
         }
     }
@@ -94,9 +107,7 @@ impl<
             Ok(PusPacketHandlerResult::RequestHandled)
         };
         let mut partial_error = None;
-        let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
+        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-            &mut partial_error,
-        );
         match srv.unwrap() {
             Subservice::TmInfoReport
             | Subservice::TmLowSeverityReport
@@ -138,7 +149,10 @@ mod tests {
 
     use crate::pus::event_man::EventRequest;
     use crate::pus::tests::SimplePusPacketHandler;
-    use crate::pus::verification::{RequestId, VerificationReporterWithSender};
+    use crate::pus::verification::{
+        RequestId, VerificationReporterWithSharedPoolMpscBoundedSender,
+    };
+    use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
     use crate::{
         events::EventU32,
         pus::{
@@ -155,8 +169,12 @@ mod tests {
 
     struct Pus5HandlerWithStoreTester {
         common: PusServiceHandlerWithSharedStoreCommon,
-        handler:
+        handler: PusService5EventHandler<
-            PusService5EventHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
+            EcssTcInSharedStoreConverter,
+            VerificationReporterWithSharedPoolMpscBoundedSender,
+        >,
     }
 
     impl Pus5HandlerWithStoreTester {

satrs/src/pus/hk.rs

@@ -46,7 +46,7 @@ pub mod alloc_mod {
     /// - Checking the validity of the APID, service ID, subservice ID.
     /// - Checking the validity of the user data.
     ///
-    /// A [VerificationReporterWithSender] instance is passed to the user to also allow handling
+    /// A [VerificationReportingProvider] is passed to the user to also allow handling
     /// of the verification process as part of the PUS standard requirements.
     pub trait PusHkToRequestConverter {
         type Error;
@@ -64,9 +64,9 @@ pub mod alloc_mod {
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
     use crate::pus::{
-        verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
+        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
+        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
-        PusServiceHelper,
+        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
     };
 
     use super::*;
@@ -78,13 +78,15 @@ pub mod std_mod {
     /// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
     ///    allows to configure the used telecommand memory backend.
     /// 2. Convert the TC to a targeted action request using the provided
-    ///    [PusActionToRequestConverter]. The generic error type is constrained to the
+    ///    [PusHkToRequestConverter]. The generic error type is constrained to the
     ///    [PusPacketHandlerResult] for the concrete implementation which offers a packet handler.
-    /// 3. Route the action request using the provided [PusActionRequestRouter]. The generic error
+    /// 3. Route the action request using the provided [PusHkRequestRouter]. The generic error
     ///    type is constrained to the [GenericRoutingError] for the concrete implementation.
     /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler]. The generic error
     ///    type is constrained to the [GenericRoutingError] for the concrete implementation.
     pub struct PusService3HkHandler<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
         RequestConverter: PusHkToRequestConverter,
@@ -92,13 +94,16 @@ pub mod std_mod {
         RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
         RoutingError = GenericRoutingError,
     > {
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper:
+            PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
         pub request_converter: RequestConverter,
         pub request_router: RequestRouter,
         pub routing_error_handler: RoutingErrorHandler,
     }
 
     impl<
+            TcReceiver: EcssTcReceiverCore,
+            TmSender: EcssTmSenderCore,
             TcInMemConverter: EcssTcInMemConverter,
             VerificationReporter: VerificationReportingProvider,
             RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
@@ -107,6 +112,8 @@ pub mod std_mod {
             RoutingError: Clone,
         >
         PusService3HkHandler<
+            TcReceiver,
+            TmSender,
             TcInMemConverter,
             VerificationReporter,
             RequestConverter,
@@ -118,7 +125,12 @@ pub mod std_mod {
         PusPacketHandlingError: From<RoutingError>,
     {
         pub fn new(
-            service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+            service_helper: PusServiceHelper<
+                TcReceiver,
+                TmSender,
+                TcInMemConverter,
+                VerificationReporter,
+            >,
             request_converter: RequestConverter,
             request_router: RequestRouter,
             routing_error_handler: RoutingErrorHandler,
@@ -142,10 +154,7 @@ pub mod std_mod {
                 .tc_in_mem_converter
                 .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
             let mut partial_error = None;
-            let time_stamp =
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
             let (target_id, hk_request) = self.request_converter.convert(
                 ecss_tc_and_token.token,
                 &tc,
@@ -185,6 +194,7 @@ mod tests {
         CcsdsPacket, SequenceFlags, SpHeader,
     };
 
+    use crate::pus::{MpscTcReceiver, TmAsVecSenderWithMpsc};
     use crate::{
         hk::HkRequest,
         pus::{
@@ -268,6 +278,8 @@ mod tests {
     struct Pus3HandlerWithVecTester {
         common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
         handler: PusService3HkHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
             EcssTcInVecConverter,
             TestVerificationReporter,
             TestConverter<3>,

satrs/src/pus/mod.rs

@@ -2,6 +2,8 @@
 //!
 //! 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::pool::{StoreAddr, StoreError};
+use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
 use crate::queue::{GenericRecvError, GenericSendError};
 use crate::ChannelId;
 use core::fmt::{Display, Formatter};
@@ -34,8 +36,6 @@ 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::*;
 
@@ -63,6 +63,7 @@ pub enum EcssTmtcError {
     Store(StoreError),
     Pus(PusError),
     CantSendAddr(StoreAddr),
+    CantSendDirectTm,
     Send(GenericSendError),
     Recv(GenericRecvError),
 }
@@ -82,6 +83,9 @@ impl Display for EcssTmtcError {
             EcssTmtcError::CantSendAddr(addr) => {
                 write!(f, "can not send address {addr}")
             }
+            EcssTmtcError::CantSendDirectTm => {
+                write!(f, "can not send TM directly")
+            }
             EcssTmtcError::Send(send_e) => {
                 write!(f, "send error {send_e}")
             }
@@ -123,13 +127,14 @@ impl Error for EcssTmtcError {
             EcssTmtcError::Store(e) => Some(e),
             EcssTmtcError::Pus(e) => Some(e),
             EcssTmtcError::Send(e) => Some(e),
+            EcssTmtcError::Recv(e) => Some(e),
             _ => None,
         }
     }
 }
 pub trait EcssChannel: Send {
     /// Each sender can have an ID associated with it
-    fn id(&self) -> ChannelId;
+    fn channel_id(&self) -> ChannelId;
     fn name(&self) -> &'static str {
         "unset"
     }
@@ -138,7 +143,7 @@ pub trait EcssChannel: Send {
 /// 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 {
+pub trait EcssTmSenderCore: Send {
     fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError>;
 }
 
@@ -146,7 +151,7 @@ pub trait EcssTmSenderCore: EcssChannel {
 ///
 /// 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 {
+pub trait EcssTcSenderCore {
     fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
 }
 
@@ -221,25 +226,25 @@ impl TryFrom<EcssTcAndToken> for AcceptedEcssTcAndToken {
 
 #[derive(Debug, Clone)]
 pub enum TryRecvTmtcError {
-    Error(EcssTmtcError),
+    Tmtc(EcssTmtcError),
     Empty,
 }
 
 impl From<EcssTmtcError> for TryRecvTmtcError {
     fn from(value: EcssTmtcError) -> Self {
-        Self::Error(value)
+        Self::Tmtc(value)
     }
 }
 
 impl From<PusError> for TryRecvTmtcError {
     fn from(value: PusError) -> Self {
-        Self::Error(value.into())
+        Self::Tmtc(value.into())
     }
 }
 
 impl From<StoreError> for TryRecvTmtcError {
     fn from(value: StoreError) -> Self {
-        Self::Error(value.into())
+        Self::Tmtc(value.into())
     }
 }
 
@@ -366,18 +371,15 @@ pub mod std_mod {
     use crate::pool::{PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr};
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
-        EcssChannel, EcssTcAndToken, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender,
+        EcssChannel, EcssTcAndToken, EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError,
-        EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
+        GenericRecvError, GenericSendError, PusTmWrapper, TryRecvTmtcError,
-        TryRecvTmtcError,
     };
     use crate::tmtc::tm_helper::SharedTmPool;
     use crate::{ChannelId, TargetId};
-    use alloc::boxed::Box;
     use alloc::vec::Vec;
-    use crossbeam_channel as cb;
     use spacepackets::ecss::tc::PusTcReader;
     use spacepackets::ecss::tm::PusTmCreator;
-    use spacepackets::ecss::PusError;
+    use spacepackets::ecss::{PusError, WritablePusPacket};
     use spacepackets::time::cds::TimeProvider;
     use spacepackets::time::StdTimestampError;
     use spacepackets::time::TimeWriter;
@@ -386,6 +388,9 @@ pub mod std_mod {
     use std::sync::mpsc::TryRecvError;
     use thiserror::Error;
 
+    #[cfg(feature = "crossbeam")]
+    pub use cb_mod::*;
+
     use super::verification::VerificationReportingProvider;
     use super::{AcceptedEcssTcAndToken, TcInMemory};
 
@@ -395,32 +400,65 @@ pub mod std_mod {
         }
     }
 
-    impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
+    impl EcssTmSenderCore for mpsc::Sender<StoreAddr> {
-        fn from(_: cb::SendError<StoreAddr>) -> Self {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            Self::Send(GenericSendError::RxDisconnected)
+            match tm {
+                PusTmWrapper::InStore(addr) => self
+                    .send(addr)
+                    .map_err(|_| GenericSendError::RxDisconnected)?,
+                PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
+            };
+            Ok(())
         }
     }
 
-    impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
+    impl EcssTmSenderCore for mpsc::SyncSender<StoreAddr> {
-        fn from(value: cb::TrySendError<StoreAddr>) -> Self {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match value {
+            match tm {
-                cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
+                PusTmWrapper::InStore(addr) => self
-                cb::TrySendError::Disconnected(_) => Self::Send(GenericSendError::RxDisconnected),
+                    .try_send(addr)
-            }
+                    .map_err(|e| EcssTmtcError::Send(e.into()))?,
+                PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
+            };
+            Ok(())
+        }
+    }
+
+    impl EcssTmSenderCore for mpsc::Sender<Vec<u8>> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            match tm {
+                PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
+                PusTmWrapper::Direct(tm) => self
+                    .send(tm.to_vec()?)
+                    .map_err(|e| EcssTmtcError::Send(e.into()))?,
+            };
+            Ok(())
+        }
+    }
+
+    impl EcssTmSenderCore for mpsc::SyncSender<Vec<u8>> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            match tm {
+                PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
+                PusTmWrapper::Direct(tm) => self
+                    .send(tm.to_vec()?)
+                    .map_err(|e| EcssTmtcError::Send(e.into()))?,
+            };
+            Ok(())
         }
     }
 
     #[derive(Clone)]
-    pub struct MpscTmInSharedPoolSender {
+    pub struct TmInSharedPoolSenderWithId<Sender: EcssTmSenderCore> {
-        id: ChannelId,
+        channel_id: ChannelId,
         name: &'static str,
         shared_tm_store: SharedTmPool,
-        sender: mpsc::Sender<StoreAddr>,
+        sender: Sender,
     }
 
-    impl EcssChannel for MpscTmInSharedPoolSender {
+    impl<Sender: EcssTmSenderCore> EcssChannel for TmInSharedPoolSenderWithId<Sender> {
-        fn id(&self) -> ChannelId {
+        fn channel_id(&self) -> ChannelId {
-            self.id
+            self.channel_id
         }
 
         fn name(&self) -> &'static str {
@@ -428,36 +466,31 @@ pub mod std_mod {
         }
     }
 
-    impl MpscTmInSharedPoolSender {
+    impl<Sender: EcssTmSenderCore> TmInSharedPoolSenderWithId<Sender> {
         pub fn send_direct_tm(&self, tm: PusTmCreator) -> Result<(), EcssTmtcError> {
             let addr = self.shared_tm_store.add_pus_tm(&tm)?;
-            self.sender
+            self.sender.send_tm(PusTmWrapper::InStore(addr))
-                .send(addr)
-                .map_err(|_| EcssTmtcError::Send(GenericSendError::RxDisconnected))
         }
     }
 
-    impl EcssTmSenderCore for MpscTmInSharedPoolSender {
+    impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmInSharedPoolSenderWithId<Sender> {
         fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match tm {
+            if let PusTmWrapper::Direct(tm) = tm {
-                PusTmWrapper::InStore(addr) => {
+                return self.send_direct_tm(tm);
-                    self.sender.send(addr)?;
-                    Ok(())
-                }
-                PusTmWrapper::Direct(tm) => self.send_direct_tm(tm),
             }
+            self.sender.send_tm(tm)
         }
     }
 
-    impl MpscTmInSharedPoolSender {
+    impl<Sender: EcssTmSenderCore> TmInSharedPoolSenderWithId<Sender> {
         pub fn new(
             id: ChannelId,
             name: &'static str,
             shared_tm_store: SharedTmPool,
-            sender: mpsc::Sender<StoreAddr>,
+            sender: Sender,
         ) -> Self {
             Self {
-                id,
+                channel_id: id,
                 name,
                 shared_tm_store,
                 sender,
@@ -465,6 +498,51 @@ pub mod std_mod {
         }
     }
 
+    pub type TmInSharedPoolSenderWithMpsc = TmInSharedPoolSenderWithId<mpsc::Sender<StoreAddr>>;
+    pub type TmInSharedPoolSenderWithBoundedMpsc =
+        TmInSharedPoolSenderWithId<mpsc::SyncSender<StoreAddr>>;
+
+    /// 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 TmAsVecSenderWithId<Sender: EcssTmSenderCore> {
+        id: ChannelId,
+        name: &'static str,
+        sender: Sender,
+    }
+
+    impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
+        fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
+            Self::Send(GenericSendError::RxDisconnected)
+        }
+    }
+
+    impl<Sender: EcssTmSenderCore> TmAsVecSenderWithId<Sender> {
+        pub fn new(id: u32, name: &'static str, sender: Sender) -> Self {
+            Self { id, sender, name }
+        }
+    }
+
+    impl<Sender: EcssTmSenderCore> EcssChannel for TmAsVecSenderWithId<Sender> {
+        fn channel_id(&self) -> ChannelId {
+            self.id
+        }
+        fn name(&self) -> &'static str {
+            self.name
+        }
+    }
+
+    impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmAsVecSenderWithId<Sender> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            self.sender.send_tm(tm)
+        }
+    }
+
+    pub type TmAsVecSenderWithMpsc = TmAsVecSenderWithId<mpsc::Sender<Vec<u8>>>;
+    pub type TmAsVecSenderWithBoundedMpsc = TmAsVecSenderWithId<mpsc::SyncSender<Vec<u8>>>;
+
     pub struct MpscTcReceiver {
         id: ChannelId,
         name: &'static str,
@@ -472,7 +550,7 @@ pub mod std_mod {
     }
 
     impl EcssChannel for MpscTcReceiver {
-        fn id(&self) -> ChannelId {
+        fn channel_id(&self) -> ChannelId {
             self.id
         }
 
@@ -486,7 +564,7 @@ pub mod std_mod {
             self.receiver.try_recv().map_err(|e| match e {
                 TryRecvError::Empty => TryRecvTmtcError::Empty,
                 TryRecvError::Disconnected => {
-                    TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
+                    TryRecvTmtcError::Tmtc(EcssTmtcError::from(GenericRecvError::TxDisconnected))
                 }
             })
         }
@@ -502,133 +580,89 @@ pub mod std_mod {
         }
     }
 
-    /// This class can be used if frequent heap allocations during run-time are not an issue.
+    #[cfg(feature = "crossbeam")]
-    /// PUS TM packets will be sent around as [Vec]s. Please note that the current implementation
+    pub mod cb_mod {
-    /// of this class can not deal with store addresses, so it is assumed that is is always
+        use super::*;
-    /// going to be called with direct packets.
+        use crossbeam_channel as cb;
-    #[derive(Clone)]
-    pub struct MpscTmAsVecSender {
-        id: ChannelId,
-        name: &'static str,
-        sender: mpsc::Sender<Vec<u8>>,
-    }
 
-    impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
+        pub type TmInSharedPoolSenderWithCrossbeam =
-        fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
+            TmInSharedPoolSenderWithId<cb::Sender<StoreAddr>>;
-            Self::Send(GenericSendError::RxDisconnected)
-        }
-    }
 
-    impl MpscTmAsVecSender {
+        impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
-        pub fn new(id: u32, name: &'static str, sender: mpsc::Sender<Vec<u8>>) -> Self {
+            fn from(_: cb::SendError<StoreAddr>) -> Self {
-            Self { id, sender, name }
+                Self::Send(GenericSendError::RxDisconnected)
+            }
         }
-    }
 
-    impl EcssChannel for MpscTmAsVecSender {
+        impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
-        fn id(&self) -> ChannelId {
+            fn from(value: cb::TrySendError<StoreAddr>) -> Self {
-            self.id
+                match value {
-        }
+                    cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
-        fn name(&self) -> &'static str {
+                    cb::TrySendError::Disconnected(_) => {
-            self.name
+                        Self::Send(GenericSendError::RxDisconnected)
-        }
+                    }
-    }
-
-    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)]
+        impl EcssTmSenderCore for cb::Sender<StoreAddr> {
-    pub struct CrossbeamTmInStoreSender {
+            fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-        id: ChannelId,
+                match tm {
-        name: &'static str,
+                    PusTmWrapper::InStore(addr) => self
-        shared_tm_store: SharedTmPool,
+                        .try_send(addr)
-        sender: crossbeam_channel::Sender<StoreAddr>,
+                        .map_err(|e| EcssTmtcError::Send(e.into()))?,
-    }
+                    PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
-
+                };
-    impl CrossbeamTmInStoreSender {
+                Ok(())
-        pub fn new(
-            id: ChannelId,
-            name: &'static str,
-            shared_tm_store: SharedTmPool,
-            sender: crossbeam_channel::Sender<StoreAddr>,
-        ) -> Self {
-            Self {
-                id,
-                name,
-                shared_tm_store,
-                sender,
             }
         }
-    }
+        impl EcssTmSenderCore for cb::Sender<Vec<u8>> {
-
+            fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-    impl EcssChannel for CrossbeamTmInStoreSender {
+                match tm {
-        fn id(&self) -> ChannelId {
+                    PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
-            self.id
+                    PusTmWrapper::Direct(tm) => self
-        }
+                        .send(tm.to_vec()?)
-
+                        .map_err(|e| EcssTmtcError::Send(e.into()))?,
-        fn name(&self) -> &'static str {
+                };
-            self.name
+                Ok(())
-        }
-    }
-
-    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 CrossbeamTcReceiver {
+        pub struct CrossbeamTcReceiver {
-        id: ChannelId,
-        name: &'static str,
-        receiver: cb::Receiver<EcssTcAndToken>,
-    }
-
-    impl CrossbeamTcReceiver {
-        pub fn new(
             id: ChannelId,
             name: &'static str,
             receiver: cb::Receiver<EcssTcAndToken>,
-        ) -> Self {
-            Self { id, name, receiver }
-        }
-    }
-
-    impl EcssChannel for CrossbeamTcReceiver {
-        fn id(&self) -> ChannelId {
-            self.id
         }
 
-        fn name(&self) -> &'static str {
+        impl CrossbeamTcReceiver {
-            self.name
+            pub fn new(
+                id: ChannelId,
+                name: &'static str,
+                receiver: cb::Receiver<EcssTcAndToken>,
+            ) -> Self {
+                Self { id, name, receiver }
+            }
         }
-    }
 
-    impl EcssTcReceiverCore for CrossbeamTcReceiver {
+        impl EcssChannel for CrossbeamTcReceiver {
-        fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
+            fn channel_id(&self) -> ChannelId {
-            self.receiver.try_recv().map_err(|e| match e {
+                self.id
-                cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
+            }
-                cb::TryRecvError::Disconnected => {
+
-                    TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
+            fn name(&self) -> &'static str {
-                }
+                self.name
-            })
+            }
+        }
+
+        impl EcssTcReceiverCore for CrossbeamTcReceiver {
+            fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
+                self.receiver.try_recv().map_err(|e| match e {
+                    cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
+                    cb::TryRecvError::Disconnected => TryRecvTmtcError::Tmtc(EcssTmtcError::from(
+                        GenericRecvError::TxDisconnected,
+                    )),
+                })
+            }
         }
     }
 
@@ -811,36 +845,35 @@ pub mod std_mod {
         }
     }
 
-    pub struct PusServiceBase<VerificationReporter: VerificationReportingProvider> {
+    pub struct PusServiceBase<
-        pub tc_receiver: Box<dyn EcssTcReceiver>,
+        TcReceiver: EcssTcReceiverCore,
-        pub tm_sender: Box<dyn EcssTmSender>,
+        TmSender: EcssTmSenderCore,
+        VerificationReporter: VerificationReportingProvider,
+    > {
+        pub tc_receiver: TcReceiver,
+        pub tm_sender: TmSender,
         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: VerificationReporter,
     }
-
+    #[cfg(feature = "std")]
-    impl<VerificationReporter: VerificationReportingProvider> PusServiceBase<VerificationReporter> {
+    pub fn get_current_cds_short_timestamp(
-        #[cfg(feature = "std")]
+        partial_error: &mut Option<PartialPusHandlingError>,
-        pub fn get_current_cds_short_timestamp(
+    ) -> [u8; 7] {
-            partial_error: &mut Option<PartialPusHandlingError>,
+        let mut time_stamp: [u8; 7] = [0; 7];
-        ) -> [u8; 7] {
+        let time_provider =
-            let mut time_stamp: [u8; 7] = [0; 7];
+            TimeProvider::from_now_with_u16_days().map_err(PartialPusHandlingError::Time);
-            let time_provider =
+        if let Ok(time_provider) = time_provider {
-                TimeProvider::from_now_with_u16_days().map_err(PartialPusHandlingError::Time);
+            // Can't fail, we have a buffer with the exact required size.
-            if let Ok(time_provider) = time_provider {
+            time_provider.write_to_bytes(&mut time_stamp).unwrap();
-                // Can't fail, we have a buffer with the exact required size.
+        } else {
-                time_provider.write_to_bytes(&mut time_stamp).unwrap();
+            *partial_error = Some(time_provider.unwrap_err());
-            } else {
-                *partial_error = Some(time_provider.unwrap_err());
-            }
-            time_stamp
-        }
-        #[cfg(feature = "std")]
-        pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
-            let mut dummy = None;
-            Self::get_current_cds_short_timestamp(&mut dummy)
         }
+        time_stamp
+    }
+    #[cfg(feature = "std")]
+    pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
+        let mut dummy = None;
+        get_current_cds_short_timestamp(&mut dummy)
     }
 
     /// This is a high-level PUS packet handler helper.
@@ -853,21 +886,25 @@ pub mod std_mod {
     /// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
     /// methods to make the generic parts of TC handling easier.
     pub struct PusServiceHelper<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
     > {
-        pub common: PusServiceBase<VerificationReporter>,
+        pub common: PusServiceBase<TcReceiver, TmSender, VerificationReporter>,
         pub tc_in_mem_converter: TcInMemConverter,
     }
 
     impl<
+            TcReceiver: EcssTcReceiverCore,
+            TmSender: EcssTmSenderCore,
             TcInMemConverter: EcssTcInMemConverter,
             VerificationReporter: VerificationReportingProvider,
-        > PusServiceHelper<TcInMemConverter, VerificationReporter>
+        > PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
     {
         pub fn new(
-            tc_receiver: Box<dyn EcssTcReceiver>,
+            tc_receiver: TcReceiver,
-            tm_sender: Box<dyn EcssTmSender>,
+            tm_sender: TmSender,
             tm_apid: u16,
             verification_handler: VerificationReporter,
             tc_in_mem_converter: TcInMemConverter,
@@ -883,10 +920,10 @@ pub mod std_mod {
             }
         }
 
-        /// This function can be used to poll the internal [EcssTcReceiver] object for the next
+        /// This function can be used to poll the internal [EcssTcReceiverCore] object for the next
         /// telecommand packet. It will return `Ok(None)` if there are not packets available.
         /// In any other case, it will perform the acceptance of the ECSS TC packet using the
-        /// internal [VerificationReporterWithSender] object. It will then return the telecommand
+        /// internal [VerificationReportingProvider] object. It will then return the telecommand
         /// and the according accepted token.
         pub fn retrieve_and_accept_next_packet(
             &mut self,
@@ -908,12 +945,40 @@ pub mod std_mod {
                     }))
                 }
                 Err(e) => match e {
-                    TryRecvTmtcError::Error(e) => Err(PusPacketHandlingError::EcssTmtc(e)),
+                    TryRecvTmtcError::Tmtc(e) => Err(PusPacketHandlingError::EcssTmtc(e)),
                     TryRecvTmtcError::Empty => Ok(None),
                 },
             }
         }
     }
+
+    pub type PusServiceHelperDynWithMpsc<TcInMemConverter, VerificationReporter> = PusServiceHelper<
+        MpscTcReceiver,
+        TmAsVecSenderWithMpsc,
+        TcInMemConverter,
+        VerificationReporter,
+    >;
+    pub type PusServiceHelperDynWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
+        PusServiceHelper<
+            MpscTcReceiver,
+            TmAsVecSenderWithBoundedMpsc,
+            TcInMemConverter,
+            VerificationReporter,
+        >;
+    pub type PusServiceHelperStaticWithMpsc<TcInMemConverter, VerificationReporter> =
+        PusServiceHelper<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithMpsc,
+            TcInMemConverter,
+            VerificationReporter,
+        >;
+    pub type PusServiceHelperStaticWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
+        PusServiceHelper<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
+            TcInMemConverter,
+            VerificationReporter,
+        >;
 }
 
 pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), EcssTmtcError> {
@@ -935,7 +1000,6 @@ pub mod tests {
     use std::sync::mpsc::TryRecvError;
     use std::sync::{mpsc, RwLock};
 
-    use alloc::boxed::Box;
     use alloc::collections::VecDeque;
     use alloc::vec::Vec;
     use satrs_shared::res_code::ResultU16;
@@ -951,6 +1015,9 @@ pub mod tests {
     use crate::tmtc::tm_helper::SharedTmPool;
     use crate::TargetId;
 
+    use super::verification::std_mod::{
+        VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+    };
     use super::verification::tests::{SharedVerificationMap, TestVerificationReporter};
     use super::verification::{
         TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender,
@@ -958,8 +1025,9 @@ pub mod tests {
     };
     use super::{
         EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericRoutingError,
-        MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+        MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler,
-        PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper, TcInMemory,
+        PusServiceHelper, TcInMemory, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+        TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
     };
 
     pub const TEST_APID: u16 = 0x101;
@@ -1004,29 +1072,33 @@ pub mod tests {
         tm_buf: [u8; 2048],
         tc_pool: SharedStaticMemoryPool,
         tm_pool: SharedTmPool,
-        tc_sender: mpsc::Sender<EcssTcAndToken>,
+        tc_sender: mpsc::SyncSender<EcssTcAndToken>,
         tm_receiver: mpsc::Receiver<StoreAddr>,
-        verification_handler: VerificationReporterWithSender,
+        verification_handler: VerificationReporterWithSharedPoolMpscBoundedSender,
     }
 
+    pub type PusServiceHelperStatic = PusServiceHelper<
+        MpscTcReceiver,
+        TmInSharedPoolSenderWithBoundedMpsc,
+        EcssTcInSharedStoreConverter,
+        VerificationReporterWithSharedPoolMpscBoundedSender,
+    >;
+
     impl PusServiceHandlerWithSharedStoreCommon {
         /// This function generates the structure in addition to the PUS service handler
         /// [PusServiceHandler] which might be required for a specific PUS service handler.
         ///
         /// The PUS service handler is instantiated with a [EcssTcInStoreConverter].
-        pub fn new() -> (
+        pub fn new() -> (Self, PusServiceHelperStatic) {
-            Self,
-            PusServiceHelper<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
-        ) {
             let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
             let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
             let tm_pool = StaticMemoryPool::new(pool_cfg);
             let shared_tc_pool = SharedStaticMemoryPool::new(RwLock::new(tc_pool));
             let shared_tm_pool = SharedTmPool::new(tm_pool);
-            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
+            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::sync_channel(10);
-            let (tm_tx, tm_rx) = mpsc::channel();
+            let (tm_tx, tm_rx) = mpsc::sync_channel(10);
 
-            let verif_sender = MpscTmInSharedPoolSender::new(
+            let verif_sender = TmInSharedPoolSenderWithBoundedMpsc::new(
                 0,
                 "verif_sender",
                 shared_tm_pool.clone(),
@@ -1034,9 +1106,9 @@ pub mod tests {
             );
             let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
             let verification_handler =
-                VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
+                VerificationReporterWithSharedPoolMpscBoundedSender::new(&verif_cfg, verif_sender);
             let test_srv_tm_sender =
-                MpscTmInSharedPoolSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
+                TmInSharedPoolSenderWithId::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
             let test_srv_tc_receiver = MpscTcReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
             let in_store_converter =
                 EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
@@ -1051,8 +1123,8 @@ pub mod tests {
                     verification_handler: verification_handler.clone(),
                 },
                 PusServiceHelper::new(
-                    Box::new(test_srv_tc_receiver),
+                    test_srv_tc_receiver,
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tm_sender,
                     TEST_APID,
                     verification_handler,
                     in_store_converter,
@@ -1116,21 +1188,24 @@ pub mod tests {
         tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
         pub verification_handler: VerificationReporter,
     }
+    pub type PusServiceHelperDynamic = PusServiceHelper<
+        MpscTcReceiver,
+        TmAsVecSenderWithMpsc,
+        EcssTcInVecConverter,
+        VerificationReporterWithVecMpscSender,
+    >;
 
-    impl PusServiceHandlerWithVecCommon<VerificationReporterWithSender> {
+    impl PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender> {
-        pub fn new_with_standard_verif_reporter() -> (
+        pub fn new_with_standard_verif_reporter() -> (Self, PusServiceHelperDynamic) {
-            Self,
-            PusServiceHelper<EcssTcInVecConverter, VerificationReporterWithSender>,
-        ) {
             let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
             let (tm_tx, tm_rx) = mpsc::channel();
 
-            let verif_sender = MpscTmAsVecSender::new(0, "verififcatio-sender", tm_tx.clone());
+            let verif_sender = TmAsVecSenderWithId::new(0, "verififcatio-sender", tm_tx.clone());
             let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
             let verification_handler =
-                VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
+                VerificationReporterWithSender::new(&verif_cfg, verif_sender);
 
-            let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
+            let test_srv_tm_sender = TmAsVecSenderWithId::new(0, "test-sender", tm_tx);
             let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
             let in_store_converter = EcssTcInVecConverter::default();
             (
@@ -1141,8 +1216,8 @@ pub mod tests {
                     verification_handler: verification_handler.clone(),
                 },
                 PusServiceHelper::new(
-                    Box::new(test_srv_tc_receiver),
+                    test_srv_tc_receiver,
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tm_sender,
                     TEST_APID,
                     verification_handler,
                     in_store_converter,
@@ -1154,12 +1229,17 @@ pub mod tests {
     impl PusServiceHandlerWithVecCommon<TestVerificationReporter> {
         pub fn new_with_test_verif_sender() -> (
             Self,
-            PusServiceHelper<EcssTcInVecConverter, TestVerificationReporter>,
+            PusServiceHelper<
+                MpscTcReceiver,
+                TmAsVecSenderWithMpsc,
+                EcssTcInVecConverter,
+                TestVerificationReporter,
+            >,
         ) {
             let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
             let (tm_tx, tm_rx) = mpsc::channel();
 
-            let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
+            let test_srv_tm_sender = TmAsVecSenderWithId::new(0, "test-sender", tm_tx);
             let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
             let in_store_converter = EcssTcInVecConverter::default();
             let shared_verif_map = SharedVerificationMap::default();
@@ -1172,8 +1252,8 @@ pub mod tests {
                     verification_handler: verification_handler.clone(),
                 },
                 PusServiceHelper::new(
-                    Box::new(test_srv_tc_receiver),
+                    test_srv_tc_receiver,
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tm_sender,
                     TEST_APID,
                     verification_handler,
                     in_store_converter,

satrs/src/pus/scheduler.rs

@@ -340,18 +340,18 @@ pub fn generate_insert_telecommand_app_data(
 
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
+    use alloc::{
+        collections::{
+            btree_map::{Entry, Range},
+            BTreeMap,
+        },
+        vec::Vec,
+    };
+    use spacepackets::time::cds::{self, DaysLen24Bits};
+
+    use crate::pool::StoreAddr;
+
     use super::*;
-    use crate::pool::{PoolProvider, StoreAddr, StoreError};
-    use alloc::collections::btree_map::{Entry, Range};
-    use alloc::collections::BTreeMap;
-    use alloc::vec;
-    use alloc::vec::Vec;
-    use core::time::Duration;
-    use spacepackets::ecss::scheduling::TimeWindowType;
-    use spacepackets::ecss::tc::{PusTc, PusTcReader};
-    use spacepackets::ecss::PusPacket;
-    use spacepackets::time::cds::DaysLen24Bits;
-    use spacepackets::time::{cds, CcsdsTimeProvider, UnixTimestamp};
 
     #[cfg(feature = "std")]
     use std::time::SystemTimeError;
@@ -461,7 +461,7 @@ pub mod alloc_mod {
             }
             match self.tc_map.entry(time_stamp) {
                 Entry::Vacant(e) => {
-                    e.insert(vec![info]);
+                    e.insert(alloc::vec![info]);
                 }
                 Entry::Occupied(mut v) => {
                     v.get_mut().push(info);
@@ -498,7 +498,7 @@ pub mod alloc_mod {
         /// short timestamp with 16-bit length of days field.
         pub fn insert_wrapped_tc_cds_short(
             &mut self,
-            pus_tc: &PusTc,
+            pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
             pool: &mut (impl PoolProvider + ?Sized),
         ) -> Result<TcInfo, ScheduleError> {
             self.insert_wrapped_tc::<cds::TimeProvider>(pus_tc, pool)
@@ -508,7 +508,7 @@ pub mod alloc_mod {
         /// long timestamp with a 24-bit length of days field.
         pub fn insert_wrapped_tc_cds_long(
             &mut self,
-            pus_tc: &PusTc,
+            pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
             pool: &mut (impl PoolProvider + ?Sized),
         ) -> Result<TcInfo, ScheduleError> {
             self.insert_wrapped_tc::<cds::TimeProvider<DaysLen24Bits>>(pus_tc, pool)
@@ -530,7 +530,7 @@ pub mod alloc_mod {
             let range = self.retrieve_by_time_filter(time_window);
             let mut del_packets = 0;
             let mut res_if_fails = None;
-            let mut keys_to_delete = Vec::new();
+            let mut keys_to_delete = alloc::vec::Vec::new();
             for time_bucket in range {
                 for tc in time_bucket.1 {
                     match pool.delete(tc.addr) {
@@ -561,7 +561,10 @@ pub mod alloc_mod {
         }
 
         /// Retrieve a range over all scheduled commands.
-        pub fn retrieve_all(&mut self) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
+        pub fn retrieve_all(
+            &mut self,
+        ) -> alloc::collections::btree_map::Range<'_, UnixTimestamp, alloc::vec::Vec<TcInfo>>
+        {
             self.tc_map.range(..)
         }
 
@@ -572,7 +575,7 @@ pub mod alloc_mod {
         pub fn retrieve_by_time_filter<TimeProvider: CcsdsTimeProvider>(
             &mut self,
             time_window: TimeWindow<TimeProvider>,
-        ) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
+        ) -> Range<'_, UnixTimestamp, alloc::vec::Vec<TcInfo>> {
             match time_window.time_window_type() {
                 TimeWindowType::SelectAll => self.tc_map.range(..),
                 TimeWindowType::TimeTagToTimeTag => {
@@ -761,9 +764,9 @@ pub mod alloc_mod {
             mut releaser: R,
             tc_store: &(impl PoolProvider + ?Sized),
             tc_buf: &mut [u8],
-        ) -> Result<Vec<TcInfo>, (Vec<TcInfo>, StoreError)> {
+        ) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, StoreError)> {
             let tcs_to_release = self.telecommands_to_release();
-            let mut released_tcs = Vec::new();
+            let mut released_tcs = alloc::vec::Vec::new();
             for tc in tcs_to_release {
                 for info in tc.1 {
                     tc_store
@@ -835,7 +838,7 @@ pub mod alloc_mod {
             }
             match self.tc_map.entry(time_stamp) {
                 Entry::Vacant(e) => {
-                    e.insert(vec![info]);
+                    e.insert(alloc::vec![info]);
                 }
                 Entry::Occupied(mut v) => {
                     v.get_mut().push(info);

satrs/src/pus/scheduler_srv.rs

@@ -1,6 +1,15 @@
 use super::scheduler::PusSchedulerProvider;
-use super::verification::VerificationReportingProvider;
+use super::verification::{
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
+    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
+};
+use super::{
+    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
+    TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithMpsc,
+};
 use crate::pool::PoolProvider;
 use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
 use alloc::string::ToString;
@@ -16,22 +25,39 @@ use spacepackets::time::cds::TimeProvider;
 /// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
 /// telecommands when applicable.
 pub struct PusService11SchedHandler<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
     VerificationReporter: VerificationReportingProvider,
     PusScheduler: PusSchedulerProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
     scheduler: PusScheduler,
 }
 
 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
         Scheduler: PusSchedulerProvider,
-    > PusService11SchedHandler<TcInMemConverter, VerificationReporter, Scheduler>
+    >
+    PusService11SchedHandler<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        Scheduler,
+    >
 {
     pub fn new(
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
         scheduler: Scheduler,
     ) -> Self {
         Self {
@@ -70,9 +96,7 @@ impl<
             ));
         }
         let mut partial_error = None;
-        let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
+        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-            &mut partial_error,
-        );
         match standard_subservice.unwrap() {
             scheduling::Subservice::TcEnableScheduling => {
                 let start_token = self
@@ -169,18 +193,55 @@ impl<
         Ok(PusPacketHandlerResult::RequestHandled)
     }
 }
+/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+    PusScheduler,
+>;
+/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and bounded MPSC
+/// queues.
+pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithBoundedMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscBoundedSender,
+    PusScheduler,
+>;
+/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscSender,
+    PusScheduler,
+>;
+/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and bounded
+/// mpsc queues.
+pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+    PusScheduler,
+>;
 
 #[cfg(test)]
 mod tests {
     use crate::pool::{StaticMemoryPool, StaticPoolConfig};
     use crate::pus::tests::TEST_APID;
-    use crate::pus::verification::VerificationReporterWithSender;
+    use crate::pus::verification::VerificationReporterWithSharedPoolMpscBoundedSender;
     use crate::pus::{
         scheduler::{self, PusSchedulerProvider, TcInfo},
         tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
         verification::{RequestId, TcStateAccepted, VerificationToken},
         EcssTcInSharedStoreConverter,
     };
+    use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
     use alloc::collections::VecDeque;
     use delegate::delegate;
     use spacepackets::ecss::scheduling::Subservice;
@@ -198,8 +259,10 @@ mod tests {
     struct Pus11HandlerWithStoreTester {
         common: PusServiceHandlerWithSharedStoreCommon,
         handler: PusService11SchedHandler<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
             EcssTcInSharedStoreConverter,
-            VerificationReporterWithSender,
+            VerificationReporterWithSharedPoolMpscBoundedSender,
             TestScheduler,
         >,
         sched_tc_pool: StaticMemoryPool,

satrs/src/pus/test.rs

@@ -5,24 +5,45 @@ use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use spacepackets::ecss::PusPacket;
 use spacepackets::SpHeader;
 
-use super::verification::VerificationReportingProvider;
+use super::verification::{
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
+    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
+};
+use super::{
+    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
+    TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithMpsc,
+};
 
 /// 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<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
     VerificationReporter: VerificationReportingProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
-    > PusService17TestHandler<TcInMemConverter, VerificationReporter>
+    > PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
-    pub fn new(service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>) -> Self {
+    pub fn new(
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
+    ) -> Self {
         Self { service_helper }
     }
 
@@ -41,10 +62,7 @@ impl<
         }
         if tc.subservice() == 1 {
             let mut partial_error = None;
-            let time_stamp =
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
             let result = self
                 .service_helper
                 .common
@@ -98,17 +116,53 @@ impl<
     }
 }
 
+/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+>;
+/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and bounded MPSC
+/// queues.
+pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithBoundedMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscBoundedSender,
+>;
+/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscSender,
+>;
+/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
+/// mpsc queues.
+pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+>;
+
 #[cfg(test)]
 mod tests {
     use crate::pus::tests::{
         PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
         SimplePusPacketHandler, TEST_APID,
     };
-    use crate::pus::verification::{RequestId, VerificationReporterWithSender};
+    use crate::pus::verification::std_mod::{
+        VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+    };
+    use crate::pus::verification::RequestId;
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
-        EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
+        EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult,
-        PusPacketHandlingError,
+        PusPacketHandlingError, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
     };
     use delegate::delegate;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
@@ -120,8 +174,12 @@ mod tests {
 
     struct Pus17HandlerWithStoreTester {
         common: PusServiceHandlerWithSharedStoreCommon,
-        handler:
+        handler: PusService17TestHandler<
-            PusService17TestHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
+            EcssTcInSharedStoreConverter,
+            VerificationReporterWithSharedPoolMpscBoundedSender,
+        >,
     }
 
     impl Pus17HandlerWithStoreTester {
@@ -158,8 +216,13 @@ mod tests {
     }
 
     struct Pus17HandlerWithVecTester {
-        common: PusServiceHandlerWithVecCommon<VerificationReporterWithSender>,
+        common: PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender>,
-        handler: PusService17TestHandler<EcssTcInVecConverter, VerificationReporterWithSender>,
+        handler: PusService17TestHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
+            EcssTcInVecConverter,
+            VerificationReporterWithVecMpscSender,
+        >,
     }
 
     impl Pus17HandlerWithVecTester {

satrs/src/pus/verification.rs

@@ -20,7 +20,7 @@
 //!     VerificationReportingProvider, VerificationReporterCfg, VerificationReporterWithSender
 //! };
 //! use satrs::seq_count::SeqCountProviderSimple;
-//! use satrs::pus::MpscTmInSharedPoolSender;
+//! use satrs::pus::TmInSharedPoolSenderWithMpsc;
 //! use satrs::tmtc::tm_helper::SharedTmPool;
 //! use spacepackets::ecss::PusPacket;
 //! use spacepackets::SpHeader;
@@ -35,9 +35,9 @@
 //! let shared_tm_store = SharedTmPool::new(tm_pool);
 //! let tm_store = shared_tm_store.clone_backing_pool();
 //! let (verif_tx, verif_rx) = mpsc::channel();
-//! let sender = MpscTmInSharedPoolSender::new(0, "Test Sender", shared_tm_store, verif_tx);
+//! let sender = TmInSharedPoolSenderWithMpsc::new(0, "Test Sender", shared_tm_store, verif_tx);
 //! let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
-//! let mut  reporter = VerificationReporterWithSender::new(&cfg , Box::new(sender));
+//! let mut  reporter = VerificationReporterWithSender::new(&cfg , sender);
 //!
 //! let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
 //! let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
@@ -95,10 +95,11 @@ pub use crate::seq_count::SeqCountProviderSimple;
 pub use spacepackets::ecss::verification::*;
 
 #[cfg(feature = "alloc")]
-pub use alloc_mod::{
+#[cfg_attr(feature = "doc_cfg", doc(cfg(feature = "alloc")))]
-    VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
+pub use alloc_mod::*;
-};
+
 #[cfg(feature = "std")]
+#[cfg_attr(feature = "doc_cfg", doc(cfg(feature = "std")))]
 pub use std_mod::*;
 
 /// This is a request identifier as specified in 5.4.11.2 c. of the PUS standard.
@@ -949,15 +950,13 @@ impl VerificationReporterCore {
 }
 
 #[cfg(feature = "alloc")]
-mod alloc_mod {
+pub mod alloc_mod {
     use super::*;
-    use crate::pus::alloc_mod::EcssTmSender;
+    use crate::{
-    use crate::seq_count::SequenceCountProvider;
+        pus::{TmAsVecSenderWithId, TmInSharedPoolSenderWithId},
-    use alloc::boxed::Box;
+        seq_count::SequenceCountProvider,
-    use alloc::vec;
+    };
-    use alloc::vec::Vec;
     use core::cell::RefCell;
-    use spacepackets::ecss::tc::IsPusTelecommand;
 
     #[derive(Clone)]
     pub struct VerificationReporterCfg {
@@ -992,9 +991,9 @@ mod alloc_mod {
     /// TM funnel. This helper will always set those fields to 0.
     #[derive(Clone)]
     pub struct VerificationReporter {
-        source_data_buf: RefCell<Vec<u8>>,
+        source_data_buf: RefCell<alloc::vec::Vec<u8>>,
-        pub seq_count_provider: Option<Box<dyn SequenceCountProvider<u16> + Send>>,
+        pub seq_count_provider: Option<alloc::boxed::Box<dyn SequenceCountProvider<u16> + Send>>,
-        pub msg_count_provider: Option<Box<dyn SequenceCountProvider<u16> + Send>>,
+        pub msg_count_provider: Option<alloc::boxed::Box<dyn SequenceCountProvider<u16> + Send>>,
         pub reporter: VerificationReporterCore,
     }
 
@@ -1002,7 +1001,7 @@ mod alloc_mod {
         pub fn new(cfg: &VerificationReporterCfg) -> Self {
             let reporter = VerificationReporterCore::new(cfg.apid).unwrap();
             Self {
-                source_data_buf: RefCell::new(vec![
+                source_data_buf: RefCell::new(alloc::vec![
                     0;
                     RequestId::SIZE_AS_BYTES
                         + cfg.step_field_width
@@ -1269,21 +1268,18 @@ mod alloc_mod {
     /// Helper object which caches the sender passed as a trait object. Provides the same
     /// API as [VerificationReporter] but without the explicit sender arguments.
     #[derive(Clone)]
-    pub struct VerificationReporterWithSender {
+    pub struct VerificationReporterWithSender<Sender: EcssTmSenderCore + Clone> {
         pub reporter: VerificationReporter,
-        pub sender: Box<dyn EcssTmSender>,
+        pub sender: Sender,
     }
 
-    impl VerificationReporterWithSender {
+    impl<Sender: EcssTmSenderCore + Clone> VerificationReporterWithSender<Sender> {
-        pub fn new(cfg: &VerificationReporterCfg, sender: Box<dyn EcssTmSender>) -> Self {
+        pub fn new(cfg: &VerificationReporterCfg, sender: Sender) -> Self {
             let reporter = VerificationReporter::new(cfg);
             Self::new_from_reporter(reporter, sender)
         }
 
-        pub fn new_from_reporter(
+        pub fn new_from_reporter(reporter: VerificationReporter, sender: Sender) -> Self {
-            reporter: VerificationReporter,
-            sender: Box<dyn EcssTmSender>,
-        ) -> Self {
             Self { reporter, sender }
         }
 
@@ -1297,7 +1293,9 @@ mod alloc_mod {
         }
     }
 
-    impl VerificationReportingProvider for VerificationReporterWithSender {
+    impl<Sender: EcssTmSenderCore + Clone> VerificationReportingProvider
+        for VerificationReporterWithSender<Sender>
+    {
         delegate! {
             to self.reporter {
                 fn add_tc(
@@ -1315,7 +1313,7 @@ mod alloc_mod {
         ) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<TcStateNone>>
         {
             self.reporter
-                .acceptance_success(token, self.sender.as_ref(), time_stamp)
+                .acceptance_success(token, &self.sender, time_stamp)
         }
 
         fn acceptance_failure(
@@ -1324,7 +1322,7 @@ mod alloc_mod {
             params: FailParams,
         ) -> Result<(), VerificationOrSendErrorWithToken<TcStateNone>> {
             self.reporter
-                .acceptance_failure(token, self.sender.as_ref(), params)
+                .acceptance_failure(token, &self.sender, params)
         }
 
         fn start_success(
@@ -1335,8 +1333,7 @@ mod alloc_mod {
             VerificationToken<TcStateStarted>,
             VerificationOrSendErrorWithToken<TcStateAccepted>,
         > {
-            self.reporter
+            self.reporter.start_success(token, &self.sender, time_stamp)
-                .start_success(token, self.sender.as_ref(), time_stamp)
         }
 
         fn start_failure(
@@ -1344,8 +1341,7 @@ mod alloc_mod {
             token: VerificationToken<TcStateAccepted>,
             params: FailParams,
         ) -> Result<(), VerificationOrSendErrorWithToken<TcStateAccepted>> {
-            self.reporter
+            self.reporter.start_failure(token, &self.sender, params)
-                .start_failure(token, self.sender.as_ref(), params)
         }
 
         fn step_success(
@@ -1355,7 +1351,7 @@ mod alloc_mod {
             step: impl EcssEnumeration,
         ) -> Result<(), EcssTmtcError> {
             self.reporter
-                .step_success(token, self.sender.as_ref(), time_stamp, step)
+                .step_success(token, &self.sender, time_stamp, step)
         }
 
         fn step_failure(
@@ -1363,8 +1359,7 @@ mod alloc_mod {
             token: VerificationToken<TcStateStarted>,
             params: FailParamsWithStep,
         ) -> Result<(), VerificationOrSendErrorWithToken<TcStateStarted>> {
-            self.reporter
+            self.reporter.step_failure(token, &self.sender, params)
-                .step_failure(token, self.sender.as_ref(), params)
         }
 
         fn completion_success<TcState: WasAtLeastAccepted + Copy>(
@@ -1373,7 +1368,7 @@ mod alloc_mod {
             time_stamp: &[u8],
         ) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
             self.reporter
-                .completion_success(token, self.sender.as_ref(), time_stamp)
+                .completion_success(token, &self.sender, time_stamp)
         }
 
         fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
@@ -1382,18 +1377,34 @@ mod alloc_mod {
             params: FailParams,
         ) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
             self.reporter
-                .completion_failure(token, self.sender.as_ref(), params)
+                .completion_failure(token, &self.sender, params)
         }
     }
+
+    pub type VerificationReporterWithSharedPoolSender<Sender> =
+        VerificationReporterWithSender<TmInSharedPoolSenderWithId<Sender>>;
+    pub type VerificationReporterWithVecSender<Sender> =
+        VerificationReporterWithSender<TmAsVecSenderWithId<Sender>>;
 }
 
 #[cfg(feature = "std")]
-mod std_mod {
+pub mod std_mod {
-    use crate::pus::verification::VerificationReporterWithSender;
+    use std::sync::mpsc;
-    use std::sync::{Arc, Mutex};
 
-    pub type StdVerifReporterWithSender = VerificationReporterWithSender;
+    use crate::pool::StoreAddr;
-    pub type SharedStdVerifReporterWithSender = Arc<Mutex<StdVerifReporterWithSender>>;
+
+    use super::alloc_mod::{
+        VerificationReporterWithSharedPoolSender, VerificationReporterWithVecSender,
+    };
+
+    pub type VerificationReporterWithSharedPoolMpscSender =
+        VerificationReporterWithSharedPoolSender<mpsc::Sender<StoreAddr>>;
+    pub type VerificationReporterWithSharedPoolMpscBoundedSender =
+        VerificationReporterWithSharedPoolSender<mpsc::SyncSender<StoreAddr>>;
+    pub type VerificationReporterWithVecMpscSender =
+        VerificationReporterWithVecSender<mpsc::Sender<alloc::vec::Vec<u8>>>;
+    pub type VerificationReporterWithVecMpscBoundedSender =
+        VerificationReporterWithVecSender<mpsc::SyncSender<alloc::vec::Vec<u8>>>;
 }
 
 #[cfg(test)]
@@ -1405,10 +1416,11 @@ pub mod tests {
         VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
         VerificationToken,
     };
-    use crate::pus::{EcssChannel, MpscTmInSharedPoolSender, PusTmWrapper};
+    use crate::pus::{
+        EcssChannel, PusTmWrapper, TmInSharedPoolSenderWithId, TmInSharedPoolSenderWithMpsc,
+    };
     use crate::tmtc::tm_helper::SharedTmPool;
     use crate::ChannelId;
-    use alloc::boxed::Box;
     use alloc::format;
     use alloc::sync::Arc;
     use hashbrown::HashMap;
@@ -1637,7 +1649,7 @@ pub mod tests {
     }
 
     impl EcssChannel for TestSender {
-        fn id(&self) -> ChannelId {
+        fn channel_id(&self) -> ChannelId {
             0
         }
         fn name(&self) -> &'static str {
@@ -1688,13 +1700,13 @@ pub mod tests {
             &mut self.vr
         }
     }
-    struct TestBaseWithHelper<'a> {
+    struct TestBaseWithHelper<'a, Sender: EcssTmSenderCore + Clone + 'static> {
-        helper: VerificationReporterWithSender,
+        helper: VerificationReporterWithSender<Sender>,
         #[allow(dead_code)]
         tc: PusTcCreator<'a>,
     }
 
-    impl<'a> TestBaseWithHelper<'a> {
+    impl<'a, Sender: EcssTmSenderCore + Clone + 'static> TestBaseWithHelper<'a, Sender> {
         fn rep(&mut self) -> &mut VerificationReporter {
             &mut self.helper.reporter
         }
@@ -1725,12 +1737,15 @@ pub mod tests {
         (TestBase { vr: reporter, tc }, init_tok)
     }
 
-    fn base_with_helper_init() -> (TestBaseWithHelper<'static>, VerificationToken<TcStateNone>) {
+    fn base_with_helper_init() -> (
+        TestBaseWithHelper<'static, TestSender>,
+        VerificationToken<TcStateNone>,
+    ) {
         let mut reporter = base_reporter();
         let (tc, _) = base_tc_init(None);
         let init_tok = reporter.add_tc(&tc);
         let sender = TestSender::default();
-        let helper = VerificationReporterWithSender::new_from_reporter(reporter, Box::new(sender));
+        let helper = VerificationReporterWithSender::new_from_reporter(reporter, sender);
         (TestBaseWithHelper { helper, tc }, init_tok)
     }
 
@@ -1758,7 +1773,7 @@ pub mod tests {
         let shared_tm_store = SharedTmPool::new(pool);
         let (tx, _) = mpsc::channel();
         let mpsc_verif_sender =
-            MpscTmInSharedPoolSender::new(0, "verif_sender", shared_tm_store, tx);
+            TmInSharedPoolSenderWithMpsc::new(0, "verif_sender", shared_tm_store, tx);
         is_send(&mpsc_verif_sender);
     }
 
@@ -1785,8 +1800,7 @@ pub mod tests {
         b.helper
             .acceptance_success(tok, &EMPTY_STAMP)
             .expect("Sending acceptance success failed");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
+        acceptance_check(&mut b.helper.sender, &tok.req_id);
-        acceptance_check(sender, &tok.req_id);
     }
 
     fn acceptance_fail_check(sender: &mut TestSender, req_id: RequestId, stamp_buf: [u8; 7]) {
@@ -1830,8 +1844,7 @@ pub mod tests {
         b.helper
             .acceptance_failure(tok, fail_params)
             .expect("Sending acceptance success failed");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
+        acceptance_fail_check(&mut b.helper.sender, tok.req_id, stamp_buf);
-        acceptance_fail_check(sender, tok.req_id, stamp_buf);
     }
 
     #[test]
@@ -1961,8 +1974,7 @@ pub mod tests {
         b.helper
             .start_failure(accepted_token, fail_params)
             .expect("Start failure failure");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
+        start_fail_check(&mut b.helper.sender, tok.req_id, fail_data_raw);
-        start_fail_check(sender, tok.req_id, fail_data_raw);
     }
 
     fn step_success_check(sender: &mut TestSender, req_id: RequestId) {
@@ -2059,9 +2071,8 @@ pub mod tests {
         b.helper
             .step_success(&started_token, &EMPTY_STAMP, EcssEnumU8::new(1))
             .expect("Sending step 1 success failed");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
+        assert_eq!(b.helper.sender.service_queue.borrow().len(), 4);
-        assert_eq!(sender.service_queue.borrow().len(), 4);
+        step_success_check(&mut b.helper.sender, tok.req_id);
-        step_success_check(sender, tok.req_id);
     }
 
     fn check_step_failure(sender: &mut TestSender, req_id: RequestId, fail_data_raw: [u8; 4]) {
@@ -2191,8 +2202,7 @@ pub mod tests {
         b.helper
             .step_failure(started_token, fail_params)
             .expect("Step failure failed");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
+        check_step_failure(&mut b.helper.sender, req_id, fail_data_raw);
-        check_step_failure(sender, req_id, fail_data_raw);
     }
 
     fn completion_fail_check(sender: &mut TestSender, req_id: RequestId) {
@@ -2278,8 +2288,7 @@ pub mod tests {
         b.helper
             .completion_failure(started_token, fail_params)
             .expect("Completion failure");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
+        completion_fail_check(&mut b.helper.sender, req_id);
-        completion_fail_check(sender, req_id);
     }
 
     fn completion_success_check(sender: &mut TestSender, req_id: RequestId) {
@@ -2355,8 +2364,7 @@ pub mod tests {
         b.helper
             .completion_success(started_token, &EMPTY_STAMP)
             .expect("Sending completion success failed");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
+        completion_success_check(&mut b.helper.sender, tok.req_id);
-        completion_success_check(sender, tok.req_id);
     }
 
     #[test]
@@ -2368,9 +2376,9 @@ pub mod tests {
         let shared_tm_pool = shared_tm_store.clone_backing_pool();
         let (verif_tx, verif_rx) = mpsc::channel();
         let sender =
-            MpscTmInSharedPoolSender::new(0, "Verification Sender", shared_tm_store, verif_tx);
+            TmInSharedPoolSenderWithId::new(0, "Verification Sender", shared_tm_store, verif_tx);
         let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
-        let mut reporter = VerificationReporterWithSender::new(&cfg, Box::new(sender));
+        let mut reporter = VerificationReporterWithSender::new(&cfg, sender);
 
         let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let tc_header = PusTcSecondaryHeader::new_simple(17, 1);

satrs/src/queue.rs

@@ -1,6 +1,8 @@
 use core::fmt::{Display, Formatter};
 #[cfg(feature = "std")]
 use std::error::Error;
+#[cfg(feature = "std")]
+use std::sync::mpsc;
 
 /// Generic error type for sending something via a message queue.
 #[derive(Debug, Copy, Clone)]
@@ -47,3 +49,37 @@ impl Display for GenericRecvError {
 
 #[cfg(feature = "std")]
 impl Error for GenericRecvError {}
+
+#[cfg(feature = "std")]
+impl<T> From<mpsc::SendError<T>> for GenericSendError {
+    fn from(_: mpsc::SendError<T>) -> Self {
+        GenericSendError::RxDisconnected
+    }
+}
+
+#[cfg(feature = "std")]
+impl<T> From<mpsc::TrySendError<T>> for GenericSendError {
+    fn from(err: mpsc::TrySendError<T>) -> Self {
+        match err {
+            mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
+            mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
+        }
+    }
+}
+
+#[cfg(feature = "crossbeam")]
+impl<T> From<crossbeam_channel::SendError<T>> for GenericSendError {
+    fn from(_: crossbeam_channel::SendError<T>) -> Self {
+        GenericSendError::RxDisconnected
+    }
+}
+
+#[cfg(feature = "crossbeam")]
+impl<T> From<crossbeam_channel::TrySendError<T>> for GenericSendError {
+    fn from(err: crossbeam_channel::TrySendError<T>) -> Self {
+        match err {
+            crossbeam_channel::TrySendError::Full(_) => GenericSendError::QueueFull(None),
+            crossbeam_channel::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
+        }
+    }
+}

satrs/src/tmtc/ccsds_distrib.rs

@@ -52,7 +52,7 @@
 //! }
 //!
 //! let apid_handler = ConcreteApidHandler::default();
-//! let mut ccsds_distributor = CcsdsDistributor::new(Box::new(apid_handler));
+//! let mut ccsds_distributor = CcsdsDistributor::new(apid_handler);
 //!
 //! // Create and pass PUS telecommand with a valid APID
 //! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
@@ -72,23 +72,17 @@
 //! 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
+//! // Retrieve the APID handler.
-//! let concrete_handler_ref: &ConcreteApidHandler = ccsds_distributor
+//! let handler_ref = ccsds_distributor.packet_handler();
-//!     .apid_handler_ref()
+//! assert_eq!(handler_ref.known_call_count, 1);
-//!     .expect("Casting back to concrete type failed");
+//! assert_eq!(handler_ref.unknown_call_count, 1);
-//! 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
+//! // Mutable access to the handler.
-//! let mutable_ref: &mut ConcreteApidHandler = ccsds_distributor
+//! let mutable_handler_ref = ccsds_distributor.packet_handler_mut();
-//!     .apid_handler_mut()
+//! mutable_handler_ref.mutable_foo();
-//!     .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;
@@ -99,11 +93,7 @@ use std::error::Error;
 /// 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.
-///
+pub trait CcsdsPacketHandler {
-/// 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];
@@ -116,23 +106,12 @@ pub trait CcsdsPacketHandler: Downcast {
     ) -> 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.
-///
+pub struct CcsdsDistributor<PacketHandler: CcsdsPacketHandler<Error = E>, E> {
-/// 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
+    /// It can be cast back to the original concrete type using [Self::packet_handler] or
-    /// the [Self::apid_handler_mut] method.
+    /// the [Self::packet_handler_mut] method.
-    pub apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>,
+    packet_handler: PacketHandler,
 }
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
@@ -160,7 +139,9 @@ impl<E: Error> Error for CcsdsError<E> {
     }
 }
 
-impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
+impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesCcsdsTc
+    for CcsdsDistributor<PacketHandler, E>
+{
     type Error = CcsdsError<E>;
 
     fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
@@ -168,7 +149,9 @@ impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
     }
 }
 
-impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
+impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesTcCore
+    for CcsdsDistributor<PacketHandler, E>
+{
     type Error = CcsdsError<E>;
 
     fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
@@ -186,36 +169,31 @@ impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
     }
 }
 
-impl<E: 'static> CcsdsDistributor<E> {
+impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> CcsdsDistributor<PacketHandler, E> {
-    pub fn new(apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>) -> Self {
+    pub fn new(packet_handler: PacketHandler) -> Self {
-        CcsdsDistributor { apid_handler }
+        CcsdsDistributor { packet_handler }
     }
 
-    /// This function can be used to retrieve a reference to the concrete instance of the APID
+    pub fn packet_handler(&self) -> &PacketHandler {
-    /// handler after it was passed to the distributor. See the
+        &self.packet_handler
-    /// [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
+    pub fn packet_handler_mut(&mut self) -> &mut PacketHandler {
-    /// APID handler after it was passed to the distributor.
+        &mut self.packet_handler
-    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();
+        let valid_apids = self.packet_handler.valid_apids();
         for &valid_apid in valid_apids {
             if valid_apid == apid {
                 return self
-                    .apid_handler
+                    .packet_handler
                     .handle_known_apid(sp_header, tc_raw)
                     .map_err(|e| CcsdsError::CustomError(e));
             }
         }
-        self.apid_handler
+        self.packet_handler
             .handle_unknown_apid(sp_header, tc_raw)
             .map_err(|e| CcsdsError::CustomError(e))
     }
@@ -244,6 +222,13 @@ pub(crate) mod tests {
         &buf[0..size]
     }
 
+    pub fn generate_ping_tc_as_vec() -> Vec<u8> {
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
+            .to_vec()
+            .unwrap()
+    }
+
     type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
     pub struct BasicApidHandlerSharedQueue {
         pub known_packet_queue: SharedPacketQueue,
@@ -305,7 +290,8 @@ pub(crate) mod tests {
         ) -> 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)))
+            self.known_packet_queue.push_back((sp_header.apid(), vec));
+            Ok(())
         }
 
         fn handle_unknown_apid(
@@ -315,7 +301,8 @@ pub(crate) mod tests {
         ) -> 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)))
+            self.unknown_packet_queue.push_back((sp_header.apid(), vec));
+            Ok(())
         }
     }
 
@@ -327,7 +314,7 @@ pub(crate) mod tests {
             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 ccsds_distrib = CcsdsDistributor::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());
@@ -342,14 +329,9 @@ pub(crate) mod tests {
     }
 
     #[test]
-    fn test_distribs_unknown_apid() {
+    fn test_unknown_apid_handling() {
-        let known_packet_queue = Arc::new(Mutex::default());
+        let apid_handler = BasicApidHandlerOwnedQueue::default();
-        let unknown_packet_queue = Arc::new(Mutex::default());
+        let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
-        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];
@@ -357,11 +339,52 @@ pub(crate) mod tests {
             .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!(ccsds_distrib.packet_handler().known_packet_queue.is_empty());
-        assert!(known_packet_queue.lock().unwrap().is_empty());
+        let apid_handler = ccsds_distrib.packet_handler_mut();
+        let recvd = apid_handler.unknown_packet_queue.pop_front();
         assert!(recvd.is_some());
         let (apid, packet) = recvd.unwrap();
         assert_eq!(apid, 0x004);
         assert_eq!(packet.as_slice(), test_buf);
     }
+
+    #[test]
+    fn test_ccsds_distribution() {
+        let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let tc_vec = pus_tc.to_vec().unwrap();
+        ccsds_distrib
+            .pass_ccsds(&sph, &tc_vec)
+            .expect("passing CCSDS TC failed");
+        let recvd = ccsds_distrib
+            .packet_handler_mut()
+            .known_packet_queue
+            .pop_front();
+        assert!(recvd.is_some());
+        let recvd = recvd.unwrap();
+        assert_eq!(recvd.0, 0x002);
+        assert_eq!(recvd.1, tc_vec);
+    }
+
+    #[test]
+    fn test_distribution_short_packet_fails() {
+        let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let tc_vec = pus_tc.to_vec().unwrap();
+        let result = ccsds_distrib.pass_tc(&tc_vec[0..6]);
+        assert!(result.is_err());
+        let error = result.unwrap_err();
+        if let CcsdsError::ByteConversionError(ByteConversionError::FromSliceTooSmall {
+            found,
+            expected,
+        }) = error
+        {
+            assert_eq!(found, 6);
+            assert_eq!(expected, 7);
+        } else {
+            panic!("Unexpected error variant");
+        }
+    }
 }

satrs/src/tmtc/mod.rs

@@ -18,7 +18,7 @@ pub mod tm_helper;
 #[cfg(feature = "alloc")]
 pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
 #[cfg(feature = "alloc")]
-pub use pus_distrib::{PusDistributor, PusServiceProvider};
+pub use pus_distrib::{PusDistributor, PusServiceDistributor};
 
 /// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
 /// no assumptions about the received protocol.

satrs/src/tmtc/pus_distrib.rs

@@ -2,7 +2,7 @@
 //!
 //! 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
+//!  2. [PusServiceDistributor] trait which should be implemented by the user-provided PUS packet
 //!     handler.
 //!
 //! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the
@@ -13,25 +13,26 @@
 //!    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.
+//!    [PusServiceDistributor::distribute_packet] method provided by the user.
 //!
 //! # Example
 //!
 //! ```rust
 //! use spacepackets::ecss::WritablePusPacket;
-//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
+//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceDistributor};
 //! use satrs::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 {
+//! impl PusServiceDistributor for ConcretePusHandler {
 //!     type Error = ();
-//!     fn handle_pus_tc_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
+//!     fn distribute_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;
@@ -42,7 +43,7 @@
 //! let service_handler = ConcretePusHandler {
 //!     handler_call_count: 0
 //! };
-//! let mut pus_distributor = PusDistributor::new(Box::new(service_handler));
+//! let mut pus_distributor = PusDistributor::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();
@@ -57,50 +58,42 @@
 //!
 //! // 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
+//! let concrete_handler = pus_distributor.service_distributor();
-//!     .service_provider_ref()
+//! assert_eq!(concrete_handler.handler_call_count, 1);
-//!     .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 {
+/// Trait for a generic distributor object which can distribute PUS packets based on packet
+/// properties like the PUS service, space packet header or any other content of the PUS packet.
+pub trait PusServiceDistributor {
     type Error;
-    fn handle_pus_tc_packet(
+    fn distribute_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.
-///
+pub struct PusDistributor<ServiceDistributor: PusServiceDistributor<Error = E>, E> {
-/// This distributor expects the passed trait object to be [Send]able to allow more ergonomic
+    service_distributor: ServiceDistributor,
-/// usage with threads.
-pub struct PusDistributor<E> {
-    pub service_provider: Box<dyn SendablePusServiceProvider<Error = E>>,
 }
 
-impl<E> PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E>
-    pub fn new(service_provider: Box<dyn SendablePusServiceProvider<Error = E>>) -> Self {
+    PusDistributor<ServiceDistributor, E>
-        PusDistributor { service_provider }
+{
+    pub fn new(service_provider: ServiceDistributor) -> Self {
+        PusDistributor {
+            service_distributor: service_provider,
+        }
     }
 }
 
@@ -113,8 +106,8 @@ pub enum PusDistribError<E> {
 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::CustomError(e) => write!(f, "pus distribution error: {e}"),
-            PusDistribError::PusError(e) => write!(f, "{e}"),
+            PusDistribError::PusError(e) => write!(f, "pus distribution error: {e}"),
         }
     }
 }
@@ -129,7 +122,9 @@ impl<E: Error> Error for PusDistribError<E> {
     }
 }
 
-impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesTcCore
+    for PusDistributor<ServiceDistributor, E>
+{
     type Error = PusDistribError<E>;
     fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
         // Convert to ccsds and call pass_ccsds
@@ -139,7 +134,9 @@ impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
     }
 }
 
-impl<E: 'static> ReceivesCcsdsTc for PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesCcsdsTc
+    for PusDistributor<ServiceDistributor, 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))?;
@@ -147,34 +144,39 @@ impl<E: 'static> ReceivesCcsdsTc for PusDistributor<E> {
     }
 }
 
-impl<E: 'static> ReceivesEcssPusTc for PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesEcssPusTc
+    for PusDistributor<ServiceDistributor, E>
+{
     type Error = PusDistribError<E>;
     fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-        self.service_provider
+        self.service_distributor
-            .handle_pus_tc_packet(pus_tc.service(), header, pus_tc)
+            .distribute_packet(pus_tc.service(), header, pus_tc)
             .map_err(|e| PusDistribError::CustomError(e))
     }
 }
 
-impl<E: 'static> PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static>
-    pub fn service_provider_ref<T: SendablePusServiceProvider<Error = E>>(&self) -> Option<&T> {
+    PusDistributor<ServiceDistributor, E>
-        self.service_provider.downcast_ref::<T>()
+{
+    pub fn service_distributor(&self) -> &ServiceDistributor {
+        &self.service_distributor
     }
 
-    pub fn service_provider_mut<T: SendablePusServiceProvider<Error = E>>(
+    pub fn service_distributor_mut(&mut self) -> &mut ServiceDistributor {
-        &mut self,
+        &mut self.service_distributor
-    ) -> Option<&mut T> {
-        self.service_provider.downcast_mut::<T>()
     }
 }
 
 #[cfg(test)]
 mod tests {
     use super::*;
+    use crate::queue::GenericSendError;
     use crate::tmtc::ccsds_distrib::tests::{
-        generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
+        generate_ping_tc, generate_ping_tc_as_vec, BasicApidHandlerOwnedQueue,
+        BasicApidHandlerSharedQueue,
     };
     use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
+    use alloc::format;
     use alloc::vec::Vec;
     use spacepackets::ecss::PusError;
     use spacepackets::CcsdsPacket;
@@ -185,54 +187,65 @@ mod tests {
 
     fn is_send<T: Send>(_: &T) {}
 
-    struct PusHandlerSharedQueue {
+    pub struct PacketInfo {
-        pub pus_queue: Arc<Mutex<VecDeque<(u8, u16, Vec<u8>)>>>,
+        pub service: u8,
+        pub apid: u16,
+        pub packet: Vec<u8>,
     }
 
+    struct PusHandlerSharedQueue(Arc<Mutex<VecDeque<PacketInfo>>>);
+
     #[derive(Default)]
-    struct PusHandlerOwnedQueue {
+    struct PusHandlerOwnedQueue(VecDeque<PacketInfo>);
-        pub pus_queue: VecDeque<(u8, u16, Vec<u8>)>,
-    }
 
-    impl PusServiceProvider for PusHandlerSharedQueue {
+    impl PusServiceDistributor for PusHandlerSharedQueue {
         type Error = PusError;
-        fn handle_pus_tc_packet(
+        fn distribute_packet(
             &mut self,
             service: u8,
             sp_header: &SpHeader,
             pus_tc: &PusTcReader,
         ) -> Result<(), Self::Error> {
-            let mut vec: Vec<u8> = Vec::new();
+            let mut packet: Vec<u8> = Vec::new();
-            vec.extend_from_slice(pus_tc.raw_data());
+            packet.extend_from_slice(pus_tc.raw_data());
-            Ok(self
+            self.0
-                .pus_queue
                 .lock()
                 .expect("Mutex lock failed")
-                .push_back((service, sp_header.apid(), vec)))
+                .push_back(PacketInfo {
+                    service,
+                    apid: sp_header.apid(),
+                    packet,
+                });
+            Ok(())
         }
     }
 
-    impl PusServiceProvider for PusHandlerOwnedQueue {
+    impl PusServiceDistributor for PusHandlerOwnedQueue {
         type Error = PusError;
-        fn handle_pus_tc_packet(
+        fn distribute_packet(
             &mut self,
             service: u8,
             sp_header: &SpHeader,
             pus_tc: &PusTcReader,
         ) -> Result<(), Self::Error> {
-            let mut vec: Vec<u8> = Vec::new();
+            let mut packet: Vec<u8> = Vec::new();
-            vec.extend_from_slice(pus_tc.raw_data());
+            packet.extend_from_slice(pus_tc.raw_data());
-            Ok(self.pus_queue.push_back((service, sp_header.apid(), vec)))
+            self.0.push_back(PacketInfo {
+                service,
+                apid: sp_header.apid(),
+                packet,
+            });
+            Ok(())
         }
     }
 
     struct ApidHandlerShared {
-        pub pus_distrib: PusDistributor<PusError>,
+        pub pus_distrib: PusDistributor<PusHandlerSharedQueue, PusError>,
         pub handler_base: BasicApidHandlerSharedQueue,
     }
 
     struct ApidHandlerOwned {
-        pub pus_distrib: PusDistributor<PusError>,
+        pub pus_distrib: PusDistributor<PusHandlerOwnedQueue, PusError>,
         handler_base: BasicApidHandlerOwnedQueue,
     }
 
@@ -285,28 +298,36 @@ mod tests {
     }
 
     #[test]
-    #[cfg(feature = "std")]
+    fn test_pus_distribution_as_raw_packet() {
-    fn test_pus_distribution() {
+        let mut pus_distrib = PusDistributor::new(PusHandlerOwnedQueue::default());
+        let tc = generate_ping_tc_as_vec();
+        let result = pus_distrib.pass_tc(&tc);
+        assert!(result.is_ok());
+        assert_eq!(pus_distrib.service_distributor_mut().0.len(), 1);
+        let packet_info = pus_distrib.service_distributor_mut().0.pop_front().unwrap();
+        assert_eq!(packet_info.service, 17);
+        assert_eq!(packet_info.apid, 0x002);
+        assert_eq!(packet_info.packet, tc);
+    }
+
+    #[test]
+    fn test_pus_distribution_combined_handler() {
         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 {
+        let pus_handler = PusHandlerSharedQueue(pus_queue.clone());
-            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 {
+        let pus_distrib = PusDistributor::new(pus_handler);
-            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 ccsds_distrib = CcsdsDistributor::new(apid_handler);
         let mut test_buf: [u8; 32] = [0; 32];
         let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
 
@@ -322,25 +343,23 @@ mod tests {
         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();
+        let packet_info = recvd_pus.unwrap();
-        assert_eq!(service, 17);
+        assert_eq!(packet_info.service, 17);
-        assert_eq!(apid, 0x002);
+        assert_eq!(packet_info.apid, 0x002);
-        assert_eq!(tc_raw, tc_slice);
+        assert_eq!(packet_info.packet, tc_slice);
     }
 
     #[test]
-    fn test_as_any_cast() {
+    fn test_accessing_combined_distributor() {
         let pus_handler = PusHandlerOwnedQueue::default();
         let handler_base = BasicApidHandlerOwnedQueue::default();
-        let pus_distrib = PusDistributor {
+        let pus_distrib = PusDistributor::new(pus_handler);
-            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 ccsds_distrib = CcsdsDistributor::new(apid_handler);
 
         let mut test_buf: [u8; 32] = [0; 32];
         let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
@@ -349,21 +368,38 @@ mod tests {
             .pass_tc(tc_slice)
             .expect("Passing TC slice failed");
 
-        let apid_handler_casted_back: &mut ApidHandlerOwned = ccsds_distrib
+        let apid_handler_casted_back = ccsds_distrib.packet_handler_mut();
-            .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
+        let handler_owned_queue = apid_handler_casted_back
             .pus_distrib
-            .service_provider_mut()
+            .service_distributor_mut();
-            .expect("Cast to concrete type PusHandlerOwnedQueue failed");
+        assert!(!handler_owned_queue.0.is_empty());
-        assert!(!handler_casted_back.pus_queue.is_empty());
+        let packet_info = handler_owned_queue.0.pop_front().unwrap();
-        let (service, apid, packet_raw) = handler_casted_back.pus_queue.pop_front().unwrap();
+        assert_eq!(packet_info.service, 17);
-        assert_eq!(service, 17);
+        assert_eq!(packet_info.apid, 0x002);
-        assert_eq!(apid, 0x002);
+        assert_eq!(packet_info.packet, tc_slice);
-        assert_eq!(packet_raw.as_slice(), tc_slice);
+    }
+
+    #[test]
+    fn test_pus_distrib_error_custom_error() {
+        let error = PusDistribError::CustomError(GenericSendError::RxDisconnected);
+        let error_string = format!("{}", error);
+        assert_eq!(
+            error_string,
+            "pus distribution error: rx side has disconnected"
+        );
+    }
+
+    #[test]
+    fn test_pus_distrib_error_pus_error() {
+        let error = PusDistribError::<GenericSendError>::PusError(PusError::CrcCalculationMissing);
+        let error_string = format!("{}", error);
+        assert_eq!(
+            error_string,
+            "pus distribution error: crc16 was not calculated"
+        );
     }
 }

satrs/tests/pus_events.rs

@@ -1,14 +1,14 @@
 use satrs::event_man::{
-    EventManagerWithMpscQueue, MpscEventU32Receiver, MpscEventU32SendProvider, SendEventProvider,
+    EventManagerWithMpsc, EventSendProvider, EventU32SenderMpsc, MpscEventU32Receiver,
 };
 use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
 use satrs::params::U32Pair;
 use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
-use satrs::pus::event_man::{DefaultPusMgmtBackendProvider, EventReporter, PusEventDispatcher};
+use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
-use satrs::pus::MpscTmAsVecSender;
+use satrs::pus::TmAsVecSenderWithMpsc;
 use spacepackets::ecss::tm::PusTmReader;
 use spacepackets::ecss::{PusError, PusPacket};
-use std::sync::mpsc::{channel, SendError, TryRecvError};
+use std::sync::mpsc::{self, SendError, TryRecvError};
 use std::thread;
 
 const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
@@ -24,21 +24,21 @@ pub enum CustomTmSenderError {
 
 #[test]
 fn test_threaded_usage() {
-    let (event_sender, event_man_receiver) = channel();
+    let (event_sender, event_man_receiver) = mpsc::channel();
     let event_receiver = MpscEventU32Receiver::new(event_man_receiver);
-    let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_receiver));
+    let mut event_man = EventManagerWithMpsc::new(event_receiver);
 
-    let (pus_event_man_tx, pus_event_man_rx) = channel();
+    let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
-    let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+    let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
-    event_man.subscribe_all(pus_event_man_send_provider.id());
+    event_man.subscribe_all(pus_event_man_send_provider.channel_id());
     event_man.add_sender(pus_event_man_send_provider);
-    let (event_tx, event_rx) = channel();
+    let (event_tx, event_rx) = mpsc::channel();
     let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
-    let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
+    let mut pus_event_man =
-    let mut pus_event_man = PusEventDispatcher::new(reporter, Box::new(backend));
+        PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
     // PUS + Generic event manager thread
     let jh0 = thread::spawn(move || {
-        let mut sender = MpscTmAsVecSender::new(0, "event_sender", event_tx);
+        let mut sender = TmAsVecSenderWithMpsc::new(0, "event_sender", event_tx);
         let mut event_cnt = 0;
         let mut params_array: [u8; 128] = [0; 128];
         loop {
@@ -71,6 +71,7 @@ fn test_threaded_usage() {
                             Params::Vec(vec) => gen_event(Some(vec.as_slice())),
                             Params::String(str) => gen_event(Some(str.as_bytes())),
                             Params::Store(_) => gen_event(None),
+                            _ => panic!("unsupported parameter type"),
                         }
                     } else {
                         gen_event(None)
@@ -120,10 +121,7 @@ fn test_threaded_usage() {
             }
         }
         event_sender
-            .send((
+            .send((LOW_SEV_EVENT, Some(Params::Heapless((2_u32, 3_u32).into()))))
-                LOW_SEV_EVENT.into(),
-                Some(Params::Heapless((2_u32, 3_u32).into())),
-            ))
             .expect("Sending low severity event failed");
         loop {
             match event_rx.try_recv() {

satrs/tests/pus_verification.rs

@@ -6,7 +6,7 @@ pub mod crossbeam_test {
         FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
         VerificationReportingProvider,
     };
-    use satrs::pus::CrossbeamTmInStoreSender;
+    use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
     use satrs::tmtc::tm_helper::SharedTmPool;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
@@ -40,10 +40,13 @@ pub mod crossbeam_test {
         let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
         let shared_tc_pool_1 = shared_tc_pool_0.clone();
         let (tx, rx) = crossbeam_channel::bounded(10);
-        let sender =
+        let sender = TmInSharedPoolSenderWithCrossbeam::new(
-            CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tx.clone());
+            0,
-        let mut reporter_with_sender_0 =
+            "verif_sender",
-            VerificationReporterWithSender::new(&cfg, Box::new(sender));
+            shared_tm_pool.clone(),
+            tx.clone(),
+        );
+        let mut reporter_with_sender_0 = VerificationReporterWithSender::new(&cfg, sender);
         let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
         // For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
         // tread.