Finish PUS service optimizations

- Better naming for pool abstractions
- Added last unittests for PUS helper services
- Introduce new abstraction for PUS schedulers
- `StoreAddr` is now a generic u64
- `spacepackets` points to 0.7.0 release

README.md

@@ -43,3 +43,16 @@ Each project has its own `CHANGELOG.md`.
    packet protocol implementations. This repository is re-exported in the
    [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core)
    crate.
+
+# Coverage
+
+Coverage was generated using [`grcov`](https://github.com/mozilla/grcov). If you have not done so
+already, install the `llvm-tools-preview`:
+
+```sh
+rustup component add llvm-tools-preview
+cargo install grcov --locked
+```
+
+After that, you can simply run `coverage.py` to test the `satrs-core` crate with coverage. You can
+optionally supply the `--open` flag to open the coverage report in your webbrowser.

automation/Jenkinsfile

@@ -67,7 +67,7 @@ pipeline {
           sh 'mdbook build'
           sshagent(credentials: ['documentation-buildfix']) {
             // Deploy to Apache webserver
-            sh 'rsync -r --delete book/ buildfix@documentation.irs.uni-stuttgart.de:/projects/sat-rs'
+            sh 'rsync -r --delete book buildfix@documentation.irs.uni-stuttgart.de:/projects/sat-rs'
           }
         }
       }

coverage.py

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

images/events/event_man_arch.graphml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
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-  <!--Created by yEd 3.22-->
+  <!--Created by yEd 3.23.2-->
   <key attr.name="Description" attr.type="string" for="graph" id="d0"/>
   <key for="port" id="d1" yfiles.type="portgraphics"/>
   <key for="port" id="d2" yfiles.type="portgeometry"/>
@@ -20,7 +20,7 @@
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           <y:Shape type="rectangle"/>
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       </data>
@@ -31,7 +31,7 @@
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           <y:Fill color="#FFFF00" transparent="false"/>
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="18" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="24.177873611450195" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="127.31723022460938" x="37.84138488769531" xml:space="preserve" y="17.911063194274846">Event Manager<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
       </data>
@@ -39,10 +39,10 @@
     <node id="n2">
       <data key="d6">
         <y:ShapeNode>
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="10.039937133789067" xml:space="preserve" y="10.063962936401367">Event
 Creator 0<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -54,7 +54,7 @@ Creator 0<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="2.199937133789035" xml:space="preserve" y="10.063962936401367">Event
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           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -63,10 +63,10 @@ Creator 2<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
     <node id="n4">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="72.55999999999983" x="860.6610837438426" y="335.62999999999994"/>
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-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="55.120361328125" x="8.719819335937359" xml:space="preserve" y="14.547905921936035">Event
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="7.559937133789049" xml:space="preserve" y="10.063962936401367">Event
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           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -78,7 +78,7 @@ Creator 1<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
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           <y:Fill color="#FF9900" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="55.120361328125" x="16.079819335937373" xml:space="preserve" y="14.547905921936035">Event
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="7.559937133788935" xml:space="preserve" y="10.063962936401367">Event
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           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -87,10 +87,10 @@ Creator 3<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
     <node id="n6">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="126.0" x="781.0" y="620.26"/>
+          <y:Geometry height="60.0" width="145.19999999999993" x="734.2060377358491" y="620.26"/>
           <y:Fill color="#FFCC00" transparent="false"/>
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="122.38423156738281" x="11.407884216308503" xml:space="preserve" y="10.063962936401367">PUS Service 5
 Event Reporting
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@@ -100,10 +100,10 @@ Event Reporting
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       <data key="d6">
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-          <y:Geometry height="60.0" width="118.63999999999987" x="928.2" y="620.26"/>
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 Event Action<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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@@ -112,10 +112,10 @@ Event Action<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel>
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       <data key="d6">
         <y:ShapeNode>
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@@ -124,10 +124,10 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
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     for event 0
@@ -144,10 +144,10 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
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           <y:BendStyle smoothed="false"/>
         </y:PolyLineEdge>
@@ -161,7 +161,7 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
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           <y:LineStyle color="#000000" type="line" width="1.0"/>
           <y:Arrows source="none" target="standard"/>
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satrs-book/README.md

@@ -0,0 +1,12 @@
+sat-rs book
+=========
+
+High-level documentation of the [sat-rs project](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
+
+## Building
+
+If you have not done so, install `mdbook` using `cargo install mdbook --locked`.
+
+```sh
+mdbook build
+```

satrs-book/src/events.md

@@ -13,4 +13,4 @@ event components recommended by this framework do not really need this service.
 The following images shows how the flow of events could look like in a system where components
 can generate events, and where other system components might be interested in those events:
 
-![Event flow](images/event_man_arch.png)
+![Event flow](images/events/event_man_arch.png)

satrs-book/src/introduction.md

@@ -21,3 +21,9 @@ A lot of the architecture and general design considerations are based on the
 through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
 and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
 
+# Getting started with the example
+
+The [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
+provides various practical usage examples of the `sat-rs` framework. If you are more interested in
+the practical application of `sat-rs` inside an application, it is recommended to have a look at
+the example application.

satrs-core/Cargo.toml

@@ -73,11 +73,10 @@ features = ["all"]
 optional = true
 
 [dependencies.spacepackets]
-version = "0.7.0-beta.2"
+version = "0.7.0"
 default-features = false
 # git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
-# rev = "79d26e1a6"
+# rev = "297cfad22637d3b07a1b27abe56d9a607b5b82a7"
-# branch = ""
 
 [dependencies.cobs]
 git = "https://github.com/robamu/cobs.rs.git"
@@ -91,6 +90,7 @@ zerocopy = "0.7"
 once_cell = "1.13"
 serde_json = "1"
 rand = "0.8"
+tempfile = "3"
 
 [dev-dependencies.postcard]
 version = "1"
@@ -123,4 +123,4 @@ doc-images = []
 
 [package.metadata.docs.rs]
 all-features = true
-rustdoc-args = ["--cfg", "doc_cfg"]
+rustdoc-args = ["--cfg", "doc_cfg", "--generate-link-to-definition"]

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satrs-core/src/cfdp/filestore.rs

@@ -0,0 +1,370 @@
+use alloc::string::{String, ToString};
+use core::fmt::Display;
+use crc::{Crc, CRC_32_CKSUM};
+use spacepackets::cfdp::ChecksumType;
+use spacepackets::ByteConversionError;
+#[cfg(feature = "std")]
+use std::error::Error;
+#[cfg(feature = "std")]
+pub use stdmod::*;
+
+pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
+
+#[derive(Debug, Clone)]
+pub enum FilestoreError {
+    FileDoesNotExist,
+    FileAlreadyExists,
+    DirDoesNotExist,
+    Permission,
+    IsNotFile,
+    IsNotDirectory,
+    ByteConversion(ByteConversionError),
+    Io {
+        raw_errno: Option<i32>,
+        string: String,
+    },
+    ChecksumTypeNotImplemented(ChecksumType),
+}
+
+impl From<ByteConversionError> for FilestoreError {
+    fn from(value: ByteConversionError) -> Self {
+        Self::ByteConversion(value)
+    }
+}
+
+impl Display for FilestoreError {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            FilestoreError::FileDoesNotExist => {
+                write!(f, "file does not exist")
+            }
+            FilestoreError::FileAlreadyExists => {
+                write!(f, "file already exists")
+            }
+            FilestoreError::DirDoesNotExist => {
+                write!(f, "directory does not exist")
+            }
+            FilestoreError::Permission => {
+                write!(f, "permission error")
+            }
+            FilestoreError::IsNotFile => {
+                write!(f, "is not a file")
+            }
+            FilestoreError::IsNotDirectory => {
+                write!(f, "is not a directory")
+            }
+            FilestoreError::ByteConversion(e) => {
+                write!(f, "filestore error: {e}")
+            }
+            FilestoreError::Io { raw_errno, string } => {
+                write!(
+                    f,
+                    "filestore generic IO error with raw errno {:?}: {}",
+                    raw_errno, string
+                )
+            }
+            FilestoreError::ChecksumTypeNotImplemented(checksum_type) => {
+                write!(f, "checksum {:?} not implemented", checksum_type)
+            }
+        }
+    }
+}
+
+impl Error for FilestoreError {
+    fn source(&self) -> Option<&(dyn Error + 'static)> {
+        match self {
+            FilestoreError::ByteConversion(e) => Some(e),
+            _ => None,
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl From<std::io::Error> for FilestoreError {
+    fn from(value: std::io::Error) -> Self {
+        Self::Io {
+            raw_errno: value.raw_os_error(),
+            string: value.to_string(),
+        }
+    }
+}
+
+pub trait VirtualFilestore {
+    fn create_file(&self, file_path: &str) -> Result<(), FilestoreError>;
+
+    fn remove_file(&self, file_path: &str) -> Result<(), FilestoreError>;
+
+    /// Truncating a file means deleting all its data so the resulting file is empty.
+    /// This can be more efficient than removing and re-creating a file.
+    fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError>;
+
+    fn remove_dir(&self, file_path: &str, all: bool) -> Result<(), FilestoreError>;
+
+    fn read_data(
+        &self,
+        file_path: &str,
+        offset: u64,
+        read_len: u64,
+        buf: &mut [u8],
+    ) -> Result<(), FilestoreError>;
+
+    fn write_data(&self, file: &str, offset: u64, buf: &[u8]) -> Result<(), FilestoreError>;
+
+    fn filename_from_full_path<'a>(&self, path: &'a str) -> Option<&'a str>;
+
+    fn is_file(&self, path: &str) -> bool;
+
+    fn is_dir(&self, path: &str) -> bool {
+        !self.is_file(path)
+    }
+
+    fn exists(&self, path: &str) -> bool;
+
+    /// This special function is the CFDP specific abstraction to verify the checksum of a file.
+    /// This allows to keep OS specific details like reading the whole file in the most efficient
+    /// manner inside the file system abstraction.
+    fn checksum_verify(
+        &self,
+        file_path: &str,
+        checksum_type: ChecksumType,
+        expected_checksum: u32,
+        verification_buf: &mut [u8],
+    ) -> Result<bool, FilestoreError>;
+}
+
+#[cfg(feature = "std")]
+pub mod stdmod {
+    use super::*;
+    use std::{
+        fs::{self, File, OpenOptions},
+        io::{BufReader, Read, Seek, SeekFrom, Write},
+        path::Path,
+    };
+
+    #[derive(Default)]
+    pub struct NativeFilestore {}
+
+    impl VirtualFilestore for NativeFilestore {
+        fn create_file(&self, file_path: &str) -> Result<(), FilestoreError> {
+            if self.exists(file_path) {
+                return Err(FilestoreError::FileAlreadyExists);
+            }
+            File::create(file_path)?;
+            Ok(())
+        }
+
+        fn remove_file(&self, file_path: &str) -> Result<(), FilestoreError> {
+            if !self.exists(file_path) {
+                return Ok(());
+            }
+            if !self.is_file(file_path) {
+                return Err(FilestoreError::IsNotFile);
+            }
+            fs::remove_file(file_path)?;
+            Ok(())
+        }
+
+        fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError> {
+            if !self.exists(file_path) {
+                return Ok(());
+            }
+            if !self.is_file(file_path) {
+                return Err(FilestoreError::IsNotFile);
+            }
+            OpenOptions::new()
+                .write(true)
+                .truncate(true)
+                .open(file_path)?;
+            Ok(())
+        }
+
+        fn remove_dir(&self, dir_path: &str, all: bool) -> Result<(), FilestoreError> {
+            if !self.exists(dir_path) {
+                return Err(FilestoreError::DirDoesNotExist);
+            }
+            if !self.is_dir(dir_path) {
+                return Err(FilestoreError::IsNotDirectory);
+            }
+            if !all {
+                fs::remove_dir(dir_path)?;
+                return Ok(());
+            }
+            fs::remove_dir_all(dir_path)?;
+            Ok(())
+        }
+
+        fn read_data(
+            &self,
+            file_name: &str,
+            offset: u64,
+            read_len: u64,
+            buf: &mut [u8],
+        ) -> Result<(), FilestoreError> {
+            if buf.len() < read_len as usize {
+                return Err(ByteConversionError::ToSliceTooSmall {
+                    found: buf.len(),
+                    expected: read_len as usize,
+                }
+                .into());
+            }
+            if !self.exists(file_name) {
+                return Err(FilestoreError::FileDoesNotExist);
+            }
+            if !self.is_file(file_name) {
+                return Err(FilestoreError::IsNotFile);
+            }
+            let mut file = File::open(file_name)?;
+            file.seek(SeekFrom::Start(offset))?;
+            file.read_exact(&mut buf[0..read_len as usize])?;
+            Ok(())
+        }
+
+        fn write_data(&self, file: &str, offset: u64, buf: &[u8]) -> Result<(), FilestoreError> {
+            if !self.exists(file) {
+                return Err(FilestoreError::FileDoesNotExist);
+            }
+            if !self.is_file(file) {
+                return Err(FilestoreError::IsNotFile);
+            }
+            let mut file = OpenOptions::new().write(true).open(file)?;
+            file.seek(SeekFrom::Start(offset))?;
+            file.write_all(buf)?;
+            Ok(())
+        }
+
+        fn filename_from_full_path<'a>(&self, path: &'a str) -> Option<&'a str> {
+            // Convert the path string to a Path
+            let path = Path::new(path);
+
+            // Extract the file name using the file_name() method
+            path.file_name().and_then(|name| name.to_str())
+        }
+
+        fn is_file(&self, path: &str) -> bool {
+            let path = Path::new(path);
+            path.is_file()
+        }
+
+        fn is_dir(&self, path: &str) -> bool {
+            let path = Path::new(path);
+            path.is_dir()
+        }
+
+        fn exists(&self, path: &str) -> bool {
+            let path = Path::new(path);
+            if !path.exists() {
+                return false;
+            }
+            true
+        }
+
+        fn checksum_verify(
+            &self,
+            file_path: &str,
+            checksum_type: ChecksumType,
+            expected_checksum: u32,
+            verification_buf: &mut [u8],
+        ) -> Result<bool, FilestoreError> {
+            match checksum_type {
+                ChecksumType::Modular => {
+                    todo!();
+                }
+                ChecksumType::Crc32 => {
+                    let mut digest = CRC_32.digest();
+                    let file_to_check = File::open(file_path)?;
+                    let mut buf_reader = BufReader::new(file_to_check);
+                    loop {
+                        let bytes_read = buf_reader.read(verification_buf)?;
+                        if bytes_read == 0 {
+                            break;
+                        }
+                        digest.update(&verification_buf[0..bytes_read]);
+                    }
+                    if digest.finalize() == expected_checksum {
+                        return Ok(true);
+                    }
+                    Ok(false)
+                }
+                ChecksumType::NullChecksum => Ok(true),
+                _ => Err(FilestoreError::ChecksumTypeNotImplemented(checksum_type)),
+            }
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::{fs, path::Path, println};
+
+    use super::*;
+    use tempfile::tempdir;
+
+    const NATIVE_FS: NativeFilestore = NativeFilestore {};
+
+    #[test]
+    fn test_basic_native_filestore_create() {
+        let tmpdir = tempdir().expect("creating tmpdir failed");
+        let file_path = tmpdir.path().join("test.txt");
+        let result =
+            NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
+        assert!(result.is_ok());
+        let path = Path::new(&file_path);
+        assert!(path.exists());
+        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
+        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
+        fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
+    }
+
+    #[test]
+    fn test_basic_native_fs_exists() {
+        let tmpdir = tempdir().expect("creating tmpdir failed");
+        let file_path = tmpdir.path().join("test.txt");
+        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
+        NATIVE_FS
+            .create_file(file_path.to_str().expect("getting str for file failed"))
+            .unwrap();
+        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
+        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
+        fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
+    }
+
+    #[test]
+    fn test_basic_native_fs_write() {
+        let tmpdir = tempdir().expect("creating tmpdir failed");
+        let file_path = tmpdir.path().join("test.txt");
+        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
+        NATIVE_FS
+            .create_file(file_path.to_str().expect("getting str for file failed"))
+            .unwrap();
+        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
+        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
+        println!("{}", file_path.to_str().unwrap());
+        let write_data = "hello world\n";
+        NATIVE_FS
+            .write_data(file_path.to_str().unwrap(), 0, write_data.as_bytes())
+            .expect("writing to file failed");
+        let read_back = fs::read_to_string(file_path).expect("reading back data failed");
+        assert_eq!(read_back, write_data);
+        fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
+    }
+
+    #[test]
+    fn test_basic_native_fs_read() {
+        let tmpdir = tempdir().expect("creating tmpdir failed");
+        let file_path = tmpdir.path().join("test.txt");
+        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
+        NATIVE_FS
+            .create_file(file_path.to_str().expect("getting str for file failed"))
+            .unwrap();
+        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
+        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
+        println!("{}", file_path.to_str().unwrap());
+        let write_data = "hello world\n";
+        NATIVE_FS
+            .write_data(file_path.to_str().unwrap(), 0, write_data.as_bytes())
+            .expect("writing to file failed");
+        let read_back = fs::read_to_string(file_path).expect("reading back data failed");
+        assert_eq!(read_back, write_data);
+        fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
+    }
+}

satrs-core/src/cfdp/mod.rs

@@ -1,8 +1,13 @@
+//! This module contains the implementation of the CFDP high level classes as specified in the
+//! CCSDS 727.0-B-5.
+use core::{cell::RefCell, fmt::Debug, hash::Hash};
+
 use crc::{Crc, CRC_32_CKSUM};
+use hashbrown::HashMap;
 use spacepackets::{
     cfdp::{
         pdu::{FileDirectiveType, PduError, PduHeader},
-        ChecksumType, PduType, TransmissionMode,
+        ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
     },
     util::UnsignedByteField,
 };
@@ -14,6 +19,8 @@ use serde::{Deserialize, Serialize};
 
 #[cfg(feature = "std")]
 pub mod dest;
+#[cfg(feature = "alloc")]
+pub mod filestore;
 #[cfg(feature = "std")]
 pub mod source;
 pub mod user;
@@ -24,7 +31,27 @@ pub enum EntityType {
     Receiving,
 }
 
-/// Generic abstraction for a check timer which has different functionality depending on whether
+pub enum TimerContext {
+    CheckLimit {
+        local_id: UnsignedByteField,
+        remote_id: UnsignedByteField,
+        entity_type: EntityType,
+    },
+    NakActivity {
+        expiry_time_seconds: f32,
+    },
+    PositiveAck {
+        expiry_time_seconds: f32,
+    },
+}
+
+/// Generic abstraction for a check timer which is used by 3 mechanisms of the CFDP protocol.
+///
+/// ## 1. Check limit handling
+///
+/// The first mechanism is the check limit handling for unacknowledged transfers as specified
+/// in 4.6.3.2 and 4.6.3.3 of the CFDP standard.
+/// For this mechanism, the timer has different functionality depending on whether
 /// the using entity is the sending entity or the receiving entity for the unacknowledged
 /// transmission mode.
 ///
@@ -35,30 +62,40 @@ pub enum EntityType {
 /// For the receiving entity, this timer determines the expiry period for incrementing a check
 /// counter after an EOF PDU is received for an incomplete file transfer. This allows out-of-order
 /// reception of file data PDUs and EOF PDUs. Also see 4.6.3.3 of the CFDP standard.
-pub trait CheckTimerProvider {
+///
+/// ## 2. NAK activity limit
+///
+/// The timer will be used to perform the NAK activity check as specified in 4.6.4.7 of the CFDP
+/// standard. The expiration period will be provided by the NAK timer expiration limit of the
+/// remote entity configuration.
+///
+/// ## 3. Positive ACK procedures
+///
+/// The timer will be used to perform the Positive Acknowledgement Procedures as  specified in
+/// 4.7. 1of the CFDP standard. The expiration period will be provided by the Positive ACK timer
+/// interval of the remote entity configuration.
+pub trait CheckTimer: Debug {
     fn has_expired(&self) -> bool;
+    fn reset(&mut self);
 }
 
 /// A generic trait which allows CFDP entities to create check timers which are required to
 /// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
-/// and 4.6.3.3. The [CheckTimerProvider] provides more information about the purpose of the
+/// and 4.6.3.3. The [CheckTimer] documentation provides more information about the purpose of the
-/// check timer.
+/// check timer in the context of CFDP.
 ///
-/// This trait also allows the creation of different check timers depending on
+/// This trait also allows the creation of different check timers depending on context and purpose
-/// the ID of the local entity, the ID of the remote entity for a given transaction, and the
+/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
-/// type of entity.
+/// other factors.
 #[cfg(feature = "alloc")]
 pub trait CheckTimerCreator {
-    fn get_check_timer_provider(
+    fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer>;
-        local_id: &UnsignedByteField,
-        remote_id: &UnsignedByteField,
-        entity_type: EntityType,
-    ) -> Box<dyn CheckTimerProvider>;
 }
 
-/// Simple implementation of the [CheckTimerProvider] trait assuming a standard runtime.
+/// Simple implementation of the [CheckTimerCreator] trait assuming a standard runtime.
 /// It also assumes that a second accuracy of the check timer period is sufficient.
 #[cfg(feature = "std")]
+#[derive(Debug)]
 pub struct StdCheckTimer {
     expiry_time_seconds: u64,
     start_time: std::time::Instant,
@@ -75,7 +112,7 @@ impl StdCheckTimer {
 }
 
 #[cfg(feature = "std")]
-impl CheckTimerProvider for StdCheckTimer {
+impl CheckTimer for StdCheckTimer {
     fn has_expired(&self) -> bool {
         let elapsed_time = self.start_time.elapsed();
         if elapsed_time.as_secs() > self.expiry_time_seconds {
@@ -83,24 +120,322 @@ impl CheckTimerProvider for StdCheckTimer {
         }
         false
     }
+
+    fn reset(&mut self) {
+        self.start_time = std::time::Instant::now();
+    }
 }
 
-#[derive(Debug)]
+/// This structure models the remote entity configuration information as specified in chapter 8.3
+/// of the CFDP standard.
+
+/// Some of the fields which were not considered necessary for the Rust implementation
+/// were omitted. Some other fields which are not contained inside the standard but are considered
+/// necessary for the Rust implementation are included.
+///
+/// ## Notes on Positive Acknowledgment Procedures
+///
+/// The `positive_ack_timer_interval_seconds` and `positive_ack_timer_expiration_limit` will
+/// be used for positive acknowledgement procedures as specified in CFDP chapter 4.7. The sending
+/// entity will start the timer for any PDUs where an acknowledgment is required (e.g. EOF PDU).
+/// Once the expected ACK response has not been received for that interval, as counter will be
+/// incremented and the timer will be reset. Once the counter exceeds the
+/// `positive_ack_timer_expiration_limit`, a Positive ACK Limit Reached fault will be declared.
+///
+/// ## Notes on Deferred Lost Segment Procedures
+///
+/// This procedure will be active if an EOF (No Error) PDU is received in acknowledged mode. After
+/// issuing the NAK sequence which has the whole file scope, a timer will be started. The timer is
+/// reset when missing segments or missing metadata is received. The timer will be deactivated if
+/// all missing data is received. If the timer expires, a new NAK sequence will be issued and a
+/// counter will be incremented, which can lead to a NAK Limit Reached fault being declared.
+///
+/// ## Fields
+///
+/// * `entity_id` - The ID of the remote entity.
+/// * `max_packet_len` - This determines of all PDUs generated for that remote entity in addition
+///    to the `max_file_segment_len` attribute which also determines the size of file data PDUs.
+/// * `max_file_segment_len` The maximum file segment length which determines the maximum size
+///   of file data PDUs in addition to the `max_packet_len` attribute. If this field is set
+///   to None, the maximum file segment length will be derived from the maximum packet length.
+///   If this has some value which is smaller than the segment value derived from
+///   `max_packet_len`, this value will be picked.
+/// * `closure_requested_by_default` - If the closure requested field is not supplied as part of
+///    the Put Request, it will be determined from this field in the remote configuration.
+/// * `crc_on_transmission_by_default` - If the CRC option is not supplied as part of the Put
+///    Request, it will be determined from this field in the remote configuration.
+/// * `default_transmission_mode` - If the transmission mode is not supplied as part of the
+///   Put Request, it will be determined from this field in the remote configuration.
+/// * `disposition_on_cancellation` - Determines whether an incomplete received file is discard on
+///   transaction cancellation. Defaults to False.
+/// * `default_crc_type` - Default checksum type used to calculate for all file transmissions to
+///   this remote entity.
+/// * `check_limit` - This timer determines the expiry period for incrementing a check counter
+///   after an EOF PDU is received for an incomplete file transfer. This allows out-of-order
+///   reception of file data PDUs and EOF PDUs. Also see 4.6.3.3 of the CFDP standard. Defaults to
+///   2, so the check limit timer may expire twice.
+/// * `positive_ack_timer_interval_seconds`- See the notes on the Positive Acknowledgment
+///    Procedures inside the class documentation. Expected as floating point seconds. Defaults to
+///    10 seconds.
+/// * `positive_ack_timer_expiration_limit` - See the notes on the Positive Acknowledgment
+///    Procedures inside the class documentation. Defaults to 2, so the timer may expire twice.
+/// * `immediate_nak_mode` - Specifies whether a NAK sequence should be issued immediately when a
+///    file data gap or lost metadata is detected in the acknowledged mode. Defaults to True.
+/// * `nak_timer_interval_seconds` -  See the notes on the Deferred Lost Segment Procedure inside
+///    the class documentation. Expected as floating point seconds. Defaults to 10 seconds.
+/// * `nak_timer_expiration_limit` - See the notes on the Deferred Lost Segment Procedure inside
+///    the class documentation. Defaults to 2, so the timer may expire two times.
+#[derive(Debug, Copy, Clone)]
 pub struct RemoteEntityConfig {
     pub entity_id: UnsignedByteField,
+    pub max_packet_len: usize,
     pub max_file_segment_len: usize,
-    pub closure_requeted_by_default: bool,
+    pub closure_requested_by_default: bool,
     pub crc_on_transmission_by_default: bool,
     pub default_transmission_mode: TransmissionMode,
     pub default_crc_type: ChecksumType,
+    pub positive_ack_timer_interval_seconds: f32,
+    pub positive_ack_timer_expiration_limit: u32,
     pub check_limit: u32,
+    pub disposition_on_cancellation: bool,
+    pub immediate_nak_mode: bool,
+    pub nak_timer_interval_seconds: f32,
+    pub nak_timer_expiration_limit: u32,
+}
+
+impl RemoteEntityConfig {
+    pub fn new_with_default_values(
+        entity_id: UnsignedByteField,
+        max_file_segment_len: usize,
+        max_packet_len: usize,
+        closure_requested_by_default: bool,
+        crc_on_transmission_by_default: bool,
+        default_transmission_mode: TransmissionMode,
+        default_crc_type: ChecksumType,
+    ) -> Self {
+        Self {
+            entity_id,
+            max_file_segment_len,
+            max_packet_len,
+            closure_requested_by_default,
+            crc_on_transmission_by_default,
+            default_transmission_mode,
+            default_crc_type,
+            check_limit: 2,
+            positive_ack_timer_interval_seconds: 10.0,
+            positive_ack_timer_expiration_limit: 2,
+            disposition_on_cancellation: false,
+            immediate_nak_mode: true,
+            nak_timer_interval_seconds: 10.0,
+            nak_timer_expiration_limit: 2,
+        }
+    }
 }
 
 pub trait RemoteEntityConfigProvider {
-    fn get_remote_config(&self, remote_id: &UnsignedByteField) -> Option<&RemoteEntityConfig>;
+    /// Retrieve the remote entity configuration for the given remote ID.
+    fn get_remote_config(&self, remote_id: u64) -> Option<&RemoteEntityConfig>;
+    fn get_remote_config_mut(&mut self, remote_id: u64) -> Option<&mut RemoteEntityConfig>;
+    /// Add a new remote configuration. Return [true] if the configuration was
+    /// inserted successfully, and [false] if a configuration already exists.
+    fn add_config(&mut self, cfg: &RemoteEntityConfig) -> bool;
+    /// Remote a configuration. Returns [true] if the configuration was removed successfully,
+    /// and [false] if no configuration exists for the given remote ID.
+    fn remove_config(&mut self, remote_id: u64) -> bool;
 }
 
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg(feature = "std")]
+#[derive(Default)]
+pub struct StdRemoteEntityConfigProvider {
+    remote_cfg_table: HashMap<u64, RemoteEntityConfig>,
+}
+
+#[cfg(feature = "std")]
+impl RemoteEntityConfigProvider for StdRemoteEntityConfigProvider {
+    fn get_remote_config(&self, remote_id: u64) -> Option<&RemoteEntityConfig> {
+        self.remote_cfg_table.get(&remote_id)
+    }
+    fn get_remote_config_mut(&mut self, remote_id: u64) -> Option<&mut RemoteEntityConfig> {
+        self.remote_cfg_table.get_mut(&remote_id)
+    }
+    fn add_config(&mut self, cfg: &RemoteEntityConfig) -> bool {
+        self.remote_cfg_table
+            .insert(cfg.entity_id.value(), *cfg)
+            .is_some()
+    }
+    fn remove_config(&mut self, remote_id: u64) -> bool {
+        self.remote_cfg_table.remove(&remote_id).is_some()
+    }
+}
+
+/// This trait introduces some callbacks which will be called when a particular CFDP fault
+/// handler is called.
+///
+/// It is passed into the CFDP handlers as part of the [DefaultFaultHandler] and the local entity
+/// configuration and provides a way to specify custom user error handlers. This allows to
+/// implement some CFDP features like fault handler logging, which would not be possible
+/// generically otherwise.
+///
+/// For each error reported by the [DefaultFaultHandler], the appropriate fault handler callback
+/// will be called depending on the [FaultHandlerCode].
+pub trait UserFaultHandler {
+    fn notice_of_suspension_cb(
+        &mut self,
+        transaction_id: TransactionId,
+        cond: ConditionCode,
+        progress: u64,
+    );
+
+    fn notice_of_cancellation_cb(
+        &mut self,
+        transaction_id: TransactionId,
+        cond: ConditionCode,
+        progress: u64,
+    );
+
+    fn abandoned_cb(&mut self, transaction_id: TransactionId, cond: ConditionCode, progress: u64);
+
+    fn ignore_cb(&mut self, transaction_id: TransactionId, cond: ConditionCode, progress: u64);
+}
+
+/// This structure is used to implement the fault handling as specified in chapter 4.8 of the CFDP
+/// standard.
+///
+/// It does so by mapping each applicable [spacepackets::cfdp::ConditionCode] to a fault handler
+/// which is denoted by the four [spacepackets::cfdp::FaultHandlerCode]s. This code is used
+/// to select the error handling inside the CFDP handler itself in addition to dispatching to a
+/// user-provided callback function provided by the [UserFaultHandler].
+///
+/// Some note on the provided default settings:
+///
+/// - Checksum failures will be ignored by default. This is because for unacknowledged transfers,
+///   cancelling the transfer immediately would interfere with the check limit mechanism specified
+///   in chapter 4.6.3.3.
+/// - Unsupported checksum types will also be ignored by default. Even if the checksum type is
+///   not supported the file transfer might still have worked properly.
+///
+/// For all other faults, the default fault handling operation will be to cancel the transaction.
+/// These defaults can be overriden by using the [Self::set_fault_handler] method.
+/// Please note that in any case, fault handler overrides can be specified by the sending CFDP
+/// entity.
+pub struct DefaultFaultHandler {
+    handler_array: [FaultHandlerCode; 10],
+    // Could also change the user fault handler trait to have non mutable methods, but that limits
+    // flexbility on the user side..
+    user_fault_handler: RefCell<Box<dyn UserFaultHandler + Send>>,
+}
+
+impl DefaultFaultHandler {
+    fn condition_code_to_array_index(conditon_code: ConditionCode) -> Option<usize> {
+        Some(match conditon_code {
+            ConditionCode::PositiveAckLimitReached => 0,
+            ConditionCode::KeepAliveLimitReached => 1,
+            ConditionCode::InvalidTransmissionMode => 2,
+            ConditionCode::FilestoreRejection => 3,
+            ConditionCode::FileChecksumFailure => 4,
+            ConditionCode::FileSizeError => 5,
+            ConditionCode::NakLimitReached => 6,
+            ConditionCode::InactivityDetected => 7,
+            ConditionCode::CheckLimitReached => 8,
+            ConditionCode::UnsupportedChecksumType => 9,
+            _ => return None,
+        })
+    }
+
+    pub fn set_fault_handler(
+        &mut self,
+        condition_code: ConditionCode,
+        fault_handler: FaultHandlerCode,
+    ) {
+        let array_idx = Self::condition_code_to_array_index(condition_code);
+        if array_idx.is_none() {
+            return;
+        }
+        self.handler_array[array_idx.unwrap()] = fault_handler;
+    }
+
+    pub fn new(user_fault_handler: Box<dyn UserFaultHandler + Send>) -> Self {
+        let mut init_array = [FaultHandlerCode::NoticeOfCancellation; 10];
+        init_array
+            [Self::condition_code_to_array_index(ConditionCode::FileChecksumFailure).unwrap()] =
+            FaultHandlerCode::IgnoreError;
+        init_array[Self::condition_code_to_array_index(ConditionCode::UnsupportedChecksumType)
+            .unwrap()] = FaultHandlerCode::IgnoreError;
+        Self {
+            handler_array: init_array,
+            user_fault_handler: RefCell::new(user_fault_handler),
+        }
+    }
+
+    pub fn get_fault_handler(&self, condition_code: ConditionCode) -> FaultHandlerCode {
+        let array_idx = Self::condition_code_to_array_index(condition_code);
+        if array_idx.is_none() {
+            return FaultHandlerCode::IgnoreError;
+        }
+        self.handler_array[array_idx.unwrap()]
+    }
+
+    pub fn report_fault(
+        &self,
+        transaction_id: TransactionId,
+        condition: ConditionCode,
+        progress: u64,
+    ) -> FaultHandlerCode {
+        let array_idx = Self::condition_code_to_array_index(condition);
+        if array_idx.is_none() {
+            return FaultHandlerCode::IgnoreError;
+        }
+        let fh_code = self.handler_array[array_idx.unwrap()];
+        let mut handler_mut = self.user_fault_handler.borrow_mut();
+        match fh_code {
+            FaultHandlerCode::NoticeOfCancellation => {
+                handler_mut.notice_of_cancellation_cb(transaction_id, condition, progress);
+            }
+            FaultHandlerCode::NoticeOfSuspension => {
+                handler_mut.notice_of_suspension_cb(transaction_id, condition, progress);
+            }
+            FaultHandlerCode::IgnoreError => {
+                handler_mut.ignore_cb(transaction_id, condition, progress);
+            }
+            FaultHandlerCode::AbandonTransaction => {
+                handler_mut.abandoned_cb(transaction_id, condition, progress);
+            }
+        }
+        fh_code
+    }
+}
+
+pub struct IndicationConfig {
+    pub eof_sent: bool,
+    pub eof_recv: bool,
+    pub file_segment_recv: bool,
+    pub transaction_finished: bool,
+    pub suspended: bool,
+    pub resumed: bool,
+}
+
+impl Default for IndicationConfig {
+    fn default() -> Self {
+        Self {
+            eof_sent: true,
+            eof_recv: true,
+            file_segment_recv: true,
+            transaction_finished: true,
+            suspended: true,
+            resumed: true,
+        }
+    }
+}
+
+pub struct LocalEntityConfig {
+    pub id: UnsignedByteField,
+    pub indication_cfg: IndicationConfig,
+    pub default_fault_handler: DefaultFaultHandler,
+}
+
+/// The CFDP transaction ID of a CFDP transaction consists of the source entity ID and the sequence
+/// number of that transfer which is also determined by the CFDP source entity.
+#[derive(Debug, Eq, Copy, Clone)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TransactionId {
     source_id: UnsignedByteField,
@@ -121,23 +456,38 @@ impl TransactionId {
     }
 }
 
+impl Hash for TransactionId {
+    fn hash<H: core::hash::Hasher>(&self, state: &mut H) {
+        self.source_id.value().hash(state);
+        self.seq_num.value().hash(state);
+    }
+}
+
+impl PartialEq for TransactionId {
+    fn eq(&self, other: &Self) -> bool {
+        self.source_id.value() == other.source_id.value()
+            && self.seq_num.value() == other.seq_num.value()
+    }
+}
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum TransactionStep {
     Idle = 0,
     TransactionStart = 1,
     ReceivingFileDataPdus = 2,
-    SendingAckPdu = 3,
+    ReceivingFileDataPdusWithCheckLimitHandling = 3,
-    TransferCompletion = 4,
+    SendingAckPdu = 4,
-    SendingFinishedPdu = 5,
+    TransferCompletion = 5,
+    SendingFinishedPdu = 6,
 }
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum State {
     Idle = 0,
-    BusyClass1Nacked = 2,
+    Busy = 1,
-    BusyClass2Acked = 3,
+    Suspended = 2,
 }
 
 pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
@@ -248,8 +598,8 @@ mod tests {
         pdu::{
             eof::EofPdu,
             file_data::FileDataPdu,
-            metadata::{MetadataGenericParams, MetadataPdu},
+            metadata::{MetadataGenericParams, MetadataPduCreator},
-            CommonPduConfig, FileDirectiveType, PduHeader,
+            CommonPduConfig, FileDirectiveType, PduHeader, WritablePduPacket,
         },
         PduType,
     };
@@ -272,7 +622,8 @@ mod tests {
         let dest_file_name = "hello-dest.txt";
         let src_lv = Lv::new_from_str(src_file_name).unwrap();
         let dest_lv = Lv::new_from_str(dest_file_name).unwrap();
-        let metadata_pdu = MetadataPdu::new(pdu_header, metadata_params, src_lv, dest_lv, None);
+        let metadata_pdu =
+            MetadataPduCreator::new_no_opts(pdu_header, metadata_params, src_lv, dest_lv);
         metadata_pdu
             .write_to_bytes(&mut buf)
             .expect("writing metadata PDU failed");

satrs-core/src/cfdp/user.rs

@@ -1,10 +1,10 @@
 use spacepackets::{
     cfdp::{
         pdu::{
-            file_data::RecordContinuationState,
+            file_data::SegmentMetadata,
             finished::{DeliveryCode, FileStatus},
         },
-        tlv::msg_to_user::MsgToUserTlv,
+        tlv::{msg_to_user::MsgToUserTlv, WritableTlv},
         ConditionCode,
     },
     util::UnsignedByteField,
@@ -30,13 +30,44 @@ pub struct MetadataReceivedParams<'src_file, 'dest_file, 'msgs_to_user> {
     pub msgs_to_user: &'msgs_to_user [MsgToUserTlv<'msgs_to_user>],
 }
 
+#[cfg(feature = "alloc")]
+#[derive(Debug)]
+pub struct OwnedMetadataRecvdParams {
+    pub id: TransactionId,
+    pub source_id: UnsignedByteField,
+    pub file_size: u64,
+    pub src_file_name: alloc::string::String,
+    pub dest_file_name: alloc::string::String,
+    pub msgs_to_user: alloc::vec::Vec<alloc::vec::Vec<u8>>,
+}
+
+#[cfg(feature = "alloc")]
+impl From<MetadataReceivedParams<'_, '_, '_>> for OwnedMetadataRecvdParams {
+    fn from(value: MetadataReceivedParams) -> Self {
+        Self::from(&value)
+    }
+}
+
+#[cfg(feature = "alloc")]
+impl From<&MetadataReceivedParams<'_, '_, '_>> for OwnedMetadataRecvdParams {
+    fn from(value: &MetadataReceivedParams) -> Self {
+        Self {
+            id: value.id,
+            source_id: value.source_id,
+            file_size: value.file_size,
+            src_file_name: value.src_file_name.into(),
+            dest_file_name: value.dest_file_name.into(),
+            msgs_to_user: value.msgs_to_user.iter().map(|tlv| tlv.to_vec()).collect(),
+        }
+    }
+}
+
 #[derive(Debug)]
 pub struct FileSegmentRecvdParams<'seg_meta> {
     pub id: TransactionId,
     pub offset: u64,
     pub length: usize,
-    pub rec_cont_state: Option<RecordContinuationState>,
+    pub segment_metadata: Option<&'seg_meta SegmentMetadata<'seg_meta>>,
-    pub segment_metadata: Option<&'seg_meta [u8]>,
 }
 
 pub trait CfdpUser {

satrs-core/src/encoding/ccsds.rs

@@ -30,6 +30,12 @@ impl PacketIdLookup for [u16] {
     }
 }
 
+impl PacketIdLookup for &[u16] {
+    fn validate(&self, packet_id: u16) -> bool {
+        self.binary_search(&packet_id).is_ok()
+    }
+}
+
 #[cfg(feature = "alloc")]
 impl PacketIdLookup for Vec<PacketId> {
     fn validate(&self, packet_id: u16) -> bool {
@@ -49,6 +55,12 @@ impl PacketIdLookup for [PacketId] {
     }
 }
 
+impl PacketIdLookup for &[PacketId] {
+    fn validate(&self, packet_id: u16) -> bool {
+        self.binary_search(&PacketId::from(packet_id)).is_ok()
+    }
+}
+
 /// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
 /// [PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet and then
 /// uses the length field of the packet to extract CCSDS packets.
@@ -101,7 +113,7 @@ pub fn parse_buffer_for_ccsds_space_packets<E>(
 #[cfg(test)]
 mod tests {
     use spacepackets::{
-        ecss::{tc::PusTcCreator, SerializablePusPacket},
+        ecss::{tc::PusTcCreator, WritablePusPacket},
         PacketId, SpHeader,
     };
 

satrs-core/src/error.rs

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

satrs-core/src/event_man.rs

@@ -2,23 +2,13 @@
 //!
 //! This module provides components to perform event routing. The most important component for this
 //! task is the [EventManager]. It receives all events and then routes them to event subscribers
-//! where appropriate.
+//! where appropriate. One common use case for satellite systems is to offer a light-weight
-#![cfg_attr(feature = "doc-images",
+//! publish-subscribe mechanism and IPC mechanism for software and hardware events which are also
-cfg_attr(all(),
+//! packaged as telemetry (TM) or can trigger a system response.
-doc = ::embed_doc_image::embed_image!("event_man_arch", "images/event_man_arch.png"
-)))]
-#![cfg_attr(
-    not(feature = "doc-images"),
-    doc = "**Doc images not enabled**. Compile with feature `doc-images` and Rust version >= 1.54 \
-           to enable."
-)]
-//! One common use case for satellite systems is to offer a light-weight publish-subscribe mechanism
-//! and IPC mechanism for software and hardware events which are also packaged as telemetry (TM) or
-//! can trigger a system response.
 //!
-//! The following graph shows how the event flow for such a setup could look like:
+//! It is recommended to read the
-//!
+//! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
-//! ![Event flow][event_man_arch]
+//! about events first:
 //!
 //! The event manager has a listener table abstracted by the [ListenerTable], which maps
 //! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].

satrs-core/src/hal/std/tcp_cobs_server.rs

@@ -1,4 +1,3 @@
-use alloc::boxed::Box;
 use alloc::vec;
 use cobs::encode;
 use delegate::delegate;
@@ -29,7 +28,6 @@ impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for CobsTcParser {
         current_write_idx: usize,
         next_write_idx: &mut usize,
     ) -> Result<(), TcpTmtcError<TmError, TcError>> {
-        // Reader vec full, need to parse for packets.
         conn_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
             &mut tc_buffer[..current_write_idx],
             tc_receiver.upcast_mut(),
@@ -111,11 +109,23 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
 ///
 /// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
 /// test also serves as the example application for this module.
-pub struct TcpTmtcInCobsServer<TmError, TcError: 'static> {
+pub struct TcpTmtcInCobsServer<
-    generic_server: TcpTmtcGenericServer<TmError, TcError, CobsTmSender, CobsTcParser>,
+    TmError,
+    TcError: 'static,
+    TmSource: TmPacketSource<Error = TmError>,
+    TcReceiver: ReceivesTc<Error = TcError>,
+> {
+    generic_server:
+        TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, CobsTmSender, CobsTcParser>,
 }
 
-impl<TmError: 'static, TcError: 'static> TcpTmtcInCobsServer<TmError, TcError> {
+impl<
+        TmError: 'static,
+        TcError: 'static,
+        TmSource: TmPacketSource<Error = TmError>,
+        TcReceiver: ReceivesTc<Error = TcError>,
+    > TcpTmtcInCobsServer<TmError, TcError, TmSource, TcReceiver>
+{
     /// Create a new TCP TMTC server which exchanges TMTC packets encoded with
     /// [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
     ///
@@ -128,9 +138,9 @@ impl<TmError: 'static, TcError: 'static> TcpTmtcInCobsServer<TmError, TcError> {
     ///     forwarded to this TC receiver.
     pub fn new(
         cfg: ServerConfig,
-        tm_source: Box<dyn TmPacketSource<Error = TmError>>,
+        tm_source: TmSource,
-        tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
+        tc_receiver: TcReceiver,
-    ) -> Result<Self, TcpTmtcError<TmError, TcError>> {
+    ) -> Result<Self, std::io::Error> {
         Ok(Self {
             generic_server: TcpTmtcGenericServer::new(
                 cfg,
@@ -177,7 +187,7 @@ mod tests {
             ServerConfig,
         },
     };
-    use alloc::{boxed::Box, sync::Arc};
+    use alloc::sync::Arc;
     use cobs::encode;
 
     use super::TcpTmtcInCobsServer;
@@ -202,11 +212,11 @@ mod tests {
         addr: &SocketAddr,
         tc_receiver: SyncTcCacher,
         tm_source: SyncTmSource,
-    ) -> TcpTmtcInCobsServer<(), ()> {
+    ) -> TcpTmtcInCobsServer<(), (), SyncTmSource, SyncTcCacher> {
         TcpTmtcInCobsServer::new(
             ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
-            Box::new(tm_source),
+            tm_source,
-            Box::new(tc_receiver),
+            tc_receiver,
         )
         .expect("TCP server generation failed")
     }

satrs-core/src/hal/std/tcp_server.rs

@@ -1,6 +1,6 @@
 //! Generic TCP TMTC servers with different TMTC format flavours.
 use alloc::vec;
-use alloc::{boxed::Box, vec::Vec};
+use alloc::vec::Vec;
 use core::time::Duration;
 use socket2::{Domain, Socket, Type};
 use std::io::Read;
@@ -134,20 +134,29 @@ pub trait TcpTmSender<TmError, TcError> {
 pub struct TcpTmtcGenericServer<
     TmError,
     TcError,
-    TmHandler: TcpTmSender<TmError, TcError>,
+    TmSource: TmPacketSource<Error = TmError>,
-    TcHandler: TcpTcParser<TmError, TcError>,
+    TcReceiver: ReceivesTc<Error = TcError>,
+    TmSender: TcpTmSender<TmError, TcError>,
+    TcParser: TcpTcParser<TmError, TcError>,
 > {
-    base: TcpTmtcServerBase<TmError, TcError>,
+    pub(crate) listener: TcpListener,
-    tc_handler: TcHandler,
+    pub(crate) inner_loop_delay: Duration,
-    tm_handler: TmHandler,
+    pub(crate) tm_source: TmSource,
+    pub(crate) tm_buffer: Vec<u8>,
+    pub(crate) tc_receiver: TcReceiver,
+    pub(crate) tc_buffer: Vec<u8>,
+    tc_handler: TcParser,
+    tm_handler: TmSender,
 }
 
 impl<
         TmError: 'static,
         TcError: 'static,
+        TmSource: TmPacketSource<Error = TmError>,
+        TcReceiver: ReceivesTc<Error = TcError>,
         TmSender: TcpTmSender<TmError, TcError>,
         TcParser: TcpTcParser<TmError, TcError>,
-    > TcpTmtcGenericServer<TmError, TcError, TmSender, TcParser>
+    > TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, TmSender, TcParser>
 {
     /// Create a new generic TMTC server instance.
     ///
@@ -165,25 +174,38 @@ impl<
         cfg: ServerConfig,
         tc_parser: TcParser,
         tm_sender: TmSender,
-        tm_source: Box<dyn TmPacketSource<Error = TmError>>,
+        tm_source: TmSource,
-        tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
+        tc_receiver: TcReceiver,
-    ) -> Result<TcpTmtcGenericServer<TmError, TcError, TmSender, TcParser>, std::io::Error> {
+    ) -> Result<Self, std::io::Error> {
+        // Create a TCP listener bound to two addresses.
+        let socket = Socket::new(Domain::IPV4, Type::STREAM, None)?;
+        socket.set_reuse_address(cfg.reuse_addr)?;
+        #[cfg(unix)]
+        socket.set_reuse_port(cfg.reuse_port)?;
+        let addr = (cfg.addr).into();
+        socket.bind(&addr)?;
+        socket.listen(128)?;
         Ok(Self {
-            base: TcpTmtcServerBase::new(cfg, tm_source, tc_receiver)?,
             tc_handler: tc_parser,
             tm_handler: tm_sender,
+            listener: socket.into(),
+            inner_loop_delay: cfg.inner_loop_delay,
+            tm_source,
+            tm_buffer: vec![0; cfg.tm_buffer_size],
+            tc_receiver,
+            tc_buffer: vec![0; cfg.tc_buffer_size],
         })
     }
 
     /// Retrieve the internal [TcpListener] class.
     pub fn listener(&mut self) -> &mut TcpListener {
-        self.base.listener()
+        &mut self.listener
     }
 
     /// Can be used to retrieve the local assigned address of the TCP server. This is especially
     /// useful if using the port number 0 for OS auto-assignment.
     pub fn local_addr(&self) -> std::io::Result<SocketAddr> {
-        self.base.local_addr()
+        self.listener.local_addr()
     }
 
     /// This call is used to handle the next connection to a client. Right now, it performs
@@ -205,20 +227,20 @@ impl<
         let mut connection_result = ConnectionResult::default();
         let mut current_write_idx;
         let mut next_write_idx = 0;
-        let (mut stream, addr) = self.base.listener.accept()?;
+        let (mut stream, addr) = self.listener.accept()?;
         stream.set_nonblocking(true)?;
         connection_result.addr = Some(addr);
         current_write_idx = next_write_idx;
         loop {
-            let read_result = stream.read(&mut self.base.tc_buffer[current_write_idx..]);
+            let read_result = stream.read(&mut self.tc_buffer[current_write_idx..]);
             match read_result {
                 Ok(0) => {
                     // Connection closed by client. If any TC was read, parse for complete packets.
                     // After that, break the outer loop.
                     if current_write_idx > 0 {
                         self.tc_handler.handle_tc_parsing(
-                            &mut self.base.tc_buffer,
+                            &mut self.tc_buffer,
-                            self.base.tc_receiver.as_mut(),
+                            &mut self.tc_receiver,
                             &mut connection_result,
                             current_write_idx,
                             &mut next_write_idx,
@@ -229,10 +251,10 @@ impl<
                 Ok(read_len) => {
                     current_write_idx += read_len;
                     // TC buffer is full, we must parse for complete packets now.
-                    if current_write_idx == self.base.tc_buffer.capacity() {
+                    if current_write_idx == self.tc_buffer.capacity() {
                         self.tc_handler.handle_tc_parsing(
-                            &mut self.base.tc_buffer,
+                            &mut self.tc_buffer,
-                            self.base.tc_receiver.as_mut(),
+                            &mut self.tc_receiver,
                             &mut connection_result,
                             current_write_idx,
                             &mut next_write_idx,
@@ -245,8 +267,8 @@ impl<
                     // both UNIX and Windows.
                     std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut => {
                         self.tc_handler.handle_tc_parsing(
-                            &mut self.base.tc_buffer,
+                            &mut self.tc_buffer,
-                            self.base.tc_receiver.as_mut(),
+                            &mut self.tc_receiver,
                             &mut connection_result,
                             current_write_idx,
                             &mut next_write_idx,
@@ -254,14 +276,14 @@ impl<
                         current_write_idx = next_write_idx;
 
                         if !self.tm_handler.handle_tm_sending(
-                            &mut self.base.tm_buffer,
+                            &mut self.tm_buffer,
-                            self.base.tm_source.as_mut(),
+                            &mut self.tm_source,
                             &mut connection_result,
                             &mut stream,
                         )? {
                             // No TC read, no TM was sent, but the client has not disconnected.
                             // Perform an inner delay to avoid burning CPU time.
-                            thread::sleep(self.base.inner_loop_delay);
+                            thread::sleep(self.inner_loop_delay);
                         }
                     }
                     _ => {
@@ -271,8 +293,8 @@ impl<
             }
         }
         self.tm_handler.handle_tm_sending(
-            &mut self.base.tm_buffer,
+            &mut self.tm_buffer,
-            self.base.tm_source.as_mut(),
+            &mut self.tm_source,
             &mut connection_result,
             &mut stream,
         )?;
@@ -280,47 +302,6 @@ impl<
     }
 }
 
-pub(crate) struct TcpTmtcServerBase<TmError, TcError> {
-    pub(crate) listener: TcpListener,
-    pub(crate) inner_loop_delay: Duration,
-    pub(crate) tm_source: Box<dyn TmPacketSource<Error = TmError>>,
-    pub(crate) tm_buffer: Vec<u8>,
-    pub(crate) tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
-    pub(crate) tc_buffer: Vec<u8>,
-}
-
-impl<TmError, TcError> TcpTmtcServerBase<TmError, TcError> {
-    pub(crate) fn new(
-        cfg: ServerConfig,
-        tm_source: Box<dyn TmPacketSource<Error = TmError>>,
-        tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
-    ) -> Result<Self, std::io::Error> {
-        // Create a TCP listener bound to two addresses.
-        let socket = Socket::new(Domain::IPV4, Type::STREAM, None)?;
-        socket.set_reuse_address(cfg.reuse_addr)?;
-        socket.set_reuse_port(cfg.reuse_port)?;
-        let addr = (cfg.addr).into();
-        socket.bind(&addr)?;
-        socket.listen(128)?;
-        Ok(Self {
-            listener: socket.into(),
-            inner_loop_delay: cfg.inner_loop_delay,
-            tm_source,
-            tm_buffer: vec![0; cfg.tm_buffer_size],
-            tc_receiver,
-            tc_buffer: vec![0; cfg.tc_buffer_size],
-        })
-    }
-
-    pub(crate) fn listener(&mut self) -> &mut TcpListener {
-        &mut self.listener
-    }
-
-    pub(crate) fn local_addr(&self) -> std::io::Result<SocketAddr> {
-        self.listener.local_addr()
-    }
-}
-
 #[cfg(test)]
 pub(crate) mod tests {
     use std::sync::Mutex;

satrs-core/src/hal/std/tcp_spacepackets_server.rs

@@ -88,16 +88,31 @@ 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)
 /// also serves as the example application for this module.
-pub struct TcpSpacepacketsServer<TmError, TcError: 'static> {
+pub struct TcpSpacepacketsServer<
-    generic_server:
+    TmError,
-        TcpTmtcGenericServer<TmError, TcError, SpacepacketsTmSender, SpacepacketsTcParser>,
+    TcError: 'static,
+    TmSource: TmPacketSource<Error = TmError>,
+    TcReceiver: ReceivesTc<Error = TcError>,
+> {
+    generic_server: TcpTmtcGenericServer<
+        TmError,
+        TcError,
+        TmSource,
+        TcReceiver,
+        SpacepacketsTmSender,
+        SpacepacketsTcParser,
+    >,
 }
 
-impl<TmError: 'static, TcError: 'static> TcpSpacepacketsServer<TmError, TcError> {
+impl<
-    /// Create a new TCP TMTC server which exchanges CCSDS space packets.
+        TmError: 'static,
+        TcError: 'static,
+        TmSource: TmPacketSource<Error = TmError>,
+        TcReceiver: ReceivesTc<Error = TcError>,
+    > TcpSpacepacketsServer<TmError, TcError, TmSource, TcReceiver>
+{
     ///
     /// ## Parameter
     ///
@@ -110,10 +125,10 @@ impl<TmError: 'static, TcError: 'static> TcpSpacepacketsServer<TmError, TcError>
     ///     parsing. This mechanism is used to have a start marker for finding CCSDS packets.
     pub fn new(
         cfg: ServerConfig,
-        tm_source: Box<dyn TmPacketSource<Error = TmError>>,
+        tm_source: TmSource,
-        tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
+        tc_receiver: TcReceiver,
         packet_id_lookup: Box<dyn PacketIdLookup + Send>,
-    ) -> Result<Self, TcpTmtcError<TmError, TcError>> {
+    ) -> Result<Self, std::io::Error> {
         Ok(Self {
             generic_server: TcpTmtcGenericServer::new(
                 cfg,
@@ -158,7 +173,7 @@ mod tests {
     use alloc::{boxed::Box, sync::Arc};
     use hashbrown::HashSet;
     use spacepackets::{
-        ecss::{tc::PusTcCreator, SerializablePusPacket},
+        ecss::{tc::PusTcCreator, WritablePusPacket},
         PacketId, SpHeader,
     };
 
@@ -179,11 +194,11 @@ mod tests {
         tc_receiver: SyncTcCacher,
         tm_source: SyncTmSource,
         packet_id_lookup: HashSet<PacketId>,
-    ) -> TcpSpacepacketsServer<(), ()> {
+    ) -> TcpSpacepacketsServer<(), (), SyncTmSource, SyncTcCacher> {
         TcpSpacepacketsServer::new(
             ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
-            Box::new(tm_source),
+            tm_source,
-            Box::new(tc_receiver),
+            tc_receiver,
             Box::new(packet_id_lookup),
         )
         .expect("TCP server generation failed")

satrs-core/src/hal/std/udp_server.rs

@@ -19,7 +19,7 @@ use std::vec::Vec;
 ///
 /// ```
 /// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
-/// use spacepackets::ecss::SerializablePusPacket;
+/// use spacepackets::ecss::WritablePusPacket;
 /// use satrs_core::hal::std::udp_server::UdpTcServer;
 /// use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
 /// use spacepackets::SpHeader;
@@ -144,7 +144,7 @@ mod tests {
     use crate::hal::std::udp_server::{ReceiveResult, UdpTcServer};
     use crate::tmtc::ReceivesTcCore;
     use spacepackets::ecss::tc::PusTcCreator;
-    use spacepackets::ecss::SerializablePusPacket;
+    use spacepackets::ecss::WritablePusPacket;
     use spacepackets::SpHeader;
     use std::boxed::Box;
     use std::collections::VecDeque;

satrs-core/src/lib.rs

@@ -20,9 +20,10 @@ extern crate downcast_rs;
 #[cfg(any(feature = "std", test))]
 extern crate std;
 
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod cfdp;
 pub mod encoding;
-pub mod error;
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod event_man;

satrs-core/src/pool.rs

@@ -1,23 +1,13 @@
-//! # Pool implementation providing pre-allocated sub-pools with fixed size memory blocks
+//! # Pool implementation providing memory pools for packet storage.
 //!
-//! This is a simple memory pool implementation which pre-allocates all sub-pools using a given pool
+//! # Example for the [StaticMemoryPool]
-//! configuration. After the pre-allocation, no dynamic memory allocation will be performed
-//! during run-time. This makes the implementation suitable for real-time applications and
-//! embedded environments. The pool implementation will also track the size of the data stored
-//! inside it.
-//!
-//! Transactions with the [pool][LocalPool] are done using a special [address][StoreAddr] type.
-//! Adding any data to the pool will yield a store address. Modification and read operations are
-//! done using a reference to a store address. Deletion will consume the store address.
-//!
-//! # Example
 //!
 //! ```
-//! use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider};
+//! use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
 //!
 //! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
-//! let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
+//! let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
-//! let mut local_pool = LocalPool::new(pool_cfg);
+//! let mut local_pool = StaticMemoryPool::new(pool_cfg);
 //! let mut addr;
 //! {
 //!     // Add new data to the pool
@@ -77,22 +67,24 @@
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub use alloc_mod::*;
 use core::fmt::{Display, Formatter};
+use delegate::delegate;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 #[cfg(feature = "std")]
 use std::error::Error;
 
 type NumBlocks = u16;
+pub type StoreAddr = u64;
 
 /// Simple address type used for transactions with the local pool.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct StoreAddr {
+pub struct StaticPoolAddr {
     pub(crate) pool_idx: u16,
     pub(crate) packet_idx: NumBlocks,
 }
 
-impl StoreAddr {
+impl StaticPoolAddr {
     pub const INVALID_ADDR: u32 = 0xFFFFFFFF;
 
     pub fn raw(&self) -> u32 {
@@ -100,7 +92,22 @@ impl StoreAddr {
     }
 }
 
-impl Display for StoreAddr {
+impl From<StaticPoolAddr> for StoreAddr {
+    fn from(value: StaticPoolAddr) -> Self {
+        ((value.pool_idx as u64) << 16) | value.packet_idx as u64
+    }
+}
+
+impl From<StoreAddr> for StaticPoolAddr {
+    fn from(value: StoreAddr) -> Self {
+        Self {
+            pool_idx: ((value >> 16) & 0xff) as u16,
+            packet_idx: (value & 0xff) as u16,
+        }
+    }
+}
+
+impl Display for StaticPoolAddr {
     fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
         write!(
             f,
@@ -180,39 +187,158 @@ impl Error for StoreError {
     }
 }
 
+/// Generic trait for pool providers where the data can be modified and read in-place. This
+/// generally means that a shared pool structure has to be wrapped inside a lock structure.
+pub trait PoolProviderMemInPlace {
+    /// Add new data to the pool. The provider should attempt to reserve a memory block with the
+    /// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
+    /// be used to access the data stored in the pool
+    fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
+
+    /// The provider should attempt to reserve a free memory block with the appropriate size and
+    /// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
+    /// the data stored in the pool
+    fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
+
+    /// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
+    /// to it
+    fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
+
+    /// Read data by yielding a read-only reference given a [StoreAddr]
+    fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
+
+    /// Delete data inside the pool given a [StoreAddr]
+    fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
+    fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
+
+    /// Retrieve the length of the data at the given store address.
+    fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
+        if !self.has_element_at(addr)? {
+            return Err(StoreError::DataDoesNotExist(*addr));
+        }
+        Ok(self.read(addr)?.len())
+    }
+}
+
+pub trait PoolProviderMemInPlaceWithGuards: PoolProviderMemInPlace {
+    /// This function behaves like [PoolProviderMemInPlace::read], but consumes the provided address
+    /// and returns a RAII conformant guard object.
+    ///
+    /// Unless the guard [PoolRwGuard::release] method is called, the data for the
+    /// given address will be deleted automatically when the guard is dropped.
+    /// This can prevent memory leaks. Users can read the data and release the guard
+    /// if the data in the store is valid for further processing. If the data is faulty, no
+    /// manual deletion is necessary when returning from a processing function prematurely.
+    fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self>;
+
+    /// This function behaves like [PoolProviderMemInPlace::modify], but consumes the provided
+    /// address and returns a RAII conformant guard object.
+    ///
+    /// Unless the guard [PoolRwGuard::release] method is called, the data for the
+    /// given address will be deleted automatically when the guard is dropped.
+    /// This can prevent memory leaks. Users can read (and modify) the data and release the guard
+    /// if the data in the store is valid for further processing. If the data is faulty, no
+    /// manual deletion is necessary when returning from a processing function prematurely.
+    fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self>;
+}
+
+pub struct PoolGuard<'a, MemProvider: PoolProviderMemInPlace + ?Sized> {
+    pool: &'a mut MemProvider,
+    pub addr: StoreAddr,
+    no_deletion: bool,
+    deletion_failed_error: Option<StoreError>,
+}
+
+/// This helper object
+impl<'a, MemProvider: PoolProviderMemInPlace> PoolGuard<'a, MemProvider> {
+    pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
+        Self {
+            pool,
+            addr,
+            no_deletion: false,
+            deletion_failed_error: None,
+        }
+    }
+
+    pub fn read(&self) -> Result<&[u8], StoreError> {
+        self.pool.read(&self.addr)
+    }
+
+    /// Releasing the pool guard will disable the automatic deletion of the data when the guard
+    /// is dropped.
+    pub fn release(&mut self) {
+        self.no_deletion = true;
+    }
+}
+
+impl<MemProvider: PoolProviderMemInPlace + ?Sized> Drop for PoolGuard<'_, MemProvider> {
+    fn drop(&mut self) {
+        if !self.no_deletion {
+            if let Err(e) = self.pool.delete(self.addr) {
+                self.deletion_failed_error = Some(e);
+            }
+        }
+    }
+}
+
+pub struct PoolRwGuard<'a, MemProvider: PoolProviderMemInPlace + ?Sized> {
+    guard: PoolGuard<'a, MemProvider>,
+}
+
+impl<'a, MemProvider: PoolProviderMemInPlace> PoolRwGuard<'a, MemProvider> {
+    pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
+        Self {
+            guard: PoolGuard::new(pool, addr),
+        }
+    }
+
+    pub fn modify(&mut self) -> Result<&mut [u8], StoreError> {
+        self.guard.pool.modify(&self.guard.addr)
+    }
+
+    delegate!(
+        to self.guard {
+            pub fn read(&self) -> Result<&[u8], StoreError>;
+            /// Releasing the pool guard will disable the automatic deletion of the data when the guard
+            /// is dropped.
+            pub fn release(&mut self);
+        }
+    );
+}
+
 #[cfg(feature = "alloc")]
 mod alloc_mod {
+    use super::{
+        PoolGuard, PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, PoolRwGuard,
+        StaticPoolAddr,
+    };
     use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
-    use alloc::boxed::Box;
     use alloc::vec;
     use alloc::vec::Vec;
-    use delegate::delegate;
     #[cfg(feature = "std")]
     use std::sync::{Arc, RwLock};
 
     #[cfg(feature = "std")]
-    pub type ShareablePoolProvider = Box<dyn PoolProvider + Send + Sync>;
+    pub type SharedStaticMemoryPool = Arc<RwLock<StaticMemoryPool>>;
-    #[cfg(feature = "std")]
-    pub type SharedPool = Arc<RwLock<ShareablePoolProvider>>;
 
     type PoolSize = usize;
     const STORE_FREE: PoolSize = PoolSize::MAX;
     pub const POOL_MAX_SIZE: PoolSize = STORE_FREE - 1;
 
-    /// Configuration structure of the [local pool][LocalPool]
+    /// Configuration structure of the [static memory pool][StaticMemoryPool]
     ///
     /// # Parameters
     ///
     /// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
     ///       number of memory blocks in the subpool, the second entry the size of the blocks
     #[derive(Clone)]
-    pub struct PoolCfg {
+    pub struct StaticPoolConfig {
         cfg: Vec<(NumBlocks, usize)>,
     }
 
-    impl PoolCfg {
+    impl StaticPoolConfig {
         pub fn new(cfg: Vec<(NumBlocks, usize)>) -> Self {
-            PoolCfg { cfg }
+            StaticPoolConfig { cfg }
         }
 
         pub fn cfg(&self) -> &Vec<(NumBlocks, usize)> {
@@ -228,135 +354,30 @@ mod alloc_mod {
         }
     }
 
-    pub struct PoolGuard<'a> {
+    /// Pool implementation providing sub-pools with fixed size memory blocks.
-        pool: &'a mut LocalPool,
+    ///
-        pub addr: StoreAddr,
+    /// This is a simple memory pool implementation which pre-allocates all sub-pools using a given pool
-        no_deletion: bool,
+    /// configuration. After the pre-allocation, no dynamic memory allocation will be performed
-        deletion_failed_error: Option<StoreError>,
+    /// during run-time. This makes the implementation suitable for real-time applications and
-    }
+    /// embedded environments. The pool implementation will also track the size of the data stored
-
+    /// inside it.
-    /// This helper object
+    ///
-    impl<'a> PoolGuard<'a> {
+    /// Transactions with the [pool][StaticMemoryPool] are done using a generic
-        pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
+    /// [address][StoreAddr] type.
-            Self {
+    /// Adding any data to the pool will yield a store address. Modification and read operations are
-                pool,
+    /// done using a reference to a store address. Deletion will consume the store address.
-                addr,
+    pub struct StaticMemoryPool {
-                no_deletion: false,
+        pool_cfg: StaticPoolConfig,
-                deletion_failed_error: None,
-            }
-        }
-
-        pub fn read(&self) -> Result<&[u8], StoreError> {
-            self.pool.read(&self.addr)
-        }
-
-        /// Releasing the pool guard will disable the automatic deletion of the data when the guard
-        /// is dropped.
-        pub fn release(&mut self) {
-            self.no_deletion = true;
-        }
-    }
-
-    impl Drop for PoolGuard<'_> {
-        fn drop(&mut self) {
-            if !self.no_deletion {
-                if let Err(e) = self.pool.delete(self.addr) {
-                    self.deletion_failed_error = Some(e);
-                }
-            }
-        }
-    }
-
-    pub struct PoolRwGuard<'a> {
-        guard: PoolGuard<'a>,
-    }
-
-    impl<'a> PoolRwGuard<'a> {
-        pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
-            Self {
-                guard: PoolGuard::new(pool, addr),
-            }
-        }
-
-        pub fn modify(&mut self) -> Result<&mut [u8], StoreError> {
-            self.guard.pool.modify(&self.guard.addr)
-        }
-
-        delegate!(
-            to self.guard {
-                pub fn read(&self) -> Result<&[u8], StoreError>;
-                /// Releasing the pool guard will disable the automatic deletion of the data when the guard
-                /// is dropped.
-                pub fn release(&mut self);
-            }
-        );
-    }
-
-    pub trait PoolProvider {
-        /// Add new data to the pool. The provider should attempt to reserve a memory block with the
-        /// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
-        /// be used to access the data stored in the pool
-        fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
-
-        /// The provider should attempt to reserve a free memory block with the appropriate size and
-        /// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
-        /// the data stored in the pool
-        fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
-
-        /// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
-        /// to it
-        fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
-
-        /// This function behaves like [Self::modify], but consumes the provided address and returns a
-        /// RAII conformant guard object.
-        ///
-        /// Unless the guard [PoolRwGuard::release] method is called, the data for the
-        /// given address will be deleted automatically when the guard is dropped.
-        /// This can prevent memory leaks. Users can read (and modify) the data and release the guard
-        /// if the data in the store is valid for further processing. If the data is faulty, no
-        /// manual deletion is necessary when returning from a processing function prematurely.
-        fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard;
-
-        /// Read data by yielding a read-only reference given a [StoreAddr]
-        fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
-
-        /// This function behaves like [Self::read], but consumes the provided address and returns a
-        /// RAII conformant guard object.
-        ///
-        /// Unless the guard [PoolRwGuard::release] method is called, the data for the
-        /// given address will be deleted automatically when the guard is dropped.
-        /// This can prevent memory leaks. Users can read the data and release the guard
-        /// if the data in the store is valid for further processing. If the data is faulty, no
-        /// manual deletion is necessary when returning from a processing function prematurely.
-        fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard;
-
-        /// Delete data inside the pool given a [StoreAddr]
-        fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
-        fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
-
-        /// Retrieve the length of the data at the given store address.
-        fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
-            if !self.has_element_at(addr)? {
-                return Err(StoreError::DataDoesNotExist(*addr));
-            }
-            Ok(self.read(addr)?.len())
-        }
-    }
-
-    /// Pool implementation providing sub-pools with fixed size memory blocks. More details in
-    /// the [module documentation][crate::pool]
-    pub struct LocalPool {
-        pool_cfg: PoolCfg,
         pool: Vec<Vec<u8>>,
         sizes_lists: Vec<Vec<PoolSize>>,
     }
 
-    impl LocalPool {
+    impl StaticMemoryPool {
-        /// Create a new local pool from the [given configuration][PoolCfg]. This function will sanitize
+        /// Create a new local pool from the [given configuration][StaticPoolConfig]. This function
-        /// the given configuration as well.
+        /// will sanitize the given configuration as well.
-        pub fn new(mut cfg: PoolCfg) -> LocalPool {
+        pub fn new(mut cfg: StaticPoolConfig) -> StaticMemoryPool {
             let subpools_num = cfg.sanitize();
-            let mut local_pool = LocalPool {
+            let mut local_pool = StaticMemoryPool {
                 pool_cfg: cfg,
                 pool: Vec::with_capacity(subpools_num),
                 sizes_lists: Vec::with_capacity(subpools_num),
@@ -372,39 +393,39 @@ mod alloc_mod {
             local_pool
         }
 
-        fn addr_check(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
+        fn addr_check(&self, addr: &StaticPoolAddr) -> Result<usize, StoreError> {
             self.validate_addr(addr)?;
             let pool_idx = addr.pool_idx as usize;
             let size_list = self.sizes_lists.get(pool_idx).unwrap();
             let curr_size = size_list[addr.packet_idx as usize];
             if curr_size == STORE_FREE {
-                return Err(StoreError::DataDoesNotExist(*addr));
+                return Err(StoreError::DataDoesNotExist(StoreAddr::from(*addr)));
             }
             Ok(curr_size)
         }
 
-        fn validate_addr(&self, addr: &StoreAddr) -> Result<(), StoreError> {
+        fn validate_addr(&self, addr: &StaticPoolAddr) -> Result<(), StoreError> {
             let pool_idx = addr.pool_idx as usize;
             if pool_idx >= self.pool_cfg.cfg.len() {
                 return Err(StoreError::InvalidStoreId(
                     StoreIdError::InvalidSubpool(addr.pool_idx),
-                    Some(*addr),
+                    Some(StoreAddr::from(*addr)),
                 ));
             }
             if addr.packet_idx >= self.pool_cfg.cfg[addr.pool_idx as usize].0 {
                 return Err(StoreError::InvalidStoreId(
                     StoreIdError::InvalidPacketIdx(addr.packet_idx),
-                    Some(*addr),
+                    Some(StoreAddr::from(*addr)),
                 ));
             }
             Ok(())
         }
 
-        fn reserve(&mut self, data_len: usize) -> Result<StoreAddr, StoreError> {
+        fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, StoreError> {
             let subpool_idx = self.find_subpool(data_len, 0)?;
             let (slot, size_slot_ref) = self.find_empty(subpool_idx)?;
             *size_slot_ref = data_len;
-            Ok(StoreAddr {
+            Ok(StaticPoolAddr {
                 pool_idx: subpool_idx,
                 packet_idx: slot,
             })
@@ -422,7 +443,7 @@ mod alloc_mod {
             Err(StoreError::DataTooLarge(req_size))
         }
 
-        fn write(&mut self, addr: &StoreAddr, data: &[u8]) -> Result<(), StoreError> {
+        fn write(&mut self, addr: &StaticPoolAddr, data: &[u8]) -> Result<(), StoreError> {
             let packet_pos = self.raw_pos(addr).ok_or(StoreError::InternalError(0))?;
             let subpool = self
                 .pool
@@ -449,13 +470,13 @@ mod alloc_mod {
             Err(StoreError::StoreFull(subpool))
         }
 
-        fn raw_pos(&self, addr: &StoreAddr) -> Option<usize> {
+        fn raw_pos(&self, addr: &StaticPoolAddr) -> Option<usize> {
             let (_, size) = self.pool_cfg.cfg.get(addr.pool_idx as usize)?;
             Some(addr.packet_idx as usize * size)
         }
     }
 
-    impl PoolProvider for LocalPool {
+    impl PoolProviderMemInPlace for StaticMemoryPool {
         fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
             let data_len = data.len();
             if data_len > POOL_MAX_SIZE {
@@ -463,7 +484,7 @@ mod alloc_mod {
             }
             let addr = self.reserve(data_len)?;
             self.write(&addr, data)?;
-            Ok(addr)
+            Ok(addr.into())
         }
 
         fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
@@ -474,34 +495,29 @@ mod alloc_mod {
             let raw_pos = self.raw_pos(&addr).unwrap();
             let block =
                 &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + len];
-            Ok((addr, block))
+            Ok((addr.into(), block))
         }
 
         fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
-            let curr_size = self.addr_check(addr)?;
+            let addr = StaticPoolAddr::from(*addr);
-            let raw_pos = self.raw_pos(addr).unwrap();
+            let curr_size = self.addr_check(&addr)?;
+            let raw_pos = self.raw_pos(&addr).unwrap();
             let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()
                 [raw_pos..raw_pos + curr_size];
             Ok(block)
         }
 
-        fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard {
-            PoolRwGuard::new(self, addr)
-        }
-
         fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
-            let curr_size = self.addr_check(addr)?;
+            let addr = StaticPoolAddr::from(*addr);
-            let raw_pos = self.raw_pos(addr).unwrap();
+            let curr_size = self.addr_check(&addr)?;
+            let raw_pos = self.raw_pos(&addr).unwrap();
             let block =
                 &self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + curr_size];
             Ok(block)
         }
 
-        fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard {
-            PoolGuard::new(self, addr)
-        }
-
         fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
+            let addr = StaticPoolAddr::from(addr);
             self.addr_check(&addr)?;
             let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
             let raw_pos = self.raw_pos(&addr).unwrap();
@@ -514,7 +530,8 @@ mod alloc_mod {
         }
 
         fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError> {
-            self.validate_addr(addr)?;
+            let addr = StaticPoolAddr::from(*addr);
+            self.validate_addr(&addr)?;
             let pool_idx = addr.pool_idx as usize;
             let size_list = self.sizes_lists.get(pool_idx).unwrap();
             let curr_size = size_list[addr.packet_idx as usize];
@@ -524,34 +541,45 @@ mod alloc_mod {
             Ok(true)
         }
     }
+
+    impl PoolProviderMemInPlaceWithGuards for StaticMemoryPool {
+        fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self> {
+            PoolRwGuard::new(self, addr)
+        }
+
+        fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self> {
+            PoolGuard::new(self, addr)
+        }
+    }
 }
 
 #[cfg(test)]
 mod tests {
     use crate::pool::{
-        LocalPool, PoolCfg, PoolGuard, PoolProvider, PoolRwGuard, StoreAddr, StoreError,
+        PoolGuard, PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, PoolRwGuard,
-        StoreIdError, POOL_MAX_SIZE,
+        StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreError, StoreIdError,
+        POOL_MAX_SIZE,
     };
     use std::vec;
 
-    fn basic_small_pool() -> LocalPool {
+    fn basic_small_pool() -> StaticMemoryPool {
         // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
-        let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
+        let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
-        LocalPool::new(pool_cfg)
+        StaticMemoryPool::new(pool_cfg)
     }
 
     #[test]
     fn test_cfg() {
         // Values where number of buckets is 0 or size is too large should be removed
-        let mut pool_cfg = PoolCfg::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
+        let mut pool_cfg = StaticPoolConfig::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
         pool_cfg.sanitize();
         assert_eq!(*pool_cfg.cfg(), vec![(1, 0)]);
         // Entries should be ordered according to bucket size
-        pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
+        pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
         pool_cfg.sanitize();
         assert_eq!(*pool_cfg.cfg(), vec![(32, 3), (16, 6), (8, 12)]);
         // Unstable sort is used, so order of entries with same block length should not matter
-        pool_cfg = PoolCfg::new(vec![(12, 12), (14, 16), (10, 12)]);
+        pool_cfg = StaticPoolConfig::new(vec![(12, 12), (14, 16), (10, 12)]);
         pool_cfg.sanitize();
         assert!(
             *pool_cfg.cfg() == vec![(12, 12), (10, 12), (14, 16)]
@@ -600,10 +628,10 @@ mod tests {
         let (addr, buf_ref) = res.unwrap();
         assert_eq!(
             addr,
-            StoreAddr {
+            u64::from(StaticPoolAddr {
                 pool_idx: 2,
                 packet_idx: 0
-            }
+            })
         );
         assert_eq!(buf_ref.len(), 12);
     }
@@ -655,10 +683,13 @@ mod tests {
     fn test_read_does_not_exist() {
         let local_pool = basic_small_pool();
         // Try to access data which does not exist
-        let res = local_pool.read(&StoreAddr {
+        let res = local_pool.read(
-            packet_idx: 0,
+            &StaticPoolAddr {
-            pool_idx: 0,
+                packet_idx: 0,
-        });
+                pool_idx: 0,
+            }
+            .into(),
+        );
         assert!(res.is_err());
         assert!(matches!(
             res.unwrap_err(),
@@ -684,10 +715,11 @@ mod tests {
     #[test]
     fn test_invalid_pool_idx() {
         let local_pool = basic_small_pool();
-        let addr = StoreAddr {
+        let addr = StaticPoolAddr {
             pool_idx: 3,
             packet_idx: 0,
-        };
+        }
+        .into();
         let res = local_pool.read(&addr);
         assert!(res.is_err());
         let err = res.unwrap_err();
@@ -700,12 +732,12 @@ mod tests {
     #[test]
     fn test_invalid_packet_idx() {
         let local_pool = basic_small_pool();
-        let addr = StoreAddr {
+        let addr = StaticPoolAddr {
             pool_idx: 2,
             packet_idx: 1,
         };
         assert_eq!(addr.raw(), 0x00020001);
-        let res = local_pool.read(&addr);
+        let res = local_pool.read(&addr.into());
         assert!(res.is_err());
         let err = res.unwrap_err();
         assert!(matches!(

satrs-core/src/pus/event.rs

@@ -147,7 +147,7 @@ impl EventReporterBase {
         Ok(PusTmCreator::new(
             &mut sp_header,
             sec_header,
-            Some(&buf[0..current_idx]),
+            &buf[0..current_idx],
             true,
         ))
     }

satrs-core/src/pus/event_man.rs

@@ -82,7 +82,7 @@ pub mod heapless_mod {
     }
 }
 
-#[derive(Debug)]
+#[derive(Debug, PartialEq, Eq)]
 pub enum EventRequest<Event: GenericEvent = EventU32> {
     Enable(Event),
     Disable(Event),

satrs-core/src/pus/event_srv.rs

@@ -1,85 +1,64 @@
 use crate::events::EventU32;
-use crate::pool::{SharedPool, StoreAddr};
 use crate::pus::event_man::{EventRequest, EventRequestWithToken};
-use crate::pus::verification::{
+use crate::pus::verification::TcStateToken;
-    StdVerifReporterWithSender, TcStateAccepted, TcStateToken, VerificationToken,
+use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
-};
-use crate::pus::{
-    EcssTcReceiver, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceBase, PusServiceHandler,
-};
-use alloc::boxed::Box;
 use spacepackets::ecss::event::Subservice;
-use spacepackets::ecss::tc::PusTcReader;
 use spacepackets::ecss::PusPacket;
 use std::sync::mpsc::Sender;
 
-pub struct PusService5EventHandler {
+use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
-    psb: PusServiceBase,
+
+pub struct PusService5EventHandler<TcInMemConverter: EcssTcInMemConverter> {
+    pub service_helper: PusServiceHelper<TcInMemConverter>,
     event_request_tx: Sender<EventRequestWithToken>,
 }
 
-impl PusService5EventHandler {
+impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConverter> {
     pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
+        service_handler: PusServiceHelper<TcInMemConverter>,
-        shared_tc_store: SharedPool,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
         event_request_tx: Sender<EventRequestWithToken>,
     ) -> Self {
         Self {
-            psb: PusServiceBase::new(
+            service_helper: service_handler,
-                tc_receiver,
-                shared_tc_store,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-            ),
             event_request_tx,
         }
     }
-}
 
-impl PusServiceHandler for PusService5EventHandler {
+    pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-        &mut self.psb
+        if possible_packet.is_none() {
-    }
+            return Ok(PusPacketHandlerResult::Empty);
-    fn psb(&self) -> &PusServiceBase {
+        }
-        &self.psb
+        let ecss_tc_and_token = possible_packet.unwrap();
-    }
+        let tc = self
-
+            .service_helper
-    fn handle_one_tc(
+            .tc_in_mem_converter
-        &mut self,
+            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-        addr: StoreAddr,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb.pus_buf)?;
         let subservice = tc.subservice();
         let srv = Subservice::try_from(subservice);
         if srv.is_err() {
             return Ok(PusPacketHandlerResult::CustomSubservice(
                 tc.subservice(),
-                token,
+                ecss_tc_and_token.token,
             ));
         }
         let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
             if tc.user_data().len() < 4 {
                 return Err(PusPacketHandlingError::NotEnoughAppData(
-                    "At least 4 bytes event ID expected".into(),
+                    "at least 4 bytes event ID expected".into(),
                 ));
             }
             let user_data = tc.user_data();
             let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
             let start_token = self
-                .psb
+                .service_helper
+                .common
                 .verification_handler
                 .borrow_mut()
-                .start_success(token, Some(&stamp))
+                .start_success(ecss_tc_and_token.token, Some(&stamp))
                 .map_err(|_| PartialPusHandlingError::Verification);
             let partial_error = start_token.clone().err();
-            let mut token: TcStateToken = token.into();
+            let mut token: TcStateToken = ecss_tc_and_token.token.into();
             if let Ok(start_token) = start_token {
                 token = start_token.into();
             }
@@ -107,7 +86,7 @@ impl PusServiceHandler for PusService5EventHandler {
             Ok(PusPacketHandlerResult::RequestHandled)
         };
         let mut partial_error = None;
-        let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
+        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
         match srv.unwrap() {
             Subservice::TmInfoReport
             | Subservice::TmLowSeverityReport
@@ -123,7 +102,8 @@ impl PusServiceHandler for PusService5EventHandler {
             }
             Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
                 return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
-                    subservice, token,
+                    subservice,
+                    ecss_tc_and_token.token,
                 ));
             }
         }
@@ -131,3 +111,170 @@ impl PusServiceHandler for PusService5EventHandler {
         Ok(PusPacketHandlerResult::RequestHandled)
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use delegate::delegate;
+    use spacepackets::ecss::event::Subservice;
+    use spacepackets::util::UnsignedEnum;
+    use spacepackets::{
+        ecss::{
+            tc::{PusTcCreator, PusTcSecondaryHeader},
+            tm::PusTmReader,
+        },
+        SequenceFlags, SpHeader,
+    };
+    use std::sync::mpsc::{self, Sender};
+
+    use crate::pus::event_man::EventRequest;
+    use crate::pus::tests::SimplePusPacketHandler;
+    use crate::pus::verification::RequestId;
+    use crate::{
+        events::EventU32,
+        pus::{
+            event_man::EventRequestWithToken,
+            tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness, TEST_APID},
+            verification::{TcStateAccepted, VerificationToken},
+            EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
+        },
+    };
+
+    use super::PusService5EventHandler;
+
+    const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
+
+    struct Pus5HandlerWithStoreTester {
+        common: PusServiceHandlerWithSharedStoreCommon,
+        handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
+    }
+
+    impl Pus5HandlerWithStoreTester {
+        pub fn new(event_request_tx: Sender<EventRequestWithToken>) -> Self {
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+            Self {
+                common,
+                handler: PusService5EventHandler::new(srv_handler, event_request_tx),
+            }
+        }
+    }
+
+    impl PusTestHarness for Pus5HandlerWithStoreTester {
+        delegate! {
+            to self.common {
+                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn read_next_tm(&mut self) -> PusTmReader<'_>;
+                fn check_no_tm_available(&self) -> bool;
+                fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
+            }
+
+        }
+    }
+
+    impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
+        delegate! {
+            to self.handler {
+                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+            }
+        }
+    }
+
+    fn event_test(
+        test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler),
+        subservice: Subservice,
+        expected_event_req: EventRequest,
+        event_req_receiver: mpsc::Receiver<EventRequestWithToken>,
+    ) {
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(5, subservice as u8);
+        let mut app_data = [0; 4];
+        TEST_EVENT_0
+            .write_to_be_bytes(&mut app_data)
+            .expect("writing test event failed");
+        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        let token = test_harness.send_tc(&ping_tc);
+        let request_id = token.req_id();
+        test_harness.handle_one_tc().unwrap();
+        test_harness.check_next_verification_tm(1, request_id);
+        test_harness.check_next_verification_tm(3, request_id);
+        // Completion TM is not generated for us.
+        assert!(test_harness.check_no_tm_available());
+        let event_request = event_req_receiver
+            .try_recv()
+            .expect("no event request received");
+        assert_eq!(expected_event_req, event_request.request);
+    }
+
+    #[test]
+    fn test_enabling_event_reporting() {
+        let (event_request_tx, event_request_rx) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        event_test(
+            &mut test_harness,
+            Subservice::TcEnableEventGeneration,
+            EventRequest::Enable(TEST_EVENT_0),
+            event_request_rx,
+        );
+    }
+
+    #[test]
+    fn test_disabling_event_reporting() {
+        let (event_request_tx, event_request_rx) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        event_test(
+            &mut test_harness,
+            Subservice::TcDisableEventGeneration,
+            EventRequest::Disable(TEST_EVENT_0),
+            event_request_rx,
+        );
+    }
+
+    #[test]
+    fn test_empty_tc_queue() {
+        let (event_request_tx, _) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_ok());
+        let result = result.unwrap();
+        if let PusPacketHandlerResult::Empty = result {
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
+    }
+
+    #[test]
+    fn test_sending_custom_subservice() {
+        let (event_request_tx, _) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
+        test_harness.send_tc(&ping_tc);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_ok());
+        let result = result.unwrap();
+        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
+            assert_eq!(subservice, 200);
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
+    }
+
+    #[test]
+    fn test_sending_invalid_app_data() {
+        let (event_request_tx, _) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header =
+            PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
+        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
+        test_harness.send_tc(&ping_tc);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_err());
+        let result = result.unwrap_err();
+        if let PusPacketHandlingError::NotEnoughAppData(string) = result {
+            assert_eq!(string, "at least 4 bytes event ID expected");
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
+    }
+}

satrs-core/src/pus/mod.rs

@@ -55,12 +55,6 @@ impl<'tm> From<PusTmCreator<'tm>> for PusTmWrapper<'tm> {
     }
 }
 
-pub type TcAddrWithToken = (StoreAddr, TcStateToken);
-
-/// Generic abstraction for a telecommand being sent around after is has been accepted.
-/// The actual telecommand is stored inside a pre-allocated pool structure.
-pub type AcceptedTc = (StoreAddr, VerificationToken<TcStateAccepted>);
-
 /// Generic error type for sending something via a message queue.
 #[derive(Debug, Copy, Clone)]
 pub enum GenericSendError {
@@ -200,11 +194,75 @@ pub trait EcssTcSenderCore: EcssChannel {
     fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
 }
 
-pub struct ReceivedTcWrapper {
+/// A PUS telecommand packet can be stored in memory using different methods. Right now,
-    pub store_addr: StoreAddr,
+/// storage inside a pool structure like [crate::pool::StaticMemoryPool], and storage inside a
+/// `Vec<u8>` are supported.
+#[non_exhaustive]
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum TcInMemory {
+    StoreAddr(StoreAddr),
+    #[cfg(feature = "alloc")]
+    Vec(alloc::vec::Vec<u8>),
+}
+
+impl From<StoreAddr> for TcInMemory {
+    fn from(value: StoreAddr) -> Self {
+        Self::StoreAddr(value)
+    }
+}
+
+#[cfg(feature = "alloc")]
+impl From<alloc::vec::Vec<u8>> for TcInMemory {
+    fn from(value: alloc::vec::Vec<u8>) -> Self {
+        Self::Vec(value)
+    }
+}
+
+/// Generic structure for an ECSS PUS Telecommand and its correspoding verification token.
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct EcssTcAndToken {
+    pub tc_in_memory: TcInMemory,
     pub token: Option<TcStateToken>,
 }
 
+impl EcssTcAndToken {
+    pub fn new(tc_in_memory: impl Into<TcInMemory>, token: impl Into<TcStateToken>) -> Self {
+        Self {
+            tc_in_memory: tc_in_memory.into(),
+            token: Some(token.into()),
+        }
+    }
+}
+
+/// Generic abstraction for a telecommand being sent around after is has been accepted.
+pub struct AcceptedEcssTcAndToken {
+    pub tc_in_memory: TcInMemory,
+    pub token: VerificationToken<TcStateAccepted>,
+}
+
+impl From<AcceptedEcssTcAndToken> for EcssTcAndToken {
+    fn from(value: AcceptedEcssTcAndToken) -> Self {
+        EcssTcAndToken {
+            tc_in_memory: value.tc_in_memory,
+            token: Some(value.token.into()),
+        }
+    }
+}
+
+impl TryFrom<EcssTcAndToken> for AcceptedEcssTcAndToken {
+    type Error = ();
+
+    fn try_from(value: EcssTcAndToken) -> Result<Self, Self::Error> {
+        if let Some(TcStateToken::Accepted(token)) = value.token {
+            return Ok(AcceptedEcssTcAndToken {
+                tc_in_memory: value.tc_in_memory,
+                token,
+            });
+        }
+        Err(())
+    }
+}
+
 #[derive(Debug, Clone)]
 pub enum TryRecvTmtcError {
     Error(EcssTmtcError),
@@ -231,7 +289,7 @@ impl From<StoreError> for TryRecvTmtcError {
 
 /// Generic trait for a user supplied receiver object.
 pub trait EcssTcReceiverCore: EcssChannel {
-    fn recv_tc(&self) -> Result<ReceivedTcWrapper, TryRecvTmtcError>;
+    fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError>;
 }
 
 /// Generic trait for objects which can receive ECSS PUS telecommands. This trait is
@@ -309,21 +367,23 @@ mod alloc_mod {
 }
 
 #[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
-    use crate::pool::{SharedPool, StoreAddr};
+    use crate::pool::{PoolProviderMemInPlaceWithGuards, SharedStaticMemoryPool, StoreAddr};
     use crate::pus::verification::{
         StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
     };
     use crate::pus::{
-        EcssChannel, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender, EcssTmSenderCore,
+        EcssChannel, EcssTcAndToken, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender,
-        EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper, ReceivedTcWrapper,
+        EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
-        TcAddrWithToken, TryRecvTmtcError,
+        TryRecvTmtcError,
     };
     use crate::tmtc::tm_helper::SharedTmStore;
     use crate::ChannelId;
     use alloc::boxed::Box;
     use alloc::vec::Vec;
     use crossbeam_channel as cb;
+    use spacepackets::ecss::tc::PusTcReader;
     use spacepackets::ecss::tm::PusTmCreator;
     use spacepackets::ecss::PusError;
     use spacepackets::time::cds::TimeProvider;
@@ -335,6 +395,9 @@ pub mod std_mod {
     use std::sync::mpsc::TryRecvError;
     use thiserror::Error;
 
+    use super::verification::VerificationReporterWithSender;
+    use super::{AcceptedEcssTcAndToken, TcInMemory};
+
     impl From<mpsc::SendError<StoreAddr>> for EcssTmtcError {
         fn from(_: mpsc::SendError<StoreAddr>) -> Self {
             Self::Send(GenericSendError::RxDisconnected)
@@ -411,13 +474,13 @@ pub mod std_mod {
         }
     }
 
-    pub struct MpscTcInStoreReceiver {
+    pub struct MpscTcReceiver {
         id: ChannelId,
         name: &'static str,
-        receiver: mpsc::Receiver<TcAddrWithToken>,
+        receiver: mpsc::Receiver<EcssTcAndToken>,
     }
 
-    impl EcssChannel for MpscTcInStoreReceiver {
+    impl EcssChannel for MpscTcReceiver {
         fn id(&self) -> ChannelId {
             self.id
         }
@@ -427,26 +490,22 @@ pub mod std_mod {
         }
     }
 
-    impl EcssTcReceiverCore for MpscTcInStoreReceiver {
+    impl EcssTcReceiverCore for MpscTcReceiver {
-        fn recv_tc(&self) -> Result<ReceivedTcWrapper, TryRecvTmtcError> {
+        fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
-            let (store_addr, token) = self.receiver.try_recv().map_err(|e| match e {
+            self.receiver.try_recv().map_err(|e| match e {
                 TryRecvError::Empty => TryRecvTmtcError::Empty,
                 TryRecvError::Disconnected => {
                     TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
                 }
-            })?;
-            Ok(ReceivedTcWrapper {
-                store_addr,
-                token: Some(token),
             })
         }
     }
 
-    impl MpscTcInStoreReceiver {
+    impl MpscTcReceiver {
         pub fn new(
             id: ChannelId,
             name: &'static str,
-            receiver: mpsc::Receiver<TcAddrWithToken>,
+            receiver: mpsc::Receiver<EcssTcAndToken>,
         ) -> Self {
             Self { id, name, receiver }
         }
@@ -459,8 +518,8 @@ pub mod std_mod {
     #[derive(Clone)]
     pub struct MpscTmAsVecSender {
         id: ChannelId,
-        sender: mpsc::Sender<Vec<u8>>,
         name: &'static str,
+        sender: mpsc::Sender<Vec<u8>>,
     }
 
     impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
@@ -545,23 +604,23 @@ pub mod std_mod {
         }
     }
 
-    pub struct CrossbeamTcInStoreReceiver {
+    pub struct CrossbeamTcReceiver {
         id: ChannelId,
         name: &'static str,
-        receiver: cb::Receiver<TcAddrWithToken>,
+        receiver: cb::Receiver<EcssTcAndToken>,
     }
 
-    impl CrossbeamTcInStoreReceiver {
+    impl CrossbeamTcReceiver {
         pub fn new(
             id: ChannelId,
             name: &'static str,
-            receiver: cb::Receiver<TcAddrWithToken>,
+            receiver: cb::Receiver<EcssTcAndToken>,
         ) -> Self {
             Self { id, name, receiver }
         }
     }
 
-    impl EcssChannel for CrossbeamTcInStoreReceiver {
+    impl EcssChannel for CrossbeamTcReceiver {
         fn id(&self) -> ChannelId {
             self.id
         }
@@ -571,17 +630,13 @@ pub mod std_mod {
         }
     }
 
-    impl EcssTcReceiverCore for CrossbeamTcInStoreReceiver {
+    impl EcssTcReceiverCore for CrossbeamTcReceiver {
-        fn recv_tc(&self) -> Result<ReceivedTcWrapper, TryRecvTmtcError> {
+        fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
-            let (store_addr, token) = self.receiver.try_recv().map_err(|e| match e {
+            self.receiver.try_recv().map_err(|e| match e {
                 cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
                 cb::TryRecvError::Disconnected => {
                     TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
                 }
-            })?;
-            Ok(ReceivedTcWrapper {
-                store_addr,
-                token: Some(token),
             })
         }
     }
@@ -596,8 +651,12 @@ pub mod std_mod {
         InvalidSubservice(u8),
         #[error("not enough application data available: {0}")]
         NotEnoughAppData(String),
+        #[error("PUS packet too large, does not fit in buffer: {0}")]
+        PusPacketTooLarge(usize),
         #[error("invalid application data")]
         InvalidAppData(String),
+        #[error("invalid format of TC in memory: {0:?}")]
+        InvalidTcInMemoryFormat(TcInMemory),
         #[error("generic ECSS tmtc error: {0}")]
         EcssTmtc(#[from] EcssTmtcError),
         #[error("invalid verification token")]
@@ -634,42 +693,126 @@ pub mod std_mod {
         }
     }
 
-    /// Base class for handlers which can handle PUS TC packets. Right now, the verification
+    pub trait EcssTcInMemConverter {
-    /// reporter is constrained to the [StdVerifReporterWithSender] and the service handler
+        fn cache_ecss_tc_in_memory(
-    /// relies on TMTC packets being exchanged via a [SharedPool].
+            &mut self,
+            possible_packet: &TcInMemory,
+        ) -> Result<(), PusPacketHandlingError>;
+
+        fn tc_slice_raw(&self) -> &[u8];
+
+        fn convert_ecss_tc_in_memory_to_reader(
+            &mut self,
+            possible_packet: &TcInMemory,
+        ) -> Result<PusTcReader<'_>, PusPacketHandlingError> {
+            self.cache_ecss_tc_in_memory(possible_packet)?;
+            Ok(PusTcReader::new(self.tc_slice_raw())?.0)
+        }
+    }
+
+    /// Converter structure for PUS telecommands which are stored inside a `Vec<u8>` structure.
+    /// Please note that this structure is not able to convert TCs which are stored inside a
+    /// [SharedStaticMemoryPool].
+    #[derive(Default, Clone)]
+    pub struct EcssTcInVecConverter {
+        pub pus_tc_raw: Option<Vec<u8>>,
+    }
+
+    impl EcssTcInMemConverter for EcssTcInVecConverter {
+        fn cache_ecss_tc_in_memory(
+            &mut self,
+            tc_in_memory: &TcInMemory,
+        ) -> Result<(), PusPacketHandlingError> {
+            self.pus_tc_raw = None;
+            match tc_in_memory {
+                super::TcInMemory::StoreAddr(_) => {
+                    return Err(PusPacketHandlingError::InvalidTcInMemoryFormat(
+                        tc_in_memory.clone(),
+                    ));
+                }
+                super::TcInMemory::Vec(vec) => {
+                    self.pus_tc_raw = Some(vec.clone());
+                }
+            };
+            Ok(())
+        }
+
+        fn tc_slice_raw(&self) -> &[u8] {
+            if self.pus_tc_raw.is_none() {
+                return &[];
+            }
+            self.pus_tc_raw.as_ref().unwrap()
+        }
+    }
+
+    /// Converter structure for PUS telecommands which are stored inside
+    /// [SharedStaticMemoryPool] structure. This is useful if run-time allocation for these
+    /// packets should be avoided. Please note that this structure is not able to convert TCs which
+    /// are stored as a `Vec<u8>`.
+    pub struct EcssTcInSharedStoreConverter {
+        shared_tc_store: SharedStaticMemoryPool,
+        pus_buf: Vec<u8>,
+    }
+
+    impl EcssTcInSharedStoreConverter {
+        pub fn new(shared_tc_store: SharedStaticMemoryPool, max_expected_tc_size: usize) -> Self {
+            Self {
+                shared_tc_store,
+                pus_buf: alloc::vec![0; max_expected_tc_size],
+            }
+        }
+
+        pub fn copy_tc_to_buf(&mut self, addr: StoreAddr) -> Result<(), PusPacketHandlingError> {
+            // Keep locked section as short as possible.
+            let mut tc_pool = self
+                .shared_tc_store
+                .write()
+                .map_err(|_| PusPacketHandlingError::EcssTmtc(EcssTmtcError::StoreLock))?;
+            let tc_guard = tc_pool.read_with_guard(addr);
+            let tc_raw = tc_guard.read().unwrap();
+            if tc_raw.len() > self.pus_buf.len() {
+                return Err(PusPacketHandlingError::PusPacketTooLarge(tc_raw.len()));
+            }
+            self.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
+            Ok(())
+        }
+    }
+
+    impl EcssTcInMemConverter for EcssTcInSharedStoreConverter {
+        fn cache_ecss_tc_in_memory(
+            &mut self,
+            tc_in_memory: &TcInMemory,
+        ) -> Result<(), PusPacketHandlingError> {
+            match tc_in_memory {
+                super::TcInMemory::StoreAddr(addr) => {
+                    self.copy_tc_to_buf(*addr)?;
+                }
+                super::TcInMemory::Vec(_) => {
+                    return Err(PusPacketHandlingError::InvalidTcInMemoryFormat(
+                        tc_in_memory.clone(),
+                    ));
+                }
+            };
+            Ok(())
+        }
+
+        fn tc_slice_raw(&self) -> &[u8] {
+            self.pus_buf.as_ref()
+        }
+    }
+
     pub struct PusServiceBase {
         pub tc_receiver: Box<dyn EcssTcReceiver>,
-        pub shared_tc_store: SharedPool,
         pub tm_sender: Box<dyn EcssTmSender>,
         pub tm_apid: u16,
         /// The verification handler is wrapped in a [RefCell] to allow the interior mutability
         /// pattern. This makes writing methods which are not mutable a lot easier.
         pub verification_handler: RefCell<StdVerifReporterWithSender>,
-        pub pus_buf: [u8; 2048],
-        pub pus_size: usize,
     }
 
     impl PusServiceBase {
-        pub fn new(
+        #[cfg(feature = "std")]
-            tc_receiver: Box<dyn EcssTcReceiver>,
-            shared_tc_store: SharedPool,
-            tm_sender: Box<dyn EcssTmSender>,
-            tm_apid: u16,
-            verification_handler: StdVerifReporterWithSender,
-        ) -> Self {
-            Self {
-                tc_receiver,
-                shared_tc_store,
-                tm_apid,
-                tm_sender,
-                verification_handler: RefCell::new(verification_handler),
-                pus_buf: [0; 2048],
-                pus_size: 0,
-            }
-        }
-
         pub fn get_current_timestamp(
-            &self,
             partial_error: &mut Option<PartialPusHandlingError>,
         ) -> [u8; 7] {
             let mut time_stamp: [u8; 7] = [0; 7];
@@ -684,48 +827,73 @@ pub mod std_mod {
             time_stamp
         }
 
-        pub fn get_current_timestamp_ignore_error(&self) -> [u8; 7] {
+        #[cfg(feature = "std")]
+        pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
             let mut dummy = None;
-            self.get_current_timestamp(&mut dummy)
+            Self::get_current_timestamp(&mut dummy)
         }
     }
 
-    pub trait PusServiceHandler {
+    /// This is a high-level PUS packet handler helper.
-        fn psb_mut(&mut self) -> &mut PusServiceBase;
+    ///
-        fn psb(&self) -> &PusServiceBase;
+    /// It performs some of the boilerplate acitivities involved when handling PUS telecommands and
-        fn handle_one_tc(
+    /// it can be used to implement the handling of PUS telecommands for certain PUS telecommands
-            &mut self,
+    /// groups (for example individual services).
-            addr: StoreAddr,
+    ///
-            token: VerificationToken<TcStateAccepted>,
+    /// This base class can handle PUS telecommands backed by different memory storage machanisms
-        ) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+    /// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
+    /// methods to make the generic parts of TC handling easier.
+    pub struct PusServiceHelper<TcInMemConverter: EcssTcInMemConverter> {
+        pub common: PusServiceBase,
+        pub tc_in_mem_converter: TcInMemConverter,
+    }
 
-        fn copy_tc_to_buf(&mut self, addr: StoreAddr) -> Result<(), PusPacketHandlingError> {
+    impl<TcInMemConverter: EcssTcInMemConverter> PusServiceHelper<TcInMemConverter> {
-            // Keep locked section as short as possible.
+        pub fn new(
-            let psb_mut = self.psb_mut();
+            tc_receiver: Box<dyn EcssTcReceiver>,
-            let mut tc_pool = psb_mut
+            tm_sender: Box<dyn EcssTmSender>,
-                .shared_tc_store
+            tm_apid: u16,
-                .write()
+            verification_handler: VerificationReporterWithSender,
-                .map_err(|_| PusPacketHandlingError::EcssTmtc(EcssTmtcError::StoreLock))?;
+            tc_in_mem_converter: TcInMemConverter,
-            let tc_guard = tc_pool.read_with_guard(addr);
+        ) -> Self {
-            let tc_raw = tc_guard.read().unwrap();
+            Self {
-            psb_mut.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
+                common: PusServiceBase {
-            Ok(())
+                    tc_receiver,
+                    tm_sender,
+                    tm_apid,
+                    verification_handler: RefCell::new(verification_handler),
+                },
+                tc_in_mem_converter,
+            }
         }
 
-        fn handle_next_packet(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        /// This function can be used to poll the internal [EcssTcReceiver] object for the next
-            match self.psb().tc_receiver.recv_tc() {
+        /// telecommand packet. It will return `Ok(None)` if there are not packets available.
-                Ok(ReceivedTcWrapper { store_addr, token }) => {
+        /// 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
+        /// and the according accepted token.
+        pub fn retrieve_and_accept_next_packet(
+            &mut self,
+        ) -> Result<Option<AcceptedEcssTcAndToken>, PusPacketHandlingError> {
+            match self.common.tc_receiver.recv_tc() {
+                Ok(EcssTcAndToken {
+                    tc_in_memory,
+                    token,
+                }) => {
                     if token.is_none() {
                         return Err(PusPacketHandlingError::InvalidVerificationToken);
                     }
                     let token = token.unwrap();
                     let accepted_token = VerificationToken::<TcStateAccepted>::try_from(token)
                         .map_err(|_| PusPacketHandlingError::InvalidVerificationToken)?;
-                    self.handle_one_tc(store_addr, accepted_token)
+                    Ok(Some(AcceptedEcssTcAndToken {
+                        tc_in_memory,
+                        token: accepted_token,
+                    }))
                 }
                 Err(e) => match e {
                     TryRecvTmtcError::Error(e) => Err(PusPacketHandlingError::EcssTmtc(e)),
-                    TryRecvTmtcError::Empty => Ok(PusPacketHandlerResult::Empty),
+                    TryRecvTmtcError::Empty => Ok(None),
                 },
             }
         }
@@ -746,10 +914,35 @@ pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), E
 }
 
 #[cfg(test)]
-pub(crate) mod tests {
+pub mod tests {
-    use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator};
+    use std::sync::mpsc::TryRecvError;
+    use std::sync::{mpsc, RwLock};
+
+    use alloc::boxed::Box;
+    use alloc::vec;
+    use spacepackets::ecss::tc::PusTcCreator;
+    use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator, PusTmReader};
+    use spacepackets::ecss::{PusPacket, WritablePusPacket};
     use spacepackets::CcsdsPacket;
 
+    use crate::pool::{
+        PoolProviderMemInPlace, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig,
+        StoreAddr,
+    };
+    use crate::pus::verification::RequestId;
+    use crate::tmtc::tm_helper::SharedTmStore;
+
+    use super::verification::{
+        TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
+    };
+    use super::{
+        EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver,
+        MpscTmAsVecSender, MpscTmInStoreSender, PusPacketHandlerResult, PusPacketHandlingError,
+        PusServiceHelper, TcInMemory,
+    };
+
+    pub const TEST_APID: u16 = 0x101;
+
     #[derive(Debug, Eq, PartialEq, Clone)]
     pub(crate) struct CommonTmInfo {
         pub subservice: u8,
@@ -759,12 +952,23 @@ pub(crate) mod tests {
         pub time_stamp: [u8; 7],
     }
 
+    pub trait PusTestHarness {
+        fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+        fn read_next_tm(&mut self) -> PusTmReader<'_>;
+        fn check_no_tm_available(&self) -> bool;
+        fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
+    }
+
+    pub trait SimplePusPacketHandler {
+        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+    }
+
     impl CommonTmInfo {
         pub fn new_from_tm(tm: &PusTmCreator) -> Self {
             let mut time_stamp = [0; 7];
             time_stamp.clone_from_slice(&tm.timestamp()[0..7]);
             Self {
-                subservice: tm.subservice(),
+                subservice: PusPacket::subservice(tm),
                 apid: tm.apid(),
                 msg_counter: tm.msg_counter(),
                 dest_id: tm.dest_id(),
@@ -772,4 +976,192 @@ pub(crate) mod tests {
             }
         }
     }
+
+    /// Common fields for a PUS service test harness.
+    pub struct PusServiceHandlerWithSharedStoreCommon {
+        pus_buf: [u8; 2048],
+        tm_buf: [u8; 2048],
+        tc_pool: SharedStaticMemoryPool,
+        tm_pool: SharedTmStore,
+        tc_sender: mpsc::Sender<EcssTcAndToken>,
+        tm_receiver: mpsc::Receiver<StoreAddr>,
+        verification_handler: VerificationReporterWithSender,
+    }
+
+    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() -> (Self, PusServiceHelper<EcssTcInSharedStoreConverter>) {
+            let pool_cfg = StaticPoolConfig::new(vec![(16, 16), (8, 32), (4, 64)]);
+            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 = SharedTmStore::new(tm_pool);
+            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
+            let (tm_tx, tm_rx) = mpsc::channel();
+
+            let verif_sender =
+                MpscTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), 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));
+            let test_srv_tm_sender =
+                MpscTmInStoreSender::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);
+            (
+                Self {
+                    pus_buf: [0; 2048],
+                    tm_buf: [0; 2048],
+                    tc_pool: shared_tc_pool,
+                    tm_pool: shared_tm_pool,
+                    tc_sender: test_srv_tc_tx,
+                    tm_receiver: tm_rx,
+                    verification_handler: verification_handler.clone(),
+                },
+                PusServiceHelper::new(
+                    Box::new(test_srv_tc_receiver),
+                    Box::new(test_srv_tm_sender),
+                    TEST_APID,
+                    verification_handler,
+                    in_store_converter,
+                ),
+            )
+        }
+        pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let token = self.verification_handler.add_tc(tc);
+            let token = self
+                .verification_handler
+                .acceptance_success(token, Some(&[0; 7]))
+                .unwrap();
+            let tc_size = tc.write_to_bytes(&mut self.pus_buf).unwrap();
+            let mut tc_pool = self.tc_pool.write().unwrap();
+            let addr = tc_pool.add(&self.pus_buf[..tc_size]).unwrap();
+            drop(tc_pool);
+            // Send accepted TC to test service handler.
+            self.tc_sender
+                .send(EcssTcAndToken::new(addr, token))
+                .expect("sending tc failed");
+            token
+        }
+
+        pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
+            let next_msg = self.tm_receiver.try_recv();
+            assert!(next_msg.is_ok());
+            let tm_addr = next_msg.unwrap();
+            let tm_pool = self.tm_pool.shared_pool.read().unwrap();
+            let tm_raw = tm_pool.read(&tm_addr).unwrap();
+            self.tm_buf[0..tm_raw.len()].copy_from_slice(tm_raw);
+            PusTmReader::new(&self.tm_buf, 7).unwrap().0
+        }
+
+        pub fn check_no_tm_available(&self) -> bool {
+            let next_msg = self.tm_receiver.try_recv();
+            if let TryRecvError::Empty = next_msg.unwrap_err() {
+                return true;
+            }
+            false
+        }
+
+        pub fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId) {
+            let next_msg = self.tm_receiver.try_recv();
+            assert!(next_msg.is_ok());
+            let tm_addr = next_msg.unwrap();
+            let tm_pool = self.tm_pool.shared_pool.read().unwrap();
+            let tm_raw = tm_pool.read(&tm_addr).unwrap();
+            let tm = PusTmReader::new(tm_raw, 7).unwrap().0;
+            assert_eq!(PusPacket::service(&tm), 1);
+            assert_eq!(PusPacket::subservice(&tm), subservice);
+            assert_eq!(tm.apid(), TEST_APID);
+            let req_id =
+                RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
+            assert_eq!(req_id, expected_request_id);
+        }
+    }
+
+    pub struct PusServiceHandlerWithVecCommon {
+        current_tm: Option<alloc::vec::Vec<u8>>,
+        tc_sender: mpsc::Sender<EcssTcAndToken>,
+        tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
+        verification_handler: VerificationReporterWithSender,
+    }
+
+    impl PusServiceHandlerWithVecCommon {
+        pub fn new() -> (Self, PusServiceHelper<EcssTcInVecConverter>) {
+            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_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
+            let verification_handler =
+                VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
+            let test_srv_tm_sender = MpscTmAsVecSender::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();
+            (
+                Self {
+                    current_tm: None,
+                    tc_sender: test_srv_tc_tx,
+                    tm_receiver: tm_rx,
+                    verification_handler: verification_handler.clone(),
+                },
+                PusServiceHelper::new(
+                    Box::new(test_srv_tc_receiver),
+                    Box::new(test_srv_tm_sender),
+                    TEST_APID,
+                    verification_handler,
+                    in_store_converter,
+                ),
+            )
+        }
+
+        pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let token = self.verification_handler.add_tc(tc);
+            let token = self
+                .verification_handler
+                .acceptance_success(token, Some(&[0; 7]))
+                .unwrap();
+            // Send accepted TC to test service handler.
+            self.tc_sender
+                .send(EcssTcAndToken::new(
+                    TcInMemory::Vec(tc.to_vec().expect("pus tc conversion to vec failed")),
+                    token,
+                ))
+                .expect("sending tc failed");
+            token
+        }
+
+        pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
+            let next_msg = self.tm_receiver.try_recv();
+            assert!(next_msg.is_ok());
+            self.current_tm = Some(next_msg.unwrap());
+            PusTmReader::new(self.current_tm.as_ref().unwrap(), 7)
+                .unwrap()
+                .0
+        }
+
+        pub fn check_no_tm_available(&self) -> bool {
+            let next_msg = self.tm_receiver.try_recv();
+            if let TryRecvError::Empty = next_msg.unwrap_err() {
+                return true;
+            }
+            false
+        }
+
+        pub fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId) {
+            let next_msg = self.tm_receiver.try_recv();
+            assert!(next_msg.is_ok());
+            let next_msg = next_msg.unwrap();
+            let tm = PusTmReader::new(next_msg.as_slice(), 7).unwrap().0;
+            assert_eq!(PusPacket::service(&tm), 1);
+            assert_eq!(PusPacket::subservice(&tm), subservice);
+            assert_eq!(tm.apid(), TEST_APID);
+            let req_id =
+                RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
+            assert_eq!(req_id, expected_request_id);
+        }
+    }
 }

satrs-core/src/pus/scheduler_srv.rs

@@ -1,141 +1,130 @@
-use crate::pool::{SharedPool, StoreAddr};
+use super::scheduler::PusSchedulerInterface;
-use crate::pus::scheduler::PusScheduler;
+use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
-use crate::pus::verification::{StdVerifReporterWithSender, TcStateAccepted, VerificationToken};
+use crate::pool::PoolProviderMemInPlace;
-use crate::pus::{
+use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
-    EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase,
+use alloc::string::ToString;
-    PusServiceHandler,
-};
-use spacepackets::ecss::tc::PusTcReader;
 use spacepackets::ecss::{scheduling, PusPacket};
 use spacepackets::time::cds::TimeProvider;
-use std::boxed::Box;
 
 /// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
-/// packets. This handler is constrained to using the [PusScheduler], but is able to process
+/// packets. This handler is able to handle the most important PUS requests for a scheduling
-/// the most important PUS requests for a scheduling service.
+/// service which provides the [PusSchedulerInterface].
 ///
 /// Please note that this class does not do the regular periodic handling like releasing any
 /// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
 /// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
 /// telecommands when applicable.
-pub struct PusService11SchedHandler {
+pub struct PusService11SchedHandler<
-    psb: PusServiceBase,
+    TcInMemConverter: EcssTcInMemConverter,
-    scheduler: PusScheduler,
+    Scheduler: PusSchedulerInterface,
+> {
+    pub service_helper: PusServiceHelper<TcInMemConverter>,
+    scheduler: Scheduler,
 }
 
-impl PusService11SchedHandler {
+impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerInterface>
-    pub fn new(
+    PusService11SchedHandler<TcInMemConverter, Scheduler>
-        tc_receiver: Box<dyn EcssTcReceiver>,
+{
-        shared_tc_store: SharedPool,
+    pub fn new(service_helper: PusServiceHelper<TcInMemConverter>, scheduler: Scheduler) -> Self {
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
-        scheduler: PusScheduler,
-    ) -> Self {
         Self {
-            psb: PusServiceBase::new(
+            service_helper,
-                tc_receiver,
-                shared_tc_store,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-            ),
             scheduler,
         }
     }
 
-    pub fn scheduler_mut(&mut self) -> &mut PusScheduler {
+    pub fn scheduler_mut(&mut self) -> &mut Scheduler {
         &mut self.scheduler
     }
 
-    pub fn scheduler(&self) -> &PusScheduler {
+    pub fn scheduler(&self) -> &Scheduler {
         &self.scheduler
     }
-}
 
-impl PusServiceHandler for PusService11SchedHandler {
+    pub fn handle_one_tc(
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
-        &mut self.psb
-    }
-    fn psb(&self) -> &PusServiceBase {
-        &self.psb
-    }
-
-    fn handle_one_tc(
         &mut self,
-        addr: StoreAddr,
+        sched_tc_pool: &mut (impl PoolProviderMemInPlace + ?Sized),
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-        let (tc, _) = PusTcReader::new(&self.psb.pus_buf)?;
+        if possible_packet.is_none() {
-        let subservice = tc.subservice();
+            return Ok(PusPacketHandlerResult::Empty);
-        let std_service = scheduling::Subservice::try_from(subservice);
+        }
-        if std_service.is_err() {
+        let ecss_tc_and_token = possible_packet.unwrap();
+        let tc = self
+            .service_helper
+            .tc_in_mem_converter
+            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
+        let subservice = PusPacket::subservice(&tc);
+        let standard_subservice = scheduling::Subservice::try_from(subservice);
+        if standard_subservice.is_err() {
             return Ok(PusPacketHandlerResult::CustomSubservice(
-                tc.subservice(),
+                subservice,
-                token,
+                ecss_tc_and_token.token,
             ));
         }
         let mut partial_error = None;
-        let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
+        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
-        match std_service.unwrap() {
+        match standard_subservice.unwrap() {
             scheduling::Subservice::TcEnableScheduling => {
                 let start_token = self
-                    .psb
+                    .service_helper
+                    .common
                     .verification_handler
                     .get_mut()
-                    .start_success(token, Some(&time_stamp))
+                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
                     .expect("Error sending start success");
 
                 self.scheduler.enable();
                 if self.scheduler.is_enabled() {
-                    self.psb
+                    self.service_helper
+                        .common
                         .verification_handler
                         .get_mut()
                         .completion_success(start_token, Some(&time_stamp))
                         .expect("Error sending completion success");
                 } else {
-                    panic!("Failed to enable scheduler");
+                    return Err(PusPacketHandlingError::Other(
+                        "failed to enabled scheduler".to_string(),
+                    ));
                 }
             }
             scheduling::Subservice::TcDisableScheduling => {
                 let start_token = self
-                    .psb
+                    .service_helper
+                    .common
                     .verification_handler
                     .get_mut()
-                    .start_success(token, Some(&time_stamp))
+                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
                     .expect("Error sending start success");
 
                 self.scheduler.disable();
                 if !self.scheduler.is_enabled() {
-                    self.psb
+                    self.service_helper
+                        .common
                         .verification_handler
                         .get_mut()
                         .completion_success(start_token, Some(&time_stamp))
                         .expect("Error sending completion success");
                 } else {
-                    panic!("Failed to disable scheduler");
+                    return Err(PusPacketHandlingError::Other(
+                        "failed to disable scheduler".to_string(),
+                    ));
                 }
             }
             scheduling::Subservice::TcResetScheduling => {
                 let start_token = self
-                    .psb
+                    .service_helper
+                    .common
                     .verification_handler
                     .get_mut()
-                    .start_success(token, Some(&time_stamp))
+                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
                     .expect("Error sending start success");
 
-                let mut pool = self
-                    .psb
-                    .shared_tc_store
-                    .write()
-                    .expect("Locking pool failed");
-
                 self.scheduler
-                    .reset(pool.as_mut())
+                    .reset(sched_tc_pool)
                     .expect("Error resetting TC Pool");
 
-                self.psb
+                self.service_helper
+                    .common
                     .verification_handler
                     .get_mut()
                     .completion_success(start_token, Some(&time_stamp))
@@ -143,31 +132,30 @@ impl PusServiceHandler for PusService11SchedHandler {
             }
             scheduling::Subservice::TcInsertActivity => {
                 let start_token = self
-                    .psb
+                    .service_helper
+                    .common
                     .verification_handler
                     .get_mut()
-                    .start_success(token, Some(&time_stamp))
+                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
                     .expect("error sending start success");
 
-                let mut pool = self
+                // let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
-                    .psb
-                    .shared_tc_store
-                    .write()
-                    .expect("locking pool failed");
                 self.scheduler
-                    .insert_wrapped_tc::<TimeProvider>(&tc, pool.as_mut())
+                    .insert_wrapped_tc::<TimeProvider>(&tc, sched_tc_pool)
                     .expect("insertion of activity into pool failed");
 
-                self.psb
+                self.service_helper
+                    .common
                     .verification_handler
                     .get_mut()
                     .completion_success(start_token, Some(&time_stamp))
                     .expect("sending completion success failed");
             }
             _ => {
+                // Treat unhandled standard subservices as custom subservices for now.
                 return Ok(PusPacketHandlerResult::CustomSubservice(
-                    tc.subservice(),
+                    subservice,
-                    token,
+                    ecss_tc_and_token.token,
                 ));
             }
         }
@@ -176,9 +164,192 @@ impl PusServiceHandler for PusService11SchedHandler {
                 partial_error,
             ));
         }
-        Ok(PusPacketHandlerResult::CustomSubservice(
+        Ok(PusPacketHandlerResult::RequestHandled)
-            tc.subservice(),
+    }
-            token,
+}
-        ))
+
+#[cfg(test)]
+mod tests {
+    use crate::pool::{StaticMemoryPool, StaticPoolConfig};
+    use crate::pus::tests::TEST_APID;
+    use crate::pus::{
+        scheduler::{self, PusSchedulerInterface, TcInfo},
+        tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
+        verification::{RequestId, TcStateAccepted, VerificationToken},
+        EcssTcInSharedStoreConverter,
+    };
+    use alloc::collections::VecDeque;
+    use delegate::delegate;
+    use spacepackets::ecss::scheduling::Subservice;
+    use spacepackets::ecss::tc::PusTcSecondaryHeader;
+    use spacepackets::ecss::WritablePusPacket;
+    use spacepackets::time::TimeWriter;
+    use spacepackets::SpHeader;
+    use spacepackets::{
+        ecss::{tc::PusTcCreator, tm::PusTmReader},
+        time::cds,
+    };
+
+    use super::PusService11SchedHandler;
+
+    struct Pus11HandlerWithStoreTester {
+        common: PusServiceHandlerWithSharedStoreCommon,
+        handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, TestScheduler>,
+        sched_tc_pool: StaticMemoryPool,
+    }
+
+    impl Pus11HandlerWithStoreTester {
+        pub fn new() -> Self {
+            let test_scheduler = TestScheduler::default();
+            let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)]);
+            let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+            Self {
+                common,
+                handler: PusService11SchedHandler::new(srv_handler, test_scheduler),
+                sched_tc_pool,
+            }
+        }
+    }
+
+    impl PusTestHarness for Pus11HandlerWithStoreTester {
+        delegate! {
+            to self.common {
+                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn read_next_tm(&mut self) -> PusTmReader<'_>;
+                fn check_no_tm_available(&self) -> bool;
+                fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
+            }
+        }
+    }
+
+    #[derive(Default)]
+    pub struct TestScheduler {
+        reset_count: u32,
+        enabled: bool,
+        enabled_count: u32,
+        disabled_count: u32,
+        inserted_tcs: VecDeque<TcInfo>,
+    }
+
+    impl PusSchedulerInterface for TestScheduler {
+        type TimeProvider = cds::TimeProvider;
+
+        fn reset(
+            &mut self,
+            _store: &mut (impl crate::pool::PoolProviderMemInPlace + ?Sized),
+        ) -> Result<(), crate::pool::StoreError> {
+            self.reset_count += 1;
+            Ok(())
+        }
+
+        fn is_enabled(&self) -> bool {
+            self.enabled
+        }
+
+        fn enable(&mut self) {
+            self.enabled_count += 1;
+            self.enabled = true;
+        }
+
+        fn disable(&mut self) {
+            self.disabled_count += 1;
+            self.enabled = false;
+        }
+
+        fn insert_unwrapped_and_stored_tc(
+            &mut self,
+            _time_stamp: spacepackets::time::UnixTimestamp,
+            info: crate::pus::scheduler::TcInfo,
+        ) -> Result<(), crate::pus::scheduler::ScheduleError> {
+            self.inserted_tcs.push_back(info);
+            Ok(())
+        }
+    }
+
+    fn generic_subservice_send(
+        test_harness: &mut Pus11HandlerWithStoreTester,
+        subservice: Subservice,
+    ) {
+        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
+        let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
+        let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
+        let token = test_harness.send_tc(&enable_scheduling);
+
+        let request_id = token.req_id();
+        test_harness
+            .handler
+            .handle_one_tc(&mut test_harness.sched_tc_pool)
+            .unwrap();
+        test_harness.check_next_verification_tm(1, request_id);
+        test_harness.check_next_verification_tm(3, request_id);
+        test_harness.check_next_verification_tm(7, request_id);
+    }
+
+    #[test]
+    fn test_scheduling_enabling_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        test_harness.handler.scheduler_mut().disable();
+        assert!(!test_harness.handler.scheduler().is_enabled());
+        generic_subservice_send(&mut test_harness, Subservice::TcEnableScheduling);
+        assert!(test_harness.handler.scheduler().is_enabled());
+        assert_eq!(test_harness.handler.scheduler().enabled_count, 1);
+    }
+
+    #[test]
+    fn test_scheduling_disabling_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        test_harness.handler.scheduler_mut().enable();
+        assert!(test_harness.handler.scheduler().is_enabled());
+        generic_subservice_send(&mut test_harness, Subservice::TcDisableScheduling);
+        assert!(!test_harness.handler.scheduler().is_enabled());
+        assert_eq!(test_harness.handler.scheduler().disabled_count, 1);
+    }
+
+    #[test]
+    fn test_reset_scheduler_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        generic_subservice_send(&mut test_harness, Subservice::TcResetScheduling);
+        assert_eq!(test_harness.handler.scheduler().reset_count, 1);
+    }
+
+    #[test]
+    fn test_insert_activity_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
+        let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let ping_tc = PusTcCreator::new(&mut reply_header, sec_header, &[], true);
+        let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
+        let stamper = cds::TimeProvider::from_now_with_u16_days().expect("time provider failed");
+        let mut sched_app_data: [u8; 64] = [0; 64];
+        let mut written_len = stamper.write_to_bytes(&mut sched_app_data).unwrap();
+        let ping_raw = ping_tc.to_vec().expect("generating raw tc failed");
+        sched_app_data[written_len..written_len + ping_raw.len()].copy_from_slice(&ping_raw);
+        written_len += ping_raw.len();
+        reply_header = SpHeader::tm_unseg(TEST_APID, 1, 0).unwrap();
+        sec_header = PusTcSecondaryHeader::new_simple(11, Subservice::TcInsertActivity as u8);
+        let enable_scheduling = PusTcCreator::new(
+            &mut reply_header,
+            sec_header,
+            &sched_app_data[..written_len],
+            true,
+        );
+        let token = test_harness.send_tc(&enable_scheduling);
+
+        let request_id = token.req_id();
+        test_harness
+            .handler
+            .handle_one_tc(&mut test_harness.sched_tc_pool)
+            .unwrap();
+        test_harness.check_next_verification_tm(1, request_id);
+        test_harness.check_next_verification_tm(3, request_id);
+        test_harness.check_next_verification_tm(7, request_id);
+        let tc_info = test_harness
+            .handler
+            .scheduler_mut()
+            .inserted_tcs
+            .pop_front()
+            .unwrap();
+        assert_eq!(tc_info.request_id(), req_id_ping_tc);
     }
 }

satrs-core/src/pus/test.rs

@@ -1,67 +1,45 @@
-use crate::pool::{SharedPool, StoreAddr};
-use crate::pus::verification::{StdVerifReporterWithSender, TcStateAccepted, VerificationToken};
 use crate::pus::{
-    EcssTcReceiver, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
+    PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmWrapper,
-    PusPacketHandlingError, PusServiceBase, PusServiceHandler, PusTmWrapper,
 };
-use spacepackets::ecss::tc::PusTcReader;
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use spacepackets::ecss::PusPacket;
 use spacepackets::SpHeader;
-use std::boxed::Box;
+
+use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
 
 /// 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 {
+pub struct PusService17TestHandler<TcInMemConverter: EcssTcInMemConverter> {
-    psb: PusServiceBase,
+    pub service_helper: PusServiceHelper<TcInMemConverter>,
 }
 
-impl PusService17TestHandler {
+impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConverter> {
-    pub fn new(
+    pub fn new(service_helper: PusServiceHelper<TcInMemConverter>) -> Self {
-        tc_receiver: Box<dyn EcssTcReceiver>,
+        Self { service_helper }
-        shared_tc_store: SharedPool,
+    }
-        tm_sender: Box<dyn EcssTmSender>,
+
-        tm_apid: u16,
+    pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        verification_handler: StdVerifReporterWithSender,
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-    ) -> Self {
+        if possible_packet.is_none() {
-        Self {
+            return Ok(PusPacketHandlerResult::Empty);
-            psb: PusServiceBase::new(
-                tc_receiver,
-                shared_tc_store,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-            ),
         }
-    }
+        let ecss_tc_and_token = possible_packet.unwrap();
-}
+        let tc = self
-
+            .service_helper
-impl PusServiceHandler for PusService17TestHandler {
+            .tc_in_mem_converter
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
+            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-        &mut self.psb
-    }
-    fn psb(&self) -> &PusServiceBase {
-        &self.psb
-    }
-
-    fn handle_one_tc(
-        &mut self,
-        addr: StoreAddr,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb.pus_buf)?;
         if tc.service() != 17 {
             return Err(PusPacketHandlingError::WrongService(tc.service()));
         }
         if tc.subservice() == 1 {
             let mut partial_error = None;
-            let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
+            let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
             let result = self
-                .psb
+                .service_helper
+                .common
                 .verification_handler
                 .get_mut()
-                .start_success(token, Some(&time_stamp))
+                .start_success(ecss_tc_and_token.token, Some(&time_stamp))
                 .map_err(|_| PartialPusHandlingError::Verification);
             let start_token = if let Ok(result) = result {
                 Some(result)
@@ -70,11 +48,13 @@ impl PusServiceHandler for PusService17TestHandler {
                 None
             };
             // Sequence count will be handled centrally in TM funnel.
-            let mut reply_header = SpHeader::tm_unseg(self.psb.tm_apid, 0, 0).unwrap();
+            let mut reply_header =
+                SpHeader::tm_unseg(self.service_helper.common.tm_apid, 0, 0).unwrap();
             let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &time_stamp);
-            let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, None, true);
+            let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
             let result = self
-                .psb
+                .service_helper
+                .common
                 .tm_sender
                 .send_tm(PusTmWrapper::Direct(ping_reply))
                 .map_err(PartialPusHandlingError::TmSend);
@@ -84,7 +64,8 @@ impl PusServiceHandler for PusService17TestHandler {
 
             if let Some(start_token) = start_token {
                 if self
-                    .psb
+                    .service_helper
+                    .common
                     .verification_handler
                     .get_mut()
                     .completion_success(start_token, Some(&time_stamp))
@@ -98,121 +79,194 @@ impl PusServiceHandler for PusService17TestHandler {
                     partial_error,
                 ));
             };
-            return Ok(PusPacketHandlerResult::RequestHandled);
+        } else {
+            return Ok(PusPacketHandlerResult::CustomSubservice(
+                tc.subservice(),
+                ecss_tc_and_token.token,
+            ));
         }
-        Ok(PusPacketHandlerResult::CustomSubservice(
+        Ok(PusPacketHandlerResult::RequestHandled)
-            tc.subservice(),
-            token,
-        ))
     }
 }
 
 #[cfg(test)]
 mod tests {
-    use crate::pool::{LocalPool, PoolCfg, SharedPool};
+    use crate::pus::tests::{
-    use crate::pus::test::PusService17TestHandler;
+        PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
-    use crate::pus::verification::{
+        SimplePusPacketHandler, TEST_APID,
-        RequestId, StdVerifReporterWithSender, VerificationReporterCfg,
     };
-    use crate::pus::{MpscTcInStoreReceiver, MpscTmInStoreSender, PusServiceHandler};
+    use crate::pus::verification::RequestId;
-    use crate::tmtc::tm_helper::SharedTmStore;
+    use crate::pus::verification::{TcStateAccepted, VerificationToken};
+    use crate::pus::{
+        EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
+        PusPacketHandlingError,
+    };
+    use delegate::delegate;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
-    use spacepackets::ecss::{PusPacket, SerializablePusPacket};
+    use spacepackets::ecss::PusPacket;
     use spacepackets::{SequenceFlags, SpHeader};
-    use std::boxed::Box;
-    use std::sync::{mpsc, RwLock};
-    use std::vec;
 
-    const TEST_APID: u16 = 0x101;
+    use super::PusService17TestHandler;
 
-    #[test]
+    struct Pus17HandlerWithStoreTester {
-    fn test_basic_ping_processing() {
+        common: PusServiceHandlerWithSharedStoreCommon,
-        let mut pus_buf: [u8; 64] = [0; 64];
+        handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
-        let pool_cfg = PoolCfg::new(vec![(16, 16), (8, 32), (4, 64)]);
+    }
-        let tc_pool = LocalPool::new(pool_cfg.clone());
+
-        let tm_pool = LocalPool::new(pool_cfg);
+    impl Pus17HandlerWithStoreTester {
-        let tc_pool_shared = SharedPool::new(RwLock::new(Box::new(tc_pool)));
+        pub fn new() -> Self {
-        let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
-        let tm_pool_shared = shared_tm_store.clone_backing_pool();
+            let pus_17_handler = PusService17TestHandler::new(srv_handler);
-        let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
+            Self {
-        let (tm_tx, tm_rx) = mpsc::channel();
+                common,
-        let verif_sender =
+                handler: pus_17_handler,
-            MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store.clone(), tm_tx.clone());
+            }
-        let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
+        }
-        let mut verification_handler =
+    }
-            StdVerifReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
+
-        let test_srv_tm_sender = MpscTmInStoreSender::new(0, "TEST_SENDER", shared_tm_store, tm_tx);
+    impl PusTestHarness for Pus17HandlerWithStoreTester {
-        let test_srv_tc_receiver = MpscTcInStoreReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
+        delegate! {
-        let mut pus_17_handler = PusService17TestHandler::new(
+            to self.common {
-            Box::new(test_srv_tc_receiver),
+                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
-            tc_pool_shared.clone(),
+                fn read_next_tm(&mut self) -> PusTmReader<'_>;
-            Box::new(test_srv_tm_sender),
+                fn check_no_tm_available(&self) -> bool;
-            TEST_APID,
+                fn check_next_verification_tm(
-            verification_handler.clone(),
+                    &self,
-        );
+                    subservice: u8,
+                    expected_request_id: RequestId
+                );
+            }
+        }
+    }
+    impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
+        delegate! {
+            to self.handler {
+                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+            }
+        }
+    }
+
+    struct Pus17HandlerWithVecTester {
+        common: PusServiceHandlerWithVecCommon,
+        handler: PusService17TestHandler<EcssTcInVecConverter>,
+    }
+
+    impl Pus17HandlerWithVecTester {
+        pub fn new() -> Self {
+            let (common, srv_handler) = PusServiceHandlerWithVecCommon::new();
+            Self {
+                common,
+                handler: PusService17TestHandler::new(srv_handler),
+            }
+        }
+    }
+
+    impl PusTestHarness for Pus17HandlerWithVecTester {
+        delegate! {
+            to self.common {
+                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn read_next_tm(&mut self) -> PusTmReader<'_>;
+                fn check_no_tm_available(&self) -> bool;
+                fn check_next_verification_tm(
+                    &self,
+                    subservice: u8,
+                    expected_request_id: RequestId,
+                );
+            }
+        }
+    }
+    impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
+        delegate! {
+            to self.handler {
+                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+            }
+        }
+    }
+
+    fn ping_test(test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler)) {
         // Create a ping TC, verify acceptance.
         let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, None, true);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        let token = verification_handler.add_tc(&ping_tc);
+        let token = test_harness.send_tc(&ping_tc);
-        let token = verification_handler
+        let request_id = token.req_id();
-            .acceptance_success(token, None)
+        let result = test_harness.handle_one_tc();
-            .unwrap();
-        let tc_size = ping_tc.write_to_bytes(&mut pus_buf).unwrap();
-        let mut tc_pool = tc_pool_shared.write().unwrap();
-        let addr = tc_pool.add(&pus_buf[..tc_size]).unwrap();
-        drop(tc_pool);
-        // Send accepted TC to test service handler.
-        test_srv_tc_tx.send((addr, token.into())).unwrap();
-        let result = pus_17_handler.handle_next_packet();
         assert!(result.is_ok());
         // We should see 4 replies in the TM queue now: Acceptance TM, Start TM, ping reply and
         // Completion TM
-        let mut next_msg = tm_rx.try_recv();
-        assert!(next_msg.is_ok());
-        let mut tm_addr = next_msg.unwrap();
-        let tm_pool = tm_pool_shared.read().unwrap();
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
-        let (tm, _) = PusTmReader::new(&tm_raw, 0).unwrap();
-        assert_eq!(tm.service(), 1);
-        assert_eq!(tm.subservice(), 1);
-        let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
-        assert_eq!(req_id, token.req_id());
 
         // Acceptance TM
-        next_msg = tm_rx.try_recv();
+        test_harness.check_next_verification_tm(1, request_id);
-        assert!(next_msg.is_ok());
+
-        tm_addr = next_msg.unwrap();
+        // Start TM
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
+        test_harness.check_next_verification_tm(3, request_id);
-        // Is generated with CDS short timestamp.
-        let (tm, _) = PusTmReader::new(&tm_raw, 7).unwrap();
-        assert_eq!(tm.service(), 1);
-        assert_eq!(tm.subservice(), 3);
-        let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
-        assert_eq!(req_id, token.req_id());
 
         // Ping reply
-        next_msg = tm_rx.try_recv();
+        let tm = test_harness.read_next_tm();
-        assert!(next_msg.is_ok());
-        tm_addr = next_msg.unwrap();
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
-        // Is generated with CDS short timestamp.
-        let (tm, _) = PusTmReader::new(&tm_raw, 7).unwrap();
         assert_eq!(tm.service(), 17);
         assert_eq!(tm.subservice(), 2);
         assert!(tm.user_data().is_empty());
 
         // TM completion
-        next_msg = tm_rx.try_recv();
+        test_harness.check_next_verification_tm(7, request_id);
-        assert!(next_msg.is_ok());
+    }
-        tm_addr = next_msg.unwrap();
+
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
+    #[test]
-        // Is generated with CDS short timestamp.
+    fn test_basic_ping_processing_using_store() {
-        let (tm, _) = PusTmReader::new(&tm_raw, 7).unwrap();
+        let mut test_harness = Pus17HandlerWithStoreTester::new();
-        assert_eq!(tm.service(), 1);
+        ping_test(&mut test_harness);
-        assert_eq!(tm.subservice(), 7);
+    }
-        let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
+
-        assert_eq!(req_id, token.req_id());
+    #[test]
+    fn test_basic_ping_processing_using_vec() {
+        let mut test_harness = Pus17HandlerWithVecTester::new();
+        ping_test(&mut test_harness);
+    }
+
+    #[test]
+    fn test_empty_tc_queue() {
+        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_ok());
+        let result = result.unwrap();
+        if let PusPacketHandlerResult::Empty = result {
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
+    }
+
+    #[test]
+    fn test_sending_unsupported_service() {
+        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
+        test_harness.send_tc(&ping_tc);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_err());
+        let error = result.unwrap_err();
+        if let PusPacketHandlingError::WrongService(num) = error {
+            assert_eq!(num, 3);
+        } else {
+            panic!("unexpected error type {error}")
+        }
+    }
+
+    #[test]
+    fn test_sending_custom_subservice() {
+        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
+        test_harness.send_tc(&ping_tc);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_ok());
+        let result = result.unwrap();
+        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
+            assert_eq!(subservice, 200);
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
     }
 }

satrs-core/src/pus/verification.rs

@@ -15,7 +15,7 @@
 //! ```
 //! use std::sync::{Arc, mpsc, RwLock};
 //! use std::time::Duration;
-//! use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider, SharedPool};
+//! use satrs_core::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
 //! use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
 //! use satrs_core::seq_count::SeqCountProviderSimple;
 //! use satrs_core::pus::MpscTmInStoreSender;
@@ -28,9 +28,9 @@
 //! const EMPTY_STAMP: [u8; 7] = [0; 7];
 //! const TEST_APID: u16 = 0x02;
 //!
-//! let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
+//! let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
-//! let tm_pool = LocalPool::new(pool_cfg.clone());
+//! let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
-//! let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
+//! let shared_tm_store = SharedTmStore::new(tm_pool);
 //! let tm_store = shared_tm_store.clone_backing_pool();
 //! let (verif_tx, verif_rx) = mpsc::channel();
 //! let sender = MpscTmInStoreSender::new(0, "Test Sender", shared_tm_store, verif_tx);
@@ -39,7 +39,7 @@
 //!
 //! let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
 //! let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
-//! let pus_tc_0 = PusTcCreator::new(&mut sph, tc_header, None, true);
+//! let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
 //! let init_token = reporter.add_tc(&pus_tc_0);
 //!
 //! // Complete success sequence for a telecommand
@@ -87,7 +87,7 @@ use delegate::delegate;
 use serde::{Deserialize, Serialize};
 use spacepackets::ecss::tc::IsPusTelecommand;
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use spacepackets::ecss::{EcssEnumeration, PusError, SerializablePusPacket};
+use spacepackets::ecss::{EcssEnumeration, PusError, WritablePusPacket};
 use spacepackets::{CcsdsPacket, PacketId, PacketSequenceCtrl};
 use spacepackets::{SpHeader, MAX_APID};
 
@@ -208,6 +208,8 @@ impl WasAtLeastAccepted for TcStateAccepted {}
 impl WasAtLeastAccepted for TcStateStarted {}
 impl WasAtLeastAccepted for TcStateCompleted {}
 
+/// Token wrapper to model all possible verification tokens. These tokens are used to
+/// enforce the correct order for the verification steps when doing verification reporting.
 #[derive(Debug, Copy, Clone, Eq, PartialEq)]
 pub enum TcStateToken {
     None(VerificationToken<TcStateNone>),
@@ -353,7 +355,7 @@ impl<'src_data, State, SuccessOrFailure> VerificationSendable<'src_data, State,
     }
 
     pub fn len_packed(&self) -> usize {
-        self.pus_tm.as_ref().unwrap().len_packed()
+        self.pus_tm.as_ref().unwrap().len_written()
     }
 
     pub fn pus_tm(&self) -> &PusTmCreator<'src_data> {
@@ -877,7 +879,7 @@ impl VerificationReporterCore {
         PusTmCreator::new(
             sp_header,
             tm_sec_header,
-            Some(&src_data_buf[0..source_data_len]),
+            &src_data_buf[0..source_data_len],
             true,
         )
     }
@@ -1323,7 +1325,7 @@ mod std_mod {
 
 #[cfg(test)]
 mod tests {
-    use crate::pool::{LocalPool, PoolCfg};
+    use crate::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
     use crate::pus::tests::CommonTmInfo;
     use crate::pus::verification::{
         EcssTmSenderCore, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
@@ -1438,6 +1440,7 @@ mod tests {
     fn base_tc_init(app_data: Option<&[u8]>) -> (PusTcCreator, RequestId) {
         let mut sph = SpHeader::tc_unseg(TEST_APID, 0x34, 0).unwrap();
         let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let app_data = app_data.unwrap_or(&[]);
         let pus_tc = PusTcCreator::new(&mut sph, tc_header, app_data, true);
         let req_id = RequestId::new(&pus_tc);
         (pus_tc, req_id)
@@ -1446,12 +1449,11 @@ mod tests {
     fn base_init(api_sel: bool) -> (TestBase<'static>, VerificationToken<TcStateNone>) {
         let mut reporter = base_reporter();
         let (tc, req_id) = base_tc_init(None);
-        let init_tok;
+        let init_tok = if api_sel {
-        if api_sel {
+            reporter.add_tc_with_req_id(req_id)
-            init_tok = reporter.add_tc_with_req_id(req_id);
         } else {
-            init_tok = reporter.add_tc(&tc);
+            reporter.add_tc(&tc)
-        }
+        };
         (TestBase { vr: reporter, tc }, init_tok)
     }
 
@@ -1474,7 +1476,7 @@ mod tests {
                 time_stamp: EMPTY_STAMP,
             },
             additional_data: None,
-            req_id: req_id.clone(),
+            req_id: *req_id,
         };
         let mut service_queue = sender.service_queue.borrow_mut();
         assert_eq!(service_queue.len(), 1);
@@ -1484,9 +1486,8 @@ mod tests {
 
     #[test]
     fn test_mpsc_verif_send_sync() {
-        let pool = LocalPool::new(PoolCfg::new(vec![(8, 8)]));
+        let pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(8, 8)]));
-        let tm_store = Box::new(pool);
+        let shared_tm_store = SharedTmStore::new(pool);
-        let shared_tm_store = SharedTmStore::new(tm_store);
         let (tx, _) = mpsc::channel();
         let mpsc_verif_sender = MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store, tx);
         is_send(&mpsc_verif_sender);
@@ -1504,7 +1505,7 @@ mod tests {
     fn test_basic_acceptance_success() {
         let (b, tok) = base_init(false);
         let mut sender = TestSender::default();
-        b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
+        b.vr.acceptance_success(tok, &sender, Some(&EMPTY_STAMP))
             .expect("Sending acceptance success failed");
         acceptance_check(&mut sender, &tok.req_id);
     }
@@ -1604,7 +1605,7 @@ mod tests {
     #[test]
     fn test_basic_acceptance_failure_with_fail_data() {
         let (b, tok) = base_init(false);
-        let mut sender = TestSender::default();
+        let sender = TestSender::default();
         let fail_code = EcssEnumU8::new(10);
         let fail_data = EcssEnumU32::new(12);
         let mut fail_data_raw = [0; 4];
@@ -1614,7 +1615,7 @@ mod tests {
             &fail_code,
             Some(fail_data_raw.as_slice()),
         );
-        b.vr.acceptance_failure(tok, &mut sender, fail_params)
+        b.vr.acceptance_failure(tok, &sender, fail_params)
             .expect("Sending acceptance success failed");
         let cmp_info = TmInfo {
             common: CommonTmInfo {
@@ -1783,8 +1784,7 @@ mod tests {
             .rep()
             .start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
             .expect("Sending start success failed");
-        let mut empty = b
+        b.rep()
-            .rep()
             .step_success(
                 &started_token,
                 &mut sender,
@@ -1792,16 +1792,13 @@ mod tests {
                 EcssEnumU8::new(0),
             )
             .expect("Sending step 0 success failed");
-        assert_eq!(empty, ());
+        b.vr.step_success(
-        empty =
+            &started_token,
-            b.vr.step_success(
+            &mut sender,
-                &started_token,
+            Some(&EMPTY_STAMP),
-                &mut sender,
+            EcssEnumU8::new(1),
-                Some(&EMPTY_STAMP),
+        )
-                EcssEnumU8::new(1),
+        .expect("Sending step 1 success failed");
-            )
-            .expect("Sending step 1 success failed");
-        assert_eq!(empty, ());
         assert_eq!(sender.service_queue.borrow().len(), 4);
         step_success_check(&mut sender, tok.req_id);
     }
@@ -1817,16 +1814,12 @@ mod tests {
             .helper
             .start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
             .expect("Sending start success failed");
-        let mut empty = b
+        b.helper
-            .helper
             .step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(0))
             .expect("Sending step 0 success failed");
-        assert_eq!(empty, ());
+        b.helper
-        empty = b
-            .helper
             .step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(1))
             .expect("Sending step 1 success failed");
-        assert_eq!(empty, ());
         let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
         assert_eq!(sender.service_queue.borrow().len(), 4);
         step_success_check(sender, tok.req_id);
@@ -2121,10 +2114,8 @@ mod tests {
         let started_token =
             b.vr.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
                 .expect("Sending start success failed");
-        let empty =
+        b.vr.completion_success(started_token, &mut sender, Some(&EMPTY_STAMP))
-            b.vr.completion_success(started_token, &mut sender, Some(&EMPTY_STAMP))
+            .expect("Sending completion success failed");
-                .expect("Sending completion success failed");
-        assert_eq!(empty, ());
         completion_success_check(&mut sender, tok.req_id);
     }
 
@@ -2139,11 +2130,9 @@ mod tests {
             .helper
             .start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
             .expect("Sending start success failed");
-        let empty = b
+        b.helper
-            .helper
             .completion_success(started_token, Some(&EMPTY_STAMP))
             .expect("Sending completion success failed");
-        assert_eq!(empty, ());
         let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
         completion_success_check(sender, tok.req_id);
     }
@@ -2151,8 +2140,8 @@ mod tests {
     #[test]
     // TODO: maybe a bit more extensive testing, all I have time for right now
     fn test_seq_count_increment() {
-        let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
+        let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
-        let tm_pool = Box::new(LocalPool::new(pool_cfg.clone()));
+        let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
         let shared_tm_store = SharedTmStore::new(tm_pool);
         let shared_tm_pool = shared_tm_store.clone_backing_pool();
         let (verif_tx, verif_rx) = mpsc::channel();
@@ -2162,7 +2151,7 @@ mod tests {
 
         let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let pus_tc_0 = PusTcCreator::new(&mut sph, tc_header, None, true);
+        let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
         let init_token = reporter.add_tc(&pus_tc_0);
 
         // Complete success sequence for a telecommand

satrs-core/src/tmtc/ccsds_distrib.rs

@@ -21,7 +21,7 @@
 //! use satrs_core::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
 //! use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
 //! use spacepackets::{CcsdsPacket, SpHeader};
-//! use spacepackets::ecss::SerializablePusPacket;
+//! use spacepackets::ecss::WritablePusPacket;
 //! use spacepackets::ecss::tc::{PusTc, PusTcCreator};
 //!
 //! #[derive (Default)]
@@ -226,7 +226,7 @@ pub(crate) mod tests {
     use super::*;
     use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
     use spacepackets::ecss::tc::PusTcCreator;
-    use spacepackets::ecss::SerializablePusPacket;
+    use spacepackets::ecss::WritablePusPacket;
     use spacepackets::CcsdsPacket;
     use std::collections::VecDeque;
     use std::sync::{Arc, Mutex};
@@ -244,9 +244,10 @@ pub(crate) mod tests {
         &buf[0..size]
     }
 
+    type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
     pub struct BasicApidHandlerSharedQueue {
-        pub known_packet_queue: Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>,
+        pub known_packet_queue: SharedPacketQueue,
-        pub unknown_packet_queue: Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>,
+        pub unknown_packet_queue: SharedPacketQueue,
     }
 
     #[derive(Default)]
@@ -268,11 +269,11 @@ pub(crate) mod tests {
         ) -> Result<(), Self::Error> {
             let mut vec = Vec::new();
             vec.extend_from_slice(tc_raw);
-            Ok(self
+            self.known_packet_queue
-                .known_packet_queue
                 .lock()
                 .unwrap()
-                .push_back((sp_header.apid(), vec)))
+                .push_back((sp_header.apid(), vec));
+            Ok(())
         }
 
         fn handle_unknown_apid(
@@ -282,11 +283,11 @@ pub(crate) mod tests {
         ) -> Result<(), Self::Error> {
             let mut vec = Vec::new();
             vec.extend_from_slice(tc_raw);
-            Ok(self
+            self.unknown_packet_queue
-                .unknown_packet_queue
                 .lock()
                 .unwrap()
-                .push_back((sp_header.apid(), vec)))
+                .push_back((sp_header.apid(), vec));
+            Ok(())
         }
     }
 

satrs-core/src/tmtc/mod.rs

@@ -7,9 +7,7 @@
 //! routing without the overhead and complication of using message queues. However, it also requires
 #[cfg(feature = "alloc")]
 use downcast_rs::{impl_downcast, Downcast};
-#[cfg(feature = "serde")]
+use spacepackets::SpHeader;
-use serde::{Deserialize, Serialize};
-use spacepackets::{ByteConversionError, SpHeader};
 
 #[cfg(feature = "alloc")]
 pub mod ccsds_distrib;
@@ -24,40 +22,6 @@ pub use pus_distrib::{PusDistributor, PusServiceProvider};
 
 pub type TargetId = u32;
 
-#[derive(Copy, Clone, PartialEq, Eq, Debug, Hash)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct AddressableId {
-    pub target_id: TargetId,
-    pub unique_id: u32,
-}
-
-impl AddressableId {
-    pub fn from_raw_be(buf: &[u8]) -> Result<Self, ByteConversionError> {
-        if buf.len() < 8 {
-            return Err(ByteConversionError::FromSliceTooSmall {
-                found: buf.len(),
-                expected: 8,
-            });
-        }
-        Ok(Self {
-            target_id: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
-            unique_id: u32::from_be_bytes(buf[4..8].try_into().unwrap()),
-        })
-    }
-
-    pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-        if buf.len() < 8 {
-            return Err(ByteConversionError::ToSliceTooSmall {
-                found: buf.len(),
-                expected: 8,
-            });
-        }
-        buf[0..4].copy_from_slice(&self.target_id.to_be_bytes());
-        buf[4..8].copy_from_slice(&self.unique_id.to_be_bytes());
-        Ok(8)
-    }
-}
-
 /// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
 /// no assumptions about the received protocol.
 ///

satrs-core/src/tmtc/pus_distrib.rs

@@ -18,7 +18,7 @@
 //! # Example
 //!
 //! ```rust
-//! use spacepackets::ecss::SerializablePusPacket;
+//! use spacepackets::ecss::WritablePusPacket;
 //! use satrs_core::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
 //! use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
 //! use spacepackets::SpHeader;

satrs-core/src/tmtc/tm_helper.rs

@@ -8,31 +8,36 @@ pub use std_mod::*;
 
 #[cfg(feature = "std")]
 pub mod std_mod {
-    use crate::pool::{ShareablePoolProvider, SharedPool, StoreAddr};
+    use crate::pool::{
+        PoolProviderMemInPlace, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr,
+    };
     use crate::pus::EcssTmtcError;
     use spacepackets::ecss::tm::PusTmCreator;
-    use spacepackets::ecss::SerializablePusPacket;
+    use spacepackets::ecss::WritablePusPacket;
     use std::sync::{Arc, RwLock};
 
     #[derive(Clone)]
     pub struct SharedTmStore {
-        pool: SharedPool,
+        pub shared_pool: SharedStaticMemoryPool,
     }
 
     impl SharedTmStore {
-        pub fn new(backing_pool: ShareablePoolProvider) -> Self {
+        pub fn new(shared_pool: StaticMemoryPool) -> Self {
             Self {
-                pool: Arc::new(RwLock::new(backing_pool)),
+                shared_pool: Arc::new(RwLock::new(shared_pool)),
             }
         }
 
-        pub fn clone_backing_pool(&self) -> SharedPool {
+        pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
-            self.pool.clone()
+            self.shared_pool.clone()
         }
 
         pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
-            let mut pg = self.pool.write().map_err(|_| EcssTmtcError::StoreLock)?;
+            let mut pg = self
-            let (addr, buf) = pg.free_element(pus_tm.len_packed())?;
+                .shared_pool
+                .write()
+                .map_err(|_| EcssTmtcError::StoreLock)?;
+            let (addr, buf) = pg.free_element(pus_tm.len_written())?;
             pus_tm
                 .write_to_bytes(buf)
                 .expect("writing PUS TM to store failed");
@@ -59,7 +64,7 @@ impl PusTmWithCdsShortHelper {
         &'a mut self,
         service: u8,
         subservice: u8,
-        source_data: Option<&'a [u8]>,
+        source_data: &'a [u8],
         seq_count: u16,
     ) -> PusTmCreator {
         let time_stamp = TimeProvider::from_now_with_u16_days().unwrap();
@@ -71,7 +76,7 @@ impl PusTmWithCdsShortHelper {
         &'a mut self,
         service: u8,
         subservice: u8,
-        source_data: Option<&'a [u8]>,
+        source_data: &'a [u8],
         stamper: &TimeProvider,
         seq_count: u16,
     ) -> PusTmCreator {
@@ -83,7 +88,7 @@ impl PusTmWithCdsShortHelper {
         &'a self,
         service: u8,
         subservice: u8,
-        source_data: Option<&'a [u8]>,
+        source_data: &'a [u8],
         seq_count: u16,
     ) -> PusTmCreator {
         let mut reply_header = SpHeader::tm_unseg(self.apid, seq_count, 0).unwrap();
@@ -91,3 +96,33 @@ impl PusTmWithCdsShortHelper {
         PusTmCreator::new(&mut reply_header, tc_header, source_data, true)
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use spacepackets::{ecss::PusPacket, time::cds::TimeProvider, CcsdsPacket};
+
+    use super::PusTmWithCdsShortHelper;
+
+    #[test]
+    fn test_helper_with_stamper() {
+        let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
+        let stamper = TimeProvider::new_with_u16_days(0, 0);
+        let tm = pus_tm_helper.create_pus_tm_with_stamper(17, 1, &[1, 2, 3, 4], &stamper, 25);
+        assert_eq!(tm.service(), 17);
+        assert_eq!(tm.subservice(), 1);
+        assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
+        assert_eq!(tm.seq_count(), 25);
+        assert_eq!(tm.timestamp(), [64, 0, 0, 0, 0, 0, 0])
+    }
+
+    #[test]
+    fn test_helper_from_now() {
+        let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
+        let tm = pus_tm_helper.create_pus_tm_timestamp_now(17, 1, &[1, 2, 3, 4], 25);
+        assert_eq!(tm.service(), 17);
+        assert_eq!(tm.subservice(), 1);
+        assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
+        assert_eq!(tm.seq_count(), 25);
+        assert_eq!(tm.timestamp().len(), 7);
+    }
+}

satrs-core/tests/hk_helpers.rs

@@ -1,7 +1,7 @@
 #![allow(dead_code)]
 use core::mem::size_of;
 use serde::{Deserialize, Serialize};
-use spacepackets::ecss::{Ptc, RealPfc, UnsignedPfc};
+use spacepackets::ecss::{PfcReal, PfcUnsigned, Ptc};
 use spacepackets::time::cds::TimeProvider;
 use spacepackets::time::{CcsdsTimeProvider, TimeWriter};
 
@@ -64,7 +64,7 @@ impl TestMgmHkWithIndividualValidity {
         curr_idx += 1;
         buf[curr_idx] = Ptc::Real as u8;
         curr_idx += 1;
-        buf[curr_idx] = RealPfc::Float as u8;
+        buf[curr_idx] = PfcReal::Float as u8;
         curr_idx += 1;
         buf[curr_idx..curr_idx + size_of::<f32>()].copy_from_slice(&self.temp.val.to_be_bytes());
         curr_idx += size_of::<f32>();
@@ -75,7 +75,7 @@ impl TestMgmHkWithIndividualValidity {
         curr_idx += 1;
         buf[curr_idx] = Ptc::UnsignedInt as u8;
         curr_idx += 1;
-        buf[curr_idx] = UnsignedPfc::TwoBytes as u8;
+        buf[curr_idx] = PfcUnsigned::TwoBytes as u8;
         curr_idx += 1;
         buf[curr_idx] = 3;
         curr_idx += 1;
@@ -100,7 +100,7 @@ impl TestMgmHkWithGroupValidity {
         curr_idx += 1;
         buf[curr_idx] = Ptc::Real as u8;
         curr_idx += 1;
-        buf[curr_idx] = RealPfc::Float as u8;
+        buf[curr_idx] = PfcReal::Float as u8;
         curr_idx += 1;
         buf[curr_idx..curr_idx + size_of::<f32>()].copy_from_slice(&self.temp.to_be_bytes());
         curr_idx += size_of::<f32>();
@@ -109,7 +109,7 @@ impl TestMgmHkWithGroupValidity {
         curr_idx += 1;
         buf[curr_idx] = Ptc::UnsignedInt as u8;
         curr_idx += 1;
-        buf[curr_idx] = UnsignedPfc::TwoBytes as u8;
+        buf[curr_idx] = PfcUnsigned::TwoBytes as u8;
         curr_idx += 1;
         buf[curr_idx] = 3;
         for val in self.mgm_vals {

satrs-core/tests/pools.rs

@@ -1,4 +1,6 @@
-use satrs_core::pool::{LocalPool, PoolCfg, PoolGuard, PoolProvider, StoreAddr};
+use satrs_core::pool::{
+    PoolGuard, PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig, StoreAddr,
+};
 use std::ops::DerefMut;
 use std::sync::mpsc;
 use std::sync::mpsc::{Receiver, Sender};
@@ -9,8 +11,8 @@ const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
 
 #[test]
 fn threaded_usage() {
-    let pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
+    let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
-    let shared_pool = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
+    let shared_pool = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
     let shared_clone = shared_pool.clone();
     let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
     let jh0 = thread::spawn(move || {

satrs-core/tests/pus_verification.rs

@@ -1,7 +1,10 @@
 #[cfg(feature = "crossbeam")]
 pub mod crossbeam_test {
     use hashbrown::HashMap;
-    use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider};
+    use satrs_core::pool::{
+        PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, StaticMemoryPool,
+        StaticPoolConfig,
+    };
     use satrs_core::pus::verification::{
         FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
     };
@@ -9,7 +12,7 @@ pub mod crossbeam_test {
     use satrs_core::tmtc::tm_helper::SharedTmStore;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
-    use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket, SerializablePusPacket};
+    use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket, WritablePusPacket};
     use spacepackets::SpHeader;
     use std::sync::{Arc, RwLock};
     use std::thread;
@@ -33,9 +36,9 @@ pub mod crossbeam_test {
         // each reporter have an own sequence count provider.
         let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
         // Shared pool object to store the verification PUS telemetry
-        let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
+        let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
-        let shared_tm_store = SharedTmStore::new(Box::new(LocalPool::new(pool_cfg.clone())));
+        let shared_tm_store = SharedTmStore::new(StaticMemoryPool::new(pool_cfg.clone()));
-        let shared_tc_pool_0 = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
+        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 =
@@ -54,17 +57,17 @@ pub mod crossbeam_test {
             let mut tc_guard = shared_tc_pool_0.write().unwrap();
             let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
             let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
-            let pus_tc_0 = PusTcCreator::new(&mut sph, tc_header, None, true);
+            let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
             req_id_0 = RequestId::new(&pus_tc_0);
-            let (addr, mut buf) = tc_guard.free_element(pus_tc_0.len_packed()).unwrap();
+            let (addr, buf) = tc_guard.free_element(pus_tc_0.len_written()).unwrap();
-            pus_tc_0.write_to_bytes(&mut buf).unwrap();
+            pus_tc_0.write_to_bytes(buf).unwrap();
             tx_tc_0.send(addr).unwrap();
             let mut sph = SpHeader::tc_unseg(TEST_APID, 1, 0).unwrap();
             let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
-            let pus_tc_1 = PusTcCreator::new(&mut sph, tc_header, None, true);
+            let pus_tc_1 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
             req_id_1 = RequestId::new(&pus_tc_1);
-            let (addr, mut buf) = tc_guard.free_element(pus_tc_0.len_packed()).unwrap();
+            let (addr, buf) = tc_guard.free_element(pus_tc_0.len_written()).unwrap();
-            pus_tc_1.write_to_bytes(&mut buf).unwrap();
+            pus_tc_1.write_to_bytes(buf).unwrap();
             tx_tc_1.send(addr).unwrap();
         }
         let verif_sender_0 = thread::spawn(move || {
@@ -81,16 +84,14 @@ pub mod crossbeam_test {
                 tc_buf[0..tc_len].copy_from_slice(buf);
             }
             let (_tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
-            let accepted_token;
 
             let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
-            accepted_token = reporter_with_sender_0
+            let accepted_token = reporter_with_sender_0
                 .acceptance_success(token, Some(&FIXED_STAMP))
                 .expect("Acceptance success failed");
 
             // Do some start handling here
-            let started_token;
+            let started_token = reporter_with_sender_0
-            started_token = reporter_with_sender_0
                 .start_success(accepted_token, Some(&FIXED_STAMP))
                 .expect("Start success failed");
             // Do some step handling here
@@ -158,8 +159,7 @@ pub mod crossbeam_test {
                     RequestId::from_bytes(&pus_tm.source_data()[0..RequestId::SIZE_AS_BYTES])
                         .expect("reading request ID from PUS TM source data failed");
                 if !verif_map.contains_key(&req_id) {
-                    let mut content = Vec::new();
+                    let content = vec![pus_tm.subservice()];
-                    content.push(pus_tm.subservice());
                     verif_map.insert(req_id, content);
                 } else {
                     let content = verif_map.get_mut(&req_id).unwrap();

satrs-core/tests/tcp_servers.rs

@@ -28,7 +28,7 @@ use satrs_core::{
     tmtc::{ReceivesTcCore, TmPacketSourceCore},
 };
 use spacepackets::{
-    ecss::{tc::PusTcCreator, SerializablePusPacket},
+    ecss::{tc::PusTcCreator, WritablePusPacket},
     PacketId, SpHeader,
 };
 use std::{boxed::Box, collections::VecDeque, sync::Arc, vec::Vec};
@@ -94,8 +94,8 @@ fn test_cobs_server() {
     tm_source.add_tm(&INVERTED_PACKET);
     let mut tcp_server = TcpTmtcInCobsServer::new(
         ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
-        Box::new(tm_source),
+        tm_source,
-        Box::new(tc_receiver.clone()),
+        tc_receiver.clone(),
     )
     .expect("TCP server generation failed");
     let dest_addr = tcp_server
@@ -176,8 +176,8 @@ fn test_ccsds_server() {
     packet_id_lookup.insert(TEST_PACKET_ID_0);
     let mut tcp_server = TcpSpacepacketsServer::new(
         ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
-        Box::new(tm_source),
+        tm_source,
-        Box::new(tc_receiver.clone()),
+        tc_receiver.clone(),
         Box::new(packet_id_lookup),
     )
     .expect("TCP server generation failed");

satrs-example/.gitignore

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

satrs-example/Cargo.toml

@@ -17,11 +17,12 @@ zerocopy = "0.6"
 csv = "1"
 num_enum = "0.7"
 thiserror = "1"
+derive-new = "0.5"
 
 [dependencies.satrs-core]
-# version = "0.1.0-alpha.0"
+# version = "0.1.0-alpha.1"
 path = "../satrs-core"
 
-
 [dependencies.satrs-mib]
+# version = "0.1.0-alpha.1"
 path = "../satrs-mib"

satrs-example/README.md

@@ -17,7 +17,7 @@ cargo run --bin simpleclient
 This repository also contains a more complex client using the
 [Python tmtccmd](https://github.com/robamu-org/tmtccmd) module.
 
-# Using the tmtccmd Python client
+# <a id="tmtccmd"></a> Using the tmtccmd Python client
 
 The python client requires a valid installation of the
 [tmtccmd package](https://github.com/robamu-org/tmtccmd).
@@ -51,3 +51,26 @@ the `simpleclient`:
 
 You can also simply call the script without any arguments to view a list of services (`-s` flag)
 and corresponding op codes (`-o` flag) for each service.
+
+# Structure of the example project
+
+The example project contains components which could also be expected to be part of a production
+On-Board Software.
+
+1. A UDP and TCP server to receive telecommands and poll telemetry from. This might be an optional
+   component for an OBSW which is only used during the development phase on ground. The TCP
+   server parses space packets by using the CCSDS space packet ID as the packet start delimiter.
+2. A PUS service stack which exposes some functionality conformant with the ECSS PUS service. This
+   currently includes the following services:
+   - Service 1 for telecommand verification.
+   - Service 3 for housekeeping telemetry handling.
+   - Service 5 for management and downlink of on-board events.
+   - Service 8 for handling on-board actions.
+   - Service 11 for scheduling telecommands to be released at a specific time.
+   - Service 17 for test purposes (pings)
+3. An event manager component which handles the event IPC mechanism.
+4. A TC source component which demultiplexes and routes telecommands based on parameters like
+   packet APID or PUS service and subservice type.
+5. A TM sink sink component which is the target of all sent telemetry and sends it to downlink
+   handlers like the UDP and TCP server.
+6. An AOCS example task which can also process some PUS commands.

satrs-example/pyclient/.gitignore

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

satrs-example/pyclient/common.py

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

satrs-example/pyclient/main.py

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

satrs-example/pyclient/pus_tc.py

@@ -1,50 +1,85 @@
 import datetime
+import logging
 
 from spacepackets.ccsds import CdsShortTimestamp
 from spacepackets.ecss import PusTelecommand
-from tmtccmd.config import CoreServiceList
+from tmtccmd.config import CmdTreeNode
-from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tmtc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_11_tc_sched import create_time_tagged_cmd
+from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
-from tmtccmd.tc.pus_3_fsfw_hk import create_request_one_hk_command
+from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command
 
 from common import (
     EXAMPLE_PUS_APID,
-    HkOpCodes,
     make_addressable_id,
     RequestTargetId,
     AcsHkIds,
 )
 
+_LOGGER = logging.getLogger(__name__)
 
-def pack_pus_telecommands(q: DefaultPusQueueHelper, service: str, op_code: str):
+
-    if (
+def create_cmd_definition_tree() -> CmdTreeNode:
-        service == CoreServiceList.SERVICE_17
+
-        or service == CoreServiceList.SERVICE_17_ALT
+    root_node = CmdTreeNode.root_node()
-    ):
+
-        if op_code == "ping":
+    test_node = CmdTreeNode("test", "Test Node")
+    test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
+    root_node.add_child(test_node)
+
+    scheduler_node = CmdTreeNode("scheduler", "Scheduler Node")
+    scheduler_node.add_child(
+        CmdTreeNode(
+            "schedule_ping_10_secs_ahead", "Schedule Ping to execute in 10 seconds"
+        )
+    )
+    root_node.add_child(scheduler_node)
+
+    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
+    mgm_node = CmdTreeNode("mgms", "MGM devices node")
+    mgm_node.add_child(CmdTreeNode("one_shot_hk", "Request one shot HK"))
+    acs_node.add_child(mgm_node)
+    root_node.add_child(acs_node)
+
+    return root_node
+
+
+def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
+    # It should always be at least the root path "/", so we split of the empty portion left of it.
+    cmd_path_list = cmd_path.split("/")[1:]
+    if len(cmd_path_list) == 0:
+        _LOGGER.warning("empty command path")
+        return
+    if cmd_path_list[0] == "test":
+        assert len(cmd_path_list) >= 2
+        if cmd_path_list[1] == "ping":
             q.add_log_cmd("Sending PUS ping telecommand")
             return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-        elif op_code == "trigger_event":
+        elif cmd_path_list[1] == "trigger_event":
             q.add_log_cmd("Triggering test event")
             return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
-    if service == CoreServiceList.SERVICE_11:
+    if cmd_path_list[0] == "scheduler":
-        q.add_log_cmd("Sending PUS scheduled TC telecommand")
+        assert len(cmd_path_list) >= 2
-        crt_time = CdsShortTimestamp.from_now()
+        if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
-        time_stamp = crt_time + datetime.timedelta(seconds=10)
+            q.add_log_cmd("Sending PUS scheduled TC telecommand")
-        time_stamp = time_stamp.pack()
+            crt_time = CdsShortTimestamp.from_now()
-        return q.add_pus_tc(
+            time_stamp = crt_time + datetime.timedelta(seconds=10)
-            create_time_tagged_cmd(
+            time_stamp = time_stamp.pack()
-                time_stamp,
+            return q.add_pus_tc(
-                PusTelecommand(service=17, subservice=1),
+                create_time_tagged_cmd(
-                apid=EXAMPLE_PUS_APID,
+                    time_stamp,
-            )
+                    PusTelecommand(service=17, subservice=1),
-        )
+                    apid=EXAMPLE_PUS_APID,
-    if service == CoreServiceList.SERVICE_3:
-        if op_code in HkOpCodes.GENERATE_ONE_SHOT:
-            q.add_log_cmd("Sending HK one shot request")
-            q.add_pus_tc(
-                create_request_one_hk_command(
-                    make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
                 )
             )
-        pass
+    if cmd_path_list[0] == "acs":
+        assert len(cmd_path_list) >= 2
+        if cmd_path_list[1] == "mgm":
+            assert len(cmd_path_list) >= 3
+            if cmd_path_list[2] == "one_shot_hk":
+                q.add_log_cmd("Sending HK one shot request")
+                q.add_pus_tc(
+                    create_request_one_hk_command(
+                        make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
+                    )
+                )

satrs-example/pyclient/requirements.txt

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

satrs-example/pyclient/tmtc_conf.json

@@ -1,6 +1,8 @@
 {
-    "com_if": "udp",
+    "com_if": "tcp",
     "tcpip_udp_ip_addr": "127.0.0.1",
     "tcpip_udp_port": 7301,
-    "tcpip_udp_recv_max_size": 1500
+    "tcpip_udp_recv_max_size": 1500,
+    "tcpip_tcp_ip_addr": "127.0.0.1",
+    "tcpip_tcp_port": 7301
 }

satrs-example/src/bin/simpleclient.rs

@@ -2,7 +2,7 @@ use satrs_core::pus::verification::RequestId;
 use satrs_core::spacepackets::ecss::tc::PusTcCreator;
 use satrs_core::spacepackets::ecss::tm::PusTmReader;
 use satrs_core::{
-    spacepackets::ecss::{PusPacket, SerializablePusPacket},
+    spacepackets::ecss::{PusPacket, WritablePusPacket},
     spacepackets::SpHeader,
 };
 use satrs_example::{OBSW_SERVER_ADDR, SERVER_PORT};

satrs-example/src/ccsds.rs

@@ -3,6 +3,7 @@ use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
 use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
 use satrs_example::PUS_APID;
 
+#[derive(Clone)]
 pub struct CcsdsReceiver {
     pub tc_source: PusTcSource,
 }

satrs-example/src/hk.rs

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

satrs-example/src/lib.rs

@@ -1,11 +1,68 @@
+use derive_new::new;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use satrs_core::events::{EventU32TypedSev, SeverityInfo};
 use satrs_core::objects::ObjectId;
+use satrs_core::spacepackets::ecss::tc::IsPusTelecommand;
+use satrs_core::spacepackets::ecss::PusPacket;
+use satrs_core::spacepackets::{ByteConversionError, CcsdsPacket};
+use satrs_core::tmtc::TargetId;
+use std::fmt;
 use std::net::Ipv4Addr;
+use thiserror::Error;
 
 use satrs_mib::res_code::{ResultU16, ResultU16Info};
 use satrs_mib::resultcode;
 
+pub type Apid = u16;
+
+#[derive(Debug, Error)]
+pub enum TargetIdCreationError {
+    #[error("byte conversion")]
+    ByteConversion(#[from] ByteConversionError),
+    #[error("not enough app data to generate target ID")]
+    NotEnoughAppData(usize),
+}
+
+// TODO: can these stay pub?
+#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug, new)]
+pub struct TargetIdWithApid {
+    pub apid: Apid,
+    pub target: TargetId,
+}
+
+impl fmt::Display for TargetIdWithApid {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(f, "{}, {}", self.apid, self.target)
+    }
+}
+
+impl TargetIdWithApid {
+    pub fn apid(&self) -> Apid {
+        self.apid
+    }
+    pub fn target_id(&self) -> TargetId {
+        self.target
+    }
+}
+
+impl TargetIdWithApid {
+    pub fn from_tc(
+        tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
+    ) -> Result<Self, TargetIdCreationError> {
+        if tc.user_data().len() < 4 {
+            return Err(ByteConversionError::FromSliceTooSmall {
+                found: tc.user_data().len(),
+                expected: 8,
+            }
+            .into());
+        }
+        Ok(Self {
+            apid: tc.apid(),
+            target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
+        })
+    }
+}
+
 pub const PUS_APID: u16 = 0x02;
 
 #[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
@@ -20,6 +77,8 @@ pub enum RequestTargetId {
     AcsSubsystem = 1,
 }
 
+pub const AOCS_APID: u16 = 1;
+
 pub const ACS_OBJECT_ID: ObjectId = ObjectId {
     id: RequestTargetId::AcsSubsystem as u32,
     name: "ACS_SUBSYSTEM",

satrs-example/src/logger.rs

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

satrs-example/src/main.rs

@@ -1,28 +1,35 @@
 mod ccsds;
 mod hk;
-mod logging;
+mod logger;
 mod pus;
 mod requests;
+mod tcp;
 mod tmtc;
+mod udp;
 
 use log::{info, warn};
+use satrs_core::hal::std::tcp_server::ServerConfig;
+use satrs_core::hal::std::udp_server::UdpTcServer;
 
-use crate::hk::AcsHkIds;
+use crate::ccsds::CcsdsReceiver;
-use crate::logging::setup_logger;
+use crate::hk::{AcsHkIds, HkUniqueId};
+use crate::logger::setup_logger;
 use crate::pus::action::{Pus8Wrapper, PusService8ActionHandler};
 use crate::pus::event::Pus5Wrapper;
 use crate::pus::hk::{Pus3Wrapper, PusService3HkHandler};
 use crate::pus::scheduler::Pus11Wrapper;
 use crate::pus::test::Service17CustomWrapper;
-use crate::pus::PusTcMpscRouter;
+use crate::pus::{PusReceiver, PusTcMpscRouter};
 use crate::requests::{Request, RequestWithToken};
-use crate::tmtc::{core_tmtc_task, PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel};
+use crate::tcp::{SyncTcpTmSource, TcpTask};
+use crate::tmtc::{PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmtcTask};
+use crate::udp::UdpTmtcServer;
 use satrs_core::event_man::{
     EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
 };
 use satrs_core::events::EventU32;
 use satrs_core::hk::HkRequest;
-use satrs_core::pool::{LocalPool, PoolCfg};
+use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
 use satrs_core::pus::event_man::{
     DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
     PusEventDispatcher,
@@ -35,7 +42,9 @@ use satrs_core::pus::test::PusService17TestHandler;
 use satrs_core::pus::verification::{
     TcStateStarted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
 };
-use satrs_core::pus::{MpscTcInStoreReceiver, MpscTmInStoreSender};
+use satrs_core::pus::{
+    EcssTcInSharedStoreConverter, MpscTcReceiver, MpscTmInStoreSender, PusServiceHelper,
+};
 use satrs_core::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
 use satrs_core::spacepackets::ecss::tm::{PusTmCreator, PusTmZeroCopyWriter};
 use satrs_core::spacepackets::{
@@ -43,10 +52,11 @@ use satrs_core::spacepackets::{
     SpHeader,
 };
 use satrs_core::tmtc::tm_helper::SharedTmStore;
-use satrs_core::tmtc::{AddressableId, TargetId};
+use satrs_core::tmtc::{CcsdsDistributor, TargetId};
 use satrs_core::ChannelId;
 use satrs_example::{
-    RequestTargetId, TcReceiverId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT,
+    RequestTargetId, TargetIdWithApid, TcReceiverId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID,
+    SERVER_PORT,
 };
 use std::collections::HashMap;
 use std::net::{IpAddr, SocketAddr};
@@ -58,7 +68,7 @@ use std::time::Duration;
 fn main() {
     setup_logger().expect("setting up logging with fern failed");
     println!("Running OBSW example");
-    let tm_pool = LocalPool::new(PoolCfg::new(vec![
+    let tm_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
         (30, 32),
         (15, 64),
         (15, 128),
@@ -66,9 +76,9 @@ fn main() {
         (15, 1024),
         (15, 2048),
     ]));
-    let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
+    let shared_tm_store = SharedTmStore::new(tm_pool);
     let tm_store_event = shared_tm_store.clone();
-    let tc_pool = LocalPool::new(PoolCfg::new(vec![
+    let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
         (30, 32),
         (15, 64),
         (15, 128),
@@ -77,8 +87,16 @@ fn main() {
         (15, 2048),
     ]));
     let tc_store = TcStore {
-        pool: Arc::new(RwLock::new(Box::new(tc_pool))),
+        pool: Arc::new(RwLock::new(tc_pool)),
     };
+    let sched_tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
+        (30, 32),
+        (15, 64),
+        (15, 128),
+        (15, 256),
+        (15, 1024),
+        (15, 2048),
+    ]));
 
     let seq_count_provider = CcsdsSimpleSeqCountProvider::new();
     let mut msg_counter_map: HashMap<u8, u16> = HashMap::new();
@@ -124,7 +142,8 @@ fn main() {
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let mut request_map = HashMap::new();
     let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
-    request_map.insert(RequestTargetId::AcsSubsystem as TargetId, acs_thread_tx);
+    let target_apid = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
+    request_map.insert(target_apid, acs_thread_tx);
 
     let tc_source_wrapper = PusTcSource {
         tc_store: tc_store.clone(),
@@ -139,7 +158,7 @@ fn main() {
     let tm_args = TmArgs {
         tm_store: shared_tm_store.clone(),
         tm_sink_sender: tm_funnel_tx.clone(),
-        tm_server_rx,
+        tm_udp_server_rx: tm_server_rx,
     };
 
     let aocs_tm_funnel = tm_funnel_tx.clone();
@@ -163,18 +182,18 @@ fn main() {
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
-    let test_srv_receiver = MpscTcInStoreReceiver::new(
+    let test_srv_receiver = MpscTcReceiver::new(
         TcReceiverId::PusTest as ChannelId,
         "PUS_17_TC_RECV",
         pus_test_rx,
     );
-    let pus17_handler = PusService17TestHandler::new(
+    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
         Box::new(test_srv_receiver),
-        tc_store.pool.clone(),
         Box::new(test_srv_tm_sender),
         PUS_APID,
         verif_reporter.clone(),
-    );
+        EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
+    ));
     let mut pus_17_wrapper = Service17CustomWrapper {
         pus17_handler,
         test_srv_event_sender,
@@ -186,7 +205,7 @@ fn main() {
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
-    let sched_srv_receiver = MpscTcInStoreReceiver::new(
+    let sched_srv_receiver = MpscTcReceiver::new(
         TcReceiverId::PusSched as ChannelId,
         "PUS_11_TC_RECV",
         pus_sched_rx,
@@ -194,15 +213,18 @@ fn main() {
     let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusService11SchedHandler::new(
-        Box::new(sched_srv_receiver),
+        PusServiceHelper::new(
-        tc_store.pool.clone(),
+            Box::new(sched_srv_receiver),
-        Box::new(sched_srv_tm_sender),
+            Box::new(sched_srv_tm_sender),
-        PUS_APID,
+            PUS_APID,
-        verif_reporter.clone(),
+            verif_reporter.clone(),
+            EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
+        ),
         scheduler,
     );
     let mut pus_11_wrapper = Pus11Wrapper {
         pus_11_handler,
+        sched_tc_pool,
         tc_source_wrapper,
     };
 
@@ -212,17 +234,19 @@ fn main() {
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
-    let event_srv_receiver = MpscTcInStoreReceiver::new(
+    let event_srv_receiver = MpscTcReceiver::new(
         TcReceiverId::PusEvent as ChannelId,
         "PUS_5_TC_RECV",
         pus_event_rx,
     );
     let pus_5_handler = PusService5EventHandler::new(
-        Box::new(event_srv_receiver),
+        PusServiceHelper::new(
-        tc_store.pool.clone(),
+            Box::new(event_srv_receiver),
-        Box::new(event_srv_tm_sender),
+            Box::new(event_srv_tm_sender),
-        PUS_APID,
+            PUS_APID,
-        verif_reporter.clone(),
+            verif_reporter.clone(),
+            EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
+        ),
         event_request_tx,
     );
     let mut pus_5_wrapper = Pus5Wrapper { pus_5_handler };
@@ -233,17 +257,17 @@ fn main() {
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
-    let action_srv_receiver = MpscTcInStoreReceiver::new(
+    let action_srv_receiver = MpscTcReceiver::new(
         TcReceiverId::PusAction as ChannelId,
         "PUS_8_TC_RECV",
         pus_action_rx,
     );
     let pus_8_handler = PusService8ActionHandler::new(
         Box::new(action_srv_receiver),
-        tc_store.pool.clone(),
         Box::new(action_srv_tm_sender),
         PUS_APID,
         verif_reporter.clone(),
+        EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
         request_map.clone(),
     );
     let mut pus_8_wrapper = Pus8Wrapper { pus_8_handler };
@@ -255,22 +279,61 @@ fn main() {
         tm_funnel_tx.clone(),
     );
     let hk_srv_receiver =
-        MpscTcInStoreReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
+        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
     let pus_3_handler = PusService3HkHandler::new(
         Box::new(hk_srv_receiver),
-        tc_store.pool.clone(),
         Box::new(hk_srv_tm_sender),
         PUS_APID,
         verif_reporter.clone(),
+        EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
         request_map,
     );
     let mut pus_3_wrapper = Pus3Wrapper { pus_3_handler };
 
-    info!("Starting TMTC task");
+    let ccsds_receiver = CcsdsReceiver {
-    let jh0 = thread::Builder::new()
+        tc_source: tc_args.tc_source.clone(),
-        .name("TMTC".to_string())
+    };
+    let mut tmtc_task = TmtcTask::new(tc_args, PusReceiver::new(verif_reporter, pus_router));
+
+    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
+        .expect("creating UDP TMTC server failed");
+    let mut udp_tmtc_server = UdpTmtcServer {
+        udp_tc_server,
+        tm_rx: tm_args.tm_udp_server_rx,
+        tm_store: tm_args.tm_store.clone_backing_pool(),
+    };
+
+    info!("Starting TMTC and UDP task");
+    let jh_udp_tmtc = thread::Builder::new()
+        .name("TMTC and UDP".to_string())
         .spawn(move || {
-            core_tmtc_task(sock_addr, tc_args, tm_args, verif_reporter, pus_router);
+            info!("Running UDP server on port {SERVER_PORT}");
+            loop {
+                udp_tmtc_server.periodic_operation();
+                tmtc_task.periodic_operation();
+                thread::sleep(Duration::from_millis(400));
+            }
+        })
+        .unwrap();
+
+    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
+    let mut sync_tm_tcp_source = SyncTcpTmSource::new(200);
+    let mut tcp_server = TcpTask::new(
+        tcp_server_cfg,
+        sync_tm_tcp_source.clone(),
+        tcp_ccsds_distributor,
+    )
+    .expect("tcp server creation failed");
+    info!("Starting TCP task");
+    let jh_tcp = thread::Builder::new()
+        .name("TCP".to_string())
+        .spawn(move || {
+            info!("Running TCP server on port {SERVER_PORT}");
+            loop {
+                tcp_server.periodic_operation();
+            }
         })
         .unwrap();
 
@@ -311,6 +374,7 @@ fn main() {
                         .tm_server_tx
                         .send(addr)
                         .expect("Sending TM to server failed");
+                    sync_tm_tcp_source.add_tm(tm_raw);
                 }
             }
         })
@@ -382,6 +446,7 @@ fn main() {
             let mut timestamp: [u8; 7] = [0; 7];
             let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
             loop {
+                // TODO: Move this into a separate function/task/module..
                 match acs_thread_rx.try_recv() {
                     Ok(request) => {
                         info!(
@@ -392,9 +457,13 @@ fn main() {
                         match request.targeted_request.request {
                             Request::Hk(hk_req) => match hk_req {
                                 HkRequest::OneShot(unique_id) => {
+                                    // TODO: We should check whether the unique ID is even valid.
                                     let target = request.targeted_request.target_id;
-                                    assert_eq!(target, RequestTargetId::AcsSubsystem as u32);
+                                    assert_eq!(
-                                    if request.targeted_request.target_id
+                                        target.target_id(),
+                                        RequestTargetId::AcsSubsystem as u32
+                                    );
+                                    if request.targeted_request.target_id.target
                                         == AcsHkIds::TestMgmSet as u32
                                     {
                                         let mut sp_header = SpHeader::tm(
@@ -410,15 +479,12 @@ fn main() {
                                             &timestamp,
                                         );
                                         let mut buf: [u8; 8] = [0; 8];
-                                        let addressable_id = AddressableId {
+                                        let hk_id = HkUniqueId::new(target.target_id(), unique_id);
-                                            target_id: target,
+                                        hk_id.write_to_be_bytes(&mut buf).unwrap();
-                                            unique_id,
-                                        };
-                                        addressable_id.write_to_be_bytes(&mut buf).unwrap();
                                         let pus_tm = PusTmCreator::new(
                                             &mut sp_header,
                                             sec_header,
-                                            Some(&buf),
+                                            &buf,
                                             true,
                                         );
                                         let addr = aocs_tm_store
@@ -481,7 +547,12 @@ fn main() {
             thread::sleep(Duration::from_millis(200));
         })
         .unwrap();
-    jh0.join().expect("Joining UDP TMTC server thread failed");
+    jh_udp_tmtc
+        .join()
+        .expect("Joining UDP TMTC server thread failed");
+    jh_tcp
+        .join()
+        .expect("Joining TCP TMTC server thread failed");
     jh1.join().expect("Joining TM Funnel thread failed");
     jh2.join().expect("Joining Event Manager thread failed");
     jh3.join().expect("Joining AOCS thread failed");

satrs-example/src/pus/action.rs

@@ -1,48 +1,44 @@
 use crate::requests::{ActionRequest, Request, RequestWithToken};
 use log::{error, warn};
-use satrs_core::pool::{SharedPool, StoreAddr};
 use satrs_core::pus::verification::{
-    FailParams, StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
+    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
 };
 use satrs_core::pus::{
-    EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
-    PusServiceHandler,
+    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
 };
 use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::tmtc::TargetId;
+use satrs_example::{tmtc_err, TargetIdWithApid};
-use satrs_example::tmtc_err;
 use std::collections::HashMap;
 use std::sync::mpsc::Sender;
 
-pub struct PusService8ActionHandler {
+pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
-    psb: PusServiceBase,
+    service_helper: PusServiceHelper<TcInMemConverter>,
-    request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
+    request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
 }
 
-impl PusService8ActionHandler {
+impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemConverter> {
     pub fn new(
         tc_receiver: Box<dyn EcssTcReceiver>,
-        shared_tc_pool: SharedPool,
         tm_sender: Box<dyn EcssTmSender>,
         tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
+        verification_handler: VerificationReporterWithSender,
-        request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
+        tc_in_mem_converter: TcInMemConverter,
+        request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
     ) -> Self {
         Self {
-            psb: PusServiceBase::new(
+            service_helper: PusServiceHelper::new(
                 tc_receiver,
-                shared_tc_pool,
                 tm_sender,
                 tm_apid,
                 verification_handler,
+                tc_in_mem_converter,
             ),
             request_handlers,
         }
     }
-}
 
-impl PusService8ActionHandler {
     fn handle_action_request_with_id(
         &self,
         token: VerificationToken<TcStateAccepted>,
@@ -51,7 +47,8 @@ impl PusService8ActionHandler {
     ) -> Result<(), PusPacketHandlingError> {
         let user_data = tc.user_data();
         if user_data.len() < 8 {
-            self.psb()
+            self.service_helper
+                .common
                 .verification_handler
                 .borrow_mut()
                 .start_failure(
@@ -63,7 +60,8 @@ impl PusService8ActionHandler {
                 "Expected at least 4 bytes".into(),
             ));
         }
-        let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap());
+        //let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap());
+        let target_id = TargetIdWithApid::from_tc(tc).unwrap();
         let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
         if let Some(sender) = self.request_handlers.get(&target_id) {
             sender
@@ -78,8 +76,9 @@ impl PusService8ActionHandler {
                 .expect("Forwarding action request failed");
         } else {
             let mut fail_data: [u8; 4] = [0; 4];
-            fail_data.copy_from_slice(&target_id.to_be_bytes());
+            fail_data.copy_from_slice(&target_id.target.to_be_bytes());
-            self.psb()
+            self.service_helper
+                .common
                 .verification_handler
                 .borrow_mut()
                 .start_failure(
@@ -97,37 +96,32 @@ impl PusService8ActionHandler {
         }
         Ok(())
     }
-}
 
-impl PusServiceHandler for PusService8ActionHandler {
+    fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-        &mut self.psb
+        if possible_packet.is_none() {
-    }
+            return Ok(PusPacketHandlerResult::Empty);
-    fn psb(&self) -> &PusServiceBase {
+        }
-        &self.psb
+        let ecss_tc_and_token = possible_packet.unwrap();
-    }
+        self.service_helper
-
+            .tc_in_mem_converter
-    fn handle_one_tc(
+            .cache_ecss_tc_in_memory(&ecss_tc_and_token.tc_in_memory)?;
-        &mut self,
+        let tc = PusTcReader::new(self.service_helper.tc_in_mem_converter.tc_slice_raw())?.0;
-        addr: StoreAddr,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb().pus_buf).unwrap();
         let subservice = tc.subservice();
         let mut partial_error = None;
-        let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
+        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
         match subservice {
             128 => {
-                self.handle_action_request_with_id(token, &tc, &time_stamp)?;
+                self.handle_action_request_with_id(ecss_tc_and_token.token, &tc, &time_stamp)?;
             }
             _ => {
                 let fail_data = [subservice];
-                self.psb_mut()
+                self.service_helper
+                    .common
                     .verification_handler
                     .get_mut()
                     .start_failure(
-                        token,
+                        ecss_tc_and_token.token,
                         FailParams::new(
                             Some(&time_stamp),
                             &tmtc_err::INVALID_PUS_SUBSERVICE,
@@ -148,12 +142,12 @@ impl PusServiceHandler for PusService8ActionHandler {
 }
 
 pub struct Pus8Wrapper {
-    pub(crate) pus_8_handler: PusService8ActionHandler,
+    pub(crate) pus_8_handler: PusService8ActionHandler<EcssTcInSharedStoreConverter>,
 }
 
 impl Pus8Wrapper {
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_8_handler.handle_next_packet() {
+        match self.pus_8_handler.handle_one_tc() {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/event.rs

@@ -1,14 +1,14 @@
 use log::{error, warn};
 use satrs_core::pus::event_srv::PusService5EventHandler;
-use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
+use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
 
 pub struct Pus5Wrapper {
-    pub pus_5_handler: PusService5EventHandler,
+    pub pus_5_handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
 }
 
 impl Pus5Wrapper {
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_5_handler.handle_next_packet() {
+        match self.pus_5_handler.handle_one_tc() {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/hk.rs

@@ -1,73 +1,63 @@
 use crate::requests::{Request, RequestWithToken};
 use log::{error, warn};
 use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
-use satrs_core::pool::{SharedPool, StoreAddr};
+use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
-use satrs_core::pus::verification::{
-    FailParams, StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
-};
 use satrs_core::pus::{
-    EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
-    PusServiceHandler,
+    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
 };
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::{hk, PusPacket};
-use satrs_core::tmtc::{AddressableId, TargetId};
+use satrs_example::{hk_err, tmtc_err, TargetIdWithApid};
-use satrs_example::{hk_err, tmtc_err};
 use std::collections::HashMap;
 use std::sync::mpsc::Sender;
 
-pub struct PusService3HkHandler {
+pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
-    psb: PusServiceBase,
+    psb: PusServiceHelper<TcInMemConverter>,
-    request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
+    request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
 }
 
-impl PusService3HkHandler {
+impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConverter> {
     pub fn new(
         tc_receiver: Box<dyn EcssTcReceiver>,
-        shared_tc_pool: SharedPool,
         tm_sender: Box<dyn EcssTmSender>,
         tm_apid: u16,
         verification_handler: StdVerifReporterWithSender,
-        request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
+        tc_in_mem_converter: TcInMemConverter,
+        request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
     ) -> Self {
         Self {
-            psb: PusServiceBase::new(
+            psb: PusServiceHelper::new(
                 tc_receiver,
-                shared_tc_pool,
                 tm_sender,
                 tm_apid,
                 verification_handler,
+                tc_in_mem_converter,
             ),
             request_handlers,
         }
     }
-}
 
-impl PusServiceHandler for PusService3HkHandler {
+    fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
+        let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
-        &mut self.psb
+        if possible_packet.is_none() {
-    }
+            return Ok(PusPacketHandlerResult::Empty);
-    fn psb(&self) -> &PusServiceBase {
+        }
-        &self.psb
+        let ecss_tc_and_token = possible_packet.unwrap();
-    }
+        let tc = self
-
+            .psb
-    fn handle_one_tc(
+            .tc_in_mem_converter
-        &mut self,
+            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-        addr: StoreAddr,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb().pus_buf).unwrap();
         let subservice = tc.subservice();
         let mut partial_error = None;
-        let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
+        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
         let user_data = tc.user_data();
         if user_data.is_empty() {
             self.psb
+                .common
                 .verification_handler
                 .borrow_mut()
                 .start_failure(
-                    token,
+                    ecss_tc_and_token.token,
                     FailParams::new(Some(&time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
                 )
                 .expect("Sending start failure TM failed");
@@ -82,63 +72,58 @@ impl PusServiceHandler for PusService3HkHandler {
                 &hk_err::UNIQUE_ID_MISSING
             };
             self.psb
+                .common
                 .verification_handler
                 .borrow_mut()
-                .start_failure(token, FailParams::new(Some(&time_stamp), err, None))
+                .start_failure(
+                    ecss_tc_and_token.token,
+                    FailParams::new(Some(&time_stamp), err, None),
+                )
                 .expect("Sending start failure TM failed");
             return Err(PusPacketHandlingError::NotEnoughAppData(
                 "Expected at least 8 bytes of app data".into(),
             ));
         }
-        let addressable_id = AddressableId::from_raw_be(user_data).unwrap();
+        let target_id = TargetIdWithApid::from_tc(&tc).expect("invalid tc format");
-        if !self
+        let unique_id = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
-            .request_handlers
+        if !self.request_handlers.contains_key(&target_id) {
-            .contains_key(&addressable_id.target_id)
-        {
             self.psb
+                .common
                 .verification_handler
                 .borrow_mut()
                 .start_failure(
-                    token,
+                    ecss_tc_and_token.token,
                     FailParams::new(Some(&time_stamp), &hk_err::UNKNOWN_TARGET_ID, None),
                 )
                 .expect("Sending start failure TM failed");
-            let tgt_id = addressable_id.target_id;
             return Err(PusPacketHandlingError::NotEnoughAppData(format!(
-                "Unknown target ID {tgt_id}"
+                "Unknown target ID {target_id}"
             )));
         }
-        let send_request = |target: TargetId, request: HkRequest| {
+        let send_request = |target: TargetIdWithApid, request: HkRequest| {
-            let sender = self
+            let sender = self.request_handlers.get(&target).unwrap();
-                .request_handlers
-                .get(&addressable_id.target_id)
-                .unwrap();
             sender
-                .send(RequestWithToken::new(target, Request::Hk(request), token))
+                .send(RequestWithToken::new(
+                    target,
+                    Request::Hk(request),
+                    ecss_tc_and_token.token,
+                ))
                 .unwrap_or_else(|_| panic!("Sending HK request {request:?} failed"));
         };
         if subservice == hk::Subservice::TcEnableHkGeneration as u8 {
-            send_request(
+            send_request(target_id, HkRequest::Enable(unique_id));
-                addressable_id.target_id,
-                HkRequest::Enable(addressable_id.unique_id),
-            );
         } else if subservice == hk::Subservice::TcDisableHkGeneration as u8 {
-            send_request(
+            send_request(target_id, HkRequest::Disable(unique_id));
-                addressable_id.target_id,
-                HkRequest::Disable(addressable_id.unique_id),
-            );
         } else if subservice == hk::Subservice::TcGenerateOneShotHk as u8 {
-            send_request(
+            send_request(target_id, HkRequest::OneShot(unique_id));
-                addressable_id.target_id,
-                HkRequest::OneShot(addressable_id.unique_id),
-            );
         } else if subservice == hk::Subservice::TcModifyHkCollectionInterval as u8 {
             if user_data.len() < 12 {
                 self.psb
+                    .common
                     .verification_handler
                     .borrow_mut()
                     .start_failure(
-                        token,
+                        ecss_tc_and_token.token,
                         FailParams::new(
                             Some(&time_stamp),
                             &hk_err::COLLECTION_INTERVAL_MISSING,
@@ -151,9 +136,9 @@ impl PusServiceHandler for PusService3HkHandler {
                 ));
             }
             send_request(
-                addressable_id.target_id,
+                target_id,
                 HkRequest::ModifyCollectionInterval(
-                    addressable_id.unique_id,
+                    unique_id,
                     CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
                 ),
             );
@@ -163,12 +148,12 @@ impl PusServiceHandler for PusService3HkHandler {
 }
 
 pub struct Pus3Wrapper {
-    pub(crate) pus_3_handler: PusService3HkHandler,
+    pub(crate) pus_3_handler: PusService3HkHandler<EcssTcInSharedStoreConverter>,
 }
 
 impl Pus3Wrapper {
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_3_handler.handle_next_packet() {
+        match self.pus_3_handler.handle_one_tc() {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/mod.rs

@@ -1,8 +1,7 @@
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
-use satrs_core::pool::StoreAddr;
 use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
-use satrs_core::pus::{PusPacketHandlerResult, TcAddrWithToken};
+use satrs_core::pus::{EcssTcAndToken, PusPacketHandlerResult, TcInMemory};
 use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusServiceId;
 use satrs_core::spacepackets::time::cds::TimeProvider;
@@ -17,11 +16,11 @@ pub mod scheduler;
 pub mod test;
 
 pub struct PusTcMpscRouter {
-    pub test_service_receiver: Sender<TcAddrWithToken>,
+    pub test_service_receiver: Sender<EcssTcAndToken>,
-    pub event_service_receiver: Sender<TcAddrWithToken>,
+    pub event_service_receiver: Sender<EcssTcAndToken>,
-    pub sched_service_receiver: Sender<TcAddrWithToken>,
+    pub sched_service_receiver: Sender<EcssTcAndToken>,
-    pub hk_service_receiver: Sender<TcAddrWithToken>,
+    pub hk_service_receiver: Sender<EcssTcAndToken>,
-    pub action_service_receiver: Sender<TcAddrWithToken>,
+    pub action_service_receiver: Sender<EcssTcAndToken>,
 }
 
 pub struct PusReceiver {
@@ -70,7 +69,7 @@ impl PusReceiver {
 impl PusReceiver {
     pub fn handle_tc_packet(
         &mut self,
-        store_addr: StoreAddr,
+        tc_in_memory: TcInMemory,
         service: u8,
         pus_tc: &PusTcReader,
     ) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
@@ -84,22 +83,33 @@ impl PusReceiver {
         match service {
             Ok(standard_service) => match standard_service {
                 PusServiceId::Test => {
-                    self.pus_router
+                    self.pus_router.test_service_receiver.send(EcssTcAndToken {
-                        .test_service_receiver
+                        tc_in_memory,
-                        .send((store_addr, accepted_token.into()))?;
+                        token: Some(accepted_token.into()),
+                    })?
+                }
+                PusServiceId::Housekeeping => {
+                    self.pus_router.hk_service_receiver.send(EcssTcAndToken {
+                        tc_in_memory,
+                        token: Some(accepted_token.into()),
+                    })?
+                }
+                PusServiceId::Event => {
+                    self.pus_router
+                        .event_service_receiver
+                        .send(EcssTcAndToken {
+                            tc_in_memory,
+                            token: Some(accepted_token.into()),
+                        })?
+                }
+                PusServiceId::Scheduling => {
+                    self.pus_router
+                        .sched_service_receiver
+                        .send(EcssTcAndToken {
+                            tc_in_memory,
+                            token: Some(accepted_token.into()),
+                        })?
                 }
-                PusServiceId::Housekeeping => self
-                    .pus_router
-                    .hk_service_receiver
-                    .send((store_addr, accepted_token.into()))?,
-                PusServiceId::Event => self
-                    .pus_router
-                    .event_service_receiver
-                    .send((store_addr, accepted_token.into()))?,
-                PusServiceId::Scheduling => self
-                    .pus_router
-                    .sched_service_receiver
-                    .send((store_addr, accepted_token.into()))?,
                 _ => {
                     let result = self.verif_reporter.start_failure(
                         accepted_token,

satrs-example/src/pus/scheduler.rs

@@ -1,50 +1,54 @@
 use crate::tmtc::PusTcSource;
 use log::{error, info, warn};
-use satrs_core::pus::scheduler::TcInfo;
+use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool};
+use satrs_core::pus::scheduler::{PusScheduler, TcInfo};
 use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
-use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
+use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
 
 pub struct Pus11Wrapper {
-    pub pus_11_handler: PusService11SchedHandler,
+    pub pus_11_handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, PusScheduler>,
+    pub sched_tc_pool: StaticMemoryPool,
     pub tc_source_wrapper: PusTcSource,
 }
 
 impl Pus11Wrapper {
     pub fn release_tcs(&mut self) {
-        let releaser = |enabled: bool, info: &TcInfo| -> bool {
+        let releaser = |enabled: bool, _info: &TcInfo, tc: &[u8]| -> bool {
             if enabled {
+                // Transfer TC from scheduler TC pool to shared TC pool.
+                let released_tc_addr = self
+                    .tc_source_wrapper
+                    .tc_store
+                    .pool
+                    .write()
+                    .expect("locking pool failed")
+                    .add(tc)
+                    .expect("adding TC to shared pool failed");
+
                 self.tc_source_wrapper
                     .tc_source
-                    .send(info.addr())
+                    .send(released_tc_addr)
                     .expect("sending TC to TC source failed");
             }
             true
         };
 
-        let mut pool = self
-            .tc_source_wrapper
-            .tc_store
-            .pool
-            .write()
-            .expect("error locking pool");
-
         self.pus_11_handler
             .scheduler_mut()
             .update_time_from_now()
             .unwrap();
-        if let Ok(released_tcs) = self
+        let released_tcs = self
             .pus_11_handler
             .scheduler_mut()
-            .release_telecommands(releaser, pool.as_mut())
+            .release_telecommands(releaser, &mut self.sched_tc_pool)
-        {
+            .expect("releasing TCs failed");
-            if released_tcs > 0 {
+        if released_tcs > 0 {
-                info!("{released_tcs} TC(s) released from scheduler");
+            info!("{released_tcs} TC(s) released from scheduler");
-            }
         }
     }
 
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_11_handler.handle_next_packet() {
+        match self.pus_11_handler.handle_one_tc(&mut self.sched_tc_pool) {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/test.rs

@@ -1,24 +1,24 @@
 use log::{info, warn};
-use satrs_core::events::EventU32;
 use satrs_core::params::Params;
 use satrs_core::pus::test::PusService17TestHandler;
 use satrs_core::pus::verification::FailParams;
-use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
+use satrs_core::pus::{EcssTcInMemConverter, PusPacketHandlerResult};
 use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusPacket;
 use satrs_core::spacepackets::time::cds::TimeProvider;
 use satrs_core::spacepackets::time::TimeWriter;
+use satrs_core::{events::EventU32, pus::EcssTcInSharedStoreConverter};
 use satrs_example::{tmtc_err, TEST_EVENT};
 use std::sync::mpsc::Sender;
 
 pub struct Service17CustomWrapper {
-    pub pus17_handler: PusService17TestHandler,
+    pub pus17_handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
     pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
 }
 
 impl Service17CustomWrapper {
     pub fn handle_next_packet(&mut self) -> bool {
-        let res = self.pus17_handler.handle_next_packet();
+        let res = self.pus17_handler.handle_one_tc();
         if res.is_err() {
             warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
             return true;
@@ -38,9 +38,13 @@ impl Service17CustomWrapper {
                 warn!("PUS17: Subservice {subservice} not implemented")
             }
             PusPacketHandlerResult::CustomSubservice(subservice, token) => {
-                let psb_mut = self.pus17_handler.psb_mut();
+                let (tc, _) = PusTcReader::new(
-                let buf = psb_mut.pus_buf;
+                    self.pus17_handler
-                let (tc, _) = PusTcReader::new(&buf).unwrap();
+                        .service_helper
+                        .tc_in_mem_converter
+                        .tc_slice_raw(),
+                )
+                .unwrap();
                 let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
                 let mut stamp_buf: [u8; 7] = [0; 7];
                 time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
@@ -49,12 +53,17 @@ impl Service17CustomWrapper {
                     self.test_srv_event_sender
                         .send((TEST_EVENT.into(), None))
                         .expect("Sending test event failed");
-                    let start_token = psb_mut
+                    let start_token = self
+                        .pus17_handler
+                        .service_helper
+                        .common
                         .verification_handler
                         .get_mut()
                         .start_success(token, Some(&stamp_buf))
                         .expect("Error sending start success");
-                    psb_mut
+                    self.pus17_handler
+                        .service_helper
+                        .common
                         .verification_handler
                         .get_mut()
                         .completion_success(start_token, Some(&stamp_buf))
@@ -62,7 +71,8 @@ impl Service17CustomWrapper {
                 } else {
                     let fail_data = [tc.subservice()];
                     self.pus17_handler
-                        .psb_mut()
+                        .service_helper
+                        .common
                         .verification_handler
                         .get_mut()
                         .start_failure(

satrs-example/src/requests.rs

@@ -1,7 +1,8 @@
+use derive_new::new;
 use satrs_core::hk::HkRequest;
 use satrs_core::mode::ModeRequest;
 use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
-use satrs_core::tmtc::TargetId;
+use satrs_example::TargetIdWithApid;
 
 #[allow(dead_code)]
 #[derive(Clone, Eq, PartialEq, Debug)]
@@ -19,18 +20,12 @@ pub enum Request {
     Action(ActionRequest),
 }
 
-#[derive(Clone, Eq, PartialEq, Debug)]
+#[derive(Clone, Eq, PartialEq, Debug, new)]
 pub struct TargetedRequest {
-    pub(crate) target_id: TargetId,
+    pub(crate) target_id: TargetIdWithApid,
     pub(crate) request: Request,
 }
 
-impl TargetedRequest {
-    pub fn new(target_id: TargetId, request: Request) -> Self {
-        Self { target_id, request }
-    }
-}
-
 #[derive(Clone, Eq, PartialEq, Debug)]
 pub struct RequestWithToken {
     pub(crate) targeted_request: TargetedRequest,
@@ -39,7 +34,7 @@ pub struct RequestWithToken {
 
 impl RequestWithToken {
     pub fn new(
-        target_id: u32,
+        target_id: TargetIdWithApid,
         request: Request,
         token: VerificationToken<TcStateAccepted>,
     ) -> Self {

satrs-example/src/tcp.rs

@@ -0,0 +1,115 @@
+use std::{
+    collections::VecDeque,
+    sync::{Arc, Mutex},
+};
+
+use log::{info, warn};
+use satrs_core::{
+    hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
+    spacepackets::PacketId,
+    tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
+};
+use satrs_example::PUS_APID;
+
+use crate::tmtc::MpscStoreAndSendError;
+
+pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
+
+#[derive(Default, Clone)]
+pub struct SyncTcpTmSource {
+    tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
+    max_packets_stored: usize,
+    pub silent_packet_overwrite: bool,
+}
+
+impl SyncTcpTmSource {
+    pub fn new(max_packets_stored: usize) -> Self {
+        Self {
+            tm_queue: Arc::default(),
+            max_packets_stored,
+            silent_packet_overwrite: true,
+        }
+    }
+
+    pub fn add_tm(&mut self, tm: &[u8]) {
+        let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failec");
+        if tm_queue.len() > self.max_packets_stored {
+            if !self.silent_packet_overwrite {
+                warn!("TPC TM source is full, deleting oldest packet");
+            }
+            tm_queue.pop_front();
+        }
+        tm_queue.push_back(tm.to_vec());
+    }
+}
+
+impl TmPacketSourceCore for SyncTcpTmSource {
+    type Error = ();
+
+    fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
+        let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failed");
+        if !tm_queue.is_empty() {
+            let next_vec = tm_queue.front().unwrap();
+            if buffer.len() < next_vec.len() {
+                panic!(
+                    "provided buffer too small, must be at least {} bytes",
+                    next_vec.len()
+                );
+            }
+            let next_vec = tm_queue.pop_front().unwrap();
+            buffer[0..next_vec.len()].copy_from_slice(&next_vec);
+            if next_vec.len() > 9 {
+                let service = next_vec[7];
+                let subservice = next_vec[8];
+                info!("Sending PUS TM[{service},{subservice}]")
+            } else {
+                info!("Sending PUS TM");
+            }
+            return Ok(next_vec.len());
+        }
+        Ok(0)
+    }
+}
+
+pub struct TcpTask {
+    server: TcpSpacepacketsServer<
+        (),
+        CcsdsError<MpscStoreAndSendError>,
+        SyncTcpTmSource,
+        CcsdsDistributor<MpscStoreAndSendError>,
+    >,
+}
+
+impl TcpTask {
+    pub fn new(
+        cfg: ServerConfig,
+        tm_source: SyncTcpTmSource,
+        tc_receiver: CcsdsDistributor<MpscStoreAndSendError>,
+    ) -> Result<Self, std::io::Error> {
+        Ok(Self {
+            server: TcpSpacepacketsServer::new(
+                cfg,
+                tm_source,
+                tc_receiver,
+                Box::new(PACKET_ID_LOOKUP),
+            )?,
+        })
+    }
+
+    pub fn periodic_operation(&mut self) {
+        loop {
+            let result = self.server.handle_next_connection();
+            match result {
+                Ok(conn_result) => {
+                    info!(
+                        "Served {} TMs and {} TCs for client {:?}",
+                        conn_result.num_sent_tms, conn_result.num_received_tcs, conn_result.addr
+                    );
+                }
+                Err(e) => {
+                    warn!("TCP server error: {e:?}");
+                }
+            }
+        }
+    }
+}

satrs-example/src/tmtc.rs

@@ -1,26 +1,20 @@
-use log::{info, warn};
+use log::warn;
-use satrs_core::hal::std::udp_server::{ReceiveResult, UdpTcServer};
+use satrs_core::pus::{EcssTcAndToken, ReceivesEcssPusTc};
-use std::net::SocketAddr;
+use satrs_core::spacepackets::SpHeader;
 use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
-use std::thread;
-use std::time::Duration;
 use thiserror::Error;
 
-use crate::ccsds::CcsdsReceiver;
+use crate::pus::PusReceiver;
-use crate::pus::{PusReceiver, PusTcMpscRouter};
+use satrs_core::pool::{PoolProviderMemInPlace, SharedStaticMemoryPool, StoreAddr, StoreError};
-use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
-use satrs_core::pus::verification::StdVerifReporterWithSender;
-use satrs_core::pus::{ReceivesEcssPusTc, TcAddrWithToken};
 use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::spacepackets::SpHeader;
 use satrs_core::tmtc::tm_helper::SharedTmStore;
-use satrs_core::tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc};
+use satrs_core::tmtc::ReceivesCcsdsTc;
 
 pub struct TmArgs {
     pub tm_store: SharedTmStore,
     pub tm_sink_sender: Sender<StoreAddr>,
-    pub tm_server_rx: Receiver<StoreAddr>,
+    pub tm_udp_server_rx: Receiver<StoreAddr>,
 }
 
 pub struct TcArgs {
@@ -40,14 +34,14 @@ pub enum MpscStoreAndSendError {
     #[error("Store error: {0}")]
     Store(#[from] StoreError),
     #[error("TC send error: {0}")]
-    TcSend(#[from] SendError<TcAddrWithToken>),
+    TcSend(#[from] SendError<EcssTcAndToken>),
     #[error("TMTC send error: {0}")]
     TmTcSend(#[from] SendError<StoreAddr>),
 }
 
 #[derive(Clone)]
 pub struct TcStore {
-    pub pool: SharedPool,
+    pub pool: SharedStaticMemoryPool,
 }
 
 impl TcStore {
@@ -64,12 +58,6 @@ pub struct TmFunnel {
     pub tm_server_tx: Sender<StoreAddr>,
 }
 
-pub struct UdpTmtcServer {
-    udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
-    tm_rx: Receiver<StoreAddr>,
-    tm_store: SharedPool,
-}
-
 #[derive(Clone)]
 pub struct PusTcSource {
     pub tc_source: Sender<StoreAddr>,
@@ -98,131 +86,63 @@ impl ReceivesCcsdsTc for PusTcSource {
     }
 }
 
-pub fn core_tmtc_task(
+pub struct TmtcTask {
-    socket_addr: SocketAddr,
+    tc_args: TcArgs,
-    mut tc_args: TcArgs,
+    tc_buf: [u8; 4096],
-    tm_args: TmArgs,
+    pus_receiver: PusReceiver,
-    verif_reporter: StdVerifReporterWithSender,
-    pus_router: PusTcMpscRouter,
-) {
-    let mut pus_receiver = PusReceiver::new(verif_reporter, pus_router);
-
-    let ccsds_receiver = CcsdsReceiver {
-        tc_source: tc_args.tc_source.clone(),
-    };
-
-    let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
-
-    let udp_tc_server = UdpTcServer::new(socket_addr, 2048, Box::new(ccsds_distributor))
-        .expect("creating UDP TMTC server failed");
-
-    let mut udp_tmtc_server = UdpTmtcServer {
-        udp_tc_server,
-        tm_rx: tm_args.tm_server_rx,
-        tm_store: tm_args.tm_store.clone_backing_pool(),
-    };
-
-    let mut tc_buf: [u8; 4096] = [0; 4096];
-    loop {
-        core_tmtc_loop(
-            &mut udp_tmtc_server,
-            &mut tc_args,
-            &mut tc_buf,
-            &mut pus_receiver,
-        );
-        thread::sleep(Duration::from_millis(400));
-    }
 }
 
-fn core_tmtc_loop(
+impl TmtcTask {
-    udp_tmtc_server: &mut UdpTmtcServer,
+    pub fn new(tc_args: TcArgs, pus_receiver: PusReceiver) -> Self {
-    tc_args: &mut TcArgs,
+        Self {
-    tc_buf: &mut [u8],
+            tc_args,
-    pus_receiver: &mut PusReceiver,
+            tc_buf: [0; 4096],
-) {
+            pus_receiver,
-    while poll_tc_server(udp_tmtc_server) {}
-    match tc_args.tc_receiver.try_recv() {
-        Ok(addr) => {
-            let pool = tc_args
-                .tc_source
-                .tc_store
-                .pool
-                .read()
-                .expect("locking tc pool failed");
-            let data = pool.read(&addr).expect("reading pool failed");
-            tc_buf[0..data.len()].copy_from_slice(data);
-            drop(pool);
-            match PusTcReader::new(tc_buf) {
-                Ok((pus_tc, _)) => {
-                    pus_receiver
-                        .handle_tc_packet(addr, pus_tc.service(), &pus_tc)
-                        .ok();
-                }
-                Err(e) => {
-                    warn!("error creating PUS TC from raw data: {e}");
-                    warn!("raw data: {tc_buf:x?}");
-                }
-            }
-        }
-        Err(e) => {
-            if let TryRecvError::Disconnected = e {
-                warn!("tmtc thread: sender disconnected")
-            }
         }
     }
-    if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
-        core_tm_handling(udp_tmtc_server, &recv_addr);
-    }
-}
 
-fn poll_tc_server(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
+    pub fn periodic_operation(&mut self) {
-    match udp_tmtc_server.udp_tc_server.try_recv_tc() {
+        self.poll_tc();
-        Ok(_) => true,
+    }
-        Err(e) => match e {
+
-            ReceiveResult::ReceiverError(e) => match e {
+    pub fn poll_tc(&mut self) -> bool {
-                CcsdsError::ByteConversionError(e) => {
+        match self.tc_args.tc_receiver.try_recv() {
-                    warn!("packet error: {e:?}");
+            Ok(addr) => {
-                    true
+                let pool = self
+                    .tc_args
+                    .tc_source
+                    .tc_store
+                    .pool
+                    .read()
+                    .expect("locking tc pool failed");
+                let data = pool.read(&addr).expect("reading pool failed");
+                self.tc_buf[0..data.len()].copy_from_slice(data);
+                drop(pool);
+                match PusTcReader::new(&self.tc_buf) {
+                    Ok((pus_tc, _)) => {
+                        self.pus_receiver
+                            .handle_tc_packet(
+                                satrs_core::pus::TcInMemory::StoreAddr(addr),
+                                pus_tc.service(),
+                                &pus_tc,
+                            )
+                            .ok();
+                        true
+                    }
+                    Err(e) => {
+                        warn!("error creating PUS TC from raw data: {e}");
+                        warn!("raw data: {:x?}", self.tc_buf);
+                        true
+                    }
                 }
-                CcsdsError::CustomError(e) => {
+            }
-                    warn!("mpsc store and send error {e:?}");
+            Err(e) => match e {
-                    true
+                TryRecvError::Empty => false,
+                TryRecvError::Disconnected => {
+                    warn!("tmtc thread: sender disconnected");
+                    false
                 }
             },
-            ReceiveResult::IoError(e) => {
-                warn!("IO error {e}");
-                false
-            }
-            ReceiveResult::NothingReceived => false,
-        },
-    }
-}
-
-fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr) {
-    while let Ok(addr) = udp_tmtc_server.tm_rx.try_recv() {
-        let store_lock = udp_tmtc_server.tm_store.write();
-        if store_lock.is_err() {
-            warn!("Locking TM store failed");
-            continue;
-        }
-        let mut store_lock = store_lock.unwrap();
-        let pg = store_lock.read_with_guard(addr);
-        let read_res = pg.read();
-        if read_res.is_err() {
-            warn!("Error reading TM pool data");
-            continue;
-        }
-        let buf = read_res.unwrap();
-        if buf.len() > 9 {
-            let service = buf[7];
-            let subservice = buf[8];
-            info!("Sending PUS TM[{service},{subservice}]")
-        } else {
-            info!("Sending PUS TM");
-        }
-        let result = udp_tmtc_server.udp_tc_server.socket.send_to(buf, recv_addr);
-        if let Err(e) = result {
-            warn!("Sending TM with UDP socket failed: {e}")
         }
     }
 }

satrs-example/src/udp.rs

@@ -0,0 +1,76 @@
+use std::{net::SocketAddr, sync::mpsc::Receiver};
+
+use log::{info, warn};
+use satrs_core::{
+    hal::std::udp_server::{ReceiveResult, UdpTcServer},
+    pool::{PoolProviderMemInPlaceWithGuards, SharedStaticMemoryPool, StoreAddr},
+    tmtc::CcsdsError,
+};
+
+use crate::tmtc::MpscStoreAndSendError;
+
+pub struct UdpTmtcServer {
+    pub udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
+    pub tm_rx: Receiver<StoreAddr>,
+    pub tm_store: SharedStaticMemoryPool,
+}
+impl UdpTmtcServer {
+    pub fn periodic_operation(&mut self) {
+        while self.poll_tc_server() {}
+        if let Some(recv_addr) = self.udp_tc_server.last_sender() {
+            self.send_tm_to_udp_client(&recv_addr);
+        }
+    }
+
+    fn poll_tc_server(&mut self) -> bool {
+        match self.udp_tc_server.try_recv_tc() {
+            Ok(_) => true,
+            Err(e) => match e {
+                ReceiveResult::ReceiverError(e) => match e {
+                    CcsdsError::ByteConversionError(e) => {
+                        warn!("packet error: {e:?}");
+                        true
+                    }
+                    CcsdsError::CustomError(e) => {
+                        warn!("mpsc store and send error {e:?}");
+                        true
+                    }
+                },
+                ReceiveResult::IoError(e) => {
+                    warn!("IO error {e}");
+                    false
+                }
+                ReceiveResult::NothingReceived => false,
+            },
+        }
+    }
+
+    fn send_tm_to_udp_client(&mut self, recv_addr: &SocketAddr) {
+        while let Ok(addr) = self.tm_rx.try_recv() {
+            let store_lock = self.tm_store.write();
+            if store_lock.is_err() {
+                warn!("Locking TM store failed");
+                continue;
+            }
+            let mut store_lock = store_lock.unwrap();
+            let pg = store_lock.read_with_guard(addr);
+            let read_res = pg.read();
+            if read_res.is_err() {
+                warn!("Error reading TM pool data");
+                continue;
+            }
+            let buf = read_res.unwrap();
+            if buf.len() > 9 {
+                let service = buf[7];
+                let subservice = buf[8];
+                info!("Sending PUS TM[{service},{subservice}]")
+            } else {
+                info!("Sending PUS TM");
+            }
+            let result = self.udp_tc_server.socket.send_to(buf, recv_addr);
+            if let Err(e) = result {
+                warn!("Sending TM with UDP socket failed: {e}")
+            }
+        }
+    }
+}

satrs-mib/Cargo.toml

@@ -23,7 +23,8 @@ version = "1"
 optional = true
 
 [dependencies.satrs-core]
-version = "0.1.0-alpha.1"
+path = "../satrs-core"
+# version = "0.1.0-alpha.1"
 # git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
 # branch = "main"
 # rev = "35e1f7a983f6535c5571186e361fe101d4306b89"

satrs-mib/codegen/Cargo.toml

@@ -20,7 +20,8 @@ quote = "1"
 proc-macro2 = "1"
 
 [dependencies.satrs-core]
-version = "0.1.0-alpha.1"
+path = "../../satrs-core"
+# version = "0.1.0-alpha.1"
 # git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
 # branch = "main"
 # rev = "35e1f7a983f6535c5571186e361fe101d4306b89"