cargo fmt

Reviewed-on: #144

.gitignore

@@ -1,5 +1,8 @@
-/target
+target/
+
 /Cargo.lock
 
+output.log
+
 /.idea/*
 !/.idea/runConfigurations

Cargo.toml

@@ -1,9 +1,11 @@
 [workspace]
 resolver = "2"
 members = [
-    "satrs-core",
+    "satrs",
     "satrs-mib",
     "satrs-example",
+    "satrs-minisim",
+    "satrs-shared",
 ]
 
 exclude = [

README.md

@@ -1,13 +1,23 @@
 <p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
 
+[![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
+[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
+[![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs)
+[![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs)
+
 sat-rs
 =========
 
-This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
+This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems. You can find an overview of the project and the
 link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
-at the [IRS documentation website](https://absatsw.irs.uni-stuttgart.de/sat-rs.html).
+at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
+
+This is early-stage software. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this library if your are willing to work in this
+environment.
 
 A lot of the architecture and general design considerations are based on the
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
@@ -22,12 +32,12 @@ This project currently contains following crates:
    Primary information resource in addition to the API documentation, hosted
    [here](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/). It can be useful to read
    this first before delving into the example application and the API documentation.
-* [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core):
-   Core components of sat-rs.
-* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-example):
+* [`satrs`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs):
+   Primary crate.
+* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
    Example of a simple example on-board software using various sat-rs components which can be run
    on a host computer or on any system with a standard runtime like a Raspberry Pi.
-* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-mib):
+* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
    Components to build a mission information base from the on-board software directly.
 * [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
    Example of a simple example on-board software using sat-rs components on a bare-metal system
@@ -41,7 +51,7 @@ Each project has its own `CHANGELOG.md`.
 
  * [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS
    packet protocol implementations. This repository is re-exported in the
-   [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core)
+   [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
    crate.
 
 # Coverage

automation/Dockerfile

@@ -15,7 +15,9 @@ RUN rustup install nightly && \
     rustup component add rustfmt clippy
 
 WORKDIR "/tmp"
-# RUN cargo install mdbook --no-default-features --features search --vers "^0.4" --locked
+# Install cargo-nextest
+RUN curl -LsSf https://get.nexte.st/latest/linux | tar zxf - -C ${CARGO_HOME:-~/.cargo}/bin
+# Install mdbook and mdbook-linkcheck
 RUN curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.37/mdbook-v0.4.37-x86_64-unknown-linux-gnu.tar.gz | tar -xz --directory /usr/local/bin
 RUN curl -sSL https://github.com/Michael-F-Bryan/mdbook-linkcheck/releases/latest/download/mdbook-linkcheck.x86_64-unknown-linux-gnu.zip -o mdbook-linkcheck.zip && \
     unzip mdbook-linkcheck.zip && \

automation/Jenkinsfile

@@ -32,7 +32,7 @@ pipeline {
     }
     stage('Test') {
       steps {
-        sh 'cargo test --all-features'
+        sh 'cargo nextest r --all-features'
       }
     }
     stage('Check with all features') {
@@ -47,7 +47,7 @@ pipeline {
     }
     stage('Check Cross Embedded Bare Metal') {
       steps {
-        sh 'cargo check -p satrs-core --target thumbv7em-none-eabihf --no-default-features'
+        sh 'cargo check -p satrs --target thumbv7em-none-eabihf --no-default-features'
       }
     }
     stage('Check Cross Embedded Linux') {

coverage.py

@@ -18,15 +18,19 @@ def generate_cov_report(open_report: bool, format: str, package: str):
     out_path = "./target/debug/coverage"
     if format == "lcov":
         out_path = "./target/debug/lcov.info"
-    os.system(
+    grcov_cmd = (
         f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
         f"-o {out_path}"
     )
+    print(f"Running: {grcov_cmd}")
+    os.system(grcov_cmd)
     if format == "lcov":
-        os.system(
+        lcov_cmd = (
             "genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
             "--legend ./target/debug/lcov.info"
         )
+        print(f"Running: {lcov_cmd}")
+        os.system(lcov_cmd)
     if open_report:
         coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
         webbrowser.open_new_tab(coverage_report_path)
@@ -43,8 +47,8 @@ def main():
     parser.add_argument(
         "-p",
         "--package",
-        choices=["satrs-core"],
-        default="satrs-core",
+        choices=["satrs", "satrs-minisim"],
+        default="satrs",
         help="Choose project to generate coverage for",
     )
     parser.add_argument(

images/mode-tree/mode-tree.graphml

@@ -0,0 +1,650 @@
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+  <key for="graphml" id="d7" yfiles.type="resources"/>
+  <key attr.name="url" attr.type="string" for="edge" id="d8"/>
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+&lt;/center&gt;
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+&lt;th&gt;RWs&lt;/th&gt;
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+
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+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
+&lt;/tr&gt;
+
+&lt;tr&gt;
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+&lt;td&gt;&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
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+                  <y:Shape type="rectangle"/>
+                </y:ShapeNode>
+              </data>
+            </node>
+            <node id="n2::n0::n4">
+              <data key="d6">
+                <y:ShapeNode>
+                  <y:Geometry height="30.0" width="125.0" x="1008.9200999999996" y="267.1160312500001"/>
+                  <y:Fill color="#CCFFFF" transparent="false"/>
+                  <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+                  <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="117.7021484375" x="3.64892578125" xml:space="preserve" y="4.8515625">PUS Distribution<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>
+            </node>
+            <node id="n2::n0::n5">
+              <data key="d6">
+                <y:ShapeNode>
+                  <y:Geometry height="40.0" width="125.0" x="1151.9280499999995" y="223.11926562500005"/>
+                  <y:Fill color="#CCFFFF" transparent="false"/>
+                  <y:BorderStyle color="#000000" raised="false" type="dashed" width="1.0"/>
+                  <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="36.59375" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="84.1650390625" x="20.41748046875" xml:space="preserve" y="1.7031249999999716">Shared
+TMTC Pools<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>
+            </node>
+            <node id="n2::n0::n6">
+              <data key="d6">
+                <y:ShapeNode>
+                  <y:Geometry height="50.0" width="125.0" x="1008.9200999999996" y="311.1127968750001"/>
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+Mode Tree<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>
+            </node>
+            <node id="n2::n0::n7">
+              <data key="d6">
+                <y:ShapeNode>
+                  <y:Geometry height="30.0" width="125.0" x="1294.9359999999995" y="223.11926562500005"/>
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+                  <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+                  <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="74.7861328125" x="25.10693359375" xml:space="preserve" y="4.8515625">	PUS Stack<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>
+            </node>
+          </graph>
+        </node>
+      </graph>
+    </node>
+    <node id="n3">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="57.265600000000006" width="631.1152" x="810.8847999999999" y="411.39428125"/>
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+        </y:ShapeNode>
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+    </node>
+    <node id="n4">
+      <data key="d6">
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+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+  </graph>
+  <data key="d7">
+    <y:Resources/>
+  </data>
+</graphml>

satrs-book/src/actions.md

@@ -15,7 +15,7 @@ action commanding could look like.
 2. Target ID and Action String based. The target ID is the same as in the first proposal, but
    the unique action is identified by a string.
 
-The framework provides an `ActionRequest` abstraction to model both of these cases.
+The library provides an `ActionRequest` abstraction to model both of these cases.
 
 ## Commanding with ECSS PUS 8
 

satrs-book/src/communication.md

@@ -17,14 +17,14 @@ it is still centered around small packets. `sat-rs` provides support for these E
 standards and also attempts to fill the gap to the internet protocol by providing the following
 components.
 
-1. [UDP TMTC Server](https://docs.rs/satrs-core/0.1.0-alpha.0/satrs_core/hal/host/udp_server/index.html).
+1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/host/udp_server/index.html).
    UDP is already packet based which makes it an excellent fit for exchanging space packets.
-2. [TCP TMTC Server Components](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/index.html).
-   TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
+2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
+   TCP is a stream based protocol, so the library provides building blocks to parse telemetry
    from an arbitrary bytestream. Two concrete implementations are provided:
-    - [TCP spacepackets server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
+    - [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
       to parse tightly packed CCSDS Spacepackets.
-    - [TCP COBS server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
+    - [TCP COBS server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
       to parse generic frames wrapped with the
       [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
 

satrs-book/src/constrained-systems.md

@@ -26,15 +26,17 @@ For example, a very small telecommand (TC) pool might look like this:
 ![Example Pool](images/pools/static-pools.png)
 
 The core of the pool abstractions is the
-[PoolProvider trait](https://docs.rs/satrs-core/0.1.0-alpha.3/satrs_core/pool/trait.PoolProvider.html).
+[PoolProvider trait](https://docs.rs/satrs/latest/satrs/pool/trait.PoolProvider.html).
 This trait specifies the general API a pool structure should have without making assumption
 of how the data is stored.
 
 This trait is implemented by a static memory pool implementation.
 The code to generate this static pool would look like this:
 
-```rust
-use satrs_core::pool::{StaticMemoryPool, StaticPoolConfig};
+<!-- Would be nice to test this code sample, but need to wait
+for https://github.com/rust-lang/mdBook/issues/706 to be merged.. -->
+```rust, ignore
+use satrs::pool::{StaticMemoryPool, StaticPoolConfig};
 
 let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
     (6, 16),
@@ -52,8 +54,8 @@ inter-process communication (IPC) data.
 
 You can read
 
-- [`StaticPoolConfig` API](https://docs.rs/satrs-core/0.1.0-alpha.3/satrs_core/pool/struct.StaticPoolConfig.html)
-- [`StaticMemoryPool` API](https://docs.rs/satrs-core/0.1.0-alpha.3/satrs_core/pool/struct.StaticMemoryPool.html)
+- [`StaticPoolConfig` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticPoolConfig.html)
+- [`StaticMemoryPool` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticMemoryPool.html)
 
 for more details.
 

satrs-book/src/design.md

@@ -1,13 +1,14 @@
-# Framework Design
+# Library Design
 
 Satellites and space systems in general are complex systems with a wide range of requirements for
-both the hardware and the software. Consequently, the general design of the framework is centered
+both the hardware and the software. Consequently, the general design of the library is centered
 around many light-weight components which try to impose as few restrictions as possible on how to
-solve certain problems.
+solve certain problems. This is also the reason why sat-rs is explicitely called a library
+instead of a framework.
 
 There are still a lot of common patterns and architectures across these systems where guidance
 of how to solve a problem and a common structure would still be extremely useful to avoid pitfalls
-which were already solved and to avoid boilerplate code. This framework tries to provide this
+which were already solved and to avoid boilerplate code. This library tries to provide this
 structure and guidance the following way:
 
 1. Providing this book which explains the architecture and design patterns in respect to common
@@ -18,7 +19,7 @@ structure and guidance the following way:
 3. Providing a good test suite. This includes both unittests and integration tests. The integration
    tests can also serve as smaller usage examples than the large `satrs-example` application.
 
-This framework has special support for standards used in the space industry. This especially
+This library has special support for standards used in the space industry. This especially
 includes standards provided by Consultative Committee for Space Data Systems (CCSDS) and European
 Cooperation for Space Standardization (ECSS). It does not enforce using any of those standards,
 but it is always recommended to use some sort of standard for interoperability.
@@ -30,10 +31,10 @@ Flying Laptop Project by the University of Stuttgart with Airbus Defence and Spa
 It has flight heritage through the 2 mssions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
 and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
 Therefore, a lot of the design concepts were ported more or less unchanged to the `sat-rs`
-framework.
+library.
 FLP is a medium-size small satellite with a higher budget and longer development time than EIVE,
 which allowed to build a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
-shorter development cycle and was built using cheaper COTS components. This framework also tries
+shorter development cycle and was built using cheaper COTS components. This library also tries
 to accumulate the knowledge of developing the OBSW and operating the satellite for both these
 different systems and provide a solution for a wider range of small satellite systems.
 

satrs-book/src/example.md

@@ -1,6 +1,6 @@
 # sat-rs Example Application
 
-The `sat-rs` framework includes a monolithic example application which can be found inside
+The `sat-rs` library includes a monolithic example application which can be found inside
 the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 subdirectory of the repository. The primary purpose of this example application is to show how
 the various components of the sat-rs framework could be used as part of a larger on-board
@@ -23,11 +23,11 @@ Some additional explanation is provided for the various components.
 The example includes a UDP and TCP server to receive telecommands and poll telemetry from. This
 might be an optional component for an OBSW which is only used during the development phase on
 ground. The UDP server is strongly based on the
-[UDP TC server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/udp_server/struct.UdpTcServer.html).
+[UDP TC server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/struct.UdpTcServer.html).
 This server component is wrapped by a TMTC server which handles all telemetry to the last connected
 client.
 
-The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
+The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
 class. It parses space packets by using the CCSDS space packet ID as the packet
 start delimiter. All available telemetry will be sent back to a client after having read all
 telecommands from the client.
@@ -51,13 +51,13 @@ services. This currently includes the following services:
 
 - Service 1 for telecommand verification. The verification handling is handled locally: Each
   component which generates verification telemetry in some shape or form receives a
-  [reporter](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/verification/struct.VerificationReporterWithSender.html)
+  [reporter](https://docs.rs/satrs/latest/satrs/pus/verification/struct.VerificationReporterWithSender.html)
   object which can be used to send PUS 1 verification telemetry to the TM funnel.
 - Service 3 for housekeeping telemetry handling.
 - Service 5 for management and downlink of on-board events.
 - Service 8 for handling on-board actions.
 - Service 11 for scheduling telecommands to be released at a specific time. This component
-  uses the [PUS scheduler class](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/scheduler/alloc_mod/struct.PusScheduler.html)
+  uses the [PUS scheduler class](https://docs.rs/satrs/latest/satrs/pus/scheduler/alloc_mod/struct.PusScheduler.html)
   which performs the core logic of scheduling telecommands. All telecommands released by the
   scheduler are sent to the central TC source using a message.
 - Service 17 for test purposes like pings.
@@ -65,10 +65,10 @@ services. This currently includes the following services:
 ### Event Management Component
 
 An event manager based on the sat-rs
-[event manager component](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/event_man/index.html)
+[event manager component](https://docs.rs/satrs/latest/satrs/event_man/index.html)
 is provided to handle the event IPC and FDIR mechanism. The event message are converted to PUS 5
 telemetry by the
-[PUS event dispatcher](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
+[PUS event dispatcher](https://docs.rs/satrs/latest/satrs/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
 
 You can read the [events](./events.md) chapter for more in-depth information about event management.
 

satrs-book/src/introduction.md

@@ -1,7 +1,7 @@
 The sat-rs book
 ======
 
-This book is the primary information resource for the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+This book is the primary information resource for the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
 in addition to the regular API documentation. It contains the following resources:
 
 1. Architecture informations and consideration which would exceeds the scope of the regular API.
@@ -12,10 +12,15 @@ in addition to the regular API documentation. It contains the following resource
 
 # Introduction
 
-The primary goal of the sat-rs framework is to provide re-usable components
+The primary goal of the sat-rs library is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems.
 
+It should be noted that sat-rs is early-stage software. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this library if your are willing to work in this
+environment.
+
 A lot of the architecture and general design considerations are based on the
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
 through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)

satrs-core/README.md

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

satrs-core/src/event_man.rs

@@ -1,710 +0,0 @@
-//! Event management and forwarding
-//!
-//! This module provides components to perform event routing. The most important component for this
-//! task is the [EventManager]. It receives all events and then routes them to event subscribers
-//! where appropriate. 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.
-//!
-//! It is recommended to read the
-//! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
-//! about events first:
-//!
-//! The event manager has a listener table abstracted by the [ListenerTable], which maps
-//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
-//! It also contains a sender table abstracted by the [SenderTable] which maps these sender IDs
-//! to a concrete [SendEventProvider]s. A simple approach would be to use one send event provider
-//! for each OBSW thread and then subscribe for all interesting events for a particular thread
-//! using the send event provider ID.
-//!
-//! This can be done with the [EventManager] like this:
-//!
-//!  1. Provide a concrete [EventReceiver] implementation. This abstraction allow to use different
-//!     message queue backends. A straightforward implementation where dynamic memory allocation is
-//!     not a big concern could use [std::sync::mpsc::channel] to do this and is provided in
-//!     form of the [MpscEventReceiver].
-//!  2. To set up event creators, create channel pairs using some message queue implementation.
-//!     Each event creator gets a (cloned) sender component which allows it to send events to the
-//!     manager.
-//!  3. The event manager receives the receiver component as part of a [EventReceiver]
-//!     implementation so all events are routed to the manager.
-//!  4. Create the [send event providers][SendEventProvider]s which allow routing events to
-//!     subscribers. You can now use their [sender IDs][SendEventProvider::id] to subscribe for
-//!     event groups, for example by using the [EventManager::subscribe_single] method.
-//!  5. Add the send provider as well using the [EventManager::add_sender] call so the event
-//!     manager can route listener groups to a the send provider.
-//!
-//! Some components like a PUS Event Service or PUS Event Action Service might require all
-//! events to package them as telemetry or start actions where applicable.
-//! Other components might only be interested in certain events. For example, a thermal system
-//! handler might only be interested in temperature events generated by a thermal sensor component.
-//!
-//! # Examples
-//!
-//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/pus_events.rs)
-//! for a concrete example using multi-threading where events are routed to
-//! different threads.
-use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
-use crate::params::{Params, ParamsHeapless};
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
-use alloc::vec;
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
-use core::slice::Iter;
-#[cfg(feature = "alloc")]
-use hashbrown::HashMap;
-
-use crate::ChannelId;
-#[cfg(feature = "std")]
-pub use stdmod::*;
-
-#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
-pub enum ListenerKey {
-    Single(LargestEventRaw),
-    Group(LargestGroupIdRaw),
-    All,
-}
-
-pub type EventWithHeaplessAuxData<Event> = (Event, Option<ParamsHeapless>);
-pub type EventU32WithHeaplessAuxData = EventWithHeaplessAuxData<EventU32>;
-pub type EventU16WithHeaplessAuxData = EventWithHeaplessAuxData<EventU16>;
-
-pub type EventWithAuxData<Event> = (Event, Option<Params>);
-pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
-pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
-
-pub trait SendEventProvider<Provider: GenericEvent, AuxDataProvider = Params> {
-    type Error;
-
-    fn id(&self) -> ChannelId;
-    fn send_no_data(&self, event: Provider) -> Result<(), Self::Error> {
-        self.send(event, None)
-    }
-    fn send(&self, event: Provider, aux_data: Option<AuxDataProvider>) -> Result<(), Self::Error>;
-}
-
-/// Generic abstraction for an event receiver.
-pub trait EventReceiver<Event: GenericEvent, AuxDataProvider = Params> {
-    /// This function has to be provided by any event receiver. A receive call may or may not return
-    /// an event.
-    ///
-    /// To allow returning arbitrary additional auxiliary data, a mutable slice is passed to the
-    /// [Self::receive] call as well. Receivers can write data to this slice, but care must be taken
-    /// to avoid panics due to size missmatches or out of bound writes.
-    fn receive(&self) -> Option<(Event, Option<AuxDataProvider>)>;
-}
-
-pub trait ListenerTable {
-    fn get_listeners(&self) -> Vec<ListenerKey>;
-    fn contains_listener(&self, key: &ListenerKey) -> bool;
-    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
-    fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
-    fn remove_duplicates(&mut self, key: &ListenerKey);
-}
-
-pub trait SenderTable<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params> {
-    fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
-    fn get_send_event_provider(
-        &self,
-        id: &ChannelId,
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>;
-    fn add_send_event_provider(
-        &mut self,
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool;
-}
-
-/// Generic event manager implementation.
-///
-/// # Generics
-///
-///  * `SendProviderError`: [SendEventProvider] error type
-///  * `Event`: Concrete event provider, currently either [EventU32] or [EventU16]
-///  * `AuxDataProvider`: Concrete auxiliary data provider, currently either [Params] or
-///     [ParamsHeapless]
-pub struct EventManager<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params>
-{
-    listener_table: Box<dyn ListenerTable>,
-    sender_table: Box<dyn SenderTable<SendProviderError, Event, AuxDataProvider>>,
-    event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
-}
-
-/// Safety: It is safe to implement [Send] because all fields in the [EventManager] are [Send]
-/// as well
-#[cfg(feature = "std")]
-unsafe impl<E, Event: GenericEvent + Send, AuxDataProvider: Send> Send
-    for EventManager<E, Event, AuxDataProvider>
-{
-}
-
-#[cfg(feature = "std")]
-pub type EventManagerWithMpscQueue<Event, AuxDataProvider> = EventManager<
-    std::sync::mpsc::SendError<(Event, Option<AuxDataProvider>)>,
-    Event,
-    AuxDataProvider,
->;
-
-#[derive(Debug)]
-pub enum EventRoutingResult<Event: GenericEvent, AuxDataProvider> {
-    /// No event was received
-    Empty,
-    /// An event was received and routed.
-    /// The first tuple entry will contain the number of recipients.
-    Handled(u32, Event, Option<AuxDataProvider>),
-}
-
-#[derive(Debug)]
-pub enum EventRoutingError<E> {
-    SendError(E),
-    NoSendersForKey(ListenerKey),
-    NoSenderForId(ChannelId),
-}
-
-#[derive(Debug)]
-pub struct EventRoutingErrorsWithResult<Event: GenericEvent, AuxDataProvider, E> {
-    pub result: EventRoutingResult<Event, AuxDataProvider>,
-    pub errors: [Option<EventRoutingError<E>>; 3],
-}
-
-impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
-    pub fn remove_duplicates(&mut self, key: &ListenerKey) {
-        self.listener_table.remove_duplicates(key)
-    }
-
-    /// Subscribe for a unique event.
-    pub fn subscribe_single(&mut self, event: &Event, sender_id: ChannelId) {
-        self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
-    }
-
-    /// Subscribe for an event group.
-    pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ChannelId) {
-        self.update_listeners(ListenerKey::Group(group_id), sender_id);
-    }
-
-    /// Subscribe for all events received by the manager.
-    ///
-    /// For example, this can be useful for a handler component which sends every event as
-    /// a telemetry packet.
-    pub fn subscribe_all(&mut self, sender_id: ChannelId) {
-        self.update_listeners(ListenerKey::All, sender_id);
-    }
-}
-
-impl<E: 'static, Event: GenericEvent + Copy + 'static, AuxDataProvider: Clone + 'static>
-    EventManager<E, Event, AuxDataProvider>
-{
-    /// Create an event manager where the sender table will be the [DefaultSenderTableProvider]
-    /// and the listener table will be the [DefaultListenerTableProvider].
-    pub fn new(event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>) -> Self {
-        let listener_table: Box<DefaultListenerTableProvider> = Box::default();
-        let sender_table: Box<DefaultSenderTableProvider<E, Event, AuxDataProvider>> =
-            Box::default();
-        Self::new_custom_tables(listener_table, sender_table, event_receiver)
-    }
-}
-
-impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
-    EventManager<E, Event, AuxDataProvider>
-{
-    pub fn new_custom_tables(
-        listener_table: Box<dyn ListenerTable>,
-        sender_table: Box<dyn SenderTable<E, Event, AuxDataProvider>>,
-        event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
-    ) -> Self {
-        EventManager {
-            listener_table,
-            sender_table,
-            event_receiver,
-        }
-    }
-
-    pub fn add_sender(
-        &mut self,
-        send_provider: impl SendEventProvider<Event, AuxDataProvider, Error = E> + 'static,
-    ) {
-        if !self
-            .sender_table
-            .contains_send_event_provider(&send_provider.id())
-        {
-            self.sender_table
-                .add_send_event_provider(Box::new(send_provider));
-        }
-    }
-
-    fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
-        self.listener_table.add_listener(key, sender_id);
-    }
-
-    /// This function will use the cached event receiver and try to receive one event.
-    /// If an event was received, it will try to route that event to all subscribed event listeners.
-    /// If this works without any issues, the [EventRoutingResult] will contain context information
-    /// about the routed event.
-    ///
-    /// This function will track up to 3 errors returned as part of the
-    /// [EventRoutingErrorsWithResult] error struct.
-    pub fn try_event_handling(
-        &self,
-    ) -> Result<
-        EventRoutingResult<Event, AuxDataProvider>,
-        EventRoutingErrorsWithResult<Event, AuxDataProvider, E>,
-    > {
-        let mut err_idx = 0;
-        let mut err_slice = [None, None, None];
-        let mut num_recipients = 0;
-        let mut add_error = |error: EventRoutingError<E>| {
-            if err_idx < 3 {
-                err_slice[err_idx] = Some(error);
-                err_idx += 1;
-            }
-        };
-        let mut send_handler =
-            |key: &ListenerKey, event: Event, aux_data: &Option<AuxDataProvider>| {
-                if self.listener_table.contains_listener(key) {
-                    if let Some(ids) = self.listener_table.get_listener_ids(key) {
-                        for id in ids {
-                            if let Some(sender) = self.sender_table.get_send_event_provider(id) {
-                                if let Err(e) = sender.send(event, aux_data.clone()) {
-                                    add_error(EventRoutingError::SendError(e));
-                                } else {
-                                    num_recipients += 1;
-                                }
-                            } else {
-                                add_error(EventRoutingError::NoSenderForId(*id));
-                            }
-                        }
-                    } else {
-                        add_error(EventRoutingError::NoSendersForKey(*key));
-                    }
-                }
-            };
-        if let Some((event, aux_data)) = self.event_receiver.receive() {
-            let single_key = ListenerKey::Single(event.raw_as_largest_type());
-            send_handler(&single_key, event, &aux_data);
-            let group_key = ListenerKey::Group(event.group_id_as_largest_type());
-            send_handler(&group_key, event, &aux_data);
-            send_handler(&ListenerKey::All, event, &aux_data);
-            if err_idx > 0 {
-                return Err(EventRoutingErrorsWithResult {
-                    result: EventRoutingResult::Handled(num_recipients, event, aux_data),
-                    errors: err_slice,
-                });
-            }
-            return Ok(EventRoutingResult::Handled(num_recipients, event, aux_data));
-        }
-        Ok(EventRoutingResult::Empty)
-    }
-}
-
-#[derive(Default)]
-pub struct DefaultListenerTableProvider {
-    listeners: HashMap<ListenerKey, Vec<ChannelId>>,
-}
-
-pub struct DefaultSenderTableProvider<
-    SendProviderError,
-    Event: GenericEvent = EventU32,
-    AuxDataProvider = Params,
-> {
-    senders: HashMap<
-        ChannelId,
-        Box<dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>,
-    >,
-}
-
-impl<SendProviderError, Event: GenericEvent, AuxDataProvider> Default
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
-{
-    fn default() -> Self {
-        Self {
-            senders: HashMap::new(),
-        }
-    }
-}
-
-impl ListenerTable for DefaultListenerTableProvider {
-    fn get_listeners(&self) -> Vec<ListenerKey> {
-        let mut key_list = Vec::new();
-        for key in self.listeners.keys() {
-            key_list.push(*key);
-        }
-        key_list
-    }
-
-    fn contains_listener(&self, key: &ListenerKey) -> bool {
-        self.listeners.contains_key(key)
-    }
-
-    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
-        self.listeners.get(key).map(|vec| vec.iter())
-    }
-
-    fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
-        if let Some(existing_list) = self.listeners.get_mut(&key) {
-            existing_list.push(sender_id);
-        } else {
-            let new_list = vec![sender_id];
-            self.listeners.insert(key, new_list);
-        }
-        true
-    }
-
-    fn remove_duplicates(&mut self, key: &ListenerKey) {
-        if let Some(list) = self.listeners.get_mut(key) {
-            list.sort_unstable();
-            list.dedup();
-        }
-    }
-}
-
-impl<SendProviderError, Event: GenericEvent, AuxDataProvider>
-    SenderTable<SendProviderError, Event, AuxDataProvider>
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
-{
-    fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
-        self.senders.contains_key(id)
-    }
-
-    fn get_send_event_provider(
-        &self,
-        id: &ChannelId,
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>> {
-        self.senders
-            .get(id)
-            .filter(|sender| sender.id() == *id)
-            .map(|v| v.as_ref())
-    }
-
-    fn add_send_event_provider(
-        &mut self,
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool {
-        let id = send_provider.id();
-        if self.senders.contains_key(&id) {
-            return false;
-        }
-        self.senders.insert(id, send_provider).is_none()
-    }
-}
-
-#[cfg(feature = "std")]
-pub mod stdmod {
-    use super::*;
-    use crate::event_man::{EventReceiver, EventWithAuxData};
-    use crate::events::{EventU16, EventU32, GenericEvent};
-    use crate::params::Params;
-    use std::sync::mpsc::{Receiver, SendError, Sender};
-
-    pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
-        mpsc_receiver: Receiver<(Event, Option<Params>)>,
-    }
-
-    impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
-        pub fn new(receiver: Receiver<(Event, Option<Params>)>) -> Self {
-            Self {
-                mpsc_receiver: receiver,
-            }
-        }
-    }
-    impl<Event: GenericEvent + Send> EventReceiver<Event> for MpscEventReceiver<Event> {
-        fn receive(&self) -> Option<EventWithAuxData<Event>> {
-            if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
-                return Some(event_and_data);
-            }
-            None
-        }
-    }
-
-    pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
-    pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;
-
-    #[derive(Clone)]
-    pub struct MpscEventSendProvider<Event: GenericEvent + Send> {
-        id: u32,
-        sender: Sender<(Event, Option<Params>)>,
-    }
-
-    impl<Event: GenericEvent + Send> MpscEventSendProvider<Event> {
-        pub fn new(id: u32, sender: Sender<(Event, Option<Params>)>) -> Self {
-            Self { id, sender }
-        }
-    }
-
-    impl<Event: GenericEvent + Send> SendEventProvider<Event> for MpscEventSendProvider<Event> {
-        type Error = SendError<(Event, Option<Params>)>;
-
-        fn id(&self) -> u32 {
-            self.id
-        }
-        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), Self::Error> {
-            self.sender.send((event, aux_data))
-        }
-    }
-
-    pub type MpscEventU32SendProvider = MpscEventSendProvider<EventU32>;
-    pub type MpscEventU16SendProvider = MpscEventSendProvider<EventU16>;
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::event_man::EventManager;
-    use crate::events::{EventU32, GenericEvent, Severity};
-    use crate::params::ParamsRaw;
-    use alloc::boxed::Box;
-    use std::format;
-    use std::sync::mpsc::{channel, Receiver, SendError, Sender};
-
-    #[derive(Clone)]
-    struct MpscEventSenderQueue {
-        id: u32,
-        mpsc_sender: Sender<EventU32WithAuxData>,
-    }
-
-    impl MpscEventSenderQueue {
-        fn new(id: u32, mpsc_sender: Sender<EventU32WithAuxData>) -> Self {
-            Self { id, mpsc_sender }
-        }
-    }
-
-    impl SendEventProvider<EventU32> for MpscEventSenderQueue {
-        type Error = SendError<EventU32WithAuxData>;
-
-        fn id(&self) -> u32 {
-            self.id
-        }
-        fn send(&self, event: EventU32, aux_data: Option<Params>) -> Result<(), Self::Error> {
-            self.mpsc_sender.send((event, aux_data))
-        }
-    }
-
-    fn check_next_event(
-        expected: EventU32,
-        receiver: &Receiver<EventU32WithAuxData>,
-    ) -> Option<Params> {
-        if let Ok(event) = receiver.try_recv() {
-            assert_eq!(event.0, expected);
-            return event.1;
-        }
-        None
-    }
-
-    fn check_handled_event(
-        res: EventRoutingResult<EventU32, Params>,
-        expected: EventU32,
-        expected_num_sent: u32,
-    ) {
-        assert!(matches!(res, EventRoutingResult::Handled { .. }));
-        if let EventRoutingResult::Handled(num_recipients, event, _aux_data) = res {
-            assert_eq!(event, expected);
-            assert_eq!(num_recipients, expected_num_sent);
-        }
-    }
-
-    fn generic_event_man() -> (
-        Sender<EventU32WithAuxData>,
-        EventManager<SendError<EventU32WithAuxData>>,
-    ) {
-        let (event_sender, manager_queue) = channel();
-        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        (
-            event_sender,
-            EventManager::new(Box::new(event_man_receiver)),
-        )
-    }
-
-    #[test]
-    fn test_basic() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (single_event_sender, single_event_receiver) = channel();
-        let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
-        event_man.add_sender(single_event_listener);
-        let (group_event_sender_0, group_event_receiver_0) = channel();
-        let group_event_listener = MpscEventSenderQueue {
-            id: 1,
-            mpsc_sender: group_event_sender_0,
-        };
-        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.id());
-        event_man.add_sender(group_event_listener);
-
-        // Test event with one listener
-        event_sender
-            .send((event_grp_0, None))
-            .expect("Sending single error failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_0, 1);
-        check_next_event(event_grp_0, &single_event_receiver);
-
-        // Test event which is sent to all group listeners
-        event_sender
-            .send((event_grp_1_0, None))
-            .expect("Sending group error failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_1_0, 1);
-        check_next_event(event_grp_1_0, &group_event_receiver_0);
-    }
-
-    #[test]
-    fn test_with_basic_aux_data() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let (single_event_sender, single_event_receiver) = channel();
-        let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
-        event_man.add_sender(single_event_listener);
-        event_sender
-            .send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
-            .expect("Sending group error failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_0, 1);
-        let aux = check_next_event(event_grp_0, &single_event_receiver);
-        assert!(aux.is_some());
-        let aux = aux.unwrap();
-        if let Params::Heapless(ParamsHeapless::Raw(ParamsRaw::U32Pair(pair))) = aux {
-            assert_eq!(pair.0, 2);
-            assert_eq!(pair.1, 3);
-        } else {
-            panic!("{}", format!("Unexpected auxiliary value type {:?}", aux));
-        }
-    }
-
-    /// Test listening for multiple groups
-    #[test]
-    fn test_multi_group() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        let hres = res.unwrap();
-        assert!(matches!(hres, EventRoutingResult::Empty));
-
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_grp_0_sender, event_grp_0_receiver) = channel();
-        let event_grp_0_and_1_listener = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_grp_0_sender,
-        };
-        event_man.subscribe_group(event_grp_0.group_id(), event_grp_0_and_1_listener.id());
-        event_man.subscribe_group(event_grp_1_0.group_id(), event_grp_0_and_1_listener.id());
-        event_man.add_sender(event_grp_0_and_1_listener);
-
-        event_sender
-            .send((event_grp_0, None))
-            .expect("Sending Event Group 0 failed");
-        event_sender
-            .send((event_grp_1_0, None))
-            .expect("Sendign Event Group 1 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_0, 1);
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_1_0, 1);
-
-        check_next_event(event_grp_0, &event_grp_0_receiver);
-        check_next_event(event_grp_1_0, &event_grp_0_receiver);
-    }
-
-    /// Test listening to the same event from multiple listeners. Also test listening
-    /// to both group and single events from one listener
-    #[test]
-    fn test_listening_to_same_event_and_multi_type() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
-        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_0_tx_0, event_0_rx_0) = channel();
-        let (event_0_tx_1, event_0_rx_1) = channel();
-        let event_listener_0 = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_0_tx_0,
-        };
-        let event_listener_1 = MpscEventSenderQueue {
-            id: 1,
-            mpsc_sender: event_0_tx_1,
-        };
-        let event_listener_0_sender_id = event_listener_0.id();
-        event_man.subscribe_single(&event_0, event_listener_0_sender_id);
-        event_man.add_sender(event_listener_0);
-        let event_listener_1_sender_id = event_listener_1.id();
-        event_man.subscribe_single(&event_0, event_listener_1_sender_id);
-        event_man.add_sender(event_listener_1);
-        event_sender
-            .send((event_0, None))
-            .expect("Triggering Event 0 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_0, 2);
-        check_next_event(event_0, &event_0_rx_0);
-        check_next_event(event_0, &event_0_rx_1);
-        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
-        event_sender
-            .send((event_0, None))
-            .expect("Triggering Event 0 failed");
-        event_sender
-            .send((event_1, None))
-            .expect("Triggering Event 1 failed");
-
-        // 3 Events messages will be sent now
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_0, 2);
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_1, 1);
-        // Both the single event and the group event should arrive now
-        check_next_event(event_0, &event_0_rx_0);
-        check_next_event(event_1, &event_0_rx_0);
-
-        // Do double insertion and then remove duplicates
-        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
-        event_man.remove_duplicates(&ListenerKey::Group(event_1.group_id()));
-        event_sender
-            .send((event_1, None))
-            .expect("Triggering Event 1 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_1, 1);
-    }
-
-    #[test]
-    fn test_all_events_listener() {
-        let (event_sender, manager_queue) = channel();
-        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        let mut event_man: EventManager<SendError<EventU32WithAuxData>> =
-            EventManager::new(Box::new(event_man_receiver));
-        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
-        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_0_tx_0, all_events_rx) = channel();
-        let all_events_listener = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_0_tx_0,
-        };
-        event_man.subscribe_all(all_events_listener.id());
-        event_man.add_sender(all_events_listener);
-        event_sender
-            .send((event_0, None))
-            .expect("Triggering event 0 failed");
-        event_sender
-            .send((event_1, None))
-            .expect("Triggering event 1 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_0, 1);
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_1, 1);
-        check_next_event(event_0, &all_events_rx);
-        check_next_event(event_1, &all_events_rx);
-    }
-}

satrs-core/src/hk.rs

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

satrs-core/src/pus/hk.rs

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

satrs-core/src/request.rs

@@ -1 +0,0 @@
-

satrs-example-stm32f3-disco/.cargo/def_config.toml

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

satrs-example-stm32f3-disco/.gitignore

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

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

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

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

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

satrs-example-stm32f3-disco/Cargo.lock

@@ -13,9 +13,9 @@ dependencies = [
 
 [[package]]
 name = "atomic-polyfill"
-version = "0.1.11"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
 dependencies = [
  "critical-section",
 ]
@@ -55,20 +55,21 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bxcan"
-version = "0.6.2"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
+checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
 dependencies = [
  "bitflags",
- "nb 1.0.0",
+ "embedded-hal 0.2.7",
+ "nb 1.1.0",
  "vcell",
 ]
 
 [[package]]
 name = "byteorder"
-version = "1.4.3"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "cast"
@@ -87,31 +88,42 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "chrono"
-version = "0.4.23"
+version = "0.4.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "16b0a3d9ed01224b22057780a37bb8c5dbfe1be8ba48678e7bf57ec4b385411f"
+checksum = "8eaf5903dcbc0a39312feb77df2ff4c76387d591b9fc7b04a238dcf8bb62639a"
 dependencies = [
- "num-integer",
  "num-traits",
 ]
 
 [[package]]
-name = "cortex-m"
-version = "0.7.6"
+name = "cobs"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
+
+[[package]]
+name = "cortex-m"
+version = "0.7.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
- "embedded-hal",
+ "critical-section",
+ "embedded-hal 0.2.7",
  "volatile-register",
 ]
 
 [[package]]
 name = "cortex-m-rt"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d6d3328b8b5534f0c90acd66b68950f2763b37e0173cac4d8b4937c4a80761f9"
+checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
 dependencies = [
  "cortex-m-rt-macros",
 ]
@@ -124,48 +136,44 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
-name = "cortex-m-rtic"
-version = "1.1.3"
+name = "cortex-m-semihosting"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce"
+checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
 dependencies = [
- "bare-metal 1.0.0",
  "cortex-m",
- "cortex-m-rtic-macros",
- "heapless",
- "rtic-core",
- "rtic-monotonic",
- "version_check",
 ]
 
 [[package]]
-name = "cortex-m-rtic-macros"
-version = "1.1.5"
+name = "crc"
+version = "3.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607"
+checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
 dependencies = [
- "proc-macro-error",
- "proc-macro2",
- "quote",
- "rtic-syntax",
- "syn",
+ "crc-catalog",
 ]
 
+[[package]]
+name = "crc-catalog"
+version = "2.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
+
 [[package]]
 name = "critical-section"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "darling"
-version = "0.14.2"
+version = "0.20.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0dd3cd20dc6b5a876612a6e5accfe7f3dd883db6d07acfbf14c128f61550dfa"
+checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
 dependencies = [
  "darling_core",
  "darling_macro",
@@ -173,26 +181,102 @@ dependencies = [
 
 [[package]]
 name = "darling_core"
-version = "0.14.2"
+version = "0.20.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a784d2ccaf7c98501746bf0be29b2022ba41fd62a2e622af997a03e9f972859f"
+checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
 dependencies = [
  "fnv",
  "ident_case",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.53",
 ]
 
 [[package]]
 name = "darling_macro"
-version = "0.14.2"
+version = "0.20.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7618812407e9402654622dd402b0a89dff9ba93badd6540781526117b92aab7e"
+checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
 dependencies = [
  "darling_core",
  "quote",
- "syn",
+ "syn 2.0.53",
+]
+
+[[package]]
+name = "defmt"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
+dependencies = [
+ "bitflags",
+ "defmt-macros",
+]
+
+[[package]]
+name = "defmt-brtt"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2f0ac3635d0c89d12b8101fcb44a7625f5f030a1c0491124b74467eb5a58a78"
+dependencies = [
+ "critical-section",
+ "defmt",
+]
+
+[[package]]
+name = "defmt-macros"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
+dependencies = [
+ "defmt-parser",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.53",
+]
+
+[[package]]
+name = "defmt-parser"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+dependencies = [
+ "thiserror",
+]
+
+[[package]]
+name = "defmt-test"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "290966e8c38f94b11884877242de876280d0eab934900e9642d58868e77c5df1"
+dependencies = [
+ "cortex-m-rt",
+ "cortex-m-semihosting",
+ "defmt",
+ "defmt-test-macros",
+]
+
+[[package]]
+name = "defmt-test-macros"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.53",
+]
+
+[[package]]
+name = "delegate"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ee5df75c70b95bd3aacc8e2fd098797692fb1d54121019c4de481e42f04c8a1"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -214,6 +298,12 @@ dependencies = [
  "void",
 ]
 
+[[package]]
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
 [[package]]
 name = "embedded-time"
 version = "0.12.1"
@@ -225,25 +315,31 @@ dependencies = [
 
 [[package]]
 name = "enumset"
-version = "1.0.12"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19be8061a06ab6f3a6cf21106c873578bf01bd42ad15e0311a9c76161cb1c753"
+checksum = "226c0da7462c13fb57e5cc9e0dc8f0635e7d27f276a3a7fd30054647f669007d"
 dependencies = [
  "enumset_derive",
 ]
 
 [[package]]
 name = "enumset_derive"
-version = "0.6.1"
+version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03e7b551eba279bf0fa88b83a46330168c1560a52a94f5126f892f0b364ab3e0"
+checksum = "e08b6c6ab82d70f08844964ba10c7babb716de2ecaeab9be5717918a5177d3af"
 dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.53",
 ]
 
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -252,18 +348,42 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "fugit"
-version = "0.3.6"
+version = "0.3.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ab17bb279def6720d058cb6c052249938e7f99260ab534879281a95367a87e5"
+checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
 dependencies = [
  "gcd",
 ]
 
 [[package]]
-name = "gcd"
-version = "2.2.0"
+name = "futures-core"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4b1b088ad0a967aa29540456b82fc8903f854775d33f71e9709c4efb3dfbfd2"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+
+[[package]]
+name = "futures-task"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+
+[[package]]
+name = "futures-util"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "pin-project-lite",
+ "pin-utils",
+]
+
+[[package]]
+name = "gcd"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
 [[package]]
 name = "generic-array"
@@ -276,9 +396,9 @@ dependencies = [
 
 [[package]]
 name = "generic-array"
-version = "0.14.6"
+version = "0.14.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bff49e947297f3312447abdca79f45f4738097cc82b06e72054d2223f601f1b9"
+checksum = "85649ca51fd72272d7821adaf274ad91c288277713d9c18820d8499a7ff69e9a"
 dependencies = [
  "typenum",
  "version_check",
@@ -286,29 +406,26 @@ dependencies = [
 
 [[package]]
 name = "hash32"
-version = "0.2.1"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
 dependencies = [
  "byteorder",
 ]
 
 [[package]]
 name = "hashbrown"
-version = "0.12.3"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "heapless"
-version = "0.7.16"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
 dependencies = [
- "atomic-polyfill",
  "hash32",
- "rustc_version 0.4.0",
- "spin",
  "stable_deref_trait",
 ]
 
@@ -320,41 +437,14 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
 
 [[package]]
 name = "indexmap"
-version = "1.9.2"
+version = "2.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1885e79c1fc4b10f0e172c475f458b7f7b93061064d98c3293e98c5ba0c8b399"
+checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
 dependencies = [
- "autocfg",
+ "equivalent",
  "hashbrown",
 ]
 
-[[package]]
-name = "itm_logger"
-version = "0.1.3-pre.0"
-dependencies = [
- "cortex-m",
- "log",
-]
-
-[[package]]
-name = "lock_api"
-version = "0.4.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df"
-dependencies = [
- "autocfg",
- "scopeguard",
-]
-
-[[package]]
-name = "log"
-version = "0.4.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
-dependencies = [
- "cfg-if",
-]
-
 [[package]]
 name = "lsm303dlhc"
 version = "0.2.0"
@@ -362,7 +452,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9e5d1a5c290951321d1b0d4a40edd828537de9889134a0e67c5146542ae57706"
 dependencies = [
  "cast",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "generic-array 0.11.2",
 ]
 
@@ -372,7 +462,7 @@ version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bc4010833aea396656c2f91ee704d51a6f1329ec2ab56ffd00bfd56f7481ea94"
 dependencies = [
- "generic-array 0.14.6",
+ "generic-array 0.14.7",
 ]
 
 [[package]]
@@ -381,14 +471,14 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
 dependencies = [
- "nb 1.0.0",
+ "nb 1.1.0",
 ]
 
 [[package]]
 name = "nb"
-version = "1.0.0"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
+checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
 [[package]]
 name = "num"
@@ -414,19 +504,18 @@ dependencies = [
 
 [[package]]
 name = "num-integer"
-version = "0.1.45"
+version = "0.1.46"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
 dependencies = [
- "autocfg",
  "num-traits",
 ]
 
 [[package]]
 name = "num-iter"
-version = "0.1.43"
+version = "0.1.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d03e6c028c5dc5cac6e2dec0efda81fc887605bb3d884578bb6d6bf7514e252"
+checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -446,27 +535,60 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.15"
+version = "0.2.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
+checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
 dependencies = [
  "autocfg",
 ]
 
 [[package]]
-name = "panic-itm"
-version = "0.4.2"
+name = "num_enum"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d577d97d1b31268087b6dddf2470e6794ef5eee87d9dca7fcd0481695391a4c"
+checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+dependencies = [
+ "num_enum_derive",
+]
+
+[[package]]
+name = "num_enum_derive"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.53",
+]
+
+[[package]]
+name = "panic-probe"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
 dependencies = [
  "cortex-m",
+ "defmt",
 ]
 
 [[package]]
 name = "paste"
-version = "1.0.11"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d01a5bd0424d00070b0098dd17ebca6f961a959dead1dbcbbbc1d1cd8d3deeba"
+checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+
+[[package]]
+name = "pin-project-lite"
+version = "0.2.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
 name = "proc-macro-error"
@@ -477,7 +599,7 @@ dependencies = [
  "proc-macro-error-attr",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
  "version_check",
 ]
 
@@ -494,31 +616,54 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.49"
+version = "1.0.79"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57a8eca9f9c4ffde41714334dee777596264c7825420f521abc92b5b5deb63a5"
+checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.23"
+version = "1.0.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8856d8364d252a14d474036ea1358d63c9e6965c8e5c1885c18f73d70bff9c7b"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
 dependencies = [
  "proc-macro2",
 ]
 
 [[package]]
 name = "rtcc"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3623619ce77c09a7d87cf7c61c5c887b9c7dee8805f66af6c4aa5824be4d9930"
+checksum = "f4fbd0d5bed2b76e27a7ef872568b34072c1af94c277cd52c17a89d54673b3fe"
 dependencies = [
  "chrono",
 ]
 
+[[package]]
+name = "rtic"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+dependencies = [
+ "atomic-polyfill",
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "critical-section",
+ "rtic-core",
+ "rtic-macros",
+]
+
+[[package]]
+name = "rtic-common"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
+dependencies = [
+ "critical-section",
+]
+
 [[package]]
 name = "rtic-core"
 version = "1.0.0"
@@ -526,21 +671,41 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
 [[package]]
-name = "rtic-monotonic"
-version = "1.0.0"
+name = "rtic-macros"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82"
-
-[[package]]
-name = "rtic-syntax"
-version = "1.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3ad3ae243dd8d0a1b064615f664d4fa7e63929939074c564cbe5efdc4c503065"
+checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
 dependencies = [
  "indexmap",
+ "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.53",
+]
+
+[[package]]
+name = "rtic-monotonics"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+dependencies = [
+ "atomic-polyfill",
+ "cfg-if",
+ "cortex-m",
+ "embedded-hal 1.0.0",
+ "fugit",
+ "rtic-time",
+]
+
+[[package]]
+name = "rtic-time"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+dependencies = [
+ "critical-section",
+ "futures-util",
+ "rtic-common",
 ]
 
 [[package]]
@@ -558,31 +723,56 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
- "semver 1.0.16",
+ "semver 1.0.22",
 ]
 
 [[package]]
-name = "sat-rs-example-stm32f-disco"
+name = "satrs"
+version = "0.2.0-rc.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8cb19cba46a45047ff0879ebfbf9d6ae1c5b2e0e38b2e08760b10a441d4dae6"
+dependencies = [
+ "cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "crc",
+ "delegate",
+ "num-traits",
+ "num_enum",
+ "paste",
+ "satrs-shared",
+ "smallvec",
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-example-stm32f3-disco"
 version = "0.1.0"
 dependencies = [
+ "cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
  "cortex-m",
  "cortex-m-rt",
- "cortex-m-rtic",
- "embedded-hal",
+ "cortex-m-semihosting",
+ "defmt",
+ "defmt-brtt",
+ "defmt-test",
+ "embedded-hal 0.2.7",
  "enumset",
  "heapless",
- "itm_logger",
- "panic-itm",
+ "panic-probe",
+ "rtic",
+ "rtic-monotonics",
+ "satrs",
  "stm32f3-discovery",
  "stm32f3xx-hal",
- "systick-monotonic",
 ]
 
 [[package]]
-name = "scopeguard"
-version = "1.1.0"
+name = "satrs-shared"
+version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
+checksum = "75a402ba556a7f5eef707035b45e64a3259b09674311e98697f3dd0508a1bf51"
+dependencies = [
+ "spacepackets",
+]
 
 [[package]]
 name = "semver"
@@ -595,9 +785,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.16"
+version = "1.0.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58bc9567378fc7690d6b2addae4e60ac2eeea07becb2c64b9f218b53865cba2a"
+checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
 
 [[package]]
 name = "semver-parser"
@@ -607,17 +797,28 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "slice-group-by"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03b634d87b960ab1a38c4fe143b508576f075e7c978bfad18217645ebfdfa2ec"
+checksum = "826167069c09b99d56f31e9ae5c99049e932a98c9dc2dac47645b08dbbf76ba7"
 
 [[package]]
-name = "spin"
-version = "0.9.4"
+name = "smallvec"
+version = "1.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
+
+[[package]]
+name = "spacepackets"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "28246ae2451af240c3e3ff3c51363c7b6ad565ca6aa9bad23b8c725687c485e1"
 dependencies = [
- "lock_api",
+ "chrono",
+ "crc",
+ "delegate",
+ "num-traits",
+ "num_enum",
+ "zerocopy",
 ]
 
 [[package]]
@@ -639,9 +840,9 @@ dependencies = [
 
 [[package]]
 name = "stm32f3"
-version = "0.14.0"
+version = "0.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "265cda62ac13307414de4aca58dbbbd8038ddba85cffbb335823aa216f2e3200"
+checksum = "b28b37228ef3fa47956af38c6abd756e912f244c1657f14e66d42fc8d74ea96f"
 dependencies = [
  "bare-metal 1.0.0",
  "cortex-m",
@@ -651,7 +852,8 @@ dependencies = [
 
 [[package]]
 name = "stm32f3-discovery"
-version = "0.8.0-pre.0"
+version = "0.8.0-alpha.0"
+source = "git+https://github.com/robamu/stm32f3-discovery?branch=complete-dma-update-hal#5ccacae07ceff02d7d3649df67a6a0ba2a144752"
 dependencies = [
  "accelerometer",
  "cortex-m",
@@ -663,20 +865,20 @@ dependencies = [
 
 [[package]]
 name = "stm32f3xx-hal"
-version = "0.9.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e422c5c044e8f3a068b1e14b83c071449e27c9d4bc0e24f972b552d79f2be03"
+version = "0.11.0-alpha.0"
+source = "git+https://github.com/robamu/stm32f3xx-hal?branch=complete-dma-update#04fc76b7912649c84b57bd0ab803ea3ccf2aadae"
 dependencies = [
- "bare-metal 1.0.0",
  "bxcan",
  "cfg-if",
  "cortex-m",
  "cortex-m-rt",
+ "critical-section",
  "embedded-dma",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "embedded-time",
  "enumset",
- "nb 1.0.0",
+ "nb 1.1.0",
+ "num-traits",
  "paste",
  "rtcc",
  "slice-group-by",
@@ -691,14 +893,14 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "90a4adc8cbd1726249b161898e48e0f3f1ce74d34dc784cbbc98fba4ed283fbf"
 dependencies = [
- "embedded-hal",
+ "embedded-hal 0.2.7",
 ]
 
 [[package]]
 name = "syn"
-version = "1.0.107"
+version = "1.0.109"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f4064b5b16e03ae50984a5a8ed5d4f8803e6bc1fd170a3cda91a1be4b18e3f5"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -706,27 +908,47 @@ dependencies = [
 ]
 
 [[package]]
-name = "systick-monotonic"
-version = "1.0.1"
+name = "syn"
+version = "2.0.53"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67fb822d5c615a0ae3a4795ee5b1d06381c7faf488d861c0a4fa8e6a88d5ff84"
+checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032"
 dependencies = [
- "cortex-m",
- "fugit",
- "rtic-monotonic",
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "thiserror"
+version = "1.0.58"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.58"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.53",
 ]
 
 [[package]]
 name = "typenum"
-version = "1.16.0"
+version = "1.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.6"
+version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "84a22b9f218b40614adcb3f4ff08b703773ad44fa9423e4e0d346d5db86e4ebc"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "usb-device"
@@ -754,9 +976,30 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
 
 [[package]]
 name = "volatile-register"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
 dependencies = [
  "vcell",
 ]
+
+[[package]]
+name = "zerocopy"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+dependencies = [
+ "byteorder",
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.53",
+]

satrs-example-stm32f3-disco/Cargo.toml

@@ -2,58 +2,81 @@
 name = "satrs-example-stm32f3-disco"
 version = "0.1.0"
 edition = "2021"
+default-run = "satrs-example-stm32f3-disco"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-cortex-m = "0.7"
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-embedded-hal = "0.2.6"
-cortex-m-rtic = "1.0"
-enumset = "1.0"
-heapless = "0.7"
-systick-monotonic = "1.0"
+defmt = "0.3"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+embedded-hal = "0.2.7"
+cortex-m-semihosting = "0.5.0"
+enumset = "1"
+heapless = "0.8"
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]
 
 [dependencies.cobs]
 git = "https://github.com/robamu/cobs.rs.git"
 branch = "all_features"
 default-features = false
 
-[dependencies.panic-itm]
-version = "0.4"
-
-[dependencies.itm_logger]
-git = "https://github.com/robamu/itm_logger.rs.git"
-branch = "all_features"
-version = "0.1.3-alpha.0"
-
 [dependencies.stm32f3xx-hal]
 git = "https://github.com/robamu/stm32f3xx-hal"
-version = "0.10.0-alpha.0"
+version = "0.11.0-alpha.0"
 features = ["stm32f303xc", "rt", "enumset"]
-branch = "all_features"
+branch = "complete-dma-update"
 # Can be used in workspace to develop and update HAL
 # path = "../stm32f3xx-hal"
 
 [dependencies.stm32f3-discovery]
 git = "https://github.com/robamu/stm32f3-discovery"
 version = "0.8.0-alpha.0"
-branch = "all_features"
+branch = "complete-dma-update-hal"
 # Can be used in workspace to develop and update BSP
 # path = "../stm32f3-discovery"
 
-[dependencies.satrs-core]
-git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
-version = "0.1.0-alpha.0"
+[dependencies.satrs]
+version = "0.2.0-rc.0"
 default-features = false
 
-# this lets you use `cargo fix`!
-# [[bin]]
-# name = "stm32f3-blinky"
-# test = false
-# bench = false
+[dev-dependencies]
+defmt-test = "0.3"
 
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = "s" # <-
+overflow-checks = true # <-
+
+# cargo build/run --release
 [profile.release]
-codegen-units = 1 # better optimizations
-debug = true # symbols are nice and they don't increase the size on Flash
-lto = true # better optimizations
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-

satrs-example-stm32f3-disco/README.md

@@ -2,15 +2,25 @@ sat-rs example for the STM32F3-Discovery board
 =======
 
 This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
-can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
-standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
-framework.
+can be used on an embedded target.
+It also shows how a relatively simple OBSW could be built when no standard runtime is available.
+It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
+[defmt](https://defmt.ferrous-systems.com/) framework for logging.
 
 The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
 used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
 [Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
 to embedded Rust.
 
+## Pre-Requisites
+
+Make sure the following tools are installed:
+
+1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
+2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
+   [probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
+   for debugging.
+
 ## Preparing Rust and the repository
 
 Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
@@ -40,15 +50,23 @@ you can simply build the application with
 cargo build
 ```
 
-## Flashing and Debugging from the command line
+## Flashing from the command line
 
-TODO
+You can flash the application from the command line using `probe-rs`:
+
+```sh
+probe-rs run --chip STM32F303VCTx
+```
 
 ## Debugging with VS Code
 
 The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
-the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
-and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
+the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
+and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
+Make sure to install this plugin first.
+
+Sample configuration files are provided inside the `vscode` folder.
+Use `cp vscode .vscode -r` to use them for your project.
 
 Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
 to automatically rebuild and flash your application.
@@ -56,20 +74,32 @@ to automatically rebuild and flash your application.
 The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
 the folder in VS code or adding it to a workspace.
 
-If you would like to use a custom GDB application, you can specify the gdb binary in the following
-configuration variables in your `settings.json`:
-
-- `"cortex-debug.gdbPath"`
-- `"cortex-debug.gdbPath.linux"`
-- `"cortex-debug.gdbPath.windows"`
-- `"cortex-debug.gdbPath.osx"`
-
 ## Commanding with Python
 
 When the SW is running on the Discovery board, you can command the MCU via a serial interface,
-using COBS encoded CCSDS packets.
- 
-TODO:
-  - How and where to connect serial interface on the MCU
-  - How to set up Python venv (or at least strongly recommend it) and install deps
-  - How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port
+using COBS encoded PUS packets.
+
+It is recommended to use a virtual environment to do this. To set up one in the command line,
+you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
+After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
+on how to activate the environment and then use the following command to install the required
+dependency:
+
+```sh
+pip install -r requirements.txt
+```
+
+The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
+converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
+
+A default configuration file for the python application is provided and can be used by running
+
+```sh
+cp def_tmtc_conf.json tmtc_conf.json
+```
+
+After that, you can for example send a ping to the MCU using the following command
+
+```sh
+./main.py -p /ping
+```

satrs-example-stm32f3-disco/build.rs

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

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

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

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

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

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

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

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

@@ -1,39 +1,40 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
-import enum
 import struct
+import logging
 import sys
 import time
-from typing import Optional, cast
+from typing import Any, Optional, cast
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ecss.tm import CdsShortTimestamp
 
 import tmtccmd
 from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
 
-from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
+from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
+from tmtccmd.core.ccsds_backend import QueueWrapper
+from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
-from tmtccmd.com_if import ComInterface
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
+from tmtccmd.com import ComInterface
 from tmtccmd.config import (
+    CmdTreeNode,
     default_json_path,
     SetupParams,
-    TmTcCfgHookBase,
-    TmtcDefinitionWrapper,
-    CoreServiceList,
-    OpCodeEntry,
+    HookBase,
     params_to_procedure_conversion,
 )
-from tmtccmd.config.com_if import SerialCfgWrapper
+from tmtccmd.config.com import SerialCfgWrapper
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging import get_console_logger
 from tmtccmd.logging.pus import (
     RegularTmtcLogWrapper,
     RawTmtcTimedLogWrapper,
     TimedLogWhen,
 )
-from tmtccmd.tc import (
+from tmtccmd.tmtc import (
     TcQueueEntryType,
     ProcedureWrapper,
     TcProcedureType,
@@ -41,27 +42,26 @@ from tmtccmd.tc import (
     SendCbParams,
     DefaultPusQueueHelper,
 )
-from tmtccmd.tm.pus_5_event import Service5Tm
+from tmtccmd.pus.s5_fsfw_event import Service5Tm
 from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
-from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
-
-LOGGER = get_console_logger()
+_LOGGER = logging.getLogger()
 
 EXAMPLE_PUS_APID = 0x02
 
 
-class SatRsConfigHook(TmTcCfgHookBase):
+class SatRsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
         super().__init__(json_cfg_path=json_cfg_path)
 
-    def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
-        from tmtccmd.config.com_if import (
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
+        from tmtccmd.config.com import (
             create_com_interface_default,
             create_com_interface_cfg_default,
         )
 
+        assert self.cfg_path is not None
         cfg = create_com_interface_cfg_default(
             com_if_key=com_if_key,
             json_cfg_path=self.cfg_path,
@@ -76,35 +76,14 @@ class SatRsConfigHook(TmTcCfgHookBase):
             cfg.serial_cfg.serial_timeout = 0.5
         return create_com_interface_default(cfg)
 
-    def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
-        from tmtccmd.config.globals import get_default_tmtc_defs
+    def get_command_definitions(self) -> CmdTreeNode:
+        """This function should return the root node of the command definition tree."""
+        return create_cmd_definition_tree()
 
-        defs = get_default_tmtc_defs()
-        srv_5 = OpCodeEntry()
-        srv_5.add("0", "Event Test")
-        defs.add_service(
-            name=CoreServiceList.SERVICE_5.value,
-            info="PUS Service 5 Event",
-            op_code_entry=srv_5,
-        )
-        srv_17 = OpCodeEntry()
-        srv_17.add("0", "Ping Test")
-        defs.add_service(
-            name=CoreServiceList.SERVICE_17_ALT,
-            info="PUS Service 17 Test",
-            op_code_entry=srv_17,
-        )
-        srv_3 = OpCodeEntry()
-        defs.add_service(
-            name=CoreServiceList.SERVICE_3,
-            info="PUS Service 3 Housekeeping",
-            op_code_entry=srv_3,
-        )
-        return defs
-
-    def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
-        LOGGER.info("Mode operation hook was called")
-        pass
+    def get_cmd_history(self) -> Optional[History]:
+        """Optionlly return a history class for the past command paths which will be used
+        when prompting a command path from the user in CLI mode."""
+        return FileHistory(".tmtc-history.txt")
 
     def get_object_ids(self) -> ObjectIdDictT:
         from tmtccmd.config.objects import get_core_object_ids
@@ -112,74 +91,75 @@ class SatRsConfigHook(TmTcCfgHookBase):
         return get_core_object_ids()
 
 
+def create_cmd_definition_tree() -> CmdTreeNode:
+    root_node = CmdTreeNode.root_node()
+    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    return root_node
+
+
 class PusHandler(SpecificApidHandlerBase):
     def __init__(
         self,
+        file_logger: logging.Logger,
         verif_wrapper: VerificationWrapper,
-        printer: FsfwTmTcPrinter,
         raw_logger: RawTmtcTimedLogWrapper,
     ):
         super().__init__(EXAMPLE_PUS_APID, None)
-        self.printer = printer
+        self.file_logger = file_logger
         self.raw_logger = raw_logger
         self.verif_wrapper = verif_wrapper
 
-    def handle_tm(self, packet: bytes, _user_args: any):
+    def handle_tm(self, packet: bytes, _user_args: Any):
+        time_reader = CdsShortTimestamp.empty()
         try:
-            tm_packet = PusTelemetry.unpack(packet)
+            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
         except ValueError as e:
-            LOGGER.warning("Could not generate PUS TM object from raw data")
-            LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
+            _LOGGER.warning("Could not generate PUS TM object from raw data")
+            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
             raise e
-        service = tm_packet.service
-        dedicated_handler = False
+        service = pus_tm.service
+        tm_packet = None
         if service == 1:
-            tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(1, 2))
+            tm_packet = Service1Tm.unpack(
+                data=packet, params=UnpackParams(time_reader, 1, 2)
+            )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
-                LOGGER.info(
+                _LOGGER.info(
                     f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
                     f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
                 )
-                LOGGER.warning(
+                _LOGGER.warning(
                     f"No matching telecommand found for {tm_packet.tc_req_id}"
                 )
             else:
                 self.verif_wrapper.log_to_console(tm_packet, res)
                 self.verif_wrapper.log_to_file(tm_packet, res)
-            dedicated_handler = True
         if service == 3:
-            LOGGER.info("No handling for HK packets implemented")
-            LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet)
+            _LOGGER.info("No handling for HK packets implemented")
+            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
-            dedicated_handler = True
+                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
         if service == 5:
-            tm_packet = Service5Tm.unpack(packet)
+            tm_packet = Service5Tm.unpack(packet, time_reader)
         if service == 17:
-            tm_packet = Service17Tm.unpack(packet)
-            dedicated_handler = True
+            tm_packet = Service17Tm.unpack(packet, time_reader)
             if tm_packet.subservice == 2:
-                self.printer.file_logger.info("Received Ping Reply TM[17,2]")
-                LOGGER.info("Received Ping Reply TM[17,2]")
+                _LOGGER.info("Received Ping Reply TM[17,2]")
             else:
-                self.printer.file_logger.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
-                LOGGER.info(
+                _LOGGER.info(
                     f"Received Test Packet with unknown subservice {tm_packet.subservice}"
                 )
         if tm_packet is None:
-            LOGGER.info(
+            _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
-            tm_packet = PusTelemetry.unpack(packet)
-        self.raw_logger.log_tm(tm_packet)
-        if not dedicated_handler and tm_packet is not None:
-            self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
+            tm_packet = PusTelemetry.unpack(packet, time_reader)
+        self.raw_logger.log_tm(pus_tm)
 
 
 def make_addressable_id(target_id: int, unique_id: int) -> bytes:
@@ -198,8 +178,11 @@ class TcHandler(TcHandlerBase):
         self.seq_count_provider = seq_count_provider
         self.verif_wrapper = verif_wrapper
         self.queue_helper = DefaultPusQueueHelper(
-            queue_wrapper=None,
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=7,
             seq_cnt_provider=seq_count_provider,
+            pus_verificator=verif_wrapper.pus_verificator,
+            default_pus_apid=EXAMPLE_PUS_APID,
         )
 
     def send_cb(self, send_params: SendCbParams):
@@ -212,61 +195,55 @@ class TcHandler(TcHandlerBase):
                 )
                 self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
                 raw_tc = pus_tc_wrapper.pus_tc.pack()
-                LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
+                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
                 send_params.com_if.send(raw_tc)
         elif entry_helper.entry_type == TcQueueEntryType.LOG:
             log_entry = entry_helper.to_log_entry()
-            LOGGER.info(log_entry.log_str)
+            _LOGGER.info(log_entry.log_str)
 
-    def queue_finished_cb(self, helper: ProcedureWrapper):
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            LOGGER.info(
-                f"Queue handling finished for service {def_proc.service} and "
-                f"op code {def_proc.op_code}"
-            )
+    def queue_finished_cb(self, info: ProcedureWrapper):
+        if info.proc_type == TcProcedureType.DEFAULT:
+            def_proc = info.to_def_procedure()
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
-    def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
+    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            service = def_proc.service
-            op_code = def_proc.op_code
-            if (
-                service == CoreServiceList.SERVICE_17
-                or service == CoreServiceList.SERVICE_17_ALT
-            ):
+        if info.proc_type == TcProcedureType.DEFAULT:
+            def_proc = info.to_def_procedure()
+            cmd_path = def_proc.cmd_path
+            if cmd_path == "/ping":
                 q.add_log_cmd("Sending PUS ping telecommand")
-                return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
 
 
 def main():
+    add_colorlog_console_logger(_LOGGER)
     tmtccmd.init_printout(False)
     hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
     parser_wrapper = PreArgsParsingWrapper()
     parser_wrapper.create_default_parent_parser()
     parser_wrapper.create_default_parser()
     parser_wrapper.add_def_proc_args()
-    post_args_wrapper = parser_wrapper.parse(hook_obj)
     params = SetupParams()
+    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
     proc_wrapper = ProcedureParamsWrapper()
     if post_args_wrapper.use_gui:
-        post_args_wrapper.set_params_without_prompts(params, proc_wrapper)
+        post_args_wrapper.set_params_without_prompts(proc_wrapper)
     else:
-        post_args_wrapper.set_params_with_prompts(params, proc_wrapper)
+        post_args_wrapper.set_params_with_prompts(proc_wrapper)
     params.apid = EXAMPLE_PUS_APID
     setup_args = SetupWrapper(
         hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
     )
     # Create console logger helper and file loggers
     tmtc_logger = RegularTmtcLogWrapper()
-    printer = FsfwTmTcPrinter(tmtc_logger.logger)
+    file_logger = tmtc_logger.logger
     raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
     verificator = PusVerificator()
-    verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
+    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
     # Create primary TM handler and add it to the CCSDS Packet Handler
-    tm_handler = PusHandler(verification_wrapper, printer, raw_logger)
+    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
     ccsds_handler = CcsdsTmHandler(generic_handler=None)
     ccsds_handler.add_apid_handler(tm_handler)
 
@@ -288,7 +265,7 @@ def main():
             if state.request == BackendRequest.TERMINATION_NO_ERROR:
                 sys.exit(0)
             elif state.request == BackendRequest.DELAY_IDLE:
-                LOGGER.info("TMTC Client in IDLE mode")
+                _LOGGER.info("TMTC Client in IDLE mode")
                 time.sleep(3.0)
             elif state.request == BackendRequest.DELAY_LISTENER:
                 time.sleep(0.8)

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

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

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

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

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

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

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

@@ -1,38 +1,36 @@
 #![no_std]
 #![no_main]
-extern crate panic_itm;
+// global logger + panicking-behavior + memory layout
+use satrs_example_stm32f3_disco as _;
 
 use rtic::app;
 
-use heapless::{
-    mpmc::Q16,
-    pool,
-    pool::singleton::{Box, Pool},
-};
+use heapless::{mpmc::Q8, Vec};
 #[allow(unused_imports)]
-use itm_logger::{debug, info, logger_init, warn};
-use satrs_core::spacepackets::{ecss::PusPacket, tm::PusTm};
-use satrs_core::{
-    pus::{EcssTmErrorWithSend, EcssTmSenderCore},
-    seq_count::SequenceCountProviderCore,
+use rtic_monotonics::systick::fugit::TimerInstantU32;
+use rtic_monotonics::systick::ExtU32;
+use satrs::seq_count::SequenceCountProviderCore;
+use satrs::{
+    pool::StoreError,
+    pus::{EcssChannel, EcssTmSenderCore, EcssTmtcError, PusTmWrapper},
+    spacepackets::{ecss::PusPacket, ecss::WritablePusPacket},
 };
 use stm32f3xx_hal::dma::dma1;
 use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
 use stm32f3xx_hal::pac::USART2;
 use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
-use systick_monotonic::{fugit::Duration, Systick};
 
 const UART_BAUD: u32 = 115200;
-const BLINK_FREQ_MS: u64 = 1000;
-const TX_HANDLER_FREQ_MS: u64 = 20;
-const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u16 = 5;
-const MAX_TC_LEN: usize = 200;
-const MAX_TM_LEN: usize = 200;
+const BLINK_FREQ_MS: u32 = 1000;
+const TX_HANDLER_FREQ_MS: u32 = 20;
+const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
+const MAX_TC_LEN: usize = 128;
+const MAX_TM_LEN: usize = 128;
 pub const PUS_APID: u16 = 0x02;
 
 type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
 type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
-type MsDuration = Duration<u64, 1, 1000>;
+type InstantFugit = TimerInstantU32<1000>;
 type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
 type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
 
@@ -51,10 +49,12 @@ static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
 // transfer buffer.
 static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
 
-static TX_REQUESTS: Q16<(Box<poolmod::TM>, usize)> = Q16::new();
+type TmPacket = Vec<u8, MAX_TM_LEN>;
+type TcPacket = Vec<u8, MAX_TC_LEN>;
 
-const TC_POOL_SLOTS: usize = 12;
-const TM_POOL_SLOTS: usize = 12;
+static TM_REQUESTS: Q8<TmPacket> = Q8::new();
+
+use core::cell::RefCell;
 use core::sync::atomic::{AtomicU16, Ordering};
 
 pub struct SeqCountProviderAtomicRef {
@@ -88,70 +88,59 @@ impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
 static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
     SeqCountProviderAtomicRef::new(Ordering::Relaxed);
 
-// Otherwise, warnings because of heapless pool macro.
-#[allow(non_camel_case_types)]
-mod poolmod {
-    use super::*;
-    // Must hold full TC length including COBS overhead.
-    pool!(TC: [u8; TC_BUF_LEN]);
-    // Only encoded at the end, so no need to account for COBS overhead.
-    pool!(TM: [u8; MAX_TM_LEN]);
-}
-
 pub struct TxIdle {
     tx: TxType,
     dma_channel: dma1::C7,
 }
 
-#[derive(Debug)]
-pub enum TmStoreError {
-    StoreFull,
-    StoreSlotsTooSmall,
-}
-
-impl From<TmStoreError> for EcssTmErrorWithSend<TmStoreError> {
-    fn from(value: TmStoreError) -> Self {
-        Self::SendError(value)
-    }
-}
-
 pub struct TmSender {
-    mem_block: Option<Box<poolmod::TM>>,
-    ctx: &'static str,
+    vec: Option<RefCell<Vec<u8, MAX_TM_LEN>>>,
 }
 
 impl TmSender {
-    pub fn new(mem_block: Box<poolmod::TM>, ctx: &'static str) -> Self {
+    pub fn new(tm_packet: TmPacket) -> Self {
         Self {
-            mem_block: Some(mem_block),
-            ctx,
+            vec: Some(RefCell::new(tm_packet)),
         }
     }
 }
 
+impl EcssChannel for TmSender {
+    fn id(&self) -> satrs::ChannelId {
+        0
+    }
+}
+
 impl EcssTmSenderCore for TmSender {
-    type Error = TmStoreError;
-
-    fn send_tm(
-        &mut self,
-        tm: PusTm,
-    ) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
-        let mem_block = self.mem_block.take();
-        if mem_block.is_none() {
+    fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+        let vec = self.vec.as_ref();
+        if vec.is_none() {
             panic!("send_tm should only be called once");
         }
-        let mut mem_block = mem_block.unwrap();
-        if tm.len_packed() > MAX_TM_LEN {
-            return Err(EcssTmErrorWithSend::SendError(
-                TmStoreError::StoreSlotsTooSmall,
-            ));
+        let vec_ref = vec.unwrap();
+        let mut vec = vec_ref.borrow_mut();
+        match tm {
+            PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
+            PusTmWrapper::Direct(tm) => {
+                if tm.len_written() > MAX_TM_LEN {
+                    return Err(EcssTmtcError::Store(StoreError::DataTooLarge(
+                        tm.len_written(),
+                    )));
+                }
+                vec.resize(tm.len_written(), 0).expect("vec resize failed");
+                tm.write_to_bytes(vec.as_mut_slice())?;
+                defmt::info!(
+                    "Sending TM[{},{}] with size {}",
+                    tm.service(),
+                    tm.subservice(),
+                    tm.len_written()
+                );
+                drop(vec);
+                TM_REQUESTS
+                    .enqueue(vec_ref.take())
+                    .map_err(|_| EcssTmtcError::Store(StoreError::StoreFull(0)))?;
+            }
         }
-        tm.write_to_bytes(mem_block.as_mut_slice())
-            .map_err(|e| EcssTmErrorWithSend::EcssTmError(e.into()))?;
-        info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_packed());
-        TX_REQUESTS
-            .enqueue((mem_block, tm.len_packed()))
-            .map_err(|_| TmStoreError::StoreFull)?;
         Ok(())
     }
 }
@@ -163,33 +152,36 @@ pub enum UartTxState {
     Transmitting(Option<TxDmaTransferType>),
 }
 
-#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [TIM20_BRK, TIM20_UP, TIM20_TRG_COM])]
+pub struct UartTxShared {
+    last_completed: Option<InstantFugit>,
+    state: UartTxState,
+}
+
+#[app(device = stm32f3xx_hal::pac, peripherals = true)]
 mod app {
     use super::*;
     use core::slice::Iter;
-    use cortex_m::iprintln;
-    use satrs_core::pus::verification::FailParams;
-    use satrs_core::pus::verification::VerificationReporterCore;
-    use satrs_core::spacepackets::{
-        ecss::EcssEnumU16,
-        tc::PusTc,
-        time::cds::P_FIELD_BASE,
-        tm::{PusTm, PusTmSecondaryHeader},
-        CcsdsPacket, SpHeader,
+    use rtic_monotonics::systick::Systick;
+    use rtic_monotonics::Monotonic;
+    use satrs::pus::verification::FailParams;
+    use satrs::pus::verification::VerificationReporterCore;
+    use satrs::spacepackets::{
+        ecss::tc::PusTcReader, ecss::tm::PusTmCreator, ecss::tm::PusTmSecondaryHeader,
+        ecss::EcssEnumU16, time::cds::P_FIELD_BASE, CcsdsPacket, SpHeader,
     };
     #[allow(unused_imports)]
     use stm32f3_discovery::leds::Direction;
     use stm32f3_discovery::leds::Leds;
     use stm32f3xx_hal::prelude::*;
-    use stm32f3xx_hal::Toggle;
 
     use stm32f3_discovery::switch_hal::OutputSwitch;
+    use stm32f3xx_hal::Switch;
     #[allow(dead_code)]
     type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
 
     #[shared]
     struct Shared {
-        tx_transfer: UartTxState,
+        tx_shared: UartTxShared,
         rx_transfer: Option<RxDmaTransferType>,
     }
 
@@ -201,18 +193,14 @@ mod app {
         curr_dir: Iter<'static, Direction>,
     }
 
-    #[monotonic(binds = SysTick, default = true)]
-    type MonoTimer = Systick<1000>;
-
-    #[init(local = [
-        tc_pool_mem: [u8; TC_BUF_LEN * TC_POOL_SLOTS] = [0; TC_BUF_LEN * TC_POOL_SLOTS],
-        tm_pool_mem: [u8; MAX_TM_LEN * TM_POOL_SLOTS] = [0; MAX_TM_LEN * TM_POOL_SLOTS]
-    ])]
-    fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
         let mut rcc = cx.device.RCC.constrain();
 
-        let mono = Systick::new(cx.core.SYST, 8_000_000);
-        logger_init();
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
+
         let mut flash = cx.device.FLASH.constrain();
         let clocks = rcc
             .cfgr
@@ -220,15 +208,12 @@ mod app {
             .sysclk(8.MHz())
             .pclk1(8.MHz())
             .freeze(&mut flash.acr);
-        // setup ITM output
-        iprintln!(
-            &mut cx.core.ITM.stim[0],
-            "Starting sat-rs demo application for the STM32F3-Discovery"
-        );
+
+        // Set up monotonic timer.
+        //let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
+
+        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
         let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
-        // Assign memory to the pools.
-        poolmod::TC::grow(cx.local.tc_pool_mem);
-        poolmod::TM::grow(cx.local.tm_pool_mem);
 
         let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
 
@@ -264,106 +249,138 @@ mod app {
             clocks,
             &mut rcc.apb1,
         );
-        usart2.configure_rx_interrupt(RxEvent::Idle, Toggle::On);
+        usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
         // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
-        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Toggle::On);
+        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
 
         let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
-        let (tx_serial, mut rx_serial) = usart2.split();
+        let (mut tx_serial, mut rx_serial) = usart2.split();
 
         // This interrupt is immediately triggered, clear it. It will only be reset
         // by the hardware when data is received on RX (RXNE event)
         rx_serial.clear_event(RxEvent::Idle);
+        // For some reason, this is also immediately triggered..
+        tx_serial.clear_event(TxEvent::TransmissionComplete);
         let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
-        info!(target: "init", "Spawning tasks");
+        defmt::info!("Spawning tasks");
         blink::spawn().unwrap();
         serial_tx_handler::spawn().unwrap();
         (
             Shared {
-                tx_transfer: UartTxState::Idle(Some(TxIdle {
-                    tx: tx_serial,
-                    dma_channel: dma1.ch7,
-                })),
+                tx_shared: UartTxShared {
+                    last_completed: None,
+                    state: UartTxState::Idle(Some(TxIdle {
+                        tx: tx_serial,
+                        dma_channel: dma1.ch7,
+                    })),
+                },
                 rx_transfer: Some(rx_transfer),
             },
             Local {
+                //timer: mono_timer,
                 leds,
                 last_dir: Direction::North,
                 curr_dir: Direction::iter(),
                 verif_reporter,
             },
-            init::Monotonics(mono),
         )
     }
 
     #[task(local = [leds, curr_dir, last_dir])]
-    fn blink(cx: blink::Context) {
-        let toggle_leds = |dir: &Direction| {
-            let leds = cx.local.leds;
-            let last_led = leds.for_direction(*cx.local.last_dir);
+    async fn blink(cx: blink::Context) {
+        let blink::LocalResources {
+            leds,
+            curr_dir,
+            last_dir,
+            ..
+        } = cx.local;
+        let mut toggle_leds = |dir: &Direction| {
+            let last_led = leds.for_direction(*last_dir);
             last_led.off().ok();
             let led = leds.for_direction(*dir);
             led.on().ok();
-            *cx.local.last_dir = *dir;
+            *last_dir = *dir;
         };
-
-        match cx.local.curr_dir.next() {
-            Some(dir) => {
-                toggle_leds(dir);
-            }
-            None => {
-                *cx.local.curr_dir = Direction::iter();
-                toggle_leds(cx.local.curr_dir.next().unwrap());
+        loop {
+            match curr_dir.next() {
+                Some(dir) => {
+                    toggle_leds(dir);
+                }
+                None => {
+                    *curr_dir = Direction::iter();
+                    toggle_leds(curr_dir.next().unwrap());
+                }
             }
+            Systick::delay(BLINK_FREQ_MS.millis()).await;
         }
-        blink::spawn_after(MsDuration::from_ticks(BLINK_FREQ_MS)).unwrap();
     }
 
     #[task(
-        shared = [tx_transfer],
-        local = []
+        shared = [tx_shared],
     )]
-    fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
-        if let Some((buf, len)) = TX_REQUESTS.dequeue() {
-            cx.shared.tx_transfer.lock(|tx_state| match tx_state {
-                UartTxState::Idle(tx) => {
-                    //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
-                    // Safety: We only copy the data into the TX DMA buffer in this task.
-                    // If the DMA is active, another branch will be taken.
-                    let mut_tx_dma_buf = unsafe { &mut DMA_TX_BUF };
-                    // 0 sentinel value as start marker
-                    mut_tx_dma_buf[0] = 0;
-                    // Should never panic, we accounted for the overhead.
-                    // Write into transfer buffer directly, no need for intermediate
-                    // encoding buffer.
-                    let encoded_len = cobs::encode(&buf[0..len], &mut mut_tx_dma_buf[1..]);
-                    // 0 end marker
-                    mut_tx_dma_buf[encoded_len + 1] = 0;
-                    //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
-                    //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
-                    let tx_idle = tx.take().unwrap();
-                    // Transfer completion and re-scheduling of new TX transfers will be done
-                    // by the IRQ handler.
-                    let transfer = tx_idle
-                        .tx
-                        .write_all(&mut_tx_dma_buf[0..encoded_len + 2], tx_idle.dma_channel);
-                    *tx_state = UartTxState::Transmitting(Some(transfer));
-                    // The memory block is automatically returned to the pool when it is dropped.
-                }
-                UartTxState::Transmitting(_) => {
-                    // This is a SW configuration error. Only the ISR which
-                    // detects transfer completion should be able to spawn a new
-                    // task, and that ISR should set the state to IDLE.
-                    panic!("invalid internal tx state detected")
-                }
-            })
-        } else {
-            cx.shared.tx_transfer.lock(|tx_state| {
-                if let UartTxState::Idle(_) = tx_state {
-                    serial_tx_handler::spawn_after(MsDuration::from_ticks(TX_HANDLER_FREQ_MS))
-                        .unwrap();
+    async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
+        loop {
+            let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
+                if let UartTxState::Idle(_) = tx_shared.state {
+                    return true;
                 }
+                false
             });
+            if is_idle {
+                let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
+                if let Some(last_completed) = last_completed {
+                    let elapsed_ms = (Systick::now() - last_completed).to_millis();
+                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
+                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
+                            .await;
+                    }
+                }
+            } else {
+                // Check for completion after 1 ms
+                Systick::delay(1.millis()).await;
+                continue;
+            }
+            if let Some(vec) = TM_REQUESTS.dequeue() {
+                cx.shared
+                    .tx_shared
+                    .lock(|tx_shared| match &mut tx_shared.state {
+                        UartTxState::Idle(tx) => {
+                            let encoded_len;
+                            //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
+                            // Safety: We only copy the data into the TX DMA buffer in this task.
+                            // If the DMA is active, another branch will be taken.
+                            unsafe {
+                                // 0 sentinel value as start marker
+                                DMA_TX_BUF[0] = 0;
+                                encoded_len =
+                                    cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
+                                // Should never panic, we accounted for the overhead.
+                                // Write into transfer buffer directly, no need for intermediate
+                                // encoding buffer.
+                                // 0 end marker
+                                DMA_TX_BUF[encoded_len + 1] = 0;
+                            }
+                            //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
+                            //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
+                            let tx_idle = tx.take().unwrap();
+                            // Transfer completion and re-scheduling of new TX transfers will be done
+                            // by the IRQ handler.
+                            // SAFETY: The DMA is the exclusive writer to the DMA buffer now.
+                            let transfer = tx_idle.tx.write_all(
+                                unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
+                                tx_idle.dma_channel,
+                            );
+                            tx_shared.state = UartTxState::Transmitting(Some(transfer));
+                            // The memory block is automatically returned to the pool when it is dropped.
+                        }
+                        UartTxState::Transmitting(_) => (),
+                    });
+                // Check for completion after 1 ms
+                Systick::delay(1.millis()).await;
+                continue;
+            }
+            // Nothing to do, and we are idle.
+            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
         }
     }
 
@@ -375,14 +392,13 @@ mod app {
             verif_reporter
         ],
     )]
-    fn serial_rx_handler(
+    async fn serial_rx_handler(
         cx: serial_rx_handler::Context,
-        received_packet: Box<poolmod::TC>,
-        rx_len: usize,
+        received_packet: Vec<u8, MAX_TC_LEN>,
     ) {
-        let tgt: &'static str = "serial_rx_handler";
+        defmt::info!("running rx handler");
         cx.local.stamp_buf[0] = P_FIELD_BASE;
-        info!(target: tgt, "Received packet with {} bytes", rx_len);
+        defmt::info!("Received packet with {} bytes", received_packet.len());
         let decode_buf = cx.local.decode_buf;
         let packet = received_packet.as_slice();
         let mut start_idx = None;
@@ -393,17 +409,14 @@ mod app {
             }
         }
         if start_idx.is_none() {
-            warn!(
-                target: tgt,
-                "decoding error, can only process cobs encoded frames, data is all 0"
-            );
+            defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
             return;
         }
         let start_idx = start_idx.unwrap();
         match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
             Ok(len) => {
-                info!(target: tgt, "Decoded packet length: {}", len);
-                let pus_tc = PusTc::from_bytes(decode_buf);
+                defmt::info!("Decoded packet length: {}", len);
+                let pus_tc = PusTcReader::new(decode_buf);
                 let verif_reporter = cx.local.verif_reporter;
                 match pus_tc {
                     Ok((tc, tc_len)) => handle_tc(
@@ -412,32 +425,27 @@ mod app {
                         verif_reporter,
                         cx.local.src_data_buf,
                         cx.local.stamp_buf,
-                        tgt,
                     ),
-                    Err(e) => {
-                        warn!(target: tgt, "Error unpacking PUS TC: {}", e);
+                    Err(_e) => {
+                        // TODO: Print error after API rework.
+                        defmt::warn!("Error unpacking PUS TC");
                     }
                 }
             }
             Err(_) => {
-                warn!(
-                    target: tgt,
-                    "decoding error, can only process cobs encoded frames"
-                )
+                defmt::warn!("decoding error, can only process cobs encoded frames")
             }
         }
     }
 
     fn handle_tc(
-        tc: PusTc,
+        tc: PusTcReader,
         tc_len: usize,
         verif_reporter: &mut VerificationReporterCore,
         src_data_buf: &mut [u8; MAX_TM_LEN],
         stamp_buf: &[u8; 7],
-        tgt: &'static str,
     ) {
-        info!(
-            target: tgt,
+        defmt::info!(
             "Found PUS TC [{},{}] with length {}",
             tc.service(),
             tc.subservice(),
@@ -446,38 +454,32 @@ mod app {
 
         let token = verif_reporter.add_tc(&tc);
         if tc.apid() != PUS_APID {
-            warn!(target: tgt, "Received tc with unknown APID {}", tc.apid());
+            defmt::warn!("Received tc with unknown APID {}", tc.apid());
             let sendable = verif_reporter
                 .acceptance_failure(
                     src_data_buf,
                     token,
-                    &SEQ_COUNT_PROVIDER,
-                    FailParams::new(stamp_buf, &EcssEnumU16::new(0), None),
+                    SEQ_COUNT_PROVIDER.get(),
+                    0,
+                    FailParams::new(stamp_buf, &EcssEnumU16::new(0), &[]),
                 )
                 .unwrap();
-            let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-            let mut sender = TmSender::new(mem_block, tgt);
-            if let Err(e) =
-                verif_reporter.send_acceptance_failure(sendable, &SEQ_COUNT_PROVIDER, &mut sender)
-            {
-                warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
+            let sender = TmSender::new(TmPacket::new());
+            if let Err(_e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
+                defmt::warn!("Sending acceptance failure failed");
             };
             return;
         }
         let sendable = verif_reporter
-            .acceptance_success(src_data_buf, token, &SEQ_COUNT_PROVIDER, stamp_buf)
+            .acceptance_success(src_data_buf, token, SEQ_COUNT_PROVIDER.get(), 0, stamp_buf)
             .unwrap();
 
-        let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-        let mut sender = TmSender::new(mem_block, tgt);
-        let accepted_token = match verif_reporter.send_acceptance_success(
-            sendable,
-            &SEQ_COUNT_PROVIDER,
-            &mut sender,
-        ) {
+        let sender = TmSender::new(TmPacket::new());
+        let accepted_token = match verif_reporter.send_acceptance_success(sendable, &sender) {
             Ok(token) => token,
-            Err(e) => {
-                warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
+            Err(_e) => {
+                // TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
+                defmt::warn!("Sending acceptance success failed");
                 return;
             }
         };
@@ -485,47 +487,51 @@ mod app {
         if tc.service() == 17 {
             if tc.subservice() == 1 {
                 let sendable = verif_reporter
-                    .start_success(src_data_buf, accepted_token, &SEQ_COUNT_PROVIDER, stamp_buf)
+                    .start_success(
+                        src_data_buf,
+                        accepted_token,
+                        SEQ_COUNT_PROVIDER.get(),
+                        0,
+                        stamp_buf,
+                    )
                     .unwrap();
-                let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let mut sender = TmSender::new(mem_block, tgt);
-                let started_token = match verif_reporter.send_start_success(
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut sender,
-                ) {
+                // let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
+                let sender = TmSender::new(TmPacket::new());
+                let started_token = match verif_reporter.send_start_success(sendable, &sender) {
                     Ok(token) => token,
-                    Err(e) => {
-                        warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
+                    Err(_e) => {
+                        // TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
+                        defmt::warn!("Sending acceptance success failed");
                         return;
                     }
                 };
-                info!(
-                    target: tgt,
-                    "Received PUS ping telecommand, sending ping reply TM[17,2]"
-                );
+                defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
                 let mut sp_header =
                     SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
                 let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
-                let ping_reply = PusTm::new(&mut sp_header, sec_header, None, true);
-                let mut mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let reply_len = ping_reply.write_to_bytes(mem_block.as_mut_slice()).unwrap();
-                if TX_REQUESTS.enqueue((mem_block, reply_len)).is_err() {
-                    warn!(target: tgt, "TC queue full");
+                let ping_reply = PusTmCreator::new(&mut sp_header, sec_header, &[], true);
+                let mut tm_packet = TmPacket::new();
+                tm_packet
+                    .resize(ping_reply.len_written(), 0)
+                    .expect("vec resize failed");
+                ping_reply.write_to_bytes(&mut tm_packet).unwrap();
+                if TM_REQUESTS.enqueue(tm_packet).is_err() {
+                    defmt::warn!("TC queue full");
                     return;
                 }
                 SEQ_COUNT_PROVIDER.increment();
                 let sendable = verif_reporter
-                    .completion_success(src_data_buf, started_token, &SEQ_COUNT_PROVIDER, stamp_buf)
+                    .completion_success(
+                        src_data_buf,
+                        started_token,
+                        SEQ_COUNT_PROVIDER.get(),
+                        0,
+                        stamp_buf,
+                    )
                     .unwrap();
-                let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let mut sender = TmSender::new(mem_block, tgt);
-                if let Err(e) = verif_reporter.send_step_or_completion_success(
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut sender,
-                ) {
-                    warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
+                let sender = TmSender::new(TmPacket::new());
+                if let Err(_e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
+                    defmt::warn!("Sending completion success failed");
                 }
             } else {
                 // TODO: Invalid subservice
@@ -535,26 +541,26 @@ mod app {
 
     #[task(binds = DMA1_CH6, shared = [rx_transfer])]
     fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
+        let mut tc_packet = TcPacket::new();
         cx.shared.rx_transfer.lock(|rx_transfer| {
             let rx_ref = rx_transfer.as_ref().unwrap();
             if rx_ref.is_complete() {
                 let uart_rx_owned = rx_transfer.take().unwrap();
                 let (buf, c, rx) = uart_rx_owned.stop();
                 // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a memory pool here
+                // during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
                 // to do this.
-                let mut mem_block = poolmod::TC::alloc()
-                    .expect("allocating memory block for rx failed")
-                    .init([0u8; TC_BUF_LEN]);
-                // Copy data into memory pool.
-                mem_block.copy_from_slice(buf);
+                tc_packet.resize(buf.len(), 0).expect("vec resize failed");
+                tc_packet.copy_from_slice(buf);
+
+                // Start the next transfer as soon as possible.
                 *rx_transfer = Some(rx.read_exact(buf, c));
-                // Only send owning pointer to pool memory and the received packet length.
-                serial_rx_handler::spawn(mem_block, TC_BUF_LEN)
-                    .expect("spawning rx handler task failed");
+
+                // Send the vector to a regular task.
+                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
                 // If this happens, there is a high chance that the maximum packet length was
                 // exceeded. Circular mode is not used here, so data might be missed.
-                warn!(
+                defmt::warn!(
                     "rx transfer with maximum length {}, might miss data",
                     TC_BUF_LEN
                 );
@@ -562,23 +568,26 @@ mod app {
         });
     }
 
-    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_transfer])]
+    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
     fn serial_isr(mut cx: serial_isr::Context) {
-        cx.shared.tx_transfer.lock(|tx_state| match tx_state {
-            UartTxState::Idle(_) => (),
-            UartTxState::Transmitting(transfer) => {
-                let transfer_ref = transfer.as_ref().unwrap();
-                if transfer_ref.is_complete() {
-                    let transfer = transfer.take().unwrap();
-                    let (_, dma_channel, tx) = transfer.stop();
-                    *tx_state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
-                    serial_tx_handler::spawn_after(MsDuration::from_ticks(
-                        MIN_DELAY_BETWEEN_TX_PACKETS_MS.into(),
-                    ))
-                    .unwrap();
+        cx.shared
+            .tx_shared
+            .lock(|tx_shared| match &mut tx_shared.state {
+                UartTxState::Idle(_) => (),
+                UartTxState::Transmitting(transfer) => {
+                    let transfer_ref = transfer.as_ref().unwrap();
+                    if transfer_ref.is_complete() {
+                        let transfer = transfer.take().unwrap();
+                        let (_, dma_channel, mut tx) = transfer.stop();
+                        tx.clear_event(TxEvent::TransmissionComplete);
+                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
+                        // We cache the last completed time to ensure that there is a minimum delay between consecutive
+                        // transferred packets.
+                        tx_shared.last_completed = Some(Systick::now());
+                    }
                 }
-            }
-        });
+            });
+        let mut tc_packet = TcPacket::new();
         cx.shared.rx_transfer.lock(|rx_transfer| {
             let rx_transfer_ref = rx_transfer.as_ref().unwrap();
             // Received a partial packet.
@@ -586,17 +595,14 @@ mod app {
                 let rx_transfer_owned = rx_transfer.take().unwrap();
                 let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
                 // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a memory pool here
-                // to do this.
-                let mut mem_block = poolmod::TC::alloc()
-                    .expect("allocating memory block for rx failed")
-                    .init([0u8; TC_BUF_LEN]);
-                // Copy data into memory pool.
-                mem_block[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
+                // during the interrupt. There are multiple ways to do this, we use a stack
+                // allocated vector to do this.
+                tc_packet
+                    .resize(rx_len as usize, 0)
+                    .expect("vec resize failed");
+                tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
                 rx.clear_event(RxEvent::Idle);
-                // Only send owning pointer to pool memory and the received packet length.
-                serial_rx_handler::spawn(mem_block, rx_len as usize)
-                    .expect("spawning rx handler task failed");
+                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
                 *rx_transfer = Some(rx.read_exact(buf, ch));
             }
         });

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

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

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

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

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

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

satrs-example/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs-example"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 default-run = "satrs-example"
@@ -19,12 +19,12 @@ num_enum = "0.7"
 thiserror = "1"
 derive-new = "0.5"
 
-[dependencies.satrs-core]
-# version = "0.1.0-alpha.1"
-path = "../satrs-core"
+[dependencies.satrs]
+# version = "0.2.0-rc.0"
+path = "../satrs"
 
 [dependencies.satrs-mib]
-# version = "0.1.0-alpha.1"
+version = "0.1.1"
 path = "../satrs-mib"
 
 [features]

satrs-example/src/acs.rs

@@ -1,14 +1,15 @@
 use std::sync::mpsc::{self, TryRecvError};
 
 use log::{info, warn};
-use satrs_core::pus::verification::VerificationReporterWithSender;
-use satrs_core::pus::{EcssTmSender, PusTmWrapper};
-use satrs_core::spacepackets::ecss::hk::Subservice as HkSubservice;
-use satrs_core::{
+use satrs::pus::verification::VerificationReportingProvider;
+use satrs::pus::{EcssTmSender, PusTmWrapper};
+use satrs::request::TargetAndApidId;
+use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
+use satrs::{
     hk::HkRequest,
     spacepackets::{
         ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
-        time::cds::{DaysLen16Bits, TimeProvider},
+        time::cds::{CdsTime, DaysLen16Bits},
         SequenceFlags, SpHeader,
     },
 };
@@ -20,23 +21,23 @@ use crate::{
     update_time,
 };
 
-pub struct AcsTask {
+pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
     timestamp: [u8; 7],
-    time_provider: TimeProvider<DaysLen16Bits>,
-    verif_reporter: VerificationReporterWithSender,
+    time_provider: CdsTime<DaysLen16Bits>,
+    verif_reporter: VerificationReporter,
     tm_sender: Box<dyn EcssTmSender>,
     request_rx: mpsc::Receiver<RequestWithToken>,
 }
 
-impl AcsTask {
+impl<VerificationReporter: VerificationReportingProvider> AcsTask<VerificationReporter> {
     pub fn new(
         tm_sender: impl EcssTmSender,
         request_rx: mpsc::Receiver<RequestWithToken>,
-        verif_reporter: VerificationReporterWithSender,
+        verif_reporter: VerificationReporter,
     ) -> Self {
         Self {
             timestamp: [0; 7],
-            time_provider: TimeProvider::new_with_u16_days(0, 0),
+            time_provider: CdsTime::new_with_u16_days(0, 0),
             verif_reporter,
             tm_sender: Box::new(tm_sender),
             request_rx,
@@ -70,12 +71,12 @@ impl AcsTask {
                     "ACS thread: Received HK request {:?}",
                     request.targeted_request
                 );
+                let target_and_apid_id = TargetAndApidId::from(request.targeted_request.target_id);
                 match request.targeted_request.request {
                     Request::Hk(hk_req) => match hk_req {
-                        HkRequest::OneShot(unique_id) => self.handle_hk_request(
-                            request.targeted_request.target_id_with_apid.target_id(),
-                            unique_id,
-                        ),
+                        HkRequest::OneShot(unique_id) => {
+                            self.handle_hk_request(target_and_apid_id.target(), unique_id)
+                        }
                         HkRequest::Enable(_) => {}
                         HkRequest::Disable(_) => {}
                         HkRequest::ModifyCollectionInterval(_, _) => {}
@@ -89,10 +90,10 @@ impl AcsTask {
                 }
                 let started_token = self
                     .verif_reporter
-                    .start_success(request.token, Some(&self.timestamp))
+                    .start_success(request.token, &self.timestamp)
                     .expect("Sending start success failed");
                 self.verif_reporter
-                    .completion_success(started_token, Some(&self.timestamp))
+                    .completion_success(started_token, &self.timestamp)
                     .expect("Sending completion success failed");
                 true
             }

satrs-example/src/bin/simpleclient.rs

@@ -1,7 +1,7 @@
-use satrs_core::pus::verification::RequestId;
-use satrs_core::spacepackets::ecss::tc::PusTcCreator;
-use satrs_core::spacepackets::ecss::tm::PusTmReader;
-use satrs_core::{
+use satrs::pus::verification::RequestId;
+use satrs::spacepackets::ecss::tc::PusTcCreator;
+use satrs::spacepackets::ecss::tm::PusTmReader;
+use satrs::{
     spacepackets::ecss::{PusPacket, WritablePusPacket},
     spacepackets::SpHeader,
 };

satrs-example/src/ccsds.rs

@@ -1,6 +1,6 @@
-use satrs_core::pus::ReceivesEcssPusTc;
-use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
-use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
+use satrs::pus::ReceivesEcssPusTc;
+use satrs::spacepackets::{CcsdsPacket, SpHeader};
+use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
 use satrs_example::config::PUS_APID;
 
 #[derive(Clone)]

satrs-example/src/config.rs

@@ -1,10 +1,10 @@
-use satrs_core::res_code::ResultU16;
+use satrs::res_code::ResultU16;
 use satrs_mib::res_code::ResultU16Info;
 use satrs_mib::resultcode;
 use std::net::Ipv4Addr;
 
 use num_enum::{IntoPrimitive, TryFromPrimitive};
-use satrs_core::{
+use satrs::{
     events::{EventU32TypedSev, SeverityInfo},
     pool::{StaticMemoryPool, StaticPoolConfig},
 };
@@ -42,24 +42,31 @@ pub mod tmtc_err {
     use super::*;
 
     #[resultcode]
-    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 0);
+    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 0);
     #[resultcode]
-    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 1);
+    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 1);
     #[resultcode]
-    pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
+    pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
     #[resultcode]
-    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 3);
+    pub const PUS_SUBSERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 3);
+    #[resultcode]
+    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
+    #[resultcode]
+    pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
 
     #[resultcode(
         info = "Not enough data inside the TC application data field. Optionally includes: \
           8 bytes of failure data containing 2 failure parameters, \
           P1 (u32 big endian): Expected data length, P2: Found data length"
     )]
-    pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
+    pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
 
     pub const TMTC_RESULTS: &[ResultU16Info] = &[
         INVALID_PUS_SERVICE_EXT,
         INVALID_PUS_SUBSERVICE_EXT,
+        PUS_SERVICE_NOT_IMPLEMENTED_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        ROUTING_ERROR_EXT,
         NOT_ENOUGH_APP_DATA_EXT,
     ];
 }
@@ -69,13 +76,20 @@ pub mod hk_err {
     use super::*;
 
     #[resultcode]
-    pub const TARGET_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 0);
+    pub const TARGET_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 0);
     #[resultcode]
-    pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 1);
+    pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 1);
     #[resultcode]
-    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 2);
+    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Hk as u8, 2);
     #[resultcode]
-    pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 3);
+    pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 3);
+
+    pub const HK_ERR_RESULTS: &[ResultU16Info] = &[
+        TARGET_ID_MISSING_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        COLLECTION_INTERVAL_MISSING_EXT,
+    ];
 }
 
 #[allow(clippy::enum_variant_names)]

satrs-example/src/events.rs

@@ -1,65 +1,63 @@
-use std::sync::mpsc::{self, SendError};
+use std::sync::mpsc::{self};
 
-use satrs_core::{
+use satrs::{
     event_man::{
-        EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
-        SendEventProvider,
+        EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
+        MpscEventReceiver,
     },
     events::EventU32,
     params::Params,
     pus::{
         event_man::{
-            DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
-            PusEventDispatcher,
+            DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
         },
-        verification::{TcStateStarted, VerificationReporterWithSender, VerificationToken},
+        verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
         EcssTmSender,
     },
-    spacepackets::time::cds::{self, TimeProvider},
+    spacepackets::time::cds::{self, CdsTime},
 };
 use satrs_example::config::PUS_APID;
 
 use crate::update_time;
 
-pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
-
-pub struct PusEventHandler {
+pub struct PusEventHandler<VerificationReporter: VerificationReportingProvider> {
     event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-    pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
+    pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
     pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
     tm_sender: Box<dyn EcssTmSender>,
-    time_provider: TimeProvider,
+    time_provider: CdsTime,
     timestamp: [u8; 7],
-    verif_handler: VerificationReporterWithSender,
+    verif_handler: VerificationReporter,
 }
 /*
 */
 
-impl PusEventHandler {
+impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<VerificationReporter> {
     pub fn new(
-        verif_handler: VerificationReporterWithSender,
-        event_manager: &mut MpscEventManager,
+        verif_handler: VerificationReporter,
+        event_manager: &mut EventManagerWithBoundedMpsc,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
         tm_sender: impl EcssTmSender,
     ) -> Self {
-        let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
+        let event_queue_cap = 30;
+        let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);
 
         // All events sent to the manager are routed to the PUS event manager, which generates PUS event
         // telemetry for each event.
         let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
-        let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
         let pus_event_dispatcher =
-            PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
-        let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+            DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
+        let pus_event_man_send_provider =
+            EventU32SenderMpscBounded::new(1, pus_event_man_tx, event_queue_cap);
 
-        event_manager.subscribe_all(pus_event_man_send_provider.id());
+        event_manager.subscribe_all(pus_event_man_send_provider.channel_id());
         event_manager.add_sender(pus_event_man_send_provider);
 
         Self {
             event_request_rx,
             pus_event_dispatcher,
             pus_event_man_rx,
-            time_provider: cds::TimeProvider::new_with_u16_days(0, 0),
+            time_provider: cds::CdsTime::new_with_u16_days(0, 0),
             timestamp: [0; 7],
             verif_handler,
             tm_sender: Box::new(tm_sender),
@@ -73,7 +71,7 @@ impl PusEventHandler {
                 .try_into()
                 .expect("expected start verification token");
             self.verif_handler
-                .completion_success(started_token, Some(timestamp))
+                .completion_success(started_token, timestamp)
                 .expect("Sending completion success failed");
         };
         // handle event requests
@@ -114,7 +112,7 @@ impl PusEventHandler {
 }
 
 pub struct EventManagerWrapper {
-    event_manager: MpscEventManager,
+    event_manager: EventManagerWithBoundedMpsc,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
 }
 
@@ -125,7 +123,7 @@ impl EventManagerWrapper {
         let (event_sender, event_man_rx) = mpsc::channel();
         let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
         Self {
-            event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
+            event_manager: EventManagerWithBoundedMpsc::new(event_recv),
             event_sender,
         }
     }
@@ -134,7 +132,7 @@ impl EventManagerWrapper {
         self.event_sender.clone()
     }
 
-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
         &mut self.event_manager
     }
 
@@ -146,15 +144,15 @@ impl EventManagerWrapper {
     }
 }
 
-pub struct EventHandler {
+pub struct EventHandler<VerificationReporter: VerificationReportingProvider> {
     pub event_man_wrapper: EventManagerWrapper,
-    pub pus_event_handler: PusEventHandler,
+    pub pus_event_handler: PusEventHandler<VerificationReporter>,
 }
 
-impl EventHandler {
+impl<VerificationReporter: VerificationReportingProvider> EventHandler<VerificationReporter> {
     pub fn new(
         tm_sender: impl EcssTmSender,
-        verif_handler: VerificationReporterWithSender,
+        verif_handler: VerificationReporter,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
     ) -> Self {
         let mut event_man_wrapper = EventManagerWrapper::new();
@@ -175,7 +173,7 @@ impl EventHandler {
     }
 
     #[allow(dead_code)]
-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
         self.event_man_wrapper.event_manager()
     }
 

satrs-example/src/hk.rs

@@ -1,5 +1,5 @@
 use derive_new::new;
-use satrs_core::spacepackets::ByteConversionError;
+use satrs::spacepackets::ByteConversionError;
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum AcsHkIds {

satrs-example/src/lib.rs

@@ -1,59 +1 @@
-use derive_new::new;
-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 thiserror::Error;
-
 pub mod config;
-
-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()),
-        })
-    }
-}

satrs-example/src/main.rs

@@ -15,9 +15,10 @@ use crate::pus::stack::PusStack;
 use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
 use log::info;
 use pus::test::create_test_service_dynamic;
-use satrs_core::hal::std::tcp_server::ServerConfig;
-use satrs_core::hal::std::udp_server::UdpTcServer;
-use satrs_core::tmtc::tm_helper::SharedTmPool;
+use satrs::hal::std::tcp_server::ServerConfig;
+use satrs::hal::std::udp_server::UdpTcServer;
+use satrs::request::TargetAndApidId;
+use satrs::tmtc::tm_helper::SharedTmPool;
 use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
 use satrs_example::config::tasks::{
     FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
@@ -35,31 +36,31 @@ use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
 use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
 use crate::pus::test::create_test_service_static;
 use crate::pus::{PusReceiver, PusTcMpscRouter};
-use crate::requests::RequestWithToken;
+use crate::requests::{GenericRequestRouter, RequestWithToken};
 use crate::tcp::{SyncTcpTmSource, TcpTask};
 use crate::tmtc::{
     PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
 };
 use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
-use satrs_core::pus::event_man::EventRequestWithToken;
-use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
-use satrs_core::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
-use satrs_core::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
-use satrs_core::tmtc::{CcsdsDistributor, TargetId};
-use satrs_core::ChannelId;
-use satrs_example::TargetIdWithApid;
-use std::collections::HashMap;
+use satrs::pus::event_man::EventRequestWithToken;
+use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
+use satrs::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
+use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
+use satrs::tmtc::CcsdsDistributor;
+use satrs::ChannelId;
 use std::net::{IpAddr, SocketAddr};
 use std::sync::mpsc::{self, channel};
 use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
 
-fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
+fn create_verification_reporter<Sender: EcssTmSender + Clone>(
+    verif_sender: Sender,
+) -> VerificationReporterWithSender<Sender> {
     let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
     // Every software component which needs to generate verification telemetry, gets a cloned
     // verification reporter.
-    VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
+    VerificationReporterWithSender::new(&verif_cfg, verif_sender)
 }
 
 #[allow(dead_code)]
@@ -69,24 +70,24 @@ fn static_tmtc_pool_main() {
     let shared_tc_pool = SharedTcPool {
         pool: Arc::new(RwLock::new(tc_pool)),
     };
-    let (tc_source_tx, tc_source_rx) = channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
-    let (tm_server_tx, tm_server_rx) = channel();
+    let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
+    let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
+    let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
 
     // Every software component which needs to generate verification telemetry, receives a cloned
     // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
+    let verif_reporter = create_verification_reporter(TmInSharedPoolSenderWithId::new(
         TmSenderId::PusVerification as ChannelId,
         "verif_sender",
         shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
     ));
 
-    let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
+    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
     let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let mut request_map = HashMap::new();
-    request_map.insert(acs_target_id, acs_thread_tx);
+    let mut request_map = GenericRequestRouter::default();
+    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
 
     // This helper structure is used by all telecommand providers which need to send telecommands
     // to the TC source.
@@ -103,7 +104,7 @@ fn static_tmtc_pool_main() {
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
     let mut event_handler = EventHandler::new(
-        MpscTmInSharedPoolSender::new(
+        TmInSharedPoolSenderWithId::new(
             TmSenderId::AllEvents as ChannelId,
             "ALL_EVENTS_TX",
             shared_tm_pool.clone(),
@@ -181,7 +182,7 @@ fn static_tmtc_pool_main() {
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
     let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
@@ -192,7 +193,7 @@ fn static_tmtc_pool_main() {
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
     let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
@@ -203,7 +204,7 @@ fn static_tmtc_pool_main() {
     .expect("tcp server creation failed");
 
     let mut acs_task = AcsTask::new(
-        MpscTmInSharedPoolSender::new(
+        TmInSharedPoolSenderWithId::new(
             TmSenderId::AcsSubsystem as ChannelId,
             "ACS_TASK_SENDER",
             shared_tm_pool.clone(),
@@ -304,17 +305,17 @@ fn dyn_tmtc_pool_main() {
     let (tm_server_tx, tm_server_rx) = channel();
     // Every software component which needs to generate verification telemetry, gets a cloned
     // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
+    let verif_reporter = create_verification_reporter(TmAsVecSenderWithId::new(
         TmSenderId::PusVerification as ChannelId,
         "verif_sender",
         tm_funnel_tx.clone(),
     ));
 
-    let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
+    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
     let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let mut request_map = HashMap::new();
-    request_map.insert(acs_target_id, acs_thread_tx);
+    let mut request_map = GenericRequestRouter::default();
+    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
 
     let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
 
@@ -325,7 +326,7 @@ fn dyn_tmtc_pool_main() {
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
     let mut event_handler = EventHandler::new(
-        MpscTmAsVecSender::new(
+        TmAsVecSenderWithId::new(
             TmSenderId::AllEvents as ChannelId,
             "ALL_EVENTS_TX",
             tm_funnel_tx.clone(),
@@ -395,7 +396,7 @@ fn dyn_tmtc_pool_main() {
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
     let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
@@ -405,7 +406,7 @@ fn dyn_tmtc_pool_main() {
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
     let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
@@ -416,7 +417,7 @@ fn dyn_tmtc_pool_main() {
     .expect("tcp server creation failed");
 
     let mut acs_task = AcsTask::new(
-        MpscTmAsVecSender::new(
+        TmAsVecSenderWithId::new(
             TmSenderId::AcsSubsystem as ChannelId,
             "ACS_TASK_SENDER",
             tm_funnel_tx.clone(),
@@ -512,7 +513,7 @@ fn main() {
     dyn_tmtc_pool_main();
 }
 
-pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {
+pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
     time_provider
         .update_from_now()
         .expect("Could not get current time");

satrs-example/src/pus/action.rs

@@ -1,32 +1,94 @@
-use crate::requests::{ActionRequest, Request, RequestWithToken};
 use log::{error, warn};
-use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs_core::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
+use satrs::action::ActionRequest;
+use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
 };
-use satrs_core::pus::{
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
+};
+use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
-    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
 };
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
+use satrs::request::TargetAndApidId;
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::{ChannelId, TargetId};
 use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
-use satrs_example::TargetIdWithApid;
-use std::collections::HashMap;
-use std::sync::mpsc::{self, Sender};
+use std::sync::mpsc::{self};
+
+use crate::requests::GenericRequestRouter;
+
+use super::GenericRoutingErrorHandler;
+
+#[derive(Default)]
+pub struct ExampleActionRequestConverter {}
+
+impl PusActionToRequestConverter for ExampleActionRequestConverter {
+    type Error = PusPacketHandlingError;
+
+    fn convert(
+        &mut self,
+        token: VerificationToken<TcStateAccepted>,
+        tc: &PusTcReader,
+        time_stamp: &[u8],
+        verif_reporter: &impl VerificationReportingProvider,
+    ) -> Result<(TargetId, ActionRequest), Self::Error> {
+        let subservice = tc.subservice();
+        let user_data = tc.user_data();
+        if user_data.len() < 8 {
+            verif_reporter
+                .start_failure(
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
+                )
+                .expect("Sending start failure failed");
+            return Err(PusPacketHandlingError::NotEnoughAppData {
+                expected: 8,
+                found: user_data.len(),
+            });
+        }
+        let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
+        let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
+        if subservice == 128 {
+            Ok((
+                target_id.raw(),
+                ActionRequest::UnsignedIdAndVecData {
+                    action_id,
+                    data: user_data[8..].to_vec(),
+                },
+            ))
+        } else {
+            verif_reporter
+                .start_failure(
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
+                )
+                .expect("Sending start failure failed");
+            Err(PusPacketHandlingError::InvalidSubservice(subservice))
+        }
+    }
+}
 
 pub fn create_action_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
-) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
-    let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    action_router: GenericRequestRouter,
+) -> Pus8Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusAction as ChannelId,
         "PUS_8_TM_SENDER",
         shared_tm_store.clone(),
@@ -38,23 +100,32 @@ pub fn create_action_service_static(
         pus_action_rx,
     );
     let pus_8_handler = PusService8ActionHandler::new(
-        Box::new(action_srv_receiver),
-        Box::new(action_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
-        request_map.clone(),
+        PusServiceHelper::new(
+            action_srv_receiver,
+            action_srv_tm_sender,
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
+        ),
+        ExampleActionRequestConverter::default(),
+        action_router,
+        GenericRoutingErrorHandler::<8>::default(),
     );
     Pus8Wrapper { pus_8_handler }
 }
 
 pub fn create_action_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
-) -> Pus8Wrapper<EcssTcInVecConverter> {
-    let action_srv_tm_sender = MpscTmAsVecSender::new(
+    action_router: GenericRequestRouter,
+) -> Pus8Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let action_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusAction as ChannelId,
         "PUS_8_TM_SENDER",
         tm_funnel_tx.clone(),
@@ -65,149 +136,44 @@ pub fn create_action_service_dynamic(
         pus_action_rx,
     );
     let pus_8_handler = PusService8ActionHandler::new(
-        Box::new(action_srv_receiver),
-        Box::new(action_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        EcssTcInVecConverter::default(),
-        request_map.clone(),
+        PusServiceHelper::new(
+            action_srv_receiver,
+            action_srv_tm_sender,
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInVecConverter::default(),
+        ),
+        ExampleActionRequestConverter::default(),
+        action_router,
+        GenericRoutingErrorHandler::<8>::default(),
     );
     Pus8Wrapper { pus_8_handler }
 }
 
-pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
-    service_helper: PusServiceHelper<TcInMemConverter>,
-    request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
+pub struct Pus8Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub(crate) pus_8_handler: PusService8ActionHandler<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        ExampleActionRequestConverter,
+        GenericRequestRouter,
+        GenericRoutingErrorHandler<8>,
+    >,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemConverter> {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: VerificationReporterWithSender,
-        tc_in_mem_converter: TcInMemConverter,
-        request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
-    ) -> Self {
-        Self {
-            service_helper: PusServiceHelper::new(
-                tc_receiver,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-                tc_in_mem_converter,
-            ),
-            request_handlers,
-        }
-    }
-
-    fn handle_action_request_with_id(
-        &self,
-        token: VerificationToken<TcStateAccepted>,
-        tc: &PusTcReader,
-        time_stamp: &[u8],
-    ) -> Result<(), PusPacketHandlingError> {
-        let user_data = tc.user_data();
-        if user_data.len() < 8 {
-            self.service_helper
-                .common
-                .verification_handler
-                .borrow_mut()
-                .start_failure(
-                    token,
-                    FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
-                )
-                .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 4 bytes".into(),
-            ));
-        }
-        //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
-                .send(RequestWithToken::new(
-                    target_id,
-                    Request::Action(ActionRequest::CmdWithU32Id((
-                        action_id,
-                        Vec::from(&user_data[8..]),
-                    ))),
-                    token,
-                ))
-                .expect("Forwarding action request failed");
-        } else {
-            let mut fail_data: [u8; 4] = [0; 4];
-            fail_data.copy_from_slice(&target_id.target.to_be_bytes());
-            self.service_helper
-                .common
-                .verification_handler
-                .borrow_mut()
-                .start_failure(
-                    token,
-                    FailParams::new(
-                        Some(time_stamp),
-                        &tmtc_err::UNKNOWN_TARGET_ID,
-                        Some(&fail_data),
-                    ),
-                )
-                .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::Other(format!(
-                "Unknown target ID {target_id}"
-            )));
-        }
-        Ok(())
-    }
-
-    fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-        if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
-        }
-        let ecss_tc_and_token = possible_packet.unwrap();
-        self.service_helper
-            .tc_in_mem_converter
-            .cache_ecss_tc_in_memory(&ecss_tc_and_token.tc_in_memory)?;
-        let tc = PusTcReader::new(self.service_helper.tc_in_mem_converter.tc_slice_raw())?.0;
-        let subservice = tc.subservice();
-        let mut partial_error = None;
-        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
-        match subservice {
-            128 => {
-                self.handle_action_request_with_id(ecss_tc_and_token.token, &tc, &time_stamp)?;
-            }
-            _ => {
-                let fail_data = [subservice];
-                self.service_helper
-                    .common
-                    .verification_handler
-                    .get_mut()
-                    .start_failure(
-                        ecss_tc_and_token.token,
-                        FailParams::new(
-                            Some(&time_stamp),
-                            &tmtc_err::INVALID_PUS_SUBSERVICE,
-                            Some(&fail_data),
-                        ),
-                    )
-                    .expect("Sending start failure failed");
-                return Err(PusPacketHandlingError::InvalidSubservice(subservice));
-            }
-        }
-        if let Some(partial_error) = partial_error {
-            return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                partial_error,
-            ));
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
-}
-
-pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub(crate) pus_8_handler: PusService8ActionHandler<TcInMemConverter>,
-}
-
-impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_8_handler.handle_one_tc() {
             Ok(result) => match result {

satrs-example/src/pus/event.rs

@@ -1,28 +1,37 @@
 use std::sync::mpsc;
 
 use log::{error, warn};
-use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs_core::pus::event_man::EventRequestWithToken;
-use satrs_core::pus::event_srv::PusService5EventHandler;
-use satrs_core::pus::verification::VerificationReporterWithSender;
-use satrs_core::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusServiceHelper,
+use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pus::event_man::EventRequestWithToken;
+use satrs::pus::event_srv::PusService5EventHandler;
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
 };
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
+use satrs::pus::verification::VerificationReportingProvider;
+use satrs::pus::{
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
+};
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::ChannelId;
 use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
 
 pub fn create_event_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
-    let event_srv_tm_sender = MpscTmInSharedPoolSender::new(
+) -> Pus5Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusEvent as ChannelId,
         "PUS_5_TM_SENDER",
         shared_tm_store.clone(),
@@ -35,8 +44,8 @@ pub fn create_event_service_static(
     );
     let pus_5_handler = PusService5EventHandler::new(
         PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
+            event_srv_receiver,
+            event_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
@@ -48,11 +57,16 @@ pub fn create_event_service_static(
 
 pub fn create_event_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInVecConverter> {
-    let event_srv_tm_sender = MpscTmAsVecSender::new(
+) -> Pus5Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let event_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusEvent as ChannelId,
         "PUS_5_TM_SENDER",
         tm_funnel_tx,
@@ -64,8 +78,8 @@ pub fn create_event_service_dynamic(
     );
     let pus_5_handler = PusService5EventHandler::new(
         PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
+            event_srv_receiver,
+            event_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInVecConverter::default(),
@@ -75,11 +89,23 @@ pub fn create_event_service_dynamic(
     Pus5Wrapper { pus_5_handler }
 }
 
-pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus_5_handler: PusService5EventHandler<TcInMemConverter>,
+pub struct Pus5Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub pus_5_handler:
+        PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_5_handler.handle_one_tc() {
             Ok(result) => match result {

satrs-example/src/pus/hk.rs

@@ -1,32 +1,163 @@
-use crate::requests::{Request, RequestWithToken};
 use log::{error, warn};
-use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
-use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs_core::pus::verification::{
-    FailParams, StdVerifReporterWithSender, VerificationReporterWithSender,
+use satrs::hk::{CollectionIntervalFactor, HkRequest};
+use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
 };
-use satrs_core::pus::{
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
+};
+use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
-    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
 };
-use satrs_core::spacepackets::ecss::{hk, PusPacket};
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
+use satrs::request::TargetAndApidId;
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::{hk, PusPacket};
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::{ChannelId, TargetId};
 use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
-use satrs_example::TargetIdWithApid;
-use std::collections::HashMap;
-use std::sync::mpsc::{self, Sender};
+use std::sync::mpsc::{self};
+
+use crate::requests::GenericRequestRouter;
+
+use super::GenericRoutingErrorHandler;
+
+#[derive(Default)]
+pub struct ExampleHkRequestConverter {}
+
+impl PusHkToRequestConverter for ExampleHkRequestConverter {
+    type Error = PusPacketHandlingError;
+
+    fn convert(
+        &mut self,
+        token: VerificationToken<TcStateAccepted>,
+        tc: &PusTcReader,
+        time_stamp: &[u8],
+        verif_reporter: &impl VerificationReportingProvider,
+    ) -> Result<(TargetId, HkRequest), Self::Error> {
+        let user_data = tc.user_data();
+        if user_data.is_empty() {
+            let user_data_len = user_data.len() as u32;
+            let user_data_len_raw = user_data_len.to_be_bytes();
+            verif_reporter
+                .start_failure(
+                    token,
+                    FailParams::new(
+                        time_stamp,
+                        &tmtc_err::NOT_ENOUGH_APP_DATA,
+                        &user_data_len_raw,
+                    ),
+                )
+                .expect("Sending start failure TM failed");
+            return Err(PusPacketHandlingError::NotEnoughAppData {
+                expected: 4,
+                found: 0,
+            });
+        }
+        if user_data.len() < 8 {
+            let err = if user_data.len() < 4 {
+                &hk_err::TARGET_ID_MISSING
+            } else {
+                &hk_err::UNIQUE_ID_MISSING
+            };
+            let user_data_len = user_data.len() as u32;
+            let user_data_len_raw = user_data_len.to_be_bytes();
+            verif_reporter
+                .start_failure(token, FailParams::new(time_stamp, err, &user_data_len_raw))
+                .expect("Sending start failure TM failed");
+            return Err(PusPacketHandlingError::NotEnoughAppData {
+                expected: 8,
+                found: 4,
+            });
+        }
+        let subservice = tc.subservice();
+        let target_id = TargetAndApidId::from_pus_tc(tc).expect("invalid tc format");
+        let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());
+
+        let standard_subservice = hk::Subservice::try_from(subservice);
+        if standard_subservice.is_err() {
+            verif_reporter
+                .start_failure(
+                    token,
+                    FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
+                )
+                .expect("Sending start failure TM failed");
+            return Err(PusPacketHandlingError::InvalidSubservice(subservice));
+        }
+        Ok((
+            target_id.into(),
+            match standard_subservice.unwrap() {
+                hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
+                    HkRequest::Enable(unique_id)
+                }
+                hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
+                    HkRequest::Disable(unique_id)
+                }
+                hk::Subservice::TcReportHkReportStructures => todo!(),
+                hk::Subservice::TmHkPacket => todo!(),
+                hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
+                    HkRequest::OneShot(unique_id)
+                }
+                hk::Subservice::TcModifyDiagCollectionInterval
+                | hk::Subservice::TcModifyHkCollectionInterval => {
+                    if user_data.len() < 12 {
+                        verif_reporter
+                            .start_failure(
+                                token,
+                                FailParams::new_no_fail_data(
+                                    time_stamp,
+                                    &tmtc_err::NOT_ENOUGH_APP_DATA,
+                                ),
+                            )
+                            .expect("Sending start failure TM failed");
+                        return Err(PusPacketHandlingError::NotEnoughAppData {
+                            expected: 12,
+                            found: user_data.len(),
+                        });
+                    }
+                    HkRequest::ModifyCollectionInterval(
+                        unique_id,
+                        CollectionIntervalFactor::from_be_bytes(
+                            user_data[8..12].try_into().unwrap(),
+                        ),
+                    )
+                }
+                _ => {
+                    verif_reporter
+                        .start_failure(
+                            token,
+                            FailParams::new(
+                                time_stamp,
+                                &tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
+                                &[subservice],
+                            ),
+                        )
+                        .expect("Sending start failure TM failed");
+                    return Err(PusPacketHandlingError::InvalidSubservice(subservice));
+                }
+            },
+        ))
+    }
+}
 
 pub fn create_hk_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
-) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
-    let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    request_router: GenericRequestRouter,
+) -> Pus3Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusHk as ChannelId,
         "PUS_3_TM_SENDER",
         shared_tm_store.clone(),
@@ -35,23 +166,32 @@ pub fn create_hk_service_static(
     let hk_srv_receiver =
         MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
     let pus_3_handler = PusService3HkHandler::new(
-        Box::new(hk_srv_receiver),
-        Box::new(hk_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        EcssTcInSharedStoreConverter::new(tc_pool, 2048),
-        request_map,
+        PusServiceHelper::new(
+            hk_srv_receiver,
+            hk_srv_tm_sender,
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+        ),
+        ExampleHkRequestConverter::default(),
+        request_router,
+        GenericRoutingErrorHandler::default(),
     );
     Pus3Wrapper { pus_3_handler }
 }
 
 pub fn create_hk_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
-) -> Pus3Wrapper<EcssTcInVecConverter> {
-    let hk_srv_tm_sender = MpscTmAsVecSender::new(
+    request_router: GenericRequestRouter,
+) -> Pus3Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let hk_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusHk as ChannelId,
         "PUS_3_TM_SENDER",
         tm_funnel_tx.clone(),
@@ -59,157 +199,44 @@ pub fn create_hk_service_dynamic(
     let hk_srv_receiver =
         MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
     let pus_3_handler = PusService3HkHandler::new(
-        Box::new(hk_srv_receiver),
-        Box::new(hk_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        EcssTcInVecConverter::default(),
-        request_map,
+        PusServiceHelper::new(
+            hk_srv_receiver,
+            hk_srv_tm_sender,
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInVecConverter::default(),
+        ),
+        ExampleHkRequestConverter::default(),
+        request_router,
+        GenericRoutingErrorHandler::default(),
     );
     Pus3Wrapper { pus_3_handler }
 }
 
-pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
-    psb: PusServiceHelper<TcInMemConverter>,
-    request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
+pub struct Pus3Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub(crate) pus_3_handler: PusService3HkHandler<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        ExampleHkRequestConverter,
+        GenericRequestRouter,
+        GenericRoutingErrorHandler<3>,
+    >,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConverter> {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
-        tc_in_mem_converter: TcInMemConverter,
-        request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
-    ) -> Self {
-        Self {
-            psb: PusServiceHelper::new(
-                tc_receiver,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-                tc_in_mem_converter,
-            ),
-            request_handlers,
-        }
-    }
-
-    fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
-        if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
-        }
-        let ecss_tc_and_token = possible_packet.unwrap();
-        let tc = self
-            .psb
-            .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-        let subservice = tc.subservice();
-        let mut partial_error = None;
-        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(
-                    ecss_tc_and_token.token,
-                    FailParams::new(Some(&time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
-                )
-                .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 8 bytes of app data".into(),
-            ));
-        }
-        if user_data.len() < 8 {
-            let err = if user_data.len() < 4 {
-                &hk_err::TARGET_ID_MISSING
-            } else {
-                &hk_err::UNIQUE_ID_MISSING
-            };
-            self.psb
-                .common
-                .verification_handler
-                .borrow_mut()
-                .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 target_id = TargetIdWithApid::from_tc(&tc).expect("invalid tc format");
-        let unique_id = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
-        if !self.request_handlers.contains_key(&target_id) {
-            self.psb
-                .common
-                .verification_handler
-                .borrow_mut()
-                .start_failure(
-                    ecss_tc_and_token.token,
-                    FailParams::new(Some(&time_stamp), &hk_err::UNKNOWN_TARGET_ID, None),
-                )
-                .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(format!(
-                "Unknown target ID {target_id}"
-            )));
-        }
-        let send_request = |target: TargetIdWithApid, request: HkRequest| {
-            let sender = self.request_handlers.get(&target).unwrap();
-            sender
-                .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(target_id, HkRequest::Enable(unique_id));
-        } else if subservice == hk::Subservice::TcDisableHkGeneration as u8 {
-            send_request(target_id, HkRequest::Disable(unique_id));
-        } else if subservice == hk::Subservice::TcGenerateOneShotHk as u8 {
-            send_request(target_id, HkRequest::OneShot(unique_id));
-        } else if subservice == hk::Subservice::TcModifyHkCollectionInterval as u8 {
-            if user_data.len() < 12 {
-                self.psb
-                    .common
-                    .verification_handler
-                    .borrow_mut()
-                    .start_failure(
-                        ecss_tc_and_token.token,
-                        FailParams::new(
-                            Some(&time_stamp),
-                            &hk_err::COLLECTION_INTERVAL_MISSING,
-                            None,
-                        ),
-                    )
-                    .expect("Sending start failure TM failed");
-                return Err(PusPacketHandlingError::NotEnoughAppData(
-                    "Collection interval missing".into(),
-                ));
-            }
-            send_request(
-                target_id,
-                HkRequest::ModifyCollectionInterval(
-                    unique_id,
-                    CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
-                ),
-            );
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
-}
-
-pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub(crate) pus_3_handler: PusService3HkHandler<TcInMemConverter>,
-}
-
-impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_3_handler.handle_one_tc() {
             Ok(result) => match result {

satrs-example/src/pus/mod.rs

@@ -1,11 +1,13 @@
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
-use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
-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;
-use satrs_core::spacepackets::time::TimeWriter;
+use satrs::pus::verification::{FailParams, VerificationReportingProvider};
+use satrs::pus::{
+    EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
+};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusServiceId;
+use satrs::spacepackets::time::cds::CdsTime;
+use satrs::spacepackets::time::TimeWriter;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
 use std::sync::mpsc::Sender;
 
@@ -24,21 +26,21 @@ pub struct PusTcMpscRouter {
     pub action_service_receiver: Sender<EcssTcAndToken>,
 }
 
-pub struct PusReceiver {
-    pub verif_reporter: StdVerifReporterWithSender,
+pub struct PusReceiver<VerificationReporter: VerificationReportingProvider> {
+    pub verif_reporter: VerificationReporter,
     pub pus_router: PusTcMpscRouter,
     stamp_helper: TimeStampHelper,
 }
 
 struct TimeStampHelper {
-    stamper: TimeProvider,
+    stamper: CdsTime,
     time_stamp: [u8; 7],
 }
 
 impl TimeStampHelper {
     pub fn new() -> Self {
         Self {
-            stamper: TimeProvider::new_with_u16_days(0, 0),
+            stamper: CdsTime::new_with_u16_days(0, 0),
             time_stamp: [0; 7],
         }
     }
@@ -57,8 +59,8 @@ impl TimeStampHelper {
     }
 }
 
-impl PusReceiver {
-    pub fn new(verif_reporter: StdVerifReporterWithSender, pus_router: PusTcMpscRouter) -> Self {
+impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
+    pub fn new(verif_reporter: VerificationReporter, pus_router: PusTcMpscRouter) -> Self {
         Self {
             verif_reporter,
             pus_router,
@@ -67,7 +69,7 @@ impl PusReceiver {
     }
 }
 
-impl PusReceiver {
+impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
     pub fn handle_tc_packet(
         &mut self,
         tc_in_memory: TcInMemory,
@@ -78,7 +80,7 @@ impl PusReceiver {
         self.stamp_helper.update_from_now();
         let accepted_token = self
             .verif_reporter
-            .acceptance_success(init_token, Some(self.stamp_helper.stamp()))
+            .acceptance_success(init_token, self.stamp_helper.stamp())
             .expect("Acceptance success failure");
         let service = PusServiceId::try_from(service);
         match service {
@@ -115,9 +117,9 @@ impl PusReceiver {
                     let result = self.verif_reporter.start_failure(
                         accepted_token,
                         FailParams::new(
-                            Some(self.stamp_helper.stamp()),
+                            self.stamp_helper.stamp(),
                             &tmtc_err::PUS_SERVICE_NOT_IMPLEMENTED,
-                            Some(&[standard_service as u8]),
+                            &[standard_service as u8],
                         ),
                     );
                     if result.is_err() {
@@ -139,9 +141,9 @@ impl PusReceiver {
                         .start_failure(
                             accepted_token,
                             FailParams::new(
-                                Some(self.stamp_helper.stamp()),
+                                self.stamp_helper.stamp(),
                                 &tmtc_err::INVALID_PUS_SUBSERVICE,
-                                Some(&[e.number]),
+                                &[e.number],
                             ),
                         )
                         .expect("Start failure verification failed")
@@ -151,3 +153,56 @@ impl PusReceiver {
         Ok(PusPacketHandlerResult::RequestHandled)
     }
 }
+
+#[derive(Default)]
+pub struct GenericRoutingErrorHandler<const SERVICE_ID: u8> {}
+
+impl<const SERVICE_ID: u8> PusRoutingErrorHandler for GenericRoutingErrorHandler<SERVICE_ID> {
+    type Error = satrs::pus::GenericRoutingError;
+
+    fn handle_error(
+        &self,
+        target_id: satrs::TargetId,
+        token: satrs::pus::verification::VerificationToken<
+            satrs::pus::verification::TcStateAccepted,
+        >,
+        _tc: &PusTcReader,
+        error: Self::Error,
+        time_stamp: &[u8],
+        verif_reporter: &impl VerificationReportingProvider,
+    ) {
+        warn!("Routing request for service {SERVICE_ID} failed: {error:?}");
+        match error {
+            GenericRoutingError::UnknownTargetId(id) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&id.to_be_bytes());
+                verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+            GenericRoutingError::SendError(_) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&target_id.to_be_bytes());
+                verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+            GenericRoutingError::NotEnoughAppData { expected, found } => {
+                let mut context_info = (found as u32).to_be_bytes().to_vec();
+                context_info.extend_from_slice(&(expected as u32).to_be_bytes());
+                verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
+                    )
+                    .expect("Sending start failure failed");
+            }
+        }
+    }
+}

satrs-example/src/pus/scheduler.rs

@@ -2,17 +2,21 @@ use std::sync::mpsc;
 use std::time::Duration;
 
 use log::{error, info, warn};
-use satrs_core::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
-use satrs_core::pus::scheduler::{PusScheduler, TcInfo};
-use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
-use satrs_core::pus::verification::VerificationReporterWithSender;
-use satrs_core::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusServiceHelper,
+use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
+use satrs::pus::scheduler::{PusScheduler, TcInfo};
+use satrs::pus::scheduler_srv::PusService11SchedHandler;
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
 };
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
+use satrs::pus::verification::VerificationReportingProvider;
+use satrs::pus::{
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
+};
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::ChannelId;
 use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
 
 use crate::tmtc::PusTcSourceProviderSharedPool;
@@ -51,14 +55,31 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
     }
 }
 
-pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus_11_handler: PusService11SchedHandler<TcInMemConverter, PusScheduler>,
+pub struct Pus11Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub pus_11_handler: PusService11SchedHandler<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        PusScheduler,
+    >,
     pub sched_tc_pool: StaticMemoryPool,
     pub releaser_buf: [u8; 4096],
     pub tc_releaser: Box<dyn TcReleaser + Send>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn release_tcs(&mut self) {
         let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
             self.tc_releaser.release(enabled, info, tc)
@@ -109,13 +130,18 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
 
 pub fn create_scheduler_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_releaser: PusTcSourceProviderSharedPool,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
-    let sched_srv_tm_sender = MpscTmInSharedPoolSender::new(
+) -> Pus11Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusSched as ChannelId,
         "PUS_11_TM_SENDER",
         shared_tm_store.clone(),
@@ -130,8 +156,8 @@ pub fn create_scheduler_service_static(
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusService11SchedHandler::new(
         PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
-            Box::new(sched_srv_tm_sender),
+            sched_srv_receiver,
+            sched_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
@@ -148,12 +174,17 @@ pub fn create_scheduler_service_static(
 
 pub fn create_scheduler_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     tc_source_sender: mpsc::Sender<Vec<u8>>,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInVecConverter> {
-    let sched_srv_tm_sender = MpscTmAsVecSender::new(
+) -> Pus11Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let sched_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusSched as ChannelId,
         "PUS_11_TM_SENDER",
         tm_funnel_tx,
@@ -167,8 +198,8 @@ pub fn create_scheduler_service_dynamic(
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusService11SchedHandler::new(
         PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
-            Box::new(sched_srv_tm_sender),
+            sched_srv_receiver,
+            sched_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInVecConverter::default(),

satrs-example/src/pus/stack.rs

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

satrs-example/src/pus/test.rs

@@ -1,31 +1,41 @@
 use log::{info, warn};
-use satrs_core::params::Params;
-use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs_core::pus::test::PusService17TestHandler;
-use satrs_core::pus::verification::{FailParams, VerificationReporterWithSender};
-use satrs_core::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
-    MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
+use satrs::params::Params;
+use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pus::test::PusService17TestHandler;
+use satrs::pus::verification::{FailParams, VerificationReportingProvider};
+use satrs::pus::verification::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
 };
-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::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
-use satrs_core::{events::EventU32, pus::EcssTcInSharedStoreConverter};
+use satrs::pus::{
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
+    EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
+};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::spacepackets::time::cds::CdsTime;
+use satrs::spacepackets::time::TimeWriter;
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::ChannelId;
+use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
 use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID, TEST_EVENT};
 use std::sync::mpsc::{self, Sender};
 
 pub fn create_test_service_static(
     shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
-    let test_srv_tm_sender = MpscTmInSharedPoolSender::new(
+) -> Service17CustomWrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let test_srv_tm_sender = TmInSharedPoolSenderWithId::new(
         TmSenderId::PusTest as ChannelId,
         "PUS_17_TM_SENDER",
         shared_tm_store.clone(),
@@ -37,8 +47,8 @@ pub fn create_test_service_static(
         pus_test_rx,
     );
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
-        Box::new(test_srv_tm_sender),
+        test_srv_receiver,
+        test_srv_tm_sender,
         PUS_APID,
         verif_reporter.clone(),
         EcssTcInSharedStoreConverter::new(tc_pool, 2048),
@@ -51,11 +61,16 @@ pub fn create_test_service_static(
 
 pub fn create_test_service_dynamic(
     tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInVecConverter> {
-    let test_srv_tm_sender = MpscTmAsVecSender::new(
+) -> Service17CustomWrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let test_srv_tm_sender = TmAsVecSenderWithId::new(
         TmSenderId::PusTest as ChannelId,
         "PUS_17_TM_SENDER",
         tm_funnel_tx.clone(),
@@ -66,8 +81,8 @@ pub fn create_test_service_dynamic(
         pus_test_rx,
     );
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
-        Box::new(test_srv_tm_sender),
+        test_srv_receiver,
+        test_srv_tm_sender,
         PUS_APID,
         verif_reporter.clone(),
         EcssTcInVecConverter::default(),
@@ -78,12 +93,24 @@ pub fn create_test_service_dynamic(
     }
 }
 
-pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus17_handler: PusService17TestHandler<TcInMemConverter>,
+pub struct Service17CustomWrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub pus17_handler:
+        PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
     pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
     pub fn handle_next_packet(&mut self) -> bool {
         let res = self.pus17_handler.handle_one_tc();
         if res.is_err() {
@@ -112,7 +139,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
                         .tc_slice_raw(),
                 )
                 .unwrap();
-                let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
+                let time_stamper = CdsTime::now_with_u16_days().unwrap();
                 let mut stamp_buf: [u8; 7] = [0; 7];
                 time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
                 if subservice == 128 {
@@ -125,15 +152,13 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
                         .service_helper
                         .common
                         .verification_handler
-                        .get_mut()
-                        .start_success(token, Some(&stamp_buf))
+                        .start_success(token, &stamp_buf)
                         .expect("Error sending start success");
                     self.pus17_handler
                         .service_helper
                         .common
                         .verification_handler
-                        .get_mut()
-                        .completion_success(start_token, Some(&stamp_buf))
+                        .completion_success(start_token, &stamp_buf)
                         .expect("Error sending completion success");
                 } else {
                     let fail_data = [tc.subservice()];
@@ -141,13 +166,12 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
                         .service_helper
                         .common
                         .verification_handler
-                        .get_mut()
                         .start_failure(
                             token,
                             FailParams::new(
-                                Some(&stamp_buf),
+                                &stamp_buf,
                                 &tmtc_err::INVALID_PUS_SUBSERVICE,
-                                Some(&fail_data),
+                                &fail_data,
                             ),
                         )
                         .expect("Sending start failure verification failed");

satrs-example/src/queue.rs

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

satrs-example/src/requests.rs

@@ -1,15 +1,16 @@
-use derive_new::new;
-use satrs_core::hk::HkRequest;
-use satrs_core::mode::ModeRequest;
-use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
-use satrs_example::TargetIdWithApid;
+use std::collections::HashMap;
+use std::sync::mpsc;
 
-#[allow(dead_code)]
-#[derive(Clone, Eq, PartialEq, Debug)]
-pub enum ActionRequest {
-    CmdWithU32Id((u32, Vec<u8>)),
-    CmdWithStringId((String, Vec<u8>)),
-}
+use derive_new::new;
+use satrs::action::ActionRequest;
+use satrs::hk::HkRequest;
+use satrs::mode::ModeRequest;
+use satrs::pus::action::PusActionRequestRouter;
+use satrs::pus::hk::PusHkRequestRouter;
+use satrs::pus::verification::{TcStateAccepted, VerificationToken};
+use satrs::pus::GenericRoutingError;
+use satrs::queue::GenericSendError;
+use satrs::TargetId;
 
 #[allow(dead_code)]
 #[derive(Clone, Eq, PartialEq, Debug)]
@@ -22,7 +23,7 @@ pub enum Request {
 
 #[derive(Clone, Eq, PartialEq, Debug, new)]
 pub struct TargetedRequest {
-    pub(crate) target_id_with_apid: TargetIdWithApid,
+    pub(crate) target_id: TargetId,
     pub(crate) request: Request,
 }
 
@@ -34,7 +35,7 @@ pub struct RequestWithToken {
 
 impl RequestWithToken {
     pub fn new(
-        target_id: TargetIdWithApid,
+        target_id: TargetId,
         request: Request,
         token: VerificationToken<TcStateAccepted>,
     ) -> Self {
@@ -44,3 +45,50 @@ impl RequestWithToken {
         }
     }
 }
+
+#[derive(Default, Clone)]
+pub struct GenericRequestRouter(pub HashMap<TargetId, mpsc::Sender<RequestWithToken>>);
+
+impl PusHkRequestRouter for GenericRequestRouter {
+    type Error = GenericRoutingError;
+
+    fn route(
+        &self,
+        target_id: TargetId,
+        hk_request: HkRequest,
+        token: VerificationToken<TcStateAccepted>,
+    ) -> Result<(), Self::Error> {
+        if let Some(sender) = self.0.get(&target_id) {
+            sender
+                .send(RequestWithToken::new(
+                    target_id,
+                    Request::Hk(hk_request),
+                    token,
+                ))
+                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+        }
+        Ok(())
+    }
+}
+
+impl PusActionRequestRouter for GenericRequestRouter {
+    type Error = GenericRoutingError;
+
+    fn route(
+        &self,
+        target_id: TargetId,
+        action_request: ActionRequest,
+        token: VerificationToken<TcStateAccepted>,
+    ) -> Result<(), Self::Error> {
+        if let Some(sender) = self.0.get(&target_id) {
+            sender
+                .send(RequestWithToken::new(
+                    target_id,
+                    Request::Action(action_request),
+                    token,
+                ))
+                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+        }
+        Ok(())
+    }
+}

satrs-example/src/tcp.rs

@@ -4,13 +4,16 @@ use std::{
 };
 
 use log::{info, warn};
-use satrs_core::{
+use satrs::{
     hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
+    pus::ReceivesEcssPusTc,
     spacepackets::PacketId,
-    tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
+    tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
 };
 use satrs_example::config::PUS_APID;
 
+use crate::ccsds::CcsdsReceiver;
+
 pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
 
 #[derive(Default, Clone)]
@@ -69,20 +72,37 @@ impl TmPacketSourceCore for SyncTcpTmSource {
     }
 }
 
-pub struct TcpTask<MpscErrorType: 'static> {
-    server: TcpSpacepacketsServer<
-        (),
-        CcsdsError<MpscErrorType>,
-        SyncTcpTmSource,
-        CcsdsDistributor<MpscErrorType>,
-    >,
+pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
+    (),
+    CcsdsError<MpscErrorType>,
+    SyncTcpTmSource,
+    CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
+>;
+
+pub struct TcpTask<
+    TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+        + ReceivesEcssPusTc<Error = MpscErrorType>
+        + Clone
+        + Send
+        + 'static,
+    MpscErrorType: 'static,
+> {
+    server: TcpServerType<TcSource, MpscErrorType>,
 }
 
-impl<MpscErrorType: 'static + core::fmt::Debug> TcpTask<MpscErrorType> {
+impl<
+        TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+            + ReceivesEcssPusTc<Error = MpscErrorType>
+            + Clone
+            + Send
+            + 'static,
+        MpscErrorType: 'static + core::fmt::Debug,
+    > TcpTask<TcSource, MpscErrorType>
+{
     pub fn new(
         cfg: ServerConfig,
         tm_source: SyncTcpTmSource,
-        tc_receiver: CcsdsDistributor<MpscErrorType>,
+        tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             server: TcpSpacepacketsServer::new(

satrs-example/src/tm_funnel.rs

@@ -1,10 +1,10 @@
 use std::{
     collections::HashMap,
-    sync::mpsc::{Receiver, Sender},
+    sync::mpsc::{self},
 };
 
 use log::info;
-use satrs_core::{
+use satrs::{
     pool::{PoolProvider, StoreAddr},
     seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
     spacepackets::{
@@ -77,16 +77,16 @@ impl TmFunnelCommon {
 pub struct TmFunnelStatic {
     common: TmFunnelCommon,
     shared_tm_store: SharedTmPool,
-    tm_funnel_rx: Receiver<StoreAddr>,
-    tm_server_tx: Sender<StoreAddr>,
+    tm_funnel_rx: mpsc::Receiver<StoreAddr>,
+    tm_server_tx: mpsc::SyncSender<StoreAddr>,
 }
 
 impl TmFunnelStatic {
     pub fn new(
         shared_tm_store: SharedTmPool,
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: Receiver<StoreAddr>,
-        tm_server_tx: Sender<StoreAddr>,
+        tm_funnel_rx: mpsc::Receiver<StoreAddr>,
+        tm_server_tx: mpsc::SyncSender<StoreAddr>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -123,15 +123,15 @@ impl TmFunnelStatic {
 
 pub struct TmFunnelDynamic {
     common: TmFunnelCommon,
-    tm_funnel_rx: Receiver<Vec<u8>>,
-    tm_server_tx: Sender<Vec<u8>>,
+    tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
+    tm_server_tx: mpsc::Sender<Vec<u8>>,
 }
 
 impl TmFunnelDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: Receiver<Vec<u8>>,
-        tm_server_tx: Sender<Vec<u8>>,
+        tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
+        tm_server_tx: mpsc::Sender<Vec<u8>>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),

satrs-example/src/tmtc.rs

@@ -1,14 +1,17 @@
 use log::warn;
-use satrs_core::pus::{EcssTcAndToken, ReceivesEcssPusTc};
-use satrs_core::spacepackets::SpHeader;
-use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
+use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
+use satrs::spacepackets::SpHeader;
+use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
 use thiserror::Error;
 
 use crate::pus::PusReceiver;
-use satrs_core::pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError};
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::tmtc::ReceivesCcsdsTc;
+use satrs::pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::tmtc::ReceivesCcsdsTc;
 
 #[derive(Debug, Clone, PartialEq, Eq, Error)]
 pub enum MpscStoreAndSendError {
@@ -37,7 +40,7 @@ impl SharedTcPool {
 
 #[derive(Clone)]
 pub struct PusTcSourceProviderSharedPool {
-    pub tc_source: Sender<StoreAddr>,
+    pub tc_source: SyncSender<StoreAddr>,
     pub shared_pool: SharedTcPool,
 }
 
@@ -97,14 +100,14 @@ pub struct TcSourceTaskStatic {
     shared_tc_pool: SharedTcPool,
     tc_receiver: Receiver<StoreAddr>,
     tc_buf: [u8; 4096],
-    pus_receiver: PusReceiver,
+    pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
 }
 
 impl TcSourceTaskStatic {
     pub fn new(
         shared_tc_pool: SharedTcPool,
         tc_receiver: Receiver<StoreAddr>,
-        pus_receiver: PusReceiver,
+        pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
     ) -> Self {
         Self {
             shared_tc_pool,
@@ -133,7 +136,7 @@ impl TcSourceTaskStatic {
                     Ok((pus_tc, _)) => {
                         self.pus_receiver
                             .handle_tc_packet(
-                                satrs_core::pus::TcInMemory::StoreAddr(addr),
+                                satrs::pus::TcInMemory::StoreAddr(addr),
                                 pus_tc.service(),
                                 &pus_tc,
                             )
@@ -161,11 +164,14 @@ impl TcSourceTaskStatic {
 // TC source components where the heap is the backing memory of the received telecommands.
 pub struct TcSourceTaskDynamic {
     pub tc_receiver: Receiver<Vec<u8>>,
-    pus_receiver: PusReceiver,
+    pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
 }
 
 impl TcSourceTaskDynamic {
-    pub fn new(tc_receiver: Receiver<Vec<u8>>, pus_receiver: PusReceiver) -> Self {
+    pub fn new(
+        tc_receiver: Receiver<Vec<u8>>,
+        pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
+    ) -> Self {
         Self {
             tc_receiver,
             pus_receiver,
@@ -182,7 +188,7 @@ impl TcSourceTaskDynamic {
                 Ok((pus_tc, _)) => {
                     self.pus_receiver
                         .handle_tc_packet(
-                            satrs_core::pus::TcInMemory::Vec(tc.clone()),
+                            satrs::pus::TcInMemory::Vec(tc.clone()),
                             pus_tc.service(),
                             &pus_tc,
                         )

satrs-example/src/udp.rs

@@ -4,7 +4,7 @@ use std::{
 };
 
 use log::{info, warn};
-use satrs_core::{
+use satrs::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
     pool::{PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr},
     tmtc::CcsdsError,
@@ -113,7 +113,7 @@ mod tests {
         sync::{Arc, Mutex},
     };
 
-    use satrs_core::{
+    use satrs::{
         spacepackets::{
             ecss::{tc::PusTcCreator, WritablePusPacket},
             SpHeader,

satrs-mib/CHANGELOG.md

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

satrs-mib/Cargo.toml

@@ -1,13 +1,13 @@
 [package]
 name = "satrs-mib"
-version = "0.1.0-alpha.2"
+version = "0.1.1"
 edition = "2021"
 rust-version = "1.61"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 description = """
 Helper crate of the sat-rs framework to build a mission information base (MIB) from the
 On-Board Software (OBSW) code directly."""
-homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
+homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 license = "Apache-2.0"
 keywords = ["no-std", "space", "aerospace"]
@@ -22,16 +22,14 @@ serde-hex = "0.1.0"
 version = "1"
 optional = true
 
-[dependencies.satrs-core]
-version = "0.1.0-alpha.3"
-# path = "../satrs-core"
-# git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
-# branch = "main"
-# rev = "35e1f7a983f6535c5571186e361fe101d4306b89"
+[dependencies.satrs-shared]
+path = "../satrs-shared"
+version = "0.1.2"
+features = ["serde"]
 
 [dependencies.satrs-mib-codegen]
 path = "codegen"
-version = "0.1.0-alpha.2"
+version = "0.1.1"
 
 [dependencies.serde]
 version = "1"

satrs-mib/README.md

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

satrs-mib/codegen/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs-mib-codegen"
-version = "0.1.0-alpha.2"
+version = "0.1.1"
 edition = "2021"
 description = "satrs-mib proc macro implementation"
 homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
@@ -19,19 +19,17 @@ path = "tests/tests.rs"
 quote = "1"
 proc-macro2 = "1"
 
-[dependencies.satrs-core]
-version = "0.1.0-alpha.3"
-# path = "../../satrs-core"
-# git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
-# branch = "main"
-# rev = "35e1f7a983f6535c5571186e361fe101d4306b89"
+[dependencies.syn]
+version = "2"
+features = ["full"]
+
 
 [dev-dependencies]
 trybuild = { version = "1", features = ["diff"] }
 
+[dev-dependencies.satrs-shared]
+version = "0.1.2"
+path = "../../satrs-shared"
+
 [dev-dependencies.satrs-mib]
 path = ".."
-
-[dependencies.syn]
-version = "2"
-features = ["full"]

satrs-mib/codegen/src/lib.rs

@@ -1,6 +1,14 @@
 use quote::{format_ident, quote, ToTokens};
 use syn::{parse_macro_input, ItemConst, LitStr};
 
+/// This macro can be used to automatically generate introspection information for return codes.
+///
+/// For example, it can be applied to types like the
+/// [`satrs_mib::res_code::ResultU16`](https://docs.rs/satrs-mib/latest/satrs_mib/res_code/struct.ResultU16.html#) type
+/// to automatically generate
+/// [`satrs_mib::res_code::ResultU16Info`](https://docs.rs/satrs-mib/latest/satrs_mib/res_code/struct.ResultU16Info.html)
+/// instances. These instances can then be used for tasks like generating CSVs or YAML files with
+/// the list of all result codes. This information is valuable for both operators and developers.
 #[proc_macro_attribute]
 pub fn resultcode(
     args: proc_macro::TokenStream,

satrs-mib/codegen/tests/basic.rs

@@ -1,8 +1,8 @@
 //! Basic check which just verifies that everything compiles
-use satrs_core::res_code::ResultU16;
 use satrs_mib::resultcode;
+use satrs_shared::res_code::ResultU16;
 
 #[resultcode]
-const _TEST_RESULT: ResultU16 = ResultU16::const_new(0, 1);
+const _TEST_RESULT: ResultU16 = ResultU16::new(0, 1);
 
 fn main() {}

satrs-mib/codegen/tests/basic_with_info.rs

@@ -1,8 +1,8 @@
 //! Basic check which just verifies that everything compiles
-use satrs_core::res_code::ResultU16;
 use satrs_mib::resultcode;
+use satrs_shared::res_code::ResultU16;
 
 #[resultcode(info = "This is a test result where the first parameter is foo")]
-const _TEST_RESULT: ResultU16 = ResultU16::const_new(0, 1);
+const _TEST_RESULT: ResultU16 = ResultU16::new(0, 1);
 
 fn main() {}

satrs-mib/codegen/tests/verify_gen_struct.rs

@@ -1,9 +1,9 @@
-use satrs_core::res_code::ResultU16;
 use satrs_mib::res_code::ResultU16Info;
 use satrs_mib::resultcode;
+use satrs_shared::res_code::ResultU16;
 
 #[resultcode(info = "This is a test result where the first parameter is foo")]
-const TEST_RESULT: ResultU16 = ResultU16::const_new(0, 1);
+const TEST_RESULT: ResultU16 = ResultU16::new(0, 1);
 // Create named reference of auto-generated struct, which can be used by IDEs etc.
 const TEST_RESULT_EXT_REF: &ResultU16Info = &TEST_RESULT_EXT;
 

satrs-mib/release-checklist.md

@@ -19,7 +19,4 @@ Checklist for new releases
 
 # Post-Release
 
-1. Create a new annotaged tag and push it with `git tag -a satrs-mib-<version>` and
-   `git push -u origin satrs-mib-<version>`
-2. Create a new release on `EGit` based on the tag.
-
+1. Create a new release on `EGit` with the name `satrs-mib-<version>`.

satrs-mib/src/res_code.rs

@@ -1,7 +1,7 @@
 #[cfg(feature = "std")]
 pub use stdmod::*;
 
-pub use satrs_core::res_code::ResultU16;
+pub use satrs_shared::res_code::ResultU16;
 
 use serde::{Deserialize, Serialize};
 use serde_hex::{SerHex, StrictCapPfx};
@@ -73,6 +73,7 @@ pub mod stdmod {
         Ok(())
     }
 
+    /// This function exports a slice of result code information objects to a CSV file.
     pub fn write_resultcodes_to_csv(
         writer_builder: csv::WriterBuilder,
         results: &[ResultU16Info],
@@ -96,8 +97,8 @@ mod tests {
     // Special solution for this crate because the code generated by a macro will use
     // satrs_mib::res_code::*
     use crate as satrs_mib;
-    use satrs_core::res_code::ResultU16;
     use satrs_mib::resultcode;
+    use satrs_shared::res_code::ResultU16;
 
     #[derive(Debug)]
     #[allow(dead_code)]
@@ -106,12 +107,12 @@ mod tests {
     }
 
     #[resultcode]
-    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 0);
+    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 0);
     #[resultcode]
-    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 1);
+    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 1);
 
     #[resultcode(info = "Not enough data inside the TC application data field")]
-    pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
+    pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
 
     pub const TMTC_RESULTS: &[ResultU16Info] = &[
         INVALID_PUS_SERVICE_EXT,
@@ -119,12 +120,12 @@ mod tests {
         NOT_ENOUGH_APP_DATA_EXT,
     ];
 
-    const CSV_NAME: &'static str = "dummy.csv";
+    const CSV_NAME: &str = "dummy.csv";
 
     #[test]
     fn test_printout() {
         let mut wtrb = csv::WriterBuilder::new();
-        wtrb.delimiter(';' as u8);
+        wtrb.delimiter(b';');
         print_resultcodes_as_csv(wtrb, TMTC_RESULTS).expect("Priting result codes failed");
     }
 
@@ -133,7 +134,7 @@ mod tests {
         let csvpath = Path::new(CSV_NAME);
         let mut wtrb = csv::WriterBuilder::new();
         let file = File::create(csvpath).expect("Creating CSV file failed");
-        wtrb.delimiter(';' as u8);
+        wtrb.delimiter(b';');
         write_resultcodes_to_csv(wtrb, TMTC_RESULTS, file).expect("CSV export failed");
         assert!(csvpath.exists());
         let file = File::open(csvpath).expect("Opening CSV file failed");

satrs-minisim/Cargo.toml

@@ -0,0 +1,21 @@
+[package]
+name = "satrs-minisim"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+serde = { version = "1", features = ["derive"] }
+serde_json = "1"
+log = "0.4"
+thiserror = "1"
+
+[dependencies.asynchronix]
+version = "0.2.1"
+
+[dependencies.satrs]
+path = "../satrs"
+
+[dev-dependencies]
+delegate = "0.12"

satrs-minisim/src/acs.rs

@@ -0,0 +1,338 @@
+use std::{f32::consts::PI, sync::mpsc, time::Duration};
+
+use asynchronix::{
+    model::{Model, Output},
+    time::Scheduler,
+};
+use satrs::power::SwitchStateBinary;
+use satrs_minisim::{
+    acs::{MgmReply, MgmSensorValues, MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD},
+    SimReply,
+};
+
+use crate::time::current_millis;
+
+// Earth magnetic field varies between -30 uT and 30 uT
+const AMPLITUDE_MGM: f32 = 0.03;
+// Lets start with a simple frequency here.
+const FREQUENCY_MGM: f32 = 1.0;
+const PHASE_X: f32 = 0.0;
+// Different phases to have different values on the other axes.
+const PHASE_Y: f32 = 0.1;
+const PHASE_Z: f32 = 0.2;
+
+/// Simple model for a magnetometer where the measure magnetic fields are modeled with sine waves.
+///
+/// Please note that that a more realistic MGM model wouold include the following components
+/// which are not included here to simplify the model:
+///
+/// 1. It would probably generate signed [i16] values which need to be converted to SI units
+///    because it is a digital sensor
+/// 2. It would sample the magnetic field at a high fixed rate. This might not be possible for
+///    a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms) might
+///    stil lbe possible.
+pub struct MagnetometerModel {
+    pub switch_state: SwitchStateBinary,
+    pub periodicity: Duration,
+    pub external_mag_field: Option<MgmSensorValues>,
+    pub reply_sender: mpsc::Sender<SimReply>,
+}
+
+impl MagnetometerModel {
+    pub fn new(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
+        Self {
+            switch_state: SwitchStateBinary::Off,
+            periodicity,
+            external_mag_field: None,
+            reply_sender,
+        }
+    }
+
+    pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
+        self.switch_state = switch_state;
+    }
+
+    pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
+        self.reply_sender
+            .send(SimReply::new(MgmReply {
+                switch_state: self.switch_state,
+                sensor_values: self.calculate_current_mgm_tuple(current_millis(scheduler.time())),
+            }))
+            .expect("sending MGM sensor values failed");
+    }
+
+    // Devices like magnetorquers generate a strong magnetic field which overrides the default
+    // model for the measured magnetic field.
+    pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValues) {
+        self.external_mag_field = Some(field);
+    }
+
+    fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValues {
+        if SwitchStateBinary::On == self.switch_state {
+            if let Some(ext_field) = self.external_mag_field {
+                return ext_field;
+            }
+            let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
+            return MgmSensorValues {
+                x: AMPLITUDE_MGM * (base_sin_val + PHASE_X).sin(),
+                y: AMPLITUDE_MGM * (base_sin_val + PHASE_Y).sin(),
+                z: AMPLITUDE_MGM * (base_sin_val + PHASE_Z).sin(),
+            };
+        }
+        MgmSensorValues {
+            x: 0.0,
+            y: 0.0,
+            z: 0.0,
+        }
+    }
+}
+
+impl Model for MagnetometerModel {}
+
+pub struct MagnetorquerModel {
+    switch_state: SwitchStateBinary,
+    torquing: bool,
+    torque_dipole: MgtDipole,
+    pub gen_magnetic_field: Output<MgmSensorValues>,
+    reply_sender: mpsc::Sender<SimReply>,
+}
+
+impl MagnetorquerModel {
+    pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
+        Self {
+            switch_state: SwitchStateBinary::Off,
+            torquing: false,
+            torque_dipole: MgtDipole::default(),
+            gen_magnetic_field: Output::new(),
+            reply_sender,
+        }
+    }
+
+    pub async fn apply_torque(
+        &mut self,
+        duration_and_dipole: (Duration, MgtDipole),
+        scheduler: &Scheduler<Self>,
+    ) {
+        self.torque_dipole = duration_and_dipole.1;
+        self.torquing = true;
+        if scheduler
+            .schedule_event(duration_and_dipole.0, Self::clear_torque, ())
+            .is_err()
+        {
+            log::warn!("torque clearing can only be set for a future time.");
+        }
+        self.generate_magnetic_field(()).await;
+    }
+
+    pub async fn clear_torque(&mut self, _: ()) {
+        self.torque_dipole = MgtDipole::default();
+        self.torquing = false;
+        self.generate_magnetic_field(()).await;
+    }
+
+    pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
+        self.switch_state = switch_state;
+        self.generate_magnetic_field(()).await;
+    }
+
+    pub async fn request_housekeeping_data(&mut self, _: (), scheduler: &Scheduler<Self>) {
+        if self.switch_state != SwitchStateBinary::On {
+            return;
+        }
+        scheduler
+            .schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
+            .expect("requesting housekeeping data failed")
+    }
+
+    pub fn send_housekeeping_data(&mut self) {
+        self.reply_sender
+            .send(SimReply::new(MgtReply::Hk(MgtHkSet {
+                dipole: self.torque_dipole,
+                torquing: self.torquing,
+            })))
+            .unwrap();
+    }
+
+    fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValues {
+        // Simplified model: Just returns some fixed magnetic field for now.
+        // Later, we could make this more fancy by incorporating the commanded dipole.
+        MGT_GEN_MAGNETIC_FIELD
+    }
+
+    /// A torquing magnetorquer generates a magnetic field. This function can be used to apply
+    /// the magnetic field.
+    async fn generate_magnetic_field(&mut self, _: ()) {
+        if self.switch_state != SwitchStateBinary::On || !self.torquing {
+            return;
+        }
+        self.gen_magnetic_field
+            .send(self.calc_magnetic_field(self.torque_dipole))
+            .await;
+    }
+}
+
+impl Model for MagnetorquerModel {}
+
+#[cfg(test)]
+pub mod tests {
+    use std::time::Duration;
+
+    use satrs::power::SwitchStateBinary;
+    use satrs_minisim::{
+        acs::{MgmReply, MgmRequest, MgtDipole, MgtHkSet, MgtReply, MgtRequest},
+        eps::PcduSwitch,
+        SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
+    };
+
+    use crate::{eps::tests::switch_device_on, test_helpers::SimTestbench};
+
+    #[test]
+    fn test_basic_mgm_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let request = SimRequest::new(MgmRequest::RequestSensorData);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::Mgm);
+        let reply = MgmReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        assert_eq!(reply.switch_state, SwitchStateBinary::Off);
+        assert_eq!(reply.sensor_values.x, 0.0);
+        assert_eq!(reply.sensor_values.y, 0.0);
+        assert_eq!(reply.sensor_values.z, 0.0);
+    }
+
+    #[test]
+    fn test_basic_mgm_request_switched_on() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, PcduSwitch::Mgm);
+
+        let mut request = SimRequest::new(MgmRequest::RequestSensorData);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let mut sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let mut sim_reply = sim_reply_res.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::Mgm);
+        let first_reply = MgmReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        sim_testbench.step_by(Duration::from_millis(50));
+
+        request = SimRequest::new(MgmRequest::RequestSensorData);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        sim_reply = sim_reply_res.unwrap();
+
+        let second_reply = MgmReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        // Check that the values are changing.
+        assert!(first_reply != second_reply);
+    }
+
+    #[test]
+    fn test_basic_mgt_request_is_off() {
+        let mut sim_testbench = SimTestbench::new();
+        let request = SimRequest::new(MgtRequest::RequestHk);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_none());
+    }
+
+    #[test]
+    fn test_basic_mgt_request_is_on() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
+        let request = SimRequest::new(MgtRequest::RequestHk);
+
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let sim_reply = sim_reply_res.unwrap();
+        let mgt_reply = MgtReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        match mgt_reply {
+            MgtReply::Hk(hk) => {
+                assert_eq!(hk.dipole, MgtDipole::default());
+                assert!(!hk.torquing);
+            }
+            _ => panic!("unexpected reply"),
+        }
+    }
+
+    fn check_mgt_hk(sim_testbench: &mut SimTestbench, expected_hk_set: MgtHkSet) {
+        let request = SimRequest::new(MgtRequest::RequestHk);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let sim_reply = sim_reply_res.unwrap();
+        let mgt_reply = MgtReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        match mgt_reply {
+            MgtReply::Hk(hk) => {
+                assert_eq!(hk, expected_hk_set);
+            }
+            _ => panic!("unexpected reply"),
+        }
+    }
+
+    #[test]
+    fn test_basic_mgt_request_is_on_and_torquing() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
+        let commanded_dipole = MgtDipole {
+            x: -200,
+            y: 200,
+            z: 1000,
+        };
+        let request = SimRequest::new(MgtRequest::ApplyTorque {
+            duration: Duration::from_millis(100),
+            dipole: commanded_dipole,
+        });
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step_by(Duration::from_millis(5));
+
+        check_mgt_hk(
+            &mut sim_testbench,
+            MgtHkSet {
+                dipole: commanded_dipole,
+                torquing: true,
+            },
+        );
+        sim_testbench.step_by(Duration::from_millis(100));
+        check_mgt_hk(
+            &mut sim_testbench,
+            MgtHkSet {
+                dipole: MgtDipole::default(),
+                torquing: false,
+            },
+        );
+    }
+}

satrs-minisim/src/controller.rs

@@ -0,0 +1,189 @@
+use std::{sync::mpsc, time::Duration};
+
+use asynchronix::{
+    simulation::{Address, Simulation},
+    time::{Clock, MonotonicTime, SystemClock},
+};
+use satrs_minisim::{
+    acs::{MgmRequest, MgtRequest},
+    eps::PcduRequest,
+    SerializableSimMsgPayload, SimCtrlReply, SimCtrlRequest, SimMessageProvider, SimReply,
+    SimRequest, SimRequestError, SimTarget,
+};
+
+use crate::{
+    acs::{MagnetometerModel, MagnetorquerModel},
+    eps::PcduModel,
+};
+
+// The simulation controller processes requests and drives the simulation.
+pub struct SimController {
+    pub sys_clock: SystemClock,
+    pub request_receiver: mpsc::Receiver<SimRequest>,
+    pub reply_sender: mpsc::Sender<SimReply>,
+    pub simulation: Simulation,
+    pub mgm_addr: Address<MagnetometerModel>,
+    pub pcdu_addr: Address<PcduModel>,
+    pub mgt_addr: Address<MagnetorquerModel>,
+}
+
+impl SimController {
+    pub fn new(
+        sys_clock: SystemClock,
+        request_receiver: mpsc::Receiver<SimRequest>,
+        reply_sender: mpsc::Sender<SimReply>,
+        simulation: Simulation,
+        mgm_addr: Address<MagnetometerModel>,
+        pcdu_addr: Address<PcduModel>,
+        mgt_addr: Address<MagnetorquerModel>,
+    ) -> Self {
+        Self {
+            sys_clock,
+            request_receiver,
+            reply_sender,
+            simulation,
+            mgm_addr,
+            pcdu_addr,
+            mgt_addr,
+        }
+    }
+
+    pub fn run(&mut self, start_time: MonotonicTime, udp_polling_interval_ms: u64) {
+        let mut t = start_time + Duration::from_millis(udp_polling_interval_ms);
+        self.sys_clock.synchronize(t);
+        loop {
+            // Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
+            // replies lying in the past.
+            t += Duration::from_millis(udp_polling_interval_ms);
+            self.simulation
+                .step_until(t)
+                .expect("simulation step failed");
+            self.handle_sim_requests();
+
+            self.sys_clock.synchronize(t);
+        }
+    }
+
+    pub fn handle_sim_requests(&mut self) {
+        loop {
+            match self.request_receiver.try_recv() {
+                Ok(request) => {
+                    if let Err(e) = match request.target() {
+                        SimTarget::SimCtrl => self.handle_ctrl_request(&request),
+                        SimTarget::Mgm => self.handle_mgm_request(&request),
+                        SimTarget::Mgt => self.handle_mgt_request(&request),
+                        SimTarget::Pcdu => self.handle_pcdu_request(&request),
+                    } {
+                        self.handle_invalid_request_with_valid_target(e, &request)
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        panic!("all request sender disconnected")
+                    }
+                },
+            }
+        }
+    }
+
+    fn handle_ctrl_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
+        let sim_ctrl_request = SimCtrlRequest::from_sim_message(request)?;
+        match sim_ctrl_request {
+            SimCtrlRequest::Ping => {
+                self.reply_sender
+                    .send(SimReply::new(SimCtrlReply::Pong))
+                    .expect("sending reply from sim controller failed");
+            }
+        }
+        Ok(())
+    }
+    fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
+        let mgm_request = MgmRequest::from_sim_message(request)?;
+        match mgm_request {
+            MgmRequest::RequestSensorData => {
+                self.simulation.send_event(
+                    MagnetometerModel::send_sensor_values,
+                    (),
+                    &self.mgm_addr,
+                );
+            }
+        }
+        Ok(())
+    }
+
+    fn handle_pcdu_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
+        let pcdu_request = PcduRequest::from_sim_message(request)?;
+        match pcdu_request {
+            PcduRequest::RequestSwitchInfo => {
+                self.simulation
+                    .send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
+            }
+            PcduRequest::SwitchDevice { switch, state } => {
+                self.simulation.send_event(
+                    PcduModel::switch_device,
+                    (switch, state),
+                    &self.pcdu_addr,
+                );
+            }
+        }
+        Ok(())
+    }
+
+    fn handle_mgt_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
+        let mgt_request = MgtRequest::from_sim_message(request)?;
+        match mgt_request {
+            MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
+                MagnetorquerModel::apply_torque,
+                (duration, dipole),
+                &self.mgt_addr,
+            ),
+            MgtRequest::RequestHk => self.simulation.send_event(
+                MagnetorquerModel::request_housekeeping_data,
+                (),
+                &self.mgt_addr,
+            ),
+        }
+        Ok(())
+    }
+
+    fn handle_invalid_request_with_valid_target(
+        &self,
+        error: SimRequestError,
+        request: &SimRequest,
+    ) {
+        log::warn!(
+            "received invalid {:?} request: {:?}",
+            request.target(),
+            error
+        );
+        self.reply_sender
+            .send(SimReply::new(SimCtrlReply::from(error)))
+            .expect("sending reply from sim controller failed");
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::test_helpers::SimTestbench;
+
+    use super::*;
+
+    #[test]
+    fn test_basic_ping() {
+        let mut sim_testbench = SimTestbench::new();
+        let request = SimRequest::new(SimCtrlRequest::Ping);
+        sim_testbench
+            .send_request(request)
+            .expect("sending sim ctrl request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
+        let reply = SimCtrlReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        assert_eq!(reply, SimCtrlReply::Pong);
+    }
+}

satrs-minisim/src/eps.rs

@@ -0,0 +1,185 @@
+use std::{collections::HashMap, sync::mpsc, time::Duration};
+
+use asynchronix::{
+    model::{Model, Output},
+    time::Scheduler,
+};
+use satrs::power::SwitchStateBinary;
+use satrs_minisim::{
+    eps::{PcduReply, PcduSwitch, SwitchMap},
+    SimReply,
+};
+
+pub const SWITCH_INFO_DELAY_MS: u64 = 10;
+
+pub struct PcduModel {
+    pub switcher_map: SwitchMap,
+    pub mgm_switch: Output<SwitchStateBinary>,
+    pub mgt_switch: Output<SwitchStateBinary>,
+    pub reply_sender: mpsc::Sender<SimReply>,
+}
+
+impl PcduModel {
+    pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
+        let mut switcher_map = HashMap::new();
+        switcher_map.insert(PcduSwitch::Mgm, SwitchStateBinary::Off);
+        switcher_map.insert(PcduSwitch::Mgt, SwitchStateBinary::Off);
+
+        Self {
+            switcher_map,
+            mgm_switch: Output::new(),
+            mgt_switch: Output::new(),
+            reply_sender,
+        }
+    }
+
+    pub async fn request_switch_info(&mut self, _: (), scheduler: &Scheduler<Self>) {
+        scheduler
+            .schedule_event(
+                Duration::from_millis(SWITCH_INFO_DELAY_MS),
+                Self::send_switch_info,
+                (),
+            )
+            .expect("requesting switch info failed");
+    }
+
+    pub fn send_switch_info(&mut self) {
+        let reply = SimReply::new(PcduReply::SwitchInfo(self.switcher_map.clone()));
+        self.reply_sender.send(reply).unwrap();
+    }
+
+    pub async fn switch_device(
+        &mut self,
+        switch_and_target_state: (PcduSwitch, SwitchStateBinary),
+    ) {
+        let val = self
+            .switcher_map
+            .get_mut(&switch_and_target_state.0)
+            .unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
+        *val = switch_and_target_state.1;
+        match switch_and_target_state.0 {
+            PcduSwitch::Mgm => {
+                self.mgm_switch.send(switch_and_target_state.1).await;
+            }
+            PcduSwitch::Mgt => {
+                self.mgt_switch.send(switch_and_target_state.1).await;
+            }
+        }
+    }
+}
+
+impl Model for PcduModel {}
+
+#[cfg(test)]
+pub(crate) mod tests {
+    use super::*;
+    use std::time::Duration;
+
+    use satrs_minisim::{
+        eps::PcduRequest, SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
+    };
+
+    use crate::test_helpers::SimTestbench;
+
+    fn switch_device(
+        sim_testbench: &mut SimTestbench,
+        switch: PcduSwitch,
+        target: SwitchStateBinary,
+    ) {
+        let request = SimRequest::new(PcduRequest::SwitchDevice {
+            switch,
+            state: target,
+        });
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM switch request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+    }
+
+    #[allow(dead_code)]
+    pub(crate) fn switch_device_off(sim_testbench: &mut SimTestbench, switch: PcduSwitch) {
+        switch_device(sim_testbench, switch, SwitchStateBinary::Off);
+    }
+    pub(crate) fn switch_device_on(sim_testbench: &mut SimTestbench, switch: PcduSwitch) {
+        switch_device(sim_testbench, switch, SwitchStateBinary::On);
+    }
+
+    pub(crate) fn get_all_off_switch_map() -> SwitchMap {
+        let mut switcher_map = SwitchMap::new();
+        switcher_map.insert(super::PcduSwitch::Mgm, super::SwitchStateBinary::Off);
+        switcher_map.insert(super::PcduSwitch::Mgt, super::SwitchStateBinary::Off);
+        switcher_map
+    }
+
+    fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
+        let request = SimRequest::new(PcduRequest::RequestSwitchInfo);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::Pcdu);
+        let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize PCDU switch info");
+        match pcdu_reply {
+            PcduReply::SwitchInfo(switch_map) => {
+                assert_eq!(switch_map, *expected_switch_map);
+            }
+        }
+    }
+
+    fn test_pcdu_switching_single_switch(switch: PcduSwitch, target: SwitchStateBinary) {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device(&mut sim_testbench, switch, target);
+        let mut switcher_map = get_all_off_switch_map();
+        *switcher_map.get_mut(&switch).unwrap() = target;
+        check_switch_state(&mut sim_testbench, &switcher_map);
+    }
+
+    #[test]
+    fn test_pcdu_switcher_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let request = SimRequest::new(PcduRequest::RequestSwitchInfo);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step_by(Duration::from_millis(1));
+
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_none());
+        // Reply takes 20ms
+        sim_testbench.step_by(Duration::from_millis(25));
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.target(), SimTarget::Pcdu);
+        let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize PCDU switch info");
+        match pcdu_reply {
+            PcduReply::SwitchInfo(switch_map) => {
+                assert_eq!(switch_map, get_all_off_switch_map());
+            }
+        }
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgm_on() {
+        test_pcdu_switching_single_switch(PcduSwitch::Mgm, SwitchStateBinary::On);
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgt_on() {
+        test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgt_off() {
+        test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
+        test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::Off);
+    }
+}

satrs-minisim/src/lib.rs

@@ -0,0 +1,383 @@
+use serde::{de::DeserializeOwned, Deserialize, Serialize};
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimTarget {
+    SimCtrl,
+    Mgm,
+    Mgt,
+    Pcdu,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub struct SimMessage {
+    pub target: SimTarget,
+    pub payload: String,
+}
+
+/// A generic simulation request type. Right now, the payload data is expected to be
+/// JSON, which might be changed in the future.
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub struct SimRequest {
+    inner: SimMessage,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimMessageType {
+    Request,
+    Reply,
+}
+
+/// Generic trait implemented by simulation request or reply payloads. It ties the request or
+/// reply to a specific target and provides an API which does boilerplate tasks like checking the
+/// validity of the target.
+pub trait SerializableSimMsgPayload<P: SimMessageProvider>:
+    Serialize + DeserializeOwned + Sized
+{
+    const TARGET: SimTarget;
+
+    fn from_sim_message(sim_message: &P) -> Result<Self, SimMessageError<P>> {
+        if sim_message.target() == Self::TARGET {
+            return Ok(serde_json::from_str(sim_message.payload())?);
+        }
+        Err(SimMessageError::TargetRequestMissmatch(sim_message.clone()))
+    }
+}
+
+pub trait SimMessageProvider: Serialize + DeserializeOwned + Clone + Sized {
+    fn msg_type(&self) -> SimMessageType;
+    fn target(&self) -> SimTarget;
+    fn payload(&self) -> &String;
+    fn from_raw_data(data: &[u8]) -> serde_json::Result<Self> {
+        serde_json::from_slice(data)
+    }
+}
+
+impl SimRequest {
+    pub fn new<T: SerializableSimMsgPayload<SimRequest>>(serializable_request: T) -> Self {
+        Self {
+            inner: SimMessage {
+                target: T::TARGET,
+                payload: serde_json::to_string(&serializable_request).unwrap(),
+            },
+        }
+    }
+}
+
+impl SimMessageProvider for SimRequest {
+    fn target(&self) -> SimTarget {
+        self.inner.target
+    }
+    fn payload(&self) -> &String {
+        &self.inner.payload
+    }
+
+    fn msg_type(&self) -> SimMessageType {
+        SimMessageType::Request
+    }
+}
+
+/// A generic simulation reply type. Right now, the payload data is expected to be
+/// JSON, which might be changed inthe future.
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub struct SimReply {
+    inner: SimMessage,
+}
+
+impl SimReply {
+    pub fn new<T: SerializableSimMsgPayload<SimReply>>(serializable_reply: T) -> Self {
+        Self {
+            inner: SimMessage {
+                target: T::TARGET,
+                payload: serde_json::to_string(&serializable_reply).unwrap(),
+            },
+        }
+    }
+}
+
+impl SimMessageProvider for SimReply {
+    fn target(&self) -> SimTarget {
+        self.inner.target
+    }
+    fn payload(&self) -> &String {
+        &self.inner.payload
+    }
+    fn msg_type(&self) -> SimMessageType {
+        SimMessageType::Reply
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimCtrlRequest {
+    Ping,
+}
+
+impl SerializableSimMsgPayload<SimRequest> for SimCtrlRequest {
+    const TARGET: SimTarget = SimTarget::SimCtrl;
+}
+
+pub type SimReplyError = SimMessageError<SimReply>;
+pub type SimRequestError = SimMessageError<SimRequest>;
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimMessageError<P> {
+    SerdeJson(String),
+    TargetRequestMissmatch(P),
+}
+
+impl<P> From<serde_json::Error> for SimMessageError<P> {
+    fn from(error: serde_json::Error) -> SimMessageError<P> {
+        SimMessageError::SerdeJson(error.to_string())
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimCtrlReply {
+    Pong,
+    InvalidRequest(SimRequestError),
+}
+
+impl SerializableSimMsgPayload<SimReply> for SimCtrlReply {
+    const TARGET: SimTarget = SimTarget::SimCtrl;
+}
+
+impl From<SimRequestError> for SimCtrlReply {
+    fn from(error: SimRequestError) -> Self {
+        SimCtrlReply::InvalidRequest(error)
+    }
+}
+
+pub mod eps {
+    use super::*;
+    use std::collections::HashMap;
+
+    use satrs::power::SwitchStateBinary;
+
+    pub type SwitchMap = HashMap<PcduSwitch, SwitchStateBinary>;
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
+    pub enum PcduSwitch {
+        Mgm = 0,
+        Mgt = 1,
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum PcduRequest {
+        SwitchDevice {
+            switch: PcduSwitch,
+            state: SwitchStateBinary,
+        },
+        RequestSwitchInfo,
+    }
+
+    impl SerializableSimMsgPayload<SimRequest> for PcduRequest {
+        const TARGET: SimTarget = SimTarget::Pcdu;
+    }
+
+    #[derive(Debug, Clone, Serialize, Deserialize)]
+    pub enum PcduReply {
+        SwitchInfo(SwitchMap),
+    }
+
+    impl SerializableSimMsgPayload<SimReply> for PcduReply {
+        const TARGET: SimTarget = SimTarget::Pcdu;
+    }
+}
+
+pub mod acs {
+    use std::time::Duration;
+
+    use satrs::power::SwitchStateBinary;
+
+    use super::*;
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgmRequest {
+        RequestSensorData,
+    }
+
+    impl SerializableSimMsgPayload<SimRequest> for MgmRequest {
+        const TARGET: SimTarget = SimTarget::Mgm;
+    }
+
+    // Normally, small magnetometers generate their output as a signed 16 bit raw format or something
+    // similar which needs to be converted to a signed float value with physical units. We will
+    // simplify this now and generate the signed float values directly.
+    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    pub struct MgmSensorValues {
+        pub x: f32,
+        pub y: f32,
+        pub z: f32,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    pub struct MgmReply {
+        pub switch_state: SwitchStateBinary,
+        pub sensor_values: MgmSensorValues,
+    }
+
+    impl SerializableSimMsgPayload<SimReply> for MgmReply {
+        const TARGET: SimTarget = SimTarget::Mgm;
+    }
+
+    pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValues = MgmSensorValues {
+        x: 0.03,
+        y: -0.03,
+        z: 0.03,
+    };
+
+    // Simple model using i16 values.
+    #[derive(Default, Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub struct MgtDipole {
+        pub x: i16,
+        pub y: i16,
+        pub z: i16,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    pub enum MgtRequestType {
+        ApplyTorque,
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgtRequest {
+        ApplyTorque {
+            duration: Duration,
+            dipole: MgtDipole,
+        },
+        RequestHk,
+    }
+
+    impl SerializableSimMsgPayload<SimRequest> for MgtRequest {
+        const TARGET: SimTarget = SimTarget::Mgt;
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub struct MgtHkSet {
+        pub dipole: MgtDipole,
+        pub torquing: bool,
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgtReply {
+        Ack(MgtRequestType),
+        Nak(MgtRequestType),
+        Hk(MgtHkSet),
+    }
+
+    impl SerializableSimMsgPayload<SimReply> for MgtReply {
+        const TARGET: SimTarget = SimTarget::Mgm;
+    }
+}
+
+pub mod udp {
+    use std::{
+        net::{SocketAddr, UdpSocket},
+        time::Duration,
+    };
+
+    use thiserror::Error;
+
+    use crate::{SimReply, SimRequest};
+
+    #[derive(Error, Debug)]
+    pub enum ReceptionError {
+        #[error("IO error: {0}")]
+        Io(#[from] std::io::Error),
+        #[error("Serde JSON error: {0}")]
+        SerdeJson(#[from] serde_json::Error),
+    }
+
+    pub struct SimUdpClient {
+        socket: UdpSocket,
+        pub reply_buf: [u8; 4096],
+    }
+
+    impl SimUdpClient {
+        pub fn new(
+            server_addr: &SocketAddr,
+            non_blocking: bool,
+            read_timeot_ms: Option<u64>,
+        ) -> std::io::Result<Self> {
+            let socket = UdpSocket::bind("127.0.0.1:0")?;
+            socket.set_nonblocking(non_blocking)?;
+            socket
+                .connect(server_addr)
+                .expect("could not connect to server addr");
+            if let Some(read_timeout) = read_timeot_ms {
+                // Set a read timeout so the test does not hang on failures.
+                socket.set_read_timeout(Some(Duration::from_millis(read_timeout)))?;
+            }
+            Ok(Self {
+                socket,
+                reply_buf: [0; 4096],
+            })
+        }
+
+        pub fn set_nonblocking(&self, non_blocking: bool) -> std::io::Result<()> {
+            self.socket.set_nonblocking(non_blocking)
+        }
+
+        pub fn set_read_timeout(&self, read_timeout_ms: u64) -> std::io::Result<()> {
+            self.socket
+                .set_read_timeout(Some(Duration::from_millis(read_timeout_ms)))
+        }
+
+        pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize> {
+            self.socket.send(
+                &serde_json::to_vec(sim_request).expect("conversion of request to vector failed"),
+            )
+        }
+
+        pub fn recv_raw(&mut self) -> std::io::Result<usize> {
+            self.socket.recv(&mut self.reply_buf)
+        }
+
+        pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError> {
+            let read_len = self.recv_raw()?;
+            Ok(serde_json::from_slice(&self.reply_buf[0..read_len])?)
+        }
+    }
+}
+
+#[cfg(test)]
+pub mod tests {
+    use super::*;
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub enum DummyRequest {
+        Ping,
+    }
+
+    impl SerializableSimMsgPayload<SimRequest> for DummyRequest {
+        const TARGET: SimTarget = SimTarget::SimCtrl;
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub enum DummyReply {
+        Pong,
+    }
+
+    impl SerializableSimMsgPayload<SimReply> for DummyReply {
+        const TARGET: SimTarget = SimTarget::SimCtrl;
+    }
+
+    #[test]
+    fn test_basic_request() {
+        let sim_request = SimRequest::new(DummyRequest::Ping);
+        assert_eq!(sim_request.target(), SimTarget::SimCtrl);
+        assert_eq!(sim_request.msg_type(), SimMessageType::Request);
+        let dummy_request =
+            DummyRequest::from_sim_message(&sim_request).expect("deserialization failed");
+        assert_eq!(dummy_request, DummyRequest::Ping);
+    }
+
+    #[test]
+    fn test_basic_reply() {
+        let sim_reply = SimReply::new(DummyReply::Pong);
+        assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
+        assert_eq!(sim_reply.msg_type(), SimMessageType::Reply);
+        let dummy_request =
+            DummyReply::from_sim_message(&sim_reply).expect("deserialization failed");
+        assert_eq!(dummy_request, DummyReply::Pong);
+    }
+}

satrs-minisim/src/main.rs

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

satrs-minisim/src/test_helpers.rs

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

satrs-minisim/src/time.rs

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

satrs-minisim/src/udp.rs

@@ -0,0 +1,390 @@
+use std::{
+    collections::VecDeque,
+    io::ErrorKind,
+    net::{SocketAddr, UdpSocket},
+    sync::{atomic::AtomicBool, mpsc, Arc},
+    time::Duration,
+};
+
+use satrs_minisim::{SimMessageProvider, SimReply, SimRequest};
+
+// A UDP server which handles all TC received by a client application.
+pub struct SimUdpServer {
+    socket: UdpSocket,
+    request_sender: mpsc::Sender<SimRequest>,
+    // shared_last_sender: SharedSocketAddr,
+    reply_receiver: mpsc::Receiver<SimReply>,
+    reply_queue: VecDeque<SimReply>,
+    max_num_replies: usize,
+    // Stop signal to stop the server. Required for unittests and useful to allow clean shutdown
+    // of the application.
+    stop_signal: Option<Arc<AtomicBool>>,
+    idle_sleep_period_ms: u64,
+    req_buf: [u8; 4096],
+    sender_addr: Option<SocketAddr>,
+}
+
+impl SimUdpServer {
+    pub fn new(
+        local_port: u16,
+        request_sender: mpsc::Sender<SimRequest>,
+        reply_receiver: mpsc::Receiver<SimReply>,
+        max_num_replies: usize,
+        stop_signal: Option<Arc<AtomicBool>>,
+    ) -> std::io::Result<Self> {
+        let socket = UdpSocket::bind(SocketAddr::from(([0, 0, 0, 0], local_port)))?;
+        socket.set_nonblocking(true)?;
+        Ok(Self {
+            socket,
+            request_sender,
+            reply_receiver,
+            reply_queue: VecDeque::new(),
+            max_num_replies,
+            stop_signal,
+            idle_sleep_period_ms: 3,
+            req_buf: [0; 4096],
+            sender_addr: None,
+        })
+    }
+
+    #[allow(dead_code)]
+    pub fn server_addr(&self) -> std::io::Result<SocketAddr> {
+        self.socket.local_addr()
+    }
+
+    pub fn run(&mut self) {
+        loop {
+            if let Some(stop_signal) = &self.stop_signal {
+                if stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
+                    break;
+                }
+            }
+            let processed_requests = self.process_requests();
+            let processed_replies = self.process_replies();
+            let sent_replies = self.send_replies();
+            // Sleep for a bit if there is nothing to do to prevent burning CPU cycles. Delay
+            // should be kept short to ensure responsiveness of the system.
+            if !processed_requests && !processed_replies && !sent_replies {
+                std::thread::sleep(Duration::from_millis(self.idle_sleep_period_ms));
+            }
+        }
+    }
+
+    fn process_requests(&mut self) -> bool {
+        let mut processed_requests = false;
+        loop {
+            // Blocks for a certain amount of time until data is received to allow doing periodic
+            // work like checking the stop signal.
+            let (bytes_read, src) = match self.socket.recv_from(&mut self.req_buf) {
+                Ok((bytes_read, src)) => (bytes_read, src),
+                Err(e) if e.kind() == ErrorKind::WouldBlock => {
+                    // Continue to perform regular checks like the stop signal.
+                    break;
+                }
+                Err(e) => {
+                    // Handle unexpected errors (e.g., socket closed) here.
+                    log::error!("unexpected request server error: {e}");
+                    break;
+                }
+            };
+
+            self.sender_addr = Some(src);
+
+            let sim_req = SimRequest::from_raw_data(&self.req_buf[..bytes_read]);
+            if sim_req.is_err() {
+                log::warn!(
+                    "received UDP request with invalid format: {}",
+                    sim_req.unwrap_err()
+                );
+                return processed_requests;
+            }
+            self.request_sender.send(sim_req.unwrap()).unwrap();
+            processed_requests = true;
+        }
+        processed_requests
+    }
+
+    fn process_replies(&mut self) -> bool {
+        let mut processed_replies = false;
+        loop {
+            match self.reply_receiver.try_recv() {
+                Ok(reply) => {
+                    if self.reply_queue.len() >= self.max_num_replies {
+                        self.reply_queue.pop_front();
+                    }
+                    self.reply_queue.push_back(reply);
+                    processed_replies = true;
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => return processed_replies,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::error!("all UDP reply senders disconnected")
+                    }
+                },
+            }
+        }
+    }
+
+    fn send_replies(&mut self) -> bool {
+        if self.sender_addr.is_none() {
+            return false;
+        }
+        let mut sent_replies = false;
+        while !self.reply_queue.is_empty() {
+            let next_reply_to_send = self.reply_queue.pop_front().unwrap();
+            self.socket
+                .send_to(
+                    serde_json::to_string(&next_reply_to_send)
+                        .unwrap()
+                        .as_bytes(),
+                    self.sender_addr.unwrap(),
+                )
+                .expect("sending reply failed");
+            sent_replies = true;
+        }
+        sent_replies
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::{
+        io::ErrorKind,
+        sync::{
+            atomic::{AtomicBool, Ordering},
+            mpsc, Arc,
+        },
+        time::Duration,
+    };
+
+    use satrs_minisim::{
+        eps::{PcduReply, PcduRequest},
+        udp::{ReceptionError, SimUdpClient},
+        SimCtrlReply, SimCtrlRequest, SimReply, SimRequest,
+    };
+
+    use crate::eps::tests::get_all_off_switch_map;
+    use delegate::delegate;
+
+    use super::SimUdpServer;
+
+    // Wait time to ensure even possibly laggy systems like CI servers can run the tests.
+    const SERVER_WAIT_TIME_MS: u64 = 50;
+
+    struct UdpTestbench {
+        client: SimUdpClient,
+        stop_signal: Arc<AtomicBool>,
+        request_receiver: mpsc::Receiver<SimRequest>,
+        reply_sender: mpsc::Sender<SimReply>,
+    }
+
+    impl UdpTestbench {
+        pub fn new(
+            client_non_blocking: bool,
+            client_read_timeout_ms: Option<u64>,
+            max_num_replies: usize,
+        ) -> std::io::Result<(Self, SimUdpServer)> {
+            let (request_sender, request_receiver) = mpsc::channel();
+            let (reply_sender, reply_receiver) = mpsc::channel();
+            let stop_signal = Arc::new(AtomicBool::new(false));
+            let server = SimUdpServer::new(
+                0,
+                request_sender,
+                reply_receiver,
+                max_num_replies,
+                Some(stop_signal.clone()),
+            )?;
+            let server_addr = server.server_addr()?;
+            Ok((
+                Self {
+                    client: SimUdpClient::new(
+                        &server_addr,
+                        client_non_blocking,
+                        client_read_timeout_ms,
+                    )?,
+                    stop_signal,
+                    request_receiver,
+                    reply_sender,
+                },
+                server,
+            ))
+        }
+
+        pub fn try_recv_request(&self) -> Result<SimRequest, mpsc::TryRecvError> {
+            self.request_receiver.try_recv()
+        }
+
+        pub fn stop(&self) {
+            self.stop_signal.store(true, Ordering::Relaxed);
+        }
+
+        pub fn send_reply(&self, sim_reply: &SimReply) {
+            self.reply_sender
+                .send(sim_reply.clone())
+                .expect("sending sim reply failed");
+        }
+
+        delegate! {
+            to self.client {
+                pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize>;
+                pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError>;
+            }
+        }
+
+        pub fn check_no_sim_reply_available(&mut self) {
+            if let Err(ReceptionError::Io(ref io_error)) = self.recv_sim_reply() {
+                if io_error.kind() == ErrorKind::WouldBlock {
+                    // Continue to perform regular checks like the stop signal.
+                    return;
+                } else {
+                    // Handle unexpected errors (e.g., socket closed) here.
+                    panic!("unexpected request server error: {io_error}");
+                }
+            }
+            panic!("unexpected reply available");
+        }
+
+        pub fn check_next_sim_reply(&mut self, expected_reply: &SimReply) {
+            match self.recv_sim_reply() {
+                Ok(received_sim_reply) => assert_eq!(expected_reply, &received_sim_reply),
+                Err(e) => match e {
+                    ReceptionError::Io(ref io_error) => {
+                        if io_error.kind() == ErrorKind::WouldBlock {
+                            // Continue to perform regular checks like the stop signal.
+                            panic!("no simulation reply received");
+                        } else {
+                            // Handle unexpected errors (e.g., socket closed) here.
+                            panic!("unexpected request server error: {e}");
+                        }
+                    }
+                    ReceptionError::SerdeJson(json_error) => {
+                        panic!("unexpected JSON error: {json_error}");
+                    }
+                },
+            }
+        }
+    }
+    #[test]
+    fn test_basic_udp_request_reception() {
+        let (udp_testbench, mut udp_server) =
+            UdpTestbench::new(true, Some(SERVER_WAIT_TIME_MS), 10)
+                .expect("could not create testbench");
+        let server_thread = std::thread::spawn(move || udp_server.run());
+        let sim_request = SimRequest::new(PcduRequest::RequestSwitchInfo);
+        udp_testbench
+            .send_request(&sim_request)
+            .expect("sending request failed");
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+        // Check that the sim request has arrives and was forwarded.
+        let received_sim_request = udp_testbench
+            .try_recv_request()
+            .expect("did not receive request");
+        assert_eq!(sim_request, received_sim_request);
+        // Stop the server.
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_reply_server() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
+                .expect("could not create testbench");
+        let server_thread = std::thread::spawn(move || udp_server.run());
+        udp_testbench
+            .send_request(&SimRequest::new(SimCtrlRequest::Ping))
+            .expect("sending request failed");
+
+        let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
+        udp_testbench.send_reply(&sim_reply);
+
+        udp_testbench.check_next_sim_reply(&sim_reply);
+
+        // Stop the server.
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_req_server_and_reply_sender() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
+                .expect("could not create testbench");
+
+        let server_thread = std::thread::spawn(move || udp_server.run());
+
+        // Send a ping so that the server knows the address of the client.
+        // Do not check that the request arrives on the receiver side, is done by other test.
+        udp_testbench
+            .send_request(&SimRequest::new(SimCtrlRequest::Ping))
+            .expect("sending request failed");
+
+        // Send a reply to the server, ensure it gets forwarded to the client.
+        let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
+        udp_testbench.send_reply(&sim_reply);
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+
+        // Now we check that the reply server can send back replies to the client.
+        udp_testbench.check_next_sim_reply(&sim_reply);
+
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_replies_client_unconnected() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(true, None, 10).expect("could not create testbench");
+
+        let server_thread = std::thread::spawn(move || udp_server.run());
+
+        // Send a reply to the server. The client is not connected, so it won't get forwarded.
+        let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
+        udp_testbench.send_reply(&sim_reply);
+        std::thread::sleep(Duration::from_millis(10));
+
+        udp_testbench.check_no_sim_reply_available();
+
+        // Connect by sending a ping.
+        udp_testbench
+            .send_request(&SimRequest::new(SimCtrlRequest::Ping))
+            .expect("sending request failed");
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+
+        udp_testbench.check_next_sim_reply(&sim_reply);
+
+        // Now we check that the reply server can sent back replies to the client.
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_reply_server_old_replies_overwritten() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(true, None, 3).expect("could not create testbench");
+
+        let server_thread = std::thread::spawn(move || udp_server.run());
+
+        // The server only caches up to 3 replies.
+        let sim_reply = SimReply::new(SimCtrlReply::Pong);
+        for _ in 0..4 {
+            udp_testbench.send_reply(&sim_reply);
+        }
+        std::thread::sleep(Duration::from_millis(20));
+
+        udp_testbench.check_no_sim_reply_available();
+
+        // Connect by sending a ping.
+        udp_testbench
+            .send_request(&SimRequest::new(SimCtrlRequest::Ping))
+            .expect("sending request failed");
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+
+        for _ in 0..3 {
+            udp_testbench.check_next_sim_reply(&sim_reply);
+        }
+        udp_testbench.check_no_sim_reply_available();
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+}

satrs-shared/CHANGELOG.md

@@ -7,3 +7,16 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
+
+# [v0.1.2] 2024-02-17
+
+- Bumped `spacepackets` to v0.10.0 for `UnsignedEnum` trait change.
+
+# [v0.1.1] 2024-02-12
+
+- Added missing `#![no_std]` attribute for library
+- Fixed unit tests
+
+# [v0.1.0] 2024-02-12
+
+Initial release.

satrs-shared/Cargo.toml

@@ -0,0 +1,30 @@
+[package]
+name = "satrs-shared"
+description = "Components shared by multiple sat-rs crates"
+version = "0.1.2"
+edition = "2021"
+authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
+homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
+repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
+license = "Apache-2.0"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+
+[dependencies.serde]
+version = "1"
+default-features = false
+optional = true
+
+[dependencies.spacepackets]
+git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
+version = "0.11.0-rc.0"
+branch = "main"
+default-features = false
+
+[features]
+serde = ["dep:serde", "spacepackets/serde"]
+
+[package.metadata.docs.rs]
+rustdoc-args = ["--cfg", "doc_cfg", "--generate-link-to-definition"]

satrs-shared/README.md

@@ -0,0 +1,5 @@
+satrs-shared
+=========
+
+Subcrate for some shared sat-rs framework components not expected to change very often.
+You can find more information on the [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).

satrs-shared/src/lib.rs

@@ -0,0 +1,3 @@
+//! This crates contains modules shared among other sat-rs framework crates.
+#![no_std]
+pub mod res_code;