added and scheduled MGM assembly

README.md

@@ -4,7 +4,6 @@
 [![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://robamu.github.io/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)
-[![matrix chat](https://img.shields.io/matrix/sat-rs%3Amatrix.org)](https://matrix.to/#/#sat-rs:matrix.org)
 
 sat-rs
 =========
@@ -62,8 +61,6 @@ Each project has its own `CHANGELOG.md`.
    packet protocol implementations. This repository is re-exported in the
    [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
    crate.
- * [`cfdp`](https://egit.irs.uni-stuttgart.de/rust/cfdp): CCSDS File Delivery Protocol
-   (CFDP) high-level library components.
 
 # Flight Heritage
 

satrs-example/Cargo.toml

@@ -18,7 +18,7 @@ csv = "1"
 num_enum = "0.7"
 thiserror = "2"
 lazy_static = "1"
-strum = { version = "0.27", features = ["derive"] }
+strum = { version = "0.26", features = ["derive"] }
 derive-new = "0.7"
 cfg-if = "1"
 serde = { version = "1", features = ["derive"] }

satrs-example/src/acs/assembly.rs

@@ -1 +1,175 @@
 // TODO: Write the assembly
+//
+
+use std::sync::mpsc;
+
+use satrs::{
+    dev_mgmt::{DevManagerCommandingHelper, DevManagerHelperResult, TransparentDevManagerHook},
+    mode::{
+        ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeReplyReceiver as _,
+        ModeReplySender as _, ModeRequest, ModeRequestHandler, ModeRequestReceiver as _,
+        ModeRequestorAndHandlerMpscBounded, UNKNOWN_MODE,
+    },
+    mode_tree::{ModeChild, ModeNode, ModeParent},
+    queue::GenericTargetedMessagingError,
+    request::{GenericMessage, MessageMetadata},
+    ComponentId,
+};
+use satrs_example::{ids, DeviceMode};
+
+pub type RequestSenderType = mpsc::SyncSender<GenericMessage<ModeRequest>>;
+pub type ReplySenderType = mpsc::SyncSender<GenericMessage<ModeReply>>;
+
+// TODO: Needs to perform same functions as the integration test assembly, but also needs
+// to track mode changes and health changes of children.
+pub struct MgmAssembly {
+    pub mode_node: ModeRequestorAndHandlerMpscBounded,
+    pub mode_requestor_info: Option<MessageMetadata>,
+    pub mode_and_submode: ModeAndSubmode,
+    pub commanding_helper: DevManagerCommandingHelper<TransparentDevManagerHook>,
+}
+
+impl MgmAssembly {
+    pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
+        Self {
+            mode_node,
+            mode_requestor_info: None,
+            mode_and_submode: UNKNOWN_MODE,
+            commanding_helper: DevManagerCommandingHelper::new(TransparentDevManagerHook::default()),
+        }
+    }
+
+    pub const fn id() -> ComponentId {
+        ids::acs::MGM_ASSEMBLY.raw()
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.check_mode_requests().expect("mode messaging error");
+        self.check_mode_replies().expect("mode messaging error");
+        // TODO: perform target keeping, check whether children are in correct mode.
+    }
+
+    pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        while let Some(request) = self.mode_node.try_recv_mode_request()? {
+            self.handle_mode_request(request).unwrap();
+        }
+        Ok(())
+    }
+
+    pub fn check_mode_replies(&mut self) -> Result<(), ModeError> {
+        while let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
+            match self.commanding_helper.handle_mode_reply(&reply_and_id) {
+                Ok(result) => {
+                    if let DevManagerHelperResult::ModeCommandingDone(context) = result {
+                        // Complete the mode command.
+                        self.mode_and_submode = context.target_mode;
+                        self.handle_mode_reached(self.mode_requestor_info)?;
+                    }
+                }
+                Err(err) => match err {
+                    satrs::dev_mgmt::DevManagerHelperError::ChildNotInStore => todo!(),
+                },
+            }
+        }
+        Ok(())
+    }
+}
+
+impl ModeNode for MgmAssembly {
+    fn id(&self) -> ComponentId {
+        Self::id()
+    }
+}
+impl ModeParent for MgmAssembly {
+    type Sender = RequestSenderType;
+
+    fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
+        self.mode_node.add_request_target(id, request_sender);
+        self.commanding_helper.add_mode_child(id, UNKNOWN_MODE);
+    }
+}
+
+impl ModeChild for MgmAssembly {
+    type Sender = ReplySenderType;
+
+    fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
+        self.mode_node.add_reply_target(id, reply_sender);
+    }
+}
+
+impl ModeProvider for MgmAssembly {
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl ModeRequestHandler for MgmAssembly {
+    type Error = ModeError;
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+        forced: bool,
+    ) -> Result<(), Self::Error> {
+        // Always accept forced commands and commands to mode OFF.
+        if self.commanding_helper.target_mode().is_some()
+            && !forced
+            && mode_and_submode.mode() != DeviceMode::Off as u32
+        {
+            return Err(ModeError::Busy);
+        }
+        self.mode_requestor_info = Some(requestor);
+        self.commanding_helper.send_mode_cmd_to_all_children(
+            requestor.request_id(),
+            mode_and_submode,
+            forced,
+            &self.mode_node,
+        )?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
+        println!(
+            "TestAssembly: Announcing mode (recursively: {}): {:?}",
+            recursive, self.mode_and_submode
+        );
+        let request_id = requestor_info.map_or(0, |info| info.request_id());
+        self.commanding_helper
+            .send_announce_mode_cmd_to_children(request_id, &self.mode_node, recursive)
+            .expect("sending mode request failed");
+        // TODO: Send announce event.
+        log::info!(
+            "MGM assembly announcing mode: {:?}",
+            self.mode_and_submode()
+        );
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        mode_requestor: Option<MessageMetadata>,
+    ) -> Result<(), Self::Error> {
+        if let Some(requestor) = mode_requestor {
+            self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
+        }
+        self.announce_mode(mode_requestor, false);
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        requestor_info: MessageMetadata,
+        info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        // TODO: Perform mode keeping.
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        requestor: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), Self::Error> {
+        self.mode_node.send_mode_reply(requestor, reply)?;
+        Ok(())
+    }
+}

satrs-example/src/acs/mgm.rs

@@ -83,7 +83,7 @@ impl SpiInterface for SpiSimInterface {
             .sim_request_tx
             .send(SimRequest::new_with_epoch_time(mgm_sensor_request))
         {
-            log::error!("failed to send MGM LIS3 request: {e}");
+            log::error!("failed to send MGM LIS3 request: {}", e);
         }
         match self.sim_reply_rx.recv_timeout(Duration::from_millis(50)) {
             Ok(sim_reply) => {
@@ -97,7 +97,7 @@ impl SpiInterface for SpiSimInterface {
                     .copy_from_slice(&sim_reply_lis3.raw.z.to_le_bytes());
             }
             Err(e) => {
-                log::warn!("MGM LIS3 SIM reply timeout: {e}");
+                log::warn!("MGM LIS3 SIM reply timeout: {}", e);
             }
         }
         Ok(())
@@ -400,6 +400,7 @@ impl<
     }
 
     fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
+        // TODO: Event
         log::info!(
             "{} announcing mode: {:?}",
             self.dev_str,
@@ -492,7 +493,7 @@ mod tests {
         tmtc::PacketAsVec,
         ComponentId,
     };
-    use satrs_example::ids::{acs::ASSEMBLY, Apid};
+    use satrs_example::ids::{acs::MGM_ASSEMBLY, Apid};
     use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;
 
     use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};
@@ -593,7 +594,7 @@ mod tests {
                 shared_mgm_set,
             );
             handler.add_mode_parent(PUS_MODE.into(), reply_tx_to_pus);
-            handler.add_mode_parent(ASSEMBLY.into(), reply_tx_to_parent);
+            handler.add_mode_parent(MGM_ASSEMBLY.into(), reply_tx_to_parent);
             Self {
                 mode_request_tx: request_tx,
                 mode_reply_rx_to_pus: reply_rx_to_pus,

satrs-example/src/eps/pcdu.rs

@@ -401,7 +401,7 @@ impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
                 }
             }
         }) {
-            log::warn!("receiving PCDU replies failed: {e:?}");
+            log::warn!("receiving PCDU replies failed: {:?}", e);
         }
     }
 }

satrs-example/src/ids.rs

@@ -15,15 +15,15 @@ pub mod acs {
     #[derive(Debug, Copy, Clone, PartialEq, Eq)]
     pub enum Id {
         Subsystem = 1,
-        Assembly = 2,
+        MgmAssembly = 2,
         Mgm0 = 3,
         Mgm1 = 4,
     }
 
     pub const SUBSYSTEM: super::UniqueApidTargetId =
         super::UniqueApidTargetId::new(super::Apid::Acs as u16, Id::Subsystem as u32);
-    pub const ASSEMBLY: super::UniqueApidTargetId =
+    pub const MGM_ASSEMBLY: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Acs as u16, Id::Assembly as u32);
+        super::UniqueApidTargetId::new(super::Apid::Acs as u16, Id::MgmAssembly as u32);
     pub const MGM0: super::UniqueApidTargetId =
         super::UniqueApidTargetId::new(super::Apid::Acs as u16, Id::Mgm0 as u32);
     pub const MGM1: super::UniqueApidTargetId =

satrs-example/src/interface/sim_client_udp.rs

@@ -24,7 +24,7 @@ pub fn create_sim_client(sim_request_rx: mpsc::Receiver<SimRequest>) -> Option<S
             return Some(sim_client);
         }
         Err(e) => {
-            log::warn!("sim client creation error: {e}");
+            log::warn!("sim client creation error: {}", e);
         }
     }
     None
@@ -116,7 +116,7 @@ impl SimClientUdp {
                         .udp_client
                         .send_to(request_json.as_bytes(), self.simulator_addr)
                     {
-                        log::error!("error sending data to UDP SIM server: {e}");
+                        log::error!("error sending data to UDP SIM server: {}", e);
                         break;
                     } else {
                         no_sim_requests_handled = false;
@@ -151,7 +151,7 @@ impl SimClientUdp {
                             }
                         }
                         Err(e) => {
-                            log::warn!("failed to deserialize SIM reply: {e}");
+                            log::warn!("failed to deserialize SIM reply: {}", e);
                         }
                     }
                 }
@@ -161,7 +161,7 @@ impl SimClientUdp {
                     {
                         break;
                     }
-                    log::error!("error receiving data from UDP SIM server: {e}");
+                    log::error!("error receiving data from UDP SIM server: {}", e);
                     break;
                 }
             }

satrs-example/src/interface/tcp.rs

@@ -31,7 +31,7 @@ impl SpacePacketValidator for SimplePacketValidator {
         if self.valid_ids.contains(&sp_header.packet_id()) {
             return SpValidity::Valid;
         }
-        log::warn!("ignoring space packet with header {sp_header:?}");
+        log::warn!("ignoring space packet with header {:?}", sp_header);
         // We could perform a CRC check.. but lets keep this simple and assume that TCP ensures
         // data integrity.
         SpValidity::Skip

satrs-example/src/interface/udp.rs

@@ -15,7 +15,6 @@ pub trait UdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
 }
 
-#[allow(dead_code)]
 pub struct StaticUdpTmHandler {
     pub tm_rx: mpsc::Receiver<PacketInPool>,
     pub tm_store: SharedStaticMemoryPool,

satrs-example/src/main.rs

@@ -5,7 +5,10 @@ use std::{
     time::Duration,
 };
 
-use acs::mgm::{MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper};
+use acs::{
+    assembly::MgmAssembly,
+    mgm::{MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper},
+};
 use eps::{
     pcdu::{PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper},
     PowerSwitchHelper,
@@ -31,7 +34,10 @@ use pus::{
 use requests::GenericRequestRouter;
 use satrs::{
     hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
-    mode::{Mode, ModeAndSubmode, ModeRequest, ModeRequestHandlerMpscBounded},
+    mode::{
+        Mode, ModeAndSubmode, ModeRequest, ModeRequestHandlerMpscBounded,
+        ModeRequestorAndHandlerMpscBounded,
+    },
     mode_tree::connect_mode_nodes,
     pus::{event_man::EventRequestWithToken, EcssTcInMemConverter, HandlingStatus},
     request::{GenericMessage, MessageMetadata},
@@ -303,6 +309,15 @@ fn main() {
     let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
     let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
 
+    let (mgm_assy_mode_req_tx, mgm_assy_mode_req_rx) = mpsc::sync_channel(20);
+    let (mgm_assy_mode_reply_tx, mgm_assy_mode_reply_rx) = mpsc::sync_channel(20);
+    let mgm_assembly_mode_node = ModeRequestorAndHandlerMpscBounded::new(
+        MgmAssembly::id(),
+        mgm_assy_mode_req_rx,
+        mgm_assy_mode_reply_rx,
+    );
+    let mut mgm_assembly = MgmAssembly::new(mgm_assembly_mode_node);
+
     let shared_mgm_0_set = Arc::default();
     let shared_mgm_1_set = Arc::default();
     let mgm_0_mode_node = ModeRequestHandlerMpscBounded::new(MGM0.into(), mgm_0_handler_mode_rx);
@@ -364,6 +379,19 @@ fn main() {
         &mut mgm_1_handler,
         pus_mode_reply_tx.clone(),
     );
+    // Connect assembly to device handlers.
+    connect_mode_nodes(
+        &mut mgm_assembly,
+        mgm_assy_mode_req_tx.clone(),
+        &mut mgm_1_handler,
+        mgm_assy_mode_reply_tx.clone(),
+    );
+    connect_mode_nodes(
+        &mut mgm_assembly,
+        mgm_assy_mode_req_tx,
+        &mut mgm_1_handler,
+        mgm_assy_mode_reply_tx,
+    );
 
     let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
         sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
@@ -455,6 +483,7 @@ fn main() {
     let jh_aocs = thread::Builder::new()
         .name("sat-rs aocs".to_string())
         .spawn(move || loop {
+            mgm_assembly.periodic_operation();
             mgm_0_handler.periodic_operation();
             mgm_1_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));

satrs-example/src/pus/mod.rs

@@ -102,7 +102,7 @@ impl PusTcDistributor {
                 sender_id,
                 pus_tc_result.unwrap_err()
             );
-            log::warn!("raw data: {raw_tc:x?}");
+            log::warn!("raw data: {:x?}", raw_tc);
             // TODO: Shouldn't this be an error?
             return Ok(HandlingStatus::HandledOne);
         }

satrs-mib/CHANGELOG.md

@@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.1.3] 2024-08-26
-
-Bump `satrs-shared`.
-
 # [v0.1.2] 2024-04-17
 
 Allow `satrs-shared` from `v0.1.3` to `<v0.2`.
@@ -23,6 +19,3 @@ Allow `satrs-shared` from `v0.1.3` to `<v0.2`.
 # [v0.1.0] 2024-02-12
 
 Initial release containing the `resultcode` macro.
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-mib-v0.1.3...HEAD
-[v0.1.3]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-mib-v0.1.2...satrs-mib-v0.1.3

satrs-mib/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs-mib"
-version = "0.1.3"
+version = "0.1.2"
 edition = "2021"
 rust-version = "1.61"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
@@ -23,7 +23,7 @@ version = "1"
 optional = true
 
 [dependencies.satrs-shared]
-version = "0.2"
+version = "0.2.2"
 path = "../satrs-shared"
 features = ["serde"]
 

satrs-mib/codegen/Cargo.toml

@@ -28,7 +28,7 @@ features = ["full"]
 trybuild = { version = "1", features = ["diff"] }
 
 [dev-dependencies.satrs-shared]
-version = "0.2"
+version = "0.2.2"
 path = "../../satrs-shared"
 
 [dev-dependencies.satrs-mib]

satrs-minisim/Cargo.toml

@@ -11,7 +11,7 @@ serde_json = "1"
 log = "0.4"
 thiserror = "2"
 fern = "0.7"
-strum = { version = "0.27", features = ["derive"] }
+strum = { version = "0.26", features = ["derive"] }
 num_enum = "0.7"
 humantime = "2"
 tai-time = { version = "0.3", features = ["serde"] }

satrs-minisim/src/controller.rs

@@ -120,7 +120,7 @@ impl SimController {
     fn handle_ctrl_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
         let sim_ctrl_request = SimCtrlRequest::from_sim_message(request)?;
         if SIM_CTRL_REQ_WIRETAPPING {
-            log::info!("received sim ctrl request: {sim_ctrl_request:?}");
+            log::info!("received sim ctrl request: {:?}", sim_ctrl_request);
         }
         match sim_ctrl_request {
             SimCtrlRequest::Ping => {
@@ -139,7 +139,7 @@ impl SimController {
     ) -> Result<(), SimRequestError> {
         let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
         if MGM_REQ_WIRETAPPING {
-            log::info!("received MGM request: {mgm_request:?}");
+            log::info!("received MGM request: {:?}", mgm_request);
         }
         match mgm_request {
             MgmRequestLis3Mdl::RequestSensorData => {
@@ -160,7 +160,7 @@ impl SimController {
     fn handle_pcdu_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
         let pcdu_request = PcduRequest::from_sim_message(request)?;
         if PCDU_REQ_WIRETAPPING {
-            log::info!("received PCDU request: {pcdu_request:?}");
+            log::info!("received PCDU request: {:?}", pcdu_request);
         }
         match pcdu_request {
             PcduRequest::RequestSwitchInfo => {
@@ -188,7 +188,7 @@ impl SimController {
     fn handle_mgt_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
         let mgt_request = MgtRequest::from_sim_message(request)?;
         if MGT_REQ_WIRETAPPING {
-            log::info!("received MGT request: {mgt_request:?}");
+            log::info!("received MGT request: {:?}", mgt_request);
         }
         match mgt_request {
             MgtRequest::ApplyTorque { duration, dipole } => self

satrs-minisim/src/main.rs

@@ -130,7 +130,7 @@ fn main() {
     let mut udp_server =
         SimUdpServer::new(SIM_CTRL_PORT, request_sender, reply_receiver, 200, None)
             .expect("could not create UDP request server");
-    log::info!("starting UDP server on port {SIM_CTRL_PORT}");
+    log::info!("starting UDP server on port {}", SIM_CTRL_PORT);
     // This thread manages the simulator UDP server.
     let udp_tc_thread = thread::spawn(move || {
         udp_server.run();

satrs-shared/CHANGELOG.md

@@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.2.3] 2025-07-22
-
-`spacepackets` range v0.14 to v0.15
-
 # [v0.2.2] 2025-05-10
 
 - Bump to `spacepackests` v0.14
@@ -50,6 +46,5 @@ Allow `spacepackets` range starting with v0.10 and v0.11.
 
 Initial release.
 
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.3...HEAD
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.2...HEAD
-[v0.2.3]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.1...satrs-shared-v0.2.3
 [v0.2.2]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.1...satrs-shared-v0.2.2

satrs-shared/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "satrs-shared"
 description = "Components shared by multiple sat-rs crates"
-version = "0.2.3"
+version = "0.2.2"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@@ -11,7 +11,7 @@ license = "Apache-2.0"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-spacepackets = { version = ">=0.14, <=0.15", default-features = false }
+spacepackets = { version = ">=0.14, <=0.15", git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", default-features = false }
 
 [dependencies.serde]
 version = "1"

satrs/CHANGELOG.md

@@ -8,16 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-- Bump `sat-rs` edition to 2024.
-
-# [v0.3.0-alpha.2] 2025-07-22
-
-`satrs-shared` update
-
-# [v0.3.0-alpha.1] 2025-07-22
-
-`spacepackets` range v0.14 to v0.15
-
 # [v0.3.0-alpha.0] 2025-02-18
 
 `spacepackets` v0.13
@@ -208,8 +198,3 @@ docs-rs hotfix
 # [v0.1.0] 2024-02-12
 
 Initial release.
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-v0.3.0-alpha.2...HEAD
-[v0.3.0-alpha.2]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-v0.3.0-alpha.1...satrs-v0.3.0-alpha.2
-[v0.3.0-alpha.1]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-v0.3.0-alpha.0...satrs-v0.3.0-alpha.1
-[v0.3.0-alpha.0]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-v0.2.1...satrs-v0.3.0-alpha.0

satrs/Cargo.toml

@@ -1,8 +1,8 @@
 [package]
 name = "satrs"
-version = "0.3.0-alpha.2"
+version = "0.3.0-alpha.0"
-edition = "2024"
+edition = "2021"
-rust-version = "1.85.0"
+rust-version = "1.82.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 description = "A library collection to build software for remote systems"
 homepage = "https://github.com/us-irs/sat-rs"
@@ -13,14 +13,14 @@ keywords = ["no-std", "space", "aerospace"]
 categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
 
 [dependencies]
-satrs-shared = { version = "0.2", path = "../satrs-shared" }
+satrs-shared = { version = "0.2.2", path = "../satrs-shared" }
-spacepackets = { version = ">=0.14, <=0.15", default-features = false }
+spacepackets = { version = ">=0.14, <=0.15", git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", default-features = false }
 
 delegate = ">0.7, <=0.13"
 paste = "1"
 derive-new = ">=0.6, <=0.7"
 num_enum = { version = ">0.5, <=0.7", default-features = false }
-cobs = { version = "0.4", default-features = false }
+cobs = { version = "0.4", default-features = false, git = "https://github.com/jamesmunns/cobs.rs.git", branch = "main" }
 thiserror = { version = "2", default-features = false }
 
 hashbrown = { version = ">=0.14, <=0.15", optional = true }
@@ -31,9 +31,9 @@ downcast-rs = { version = "2", default-features = false, optional = true }
 bus = { version = "2.2", optional = true }
 crossbeam-channel = { version = "0.5", default-features = false, optional = true }
 serde = { version = "1", default-features = false, optional = true }
-socket2 = { version = "0.6", features = ["all"], optional = true }
+socket2 = { version = "0.5", features = ["all"], optional = true }
 mio = { version = "1", features = ["os-poll", "net"], optional = true }
-defmt = { version = "1", optional = true }
+defmt = { version = "0.3", optional = true }
 
 [dev-dependencies]
 serde = "1"

satrs/src/dev_mgmt.rs

@@ -1,9 +1,9 @@
 use crate::{
-    ComponentId,
     mode::{ModeAndSubmode, ModeReply, ModeRequest, ModeRequestSender},
     mode_tree::{ModeStoreProvider, ModeStoreVec},
     queue::{GenericSendError, GenericTargetedMessagingError},
     request::{GenericMessage, RequestId},
+    ComponentId,
 };
 use core::fmt::Debug;
 
@@ -270,7 +270,7 @@ impl<UserHook: DevManagerUserHook> DevManagerCommandingHelper<UserHook> {
 #[cfg(test)]
 mod tests {
     use crate::{
-        mode::{UNKNOWN_MODE, tests::ModeReqSenderMock},
+        mode::{tests::ModeReqSenderMock, UNKNOWN_MODE},
         request::MessageMetadata,
     };
 

satrs/src/encoding/ccsds.rs

@@ -1,6 +1,6 @@
 use spacepackets::{CcsdsPacket, SpHeader};
 
-use crate::{ComponentId, tmtc::PacketSenderRaw};
+use crate::{tmtc::PacketSenderRaw, ComponentId};
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum SpValidity {
@@ -90,13 +90,13 @@ pub fn parse_buffer_for_ccsds_space_packets<SendError>(
 #[cfg(test)]
 mod tests {
     use spacepackets::{
+        ecss::{tc::PusTcCreator, WritablePusPacket},
         CcsdsPacket, PacketId, PacketSequenceCtrl, PacketType, SequenceFlags, SpHeader,
-        ecss::tc::PusTcCreator,
     };
 
-    use crate::{ComponentId, encoding::tests::TcCacher};
+    use crate::{encoding::tests::TcCacher, ComponentId};
 
-    use super::{SpValidity, SpacePacketValidator, parse_buffer_for_ccsds_space_packets};
+    use super::{parse_buffer_for_ccsds_space_packets, SpValidity, SpacePacketValidator};
 
     const PARSER_ID: ComponentId = 0x05;
     const TEST_APID_0: u16 = 0x02;

satrs/src/encoding/cobs.rs

@@ -1,4 +1,4 @@
-use crate::{ComponentId, tmtc::PacketSenderRaw};
+use crate::{tmtc::PacketSenderRaw, ComponentId};
 use cobs::{decode_in_place, encode, max_encoding_length};
 
 /// This function encodes the given packet with COBS and also wraps the encoded packet with
@@ -104,8 +104,8 @@ pub(crate) mod tests {
     use cobs::encode;
 
     use crate::{
+        encoding::tests::{encode_simple_packet, TcCacher, INVERTED_PACKET, SIMPLE_PACKET},
         ComponentId,
-        encoding::tests::{INVERTED_PACKET, SIMPLE_PACKET, TcCacher, encode_simple_packet},
     };
 
     use super::parse_buffer_for_cobs_encoded_packets;

satrs/src/encoding/mod.rs

@@ -11,8 +11,8 @@ pub(crate) mod tests {
     use alloc::collections::VecDeque;
 
     use crate::{
-        ComponentId,
         tmtc::{PacketAsVec, PacketSenderRaw},
+        ComponentId,
     };
 
     use super::cobs::encode_packet_with_cobs;

satrs/src/event_man.rs

@@ -136,7 +136,7 @@ pub trait ListenerMapProvider {
     #[cfg(feature = "alloc")]
     fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
     fn contains_listener(&self, key: &ListenerKey) -> bool;
-    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<'_, ComponentId>>;
+    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>>;
     fn add_listener(&mut self, key: ListenerKey, listener_id: ComponentId) -> bool;
     fn remove_duplicates(&mut self, key: &ListenerKey);
 }
@@ -198,13 +198,13 @@ pub enum EventRoutingError {
 }
 
 impl<
-    EventReceiver: EventReceiveProvider<Event, ParamProvider>,
+        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
-    SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
+        SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
-    ListenerMap: ListenerMapProvider,
+        ListenerMap: ListenerMapProvider,
-    EventSender: EventSendProvider<Event, ParamProvider>,
+        EventSender: EventSendProvider<Event, ParamProvider>,
-    Event: GenericEvent + Copy,
+        Event: GenericEvent + Copy,
-    ParamProvider: Debug,
+        ParamProvider: Debug,
-> EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Event, ParamProvider>
+    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Event, ParamProvider>
 {
     pub fn remove_duplicates(&mut self, key: &ListenerKey) {
         self.listener_map.remove_duplicates(key)
@@ -229,13 +229,13 @@ impl<
     }
 }
 impl<
-    EventReceiver: EventReceiveProvider<Event, ParamProvider>,
+        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
-    SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
+        SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
-    ListenerMap: ListenerMapProvider,
+        ListenerMap: ListenerMapProvider,
-    EventSenderMap: EventSendProvider<Event, ParamProvider>,
+        EventSenderMap: EventSendProvider<Event, ParamProvider>,
-    Event: GenericEvent + Copy,
+        Event: GenericEvent + Copy,
-    ParamProvider: Debug,
+        ParamProvider: Debug,
-> EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
+    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
 {
     pub fn new_with_custom_maps(
         event_receiver: EventReceiver,
@@ -267,13 +267,13 @@ impl<
 }
 
 impl<
-    EventReceiver: EventReceiveProvider<Event, ParamProvider>,
+        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
-    SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
+        SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
-    ListenerMap: ListenerMapProvider,
+        ListenerMap: ListenerMapProvider,
-    EventSenderMap: EventSendProvider<Event, ParamProvider, Error = GenericSendError>,
+        EventSenderMap: EventSendProvider<Event, ParamProvider, Error = GenericSendError>,
-    Event: GenericEvent + Copy,
+        Event: GenericEvent + Copy,
-    ParamProvider: Clone + Debug,
+        ParamProvider: Clone + Debug,
-> EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
+    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
 {
     /// 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.
@@ -355,11 +355,11 @@ pub mod alloc_mod {
     >;
 
     impl<
-        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
+            EventReceiver: EventReceiveProvider<Event, ParamProvider>,
-        EventSender: EventSendProvider<Event, ParamProvider>,
+            EventSender: EventSendProvider<Event, ParamProvider>,
-        Event: GenericEvent + Copy,
+            Event: GenericEvent + Copy,
-        ParamProvider: 'static + Debug,
+            ParamProvider: 'static + Debug,
-    >
+        >
         EventManager<
             EventReceiver,
             DefaultSenderMap<EventSender, Event, ParamProvider>,
@@ -402,7 +402,7 @@ pub mod alloc_mod {
             self.listeners.contains_key(key)
         }
 
-        fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<'_, ComponentId>> {
+        fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>> {
             self.listeners.get(key).map(|vec| vec.iter())
         }
 
@@ -437,10 +437,10 @@ pub mod alloc_mod {
     }
 
     impl<
-        EventSender: EventSendProvider<Event, ParamProvider>,
+            EventSender: EventSendProvider<Event, ParamProvider>,
-        Event: GenericEvent,
+            Event: GenericEvent,
-        ParamProvider: Debug,
+            ParamProvider: Debug,
-    > Default for DefaultSenderMap<EventSender, Event, ParamProvider>
+        > Default for DefaultSenderMap<EventSender, Event, ParamProvider>
     {
         fn default() -> Self {
             Self {
@@ -451,10 +451,10 @@ pub mod alloc_mod {
     }
 
     impl<
-        EventSender: EventSendProvider<Event, ParamProvider>,
+            EventSender: EventSendProvider<Event, ParamProvider>,
-        Event: GenericEvent,
+            Event: GenericEvent,
-        ParamProvider: Debug,
+            ParamProvider: Debug,
-    > SenderMapProvider<EventSender, Event, ParamProvider>
+        > SenderMapProvider<EventSender, Event, ParamProvider>
         for DefaultSenderMap<EventSender, Event, ParamProvider>
     {
         fn contains_send_event_provider(&self, id: &ComponentId) -> bool {

satrs/src/events.rs

@@ -31,9 +31,9 @@ use core::fmt::Debug;
 use core::hash::Hash;
 use core::marker::PhantomData;
 use delegate::delegate;
-use spacepackets::ByteConversionError;
 use spacepackets::ecss::EcssEnumeration;
 use spacepackets::util::{ToBeBytes, UnsignedEnum};
+use spacepackets::ByteConversionError;
 
 /// Using a type definition allows to change this to u64 in the future more easily
 pub type LargestEventRaw = u32;

satrs/src/executable.rs

@@ -55,35 +55,33 @@ pub fn exec_sched_single<
     let mut cycle_count = 0;
     thread::Builder::new()
         .name(String::from(executable.task_name()))
-        .spawn(move || {
+        .spawn(move || loop {
-            loop {
+            if let Some(ref mut terminator) = termination {
-                if let Some(ref mut terminator) = termination {
+                match terminator.try_recv() {
-                    match terminator.try_recv() {
+                    Ok(_) | Err(TryRecvError::Disconnected) => {
-                        Ok(_) | Err(TryRecvError::Disconnected) => {
-                            return Ok(OpResult::Ok);
-                        }
-                        Err(TryRecvError::Empty) => (),
-                    }
-                }
-                match executable.exec_type() {
-                    ExecutionType::OneShot => {
-                        executable.periodic_op(op_code)?;
                         return Ok(OpResult::Ok);
                     }
-                    ExecutionType::Infinite => {
+                    Err(TryRecvError::Empty) => (),
-                        executable.periodic_op(op_code)?;
+                }
-                    }
+            }
-                    ExecutionType::Cycles(cycles) => {
+            match executable.exec_type() {
-                        executable.periodic_op(op_code)?;
+                ExecutionType::OneShot => {
-                        cycle_count += 1;
+                    executable.periodic_op(op_code)?;
-                        if cycle_count == cycles {
+                    return Ok(OpResult::Ok);
-                            return Ok(OpResult::Ok);
+                }
-                        }
+                ExecutionType::Infinite => {
+                    executable.periodic_op(op_code)?;
+                }
+                ExecutionType::Cycles(cycles) => {
+                    executable.periodic_op(op_code)?;
+                    cycle_count += 1;
+                    if cycle_count == cycles {
+                        return Ok(OpResult::Ok);
                     }
                 }
-                if let Some(freq) = task_freq {
+            }
-                    thread::sleep(freq);
+            if let Some(freq) = task_freq {
-                }
+                thread::sleep(freq);
             }
         })
 }
@@ -112,53 +110,51 @@ pub fn exec_sched_multi<
 
     thread::Builder::new()
         .name(String::from(task_name))
-        .spawn(move || {
+        .spawn(move || loop {
-            loop {
+            if let Some(ref mut terminator) = termination {
-                if let Some(ref mut terminator) = termination {
+                match terminator.try_recv() {
-                    match terminator.try_recv() {
+                    Ok(_) | Err(TryRecvError::Disconnected) => {
-                        Ok(_) | Err(TryRecvError::Disconnected) => {
+                        removal_flags.iter_mut().for_each(|x| *x = true);
-                            removal_flags.iter_mut().for_each(|x| *x = true);
-                        }
-                        Err(TryRecvError::Empty) => (),
                     }
+                    Err(TryRecvError::Empty) => (),
                 }
-                for (idx, executable) in executable_vec.iter_mut().enumerate() {
+            }
-                    match executable.exec_type() {
+            for (idx, executable) in executable_vec.iter_mut().enumerate() {
-                        ExecutionType::OneShot => {
+                match executable.exec_type() {
-                            executable.periodic_op(op_code)?;
+                    ExecutionType::OneShot => {
+                        executable.periodic_op(op_code)?;
+                        removal_flags[idx] = true;
+                    }
+                    ExecutionType::Infinite => {
+                        executable.periodic_op(op_code)?;
+                    }
+                    ExecutionType::Cycles(cycles) => {
+                        executable.periodic_op(op_code)?;
+                        cycle_counts[idx] += 1;
+                        if cycle_counts[idx] == cycles {
                             removal_flags[idx] = true;
                         }
-                        ExecutionType::Infinite => {
-                            executable.periodic_op(op_code)?;
-                        }
-                        ExecutionType::Cycles(cycles) => {
-                            executable.periodic_op(op_code)?;
-                            cycle_counts[idx] += 1;
-                            if cycle_counts[idx] == cycles {
-                                removal_flags[idx] = true;
-                            }
-                        }
                     }
                 }
-                let mut removal_iter = removal_flags.iter();
-                executable_vec.retain(|_| !*removal_iter.next().unwrap());
-                removal_iter = removal_flags.iter();
-                cycle_counts.retain(|_| !*removal_iter.next().unwrap());
-                removal_flags.retain(|&i| !i);
-                if executable_vec.is_empty() {
-                    return Ok(OpResult::Ok);
-                }
-                let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
-                thread::sleep(freq);
             }
+            let mut removal_iter = removal_flags.iter();
+            executable_vec.retain(|_| !*removal_iter.next().unwrap());
+            removal_iter = removal_flags.iter();
+            cycle_counts.retain(|_| !*removal_iter.next().unwrap());
+            removal_flags.retain(|&i| !i);
+            if executable_vec.is_empty() {
+                return Ok(OpResult::Ok);
+            }
+            let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
+            thread::sleep(freq);
         })
 }
 
 #[cfg(test)]
 mod tests {
     use super::{
-        Executable, ExecutableWithType, ExecutionType, OpResult, exec_sched_multi,
+        exec_sched_multi, exec_sched_single, Executable, ExecutableWithType, ExecutionType,
-        exec_sched_single,
+        OpResult,
     };
     use bus::Bus;
     use std::boxed::Box;

satrs/src/hal/std/tcp_cobs_server.rs

@@ -13,10 +13,10 @@ use crate::encoding::parse_buffer_for_cobs_encoded_packets;
 use crate::tmtc::PacketSenderRaw;
 use crate::tmtc::PacketSource;
 
-use crate::ComponentId;
 use crate::hal::std::tcp_server::{
     ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
 };
+use crate::ComponentId;
 
 use super::tcp_server::HandledConnectionHandler;
 use super::tcp_server::HandledConnectionInfo;
@@ -136,12 +136,12 @@ pub struct TcpTmtcInCobsServer<
 }
 
 impl<
-    TmSource: PacketSource<Error = TmError>,
+        TmSource: PacketSource<Error = TmError>,
-    TcReceiver: PacketSenderRaw<Error = TcError>,
+        TcReceiver: PacketSenderRaw<Error = TcError>,
-    HandledConnection: HandledConnectionHandler,
+        HandledConnection: HandledConnectionHandler,
-    TmError: 'static,
+        TmError: 'static,
-    TcError: 'static,
+        TcError: 'static,
-> TcpTmtcInCobsServer<TmSource, TcReceiver, HandledConnection, TmError, TcError>
+    > TcpTmtcInCobsServer<TmSource, TcReceiver, HandledConnection, TmError, TcError>
 {
     /// Create a new TCP TMTC server which exchanges TMTC packets encoded with
     /// [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
@@ -206,14 +206,14 @@ mod tests {
     };
 
     use crate::{
-        ComponentId,
         encoding::tests::{INVERTED_PACKET, SIMPLE_PACKET},
         hal::std::tcp_server::{
-            ConnectionResult, ServerConfig,
             tests::{ConnectionFinishedHandler, SyncTmSource},
+            ConnectionResult, ServerConfig,
         },
         queue::GenericSendError,
         tmtc::PacketAsVec,
+        ComponentId,
     };
     use alloc::sync::Arc;
     use cobs::encode;
@@ -435,19 +435,17 @@ mod tests {
             generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source, None);
         let start = Instant::now();
         // Call the connection handler in separate thread, does block.
-        let thread_jh = thread::spawn(move || {
+        let thread_jh = thread::spawn(move || loop {
-            loop {
+            let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
-                let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
+            if result.is_err() {
-                if result.is_err() {
+                panic!("handling connection failed: {:?}", result.unwrap_err());
-                    panic!("handling connection failed: {:?}", result.unwrap_err());
+            }
-                }
+            let result = result.unwrap();
-                let result = result.unwrap();
+            if result == ConnectionResult::AcceptTimeout {
-                if result == ConnectionResult::AcceptTimeout {
+                break;
-                    break;
+            }
-                }
+            if Instant::now() - start > Duration::from_millis(100) {
-                if Instant::now() - start > Duration::from_millis(100) {
+                panic!("regular stop signal handling failed");
-                    panic!("regular stop signal handling failed");
-                }
             }
         });
         thread_jh.join().expect("thread join failed");
@@ -471,22 +469,20 @@ mod tests {
         let stop_signal_copy = stop_signal.clone();
         let start = Instant::now();
         // Call the connection handler in separate thread, does block.
-        let thread_jh = thread::spawn(move || {
+        let thread_jh = thread::spawn(move || loop {
-            loop {
+            let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
-                let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
+            if result.is_err() {
-                if result.is_err() {
+                panic!("handling connection failed: {:?}", result.unwrap_err());
-                    panic!("handling connection failed: {:?}", result.unwrap_err());
+            }
-                }
+            let result = result.unwrap();
-                let result = result.unwrap();
+            if result == ConnectionResult::AcceptTimeout {
-                if result == ConnectionResult::AcceptTimeout {
+                panic!("unexpected accept timeout");
-                    panic!("unexpected accept timeout");
+            }
-                }
+            if stop_signal_copy.load(Ordering::Relaxed) {
-                if stop_signal_copy.load(Ordering::Relaxed) {
+                break;
-                    break;
+            }
-                }
+            if Instant::now() - start > Duration::from_millis(100) {
-                if Instant::now() - start > Duration::from_millis(100) {
+                panic!("regular stop signal handling failed");
-                    panic!("regular stop signal handling failed");
-                }
             }
         });
         // We connect but do not do anything.

satrs/src/hal/std/tcp_server.rs

@@ -11,8 +11,8 @@ use std::io::{self, Read};
 use std::net::SocketAddr;
 use std::thread;
 
-use crate::ComponentId;
 use crate::tmtc::{PacketSenderRaw, PacketSource};
+use crate::ComponentId;
 use thiserror::Error;
 
 // Re-export the TMTC in COBS server.
@@ -187,14 +187,14 @@ pub struct TcpTmtcGenericServer<
 }
 
 impl<
-    TmSource: PacketSource<Error = TmError>,
+        TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = TcSendError>,
+        TcSender: PacketSenderRaw<Error = TcSendError>,
-    TmSender: TcpTmSender<TmError, TcSendError>,
+        TmSender: TcpTmSender<TmError, TcSendError>,
-    TcParser: TcpTcParser<TmError, TcSendError>,
+        TcParser: TcpTcParser<TmError, TcSendError>,
-    HandledConnection: HandledConnectionHandler,
+        HandledConnection: HandledConnectionHandler,
-    TmError: 'static,
+        TmError: 'static,
-    TcSendError: 'static,
+        TcSendError: 'static,
->
+    >
     TcpTmtcGenericServer<
         TmSource,
         TcSender,

satrs/src/hal/std/tcp_spacepackets_server.rs

@@ -5,9 +5,9 @@ use mio::net::{TcpListener, TcpStream};
 use std::{io::Write, net::SocketAddr};
 
 use crate::{
-    ComponentId,
     encoding::{ccsds::SpacePacketValidator, parse_buffer_for_ccsds_space_packets},
     tmtc::{PacketSenderRaw, PacketSource},
+    ComponentId,
 };
 
 use super::tcp_server::{
@@ -107,13 +107,13 @@ pub struct TcpSpacepacketsServer<
 }
 
 impl<
-    TmSource: PacketSource<Error = TmError>,
+        TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = TcError>,
+        TcSender: PacketSenderRaw<Error = TcError>,
-    Validator: SpacePacketValidator,
+        Validator: SpacePacketValidator,
-    HandledConnection: HandledConnectionHandler,
+        HandledConnection: HandledConnectionHandler,
-    TmError: 'static,
+        TmError: 'static,
-    TcError: 'static,
+        TcError: 'static,
-> TcpSpacepacketsServer<TmSource, TcSender, Validator, HandledConnection, TmError, TcError>
+    > TcpSpacepacketsServer<TmSource, TcSender, Validator, HandledConnection, TmError, TcError>
 {
     ///
     /// ## Parameter
@@ -185,19 +185,19 @@ mod tests {
     use alloc::sync::Arc;
     use hashbrown::HashSet;
     use spacepackets::{
+        ecss::{tc::PusTcCreator, WritablePusPacket},
         CcsdsPacket, PacketId, SpHeader,
-        ecss::{WritablePusPacket, tc::PusTcCreator},
     };
 
     use crate::{
-        ComponentId,
         encoding::ccsds::{SpValidity, SpacePacketValidator},
         hal::std::tcp_server::{
-            ConnectionResult, ServerConfig,
             tests::{ConnectionFinishedHandler, SyncTmSource},
+            ConnectionResult, ServerConfig,
         },
         queue::GenericSendError,
         tmtc::PacketAsVec,
+        ComponentId,
     };
 
     use super::TcpSpacepacketsServer;

satrs/src/hal/std/udp_server.rs

@@ -1,6 +1,6 @@
 //! Generic UDP TC server.
-use crate::ComponentId;
 use crate::tmtc::PacketSenderRaw;
+use crate::ComponentId;
 use core::fmt::Debug;
 use std::io::{self, ErrorKind};
 use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
@@ -105,7 +105,7 @@ impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
                     Err(ReceiveResult::NothingReceived)
                 } else {
                     Err(e.into())
-                };
+                }
             }
         };
         let (num_bytes, from) = res;
@@ -123,13 +123,14 @@ impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
 
 #[cfg(test)]
 mod tests {
-    use crate::ComponentId;
     use crate::hal::std::udp_server::{ReceiveResult, UdpTcServer};
     use crate::queue::GenericSendError;
     use crate::tmtc::PacketSenderRaw;
+    use crate::ComponentId;
     use core::cell::RefCell;
-    use spacepackets::SpHeader;
     use spacepackets::ecss::tc::PusTcCreator;
+    use spacepackets::ecss::WritablePusPacket;
+    use spacepackets::SpHeader;
     use std::collections::VecDeque;
     use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
     use std::vec::Vec;

satrs/src/mode.rs

@@ -11,11 +11,11 @@ pub use alloc_mod::*;
 pub use std_mod::*;
 
 use crate::{
-    ComponentId,
     queue::{GenericReceiveError, GenericSendError},
     request::{
         GenericMessage, MessageMetadata, MessageReceiverProvider, MessageReceiverWithId, RequestId,
     },
+    ComponentId,
 };
 
 pub type Mode = u32;
@@ -257,7 +257,7 @@ pub trait ModeRequestHandler: ModeProvider {
 
 pub trait ModeReplyReceiver {
     fn try_recv_mode_reply(&self)
-    -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError>;
+        -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError>;
 }
 
 impl<R: MessageReceiverProvider<ModeReply>> ModeReplyReceiver
@@ -309,11 +309,12 @@ pub mod alloc_mod {
     }
 
     impl<
-        From,
+            From,
-        Sender: MessageSenderProvider<ModeReply>,
+            Sender: MessageSenderProvider<ModeReply>,
-        Receiver: MessageReceiverProvider<From>,
+            Receiver: MessageReceiverProvider<From>,
-        SenderStore: MessageSenderStoreProvider<ModeReply, Sender>,
+            SenderStore: MessageSenderStoreProvider<ModeReply, Sender>,
-    > ModeReplySender for MessageSenderAndReceiver<ModeReply, From, Sender, Receiver, SenderStore>
+        > ModeReplySender
+        for MessageSenderAndReceiver<ModeReply, From, Sender, Receiver, SenderStore>
     {
         fn local_channel_id(&self) -> ComponentId {
             self.local_channel_id_generic()
@@ -333,11 +334,12 @@ pub mod alloc_mod {
     }
 
     impl<
-        To,
+            To,
-        Sender: MessageSenderProvider<To>,
+            Sender: MessageSenderProvider<To>,
-        Receiver: MessageReceiverProvider<ModeReply>,
+            Receiver: MessageReceiverProvider<ModeReply>,
-        SenderStore: MessageSenderStoreProvider<To, Sender>,
+            SenderStore: MessageSenderStoreProvider<To, Sender>,
-    > ModeReplyReceiver for MessageSenderAndReceiver<To, ModeReply, Sender, Receiver, SenderStore>
+        > ModeReplyReceiver
+        for MessageSenderAndReceiver<To, ModeReply, Sender, Receiver, SenderStore>
     {
         fn try_recv_mode_reply(
             &self,
@@ -347,15 +349,15 @@ pub mod alloc_mod {
     }
 
     impl<
-        Request,
+            Request,
-        ReqSender: MessageSenderProvider<Request>,
+            ReqSender: MessageSenderProvider<Request>,
-        ReqReceiver: MessageReceiverProvider<Request>,
+            ReqReceiver: MessageReceiverProvider<Request>,
-        ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
-        Reply,
+            Reply,
-        ReplySender: MessageSenderProvider<Reply>,
+            ReplySender: MessageSenderProvider<Reply>,
-        ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
-        ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
-    >
+        >
         RequestAndReplySenderAndReceiver<
             Request,
             ReqSender,
@@ -374,14 +376,14 @@ pub mod alloc_mod {
     }
 
     impl<
-        Request,
+            Request,
-        ReqSender: MessageSenderProvider<Request>,
+            ReqSender: MessageSenderProvider<Request>,
-        ReqReceiver: MessageReceiverProvider<Request>,
+            ReqReceiver: MessageReceiverProvider<Request>,
-        ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
-        ReplySender: MessageSenderProvider<ModeReply>,
+            ReplySender: MessageSenderProvider<ModeReply>,
-        ReplyReceiver: MessageReceiverProvider<ModeReply>,
+            ReplyReceiver: MessageReceiverProvider<ModeReply>,
-        ReplySenderStore: MessageSenderStoreProvider<ModeReply, ReplySender>,
+            ReplySenderStore: MessageSenderStoreProvider<ModeReply, ReplySender>,
-    > ModeReplySender
+        > ModeReplySender
         for RequestAndReplySenderAndReceiver<
             Request,
             ReqSender,
@@ -411,14 +413,14 @@ pub mod alloc_mod {
     }
 
     impl<
-        Request,
+            Request,
-        ReqSender: MessageSenderProvider<Request>,
+            ReqSender: MessageSenderProvider<Request>,
-        ReqReceiver: MessageReceiverProvider<Request>,
+            ReqReceiver: MessageReceiverProvider<Request>,
-        ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
-        ReplySender: MessageSenderProvider<ModeReply>,
+            ReplySender: MessageSenderProvider<ModeReply>,
-        ReplyReceiver: MessageReceiverProvider<ModeReply>,
+            ReplyReceiver: MessageReceiverProvider<ModeReply>,
-        ReplySenderStore: MessageSenderStoreProvider<ModeReply, ReplySender>,
+            ReplySenderStore: MessageSenderStoreProvider<ModeReply, ReplySender>,
-    > ModeReplyReceiver
+        > ModeReplyReceiver
         for RequestAndReplySenderAndReceiver<
             Request,
             ReqSender,
@@ -442,10 +444,10 @@ pub mod alloc_mod {
         MessageSenderAndReceiver<ModeReply, ModeRequest, Sender, Receiver, ReplySenderStore>;
 
     impl<
-        Sender: MessageSenderProvider<ModeReply>,
+            Sender: MessageSenderProvider<ModeReply>,
-        Receiver: MessageReceiverProvider<ModeRequest>,
+            Receiver: MessageReceiverProvider<ModeRequest>,
-        ReplySenderStore: MessageSenderStoreProvider<ModeReply, Sender>,
+            ReplySenderStore: MessageSenderStoreProvider<ModeReply, Sender>,
-    > ModeRequestHandlerInterface<Sender, Receiver, ReplySenderStore>
+        > ModeRequestHandlerInterface<Sender, Receiver, ReplySenderStore>
     {
         pub fn try_recv_mode_request(
             &self,
@@ -472,10 +474,10 @@ pub mod alloc_mod {
         MessageSenderAndReceiver<ModeRequest, ModeReply, Sender, Receiver, RequestSenderStore>;
 
     impl<
-        Sender: MessageSenderProvider<ModeRequest>,
+            Sender: MessageSenderProvider<ModeRequest>,
-        Receiver: MessageReceiverProvider<ModeReply>,
+            Receiver: MessageReceiverProvider<ModeReply>,
-        RequestSenderStore: MessageSenderStoreProvider<ModeRequest, Sender>,
+            RequestSenderStore: MessageSenderStoreProvider<ModeRequest, Sender>,
-    > ModeRequestorInterface<Sender, Receiver, RequestSenderStore>
+        > ModeRequestorInterface<Sender, Receiver, RequestSenderStore>
     {
         pub fn try_recv_mode_reply(
             &self,
@@ -529,11 +531,11 @@ pub mod alloc_mod {
     }
 
     impl<
-        To,
+            To,
-        Sender: MessageSenderProvider<To>,
+            Sender: MessageSenderProvider<To>,
-        Receiver: MessageReceiverProvider<ModeRequest>,
+            Receiver: MessageReceiverProvider<ModeRequest>,
-        SenderStore: MessageSenderStoreProvider<To, Sender>,
+            SenderStore: MessageSenderStoreProvider<To, Sender>,
-    > ModeRequestReceiver
+        > ModeRequestReceiver
         for MessageSenderAndReceiver<To, ModeRequest, Sender, Receiver, SenderStore>
     {
         fn try_recv_mode_request(
@@ -544,11 +546,11 @@ pub mod alloc_mod {
     }
 
     impl<
-        From,
+            From,
-        Sender: MessageSenderProvider<ModeRequest>,
+            Sender: MessageSenderProvider<ModeRequest>,
-        Receiver: MessageReceiverProvider<From>,
+            Receiver: MessageReceiverProvider<From>,
-        SenderStore: MessageSenderStoreProvider<ModeRequest, Sender>,
+            SenderStore: MessageSenderStoreProvider<ModeRequest, Sender>,
-    > ModeRequestSender
+        > ModeRequestSender
         for MessageSenderAndReceiver<ModeRequest, From, Sender, Receiver, SenderStore>
     {
         fn local_channel_id(&self) -> ComponentId {
@@ -570,14 +572,14 @@ pub mod alloc_mod {
     }
 
     impl<
-        ReqSender: MessageSenderProvider<ModeRequest>,
+            ReqSender: MessageSenderProvider<ModeRequest>,
-        ReqReceiver: MessageReceiverProvider<ModeRequest>,
+            ReqReceiver: MessageReceiverProvider<ModeRequest>,
-        ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
+            ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
-        Reply,
+            Reply,
-        ReplySender: MessageSenderProvider<Reply>,
+            ReplySender: MessageSenderProvider<Reply>,
-        ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
-        ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
-    >
+        >
         RequestAndReplySenderAndReceiver<
             ModeRequest,
             ReqSender,
@@ -596,14 +598,14 @@ pub mod alloc_mod {
     }
 
     impl<
-        ReqSender: MessageSenderProvider<ModeRequest>,
+            ReqSender: MessageSenderProvider<ModeRequest>,
-        ReqReceiver: MessageReceiverProvider<ModeRequest>,
+            ReqReceiver: MessageReceiverProvider<ModeRequest>,
-        ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
+            ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
-        Reply,
+            Reply,
-        ReplySender: MessageSenderProvider<Reply>,
+            ReplySender: MessageSenderProvider<Reply>,
-        ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
-        ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
-    > ModeRequestSender
+        > ModeRequestSender
         for RequestAndReplySenderAndReceiver<
             ModeRequest,
             ReqSender,
@@ -634,14 +636,14 @@ pub mod alloc_mod {
     }
 
     impl<
-        ReqSender: MessageSenderProvider<ModeRequest>,
+            ReqSender: MessageSenderProvider<ModeRequest>,
-        ReqReceiver: MessageReceiverProvider<ModeRequest>,
+            ReqReceiver: MessageReceiverProvider<ModeRequest>,
-        ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
+            ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
-        Reply,
+            Reply,
-        ReplySender: MessageSenderProvider<Reply>,
+            ReplySender: MessageSenderProvider<Reply>,
-        ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
-        ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
-    > ModeRequestReceiver
+        > ModeRequestReceiver
         for RequestAndReplySenderAndReceiver<
             ModeRequest,
             ReqSender,
@@ -724,7 +726,7 @@ pub(crate) mod tests {
     use core::cell::RefCell;
     use std::collections::VecDeque;
 
-    use crate::{ComponentId, request::RequestId};
+    use crate::{request::RequestId, ComponentId};
 
     use super::*;
 

satrs/src/mode_tree.rs

@@ -2,9 +2,9 @@ use alloc::vec::Vec;
 use hashbrown::HashMap;
 
 use crate::{
-    ComponentId,
     mode::{Mode, ModeAndSubmode, ModeReply, ModeRequest, Submode},
     request::MessageSenderProvider,
+    ComponentId,
 };
 
 #[cfg(feature = "alloc")]

satrs/src/params.rs

@@ -47,10 +47,10 @@ use crate::pool::PoolAddr;
 use core::fmt::Debug;
 use core::mem::size_of;
 use paste::paste;
-use spacepackets::ByteConversionError;
+use spacepackets::ecss::{EcssEnumU16, EcssEnumU32, EcssEnumU64, EcssEnumU8};
-use spacepackets::ecss::{EcssEnumU8, EcssEnumU16, EcssEnumU32, EcssEnumU64};
 pub use spacepackets::util::ToBeBytes;
 use spacepackets::util::UnsignedEnum;
+use spacepackets::ByteConversionError;
 
 #[cfg(feature = "alloc")]
 use alloc::string::{String, ToString};

satrs/src/pool.rs

@@ -250,7 +250,7 @@ pub trait PoolProvider {
     /// call the user-provided closure and pass a mutable reference to the memory block
     /// to the closure. This allows the user to modify the memory block.
     fn modify<U: FnMut(&mut [u8])>(&mut self, addr: &PoolAddr, updater: U)
-    -> Result<(), PoolError>;
+        -> Result<(), PoolError>;
 
     /// The provider should copy the data from the memory block to the user-provided buffer if
     /// it exists.
@@ -281,7 +281,7 @@ pub trait PoolProviderWithGuards: PoolProvider {
     /// This can prevent memory leaks. Users can read the data and release the guard
     /// if the data in the store is valid for further processing. If the data is faulty, no
     /// manual deletion is necessary when returning from a processing function prematurely.
-    fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<'_, Self>;
+    fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<Self>;
 
     /// This function behaves like [PoolProvider::modify], but consumes the provided
     /// address and returns a RAII conformant guard object.
@@ -291,7 +291,7 @@ pub trait PoolProviderWithGuards: PoolProvider {
     /// This can prevent memory leaks. Users can read (and modify) the data and release the guard
     /// if the data in the store is valid for further processing. If the data is faulty, no
     /// manual deletion is necessary when returning from a processing function prematurely.
-    fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<'_, Self>;
+    fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<Self>;
 }
 
 pub struct PoolGuard<'a, MemProvider: PoolProvider + ?Sized> {
@@ -510,11 +510,11 @@ pub mod heapless_mod {
         ///
         /// * `subpool_memory` - Static memory for a particular subpool to store the actual data.
         /// * `sizes_list` - Static sizes list structure to store the size of the data which is
-        ///   actually stored.
+        ///    actually stored.
         /// * `num_blocks ` - The number of memory blocks inside the subpool.
         /// * `set_sizes_list_to_all_free` - If this is set to true, the method will take care
-        ///   of setting all values in the sizes list to [super::STORE_FREE]. This does not have
+        ///    of setting all values in the sizes list to [super::STORE_FREE]. This does not have
-        ///   to be done if the user initializes the sizes list to that value themselves.
+        ///    to be done if the user initializes the sizes list to that value themselves.
         pub fn grow(
             &mut self,
             subpool_memory: &'static mut [u8],
@@ -602,7 +602,7 @@ pub mod heapless_mod {
                 if i < start_at_subpool as usize {
                     continue;
                 }
-                if pool_cfg.block_size >= req_size {
+                if pool_cfg.block_size as usize >= req_size {
                     return Ok(i as u16);
                 }
             }
@@ -638,7 +638,7 @@ pub mod heapless_mod {
 
         fn raw_pos(&self, addr: &StaticPoolAddr) -> Option<usize> {
             let (pool_cfg, _) = self.pool.get(addr.pool_idx as usize)?;
-            Some(addr.packet_idx as usize * pool_cfg.block_size)
+            Some(addr.packet_idx as usize * pool_cfg.block_size as usize)
         }
     }
 
@@ -707,7 +707,7 @@ pub mod heapless_mod {
             let subpool_cfg = self.pool.get(addr.pool_idx as usize).unwrap().0;
             let raw_pos = self.raw_pos(&addr).unwrap();
             let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap().1
-                [raw_pos..raw_pos + subpool_cfg.block_size];
+                [raw_pos..raw_pos + subpool_cfg.block_size as usize];
             let size_list = self.sizes_lists.get_mut(addr.pool_idx as usize).unwrap();
             size_list[addr.packet_idx as usize] = STORE_FREE;
             block.fill(0);
@@ -742,11 +742,11 @@ pub mod heapless_mod {
     impl<const MAX_NUM_SUBPOOLS: usize> PoolProviderWithGuards
         for StaticHeaplessMemoryPool<MAX_NUM_SUBPOOLS>
     {
-        fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<'_, Self> {
+        fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<Self> {
             PoolRwGuard::new(self, addr)
         }
 
-        fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<'_, Self> {
+        fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<Self> {
             PoolGuard::new(self, addr)
         }
     }
@@ -1058,11 +1058,11 @@ mod alloc_mod {
     }
 
     impl PoolProviderWithGuards for StaticMemoryPool {
-        fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<'_, Self> {
+        fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<Self> {
             PoolRwGuard::new(self, addr)
         }
 
-        fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<'_, Self> {
+        fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<Self> {
             PoolGuard::new(self, addr)
         }
     }
@@ -1307,11 +1307,9 @@ mod tests {
         let addr = pool_provider.add(&test_buf).expect("Adding data failed");
         let read_guard = PoolGuard::new(pool_provider, addr);
         drop(read_guard);
-        assert!(
+        assert!(!pool_provider
-            !pool_provider
+            .has_element_at(&addr)
-                .has_element_at(&addr)
+            .expect("Invalid address"));
-                .expect("Invalid address")
-        );
     }
 
     fn generic_test_pool_guard_deletion(pool_provider: &mut impl PoolProviderWithGuards) {
@@ -1319,11 +1317,9 @@ mod tests {
         let addr = pool_provider.add(&test_buf).expect("Adding data failed");
         let read_guard = pool_provider.read_with_guard(addr);
         drop(read_guard);
-        assert!(
+        assert!(!pool_provider
-            !pool_provider
+            .has_element_at(&addr)
-                .has_element_at(&addr)
+            .expect("Invalid address"));
-                .expect("Invalid address")
-        );
     }
 
     fn generic_test_pool_guard_with_release(pool_provider: &mut impl PoolProviderWithGuards) {
@@ -1332,11 +1328,9 @@ mod tests {
         let mut read_guard = PoolGuard::new(pool_provider, addr);
         read_guard.release();
         drop(read_guard);
-        assert!(
+        assert!(pool_provider
-            pool_provider
+            .has_element_at(&addr)
-                .has_element_at(&addr)
+            .expect("Invalid address"));
-                .expect("Invalid address")
-        );
     }
 
     fn generic_test_pool_modify_guard_man_creation(
@@ -1347,11 +1341,9 @@ mod tests {
         let mut rw_guard = PoolRwGuard::new(pool_provider, addr);
         rw_guard.update(&mut |_| {}).expect("modify failed");
         drop(rw_guard);
-        assert!(
+        assert!(!pool_provider
-            !pool_provider
+            .has_element_at(&addr)
-                .has_element_at(&addr)
+            .expect("Invalid address"));
-                .expect("Invalid address")
-        );
     }
 
     fn generic_test_pool_modify_guard(pool_provider: &mut impl PoolProviderWithGuards) {
@@ -1360,11 +1352,9 @@ mod tests {
         let mut rw_guard = pool_provider.modify_with_guard(addr);
         rw_guard.update(&mut |_| {}).expect("modify failed");
         drop(rw_guard);
-        assert!(
+        assert!(!pool_provider
-            !pool_provider
+            .has_element_at(&addr)
-                .has_element_at(&addr)
+            .expect("Invalid address"));
-                .expect("Invalid address")
-        );
     }
 
     fn generic_modify_pool_index_above_0(pool_provider: &mut impl PoolProvider) {
@@ -1664,36 +1654,30 @@ mod tests {
         fn small_heapless_pool() -> StaticHeaplessMemoryPool<3> {
             let mut heapless_pool: StaticHeaplessMemoryPool<3> =
                 StaticHeaplessMemoryPool::new(false);
-            assert!(
+            assert!(heapless_pool
-                heapless_pool
+                .grow(
-                    .grow(
+                    SUBPOOL_1.take(),
-                        SUBPOOL_1.take(),
+                    unsafe { &mut *SUBPOOL_1_SIZES.lock().unwrap().get() },
-                        unsafe { &mut *SUBPOOL_1_SIZES.lock().unwrap().get() },
+                    SUBPOOL_1_NUM_ELEMENTS,
-                        SUBPOOL_1_NUM_ELEMENTS,
+                    true
-                        true
+                )
-                    )
+                .is_ok());
-                    .is_ok()
+            assert!(heapless_pool
-            );
+                .grow(
-            assert!(
+                    SUBPOOL_2.take(),
-                heapless_pool
+                    SUBPOOL_2_SIZES.take(),
-                    .grow(
+                    SUBPOOL_2_NUM_ELEMENTS,
-                        SUBPOOL_2.take(),
+                    true
-                        SUBPOOL_2_SIZES.take(),
+                )
-                        SUBPOOL_2_NUM_ELEMENTS,
+                .is_ok());
-                        true
+            assert!(heapless_pool
-                    )
+                .grow(
-                    .is_ok()
+                    SUBPOOL_3.take(),
-            );
+                    SUBPOOL_3_SIZES.take(),
-            assert!(
+                    SUBPOOL_3_NUM_ELEMENTS,
-                heapless_pool
+                    true
-                    .grow(
+                )
-                        SUBPOOL_3.take(),
+                .is_ok());
-                        SUBPOOL_3_SIZES.take(),
-                        SUBPOOL_3_NUM_ELEMENTS,
-                        true
-                    )
-                    .is_ok()
-            );
             heapless_pool
         }
 
@@ -1809,26 +1793,22 @@ mod tests {
         fn test_spills_to_higher_subpools() {
             let mut heapless_pool: StaticHeaplessMemoryPool<2> =
                 StaticHeaplessMemoryPool::new(true);
-            assert!(
+            assert!(heapless_pool
-                heapless_pool
+                .grow(
-                    .grow(
+                    SUBPOOL_2.take(),
-                        SUBPOOL_2.take(),
+                    SUBPOOL_2_SIZES.take(),
-                        SUBPOOL_2_SIZES.take(),
+                    SUBPOOL_2_NUM_ELEMENTS,
-                        SUBPOOL_2_NUM_ELEMENTS,
+                    true
-                        true
+                )
-                    )
+                .is_ok());
-                    .is_ok()
+            assert!(heapless_pool
-            );
+                .grow(
-            assert!(
+                    SUBPOOL_4.take(),
-                heapless_pool
+                    SUBPOOL_4_SIZES.take(),
-                    .grow(
+                    SUBPOOL_4_NUM_ELEMENTS,
-                        SUBPOOL_4.take(),
+                    true
-                        SUBPOOL_4_SIZES.take(),
+                )
-                        SUBPOOL_4_NUM_ELEMENTS,
+                .is_ok());
-                        true
-                    )
-                    .is_ok()
-            );
             generic_test_spills_to_higher_subpools(&mut heapless_pool);
         }
 
@@ -1836,26 +1816,22 @@ mod tests {
         fn test_spillage_fails_as_well() {
             let mut heapless_pool: StaticHeaplessMemoryPool<2> =
                 StaticHeaplessMemoryPool::new(true);
-            assert!(
+            assert!(heapless_pool
-                heapless_pool
+                .grow(
-                    .grow(
+                    SUBPOOL_5.take(),
-                        SUBPOOL_5.take(),
+                    SUBPOOL_5_SIZES.take(),
-                        SUBPOOL_5_SIZES.take(),
+                    SUBPOOL_5_NUM_ELEMENTS,
-                        SUBPOOL_5_NUM_ELEMENTS,
+                    true
-                        true
+                )
-                    )
+                .is_ok());
-                    .is_ok()
+            assert!(heapless_pool
-            );
+                .grow(
-            assert!(
+                    SUBPOOL_3.take(),
-                heapless_pool
+                    SUBPOOL_3_SIZES.take(),
-                    .grow(
+                    SUBPOOL_3_NUM_ELEMENTS,
-                        SUBPOOL_3.take(),
+                    true
-                        SUBPOOL_3_SIZES.take(),
+                )
-                        SUBPOOL_3_NUM_ELEMENTS,
+                .is_ok());
-                        true
-                    )
-                    .is_ok()
-            );
             generic_test_spillage_fails_as_well(&mut heapless_pool);
         }
 
@@ -1863,36 +1839,30 @@ mod tests {
         fn test_spillage_works_across_multiple_subpools() {
             let mut heapless_pool: StaticHeaplessMemoryPool<3> =
                 StaticHeaplessMemoryPool::new(true);
-            assert!(
+            assert!(heapless_pool
-                heapless_pool
+                .grow(
-                    .grow(
+                    SUBPOOL_5.take(),
-                        SUBPOOL_5.take(),
+                    SUBPOOL_5_SIZES.take(),
-                        SUBPOOL_5_SIZES.take(),
+                    SUBPOOL_5_NUM_ELEMENTS,
-                        SUBPOOL_5_NUM_ELEMENTS,
+                    true
-                        true
+                )
-                    )
+                .is_ok());
-                    .is_ok()
+            assert!(heapless_pool
-            );
+                .grow(
-            assert!(
+                    SUBPOOL_6.take(),
-                heapless_pool
+                    SUBPOOL_6_SIZES.take(),
-                    .grow(
+                    SUBPOOL_6_NUM_ELEMENTS,
-                        SUBPOOL_6.take(),
+                    true
-                        SUBPOOL_6_SIZES.take(),
+                )
-                        SUBPOOL_6_NUM_ELEMENTS,
+                .is_ok());
-                        true
+            assert!(heapless_pool
-                    )
+                .grow(
-                    .is_ok()
+                    SUBPOOL_3.take(),
-            );
+                    SUBPOOL_3_SIZES.take(),
-            assert!(
+                    SUBPOOL_3_NUM_ELEMENTS,
-                heapless_pool
+                    true
-                    .grow(
+                )
-                        SUBPOOL_3.take(),
+                .is_ok());
-                        SUBPOOL_3_SIZES.take(),
-                        SUBPOOL_3_NUM_ELEMENTS,
-                        true
-                    )
-                    .is_ok()
-            );
             generic_test_spillage_works_across_multiple_subpools(&mut heapless_pool);
         }
 
@@ -1900,36 +1870,30 @@ mod tests {
         fn test_spillage_fails_across_multiple_subpools() {
             let mut heapless_pool: StaticHeaplessMemoryPool<3> =
                 StaticHeaplessMemoryPool::new(true);
-            assert!(
+            assert!(heapless_pool
-                heapless_pool
+                .grow(
-                    .grow(
+                    SUBPOOL_5.take(),
-                        SUBPOOL_5.take(),
+                    SUBPOOL_5_SIZES.take(),
-                        SUBPOOL_5_SIZES.take(),
+                    SUBPOOL_5_NUM_ELEMENTS,
-                        SUBPOOL_5_NUM_ELEMENTS,
+                    true
-                        true
+                )
-                    )
+                .is_ok());
-                    .is_ok()
+            assert!(heapless_pool
-            );
+                .grow(
-            assert!(
+                    SUBPOOL_6.take(),
-                heapless_pool
+                    SUBPOOL_6_SIZES.take(),
-                    .grow(
+                    SUBPOOL_6_NUM_ELEMENTS,
-                        SUBPOOL_6.take(),
+                    true
-                        SUBPOOL_6_SIZES.take(),
+                )
-                        SUBPOOL_6_NUM_ELEMENTS,
+                .is_ok());
-                        true
+            assert!(heapless_pool
-                    )
+                .grow(
-                    .is_ok()
+                    SUBPOOL_3.take(),
-            );
+                    SUBPOOL_3_SIZES.take(),
-            assert!(
+                    SUBPOOL_3_NUM_ELEMENTS,
-                heapless_pool
+                    true
-                    .grow(
+                )
-                        SUBPOOL_3.take(),
+                .is_ok());
-                        SUBPOOL_3_SIZES.take(),
-                        SUBPOOL_3_NUM_ELEMENTS,
-                        true
-                    )
-                    .is_ok()
-            );
             generic_test_spillage_fails_across_multiple_subpools(&mut heapless_pool);
         }
     }

satrs/src/power.rs

@@ -190,7 +190,7 @@ mod tests {
 
     use std::sync::mpsc::{self, TryRecvError};
 
-    use crate::{ComponentId, queue::GenericSendError, request::GenericMessage};
+    use crate::{queue::GenericSendError, request::GenericMessage, ComponentId};
 
     use super::*;
 

satrs/src/pus/action.rs

@@ -65,13 +65,13 @@ impl GenericActionReplyPus {
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
     use crate::{
-        ComponentId,
         action::ActionRequest,
         queue::{GenericReceiveError, GenericSendError},
         request::{
             GenericMessage, MessageReceiverProvider, MessageSenderAndReceiver,
             MessageSenderProvider, MessageSenderStoreProvider, RequestId,
         },
+        ComponentId,
     };
 
     use super::ActionReplyPus;
@@ -81,10 +81,10 @@ pub mod alloc_mod {
         MessageSenderAndReceiver<ActionReplyPus, ActionRequest, Sender, Receiver, ReplySenderStore>;
 
     impl<
-        Sender: MessageSenderProvider<ActionReplyPus>,
+            Sender: MessageSenderProvider<ActionReplyPus>,
-        Receiver: MessageReceiverProvider<ActionRequest>,
+            Receiver: MessageReceiverProvider<ActionRequest>,
-        ReplySender: MessageSenderStoreProvider<ActionReplyPus, Sender>,
+            ReplySender: MessageSenderStoreProvider<ActionReplyPus, Sender>,
-    > ActionRequestHandlerInterface<Sender, Receiver, ReplySender>
+        > ActionRequestHandlerInterface<Sender, Receiver, ReplySender>
     {
         pub fn try_recv_action_request(
             &self,
@@ -114,10 +114,10 @@ pub mod alloc_mod {
         >;
 
     impl<
-        Sender: MessageSenderProvider<ActionRequest>,
+            Sender: MessageSenderProvider<ActionRequest>,
-        Receiver: MessageReceiverProvider<ActionReplyPus>,
+            Receiver: MessageReceiverProvider<ActionReplyPus>,
-        RequestSenderStore: MessageSenderStoreProvider<ActionRequest, Sender>,
+            RequestSenderStore: MessageSenderStoreProvider<ActionRequest, Sender>,
-    > ActionRequestorInterface<Sender, Receiver, RequestSenderStore>
+        > ActionRequestorInterface<Sender, Receiver, RequestSenderStore>
     {
         pub fn try_recv_action_reply(
             &self,
@@ -141,12 +141,12 @@ pub mod std_mod {
     use std::sync::mpsc;
 
     use crate::{
-        ComponentId,
         pus::{
-            ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap,
             verification::{self, TcStateToken},
+            ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap,
         },
         request::{MessageSenderMap, OneMessageSender},
+        ComponentId,
     };
 
     use super::*;

satrs/src/pus/event.rs

@@ -1,9 +1,9 @@
 use crate::pus::source_buffer_large_enough;
-use spacepackets::ByteConversionError;
-use spacepackets::ecss::EcssEnumeration;
 use spacepackets::ecss::tm::PusTmCreator;
 use spacepackets::ecss::tm::PusTmSecondaryHeader;
-use spacepackets::{MAX_APID, SpHeader};
+use spacepackets::ecss::EcssEnumeration;
+use spacepackets::ByteConversionError;
+use spacepackets::{SpHeader, MAX_APID};
 
 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;
@@ -132,8 +132,8 @@ impl EventReportCreator {
 #[cfg(feature = "alloc")]
 mod alloc_mod {
     use super::*;
-    use crate::ComponentId;
     use crate::pus::{EcssTmSender, EcssTmtcError};
+    use crate::ComponentId;
     use alloc::vec;
     use alloc::vec::Vec;
     use core::cell::RefCell;
@@ -265,13 +265,13 @@ mod alloc_mod {
 #[cfg(test)]
 mod tests {
     use super::*;
-    use crate::ComponentId;
     use crate::events::{EventU32, Severity};
     use crate::pus::test_util::TEST_COMPONENT_ID_0;
     use crate::pus::tests::CommonTmInfo;
     use crate::pus::{ChannelWithId, EcssTmSender, EcssTmtcError, PusTmVariant};
-    use spacepackets::ByteConversionError;
+    use crate::ComponentId;
     use spacepackets::ecss::PusError;
+    use spacepackets::ByteConversionError;
     use std::cell::RefCell;
     use std::collections::VecDeque;
     use std::vec::Vec;

satrs/src/pus/event_man.rs

@@ -6,13 +6,13 @@ use core::hash::Hash;
 #[cfg(feature = "alloc")]
 use hashbrown::HashSet;
 
-#[cfg(feature = "alloc")]
-use crate::pus::EcssTmSender;
-use crate::pus::EcssTmtcError;
 #[cfg(feature = "alloc")]
 pub use crate::pus::event::EventReporter;
 use crate::pus::verification::TcStateToken;
 #[cfg(feature = "alloc")]
+use crate::pus::EcssTmSender;
+use crate::pus::EcssTmtcError;
+#[cfg(feature = "alloc")]
 pub use alloc_mod::*;
 #[cfg(feature = "heapless")]
 pub use heapless_mod::*;
@@ -159,10 +159,10 @@ pub mod alloc_mod {
     }
 
     impl<
-        ReportingMap: PusEventReportingMapProvider<Event>,
+            ReportingMap: PusEventReportingMapProvider<Event>,
-        Event: GenericEvent,
+            Event: GenericEvent,
-        EventTmHook: EventTmHookProvider,
+            EventTmHook: EventTmHookProvider,
-    > PusEventTmCreatorWithMap<ReportingMap, Event, EventTmHook>
+        > PusEventTmCreatorWithMap<ReportingMap, Event, EventTmHook>
     {
         pub fn new(reporter: EventReporter<EventTmHook>, backend: ReportingMap) -> Self {
             Self {
@@ -311,9 +311,9 @@ pub mod alloc_mod {
 mod tests {
     use alloc::string::{String, ToString};
     use alloc::vec;
-    use spacepackets::ecss::PusPacket;
     use spacepackets::ecss::event::Subservice;
     use spacepackets::ecss::tm::PusTmReader;
+    use spacepackets::ecss::PusPacket;
 
     use super::*;
     use crate::request::UniqueApidTargetId;

satrs/src/pus/event_srv.rs

@@ -3,8 +3,8 @@ use crate::pus::event_man::{EventRequest, EventRequestWithToken};
 use crate::pus::verification::TcStateToken;
 use crate::pus::{DirectPusPacketHandlerResult, PartialPusHandlingError, PusPacketHandlingError};
 use crate::queue::GenericSendError;
-use spacepackets::ecss::PusPacket;
 use spacepackets::ecss::event::Subservice;
+use spacepackets::ecss::PusPacket;
 use std::sync::mpsc::Sender;
 
 use super::verification::VerificationReportingProvider;
@@ -25,11 +25,11 @@ pub struct PusEventServiceHandler<
 }
 
 impl<
-    TcReceiver: EcssTcReceiver,
+        TcReceiver: EcssTcReceiver,
-    TmSender: EcssTmSender,
+        TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConversionProvider,
+        TcInMemConverter: EcssTcInMemConversionProvider,
-    VerificationReporter: VerificationReportingProvider,
+        VerificationReporter: VerificationReportingProvider,
-> PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+    > PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     pub fn new(
         service_helper: PusServiceHelper<
@@ -122,7 +122,7 @@ impl<
             | Subservice::TmHighSeverityReport => {
                 return Err(PusPacketHandlingError::RequestConversion(
                     GenericConversionError::WrongService(tc.subservice()),
-                ));
+                ))
             }
             Subservice::TcEnableEventGeneration => {
                 handle_enable_disable_request(true)?;
@@ -146,14 +146,14 @@ impl<
 mod tests {
     use delegate::delegate;
     use spacepackets::ecss::event::Subservice;
-    use spacepackets::time::{TimeWriter, cds};
+    use spacepackets::time::{cds, TimeWriter};
     use spacepackets::util::UnsignedEnum;
     use spacepackets::{
-        SpHeader,
         ecss::{
             tc::{PusTcCreator, PusTcSecondaryHeader},
             tm::PusTmReader,
         },
+        SpHeader,
     };
     use std::sync::mpsc::{self, Sender};
 
@@ -167,10 +167,10 @@ mod tests {
     use crate::{
         events::EventU32,
         pus::{
-            DirectPusPacketHandlerResult, EcssTcInSharedPoolConverter, PusPacketHandlingError,
             event_man::EventRequestWithToken,
             tests::PusServiceHandlerWithSharedStoreCommon,
             verification::{TcStateAccepted, VerificationToken},
+            DirectPusPacketHandlerResult, EcssTcInSharedPoolConverter, PusPacketHandlingError,
         },
     };
 

satrs/src/pus/mod.rs

@@ -2,7 +2,6 @@
 //!
 //! This module contains structures to make working with the PUS C standard easier.
 //! The satrs-example application contains various usage examples of these components.
-use crate::ComponentId;
 use crate::pool::{PoolAddr, PoolError};
 use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
 use crate::queue::{GenericReceiveError, GenericSendError};
@@ -10,18 +9,19 @@ use crate::request::{GenericMessage, MessageMetadata, RequestId};
 #[cfg(feature = "alloc")]
 use crate::tmtc::PacketAsVec;
 use crate::tmtc::PacketInPool;
+use crate::ComponentId;
 use core::fmt::{Display, Formatter};
 use core::time::Duration;
 #[cfg(feature = "alloc")]
-use downcast_rs::{Downcast, impl_downcast};
+use downcast_rs::{impl_downcast, Downcast};
 #[cfg(feature = "alloc")]
 use dyn_clone::DynClone;
 #[cfg(feature = "std")]
 use std::error::Error;
 
-use spacepackets::ecss::PusError;
 use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
 use spacepackets::ecss::tm::PusTmCreator;
+use spacepackets::ecss::PusError;
 use spacepackets::{ByteConversionError, SpHeader};
 
 pub mod action;
@@ -659,18 +659,18 @@ pub mod alloc_mod {
 #[cfg(feature = "std")]
 pub mod std_mod {
     use super::*;
-    use crate::ComponentId;
     use crate::pool::{
         PoolAddr, PoolError, PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool,
     };
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+    use crate::ComponentId;
     use alloc::vec::Vec;
     use core::time::Duration;
-    use spacepackets::ByteConversionError;
-    use spacepackets::ecss::WritablePusPacket;
     use spacepackets::ecss::tc::PusTcReader;
+    use spacepackets::ecss::WritablePusPacket;
     use spacepackets::time::StdTimestampError;
+    use spacepackets::ByteConversionError;
     use std::string::String;
     use std::sync::mpsc;
     use std::sync::mpsc::TryRecvError;
@@ -1137,11 +1137,11 @@ pub mod std_mod {
     }
 
     impl<
-        TcReceiver: EcssTcReceiver,
+            TcReceiver: EcssTcReceiver,
-        TmSender: EcssTmSender,
+            TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConversionProvider,
+            TcInMemConverter: EcssTcInMemConversionProvider,
-        VerificationReporter: VerificationReportingProvider,
+            VerificationReporter: VerificationReportingProvider,
-    > PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+        > PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
     {
         pub fn new(
             id: ComponentId,
@@ -1261,8 +1261,8 @@ pub mod test_util {
     use crate::request::UniqueApidTargetId;
 
     use super::{
-        DirectPusPacketHandlerResult, PusPacketHandlingError,
         verification::{self, TcStateAccepted, VerificationToken},
+        DirectPusPacketHandlerResult, PusPacketHandlingError,
     };
 
     pub const TEST_APID: u16 = 0x101;
@@ -1288,7 +1288,7 @@ pub mod test_util {
 
     pub trait SimplePusPacketHandler {
         fn handle_one_tc(&mut self)
-        -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError>;
+            -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError>;
     }
 }
 
@@ -1296,21 +1296,21 @@ pub mod test_util {
 pub mod tests {
     use core::cell::RefCell;
     use std::sync::mpsc::TryRecvError;
-    use std::sync::{RwLock, mpsc};
+    use std::sync::{mpsc, RwLock};
 
     use alloc::collections::VecDeque;
     use alloc::vec::Vec;
     use satrs_shared::res_code::ResultU16;
-    use spacepackets::CcsdsPacket;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
     use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator, PusTmReader};
     use spacepackets::ecss::{PusPacket, WritablePusPacket};
+    use spacepackets::CcsdsPacket;
     use test_util::{TEST_APID, TEST_COMPONENT_ID_0};
 
-    use crate::ComponentId;
     use crate::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig};
     use crate::pus::verification::{RequestId, VerificationReporter};
     use crate::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool};
+    use crate::ComponentId;
 
     use super::verification::test_util::TestVerificationReporter;
     use super::verification::{

satrs/src/pus/scheduler.rs

@@ -340,8 +340,8 @@ pub fn generate_insert_telecommand_app_data(
 pub mod alloc_mod {
     use alloc::{
         collections::{
-            BTreeMap,
             btree_map::{Entry, Range},
+            BTreeMap,
         },
         vec::Vec,
     };
@@ -855,9 +855,9 @@ mod tests {
         PoolAddr, PoolError, PoolProvider, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig,
     };
     use alloc::collections::btree_map::Range;
-    use spacepackets::ecss::WritablePusPacket;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
-    use spacepackets::time::{TimeWriter, UnixTime, cds};
+    use spacepackets::ecss::WritablePusPacket;
+    use spacepackets::time::{cds, TimeWriter, UnixTime};
     use spacepackets::{PacketId, PacketSequenceCtrl, PacketType, SequenceFlags, SpHeader};
     use std::time::Duration;
     use std::vec::Vec;

satrs/src/pus/scheduler_srv.rs

@@ -9,7 +9,7 @@ use crate::pool::PoolProvider;
 use crate::pus::PusPacketHandlingError;
 use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use alloc::string::ToString;
-use spacepackets::ecss::{PusPacket, scheduling};
+use spacepackets::ecss::{scheduling, PusPacket};
 use spacepackets::time::cds::CdsTime;
 use std::sync::mpsc;
 
@@ -34,12 +34,13 @@ pub struct PusSchedServiceHandler<
 }
 
 impl<
-    TcReceiver: EcssTcReceiver,
+        TcReceiver: EcssTcReceiver,
-    TmSender: EcssTmSender,
+        TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConversionProvider,
+        TcInMemConverter: EcssTcInMemConversionProvider,
-    VerificationReporter: VerificationReportingProvider,
+        VerificationReporter: VerificationReportingProvider,
-    Scheduler: PusSchedulerProvider,
+        Scheduler: PusSchedulerProvider,
-> PusSchedServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter, Scheduler>
+    >
+    PusSchedServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter, Scheduler>
 {
     pub fn new(
         service_helper: PusServiceHelper<
@@ -101,12 +102,11 @@ impl<
                     }
                 };
                 self.scheduler.enable();
-                if self.scheduler.is_enabled()
+
-                    && let Some(started_token) = opt_started_token
+                if self.scheduler.is_enabled() && opt_started_token.is_some() {
-                {
                     if let Err(e) = self.service_helper.verif_reporter().completion_success(
                         &self.service_helper.common.tm_sender,
-                        started_token,
+                        opt_started_token.unwrap(),
                         time_stamp,
                     ) {
                         error_callback(&PartialPusHandlingError::Verification(e));
@@ -131,12 +131,10 @@ impl<
                 };
 
                 self.scheduler.disable();
-                if !self.scheduler.is_enabled()
+                if !self.scheduler.is_enabled() && opt_started_token.is_some() {
-                    && let Some(started_token) = opt_started_token
-                {
                     if let Err(e) = self.service_helper.verif_reporter().completion_success(
                         &self.service_helper.common.tm_sender,
-                        started_token,
+                        opt_started_token.unwrap(),
                         time_stamp,
                     ) {
                         error_callback(&PartialPusHandlingError::Verification(e));
@@ -251,21 +249,21 @@ mod tests {
     use crate::pus::test_util::{PusTestHarness, TEST_APID};
     use crate::pus::verification::{VerificationReporter, VerificationReportingProvider};
 
-    use crate::pus::{DirectPusPacketHandlerResult, MpscTcReceiver, PusPacketHandlingError};
     use crate::pus::{
-        EcssTcInSharedPoolConverter,
         scheduler::{self, PusSchedulerProvider, TcInfo},
         tests::PusServiceHandlerWithSharedStoreCommon,
         verification::{RequestId, TcStateAccepted, VerificationToken},
+        EcssTcInSharedPoolConverter,
     };
+    use crate::pus::{DirectPusPacketHandlerResult, MpscTcReceiver, PusPacketHandlingError};
     use crate::tmtc::PacketSenderWithSharedPool;
     use alloc::collections::VecDeque;
     use delegate::delegate;
-    use spacepackets::SpHeader;
-    use spacepackets::ecss::WritablePusPacket;
     use spacepackets::ecss::scheduling::Subservice;
     use spacepackets::ecss::tc::PusTcSecondaryHeader;
+    use spacepackets::ecss::WritablePusPacket;
     use spacepackets::time::TimeWriter;
+    use spacepackets::SpHeader;
     use spacepackets::{
         ecss::{tc::PusTcCreator, tm::PusTmReader},
         time::cds,

satrs/src/pus/test.rs

@@ -2,9 +2,9 @@ use crate::pus::{
     DirectPusPacketHandlerResult, PartialPusHandlingError, PusPacketHandlingError, PusTmVariant,
 };
 use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
-use spacepackets::SpHeader;
-use spacepackets::ecss::PusPacket;
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use spacepackets::ecss::PusPacket;
+use spacepackets::SpHeader;
 use std::sync::mpsc;
 
 use super::verification::{VerificationReporter, VerificationReportingProvider};
@@ -27,11 +27,11 @@ pub struct PusService17TestHandler<
 }
 
 impl<
-    TcReceiver: EcssTcReceiver,
+        TcReceiver: EcssTcReceiver,
-    TmSender: EcssTmSender,
+        TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConversionProvider,
+        TcInMemConverter: EcssTcInMemConversionProvider,
-    VerificationReporter: VerificationReportingProvider,
+        VerificationReporter: VerificationReportingProvider,
-> PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+    > PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     pub fn new(
         service_helper: PusServiceHelper<
@@ -134,7 +134,6 @@ pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
 
 #[cfg(test)]
 mod tests {
-    use crate::ComponentId;
     use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
     use crate::pus::tests::{
         PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon,
@@ -149,12 +148,13 @@ mod tests {
         PartialPusHandlingError, PusPacketHandlingError,
     };
     use crate::tmtc::PacketSenderWithSharedPool;
+    use crate::ComponentId;
     use delegate::delegate;
-    use spacepackets::SpHeader;
-    use spacepackets::ecss::PusPacket;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
-    use spacepackets::time::{TimeWriter, cds};
+    use spacepackets::ecss::PusPacket;
+    use spacepackets::time::{cds, TimeWriter};
+    use spacepackets::SpHeader;
 
     use super::PusService17TestHandler;
 

satrs/src/pus/verification.rs

@@ -81,7 +81,7 @@
 //! for the verification module contains examples how this module could be used in a more complex
 //! context involving multiple threads
 use crate::params::{Params, WritableToBeBytes};
-use crate::pus::{EcssTmSender, EcssTmtcError, source_buffer_large_enough};
+use crate::pus::{source_buffer_large_enough, EcssTmSender, EcssTmtcError};
 use core::fmt::{Debug, Display, Formatter};
 use core::hash::{Hash, Hasher};
 use core::marker::PhantomData;
@@ -90,11 +90,11 @@ use core::mem::size_of;
 use delegate::delegate;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
-use spacepackets::ecss::EcssEnumeration;
 use spacepackets::ecss::tc::IsPusTelecommand;
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use spacepackets::ecss::EcssEnumeration;
 use spacepackets::{ByteConversionError, CcsdsPacket, PacketId, PacketSequenceCtrl};
-use spacepackets::{MAX_APID, SpHeader};
+use spacepackets::{SpHeader, MAX_APID};
 
 pub use spacepackets::ecss::verification::*;
 pub use spacepackets::seq_count::SeqCountProviderSimple;
@@ -102,8 +102,8 @@ pub use spacepackets::seq_count::SeqCountProviderSimple;
 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;
 
-use crate::ComponentId;
 use crate::request::Apid;
+use crate::ComponentId;
 
 /// This is a request identifier as specified in 5.4.11.2 c. of the PUS standard.
 ///
@@ -1686,39 +1686,39 @@ pub mod test_util {
 
 #[cfg(test)]
 pub mod tests {
-    use crate::ComponentId;
     use crate::params::Params;
     use crate::pool::{SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig};
     use crate::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0};
     use crate::pus::tests::CommonTmInfo;
     use crate::pus::verification::{
-        EcssTmSender, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
+        handle_step_failure_with_generic_params, EcssTmSender, EcssTmtcError, FailParams,
-        VerificationReporter, VerificationReporterCfg, VerificationToken,
+        FailParamsWithStep, RequestId, TcStateNone, VerificationReporter, VerificationReporterCfg,
-        handle_step_failure_with_generic_params,
+        VerificationToken,
     };
     use crate::pus::{ChannelWithId, PusTmVariant};
     use crate::request::MessageMetadata;
     use crate::spacepackets::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProvider};
     use crate::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
+    use crate::ComponentId;
     use alloc::format;
     use alloc::string::ToString;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::{
-        EcssEnumU8, EcssEnumU16, EcssEnumU32, EcssEnumeration, PusError, PusPacket,
+        EcssEnumU16, EcssEnumU32, EcssEnumU8, EcssEnumeration, PusError, PusPacket,
         WritablePusPacket,
     };
     use spacepackets::util::UnsignedEnum;
     use spacepackets::{ByteConversionError, SpHeader};
     use std::cell::RefCell;
     use std::collections::VecDeque;
-    use std::sync::{RwLock, mpsc};
+    use std::sync::{mpsc, RwLock};
     use std::vec;
     use std::vec::Vec;
 
     use super::{
-        DummyVerificationHook, FailParamHelper, SeqCountProviderSimple, TcStateAccepted,
+        handle_completion_failure_with_generic_params, DummyVerificationHook, FailParamHelper,
-        TcStateStarted, VerificationHookProvider, VerificationReportingProvider,
+        SeqCountProviderSimple, TcStateAccepted, TcStateStarted, VerificationHookProvider,
-        WasAtLeastAccepted, handle_completion_failure_with_generic_params,
+        VerificationReportingProvider, WasAtLeastAccepted,
     };
 
     fn is_send<T: Send>(_: &T) {}

satrs/src/request.rs

@@ -9,13 +9,13 @@ pub use alloc_mod::*;
 pub use std_mod::*;
 
 use spacepackets::{
+    ecss::{tc::IsPusTelecommand, PusPacket},
     ByteConversionError,
-    ecss::{PusPacket, tc::IsPusTelecommand},
 };
 
 use crate::{
-    ComponentId,
     queue::{GenericReceiveError, GenericSendError},
+    ComponentId,
 };
 
 /// Generic request ID type. Requests can be associated with an ID to have a unique identifier
@@ -39,7 +39,7 @@ impl UniqueApidTargetId {
         }
     }
 
-    pub fn raw(&self) -> ComponentId {
+    pub const fn raw(&self) -> ComponentId {
         ((self.apid as u64) << 32) | (self.unique_id as u64)
     }
 
@@ -335,12 +335,12 @@ pub mod alloc_mod {
     }
 
     impl<
-        To,
+            To,
-        From,
+            From,
-        Sender: MessageSenderProvider<To>,
+            Sender: MessageSenderProvider<To>,
-        Receiver: MessageReceiverProvider<From>,
+            Receiver: MessageReceiverProvider<From>,
-        SenderStore: MessageSenderStoreProvider<To, Sender>,
+            SenderStore: MessageSenderStoreProvider<To, Sender>,
-    > MessageSenderAndReceiver<To, From, Sender, Receiver, SenderStore>
+        > MessageSenderAndReceiver<To, From, Sender, Receiver, SenderStore>
     {
         pub fn new(local_channel_id: ComponentId, message_receiver: Receiver) -> Self {
             Self {
@@ -403,15 +403,15 @@ pub mod alloc_mod {
     }
 
     impl<
-        Request,
+            Request,
-        ReqSender: MessageSenderProvider<Request>,
+            ReqSender: MessageSenderProvider<Request>,
-        ReqReceiver: MessageReceiverProvider<Request>,
+            ReqReceiver: MessageReceiverProvider<Request>,
-        ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
-        Reply,
+            Reply,
-        ReplySender: MessageSenderProvider<Reply>,
+            ReplySender: MessageSenderProvider<Reply>,
-        ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
-        ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
-    >
+        >
         RequestAndReplySenderAndReceiver<
             Request,
             ReqSender,
@@ -497,8 +497,8 @@ mod tests {
 
     use alloc::string::ToString;
     use spacepackets::{
-        ByteConversionError, SpHeader,
         ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
+        ByteConversionError, SpHeader,
     };
 
     use crate::{

satrs/src/scheduling.rs

@@ -211,8 +211,8 @@ mod tests {
         println,
         rc::Rc,
         sync::{
-            Arc, Mutex,
             mpsc::{self, TryRecvError},
+            Arc, Mutex,
         },
         time::Instant,
     };

satrs/src/subsystem.rs

@@ -1,5 +1,4 @@
 use crate::{
-    ComponentId,
     health::{HealthState, HealthTableProvider},
     mode::{Mode, ModeAndSubmode, ModeReply, ModeRequest, ModeRequestSender, UNKNOWN_MODE_VAL},
     mode_tree::{
@@ -8,6 +7,7 @@ use crate::{
     },
     queue::GenericTargetedMessagingError,
     request::{GenericMessage, RequestId},
+    ComponentId,
 };
 
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
@@ -252,10 +252,10 @@ impl SequenceExecutionHelper {
             Ok(ModeCommandingResult::AwaitingSuccessCheck)
         } else if seq_table_value.entries.len() - 1 == sequence_idx {
             self.state = SequenceExecutionHelperState::Idle;
-            Ok(ModeCommandingResult::Done)
+            return Ok(ModeCommandingResult::Done);
         } else {
             self.current_sequence_index = Some(sequence_idx + 1);
-            Ok(ModeCommandingResult::StepDone)
+            return Ok(ModeCommandingResult::StepDone);
         }
     }
 
@@ -682,10 +682,9 @@ mod tests {
     use super::*;
 
     use crate::{
-        ComponentId,
         mode::{
-            Mode, ModeAndSubmode, ModeReply, ModeRequest, UNKNOWN_MODE,
             tests::{ModeReqSenderMock, ModeReqWrapper},
+            Mode, ModeAndSubmode, ModeReply, ModeRequest, UNKNOWN_MODE,
         },
         mode_tree::{
             ModeStoreProvider, ModeStoreVec, SequenceModeTables, SequenceTableEntry,
@@ -694,6 +693,7 @@ mod tests {
         queue::GenericTargetedMessagingError,
         request::{GenericMessage, MessageMetadata, RequestId},
         subsystem::{ModeCommandingResult, ModeTreeHelperState, SequenceExecutionHelperState},
+        ComponentId,
     };
 
     #[derive(Debug)]

satrs/src/tmtc/mod.rs

@@ -9,20 +9,20 @@
 //! They only need to send the received and generated data to these objects.
 use crate::queue::GenericSendError;
 use crate::{
-    ComponentId,
     pool::{PoolAddr, PoolError},
+    ComponentId,
 };
 #[cfg(feature = "std")]
 pub use alloc_mod::*;
 use core::fmt::Debug;
 #[cfg(feature = "alloc")]
-use downcast_rs::{Downcast, impl_downcast};
+use downcast_rs::{impl_downcast, Downcast};
 use spacepackets::{
-    SpHeader,
     ecss::{
         tc::PusTcReader,
         tm::{PusTmCreator, PusTmReader},
     },
+    SpHeader,
 };
 #[cfg(feature = "std")]
 use std::sync::mpsc;

satrs/src/tmtc/tm_helper.rs

@@ -1,7 +1,7 @@
-use spacepackets::SpHeader;
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use spacepackets::time::TimeWriter;
 use spacepackets::time::cds::CdsTime;
+use spacepackets::time::TimeWriter;
+use spacepackets::SpHeader;
 
 pub struct PusTmWithCdsShortHelper {
     apid: u16,
@@ -56,7 +56,7 @@ impl PusTmWithCdsShortHelper {
 
 #[cfg(test)]
 mod tests {
-    use spacepackets::{CcsdsPacket, ecss::PusPacket, time::cds::CdsTime};
+    use spacepackets::{ecss::PusPacket, time::cds::CdsTime, CcsdsPacket};
 
     use super::PusTmWithCdsShortHelper;
 

satrs/tests/mode_tree.rs

@@ -4,13 +4,13 @@ use satrs::dev_mgmt::{
     DevManagerCommandingHelper, DevManagerHelperResult, TransparentDevManagerHook,
 };
 use satrs::mode::{
-    INVALID_MODE, Mode, ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender,
+    Mode, ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
-    ModeRequestHandler, ModeRequestHandlerMpscBounded, ModeRequestReceiver,
+    ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
-    ModeRequestorAndHandlerMpscBounded, ModeRequestorOneChildBoundedMpsc, UNKNOWN_MODE,
+    ModeRequestorOneChildBoundedMpsc, INVALID_MODE, UNKNOWN_MODE,
 };
 use satrs::mode_tree::{
-    ModeChild, ModeNode, ModeParent, ModeStoreProvider, SequenceTableEntry, SequenceTableMapTable,
+    connect_mode_nodes, ModeChild, ModeNode, ModeParent, ModeStoreProvider, SequenceTableEntry,
-    TargetTableEntry, connect_mode_nodes,
+    SequenceTableMapTable, TargetTableEntry,
 };
 use satrs::mode_tree::{SequenceTablesMapValue, TargetTablesMapValue};
 use satrs::request::{MessageMetadata, RequestId};
@@ -20,10 +20,10 @@ use satrs::subsystem::{
     StartSequenceError, SubsystemCommandingHelper, SubsystemHelperResult,
 };
 use satrs::{
-    ComponentId,
     mode::{ModeAndSubmode, ModeReply, ModeRequest},
     queue::GenericTargetedMessagingError,
     request::GenericMessage,
+    ComponentId,
 };
 use std::borrow::{Borrow, BorrowMut};
 use std::cell::RefCell;

satrs/tests/pus_verification.rs

@@ -8,10 +8,10 @@ pub mod crossbeam_test {
         VerificationReportingProvider,
     };
     use satrs::tmtc::{PacketSenderWithSharedPool, SharedStaticMemoryPool};
-    use spacepackets::SpHeader;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
-    use spacepackets::ecss::{EcssEnumU8, EcssEnumU16, PusPacket, WritablePusPacket};
+    use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket, WritablePusPacket};
+    use spacepackets::SpHeader;
     use std::sync::RwLock;
     use std::thread;
     use std::time::Duration;
@@ -46,8 +46,8 @@ pub mod crossbeam_test {
         let sender =
             PacketSenderWithSharedPool::new_with_shared_packet_pool(tx.clone(), &shared_tm_pool);
         let sender_1 = sender.clone();
-        let reporter_with_sender_0 = VerificationReporter::new(TEST_COMPONENT_ID_0.id(), &cfg);
+        let mut reporter_with_sender_0 = VerificationReporter::new(TEST_COMPONENT_ID_0.id(), &cfg);
-        let reporter_with_sender_1 = reporter_with_sender_0.clone();
+        let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
         // For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
         // tread.
         let req_id_0;

satrs/tests/tcp_servers.rs

@@ -17,13 +17,12 @@ use core::{
 use std::{
     io::{Read, Write},
     net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
-    sync::{Mutex, mpsc},
+    sync::{mpsc, Mutex},
     thread,
 };
 
 use hashbrown::HashSet;
 use satrs::{
-    ComponentId,
     encoding::{
         ccsds::{SpValidity, SpacePacketValidator},
         cobs::encode_packet_with_cobs,
@@ -33,10 +32,11 @@ use satrs::{
         TcpSpacepacketsServer, TcpTmtcInCobsServer,
     },
     tmtc::PacketSource,
+    ComponentId,
 };
 use spacepackets::{
+    ecss::{tc::PusTcCreator, WritablePusPacket},
     CcsdsPacket, PacketId, SpHeader,
-    ecss::{WritablePusPacket, tc::PusTcCreator},
 };
 use std::{collections::VecDeque, sync::Arc, vec::Vec};