Merge pull request 'Mode Sequences and Tables' (#211 ) from mode-tables-sequence-tables into main

Reviewed-on: #211
Mode Tree Feature Update
2025-02-13 12:44:28 +01:00 · 2025-02-13 12:18:05 +01:00 · 2025-02-07 16:21:23 +01:00 · 2025-02-07 16:15:23 +01:00 · 2025-02-07 16:15:08 +01:00 · 2025-02-07 15:43:03 +01:00
93 changed files with 6897 additions and 5701 deletions
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@ -11,7 +11,9 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
-      - run: cargo check --release
+      - run: cargo check
+      # Check example with static pool configuration
+      - run: cargo check -p satrs-example --no-default-features

  test:
    name: Run Tests
@ -37,7 +39,7 @@ jobs:
      - uses: dtolnay/rust-toolchain@stable
        with:
          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
-      - run: cargo check -p satrs --release --target=${{matrix.target}} --no-default-features
+      - run: cargo check -p satrs --target=${{matrix.target}} --no-default-features

  fmt:
    name: Check formatting
--- a/Cargo.toml
+++ b/Cargo.toml
@ -10,6 +10,5 @@ members = [

 exclude = [
    "embedded-examples/stm32f3-disco-rtic",
-    "embedded-examples/stm32h7-rtic",
+    "embedded-examples/stm32h7-nucleo-rtic",
 ]
-
--- a/docs.sh
+++ b/docs.sh
@ -0,0 +1,3 @@
+#!/bin/sh
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --all-features --open
--- a/embedded-examples/stm32f3-disco-rtic/Cargo.lock
+++ b/embedded-examples/stm32f3-disco-rtic/Cargo.lock
@ -1,6 +1,6 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4

 [[package]]
 name = "accelerometer"
@ -11,20 +11,11 @@ dependencies = [
 "micromath",
 ]

-[[package]]
-name = "atomic-polyfill"
-version = "1.0.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
-dependencies = [
- "critical-section",
-]
-
 [[package]]
 name = "autocfg"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"

 [[package]]
 name = "bare-metal"
@ -77,7 +68,7 @@ version = "0.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4c24dab4283a142afa2fdca129b80ad2c6284e073930f964c3a1293c225ee39a"
 dependencies = [
- "rustc_version 0.4.0",
+ "rustc_version 0.4.1",
 ]

 [[package]]
@ -88,9 +79,9 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"

 [[package]]
 name = "chrono"
-version = "0.4.38"
+version = "0.4.39"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a21f936df1771bf62b77f047b726c4625ff2e8aa607c01ec06e5a05bd8463401"
+checksum = "7e36cc9d416881d2e24f9a963be5fb1cd90966419ac844274161d10488b3e825"
 dependencies = [
 "num-traits",
 ]
@ -103,8 +94,12 @@ checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"

 [[package]]
 name = "cobs"
-version = "0.2.3"
-source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fa961b519f0b462e3a3b4a34b64d119eeaca1d59af726fe450bbba07a9fc0a1"
+dependencies = [
+ "thiserror",
+]

 [[package]]
 name = "cortex-m"
@ -121,22 +116,22 @@ dependencies = [

 [[package]]
 name = "cortex-m-rt"
-version = "0.7.4"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
+checksum = "801d4dec46b34c299ccf6b036717ae0fce602faa4f4fe816d9013b9a7c9f5ba6"
 dependencies = [
 "cortex-m-rt-macros",
 ]

 [[package]]
 name = "cortex-m-rt-macros"
-version = "0.7.0"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
+checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 1.0.109",
+ "syn 2.0.96",
 ]

 [[package]]
@ -165,15 +160,15 @@ checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"

 [[package]]
 name = "critical-section"
-version = "1.1.2"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"

 [[package]]
 name = "darling"
-version = "0.20.9"
+version = "0.20.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "83b2eb4d90d12bdda5ed17de686c2acb4c57914f8f921b8da7e112b5a36f3fe1"
+checksum = "6f63b86c8a8826a49b8c21f08a2d07338eec8d900540f8630dc76284be802989"
 dependencies = [
 "darling_core",
 "darling_macro",
@ -181,33 +176,33 @@ dependencies = [

 [[package]]
 name = "darling_core"
-version = "0.20.9"
+version = "0.20.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "622687fe0bac72a04e5599029151f5796111b90f1baaa9b544d807a5e31cd120"
+checksum = "95133861a8032aaea082871032f5815eb9e98cef03fa916ab4500513994df9e5"
 dependencies = [
 "fnv",
 "ident_case",
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "darling_macro"
-version = "0.20.9"
+version = "0.20.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "733cabb43482b1a1b53eee8583c2b9e8684d592215ea83efd305dd31bc2f0178"
+checksum = "d336a2a514f6ccccaa3e09b02d41d35330c07ddf03a62165fcec10bb561c7806"
 dependencies = [
 "darling_core",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "defmt"
-version = "0.3.8"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
+checksum = "86f6162c53f659f65d00619fe31f14556a6e9f8752ccc4a41bd177ffcf3d6130"
 dependencies = [
 "bitflags",
 "defmt-macros",
@ -225,22 +220,22 @@ dependencies = [

 [[package]]
 name = "defmt-macros"
-version = "0.3.9"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
+checksum = "9d135dd939bad62d7490b0002602d35b358dce5fd9233a709d3c1ef467d4bde6"
 dependencies = [
 "defmt-parser",
- "proc-macro-error",
+ "proc-macro-error2",
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "defmt-parser"
-version = "0.3.4"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+checksum = "3983b127f13995e68c1e29071e5d115cd96f215ccb5e6812e3728cd6f92653b3"
 dependencies = [
 "thiserror",
 ]
@ -265,7 +260,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
@ -287,7 +282,7 @@ checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
@ -315,6 +310,15 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"

+[[package]]
+name = "embedded-hal-async"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
+dependencies = [
+ "embedded-hal 1.0.0",
+]
+
 [[package]]
 name = "embedded-time"
 version = "0.12.1"
@ -326,23 +330,23 @@ dependencies = [

 [[package]]
 name = "enumset"
-version = "1.1.3"
+version = "1.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "226c0da7462c13fb57e5cc9e0dc8f0635e7d27f276a3a7fd30054647f669007d"
+checksum = "d07a4b049558765cef5f0c1a273c3fc57084d768b44d2f98127aef4cceb17293"
 dependencies = [
 "enumset_derive",
 ]

 [[package]]
 name = "enumset_derive"
-version = "0.8.1"
+version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e08b6c6ab82d70f08844964ba10c7babb716de2ecaeab9be5717918a5177d3af"
+checksum = "59c3b24c345d8c314966bdc1832f6c2635bfcce8e7cf363bd115987bba2ee242"
 dependencies = [
 "darling",
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
@ -368,21 +372,21 @@ dependencies = [

 [[package]]
 name = "futures-core"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"

 [[package]]
 name = "futures-task"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"

 [[package]]
 name = "futures-util"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
 dependencies = [
 "futures-core",
 "futures-task",
@ -426,9 +430,9 @@ dependencies = [

 [[package]]
 name = "hashbrown"
-version = "0.14.5"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
+checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"

 [[package]]
 name = "heapless"
@ -448,9 +452,9 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"

 [[package]]
 name = "indexmap"
-version = "2.2.6"
+version = "2.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
+checksum = "8c9c992b02b5b4c94ea26e32fe5bccb7aa7d9f390ab5c1221ff895bc7ea8b652"
 dependencies = [
 "equivalent",
 "hashbrown",
@ -555,22 +559,22 @@ dependencies = [

 [[package]]
 name = "num_enum"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+checksum = "4e613fc340b2220f734a8595782c551f1250e969d87d3be1ae0579e8d4065179"
 dependencies = [
 "num_enum_derive",
 ]

 [[package]]
 name = "num_enum_derive"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+checksum = "af1844ef2428cc3e1cb900be36181049ef3d3193c63e43026cfe202983b27a56"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
@ -591,9 +595,9 @@ checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"

 [[package]]
 name = "pin-project-lite"
-version = "0.2.14"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"

 [[package]]
 name = "pin-utils"
@ -602,43 +606,47 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"

 [[package]]
-name = "proc-macro-error"
-version = "1.0.4"
+name = "portable-atomic"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
+
+[[package]]
+name = "proc-macro-error-attr2"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
 dependencies = [
- "proc-macro-error-attr",
 "proc-macro2",
 "quote",
- "syn 1.0.109",
- "version_check",
 ]

 [[package]]
-name = "proc-macro-error-attr"
-version = "1.0.4"
+name = "proc-macro-error2"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
 dependencies = [
+ "proc-macro-error-attr2",
 "proc-macro2",
 "quote",
- "version_check",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "proc-macro2"
-version = "1.0.83"
+version = "1.0.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b33eb56c327dec362a9e55b3ad14f9d2f0904fb5a5b03b513ab5465399e9f43"
+checksum = "60946a68e5f9d28b0dc1c21bb8a97ee7d018a8b322fa57838ba31cc878e22d99"
 dependencies = [
 "unicode-ident",
 ]

 [[package]]
 name = "quote"
-version = "1.0.36"
+version = "1.0.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
+checksum = "0e4dccaaaf89514f546c693ddc140f729f958c247918a13380cccc6078391acc"
 dependencies = [
 "proc-macro2",
 ]
@ -654,14 +662,14 @@ dependencies = [

 [[package]]
 name = "rtic"
-version = "2.1.1"
+version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+checksum = "401961431a1e491124cdd216a313fada2d395aa2b5bee2867c872fc8af7c1bc1"
 dependencies = [
- "atomic-polyfill",
 "bare-metal 1.0.0",
 "cortex-m",
 "critical-section",
+ "portable-atomic",
 "rtic-core",
 "rtic-macros",
 ]
@ -683,38 +691,40 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"

 [[package]]
 name = "rtic-macros"
-version = "2.1.0"
+version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+checksum = "ac22ab522d80079b48f46ac66ded4d349e1adf81b52430d6a74faa3a7790ed80"
 dependencies = [
 "indexmap",
- "proc-macro-error",
+ "proc-macro-error2",
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "rtic-monotonics"
-version = "1.5.0"
+version = "2.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+checksum = "f1cb90bcfdbbacf3ca37340cdab52ec2de5611c744095ef7889e9c50c233b748"
 dependencies = [
- "atomic-polyfill",
 "cfg-if",
 "cortex-m",
- "embedded-hal 1.0.0",
 "fugit",
+ "portable-atomic",
 "rtic-time",
 ]

 [[package]]
 name = "rtic-time"
-version = "1.3.0"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+checksum = "a7b1d853fa50dc125695414ce4510567a0d420221e455b1568cfa8c9aece9614"
 dependencies = [
 "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
 "futures-util",
 "rtic-common",
 ]
@ -730,11 +740,11 @@ dependencies = [

 [[package]]
 name = "rustc_version"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
 dependencies = [
- "semver 1.0.23",
+ "semver 1.0.25",
 ]

 [[package]]
@ -743,7 +753,7 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
 dependencies = [
- "cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cobs 0.2.3",
 "crc",
 "defmt",
 "delegate",
@ -769,7 +779,7 @@ dependencies = [
 name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 dependencies = [
- "cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
+ "cobs 0.3.0",
 "cortex-m",
 "cortex-m-rt",
 "cortex-m-semihosting",
@ -798,9 +808,9 @@ dependencies = [

 [[package]]
 name = "semver"
-version = "1.0.23"
+version = "1.0.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+checksum = "f79dfe2d285b0488816f30e700a7438c5a73d816b5b7d3ac72fbc48b0d185e03"

 [[package]]
 name = "semver-parser"
@ -922,9 +932,9 @@ dependencies = [

 [[package]]
 name = "syn"
-version = "2.0.65"
+version = "2.0.96"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2863d96a84c6439701d7a38f9de935ec562c8832cc55d1dde0f513b52fad106"
+checksum = "d5d0adab1ae378d7f53bdebc67a39f1f151407ef230f0ce2883572f5d8985c80"
 dependencies = [
 "proc-macro2",
 "quote",
@ -933,22 +943,22 @@ dependencies = [

 [[package]]
 name = "thiserror"
-version = "1.0.61"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
+checksum = "d452f284b73e6d76dd36758a0c8684b1d5be31f92b89d07fd5822175732206fc"
 dependencies = [
 "thiserror-impl",
 ]

 [[package]]
 name = "thiserror-impl"
-version = "1.0.61"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
+checksum = "26afc1baea8a989337eeb52b6e72a039780ce45c3edfcc9c5b9d112feeb173c2"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
@ -959,9 +969,9 @@ checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"

 [[package]]
 name = "unicode-ident"
-version = "1.0.12"
+version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"

 [[package]]
 name = "usb-device"
@ -977,9 +987,9 @@ checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"

 [[package]]
 name = "version_check"
-version = "0.9.4"
+version = "0.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"

 [[package]]
 name = "void"
@ -998,9 +1008,9 @@ dependencies = [

 [[package]]
 name = "zerocopy"
-version = "0.7.34"
+version = "0.7.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
 dependencies = [
 "byteorder",
 "zerocopy-derive",
@ -1008,11 +1018,11 @@ dependencies = [

 [[package]]
 name = "zerocopy-derive"
-version = "0.7.34"
+version = "0.7.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]
--- a/embedded-examples/stm32f3-disco-rtic/Cargo.toml
+++ b/embedded-examples/stm32f3-disco-rtic/Cargo.toml
@ -22,12 +22,11 @@ version = "2"
 features = ["thumbv7-backend"]

 [dependencies.rtic-monotonics]
-version = "1"
+version = "2"
 features = ["cortex-m-systick"]

 [dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
-branch = "all_features"
+version = "0.3"
 default-features = false

 [dependencies.stm32f3xx-hal]
--- a/embedded-examples/stm32f3-disco-rtic/src/main.rs
+++ b/embedded-examples/stm32f3-disco-rtic/src/main.rs
@ -15,8 +15,8 @@ use rtic::app;

 use heapless::{mpmc::Q8, Vec};
 #[allow(unused_imports)]
-use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
-use rtic_monotonics::systick::ExtU32;
+use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
+use rtic_monotonics::systick::prelude::*;
 use satrs::seq_count::SequenceCountProviderCore;
 use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
 use stm32f3xx_hal::dma::dma1;
@ -245,8 +245,6 @@ pub fn convert_pus_tc_to_request(
 mod app {
    use super::*;
    use core::slice::Iter;
-    use rtic_monotonics::systick::Systick;
-    use rtic_monotonics::Monotonic;
    use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
    use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
    #[allow(unused_imports)]
@ -259,6 +257,8 @@ mod app {
    #[allow(dead_code)]
    type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;

+    systick_monotonic!(Mono, 1000);
+
    #[shared]
    struct Shared {
        blink_freq: MillisDurationU32,
@ -279,8 +279,7 @@ mod app {
        let mut rcc = cx.device.RCC.constrain();

        // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
+        Mono::start(cx.core.SYST, 8_000_000);

        let mut flash = cx.device.FLASH.constrain();
        let clocks = rcc
@ -394,7 +393,7 @@ mod app {
                }
            }
            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
+            Mono::delay(current_blink_freq).await;
        }
    }

@ -412,15 +411,14 @@ mod app {
            if is_idle {
                let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
                if let Some(last_completed) = last_completed {
-                    let elapsed_ms = (Systick::now() - last_completed).to_millis();
+                    let elapsed_ms = (Mono::now() - last_completed).to_millis();
                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
-                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
-                            .await;
+                        Mono::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis()).await;
                    }
                }
            } else {
                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
+                Mono::delay(1.millis()).await;
                continue;
            }
            if let Some(vec) = TM_REQUESTS.dequeue() {
@ -459,11 +457,11 @@ mod app {
                        UartTxState::Transmitting(_) => (),
                    });
                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
+                Mono::delay(1.millis()).await;
                continue;
            }
            // Nothing to do, and we are idle.
-            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
+            Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
        }
    }

@ -657,7 +655,7 @@ mod app {
                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
                        // We cache the last completed time to ensure that there is a minimum delay between consecutive
                        // transferred packets.
-                        tx_shared.last_completed = Some(Systick::now());
+                        tx_shared.last_completed = Some(Mono::now());
                    }
                }
            });
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
@ -1,21 +1,12 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
-
-[[package]]
-name = "atomic-polyfill"
-version = "1.0.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
-dependencies = [
- "critical-section",
-]
+version = 4

 [[package]]
 name = "autocfg"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"

 [[package]]
 name = "bare-metal"
@ -23,7 +14,7 @@ version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 dependencies = [
- "rustc_version 0.2.3",
+ "rustc_version",
 ]

 [[package]]
@ -32,6 +23,12 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"

+[[package]]
+name = "base64"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
+
 [[package]]
 name = "bitfield"
 version = "0.13.2"
@ -64,8 +61,18 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"

 [[package]]
 name = "cobs"
-version = "0.2.3"
-source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fa961b519f0b462e3a3b4a34b64d119eeaca1d59af726fe450bbba07a9fc0a1"
+dependencies = [
+ "thiserror",
+]
+
+[[package]]
+name = "const-default"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b396d1f76d455557e1218ec8066ae14bba60b4b36ecd55577ba979f5db7ecaa"

 [[package]]
 name = "cortex-m"
@ -82,22 +89,22 @@ dependencies = [

 [[package]]
 name = "cortex-m-rt"
-version = "0.7.4"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
+checksum = "801d4dec46b34c299ccf6b036717ae0fce602faa4f4fe816d9013b9a7c9f5ba6"
 dependencies = [
 "cortex-m-rt-macros",
 ]

 [[package]]
 name = "cortex-m-rt-macros"
-version = "0.7.0"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
+checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 1.0.109",
+ "syn 2.0.96",
 ]

 [[package]]
@ -126,15 +133,15 @@ checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"

 [[package]]
 name = "critical-section"
-version = "1.1.2"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"

 [[package]]
 name = "defmt"
-version = "0.3.8"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
+checksum = "86f6162c53f659f65d00619fe31f14556a6e9f8752ccc4a41bd177ffcf3d6130"
 dependencies = [
 "bitflags",
 "defmt-macros",
@ -152,22 +159,22 @@ dependencies = [

 [[package]]
 name = "defmt-macros"
-version = "0.3.9"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
+checksum = "9d135dd939bad62d7490b0002602d35b358dce5fd9233a709d3c1ef467d4bde6"
 dependencies = [
 "defmt-parser",
- "proc-macro-error",
+ "proc-macro-error2",
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "defmt-parser"
-version = "0.3.4"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+checksum = "3983b127f13995e68c1e29071e5d115cd96f215ccb5e6812e3728cd6f92653b3"
 dependencies = [
 "thiserror",
 ]
@ -192,39 +199,41 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "delegate"
-version = "0.10.0"
+version = "0.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0ee5df75c70b95bd3aacc8e2fd098797692fb1d54121019c4de481e42f04c8a1"
+checksum = "297806318ef30ad066b15792a8372858020ae3ca2e414ee6c2133b1eb9e9e945"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 1.0.109",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "derive-new"
-version = "0.6.0"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
+checksum = "2cdc8d50f426189eef89dac62fabfa0abb27d5cc008f25bf4156a0203325becc"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "embedded-alloc"
-version = "0.5.1"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddae17915accbac2cfbc64ea0ae6e3b330e6ea124ba108dada63646fd3c6f815"
+checksum = "8f2de9133f68db0d4627ad69db767726c99ff8585272716708227008d3f1bddd"
 dependencies = [
+ "const-default",
 "critical-section",
 "linked_list_allocator",
+ "rlsf",
 ]

 [[package]]
@ -300,21 +309,21 @@ dependencies = [

 [[package]]
 name = "futures-core"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"

 [[package]]
 name = "futures-task"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"

 [[package]]
 name = "futures-util"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
 dependencies = [
 "futures-core",
 "futures-task",
@ -328,15 +337,6 @@ version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"

-[[package]]
-name = "hash32"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
-dependencies = [
- "byteorder",
-]
-
 [[package]]
 name = "hash32"
 version = "0.3.1"
@ -348,22 +348,9 @@ dependencies = [

 [[package]]
 name = "hashbrown"
-version = "0.14.5"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
-
-[[package]]
-name = "heapless"
-version = "0.7.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
-dependencies = [
- "atomic-polyfill",
- "hash32 0.2.1",
- "rustc_version 0.4.0",
- "spin",
- "stable_deref_trait",
-]
+checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"

 [[package]]
 name = "heapless"
@ -372,36 +359,32 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
 dependencies = [
 "defmt",
- "hash32 0.3.1",
+ "hash32",
 "stable_deref_trait",
 ]

 [[package]]
 name = "indexmap"
-version = "2.2.6"
+version = "2.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
+checksum = "8c9c992b02b5b4c94ea26e32fe5bccb7aa7d9f390ab5c1221ff895bc7ea8b652"
 dependencies = [
 "equivalent",
 "hashbrown",
 ]

+[[package]]
+name = "libc"
+version = "0.2.169"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5aba8db14291edd000dfcc4d620c7ebfb122c613afb886ca8803fa4e128a20a"
+
 [[package]]
 name = "linked_list_allocator"
 version = "0.10.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9afa463f5405ee81cdb9cc2baf37e08ec7e4c8209442b5d72c04cfb2cd6e6286"

-[[package]]
-name = "lock_api"
-version = "0.4.12"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
-dependencies = [
- "autocfg",
- "scopeguard",
-]
-
 [[package]]
 name = "managed"
 version = "0.8.0"
@ -434,22 +417,22 @@ dependencies = [

 [[package]]
 name = "num_enum"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+checksum = "4e613fc340b2220f734a8595782c551f1250e969d87d3be1ae0579e8d4065179"
 dependencies = [
 "num_enum_derive",
 ]

 [[package]]
 name = "num_enum_derive"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+checksum = "af1844ef2428cc3e1cb900be36181049ef3d3193c63e43026cfe202983b27a56"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]

 [[package]]
@ -470,9 +453,9 @@ checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"

 [[package]]
 name = "pin-project-lite"
-version = "0.2.14"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"

 [[package]]
 name = "pin-utils"
@ -482,62 +465,72 @@ checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"

 [[package]]
 name = "portable-atomic"
-version = "1.6.0"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"

 [[package]]
-name = "proc-macro-error"
-version = "1.0.4"
+name = "proc-macro-error-attr2"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
 dependencies = [
- "proc-macro-error-attr",
 "proc-macro2",
 "quote",
- "syn 1.0.109",
- "version_check",
 ]

 [[package]]
-name = "proc-macro-error-attr"
-version = "1.0.4"
+name = "proc-macro-error2"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
 dependencies = [
+ "proc-macro-error-attr2",
 "proc-macro2",
 "quote",
- "version_check",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "proc-macro2"
-version = "1.0.82"
+version = "1.0.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ad3d49ab951a01fbaafe34f2ec74122942fe18a3f9814c3268f1bb72042131b"
+checksum = "60946a68e5f9d28b0dc1c21bb8a97ee7d018a8b322fa57838ba31cc878e22d99"
 dependencies = [
 "unicode-ident",
 ]

 [[package]]
 name = "quote"
-version = "1.0.36"
+version = "1.0.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
+checksum = "0e4dccaaaf89514f546c693ddc140f729f958c247918a13380cccc6078391acc"
 dependencies = [
 "proc-macro2",
 ]

 [[package]]
-name = "rtic"
-version = "2.1.1"
+name = "rlsf"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+checksum = "222fb240c3286247ecdee6fa5341e7cdad0ffdf8e7e401d9937f2d58482a20bf"
+dependencies = [
+ "cfg-if",
+ "const-default",
+ "libc",
+ "svgbobdoc",
+]
+
+[[package]]
+name = "rtic"
+version = "2.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "401961431a1e491124cdd216a313fada2d395aa2b5bee2867c872fc8af7c1bc1"
 dependencies = [
- "atomic-polyfill",
 "bare-metal 1.0.0",
 "cortex-m",
 "critical-section",
+ "portable-atomic",
 "rtic-core",
 "rtic-macros",
 ]
@ -559,28 +552,27 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"

 [[package]]
 name = "rtic-macros"
-version = "2.1.0"
+version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+checksum = "ac22ab522d80079b48f46ac66ded4d349e1adf81b52430d6a74faa3a7790ed80"
 dependencies = [
 "indexmap",
- "proc-macro-error",
+ "proc-macro-error2",
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "rtic-monotonics"
-version = "1.5.0"
+version = "2.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+checksum = "f1cb90bcfdbbacf3ca37340cdab52ec2de5611c744095ef7889e9c50c233b748"
 dependencies = [
- "atomic-polyfill",
 "cfg-if",
 "cortex-m",
- "embedded-hal 1.0.0",
 "fugit",
+ "portable-atomic",
 "rtic-time",
 ]

@ -595,18 +587,21 @@ dependencies = [
 "embedded-hal 1.0.0",
 "embedded-hal-async",
 "embedded-hal-bus",
- "heapless 0.8.0",
+ "heapless",
 "portable-atomic",
 "rtic-common",
 ]

 [[package]]
 name = "rtic-time"
-version = "1.3.0"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+checksum = "a7b1d853fa50dc125695414ce4510567a0d420221e455b1568cfa8c9aece9614"
 dependencies = [
 "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
 "futures-util",
 "rtic-common",
 ]
@ -617,16 +612,7 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
 dependencies = [
- "semver 0.9.0",
-]
-
-[[package]]
-name = "rustc_version"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
-dependencies = [
- "semver 1.0.23",
+ "semver",
 ]

 [[package]]
@ -638,20 +624,22 @@ dependencies = [
 "defmt",
 "delegate",
 "derive-new",
- "heapless 0.7.17",
+ "heapless",
 "num-traits",
 "num_enum",
 "paste",
 "satrs-shared",
 "smallvec",
 "spacepackets",
+ "static_cell",
+ "thiserror",
 ]

 [[package]]
 name = "satrs-shared"
-version = "0.1.4"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
+checksum = "f10b962c131d0bcb0de06fefa5d4716cbd7f836167f90229f7f38405dc573bd3"
 dependencies = [
 "spacepackets",
 ]
@ -676,12 +664,6 @@ dependencies = [
 "stm32h7xx-hal",
 ]

-[[package]]
-name = "scopeguard"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
-
 [[package]]
 name = "semver"
 version = "0.9.0"
@ -691,12 +673,6 @@ dependencies = [
 "semver-parser",
 ]

-[[package]]
-name = "semver"
-version = "1.0.23"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
-
 [[package]]
 name = "semver-parser"
 version = "0.7.0"
@ -719,39 +695,41 @@ dependencies = [
 "byteorder",
 "cfg-if",
 "defmt",
- "heapless 0.8.0",
+ "heapless",
 "managed",
 ]

 [[package]]
 name = "spacepackets"
-version = "0.11.2"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
+checksum = "591d42bfa6af2ab308e5efd8f0870e2d0eb5dd19a141bdcb7da731f5ff9cc11c"
 dependencies = [
 "crc",
 "defmt",
 "delegate",
 "num-traits",
 "num_enum",
+ "paste",
+ "thiserror",
 "zerocopy",
 ]

-[[package]]
-name = "spin"
-version = "0.9.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
-dependencies = [
- "lock_api",
-]
-
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"

+[[package]]
+name = "static_cell"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d89b0684884a883431282db1e4343f34afc2ff6996fe1f4a1664519b66e14c1e"
+dependencies = [
+ "portable-atomic",
+]
+
 [[package]]
 name = "stm32h7"
 version = "0.15.1"
@ -784,6 +762,19 @@ dependencies = [
 "void",
 ]

+[[package]]
+name = "svgbobdoc"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f2c04b93fc15d79b39c63218f15e3fdffaa4c227830686e3b7c5f41244eb3e50"
+dependencies = [
+ "base64",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+ "unicode-width",
+]
+
 [[package]]
 name = "syn"
 version = "1.0.109"
@ -797,9 +788,9 @@ dependencies = [

 [[package]]
 name = "syn"
-version = "2.0.64"
+version = "2.0.96"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ad3dee41f36859875573074334c200d1add8e4a87bb37113ebd31d926b7b11f"
+checksum = "d5d0adab1ae378d7f53bdebc67a39f1f151407ef230f0ce2883572f5d8985c80"
 dependencies = [
 "proc-macro2",
 "quote",
@ -808,29 +799,35 @@ dependencies = [

 [[package]]
 name = "thiserror"
-version = "1.0.61"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
+checksum = "d452f284b73e6d76dd36758a0c8684b1d5be31f92b89d07fd5822175732206fc"
 dependencies = [
 "thiserror-impl",
 ]

 [[package]]
 name = "thiserror-impl"
-version = "1.0.61"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
+checksum = "26afc1baea8a989337eeb52b6e72a039780ce45c3edfcc9c5b9d112feeb173c2"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]

 [[package]]
 name = "unicode-ident"
-version = "1.0.12"
+version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
+
+[[package]]
+name = "unicode-width"
+version = "0.1.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af"

 [[package]]
 name = "vcell"
@ -838,12 +835,6 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"

-[[package]]
-name = "version_check"
-version = "0.9.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
-
 [[package]]
 name = "void"
 version = "1.0.2"
@ -861,21 +852,20 @@ dependencies = [

 [[package]]
 name = "zerocopy"
-version = "0.7.34"
+version = "0.8.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
+checksum = "a367f292d93d4eab890745e75a778da40909cab4d6ff8173693812f79c4a2468"
 dependencies = [
- "byteorder",
 "zerocopy-derive",
 ]

 [[package]]
 name = "zerocopy-derive"
-version = "0.7.34"
+version = "0.8.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
+checksum = "d3931cb58c62c13adec22e38686b559c86a30565e16ad6e8510a337cedc611e1"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
@ -21,11 +21,11 @@ defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 cortex-m-semihosting = "0.5.0"
 stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
-embedded-alloc = "0.5"
+embedded-alloc = "0.6"
 rtic-sync = { version = "1", features = ["defmt-03"] }

 [dependencies.smoltcp]
-version = "0.11.0"
+version = "0.11"
 default-features = false
 features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]

@ -34,7 +34,7 @@ version = "2"
 features = ["thumbv7-backend"]

 [dependencies.rtic-monotonics]
-version = "1"
+version = "2"
 features = ["cortex-m-systick"]

 [dependencies.satrs]
--- a/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
+++ b/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
@ -3,8 +3,7 @@
 extern crate alloc;

 use rtic::app;
-use rtic_monotonics::systick::Systick;
-use rtic_monotonics::Monotonic;
+use rtic_monotonics::systick::prelude::*;
 use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
 use satrs::static_subpool;
 // global logger + panicking-behavior + memory layout
@ -13,7 +12,7 @@ use smoltcp::socket::udp::UdpMetadata;
 use smoltcp::socket::{dhcpv4, udp};

 use core::mem::MaybeUninit;
-use embedded_alloc::Heap;
+use embedded_alloc::LlffHeap as Heap;
 use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
 use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
 use stm32h7xx_hal::ethernet;
@ -32,6 +31,8 @@ pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_
 #[global_allocator]
 static HEAP: Heap = Heap::empty();

+systick_monotonic!(Mono, 1000);
+
 // We place the memory pool buffers inside the larger AXISRAM.
 pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
 pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
@ -72,7 +73,7 @@ impl Net {
        let mut iface = Interface::new(
            config,
            &mut ethdev,
-            smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
+            smoltcp::time::Instant::from_millis(Mono::now().duration_since_epoch().to_millis()),
        );
        // Create sockets
        let dhcp_socket = dhcpv4::Socket::new();
@ -91,7 +92,7 @@ impl Net {
    /// Polls on the ethernet interface. You should refer to the smoltcp
    /// documentation for poll() to understand how to call poll efficiently
    pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
-        let uptime = Systick::now() - Systick::ZERO;
+        let uptime = Mono::now().duration_since_epoch();
        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());

        self.iface.poll(timestamp, &mut self.ethdev, sockets)
@ -203,8 +204,7 @@ mod app {
    use core::ptr::addr_of_mut;

    use super::*;
-    use rtic_monotonics::systick::fugit::MillisDurationU32;
-    use rtic_monotonics::systick::Systick;
+    use rtic_monotonics::fugit::MillisDurationU32;
    use satrs::spacepackets::ecss::tc::PusTcReader;
    use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
    use stm32h7xx_hal::gpio::{Output, Pin};
@ -256,12 +256,7 @@ mod app {
            .freeze(pwrcfg, &cx.device.SYSCFG);

        // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(
-            cx.core.SYST,
-            ccdr.clocks.sys_ck().to_Hz(),
-            systick_mono_token,
-        );
+        Mono::start(cx.core.SYST, ccdr.clocks.sys_ck().to_Hz());

        // Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
        // good for.
@ -377,24 +372,24 @@ mod app {

        shared_pool
            .grow(
-                unsafe { SUBPOOL_SMALL.assume_init_mut() },
-                unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
+                SUBPOOL_SMALL.get_mut().unwrap(),
+                SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
                SUBPOOL_SMALL_NUM_BLOCKS,
                true,
            )
            .expect("growing heapless memory pool failed");
        shared_pool
            .grow(
-                unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
-                unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
+                SUBPOOL_MEDIUM.get_mut().unwrap(),
+                SUBPOOL_MEDIUM_SIZES.get_mut().unwrap(),
                SUBPOOL_MEDIUM_NUM_BLOCKS,
                true,
            )
            .expect("growing heapless memory pool failed");
        shared_pool
            .grow(
-                unsafe { SUBPOOL_LARGE.assume_init_mut() },
-                unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
+                SUBPOOL_LARGE.get_mut().unwrap(),
+                SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
                SUBPOOL_LARGE_NUM_BLOCKS,
                true,
            )
@ -403,7 +398,7 @@ mod app {
        // Set up global allocator. Use AXISRAM for the heap.
        #[link_section = ".axisram"]
        static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
-        unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
+        unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }

        eth_link_check::spawn().expect("eth link check failed");
        blinky::spawn().expect("spawning blink task failed");
@ -435,7 +430,7 @@ mod app {
            leds.led1.toggle();
            leds.led2.toggle();
            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
+            Mono::delay(current_blink_freq).await;
        }
    }

@ -457,7 +452,7 @@ mod app {
                cx.shared.eth_link_up.lock(|link_up| *link_up = false);
                defmt::info!("Ethernet link down");
            }
-            Systick::delay(100.millis()).await;
+            Mono::delay(100.millis()).await;
        }
    }

@ -483,7 +478,7 @@ mod app {
                    cx.local.udp.poll(sockets, pool);
                })
            });
-            Systick::delay(40.millis()).await;
+            Mono::delay(40.millis()).await;
        }
    }

--- a/satrs-example/Cargo.toml
+++ b/satrs-example/Cargo.toml
@ -8,18 +8,19 @@ homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"

 [dependencies]
-fern = "0.6"
+fern = "0.7"
 chrono = "0.4"
 log = "0.4"
 crossbeam-channel = "0.5"
-delegate = "0.10"
-zerocopy = "0.6"
+delegate = "0.13"
+zerocopy = "0.8"
 csv = "1"
 num_enum = "0.7"
-thiserror = "1"
+thiserror = "2"
 lazy_static = "1"
 strum = { version = "0.26", features = ["derive"] }
-derive-new = "0.5"
+derive-new = "0.7"
+cfg-if = "1"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"

@ -35,8 +36,8 @@ version = "0.1.1"
 path = "../satrs-mib"

 [features]
-dyn_tmtc = []
-default = ["dyn_tmtc"]
+heap_tmtc = []
+default = ["heap_tmtc"]

 [dev-dependencies]
 env_logger = "0.11"
--- a/satrs-example/README.md
+++ b/satrs-example/README.md
@ -14,7 +14,7 @@ You can run the application using `cargo run`.

 # Features

-The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
+The example has the `heap_tmtc` feature which is enabled by default. With this feature enabled,
 TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
 stores.

--- a/satrs-example/pytmtc/main.py
+++ b/satrs-example/pytmtc/main.py
@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
+
 import logging
 import sys
 import time
--- a/satrs-example/pytmtc/pyproject.toml
+++ b/satrs-example/pytmtc/pyproject.toml
@ -12,7 +12,7 @@ authors = [
  {name = "Robin Mueller", email = "robin.mueller.m@gmail.com"},
 ]
 dependencies = [
-    "tmtccmd~=8.0",
+    "tmtccmd~=8.1",
    "pydantic~=2.7"
 ]

--- a/satrs-example/pytmtc/pytmtc/acs/init.py
+++ b/satrs-example/pytmtc/pytmtc/acs/init.py
@ -0,0 +1,11 @@
+from tmtccmd.config import CmdTreeNode
+
+
+def create_acs_node(mode_node: CmdTreeNode, hk_node: CmdTreeNode) -> CmdTreeNode:
+    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
+    mgm_node = CmdTreeNode("mgms", "MGM devices node")
+    mgm_node.add_child(mode_node)
+    mgm_node.add_child(hk_node)
+
+    acs_node.add_child(mgm_node)
+    return acs_node
--- a/satrs-example/pytmtc/pytmtc/acs/mgms.py
+++ b/satrs-example/pytmtc/pytmtc/acs/mgms.py
--- a/satrs-example/pytmtc/pytmtc/common.py
+++ b/satrs-example/pytmtc/pytmtc/common.py
@ -39,7 +39,10 @@ class EventU32:


 class AcsId(enum.IntEnum):
-    MGM_0 = 0
+    SUBSYSTEM = 1
+    MGM_ASSEMBLY = 2
+    MGM_0 = 3
+    MGM_1 = 4


 class AcsHkIds(enum.IntEnum):
--- a/satrs-example/pytmtc/pytmtc/config.py
+++ b/satrs-example/pytmtc/pytmtc/config.py
@ -12,7 +12,7 @@ from pytmtc.pus_tc import create_cmd_definition_tree

 class SatrsConfigHook(HookBase):
    def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)

    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
        from tmtccmd.config.com import (
--- a/satrs-example/pytmtc/pytmtc/eps/init.py
+++ b/satrs-example/pytmtc/pytmtc/eps/init.py
--- a/satrs-example/pytmtc/pytmtc/eps/pcdu.py
+++ b/satrs-example/pytmtc/pytmtc/eps/pcdu.py
--- a/satrs-example/pytmtc/pytmtc/hk.py
+++ b/satrs-example/pytmtc/pytmtc/hk.py
@ -4,7 +4,7 @@ from spacepackets.ecss.pus_3_hk import Subservice
 from spacepackets.ecss import PusTm

 from pytmtc.common import AcsId, Apid
-from pytmtc.mgms import handle_mgm_hk_report
+from pytmtc.acs.mgms import handle_mgm_hk_report


 _LOGGER = logging.getLogger(__name__)
--- a/satrs-example/pytmtc/pytmtc/pus_tc.py
+++ b/satrs-example/pytmtc/pytmtc/pus_tc.py
@ -17,8 +17,9 @@ from tmtccmd.tmtc import (
 )
 from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd

+from pytmtc.acs import create_acs_node
 from pytmtc.common import Apid
-from pytmtc.mgms import create_mgm_cmds
+from pytmtc.acs.mgms import create_mgm_cmds

 _LOGGER = logging.getLogger(__name__)

@ -67,7 +68,6 @@ class TcHandler(TcHandlerBase):


 def create_cmd_definition_tree() -> CmdTreeNode:
-
    root_node = CmdTreeNode.root_node()

    hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
@ -101,15 +101,7 @@ def create_cmd_definition_tree() -> CmdTreeNode:
        )
    )
    root_node.add_child(scheduler_node)
-
-    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
-    mgm_node = CmdTreeNode("mgms", "MGM devices node")
-    mgm_node.add_child(mode_node)
-    mgm_node.add_child(hk_node)
-
-    acs_node.add_child(mgm_node)
-    root_node.add_child(acs_node)
-
+    root_node.add_child(create_acs_node(mode_node, hk_node))
    return root_node


--- a/satrs-example/src/acs/assembly.rs
+++ b/satrs-example/src/acs/assembly.rs
@ -0,0 +1 @@
+// TODO: Write the assembly
--- a/satrs-example/src/acs/ctrl.rs
+++ b/satrs-example/src/acs/ctrl.rs
@ -0,0 +1 @@
+// TODO: Write dummy controller
--- a/satrs-example/src/acs/mgm.rs
+++ b/satrs-example/src/acs/mgm.rs
@ -1,7 +1,8 @@
 use derive_new::new;
 use satrs::hk::{HkRequest, HkRequestVariant};
+use satrs::mode_tree::{ModeChild, ModeNode};
 use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
-use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
+use satrs_example::config::pus::PUS_MODE_SERVICE;
 use satrs_example::{DeviceMode, TimestampHelper};
 use satrs_minisim::acs::lis3mdl::{
    MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
@ -15,15 +16,18 @@ use std::sync::{Arc, Mutex};
 use std::time::Duration;

 use satrs::mode::{
-    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
+    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
+    ModeRequestHandlerMpscBounded,
 };
 use satrs::pus::{EcssTmSender, PusTmVariant};
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
-use satrs_example::config::components::{NO_SENDER, PUS_MODE_SERVICE};
+use satrs_example::config::components::NO_SENDER;

 use crate::hk::PusHkHelper;
 use crate::pus::hk::{HkReply, HkReplyVariant};
 use crate::requests::CompositeRequest;
+use crate::spi::SpiInterface;
+use crate::tmtc::sender::TmTcSender;

 use serde::{Deserialize, Serialize};

@ -48,11 +52,6 @@ pub enum TransitionState {
    Done,
 }

-pub trait SpiInterface {
-    type Error: Debug;
-    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
-}
-
 #[derive(Default)]
 pub struct SpiDummyInterface {
    pub dummy_values: MgmLis3RawValues,
@ -129,12 +128,6 @@ pub struct MgmData {
    pub z: f32,
 }

-pub struct MpscModeLeafInterface {
-    pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
-    pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
-    pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
-}
-
 #[derive(Default)]
 pub struct BufWrapper {
    tx_buf: [u8; 32],
@ -165,16 +158,15 @@ impl Default for ModeHelpers {
 #[allow(clippy::too_many_arguments)]
 pub struct MgmHandlerLis3Mdl<
    ComInterface: SpiInterface,
-    TmSender: EcssTmSender,
    SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
 > {
    id: UniqueApidTargetId,
    dev_str: &'static str,
-    mode_interface: MpscModeLeafInterface,
+    mode_node: ModeRequestHandlerMpscBounded,
    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
+    hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
    switch_helper: SwitchHelper,
-    tm_sender: TmSender,
+    tm_sender: TmTcSender,
    pub com_interface: ComInterface,
    shared_mgm_set: Arc<Mutex<MgmData>>,
    #[new(value = "PusHkHelper::new(id)")]
@ -189,9 +181,8 @@ pub struct MgmHandlerLis3Mdl<

 impl<
        ComInterface: SpiInterface,
-        TmSender: EcssTmSender,
        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
-    > MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+    > MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
 {
    pub fn periodic_operation(&mut self) {
        self.stamp_helper.update_from_now();
@ -274,25 +265,28 @@ impl<
    pub fn handle_mode_requests(&mut self) {
        loop {
            // TODO: Only allow one set mode request per cycle?
-            match self.mode_interface.request_rx.try_recv() {
-                Ok(msg) => {
-                    let result = self.handle_mode_request(msg);
-                    // TODO: Trigger event?
-                    if result.is_err() {
-                        log::warn!(
-                            "{}: mode request failed with error {:?}",
-                            self.dev_str,
-                            result.err().unwrap()
-                        );
-                    }
-                }
-                Err(e) => {
-                    if e != mpsc::TryRecvError::Empty {
-                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+            match self.mode_node.try_recv_mode_request() {
+                Ok(opt_msg) => {
+                    if let Some(msg) = opt_msg {
+                        let result = self.handle_mode_request(msg);
+                        // TODO: Trigger event?
+                        if result.is_err() {
+                            log::warn!(
+                                "{}: mode request failed with error {:?}",
+                                self.dev_str,
+                                result.err().unwrap()
+                            );
+                        }
                    } else {
                        break;
                    }
                }
+                Err(e) => match e {
+                    satrs::queue::GenericReceiveError::Empty => break,
+                    satrs::queue::GenericReceiveError::TxDisconnected(e) => {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    }
+                },
            }
        }
    }
@ -364,9 +358,8 @@ impl<

 impl<
        ComInterface: SpiInterface,
-        TmSender: EcssTmSender,
        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
-    > ModeProvider for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+    > ModeProvider for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
 {
    fn mode_and_submode(&self) -> ModeAndSubmode {
        self.mode_helpers.current
@ -375,9 +368,8 @@ impl<

 impl<
        ComInterface: SpiInterface,
-        TmSender: EcssTmSender,
        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
-    > ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+    > ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
 {
    type Error = ModeError;

@ -385,6 +377,7 @@ impl<
        &mut self,
        requestor: MessageMetadata,
        mode_and_submode: ModeAndSubmode,
+        _forced: bool,
    ) -> Result<(), satrs::mode::ModeError> {
        log::info!(
            "{}: transitioning to mode {:?}",
@ -447,10 +440,9 @@ impl<
                requestor.sender_id()
            );
        }
-        self.mode_interface
-            .reply_to_pus_tx
-            .send(GenericMessage::new(requestor, reply))
-            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
+        self.mode_node
+            .send_mode_reply(requestor, reply)
+            .map_err(ModeError::Send)?;
        Ok(())
    }

@ -463,17 +455,44 @@ impl<
    }
 }

+impl<
+        ComInterface: SpiInterface,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeNode for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
+{
+    fn id(&self) -> satrs::ComponentId {
+        self.id.into()
+    }
+}
+
+impl<
+        ComInterface: SpiInterface,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeChild for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
+{
+    type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
+
+    fn add_mode_parent(&mut self, id: satrs::ComponentId, reply_sender: Self::Sender) {
+        self.mode_node.add_message_target(id, reply_sender);
+    }
+}
+
 #[cfg(test)]
 mod tests {
-    use std::sync::{mpsc, Arc};
+    use std::{
+        collections::HashMap,
+        sync::{mpsc, Arc},
+    };

    use satrs::{
        mode::{ModeReply, ModeRequest},
+        mode_tree::ModeParent,
        power::SwitchStateBinary,
        request::{GenericMessage, UniqueApidTargetId},
        tmtc::PacketAsVec,
+        ComponentId,
    };
-    use satrs_example::config::components::Apid;
+    use satrs_example::config::{acs::MGM_ASSEMBLY, components::Apid};
    use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;

    use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};
@ -501,49 +520,88 @@ mod tests {
        }
    }

+    #[allow(dead_code)]
    pub struct MgmTestbench {
-        pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
+        pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
        pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
        pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
        pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
        pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
        pub tm_rx: mpsc::Receiver<PacketAsVec>,
-        pub handler:
-            MgmHandlerLis3Mdl<TestSpiInterface, mpsc::Sender<PacketAsVec>, TestSwitchHelper>,
+        pub handler: MgmHandlerLis3Mdl<TestSpiInterface, TestSwitchHelper>,
+    }
+
+    #[derive(Default)]
+    pub struct MgmAssemblyMock(
+        pub HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
+    );
+
+    impl ModeNode for MgmAssemblyMock {
+        fn id(&self) -> satrs::ComponentId {
+            PUS_MODE_SERVICE.into()
+        }
+    }
+
+    impl ModeParent for MgmAssemblyMock {
+        type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
+
+        fn add_mode_child(&mut self, id: satrs::ComponentId, request_sender: Self::Sender) {
+            self.0.insert(id, request_sender);
+        }
+    }
+
+    #[derive(Default)]
+    pub struct PusMock {
+        pub request_sender_map: HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
+    }
+
+    impl ModeNode for PusMock {
+        fn id(&self) -> satrs::ComponentId {
+            PUS_MODE_SERVICE.into()
+        }
+    }
+
+    impl ModeParent for PusMock {
+        type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
+
+        fn add_mode_child(&mut self, id: satrs::ComponentId, request_sender: Self::Sender) {
+            self.request_sender_map.insert(id, request_sender);
+        }
    }

    impl MgmTestbench {
        pub fn new() -> Self {
-            let (request_tx, request_rx) = mpsc::channel();
-            let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::channel();
+            let (request_tx, request_rx) = mpsc::sync_channel(5);
+            let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::sync_channel(5);
            let (reply_tx_to_parent, reply_rx_to_parent) = mpsc::sync_channel(5);
-            let mode_interface = MpscModeLeafInterface {
-                request_rx,
-                reply_to_pus_tx: reply_tx_to_pus,
-                reply_to_parent_tx: reply_tx_to_parent,
-            };
+            let id = UniqueApidTargetId::new(Apid::Acs as u16, 1);
+            let mode_node = ModeRequestHandlerMpscBounded::new(id.into(), request_rx);
            let (composite_request_tx, composite_request_rx) = mpsc::channel();
-            let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
-            let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
+            let (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);
+            let (tm_tx, tm_rx) = mpsc::sync_channel(10);
+            let tm_sender = TmTcSender::Heap(tm_tx);
            let shared_mgm_set = Arc::default();
+            let mut handler = MgmHandlerLis3Mdl::new(
+                id,
+                "TEST_MGM",
+                mode_node,
+                composite_request_rx,
+                hk_reply_tx,
+                TestSwitchHelper::default(),
+                tm_sender,
+                TestSpiInterface::default(),
+                shared_mgm_set,
+            );
+            handler.add_mode_parent(PUS_MODE_SERVICE.into(), reply_tx_to_pus);
+            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,
                mode_reply_rx_to_parent: reply_rx_to_parent,
                composite_request_tx,
+                handler,
                tm_rx,
                hk_reply_rx,
-                handler: MgmHandlerLis3Mdl::new(
-                    UniqueApidTargetId::new(Apid::Acs as u16, 1),
-                    "TEST_MGM",
-                    mode_interface,
-                    composite_request_rx,
-                    hk_reply_tx,
-                    TestSwitchHelper::default(),
-                    tm_tx,
-                    TestSpiInterface::default(),
-                    shared_mgm_set,
-                ),
            }
        }
    }
@ -574,7 +632,10 @@ mod tests {
            .mode_request_tx
            .send(GenericMessage::new(
                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
-                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
            ))
            .expect("failed to send mode request");
        testbench.handler.periodic_operation();
@ -632,7 +693,10 @@ mod tests {
            .mode_request_tx
            .send(GenericMessage::new(
                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
-                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
            ))
            .expect("failed to send mode request");
        testbench.handler.periodic_operation();
--- a/satrs-example/src/acs/mod.rs
+++ b/satrs-example/src/acs/mod.rs
@ -1 +1,4 @@
+pub mod assembly;
+pub mod ctrl;
 pub mod mgm;
+pub mod subsystem;
--- a/satrs-example/src/acs/subsystem.rs
+++ b/satrs-example/src/acs/subsystem.rs
@ -0,0 +1 @@
+// TODO: Write subsystem
--- a/satrs-example/src/bin/test.rs
+++ b/satrs-example/src/bin/test.rs
@ -3,7 +3,7 @@
 use crossbeam_channel::{bounded, Receiver, Sender};
 use std::sync::atomic::{AtomicU16, Ordering};
 use std::thread;
-use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned, U16};
+use zerocopy::{FromBytes, Immutable, IntoBytes, NetworkEndian, Unaligned, U16};

 trait FieldDataProvider: Send {
    fn get_data(&self) -> &[u8];
@ -35,7 +35,7 @@ struct ExampleMgmSet {
    temperature: u16,
 }

-#[derive(FromBytes, AsBytes, Unaligned)]
+#[derive(FromBytes, IntoBytes, Immutable, Unaligned)]
 #[repr(C)]
 struct ExampleMgmSetZc {
    mgm_vec: [u8; 12],
--- a/satrs-example/src/config.rs
+++ b/satrs-example/src/config.rs
@ -135,6 +135,33 @@ pub mod components {
        Eps = 6,
    }

+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum EpsId {
+        Pcdu = 0,
+        Subsystem = 1,
+    }
+
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum TmtcId {
+        UdpServer = 0,
+        TcpServer = 1,
+    }
+
+    pub const EPS_SUBSYSTEM: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Subsystem as u32);
+    pub const PCDU_HANDLER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Pcdu as u32);
+    pub const UDP_SERVER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
+    pub const TCP_SERVER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
+    pub const NO_SENDER: ComponentId = ComponentId::MAX;
+}
+
+pub mod pus {
+    use super::components::Apid;
+    use satrs::request::UniqueApidTargetId;
+
    // Component IDs for components with the PUS APID.
    #[derive(Copy, Clone, PartialEq, Eq)]
    pub enum PusId {
@ -145,23 +172,6 @@ pub mod components {
        PusMode = 4,
        PusHk = 5,
    }
-
-    #[derive(Copy, Clone, PartialEq, Eq)]
-    pub enum AcsId {
-        Mgm0 = 0,
-    }
-
-    #[derive(Copy, Clone, PartialEq, Eq)]
-    pub enum EpsId {
-        Pcdu = 0,
-    }
-
-    #[derive(Copy, Clone, PartialEq, Eq)]
-    pub enum TmtcId {
-        UdpServer = 0,
-        TcpServer = 1,
-    }
-
    pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
    pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
@ -176,15 +186,26 @@ pub mod components {
        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
    pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
        UniqueApidTargetId::new(Apid::Sched as u16, 0);
+}
+
+pub mod acs {
+    use super::components::Apid;
+    use satrs::request::UniqueApidTargetId;
+
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum AcsId {
+        Subsystem = 1,
+        Assembly = 2,
+        Mgm0 = 3,
+        Mgm1 = 4,
+    }
+
+    pub const MGM_ASSEMBLY: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Assembly as u32);
    pub const MGM_HANDLER_0: UniqueApidTargetId =
        UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
-    pub const PCDU_HANDLER: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Pcdu as u32);
-    pub const UDP_SERVER: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
-    pub const TCP_SERVER: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
-    pub const NO_SENDER: ComponentId = ComponentId::MAX;
+    pub const MGM_HANDLER_1: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
 }

 pub mod pool {
--- a/satrs-example/src/eps/mod.rs
+++ b/satrs-example/src/eps/mod.rs
@ -88,6 +88,7 @@ impl PowerSwitcherCommandSender<PcduSwitch> for PowerSwitchHelper {
    }
 }

+#[allow(dead_code)]
 #[derive(new)]
 pub struct SwitchRequestInfo {
    pub requestor_info: MessageMetadata,
@ -99,6 +100,7 @@ pub struct SwitchRequestInfo {
 pub struct TestSwitchHelper {
    pub switch_requests: RefCell<VecDeque<SwitchRequestInfo>>,
    pub switch_info_requests: RefCell<VecDeque<PcduSwitch>>,
+    #[allow(dead_code)]
    pub switch_delay_request_count: u32,
    pub next_switch_delay: Duration,
    pub switch_map: RefCell<SwitchMapWrapper>,
--- a/satrs-example/src/eps/pcdu.rs
+++ b/satrs-example/src/eps/pcdu.rs
@ -8,15 +8,22 @@ use derive_new::new;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use satrs::{
    hk::{HkRequest, HkRequestVariant},
-    mode::{ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler},
+    mode::{
+        ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
+        ModeRequestHandlerMpscBounded,
+    },
+    mode_tree::{ModeChild, ModeNode},
    power::SwitchRequest,
    pus::{EcssTmSender, PusTmVariant},
-    queue::{GenericSendError, GenericTargetedMessagingError},
+    queue::GenericSendError,
    request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
    spacepackets::ByteConversionError,
 };
 use satrs_example::{
-    config::components::{NO_SENDER, PUS_MODE_SERVICE},
+    config::{
+        components::{NO_SENDER, PCDU_HANDLER},
+        pus::PUS_MODE_SERVICE,
+    },
    DeviceMode, TimestampHelper,
 };
 use satrs_minisim::{
@ -28,10 +35,10 @@ use satrs_minisim::{
 use serde::{Deserialize, Serialize};

 use crate::{
-    acs::mgm::MpscModeLeafInterface,
    hk::PusHkHelper,
    pus::hk::{HkReply, HkReplyVariant},
    requests::CompositeRequest,
+    tmtc::sender::TmTcSender,
 };

 pub trait SerialInterface {
@ -200,14 +207,14 @@ pub type SharedSwitchSet = Arc<Mutex<SwitchSet>>;
 /// Example PCDU device handler.
 #[derive(new)]
 #[allow(clippy::too_many_arguments)]
-pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
+pub struct PcduHandler<ComInterface: SerialInterface> {
    id: UniqueApidTargetId,
    dev_str: &'static str,
-    mode_interface: MpscModeLeafInterface,
+    mode_node: ModeRequestHandlerMpscBounded,
    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
+    hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
    switch_request_rx: mpsc::Receiver<GenericMessage<SwitchRequest>>,
-    tm_sender: TmSender,
+    tm_sender: TmTcSender,
    pub com_interface: ComInterface,
    shared_switch_map: Arc<Mutex<SwitchSet>>,
    #[new(value = "PusHkHelper::new(id)")]
@ -220,7 +227,7 @@ pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
    tm_buf: [u8; 256],
 }

-impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInterface, TmSender> {
+impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
    pub fn periodic_operation(&mut self, op_code: OpCode) {
        match op_code {
            OpCode::RegularOp => {
@ -324,25 +331,30 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInter
    pub fn handle_mode_requests(&mut self) {
        loop {
            // TODO: Only allow one set mode request per cycle?
-            match self.mode_interface.request_rx.try_recv() {
-                Ok(msg) => {
-                    let result = self.handle_mode_request(msg);
-                    // TODO: Trigger event?
-                    if result.is_err() {
-                        log::warn!(
-                            "{}: mode request failed with error {:?}",
-                            self.dev_str,
-                            result.err().unwrap()
-                        );
-                    }
-                }
-                Err(e) => {
-                    if e != mpsc::TryRecvError::Empty {
-                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+            match self.mode_node.try_recv_mode_request() {
+                Ok(opt_msg) => {
+                    if let Some(msg) = opt_msg {
+                        let result = self.handle_mode_request(msg);
+                        // TODO: Trigger event?
+                        if result.is_err() {
+                            log::warn!(
+                                "{}: mode request failed with error {:?}",
+                                self.dev_str,
+                                result.err().unwrap()
+                            );
+                        }
                    } else {
                        break;
                    }
                }
+                Err(e) => match e {
+                    satrs::queue::GenericReceiveError::Empty => {
+                        break;
+                    }
+                    satrs::queue::GenericReceiveError::TxDisconnected(_) => {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    }
+                },
            }
        }
    }
@ -396,22 +408,19 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInter
    }
 }

-impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeProvider
-    for PcduHandler<ComInterface, TmSender>
-{
+impl<ComInterface: SerialInterface> ModeProvider for PcduHandler<ComInterface> {
    fn mode_and_submode(&self) -> ModeAndSubmode {
        self.mode_and_submode
    }
 }

-impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
-    for PcduHandler<ComInterface, TmSender>
-{
+impl<ComInterface: SerialInterface> ModeRequestHandler for PcduHandler<ComInterface> {
    type Error = ModeError;
    fn start_transition(
        &mut self,
        requestor: MessageMetadata,
        mode_and_submode: ModeAndSubmode,
+        _forced: bool,
    ) -> Result<(), satrs::mode::ModeError> {
        log::info!(
            "{}: transitioning to mode {:?}",
@ -466,10 +475,9 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
                requestor.sender_id()
            );
        }
-        self.mode_interface
-            .reply_to_pus_tx
-            .send(GenericMessage::new(requestor, reply))
-            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
+        self.mode_node
+            .send_mode_reply(requestor, reply)
+            .map_err(|_| GenericSendError::RxDisconnected)?;
        Ok(())
    }

@ -482,6 +490,20 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
    }
 }

+impl<ComInterface: SerialInterface> ModeNode for PcduHandler<ComInterface> {
+    fn id(&self) -> satrs::ComponentId {
+        PCDU_HANDLER.into()
+    }
+}
+
+impl<ComInterface: SerialInterface> ModeChild for PcduHandler<ComInterface> {
+    type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
+
+    fn add_mode_parent(&mut self, id: satrs::ComponentId, reply_sender: Self::Sender) {
+        self.mode_node.add_message_target(id, reply_sender);
+    }
+}
+
 #[cfg(test)]
 mod tests {
    use std::sync::mpsc;
@ -489,7 +511,10 @@ mod tests {
    use satrs::{
        mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
    };
-    use satrs_example::config::components::{Apid, MGM_HANDLER_0};
+    use satrs_example::config::{
+        acs::MGM_HANDLER_0,
+        components::{Apid, EPS_SUBSYSTEM, PCDU_HANDLER},
+    };
    use satrs_minisim::eps::SwitchMapBinary;

    use super::*;
@ -530,31 +555,41 @@ mod tests {
    }

    pub struct PcduTestbench {
-        pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
+        pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
        pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
        pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
        pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
        pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
        pub tm_rx: mpsc::Receiver<PacketAsVec>,
        pub switch_request_tx: mpsc::Sender<GenericMessage<SwitchRequest>>,
-        pub handler: PcduHandler<SerialInterfaceTest, mpsc::Sender<PacketAsVec>>,
+        pub handler: PcduHandler<SerialInterfaceTest>,
    }

    impl PcduTestbench {
        pub fn new() -> Self {
-            let (mode_request_tx, mode_request_rx) = mpsc::channel();
-            let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::channel();
+            let (mode_request_tx, mode_request_rx) = mpsc::sync_channel(5);
+            let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::sync_channel(5);
            let (mode_reply_tx_to_parent, mode_reply_rx_to_parent) = mpsc::sync_channel(5);
-            let mode_interface = MpscModeLeafInterface {
-                request_rx: mode_request_rx,
-                reply_to_pus_tx: mode_reply_tx_to_pus,
-                reply_to_parent_tx: mode_reply_tx_to_parent,
-            };
+            let mode_node =
+                ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), mode_request_rx);
            let (composite_request_tx, composite_request_rx) = mpsc::channel();
-            let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
-            let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
+            let (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);
+            let (tm_tx, tm_rx) = mpsc::sync_channel::<PacketAsVec>(5);
            let (switch_request_tx, switch_reqest_rx) = mpsc::channel();
            let shared_switch_map = Arc::new(Mutex::new(SwitchSet::default()));
+            let mut handler = PcduHandler::new(
+                UniqueApidTargetId::new(Apid::Eps as u16, 0),
+                "TEST_PCDU",
+                mode_node,
+                composite_request_rx,
+                hk_reply_tx,
+                switch_reqest_rx,
+                TmTcSender::Heap(tm_tx.clone()),
+                SerialInterfaceTest::default(),
+                shared_switch_map,
+            );
+            handler.add_mode_parent(EPS_SUBSYSTEM.into(), mode_reply_tx_to_parent);
+            handler.add_mode_parent(PUS_MODE_SERVICE.into(), mode_reply_tx_to_pus);
            Self {
                mode_request_tx,
                mode_reply_rx_to_pus,
@ -563,17 +598,7 @@ mod tests {
                hk_reply_rx,
                tm_rx,
                switch_request_tx,
-                handler: PcduHandler::new(
-                    UniqueApidTargetId::new(Apid::Eps as u16, 0),
-                    "TEST_PCDU",
-                    mode_interface,
-                    composite_request_rx,
-                    hk_reply_tx,
-                    switch_reqest_rx,
-                    tm_tx,
-                    SerialInterfaceTest::default(),
-                    shared_switch_map,
-                ),
+                handler,
            }
        }

@ -660,7 +685,10 @@ mod tests {
            .mode_request_tx
            .send(GenericMessage::new(
                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
-                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
            ))
            .expect("failed to send mode request");
        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
@ -692,7 +720,10 @@ mod tests {
            .mode_request_tx
            .send(GenericMessage::new(
                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
-                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
            ))
            .expect("failed to send mode request");
        testbench
--- a/satrs-example/src/events.rs
+++ b/satrs-example/src/events.rs
@ -16,7 +16,7 @@ use satrs::{
    },
    spacepackets::time::cds::CdsTime,
 };
-use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
+use satrs_example::config::pus::PUS_EVENT_MANAGEMENT;

 use crate::update_time;

--- a/satrs-example/src/interface/tcp.rs
+++ b/satrs-example/src/interface/tcp.rs
@ -1,19 +1,20 @@
 use std::time::Duration;
 use std::{
    collections::{HashSet, VecDeque},
-    fmt::Debug,
-    marker::PhantomData,
    sync::{Arc, Mutex},
 };

 use log::{info, warn};
+use satrs::tmtc::StoreAndSendError;
 use satrs::{
    encoding::ccsds::{SpValidity, SpacePacketValidator},
    hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
    spacepackets::{CcsdsPacket, PacketId},
-    tmtc::{PacketSenderRaw, PacketSource},
+    tmtc::PacketSource,
 };

+use crate::tmtc::sender::TmTcSender;
+
 #[derive(Default)]
 pub struct ConnectionFinishedHandler {}

@ -111,31 +112,23 @@ pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
    SendError,
 >;

-pub struct TcpTask<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>(
-    pub TcpServer<TcSender, SendError>,
-    PhantomData<SendError>,
-);
+pub struct TcpTask(pub TcpServer<TmTcSender, StoreAndSendError>);

-impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
-    TcpTask<TcSender, SendError>
-{
+impl TcpTask {
    pub fn new(
        cfg: ServerConfig,
        tm_source: SyncTcpTmSource,
-        tc_sender: TcSender,
+        tc_sender: TmTcSender,
        valid_ids: HashSet<PacketId>,
    ) -> Result<Self, std::io::Error> {
-        Ok(Self(
-            TcpSpacepacketsServer::new(
-                cfg,
-                tm_source,
-                tc_sender,
-                SimplePacketValidator { valid_ids },
-                ConnectionFinishedHandler::default(),
-                None,
-            )?,
-            PhantomData,
-        ))
+        Ok(Self(TcpSpacepacketsServer::new(
+            cfg,
+            tm_source,
+            tc_sender,
+            SimplePacketValidator { valid_ids },
+            ConnectionFinishedHandler::default(),
+            None,
+        )?))
    }

    pub fn periodic_operation(&mut self) {
--- a/satrs-example/src/interface/udp.rs
+++ b/satrs-example/src/interface/udp.rs
@ -1,15 +1,16 @@
-use core::fmt::Debug;
 use std::net::{SocketAddr, UdpSocket};
 use std::sync::mpsc;

 use log::{info, warn};
 use satrs::pus::HandlingStatus;
-use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
+use satrs::tmtc::{PacketAsVec, PacketInPool, StoreAndSendError};
 use satrs::{
    hal::std::udp_server::{ReceiveResult, UdpTcServer},
    pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
 };

+use crate::tmtc::sender::TmTcSender;
+
 pub trait UdpTmHandler {
    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
 }
@ -65,21 +66,12 @@ impl UdpTmHandler for DynamicUdpTmHandler {
    }
 }

-pub struct UdpTmtcServer<
-    TcSender: PacketSenderRaw<Error = SendError>,
-    TmHandler: UdpTmHandler,
-    SendError,
-> {
-    pub udp_tc_server: UdpTcServer<TcSender, SendError>,
+pub struct UdpTmtcServer<TmHandler: UdpTmHandler> {
+    pub udp_tc_server: UdpTcServer<TmTcSender, StoreAndSendError>,
    pub tm_handler: TmHandler,
 }

-impl<
-        TcSender: PacketSenderRaw<Error = SendError>,
-        TmHandler: UdpTmHandler,
-        SendError: Debug + 'static,
-    > UdpTmtcServer<TcSender, TmHandler, SendError>
-{
+impl<TmHandler: UdpTmHandler> UdpTmtcServer<TmHandler> {
    pub fn periodic_operation(&mut self) {
        loop {
            if self.poll_tc_server() == HandlingStatus::Empty {
@ -115,7 +107,6 @@ impl<
 mod tests {
    use std::net::Ipv4Addr;
    use std::{
-        cell::RefCell,
        collections::VecDeque,
        net::IpAddr,
        sync::{Arc, Mutex},
@ -126,30 +117,16 @@ mod tests {
            ecss::{tc::PusTcCreator, WritablePusPacket},
            SpHeader,
        },
-        tmtc::PacketSenderRaw,
        ComponentId,
    };
    use satrs_example::config::{components, OBSW_SERVER_ADDR};

+    use crate::tmtc::sender::{MockSender, TmTcSender};
+
    use super::*;

    const UDP_SERVER_ID: ComponentId = 0x05;

-    #[derive(Default, Debug)]
-    pub struct TestSender {
-        tc_vec: RefCell<VecDeque<PacketAsVec>>,
-    }
-
-    impl PacketSenderRaw for TestSender {
-        type Error = ();
-
-        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
-            let mut mut_queue = self.tc_vec.borrow_mut();
-            mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
-            Ok(())
-        }
-    }
-
    #[derive(Default, Debug, Clone)]
    pub struct TestTmHandler {
        addrs_to_send_to: Arc<Mutex<VecDeque<SocketAddr>>>,
@ -164,8 +141,7 @@ mod tests {
    #[test]
    fn test_basic() {
        let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
-        let test_receiver = TestSender::default();
-        // let tc_queue = test_receiver.tc_vec.clone();
+        let test_receiver = TmTcSender::Mock(MockSender::default());
        let udp_tc_server =
            UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
        let tm_handler = TestTmHandler::default();
@ -175,7 +151,13 @@ mod tests {
            tm_handler,
        };
        udp_dyn_server.periodic_operation();
-        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
+        let queue = udp_dyn_server
+            .udp_tc_server
+            .tc_sender
+            .get_mock_sender()
+            .unwrap()
+            .0
+            .borrow();
        assert!(queue.is_empty());
        assert!(tm_handler_calls.lock().unwrap().is_empty());
    }
@ -183,8 +165,7 @@ mod tests {
    #[test]
    fn test_transactions() {
        let sock_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), 0);
-        let test_receiver = TestSender::default();
-        // let tc_queue = test_receiver.tc_vec.clone();
+        let test_receiver = TmTcSender::Mock(MockSender::default());
        let udp_tc_server =
            UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
        let server_addr = udp_tc_server.socket.local_addr().unwrap();
@ -204,7 +185,13 @@ mod tests {
        client.send_to(&ping_tc, server_addr).unwrap();
        udp_dyn_server.periodic_operation();
        {
-            let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
+            let mut queue = udp_dyn_server
+                .udp_tc_server
+                .tc_sender
+                .get_mock_sender()
+                .unwrap()
+                .0
+                .borrow_mut();
            assert!(!queue.is_empty());
            let packet_with_sender = queue.pop_front().unwrap();
            assert_eq!(packet_with_sender.packet, ping_tc);
@ -219,7 +206,13 @@ mod tests {
            assert_eq!(received_addr, client_addr);
        }
        udp_dyn_server.periodic_operation();
-        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
+        let queue = udp_dyn_server
+            .udp_tc_server
+            .tc_sender
+            .get_mock_sender()
+            .unwrap()
+            .0
+            .borrow();
        assert!(queue.is_empty());
        drop(queue);
        // Still tries to send to the same client.
--- a/satrs-example/src/main.rs
+++ b/satrs-example/src/main.rs
@ -1,3 +1,73 @@
+use std::{
+    net::{IpAddr, SocketAddr},
+    sync::{mpsc, Arc, Mutex},
+    thread,
+    time::Duration,
+};
+
+use acs::mgm::{MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper};
+use eps::{
+    pcdu::{PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper},
+    PowerSwitchHelper,
+};
+use events::EventHandler;
+use interface::{
+    sim_client_udp::create_sim_client,
+    tcp::{SyncTcpTmSource, TcpTask},
+    udp::UdpTmtcServer,
+};
+use log::info;
+use logger::setup_logger;
+use pus::{
+    action::create_action_service,
+    event::create_event_service,
+    hk::create_hk_service,
+    mode::create_mode_service,
+    scheduler::{create_scheduler_service, TcReleaser},
+    stack::PusStack,
+    test::create_test_service,
+    PusTcDistributor, PusTcMpscRouter,
+};
+use requests::GenericRequestRouter;
+use satrs::{
+    hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
+    mode::{Mode, ModeAndSubmode, ModeRequest, ModeRequestHandlerMpscBounded},
+    mode_tree::connect_mode_nodes,
+    pus::{event_man::EventRequestWithToken, EcssTcInMemConverter, HandlingStatus},
+    request::{GenericMessage, MessageMetadata},
+    spacepackets::time::{cds::CdsTime, TimeWriter},
+};
+use satrs_example::{
+    config::{
+        acs::{MGM_HANDLER_0, MGM_HANDLER_1},
+        components::{NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER},
+        pool::create_sched_tc_pool,
+        tasks::{FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS},
+        OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT,
+    },
+    DeviceMode,
+};
+use tmtc::sender::TmTcSender;
+use tmtc::{tc_source::TcSourceTask, tm_sink::TmSink};
+
+cfg_if::cfg_if! {
+    if #[cfg(feature = "heap_tmtc")] {
+        use interface::udp::DynamicUdpTmHandler;
+        use satrs::pus::EcssTcInVecConverter;
+        use tmtc::{tc_source::TcSourceTaskDynamic, tm_sink::TmSinkDynamic};
+    } else {
+        use std::sync::RwLock;
+        use interface::udp::StaticUdpTmHandler;
+        use satrs::pus::EcssTcInSharedPoolConverter;
+        use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
+        use satrs_example::config::pool::create_static_pools;
+        use tmtc::{
+            tc_source::TcSourceTaskStatic,
+            tm_sink::TmSinkStatic,
+        };
+    }
+}
+
 mod acs;
 mod eps;
 mod events;
@ -6,106 +76,74 @@ mod interface;
 mod logger;
 mod pus;
 mod requests;
+mod spi;
 mod tmtc;

-use crate::eps::pcdu::{
-    PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
-};
-use crate::eps::PowerSwitchHelper;
-use crate::events::EventHandler;
-use crate::interface::udp::DynamicUdpTmHandler;
-use crate::pus::stack::PusStack;
-use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
-use crate::tmtc::tm_sink::{TmSinkDynamic, TmSinkStatic};
-use log::info;
-use pus::test::create_test_service_dynamic;
-use satrs::hal::std::tcp_server::ServerConfig;
-use satrs::hal::std::udp_server::UdpTcServer;
-use satrs::pus::HandlingStatus;
-use satrs::request::{GenericMessage, MessageMetadata};
-use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
-use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
-use satrs_example::config::tasks::{
-    FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS,
-};
-use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
-use satrs_example::DeviceMode;
+fn main() {
+    setup_logger().expect("setting up logging with fern failed");
+    println!("Running OBSW example");

-use crate::acs::mgm::{
-    MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface, SpiSimInterface,
-    SpiSimInterfaceWrapper,
-};
-use crate::interface::sim_client_udp::create_sim_client;
-use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
-use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
-use crate::logger::setup_logger;
-use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
-use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
-use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
-use crate::pus::mode::{create_mode_service_dynamic, create_mode_service_static};
-use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
-use crate::pus::test::create_test_service_static;
-use crate::pus::{PusTcDistributor, PusTcMpscRouter};
-use crate::requests::{CompositeRequest, GenericRequestRouter};
-use satrs::mode::{Mode, ModeAndSubmode, ModeRequest};
-use satrs::pus::event_man::EventRequestWithToken;
-use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
-use satrs_example::config::components::{
-    MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER,
-};
-use std::net::{IpAddr, SocketAddr};
-use std::sync::{mpsc, Mutex};
-use std::sync::{Arc, RwLock};
-use std::thread;
-use std::time::Duration;
+    cfg_if::cfg_if! {
+        if #[cfg(not(feature = "heap_tmtc"))] {
+            let (tm_pool, tc_pool) = create_static_pools();
+            let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
+            let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
+            let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
+            let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
+        }
+    }

-#[allow(dead_code)]
-fn static_tmtc_pool_main() {
-    let (tm_pool, tc_pool) = create_static_pools();
-    let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
-    let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
-    let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
-    let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
    let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
    let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
    let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);

-    let tm_sink_tx_sender =
-        PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
+    cfg_if::cfg_if! {
+        if #[cfg(not(feature = "heap_tmtc"))] {
+            let tm_sender = TmTcSender::Static(
+                PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone())
+            );
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let tm_sender = TmTcSender::Heap(tm_sink_tx.clone());
+        }
+    }

    let (sim_request_tx, sim_request_rx) = mpsc::channel();
-    let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
+    let (mgm_0_sim_reply_tx, mgm_0_sim_reply_rx) = mpsc::channel();
+    let (mgm_1_sim_reply_tx, mgm_1_sim_reply_rx) = mpsc::channel();
    let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
    let mut opt_sim_client = create_sim_client(sim_request_rx);

-    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
-        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
-    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
-        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(30);
-
-    let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
-        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
-    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
-        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
+    let (mgm_0_handler_composite_tx, mgm_0_handler_composite_rx) = mpsc::sync_channel(10);
+    let (mgm_1_handler_composite_tx, mgm_1_handler_composite_rx) = mpsc::sync_channel(10);
+    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) = mpsc::sync_channel(30);
+    let (mgm_0_handler_mode_tx, mgm_0_handler_mode_rx) = mpsc::sync_channel(5);
+    let (mgm_1_handler_mode_tx, mgm_1_handler_mode_rx) = mpsc::sync_channel(5);
+    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) = mpsc::sync_channel(5);

    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
    let mut request_map = GenericRequestRouter::default();
    request_map
        .composite_router_map
-        .insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
+        .insert(MGM_HANDLER_0.id(), mgm_0_handler_composite_tx);
    request_map
-        .mode_router_map
-        .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
+        .composite_router_map
+        .insert(MGM_HANDLER_0.id(), mgm_1_handler_composite_tx);
    request_map
        .composite_router_map
        .insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
-    request_map
-        .mode_router_map
-        .insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());

    // This helper structure is used by all telecommand providers which need to send telecommands
    // to the TC source.
-    let tc_source = PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
+    cfg_if::cfg_if! {
+        if #[cfg(not(feature = "heap_tmtc"))] {
+            let tc_sender_with_shared_pool =
+                PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
+            let tc_in_mem_converter =
+                EcssTcInMemConverter::Static(EcssTcInSharedPoolConverter::new(shared_tc_pool, 4096));
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let tc_in_mem_converter = EcssTcInMemConverter::Heap(EcssTcInVecConverter::default());
+        }
+    }

    // Create event handling components
    // These sender handles are used to send event requests, for example to enable or disable
@ -117,17 +155,24 @@ fn static_tmtc_pool_main() {
    // in the sat-rs documentation.
    let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);

-    let (pus_test_tx, pus_test_rx) = mpsc::channel();
-    let (pus_event_tx, pus_event_rx) = mpsc::channel();
-    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
-    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
-    let (pus_action_tx, pus_action_rx) = mpsc::channel();
-    let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
+    let (pus_test_tx, pus_test_rx) = mpsc::sync_channel(20);
+    let (pus_event_tx, pus_event_rx) = mpsc::sync_channel(10);
+    let (pus_sched_tx, pus_sched_rx) = mpsc::sync_channel(50);
+    let (pus_hk_tx, pus_hk_rx) = mpsc::sync_channel(50);
+    let (pus_action_tx, pus_action_rx) = mpsc::sync_channel(50);
+    let (pus_mode_tx, pus_mode_rx) = mpsc::sync_channel(50);

    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
-    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
-    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
+    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::sync_channel(50);
+    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(30);

+    cfg_if::cfg_if! {
+        if #[cfg(not(feature = "heap_tmtc"))] {
+            let tc_releaser = TcReleaser::Static(tc_sender_with_shared_pool.clone());
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let tc_releaser = TcReleaser::Heap(tc_source_tx.clone());
+        }
+    }
    let pus_router = PusTcMpscRouter {
        test_tc_sender: pus_test_tx,
        event_tc_sender: pus_event_tx,
@ -136,41 +181,42 @@ fn static_tmtc_pool_main() {
        action_tc_sender: pus_action_tx,
        mode_tc_sender: pus_mode_tx,
    };
-    let pus_test_service = create_test_service_static(
-        tm_sink_tx_sender.clone(),
-        shared_tc_pool.clone(),
+    let pus_test_service = create_test_service(
+        tm_sender.clone(),
+        tc_in_mem_converter.clone(),
        event_tx.clone(),
        pus_test_rx,
    );
-    let pus_scheduler_service = create_scheduler_service_static(
-        tm_sink_tx_sender.clone(),
-        tc_source.clone(),
+    let pus_scheduler_service = create_scheduler_service(
+        tm_sender.clone(),
+        tc_in_mem_converter.clone(),
+        tc_releaser,
        pus_sched_rx,
        create_sched_tc_pool(),
    );
-    let pus_event_service = create_event_service_static(
-        tm_sink_tx_sender.clone(),
-        shared_tc_pool.clone(),
+    let pus_event_service = create_event_service(
+        tm_sender.clone(),
+        tc_in_mem_converter.clone(),
        pus_event_rx,
        event_request_tx,
    );
-    let pus_action_service = create_action_service_static(
-        tm_sink_tx_sender.clone(),
-        shared_tc_pool.clone(),
+    let pus_action_service = create_action_service(
+        tm_sender.clone(),
+        tc_in_mem_converter.clone(),
        pus_action_rx,
        request_map.clone(),
        pus_action_reply_rx,
    );
-    let pus_hk_service = create_hk_service_static(
-        tm_sink_tx_sender.clone(),
-        shared_tc_pool.clone(),
+    let pus_hk_service = create_hk_service(
+        tm_sender.clone(),
+        tc_in_mem_converter.clone(),
        pus_hk_rx,
        request_map.clone(),
        pus_hk_reply_rx,
    );
-    let pus_mode_service = create_mode_service_static(
-        tm_sink_tx_sender.clone(),
-        shared_tc_pool.clone(),
+    let pus_mode_service = create_mode_service(
+        tm_sender.clone(),
+        tc_in_mem_converter.clone(),
        pus_mode_rx,
        request_map,
        pus_mode_reply_rx,
@ -184,21 +230,36 @@ fn static_tmtc_pool_main() {
        pus_mode_service,
    );

-    let mut tmtc_task = TcSourceTaskStatic::new(
-        shared_tc_pool_wrapper.clone(),
-        tc_source_rx,
-        PusTcDistributor::new(tm_sink_tx_sender, pus_router),
-    );
+    cfg_if::cfg_if! {
+        if #[cfg(not(feature = "heap_tmtc"))] {
+            let mut tmtc_task = TcSourceTask::Static(TcSourceTaskStatic::new(
+                shared_tc_pool_wrapper.clone(),
+                tc_source_rx,
+                PusTcDistributor::new(tm_sender.clone(), pus_router),
+            ));
+            let tc_sender = TmTcSender::Static(tc_sender_with_shared_pool);
+            let udp_tm_handler = StaticUdpTmHandler {
+                tm_rx: tm_server_rx,
+                tm_store: shared_tm_pool.clone(),
+            };
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let mut tmtc_task = TcSourceTask::Heap(TcSourceTaskDynamic::new(
+                tc_source_rx,
+                PusTcDistributor::new(tm_sender.clone(), pus_router),
+            ));
+            let tc_sender = TmTcSender::Heap(tc_source_tx.clone());
+            let udp_tm_handler = DynamicUdpTmHandler {
+                tm_rx: tm_server_rx,
+            };
+        }
+    }

    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source.clone())
+    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_sender.clone())
        .expect("creating UDP TMTC server failed");
    let mut udp_tmtc_server = UdpTmtcServer {
        udp_tc_server,
-        tm_handler: StaticUdpTmHandler {
-            tm_rx: tm_server_rx,
-            tm_store: shared_tm_pool.clone(),
-        },
+        tm_handler: udp_tm_handler,
    };

    let tcp_server_cfg = ServerConfig::new(
@ -212,60 +273,96 @@ fn static_tmtc_pool_main() {
    let mut tcp_server = TcpTask::new(
        tcp_server_cfg,
        sync_tm_tcp_source.clone(),
-        tc_source.clone(),
+        tc_sender,
        PACKET_ID_VALIDATOR.clone(),
    )
    .expect("tcp server creation failed");

-    let mut tm_sink = TmSinkStatic::new(
-        shared_tm_pool_wrapper,
-        sync_tm_tcp_source,
-        tm_sink_rx,
-        tm_server_tx,
-    );
-
-    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
-        mpsc::sync_channel(5);
+    cfg_if::cfg_if! {
+        if #[cfg(not(feature = "heap_tmtc"))] {
+            let mut tm_sink = TmSink::Static(TmSinkStatic::new(
+                shared_tm_pool_wrapper,
+                sync_tm_tcp_source,
+                tm_sink_rx,
+                tm_server_tx,
+            ));
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let mut tm_sink = TmSink::Heap(TmSinkDynamic::new(
+                sync_tm_tcp_source,
+                tm_sink_rx,
+                tm_server_tx,
+            ));
+        }
+    }

    let shared_switch_set = Arc::new(Mutex::default());
    let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
    let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());

-    let shared_mgm_set = Arc::default();
-    let mgm_mode_leaf_interface = MpscModeLeafInterface {
-        request_rx: mgm_handler_mode_rx,
-        reply_to_pus_tx: pus_mode_reply_tx.clone(),
-        reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
-    };
-
-    let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
-        sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
-        SpiSimInterfaceWrapper::Sim(SpiSimInterface {
-            sim_request_tx: sim_request_tx.clone(),
-            sim_reply_rx: mgm_sim_reply_rx,
-        })
-    } else {
-        SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
-    };
-    let mut mgm_handler = MgmHandlerLis3Mdl::new(
+    let shared_mgm_0_set = Arc::default();
+    let shared_mgm_1_set = Arc::default();
+    let mgm_0_mode_node =
+        ModeRequestHandlerMpscBounded::new(MGM_HANDLER_0.into(), mgm_0_handler_mode_rx);
+    let mgm_1_mode_node =
+        ModeRequestHandlerMpscBounded::new(MGM_HANDLER_1.into(), mgm_1_handler_mode_rx);
+    let (mgm_0_spi_interface, mgm_1_spi_interface) =
+        if let Some(sim_client) = opt_sim_client.as_mut() {
+            sim_client
+                .add_reply_recipient(satrs_minisim::SimComponent::Mgm0Lis3Mdl, mgm_0_sim_reply_tx);
+            sim_client
+                .add_reply_recipient(satrs_minisim::SimComponent::Mgm1Lis3Mdl, mgm_1_sim_reply_tx);
+            (
+                SpiSimInterfaceWrapper::Sim(SpiSimInterface {
+                    sim_request_tx: sim_request_tx.clone(),
+                    sim_reply_rx: mgm_0_sim_reply_rx,
+                }),
+                SpiSimInterfaceWrapper::Sim(SpiSimInterface {
+                    sim_request_tx: sim_request_tx.clone(),
+                    sim_reply_rx: mgm_1_sim_reply_rx,
+                }),
+            )
+        } else {
+            (
+                SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
+                SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
+            )
+        };
+    let mut mgm_0_handler = MgmHandlerLis3Mdl::new(
        MGM_HANDLER_0,
        "MGM_0",
-        mgm_mode_leaf_interface,
-        mgm_handler_composite_rx,
+        mgm_0_mode_node,
+        mgm_0_handler_composite_rx,
        pus_hk_reply_tx.clone(),
        switch_helper.clone(),
-        tm_sink_tx.clone(),
-        mgm_spi_interface,
-        shared_mgm_set,
+        tm_sender.clone(),
+        mgm_0_spi_interface,
+        shared_mgm_0_set,
+    );
+    let mut mgm_1_handler = MgmHandlerLis3Mdl::new(
+        MGM_HANDLER_1,
+        "MGM_1",
+        mgm_1_mode_node,
+        mgm_1_handler_composite_rx,
+        pus_hk_reply_tx.clone(),
+        switch_helper.clone(),
+        tm_sender.clone(),
+        mgm_1_spi_interface,
+        shared_mgm_1_set,
+    );
+    // Connect PUS service to device handlers.
+    connect_mode_nodes(
+        &mut pus_stack.mode_srv,
+        mgm_0_handler_mode_tx,
+        &mut mgm_0_handler,
+        pus_mode_reply_tx.clone(),
+    );
+    connect_mode_nodes(
+        &mut pus_stack.mode_srv,
+        mgm_1_handler_mode_tx,
+        &mut mgm_1_handler,
+        pus_mode_reply_tx.clone(),
    );

-    let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
-        mpsc::sync_channel(10);
-    let pcdu_mode_leaf_interface = MpscModeLeafInterface {
-        request_rx: pcdu_handler_mode_rx,
-        reply_to_pus_tx: pus_mode_reply_tx,
-        reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_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);
        SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
@ -275,23 +372,34 @@ fn static_tmtc_pool_main() {
    } else {
        SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
    };
-
+    let pcdu_mode_node =
+        ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), pcdu_handler_mode_rx);
    let mut pcdu_handler = PcduHandler::new(
        PCDU_HANDLER,
        "PCDU",
-        pcdu_mode_leaf_interface,
+        pcdu_mode_node,
        pcdu_handler_composite_rx,
        pus_hk_reply_tx,
        switch_request_rx,
-        tm_sink_tx,
+        tm_sender.clone(),
        pcdu_serial_interface,
        shared_switch_set,
    );
+    connect_mode_nodes(
+        &mut pus_stack.mode_srv,
+        pcdu_handler_mode_tx.clone(),
+        &mut pcdu_handler,
+        pus_mode_reply_tx,
+    );
+
    // The PCDU is a critical component which should be in normal mode immediately.
    pcdu_handler_mode_tx
        .send(GenericMessage::new(
            MessageMetadata::new(0, NO_SENDER),
-            ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
+            ModeRequest::SetMode {
+                mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as Mode, 0),
+                forced: false,
+            },
        ))
        .expect("sending initial mode request failed");

@ -346,7 +454,8 @@ fn static_tmtc_pool_main() {
    let jh_aocs = thread::Builder::new()
        .name("sat-rs aocs".to_string())
        .spawn(move || loop {
-            mgm_handler.periodic_operation();
+            mgm_0_handler.periodic_operation();
+            mgm_1_handler.periodic_operation();
            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
        })
        .unwrap();
@ -357,11 +466,13 @@ fn static_tmtc_pool_main() {
        .spawn(move || loop {
            // TODO: We should introduce something like a fixed timeslot helper to allow a more
            // declarative API. It would also be very useful for the AOCS task.
-            pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
+            //
+            // TODO: The fixed timeslot handler exists.. use it.
+            pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::RegularOp);
            thread::sleep(Duration::from_millis(50));
-            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
            thread::sleep(Duration::from_millis(50));
-            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
            thread::sleep(Duration::from_millis(300));
        })
        .unwrap();
@ -397,322 +508,6 @@ fn static_tmtc_pool_main() {
        .expect("Joining PUS handler thread failed");
 }

-#[allow(dead_code)]
-fn dyn_tmtc_pool_main() {
-    let (tc_source_tx, tc_source_rx) = mpsc::channel();
-    let (tm_sink_tx, tm_sink_rx) = mpsc::channel();
-    let (tm_server_tx, tm_server_rx) = mpsc::channel();
-
-    let (sim_request_tx, sim_request_rx) = mpsc::channel();
-    let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
-    let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
-    let mut opt_sim_client = create_sim_client(sim_request_rx);
-
-    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
-        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(5);
-    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
-        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
-    let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
-        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
-    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
-        mpsc::sync_channel::<GenericMessage<ModeRequest>>(10);
-
-    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let mut request_map = GenericRequestRouter::default();
-    request_map
-        .composite_router_map
-        .insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
-    request_map
-        .mode_router_map
-        .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
-    request_map
-        .composite_router_map
-        .insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
-    request_map
-        .mode_router_map
-        .insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());
-
-    // Create event handling components
-    // These sender handles are used to send event requests, for example to enable or disable
-    // certain events.
-    let (event_tx, event_rx) = mpsc::sync_channel(100);
-    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
-    // The event task is the core handler to perform the event routing and TM handling as specified
-    // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
-
-    let (pus_test_tx, pus_test_rx) = mpsc::channel();
-    let (pus_event_tx, pus_event_rx) = mpsc::channel();
-    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
-    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
-    let (pus_action_tx, pus_action_rx) = mpsc::channel();
-    let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
-
-    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
-    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
-    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
-
-    let pus_router = PusTcMpscRouter {
-        test_tc_sender: pus_test_tx,
-        event_tc_sender: pus_event_tx,
-        sched_tc_sender: pus_sched_tx,
-        hk_tc_sender: pus_hk_tx,
-        action_tc_sender: pus_action_tx,
-        mode_tc_sender: pus_mode_tx,
-    };
-
-    let pus_test_service =
-        create_test_service_dynamic(tm_sink_tx.clone(), event_tx.clone(), pus_test_rx);
-    let pus_scheduler_service = create_scheduler_service_dynamic(
-        tm_sink_tx.clone(),
-        tc_source_tx.clone(),
-        pus_sched_rx,
-        create_sched_tc_pool(),
-    );
-
-    let pus_event_service =
-        create_event_service_dynamic(tm_sink_tx.clone(), pus_event_rx, event_request_tx);
-    let pus_action_service = create_action_service_dynamic(
-        tm_sink_tx.clone(),
-        pus_action_rx,
-        request_map.clone(),
-        pus_action_reply_rx,
-    );
-    let pus_hk_service = create_hk_service_dynamic(
-        tm_sink_tx.clone(),
-        pus_hk_rx,
-        request_map.clone(),
-        pus_hk_reply_rx,
-    );
-    let pus_mode_service = create_mode_service_dynamic(
-        tm_sink_tx.clone(),
-        pus_mode_rx,
-        request_map,
-        pus_mode_reply_rx,
-    );
-    let mut pus_stack = PusStack::new(
-        pus_test_service,
-        pus_hk_service,
-        pus_event_service,
-        pus_action_service,
-        pus_scheduler_service,
-        pus_mode_service,
-    );
-
-    let mut tmtc_task = TcSourceTaskDynamic::new(
-        tc_source_rx,
-        PusTcDistributor::new(tm_sink_tx.clone(), pus_router),
-    );
-
-    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source_tx.clone())
-        .expect("creating UDP TMTC server failed");
-    let mut udp_tmtc_server = UdpTmtcServer {
-        udp_tc_server,
-        tm_handler: DynamicUdpTmHandler {
-            tm_rx: tm_server_rx,
-        },
-    };
-
-    let tcp_server_cfg = ServerConfig::new(
-        TCP_SERVER.id(),
-        sock_addr,
-        Duration::from_millis(400),
-        4096,
-        8192,
-    );
-    let sync_tm_tcp_source = SyncTcpTmSource::new(200);
-    let mut tcp_server = TcpTask::new(
-        tcp_server_cfg,
-        sync_tm_tcp_source.clone(),
-        tc_source_tx.clone(),
-        PACKET_ID_VALIDATOR.clone(),
-    )
-    .expect("tcp server creation failed");
-
-    let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_sink_rx, tm_server_tx);
-
-    let shared_switch_set = Arc::new(Mutex::default());
-    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_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
-        mpsc::sync_channel(5);
-    let shared_mgm_set = Arc::default();
-    let mode_leaf_interface = MpscModeLeafInterface {
-        request_rx: mgm_handler_mode_rx,
-        reply_to_pus_tx: pus_mode_reply_tx.clone(),
-        reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
-    };
-
-    let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
-        sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
-        SpiSimInterfaceWrapper::Sim(SpiSimInterface {
-            sim_request_tx: sim_request_tx.clone(),
-            sim_reply_rx: mgm_sim_reply_rx,
-        })
-    } else {
-        SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
-    };
-    let mut mgm_handler = MgmHandlerLis3Mdl::new(
-        MGM_HANDLER_0,
-        "MGM_0",
-        mode_leaf_interface,
-        mgm_handler_composite_rx,
-        pus_hk_reply_tx.clone(),
-        switch_helper.clone(),
-        tm_sink_tx.clone(),
-        mgm_spi_interface,
-        shared_mgm_set,
-    );
-
-    let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
-        mpsc::sync_channel(10);
-    let pcdu_mode_leaf_interface = MpscModeLeafInterface {
-        request_rx: pcdu_handler_mode_rx,
-        reply_to_pus_tx: pus_mode_reply_tx,
-        reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_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);
-        SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
-            sim_request_tx.clone(),
-            pcdu_sim_reply_rx,
-        ))
-    } else {
-        SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
-    };
-    let mut pcdu_handler = PcduHandler::new(
-        PCDU_HANDLER,
-        "PCDU",
-        pcdu_mode_leaf_interface,
-        pcdu_handler_composite_rx,
-        pus_hk_reply_tx,
-        switch_request_rx,
-        tm_sink_tx,
-        pcdu_serial_interface,
-        shared_switch_set,
-    );
-    // The PCDU is a critical component which should be in normal mode immediately.
-    pcdu_handler_mode_tx
-        .send(GenericMessage::new(
-            MessageMetadata::new(0, NO_SENDER),
-            ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
-        ))
-        .expect("sending initial mode request failed");
-
-    info!("Starting TMTC and UDP task");
-    let jh_udp_tmtc = thread::Builder::new()
-        .name("sat-rs tmtc-udp".to_string())
-        .spawn(move || {
-            info!("Running UDP server on port {SERVER_PORT}");
-            loop {
-                udp_tmtc_server.periodic_operation();
-                tmtc_task.periodic_operation();
-                thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
-            }
-        })
-        .unwrap();
-
-    info!("Starting TCP task");
-    let jh_tcp = thread::Builder::new()
-        .name("sat-rs tcp".to_string())
-        .spawn(move || {
-            info!("Running TCP server on port {SERVER_PORT}");
-            loop {
-                tcp_server.periodic_operation();
-            }
-        })
-        .unwrap();
-
-    info!("Starting TM funnel task");
-    let jh_tm_funnel = thread::Builder::new()
-        .name("sat-rs tm-sink".to_string())
-        .spawn(move || loop {
-            tm_funnel.operation();
-        })
-        .unwrap();
-
-    let mut opt_jh_sim_client = None;
-    if let Some(mut sim_client) = opt_sim_client {
-        info!("Starting UDP sim client task");
-        opt_jh_sim_client = Some(
-            thread::Builder::new()
-                .name("sat-rs sim adapter".to_string())
-                .spawn(move || loop {
-                    if sim_client.operation() == HandlingStatus::Empty {
-                        std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
-                    }
-                })
-                .unwrap(),
-        );
-    }
-
-    info!("Starting AOCS thread");
-    let jh_aocs = thread::Builder::new()
-        .name("sat-rs aocs".to_string())
-        .spawn(move || loop {
-            mgm_handler.periodic_operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
-        })
-        .unwrap();
-
-    info!("Starting EPS thread");
-    let jh_eps = thread::Builder::new()
-        .name("sat-rs eps".to_string())
-        .spawn(move || loop {
-            // TODO: We should introduce something like a fixed timeslot helper to allow a more
-            // declarative API. It would also be very useful for the AOCS task.
-            pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
-            thread::sleep(Duration::from_millis(50));
-            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
-            thread::sleep(Duration::from_millis(50));
-            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
-            thread::sleep(Duration::from_millis(300));
-        })
-        .unwrap();
-
-    info!("Starting PUS handler thread");
-    let jh_pus_handler = thread::Builder::new()
-        .name("sat-rs pus".to_string())
-        .spawn(move || loop {
-            pus_stack.periodic_operation();
-            event_handler.periodic_operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
-        })
-        .unwrap();
-
-    jh_udp_tmtc
-        .join()
-        .expect("Joining UDP TMTC server thread failed");
-    jh_tcp
-        .join()
-        .expect("Joining TCP TMTC server thread failed");
-    jh_tm_funnel
-        .join()
-        .expect("Joining TM Funnel thread failed");
-    if let Some(jh_sim_client) = opt_jh_sim_client {
-        jh_sim_client
-            .join()
-            .expect("Joining SIM client thread failed");
-    }
-    jh_aocs.join().expect("Joining AOCS thread failed");
-    jh_eps.join().expect("Joining EPS thread failed");
-    jh_pus_handler
-        .join()
-        .expect("Joining PUS handler thread failed");
-}
-
-fn main() {
-    setup_logger().expect("setting up logging with fern failed");
-    println!("Running OBSW example");
-    #[cfg(not(feature = "dyn_tmtc"))]
-    static_tmtc_pool_main();
-    #[cfg(feature = "dyn_tmtc")]
-    dyn_tmtc_pool_main();
-}
-
 pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
    time_provider
        .update_from_now()
--- a/satrs-example/src/pus/action.rs
+++ b/satrs-example/src/pus/action.rs
@ -1,6 +1,5 @@
 use log::warn;
 use satrs::action::{ActionRequest, ActionRequestVariant};
-use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::action::{
    ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
 };
@ -10,21 +9,20 @@ use satrs::pus::verification::{
    VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
-    MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler, PusServiceHelper,
-    PusTcToRequestConverter,
+    ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTmSender, EcssTmtcError,
+    GenericConversionError, MpscTcReceiver, PusPacketHandlingError, PusReplyHandler,
+    PusServiceHelper, PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket, PusServiceId};
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
-use satrs_example::config::components::PUS_ACTION_SERVICE;
+use satrs_example::config::pus::PUS_ACTION_SERVICE;
 use satrs_example::config::tmtc_err;
 use std::sync::mpsc;
 use std::time::Duration;

 use crate::requests::GenericRequestRouter;
+use crate::tmtc::sender::TmTcSender;

 use super::{
    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
@ -207,20 +205,20 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
    }
 }

-pub fn create_action_service_static(
-    tm_sender: PacketSenderWithSharedPool,
-    tc_pool: SharedStaticMemoryPool,
+pub fn create_action_service(
+    tm_sender: TmTcSender,
+    tc_in_mem_converter: EcssTcInMemConverter,
    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
    action_router: GenericRequestRouter,
    reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
-) -> ActionServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> ActionServiceWrapper {
    let action_request_handler = PusTargetedRequestService::new(
        PusServiceHelper::new(
            PUS_ACTION_SERVICE.id(),
            pus_action_rx,
            tm_sender,
            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
-            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
+            tc_in_mem_converter,
        ),
        ActionRequestConverter::default(),
        // TODO: Implementation which does not use run-time allocation? Maybe something like
@ -235,36 +233,9 @@ pub fn create_action_service_static(
    }
 }

-pub fn create_action_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
-    action_router: GenericRequestRouter,
-    reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
-) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    let action_request_handler = PusTargetedRequestService::new(
-        PusServiceHelper::new(
-            PUS_ACTION_SERVICE.id(),
-            pus_action_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        ActionRequestConverter::default(),
-        DefaultActiveActionRequestMap::default(),
-        ActionReplyHandler::default(),
-        action_router,
-        reply_receiver,
-    );
-    ActionServiceWrapper {
-        service: action_request_handler,
-    }
-}
-
-pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+pub struct ActionServiceWrapper {
    pub(crate) service: PusTargetedRequestService<
        MpscTcReceiver,
-        TmSender,
-        TcInMemConverter,
        VerificationReporter,
        ActionRequestConverter,
        ActionReplyHandler,
@ -275,9 +246,7 @@ pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTc
    >,
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
-    for ActionServiceWrapper<TmSender, TcInMemConverter>
-{
+impl TargetedPusService for ActionServiceWrapper {
    const SERVICE_ID: u8 = PusServiceId::Action as u8;
    const SERVICE_STR: &'static str = "action";

@ -303,9 +272,10 @@ mod tests {
    use satrs::pus::test_util::{
        TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
    };
-    use satrs::pus::verification;
    use satrs::pus::verification::test_util::TestVerificationReporter;
+    use satrs::pus::{verification, EcssTcInVecConverter};
    use satrs::request::MessageMetadata;
+    use satrs::tmtc::PacketAsVec;
    use satrs::ComponentId;
    use satrs::{
        res_code::ResultU16,
@ -338,7 +308,7 @@ mod tests {
    {
        pub fn new_for_action(owner_id: ComponentId, target_id: ComponentId) -> Self {
            let _ = env_logger::builder().is_test(true).try_init();
-            let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+            let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(5);
            let (pus_action_tx, pus_action_rx) = mpsc::channel();
            let (action_reply_tx, action_reply_rx) = mpsc::channel();
            let (action_req_tx, action_req_rx) = mpsc::sync_channel(10);
@ -352,9 +322,9 @@ mod tests {
                    PusServiceHelper::new(
                        owner_id,
                        pus_action_rx,
-                        tm_funnel_tx.clone(),
+                        TmTcSender::Heap(tm_funnel_tx.clone()),
                        verif_reporter,
-                        EcssTcInVecConverter::default(),
+                        EcssTcInMemConverter::Heap(EcssTcInVecConverter::default()),
                    ),
                    ActionRequestConverter::default(),
                    DefaultActiveActionRequestMap::default(),
--- a/satrs-example/src/pus/event.rs
+++ b/satrs-example/src/pus/event.rs
@ -1,34 +1,32 @@
 use std::sync::mpsc;

 use crate::pus::create_verification_reporter;
-use satrs::pool::SharedStaticMemoryPool;
+use crate::tmtc::sender::TmTcSender;
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::event_srv::PusEventServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
-    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
-    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, MpscTcReceiver,
+    PartialPusHandlingError, PusServiceHelper,
 };
 use satrs::spacepackets::ecss::PusServiceId;
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
-use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
+use satrs_example::config::pus::PUS_EVENT_MANAGEMENT;

 use super::{DirectPusService, HandlingStatus};

-pub fn create_event_service_static(
-    tm_sender: PacketSenderWithSharedPool,
-    tc_pool: SharedStaticMemoryPool,
+pub fn create_event_service(
+    tm_sender: TmTcSender,
+    tm_in_pool_converter: EcssTcInMemConverter,
    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
    event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> EventServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> EventServiceWrapper {
    let pus_5_handler = PusEventServiceHandler::new(
        PusServiceHelper::new(
            PUS_EVENT_MANAGEMENT.id(),
            pus_event_rx,
            tm_sender,
            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
-            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
+            tm_in_pool_converter,
        ),
        event_request_tx,
    );
@ -37,34 +35,16 @@ pub fn create_event_service_static(
    }
 }

-pub fn create_event_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
-    event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    let pus_5_handler = PusEventServiceHandler::new(
-        PusServiceHelper::new(
-            PUS_EVENT_MANAGEMENT.id(),
-            pus_event_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        event_request_tx,
-    );
-    EventServiceWrapper {
-        handler: pus_5_handler,
-    }
+pub struct EventServiceWrapper {
+    pub handler: PusEventServiceHandler<
+        MpscTcReceiver,
+        TmTcSender,
+        EcssTcInMemConverter,
+        VerificationReporter,
+    >,
 }

-pub struct EventServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
-    pub handler:
-        PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-}
-
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
-    for EventServiceWrapper<TmSender, TcInMemConverter>
-{
+impl DirectPusService for EventServiceWrapper {
    const SERVICE_ID: u8 = PusServiceId::Event as u8;

    const SERVICE_STR: &'static str = "events";
--- a/satrs-example/src/pus/hk.rs
+++ b/satrs-example/src/pus/hk.rs
@ -1,28 +1,26 @@
 use derive_new::new;
 use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
-use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::{
    FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
    VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
    ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
-    EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
+    EcssTcInMemConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
    PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::res_code::ResultU16;
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId};
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
-use satrs_example::config::components::PUS_HK_SERVICE;
+use satrs_example::config::pus::PUS_HK_SERVICE;
 use satrs_example::config::{hk_err, tmtc_err};
 use std::sync::mpsc;
 use std::time::Duration;

 use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
+use crate::tmtc::sender::TmTcSender;

 use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};

@ -242,20 +240,20 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
    }
 }

-pub fn create_hk_service_static(
-    tm_sender: PacketSenderWithSharedPool,
-    tc_pool: SharedStaticMemoryPool,
+pub fn create_hk_service(
+    tm_sender: TmTcSender,
+    tc_in_mem_converter: EcssTcInMemConverter,
    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
    request_router: GenericRequestRouter,
    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
-) -> HkServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> HkServiceWrapper {
    let pus_3_handler = PusTargetedRequestService::new(
        PusServiceHelper::new(
            PUS_HK_SERVICE.id(),
            pus_hk_rx,
            tm_sender,
            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
-            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+            tc_in_mem_converter,
        ),
        HkRequestConverter::default(),
        DefaultActiveRequestMap::default(),
@ -268,36 +266,9 @@ pub fn create_hk_service_static(
    }
 }

-pub fn create_hk_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_router: GenericRequestRouter,
-    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
-) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    let pus_3_handler = PusTargetedRequestService::new(
-        PusServiceHelper::new(
-            PUS_HK_SERVICE.id(),
-            pus_hk_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        HkRequestConverter::default(),
-        DefaultActiveRequestMap::default(),
-        HkReplyHandler::default(),
-        request_router,
-        reply_receiver,
-    );
-    HkServiceWrapper {
-        service: pus_3_handler,
-    }
-}
-
-pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+pub struct HkServiceWrapper {
    pub(crate) service: PusTargetedRequestService<
        MpscTcReceiver,
-        TmSender,
-        TcInMemConverter,
        VerificationReporter,
        HkRequestConverter,
        HkReplyHandler,
@ -308,9 +279,7 @@ pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMe
    >,
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
-    for HkServiceWrapper<TmSender, TcInMemConverter>
-{
+impl TargetedPusService for HkServiceWrapper {
    const SERVICE_ID: u8 = PusServiceId::Housekeeping as u8;
    const SERVICE_STR: &'static str = "housekeeping";

--- a/satrs-example/src/pus/mod.rs
+++ b/satrs-example/src/pus/mod.rs
@ -1,4 +1,5 @@
 use crate::requests::GenericRequestRouter;
+use crate::tmtc::sender::TmTcSender;
 use log::warn;
 use satrs::pool::PoolAddr;
 use satrs::pus::verification::{
@ -6,10 +7,10 @@ use satrs::pus::verification::{
    VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
-    EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
-    HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
-    PusTcToRequestConverter, TcInMemory,
+    ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConversionProvider,
+    EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError,
+    GenericRoutingError, HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
+    PusServiceHelper, PusTcToRequestConverter, TcInMemory,
 };
 use satrs::queue::{GenericReceiveError, GenericSendError};
 use satrs::request::{Apid, GenericMessage, MessageMetadata};
@ -17,11 +18,11 @@ use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
 use satrs::tmtc::{PacketAsVec, PacketInPool};
 use satrs::ComponentId;
-use satrs_example::config::components::PUS_ROUTING_SERVICE;
+use satrs_example::config::pus::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
 use satrs_example::TimestampHelper;
 use std::fmt::Debug;
-use std::sync::mpsc::{self, Sender};
+use std::sync::mpsc;

 pub mod action;
 pub mod event;
@ -40,24 +41,26 @@ pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> Verifi

 /// Simple router structure which forwards PUS telecommands to dedicated handlers.
 pub struct PusTcMpscRouter {
-    pub test_tc_sender: Sender<EcssTcAndToken>,
-    pub event_tc_sender: Sender<EcssTcAndToken>,
-    pub sched_tc_sender: Sender<EcssTcAndToken>,
-    pub hk_tc_sender: Sender<EcssTcAndToken>,
-    pub action_tc_sender: Sender<EcssTcAndToken>,
-    pub mode_tc_sender: Sender<EcssTcAndToken>,
+    pub test_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
+    pub event_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
+    pub sched_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
+    pub hk_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
+    #[allow(dead_code)]
+    pub action_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
+    pub mode_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
 }

-pub struct PusTcDistributor<TmSender: EcssTmSender> {
+pub struct PusTcDistributor {
+    #[allow(dead_code)]
    pub id: ComponentId,
-    pub tm_sender: TmSender,
+    pub tm_sender: TmTcSender,
    pub verif_reporter: VerificationReporter,
    pub pus_router: PusTcMpscRouter,
    stamp_helper: TimestampHelper,
 }

-impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
-    pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
+impl PusTcDistributor {
+    pub fn new(tm_sender: TmTcSender, pus_router: PusTcMpscRouter) -> Self {
        Self {
            id: PUS_ROUTING_SERVICE.raw(),
            tm_sender,
@ -266,8 +269,6 @@ pub trait DirectPusService {
 ///  3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
 pub struct PusTargetedRequestService<
    TcReceiver: EcssTcReceiver,
-    TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
    RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
    ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
@ -277,7 +278,7 @@ pub struct PusTargetedRequestService<
    ReplyType,
 > {
    pub service_helper:
-        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        PusServiceHelper<TcReceiver, TmTcSender, EcssTcInMemConverter, VerificationReporter>,
    pub request_router: GenericRequestRouter,
    pub request_converter: RequestConverter,
    pub active_request_map: ActiveRequestMap,
@ -288,8 +289,6 @@ pub struct PusTargetedRequestService<

 impl<
        TcReceiver: EcssTcReceiver,
-        TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
        RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
        ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
@ -300,8 +299,6 @@ impl<
    >
    PusTargetedRequestService<
        TcReceiver,
-        TmSender,
-        TcInMemConverter,
        VerificationReporter,
        RequestConverter,
        ReplyHandler,
@ -316,8 +313,8 @@ where
    pub fn new(
        service_helper: PusServiceHelper<
            TcReceiver,
-            TmSender,
-            TcInMemConverter,
+            TmTcSender,
+            EcssTcInMemConverter,
            VerificationReporter,
        >,
        request_converter: RequestConverter,
@ -543,7 +540,7 @@ pub(crate) mod tests {
    use satrs::{
        pus::{
            verification::test_util::TestVerificationReporter, ActivePusRequestStd,
-            ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
+            ActiveRequestMapProvider, MpscTcReceiver,
        },
        request::UniqueApidTargetId,
        spacepackets::{
@ -764,8 +761,6 @@ pub(crate) mod tests {
    > {
        pub service: PusTargetedRequestService<
            MpscTcReceiver,
-            MpscTmAsVecSender,
-            EcssTcInVecConverter,
            TestVerificationReporter,
            RequestConverter,
            ReplyHandler,
--- a/satrs-example/src/pus/mode.rs
+++ b/satrs-example/src/pus/mode.rs
@ -1,15 +1,15 @@
 use derive_new::new;
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+use satrs::mode_tree::{ModeNode, ModeParent};
+use satrs_example::config::pus::PUS_MODE_SERVICE;
 use std::sync::mpsc;
 use std::time::Duration;

 use crate::requests::GenericRequestRouter;
-use satrs::pool::SharedStaticMemoryPool;
+use crate::tmtc::sender::TmTcSender;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
-    PusServiceHelper,
+    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, MpscTcReceiver,
+    PusPacketHandlingError, PusServiceHelper,
 };
 use satrs::request::GenericMessage;
 use satrs::{
@ -34,7 +34,6 @@ use satrs::{
    },
    ComponentId,
 };
-use satrs_example::config::components::PUS_MODE_SERVICE;
 use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};

 use super::{
@ -110,6 +109,7 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                    ),
                )?;
            }
+            ModeReply::ModeInfo(_mode_and_submode) => (),
        };
        Ok(true)
    }
@ -190,7 +190,13 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
                }
                let mode_and_submode = ModeAndSubmode::from_be_bytes(&tc.user_data()[4..])
                    .expect("mode and submode extraction failed");
-                Ok((active_request, ModeRequest::SetMode(mode_and_submode)))
+                Ok((
+                    active_request,
+                    ModeRequest::SetMode {
+                        mode_and_submode,
+                        forced: false,
+                    },
+                ))
            }
            Subservice::TcReadMode => Ok((active_request, ModeRequest::ReadMode)),
            Subservice::TcAnnounceMode => Ok((active_request, ModeRequest::AnnounceMode)),
@ -202,20 +208,20 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
    }
 }

-pub fn create_mode_service_static(
-    tm_sender: PacketSenderWithSharedPool,
-    tc_pool: SharedStaticMemoryPool,
+pub fn create_mode_service(
+    tm_sender: TmTcSender,
+    tc_in_mem_converter: EcssTcInMemConverter,
    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
    mode_router: GenericRequestRouter,
    reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
-) -> ModeServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> ModeServiceWrapper {
    let mode_request_handler = PusTargetedRequestService::new(
        PusServiceHelper::new(
            PUS_MODE_SERVICE.id(),
            pus_action_rx,
            tm_sender,
            create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
-            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+            tc_in_mem_converter,
        ),
        ModeRequestConverter::default(),
        DefaultActiveRequestMap::default(),
@ -228,36 +234,9 @@ pub fn create_mode_service_static(
    }
 }

-pub fn create_mode_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
-    mode_router: GenericRequestRouter,
-    reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
-) -> ModeServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    let mode_request_handler = PusTargetedRequestService::new(
-        PusServiceHelper::new(
-            PUS_MODE_SERVICE.id(),
-            pus_action_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        ModeRequestConverter::default(),
-        DefaultActiveRequestMap::default(),
-        ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
-        mode_router,
-        reply_receiver,
-    );
-    ModeServiceWrapper {
-        service: mode_request_handler,
-    }
-}
-
-pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+pub struct ModeServiceWrapper {
    pub(crate) service: PusTargetedRequestService<
        MpscTcReceiver,
-        TmSender,
-        TcInMemConverter,
        VerificationReporter,
        ModeRequestConverter,
        ModeReplyHandler,
@ -268,9 +247,24 @@ pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcIn
    >,
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
-    for ModeServiceWrapper<TmSender, TcInMemConverter>
-{
+impl ModeNode for ModeServiceWrapper {
+    fn id(&self) -> ComponentId {
+        self.service.service_helper.id()
+    }
+}
+
+impl ModeParent for ModeServiceWrapper {
+    type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
+
+    fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
+        self.service
+            .request_router
+            .mode_router_map
+            .insert(id, request_sender);
+    }
+}
+
+impl TargetedPusService for ModeServiceWrapper {
    const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
    const SERVICE_STR: &'static str = "mode";

@ -346,7 +340,13 @@ mod tests {
        let (_active_req, req) = testbench
            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
            .expect("conversion has failed");
-        assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
+        assert_eq!(
+            req,
+            ModeRequest::SetMode {
+                mode_and_submode,
+                forced: false
+            }
+        );
    }

    #[test]
--- a/satrs-example/src/pus/scheduler.rs
+++ b/satrs-example/src/pus/scheduler.rs
@ -2,28 +2,28 @@ use std::sync::mpsc;
 use std::time::Duration;

 use crate::pus::create_verification_reporter;
+use crate::tmtc::sender::TmTcSender;
 use log::info;
 use satrs::pool::{PoolProvider, StaticMemoryPool};
 use satrs::pus::scheduler::{PusScheduler, TcInfo};
 use satrs::pus::scheduler_srv::PusSchedServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
-    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
-    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, MpscTcReceiver,
+    PartialPusHandlingError, PusServiceHelper,
 };
 use satrs::spacepackets::ecss::PusServiceId;
 use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
 use satrs::ComponentId;
-use satrs_example::config::components::PUS_SCHED_SERVICE;
+use satrs_example::config::pus::PUS_SCHED_SERVICE;

 use super::{DirectPusService, HandlingStatus};

-pub trait TcReleaser {
+pub trait TcReleaseProvider {
    fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
 }

-impl TcReleaser for PacketSenderWithSharedPool {
+impl TcReleaseProvider for PacketSenderWithSharedPool {
    fn release(
        &mut self,
        sender_id: ComponentId,
@ -48,7 +48,7 @@ impl TcReleaser for PacketSenderWithSharedPool {
    }
 }

-impl TcReleaser for mpsc::Sender<PacketAsVec> {
+impl TcReleaseProvider for mpsc::SyncSender<PacketAsVec> {
    fn release(
        &mut self,
        sender_id: ComponentId,
@ -65,23 +65,35 @@ impl TcReleaser for mpsc::Sender<PacketAsVec> {
    }
 }

-pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-{
+#[allow(dead_code)]
+pub enum TcReleaser {
+    Static(PacketSenderWithSharedPool),
+    Heap(mpsc::SyncSender<PacketAsVec>),
+}
+
+impl TcReleaseProvider for TcReleaser {
+    fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool {
+        match self {
+            TcReleaser::Static(sender) => sender.release(sender_id, enabled, info, tc),
+            TcReleaser::Heap(sender) => sender.release(sender_id, enabled, info, tc),
+        }
+    }
+}
+
+pub struct SchedulingServiceWrapper {
    pub pus_11_handler: PusSchedServiceHandler<
        MpscTcReceiver,
-        TmSender,
-        TcInMemConverter,
+        TmTcSender,
+        EcssTcInMemConverter,
        VerificationReporter,
        PusScheduler,
    >,
    pub sched_tc_pool: StaticMemoryPool,
    pub releaser_buf: [u8; 4096],
-    pub tc_releaser: Box<dyn TcReleaser + Send>,
+    pub tc_releaser: TcReleaser,
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
-    for SchedulingServiceWrapper<TmSender, TcInMemConverter>
-{
+impl DirectPusService for SchedulingServiceWrapper {
    const SERVICE_ID: u8 = PusServiceId::Verification as u8;

    const SERVICE_STR: &'static str = "verification";
@ -134,9 +146,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusSe
    }
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-    SchedulingServiceWrapper<TmSender, TcInMemConverter>
-{
+impl SchedulingServiceWrapper {
    pub fn release_tcs(&mut self) {
        let id = self.pus_11_handler.service_helper.id();
        let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
@ -162,12 +172,13 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
    }
 }

-pub fn create_scheduler_service_static(
-    tm_sender: PacketSenderWithSharedPool,
-    tc_releaser: PacketSenderWithSharedPool,
+pub fn create_scheduler_service(
+    tm_sender: TmTcSender,
+    tc_in_mem_converter: EcssTcInMemConverter,
+    tc_releaser: TcReleaser,
    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
    sched_tc_pool: StaticMemoryPool,
-) -> SchedulingServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> SchedulingServiceWrapper {
    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
        .expect("Creating PUS Scheduler failed");
    let pus_11_handler = PusSchedServiceHandler::new(
@ -176,7 +187,7 @@ pub fn create_scheduler_service_static(
            pus_sched_rx,
            tm_sender,
            create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
-            EcssTcInSharedStoreConverter::new(tc_releaser.shared_packet_store().0.clone(), 2048),
+            tc_in_mem_converter,
        ),
        scheduler,
    );
@ -184,34 +195,6 @@ pub fn create_scheduler_service_static(
        pus_11_handler,
        sched_tc_pool,
        releaser_buf: [0; 4096],
-        tc_releaser: Box::new(tc_releaser),
-    }
-}
-
-pub fn create_scheduler_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    tc_source_sender: mpsc::Sender<PacketAsVec>,
-    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
-    sched_tc_pool: StaticMemoryPool,
-) -> SchedulingServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    //let sched_srv_receiver =
-    //MpscTcReceiver::new(PUS_SCHED_SERVICE.raw(), "PUS_11_TC_RECV", pus_sched_rx);
-    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
-        .expect("Creating PUS Scheduler failed");
-    let pus_11_handler = PusSchedServiceHandler::new(
-        PusServiceHelper::new(
-            PUS_SCHED_SERVICE.id(),
-            pus_sched_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        scheduler,
-    );
-    SchedulingServiceWrapper {
-        pus_11_handler,
-        sched_tc_pool,
-        releaser_buf: [0; 4096],
-        tc_releaser: Box::new(tc_source_sender),
+        tc_releaser,
    }
 }
--- a/satrs-example/src/pus/stack.rs
+++ b/satrs-example/src/pus/stack.rs
@ -1,9 +1,6 @@
 use crate::pus::mode::ModeServiceWrapper;
 use derive_new::new;
-use satrs::{
-    pus::{EcssTcInMemConverter, EcssTmSender},
-    spacepackets::time::{cds, TimeWriter},
-};
+use satrs::spacepackets::time::{cds, TimeWriter};

 use super::{
    action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
@ -11,21 +8,17 @@ use super::{
    HandlingStatus, TargetedPusService,
 };

-// TODO: For better extensibility, we could create 2 vectors: One for direct PUS services and one
-// for targeted services..
 #[derive(new)]
-pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
-    test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
-    hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
-    event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
-    action_srv_wrapper: ActionServiceWrapper<TmSender, TcInMemConverter>,
-    schedule_srv: SchedulingServiceWrapper<TmSender, TcInMemConverter>,
-    mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
+pub struct PusStack {
+    pub test_srv: TestCustomServiceWrapper,
+    pub hk_srv_wrapper: HkServiceWrapper,
+    pub event_srv: EventServiceWrapper,
+    pub action_srv_wrapper: ActionServiceWrapper,
+    pub schedule_srv: SchedulingServiceWrapper,
+    pub mode_srv: ModeServiceWrapper,
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-    PusStack<TmSender, TcInMemConverter>
-{
+impl PusStack {
    pub fn periodic_operation(&mut self) {
        // Release all telecommands which reached their release time before calling the service
        // handlers.
--- a/satrs-example/src/pus/test.rs
+++ b/satrs-example/src/pus/test.rs
@ -1,35 +1,34 @@
 use crate::pus::create_verification_reporter;
+use crate::tmtc::sender::TmTcSender;
 use log::info;
 use satrs::event_man::{EventMessage, EventMessageU32};
-use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::test::PusService17TestHandler;
 use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
+use satrs::pus::PartialPusHandlingError;
 use satrs::pus::{
-    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConversionProvider,
+    EcssTcInMemConverter, MpscTcReceiver, PusServiceHelper,
 };
-use satrs::pus::{EcssTcInSharedStoreConverter, PartialPusHandlingError};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
-use satrs_example::config::components::PUS_TEST_SERVICE;
+use satrs_example::config::pus::PUS_TEST_SERVICE;
 use satrs_example::config::{tmtc_err, TEST_EVENT};
 use std::sync::mpsc;

 use super::{DirectPusService, HandlingStatus};

-pub fn create_test_service_static(
-    tm_sender: PacketSenderWithSharedPool,
-    tc_pool: SharedStaticMemoryPool,
+pub fn create_test_service(
+    tm_sender: TmTcSender,
+    tc_in_mem_converter: EcssTcInMemConverter,
    event_sender: mpsc::SyncSender<EventMessageU32>,
    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> TestCustomServiceWrapper {
    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
        PUS_TEST_SERVICE.id(),
        pus_test_rx,
        tm_sender,
        create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
-        EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+        tc_in_mem_converter,
    ));
    TestCustomServiceWrapper {
        handler: pus17_handler,
@ -37,34 +36,17 @@ pub fn create_test_service_static(
    }
 }

-pub fn create_test_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    event_sender: mpsc::SyncSender<EventMessageU32>,
-    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        PUS_TEST_SERVICE.id(),
-        pus_test_rx,
-        tm_funnel_tx,
-        create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
-        EcssTcInVecConverter::default(),
-    ));
-    TestCustomServiceWrapper {
-        handler: pus17_handler,
-        event_tx: event_sender,
-    }
-}
-
-pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-{
-    pub handler:
-        PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+pub struct TestCustomServiceWrapper {
+    pub handler: PusService17TestHandler<
+        MpscTcReceiver,
+        TmTcSender,
+        EcssTcInMemConverter,
+        VerificationReporter,
+    >,
    pub event_tx: mpsc::SyncSender<EventMessageU32>,
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
-    for TestCustomServiceWrapper<TmSender, TcInMemConverter>
-{
+impl DirectPusService for TestCustomServiceWrapper {
    const SERVICE_ID: u8 = PusServiceId::Test as u8;

    const SERVICE_STR: &'static str = "test";
--- a/satrs-example/src/requests.rs
+++ b/satrs-example/src/requests.rs
@ -14,7 +14,7 @@ use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
 use satrs::ComponentId;
-use satrs_example::config::components::PUS_ROUTING_SERVICE;
+use satrs_example::config::pus::PUS_ROUTING_SERVICE;
 use satrs_example::config::tmtc_err;

 #[derive(Clone, Debug)]
@ -26,6 +26,7 @@ pub enum CompositeRequest {

 #[derive(Clone)]
 pub struct GenericRequestRouter {
+    #[allow(dead_code)]
    pub id: ComponentId,
    // All messages which do not have a dedicated queue.
    pub composite_router_map:
--- a/satrs-example/src/spi.rs
+++ b/satrs-example/src/spi.rs
@ -0,0 +1,6 @@
+use core::fmt::Debug;
+
+pub trait SpiInterface {
+    type Error: Debug;
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
+}
--- a/satrs-example/src/tmtc/mod.rs
+++ b/satrs-example/src/tmtc/mod.rs
@ -1,2 +1,3 @@
+pub mod sender;
 pub mod tc_source;
 pub mod tm_sink;
--- a/satrs-example/src/tmtc/sender.rs
+++ b/satrs-example/src/tmtc/sender.rs
@ -0,0 +1,75 @@
+use std::{cell::RefCell, collections::VecDeque, sync::mpsc};
+
+use satrs::{
+    pus::EcssTmSender,
+    queue::GenericSendError,
+    spacepackets::ecss::WritablePusPacket,
+    tmtc::{PacketAsVec, PacketSenderRaw, PacketSenderWithSharedPool, StoreAndSendError},
+    ComponentId,
+};
+
+#[derive(Default, Debug, Clone)]
+pub struct MockSender(pub RefCell<VecDeque<PacketAsVec>>);
+
+#[allow(dead_code)]
+#[derive(Debug, Clone)]
+pub enum TmTcSender {
+    Static(PacketSenderWithSharedPool),
+    Heap(mpsc::SyncSender<PacketAsVec>),
+    Mock(MockSender),
+}
+
+impl TmTcSender {
+    #[allow(dead_code)]
+    pub fn get_mock_sender(&mut self) -> Option<&mut MockSender> {
+        match self {
+            TmTcSender::Mock(sender) => Some(sender),
+            _ => None,
+        }
+    }
+}
+
+impl EcssTmSender for TmTcSender {
+    fn send_tm(
+        &self,
+        sender_id: satrs::ComponentId,
+        tm: satrs::pus::PusTmVariant,
+    ) -> Result<(), satrs::pus::EcssTmtcError> {
+        match self {
+            TmTcSender::Static(sync_sender) => sync_sender.send_tm(sender_id, tm),
+            TmTcSender::Heap(sync_sender) => match tm {
+                satrs::pus::PusTmVariant::InStore(_) => panic!("can not send TM in store"),
+                satrs::pus::PusTmVariant::Direct(pus_tm_creator) => sync_sender
+                    .send(PacketAsVec::new(sender_id, pus_tm_creator.to_vec()?))
+                    .map_err(|_| GenericSendError::RxDisconnected.into()),
+            },
+            TmTcSender::Mock(_) => Ok(()),
+        }
+    }
+}
+
+impl PacketSenderRaw for TmTcSender {
+    type Error = StoreAndSendError;
+
+    fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
+        match self {
+            TmTcSender::Static(packet_sender_with_shared_pool) => {
+                packet_sender_with_shared_pool.send_packet(sender_id, packet)
+            }
+            TmTcSender::Heap(sync_sender) => sync_sender
+                .send_packet(sender_id, packet)
+                .map_err(StoreAndSendError::Send),
+            TmTcSender::Mock(sender) => sender.send_packet(sender_id, packet),
+        }
+    }
+}
+
+impl PacketSenderRaw for MockSender {
+    type Error = StoreAndSendError;
+
+    fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        let mut mut_queue = self.0.borrow_mut();
+        mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
+        Ok(())
+    }
+}
--- a/satrs-example/src/tmtc/tc_source.rs
+++ b/satrs-example/src/tmtc/tc_source.rs
@ -1,12 +1,10 @@
 use satrs::{
    pool::PoolProvider,
    pus::HandlingStatus,
-    tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool},
+    tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
 };
 use std::sync::mpsc::{self, TryRecvError};

-use satrs::pus::MpscTmAsVecSender;
-
 use crate::pus::PusTcDistributor;

 // TC source components where static pools are the backing memory of the received telecommands.
@ -14,14 +12,15 @@ pub struct TcSourceTaskStatic {
    shared_tc_pool: SharedPacketPool,
    tc_receiver: mpsc::Receiver<PacketInPool>,
    tc_buf: [u8; 4096],
-    pus_distributor: PusTcDistributor<PacketSenderWithSharedPool>,
+    pus_distributor: PusTcDistributor,
 }

+#[allow(dead_code)]
 impl TcSourceTaskStatic {
    pub fn new(
        shared_tc_pool: SharedPacketPool,
        tc_receiver: mpsc::Receiver<PacketInPool>,
-        pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
+        pus_receiver: PusTcDistributor,
    ) -> Self {
        Self {
            shared_tc_pool,
@ -67,14 +66,12 @@ impl TcSourceTaskStatic {
 // TC source components where the heap is the backing memory of the received telecommands.
 pub struct TcSourceTaskDynamic {
    pub tc_receiver: mpsc::Receiver<PacketAsVec>,
-    pus_distributor: PusTcDistributor<MpscTmAsVecSender>,
+    pus_distributor: PusTcDistributor,
 }

+#[allow(dead_code)]
 impl TcSourceTaskDynamic {
-    pub fn new(
-        tc_receiver: mpsc::Receiver<PacketAsVec>,
-        pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
-    ) -> Self {
+    pub fn new(tc_receiver: mpsc::Receiver<PacketAsVec>, pus_receiver: PusTcDistributor) -> Self {
        Self {
            tc_receiver,
            pus_distributor: pus_receiver,
@ -105,3 +102,18 @@ impl TcSourceTaskDynamic {
        }
    }
 }
+
+#[allow(dead_code)]
+pub enum TcSourceTask {
+    Static(TcSourceTaskStatic),
+    Heap(TcSourceTaskDynamic),
+}
+
+impl TcSourceTask {
+    pub fn periodic_operation(&mut self) {
+        match self {
+            TcSourceTask::Static(task) => task.periodic_operation(),
+            TcSourceTask::Heap(task) => task.periodic_operation(),
+        }
+    }
+}
--- a/satrs-example/src/tmtc/tm_sink.rs
+++ b/satrs-example/src/tmtc/tm_sink.rs
@ -4,16 +4,19 @@ use std::{
 };

 use log::info;
-use satrs::tmtc::{PacketAsVec, PacketInPool, SharedPacketPool};
 use satrs::{
    pool::PoolProvider,
-    seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
    spacepackets::{
        ecss::{tm::PusTmZeroCopyWriter, PusPacket},
+        seq_count::CcsdsSimpleSeqCountProvider,
        time::cds::MIN_CDS_FIELD_LEN,
        CcsdsPacket,
    },
 };
+use satrs::{
+    spacepackets::seq_count::SequenceCountProvider,
+    tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
+};

 use crate::interface::tcp::SyncTcpTmSource;

@ -86,6 +89,7 @@ pub struct TmSinkStatic {
    tm_server_tx: mpsc::SyncSender<PacketInPool>,
 }

+#[allow(dead_code)]
 impl TmSinkStatic {
    pub fn new(
        shared_tm_store: SharedPacketPool,
@ -129,14 +133,15 @@ impl TmSinkStatic {
 pub struct TmSinkDynamic {
    common: TmFunnelCommon,
    tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
-    tm_server_tx: mpsc::Sender<PacketAsVec>,
+    tm_server_tx: mpsc::SyncSender<PacketAsVec>,
 }

+#[allow(dead_code)]
 impl TmSinkDynamic {
    pub fn new(
        sync_tm_tcp_source: SyncTcpTmSource,
        tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
-        tm_server_tx: mpsc::Sender<PacketAsVec>,
+        tm_server_tx: mpsc::SyncSender<PacketAsVec>,
    ) -> Self {
        Self {
            common: TmFunnelCommon::new(sync_tm_tcp_source),
@ -159,3 +164,18 @@ impl TmSinkDynamic {
        }
    }
 }
+
+#[allow(dead_code)]
+pub enum TmSink {
+    Static(TmSinkStatic),
+    Heap(TmSinkDynamic),
+}
+
+impl TmSink {
+    pub fn operation(&mut self) {
+        match self {
+            TmSink::Static(static_sink) => static_sink.operation(),
+            TmSink::Heap(dynamic_sink) => dynamic_sink.operation(),
+        }
+    }
+}
--- a/satrs-mib/Cargo.toml
+++ b/satrs-mib/Cargo.toml
@ -23,7 +23,7 @@ version = "1"
 optional = true

 [dependencies.satrs-shared]
-version = ">=0.1.3, <0.2"
+version = ">=0.1.3, <=0.2"
 features = ["serde"]

 [dependencies.satrs-mib-codegen]
--- a/satrs-mib/codegen/Cargo.toml
+++ b/satrs-mib/codegen/Cargo.toml
@ -28,7 +28,7 @@ features = ["full"]
 trybuild = { version = "1", features = ["diff"] }

 [dev-dependencies.satrs-shared]
-version = ">=0.1.3, <0.2"
+version = ">=0.1.3, <=0.2"

 [dev-dependencies.satrs-mib]
 path = ".."
--- a/satrs-mib/src/lib.rs
+++ b/satrs-mib/src/lib.rs
@ -1,6 +1,4 @@
 #![no_std]
-#[cfg(feature = "alloc")]
-extern crate alloc;
 #[cfg(any(feature = "std", test))]
 extern crate std;

--- a/satrs-minisim/Cargo.toml
+++ b/satrs-minisim/Cargo.toml
@ -9,20 +9,18 @@ edition = "2021"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
 log = "0.4"
-thiserror = "1"
-fern = "0.5"
+thiserror = "2"
+fern = "0.7"
 strum = { version = "0.26", features = ["derive"] }
 num_enum = "0.7"
 humantime = "2"
+tai-time = { version = "0.3", features = ["serde"] }

-[dependencies.asynchronix]
-version = "0.2.2"
-# git = "https://github.com/asynchronics/asynchronix.git"
-# branch = "main"
-features = ["serde"]
+[dependencies.nexosim]
+version = "0.3.1"

 [dependencies.satrs]
 path = "../satrs"

 [dev-dependencies]
-delegate = "0.12"
+delegate = "0.13"
--- a/satrs-minisim/src/acs.rs
+++ b/satrs-minisim/src/acs.rs
@ -1,8 +1,8 @@
 use std::{f32::consts::PI, sync::mpsc, time::Duration};

-use asynchronix::{
-    model::{Model, Output},
-    time::Scheduler,
+use nexosim::{
+    model::{Context, Model},
+    ports::Output,
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
@ -31,6 +31,7 @@ const PHASE_Z: f32 = 0.2;
 /// might still be possible and is probably sufficient for many OBSW needs.
 pub struct MagnetometerModel<ReplyProvider: MgmReplyProvider> {
    pub switch_state: SwitchStateBinary,
+    #[allow(dead_code)]
    pub periodicity: Duration,
    pub external_mag_field: Option<MgmSensorValuesMicroTesla>,
    pub reply_sender: mpsc::Sender<SimReply>,
@ -54,7 +55,7 @@ impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
        self.switch_state = switch_state;
    }

-    pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
+    pub async fn send_sensor_values(&mut self, _: (), scheduler: &mut Context<Self>) {
        self.reply_sender
            .send(ReplyProvider::create_mgm_reply(MgmReplyCommon {
                switch_state: self.switch_state,
@ -113,11 +114,11 @@ impl MagnetorquerModel {
    pub async fn apply_torque(
        &mut self,
        duration_and_dipole: (Duration, MgtDipole),
-        scheduler: &Scheduler<Self>,
+        cx: &mut Context<Self>,
    ) {
        self.torque_dipole = duration_and_dipole.1;
        self.torquing = true;
-        if scheduler
+        if cx
            .schedule_event(duration_and_dipole.0, Self::clear_torque, ())
            .is_err()
        {
@ -137,12 +138,11 @@ impl MagnetorquerModel {
        self.generate_magnetic_field(()).await;
    }

-    pub async fn request_housekeeping_data(&mut self, _: (), scheduler: &Scheduler<Self>) {
+    pub async fn request_housekeeping_data(&mut self, _: (), cx: &mut Context<Self>) {
        if self.switch_state != SwitchStateBinary::On {
            return;
        }
-        scheduler
-            .schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
+        cx.schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
            .expect("requesting housekeeping data failed")
    }

@ -199,11 +199,11 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_some());
        let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
+        assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
        let reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
            .expect("failed to deserialize MGM sensor values");
        assert_eq!(reply.common.switch_state, SwitchStateBinary::Off);
@ -222,21 +222,21 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let mut sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_some());
        let mut sim_reply = sim_reply_res.unwrap();
-        assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
+        assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
        let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
            .expect("failed to deserialize MGM sensor values");
-        sim_testbench.step_by(Duration::from_millis(50));
+        sim_testbench.step_until(Duration::from_millis(50)).unwrap();

        request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
        sim_testbench
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_some());
        sim_reply = sim_reply_res.unwrap();
@ -271,7 +271,7 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_none());
    }
@ -286,7 +286,7 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_some());
        let sim_reply = sim_reply_res.unwrap();
@ -307,7 +307,7 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_some());
        let sim_reply = sim_reply_res.unwrap();
@ -338,7 +338,7 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step_by(Duration::from_millis(5));
+        sim_testbench.step_until(Duration::from_millis(5)).unwrap();

        check_mgt_hk(
            &mut sim_testbench,
@ -347,7 +347,9 @@ pub mod tests {
                torquing: true,
            },
        );
-        sim_testbench.step_by(Duration::from_millis(100));
+        sim_testbench
+            .step_until(Duration::from_millis(100))
+            .unwrap();
        check_mgt_hk(
            &mut sim_testbench,
            MgtHkSet {
--- a/satrs-minisim/src/controller.rs
+++ b/satrs-minisim/src/controller.rs
@ -1,7 +1,7 @@
 use std::{sync::mpsc, time::Duration};

-use asynchronix::{
-    simulation::{Address, Simulation},
+use nexosim::{
+    simulation::{Address, Scheduler, Simulation},
    time::{Clock, MonotonicTime, SystemClock},
 };
 use satrs_minisim::{
@ -23,35 +23,55 @@ const MGM_REQ_WIRETAPPING: bool = false;
 const PCDU_REQ_WIRETAPPING: bool = false;
 const MGT_REQ_WIRETAPPING: bool = false;

+pub struct ModelAddrWrapper {
+    mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+    mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+    pcdu_addr: Address<PcduModel>,
+    mgt_addr: Address<MagnetorquerModel>,
+}
+
 // The simulation controller processes requests and drives the simulation.
+#[allow(dead_code)]
 pub struct SimController {
    pub sys_clock: SystemClock,
    pub request_receiver: mpsc::Receiver<SimRequest>,
    pub reply_sender: mpsc::Sender<SimReply>,
    pub simulation: Simulation,
-    pub mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
-    pub pcdu_addr: Address<PcduModel>,
-    pub mgt_addr: Address<MagnetorquerModel>,
+    pub scheduler: Scheduler,
+    pub addr_wrapper: ModelAddrWrapper,
 }

+impl ModelAddrWrapper {
+    pub fn new(
+        mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+        mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+        pcdu_addr: Address<PcduModel>,
+        mgt_addr: Address<MagnetorquerModel>,
+    ) -> Self {
+        Self {
+            mgm_0_addr,
+            mgm_1_addr,
+            pcdu_addr,
+            mgt_addr,
+        }
+    }
+}
 impl SimController {
    pub fn new(
        sys_clock: SystemClock,
        request_receiver: mpsc::Receiver<SimRequest>,
        reply_sender: mpsc::Sender<SimReply>,
        simulation: Simulation,
-        mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
-        pcdu_addr: Address<PcduModel>,
-        mgt_addr: Address<MagnetorquerModel>,
+        scheduler: Scheduler,
+        addr_wrapper: ModelAddrWrapper,
    ) -> Self {
        Self {
            sys_clock,
            request_receiver,
            reply_sender,
            simulation,
-            mgm_addr,
-            pcdu_addr,
-            mgt_addr,
+            scheduler,
+            addr_wrapper,
        }
    }

@ -62,7 +82,7 @@ impl SimController {
            // Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
            // replies lying in the past.
            t += Duration::from_millis(udp_polling_interval_ms);
-            self.sys_clock.synchronize(t);
+            let _synch_status = self.sys_clock.synchronize(t);
            self.handle_sim_requests(t_old);
            self.simulation
                .step_until(t)
@ -79,7 +99,8 @@ impl SimController {
                    }
                    if let Err(e) = match request.component() {
                        SimComponent::SimCtrl => self.handle_ctrl_request(&request),
-                        SimComponent::MgmLis3Mdl => self.handle_mgm_request(&request),
+                        SimComponent::Mgm0Lis3Mdl => self.handle_mgm_request(0, &request),
+                        SimComponent::Mgm1Lis3Mdl => self.handle_mgm_request(1, &request),
                        SimComponent::Mgt => self.handle_mgt_request(&request),
                        SimComponent::Pcdu => self.handle_pcdu_request(&request),
                    } {
@ -111,18 +132,26 @@ impl SimController {
        Ok(())
    }

-    fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
+    fn handle_mgm_request(
+        &mut self,
+        mgm_idx: usize,
+        request: &SimRequest,
+    ) -> Result<(), SimRequestError> {
        let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
        if MGM_REQ_WIRETAPPING {
            log::info!("received MGM request: {:?}", mgm_request);
        }
        match mgm_request {
            MgmRequestLis3Mdl::RequestSensorData => {
-                self.simulation.send_event(
-                    MagnetometerModel::send_sensor_values,
-                    (),
-                    &self.mgm_addr,
-                );
+                let addr = match mgm_idx {
+                    0 => &self.addr_wrapper.mgm_0_addr,
+                    1 => &self.addr_wrapper.mgm_1_addr,
+
+                    _ => panic!("invalid mgm index"),
+                };
+                self.simulation
+                    .process_event(MagnetometerModel::send_sensor_values, (), addr)
+                    .expect("event execution error for mgm");
            }
        }
        Ok(())
@ -136,14 +165,21 @@ impl SimController {
        match pcdu_request {
            PcduRequest::RequestSwitchInfo => {
                self.simulation
-                    .send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
+                    .process_event(
+                        PcduModel::request_switch_info,
+                        (),
+                        &self.addr_wrapper.pcdu_addr,
+                    )
+                    .unwrap();
            }
            PcduRequest::SwitchDevice { switch, state } => {
-                self.simulation.send_event(
-                    PcduModel::switch_device,
-                    (switch, state),
-                    &self.pcdu_addr,
-                );
+                self.simulation
+                    .process_event(
+                        PcduModel::switch_device,
+                        (switch, state),
+                        &self.addr_wrapper.pcdu_addr,
+                    )
+                    .unwrap();
            }
        }
        Ok(())
@ -155,17 +191,23 @@ impl SimController {
            log::info!("received MGT request: {:?}", mgt_request);
        }
        match mgt_request {
-            MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
-                MagnetorquerModel::apply_torque,
-                (duration, dipole),
-                &self.mgt_addr,
-            ),
-            MgtRequest::RequestHk => self.simulation.send_event(
-                MagnetorquerModel::request_housekeeping_data,
-                (),
-                &self.mgt_addr,
-            ),
-        }
+            MgtRequest::ApplyTorque { duration, dipole } => self
+                .simulation
+                .process_event(
+                    MagnetorquerModel::apply_torque,
+                    (duration, dipole),
+                    &self.addr_wrapper.mgt_addr,
+                )
+                .unwrap(),
+            MgtRequest::RequestHk => self
+                .simulation
+                .process_event(
+                    MagnetorquerModel::request_housekeeping_data,
+                    (),
+                    &self.addr_wrapper.mgt_addr,
+                )
+                .unwrap(),
+        };
        Ok(())
    }

@ -199,7 +241,7 @@ mod tests {
            .send_request(request)
            .expect("sending sim ctrl request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_some());
        let sim_reply = sim_reply.unwrap();
--- a/satrs-minisim/src/eps.rs
+++ b/satrs-minisim/src/eps.rs
@ -1,8 +1,8 @@
 use std::{sync::mpsc, time::Duration};

-use asynchronix::{
-    model::{Model, Output},
-    time::Scheduler,
+use nexosim::{
+    model::{Context, Model},
+    ports::Output,
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
@ -14,7 +14,8 @@ pub const SWITCH_INFO_DELAY_MS: u64 = 10;

 pub struct PcduModel {
    pub switcher_map: SwitchMapBinaryWrapper,
-    pub mgm_switch: Output<SwitchStateBinary>,
+    pub mgm_0_switch: Output<SwitchStateBinary>,
+    pub mgm_1_switch: Output<SwitchStateBinary>,
    pub mgt_switch: Output<SwitchStateBinary>,
    pub reply_sender: mpsc::Sender<SimReply>,
 }
@ -23,20 +24,20 @@ impl PcduModel {
    pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
        Self {
            switcher_map: Default::default(),
-            mgm_switch: Output::new(),
+            mgm_0_switch: Output::new(),
+            mgm_1_switch: Output::new(),
            mgt_switch: Output::new(),
            reply_sender,
        }
    }

-    pub async fn request_switch_info(&mut self, _: (), scheduler: &Scheduler<Self>) {
-        scheduler
-            .schedule_event(
-                Duration::from_millis(SWITCH_INFO_DELAY_MS),
-                Self::send_switch_info,
-                (),
-            )
-            .expect("requesting switch info failed");
+    pub async fn request_switch_info(&mut self, _: (), cx: &mut Context<Self>) {
+        cx.schedule_event(
+            Duration::from_millis(SWITCH_INFO_DELAY_MS),
+            Self::send_switch_info,
+            (),
+        )
+        .expect("requesting switch info failed");
    }

    pub fn send_switch_info(&mut self) {
@ -56,7 +57,7 @@ impl PcduModel {
        *val = switch_and_target_state.1;
        match switch_and_target_state.0 {
            PcduSwitch::Mgm => {
-                self.mgm_switch.send(switch_and_target_state.1).await;
+                self.mgm_0_switch.send(switch_and_target_state.1).await;
            }
            PcduSwitch::Mgt => {
                self.mgt_switch.send(switch_and_target_state.1).await;
@ -92,7 +93,7 @@ pub(crate) mod tests {
            .send_request(request)
            .expect("sending MGM switch request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
    }

    #[allow(dead_code)]
@ -113,7 +114,7 @@ pub(crate) mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_some());
        let sim_reply = sim_reply.unwrap();
@ -143,12 +144,12 @@ pub(crate) mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step_by(Duration::from_millis(1));
+        sim_testbench.step_until(Duration::from_millis(1)).unwrap();

        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_none());
        // Reply takes 20ms
-        sim_testbench.step_by(Duration::from_millis(25));
+        sim_testbench.step_until(Duration::from_millis(25)).unwrap();
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_some());
        let sim_reply = sim_reply.unwrap();
--- a/satrs-minisim/src/lib.rs
+++ b/satrs-minisim/src/lib.rs
@ -1,11 +1,12 @@
-use asynchronix::time::MonotonicTime;
+use nexosim::time::MonotonicTime;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use serde::{de::DeserializeOwned, Deserialize, Serialize};

 #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
 pub enum SimComponent {
    SimCtrl,
-    MgmLis3Mdl,
+    Mgm0Lis3Mdl,
+    Mgm1Lis3Mdl,
    Mgt,
    Pcdu,
 }
@ -277,7 +278,7 @@ pub mod acs {
    }

    impl SerializableSimMsgPayload<SimRequest> for MgmRequestLis3Mdl {
-        const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
+        const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
    }

    // Normally, small magnetometers generate their output as a signed 16 bit raw format or something
@ -368,7 +369,7 @@ pub mod acs {
        }

        impl SerializableSimMsgPayload<SimReply> for MgmLis3MdlReply {
-            const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
+            const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
        }

        impl MgmReplyProvider for MgmLis3MdlReply {
@ -418,7 +419,7 @@ pub mod acs {
    }

    impl SerializableSimMsgPayload<SimReply> for MgtReply {
-        const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
+        const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
    }
 }

--- a/satrs-minisim/src/main.rs
+++ b/satrs-minisim/src/main.rs
@ -1,8 +1,8 @@
 use acs::{MagnetometerModel, MagnetorquerModel};
-use asynchronix::simulation::{Mailbox, SimInit};
-use asynchronix::time::{MonotonicTime, SystemClock};
-use controller::SimController;
+use controller::{ModelAddrWrapper, SimController};
 use eps::PcduModel;
+use nexosim::simulation::{Mailbox, SimInit};
+use nexosim::time::{MonotonicTime, SystemClock};
 use satrs_minisim::udp::SIM_CTRL_PORT;
 use satrs_minisim::{SimReply, SimRequest};
 use std::sync::mpsc;
@ -31,11 +31,15 @@ fn create_sim_controller(
    request_receiver: mpsc::Receiver<SimRequest>,
 ) -> SimController {
    // Instantiate models and their mailboxes.
-    let mgm_model =
+    let mgm_0_model =
+        MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
+    let mgm_1_model =
        MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());

-    let mgm_mailbox = Mailbox::new();
-    let mgm_addr = mgm_mailbox.address();
+    let mgm_0_mailbox = Mailbox::new();
+    let mgm_0_addr = mgm_0_mailbox.address();
+    let mgm_1_mailbox = Mailbox::new();
+    let mgm_1_addr = mgm_1_mailbox.address();
    let pcdu_mailbox = Mailbox::new();
    let pcdu_addr = pcdu_mailbox.address();
    let mgt_mailbox = Mailbox::new();
@ -43,8 +47,11 @@ fn create_sim_controller(

    let mut pcdu_model = PcduModel::new(reply_sender.clone());
    pcdu_model
-        .mgm_switch
-        .connect(MagnetometerModel::switch_device, &mgm_addr);
+        .mgm_0_switch
+        .connect(MagnetometerModel::switch_device, &mgm_0_addr);
+    pcdu_model
+        .mgm_1_switch
+        .connect(MagnetometerModel::switch_device, &mgm_1_addr);

    let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
    // Input connections.
@ -52,9 +59,14 @@ fn create_sim_controller(
        .mgt_switch
        .connect(MagnetorquerModel::switch_device, &mgt_addr);
    // Output connections.
-    mgt_model
-        .gen_magnetic_field
-        .connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);
+    mgt_model.gen_magnetic_field.connect(
+        MagnetometerModel::apply_external_magnetic_field,
+        &mgm_0_addr,
+    );
+    mgt_model.gen_magnetic_field.connect(
+        MagnetometerModel::apply_external_magnetic_field,
+        &mgm_1_addr,
+    );

    // Instantiate the simulator
    let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
@ -63,19 +75,21 @@ fn create_sim_controller(
    } else {
        SimInit::new()
    };
-    let simulation = sim_init
-        .add_model(mgm_model, mgm_mailbox)
-        .add_model(pcdu_model, pcdu_mailbox)
-        .add_model(mgt_model, mgt_mailbox)
-        .init(start_time);
+    let addrs = ModelAddrWrapper::new(mgm_0_addr, mgm_1_addr, pcdu_addr, mgt_addr);
+    let (simulation, scheduler) = sim_init
+        .add_model(mgm_0_model, mgm_0_mailbox, "MGM 0 model")
+        .add_model(mgm_1_model, mgm_1_mailbox, "MGM 1 model")
+        .add_model(pcdu_model, pcdu_mailbox, "PCDU model")
+        .add_model(mgt_model, mgt_mailbox, "MGT model")
+        .init(start_time)
+        .unwrap();
    SimController::new(
        sys_clock,
        request_receiver,
        reply_sender,
        simulation,
-        mgm_addr,
-        pcdu_addr,
-        mgt_addr,
+        scheduler,
+        addrs,
    )
 }

--- a/satrs-minisim/src/test_helpers.rs
+++ b/satrs-minisim/src/test_helpers.rs
@ -1,7 +1,10 @@
 use delegate::delegate;
-use std::{sync::mpsc, time::Duration};
+use std::sync::mpsc;

-use asynchronix::time::MonotonicTime;
+use nexosim::{
+    simulation::ExecutionError,
+    time::{Deadline, MonotonicTime},
+};
 use satrs_minisim::{SimReply, SimRequest};

 use crate::{controller::SimController, create_sim_controller, ThreadingModel};
@ -35,8 +38,8 @@ impl SimTestbench {
            pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime);
        }
        to self.sim_controller.simulation {
-            pub fn step(&mut self);
-            pub fn step_by(&mut self, duration: Duration);
+            pub fn step(&mut self) -> Result<(), ExecutionError>;
+            pub fn step_until(&mut self, duration: impl Deadline) -> Result<(), ExecutionError>;
        }
    }

--- a/satrs-minisim/src/time.rs
+++ b/satrs-minisim/src/time.rs
@ -1,4 +1,4 @@
-use asynchronix::time::MonotonicTime;
+use nexosim::time::MonotonicTime;

 pub fn current_millis(time: MonotonicTime) -> u64 {
    (time.as_secs() as u64 * 1000) + (time.subsec_nanos() as u64 / 1_000_000)
--- a/satrs-shared/CHANGELOG.md
+++ b/satrs-shared/CHANGELOG.md
@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

+# [v0.2.1] 2024-11-15
+
+Increased allowed spacepackets to v0.13
+
 # [v0.2.0] 2024-11-04

 Semver bump, due to added features in v0.1.4
--- a/satrs-shared/Cargo.toml
+++ b/satrs-shared/Cargo.toml
@ -1,7 +1,7 @@
 [package]
 name = "satrs-shared"
 description = "Components shared by multiple sat-rs crates"
-version = "0.2.0"
+version = "0.2.1"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@ -22,7 +22,7 @@ version = "0.3"
 optional = true

 [dependencies.spacepackets]
-version = ">0.9, <=0.12"
+version = ">0.9, <=0.13"
 default-features = false

 [features]
--- a/satrs/CHANGELOG.md
+++ b/satrs/CHANGELOG.md
@ -8,14 +8,31 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

+`spacepackets` v0.13
+
 ## Changed

 - Renamed `StaticPoolConfig::new` to `StaticPoolConfig::new_from_subpool_cfg_tuples`. The new
  `new` implementation expects a type struct instead of tuples.
+- Moved `cfdp` module to [dedicated crate](https://egit.irs.uni-stuttgart.de/rust/cfdp)
+- Moved `seq_count` module to [spacepackets](https://egit.irs.uni-stuttgart.de/rust/spacepackets)
+  crate

 ## Added

 - `StaticHeaplessMemoryPool` which can be grown with user-provided static buffers.
+- Scheduling table for systems with a standard runtime
+- Mode Tree Feature which allows building a network of mode components which can send mode
+  messages to each other.
+- Added first helper features like the `SubsystemExecutionHelper` and the
+  `SubsystemCommandingHelper` which allows to build subsystem components. Subsystem components
+  are able to execute mode sequences and perform target keeping based on a declarative table
+  format.
+- Added `DevManagerCommandingHelper` which performs some of the boilerplate logik required
+  by Assembly and Device Management components. This includes forwarding mode requests and
+  handling mode replies.
+- First basic health module with `HealthState`s and the `HealthTableProvider` trait. These
+  components are important for any FDIR components which get added in the future.

 # [v0.2.1] 2024-05-19

--- a/satrs/Cargo.toml
+++ b/satrs/Cargo.toml
@ -2,7 +2,7 @@
 name = "satrs"
 version = "0.2.1"
 edition = "2021"
-rust-version = "1.71.1"
+rust-version = "1.82.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 description = "A framework to build software for remote systems"
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@ -13,88 +13,36 @@ keywords = ["no-std", "space", "aerospace"]
 categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]

 [dependencies]
-delegate = ">0.7, <=0.10"
+satrs-shared = ">=0.1.3, <=0.2"
+delegate = ">0.7, <=0.13"
 paste = "1"
-derive-new = "0.6"
+derive-new = ">=0.6, <=0.7"
 smallvec = "1"
 crc = "3"
+num_enum = { version = ">0.5, <=0.7", default-features = false }
+spacepackets = { version = "0.13", default-features = false }
+cobs = { version = "0.3", default-features = false }
+num-traits = { version = "0.2", default-features = false }
+thiserror = { version = "2", default-features = false }

-[dependencies.satrs-shared]
-version = ">=0.1.3, <=0.2"
-
-[dependencies.num_enum]
-version = ">0.5, <=0.7"
-default-features = false
-
-[dependencies.spacepackets]
-version = "0.12"
-default-features = false
-
-[dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
-version = "0.2.3"
-branch = "all_features"
-default-features = false
-
-[dependencies.num-traits]
-version = "0.2"
-default-features = false
-
-[dependencies.dyn-clone]
-version = "1"
-optional = true
-
-[dependencies.hashbrown]
-version = "0.14"
-optional = true
-
-[dependencies.heapless]
-version = "0.7"
-optional = true
-
-[dependencies.downcast-rs]
-version = "1.2"
-default-features = false
-optional = true
-
-[dependencies.bus]
-version = "2.2"
-optional = true
-
-[dependencies.crossbeam-channel]
-version= "0.5"
-default-features = false
-optional = true
-
-[dependencies.thiserror]
-version = "1"
-optional = true
-
-[dependencies.serde]
-version = "1"
-default-features = false
-optional = true
-
-[dependencies.socket2]
-version = "0.5.4"
-features = ["all"]
-optional = true
-
-[dependencies.mio]
-version = "0.8"
-features = ["os-poll", "net"]
-optional = true
-
-[dependencies.defmt]
-version = "0.3"
-optional = true
+hashbrown = { version = ">=0.14, <=0.15", optional = true }
+static_cell = { version = "2", optional = true }
+dyn-clone = { version = "1", optional = true }
+heapless = { version = "0.8", optional = true }
+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 = "0.5", features = ["all"], optional = true }
+mio = { version = "1", features = ["os-poll", "net"], optional = true }
+defmt = { version = "0.3", optional = true }

 [dev-dependencies]
 serde = "1"
-zerocopy = "0.7"
+zerocopy = "0.8"
 once_cell = "1"
 serde_json = "1"
-rand = "0.8"
+rand = "0.9"
 tempfile = "3"

 [dev-dependencies.postcard]
@ -106,12 +54,11 @@ std = [
    "downcast-rs/std",
    "alloc",
    "bus",
-    "postcard/use-std",
    "crossbeam-channel/std",
    "serde/std",
    "spacepackets/std",
    "num_enum/std",
-    "thiserror",
+    "thiserror/std",
    "socket2",
    "mio"
 ]
@ -124,11 +71,15 @@ alloc = [
 ]
 serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
 crossbeam = ["crossbeam-channel"]
-heapless = ["dep:heapless"]
+heapless = ["dep:heapless", "static_cell"]
 defmt = ["dep:defmt", "spacepackets/defmt"]
 test_util = []
-doc-images = []

 [package.metadata.docs.rs]
 all-features = true
-rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
+rustdoc-args = ["--generate-link-to-definition"]
+
+[[test]]
+name = "event_test"
+path = "tests/pus_events.rs"
+required-features = ["test_util"]
--- a/satrs/docs.sh
+++ b/satrs/docs.sh
@ -0,0 +1,3 @@
+#!/bin/sh
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --all-features --open
--- a/satrs/release-checklist.md
+++ b/satrs/release-checklist.md
@ -3,8 +3,7 @@ Checklist for new releases

 # Pre-Release

-1. Make sure any new modules are documented sufficiently enough and check docs with
-   `cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]' --open`.
+1. Make sure any new modules are documented sufficiently enough and check docs by running `docs.sh`.
 2. Bump version specifier in `Cargo.toml`.
 3. Update `CHANGELOG.md`: Convert `unreleased` section into version section with date and add new
   `unreleased` section.
--- a/satrs/src/cfdp/dest.rs
+++ b/satrs/src/cfdp/dest.rs
--- a/satrs/src/cfdp/filestore.rs
+++ b/satrs/src/cfdp/filestore.rs
@ -1,769 +0,0 @@
-use alloc::string::{String, ToString};
-use core::fmt::Display;
-use crc::{Crc, CRC_32_CKSUM};
-use spacepackets::cfdp::ChecksumType;
-use spacepackets::ByteConversionError;
-#[cfg(feature = "std")]
-use std::error::Error;
-use std::path::Path;
-#[cfg(feature = "std")]
-pub use std_mod::*;
-
-pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
-
-#[derive(Debug, Clone)]
-pub enum FilestoreError {
-    FileDoesNotExist,
-    FileAlreadyExists,
-    DirDoesNotExist,
-    Permission,
-    IsNotFile,
-    IsNotDirectory,
-    ByteConversion(ByteConversionError),
-    Io {
-        raw_errno: Option<i32>,
-        string: String,
-    },
-    ChecksumTypeNotImplemented(ChecksumType),
-}
-
-impl From<ByteConversionError> for FilestoreError {
-    fn from(value: ByteConversionError) -> Self {
-        Self::ByteConversion(value)
-    }
-}
-
-impl Display for FilestoreError {
-    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
-        match self {
-            FilestoreError::FileDoesNotExist => {
-                write!(f, "file does not exist")
-            }
-            FilestoreError::FileAlreadyExists => {
-                write!(f, "file already exists")
-            }
-            FilestoreError::DirDoesNotExist => {
-                write!(f, "directory does not exist")
-            }
-            FilestoreError::Permission => {
-                write!(f, "permission error")
-            }
-            FilestoreError::IsNotFile => {
-                write!(f, "is not a file")
-            }
-            FilestoreError::IsNotDirectory => {
-                write!(f, "is not a directory")
-            }
-            FilestoreError::ByteConversion(e) => {
-                write!(f, "filestore error: {e}")
-            }
-            FilestoreError::Io { raw_errno, string } => {
-                write!(
-                    f,
-                    "filestore generic IO error with raw errno {:?}: {}",
-                    raw_errno, string
-                )
-            }
-            FilestoreError::ChecksumTypeNotImplemented(checksum_type) => {
-                write!(f, "checksum {:?} not implemented", checksum_type)
-            }
-        }
-    }
-}
-
-impl Error for FilestoreError {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        match self {
-            FilestoreError::ByteConversion(e) => Some(e),
-            _ => None,
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl From<std::io::Error> for FilestoreError {
-    fn from(value: std::io::Error) -> Self {
-        Self::Io {
-            raw_errno: value.raw_os_error(),
-            string: value.to_string(),
-        }
-    }
-}
-
-pub trait VirtualFilestore {
-    fn create_file(&self, file_path: &str) -> Result<(), FilestoreError>;
-
-    fn remove_file(&self, file_path: &str) -> Result<(), FilestoreError>;
-
-    /// Truncating a file means deleting all its data so the resulting file is empty.
-    /// This can be more efficient than removing and re-creating a file.
-    fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError>;
-
-    fn remove_dir(&self, dir_path: &str, all: bool) -> Result<(), FilestoreError>;
-    fn create_dir(&self, dir_path: &str) -> Result<(), FilestoreError>;
-
-    fn read_data(
-        &self,
-        file_path: &str,
-        offset: u64,
-        read_len: u64,
-        buf: &mut [u8],
-    ) -> Result<(), FilestoreError>;
-
-    fn write_data(&self, file: &str, offset: u64, buf: &[u8]) -> Result<(), FilestoreError>;
-
-    fn filename_from_full_path(path: &str) -> Option<&str>
-    where
-        Self: Sized,
-    {
-        // Convert the path string to a Path
-        let path = Path::new(path);
-
-        // Extract the file name using the file_name() method
-        path.file_name().and_then(|name| name.to_str())
-    }
-
-    fn is_file(&self, path: &str) -> bool;
-
-    fn is_dir(&self, path: &str) -> bool {
-        !self.is_file(path)
-    }
-
-    fn exists(&self, path: &str) -> bool;
-
-    /// This special function is the CFDP specific abstraction to verify the checksum of a file.
-    /// This allows to keep OS specific details like reading the whole file in the most efficient
-    /// manner inside the file system abstraction.
-    ///
-    /// The passed verification buffer argument will be used by the specific implementation as
-    /// a buffer to read the file into. It is recommended to use common buffer sizes like
-    /// 4096 or 8192 bytes.
-    fn checksum_verify(
-        &self,
-        file_path: &str,
-        checksum_type: ChecksumType,
-        expected_checksum: u32,
-        verification_buf: &mut [u8],
-    ) -> Result<bool, FilestoreError>;
-}
-
-#[cfg(feature = "std")]
-pub mod std_mod {
-    use super::*;
-    use std::{
-        fs::{self, File, OpenOptions},
-        io::{BufReader, Read, Seek, SeekFrom, Write},
-    };
-
-    #[derive(Default)]
-    pub struct NativeFilestore {}
-
-    impl VirtualFilestore for NativeFilestore {
-        fn create_file(&self, file_path: &str) -> Result<(), FilestoreError> {
-            if self.exists(file_path) {
-                return Err(FilestoreError::FileAlreadyExists);
-            }
-            File::create(file_path)?;
-            Ok(())
-        }
-
-        fn remove_file(&self, file_path: &str) -> Result<(), FilestoreError> {
-            if !self.exists(file_path) {
-                return Err(FilestoreError::FileDoesNotExist);
-            }
-            if !self.is_file(file_path) {
-                return Err(FilestoreError::IsNotFile);
-            }
-            fs::remove_file(file_path)?;
-            Ok(())
-        }
-
-        fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError> {
-            if !self.exists(file_path) {
-                return Err(FilestoreError::FileDoesNotExist);
-            }
-            if !self.is_file(file_path) {
-                return Err(FilestoreError::IsNotFile);
-            }
-            OpenOptions::new()
-                .write(true)
-                .truncate(true)
-                .open(file_path)?;
-            Ok(())
-        }
-
-        fn create_dir(&self, dir_path: &str) -> Result<(), FilestoreError> {
-            fs::create_dir(dir_path).map_err(|e| FilestoreError::Io {
-                raw_errno: e.raw_os_error(),
-                string: e.to_string(),
-            })?;
-            Ok(())
-        }
-
-        fn remove_dir(&self, dir_path: &str, all: bool) -> Result<(), FilestoreError> {
-            if !self.exists(dir_path) {
-                return Err(FilestoreError::DirDoesNotExist);
-            }
-            if !self.is_dir(dir_path) {
-                return Err(FilestoreError::IsNotDirectory);
-            }
-            if !all {
-                fs::remove_dir(dir_path)?;
-                return Ok(());
-            }
-            fs::remove_dir_all(dir_path)?;
-            Ok(())
-        }
-
-        fn read_data(
-            &self,
-            file_name: &str,
-            offset: u64,
-            read_len: u64,
-            buf: &mut [u8],
-        ) -> Result<(), FilestoreError> {
-            if buf.len() < read_len as usize {
-                return Err(ByteConversionError::ToSliceTooSmall {
-                    found: buf.len(),
-                    expected: read_len as usize,
-                }
-                .into());
-            }
-            if !self.exists(file_name) {
-                return Err(FilestoreError::FileDoesNotExist);
-            }
-            if !self.is_file(file_name) {
-                return Err(FilestoreError::IsNotFile);
-            }
-            let mut file = File::open(file_name)?;
-            file.seek(SeekFrom::Start(offset))?;
-            file.read_exact(&mut buf[0..read_len as usize])?;
-            Ok(())
-        }
-
-        fn write_data(&self, file: &str, offset: u64, buf: &[u8]) -> Result<(), FilestoreError> {
-            if !self.exists(file) {
-                return Err(FilestoreError::FileDoesNotExist);
-            }
-            if !self.is_file(file) {
-                return Err(FilestoreError::IsNotFile);
-            }
-            let mut file = OpenOptions::new().write(true).open(file)?;
-            file.seek(SeekFrom::Start(offset))?;
-            file.write_all(buf)?;
-            Ok(())
-        }
-
-        fn is_file(&self, path: &str) -> bool {
-            let path = Path::new(path);
-            path.is_file()
-        }
-
-        fn exists(&self, path: &str) -> bool {
-            let path = Path::new(path);
-            if !path.exists() {
-                return false;
-            }
-            true
-        }
-
-        fn checksum_verify(
-            &self,
-            file_path: &str,
-            checksum_type: ChecksumType,
-            expected_checksum: u32,
-            verification_buf: &mut [u8],
-        ) -> Result<bool, FilestoreError> {
-            match checksum_type {
-                ChecksumType::Modular => {
-                    if self.calc_modular_checksum(file_path)? == expected_checksum {
-                        return Ok(true);
-                    }
-                    Ok(false)
-                }
-                ChecksumType::Crc32 => {
-                    let mut digest = CRC_32.digest();
-                    let file_to_check = File::open(file_path)?;
-                    let mut buf_reader = BufReader::new(file_to_check);
-                    loop {
-                        let bytes_read = buf_reader.read(verification_buf)?;
-                        if bytes_read == 0 {
-                            break;
-                        }
-                        digest.update(&verification_buf[0..bytes_read]);
-                    }
-                    if digest.finalize() == expected_checksum {
-                        return Ok(true);
-                    }
-                    Ok(false)
-                }
-                ChecksumType::NullChecksum => Ok(true),
-                _ => Err(FilestoreError::ChecksumTypeNotImplemented(checksum_type)),
-            }
-        }
-    }
-
-    impl NativeFilestore {
-        pub fn calc_modular_checksum(&self, file_path: &str) -> Result<u32, FilestoreError> {
-            let mut checksum: u32 = 0;
-            let file = File::open(file_path)?;
-            let mut buf_reader = BufReader::new(file);
-            let mut buffer = [0; 4];
-
-            loop {
-                let bytes_read = buf_reader.read(&mut buffer)?;
-                if bytes_read == 0 {
-                    break;
-                }
-                // Perform padding directly in the buffer
-                (bytes_read..4).for_each(|i| {
-                    buffer[i] = 0;
-                });
-
-                checksum = checksum.wrapping_add(u32::from_be_bytes(buffer));
-            }
-            Ok(checksum)
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use std::{fs, path::Path, println};
-
-    use super::*;
-    use alloc::format;
-    use tempfile::tempdir;
-
-    const EXAMPLE_DATA_CFDP: [u8; 15] = [
-        0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E,
-    ];
-
-    const NATIVE_FS: NativeFilestore = NativeFilestore {};
-
-    #[test]
-    fn test_basic_native_filestore_create() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        let result =
-            NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
-        assert!(result.is_ok());
-        let path = Path::new(&file_path);
-        assert!(path.exists());
-        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
-        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
-    }
-
-    #[test]
-    fn test_basic_native_fs_file_exists() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
-        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
-    }
-
-    #[test]
-    fn test_basic_native_fs_dir_exists() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let dir_path = tmpdir.path().join("testdir");
-        assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
-        NATIVE_FS
-            .create_dir(dir_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        assert!(NATIVE_FS.exists(dir_path.to_str().unwrap()));
-        assert!(NATIVE_FS.is_dir(dir_path.as_path().to_str().unwrap()));
-    }
-
-    #[test]
-    fn test_basic_native_fs_remove_file() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .expect("creating file failed");
-        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
-        NATIVE_FS
-            .remove_file(file_path.to_str().unwrap())
-            .expect("removing file failed");
-        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
-    }
-
-    #[test]
-    fn test_basic_native_fs_write() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
-        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
-        println!("{}", file_path.to_str().unwrap());
-        let write_data = "hello world\n";
-        NATIVE_FS
-            .write_data(file_path.to_str().unwrap(), 0, write_data.as_bytes())
-            .expect("writing to file failed");
-        let read_back = fs::read_to_string(file_path).expect("reading back data failed");
-        assert_eq!(read_back, write_data);
-    }
-
-    #[test]
-    fn test_basic_native_fs_read() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
-        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
-        println!("{}", file_path.to_str().unwrap());
-        let write_data = "hello world\n";
-        NATIVE_FS
-            .write_data(file_path.to_str().unwrap(), 0, write_data.as_bytes())
-            .expect("writing to file failed");
-        let read_back = fs::read_to_string(file_path).expect("reading back data failed");
-        assert_eq!(read_back, write_data);
-    }
-
-    #[test]
-    fn test_truncate_file() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .expect("creating file failed");
-        fs::write(file_path.clone(), [1, 2, 3, 4]).unwrap();
-        assert_eq!(fs::read(file_path.clone()).unwrap(), [1, 2, 3, 4]);
-        NATIVE_FS
-            .truncate_file(file_path.to_str().unwrap())
-            .unwrap();
-        assert_eq!(fs::read(file_path.clone()).unwrap(), []);
-    }
-
-    #[test]
-    fn test_remove_dir() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let dir_path = tmpdir.path().join("testdir");
-        assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
-        NATIVE_FS
-            .create_dir(dir_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        assert!(NATIVE_FS.exists(dir_path.to_str().unwrap()));
-        NATIVE_FS
-            .remove_dir(dir_path.to_str().unwrap(), false)
-            .unwrap();
-        assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
-    }
-
-    #[test]
-    fn test_read_file() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .expect("creating file failed");
-        fs::write(file_path.clone(), [1, 2, 3, 4]).unwrap();
-        let read_buf: &mut [u8] = &mut [0; 4];
-        NATIVE_FS
-            .read_data(file_path.to_str().unwrap(), 0, 4, read_buf)
-            .unwrap();
-        assert_eq!([1, 2, 3, 4], read_buf);
-        NATIVE_FS
-            .write_data(file_path.to_str().unwrap(), 4, &[5, 6, 7, 8])
-            .expect("writing to file failed");
-        NATIVE_FS
-            .read_data(file_path.to_str().unwrap(), 2, 4, read_buf)
-            .unwrap();
-        assert_eq!([3, 4, 5, 6], read_buf);
-    }
-
-    #[test]
-    fn test_remove_which_does_not_exist() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        let result = NATIVE_FS.read_data(file_path.to_str().unwrap(), 0, 4, &mut [0; 4]);
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::FileDoesNotExist = error {
-            assert_eq!(error.to_string(), "file does not exist");
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_file_already_exists() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        let result =
-            NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
-        assert!(result.is_ok());
-        let result =
-            NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::FileAlreadyExists = error {
-            assert_eq!(error.to_string(), "file already exists");
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_remove_file_with_dir_api() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        let result = NATIVE_FS.remove_dir(file_path.to_str().unwrap(), true);
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::IsNotDirectory = error {
-            assert_eq!(error.to_string(), "is not a directory");
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_remove_dir_remove_all() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let dir_path = tmpdir.path().join("test");
-        NATIVE_FS
-            .create_dir(dir_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        let file_path = dir_path.as_path().join("test.txt");
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        let result = NATIVE_FS.remove_dir(dir_path.to_str().unwrap(), true);
-        assert!(result.is_ok());
-        assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
-    }
-
-    #[test]
-    fn test_remove_dir_with_file_api() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test");
-        NATIVE_FS
-            .create_dir(file_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        let result = NATIVE_FS.remove_file(file_path.to_str().unwrap());
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::IsNotFile = error {
-            assert_eq!(error.to_string(), "is not a file");
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_remove_dir_which_does_not_exist() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test");
-        let result = NATIVE_FS.remove_dir(file_path.to_str().unwrap(), true);
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::DirDoesNotExist = error {
-            assert_eq!(error.to_string(), "directory does not exist");
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_remove_file_which_does_not_exist() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        let result = NATIVE_FS.remove_file(file_path.to_str().unwrap());
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::FileDoesNotExist = error {
-            assert_eq!(error.to_string(), "file does not exist");
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_truncate_file_which_does_not_exist() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        let result = NATIVE_FS.truncate_file(file_path.to_str().unwrap());
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::FileDoesNotExist = error {
-            assert_eq!(error.to_string(), "file does not exist");
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_truncate_file_on_directory() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test");
-        NATIVE_FS.create_dir(file_path.to_str().unwrap()).unwrap();
-        let result = NATIVE_FS.truncate_file(file_path.to_str().unwrap());
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::IsNotFile = error {
-            assert_eq!(error.to_string(), "is not a file");
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_byte_conversion_error_when_reading() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        let result = NATIVE_FS.read_data(file_path.to_str().unwrap(), 0, 2, &mut []);
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::ByteConversion(byte_conv_error) = error {
-            if let ByteConversionError::ToSliceTooSmall { found, expected } = byte_conv_error {
-                assert_eq!(found, 0);
-                assert_eq!(expected, 2);
-            } else {
-                panic!("unexpected error");
-            }
-            assert_eq!(
-                error.to_string(),
-                format!("filestore error: {}", byte_conv_error)
-            );
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_read_file_on_dir() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let dir_path = tmpdir.path().join("test");
-        NATIVE_FS
-            .create_dir(dir_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        let result = NATIVE_FS.read_data(dir_path.to_str().unwrap(), 0, 4, &mut [0; 4]);
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::IsNotFile = error {
-            assert_eq!(error.to_string(), "is not a file");
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_write_file_non_existing() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        let result = NATIVE_FS.write_data(file_path.to_str().unwrap(), 0, &[]);
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::FileDoesNotExist = error {
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_write_file_on_dir() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test");
-        NATIVE_FS.create_dir(file_path.to_str().unwrap()).unwrap();
-        let result = NATIVE_FS.write_data(file_path.to_str().unwrap(), 0, &[]);
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::IsNotFile = error {
-        } else {
-            panic!("unexpected error");
-        }
-    }
-
-    #[test]
-    fn test_filename_extraction() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("test.txt");
-        NATIVE_FS
-            .create_file(file_path.to_str().expect("getting str for file failed"))
-            .unwrap();
-        NativeFilestore::filename_from_full_path(file_path.to_str().unwrap());
-    }
-
-    #[test]
-    fn test_modular_checksum() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("mod-crc.bin");
-        fs::write(file_path.as_path(), EXAMPLE_DATA_CFDP).expect("writing test file failed");
-        // Kind of re-writing the modular checksum impl here which we are trying to test, but the
-        // numbers/correctness were verified manually using calculators, so this is okay.
-        let mut checksum: u32 = 0;
-        let mut buffer: [u8; 4] = [0; 4];
-        for i in 0..3 {
-            buffer = EXAMPLE_DATA_CFDP[i * 4..(i + 1) * 4].try_into().unwrap();
-            checksum = checksum.wrapping_add(u32::from_be_bytes(buffer));
-        }
-        buffer[0..3].copy_from_slice(&EXAMPLE_DATA_CFDP[12..15]);
-        buffer[3] = 0;
-        checksum = checksum.wrapping_add(u32::from_be_bytes(buffer));
-        let mut verif_buf: [u8; 32] = [0; 32];
-        let result = NATIVE_FS.checksum_verify(
-            file_path.to_str().unwrap(),
-            ChecksumType::Modular,
-            checksum,
-            &mut verif_buf,
-        );
-        assert!(result.is_ok());
-    }
-
-    #[test]
-    fn test_null_checksum_impl() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("mod-crc.bin");
-        // The file to check does not even need to exist, and the verification buffer can be
-        // empty: the null checksum is always yields the same result.
-        let result = NATIVE_FS.checksum_verify(
-            file_path.to_str().unwrap(),
-            ChecksumType::NullChecksum,
-            0,
-            &mut [],
-        );
-        assert!(result.is_ok());
-        assert!(result.unwrap());
-    }
-
-    #[test]
-    fn test_checksum_not_implemented() {
-        let tmpdir = tempdir().expect("creating tmpdir failed");
-        let file_path = tmpdir.path().join("mod-crc.bin");
-        // The file to check does not even need to exist, and the verification buffer can be
-        // empty: the null checksum is always yields the same result.
-        let result = NATIVE_FS.checksum_verify(
-            file_path.to_str().unwrap(),
-            ChecksumType::Crc32Proximity1,
-            0,
-            &mut [],
-        );
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let FilestoreError::ChecksumTypeNotImplemented(cksum_type) = error {
-            assert_eq!(
-                error.to_string(),
-                format!("checksum {:?} not implemented", cksum_type)
-            );
-        } else {
-            panic!("unexpected error");
-        }
-    }
-}
--- a/satrs/src/cfdp/mod.rs
+++ b/satrs/src/cfdp/mod.rs
@ -1,668 +0,0 @@
-//! This module contains the implementation of the CFDP high level classes as specified in the
-//! CCSDS 727.0-B-5.
-use core::{cell::RefCell, fmt::Debug, hash::Hash};
-
-use crc::{Crc, CRC_32_CKSUM};
-use hashbrown::HashMap;
-use spacepackets::{
-    cfdp::{
-        pdu::{FileDirectiveType, PduError, PduHeader},
-        ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
-    },
-    util::{UnsignedByteField, UnsignedEnum},
-};
-
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "serde")]
-use serde::{Deserialize, Serialize};
-
-use crate::time::CountdownProvider;
-
-#[cfg(feature = "std")]
-pub mod dest;
-#[cfg(feature = "alloc")]
-pub mod filestore;
-#[cfg(feature = "std")]
-pub mod source;
-pub mod user;
-
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
-pub enum EntityType {
-    Sending,
-    Receiving,
-}
-
-pub enum TimerContext {
-    CheckLimit {
-        local_id: UnsignedByteField,
-        remote_id: UnsignedByteField,
-        entity_type: EntityType,
-    },
-    NakActivity {
-        expiry_time_seconds: f32,
-    },
-    PositiveAck {
-        expiry_time_seconds: f32,
-    },
-}
-
-/// A generic trait which allows CFDP entities to create check timers which are required to
-/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
-/// and 4.6.3.3.
-///
-/// This trait also allows the creation of different check timers depending on context and purpose
-/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
-/// other factors.
-///
-/// The countdown timer is used by 3 mechanisms of the CFDP protocol.
-///
-/// ## 1. Check limit handling
-///
-/// The first mechanism is the check limit handling for unacknowledged transfers as specified
-/// in 4.6.3.2 and 4.6.3.3 of the CFDP standard.
-/// For this mechanism, the timer has different functionality depending on whether
-/// the using entity is the sending entity or the receiving entity for the unacknowledged
-/// transmission mode.
-///
-/// For the sending entity, this timer determines the expiry period for declaring a check limit
-/// fault after sending an EOF PDU with requested closure. This allows a timeout of the transfer.
-/// Also see 4.6.3.2 of the CFDP standard.
-///
-/// For the receiving entity, this timer determines the expiry period for incrementing a check
-/// counter after an EOF PDU is received for an incomplete file transfer. This allows out-of-order
-/// reception of file data PDUs and EOF PDUs. Also see 4.6.3.3 of the CFDP standard.
-///
-/// ## 2. NAK activity limit
-///
-/// The timer will be used to perform the NAK activity check as specified in 4.6.4.7 of the CFDP
-/// standard. The expiration period will be provided by the NAK timer expiration limit of the
-/// remote entity configuration.
-///
-/// ## 3. Positive ACK procedures
-///
-/// The timer will be used to perform the Positive Acknowledgement Procedures as  specified in
-/// 4.7. 1of the CFDP standard. The expiration period will be provided by the Positive ACK timer
-/// interval of the remote entity configuration.
-#[cfg(feature = "alloc")]
-pub trait CheckTimerCreator {
-    fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CountdownProvider>;
-}
-
-/// Simple implementation of the [CheckTimerCreator] trait assuming a standard runtime.
-/// It also assumes that a second accuracy of the check timer period is sufficient.
-#[cfg(feature = "std")]
-#[derive(Debug)]
-pub struct StdCheckTimer {
-    expiry_time_seconds: u64,
-    start_time: std::time::Instant,
-}
-
-#[cfg(feature = "std")]
-impl StdCheckTimer {
-    pub fn new(expiry_time_seconds: u64) -> Self {
-        Self {
-            expiry_time_seconds,
-            start_time: std::time::Instant::now(),
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl CountdownProvider for StdCheckTimer {
-    fn has_expired(&self) -> bool {
-        let elapsed_time = self.start_time.elapsed();
-        if elapsed_time.as_secs() > self.expiry_time_seconds {
-            return true;
-        }
-        false
-    }
-
-    fn reset(&mut self) {
-        self.start_time = std::time::Instant::now();
-    }
-}
-
-/// This structure models the remote entity configuration information as specified in chapter 8.3
-/// of the CFDP standard.
-
-/// Some of the fields which were not considered necessary for the Rust implementation
-/// were omitted. Some other fields which are not contained inside the standard but are considered
-/// necessary for the Rust implementation are included.
-///
-/// ## Notes on Positive Acknowledgment Procedures
-///
-/// The `positive_ack_timer_interval_seconds` and `positive_ack_timer_expiration_limit` will
-/// be used for positive acknowledgement procedures as specified in CFDP chapter 4.7. The sending
-/// entity will start the timer for any PDUs where an acknowledgment is required (e.g. EOF PDU).
-/// Once the expected ACK response has not been received for that interval, as counter will be
-/// incremented and the timer will be reset. Once the counter exceeds the
-/// `positive_ack_timer_expiration_limit`, a Positive ACK Limit Reached fault will be declared.
-///
-/// ## Notes on Deferred Lost Segment Procedures
-///
-/// This procedure will be active if an EOF (No Error) PDU is received in acknowledged mode. After
-/// issuing the NAK sequence which has the whole file scope, a timer will be started. The timer is
-/// reset when missing segments or missing metadata is received. The timer will be deactivated if
-/// all missing data is received. If the timer expires, a new NAK sequence will be issued and a
-/// counter will be incremented, which can lead to a NAK Limit Reached fault being declared.
-///
-/// ## Fields
-///
-/// * `entity_id` - The ID of the remote entity.
-/// * `max_packet_len` - This determines of all PDUs generated for that remote entity in addition
-///    to the `max_file_segment_len` attribute which also determines the size of file data PDUs.
-/// * `max_file_segment_len` The maximum file segment length which determines the maximum size
-///   of file data PDUs in addition to the `max_packet_len` attribute. If this field is set
-///   to None, the maximum file segment length will be derived from the maximum packet length.
-///   If this has some value which is smaller than the segment value derived from
-///   `max_packet_len`, this value will be picked.
-/// * `closure_requested_by_default` - If the closure requested field is not supplied as part of
-///    the Put Request, it will be determined from this field in the remote configuration.
-/// * `crc_on_transmission_by_default` - If the CRC option is not supplied as part of the Put
-///    Request, it will be determined from this field in the remote configuration.
-/// * `default_transmission_mode` - If the transmission mode is not supplied as part of the
-///   Put Request, it will be determined from this field in the remote configuration.
-/// * `disposition_on_cancellation` - Determines whether an incomplete received file is discard on
-///   transaction cancellation. Defaults to False.
-/// * `default_crc_type` - Default checksum type used to calculate for all file transmissions to
-///   this remote entity.
-/// * `check_limit` - This timer determines the expiry period for incrementing a check counter
-///   after an EOF PDU is received for an incomplete file transfer. This allows out-of-order
-///   reception of file data PDUs and EOF PDUs. Also see 4.6.3.3 of the CFDP standard. Defaults to
-///   2, so the check limit timer may expire twice.
-/// * `positive_ack_timer_interval_seconds`- See the notes on the Positive Acknowledgment
-///    Procedures inside the class documentation. Expected as floating point seconds. Defaults to
-///    10 seconds.
-/// * `positive_ack_timer_expiration_limit` - See the notes on the Positive Acknowledgment
-///    Procedures inside the class documentation. Defaults to 2, so the timer may expire twice.
-/// * `immediate_nak_mode` - Specifies whether a NAK sequence should be issued immediately when a
-///    file data gap or lost metadata is detected in the acknowledged mode. Defaults to True.
-/// * `nak_timer_interval_seconds` -  See the notes on the Deferred Lost Segment Procedure inside
-///    the class documentation. Expected as floating point seconds. Defaults to 10 seconds.
-/// * `nak_timer_expiration_limit` - See the notes on the Deferred Lost Segment Procedure inside
-///    the class documentation. Defaults to 2, so the timer may expire two times.
-#[derive(Debug, Copy, Clone)]
-pub struct RemoteEntityConfig {
-    pub entity_id: UnsignedByteField,
-    pub max_packet_len: usize,
-    pub max_file_segment_len: usize,
-    pub closure_requested_by_default: bool,
-    pub crc_on_transmission_by_default: bool,
-    pub default_transmission_mode: TransmissionMode,
-    pub default_crc_type: ChecksumType,
-    pub positive_ack_timer_interval_seconds: f32,
-    pub positive_ack_timer_expiration_limit: u32,
-    pub check_limit: u32,
-    pub disposition_on_cancellation: bool,
-    pub immediate_nak_mode: bool,
-    pub nak_timer_interval_seconds: f32,
-    pub nak_timer_expiration_limit: u32,
-}
-
-impl RemoteEntityConfig {
-    pub fn new_with_default_values(
-        entity_id: UnsignedByteField,
-        max_file_segment_len: usize,
-        max_packet_len: usize,
-        closure_requested_by_default: bool,
-        crc_on_transmission_by_default: bool,
-        default_transmission_mode: TransmissionMode,
-        default_crc_type: ChecksumType,
-    ) -> Self {
-        Self {
-            entity_id,
-            max_file_segment_len,
-            max_packet_len,
-            closure_requested_by_default,
-            crc_on_transmission_by_default,
-            default_transmission_mode,
-            default_crc_type,
-            check_limit: 2,
-            positive_ack_timer_interval_seconds: 10.0,
-            positive_ack_timer_expiration_limit: 2,
-            disposition_on_cancellation: false,
-            immediate_nak_mode: true,
-            nak_timer_interval_seconds: 10.0,
-            nak_timer_expiration_limit: 2,
-        }
-    }
-}
-
-pub trait RemoteEntityConfigProvider {
-    /// Retrieve the remote entity configuration for the given remote ID.
-    fn get_remote_config(&self, remote_id: u64) -> Option<&RemoteEntityConfig>;
-    fn get_remote_config_mut(&mut self, remote_id: u64) -> Option<&mut RemoteEntityConfig>;
-    /// Add a new remote configuration. Return [true] if the configuration was
-    /// inserted successfully, and [false] if a configuration already exists.
-    fn add_config(&mut self, cfg: &RemoteEntityConfig) -> bool;
-    /// Remote a configuration. Returns [true] if the configuration was removed successfully,
-    /// and [false] if no configuration exists for the given remote ID.
-    fn remove_config(&mut self, remote_id: u64) -> bool;
-}
-
-#[cfg(feature = "std")]
-#[derive(Default)]
-pub struct StdRemoteEntityConfigProvider {
-    remote_cfg_table: HashMap<u64, RemoteEntityConfig>,
-}
-
-#[cfg(feature = "std")]
-impl RemoteEntityConfigProvider for StdRemoteEntityConfigProvider {
-    fn get_remote_config(&self, remote_id: u64) -> Option<&RemoteEntityConfig> {
-        self.remote_cfg_table.get(&remote_id)
-    }
-    fn get_remote_config_mut(&mut self, remote_id: u64) -> Option<&mut RemoteEntityConfig> {
-        self.remote_cfg_table.get_mut(&remote_id)
-    }
-    fn add_config(&mut self, cfg: &RemoteEntityConfig) -> bool {
-        self.remote_cfg_table
-            .insert(cfg.entity_id.value(), *cfg)
-            .is_some()
-    }
-    fn remove_config(&mut self, remote_id: u64) -> bool {
-        self.remote_cfg_table.remove(&remote_id).is_some()
-    }
-}
-
-/// This trait introduces some callbacks which will be called when a particular CFDP fault
-/// handler is called.
-///
-/// It is passed into the CFDP handlers as part of the [DefaultFaultHandler] and the local entity
-/// configuration and provides a way to specify custom user error handlers. This allows to
-/// implement some CFDP features like fault handler logging, which would not be possible
-/// generically otherwise.
-///
-/// For each error reported by the [DefaultFaultHandler], the appropriate fault handler callback
-/// will be called depending on the [FaultHandlerCode].
-pub trait UserFaultHandler {
-    fn notice_of_suspension_cb(
-        &mut self,
-        transaction_id: TransactionId,
-        cond: ConditionCode,
-        progress: u64,
-    );
-
-    fn notice_of_cancellation_cb(
-        &mut self,
-        transaction_id: TransactionId,
-        cond: ConditionCode,
-        progress: u64,
-    );
-
-    fn abandoned_cb(&mut self, transaction_id: TransactionId, cond: ConditionCode, progress: u64);
-
-    fn ignore_cb(&mut self, transaction_id: TransactionId, cond: ConditionCode, progress: u64);
-}
-
-/// This structure is used to implement the fault handling as specified in chapter 4.8 of the CFDP
-/// standard.
-///
-/// It does so by mapping each applicable [spacepackets::cfdp::ConditionCode] to a fault handler
-/// which is denoted by the four [spacepackets::cfdp::FaultHandlerCode]s. This code is used
-/// to select the error handling inside the CFDP handler itself in addition to dispatching to a
-/// user-provided callback function provided by the [UserFaultHandler].
-///
-/// Some note on the provided default settings:
-///
-/// - Checksum failures will be ignored by default. This is because for unacknowledged transfers,
-///   cancelling the transfer immediately would interfere with the check limit mechanism specified
-///   in chapter 4.6.3.3.
-/// - Unsupported checksum types will also be ignored by default. Even if the checksum type is
-///   not supported the file transfer might still have worked properly.
-///
-/// For all other faults, the default fault handling operation will be to cancel the transaction.
-/// These defaults can be overriden by using the [Self::set_fault_handler] method.
-/// Please note that in any case, fault handler overrides can be specified by the sending CFDP
-/// entity.
-pub struct DefaultFaultHandler {
-    handler_array: [FaultHandlerCode; 10],
-    // Could also change the user fault handler trait to have non mutable methods, but that limits
-    // flexbility on the user side..
-    user_fault_handler: RefCell<Box<dyn UserFaultHandler + Send>>,
-}
-
-impl DefaultFaultHandler {
-    fn condition_code_to_array_index(conditon_code: ConditionCode) -> Option<usize> {
-        Some(match conditon_code {
-            ConditionCode::PositiveAckLimitReached => 0,
-            ConditionCode::KeepAliveLimitReached => 1,
-            ConditionCode::InvalidTransmissionMode => 2,
-            ConditionCode::FilestoreRejection => 3,
-            ConditionCode::FileChecksumFailure => 4,
-            ConditionCode::FileSizeError => 5,
-            ConditionCode::NakLimitReached => 6,
-            ConditionCode::InactivityDetected => 7,
-            ConditionCode::CheckLimitReached => 8,
-            ConditionCode::UnsupportedChecksumType => 9,
-            _ => return None,
-        })
-    }
-
-    pub fn set_fault_handler(
-        &mut self,
-        condition_code: ConditionCode,
-        fault_handler: FaultHandlerCode,
-    ) {
-        let array_idx = Self::condition_code_to_array_index(condition_code);
-        if array_idx.is_none() {
-            return;
-        }
-        self.handler_array[array_idx.unwrap()] = fault_handler;
-    }
-
-    pub fn new(user_fault_handler: Box<dyn UserFaultHandler + Send>) -> Self {
-        let mut init_array = [FaultHandlerCode::NoticeOfCancellation; 10];
-        init_array
-            [Self::condition_code_to_array_index(ConditionCode::FileChecksumFailure).unwrap()] =
-            FaultHandlerCode::IgnoreError;
-        init_array[Self::condition_code_to_array_index(ConditionCode::UnsupportedChecksumType)
-            .unwrap()] = FaultHandlerCode::IgnoreError;
-        Self {
-            handler_array: init_array,
-            user_fault_handler: RefCell::new(user_fault_handler),
-        }
-    }
-
-    pub fn get_fault_handler(&self, condition_code: ConditionCode) -> FaultHandlerCode {
-        let array_idx = Self::condition_code_to_array_index(condition_code);
-        if array_idx.is_none() {
-            return FaultHandlerCode::IgnoreError;
-        }
-        self.handler_array[array_idx.unwrap()]
-    }
-
-    pub fn report_fault(
-        &self,
-        transaction_id: TransactionId,
-        condition: ConditionCode,
-        progress: u64,
-    ) -> FaultHandlerCode {
-        let array_idx = Self::condition_code_to_array_index(condition);
-        if array_idx.is_none() {
-            return FaultHandlerCode::IgnoreError;
-        }
-        let fh_code = self.handler_array[array_idx.unwrap()];
-        let mut handler_mut = self.user_fault_handler.borrow_mut();
-        match fh_code {
-            FaultHandlerCode::NoticeOfCancellation => {
-                handler_mut.notice_of_cancellation_cb(transaction_id, condition, progress);
-            }
-            FaultHandlerCode::NoticeOfSuspension => {
-                handler_mut.notice_of_suspension_cb(transaction_id, condition, progress);
-            }
-            FaultHandlerCode::IgnoreError => {
-                handler_mut.ignore_cb(transaction_id, condition, progress);
-            }
-            FaultHandlerCode::AbandonTransaction => {
-                handler_mut.abandoned_cb(transaction_id, condition, progress);
-            }
-        }
-        fh_code
-    }
-}
-
-pub struct IndicationConfig {
-    pub eof_sent: bool,
-    pub eof_recv: bool,
-    pub file_segment_recv: bool,
-    pub transaction_finished: bool,
-    pub suspended: bool,
-    pub resumed: bool,
-}
-
-impl Default for IndicationConfig {
-    fn default() -> Self {
-        Self {
-            eof_sent: true,
-            eof_recv: true,
-            file_segment_recv: true,
-            transaction_finished: true,
-            suspended: true,
-            resumed: true,
-        }
-    }
-}
-
-pub struct LocalEntityConfig {
-    pub id: UnsignedByteField,
-    pub indication_cfg: IndicationConfig,
-    pub default_fault_handler: DefaultFaultHandler,
-}
-
-/// The CFDP transaction ID of a CFDP transaction consists of the source entity ID and the sequence
-/// number of that transfer which is also determined by the CFDP source entity.
-#[derive(Debug, Eq, Copy, Clone)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct TransactionId {
-    source_id: UnsignedByteField,
-    seq_num: UnsignedByteField,
-}
-
-impl TransactionId {
-    pub fn new(source_id: UnsignedByteField, seq_num: UnsignedByteField) -> Self {
-        Self { source_id, seq_num }
-    }
-
-    pub fn source_id(&self) -> &UnsignedByteField {
-        &self.source_id
-    }
-
-    pub fn seq_num(&self) -> &UnsignedByteField {
-        &self.seq_num
-    }
-}
-
-impl Hash for TransactionId {
-    fn hash<H: core::hash::Hasher>(&self, state: &mut H) {
-        self.source_id.value().hash(state);
-        self.seq_num.value().hash(state);
-    }
-}
-
-impl PartialEq for TransactionId {
-    fn eq(&self, other: &Self) -> bool {
-        self.source_id.value() == other.source_id.value()
-            && self.seq_num.value() == other.seq_num.value()
-    }
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum TransactionStep {
-    Idle = 0,
-    TransactionStart = 1,
-    ReceivingFileDataPdus = 2,
-    ReceivingFileDataPdusWithCheckLimitHandling = 3,
-    SendingAckPdu = 4,
-    TransferCompletion = 5,
-    SendingFinishedPdu = 6,
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum State {
-    Idle = 0,
-    Busy = 1,
-    Suspended = 2,
-}
-
-pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
-
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum PacketTarget {
-    SourceEntity,
-    DestEntity,
-}
-
-/// This is a helper struct which contains base information about a particular PDU packet.
-/// This is also necessary information for CFDP packet routing. For example, some packet types
-/// like file data PDUs can only be used by CFDP source entities.
-pub struct PacketInfo<'raw_packet> {
-    pdu_type: PduType,
-    pdu_directive: Option<FileDirectiveType>,
-    target: PacketTarget,
-    raw_packet: &'raw_packet [u8],
-}
-
-impl<'raw> PacketInfo<'raw> {
-    pub fn new(raw_packet: &'raw [u8]) -> Result<Self, PduError> {
-        let (pdu_header, header_len) = PduHeader::from_bytes(raw_packet)?;
-        if pdu_header.pdu_type() == PduType::FileData {
-            return Ok(Self {
-                pdu_type: pdu_header.pdu_type(),
-                pdu_directive: None,
-                target: PacketTarget::DestEntity,
-                raw_packet,
-            });
-        }
-        if pdu_header.pdu_datafield_len() < 1 {
-            return Err(PduError::FormatError);
-        }
-        // Route depending on PDU type and directive type if applicable. Retrieve directive type
-        // from the raw stream for better performance (with sanity and directive code check).
-        // The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
-        // procedure.
-        let directive = FileDirectiveType::try_from(raw_packet[header_len]).map_err(|_| {
-            PduError::InvalidDirectiveType {
-                found: raw_packet[header_len],
-                expected: None,
-            }
-        })?;
-        let packet_target = match directive {
-            // Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
-            // the source handler
-            FileDirectiveType::NakPdu
-            | FileDirectiveType::FinishedPdu
-            | FileDirectiveType::KeepAlivePdu => PacketTarget::SourceEntity,
-            // Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
-            // the destination handler
-            FileDirectiveType::MetadataPdu
-            | FileDirectiveType::EofPdu
-            | FileDirectiveType::PromptPdu => PacketTarget::DestEntity,
-            // Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
-            // extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
-            // the source handler, for a Finished PDU, it is passed to the destination handler.
-            FileDirectiveType::AckPdu => {
-                let acked_directive = FileDirectiveType::try_from(raw_packet[header_len + 1])
-                    .map_err(|_| PduError::InvalidDirectiveType {
-                        found: raw_packet[header_len],
-                        expected: None,
-                    })?;
-                if acked_directive == FileDirectiveType::EofPdu {
-                    PacketTarget::SourceEntity
-                } else if acked_directive == FileDirectiveType::FinishedPdu {
-                    PacketTarget::DestEntity
-                } else {
-                    // TODO: Maybe a better error? This might be confusing..
-                    return Err(PduError::InvalidDirectiveType {
-                        found: raw_packet[header_len + 1],
-                        expected: None,
-                    });
-                }
-            }
-        };
-        Ok(Self {
-            pdu_type: pdu_header.pdu_type(),
-            pdu_directive: Some(directive),
-            target: packet_target,
-            raw_packet,
-        })
-    }
-
-    pub fn pdu_type(&self) -> PduType {
-        self.pdu_type
-    }
-
-    pub fn pdu_directive(&self) -> Option<FileDirectiveType> {
-        self.pdu_directive
-    }
-
-    pub fn target(&self) -> PacketTarget {
-        self.target
-    }
-
-    pub fn raw_packet(&self) -> &[u8] {
-        self.raw_packet
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use spacepackets::cfdp::{
-        lv::Lv,
-        pdu::{
-            eof::EofPdu,
-            file_data::FileDataPdu,
-            metadata::{MetadataGenericParams, MetadataPduCreator},
-            CommonPduConfig, FileDirectiveType, PduHeader, WritablePduPacket,
-        },
-        PduType,
-    };
-
-    use crate::cfdp::PacketTarget;
-
-    use super::PacketInfo;
-
-    fn generic_pdu_header() -> PduHeader {
-        let pdu_conf = CommonPduConfig::default();
-        PduHeader::new_no_file_data(pdu_conf, 0)
-    }
-
-    #[test]
-    fn test_metadata_pdu_info() {
-        let mut buf: [u8; 128] = [0; 128];
-        let pdu_header = generic_pdu_header();
-        let metadata_params = MetadataGenericParams::default();
-        let src_file_name = "hello.txt";
-        let dest_file_name = "hello-dest.txt";
-        let src_lv = Lv::new_from_str(src_file_name).unwrap();
-        let dest_lv = Lv::new_from_str(dest_file_name).unwrap();
-        let metadata_pdu =
-            MetadataPduCreator::new_no_opts(pdu_header, metadata_params, src_lv, dest_lv);
-        metadata_pdu
-            .write_to_bytes(&mut buf)
-            .expect("writing metadata PDU failed");
-
-        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
-        assert_eq!(packet_info.pdu_type(), PduType::FileDirective);
-        assert!(packet_info.pdu_directive().is_some());
-        assert_eq!(
-            packet_info.pdu_directive().unwrap(),
-            FileDirectiveType::MetadataPdu
-        );
-        assert_eq!(packet_info.target(), PacketTarget::DestEntity);
-    }
-
-    #[test]
-    fn test_filedata_pdu_info() {
-        let mut buf: [u8; 128] = [0; 128];
-        let pdu_header = generic_pdu_header();
-        let file_data_pdu = FileDataPdu::new_no_seg_metadata(pdu_header, 0, &[]);
-        file_data_pdu
-            .write_to_bytes(&mut buf)
-            .expect("writing file data PDU failed");
-        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
-        assert_eq!(packet_info.pdu_type(), PduType::FileData);
-        assert!(packet_info.pdu_directive().is_none());
-        assert_eq!(packet_info.target(), PacketTarget::DestEntity);
-    }
-
-    #[test]
-    fn test_eof_pdu_info() {
-        let mut buf: [u8; 128] = [0; 128];
-        let pdu_header = generic_pdu_header();
-        let eof_pdu = EofPdu::new_no_error(pdu_header, 0, 0);
-        eof_pdu
-            .write_to_bytes(&mut buf)
-            .expect("writing file data PDU failed");
-        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
-        assert_eq!(packet_info.pdu_type(), PduType::FileDirective);
-        assert!(packet_info.pdu_directive().is_some());
-        assert_eq!(
-            packet_info.pdu_directive().unwrap(),
-            FileDirectiveType::EofPdu
-        );
-    }
-}
--- a/satrs/src/cfdp/source.rs
+++ b/satrs/src/cfdp/source.rs
@ -1,15 +0,0 @@
-#![allow(dead_code)]
-use spacepackets::util::UnsignedByteField;
-
-pub struct SourceHandler {
-    id: UnsignedByteField,
-}
-
-impl SourceHandler {
-    pub fn new(id: impl Into<UnsignedByteField>) -> Self {
-        Self { id: id.into() }
-    }
-}
-
-#[cfg(test)]
-mod tests {}
--- a/satrs/src/cfdp/user.rs
+++ b/satrs/src/cfdp/user.rs
@ -1,96 +0,0 @@
-use spacepackets::{
-    cfdp::{
-        pdu::{
-            file_data::SegmentMetadata,
-            finished::{DeliveryCode, FileStatus},
-        },
-        tlv::{msg_to_user::MsgToUserTlv, WritableTlv},
-        ConditionCode,
-    },
-    util::UnsignedByteField,
-};
-
-use super::TransactionId;
-
-#[derive(Debug, Copy, Clone)]
-pub struct TransactionFinishedParams {
-    pub id: TransactionId,
-    pub condition_code: ConditionCode,
-    pub delivery_code: DeliveryCode,
-    pub file_status: FileStatus,
-}
-
-#[derive(Debug)]
-pub struct MetadataReceivedParams<'src_file, 'dest_file, 'msgs_to_user> {
-    pub id: TransactionId,
-    pub source_id: UnsignedByteField,
-    pub file_size: u64,
-    pub src_file_name: &'src_file str,
-    pub dest_file_name: &'dest_file str,
-    pub msgs_to_user: &'msgs_to_user [MsgToUserTlv<'msgs_to_user>],
-}
-
-#[cfg(feature = "alloc")]
-#[derive(Debug)]
-pub struct OwnedMetadataRecvdParams {
-    pub id: TransactionId,
-    pub source_id: UnsignedByteField,
-    pub file_size: u64,
-    pub src_file_name: alloc::string::String,
-    pub dest_file_name: alloc::string::String,
-    pub msgs_to_user: alloc::vec::Vec<alloc::vec::Vec<u8>>,
-}
-
-#[cfg(feature = "alloc")]
-impl From<MetadataReceivedParams<'_, '_, '_>> for OwnedMetadataRecvdParams {
-    fn from(value: MetadataReceivedParams) -> Self {
-        Self::from(&value)
-    }
-}
-
-#[cfg(feature = "alloc")]
-impl From<&MetadataReceivedParams<'_, '_, '_>> for OwnedMetadataRecvdParams {
-    fn from(value: &MetadataReceivedParams) -> Self {
-        Self {
-            id: value.id,
-            source_id: value.source_id,
-            file_size: value.file_size,
-            src_file_name: value.src_file_name.into(),
-            dest_file_name: value.dest_file_name.into(),
-            msgs_to_user: value.msgs_to_user.iter().map(|tlv| tlv.to_vec()).collect(),
-        }
-    }
-}
-
-#[derive(Debug)]
-pub struct FileSegmentRecvdParams<'seg_meta> {
-    pub id: TransactionId,
-    pub offset: u64,
-    pub length: usize,
-    pub segment_metadata: Option<&'seg_meta SegmentMetadata<'seg_meta>>,
-}
-
-pub trait CfdpUser {
-    fn transaction_indication(&mut self, id: &TransactionId);
-    fn eof_sent_indication(&mut self, id: &TransactionId);
-    fn transaction_finished_indication(&mut self, finished_params: &TransactionFinishedParams);
-    fn metadata_recvd_indication(&mut self, md_recvd_params: &MetadataReceivedParams);
-    fn file_segment_recvd_indication(&mut self, segment_recvd_params: &FileSegmentRecvdParams);
-    // TODO: The standard does not strictly specify how the report information looks..
-    fn report_indication(&mut self, id: &TransactionId);
-    fn suspended_indication(&mut self, id: &TransactionId, condition_code: ConditionCode);
-    fn resumed_indication(&mut self, id: &TransactionId, progress: u64);
-    fn fault_indication(
-        &mut self,
-        id: &TransactionId,
-        condition_code: ConditionCode,
-        progress: u64,
-    );
-    fn abandoned_indication(
-        &mut self,
-        id: &TransactionId,
-        condition_code: ConditionCode,
-        progress: u64,
-    );
-    fn eof_recvd_indication(&mut self, id: &TransactionId);
-}
--- a/satrs/src/dev_mgmt.rs
+++ b/satrs/src/dev_mgmt.rs
@ -0,0 +1,448 @@
+use crate::{
+    mode::{ModeAndSubmode, ModeReply, ModeRequest, ModeRequestSender},
+    mode_tree::{ModeStoreProvider, ModeStoreVec},
+    queue::{GenericSendError, GenericTargetedMessagingError},
+    request::{GenericMessage, RequestId},
+    ComponentId,
+};
+use core::fmt::Debug;
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub struct ActiveModeCommandContext {
+    pub target_mode: ModeAndSubmode,
+    pub active_request_id: RequestId,
+}
+
+#[derive(Debug, Default, PartialEq, Eq)]
+pub enum DevManagerHelperResult {
+    #[default]
+    Idle,
+    Busy,
+    ModeCommandingDone(ActiveModeCommandContext),
+}
+
+#[derive(Debug)]
+pub enum DevManagerHelperError {
+    ChildNotInStore,
+}
+
+pub trait DevManagerUserHook: Debug {
+    fn send_mode_cmd_to_child(
+        &self,
+        request_id: RequestId,
+        target_id: ComponentId,
+        mode: ModeAndSubmode,
+        forced: bool,
+        children_mode_store: &mut ModeStoreVec,
+        mode_req_sender: &impl ModeRequestSender,
+    ) -> Result<(), GenericSendError>;
+
+    fn send_mode_cmds_to_children(
+        &self,
+        request_id: RequestId,
+        commanded_parent_mode: ModeAndSubmode,
+        forced: bool,
+        children_mode_store: &mut ModeStoreVec,
+        mode_req_sender: &impl ModeRequestSender,
+    ) -> Result<(), GenericSendError>;
+}
+
+#[derive(Debug, Default)]
+pub struct TransparentDevManagerHook {}
+
+impl DevManagerUserHook for TransparentDevManagerHook {
+    fn send_mode_cmds_to_children(
+        &self,
+        request_id: RequestId,
+        commanded_parent_mode: ModeAndSubmode,
+        forced: bool,
+        children_mode_store: &mut ModeStoreVec,
+        mode_req_sender: &impl ModeRequestSender,
+    ) -> Result<(), GenericSendError> {
+        for child in children_mode_store {
+            mode_req_sender.send_mode_request(
+                request_id,
+                child.id(),
+                ModeRequest::SetMode {
+                    mode_and_submode: commanded_parent_mode,
+                    forced,
+                },
+            )?;
+            child.awaiting_reply = true;
+        }
+        Ok(())
+    }
+
+    fn send_mode_cmd_to_child(
+        &self,
+        request_id: RequestId,
+        target_id: ComponentId,
+        mode: ModeAndSubmode,
+        forced: bool,
+        children_mode_store: &mut ModeStoreVec,
+        mode_req_sender: &impl ModeRequestSender,
+    ) -> Result<(), GenericSendError> {
+        let mut_val = children_mode_store
+            .get_mut(target_id)
+            .ok_or(GenericSendError::TargetDoesNotExist(target_id))?;
+        mut_val.awaiting_reply = true;
+        mode_req_sender.send_mode_request(
+            request_id,
+            target_id,
+            ModeRequest::SetMode {
+                mode_and_submode: mode,
+                forced,
+            },
+        )?;
+        Ok(())
+    }
+}
+
+#[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
+pub enum DevManagerCommandingState {
+    #[default]
+    Idle,
+    AwaitingReplies(ActiveModeCommandContext),
+}
+
+impl DevManagerCommandingState {
+    fn new_active_cmd(mode_and_submode: ModeAndSubmode, active_request_id: RequestId) -> Self {
+        DevManagerCommandingState::AwaitingReplies(ActiveModeCommandContext {
+            target_mode: mode_and_submode,
+            active_request_id,
+        })
+    }
+}
+
+/// A generic helper for manager components which manage child components in a mode tree.
+///
+/// Mode commands are usually forwarded to all children components transparently.
+/// For example, this could be used in an Assembly component which manages multiple redundant
+/// child components. It can also be used inside a manager component which only manages one device.
+#[derive(Debug, Default)]
+pub struct DevManagerCommandingHelper<UserHook: DevManagerUserHook> {
+    /// The IDs, modes and reply awaition status of all children are tracked in this data
+    /// structure.
+    pub children_mode_store: ModeStoreVec,
+    pub user_hook: UserHook,
+    pub state: DevManagerCommandingState,
+}
+
+impl<UserHook: DevManagerUserHook> DevManagerCommandingHelper<UserHook> {
+    pub fn new(user_hook: UserHook) -> Self {
+        Self {
+            children_mode_store: Default::default(),
+            user_hook,
+            state: Default::default(),
+        }
+    }
+
+    pub fn send_mode_cmd_to_one_child(
+        &mut self,
+        request_id: RequestId,
+        target_id: ComponentId,
+        mode_and_submode: ModeAndSubmode,
+        forced: bool,
+        mode_req_sender: &impl ModeRequestSender,
+    ) -> Result<(), GenericSendError> {
+        self.state = DevManagerCommandingState::new_active_cmd(mode_and_submode, request_id);
+        self.user_hook.send_mode_cmd_to_child(
+            request_id,
+            target_id,
+            mode_and_submode,
+            forced,
+            &mut self.children_mode_store,
+            mode_req_sender,
+        )?;
+        Ok(())
+    }
+
+    pub fn send_mode_cmd_to_all_children(
+        &mut self,
+        request_id: RequestId,
+        mode_and_submode: ModeAndSubmode,
+        forced: bool,
+        mode_req_sender: &impl ModeRequestSender,
+    ) -> Result<(), GenericSendError> {
+        self.state = DevManagerCommandingState::new_active_cmd(mode_and_submode, request_id);
+        self.user_hook.send_mode_cmds_to_children(
+            request_id,
+            mode_and_submode,
+            forced,
+            &mut self.children_mode_store,
+            mode_req_sender,
+        )?;
+        Ok(())
+    }
+
+    pub fn target_mode(&self) -> Option<ModeAndSubmode> {
+        match self.state {
+            DevManagerCommandingState::Idle => None,
+            DevManagerCommandingState::AwaitingReplies(context) => Some(context.target_mode),
+        }
+    }
+
+    pub fn state(&self) -> DevManagerCommandingState {
+        self.state
+    }
+
+    pub fn send_announce_mode_cmd_to_children(
+        &self,
+        request_id: RequestId,
+        mode_req_sender: &impl ModeRequestSender,
+        recursive: bool,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        let mut request = ModeRequest::AnnounceMode;
+        if recursive {
+            request = ModeRequest::AnnounceModeRecursive;
+        }
+        for child in self.children_mode_store.0.iter() {
+            mode_req_sender.send_mode_request(request_id, child.id(), request)?;
+        }
+        Ok(())
+    }
+
+    pub fn add_mode_child(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
+        self.children_mode_store.add_component(target_id, mode);
+    }
+
+    /// Helper method which counts the number of children which have a certain mode.
+    pub fn count_number_of_children_with_mode(&self, mode_and_submode: ModeAndSubmode) -> usize {
+        let mut children_in_target_mode = 0;
+        for child in &self.children_mode_store {
+            if child.mode_and_submode() == mode_and_submode {
+                children_in_target_mode += 1;
+            }
+        }
+        children_in_target_mode
+    }
+
+    pub fn handle_mode_reply(
+        &mut self,
+        mode_reply: &GenericMessage<ModeReply>,
+    ) -> Result<DevManagerHelperResult, DevManagerHelperError> {
+        let context = match self.state {
+            DevManagerCommandingState::Idle => return Ok(DevManagerHelperResult::Idle),
+            DevManagerCommandingState::AwaitingReplies(active_mode_command_context) => {
+                Some(active_mode_command_context)
+            }
+        };
+        if !self
+            .children_mode_store
+            .has_component(mode_reply.sender_id())
+        {
+            return Err(DevManagerHelperError::ChildNotInStore);
+        }
+        let mut generic_mode_reply_handler = |mode_and_submode: Option<ModeAndSubmode>| {
+            // Tying the reply awaition to the request ID ensures that something like replies
+            // belonging to older requests do not interfere with the completion handling of
+            // the mode commanding. This is important for forced mode commands.
+            let mut handle_awaition = false;
+            if let DevManagerCommandingState::AwaitingReplies { .. } = self.state {
+                handle_awaition = true;
+            }
+            let still_awating_replies = self.children_mode_store.mode_reply_handler(
+                mode_reply.sender_id(),
+                mode_and_submode,
+                handle_awaition,
+            );
+            // It is okay to unwrap: If awaition should be handled, the returned value should
+            // always be some valid value.
+            if handle_awaition && !still_awating_replies.unwrap() {
+                self.state = DevManagerCommandingState::Idle;
+                return Ok(DevManagerHelperResult::ModeCommandingDone(context.unwrap()));
+            }
+            Ok(DevManagerHelperResult::Busy)
+        };
+        match mode_reply.message {
+            ModeReply::ModeInfo(mode_and_submode) | ModeReply::ModeReply(mode_and_submode) => {
+                generic_mode_reply_handler(Some(mode_and_submode))
+            }
+            ModeReply::CantReachMode(_result_u16) => generic_mode_reply_handler(None),
+            ModeReply::WrongMode {
+                expected: _,
+                reached,
+            } => generic_mode_reply_handler(Some(reached)),
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::{
+        mode::{tests::ModeReqSenderMock, UNKNOWN_MODE},
+        request::MessageMetadata,
+    };
+
+    use super::*;
+
+    pub enum ExampleId {
+        Id1 = 1,
+        Id2 = 2,
+    }
+
+    pub enum ExampleMode {
+        Mode1 = 1,
+        Mode2 = 2,
+    }
+
+    #[test]
+    fn test_basic() {
+        let assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
+        assert_eq!(assy_helper.state(), DevManagerCommandingState::Idle);
+    }
+
+    #[test]
+    fn test_mode_announce() {
+        let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
+        let mode_req_sender = ModeReqSenderMock::default();
+        assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
+        assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
+        assy_helper
+            .send_announce_mode_cmd_to_children(1, &mode_req_sender, false)
+            .unwrap();
+        assert_eq!(mode_req_sender.requests.borrow().len(), 2);
+        let mut req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
+        assert_eq!(req.target_id, ExampleId::Id1 as u64);
+        assert_eq!(req.request_id, 1);
+        assert_eq!(req.request, ModeRequest::AnnounceMode);
+        req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
+        assert_eq!(req.target_id, ExampleId::Id2 as u64);
+        assert_eq!(req.request_id, 1);
+        assert_eq!(req.request, ModeRequest::AnnounceMode);
+    }
+
+    #[test]
+    fn test_mode_announce_recursive() {
+        let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
+        let mode_req_sender = ModeReqSenderMock::default();
+        assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
+        assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
+        assy_helper
+            .send_announce_mode_cmd_to_children(1, &mode_req_sender, true)
+            .unwrap();
+        assert_eq!(mode_req_sender.requests.borrow().len(), 2);
+        let mut req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
+        assert_eq!(req.target_id, ExampleId::Id1 as u64);
+        assert_eq!(req.request_id, 1);
+        assert_eq!(req.request, ModeRequest::AnnounceModeRecursive);
+        req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
+        assert_eq!(req.target_id, ExampleId::Id2 as u64);
+        assert_eq!(req.request_id, 1);
+        assert_eq!(req.request, ModeRequest::AnnounceModeRecursive);
+    }
+
+    #[test]
+    fn test_mode_commanding_one_child() {
+        let mut dev_mgmt_helper =
+            DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
+        let mode_req_sender = ModeReqSenderMock::default();
+        dev_mgmt_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
+        let expected_mode = ModeAndSubmode::new(ExampleMode::Mode1 as u32, 0);
+        dev_mgmt_helper
+            .send_mode_cmd_to_one_child(
+                1,
+                ExampleId::Id1 as u64,
+                expected_mode,
+                false,
+                &mode_req_sender,
+            )
+            .unwrap();
+        assert_eq!(mode_req_sender.requests.borrow().len(), 1);
+        let req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
+        assert_eq!(req.target_id, ExampleId::Id1 as u64);
+        assert_eq!(req.request_id, 1);
+        assert_eq!(
+            req.request,
+            ModeRequest::SetMode {
+                mode_and_submode: expected_mode,
+                forced: false
+            }
+        );
+        matches!(
+            dev_mgmt_helper.state(),
+            DevManagerCommandingState::AwaitingReplies { .. }
+        );
+        if let DevManagerCommandingState::AwaitingReplies(ctx) = dev_mgmt_helper.state() {
+            assert_eq!(ctx.target_mode, expected_mode);
+            assert_eq!(ctx.active_request_id, 1);
+        }
+        let reply = GenericMessage::new(
+            MessageMetadata::new(1, ExampleId::Id1 as u64),
+            ModeReply::ModeReply(expected_mode),
+        );
+        if let DevManagerHelperResult::ModeCommandingDone(ActiveModeCommandContext {
+            target_mode,
+            active_request_id,
+        }) = dev_mgmt_helper.handle_mode_reply(&reply).unwrap()
+        {
+            assert_eq!(target_mode, expected_mode);
+            assert_eq!(active_request_id, 1);
+        }
+        matches!(dev_mgmt_helper.state(), DevManagerCommandingState::Idle);
+    }
+
+    #[test]
+    fn test_mode_commanding_multi_child() {
+        let mut dev_mgmt_helper =
+            DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
+        let mode_req_sender = ModeReqSenderMock::default();
+        dev_mgmt_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
+        dev_mgmt_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
+        let expected_mode = ModeAndSubmode::new(ExampleMode::Mode2 as u32, 0);
+        dev_mgmt_helper
+            .send_mode_cmd_to_all_children(1, expected_mode, false, &mode_req_sender)
+            .unwrap();
+        assert_eq!(mode_req_sender.requests.borrow().len(), 2);
+        let req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
+        assert_eq!(req.target_id, ExampleId::Id1 as u64);
+        assert_eq!(req.request_id, 1);
+        assert_eq!(
+            req.request,
+            ModeRequest::SetMode {
+                mode_and_submode: expected_mode,
+                forced: false
+            }
+        );
+        let req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
+        assert_eq!(req.target_id, ExampleId::Id2 as u64);
+        assert_eq!(req.request_id, 1);
+        assert_eq!(
+            req.request,
+            ModeRequest::SetMode {
+                mode_and_submode: expected_mode,
+                forced: false
+            }
+        );
+        matches!(
+            dev_mgmt_helper.state(),
+            DevManagerCommandingState::AwaitingReplies { .. }
+        );
+        if let DevManagerCommandingState::AwaitingReplies(ctx) = dev_mgmt_helper.state() {
+            assert_eq!(ctx.target_mode, expected_mode);
+            assert_eq!(ctx.active_request_id, 1);
+        }
+
+        let reply = GenericMessage::new(
+            MessageMetadata::new(1, ExampleId::Id1 as u64),
+            ModeReply::ModeReply(expected_mode),
+        );
+        assert_eq!(
+            dev_mgmt_helper.handle_mode_reply(&reply).unwrap(),
+            DevManagerHelperResult::Busy
+        );
+        let reply = GenericMessage::new(
+            MessageMetadata::new(1, ExampleId::Id2 as u64),
+            ModeReply::ModeReply(expected_mode),
+        );
+        if let DevManagerHelperResult::ModeCommandingDone(ActiveModeCommandContext {
+            target_mode,
+            active_request_id,
+        }) = dev_mgmt_helper.handle_mode_reply(&reply).unwrap()
+        {
+            assert_eq!(target_mode, expected_mode);
+            assert_eq!(active_request_id, 1);
+        }
+        matches!(dev_mgmt_helper.state(), DevManagerCommandingState::Idle);
+    }
+}
--- a/satrs/src/executable.rs
+++ b/satrs/src/executable.rs
@ -15,20 +15,24 @@ pub enum OpResult {
    TerminationRequested,
 }

+#[derive(Debug)]
 pub enum ExecutionType {
    Infinite,
    Cycles(u32),
    OneShot,
 }

-pub trait Executable: Send {
+pub trait Executable {
    type Error;

-    fn exec_type(&self) -> ExecutionType;
    fn task_name(&self) -> &'static str;
    fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error>;
 }

+pub trait ExecutableWithType: Executable {
+    fn exec_type(&self) -> ExecutionType;
+}
+
 /// This function allows executing one task which implements the [Executable] trait
 ///
 /// # Arguments
@ -39,7 +43,10 @@ pub trait Executable: Send {
 /// * `op_code`: Operation code which is passed to the executable task
 ///    [operation call][Executable::periodic_op]
 /// * `termination`: Optional termination handler which can cancel threads with a broadcast
-pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
+pub fn exec_sched_single<
+    T: ExecutableWithType<Error = E> + Send + 'static + ?Sized,
+    E: Send + 'static,
+>(
    mut executable: Box<T>,
    task_freq: Option<Duration>,
    op_code: i32,
@ -88,7 +95,10 @@ pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E:
 /// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
 /// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
 /// * `termination`: Optional termination handler which can cancel threads with a broadcast
-pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
+pub fn exec_sched_multi<
+    T: ExecutableWithType<Error = E> + Send + 'static + ?Sized,
+    E: Send + 'static,
+>(
    task_name: &'static str,
    mut executable_vec: Vec<Box<T>>,
    task_freq: Option<Duration>,
@ -142,7 +152,10 @@ pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: S

 #[cfg(test)]
 mod tests {
-    use super::{exec_sched_multi, exec_sched_single, Executable, ExecutionType, OpResult};
+    use super::{
+        exec_sched_multi, exec_sched_single, Executable, ExecutableWithType, ExecutionType,
+        OpResult,
+    };
    use bus::Bus;
    use std::boxed::Box;
    use std::error::Error;
@ -208,10 +221,6 @@ mod tests {
    impl Executable for OneShotTask {
        type Error = ExampleError;

-        fn exec_type(&self) -> ExecutionType {
-            ExecutionType::OneShot
-        }
-
        fn task_name(&self) -> &'static str {
            ONE_SHOT_TASK_NAME
        }
@ -229,15 +238,17 @@ mod tests {
        }
    }

+    impl ExecutableWithType for OneShotTask {
+        fn exec_type(&self) -> ExecutionType {
+            ExecutionType::OneShot
+        }
+    }
+
    const CYCLE_TASK_NAME: &str = "Fixed Cycles Task";

    impl Executable for FixedCyclesTask {
        type Error = ExampleError;

-        fn exec_type(&self) -> ExecutionType {
-            ExecutionType::Cycles(self.cycles)
-        }
-
        fn task_name(&self) -> &'static str {
            CYCLE_TASK_NAME
        }
@ -255,15 +266,17 @@ mod tests {
        }
    }

+    impl ExecutableWithType for FixedCyclesTask {
+        fn exec_type(&self) -> ExecutionType {
+            ExecutionType::Cycles(self.cycles)
+        }
+    }
+
    const PERIODIC_TASK_NAME: &str = "Periodic Task";

    impl Executable for PeriodicTask {
        type Error = ExampleError;

-        fn exec_type(&self) -> ExecutionType {
-            ExecutionType::Infinite
-        }
-
        fn task_name(&self) -> &'static str {
            PERIODIC_TASK_NAME
        }
@ -281,6 +294,12 @@ mod tests {
        }
    }

+    impl ExecutableWithType for PeriodicTask {
+        fn exec_type(&self) -> ExecutionType {
+            ExecutionType::Infinite
+        }
+    }
+
    #[test]
    fn test_simple_one_shot() {
        let expected_op_code = 42;
@ -423,7 +442,7 @@ mod tests {
        });
        assert_eq!(cycled_task_0.task_name(), CYCLE_TASK_NAME);
        assert_eq!(one_shot_task.task_name(), ONE_SHOT_TASK_NAME);
-        let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
+        let task_vec: Vec<Box<dyn ExecutableWithType<Error = ExampleError> + Send>> =
            vec![one_shot_task, cycled_task_0, cycled_task_1];
        let jh = exec_sched_multi(
            "multi-task-name",
@ -493,7 +512,7 @@ mod tests {
        });
        assert_eq!(periodic_task_0.task_name(), PERIODIC_TASK_NAME);
        assert_eq!(periodic_task_1.task_name(), PERIODIC_TASK_NAME);
-        let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
+        let task_vec: Vec<Box<dyn ExecutableWithType<Error = ExampleError> + Send>> =
            vec![cycled_task, periodic_task_0, periodic_task_1];
        let jh = exec_sched_multi(
            "multi-task-name",
--- a/satrs/src/health.rs
+++ b/satrs/src/health.rs
@ -0,0 +1,39 @@
+use crate::ComponentId;
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum HealthState {
+    Healthy = 1,
+    Faulty = 2,
+    PermanentFaulty = 3,
+    ExternalControl = 4,
+    NeedsRecovery = 5,
+}
+
+pub trait HealthTableProvider {
+    fn health(&self, id: ComponentId) -> Option<HealthState>;
+    fn set_health(&mut self, id: ComponentId, health: HealthState);
+}
+
+#[cfg(feature = "std")]
+#[derive(Debug, Clone)]
+pub struct HealthTableMapSync(
+    std::sync::Arc<std::sync::Mutex<hashbrown::HashMap<ComponentId, HealthState>>>,
+);
+
+#[cfg(feature = "std")]
+impl HealthTableMapSync {
+    pub fn new(health_table: hashbrown::HashMap<ComponentId, HealthState>) -> Self {
+        Self(std::sync::Arc::new(std::sync::Mutex::new(health_table)))
+    }
+}
+
+#[cfg(feature = "std")]
+impl HealthTableProvider for HealthTableMapSync {
+    fn health(&self, id: ComponentId) -> Option<HealthState> {
+        self.0.lock().unwrap().get(&id).copied()
+    }
+
+    fn set_health(&mut self, id: ComponentId, health: HealthState) {
+        self.0.lock().unwrap().insert(id, health);
+    }
+}
--- a/satrs/src/lib.rs
+++ b/satrs/src/lib.rs
@ -14,7 +14,7 @@
 //!  - The [pus] module which provides special support for projects using
 //!    the [ECSS PUS C standard](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
 #![no_std]
-#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
+#![cfg_attr(docsrs, feature(doc_auto_cfg))]
 #[cfg(feature = "alloc")]
 extern crate alloc;
 #[cfg(feature = "alloc")]
@ -22,31 +22,34 @@ extern crate downcast_rs;
 #[cfg(any(feature = "std", test))]
 extern crate std;

+pub mod action;
 #[cfg(feature = "alloc")]
-pub mod cfdp;
+pub mod dev_mgmt;
 pub mod encoding;
 pub mod event_man;
 pub mod events;
 #[cfg(feature = "std")]
 pub mod executable;
 pub mod hal;
+pub mod health;
+pub mod hk;
+pub mod mode;
 #[cfg(feature = "std")]
 pub mod mode_tree;
+pub mod params;
 pub mod pool;
 pub mod power;
 pub mod pus;
 pub mod queue;
 pub mod request;
 pub mod res_code;
-pub mod seq_count;
+#[cfg(feature = "alloc")]
+pub mod scheduling;
+#[cfg(feature = "alloc")]
+pub mod subsystem;
 pub mod time;
 pub mod tmtc;

-pub mod action;
-pub mod hk;
-pub mod mode;
-pub mod params;
-
 pub use spacepackets;

 use spacepackets::PacketId;
--- a/satrs/src/mode.rs
+++ b/satrs/src/mode.rs
@ -11,8 +11,10 @@ pub use alloc_mod::*;
 pub use std_mod::*;

 use crate::{
-    queue::GenericTargetedMessagingError,
-    request::{GenericMessage, MessageMetadata, MessageReceiver, MessageReceiverWithId, RequestId},
+    queue::{GenericReceiveError, GenericSendError},
+    request::{
+        GenericMessage, MessageMetadata, MessageReceiverProvider, MessageReceiverWithId, RequestId,
+    },
    ComponentId,
 };

@ -26,6 +28,11 @@ pub struct ModeAndSubmode {
    submode: Submode,
 }

+pub const INVALID_MODE_VAL: Mode = Mode::MAX;
+pub const UNKNOWN_MODE_VAL: Mode = Mode::MAX - 1;
+pub const INVALID_MODE: ModeAndSubmode = ModeAndSubmode::new(INVALID_MODE_VAL, 0);
+pub const UNKNOWN_MODE: ModeAndSubmode = ModeAndSubmode::new(UNKNOWN_MODE_VAL, 0);
+
 impl ModeAndSubmode {
    pub const RAW_LEN: usize = size_of::<Mode>() + size_of::<Submode>();

@ -111,7 +118,10 @@ impl TargetedModeCommand {
 pub enum ModeRequest {
    /// Mode information. Can be used to notify other components of changed modes.
    ModeInfo(ModeAndSubmode),
-    SetMode(ModeAndSubmode),
+    SetMode {
+        mode_and_submode: ModeAndSubmode,
+        forced: bool,
+    },
    ReadMode,
    AnnounceMode,
    AnnounceModeRecursive,
@ -127,6 +137,8 @@ pub struct TargetedModeRequest {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum ModeReply {
+    /// Mode information. Can be used to notify other components of changed modes.
+    ModeInfo(ModeAndSubmode),
    /// Reply to a mode request to confirm the commanded mode was reached.
    ModeReply(ModeAndSubmode),
    // Can not reach the commanded mode. Contains a reason as a [ResultU16].
@ -147,34 +159,33 @@ pub trait ModeRequestSender {
        request_id: RequestId,
        target_id: ComponentId,
        request: ModeRequest,
-    ) -> Result<(), GenericTargetedMessagingError>;
+    ) -> Result<(), GenericSendError>;
 }

 pub trait ModeRequestReceiver {
    fn try_recv_mode_request(
        &self,
-    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError>;
+    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError>;
 }

-impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
+impl<R: MessageReceiverProvider<ModeRequest>> ModeRequestReceiver
    for MessageReceiverWithId<ModeRequest, R>
 {
    fn try_recv_mode_request(
        &self,
-    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
        self.try_recv_message()
    }
 }

-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, thiserror::Error)]
 pub enum ModeError {
-    Messaging(GenericTargetedMessagingError),
-}
-
-impl From<GenericTargetedMessagingError> for ModeError {
-    fn from(value: GenericTargetedMessagingError) -> Self {
-        Self::Messaging(value)
-    }
+    #[error("Messaging send error: {0}")]
+    Send(#[from] GenericSendError),
+    #[error("Messaging receive error: {0}")]
+    Receive(#[from] GenericReceiveError),
+    #[error("busy with other mode request")]
+    Busy,
 }

 pub trait ModeProvider {
@ -196,6 +207,7 @@ pub trait ModeRequestHandler: ModeProvider {
        &mut self,
        requestor: MessageMetadata,
        mode_and_submode: ModeAndSubmode,
+        forced: bool,
    ) -> Result<(), Self::Error>;

    fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool);
@ -222,9 +234,10 @@ pub trait ModeRequestHandler: ModeProvider {
        request: GenericMessage<ModeRequest>,
    ) -> Result<(), Self::Error> {
        match request.message {
-            ModeRequest::SetMode(mode_and_submode) => {
-                self.start_transition(request.requestor_info, mode_and_submode)
-            }
+            ModeRequest::SetMode {
+                mode_and_submode,
+                forced,
+            } => self.start_transition(request.requestor_info, mode_and_submode, forced),
            ModeRequest::ReadMode => self.send_mode_reply(
                request.requestor_info,
                ModeReply::ModeReply(self.mode_and_submode()),
@ -243,15 +256,16 @@ pub trait ModeRequestHandler: ModeProvider {
 }

 pub trait ModeReplyReceiver {
-    fn try_recv_mode_reply(
-        &self,
-    ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError>;
+    fn try_recv_mode_reply(&self)
+        -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError>;
 }

-impl<R: MessageReceiver<ModeReply>> ModeReplyReceiver for MessageReceiverWithId<ModeReply, R> {
+impl<R: MessageReceiverProvider<ModeReply>> ModeReplyReceiver
+    for MessageReceiverWithId<ModeReply, R>
+{
    fn try_recv_mode_reply(
        &self,
-    ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+    ) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
        self.try_recv_message()
    }
 }
@ -264,24 +278,28 @@ pub trait ModeReplySender {
        &self,
        requestor_info: MessageMetadata,
        reply: ModeReply,
-    ) -> Result<(), GenericTargetedMessagingError>;
+    ) -> Result<(), GenericSendError>;
 }

 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
-    use crate::request::{
-        MessageSender, MessageSenderAndReceiver, MessageSenderMap, RequestAndReplySenderAndReceiver,
+    use crate::{
+        queue::{GenericReceiveError, GenericSendError},
+        request::{
+            MessageSenderAndReceiver, MessageSenderMap, MessageSenderProvider,
+            MessageSenderStoreProvider, RequestAndReplySenderAndReceiver,
+        },
    };

    use super::*;

-    impl<S: MessageSender<ModeReply>> MessageSenderMap<ModeReply, S> {
+    impl<S: MessageSenderProvider<ModeReply>> MessageSenderMap<ModeReply, S> {
        pub fn send_mode_reply(
            &self,
            requestor_info: MessageMetadata,
            target_id: ComponentId,
            request: ModeReply,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
            self.send_message(requestor_info, target_id, request)
        }

@ -290,8 +308,13 @@ pub mod alloc_mod {
        }
    }

-    impl<FROM, S: MessageSender<ModeReply>, R: MessageReceiver<FROM>> ModeReplySender
-        for MessageSenderAndReceiver<ModeReply, FROM, S, R>
+    impl<
+            From,
+            Sender: MessageSenderProvider<ModeReply>,
+            Receiver: MessageReceiverProvider<From>,
+            SenderStore: MessageSenderStoreProvider<ModeReply, Sender>,
+        > ModeReplySender
+        for MessageSenderAndReceiver<ModeReply, From, Sender, Receiver, SenderStore>
    {
        fn local_channel_id(&self) -> ComponentId {
            self.local_channel_id_generic()
@ -301,8 +324,8 @@ pub mod alloc_mod {
            &self,
            requestor_info: MessageMetadata,
            request: ModeReply,
-        ) -> Result<(), GenericTargetedMessagingError> {
-            self.message_sender_map.send_mode_reply(
+        ) -> Result<(), GenericSendError> {
+            self.message_sender_store.send_message(
                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
                requestor_info.sender_id(),
                request,
@ -310,37 +333,67 @@ pub mod alloc_mod {
        }
    }

-    impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeReply>> ModeReplyReceiver
-        for MessageSenderAndReceiver<TO, ModeReply, S, R>
+    impl<
+            To,
+            Sender: MessageSenderProvider<To>,
+            Receiver: MessageReceiverProvider<ModeReply>,
+            SenderStore: MessageSenderStoreProvider<To, Sender>,
+        > ModeReplyReceiver
+        for MessageSenderAndReceiver<To, ModeReply, Sender, Receiver, SenderStore>
    {
        fn try_recv_mode_reply(
            &self,
-        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
            self.message_receiver.try_recv_message()
        }
    }

    impl<
-            REQUEST,
-            S0: MessageSender<REQUEST>,
-            R0: MessageReceiver<ModeReply>,
-            S1: MessageSender<ModeReply>,
-            R1: MessageReceiver<REQUEST>,
-        > RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+            Request,
+            ReqSender: MessageSenderProvider<Request>,
+            ReqReceiver: MessageReceiverProvider<Request>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
+            Reply,
+            ReplySender: MessageSenderProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
+        >
+        RequestAndReplySenderAndReceiver<
+            Request,
+            ReqSender,
+            ReqReceiver,
+            ReqSenderStore,
+            Reply,
+            ReplySender,
+            ReplyReceiver,
+            ReplySenderStore,
+        >
    {
-        pub fn add_reply_target(&mut self, target_id: ComponentId, reply_sender: S1) {
-            self.reply_sender_map
+        pub fn add_reply_target(&mut self, target_id: ComponentId, reply_sender: ReplySender) {
+            self.reply_sender_store
                .add_message_target(target_id, reply_sender)
        }
    }

    impl<
-            REQUEST,
-            S0: MessageSender<REQUEST>,
-            R0: MessageReceiver<ModeReply>,
-            S1: MessageSender<ModeReply>,
-            R1: MessageReceiver<REQUEST>,
-        > ModeReplySender for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+            Request,
+            ReqSender: MessageSenderProvider<Request>,
+            ReqReceiver: MessageReceiverProvider<Request>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
+            ReplySender: MessageSenderProvider<ModeReply>,
+            ReplyReceiver: MessageReceiverProvider<ModeReply>,
+            ReplySenderStore: MessageSenderStoreProvider<ModeReply, ReplySender>,
+        > ModeReplySender
+        for RequestAndReplySenderAndReceiver<
+            Request,
+            ReqSender,
+            ReqReceiver,
+            ReqSenderStore,
+            ModeReply,
+            ReplySender,
+            ReplyReceiver,
+            ReplySenderStore,
+        >
    {
        fn local_channel_id(&self) -> ComponentId {
            self.local_channel_id_generic()
@ -349,42 +402,56 @@ pub mod alloc_mod {
        fn send_mode_reply(
            &self,
            requestor_info: MessageMetadata,
-            request: ModeReply,
-        ) -> Result<(), GenericTargetedMessagingError> {
-            self.reply_sender_map.send_mode_reply(
+            reply: ModeReply,
+        ) -> Result<(), GenericSendError> {
+            self.reply_sender_store.send_message(
                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
                requestor_info.sender_id(),
-                request,
+                reply,
            )
        }
    }

    impl<
-            REQUEST,
-            S0: MessageSender<REQUEST>,
-            R0: MessageReceiver<ModeReply>,
-            S1: MessageSender<ModeReply>,
-            R1: MessageReceiver<REQUEST>,
+            Request,
+            ReqSender: MessageSenderProvider<Request>,
+            ReqReceiver: MessageReceiverProvider<Request>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
+            ReplySender: MessageSenderProvider<ModeReply>,
+            ReplyReceiver: MessageReceiverProvider<ModeReply>,
+            ReplySenderStore: MessageSenderStoreProvider<ModeReply, ReplySender>,
        > ModeReplyReceiver
-        for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+        for RequestAndReplySenderAndReceiver<
+            Request,
+            ReqSender,
+            ReqReceiver,
+            ReqSenderStore,
+            ModeReply,
+            ReplySender,
+            ReplyReceiver,
+            ReplySenderStore,
+        >
    {
        fn try_recv_mode_reply(
            &self,
-        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
            self.reply_receiver.try_recv_message()
        }
    }

    /// Helper type definition for a mode handler which can handle mode requests.
-    pub type ModeRequestHandlerInterface<S, R> =
-        MessageSenderAndReceiver<ModeReply, ModeRequest, S, R>;
+    pub type ModeRequestHandlerInterface<Sender, Receiver, ReplySenderStore> =
+        MessageSenderAndReceiver<ModeReply, ModeRequest, Sender, Receiver, ReplySenderStore>;

-    impl<S: MessageSender<ModeReply>, R: MessageReceiver<ModeRequest>>
-        ModeRequestHandlerInterface<S, R>
+    impl<
+            Sender: MessageSenderProvider<ModeReply>,
+            Receiver: MessageReceiverProvider<ModeRequest>,
+            ReplySenderStore: MessageSenderStoreProvider<ModeReply, Sender>,
+        > ModeRequestHandlerInterface<Sender, Receiver, ReplySenderStore>
    {
        pub fn try_recv_mode_request(
            &self,
-        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
            self.try_recv_message()
        }

@ -392,7 +459,7 @@ pub mod alloc_mod {
            &self,
            requestor_info: MessageMetadata,
            reply: ModeReply,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
            self.send_message(
                requestor_info.request_id(),
                requestor_info.sender_id(),
@ -403,12 +470,18 @@ pub mod alloc_mod {

    /// Helper type defintion for a mode handler object which can send mode requests and receive
    /// mode replies.
-    pub type ModeRequestorInterface<S, R> = MessageSenderAndReceiver<ModeRequest, ModeReply, S, R>;
+    pub type ModeRequestorInterface<Sender, Receiver, RequestSenderStore> =
+        MessageSenderAndReceiver<ModeRequest, ModeReply, Sender, Receiver, RequestSenderStore>;

-    impl<S: MessageSender<ModeRequest>, R: MessageReceiver<ModeReply>> ModeRequestorInterface<S, R> {
+    impl<
+            Sender: MessageSenderProvider<ModeRequest>,
+            Receiver: MessageReceiverProvider<ModeReply>,
+            RequestSenderStore: MessageSenderStoreProvider<ModeRequest, Sender>,
+        > ModeRequestorInterface<Sender, Receiver, RequestSenderStore>
+    {
        pub fn try_recv_mode_reply(
            &self,
-        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
            self.try_recv_message()
        }

@ -417,23 +490,38 @@ pub mod alloc_mod {
            request_id: RequestId,
            target_id: ComponentId,
            reply: ModeRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
            self.send_message(request_id, target_id, reply)
        }
    }

    /// Helper type defintion for a mode handler object which can both send mode requests and
    /// process mode requests.
-    pub type ModeInterface<S0, R0, S1, R1> =
-        RequestAndReplySenderAndReceiver<ModeRequest, ModeReply, S0, R0, S1, R1>;
+    pub type ModeInterface<
+        ReqSender,
+        ReqReceiver,
+        ReqSenderStore,
+        ReplySender,
+        ReplyReceiver,
+        ReplySenderStore,
+    > = RequestAndReplySenderAndReceiver<
+        ModeRequest,
+        ReqSender,
+        ReqReceiver,
+        ReqSenderStore,
+        ModeReply,
+        ReplySender,
+        ReplyReceiver,
+        ReplySenderStore,
+    >;

-    impl<S: MessageSender<ModeRequest>> MessageSenderMap<ModeRequest, S> {
+    impl<S: MessageSenderProvider<ModeRequest>> MessageSenderMap<ModeRequest, S> {
        pub fn send_mode_request(
            &self,
            requestor_info: MessageMetadata,
            target_id: ComponentId,
            request: ModeRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
            self.send_message(requestor_info, target_id, request)
        }

@ -442,35 +530,28 @@ pub mod alloc_mod {
        }
    }

-    /*
-    impl<S: MessageSender<ModeRequest>> ModeRequestSender for MessageSenderMapWithId<ModeRequest, S> {
-        fn local_channel_id(&self) -> ComponentId {
-            self.local_channel_id
-        }
-
-        fn send_mode_request(
-            &self,
-            request_id: RequestId,
-            target_id: ComponentId,
-            request: ModeRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
-            self.send_message(request_id, target_id, request)
-        }
-    }
-    */
-
-    impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeRequest>> ModeRequestReceiver
-        for MessageSenderAndReceiver<TO, ModeRequest, S, R>
+    impl<
+            To,
+            Sender: MessageSenderProvider<To>,
+            Receiver: MessageReceiverProvider<ModeRequest>,
+            SenderStore: MessageSenderStoreProvider<To, Sender>,
+        > ModeRequestReceiver
+        for MessageSenderAndReceiver<To, ModeRequest, Sender, Receiver, SenderStore>
    {
        fn try_recv_mode_request(
            &self,
-        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
            self.message_receiver.try_recv_message()
        }
    }

-    impl<FROM, S: MessageSender<ModeRequest>, R: MessageReceiver<FROM>> ModeRequestSender
-        for MessageSenderAndReceiver<ModeRequest, FROM, S, R>
+    impl<
+            From,
+            Sender: MessageSenderProvider<ModeRequest>,
+            Receiver: MessageReceiverProvider<From>,
+            SenderStore: MessageSenderStoreProvider<ModeRequest, Sender>,
+        > ModeRequestSender
+        for MessageSenderAndReceiver<ModeRequest, From, Sender, Receiver, SenderStore>
    {
        fn local_channel_id(&self) -> ComponentId {
            self.local_channel_id_generic()
@ -481,8 +562,8 @@ pub mod alloc_mod {
            request_id: RequestId,
            target_id: ComponentId,
            request: ModeRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
-            self.message_sender_map.send_mode_request(
+        ) -> Result<(), GenericSendError> {
+            self.message_sender_store.send_message(
                MessageMetadata::new(request_id, self.local_channel_id()),
                target_id,
                request,
@ -491,27 +572,50 @@ pub mod alloc_mod {
    }

    impl<
-            REPLY,
-            S0: MessageSender<ModeRequest>,
-            R0: MessageReceiver<REPLY>,
-            S1: MessageSender<REPLY>,
-            R1: MessageReceiver<ModeRequest>,
-        > RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+            ReqSender: MessageSenderProvider<ModeRequest>,
+            ReqReceiver: MessageReceiverProvider<ModeRequest>,
+            ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
+            Reply,
+            ReplySender: MessageSenderProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
+        >
+        RequestAndReplySenderAndReceiver<
+            ModeRequest,
+            ReqSender,
+            ReqReceiver,
+            ReqSenderStore,
+            Reply,
+            ReplySender,
+            ReplyReceiver,
+            ReplySenderStore,
+        >
    {
-        pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S0) {
-            self.request_sender_map
+        pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: ReqSender) {
+            self.request_sender_store
                .add_message_target(target_id, request_sender)
        }
    }

    impl<
-            REPLY,
-            S0: MessageSender<ModeRequest>,
-            R0: MessageReceiver<REPLY>,
-            S1: MessageSender<REPLY>,
-            R1: MessageReceiver<ModeRequest>,
+            ReqSender: MessageSenderProvider<ModeRequest>,
+            ReqReceiver: MessageReceiverProvider<ModeRequest>,
+            ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
+            Reply,
+            ReplySender: MessageSenderProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
        > ModeRequestSender
-        for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+        for RequestAndReplySenderAndReceiver<
+            ModeRequest,
+            ReqSender,
+            ReqReceiver,
+            ReqSenderStore,
+            Reply,
+            ReplySender,
+            ReplyReceiver,
+            ReplySenderStore,
+        >
    {
        fn local_channel_id(&self) -> ComponentId {
            self.local_channel_id_generic()
@ -522,8 +626,8 @@ pub mod alloc_mod {
            request_id: RequestId,
            target_id: ComponentId,
            request: ModeRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
-            self.request_sender_map.send_mode_request(
+        ) -> Result<(), GenericSendError> {
+            self.request_sender_store.send_message(
                MessageMetadata::new(request_id, self.local_channel_id()),
                target_id,
                request,
@ -532,17 +636,28 @@ pub mod alloc_mod {
    }

    impl<
-            REPLY,
-            S0: MessageSender<ModeRequest>,
-            R0: MessageReceiver<REPLY>,
-            S1: MessageSender<REPLY>,
-            R1: MessageReceiver<ModeRequest>,
+            ReqSender: MessageSenderProvider<ModeRequest>,
+            ReqReceiver: MessageReceiverProvider<ModeRequest>,
+            ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
+            Reply,
+            ReplySender: MessageSenderProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
        > ModeRequestReceiver
-        for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+        for RequestAndReplySenderAndReceiver<
+            ModeRequest,
+            ReqSender,
+            ReqReceiver,
+            ReqSenderStore,
+            Reply,
+            ReplySender,
+            ReplyReceiver,
+            ReplySenderStore,
+        >
    {
        fn try_recv_mode_request(
            &self,
-        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
            self.request_receiver.try_recv_message()
        }
    }
@ -552,39 +667,97 @@ pub mod alloc_mod {
 pub mod std_mod {
    use std::sync::mpsc;

+    use crate::request::{MessageSenderList, OneMessageSender};
+
    use super::*;

    pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<
        mpsc::Sender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeRequest>>,
+        MessageSenderList<ModeReply, mpsc::Sender<GenericMessage<ModeReply>>>,
    >;
    pub type ModeRequestHandlerMpscBounded = ModeRequestHandlerInterface<
        mpsc::SyncSender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeRequest>>,
+        MessageSenderList<ModeReply, mpsc::SyncSender<GenericMessage<ModeReply>>>,
    >;

-    pub type ModeRequestorMpsc = ModeRequestorInterface<
+    pub type ModeRequestorOneChildMpsc = ModeRequestorInterface<
        mpsc::Sender<GenericMessage<ModeRequest>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
+        OneMessageSender<ModeRequest, mpsc::Sender<GenericMessage<ModeRequest>>>,
    >;
-    pub type ModeRequestorBoundedMpsc = ModeRequestorInterface<
+    pub type ModeRequestorOneChildBoundedMpsc = ModeRequestorInterface<
        mpsc::SyncSender<GenericMessage<ModeRequest>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
+        OneMessageSender<ModeRequest, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
+    >;
+    pub type ModeRequestorChildListMpsc = ModeRequestorInterface<
+        mpsc::Sender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        MessageSenderList<ModeRequest, mpsc::Sender<GenericMessage<ModeRequest>>>,
+    >;
+    pub type ModeRequestorChildListBoundedMpsc = ModeRequestorInterface<
+        mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        MessageSenderList<ModeRequest, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
    >;

    pub type ModeRequestorAndHandlerMpsc = ModeInterface<
        mpsc::Sender<GenericMessage<ModeRequest>>,
-        mpsc::Receiver<GenericMessage<ModeReply>>,
-        mpsc::Sender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeRequest>>,
+        MessageSenderList<ModeRequest, mpsc::Sender<GenericMessage<ModeRequest>>>,
+        mpsc::Sender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        MessageSenderList<ModeReply, mpsc::Sender<GenericMessage<ModeReply>>>,
    >;
    pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
        mpsc::SyncSender<GenericMessage<ModeRequest>>,
-        mpsc::Receiver<GenericMessage<ModeReply>>,
-        mpsc::SyncSender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeRequest>>,
+        MessageSenderList<ModeRequest, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
+        mpsc::SyncSender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        MessageSenderList<ModeReply, mpsc::SyncSender<GenericMessage<ModeReply>>>,
    >;
 }

 #[cfg(test)]
-mod tests {}
+pub(crate) mod tests {
+    use core::cell::RefCell;
+    use std::collections::VecDeque;
+
+    use crate::{request::RequestId, ComponentId};
+
+    use super::*;
+
+    pub struct ModeReqWrapper {
+        pub request_id: RequestId,
+        pub target_id: ComponentId,
+        pub request: ModeRequest,
+    }
+
+    #[derive(Default)]
+    pub struct ModeReqSenderMock {
+        pub requests: RefCell<VecDeque<ModeReqWrapper>>,
+    }
+
+    impl ModeRequestSender for ModeReqSenderMock {
+        fn local_channel_id(&self) -> crate::ComponentId {
+            0
+        }
+
+        fn send_mode_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            request: ModeRequest,
+        ) -> Result<(), GenericSendError> {
+            self.requests.borrow_mut().push_back(ModeReqWrapper {
+                request_id,
+                target_id,
+                request,
+            });
+            Ok(())
+        }
+    }
+}
--- a/satrs/src/mode_tree.rs
+++ b/satrs/src/mode_tree.rs
@ -2,10 +2,57 @@ use alloc::vec::Vec;
 use hashbrown::HashMap;

 use crate::{
-    mode::{Mode, ModeAndSubmode, Submode},
+    mode::{Mode, ModeAndSubmode, ModeReply, ModeRequest, Submode},
+    request::MessageSenderProvider,
    ComponentId,
 };

+#[cfg(feature = "alloc")]
+pub use alloc_mod::*;
+
+/// Common trait for node modes which can have mode parents or mode children.
+pub trait ModeNode {
+    fn id(&self) -> ComponentId;
+}
+/// Trait which denotes that an object is a parent in a mode tree.
+///
+/// A mode parent is capable of sending mode requests to child objects and has a unique component
+/// ID.
+pub trait ModeParent: ModeNode {
+    type Sender: MessageSenderProvider<ModeRequest>;
+
+    fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender);
+}
+
+/// Trait which denotes that an object is a child in a mode tree.
+///
+/// A child is capable of sending mode replies to parent objects and has a unique component ID.
+pub trait ModeChild: ModeNode {
+    type Sender: MessageSenderProvider<ModeReply>;
+
+    fn add_mode_parent(&mut self, id: ComponentId, reply_sender: Self::Sender);
+}
+
+/// Utility method which connects a mode tree parent object to a child object by calling
+/// [ModeParent::add_mode_child] on the [parent][ModeParent] and calling
+/// [ModeChild::add_mode_parent] on the [child][ModeChild].
+///
+/// # Arguments
+///
+/// * `parent` - The parent object which implements [ModeParent].
+/// * `request_sender` - Sender object to send mode requests to the child.
+/// * `child` - The child object which implements [ModeChild].
+/// * `reply_sender` - Sender object to send mode replies to the parent.
+pub fn connect_mode_nodes<ReqSender, ReplySender>(
+    parent: &mut impl ModeParent<Sender = ReqSender>,
+    request_sender: ReqSender,
+    child: &mut impl ModeChild<Sender = ReplySender>,
+    reply_sender: ReplySender,
+) {
+    parent.add_mode_child(child.id(), request_sender);
+    child.add_mode_parent(parent.id(), reply_sender);
+}
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum TableEntryType {
    /// Target table containing information of the expected children modes for  given mode.
@ -15,23 +62,553 @@ pub enum TableEntryType {
    Sequence,
 }

-pub struct ModeTableEntry {
+/// Common fields required for both target and sequence table entries.
+///
+/// The most important parameters here are the target ID which this entry belongs to, and the mode
+/// and submode the entry either will be commanded to for sequence table entries or which will be
+/// monitored for target table entries.
+#[derive(Debug, Copy, Clone)]
+pub struct ModeTableEntryCommon {
    /// Name of respective table entry.
    pub name: &'static str,
-    /// Target channel ID.
-    pub channel_id: ComponentId,
+    /// Target component ID.
+    pub target_id: ComponentId,
+    /// Has a different meaning depending on whether this is a sequence table or a target table.
+    ///
+    ///  - For sequence tables, this denotes the mode which will be commanded
+    ///  - For target tables, this is the mode which the target children should have and which
+    ///    might be monitored depending on configuration.
    pub mode_submode: ModeAndSubmode,
+    /// This mask allows to specify multiple allowed submodes for a given mode.
    pub allowed_submode_mask: Option<Submode>,
+}
+
+impl ModeTableEntryCommon {
+    pub fn set_allowed_submode_mask(&mut self, mask: Submode) {
+        self.allowed_submode_mask = Some(mask);
+    }
+
+    pub fn allowed_submode_mask(&self) -> Option<Submode> {
+        self.allowed_submode_mask
+    }
+}
+
+/// An entry for the target tables.
+#[derive(Debug)]
+pub struct TargetTableEntry {
+    pub common: ModeTableEntryCommon,
+    pub monitor_state: bool,
+}
+
+impl TargetTableEntry {
+    pub fn new(
+        name: &'static str,
+        target_id: ComponentId,
+        mode_submode: ModeAndSubmode,
+        allowed_submode_mask: Option<Submode>,
+    ) -> Self {
+        Self {
+            common: ModeTableEntryCommon {
+                name,
+                target_id,
+                mode_submode,
+                allowed_submode_mask,
+            },
+            monitor_state: true,
+        }
+    }
+
+    pub fn new_with_precise_submode(
+        name: &'static str,
+        target_id: ComponentId,
+        mode_submode: ModeAndSubmode,
+    ) -> Self {
+        Self {
+            common: ModeTableEntryCommon {
+                name,
+                target_id,
+                mode_submode,
+                allowed_submode_mask: None,
+            },
+            monitor_state: true,
+        }
+    }
+
+    delegate::delegate! {
+        to self.common {
+            pub fn set_allowed_submode_mask(&mut self, mask: Submode);
+            pub fn allowed_submode_mask(&self) -> Option<Submode>;
+        }
+    }
+}
+
+/// An entry for the sequence tables.
+///
+/// The [Self::check_success] field specifies that a mode sequence executor should check that the
+/// target mode was actually reached before executing the next sequence.
+#[derive(Debug)]
+pub struct SequenceTableEntry {
+    pub common: ModeTableEntryCommon,
    pub check_success: bool,
 }

-pub struct ModeTableMapValue {
-    /// Name for a given mode table entry.
-    pub name: &'static str,
-    pub entries: Vec<ModeTableEntry>,
+impl SequenceTableEntry {
+    pub fn new(
+        name: &'static str,
+        target_id: ComponentId,
+        mode_submode: ModeAndSubmode,
+        check_success: bool,
+    ) -> Self {
+        Self {
+            common: ModeTableEntryCommon {
+                name,
+                target_id,
+                mode_submode,
+                allowed_submode_mask: None,
+            },
+            check_success,
+        }
+    }
+
+    delegate::delegate! {
+        to self.common {
+            pub fn set_allowed_submode_mask(&mut self, mask: Submode);
+            pub fn allowed_submode_mask(&self) -> Option<Submode>;
+        }
+    }
 }

-pub type ModeTable = HashMap<Mode, ModeTableMapValue>;
+#[derive(Debug, thiserror::Error)]
+#[error("target {0} not in mode store")]
+pub struct TargetNotInModeStoreError(pub ComponentId);
+
+/// Mode store value type.
+#[derive(Debug, Copy, Clone)]
+pub struct ModeStoreValue {
+    /// ID of the mode component.
+    id: ComponentId,
+    /// Current mode and submode of the component.
+    pub mode_and_submode: ModeAndSubmode,
+    /// State information to track whether a reply should be awaited for the mode component.
+    pub awaiting_reply: bool,
+}
+
+impl ModeStoreValue {
+    pub fn new(id: ComponentId, mode_and_submode: ModeAndSubmode) -> Self {
+        Self {
+            id,
+            mode_and_submode,
+            awaiting_reply: false,
+        }
+    }
+
+    pub fn id(&self) -> ComponentId {
+        self.id
+    }
+
+    pub fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+pub trait ModeStoreProvider {
+    fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode);
+
+    fn has_component(&self, target_id: ComponentId) -> bool;
+
+    fn get(&self, target_id: ComponentId) -> Option<&ModeStoreValue>;
+
+    fn get_mut(&mut self, target_id: ComponentId) -> Option<&mut ModeStoreValue>;
+
+    /// Generic handler for mode replies received from child components.
+    ///
+    /// Implementation should clear the awaition flag if the `handle_reply_awaition` argument is
+    /// true and returns whether any children are still awaiting replies. If the flag is not set
+    fn mode_reply_handler_with_reply_awaition(
+        &mut self,
+        sender_id: ComponentId,
+        reported_mode_and_submode: Option<ModeAndSubmode>,
+    ) -> bool {
+        self.mode_reply_handler(sender_id, reported_mode_and_submode, true)
+            .unwrap_or(false)
+    }
+
+    fn mode_reply_handler_without_reply_awaition(
+        &mut self,
+        sender_id: ComponentId,
+        reported_mode_and_submode: Option<ModeAndSubmode>,
+    ) {
+        self.mode_reply_handler(sender_id, reported_mode_and_submode, false);
+    }
+
+    fn mode_reply_handler(
+        &mut self,
+        sender_id: ComponentId,
+        reported_mode_and_submode: Option<ModeAndSubmode>,
+        with_reply_awaition: bool,
+    ) -> Option<bool>;
+}
+
+#[cfg(feature = "alloc")]
+pub mod alloc_mod {
+    use super::*;
+
+    #[derive(Debug)]
+    pub struct TargetTablesMapValue {
+        /// Name for a given mode table entry.
+        pub name: &'static str,
+        /// Optional fallback mode if the target mode can not be kept.
+        pub fallback_mode: Option<Mode>,
+        /// These are the rows of the a target table.
+        pub entries: Vec<TargetTableEntry>,
+    }
+
+    impl TargetTablesMapValue {
+        pub fn new(name: &'static str, fallback_mode: Option<Mode>) -> Self {
+            Self {
+                name,
+                fallback_mode,
+                entries: Default::default(),
+            }
+        }
+
+        pub fn add_entry(&mut self, entry: TargetTableEntry) {
+            self.entries.push(entry);
+        }
+    }
+
+    /// One sequence of a [SequenceTablesMapValue] in a [SequenceModeTables].
+    ///
+    /// It contains all mode requests which need to be executed for a sequence step and it also
+    /// associates a [Self::name] with the sequence.
+    #[derive(Debug)]
+    pub struct SequenceTableMapTable {
+        /// Name for a given mode sequence.
+        pub name: &'static str,
+        /// These are the rows of the a sequence table.
+        pub entries: Vec<SequenceTableEntry>,
+    }
+
+    impl SequenceTableMapTable {
+        pub fn new(name: &'static str) -> Self {
+            Self {
+                name,
+                entries: Default::default(),
+            }
+        }
+
+        pub fn add_entry(&mut self, entry: SequenceTableEntry) {
+            self.entries.push(entry);
+        }
+    }
+
+    /// A sequence table entry.
+    ///
+    /// This is simply a list of [SequenceTableMapTable]s which also associates a [Self::name]
+    /// with the sequence. The order of sub-tables in the list also specifies the execution order
+    /// in the mode sequence.
+    #[derive(Debug)]
+    pub struct SequenceTablesMapValue {
+        /// Name for a given mode sequence.
+        pub name: &'static str,
+        /// Each sequence can consists of multiple sequences that are executed consecutively.
+        pub entries: Vec<SequenceTableMapTable>,
+    }
+
+    impl SequenceTablesMapValue {
+        pub fn new(name: &'static str) -> Self {
+            Self {
+                name,
+                entries: Default::default(),
+            }
+        }
+
+        pub fn add_sequence_table(&mut self, entry: SequenceTableMapTable) {
+            self.entries.push(entry);
+        }
+    }
+
+    #[derive(Debug, Default)]
+    pub struct TargetModeTables(pub HashMap<Mode, TargetTablesMapValue>);
+
+    impl TargetModeTables {
+        pub fn name(&self, mode: Mode) -> Option<&'static str> {
+            self.0.get(&mode).map(|value| value.name)
+        }
+    }
+
+    impl SequenceModeTables {
+        pub fn name(&self, mode: Mode) -> Option<&'static str> {
+            self.0.get(&mode).map(|value| value.name)
+        }
+
+        pub fn name_of_sequence(&self, mode: Mode, seq_idx: usize) -> Option<&'static str> {
+            self.0
+                .get(&mode)
+                .map(|value| value.entries.get(seq_idx).map(|v| v.name))?
+        }
+    }
+
+    /// This is the core data structure used to store mode sequence tables.
+    ///
+    /// A mode sequence table specifies which commands have to be sent in which order
+    /// to reach a certain [Mode]. Therefore, it simply maps a [Mode] to a [SequenceTablesMapValue].
+    #[derive(Debug, Default)]
+    pub struct SequenceModeTables(pub HashMap<Mode, SequenceTablesMapValue>);
+
+    /// Mode store which tracks the [mode information][ModeStoreValue] inside a [Vec]
+    #[derive(Debug, Default)]
+    pub struct ModeStoreVec(pub alloc::vec::Vec<ModeStoreValue>);
+
+    impl<'a> IntoIterator for &'a ModeStoreVec {
+        type Item = &'a ModeStoreValue;
+        type IntoIter = std::slice::Iter<'a, ModeStoreValue>;
+
+        fn into_iter(self) -> Self::IntoIter {
+            self.0.iter()
+        }
+    }
+
+    impl<'a> IntoIterator for &'a mut ModeStoreVec {
+        type Item = &'a mut ModeStoreValue;
+        type IntoIter = std::slice::IterMut<'a, ModeStoreValue>;
+
+        fn into_iter(self) -> Self::IntoIter {
+            self.0.iter_mut()
+        }
+    }
+
+    /// Mode store which tracks the mode information inside a [hashbrown::HashMap]
+    #[derive(Debug, Default)]
+    pub struct ModeStoreMap(pub hashbrown::HashMap<ComponentId, ModeStoreValue>);
+
+    impl<'a> IntoIterator for &'a ModeStoreMap {
+        type Item = (&'a ComponentId, &'a ModeStoreValue);
+        type IntoIter = hashbrown::hash_map::Iter<'a, ComponentId, ModeStoreValue>;
+
+        fn into_iter(self) -> Self::IntoIter {
+            self.0.iter()
+        }
+    }
+
+    impl ModeStoreProvider for ModeStoreVec {
+        fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
+            self.0.push(ModeStoreValue::new(target_id, mode));
+        }
+
+        fn has_component(&self, target_id: ComponentId) -> bool {
+            self.0.iter().any(|val| val.id == target_id)
+        }
+
+        fn get(&self, target_id: ComponentId) -> Option<&ModeStoreValue> {
+            self.0.iter().find(|val| val.id == target_id)
+        }
+
+        fn get_mut(&mut self, target_id: ComponentId) -> Option<&mut ModeStoreValue> {
+            self.0.iter_mut().find(|val| val.id == target_id)
+        }
+
+        fn mode_reply_handler(
+            &mut self,
+            sender_id: ComponentId,
+            reported_mode_and_submode: Option<ModeAndSubmode>,
+            handle_reply_awaition: bool,
+        ) -> Option<bool> {
+            let mut still_awating_replies = None;
+            if handle_reply_awaition {
+                still_awating_replies = Some(false);
+            }
+            self.0.iter_mut().for_each(|val| {
+                if val.id() == sender_id {
+                    if let Some(mode_and_submode) = reported_mode_and_submode {
+                        val.mode_and_submode = mode_and_submode;
+                    }
+                    if handle_reply_awaition {
+                        val.awaiting_reply = false;
+                    }
+                }
+                if handle_reply_awaition && val.awaiting_reply {
+                    still_awating_replies = Some(true);
+                }
+            });
+            still_awating_replies
+        }
+    }
+
+    impl ModeStoreProvider for ModeStoreMap {
+        fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
+            self.0
+                .insert(target_id, ModeStoreValue::new(target_id, mode));
+        }
+
+        fn has_component(&self, target_id: ComponentId) -> bool {
+            self.0.contains_key(&target_id)
+        }
+
+        fn get(&self, target_id: ComponentId) -> Option<&ModeStoreValue> {
+            self.0.get(&target_id)
+        }
+
+        fn get_mut(&mut self, target_id: ComponentId) -> Option<&mut ModeStoreValue> {
+            self.0.get_mut(&target_id)
+        }
+
+        fn mode_reply_handler(
+            &mut self,
+            sender_id: ComponentId,
+            reported_mode_and_submode: Option<ModeAndSubmode>,
+            handle_reply_awaition: bool,
+        ) -> Option<bool> {
+            let mut still_awating_replies = None;
+            if handle_reply_awaition {
+                still_awating_replies = Some(false);
+            }
+            for val in self.0.values_mut() {
+                if val.id() == sender_id {
+                    if let Some(mode_and_submode) = reported_mode_and_submode {
+                        val.mode_and_submode = mode_and_submode;
+                    }
+                    if handle_reply_awaition {
+                        val.awaiting_reply = false;
+                    }
+                }
+                if handle_reply_awaition && val.awaiting_reply {
+                    still_awating_replies = Some(true);
+                }
+            }
+            still_awating_replies
+        }
+    }
+}

 #[cfg(test)]
-mod tests {}
+mod tests {
+    use super::*;
+
+    fn generic_test(mode_store: &mut impl ModeStoreProvider) {
+        mode_store.add_component(1, ModeAndSubmode::new(0, 0));
+        mode_store.add_component(2, ModeAndSubmode::new(1, 0));
+        assert!(mode_store.has_component(1));
+        assert!(mode_store.has_component(2));
+        assert_eq!(
+            mode_store.get(1).unwrap().mode_and_submode(),
+            ModeAndSubmode::new(0, 0)
+        );
+        assert!(!mode_store.get(1).unwrap().awaiting_reply);
+        assert!(!mode_store.get(2).unwrap().awaiting_reply);
+        assert_eq!(mode_store.get(1).unwrap().id, 1);
+        assert_eq!(mode_store.get(2).unwrap().id, 2);
+        assert!(mode_store.get(3).is_none());
+        assert!(mode_store.get_mut(3).is_none());
+    }
+
+    fn generic_reply_handling_with_reply_awaition(mode_store: &mut impl ModeStoreProvider) {
+        mode_store.add_component(1, ModeAndSubmode::new(0, 0));
+        mode_store.add_component(2, ModeAndSubmode::new(1, 0));
+        mode_store.get_mut(1).unwrap().awaiting_reply = true;
+        mode_store.get_mut(2).unwrap().awaiting_reply = true;
+        let mut reply_awation_pending =
+            mode_store.mode_reply_handler_with_reply_awaition(1, Some(ModeAndSubmode::new(2, 0)));
+        assert!(reply_awation_pending);
+        reply_awation_pending = mode_store.mode_reply_handler_with_reply_awaition(2, None);
+        assert!(!reply_awation_pending);
+        assert!(!mode_store.get(1).unwrap().awaiting_reply);
+        assert!(!mode_store.get(2).unwrap().awaiting_reply);
+        assert_eq!(
+            mode_store.get(1).unwrap().mode_and_submode(),
+            ModeAndSubmode::new(2, 0)
+        );
+        assert_eq!(
+            mode_store.get(2).unwrap().mode_and_submode(),
+            ModeAndSubmode::new(1, 0)
+        );
+    }
+
+    fn generic_reply_handling_test_no_reply_awaition(mode_store: &mut impl ModeStoreProvider) {
+        mode_store.add_component(1, ModeAndSubmode::new(0, 0));
+        mode_store.add_component(2, ModeAndSubmode::new(1, 0));
+        mode_store.get_mut(1).unwrap().awaiting_reply = true;
+        mode_store.get_mut(2).unwrap().awaiting_reply = true;
+        mode_store.mode_reply_handler_without_reply_awaition(1, Some(ModeAndSubmode::new(2, 0)));
+        mode_store.mode_reply_handler_without_reply_awaition(2, None);
+        assert!(mode_store.get(1).unwrap().awaiting_reply);
+        assert!(mode_store.get(2).unwrap().awaiting_reply);
+        assert_eq!(
+            mode_store.get(1).unwrap().mode_and_submode(),
+            ModeAndSubmode::new(2, 0)
+        );
+        assert_eq!(
+            mode_store.get(2).unwrap().mode_and_submode(),
+            ModeAndSubmode::new(1, 0)
+        );
+    }
+
+    fn generic_reply_handling_with_reply_awaition_2(mode_store: &mut impl ModeStoreProvider) {
+        mode_store.add_component(1, ModeAndSubmode::new(0, 0));
+        mode_store.add_component(2, ModeAndSubmode::new(1, 0));
+        mode_store.get_mut(1).unwrap().awaiting_reply = true;
+        mode_store.get_mut(2).unwrap().awaiting_reply = true;
+        let mut reply_awation_pending =
+            mode_store.mode_reply_handler(1, Some(ModeAndSubmode::new(2, 0)), true);
+        assert!(reply_awation_pending.unwrap());
+        reply_awation_pending = mode_store.mode_reply_handler(2, None, true);
+        assert!(!reply_awation_pending.unwrap());
+        assert!(!mode_store.get(1).unwrap().awaiting_reply);
+        assert!(!mode_store.get(2).unwrap().awaiting_reply);
+        assert_eq!(
+            mode_store.get(1).unwrap().mode_and_submode(),
+            ModeAndSubmode::new(2, 0)
+        );
+        assert_eq!(
+            mode_store.get(2).unwrap().mode_and_submode(),
+            ModeAndSubmode::new(1, 0)
+        );
+    }
+
+    #[test]
+    fn test_vec_mode_store() {
+        let mut mode_store = ModeStoreVec::default();
+        generic_test(&mut mode_store);
+    }
+
+    #[test]
+    fn test_map_mode_store() {
+        let mut mode_store = ModeStoreMap::default();
+        generic_test(&mut mode_store);
+    }
+
+    #[test]
+    fn test_generic_reply_handler_vec_with_reply_awaition() {
+        let mut mode_store = ModeStoreVec::default();
+        generic_reply_handling_with_reply_awaition(&mut mode_store);
+    }
+
+    #[test]
+    fn test_generic_reply_handler_vec_with_reply_awaition_2() {
+        let mut mode_store = ModeStoreVec::default();
+        generic_reply_handling_with_reply_awaition_2(&mut mode_store);
+    }
+
+    #[test]
+    fn test_generic_reply_handler_map_with_reply_awaition() {
+        let mut mode_store = ModeStoreMap::default();
+        generic_reply_handling_with_reply_awaition(&mut mode_store);
+    }
+
+    #[test]
+    fn test_generic_reply_handler_map_with_reply_awaition_2() {
+        let mut mode_store = ModeStoreMap::default();
+        generic_reply_handling_with_reply_awaition_2(&mut mode_store);
+    }
+
+    #[test]
+    fn test_generic_reply_handler_vec_no_reply_awaition() {
+        let mut mode_store = ModeStoreVec::default();
+        generic_reply_handling_test_no_reply_awaition(&mut mode_store);
+    }
+    #[test]
+    fn test_generic_reply_handler_map_no_reply_awaition() {
+        let mut mode_store = ModeStoreMap::default();
+        generic_reply_handling_test_no_reply_awaition(&mut mode_store);
+    }
+}
--- a/satrs/src/pool.rs
+++ b/satrs/src/pool.rs
@ -387,18 +387,18 @@ pub mod heapless_mod {
    #[macro_export]
    macro_rules! static_subpool {
        ($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr) => {
-            static mut $pool_name: core::mem::MaybeUninit<[u8; $num_blocks * $block_size]> =
-                core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
-            static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
-                core::mem::MaybeUninit::new([$crate::pool::STORE_FREE; $num_blocks]);
+            static $pool_name: static_cell::ConstStaticCell<[u8; $num_blocks * $block_size]> =
+                static_cell::ConstStaticCell::new([0; $num_blocks * $block_size]);
+            static $sizes_list_name: static_cell::ConstStaticCell<[usize; $num_blocks]> =
+                static_cell::ConstStaticCell::new([$crate::pool::STORE_FREE; $num_blocks]);
        };
        ($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr, $meta_data: meta) => {
            #[$meta_data]
-            static mut $pool_name: core::mem::MaybeUninit<[u8; $num_blocks * $block_size]> =
-                core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
+            static $pool_name: static_cell::ConstStaticCell<[u8; $num_blocks * $block_size]> =
+                static_cell::ConstStaticCell::new([0; $num_blocks * $block_size]);
            #[$meta_data]
-            static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
-                core::mem::MaybeUninit::new([$crate::pool::STORE_FREE; $num_blocks]);
+            static $sizes_list_name: static_cell::ConstStaticCell<[usize; $num_blocks]> =
+                static_cell::ConstStaticCell::new([$crate::pool::STORE_FREE; $num_blocks]);
        };
    }

@ -435,17 +435,17 @@ pub mod heapless_mod {
    ///
    /// let mut mem_pool: StaticHeaplessMemoryPool<2> = StaticHeaplessMemoryPool::new(true);
    /// mem_pool.grow(
-    ///     unsafe { SUBPOOL_SMALL.assume_init_mut() },
-    ///     unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
+    ///     SUBPOOL_SMALL.take(),
+    ///     SUBPOOL_SMALL_SIZES.take(),
    ///     SUBPOOL_SMALL_NUM_BLOCKS,
    ///     false
-    /// );
+    /// ).unwrap();
    /// mem_pool.grow(
-    ///     unsafe { SUBPOOL_LARGE.assume_init_mut() },
-    ///     unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
+    ///     SUBPOOL_LARGE.take(),
+    ///     SUBPOOL_LARGE_SIZES.take(),
    ///     SUBPOOL_LARGE_NUM_BLOCKS,
    ///     false
-    /// );
+    /// ).unwrap();
    ///
    /// let mut read_buf: [u8; 16] = [0; 16];
    /// let mut addr;
@ -522,12 +522,14 @@ pub mod heapless_mod {
            num_blocks: NumBlocks,
            set_sizes_list_to_all_free: bool,
        ) -> Result<(), PoolIsFull> {
-            assert!(
-                (subpool_memory.len() % num_blocks as usize) == 0,
+            assert_eq!(
+                (subpool_memory.len() % num_blocks as usize),
+                0,
                "pool slice length must be multiple of number of blocks"
            );
-            assert!(
-                num_blocks as usize == sizes_list.len(),
+            assert_eq!(
+                num_blocks as usize,
+                sizes_list.len(),
                "used block size list slice must be of same length as number of blocks"
            );
            let subpool_config = SubpoolConfig {
@ -773,7 +775,7 @@ mod alloc_mod {
    ///     if the next fitting subpool is full. This is useful to ensure the pool remains useful
    ///     for all data sizes as long as possible. However, an undesirable side-effect might be
    ///     the chocking of larger subpools by underdimensioned smaller subpools.
-    #[derive(Clone)]
+    #[derive(Debug, Clone)]
    pub struct StaticPoolConfig {
        cfg: Vec<SubpoolConfig>,
        spill_to_higher_subpools: bool,
@ -832,6 +834,7 @@ mod alloc_mod {
    /// [address][PoolAddr] type. Adding any data to the pool will yield a store address.
    /// Modification and read operations are done using a reference to a store address. Deletion
    /// will consume the store address.
+    #[derive(Debug)]
    pub struct StaticMemoryPool {
        pool_cfg: StaticPoolConfig,
        pool: Vec<Vec<u8>>,
@ -1584,23 +1587,33 @@ mod tests {
    mod heapless_tests {
        use super::*;
        use crate::static_subpool;
-        use core::mem::MaybeUninit;
+        use std::cell::UnsafeCell;
+        use std::sync::Mutex;

        const SUBPOOL_1_BLOCK_SIZE: usize = 4;
        const SUBPOOL_1_NUM_ELEMENTS: u16 = 4;
-        static mut SUBPOOL_1: MaybeUninit<
+
+        static SUBPOOL_1: static_cell::ConstStaticCell<
            [u8; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE],
-        > = MaybeUninit::new([0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE]);
-        static mut SUBPOOL_1_SIZES: MaybeUninit<[usize; SUBPOOL_1_NUM_ELEMENTS as usize]> =
-            MaybeUninit::new([STORE_FREE; SUBPOOL_1_NUM_ELEMENTS as usize]);
+        > = static_cell::ConstStaticCell::new(
+            [0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE],
+        );
+
+        static SUBPOOL_1_SIZES: Mutex<UnsafeCell<[usize; SUBPOOL_1_NUM_ELEMENTS as usize]>> =
+            Mutex::new(UnsafeCell::new(
+                [STORE_FREE; SUBPOOL_1_NUM_ELEMENTS as usize],
+            ));

        const SUBPOOL_2_NUM_ELEMENTS: u16 = 2;
        const SUBPOOL_2_BLOCK_SIZE: usize = 8;
-        static mut SUBPOOL_2: MaybeUninit<
+        static SUBPOOL_2: static_cell::ConstStaticCell<
            [u8; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE],
-        > = MaybeUninit::new([0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE]);
-        static mut SUBPOOL_2_SIZES: MaybeUninit<[usize; SUBPOOL_2_NUM_ELEMENTS as usize]> =
-            MaybeUninit::new([STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize]);
+        > = static_cell::ConstStaticCell::new(
+            [0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE],
+        );
+        static SUBPOOL_2_SIZES: static_cell::ConstStaticCell<
+            [usize; SUBPOOL_2_NUM_ELEMENTS as usize],
+        > = static_cell::ConstStaticCell::new([STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize]);

        const SUBPOOL_3_NUM_ELEMENTS: u16 = 1;
        const SUBPOOL_3_BLOCK_SIZE: usize = 16;
@ -1643,26 +1656,26 @@ mod tests {
                StaticHeaplessMemoryPool::new(false);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_1.assume_init_mut() },
-                    unsafe { SUBPOOL_1_SIZES.assume_init_mut() },
+                    SUBPOOL_1.take(),
+                    unsafe { &mut *SUBPOOL_1_SIZES.lock().unwrap().get() },
                    SUBPOOL_1_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_2.assume_init_mut() },
-                    unsafe { SUBPOOL_2_SIZES.assume_init_mut() },
+                    SUBPOOL_2.take(),
+                    SUBPOOL_2_SIZES.take(),
                    SUBPOOL_2_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3.take(),
+                    SUBPOOL_3_SIZES.take(),
                    SUBPOOL_3_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            heapless_pool
@ -1782,18 +1795,18 @@ mod tests {
                StaticHeaplessMemoryPool::new(true);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_2.assume_init_mut() },
-                    unsafe { SUBPOOL_2_SIZES.assume_init_mut() },
+                    SUBPOOL_2.take(),
+                    SUBPOOL_2_SIZES.take(),
                    SUBPOOL_2_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_4.assume_init_mut() },
-                    unsafe { SUBPOOL_4_SIZES.assume_init_mut() },
+                    SUBPOOL_4.take(),
+                    SUBPOOL_4_SIZES.take(),
                    SUBPOOL_4_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            generic_test_spills_to_higher_subpools(&mut heapless_pool);
@ -1805,18 +1818,18 @@ mod tests {
                StaticHeaplessMemoryPool::new(true);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_5.assume_init_mut() },
-                    unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
+                    SUBPOOL_5.take(),
+                    SUBPOOL_5_SIZES.take(),
                    SUBPOOL_5_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3.take(),
+                    SUBPOOL_3_SIZES.take(),
                    SUBPOOL_3_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            generic_test_spillage_fails_as_well(&mut heapless_pool);
@ -1828,26 +1841,26 @@ mod tests {
                StaticHeaplessMemoryPool::new(true);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_5.assume_init_mut() },
-                    unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
+                    SUBPOOL_5.take(),
+                    SUBPOOL_5_SIZES.take(),
                    SUBPOOL_5_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_6.assume_init_mut() },
-                    unsafe { SUBPOOL_6_SIZES.assume_init_mut() },
+                    SUBPOOL_6.take(),
+                    SUBPOOL_6_SIZES.take(),
                    SUBPOOL_6_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3.take(),
+                    SUBPOOL_3_SIZES.take(),
                    SUBPOOL_3_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            generic_test_spillage_works_across_multiple_subpools(&mut heapless_pool);
@ -1859,26 +1872,26 @@ mod tests {
                StaticHeaplessMemoryPool::new(true);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_5.assume_init_mut() },
-                    unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
+                    SUBPOOL_5.take(),
+                    SUBPOOL_5_SIZES.take(),
                    SUBPOOL_5_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_6.assume_init_mut() },
-                    unsafe { SUBPOOL_6_SIZES.assume_init_mut() },
+                    SUBPOOL_6.take(),
+                    SUBPOOL_6_SIZES.take(),
                    SUBPOOL_6_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3.take(),
+                    SUBPOOL_3_SIZES.take(),
                    SUBPOOL_3_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            generic_test_spillage_fails_across_multiple_subpools(&mut heapless_pool);
--- a/satrs/src/pus/action.rs
+++ b/satrs/src/pus/action.rs
@ -66,9 +66,10 @@ impl GenericActionReplyPus {
 pub mod alloc_mod {
    use crate::{
        action::ActionRequest,
-        queue::GenericTargetedMessagingError,
+        queue::{GenericReceiveError, GenericSendError},
        request::{
-            GenericMessage, MessageReceiver, MessageSender, MessageSenderAndReceiver, RequestId,
+            GenericMessage, MessageReceiverProvider, MessageSenderAndReceiver,
+            MessageSenderProvider, MessageSenderStoreProvider, RequestId,
        },
        ComponentId,
    };
@ -76,15 +77,18 @@ pub mod alloc_mod {
    use super::ActionReplyPus;

    /// Helper type definition for a mode handler which can handle mode requests.
-    pub type ActionRequestHandlerInterface<S, R> =
-        MessageSenderAndReceiver<ActionReplyPus, ActionRequest, S, R>;
+    pub type ActionRequestHandlerInterface<Sender, Receiver, ReplySenderStore> =
+        MessageSenderAndReceiver<ActionReplyPus, ActionRequest, Sender, Receiver, ReplySenderStore>;

-    impl<S: MessageSender<ActionReplyPus>, R: MessageReceiver<ActionRequest>>
-        ActionRequestHandlerInterface<S, R>
+    impl<
+            Sender: MessageSenderProvider<ActionReplyPus>,
+            Receiver: MessageReceiverProvider<ActionRequest>,
+            ReplySender: MessageSenderStoreProvider<ActionReplyPus, Sender>,
+        > ActionRequestHandlerInterface<Sender, Receiver, ReplySender>
    {
        pub fn try_recv_action_request(
            &self,
-        ) -> Result<Option<GenericMessage<ActionRequest>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ActionRequest>>, GenericReceiveError> {
            self.try_recv_message()
        }

@ -93,22 +97,31 @@ pub mod alloc_mod {
            request_id: RequestId,
            target_id: ComponentId,
            reply: ActionReplyPus,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
            self.send_message(request_id, target_id, reply)
        }
    }

    /// Helper type defintion for a mode handler object which can send mode requests and receive
    /// mode replies.
-    pub type ActionRequestorInterface<S, R> =
-        MessageSenderAndReceiver<ActionRequest, ActionReplyPus, S, R>;
+    pub type ActionRequestorInterface<Sender, Receiver, RequestSenderStore> =
+        MessageSenderAndReceiver<
+            ActionRequest,
+            ActionReplyPus,
+            Sender,
+            Receiver,
+            RequestSenderStore,
+        >;

-    impl<S: MessageSender<ActionRequest>, R: MessageReceiver<ActionReplyPus>>
-        ActionRequestorInterface<S, R>
+    impl<
+            Sender: MessageSenderProvider<ActionRequest>,
+            Receiver: MessageReceiverProvider<ActionReplyPus>,
+            RequestSenderStore: MessageSenderStoreProvider<ActionRequest, Sender>,
+        > ActionRequestorInterface<Sender, Receiver, RequestSenderStore>
    {
        pub fn try_recv_action_reply(
            &self,
-        ) -> Result<Option<GenericMessage<ActionReplyPus>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ActionReplyPus>>, GenericReceiveError> {
            self.try_recv_message()
        }

@ -117,7 +130,7 @@ pub mod alloc_mod {
            request_id: RequestId,
            target_id: ComponentId,
            request: ActionRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
            self.send_message(request_id, target_id, request)
        }
    }
@ -132,6 +145,7 @@ pub mod std_mod {
            verification::{self, TcStateToken},
            ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap,
        },
+        request::{MessageSenderMap, OneMessageSender},
        ComponentId,
    };

@ -174,22 +188,38 @@ pub mod std_mod {
    }
    pub type DefaultActiveActionRequestMap = DefaultActiveRequestMap<ActivePusActionRequestStd>;

-    pub type ActionRequestHandlerMpsc = ActionRequestHandlerInterface<
+    pub type ActionRequestHandlerOneSenderMpsc = ActionRequestHandlerInterface<
        mpsc::Sender<GenericMessage<ActionReplyPus>>,
        mpsc::Receiver<GenericMessage<ActionRequest>>,
+        OneMessageSender<
+            GenericMessage<ActionReplyPus>,
+            mpsc::Sender<GenericMessage<ActionReplyPus>>,
+        >,
    >;
-    pub type ActionRequestHandlerMpscBounded = ActionRequestHandlerInterface<
+    pub type ActionRequestHandlerOneSenderMpscBounded = ActionRequestHandlerInterface<
        mpsc::SyncSender<GenericMessage<ActionReplyPus>>,
        mpsc::Receiver<GenericMessage<ActionRequest>>,
+        OneMessageSender<
+            GenericMessage<ActionReplyPus>,
+            mpsc::SyncSender<GenericMessage<ActionReplyPus>>,
+        >,
    >;

-    pub type ActionRequestorMpsc = ActionRequestorInterface<
+    pub type ActionRequestorWithSenderMapMpsc = ActionRequestorInterface<
        mpsc::Sender<GenericMessage<ActionRequest>>,
        mpsc::Receiver<GenericMessage<ActionReplyPus>>,
+        MessageSenderMap<
+            GenericMessage<ActionRequest>,
+            mpsc::Sender<GenericMessage<ActionRequest>>,
+        >,
    >;
-    pub type ActionRequestorBoundedMpsc = ActionRequestorInterface<
+    pub type ActionRequestorWithSenderMapBoundedMpsc = ActionRequestorInterface<
        mpsc::SyncSender<GenericMessage<ActionRequest>>,
        mpsc::Receiver<GenericMessage<ActionReplyPus>>,
+        MessageSenderMap<
+            GenericMessage<ActionRequest>,
+            mpsc::SyncSender<GenericMessage<ActionRequest>>,
+        >,
    >;
 }

--- a/satrs/src/pus/event_srv.rs
+++ b/satrs/src/pus/event_srv.rs
@ -9,14 +9,14 @@ use std::sync::mpsc::Sender;

 use super::verification::VerificationReportingProvider;
 use super::{
-    EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, GenericConversionError,
+    EcssTcInMemConversionProvider, EcssTcReceiver, EcssTmSender, GenericConversionError,
    GenericRoutingError, HandlingStatus, PusServiceHelper,
 };

 pub struct PusEventServiceHandler<
    TcReceiver: EcssTcReceiver,
    TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConverter,
+    TcInMemConverter: EcssTcInMemConversionProvider,
    VerificationReporter: VerificationReportingProvider,
 > {
    pub service_helper:
@ -27,7 +27,7 @@ pub struct PusEventServiceHandler<
 impl<
        TcReceiver: EcssTcReceiver,
        TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
+        TcInMemConverter: EcssTcInMemConversionProvider,
        VerificationReporter: VerificationReportingProvider,
    > PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
@ -170,7 +170,7 @@ mod tests {
            event_man::EventRequestWithToken,
            tests::PusServiceHandlerWithSharedStoreCommon,
            verification::{TcStateAccepted, VerificationToken},
-            DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, PusPacketHandlingError,
+            DirectPusPacketHandlerResult, EcssTcInSharedPoolConverter, PusPacketHandlingError,
        },
    };

@ -183,7 +183,7 @@ mod tests {
        handler: PusEventServiceHandler<
            MpscTcReceiver,
            PacketSenderWithSharedPool,
-            EcssTcInSharedStoreConverter,
+            EcssTcInSharedPoolConverter,
            VerificationReporter,
        >,
    }
--- a/satrs/src/pus/mod.rs
+++ b/satrs/src/pus/mod.rs
@ -947,7 +947,7 @@ pub mod std_mod {
        }
    }

-    pub trait EcssTcInMemConverter {
+    pub trait EcssTcInMemConversionProvider {
        fn cache(&mut self, possible_packet: &TcInMemory) -> Result<(), PusTcFromMemError>;

        fn tc_slice_raw(&self) -> &[u8];
@ -980,7 +980,7 @@ pub mod std_mod {
        pub pus_tc_raw: Option<Vec<u8>>,
    }

-    impl EcssTcInMemConverter for EcssTcInVecConverter {
+    impl EcssTcInMemConversionProvider for EcssTcInVecConverter {
        fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
            self.pus_tc_raw = None;
            match tc_in_memory {
@ -1011,24 +1011,25 @@ pub mod std_mod {
    /// [SharedStaticMemoryPool] structure. This is useful if run-time allocation for these
    /// packets should be avoided. Please note that this structure is not able to convert TCs which
    /// are stored as a `Vec<u8>`.
-    pub struct EcssTcInSharedStoreConverter {
+    #[derive(Clone)]
+    pub struct EcssTcInSharedPoolConverter {
        sender_id: Option<ComponentId>,
-        shared_tc_store: SharedStaticMemoryPool,
+        shared_tc_pool: SharedStaticMemoryPool,
        pus_buf: Vec<u8>,
    }

-    impl EcssTcInSharedStoreConverter {
+    impl EcssTcInSharedPoolConverter {
        pub fn new(shared_tc_store: SharedStaticMemoryPool, max_expected_tc_size: usize) -> Self {
            Self {
                sender_id: None,
-                shared_tc_store,
+                shared_tc_pool: shared_tc_store,
                pus_buf: alloc::vec![0; max_expected_tc_size],
            }
        }

        pub fn copy_tc_to_buf(&mut self, addr: PoolAddr) -> Result<(), PusTcFromMemError> {
            // Keep locked section as short as possible.
-            let mut tc_pool = self.shared_tc_store.write().map_err(|_| {
+            let mut tc_pool = self.shared_tc_pool.write().map_err(|_| {
                PusTcFromMemError::EcssTmtc(EcssTmtcError::Store(PoolError::LockError))
            })?;
            let tc_size = tc_pool.len_of_data(&addr).map_err(EcssTmtcError::Store)?;
@ -1048,7 +1049,7 @@ pub mod std_mod {
        }
    }

-    impl EcssTcInMemConverter for EcssTcInSharedStoreConverter {
+    impl EcssTcInMemConversionProvider for EcssTcInSharedPoolConverter {
        fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
            match tc_in_memory {
                super::TcInMemory::Pool(packet_in_pool) => {
@ -1071,6 +1072,44 @@ pub mod std_mod {
        }
    }

+    // TODO: alloc feature flag?
+    #[derive(Clone)]
+    pub enum EcssTcInMemConverter {
+        Static(EcssTcInSharedPoolConverter),
+        Heap(EcssTcInVecConverter),
+    }
+
+    impl EcssTcInMemConverter {
+        pub fn new_static(static_store_converter: EcssTcInSharedPoolConverter) -> Self {
+            EcssTcInMemConverter::Static(static_store_converter)
+        }
+
+        pub fn new_heap(heap_converter: EcssTcInVecConverter) -> Self {
+            EcssTcInMemConverter::Heap(heap_converter)
+        }
+    }
+
+    impl EcssTcInMemConversionProvider for EcssTcInMemConverter {
+        fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
+            match self {
+                EcssTcInMemConverter::Static(converter) => converter.cache(tc_in_memory),
+                EcssTcInMemConverter::Heap(converter) => converter.cache(tc_in_memory),
+            }
+        }
+        fn tc_slice_raw(&self) -> &[u8] {
+            match self {
+                EcssTcInMemConverter::Static(converter) => converter.tc_slice_raw(),
+                EcssTcInMemConverter::Heap(converter) => converter.tc_slice_raw(),
+            }
+        }
+        fn sender_id(&self) -> Option<ComponentId> {
+            match self {
+                EcssTcInMemConverter::Static(converter) => converter.sender_id(),
+                EcssTcInMemConverter::Heap(converter) => converter.sender_id(),
+            }
+        }
+    }
+
    pub struct PusServiceBase<
        TcReceiver: EcssTcReceiver,
        TmSender: EcssTmSender,
@ -1094,7 +1133,7 @@ pub mod std_mod {
    pub struct PusServiceHelper<
        TcReceiver: EcssTcReceiver,
        TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
+        TcInMemConverter: EcssTcInMemConversionProvider,
        VerificationReporter: VerificationReportingProvider,
    > {
        pub common: PusServiceBase<TcReceiver, TmSender, VerificationReporter>,
@ -1104,7 +1143,7 @@ pub mod std_mod {
    impl<
            TcReceiver: EcssTcReceiver,
            TmSender: EcssTmSender,
-            TcInMemConverter: EcssTcInMemConverter,
+            TcInMemConverter: EcssTcInMemConversionProvider,
            VerificationReporter: VerificationReportingProvider,
        > PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
    {
@ -1221,9 +1260,10 @@ pub(crate) fn source_buffer_large_enough(

 #[cfg(any(feature = "test_util", test))]
 pub mod test_util {
-    use crate::request::UniqueApidTargetId;
    use spacepackets::ecss::{tc::PusTcCreator, tm::PusTmReader};

+    use crate::request::UniqueApidTargetId;
+
    use super::{
        verification::{self, TcStateAccepted, VerificationToken},
        DirectPusPacketHandlerResult, PusPacketHandlingError,
@ -1232,6 +1272,7 @@ pub mod test_util {
    pub const TEST_APID: u16 = 0x101;
    pub const TEST_UNIQUE_ID_0: u32 = 0x05;
    pub const TEST_UNIQUE_ID_1: u32 = 0x06;
+
    pub const TEST_COMPONENT_ID_0: UniqueApidTargetId =
        UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0);
    pub const TEST_COMPONENT_ID_1: UniqueApidTargetId =
@ -1268,14 +1309,13 @@ pub mod tests {
    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::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig};
    use crate::pus::verification::{RequestId, VerificationReporter};
    use crate::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool};
    use crate::ComponentId;

-    use super::test_util::{TEST_APID, TEST_COMPONENT_ID_0};
-
    use super::verification::test_util::TestVerificationReporter;
    use super::verification::{
        TcStateAccepted, VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
@ -1346,7 +1386,7 @@ pub mod tests {
    pub type PusServiceHelperStatic = PusServiceHelper<
        MpscTcReceiver,
        PacketSenderWithSharedPool,
-        EcssTcInSharedStoreConverter,
+        EcssTcInSharedPoolConverter,
        VerificationReporter,
    >;

@ -1373,8 +1413,7 @@ pub mod tests {
                VerificationReporter::new(TEST_COMPONENT_ID_0.id(), &verif_cfg);
            let test_srv_tm_sender =
                PacketSenderWithSharedPool::new(tm_tx, shared_tm_pool_wrapper.clone());
-            let in_store_converter =
-                EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
+            let in_store_converter = EcssTcInSharedPoolConverter::new(shared_tc_pool.clone(), 2048);
            (
                Self {
                    pus_buf: RefCell::new([0; 2048]),
--- a/satrs/src/pus/mode.rs
+++ b/satrs/src/pus/mode.rs
@ -39,7 +39,7 @@ mod tests {
    use crate::{
        mode::{
            ModeAndSubmode, ModeReply, ModeReplySender, ModeRequest, ModeRequestSender,
-            ModeRequestorAndHandlerMpsc, ModeRequestorMpsc,
+            ModeRequestorAndHandlerMpsc, ModeRequestorOneChildMpsc,
        },
        request::{GenericMessage, MessageMetadata},
    };
@ -52,7 +52,8 @@ mod tests {
    fn test_simple_mode_requestor() {
        let (reply_sender, reply_receiver) = mpsc::channel();
        let (request_sender, request_receiver) = mpsc::channel();
-        let mut mode_requestor = ModeRequestorMpsc::new(TEST_COMPONENT_ID_0, reply_receiver);
+        let mut mode_requestor =
+            ModeRequestorOneChildMpsc::new(TEST_COMPONENT_ID_0, reply_receiver);
        mode_requestor.add_message_target(TEST_COMPONENT_ID_1, request_sender);

        // Send a request and verify it arrives at the receiver.
--- a/satrs/src/pus/scheduler_srv.rs
+++ b/satrs/src/pus/scheduler_srv.rs
@ -1,7 +1,7 @@
 use super::scheduler::PusSchedulerProvider;
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    DirectPusPacketHandlerResult, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    DirectPusPacketHandlerResult, EcssTcInMemConversionProvider, EcssTcInSharedPoolConverter,
    EcssTcInVecConverter, EcssTcReceiver, EcssTmSender, HandlingStatus, MpscTcReceiver,
    PartialPusHandlingError, PusServiceHelper,
 };
@ -24,7 +24,7 @@ use std::sync::mpsc;
 pub struct PusSchedServiceHandler<
    TcReceiver: EcssTcReceiver,
    TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConverter,
+    TcInMemConverter: EcssTcInMemConversionProvider,
    VerificationReporter: VerificationReportingProvider,
    PusScheduler: PusSchedulerProvider,
 > {
@ -36,7 +36,7 @@ pub struct PusSchedServiceHandler<
 impl<
        TcReceiver: EcssTcReceiver,
        TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
+        TcInMemConverter: EcssTcInMemConversionProvider,
        VerificationReporter: VerificationReportingProvider,
        Scheduler: PusSchedulerProvider,
    >
@ -229,7 +229,7 @@ pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServ
 pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
    MpscTcReceiver,
    PacketSenderWithSharedPool,
-    EcssTcInSharedStoreConverter,
+    EcssTcInSharedPoolConverter,
    VerificationReporter,
    PusScheduler,
 >;
@ -238,7 +238,7 @@ pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceH
 pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
    MpscTcReceiver,
    PacketSenderWithSharedPool,
-    EcssTcInSharedStoreConverter,
+    EcssTcInSharedPoolConverter,
    VerificationReporter,
    PusScheduler,
 >;
@ -253,7 +253,7 @@ mod tests {
        scheduler::{self, PusSchedulerProvider, TcInfo},
        tests::PusServiceHandlerWithSharedStoreCommon,
        verification::{RequestId, TcStateAccepted, VerificationToken},
-        EcssTcInSharedStoreConverter,
+        EcssTcInSharedPoolConverter,
    };
    use crate::pus::{DirectPusPacketHandlerResult, MpscTcReceiver, PusPacketHandlingError};
    use crate::tmtc::PacketSenderWithSharedPool;
@ -276,7 +276,7 @@ mod tests {
        handler: PusSchedServiceHandler<
            MpscTcReceiver,
            PacketSenderWithSharedPool,
-            EcssTcInSharedStoreConverter,
+            EcssTcInSharedPoolConverter,
            VerificationReporter,
            TestScheduler,
        >,
--- a/satrs/src/pus/test.rs
+++ b/satrs/src/pus/test.rs
@ -9,8 +9,9 @@ use std::sync::mpsc;

 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
-    EcssTmSender, GenericConversionError, HandlingStatus, MpscTcReceiver, PusServiceHelper,
+    EcssTcInMemConversionProvider, EcssTcInSharedPoolConverter, EcssTcInVecConverter,
+    EcssTcReceiver, EcssTmSender, GenericConversionError, HandlingStatus, MpscTcReceiver,
+    PusServiceHelper,
 };

 /// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
@ -18,7 +19,7 @@ use super::{
 pub struct PusService17TestHandler<
    TcReceiver: EcssTcReceiver,
    TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConverter,
+    TcInMemConverter: EcssTcInMemConversionProvider,
    VerificationReporter: VerificationReportingProvider,
 > {
    pub service_helper:
@ -28,7 +29,7 @@ pub struct PusService17TestHandler<
 impl<
        TcReceiver: EcssTcReceiver,
        TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
+        TcInMemConverter: EcssTcInMemConversionProvider,
        VerificationReporter: VerificationReportingProvider,
    > PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
@ -127,7 +128,7 @@ pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
 pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
    MpscTcReceiver,
    PacketSenderWithSharedPool,
-    EcssTcInSharedStoreConverter,
+    EcssTcInSharedPoolConverter,
    VerificationReporter,
 >;

@ -142,7 +143,7 @@ mod tests {
    };
    use crate::pus::verification::{TcStateAccepted, VerificationToken};
    use crate::pus::{
-        DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+        DirectPusPacketHandlerResult, EcssTcInSharedPoolConverter, EcssTcInVecConverter,
        GenericConversionError, HandlingStatus, MpscTcReceiver, MpscTmAsVecSender,
        PartialPusHandlingError, PusPacketHandlingError,
    };
@ -162,7 +163,7 @@ mod tests {
        handler: PusService17TestHandler<
            MpscTcReceiver,
            PacketSenderWithSharedPool,
-            EcssTcInSharedStoreConverter,
+            EcssTcInSharedPoolConverter,
            VerificationReporter,
        >,
    }
--- a/satrs/src/pus/verification.rs
+++ b/satrs/src/pus/verification.rs
@ -20,7 +20,7 @@
 //!     VerificationReportingProvider, VerificationReporterCfg, VerificationReporter
 //! };
 //! use satrs::tmtc::{SharedStaticMemoryPool, PacketSenderWithSharedPool};
-//! use satrs::seq_count::SeqCountProviderSimple;
+//! use satrs::spacepackets::seq_count::SeqCountProviderSimple;
 //! use satrs::request::UniqueApidTargetId;
 //! use spacepackets::ecss::PusPacket;
 //! use spacepackets::SpHeader;
@ -97,8 +97,8 @@ use spacepackets::ecss::EcssEnumeration;
 use spacepackets::{ByteConversionError, CcsdsPacket, PacketId, PacketSequenceCtrl};
 use spacepackets::{SpHeader, MAX_APID};

-pub use crate::seq_count::SeqCountProviderSimple;
 pub use spacepackets::ecss::verification::*;
+pub use spacepackets::seq_count::SeqCountProviderSimple;

 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;
@ -1702,7 +1702,7 @@ pub mod tests {
    };
    use crate::pus::{ChannelWithId, PusTmVariant};
    use crate::request::MessageMetadata;
-    use crate::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
+    use crate::spacepackets::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProvider};
    use crate::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
    use crate::ComponentId;
    use alloc::format;
--- a/satrs/src/queue.rs
+++ b/satrs/src/queue.rs
@ -1,6 +1,3 @@
-use core::fmt::{Display, Formatter};
-#[cfg(feature = "std")]
-use std::error::Error;
 #[cfg(feature = "std")]
 use std::sync::mpsc;

@ -10,89 +7,31 @@ use crate::ComponentId;
 pub type ChannelId = u32;

 /// Generic error type for sending something via a message queue.
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq, thiserror::Error)]
 pub enum GenericSendError {
+    #[error("rx side has disconnected")]
    RxDisconnected,
+    #[error("queue with max capacity of {0:?} is full")]
    QueueFull(Option<u32>),
+    #[error("target queue with ID {0} does not exist")]
    TargetDoesNotExist(ComponentId),
 }

-impl Display for GenericSendError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            GenericSendError::RxDisconnected => {
-                write!(f, "rx side has disconnected")
-            }
-            GenericSendError::QueueFull(max_cap) => {
-                write!(f, "queue with max capacity of {max_cap:?} is full")
-            }
-            GenericSendError::TargetDoesNotExist(target) => {
-                write!(f, "target queue with ID {target} does not exist")
-            }
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for GenericSendError {}
-
 /// Generic error type for sending something via a message queue.
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq, thiserror::Error)]
 pub enum GenericReceiveError {
+    #[error("nothing to receive")]
    Empty,
+    #[error("tx side with id {0:?} has disconnected")]
    TxDisconnected(Option<ComponentId>),
 }

-impl Display for GenericReceiveError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            Self::TxDisconnected(channel_id) => {
-                write!(f, "tx side with id {channel_id:?} has disconnected")
-            }
-            Self::Empty => {
-                write!(f, "nothing to receive")
-            }
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for GenericReceiveError {}
-
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, thiserror::Error)]
 pub enum GenericTargetedMessagingError {
-    Send(GenericSendError),
-    Receive(GenericReceiveError),
-}
-impl From<GenericSendError> for GenericTargetedMessagingError {
-    fn from(value: GenericSendError) -> Self {
-        Self::Send(value)
-    }
-}
-
-impl From<GenericReceiveError> for GenericTargetedMessagingError {
-    fn from(value: GenericReceiveError) -> Self {
-        Self::Receive(value)
-    }
-}
-
-impl Display for GenericTargetedMessagingError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            Self::Send(err) => write!(f, "generic targeted messaging error: {}", err),
-            Self::Receive(err) => write!(f, "generic targeted messaging error: {}", err),
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for GenericTargetedMessagingError {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        match self {
-            GenericTargetedMessagingError::Send(send) => Some(send),
-            GenericTargetedMessagingError::Receive(receive) => Some(receive),
-        }
-    }
+    #[error("generic targeted messaging send error: {0}")]
+    Send(#[from] GenericSendError),
+    #[error("generic targeted messaging receive error: {0}")]
+    Receive(#[from] GenericReceiveError),
 }

 #[cfg(feature = "std")]
--- a/satrs/src/request.rs
+++ b/satrs/src/request.rs
@ -13,7 +13,10 @@ use spacepackets::{
    ByteConversionError,
 };

-use crate::{queue::GenericTargetedMessagingError, ComponentId};
+use crate::{
+    queue::{GenericReceiveError, GenericSendError},
+    ComponentId,
+};

 /// Generic request ID type. Requests can be associated with an ID to have a unique identifier
 /// for them. This can be useful for tasks like tracking their progress.
@ -140,37 +143,38 @@ impl<Message> GenericMessage<Message> {
 }

 /// Generic trait for objects which can send targeted messages.
-pub trait MessageSender<MSG>: Send {
-    fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError>;
+pub trait MessageSenderProvider<MSG>: Send {
+    fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericSendError>;
 }

 // Generic trait for objects which can receive targeted messages.
-pub trait MessageReceiver<MSG> {
-    fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError>;
+pub trait MessageReceiverProvider<MSG> {
+    fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError>;
 }

-pub struct MessageWithSenderIdReceiver<MSG, R: MessageReceiver<MSG>>(pub R, PhantomData<MSG>);
+pub struct MessageWithSenderIdReceiver<Msg, Receiver: MessageReceiverProvider<Msg>>(
+    pub Receiver,
+    PhantomData<Msg>,
+);

-impl<MSG, R: MessageReceiver<MSG>> From<R> for MessageWithSenderIdReceiver<MSG, R> {
+impl<MSG, R: MessageReceiverProvider<MSG>> From<R> for MessageWithSenderIdReceiver<MSG, R> {
    fn from(receiver: R) -> Self {
        MessageWithSenderIdReceiver(receiver, PhantomData)
    }
 }

-impl<MSG, R: MessageReceiver<MSG>> MessageWithSenderIdReceiver<MSG, R> {
-    pub fn try_recv_message(
-        &self,
-    ) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
+impl<MSG, R: MessageReceiverProvider<MSG>> MessageWithSenderIdReceiver<MSG, R> {
+    pub fn try_recv_message(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError> {
        self.0.try_recv()
    }
 }

-pub struct MessageReceiverWithId<MSG, R: MessageReceiver<MSG>> {
+pub struct MessageReceiverWithId<MSG, R: MessageReceiverProvider<MSG>> {
    local_channel_id: ComponentId,
    reply_receiver: MessageWithSenderIdReceiver<MSG, R>,
 }

-impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
+impl<MSG, R: MessageReceiverProvider<MSG>> MessageReceiverWithId<MSG, R> {
    pub fn new(local_channel_id: ComponentId, reply_receiver: R) -> Self {
        Self {
            local_channel_id,
@ -183,43 +187,129 @@ impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
    }
 }

-impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
-    pub fn try_recv_message(
-        &self,
-    ) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
+impl<MSG, R: MessageReceiverProvider<MSG>> MessageReceiverWithId<MSG, R> {
+    pub fn try_recv_message(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError> {
        self.reply_receiver.0.try_recv()
    }
 }

+pub trait MessageSenderStoreProvider<Message, Sender>: Default {
+    fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender);
+
+    fn send_message(
+        &self,
+        requestor_info: MessageMetadata,
+        target_channel_id: ComponentId,
+        message: Message,
+    ) -> Result<(), GenericSendError>;
+}
+
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
    use crate::queue::GenericSendError;
+    use std::convert::From;

    use super::*;
    use hashbrown::HashMap;

-    pub struct MessageSenderMap<MSG, S: MessageSender<MSG>>(
-        pub HashMap<ComponentId, S>,
+    pub struct OneMessageSender<Msg, S: MessageSenderProvider<Msg>> {
+        pub id_and_sender: Option<(ComponentId, S)>,
+        pub(crate) phantom: PhantomData<Msg>,
+    }
+
+    impl<Msg, S: MessageSenderProvider<Msg>> Default for OneMessageSender<Msg, S> {
+        fn default() -> Self {
+            Self {
+                id_and_sender: Default::default(),
+                phantom: Default::default(),
+            }
+        }
+    }
+
+    impl<Msg, Sender: MessageSenderProvider<Msg>> MessageSenderStoreProvider<Msg, Sender>
+        for OneMessageSender<Msg, Sender>
+    {
+        fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender) {
+            if self.id_and_sender.is_some() {
+                return;
+            }
+            self.id_and_sender = Some((target_id, message_sender));
+        }
+
+        fn send_message(
+            &self,
+            requestor_info: MessageMetadata,
+            target_channel_id: ComponentId,
+            message: Msg,
+        ) -> Result<(), GenericSendError> {
+            if let Some((current_id, sender)) = &self.id_and_sender {
+                if *current_id == target_channel_id {
+                    sender.send(GenericMessage::new(requestor_info, message))?;
+                    return Ok(());
+                }
+            }
+            Err(GenericSendError::TargetDoesNotExist(target_channel_id))
+        }
+    }
+
+    pub struct MessageSenderList<MSG, S: MessageSenderProvider<MSG>>(
+        pub alloc::vec::Vec<(ComponentId, S)>,
        pub(crate) PhantomData<MSG>,
    );

-    impl<MSG, S: MessageSender<MSG>> Default for MessageSenderMap<MSG, S> {
+    impl<MSG, S: MessageSenderProvider<MSG>> Default for MessageSenderList<MSG, S> {
        fn default() -> Self {
            Self(Default::default(), PhantomData)
        }
    }

-    impl<MSG, S: MessageSender<MSG>> MessageSenderMap<MSG, S> {
-        pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
-            self.0.insert(target_id, message_sender);
+    impl<Msg, Sender: MessageSenderProvider<Msg>> MessageSenderStoreProvider<Msg, Sender>
+        for MessageSenderList<Msg, Sender>
+    {
+        fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender) {
+            self.0.push((target_id, message_sender));
        }

-        pub fn send_message(
+        fn send_message(
            &self,
            requestor_info: MessageMetadata,
            target_channel_id: ComponentId,
-            message: MSG,
-        ) -> Result<(), GenericTargetedMessagingError> {
+            message: Msg,
+        ) -> Result<(), GenericSendError> {
+            for (current_id, sender) in &self.0 {
+                if *current_id == target_channel_id {
+                    sender.send(GenericMessage::new(requestor_info, message))?;
+                    return Ok(());
+                }
+            }
+            Err(GenericSendError::TargetDoesNotExist(target_channel_id))
+        }
+    }
+
+    pub struct MessageSenderMap<MSG, S: MessageSenderProvider<MSG>>(
+        pub HashMap<ComponentId, S>,
+        pub(crate) PhantomData<MSG>,
+    );
+
+    impl<MSG, S: MessageSenderProvider<MSG>> Default for MessageSenderMap<MSG, S> {
+        fn default() -> Self {
+            Self(Default::default(), PhantomData)
+        }
+    }
+
+    impl<Msg, Sender: MessageSenderProvider<Msg>> MessageSenderStoreProvider<Msg, Sender>
+        for MessageSenderMap<Msg, Sender>
+    {
+        fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender) {
+            self.0.insert(target_id, message_sender);
+        }
+
+        fn send_message(
+            &self,
+            requestor_info: MessageMetadata,
+            target_channel_id: ComponentId,
+            message: Msg,
+        ) -> Result<(), GenericSendError> {
            if self.0.contains_key(&target_channel_id) {
                return self
                    .0
@ -227,29 +317,42 @@ pub mod alloc_mod {
                    .unwrap()
                    .send(GenericMessage::new(requestor_info, message));
            }
-            Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
+            Err(GenericSendError::TargetDoesNotExist(target_channel_id))
        }
    }

-    pub struct MessageSenderAndReceiver<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>> {
+    pub struct MessageSenderAndReceiver<
+        To,
+        From,
+        Sender: MessageSenderProvider<To>,
+        Receiver: MessageReceiverProvider<From>,
+        SenderStore: MessageSenderStoreProvider<To, Sender>,
+    > {
        pub local_channel_id: ComponentId,
-        pub message_sender_map: MessageSenderMap<TO, S>,
-        pub message_receiver: MessageWithSenderIdReceiver<FROM, R>,
+        pub message_sender_store: SenderStore,
+        pub message_receiver: MessageWithSenderIdReceiver<From, Receiver>,
+        pub(crate) phantom: PhantomData<(To, Sender)>,
    }

-    impl<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>>
-        MessageSenderAndReceiver<TO, FROM, S, R>
+    impl<
+            To,
+            From,
+            Sender: MessageSenderProvider<To>,
+            Receiver: MessageReceiverProvider<From>,
+            SenderStore: MessageSenderStoreProvider<To, Sender>,
+        > MessageSenderAndReceiver<To, From, Sender, Receiver, SenderStore>
    {
-        pub fn new(local_channel_id: ComponentId, message_receiver: R) -> Self {
+        pub fn new(local_channel_id: ComponentId, message_receiver: Receiver) -> Self {
            Self {
                local_channel_id,
-                message_sender_map: Default::default(),
+                message_sender_store: Default::default(),
                message_receiver: MessageWithSenderIdReceiver::from(message_receiver),
+                phantom: PhantomData,
            }
        }

-        pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
-            self.message_sender_map
+        pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender) {
+            self.message_sender_store
                .add_message_target(target_id, message_sender)
        }

@ -262,9 +365,9 @@ pub mod alloc_mod {
            &self,
            request_id: RequestId,
            target_id: ComponentId,
-            message: TO,
-        ) -> Result<(), GenericTargetedMessagingError> {
-            self.message_sender_map.send_message(
+            message: To,
+        ) -> Result<(), GenericSendError> {
+            self.message_sender_store.send_message(
                MessageMetadata::new(request_id, self.local_channel_id_generic()),
                target_id,
                message,
@ -274,48 +377,64 @@ pub mod alloc_mod {
        /// Try to receive a message, which can be a reply or a request, depending on the generics.
        pub fn try_recv_message(
            &self,
-        ) -> Result<Option<GenericMessage<FROM>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<From>>, GenericReceiveError> {
            self.message_receiver.try_recv_message()
        }
    }

    pub struct RequestAndReplySenderAndReceiver<
-        REQUEST,
-        REPLY,
-        S0: MessageSender<REQUEST>,
-        R0: MessageReceiver<REPLY>,
-        S1: MessageSender<REPLY>,
-        R1: MessageReceiver<REQUEST>,
+        Request,
+        ReqSender: MessageSenderProvider<Request>,
+        ReqReceiver: MessageReceiverProvider<Request>,
+        ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
+        Reply,
+        ReplySender: MessageSenderProvider<Reply>,
+        ReplyReceiver: MessageReceiverProvider<Reply>,
+        ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
    > {
        pub local_channel_id: ComponentId,
        // These 2 are a functional group.
-        pub request_sender_map: MessageSenderMap<REQUEST, S0>,
-        pub reply_receiver: MessageWithSenderIdReceiver<REPLY, R0>,
+        pub request_sender_store: ReqSenderStore,
+        pub reply_receiver: MessageWithSenderIdReceiver<Reply, ReplyReceiver>,
        // These 2 are a functional group.
-        pub request_receiver: MessageWithSenderIdReceiver<REQUEST, R1>,
-        pub reply_sender_map: MessageSenderMap<REPLY, S1>,
+        pub request_receiver: MessageWithSenderIdReceiver<Request, ReqReceiver>,
+        pub reply_sender_store: ReplySenderStore,
+        phantom: PhantomData<(ReqSender, ReplySender)>,
    }

    impl<
-            REQUEST,
-            REPLY,
-            S0: MessageSender<REQUEST>,
-            R0: MessageReceiver<REPLY>,
-            S1: MessageSender<REPLY>,
-            R1: MessageReceiver<REQUEST>,
-        > RequestAndReplySenderAndReceiver<REQUEST, REPLY, S0, R0, S1, R1>
+            Request,
+            ReqSender: MessageSenderProvider<Request>,
+            ReqReceiver: MessageReceiverProvider<Request>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
+            Reply,
+            ReplySender: MessageSenderProvider<Reply>,
+            ReplyReceiver: MessageReceiverProvider<Reply>,
+            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
+        >
+        RequestAndReplySenderAndReceiver<
+            Request,
+            ReqSender,
+            ReqReceiver,
+            ReqSenderStore,
+            Reply,
+            ReplySender,
+            ReplyReceiver,
+            ReplySenderStore,
+        >
    {
        pub fn new(
            local_channel_id: ComponentId,
-            request_receiver: R1,
-            reply_receiver: R0,
+            request_receiver: ReqReceiver,
+            reply_receiver: ReplyReceiver,
        ) -> Self {
            Self {
                local_channel_id,
                request_receiver: request_receiver.into(),
                reply_receiver: reply_receiver.into(),
-                request_sender_map: Default::default(),
-                reply_sender_map: Default::default(),
+                request_sender_store: Default::default(),
+                reply_sender_store: Default::default(),
+                phantom: PhantomData,
            }
        }

@ -333,21 +452,19 @@ pub mod std_mod {

    use crate::queue::{GenericReceiveError, GenericSendError};

-    impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
-        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
+    impl<MSG: Send> MessageSenderProvider<MSG> for mpsc::Sender<GenericMessage<MSG>> {
+        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericSendError> {
            self.send(message)
                .map_err(|_| GenericSendError::RxDisconnected)?;
            Ok(())
        }
    }
-    impl<MSG: Send> MessageSender<MSG> for mpsc::SyncSender<GenericMessage<MSG>> {
-        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
+    impl<MSG: Send> MessageSenderProvider<MSG> for mpsc::SyncSender<GenericMessage<MSG>> {
+        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericSendError> {
            if let Err(e) = self.try_send(message) {
                return match e {
-                    mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None).into()),
-                    mpsc::TrySendError::Disconnected(_) => {
-                        Err(GenericSendError::RxDisconnected.into())
-                    }
+                    mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None)),
+                    mpsc::TrySendError::Disconnected(_) => Err(GenericSendError::RxDisconnected),
                };
            }
            Ok(())
@ -357,14 +474,14 @@ pub mod std_mod {
    pub type MessageSenderMapMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Sender<MSG>>;
    pub type MessageSenderMapBoundedMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::SyncSender<MSG>>;

-    impl<MSG> MessageReceiver<MSG> for mpsc::Receiver<GenericMessage<MSG>> {
-        fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
+    impl<MSG> MessageReceiverProvider<MSG> for mpsc::Receiver<GenericMessage<MSG>> {
+        fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError> {
            match self.try_recv() {
                Ok(msg) => Ok(Some(msg)),
                Err(e) => match e {
                    mpsc::TryRecvError::Empty => Ok(None),
                    mpsc::TryRecvError::Disconnected => {
-                        Err(GenericReceiveError::TxDisconnected(None).into())
+                        Err(GenericReceiveError::TxDisconnected(None))
                    }
                },
            }
@ -385,8 +502,8 @@ mod tests {
    };

    use crate::{
-        queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
-        request::{MessageMetadata, MessageSenderMap},
+        queue::{GenericReceiveError, GenericSendError},
+        request::{MessageMetadata, MessageSenderMap, MessageSenderStoreProvider},
    };

    use super::{GenericMessage, MessageReceiverWithId, UniqueApidTargetId};
@ -478,9 +595,7 @@ mod tests {
        let reply = receiver.try_recv_message();
        assert!(reply.is_err());
        let error = reply.unwrap_err();
-        if let GenericTargetedMessagingError::Receive(GenericReceiveError::TxDisconnected(None)) =
-            error
-        {
+        if let GenericReceiveError::TxDisconnected(None) = error {
        } else {
            panic!("unexpected error type");
        }
@ -529,9 +644,7 @@ mod tests {
        );
        assert!(result.is_err());
        let error = result.unwrap_err();
-        if let GenericTargetedMessagingError::Send(GenericSendError::TargetDoesNotExist(target)) =
-            error
-        {
+        if let GenericSendError::TargetDoesNotExist(target) = error {
            assert_eq!(target, TEST_CHANNEL_ID_2);
        } else {
            panic!("Unexpected error type");
@ -556,7 +669,7 @@ mod tests {
        );
        assert!(result.is_err());
        let error = result.unwrap_err();
-        if let GenericTargetedMessagingError::Send(GenericSendError::QueueFull(capacity)) = error {
+        if let GenericSendError::QueueFull(capacity) = error {
            assert!(capacity.is_none());
        } else {
            panic!("Unexpected error type {}", error);
@ -576,7 +689,7 @@ mod tests {
        );
        assert!(result.is_err());
        let error = result.unwrap_err();
-        if let GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected) = error {
+        if let GenericSendError::RxDisconnected = error {
        } else {
            panic!("Unexpected error type {}", error);
        }
--- a/satrs/src/scheduling.rs
+++ b/satrs/src/scheduling.rs
@ -0,0 +1,416 @@
+use core::{convert::Infallible, fmt::Debug, time::Duration};
+use std::time::Instant;
+
+use thiserror::Error;
+
+use crate::executable::Executable;
+
+#[cfg(feature = "std")]
+pub use std_mod::*;
+
+#[derive(Debug, Default)]
+pub struct SchedulingTable {
+    execution_frequency: Duration,
+    pub table: alloc::vec::Vec<u32>,
+}
+
+#[derive(Debug, Error)]
+pub enum InvalidSlotError {
+    #[error("slot time is larger than the execution frequency")]
+    SlotTimeLargerThanFrequency,
+    #[error("slot time is smaller than previous slot")]
+    SmallerThanPreviousSlot {
+        slot_time_ms: u32,
+        prev_slot_time_ms: u32,
+    },
+}
+
+impl SchedulingTable {
+    pub fn new(execution_frequency: Duration) -> Self {
+        Self {
+            execution_frequency,
+            table: Default::default(),
+        }
+    }
+
+    pub fn add_slot(&mut self, relative_execution_time_ms: u32) -> Result<(), InvalidSlotError> {
+        if relative_execution_time_ms > self.execution_frequency.as_millis() as u32 {
+            return Err(InvalidSlotError::SlotTimeLargerThanFrequency);
+        }
+
+        if !self.table.is_empty() {
+            let prev_slot_ms = *self.table.last().unwrap();
+            if relative_execution_time_ms < prev_slot_ms {
+                return Err(InvalidSlotError::SmallerThanPreviousSlot {
+                    slot_time_ms: relative_execution_time_ms,
+                    prev_slot_time_ms: *self.table.last().unwrap(),
+                });
+            }
+        }
+        self.table.push(relative_execution_time_ms);
+        Ok(())
+    }
+}
+
+#[derive(Debug, Error)]
+pub enum TaskWithSchedulingTableError {
+    #[error("scheudlig table error: {0}")]
+    InvalidSlot(#[from] InvalidSlotError),
+    #[error("task lock error")]
+    LockError,
+    #[error("task borrow error")]
+    BorrowError,
+}
+
+pub trait DeadlineMissedHandler {
+    fn deadline_missed_callback(&mut self, task_name: &'static str, op_code: i32);
+}
+
+pub trait TaskExecutor {
+    fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F);
+}
+
+#[cfg(feature = "std")]
+pub mod std_mod {
+    use core::cell::RefCell;
+    use std::{
+        rc::Rc,
+        sync::{Arc, Mutex},
+        vec::Vec,
+    };
+
+    use super::*;
+
+    impl TaskExecutor for Arc<Mutex<dyn Executable<Error = Infallible> + Send>> {
+        fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F) {
+            let mut task = self.lock().unwrap();
+            f(&mut *task);
+        }
+    }
+
+    impl TaskExecutor for Rc<RefCell<dyn Executable<Error = Infallible>>> {
+        fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F) {
+            let mut task = self.borrow_mut();
+            f(&mut *task);
+        }
+    }
+
+    pub struct TaskWithOpCode<T: TaskExecutor> {
+        task: T,
+        op_code: i32,
+    }
+
+    pub struct TaskWithSchedulingTable<T: TaskExecutor> {
+        start_of_slot: Instant,
+        end_of_slot: Instant,
+        deadline_missed_ms_count: u32,
+        table: SchedulingTable,
+        tasks: Vec<TaskWithOpCode<T>>,
+    }
+
+    impl TaskWithSchedulingTable<Rc<RefCell<dyn Executable<Error = Infallible>>>> {
+        /// Add a new task to the scheduling table
+        ///
+        /// The task needs to be wrapped inside [Rc] and [RefCell]. The task is not sendable and
+        /// needs to be created inside the target thread.
+        pub fn add_task(
+            &mut self,
+            relative_execution_time_ms: u32,
+            task: Rc<RefCell<dyn Executable<Error = Infallible>>>,
+            op_code: i32,
+        ) -> Result<(), TaskWithSchedulingTableError> {
+            self.table.add_slot(relative_execution_time_ms)?;
+            self.tasks.push(TaskWithOpCode { task, op_code });
+            Ok(())
+        }
+    }
+
+    impl TaskWithSchedulingTable<Arc<Mutex<dyn Executable<Error = Infallible> + Send>>> {
+        /// Add a new task to the scheduling table
+        ///
+        /// The task needs to be wrapped inside [Arc] and [Mutex], but the task can be sent to
+        /// a different thread.
+        pub fn add_task_sendable(
+            &mut self,
+            relative_execution_time_ms: u32,
+            task: Arc<Mutex<dyn Executable<Error = Infallible> + Send>>,
+            op_code: i32,
+        ) -> Result<(), TaskWithSchedulingTableError> {
+            self.table.add_slot(relative_execution_time_ms)?;
+            self.tasks.push(TaskWithOpCode { task, op_code });
+            Ok(())
+        }
+    }
+
+    impl<T: TaskExecutor> TaskWithSchedulingTable<T> {
+        pub fn new(execution_frequency: Duration) -> Self {
+            Self {
+                start_of_slot: Instant::now(),
+                end_of_slot: Instant::now(),
+                deadline_missed_ms_count: 10,
+                table: SchedulingTable::new(execution_frequency),
+                tasks: Default::default(),
+            }
+        }
+
+        /// Can be used to set the start of the slot to the current time. This is useful if a custom
+        /// runner implementation is used instead of the [Self::run_one_task_cycle] method.
+        pub fn init_start_of_slot(&mut self) {
+            self.start_of_slot = Instant::now();
+        }
+
+        pub fn run_one_task_cycle(
+            &mut self,
+            deadline_missed_cb: &mut impl DeadlineMissedHandler,
+        ) -> Result<(), TaskWithSchedulingTableError> {
+            self.end_of_slot = self.start_of_slot + self.table.execution_frequency;
+
+            for (&relative_execution_time_ms, task_with_op_code) in
+                self.table.table.iter().zip(self.tasks.iter_mut())
+            {
+                let scheduled_execution_time = self.start_of_slot
+                    + core::time::Duration::from_millis(relative_execution_time_ms as u64);
+                let now = Instant::now();
+
+                if now < scheduled_execution_time {
+                    std::thread::sleep(scheduled_execution_time - now);
+                } else if (now - scheduled_execution_time).as_millis()
+                    > self.deadline_missed_ms_count.into()
+                {
+                    task_with_op_code.task.with_task(|task| {
+                        deadline_missed_cb
+                            .deadline_missed_callback(task.task_name(), task_with_op_code.op_code);
+                    });
+                }
+
+                task_with_op_code.task.with_task(|task| {
+                    // Unwrapping is okay here because we constrain the tasks to be infallible.
+                    task.periodic_op(task_with_op_code.op_code).unwrap();
+                });
+            }
+
+            let now = Instant::now();
+            if now <= self.end_of_slot {
+                let diff = self.end_of_slot - now;
+                std::thread::sleep(diff);
+                self.start_of_slot = self.end_of_slot;
+            } else if now > self.end_of_slot + self.table.execution_frequency {
+                // We're getting strongly out of sync. Set the new start timt to now.
+                self.start_of_slot = now;
+            }
+
+            Ok(())
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use core::{cell::RefCell, convert::Infallible, time::Duration};
+    use std::{
+        println,
+        rc::Rc,
+        sync::{
+            mpsc::{self, TryRecvError},
+            Arc, Mutex,
+        },
+        time::Instant,
+    };
+
+    use crate::executable::{Executable, OpResult};
+
+    use super::{DeadlineMissedHandler, TaskWithSchedulingTable};
+
+    #[derive(Debug)]
+    pub struct CallInfo {
+        time: std::time::Instant,
+        op_code: i32,
+    }
+
+    pub struct Task1 {
+        called_queue: mpsc::Sender<CallInfo>,
+    }
+
+    impl Executable for Task1 {
+        type Error = Infallible;
+        fn task_name(&self) -> &'static str {
+            "Task1"
+        }
+        fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error> {
+            self.called_queue
+                .send(CallInfo {
+                    time: Instant::now(),
+                    op_code,
+                })
+                .unwrap();
+            Ok(OpResult::Ok)
+        }
+    }
+
+    pub struct Task2 {
+        called_queue: mpsc::Sender<CallInfo>,
+    }
+
+    impl Executable for Task2 {
+        type Error = Infallible;
+        fn task_name(&self) -> &'static str {
+            "Task2"
+        }
+        fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error> {
+            self.called_queue
+                .send(CallInfo {
+                    time: Instant::now(),
+                    op_code,
+                })
+                .unwrap();
+            Ok(OpResult::Ok)
+        }
+    }
+
+    #[derive(Default)]
+    pub struct DeadlineMissed {
+        call_count: u32,
+    }
+
+    impl DeadlineMissedHandler for DeadlineMissed {
+        fn deadline_missed_callback(&mut self, task_name: &'static str, _op_code: i32) {
+            println!("task name {task_name} missed the deadline");
+            self.call_count += 1;
+        }
+    }
+
+    #[test]
+    pub fn basic_test() {
+        let (tx_t1, rx_t1) = mpsc::channel();
+        let (tx_t2, rx_t2) = mpsc::channel();
+        let t1 = Task1 {
+            called_queue: tx_t1,
+        };
+        let t2 = Task2 {
+            called_queue: tx_t2,
+        };
+        let mut deadline_missed_cb = DeadlineMissed::default();
+        let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
+        let t1_first_slot = Rc::new(RefCell::new(t1));
+        let t1_second_slot = t1_first_slot.clone();
+        let t2_first_slot = Rc::new(RefCell::new(t2));
+        let t2_second_slot = t2_first_slot.clone();
+
+        exec_task.add_task(0, t1_first_slot, 0).unwrap();
+        exec_task.add_task(50, t1_second_slot, -1).unwrap();
+        exec_task.add_task(100, t2_first_slot, 1).unwrap();
+        exec_task.add_task(150, t2_second_slot, 2).unwrap();
+        let now = Instant::now();
+        exec_task.init_start_of_slot();
+        exec_task
+            .run_one_task_cycle(&mut deadline_missed_cb)
+            .unwrap();
+        let mut call_info = rx_t1.try_recv().unwrap();
+        assert_eq!(call_info.op_code, 0);
+        let diff_call_to_start = call_info.time - now;
+        assert!(diff_call_to_start.as_millis() < 30);
+        call_info = rx_t1.try_recv().unwrap();
+        assert_eq!(call_info.op_code, -1);
+        let diff_call_to_start = call_info.time - now;
+        assert!(diff_call_to_start.as_millis() < 80);
+        assert!(diff_call_to_start.as_millis() >= 50);
+        matches!(rx_t1.try_recv().unwrap_err(), TryRecvError::Empty);
+
+        call_info = rx_t2.try_recv().unwrap();
+        assert_eq!(call_info.op_code, 1);
+        let diff_call_to_start = call_info.time - now;
+        assert!(diff_call_to_start.as_millis() < 120);
+        assert!(diff_call_to_start.as_millis() >= 100);
+        call_info = rx_t2.try_recv().unwrap();
+        assert_eq!(call_info.op_code, 2);
+        let diff_call_to_start = call_info.time - now;
+        assert!(diff_call_to_start.as_millis() < 180);
+        assert!(diff_call_to_start.as_millis() >= 150);
+        matches!(rx_t2.try_recv().unwrap_err(), TryRecvError::Empty);
+        assert_eq!(deadline_missed_cb.call_count, 0);
+    }
+
+    #[test]
+    pub fn basic_test_with_arc_mutex() {
+        let (tx_t1, rx_t1) = mpsc::channel();
+        let (tx_t2, rx_t2) = mpsc::channel();
+        let t1 = Task1 {
+            called_queue: tx_t1,
+        };
+        let t2 = Task2 {
+            called_queue: tx_t2,
+        };
+        let mut deadline_missed_cb = DeadlineMissed::default();
+        let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
+        let t1_first_slot = Arc::new(Mutex::new(t1));
+        let t1_second_slot = t1_first_slot.clone();
+        let t2_first_slot = Arc::new(Mutex::new(t2));
+        let t2_second_slot = t2_first_slot.clone();
+
+        exec_task.add_task_sendable(0, t1_first_slot, 0).unwrap();
+        exec_task.add_task_sendable(50, t1_second_slot, -1).unwrap();
+        exec_task.add_task_sendable(100, t2_first_slot, 1).unwrap();
+        exec_task.add_task_sendable(150, t2_second_slot, 2).unwrap();
+        let now = Instant::now();
+        exec_task.init_start_of_slot();
+        exec_task
+            .run_one_task_cycle(&mut deadline_missed_cb)
+            .unwrap();
+        let mut call_info = rx_t1.try_recv().unwrap();
+        assert_eq!(call_info.op_code, 0);
+        let diff_call_to_start = call_info.time - now;
+        assert!(diff_call_to_start.as_millis() < 30);
+        call_info = rx_t1.try_recv().unwrap();
+        assert_eq!(call_info.op_code, -1);
+        let diff_call_to_start = call_info.time - now;
+        assert!(diff_call_to_start.as_millis() < 80);
+        assert!(diff_call_to_start.as_millis() >= 50);
+        matches!(rx_t1.try_recv().unwrap_err(), TryRecvError::Empty);
+
+        call_info = rx_t2.try_recv().unwrap();
+        assert_eq!(call_info.op_code, 1);
+        let diff_call_to_start = call_info.time - now;
+        assert!(diff_call_to_start.as_millis() < 120);
+        assert!(diff_call_to_start.as_millis() >= 100);
+        call_info = rx_t2.try_recv().unwrap();
+        assert_eq!(call_info.op_code, 2);
+        let diff_call_to_start = call_info.time - now;
+        assert!(diff_call_to_start.as_millis() < 180);
+        assert!(diff_call_to_start.as_millis() >= 150);
+        matches!(rx_t2.try_recv().unwrap_err(), TryRecvError::Empty);
+        assert_eq!(deadline_missed_cb.call_count, 0);
+    }
+
+    #[test]
+    pub fn basic_test_in_thread() {
+        let mut deadline_missed_cb = DeadlineMissed::default();
+        std::thread::spawn(move || {
+            let (tx_t1, _rx_t1) = mpsc::channel();
+            let t1 = Task1 {
+                called_queue: tx_t1,
+            };
+            // Need to construct this in the thread, the task table in not [Send]
+            let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
+            let t1_wrapper = Rc::new(RefCell::new(t1));
+            exec_task.add_task(0, t1_wrapper, 0).unwrap();
+            exec_task
+                .run_one_task_cycle(&mut deadline_missed_cb)
+                .unwrap();
+        });
+
+        let mut deadline_missed_cb = DeadlineMissed::default();
+        let (tx_t1, _rx_t1) = mpsc::channel();
+        let t1 = Task1 {
+            called_queue: tx_t1,
+        };
+        let mut exec_task_sendable = TaskWithSchedulingTable::new(Duration::from_millis(200));
+        exec_task_sendable
+            .add_task_sendable(0, Arc::new(Mutex::new(t1)), 1)
+            .unwrap();
+        std::thread::spawn(move || {
+            exec_task_sendable
+                .run_one_task_cycle(&mut deadline_missed_cb)
+                .unwrap();
+        });
+    }
+}
--- a/satrs/src/seq_count.rs
+++ b/satrs/src/seq_count.rs
@ -1,250 +0,0 @@
-use core::cell::Cell;
-#[cfg(feature = "alloc")]
-use dyn_clone::DynClone;
-use paste::paste;
-use spacepackets::MAX_SEQ_COUNT;
-#[cfg(feature = "std")]
-pub use stdmod::*;
-
-/// Core trait for objects which can provide a sequence count.
-///
-/// The core functions are not mutable on purpose to allow easier usage with
-/// static structs when using the interior mutability pattern. This can be achieved by using
-/// [Cell], [core::cell::RefCell] or atomic types.
-pub trait SequenceCountProviderCore<Raw> {
-    fn get(&self) -> Raw;
-
-    fn increment(&self);
-
-    fn get_and_increment(&self) -> Raw {
-        let val = self.get();
-        self.increment();
-        val
-    }
-}
-
-/// Extension trait which allows cloning a sequence count provider after it was turned into
-/// a trait object.
-#[cfg(feature = "alloc")]
-pub trait SequenceCountProvider<Raw>: SequenceCountProviderCore<Raw> + DynClone {}
-#[cfg(feature = "alloc")]
-dyn_clone::clone_trait_object!(SequenceCountProvider<u16>);
-#[cfg(feature = "alloc")]
-impl<T, Raw> SequenceCountProvider<Raw> for T where T: SequenceCountProviderCore<Raw> + Clone {}
-
-#[derive(Clone)]
-pub struct SeqCountProviderSimple<T: Copy> {
-    seq_count: Cell<T>,
-    max_val: T,
-}
-
-macro_rules! impl_for_primitives {
-    ($($ty: ident,)+) => {
-        $(
-            paste! {
-                impl SeqCountProviderSimple<$ty> {
-                    pub fn [<new_custom_max_val_ $ty>](max_val: $ty) -> Self {
-                        Self {
-                            seq_count: Cell::new(0),
-                            max_val,
-                        }
-                    }
-                    pub fn [<new_ $ty>]() -> Self {
-                        Self {
-                            seq_count: Cell::new(0),
-                            max_val: $ty::MAX
-                        }
-                    }
-                }
-
-                impl Default for SeqCountProviderSimple<$ty> {
-                    fn default() -> Self {
-                        Self::[<new_ $ty>]()
-                    }
-                }
-
-                impl SequenceCountProviderCore<$ty> for SeqCountProviderSimple<$ty> {
-                    fn get(&self) -> $ty {
-                        self.seq_count.get()
-                    }
-
-                    fn increment(&self) {
-                        self.get_and_increment();
-                    }
-
-                    fn get_and_increment(&self) -> $ty {
-                        let curr_count = self.seq_count.get();
-
-                        if curr_count == self.max_val {
-                            self.seq_count.set(0);
-                        } else {
-                            self.seq_count.set(curr_count + 1);
-                        }
-                        curr_count
-                    }
-                }
-            }
-        )+
-    }
-}
-
-impl_for_primitives!(u8, u16, u32, u64,);
-
-/// This is a sequence count provider which wraps around at [MAX_SEQ_COUNT].
-#[derive(Clone)]
-pub struct CcsdsSimpleSeqCountProvider {
-    provider: SeqCountProviderSimple<u16>,
-}
-
-impl Default for CcsdsSimpleSeqCountProvider {
-    fn default() -> Self {
-        Self {
-            provider: SeqCountProviderSimple::new_custom_max_val_u16(MAX_SEQ_COUNT),
-        }
-    }
-}
-
-impl SequenceCountProviderCore<u16> for CcsdsSimpleSeqCountProvider {
-    delegate::delegate! {
-        to self.provider {
-            fn get(&self) -> u16;
-            fn increment(&self);
-            fn get_and_increment(&self) -> u16;
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-pub mod stdmod {
-    use super::*;
-    use std::sync::{Arc, Mutex};
-
-    macro_rules! sync_clonable_seq_counter_impl {
-         ($($ty: ident,)+) => {
-             $(paste! {
-                 /// These sequence counters can be shared between threads and can also be
-                 /// configured to wrap around at specified maximum values. Please note that
-                 /// that the API provided by this class will not panic und [Mutex] lock errors,
-                 /// but it will yield 0 for the getter functions.
-                 #[derive(Clone, Default)]
-                 pub struct [<SeqCountProviderSync $ty:upper>] {
-                     seq_count: Arc<Mutex<$ty>>,
-                     max_val: $ty
-                 }
-
-                 impl [<SeqCountProviderSync $ty:upper>] {
-                     pub fn new() -> Self {
-                        Self::new_with_max_val($ty::MAX)
-                     }
-
-                     pub fn new_with_max_val(max_val: $ty) -> Self {
-                         Self {
-                             seq_count: Arc::default(),
-                             max_val
-                         }
-                     }
-                 }
-                 impl SequenceCountProviderCore<$ty> for [<SeqCountProviderSync $ty:upper>] {
-                    fn get(&self) -> $ty {
-                        match self.seq_count.lock() {
-                            Ok(counter) => *counter,
-                            Err(_) => 0
-                        }
-                    }
-
-                    fn increment(&self) {
-                        self.get_and_increment();
-                    }
-
-                    fn get_and_increment(&self) -> $ty {
-                        match self.seq_count.lock() {
-                            Ok(mut counter) => {
-                                let val = *counter;
-                                if val == self.max_val {
-                                    *counter = 0;
-                                } else {
-                                    *counter += 1;
-                                }
-                                val
-                            }
-                            Err(_) => 0,
-                        }
-                    }
-                 }
-             })+
-         }
-    }
-    sync_clonable_seq_counter_impl!(u8, u16, u32, u64,);
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::seq_count::{
-        CcsdsSimpleSeqCountProvider, SeqCountProviderSimple, SeqCountProviderSyncU8,
-        SequenceCountProviderCore,
-    };
-    use spacepackets::MAX_SEQ_COUNT;
-
-    #[test]
-    fn test_u8_counter() {
-        let u8_counter = SeqCountProviderSimple::<u8>::default();
-        assert_eq!(u8_counter.get(), 0);
-        assert_eq!(u8_counter.get_and_increment(), 0);
-        assert_eq!(u8_counter.get_and_increment(), 1);
-        assert_eq!(u8_counter.get(), 2);
-    }
-
-    #[test]
-    fn test_u8_counter_overflow() {
-        let u8_counter = SeqCountProviderSimple::new_u8();
-        for _ in 0..256 {
-            u8_counter.increment();
-        }
-        assert_eq!(u8_counter.get(), 0);
-    }
-
-    #[test]
-    fn test_ccsds_counter() {
-        let ccsds_counter = CcsdsSimpleSeqCountProvider::default();
-        assert_eq!(ccsds_counter.get(), 0);
-        assert_eq!(ccsds_counter.get_and_increment(), 0);
-        assert_eq!(ccsds_counter.get_and_increment(), 1);
-        assert_eq!(ccsds_counter.get(), 2);
-    }
-
-    #[test]
-    fn test_ccsds_counter_overflow() {
-        let ccsds_counter = CcsdsSimpleSeqCountProvider::default();
-        for _ in 0..MAX_SEQ_COUNT + 1 {
-            ccsds_counter.increment();
-        }
-        assert_eq!(ccsds_counter.get(), 0);
-    }
-
-    #[test]
-    fn test_atomic_ref_counters() {
-        let sync_u8_counter = SeqCountProviderSyncU8::new();
-        assert_eq!(sync_u8_counter.get(), 0);
-        assert_eq!(sync_u8_counter.get_and_increment(), 0);
-        assert_eq!(sync_u8_counter.get_and_increment(), 1);
-        assert_eq!(sync_u8_counter.get(), 2);
-    }
-
-    #[test]
-    fn test_atomic_ref_counters_overflow() {
-        let sync_u8_counter = SeqCountProviderSyncU8::new();
-        for _ in 0..u8::MAX as u16 + 1 {
-            sync_u8_counter.increment();
-        }
-        assert_eq!(sync_u8_counter.get(), 0);
-    }
-
-    #[test]
-    fn test_atomic_ref_counters_overflow_custom_max_val() {
-        let sync_u8_counter = SeqCountProviderSyncU8::new_with_max_val(128);
-        for _ in 0..129 {
-            sync_u8_counter.increment();
-        }
-        assert_eq!(sync_u8_counter.get(), 0);
-    }
-}
--- a/satrs/src/subsystem.rs
+++ b/satrs/src/subsystem.rs
--- a/satrs/src/tmtc/mod.rs
+++ b/satrs/src/tmtc/mod.rs
@ -14,6 +14,7 @@ use crate::{
 };
 #[cfg(feature = "std")]
 pub use alloc_mod::*;
+use core::fmt::Debug;
 #[cfg(feature = "alloc")]
 use downcast_rs::{impl_downcast, Downcast};
 use spacepackets::{
@ -170,7 +171,7 @@ where
 }

 /// Helper trait for any generic (static) store which allows storing raw or CCSDS packets.
-pub trait CcsdsPacketPool {
+pub trait CcsdsPacketPool: Debug {
    fn add_ccsds_tc(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<PoolAddr, PoolError> {
        self.add_raw_tc(tc_raw)
    }
@ -190,7 +191,7 @@ pub trait PusTmPool {
 }

 /// Generic trait for any sender component able to send packets stored inside a pool structure.
-pub trait PacketInPoolSender: Send {
+pub trait PacketInPoolSender: Debug + Send {
    fn send_packet(
        &self,
        sender_id: ComponentId,
@ -235,7 +236,7 @@ pub mod std_mod {

    /// Newtype wrapper around the [SharedStaticMemoryPool] to enable extension helper traits on
    /// top of the regular shared memory pool API.
-    #[derive(Clone)]
+    #[derive(Debug, Clone)]
    pub struct SharedPacketPool(pub SharedStaticMemoryPool);

    impl SharedPacketPool {
@ -287,7 +288,6 @@ pub mod std_mod {
        }
    }

-    #[cfg(feature = "std")]
    impl PacketSenderRaw for mpsc::Sender<PacketAsVec> {
        type Error = GenericSendError;

@ -297,7 +297,6 @@ pub mod std_mod {
        }
    }

-    #[cfg(feature = "std")]
    impl PacketSenderRaw for mpsc::SyncSender<PacketAsVec> {
        type Error = GenericSendError;

@ -362,7 +361,7 @@ pub mod std_mod {

    /// This is the primary structure used to send packets stored in a dedicated memory pool
    /// structure.
-    #[derive(Clone)]
+    #[derive(Debug, Clone)]
    pub struct PacketSenderWithSharedPool<
        Sender: PacketInPoolSender = mpsc::SyncSender<PacketInPool>,
        PacketPool: CcsdsPacketPool = SharedPacketPool,
--- a/satrs/src/tmtc/tm_helper.rs
+++ b/satrs/src/tmtc/tm_helper.rs
@ -17,37 +17,37 @@ impl PusTmWithCdsShortHelper {
    }

    #[cfg(feature = "std")]
-    pub fn create_pus_tm_timestamp_now<'a>(
-        &'a mut self,
+    pub fn create_pus_tm_timestamp_now<'data>(
+        &mut self,
        service: u8,
        subservice: u8,
-        source_data: &'a [u8],
+        source_data: &'data [u8],
        seq_count: u16,
-    ) -> PusTmCreator {
+    ) -> PusTmCreator<'_, 'data> {
        let time_stamp = CdsTime::now_with_u16_days().unwrap();
        time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
        self.create_pus_tm_common(service, subservice, source_data, seq_count)
    }

-    pub fn create_pus_tm_with_stamper<'a>(
-        &'a mut self,
+    pub fn create_pus_tm_with_stamper<'data>(
+        &mut self,
        service: u8,
        subservice: u8,
-        source_data: &'a [u8],
+        source_data: &'data [u8],
        stamper: &CdsTime,
        seq_count: u16,
-    ) -> PusTmCreator {
+    ) -> PusTmCreator<'_, 'data> {
        stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
        self.create_pus_tm_common(service, subservice, source_data, seq_count)
    }

-    fn create_pus_tm_common<'a>(
-        &'a self,
+    fn create_pus_tm_common<'data>(
+        &self,
        service: u8,
        subservice: u8,
-        source_data: &'a [u8],
+        source_data: &'data [u8],
        seq_count: u16,
-    ) -> PusTmCreator {
+    ) -> PusTmCreator<'_, 'data> {
        let reply_header = SpHeader::new_for_unseg_tm(self.apid, seq_count, 0);
        let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
        PusTmCreator::new(reply_header, tc_header, source_data, true)
--- a/satrs/tests/mode_tree.rs
+++ b/satrs/tests/mode_tree.rs
--- a/satrs/tests/pus_events.rs
+++ b/satrs/tests/pus_events.rs
@ -6,7 +6,6 @@ use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
 use satrs::params::U32Pair;
 use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
 use satrs::pus::event_man::{DefaultPusEventReportingMap, EventReporter, PusEventTmCreatorWithMap};
-use satrs::pus::test_util::TEST_COMPONENT_ID_0;
 use satrs::request::UniqueApidTargetId;
 use satrs::tmtc::PacketAsVec;
 use spacepackets::ecss::tm::PusTmReader;
@ -100,10 +99,7 @@ fn test_threaded_usage() {
    // Event sender and TM checker thread
    let jh1 = thread::spawn(move || {
        event_tx
-            .send(EventMessage::new(
-                TEST_COMPONENT_ID_0.id(),
-                INFO_EVENT.into(),
-            ))
+            .send(EventMessage::new(TEST_ID.id(), INFO_EVENT.into()))
            .expect("Sending info event failed");
        loop {
            match event_packet_rx.try_recv() {
@ -130,7 +126,7 @@ fn test_threaded_usage() {
        }
        event_tx
            .send(EventMessage::new_with_params(
-                TEST_COMPONENT_ID_0.id(),
+                TEST_ID.id(),
                LOW_SEV_EVENT,
                &Params::Heapless((2_u32, 3_u32).into()),
            ))
Author	SHA1	Message	Date
Robin Müller	f3e0609910	Merge pull request 'Mode Sequences and Tables' (#211 ) from mode-tables-sequence-tables into main Reviewed-on: #211	2025-02-13 12:44:28 +01:00
Robin Mueller	05106354e3	Mode Tree Feature Update	2025-02-13 12:18:05 +01:00
Robin Müller	719b70d834	Merge pull request 'use static cell instead of custom struct' (#220 ) from use-static-cell into main Reviewed-on: #220	2025-02-07 16:21:23 +01:00
Robin Mueller	d4082fa098	use static cell instead of custom struct	2025-02-07 16:15:23 +01:00
Robin Müller	c9c9e4f735	Merge pull request 'update STM32H7 project' (#221 ) from update-stm32h7-project into main Reviewed-on: #221	2025-02-07 16:15:08 +01:00
Robin Mueller	2c92a95184	update STM32H7 project	2025-02-07 15:43:03 +01:00
Robin Müller	1a1d330814	Merge pull request 'update some outdated dependencies' (#219 ) from update-outdated-deps into main Reviewed-on: #219	2025-01-31 18:37:49 +01:00
Robin Mueller	ef7b5d66fe	update some outdated dependencies	2025-01-31 18:37:12 +01:00
Robin Müller	b3497e0592	Merge pull request 'update embedded examples' (#218 ) from update-embedded-examples into main Reviewed-on: #218	2025-01-31 18:32:41 +01:00
Robin Mueller	73286e36c2	update embedded examples	2025-01-31 18:20:06 +01:00
Robin Müller	ed266a11f6	Merge pull request 'Avoid static muts for static pool buffer declaration' (#215 ) from avoid-static-muts-static-pools into main Reviewed-on: #215	2025-01-31 12:12:57 +01:00
Robin Mueller	af972e174f	macro fix	2025-01-31 12:04:40 +01:00
Robin Mueller	3d12083c16	use full path to helper type	2025-01-31 11:56:38 +01:00
Robin Müller	e8d2c020fa	Merge pull request 'use released nexosim version' (#217 ) from use-released-nexosim into main Reviewed-on: #217	2025-01-31 11:33:56 +01:00
Robin Mueller	69e172b633	avoid static muts for static pools	2025-01-31 11:27:09 +01:00
Robin Mueller	e1dda751bc	use released nexosim version	2025-01-31 11:24:56 +01:00
Robin Müller	b01628d8ef	Merge pull request 'fix minisim tests' (#216 ) from update-minisim into main Reviewed-on: #216	2025-01-31 11:18:03 +01:00
Robin Mueller	31844e4fe2	fix tests	2025-01-31 11:17:39 +01:00
Robin Müller	738872f421	Merge pull request 'update mini simulator' (#214 ) from update-minisim into main Reviewed-on: #214	2025-01-30 18:57:27 +01:00
Robin Mueller	309e39999f	small tweak	2025-01-30 18:56:44 +01:00
Robin Mueller	1c43c3adf9	update mini simulator	2025-01-30 18:55:47 +01:00
Robin Müller	d9e0abffa7	Merge pull request 'clippy and test fix' (#213 ) from clippy-fixes into main Reviewed-on: #213	2025-01-23 17:22:46 +01:00
Robin Mueller	abec9dd448	clippy and test fix	2025-01-23 17:19:26 +01:00
Robin Müller	c18fbb59ad	Merge pull request 're-run formatter' (#212 ) from run-afmt into main Reviewed-on: #212	2025-01-23 17:04:58 +01:00
Robin Mueller	c91ddcd658	re-run formatter	2025-01-23 17:02:16 +01:00
Robin Müller	c5fa1955d7	Merge pull request 'Scheduling Table for std runtimes' (#210 ) from scheduling-table into main Reviewed-on: #210	2024-11-20 17:22:08 +01:00
Robin Mueller	c9708810e6	changelog	2024-11-20 17:21:54 +01:00
Robin Mueller	79d0c2e222	Scheduling Table for std runtimes	2024-11-20 17:20:42 +01:00
Robin Müller	8e87875c0e	Merge pull request 'use released satrs-shared' (#209 ) from use-released-satrs-shared into main Reviewed-on: #209	2024-11-15 12:15:06 +01:00
Robin Mueller	1ac6c02c06	use released satrs-shared	2024-11-15 12:14:33 +01:00
Robin Müller	6e7907522e	Merge pull request 'changelog satrs-shared' (#208 ) from satrs-shared-changelog into main Reviewed-on: #208	2024-11-15 12:08:27 +01:00
Robin Mueller	f747a5efdc	changelog satrs-shared	2024-11-15 12:07:32 +01:00
Robin Müller	6ffd55cec2	Merge pull request 'bump satrs-shared' (#207 ) from satrs-shared-v0.2.1 into main Reviewed-on: #207	2024-11-15 11:59:00 +01:00
Robin Mueller	5e51b3de42	bump satrs-shared	2024-11-15 11:52:48 +01:00
Robin Müller	bd059a2541	Merge pull request 'Bump dependecies' (#206 ) from bump-dependencies into main Reviewed-on: #206	2024-11-15 11:49:19 +01:00
Robin Mueller	1a4d764f25	bump dependencies	2024-11-15 11:37:14 +01:00
Robin Müller	b38c617fae	Merge pull request 'clippy fixes' (#205 ) from small-clippy-fix into main Reviewed-on: #205	2024-11-04 13:55:27 +01:00
Robin Mueller	edcd5491f1	clippy fixes	2024-11-04 13:51:36 +01:00
Robin Müller	b4cb034b73	Merge pull request 'Extract CFDP' (#202 ) from extract-cfdp into main Reviewed-on: #202	2024-11-04 12:19:32 +01:00
Robin Mueller	47c86aea5c	Extracted CFDP components	2024-11-04 12:18:41 +01:00