Merge pull request 'spacepackets update' (#227 ) from spacepackets-update into main

Reviewed-on: #227
Merge pull request 'update SIM suite name' (#228 ) from update-sim-suite-name into main
2025-05-10 16:19:07 +02:00 · 2025-05-10 16:18:16 +02:00 · 2025-05-10 16:14:48 +02:00 · 2025-05-10 16:13:45 +02:00 · 2025-05-06 16:21:17 +02:00 · 2025-05-06 16:21:10 +02:00
94 changed files with 7109 additions and 2505 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
@ -10,5 +10,5 @@ members = [

 exclude = [
    "embedded-examples/stm32f3-disco-rtic",
-    "embedded-examples/stm32h7-rtic",
+    "embedded-examples/stm32h7-nucleo-rtic",
 ]
--- a/README.md
+++ b/README.md
@ -1,7 +1,7 @@
 <p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>

 [![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
-[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
+[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://robamu.github.io/sat-rs/book/)
 [![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs)
 [![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs)

@ -11,7 +11,7 @@ sat-rs
 This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems. You can find an overview of the project and the
-link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
+link to the [more high-level sat-rs book](https://robamu.github.io/sat-rs/book/)
 at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).

 This is early-stage software. Important features are missing. New releases
@ -38,7 +38,7 @@ This project currently contains following crates:
   Example of a simple example on-board software using various sat-rs components which can be run
   on a host computer or on any system with a standard runtime like a Raspberry Pi.
 * [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim):
-   Mini-Simulator based on [asynchronix](https://github.com/asynchronics/asynchronix) which
+   Mini-Simulator based on [nexosim](https://github.com/asynchronics/nexosim) which
   simulates some physical devices for the `satrs-example` application device handlers.
 * [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
   Components to build a mission information base from the on-board software directly.
--- 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 = [
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 "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]]
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-version = "0.7.2"
+version = "0.7.3"
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-checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
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 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]]
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+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",
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 [[package]]
-name = "proc-macro-error-attr"
-version = "1.0.4"
+name = "proc-macro-error2"
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+checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
 dependencies = [
+ "proc-macro-error-attr2",
 "proc-macro2",
 "quote",
- "version_check",
+ "syn 2.0.96",
 ]

 [[package]]
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-checksum = "0b33eb56c327dec362a9e55b3ad14f9d2f0904fb5a5b03b513ab5465399e9f43"
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 dependencies = [
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 ]

 [[package]]
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+version = "1.0.38"
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 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]]
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-version = "2.1.0"
+version = "2.1.2"
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-checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+checksum = "ac22ab522d80079b48f46ac66ded4d349e1adf81b52430d6a74faa3a7790ed80"
 dependencies = [
 "indexmap",
- "proc-macro-error",
+ "proc-macro-error2",
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]

 [[package]]
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 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-book/src/constrained-systems.md
+++ b/satrs-book/src/constrained-systems.md
@ -3,20 +3,20 @@
 Software for space systems oftentimes has different requirements than the software for host
 systems or servers. Currently, most space systems are considered embedded systems.

-For these systems, the computation power and the available heap are the most important resources
-which are constrained. This might make completeley heap based memory management schemes which
+For these systems, the computation power and the available heap are important resources
+which are also constrained. This might make completeley heap based memory management schemes which
 are oftentimes used on host and server based systems unfeasable. Still, completely forbidding
 heap allocations might make software development unnecessarilly difficult, especially in a
 time where the OBSW might be running on Linux based systems with hundreds of MBs of RAM.

-A useful pattern used commonly in space systems is to limit heap allocations to program
+A useful pattern commonly used in space systems is to limit heap allocations to program
 initialization time and avoid frequent run-time allocations. This prevents issues like
 running out of memory (something even Rust can not protect from) or heap fragmentation on systems
 without a MMU.

 # Using pre-allocated pool structures

-A huge candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
+A candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
 candidates where the data size might vary greatly. The regular solution for host systems
 might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
 another solution to avoid run-time allocations by offering pre-allocated static
--- a/satrs-example/Cargo.toml
+++ b/satrs-example/Cargo.toml
@ -20,6 +20,7 @@ thiserror = "2"
 lazy_static = "1"
 strum = { version = "0.26", features = ["derive"] }
 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,
@ -129,13 +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>>,
-    #[allow(dead_code)]
-    pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
-}
-
 #[derive(Default)]
 pub struct BufWrapper {
    tx_buf: [u8; 32],
@ -166,16 +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)")]
@ -190,9 +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();
@ -275,25 +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);
+                    }
+                },
            }
        }
    }
@ -365,9 +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
@ -376,9 +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;

@ -386,6 +377,7 @@ impl<
        &mut self,
        requestor: MessageMetadata,
        mode_and_submode: ModeAndSubmode,
+        _forced: bool,
    ) -> Result<(), satrs::mode::ModeError> {
        log::info!(
            "{}: transitioning to mode {:?}",
@ -448,10 +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(())
    }

@ -464,17 +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};
@ -502,49 +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,
-                ),
            }
        }
    }
@ -575,7 +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();
@ -633,7 +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/simpleclient.rs
+++ b/satrs-example/src/bin/simpleclient.rs
@ -29,7 +29,7 @@ fn main() {
        let res = client.recv(&mut buf);
        match res {
            Ok(_len) => {
-                let (pus_tm, size) = PusTmReader::new(&buf, 7).expect("Parsing PUS TM failed");
+                let pus_tm = PusTmReader::new(&buf, 7).expect("Parsing PUS TM failed");
                if pus_tm.service() == 17 && pus_tm.subservice() == 2 {
                    println!("Received PUS Ping Reply TM[17,2]")
                } else if pus_tm.service() == 1 {
--- 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/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;

@ -281,9 +281,7 @@ mod tests {
            .try_recv()
            .expect("failed to receive TM packet");
        assert_eq!(tm_packet.sender_id, PUS_EVENT_MANAGEMENT.id());
-        let tm_reader = PusTmReader::new(&tm_packet.packet, 7)
-            .expect("failed to create TM reader")
-            .0;
+        let tm_reader = PusTmReader::new(&tm_packet.packet, 7).expect("failed to create TM reader");
        assert_eq!(tm_reader.apid(), TEST_CREATOR_ID.apid);
        assert_eq!(tm_reader.user_data().len(), 4);
        let event_read_back = EventU32::from_be_bytes(tm_reader.user_data().try_into().unwrap());
--- 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(),
@ -397,7 +367,7 @@ mod tests {
            if let Err(mpsc::TryRecvError::Empty) = packet {
            } else {
                let tm = packet.unwrap();
-                let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
+                let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap();
                panic!("unexpected TM packet {unexpected_tm:?}");
            }
        }
@ -440,7 +410,11 @@ mod tests {

        pub fn add_tc(&mut self, tc: &PusTcCreator) {
            self.request_id = Some(verification::RequestId::new(tc).into());
-            let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
+            let token = self
+                .service
+                .service_helper
+                .verif_reporter_mut()
+                .start_verification(tc);
            let accepted_token = self
                .service
                .service_helper
--- 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;
@ -40,26 +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 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: Sender<EcssTcAndToken>,
-    pub mode_tc_sender: Sender<EcssTcAndToken>,
+    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,
@ -108,8 +109,8 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
            // TODO: Shouldn't this be an error?
            return Ok(HandlingStatus::HandledOne);
        }
-        let pus_tc = pus_tc_result.unwrap().0;
-        let init_token = self.verif_reporter.add_tc(&pus_tc);
+        let pus_tc = pus_tc_result.unwrap();
+        let init_token = self.verif_reporter.start_verification(&pus_tc);
        self.stamp_helper.update_from_now();
        let accepted_token = self
            .verif_reporter
@ -268,8 +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>,
@ -279,7 +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,
@ -290,8 +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>,
@ -302,8 +299,6 @@ impl<
    >
    PusTargetedRequestService<
        TcReceiver,
-        TmSender,
-        TcInMemConverter,
        VerificationReporter,
        RequestConverter,
        ReplyHandler,
@ -318,8 +313,8 @@ where
    pub fn new(
        service_helper: PusServiceHelper<
            TcReceiver,
-            TmSender,
-            TcInMemConverter,
+            TmTcSender,
+            EcssTcInMemConverter,
            VerificationReporter,
        >,
        request_converter: RequestConverter,
@ -545,7 +540,7 @@ pub(crate) mod tests {
    use satrs::{
        pus::{
            verification::test_util::TestVerificationReporter, ActivePusRequestStd,
-            ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
+            ActiveRequestMapProvider, MpscTcReceiver,
        },
        request::UniqueApidTargetId,
        spacepackets::{
@ -604,7 +599,7 @@ pub(crate) mod tests {
        ) -> (verification::RequestId, ActivePusRequestStd) {
            let sp_header = SpHeader::new_from_apid(apid);
            let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
-            let init = self.verif_reporter.add_tc(&PusTcCreator::new(
+            let init = self.verif_reporter.start_verification(&PusTcCreator::new(
                sp_header,
                sec_header_dummy,
                &[],
@ -711,7 +706,7 @@ pub(crate) mod tests {
        }

        pub fn add_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
-            let token = self.verif_reporter.add_tc(tc);
+            let token = self.verif_reporter.start_verification(tc);
            self.current_request_id = Some(verification::RequestId::new(tc));
            self.current_packet = Some(tc.to_vec().unwrap());
            self.verif_reporter
@ -739,7 +734,7 @@ pub(crate) mod tests {
            let tc_reader = PusTcReader::new(&current_packet).unwrap();
            let (active_info, request) = self.converter.convert(
                token,
-                &tc_reader.0,
+                &tc_reader,
                &self.dummy_sender,
                &self.verif_reporter,
                time_stamp,
@ -766,8 +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";
@ -108,7 +90,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusSe
                );
            }
            DirectPusPacketHandlerResult::CustomSubservice(subservice, token) => {
-                let (tc, _) = PusTcReader::new(
+                let tc = PusTcReader::new(
                    self.handler
                        .service_helper
                        .tc_in_mem_converter
--- 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)]
--- 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
@ -89,6 +89,7 @@ pub struct TmSinkStatic {
    tm_server_tx: mpsc::SyncSender<PacketInPool>,
 }

+#[allow(dead_code)]
 impl TmSinkStatic {
    pub fn new(
        shared_tm_store: SharedPacketPool,
@ -132,14 +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),
@ -162,3 +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
@ -24,8 +24,8 @@ optional = true

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

 [dependencies.satrs-mib-codegen]
 path = "codegen"
--- a/satrs-mib/codegen/Cargo.toml
+++ b/satrs-mib/codegen/Cargo.toml
@ -28,8 +28,8 @@ features = ["full"]
 trybuild = { version = "1", features = ["diff"] }

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

 [dev-dependencies.satrs-mib]
 path = ".."
--- a/satrs-minisim/Cargo.toml
+++ b/satrs-minisim/Cargo.toml
@ -14,12 +14,10 @@ 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"
--- 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::{
@ -55,7 +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,
@ -114,11 +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()
        {
@ -138,12 +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")
    }

@ -200,11 +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);
@ -223,21 +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();
@ -272,7 +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());
    }
@ -287,7 +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();
@ -308,7 +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();
@ -339,7 +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,
@ -348,7 +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 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

+# [v0.2.2] 2025-05-10
+
+- Bump to `spacepackests` v0.14
+
+# [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
@ -37,3 +45,6 @@ Allow `spacepackets` range starting with v0.10 and v0.11.
 # [v0.1.0] 2024-02-12

 Initial release.
+
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.2...HEAD
+[v0.2.2]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.1...satrs-shared-v0.2.2
--- 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 = "0.2.1"
+version = "0.2.2"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@ -18,11 +18,11 @@ default-features = false
 optional = true

 [dependencies.defmt]
-version = "0.3"
+version = "1"
 optional = true

 [dependencies.spacepackets]
-version = ">0.9, <=0.13"
+version = "0.14"
 default-features = false

 [features]
--- a/satrs/CHANGELOG.md
+++ b/satrs/CHANGELOG.md
@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

+# [v0.3.0-alpha.0] 2025-02-18
+
+`spacepackets` v0.13
+
 ## Changed

 - Renamed `StaticPoolConfig::new` to `StaticPoolConfig::new_from_subpool_cfg_tuples`. The new
@ -19,6 +23,18 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 ## 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
@ -1,8 +1,8 @@
 [package]
 name = "satrs"
-version = "0.2.1"
+version = "0.3.0-alpha.0"
 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/"
@ -13,89 +13,33 @@ keywords = ["no-std", "space", "aerospace"]
 categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]

 [dependencies]
+satrs-shared = { version = ">=0.1.3, <=0.2", path = "../satrs-shared" }
 delegate = ">0.7, <=0.13"
 paste = "1"
 derive-new = ">=0.6, <=0.7"
-smallvec = "1"
-crc = "3"
+num_enum = { version = ">0.5, <=0.7", default-features = false }
+spacepackets = { version = "0.14", default-features = false }
+cobs = { version = "0.4", default-features = false, git = "https://github.com/jamesmunns/cobs.rs.git", branch = "main" }
+thiserror = { version = "2", default-features = false }

-[dependencies.satrs-shared]
-version = ">=0.1.3, <=0.2"
-path = "../satrs-shared"
-
-[dependencies.num_enum]
-version = ">0.5, <=0.7"
-default-features = false
-
-[dependencies.spacepackets]
-version = "0.13"
-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, <=0.15"
-optional = true
-
-[dependencies.heapless]
-version = "0.8"
-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 = "2"
-default-features = false
-
-[dependencies.serde]
-version = "1"
-default-features = false
-optional = true
-
-[dependencies.socket2]
-version = "0.5.4"
-features = ["all"]
-optional = true
-
-[dependencies.mio]
-version = "1"
-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 = "0.8"
 once_cell = "1"
 serde_json = "1"
-rand = "0.8"
+rand = "0.9"
 tempfile = "3"

 [dev-dependencies.postcard]
@ -107,7 +51,6 @@ std = [
    "downcast-rs/std",
    "alloc",
    "bus",
-    "postcard/use-std",
    "crossbeam-channel/std",
    "serde/std",
    "spacepackets/std",
@ -125,10 +68,15 @@ 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 = []

 [package.metadata.docs.rs]
 all-features = true
 rustdoc-args = ["--generate-link-to-definition"]
+
+[[test]]
+name = "event_test"
+path = "tests/pus_events.rs"
+required-features = ["test_util"]
--- 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/encoding/cobs.rs
+++ b/satrs/src/encoding/cobs.rs
@ -24,8 +24,8 @@ use cobs::{decode_in_place, encode, max_encoding_length};
 /// assert!(encode_packet_with_cobs(&INVERTED_PACKET, &mut encoding_buf, &mut current_idx));
 /// assert_eq!(encoding_buf[0], 0);
 /// let dec_report = decode_in_place_report(&mut encoding_buf[1..]).expect("decoding failed");
-/// assert_eq!(encoding_buf[1 + dec_report.src_used], 0);
-/// assert_eq!(dec_report.dst_used, 5);
+/// assert_eq!(encoding_buf[1 + dec_report.parsed_size()], 0);
+/// assert_eq!(dec_report.frame_size(), 5);
 /// assert_eq!(current_idx, 16);
 /// ```
 pub fn encode_packet_with_cobs(
--- a/satrs/src/event_man.rs
+++ b/satrs/src/event_man.rs
@ -162,7 +162,7 @@ pub trait SenderMapProvider<
 ///  * `ListenerMap`: [ListenerMapProvider] which maps listener keys to channel IDs.
 ///  * `EventSender`: [EventSendProvider] contained within the sender map which sends the events.
 ///  * `Event`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
-///     and [EventU16] are supported.
+///    and [EventU16] are supported.
 ///  * `ParamProvider`: Auxiliary data which is sent with the event to provide optional context
 ///    information
 pub struct EventManager<
--- a/satrs/src/events.rs
+++ b/satrs/src/events.rs
@ -312,11 +312,11 @@ impl EventU32 {
    /// # Parameter
    ///
    /// * `severity`: Each event has a [severity][Severity]. The raw value of the severity will
-    ///        be stored inside the uppermost 2 bits of the raw event ID
+    ///   be stored inside the uppermost 2 bits of the raw event ID
    /// * `group_id`: Related events can be grouped using a group ID. The group ID will occupy the
-    ///        next 14 bits after the severity. Therefore, the size is limited by dec 16383 hex 0x3FFF.
+    ///   next 14 bits after the severity. Therefore, the size is limited by dec 16383 hex 0x3FFF.
    /// * `unique_id`: Each event has a unique 16 bit ID occupying the last 16 bits of the
-    ///       raw event ID
+    ///   raw event ID
    pub fn new_checked(
        severity: Severity,
        group_id: <Self as GenericEvent>::GroupId,
@ -486,11 +486,11 @@ impl EventU16 {
    /// # Parameter
    ///
    /// * `severity`: Each event has a [severity][Severity]. The raw value of the severity will
-    ///        be stored inside the uppermost 2 bits of the raw event ID
+    ///   be stored inside the uppermost 2 bits of the raw event ID
    /// * `group_id`: Related events can be grouped using a group ID. The group ID will occupy the
-    ///        next 6 bits after the severity. Therefore, the size is limited by dec 63 hex 0x3F.
+    ///   next 6 bits after the severity. Therefore, the size is limited by dec 63 hex 0x3F.
    /// * `unique_id`: Each event has a unique 8 bit ID occupying the last 8 bits of the
-    ///       raw event ID
+    ///   raw event ID
    pub fn new_checked(
        severity: Severity,
        group_id: <Self as GenericEvent>::GroupId,
--- a/satrs/src/executable.rs
+++ b/satrs/src/executable.rs
@ -15,31 +15,38 @@ 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
 ///
 /// * `executable`: Executable task
 /// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks.
-///    If [None] is passed, no sleeping will be performed.
+///   If [None] is passed, no sleeping will be performed.
 /// * `op_code`: Operation code which is passed to the executable task
-///    [operation call][Executable::periodic_op]
+///   [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/hal/std/tcp_cobs_server.rs
+++ b/satrs/src/hal/std/tcp_cobs_server.rs
@ -150,9 +150,9 @@ impl<
    ///
    /// * `cfg` - Configuration of the server.
    /// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
-    ///     then sent back to the client.
+    ///   then sent back to the client.
    /// * `tc_receiver` - Any received telecommands which were decoded successfully will be
-    ///     forwarded to this TC receiver.
+    ///   forwarded to this TC receiver.
    pub fn new(
        cfg: ServerConfig,
        tm_source: TmSource,
@ -377,13 +377,13 @@ mod tests {
                current_idx += 1;
                let mut dec_report = cobs::decode_in_place_report(&mut read_buf[current_idx..])
                    .expect("COBS decoding failed");
-                assert_eq!(dec_report.dst_used, 5);
+                assert_eq!(dec_report.frame_size(), 5);
                // Skip first sentinel byte.
                assert_eq!(
                    &read_buf[current_idx..current_idx + INVERTED_PACKET.len()],
                    &INVERTED_PACKET
                );
-                current_idx += dec_report.src_used;
+                current_idx += dec_report.parsed_size();
                // End sentinel.
                assert_eq!(read_buf[current_idx], 0, "invalid sentinel end byte");
                current_idx += 1;
@ -393,13 +393,13 @@ mod tests {
                current_idx += 1;
                dec_report = cobs::decode_in_place_report(&mut read_buf[current_idx..])
                    .expect("COBS decoding failed");
-                assert_eq!(dec_report.dst_used, 5);
+                assert_eq!(dec_report.frame_size(), 5);
                // Skip first sentinel byte.
                assert_eq!(
                    &read_buf[current_idx..current_idx + SIMPLE_PACKET.len()],
                    &SIMPLE_PACKET
                );
-                current_idx += dec_report.src_used;
+                current_idx += dec_report.parsed_size();
                // End sentinel.
                assert_eq!(read_buf[current_idx], 0);
                break;
--- a/satrs/src/hal/std/tcp_server.rs
+++ b/satrs/src/hal/std/tcp_server.rs
@ -25,22 +25,22 @@ pub use crate::hal::std::tcp_spacepackets_server::{SpacepacketsTmSender, TcpSpac
 ///
 /// * `addr` - Address of the TCP server.
 /// * `inner_loop_delay` - If a client connects for a longer period, but no TC is received or
-///     no TM needs to be sent, the TCP server will delay for the specified amount of time
-///     to reduce CPU load.
+///   no TM needs to be sent, the TCP server will delay for the specified amount of time
+///   to reduce CPU load.
 /// * `tm_buffer_size` - Size of the TM buffer used to read TM from the [PacketSource] and
-///     encoding of that data. This buffer should at large enough to hold the maximum expected
-///     TM size read from the packet source.
+///   encoding of that data. This buffer should at large enough to hold the maximum expected
+///   TM size read from the packet source.
 /// * `tc_buffer_size` - Size of the TC buffer used to read encoded telecommands sent from
-///     the client. It is recommended to make this buffer larger to allow reading multiple
-///     consecutive packets as well, for example by using common buffer sizes like 4096 or 8192
-///     byte. The buffer should at the very least be large enough to hold the maximum expected
-///     telecommand size.
+///   the client. It is recommended to make this buffer larger to allow reading multiple
+///   consecutive packets as well, for example by using common buffer sizes like 4096 or 8192
+///   byte. The buffer should at the very least be large enough to hold the maximum expected
+///   telecommand size.
 /// * `reuse_addr` - Can be used to set the `SO_REUSEADDR` option on the raw socket. This is
-///     especially useful if the address and port are static for the server. Set to false by
-///     default.
+///   especially useful if the address and port are static for the server. Set to false by
+///   default.
 /// * `reuse_port` - Can be used to set the `SO_REUSEPORT` option on the raw socket. This is
-///     especially useful if the address and port are static for the server. Set to false by
-///     default.
+///   especially useful if the address and port are static for the server. Set to false by
+///   default.
 #[derive(Debug, Copy, Clone)]
 pub struct ServerConfig {
    pub id: ComponentId,
@ -211,12 +211,12 @@ impl<
    ///
    /// * `cfg` - Configuration of the server.
    /// * `tc_parser` - Parser which extracts telecommands from the raw bytestream received from
-    ///    the client.
+    ///   the client.
    /// * `tm_sender` - Sends back telemetry to the client using the specified TM source.
    /// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
-    ///     then sent back to the client.
+    ///   then sent back to the client.
    /// * `tc_sender` - Any received telecommand which was decoded successfully will be forwarded
-    ///     using this TC sender.
+    ///   using this TC sender.
    /// * `stop_signal` - Can be used to stop the server even if a connection is ongoing.
    pub fn new(
        cfg: ServerConfig,
--- a/satrs/src/hal/std/tcp_spacepackets_server.rs
+++ b/satrs/src/hal/std/tcp_spacepackets_server.rs
@ -120,15 +120,15 @@ impl<
    ///
    /// * `cfg` - Configuration of the server.
    /// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
-    ///     then sent back to the client.
+    ///   then sent back to the client.
    /// * `tc_sender` - Any received telecommands which were decoded successfully will be
-    ///     forwarded using this [PacketSenderRaw].
+    ///   forwarded using this [PacketSenderRaw].
    /// * `validator` - Used to determine the space packets relevant for further processing and
-    ///    to detect broken space packets.
+    ///   to detect broken space packets.
    /// * `handled_connection_hook` - Called to notify the user about a succesfully handled
-    ///    connection.
+    ///   connection.
    /// * `stop_signal` - Can be used to shut down the TCP server even for longer running
-    ///    connections.
+    ///   connections.
    pub fn new(
        cfg: ServerConfig,
        tm_source: TmSource,
--- 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
@ -22,28 +22,34 @@ extern crate downcast_rs;
 #[cfg(any(feature = "std", test))]
 extern crate std;

+pub mod action;
+#[cfg(feature = "alloc")]
+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;
+#[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 {
@ -768,12 +770,12 @@ mod alloc_mod {
    /// # Parameters
    ///
    /// * `cfg` - Vector of tuples which represent a subpool. The first entry in the tuple specifies
-    ///     the number of memory blocks in the subpool, the second entry the size of the blocks
+    ///   the number of memory blocks in the subpool, the second entry the size of the blocks
    /// * `spill_to_higher_subpools` - Specifies whether data will be spilled to higher subpools
-    ///     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)]
+    ///   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(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>>,
@ -1584,21 +1587,33 @@ mod tests {
    mod heapless_tests {
        use super::*;
        use crate::static_subpool;
-        use core::ptr::addr_of_mut;
+        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: [u8; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE] =
-            [0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE];
-        static mut SUBPOOL_1_SIZES: [usize; SUBPOOL_1_NUM_ELEMENTS as usize] =
-            [STORE_FREE; SUBPOOL_1_NUM_ELEMENTS as usize];
+
+        static SUBPOOL_1: static_cell::ConstStaticCell<
+            [u8; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE],
+        > = 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: [u8; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE] =
-            [0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE];
-        static mut SUBPOOL_2_SIZES: [usize; SUBPOOL_2_NUM_ELEMENTS as usize] =
-            [STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize];
+        static SUBPOOL_2: static_cell::ConstStaticCell<
+            [u8; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE],
+        > = 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;
@ -1641,24 +1656,24 @@ mod tests {
                StaticHeaplessMemoryPool::new(false);
            assert!(heapless_pool
                .grow(
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_1) },
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_1_SIZES) },
+                    SUBPOOL_1.take(),
+                    unsafe { &mut *SUBPOOL_1_SIZES.lock().unwrap().get() },
                    SUBPOOL_1_NUM_ELEMENTS,
                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_2) },
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_2_SIZES) },
+                    SUBPOOL_2.take(),
+                    SUBPOOL_2_SIZES.take(),
                    SUBPOOL_2_NUM_ELEMENTS,
                    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,
                    true
                )
@ -1780,16 +1795,16 @@ mod tests {
                StaticHeaplessMemoryPool::new(true);
            assert!(heapless_pool
                .grow(
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_2) },
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_2_SIZES) },
+                    SUBPOOL_2.take(),
+                    SUBPOOL_2_SIZES.take(),
                    SUBPOOL_2_NUM_ELEMENTS,
                    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,
                    true
                )
@ -1803,16 +1818,16 @@ 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,
                    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,
                    true
                )
@ -1826,24 +1841,24 @@ 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,
                    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,
                    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,
                    true
                )
@ -1857,24 +1872,24 @@ 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,
                    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,
                    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,
                    true
                )
--- 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_man.rs
+++ b/satrs/src/pus/event_man.rs
@ -409,7 +409,7 @@ mod tests {
        assert!(res.event_was_enabled);
        assert!(res.params_were_propagated);
        let event_tm = event_rx.try_recv().expect("no event received");
-        let (tm, _) = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
+        let tm = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
        assert_eq!(tm.service(), 5);
        assert_eq!(tm.subservice(), Subservice::TmInfoReport as u8);
        assert_eq!(tm.user_data().len(), 4 + param_data.len());
@ -437,7 +437,7 @@ mod tests {
        assert!(res.event_was_enabled);
        assert!(res.params_were_propagated);
        let event_tm = event_rx.try_recv().expect("no event received");
-        let (tm, _) = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
+        let tm = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
        assert_eq!(tm.service(), 5);
        assert_eq!(tm.subservice(), Subservice::TmInfoReport as u8);
        assert_eq!(tm.user_data().len(), 4 + param_data.len());
--- 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,
        >,
    }
@ -199,8 +199,12 @@ mod tests {
    }

    impl PusTestHarness for Pus5HandlerWithStoreTester {
-        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
-            let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
+        fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let init_token = self
+                .handler
+                .service_helper
+                .verif_reporter_mut()
+                .start_verification(tc);
            self.handler
                .service_helper
                .verif_reporter()
@ -245,7 +249,7 @@ mod tests {
            .write_to_be_bytes(&mut app_data)
            .expect("writing test event failed");
        let ping_tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
-        let token = test_harness.init_verification(&ping_tc);
+        let token = test_harness.start_verification(&ping_tc);
        test_harness.send_tc(&token, &ping_tc);
        let request_id = token.request_id();
        test_harness.handle_one_tc().unwrap();
@ -306,7 +310,7 @@ mod tests {
        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
        let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
-        let token = test_harness.init_verification(&ping_tc);
+        let token = test_harness.start_verification(&ping_tc);
        test_harness.send_tc(&token, &ping_tc);
        let result = test_harness.handle_one_tc();
        assert!(result.is_ok());
@ -326,7 +330,7 @@ mod tests {
        let sec_header =
            PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
        let ping_tc = PusTcCreator::new(sp_header, sec_header, &[0, 1, 2], true);
-        let token = test_harness.init_verification(&ping_tc);
+        let token = test_harness.start_verification(&ping_tc);
        test_harness.send_tc(&token, &ping_tc);
        let result = test_harness.handle_one_tc();
        assert!(result.is_err());
--- 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];
@ -959,15 +959,11 @@ pub mod std_mod {
            possible_packet: &TcInMemory,
        ) -> Result<PusTcReader<'_>, PusTcFromMemError> {
            self.cache(possible_packet)?;
-            Ok(PusTcReader::new(self.tc_slice_raw())
-                .map_err(EcssTmtcError::Pus)?
-                .0)
+            Ok(PusTcReader::new(self.tc_slice_raw()).map_err(EcssTmtcError::Pus)?)
        }

        fn convert(&self) -> Result<PusTcReader<'_>, PusTcFromMemError> {
-            Ok(PusTcReader::new(self.tc_slice_raw())
-                .map_err(EcssTmtcError::Pus)?
-                .0)
+            Ok(PusTcReader::new(self.tc_slice_raw()).map_err(EcssTmtcError::Pus)?)
        }
    }

@ -980,7 +976,7 @@ 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 +1007,25 @@ 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 +1045,7 @@ 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 +1068,44 @@ 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 +1129,7 @@ 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 +1139,7 @@ pub mod std_mod {
    impl<
            TcReceiver: EcssTcReceiver,
            TmSender: EcssTmSender,
-            TcInMemConverter: EcssTcInMemConverter,
+            TcInMemConverter: EcssTcInMemConversionProvider,
            VerificationReporter: VerificationReportingProvider,
        > PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
    {
@ -1221,9 +1256,10 @@ 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,
@ -1232,13 +1268,14 @@ 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 =
        UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_1);

    pub trait PusTestHarness {
-        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+        fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
        fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
        fn read_next_tm(&mut self) -> PusTmReader<'_>;
        fn check_no_tm_available(&self) -> bool;
@ -1268,14 +1305,13 @@ 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 +1382,7 @@ pub mod tests {
    pub type PusServiceHelperStatic = PusServiceHelper<
        MpscTcReceiver,
        PacketSenderWithSharedPool,
-        EcssTcInSharedStoreConverter,
+        EcssTcInSharedPoolConverter,
        VerificationReporter,
    >;

@ -1373,8 +1409,7 @@ 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]),
@ -1420,7 +1455,7 @@ pub mod tests {
            let tm_pool = self.tm_pool.0.read().unwrap();
            let tm_raw = tm_pool.read_as_vec(&tm_in_pool.store_addr).unwrap();
            self.tm_buf[0..tm_raw.len()].copy_from_slice(&tm_raw);
-            PusTmReader::new(&self.tm_buf, 7).unwrap().0
+            PusTmReader::new(&self.tm_buf, 7).unwrap()
        }

        pub fn check_no_tm_available(&self) -> bool {
@ -1437,7 +1472,7 @@ pub mod tests {
            let tm_in_pool = next_msg.unwrap();
            let tm_pool = self.tm_pool.0.read().unwrap();
            let tm_raw = tm_pool.read_as_vec(&tm_in_pool.store_addr).unwrap();
-            let tm = PusTmReader::new(&tm_raw, 7).unwrap().0;
+            let tm = PusTmReader::new(&tm_raw, 7).unwrap();
            assert_eq!(PusPacket::service(&tm), 1);
            assert_eq!(PusPacket::subservice(&tm), subservice);
            assert_eq!(tm.apid(), TEST_APID);
@ -1545,9 +1580,7 @@ pub mod tests {
            let next_msg = self.tm_receiver.try_recv();
            assert!(next_msg.is_ok());
            self.current_tm = Some(next_msg.unwrap().packet);
-            PusTmReader::new(self.current_tm.as_ref().unwrap(), 7)
-                .unwrap()
-                .0
+            PusTmReader::new(self.current_tm.as_ref().unwrap(), 7).unwrap()
        }

        pub fn check_no_tm_available(&self) -> bool {
@ -1562,7 +1595,7 @@ pub mod tests {
            let next_msg = self.tm_receiver.try_recv();
            assert!(next_msg.is_ok());
            let next_msg = next_msg.unwrap();
-            let tm = PusTmReader::new(next_msg.packet.as_slice(), 7).unwrap().0;
+            let tm = PusTmReader::new(next_msg.packet.as_slice(), 7).unwrap();
            assert_eq!(PusPacket::service(&tm), 1);
            assert_eq!(PusPacket::subservice(&tm), subservice);
            assert_eq!(tm.apid(), TEST_APID);
--- 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.rs
+++ b/satrs/src/pus/scheduler.rs
@ -292,10 +292,10 @@ pub trait PusSchedulerProvider {
        pool: &mut (impl PoolProvider + ?Sized),
    ) -> Result<TcInfo, ScheduleError> {
        let check_tc = PusTcReader::new(tc)?;
-        if PusPacket::service(&check_tc.0) == 11 && PusPacket::subservice(&check_tc.0) == 4 {
+        if PusPacket::service(&check_tc) == 11 && PusPacket::subservice(&check_tc) == 4 {
            return Err(ScheduleError::NestedScheduledTc);
        }
-        let req_id = RequestId::from_tc(&check_tc.0);
+        let req_id = RequestId::from_tc(&check_tc);

        match pool.add(tc) {
            Ok(addr) => {
@ -411,10 +411,10 @@ pub mod alloc_mod {
        ///
        /// * `init_current_time` - The time to initialize the scheduler with.
        /// * `time_margin` - This time margin is used when inserting new telecommands into the
-        ///      schedule. If the release time of a new telecommand is earlier than the time margin
-        ///      added to the current time, it will not be inserted into the schedule.
+        ///   schedule. If the release time of a new telecommand is earlier than the time margin
+        ///   added to the current time, it will not be inserted into the schedule.
        /// * `tc_buf_size` - Buffer for temporary storage of telecommand packets. This buffer
-        ///      should be large enough to accomodate the largest expected TC packets.
+        ///   should be large enough to accomodate the largest expected TC packets.
        pub fn new(init_current_time: UnixTime, time_margin: Duration) -> Self {
            PusScheduler {
                tc_map: Default::default(),
@ -480,10 +480,10 @@ pub mod alloc_mod {
            pool: &mut (impl PoolProvider + ?Sized),
        ) -> Result<TcInfo, ScheduleError> {
            let check_tc = PusTcReader::new(tc)?;
-            if PusPacket::service(&check_tc.0) == 11 && PusPacket::subservice(&check_tc.0) == 4 {
+            if PusPacket::service(&check_tc) == 11 && PusPacket::subservice(&check_tc) == 4 {
                return Err(ScheduleError::NestedScheduledTc);
            }
-            let req_id = RequestId::from_tc(&check_tc.0);
+            let req_id = RequestId::from_tc(&check_tc);

            match pool.add(tc) {
                Ok(addr) => {
@ -683,10 +683,10 @@ pub mod alloc_mod {
        /// # Arguments
        ///
        /// * `releaser` - Closure where the first argument is whether the scheduler is enabled and
-        ///     the second argument is the telecommand information also containing the store
-        ///     address. This closure should return whether the command should be deleted. Please
-        ///     note that returning false might lead to memory leaks if the TC is not cleared from
-        ///     the store in some other way.
+        ///   the second argument is the telecommand information also containing the store
+        ///   address. This closure should return whether the command should be deleted. Please
+        ///   note that returning false might lead to memory leaks if the TC is not cleared from
+        ///   the store in some other way.
        /// * `tc_store` - The holding store of the telecommands.
        /// * `tc_buf` - Buffer to hold each telecommand being released.
        pub fn release_telecommands_with_buffer<R: FnMut(bool, &TcInfo, &[u8]) -> bool>(
@ -1313,7 +1313,7 @@ mod tests {
        let mut read_buf: [u8; 64] = [0; 64];
        pool.read(&tc_info_0.addr(), &mut read_buf).unwrap();
        let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
-        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
+        assert_eq!(check_tc, base_ping_tc_simple_ctor(0, &[]));

        assert_eq!(scheduler.num_scheduled_telecommands(), 1);

@ -1335,8 +1335,8 @@ mod tests {

        let read_len = pool.read(&addr_vec[0], &mut read_buf).unwrap();
        let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
-        assert_eq!(read_len, check_tc.1);
-        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
+        assert_eq!(read_len, check_tc.total_len());
+        assert_eq!(check_tc, base_ping_tc_simple_ctor(0, &[]));
    }

    #[test]
@ -1362,8 +1362,8 @@ mod tests {

        let read_len = pool.read(&info.addr, &mut buf).unwrap();
        let check_tc = PusTcReader::new(&buf).expect("incorrect Pus tc raw data");
-        assert_eq!(read_len, check_tc.1);
-        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
+        assert_eq!(read_len, check_tc.total_len());
+        assert_eq!(check_tc, base_ping_tc_simple_ctor(0, &[]));

        assert_eq!(scheduler.num_scheduled_telecommands(), 1);

@ -1387,8 +1387,8 @@ mod tests {

        let read_len = pool.read(&addr_vec[0], &mut buf).unwrap();
        let check_tc = PusTcReader::new(&buf).expect("incorrect PUS tc raw data");
-        assert_eq!(read_len, check_tc.1);
-        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
+        assert_eq!(read_len, check_tc.total_len());
+        assert_eq!(check_tc, base_ping_tc_simple_ctor(0, &[]));
    }

    #[test]
@ -2031,7 +2031,7 @@ mod tests {
        assert_eq!(n, 1);
        let time_reader = cds::CdsTime::from_bytes_with_u16_days(&buf[2..2 + 7]).unwrap();
        assert_eq!(time_reader, time_writer);
-        let pus_tc_reader = PusTcReader::new(&buf[9..]).unwrap().0;
+        let pus_tc_reader = PusTcReader::new(&buf[9..]).unwrap();
        assert_eq!(pus_tc_reader, ping_tc);
    }

--- 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,
        >,
@ -309,8 +309,12 @@ mod tests {
    }

    impl PusTestHarness for Pus11HandlerWithStoreTester {
-        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
-            let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
+        fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let init_token = self
+                .handler
+                .service_helper
+                .verif_reporter_mut()
+                .start_verification(tc);
            self.handler
                .service_helper
                .verif_reporter()
@ -383,7 +387,7 @@ mod tests {
        let reply_header = SpHeader::new_for_unseg_tm(TEST_APID, 0, 0);
        let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
        let enable_scheduling = PusTcCreator::new(reply_header, tc_header, &[0; 7], true);
-        let token = test_harness.init_verification(&enable_scheduling);
+        let token = test_harness.start_verification(&enable_scheduling);
        test_harness.send_tc(&token, &enable_scheduling);

        let request_id = token.request_id();
@ -445,7 +449,7 @@ mod tests {
            &sched_app_data[..written_len],
            true,
        );
-        let token = test_harness.init_verification(&enable_scheduling);
+        let token = test_harness.start_verification(&enable_scheduling);
        test_harness.send_tc(&token, &enable_scheduling);

        let request_id = token.request_id();
--- 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,
        >,
    }
@ -179,8 +180,12 @@ mod tests {
    }

    impl PusTestHarness for Pus17HandlerWithStoreTester {
-        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
-            let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
+        fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let init_token = self
+                .handler
+                .service_helper
+                .verif_reporter_mut()
+                .start_verification(tc);
            self.handler
                .service_helper
                .verif_reporter()
@ -237,8 +242,12 @@ mod tests {
    }

    impl PusTestHarness for Pus17HandlerWithVecTester {
-        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
-            let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
+        fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let init_token = self
+                .handler
+                .service_helper
+                .verif_reporter_mut()
+                .start_verification(tc);
            self.handler
                .service_helper
                .verif_reporter()
@ -278,7 +287,7 @@ mod tests {
        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
        let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
-        let token = test_harness.init_verification(&ping_tc);
+        let token = test_harness.start_verification(&ping_tc);
        test_harness.send_tc(&token, &ping_tc);
        let request_id = token.request_id();
        let result = test_harness.handle_one_tc();
@ -333,7 +342,7 @@ mod tests {
        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
        let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
-        let token = test_harness.init_verification(&ping_tc);
+        let token = test_harness.start_verification(&ping_tc);
        test_harness.send_tc(&token, &ping_tc);
        let result = test_harness.handle_one_tc();
        assert!(result.is_err());
@ -354,7 +363,7 @@ mod tests {
        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
        let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
-        let token = test_harness.init_verification(&ping_tc);
+        let token = test_harness.start_verification(&ping_tc);
        test_harness.send_tc(&token, &ping_tc);
        let result = test_harness.handle_one_tc();
        assert!(result.is_ok());
--- a/satrs/src/pus/verification.rs
+++ b/satrs/src/pus/verification.rs
@ -47,7 +47,7 @@
 //!     tc_header,
 //!     true
 //! );
-//! let init_token = reporter.add_tc(&pus_tc_0);
+//! let init_token = reporter.start_verification(&pus_tc_0);
 //!
 //! // Complete success sequence for a telecommand
 //! let accepted_token = reporter.acceptance_success(&sender, init_token, &EMPTY_STAMP).unwrap();
@ -65,8 +65,7 @@
 //!         let store_guard = rg.read_with_guard(tm_in_store.store_addr);
 //!         tm_len = store_guard.read(&mut tm_buf).expect("Error reading TM slice");
 //!     }
-//!     let (pus_tm, _) = PusTmReader::new(&tm_buf[0..tm_len], 7)
-//!        .expect("Error reading verification TM");
+//!     let pus_tm = PusTmReader::new(&tm_buf[0..tm_len], 7).expect("Error reading verification TM");
 //!     if packet_idx == 0 {
 //!         assert_eq!(pus_tm.subservice(), 1);
 //!     } else if packet_idx == 1 {
@ -228,7 +227,7 @@ pub struct VerificationToken<STATE> {
 }

 impl<STATE> VerificationToken<STATE> {
-    fn new(req_id: RequestId) -> VerificationToken<TcStateNone> {
+    pub fn new(req_id: RequestId) -> VerificationToken<TcStateNone> {
        VerificationToken {
            state: PhantomData,
            request_id: req_id,
@ -408,14 +407,10 @@ pub trait VerificationReportingProvider {
    fn set_apid(&mut self, apid: Apid);
    fn apid(&self) -> Apid;

-    fn add_tc(
-        &mut self,
+    fn start_verification(
+        &self,
        pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
-    ) -> VerificationToken<TcStateNone> {
-        self.add_tc_with_req_id(RequestId::new(pus_tc))
-    }
-
-    fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
+    ) -> VerificationToken<TcStateNone>;

    fn acceptance_success(
        &self,
@ -482,7 +477,7 @@ pub trait VerificationReportingProvider {
 /// the buffer passed to the API exposes by this struct will be used to serialize the source data.
 /// This buffer may not be re-used to serialize the whole telemetry because that would overwrite
 /// the source data itself.
-#[derive(Clone)]
+#[derive(Debug, Clone)]
 pub struct VerificationReportCreator {
    pub dest_id: u16,
    apid: u16,
@ -518,24 +513,15 @@ impl VerificationReportCreator {

    /// Initialize verification handling by passing a TC reference. This returns a token required
    /// to call the acceptance functions
-    pub fn add_tc(
-        &mut self,
-        pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
-    ) -> VerificationToken<TcStateNone> {
-        self.add_tc_with_req_id(RequestId::new(pus_tc))
+    pub fn read_request_id_from_tc(pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> RequestId {
+        RequestId::new(pus_tc)
    }

-    /// Same as [Self::add_tc] but pass a request ID instead of the direct telecommand.
-    /// This can be useful if the executing thread does not have full access to the telecommand.
-    pub fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone> {
-        VerificationToken::<TcStateNone>::new(req_id)
-    }
-
-    fn success_verification_no_step<'time, 'src_data, State: Copy>(
+    fn success_verification_no_step<'time, 'src_data>(
        &self,
        src_data_buf: &'src_data mut [u8],
        subservice: u8,
-        token: VerificationToken<State>,
+        request_id: &RequestId,
        seq_count: u16,
        msg_count: u16,
        time_stamp: &'time [u8],
@ -545,7 +531,7 @@ impl VerificationReportCreator {
            subservice,
            seq_count,
            msg_count,
-            &token.request_id(),
+            request_id,
            time_stamp,
            None::<&dyn EcssEnumeration>,
        )?;
@ -554,11 +540,11 @@ impl VerificationReportCreator {

    // Internal helper function, too many arguments is acceptable for this case.
    #[allow(clippy::too_many_arguments)]
-    fn failure_verification_no_step<'time, 'src_data, State: Copy>(
+    fn failure_verification_no_step<'time, 'src_data>(
        &self,
        src_data_buf: &'src_data mut [u8],
        subservice: u8,
-        token: VerificationToken<State>,
+        request_id: &RequestId,
        seq_count: u16,
        msg_count: u16,
        step: Option<&(impl EcssEnumeration + ?Sized)>,
@ -569,7 +555,7 @@ impl VerificationReportCreator {
            subservice,
            seq_count,
            msg_count,
-            &token.request_id(),
+            request_id,
            step,
            params,
        )?;
@ -580,39 +566,27 @@ impl VerificationReportCreator {
    pub fn acceptance_success<'time, 'src_data>(
        &self,
        src_data_buf: &'src_data mut [u8],
-        token: VerificationToken<TcStateNone>,
+        request_id: &RequestId,
        seq_count: u16,
        msg_count: u16,
        time_stamp: &'time [u8],
-    ) -> Result<
-        (
-            PusTmCreator<'time, 'src_data>,
-            VerificationToken<TcStateAccepted>,
-        ),
-        ByteConversionError,
-    > {
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
        let tm_creator = self.success_verification_no_step(
            src_data_buf,
            Subservice::TmAcceptanceSuccess.into(),
-            token,
+            request_id,
            seq_count,
            msg_count,
            time_stamp,
        )?;
-        Ok((
-            tm_creator,
-            VerificationToken {
-                state: PhantomData,
-                request_id: token.request_id(),
-            },
-        ))
+        Ok(tm_creator)
    }

    /// Package a PUS TM\[1, 2\] packet, see 8.1.2.2 of the PUS standard.
    pub fn acceptance_failure<'time, 'src_data>(
        &self,
        src_data_buf: &'src_data mut [u8],
-        token: VerificationToken<TcStateNone>,
+        request_id: &RequestId,
        seq_count: u16,
        msg_count: u16,
        params: FailParams<'time, '_>,
@ -620,7 +594,7 @@ impl VerificationReportCreator {
        self.failure_verification_no_step(
            src_data_buf,
            Subservice::TmAcceptanceFailure.into(),
-            token,
+            request_id,
            seq_count,
            msg_count,
            None::<&dyn EcssEnumeration>,
@ -634,32 +608,20 @@ impl VerificationReportCreator {
    pub fn start_success<'time, 'src_data>(
        &self,
        src_data_buf: &'src_data mut [u8],
-        token: VerificationToken<TcStateAccepted>,
+        request_id: &RequestId,
        seq_count: u16,
        msg_count: u16,
        time_stamp: &'time [u8],
-    ) -> Result<
-        (
-            PusTmCreator<'time, 'src_data>,
-            VerificationToken<TcStateStarted>,
-        ),
-        ByteConversionError,
-    > {
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
        let tm_creator = self.success_verification_no_step(
            src_data_buf,
            Subservice::TmStartSuccess.into(),
-            token,
+            request_id,
            seq_count,
            msg_count,
            time_stamp,
        )?;
-        Ok((
-            tm_creator,
-            VerificationToken {
-                state: PhantomData,
-                request_id: token.request_id(),
-            },
-        ))
+        Ok(tm_creator)
    }

    /// Package and send a PUS TM\[1, 4\] packet, see 8.1.2.4 of the PUS standard.
@ -669,7 +631,7 @@ impl VerificationReportCreator {
    pub fn start_failure<'time, 'src_data>(
        &self,
        src_data_buf: &'src_data mut [u8],
-        token: VerificationToken<TcStateAccepted>,
+        request_id: &RequestId,
        seq_count: u16,
        msg_count: u16,
        params: FailParams<'time, '_>,
@ -677,7 +639,7 @@ impl VerificationReportCreator {
        self.failure_verification_no_step(
            src_data_buf,
            Subservice::TmStartFailure.into(),
-            token,
+            request_id,
            seq_count,
            msg_count,
            None::<&dyn EcssEnumeration>,
@ -691,7 +653,7 @@ impl VerificationReportCreator {
    pub fn step_success<'time, 'src_data>(
        &self,
        src_data_buf: &'src_data mut [u8],
-        token: &VerificationToken<TcStateStarted>,
+        request_id: &RequestId,
        seq_count: u16,
        msg_count: u16,
        time_stamp: &'time [u8],
@ -702,7 +664,7 @@ impl VerificationReportCreator {
            Subservice::TmStepSuccess.into(),
            seq_count,
            msg_count,
-            &token.request_id(),
+            request_id,
            time_stamp,
            Some(&step),
        )
@ -735,10 +697,10 @@ impl VerificationReportCreator {
    ///
    /// Requires a token previously acquired by calling [Self::start_success]. It consumes the
    /// token because verification handling is done.
-    pub fn completion_success<'time, 'src_data, TcState: WasAtLeastAccepted + Copy>(
+    pub fn completion_success<'time, 'src_data>(
        &self,
        src_data_buf: &'src_data mut [u8],
-        token: VerificationToken<TcState>,
+        request_id: &RequestId,
        seq_counter: u16,
        msg_counter: u16,
        time_stamp: &'time [u8],
@ -746,7 +708,7 @@ impl VerificationReportCreator {
        self.success_verification_no_step(
            src_data_buf,
            Subservice::TmCompletionSuccess.into(),
-            token,
+            request_id,
            seq_counter,
            msg_counter,
            time_stamp,
@ -757,10 +719,10 @@ impl VerificationReportCreator {
    ///
    /// Requires a token previously acquired by calling [Self::start_success]. It consumes the
    /// token because verification handling is done.
-    pub fn completion_failure<'time, 'src_data, TcState: WasAtLeastAccepted + Copy>(
+    pub fn completion_failure<'time, 'src_data>(
        &self,
        src_data_buf: &'src_data mut [u8],
-        token: VerificationToken<TcState>,
+        request_id: &RequestId,
        seq_count: u16,
        msg_count: u16,
        params: FailParams<'time, '_>,
@ -768,7 +730,7 @@ impl VerificationReportCreator {
        self.failure_verification_no_step(
            src_data_buf,
            Subservice::TmCompletionFailure.into(),
-            token,
+            request_id,
            seq_count,
            msg_count,
            None::<&dyn EcssEnumeration>,
@ -986,12 +948,26 @@ pub mod alloc_mod {
            }
        }

+        pub fn start_verification(
+            &self,
+            pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
+        ) -> VerificationToken<TcStateNone> {
+            VerificationToken::<TcStateNone>::new(
+                VerificationReportCreator::read_request_id_from_tc(pus_tc),
+            )
+        }
+
+        pub fn start_verification_with_req_id(
+            &self,
+            request_id: RequestId,
+        ) -> VerificationToken<TcStateNone> {
+            VerificationToken::<TcStateNone>::new(request_id)
+        }
+
        delegate!(
            to self.reporter_creator {
                pub fn set_apid(&mut self, apid: u16) -> bool;
                pub fn apid(&self) -> u16;
-                pub fn add_tc(&mut self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> VerificationToken<TcStateNone>;
-                pub fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
                pub fn dest_id(&self) -> u16;
                pub fn set_dest_id(&mut self, dest_id: u16);
            }
@ -1009,11 +985,16 @@ pub mod alloc_mod {
            to self.reporter_creator {
                fn set_apid(&mut self, apid: Apid);
                fn apid(&self) -> Apid;
-                fn add_tc(&mut self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> VerificationToken<TcStateNone>;
-                fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
            }
        );

+        fn start_verification(
+            &self,
+            pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
+        ) -> VerificationToken<TcStateNone> {
+            VerificationToken::<TcStateNone>::new(RequestId::new(pus_tc))
+        }
+
        fn owner_id(&self) -> ComponentId {
            self.owner_id
        }
@ -1026,13 +1007,19 @@ pub mod alloc_mod {
            time_stamp: &[u8],
        ) -> Result<VerificationToken<TcStateAccepted>, EcssTmtcError> {
            let mut source_data_buf = self.source_data_buf.borrow_mut();
-            let (mut tm_creator, token) = self
+            let mut tm_creator = self
                .reporter_creator
-                .acceptance_success(source_data_buf.as_mut_slice(), token, 0, 0, time_stamp)
+                .acceptance_success(
+                    source_data_buf.as_mut_slice(),
+                    &token.request_id(),
+                    0,
+                    0,
+                    time_stamp,
+                )
                .map_err(PusError::ByteConversion)?;
            self.tm_hook.modify_tm(&mut tm_creator);
            sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
-            Ok(token)
+            Ok(VerificationToken::new_accepted_state(token.request_id()))
        }

        /// Package and send a PUS TM\[1, 2\] packet, see 8.1.2.2 of the PUS standard
@ -1045,7 +1032,7 @@ pub mod alloc_mod {
            let mut buf = self.source_data_buf.borrow_mut();
            let mut tm_creator = self
                .reporter_creator
-                .acceptance_failure(buf.as_mut_slice(), token, 0, 0, params)
+                .acceptance_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params)
                .map_err(PusError::ByteConversion)?;
            self.tm_hook.modify_tm(&mut tm_creator);
            sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
@ -1062,13 +1049,13 @@ pub mod alloc_mod {
            time_stamp: &[u8],
        ) -> Result<VerificationToken<TcStateStarted>, EcssTmtcError> {
            let mut buf = self.source_data_buf.borrow_mut();
-            let (mut tm_creator, started_token) = self
+            let mut tm_creator = self
                .reporter_creator
-                .start_success(buf.as_mut_slice(), token, 0, 0, time_stamp)
+                .start_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp)
                .map_err(PusError::ByteConversion)?;
            self.tm_hook.modify_tm(&mut tm_creator);
            sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
-            Ok(started_token)
+            Ok(VerificationToken::new_started_state(token.request_id()))
        }

        /// Package and send a PUS TM\[1, 4\] packet, see 8.1.2.4 of the PUS standard.
@ -1084,7 +1071,7 @@ pub mod alloc_mod {
            let mut buf = self.source_data_buf.borrow_mut();
            let mut tm_creator = self
                .reporter_creator
-                .start_failure(buf.as_mut_slice(), token, 0, 0, params)
+                .start_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params)
                .map_err(PusError::ByteConversion)?;
            self.tm_hook.modify_tm(&mut tm_creator);
            sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
@ -1104,7 +1091,14 @@ pub mod alloc_mod {
            let mut buf = self.source_data_buf.borrow_mut();
            let mut tm_creator = self
                .reporter_creator
-                .step_success(buf.as_mut_slice(), token, 0, 0, time_stamp, step)
+                .step_success(
+                    buf.as_mut_slice(),
+                    &token.request_id(),
+                    0,
+                    0,
+                    time_stamp,
+                    step,
+                )
                .map_err(PusError::ByteConversion)?;
            self.tm_hook.modify_tm(&mut tm_creator);
            sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
@ -1145,7 +1139,7 @@ pub mod alloc_mod {
            let mut buf = self.source_data_buf.borrow_mut();
            let mut tm_creator = self
                .reporter_creator
-                .completion_success(buf.as_mut_slice(), token, 0, 0, time_stamp)
+                .completion_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp)
                .map_err(PusError::ByteConversion)?;
            self.tm_hook.modify_tm(&mut tm_creator);
            sender.send_tm(self.owner_id, PusTmVariant::Direct(tm_creator))?;
@ -1165,7 +1159,7 @@ pub mod alloc_mod {
            let mut buf = self.source_data_buf.borrow_mut();
            let mut tm_creator = self
                .reporter_creator
-                .completion_failure(buf.as_mut_slice(), token, 0, 00, params)
+                .completion_failure(buf.as_mut_slice(), &token.request_id(), 0, 00, params)
                .map_err(PusError::ByteConversion)?;
            self.tm_hook.modify_tm(&mut tm_creator);
            sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
@ -1362,22 +1356,23 @@ pub mod test_util {
    }

    impl VerificationReportingProvider for TestVerificationReporter {
+        fn start_verification(
+            &self,
+            pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
+        ) -> VerificationToken<TcStateNone> {
+            let request_id = RequestId::new(pus_tc);
+            self.report_queue
+                .borrow_mut()
+                .push_back((request_id, VerificationReportInfo::Added));
+            VerificationToken::<TcStateNone>::new(RequestId::new(pus_tc))
+        }
+
        fn set_apid(&mut self, _apid: Apid) {}

        fn apid(&self) -> Apid {
            0
        }

-        fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone> {
-            self.report_queue
-                .borrow_mut()
-                .push_back((req_id, VerificationReportInfo::Added));
-            VerificationToken {
-                state: PhantomData,
-                request_id: req_id,
-            }
-        }
-
        fn acceptance_success(
            &self,
            _sender: &(impl EcssTmSender + ?Sized),
@ -1834,15 +1829,16 @@ pub mod tests {
            }
        }

+        pub fn start_verification(&self) -> VerificationToken<TcStateNone> {
+            let tc_reader = PusTcReader::new(&self.tc).unwrap();
+            self.reporter.start_verification(&tc_reader)
+        }
+
        #[allow(dead_code)]
        fn set_dest_id(&mut self, dest_id: u16) {
            self.reporter.set_dest_id(dest_id);
        }

-        fn init(&mut self) -> VerificationToken<TcStateNone> {
-            self.reporter.add_tc(&PusTcReader::new(&self.tc).unwrap().0)
-        }
-
        fn acceptance_success(
            &self,
            token: VerificationToken<TcStateNone>,
@ -1920,7 +1916,7 @@ pub mod tests {
                additional_data: None,
            };
            let mut service_queue = self.sender.service_queue.borrow_mut();
-            assert!(service_queue.len() >= 1);
+            assert!(!service_queue.is_empty());
            let info = service_queue.pop_front().unwrap();
            assert_eq!(info, cmp_info);
        }
@ -2092,8 +2088,8 @@ pub mod tests {

    #[test]
    fn test_basic_acceptance_success() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
-        let token = testbench.init();
+        let testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
+        let token = testbench.start_verification();
        testbench
            .acceptance_success(token, &EMPTY_STAMP)
            .expect("sending acceptance success failed");
@ -2103,7 +2099,7 @@ pub mod tests {
    #[test]
    fn test_basic_acceptance_failure() {
        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
-        let init_token = testbench.init();
+        let init_token = testbench.start_verification();
        let timestamp = [1, 2, 3, 4, 5, 6, 7];
        let fail_code = EcssEnumU16::new(2);
        let fail_params = FailParams::new_no_fail_data(timestamp.as_slice(), &fail_code);
@ -2116,7 +2112,7 @@ pub mod tests {
    #[test]
    fn test_basic_acceptance_failure_with_helper() {
        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
-        let init_token = testbench.init();
+        let init_token = testbench.start_verification();
        let timestamp = [1, 2, 3, 4, 5, 6, 7];
        let fail_code = EcssEnumU16::new(2);
        let fail_params = FailParams::new_no_fail_data(timestamp.as_slice(), &fail_code);
@ -2128,8 +2124,8 @@ pub mod tests {

    #[test]
    fn test_acceptance_fail_data_too_large() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 8);
-        let init_token = testbench.init();
+        let testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 8);
+        let init_token = testbench.start_verification();
        let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
        let fail_code = EcssEnumU16::new(2);
        let fail_data: [u8; 16] = [0; 16];
@ -2160,13 +2156,13 @@ pub mod tests {

    #[test]
    fn test_basic_acceptance_failure_with_fail_data() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
+        let testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
        let fail_code = EcssEnumU8::new(10);
        let fail_data = EcssEnumU32::new(12);
        let mut fail_data_raw = [0; 4];
        fail_data.write_to_be_bytes(&mut fail_data_raw).unwrap();
        let fail_params = FailParams::new(&EMPTY_STAMP, &fail_code, fail_data_raw.as_slice());
-        let init_token = testbench.init();
+        let init_token = testbench.start_verification();
        testbench
            .acceptance_failure(init_token, fail_params)
            .expect("sending acceptance failure failed");
@ -2184,7 +2180,7 @@ pub mod tests {
    #[test]
    fn test_start_failure() {
        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
-        let init_token = testbench.init();
+        let init_token = testbench.start_verification();
        let fail_code = EcssEnumU8::new(22);
        let fail_data: i32 = -12;
        let mut fail_data_raw = [0; 4];
@ -2203,7 +2199,7 @@ pub mod tests {
    #[test]
    fn test_start_failure_with_helper() {
        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
-        let token = testbench.init();
+        let token = testbench.start_verification();
        let fail_code = EcssEnumU8::new(22);
        let fail_data: i32 = -12;
        let mut fail_data_raw = [0; 4];
@ -2222,7 +2218,7 @@ pub mod tests {
    #[test]
    fn test_steps_success() {
        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
-        let token = testbench.init();
+        let token = testbench.start_verification();
        let accepted_token = testbench
            .acceptance_success(token, &EMPTY_STAMP)
            .expect("acceptance  failed");
@ -2245,7 +2241,7 @@ pub mod tests {
    #[test]
    fn test_step_failure() {
        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
-        let token = testbench.init();
+        let token = testbench.start_verification();
        let fail_code = EcssEnumU32::new(0x1020);
        let fail_data: f32 = -22.3232;
        let mut fail_data_raw = [0; 4];
@ -2279,7 +2275,7 @@ pub mod tests {
    #[test]
    fn test_completion_failure() {
        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
-        let token = testbench.init();
+        let token = testbench.start_verification();
        let fail_code = EcssEnumU32::new(0x1020);
        let fail_params = FailParams::new_no_fail_data(&EMPTY_STAMP, &fail_code);

@ -2302,7 +2298,7 @@ pub mod tests {
    fn test_complete_success_sequence() {
        let mut testbench =
            VerificationReporterTestbench::new(TEST_COMPONENT_ID_0.id(), create_generic_ping(), 16);
-        let token = testbench.init();
+        let token = testbench.start_verification();
        let accepted_token = testbench
            .acceptance_success(token, &EMPTY_STAMP)
            .expect("Sending acceptance success failed");
@ -2324,7 +2320,7 @@ pub mod tests {
            create_generic_ping(),
            SequenceCounterHook::default(),
        );
-        let token = testbench.init();
+        let token = testbench.start_verification();
        let accepted_token = testbench
            .acceptance_success(token, &EMPTY_STAMP)
            .expect("Sending acceptance success failed");
@ -2342,7 +2338,7 @@ pub mod tests {
    #[test]
    fn test_completion_failure_helper_string_param() {
        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 32);
-        let token = testbench.init();
+        let token = testbench.start_verification();
        let accepted_token = testbench
            .acceptance_success(token, &EMPTY_STAMP)
            .expect("Sending acceptance success failed");
@ -2369,7 +2365,7 @@ pub mod tests {
    #[test]
    fn test_step_failure_helper_string_param() {
        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 32);
-        let token = testbench.init();
+        let token = testbench.start_verification();
        let accepted_token = testbench
            .acceptance_success(token, &EMPTY_STAMP)
            .expect("Sending acceptance success failed");
--- 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/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() {
@ -111,9 +107,9 @@ fn test_threaded_usage() {
                Ok(event_tm) => {
                    let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
                        .expect("Deserializing TM failed");
-                    assert_eq!(tm.0.service(), 5);
-                    assert_eq!(tm.0.subservice(), 1);
-                    let src_data = tm.0.source_data();
+                    assert_eq!(tm.service(), 5);
+                    assert_eq!(tm.subservice(), 1);
+                    let src_data = tm.source_data();
                    assert!(!src_data.is_empty());
                    assert_eq!(src_data.len(), 4);
                    let event =
@ -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()),
            ))
@ -141,9 +137,9 @@ fn test_threaded_usage() {
                Ok(event_tm) => {
                    let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
                        .expect("Deserializing TM failed");
-                    assert_eq!(tm.0.service(), 5);
-                    assert_eq!(tm.0.subservice(), 2);
-                    let src_data = tm.0.source_data();
+                    assert_eq!(tm.service(), 5);
+                    assert_eq!(tm.subservice(), 2);
+                    let src_data = tm.source_data();
                    assert!(!src_data.is_empty());
                    assert_eq!(src_data.len(), 12);
                    let event =
--- a/satrs/tests/pus_verification.rs
+++ b/satrs/tests/pus_verification.rs
@ -89,9 +89,9 @@ pub mod crossbeam_test {
                let pg = tc_guard.read_with_guard(tc_addr);
                tc_len = pg.read(&mut tc_buf).unwrap();
            }
-            let (_tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
+            let _tc = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();

-            let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
+            let token = reporter_with_sender_0.start_verification_with_req_id(req_id_0);
            let accepted_token = reporter_with_sender_0
                .acceptance_success(&sender, token, &FIXED_STAMP)
                .expect("Acceptance success failed");
@ -125,8 +125,8 @@ pub mod crossbeam_test {
                let pg = tc_guard.read_with_guard(tc_addr);
                tc_len = pg.read(&mut tc_buf).unwrap();
            }
-            let (tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
-            let token = reporter_with_sender_1.add_tc(&tc);
+            let tc = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
+            let token = reporter_with_sender_1.start_verification(&tc);
            let accepted_token = reporter_with_sender_1
                .acceptance_success(&sender_1, token, &FIXED_STAMP)
                .expect("Acceptance success failed");
@ -156,7 +156,7 @@ pub mod crossbeam_test {
                        .read(&mut tm_buf)
                        .expect("Error reading TM slice");
                }
-                let (pus_tm, _) =
+                let pus_tm =
                    PusTmReader::new(&tm_buf[0..tm_len], 7).expect("Error reading verification TM");
                let req_id =
                    RequestId::from_bytes(&pus_tm.source_data()[0..RequestId::SIZE_AS_BYTES])
Author	SHA1	Message	Date
Robin Müller	b54c2b7863	Merge pull request 'spacepackets update' (#227 ) from spacepackets-update into main Reviewed-on: #227	2025-05-10 16:19:07 +02:00
Robin Müller	19f3355283	Merge pull request 'update SIM suite name' (#228 ) from update-sim-suite-name into main Reviewed-on: #228	2025-05-10 16:18:16 +02:00
Robin Mueller	4aeb28d2f1	update SIM suite name	2025-05-10 16:14:48 +02:00
Robin Mueller	ddc4544456	spacepackets update, clippy fixes	2025-05-10 16:13:45 +02:00
Robin Müller	9ab36c0362	Merge pull request 'update docs' (#226 ) from update-docs into main Reviewed-on: #226	2025-05-06 16:21:17 +02:00
Robin Müller	b95769c177	Merge branch 'main' into update-docs	2025-05-06 16:21:10 +02:00
Robin Müller	bb20533ae1	Merge pull request 'remove token API for verification creator core' (#224 ) from simplify-verification-reporter-core into main Reviewed-on: #224	2025-05-05 19:03:34 +02:00
Robin Mueller	27cacd0f43	remove token API for verification creator core	2025-05-05 19:02:37 +02:00
Robin Mueller	bd6488e87b	update docs	2025-04-01 20:58:18 +02:00
Robin Müller	52ec0d44aa	Merge pull request 'bump README links' (#223 ) from update-readme-links into main Reviewed-on: #223	2025-04-01 15:15:14 +02:00
Robin Mueller	4fa9f8d685	bump README links	2025-04-01 15:05:28 +02:00
Robin Müller	767cf6b1a5	Merge pull request 'prepare alpha release' (#222 ) from prep-satrs-v0.3.0-alpha.0 into main Reviewed-on: #222	2025-02-18 16:52:15 +01:00
Robin Mueller	5bf5518591	prepare alpha release	2025-02-18 16:49:33 +01:00
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