this actually works!

Merge branch 'sim-mgm-update' into serialization-prototyping
Merge remote-tracking branch 'origin/main' into serialization-prototyping
2024-05-25 13:46:14 +02:00 · 2024-05-25 13:09:25 +02:00 · 2024-05-25 13:08:54 +02:00 · 2024-05-25 13:08:32 +02:00 · 2024-05-25 12:31:51 +02:00 · 2024-05-25 12:29:44 +02:00
161 changed files with 49864 additions and 13837 deletions
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,9 +11,7 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
-      - run: cargo check
-      # Check example with static pool configuration
-      - run: cargo check -p satrs-example --no-default-features
+      - run: cargo check --release

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

  fmt:
    name: Check formatting
@@ -47,8 +45,6 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
-        with:
-          components: rustfmt
      - run: cargo fmt --all -- --check

  docs:
@@ -57,7 +53,7 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@nightly
-      - run: RUSTDOCFLAGS="--cfg docsrs" cargo +nightly doc -p satrs --all-features
+      - run: cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'

  clippy:
    name: Clippy
@@ -65,6 +61,4 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
-        with:
-          components: clippy
      - run: cargo clippy -- -D warnings
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -6,10 +6,11 @@ members = [
    "satrs-example",
    "satrs-minisim",
    "satrs-shared",
-    "embedded-examples/embedded-client",
 ]

 exclude = [
    "embedded-examples/stm32f3-disco-rtic",
-    "embedded-examples/stm32h7-nucleo-rtic",
+    "embedded-examples/stm32h7-rtic",
+    "serialization-prototyping",
 ]
+
--- a/README.md
+++ b/README.md
@@ -1,10 +1,9 @@
 <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://robamu.github.io/sat-rs/book/)
+[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
 [![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs)
 [![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs)
-[![matrix chat](https://img.shields.io/matrix/sat-rs%3Amatrix.org)](https://matrix.to/#/#sat-rs:matrix.org)

 sat-rs
 =========
@@ -12,7 +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://robamu.github.io/sat-rs/book/)
+link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
 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
@@ -38,16 +37,13 @@ This project currently contains following crates:
 * [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
   Example of a simple example on-board software using various sat-rs components which can be run
   on a host computer or on any system with a standard runtime like a Raspberry Pi.
-* [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim):
-   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.
-* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32f3-disco-rtic):
+* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/satrs-stm32f3-disco-rtic):
   Example of a simple example using low-level sat-rs components on a bare-metal system
   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
   framework on the STM32F3-Discovery device.
-* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32h7-nucleo-rtic):
+* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/satrs-stm32h7-nucleo-rtic):
   Example of a simple example using sat-rs components on a bare-metal system
   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
   framework on the STM32H743ZIT device.
@@ -62,8 +58,6 @@ Each project has its own `CHANGELOG.md`.
   packet protocol implementations. This repository is re-exported in the
   [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
   crate.
- * [`cfdp`](https://egit.irs.uni-stuttgart.de/rust/cfdp): CCSDS File Delivery Protocol
-   (CFDP) high-level library components.

 # Flight Heritage

@@ -75,10 +69,6 @@ Currently this library has the following flight heritage:
  [flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
  The application is strongly based on the sat-rs example application. You can find the repository
  of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
- Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
-  alongside a Flight System Simulator in the context of a
-  [Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
-  at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).

 # Coverage

--- a/docs.sh
+++ b/docs.sh
@@ -1,3 +0,0 @@
-#!/bin/sh
-export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
-cargo +nightly doc --all-features --open
--- a/embedded-examples/embedded-client/Cargo.toml
+++ b/embedded-examples/embedded-client/Cargo.toml
@@ -1,18 +0,0 @@
-[package]
-name = "embedded-client"
-version = "0.1.0"
-edition = "2024"
-
-[dependencies]
-clap = { version = "4", features = ["derive"] }
-serialport = "4"
-toml = "0.9"
-serde = { version = "1", features = ["derive"] }
-satrs-stm32f3-disco-rtic = { path = "../stm32f3-disco-rtic" }
-spacepackets = { version = "0.17" }
-tmtc-utils = { git = "https://egit.irs.uni-stuttgart.de/rust/tmtc-utils.git", version = "0.1" }
-postcard = { version = "1", features = ["alloc"] }
-cobs = "0.5"
-fern = "0.7"
-humantime = "2"
-log = "0.4"
--- a/embedded-examples/embedded-client/config.toml
+++ b/embedded-examples/embedded-client/config.toml
@@ -1,2 +0,0 @@
-[interface]
-serial_port = "/dev/ttyUSB0"
--- a/embedded-examples/embedded-client/src/main.rs
+++ b/embedded-examples/embedded-client/src/main.rs
@@ -1,107 +0,0 @@
-use std::{
-    fs::File,
-    io::Read,
-    path::Path,
-    time::{Duration, SystemTime},
-};
-
-use clap::Parser;
-use cobs::CobsDecoderOwned;
-use satrs_stm32f3_disco_rtic::Request;
-use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
-use tmtc_utils::transport::serial::PacketTransportSerialCobs;
-
-#[derive(Parser, Debug)]
-struct Cli {
-    #[arg(short, long)]
-    ping: bool,
-
-    /// Set frequency in milliseconds.
-    #[arg(short, long)]
-    set_led_frequency: Option<u32>,
-}
-
-#[derive(Debug, serde::Deserialize)]
-struct Config {
-    interface: Interface,
-}
-
-#[derive(Debug, serde::Deserialize)]
-struct Interface {
-    serial_port: String,
-}
-
-fn setup_logger() -> Result<(), fern::InitError> {
-    fern::Dispatch::new()
-        .format(|out, message, record| {
-            out.finish(format_args!(
-                "[{} {} {}] {}",
-                humantime::format_rfc3339_seconds(SystemTime::now()),
-                record.level(),
-                record.target(),
-                message
-            ))
-        })
-        .level(log::LevelFilter::Debug)
-        .chain(std::io::stdout())
-        .chain(fern::log_file("output.log")?)
-        .apply()?;
-    Ok(())
-}
-
-fn main() {
-    setup_logger().expect("failed to initialize logger");
-    println!("sat-rs embedded examples TMTC client");
-
-    let cli = Cli::parse();
-    let mut config_file =
-        File::open(Path::new("config.toml")).expect("opening config.toml file failed");
-    let mut toml_str = String::new();
-    config_file
-        .read_to_string(&mut toml_str)
-        .expect("reading config.toml file failed");
-    let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
-    println!("Connecting to serial port {}", config.interface.serial_port);
-
-    let serial = serialport::new(config.interface.serial_port, 115200)
-        .open()
-        .expect("opening serial port failed");
-    let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
-
-    if cli.ping {
-        let request = Request::Ping;
-        let tc = create_stm32f3_tc(&request);
-        log::info!(
-            "Sending ping request with TC ID: {:#010x}",
-            tc.ccsds_packet_id_and_psc().raw()
-        );
-        transport.send(&tc.to_vec()).unwrap();
-    }
-
-    if let Some(freq_ms) = cli.set_led_frequency {
-        let request = Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
-        let tc = create_stm32f3_tc(&request);
-        log::info!(
-            "Sending change blink frequency request {:?} with TC ID: {:#010x}",
-            request,
-            tc.ccsds_packet_id_and_psc().raw()
-        );
-        transport.send(&tc.to_vec()).unwrap();
-    }
-
-    log::info!("Waiting for response...");
-    loop {
-        transport
-            .receive(|packet: &[u8]| {
-                let reader = CcsdsPacketReader::new_with_checksum(packet);
-                log::info!("Received packet: {:?}", reader);
-            })
-            .unwrap();
-    }
-}
-
-fn create_stm32f3_tc(request: &Request) -> CcsdsPacketCreatorOwned {
-    let req_raw = postcard::to_allocvec(&request).unwrap();
-    let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
-    CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
-}
--- a/embedded-examples/stm32f3-disco-rtic/.cargo/config.toml.template
+++ b/embedded-examples/stm32f3-disco-rtic/.cargo/config.toml.template
@@ -34,4 +34,4 @@ rustflags = [
 target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)

 [env]
-DEFMT_LOG = "info"
+DEFMT_LOG = "info"
--- a/embedded-examples/stm32f3-disco-rtic/.gitignore
+++ b/embedded-examples/stm32f3-disco-rtic/.gitignore
@@ -1,4 +1,4 @@
 /target
 /itm.txt
-/.cargo/config.toml
+/.cargo/config*
 /.vscode
--- a/embedded-examples/stm32f3-disco-rtic/Cargo.lock
+++ b/embedded-examples/stm32f3-disco-rtic/Cargo.lock
--- a/embedded-examples/stm32f3-disco-rtic/Cargo.toml
+++ b/embedded-examples/stm32f3-disco-rtic/Cargo.toml
@@ -9,33 +9,50 @@ default-run = "satrs-stm32f3-disco-rtic"
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-defmt = "1"
-defmt-rtt = { version = "1" }
-panic-probe = { version = "1", features = ["print-defmt"] }
-embedded-hal = "1"
+defmt = "0.3"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+embedded-hal = "0.2.7"
 cortex-m-semihosting = "0.5.0"
-embassy-stm32 = { version = "0.4", features = ["defmt", "stm32f303vc", "unstable-pac"] }
 enumset = "1"
-heapless = "0.9"
-spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
-static_cell = "2"
-cobs = { version = "0.5", default-features = false, features = ["defmt"] }
-postcard = { version = "1" }
-arbitrary-int = "2"
-thiserror = { version = "2", default-features = false }
-serde = { version = "1", default-features = false, features = ["derive"] }
+heapless = "0.8"

-rtic = { version = "2", features = ["thumbv7-backend"] }
-rtic-sync = { version = "1" }
-rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]

-#[dependencies.satrs]
-# path = "../../satrs"
-#default-features = false
-# features = ["defmt"]
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]
+
+[dependencies.cobs]
+git = "https://github.com/robamu/cobs.rs.git"
+branch = "all_features"
+default-features = false
+
+[dependencies.stm32f3xx-hal]
+git = "https://github.com/robamu/stm32f3xx-hal"
+version = "0.11.0-alpha.0"
+features = ["stm32f303xc", "rt", "enumset"]
+branch = "complete-dma-update"
+# Can be used in workspace to develop and update HAL
+# path = "../stm32f3xx-hal"
+
+[dependencies.stm32f3-discovery]
+git = "https://github.com/robamu/stm32f3-discovery"
+version = "0.8.0-alpha.0"
+branch = "complete-dma-update-hal"
+# Can be used in workspace to develop and update BSP
+# path = "../stm32f3-discovery"
+
+[dependencies.satrs]
+# path = "satrs"
+version = "0.2"
+default-features = false
+features = ["defmt"]

 [dev-dependencies]
-defmt-test = "0.4"
+defmt-test = "0.3"

 # cargo test
 [profile.test]
--- a/embedded-examples/stm32f3-disco-rtic/STM32F303.svd
+++ b/embedded-examples/stm32f3-disco-rtic/STM32F303.svd
--- a/embedded-examples/stm32f3-disco-rtic/legacy/jlink.gdb
+++ b/embedded-examples/stm32f3-disco-rtic/legacy/jlink.gdb
@@ -0,0 +1,10 @@
+target extended-remote localhost:2331
+
+monitor reset
+
+# *try* to stop at the user entry point (it might be gone due to inlining)
+break main
+
+load
+
+continue
--- a/embedded-examples/stm32f3-disco-rtic/legacy/openocd.cfg
+++ b/embedded-examples/stm32f3-disco-rtic/legacy/openocd.cfg
@@ -0,0 +1,12 @@
+# Sample OpenOCD configuration for the STM32F3DISCOVERY development board
+
+# Depending on the hardware revision you got you'll have to pick ONE of these
+# interfaces. At any time only one interface should be commented out.
+
+# Revision C (newer revision)
+source [find interface/stlink.cfg]
+
+# Revision A and B (older revisions)
+# source [find interface/stlink-v2.cfg]
+
+source [find target/stm32f3x.cfg]
--- a/embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb
+++ b/embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb
@@ -0,0 +1,42 @@
+target extended-remote :3333
+
+# print demangled symbols
+set print asm-demangle on
+
+# set backtrace limit to not have infinite backtrace loops
+set backtrace limit 32
+
+# detect unhandled exceptions, hard faults and panics
+break DefaultHandler
+break HardFault
+break rust_begin_unwind
+# # run the next few lines so the panic message is printed immediately
+# # the number needs to be adjusted for your panic handler
+# commands $bpnum
+# next 4
+# end
+
+# *try* to stop at the user entry point (it might be gone due to inlining)
+break main
+
+# monitor arm semihosting enable
+
+# # send captured ITM to the file itm.fifo
+# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
+# # 8000000 must match the core clock frequency
+# # 2000000 is the frequency of the SWO pin. This was added for newer
+# openocd versions like v0.12.0.
+# monitor tpiu config internal itm.txt uart off 8000000 2000000
+
+# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
+# # 8000000 must match the core clock frequency
+# # 2000000 is the frequency of the SWO pin
+# monitor tpiu config external uart off 8000000 2000000
+
+# # enable ITM port 0
+# monitor itm port 0 on
+
+load
+
+# start the process but immediately halt the processor
+stepi
--- a/embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore
+++ b/embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore
@@ -0,0 +1,8 @@
+/venv
+/.tmtc-history.txt
+/log
+/.idea/*
+!/.idea/runConfigurations
+
+/seqcnt.txt
+/tmtc_conf.json
--- a/embedded-examples/stm32f3-disco-rtic/pyclient/def_tmtc_conf.json
+++ b/embedded-examples/stm32f3-disco-rtic/pyclient/def_tmtc_conf.json
@@ -0,0 +1,4 @@
+{
+    "com_if": "serial_cobs",
+    "serial_baudrate": 115200
+}
--- a/embedded-examples/stm32f3-disco-rtic/pyclient/main.py
+++ b/embedded-examples/stm32f3-disco-rtic/pyclient/main.py
@@ -0,0 +1,305 @@
+#!/usr/bin/env python3
+"""Example client for the sat-rs example application"""
+import struct
+import logging
+import sys
+import time
+from typing import Any, Optional, cast
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ecss.tm import CdsShortTimestamp
+
+import tmtccmd
+from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
+from spacepackets.ecss.pus_17_test import Service17Tm
+from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
+
+from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
+from tmtccmd.core.base import BackendRequest
+from tmtccmd.core.ccsds_backend import QueueWrapper
+from tmtccmd.logging import add_colorlog_console_logger
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
+from tmtccmd.com import ComInterface
+from tmtccmd.config import (
+    CmdTreeNode,
+    default_json_path,
+    SetupParams,
+    HookBase,
+    params_to_procedure_conversion,
+)
+from tmtccmd.config.com import SerialCfgWrapper
+from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
+from tmtccmd.logging.pus import (
+    RegularTmtcLogWrapper,
+    RawTmtcTimedLogWrapper,
+    TimedLogWhen,
+)
+from tmtccmd.tmtc import (
+    TcQueueEntryType,
+    ProcedureWrapper,
+    TcProcedureType,
+    FeedWrapper,
+    SendCbParams,
+    DefaultPusQueueHelper,
+)
+from tmtccmd.pus.s5_fsfw_event import Service5Tm
+from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
+from tmtccmd.util.obj_id import ObjectIdDictT
+
+_LOGGER = logging.getLogger()
+
+EXAMPLE_PUS_APID = 0x02
+
+
+class SatRsConfigHook(HookBase):
+    def __init__(self, json_cfg_path: str):
+        super().__init__(json_cfg_path)
+
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
+        from tmtccmd.config.com import (
+            create_com_interface_default,
+            create_com_interface_cfg_default,
+        )
+
+        assert self.cfg_path is not None
+        cfg = create_com_interface_cfg_default(
+            com_if_key=com_if_key,
+            json_cfg_path=self.cfg_path,
+            space_packet_ids=None,
+        )
+        if cfg is None:
+            raise ValueError(
+                f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
+            )
+        if cfg.com_if_key == "serial_cobs":
+            cfg = cast(SerialCfgWrapper, cfg)
+            cfg.serial_cfg.serial_timeout = 0.5
+        return create_com_interface_default(cfg)
+
+    def get_command_definitions(self) -> CmdTreeNode:
+        """This function should return the root node of the command definition tree."""
+        return create_cmd_definition_tree()
+
+    def get_cmd_history(self) -> Optional[History]:
+        """Optionlly return a history class for the past command paths which will be used
+        when prompting a command path from the user in CLI mode."""
+        return FileHistory(".tmtc-history.txt")
+
+    def get_object_ids(self) -> ObjectIdDictT:
+        from tmtccmd.config.objects import get_core_object_ids
+
+        return get_core_object_ids()
+
+
+def create_cmd_definition_tree() -> CmdTreeNode:
+    root_node = CmdTreeNode.root_node()
+    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
+    return root_node
+
+
+class PusHandler(SpecificApidHandlerBase):
+    def __init__(
+        self,
+        file_logger: logging.Logger,
+        verif_wrapper: VerificationWrapper,
+        raw_logger: RawTmtcTimedLogWrapper,
+    ):
+        super().__init__(EXAMPLE_PUS_APID, None)
+        self.file_logger = file_logger
+        self.raw_logger = raw_logger
+        self.verif_wrapper = verif_wrapper
+
+    def handle_tm(self, packet: bytes, _user_args: Any):
+        try:
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+        except ValueError as e:
+            _LOGGER.warning("Could not generate PUS TM object from raw data")
+            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
+            raise e
+        service = pus_tm.service
+        tm_packet = None
+        if service == 1:
+            tm_packet = Service1Tm.unpack(
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
+            )
+            res = self.verif_wrapper.add_tm(tm_packet)
+            if res is None:
+                _LOGGER.info(
+                    f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
+                    f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
+                )
+                _LOGGER.warning(
+                    f"No matching telecommand found for {tm_packet.tc_req_id}"
+                )
+            else:
+                self.verif_wrapper.log_to_console(tm_packet, res)
+                self.verif_wrapper.log_to_file(tm_packet, res)
+        if service == 3:
+            _LOGGER.info("No handling for HK packets implemented")
+            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+            if pus_tm.subservice == 25:
+                if len(pus_tm.source_data) < 8:
+                    raise ValueError("No addressable ID in HK packet")
+                json_str = pus_tm.source_data[8:]
+                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
+        if service == 5:
+            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+        if service == 17:
+            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+            if tm_packet.subservice == 2:
+                _LOGGER.info("Received Ping Reply TM[17,2]")
+            else:
+                _LOGGER.info(
+                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
+                )
+        if tm_packet is None:
+            _LOGGER.info(
+                f"The service {service} is not implemented in Telemetry Factory"
+            )
+            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+        self.raw_logger.log_tm(pus_tm)
+
+
+def make_addressable_id(target_id: int, unique_id: int) -> bytes:
+    byte_string = bytearray(struct.pack("!I", target_id))
+    byte_string.extend(struct.pack("!I", unique_id))
+    return byte_string
+
+
+class TcHandler(TcHandlerBase):
+    def __init__(
+        self,
+        seq_count_provider: FileSeqCountProvider,
+        verif_wrapper: VerificationWrapper,
+    ):
+        super(TcHandler, self).__init__()
+        self.seq_count_provider = seq_count_provider
+        self.verif_wrapper = verif_wrapper
+        self.queue_helper = DefaultPusQueueHelper(
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=7,
+            seq_cnt_provider=seq_count_provider,
+            pus_verificator=verif_wrapper.pus_verificator,
+            default_pus_apid=EXAMPLE_PUS_APID,
+        )
+
+    def send_cb(self, send_params: SendCbParams):
+        entry_helper = send_params.entry
+        if entry_helper.is_tc:
+            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
+                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
+                pus_tc_wrapper.pus_tc.seq_count = (
+                    self.seq_count_provider.get_and_increment()
+                )
+                self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
+                raw_tc = pus_tc_wrapper.pus_tc.pack()
+                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
+                send_params.com_if.send(raw_tc)
+        elif entry_helper.entry_type == TcQueueEntryType.LOG:
+            log_entry = entry_helper.to_log_entry()
+            _LOGGER.info(log_entry.log_str)
+
+    def queue_finished_cb(self, info: ProcedureWrapper):
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
+
+    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
+        q = self.queue_helper
+        q.queue_wrapper = wrapper.queue_wrapper
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            cmd_path = def_proc.cmd_path
+            if cmd_path == "/ping":
+                q.add_log_cmd("Sending PUS ping telecommand")
+                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+            if cmd_path == "/change_blink_freq":
+                self.create_change_blink_freq_command(q)
+
+    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
+        q.add_log_cmd("Changing blink frequency")
+        while True:
+            blink_freq = int(
+                input(
+                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
+                )
+            )
+            if blink_freq < 2 or blink_freq > 10000:
+                print(
+                    "Invalid blink frequency. Please specify a value between 2 and 10000."
+                )
+                continue
+            break
+        app_data = struct.pack("!I", blink_freq)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
+
+
+def main():
+    add_colorlog_console_logger(_LOGGER)
+    tmtccmd.init_printout(False)
+    hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
+    parser_wrapper = PreArgsParsingWrapper()
+    parser_wrapper.create_default_parent_parser()
+    parser_wrapper.create_default_parser()
+    parser_wrapper.add_def_proc_args()
+    params = SetupParams()
+    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
+    proc_wrapper = ProcedureParamsWrapper()
+    if post_args_wrapper.use_gui:
+        post_args_wrapper.set_params_without_prompts(proc_wrapper)
+    else:
+        post_args_wrapper.set_params_with_prompts(proc_wrapper)
+    params.apid = EXAMPLE_PUS_APID
+    setup_args = SetupWrapper(
+        hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
+    )
+    # Create console logger helper and file loggers
+    tmtc_logger = RegularTmtcLogWrapper()
+    file_logger = tmtc_logger.logger
+    raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
+    verificator = PusVerificator()
+    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
+    # Create primary TM handler and add it to the CCSDS Packet Handler
+    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
+    ccsds_handler = CcsdsTmHandler(generic_handler=None)
+    ccsds_handler.add_apid_handler(tm_handler)
+
+    # Create TC handler
+    seq_count_provider = PusFileSeqCountProvider()
+    tc_handler = TcHandler(seq_count_provider, verification_wrapper)
+    tmtccmd.setup(setup_args=setup_args)
+    init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
+    tmtc_backend = tmtccmd.create_default_tmtc_backend(
+        setup_wrapper=setup_args,
+        tm_handler=ccsds_handler,
+        tc_handler=tc_handler,
+        init_procedure=init_proc,
+    )
+    tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
+    try:
+        while True:
+            state = tmtc_backend.periodic_op(None)
+            if state.request == BackendRequest.TERMINATION_NO_ERROR:
+                sys.exit(0)
+            elif state.request == BackendRequest.DELAY_IDLE:
+                _LOGGER.info("TMTC Client in IDLE mode")
+                time.sleep(3.0)
+            elif state.request == BackendRequest.DELAY_LISTENER:
+                time.sleep(0.8)
+            elif state.request == BackendRequest.DELAY_CUSTOM:
+                if state.next_delay.total_seconds() <= 0.4:
+                    time.sleep(state.next_delay.total_seconds())
+                else:
+                    time.sleep(0.4)
+            elif state.request == BackendRequest.CALL_NEXT:
+                pass
+    except KeyboardInterrupt:
+        sys.exit(0)
+
+
+if __name__ == "__main__":
+    main()
--- a/embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt
+++ b/embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt
@@ -0,0 +1,2 @@
+tmtccmd == 8.0.1
+# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
--- a/embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs
+++ b/embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs
@@ -1,61 +1,76 @@
-#![no_main]
 #![no_std]
+#![no_main]
+use satrs_stm32f3_disco_rtic as _;

-use panic_probe as _;
-use rtic::app;
+use stm32f3_discovery::leds::Leds;
+use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
+use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
+use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};

-#[app(device = embassy_stm32)]
-mod app {
-    use rtic_monotonics::fugit::ExtU32;
-    use rtic_monotonics::Monotonic as _;
-    use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    defmt::println!("STM32F3 Discovery Blinky");
+    let dp = pac::Peripherals::take().unwrap();
+    let mut rcc = dp.RCC.constrain();
+    let cp = cortex_m::Peripherals::take().unwrap();
+    let mut flash = dp.FLASH.constrain();
+    let clocks = rcc.cfgr.freeze(&mut flash.acr);
+    let mut delay = Delay::new(cp.SYST, clocks);

-    rtic_monotonics::systick_monotonic!(Mono, 1000);
+    let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
+    let mut leds = Leds::new(
+        gpioe.pe8,
+        gpioe.pe9,
+        gpioe.pe10,
+        gpioe.pe11,
+        gpioe.pe12,
+        gpioe.pe13,
+        gpioe.pe14,
+        gpioe.pe15,
+        &mut gpioe.moder,
+        &mut gpioe.otyper,
+    );
+    let delay_ms = 200u16;
+    loop {
+        leds.ld3_n.toggle().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld3_n.toggle().ok();
+        delay.delay_ms(delay_ms);

-    #[shared]
-    struct Shared {}
+        //explicit on/off
+        leds.ld4_nw.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld4_nw.off().ok();
+        delay.delay_ms(delay_ms);

-    #[local]
-    struct Local {
-        leds: Leds,
-        current_dir: Direction,
-    }
+        leds.ld5_ne.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld5_ne.off().ok();
+        delay.delay_ms(delay_ms);

-    #[init]
-    fn init(cx: init::Context) -> (Shared, Local) {
-        let p = embassy_stm32::init(Default::default());
+        leds.ld6_w.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld6_w.off().ok();
+        delay.delay_ms(delay_ms);

-        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
+        leds.ld7_e.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld7_e.off().ok();
+        delay.delay_ms(delay_ms);

-        let led_pin_set = LedPinSet {
-            pin_n: p.PE8,
-            pin_ne: p.PE9,
-            pin_e: p.PE10,
-            pin_se: p.PE11,
-            pin_s: p.PE12,
-            pin_sw: p.PE13,
-            pin_w: p.PE14,
-            pin_nw: p.PE15,
-        };
-        let leds = Leds::new(led_pin_set);
+        leds.ld8_sw.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld8_sw.off().ok();
+        delay.delay_ms(delay_ms);

-        // Initialize the systick interrupt & obtain the token to prove that we did
-        Mono::start(cx.core.SYST, 8_000_000);
-        blinky::spawn().expect("failed to spawn blinky task");
-        (
-            Shared {},
-            Local {
-                leds,
-                current_dir: Direction::North,
-            },
-        )
-    }
+        leds.ld9_se.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld9_se.off().ok();
+        delay.delay_ms(delay_ms);

-    #[task(local = [leds, current_dir])]
-    async fn blinky(cx: blinky::Context) {
-        loop {
-            cx.local.leds.blink_next(cx.local.current_dir);
-            Mono::delay(200.millis()).await;
-        }
+        leds.ld10_s.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld10_s.off().ok();
+        delay.delay_ms(delay_ms);
    }
 }
--- a/embedded-examples/stm32f3-disco-rtic/src/lib.rs
+++ b/embedded-examples/stm32f3-disco-rtic/src/lib.rs
@@ -1,190 +1,51 @@
 #![no_main]
 #![no_std]

-use arbitrary_int::u11;
-use core::time::Duration;
-use embassy_stm32::gpio::Output;
-use spacepackets::{
-    ccsds_packet_len_for_user_data_len_with_checksum, CcsdsPacketCreationError,
-    CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc, SpacePacketHeader,
-};
+use cortex_m_semihosting::debug;

-pub const APID: u11 = u11::new(0x02);
+use defmt_brtt as _; // global logger

-#[derive(defmt::Format, serde::Serialize, serde::Deserialize, PartialEq, Eq, Clone, Copy)]
-pub enum Direction {
-    North,
-    NorthEast,
-    East,
-    SouthEast,
-    South,
-    SouthWest,
-    West,
-    NorthWest,
+use stm32f3xx_hal as _; // memory layout
+
+use panic_probe as _;
+
+// same panicking *behavior* as `panic-probe` but doesn't print a panic message
+// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
+#[defmt::panic_handler]
+fn panic() -> ! {
+    cortex_m::asm::udf()
 }

-impl Direction {
-    pub fn switch_to_next(&mut self) -> (Self, Self) {
-        let curr = *self;
-        *self = match self {
-            Direction::North => Direction::NorthEast,
-            Direction::NorthEast => Direction::East,
-            Direction::East => Direction::SouthEast,
-            Direction::SouthEast => Direction::South,
-            Direction::South => Direction::SouthWest,
-            Direction::SouthWest => Direction::West,
-            Direction::West => Direction::NorthWest,
-            Direction::NorthWest => Direction::North,
-        };
-        (curr, *self)
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with status code 0.
+pub fn exit() -> ! {
+    loop {
+        debug::exit(debug::EXIT_SUCCESS);
    }
 }

-#[derive(Copy, Clone, Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
-pub enum Request {
-    Ping,
-    ChangeBlinkFrequency(Duration),
-}
-
-#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
-pub struct TmHeader {
-    pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
-    pub uptime_millis: u32,
-}
-
-#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
-pub enum Response {
-    CommandDone,
-}
-
-pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
-    ccsds_packet_len_for_user_data_len_with_checksum(
-        postcard::experimental::serialized_size(tm_header).unwrap()
-            + postcard::experimental::serialized_size(response).unwrap(),
-    )
-    .unwrap()
-}
-
-pub fn create_tm_packet(
-    buf: &mut [u8],
-    sp_header: SpacePacketHeader,
-    tm_header: TmHeader,
-    response: Response,
-) -> Result<usize, CcsdsPacketCreationError> {
-    let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
-        + postcard::experimental::serialized_size(&response).unwrap();
-    let mut creator =
-        CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
-
-    let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
-        .unwrap()
-        .len();
-    postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
-    Ok(creator.finish())
-}
-
-pub struct Leds {
-    pub north: Output<'static>,
-    pub north_east: Output<'static>,
-    pub east: Output<'static>,
-    pub south_east: Output<'static>,
-    pub south: Output<'static>,
-    pub south_west: Output<'static>,
-    pub west: Output<'static>,
-    pub north_west: Output<'static>,
-}
-
-impl Leds {
-    pub fn blink_next(&mut self, current_dir: &mut Direction) {
-        let (prev, curr) = current_dir.switch_to_next();
-        self.set_dir_low(prev);
-        self.set_dir_high(curr);
-    }
-
-    pub fn set_dir(&mut self, dir: Direction, level: embassy_stm32::gpio::Level) {
-        match dir {
-            Direction::North => self.north.set_level(level),
-            Direction::NorthEast => self.north_east.set_level(level),
-            Direction::East => self.east.set_level(level),
-            Direction::SouthEast => self.south_east.set_level(level),
-            Direction::South => self.south.set_level(level),
-            Direction::SouthWest => self.south_west.set_level(level),
-            Direction::West => self.west.set_level(level),
-            Direction::NorthWest => self.north_west.set_level(level),
-        }
-    }
-
-    pub fn set_dir_low(&mut self, dir: Direction) {
-        self.set_dir(dir, embassy_stm32::gpio::Level::Low);
-    }
-
-    pub fn set_dir_high(&mut self, dir: Direction) {
-        self.set_dir(dir, embassy_stm32::gpio::Level::High);
+/// Hardfault handler.
+///
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with an error. This seems better than the default, which is to spin in a
+/// loop.
+#[cortex_m_rt::exception]
+unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
+    loop {
+        debug::exit(debug::EXIT_FAILURE);
    }
 }

-pub struct LedPinSet {
-    pub pin_n: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE8>,
-    pub pin_ne: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE9>,
-    pub pin_e: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE10>,
-    pub pin_se: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE11>,
-    pub pin_s: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE12>,
-    pub pin_sw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE13>,
-    pub pin_w: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE14>,
-    pub pin_nw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE15>,
-}
+// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
+// once within a crate. the module can be in any file but there can only be at most
+// one `#[tests]` module in this library crate
+#[cfg(test)]
+#[defmt_test::tests]
+mod unit_tests {
+    use defmt::assert;

-impl Leds {
-    pub fn new(pin_set: LedPinSet) -> Self {
-        let led_n = Output::new(
-            pin_set.pin_n,
-            embassy_stm32::gpio::Level::Low,
-            embassy_stm32::gpio::Speed::Medium,
-        );
-        let led_ne = Output::new(
-            pin_set.pin_ne,
-            embassy_stm32::gpio::Level::Low,
-            embassy_stm32::gpio::Speed::Medium,
-        );
-        let led_e = Output::new(
-            pin_set.pin_e,
-            embassy_stm32::gpio::Level::Low,
-            embassy_stm32::gpio::Speed::Medium,
-        );
-        let led_se = Output::new(
-            pin_set.pin_se,
-            embassy_stm32::gpio::Level::Low,
-            embassy_stm32::gpio::Speed::Medium,
-        );
-        let led_s = Output::new(
-            pin_set.pin_s,
-            embassy_stm32::gpio::Level::Low,
-            embassy_stm32::gpio::Speed::Medium,
-        );
-        let led_sw = Output::new(
-            pin_set.pin_sw,
-            embassy_stm32::gpio::Level::Low,
-            embassy_stm32::gpio::Speed::Medium,
-        );
-        let led_w = Output::new(
-            pin_set.pin_w,
-            embassy_stm32::gpio::Level::Low,
-            embassy_stm32::gpio::Speed::Medium,
-        );
-        let led_nw = Output::new(
-            pin_set.pin_nw,
-            embassy_stm32::gpio::Level::Low,
-            embassy_stm32::gpio::Speed::Medium,
-        );
-        Self {
-            north: led_n,
-            north_east: led_ne,
-            east: led_e,
-            south_east: led_se,
-            south: led_s,
-            south_west: led_sw,
-            west: led_w,
-            north_west: led_nw,
-        }
+    #[test]
+    fn it_works() {
+        assert!(true)
    }
 }
--- a/embedded-examples/stm32f3-disco-rtic/src/main.rs
+++ b/embedded-examples/stm32f3-disco-rtic/src/main.rs
@@ -1,349 +1,684 @@
 #![no_std]
 #![no_main]
-use arbitrary_int::{u11, u14};
-use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
-use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, CcsdsPacketId, Request, Response};
-use spacepackets::{CcsdsPacketCreationError, SpHeader};
-
-use defmt_rtt as _; // global logger
-
-use panic_probe as _;
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
+};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::ecss::EcssEnumU16;
+use satrs::spacepackets::CcsdsPacket;
+use satrs::spacepackets::{ByteConversionError, SpHeader};
+// global logger + panicking-behavior + memory layout
+use satrs_stm32f3_disco_rtic as _;

 use rtic::app;

+use heapless::{mpmc::Q8, Vec};
 #[allow(unused_imports)]
-use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
-use rtic_monotonics::systick::prelude::*;
-
-use crate::app::Mono;
+use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
+use rtic_monotonics::systick::ExtU32;
+use satrs::seq_count::SequenceCountProviderCore;
+use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
+use stm32f3xx_hal::dma::dma1;
+use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
+use stm32f3xx_hal::pac::USART2;
+use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};

 const UART_BAUD: u32 = 115200;
 const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
 const TX_HANDLER_FREQ_MS: u32 = 20;
+const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
 const MAX_TC_LEN: usize = 128;
 const MAX_TM_LEN: usize = 128;
+pub const PUS_APID: u16 = 0x02;

-pub const PUS_APID: u11 = u11::new(0x02);
+type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
+type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
+type InstantFugit = TimerInstantU32<1000>;
+type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
+type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;

 // This is the predictable maximum overhead of the COBS encoding scheme.
 // It is simply the maximum packet lenght dividied by 254 rounded up.
-const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
+const COBS_TC_OVERHEAD: usize = (MAX_TC_LEN + 254 - 1) / 254;
+const COBS_TM_OVERHEAD: usize = (MAX_TM_LEN + 254 - 1) / 254;

+const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_OVERHEAD;
 const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;

-const TC_DMA_BUF_LEN: usize = 512;
+// This is a static buffer which should ONLY (!) be used as the TX DMA
+// transfer buffer.
+static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
+// This is a static buffer which should ONLY (!) be used as the RX DMA
+// transfer buffer.
+static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];

-type TmPacket = heapless::Vec<u8, MAX_TM_LEN>;
+type TmPacket = Vec<u8, MAX_TM_LEN>;
+type TcPacket = Vec<u8, MAX_TC_LEN>;

-static TM_QUEUE: heapless::mpmc::Queue<TmPacket, 16> = heapless::mpmc::Queue::new();
+static TM_REQUESTS: Q8<TmPacket> = Q8::new();

-#[derive(Debug, defmt::Format, thiserror::Error)]
-pub enum TmSendError {
-    #[error("packet creation error: {0}")]
-    PacketCreation(#[from] CcsdsPacketCreationError),
-    #[error("queue error")]
-    Queue,
+use core::sync::atomic::{AtomicU16, Ordering};
+
+pub struct SeqCountProviderAtomicRef {
+    atomic: AtomicU16,
+    ordering: Ordering,
+}
+
+impl SeqCountProviderAtomicRef {
+    pub const fn new(ordering: Ordering) -> Self {
+        Self {
+            atomic: AtomicU16::new(0),
+            ordering,
+        }
+    }
+}
+
+impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
+    fn get(&self) -> u16 {
+        self.atomic.load(self.ordering)
+    }
+
+    fn increment(&self) {
+        self.atomic.fetch_add(1, self.ordering);
+    }
+
+    fn get_and_increment(&self) -> u16 {
+        self.atomic.fetch_add(1, self.ordering)
+    }
+}
+
+static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
+    SeqCountProviderAtomicRef::new(Ordering::Relaxed);
+
+pub struct TxIdle {
+    tx: TxType,
+    dma_channel: dma1::C7,
 }

 #[derive(Debug, defmt::Format)]
-pub struct RequestWithTcId {
-    pub request: Request,
-    pub tc_id: CcsdsPacketId,
+pub enum TmSendError {
+    ByteConversion(ByteConversionError),
+    Queue,
 }

-#[app(device = embassy_stm32)]
+impl From<ByteConversionError> for TmSendError {
+    fn from(value: ByteConversionError) -> Self {
+        Self::ByteConversion(value)
+    }
+}
+
+fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
+    if tm_creator.len_written() > MAX_TM_LEN {
+        return Err(ByteConversionError::ToSliceTooSmall {
+            expected: tm_creator.len_written(),
+            found: MAX_TM_LEN,
+        }
+        .into());
+    }
+    let mut tm_vec = TmPacket::new();
+    tm_vec
+        .resize(tm_creator.len_written(), 0)
+        .expect("vec resize failed");
+    tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
+    defmt::info!(
+        "Sending TM[{},{}] with size {}",
+        tm_creator.service(),
+        tm_creator.subservice(),
+        tm_creator.len_written()
+    );
+    TM_REQUESTS
+        .enqueue(tm_vec)
+        .map_err(|_| TmSendError::Queue)?;
+    Ok(())
+}
+
+fn handle_tm_send_error(error: TmSendError) {
+    defmt::warn!("sending tm failed with error {}", error);
+}
+
+pub enum UartTxState {
+    // Wrapped in an option because we need an owned type later.
+    Idle(Option<TxIdle>),
+    // Same as above
+    Transmitting(Option<TxDmaTransferType>),
+}
+
+pub struct UartTxShared {
+    last_completed: Option<InstantFugit>,
+    state: UartTxState,
+}
+
+pub struct RequestWithToken {
+    token: VerificationToken<TcStateAccepted>,
+    request: Request,
+}
+
+#[derive(Debug, defmt::Format)]
+pub enum Request {
+    Ping,
+    ChangeBlinkFrequency(u32),
+}
+
+#[derive(Debug, defmt::Format)]
+pub enum RequestError {
+    InvalidApid = 1,
+    InvalidService = 2,
+    InvalidSubservice = 3,
+    NotEnoughAppData = 4,
+}
+
+pub fn convert_pus_tc_to_request(
+    tc: &PusTcReader,
+    verif_reporter: &mut VerificationReportCreator,
+    src_data_buf: &mut [u8],
+    timestamp: &[u8],
+) -> Result<RequestWithToken, RequestError> {
+    defmt::info!(
+        "Found PUS TC [{},{}] with length {}",
+        tc.service(),
+        tc.subservice(),
+        tc.len_packed()
+    );
+
+    let token = verif_reporter.add_tc(tc);
+    if tc.apid() != PUS_APID {
+        defmt::warn!("Received tc with unknown APID {}", tc.apid());
+        let result = send_tm(
+            verif_reporter
+                .acceptance_failure(
+                    src_data_buf,
+                    token,
+                    SEQ_COUNT_PROVIDER.get_and_increment(),
+                    0,
+                    FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
+                )
+                .unwrap(),
+        );
+        if let Err(e) = result {
+            handle_tm_send_error(e);
+        }
+        return Err(RequestError::InvalidApid);
+    }
+    let (tm_creator, accepted_token) = verif_reporter
+        .acceptance_success(
+            src_data_buf,
+            token,
+            SEQ_COUNT_PROVIDER.get_and_increment(),
+            0,
+            timestamp,
+        )
+        .unwrap();
+
+    if let Err(e) = send_tm(tm_creator) {
+        handle_tm_send_error(e);
+    }
+
+    if tc.service() == 17 && tc.subservice() == 1 {
+        if tc.subservice() == 1 {
+            return Ok(RequestWithToken {
+                request: Request::Ping,
+                token: accepted_token,
+            });
+        } else {
+            return Err(RequestError::InvalidSubservice);
+        }
+    } else if tc.service() == 8 {
+        if tc.subservice() == 1 {
+            if tc.user_data().len() < 4 {
+                return Err(RequestError::NotEnoughAppData);
+            }
+            let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
+            return Ok(RequestWithToken {
+                request: Request::ChangeBlinkFrequency(new_freq_ms),
+                token: accepted_token,
+            });
+        } else {
+            return Err(RequestError::InvalidSubservice);
+        }
+    } else {
+        return Err(RequestError::InvalidService);
+    }
+}
+
+#[app(device = stm32f3xx_hal::pac, peripherals = true)]
 mod app {
-    use core::time::Duration;
-
    use super::*;
-    use arbitrary_int::u14;
-    use rtic::Mutex;
-    use rtic_sync::{
-        channel::{Receiver, Sender},
-        make_channel,
-    };
-    use satrs_stm32f3_disco_rtic::{CcsdsPacketId, LedPinSet, Request, Response};
-    use spacepackets::CcsdsPacketReader;
+    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)]
+    use stm32f3_discovery::leds::Direction;
+    use stm32f3_discovery::leds::Leds;
+    use stm32f3xx_hal::prelude::*;

-    systick_monotonic!(Mono, 1000);
-
-    embassy_stm32::bind_interrupts!(struct Irqs {
-        USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
-    });
+    use stm32f3_discovery::switch_hal::OutputSwitch;
+    use stm32f3xx_hal::Switch;
+    #[allow(dead_code)]
+    type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;

    #[shared]
    struct Shared {
-        blink_freq: Duration,
+        blink_freq: MillisDurationU32,
+        tx_shared: UartTxShared,
+        rx_transfer: Option<RxDmaTransferType>,
    }

    #[local]
    struct Local {
-        leds: satrs_stm32f3_disco_rtic::Leds,
-        current_dir: satrs_stm32f3_disco_rtic::Direction,
-        seq_count: u14,
-        tx: embassy_stm32::usart::UartTx<'static, embassy_stm32::mode::Async>,
-        rx: embassy_stm32::usart::RingBufferedUartRx<'static>,
+        verif_reporter: VerificationReportCreator,
+        leds: Leds,
+        last_dir: Direction,
+        curr_dir: Iter<'static, Direction>,
    }

    #[init]
    fn init(cx: init::Context) -> (Shared, Local) {
-        static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> =
-            static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);
+        let mut rcc = cx.device.RCC.constrain();

-        let p = embassy_stm32::init(Default::default());
-
-        let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
        // Initialize the systick interrupt & obtain the token to prove that we did
-        Mono::start(cx.core.SYST, 8_000_000);
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);

-        defmt::info!("sat-rs demo application for the STM32F3-Discovery with RTICv2");
-        let led_pin_set = LedPinSet {
-            pin_n: p.PE8,
-            pin_ne: p.PE9,
-            pin_e: p.PE10,
-            pin_se: p.PE11,
-            pin_s: p.PE12,
-            pin_sw: p.PE13,
-            pin_w: p.PE14,
-            pin_nw: p.PE15,
-        };
-        let leds = satrs_stm32f3_disco_rtic::Leds::new(led_pin_set);
+        let mut flash = cx.device.FLASH.constrain();
+        let clocks = rcc
+            .cfgr
+            .use_hse(8.MHz())
+            .sysclk(8.MHz())
+            .pclk1(8.MHz())
+            .freeze(&mut flash.acr);

-        let mut config = embassy_stm32::usart::Config::default();
-        config.baudrate = UART_BAUD;
-        let uart = embassy_stm32::usart::Uart::new(
-            p.USART2, p.PA3, p.PA2, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
-        )
-        .unwrap();
+        // Set up monotonic timer.
+        //let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);

-        let (tx, rx) = uart.split();
+        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
+        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
+
+        let leds = Leds::new(
+            gpioe.pe8,
+            gpioe.pe9,
+            gpioe.pe10,
+            gpioe.pe11,
+            gpioe.pe12,
+            gpioe.pe13,
+            gpioe.pe14,
+            gpioe.pe15,
+            &mut gpioe.moder,
+            &mut gpioe.otyper,
+        );
+        let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
+        // USART2 pins
+        let mut pins = (
+            // TX pin: PA2
+            gpioa
+                .pa2
+                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
+            // RX pin: PA3
+            gpioa
+                .pa3
+                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
+        );
+        pins.1.internal_pull_up(&mut gpioa.pupdr, true);
+        let mut usart2 = Serial::new(
+            cx.device.USART2,
+            pins,
+            UART_BAUD.Bd(),
+            clocks,
+            &mut rcc.apb1,
+        );
+        usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
+        // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
+        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
+
+        let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
+        let (mut tx_serial, mut rx_serial) = usart2.split();
+
+        // This interrupt is immediately triggered, clear it. It will only be reset
+        // by the hardware when data is received on RX (RXNE event)
+        rx_serial.clear_event(RxEvent::Idle);
+        // For some reason, this is also immediately triggered..
+        tx_serial.clear_event(TxEvent::TransmissionComplete);
+        let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
        defmt::info!("Spawning tasks");
-        blinky::spawn().unwrap();
+        blink::spawn().unwrap();
        serial_tx_handler::spawn().unwrap();
-        serial_rx_handler::spawn(req_sender).unwrap();
-        req_handler::spawn(req_receiver).unwrap();
+
+        let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();

        (
            Shared {
-                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
+                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
+                tx_shared: UartTxShared {
+                    last_completed: None,
+                    state: UartTxState::Idle(Some(TxIdle {
+                        tx: tx_serial,
+                        dma_channel: dma1.ch7,
+                    })),
+                },
+                rx_transfer: Some(rx_transfer),
            },
            Local {
+                verif_reporter,
                leds,
-                tx,
-                seq_count: u14::new(0),
-                rx: rx.into_ring_buffered(DMA_BUF.take()),
-                current_dir: satrs_stm32f3_disco_rtic::Direction::North,
+                last_dir: Direction::North,
+                curr_dir: Direction::iter(),
            },
        )
    }

-    #[task(local = [leds, current_dir], shared=[blink_freq])]
-    async fn blinky(mut cx: blinky::Context) {
+    #[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
+    async fn blink(mut cx: blink::Context) {
+        let blink::LocalResources {
+            leds,
+            curr_dir,
+            last_dir,
+            ..
+        } = cx.local;
+        let mut toggle_leds = |dir: &Direction| {
+            let last_led = leds.for_direction(*last_dir);
+            last_led.off().ok();
+            let led = leds.for_direction(*dir);
+            led.on().ok();
+            *last_dir = *dir;
+        };
        loop {
-            cx.local.leds.blink_next(cx.local.current_dir);
+            match curr_dir.next() {
+                Some(dir) => {
+                    toggle_leds(dir);
+                }
+                None => {
+                    *curr_dir = Direction::iter();
+                    toggle_leds(curr_dir.next().unwrap());
+                }
+            }
            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Mono::delay(MillisDurationU32::from_ticks(
-                current_blink_freq.as_millis() as u32,
-            ))
-            .await;
+            Systick::delay(current_blink_freq).await;
        }
    }

    #[task(
-        local = [
-            tx,
-            encoded_buf: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN]
-        ],
-        shared = [],
+        shared = [tx_shared],
    )]
-    async fn serial_tx_handler(cx: serial_tx_handler::Context) {
+    async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
        loop {
-            while let Some(vec) = TM_QUEUE.dequeue() {
-                let encoded_len =
-                    cobs::encode_including_sentinels(&vec[0..vec.len()], cx.local.encoded_buf);
-                defmt::debug!("sending {} bytes over UART", encoded_len);
-                cx.local
-                    .tx
-                    .write(&cx.local.encoded_buf[0..encoded_len])
-                    .await
-                    .unwrap();
+            let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
+                if let UartTxState::Idle(_) = tx_shared.state {
+                    return true;
+                }
+                false
+            });
+            if is_idle {
+                let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
+                if let Some(last_completed) = last_completed {
+                    let elapsed_ms = (Systick::now() - last_completed).to_millis();
+                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
+                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
+                            .await;
+                    }
+                }
+            } else {
+                // Check for completion after 1 ms
+                Systick::delay(1.millis()).await;
                continue;
            }
-            Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
+            if let Some(vec) = TM_REQUESTS.dequeue() {
+                cx.shared
+                    .tx_shared
+                    .lock(|tx_shared| match &mut tx_shared.state {
+                        UartTxState::Idle(tx) => {
+                            let encoded_len;
+                            //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
+                            // Safety: We only copy the data into the TX DMA buffer in this task.
+                            // If the DMA is active, another branch will be taken.
+                            unsafe {
+                                // 0 sentinel value as start marker
+                                DMA_TX_BUF[0] = 0;
+                                encoded_len =
+                                    cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
+                                // Should never panic, we accounted for the overhead.
+                                // Write into transfer buffer directly, no need for intermediate
+                                // encoding buffer.
+                                // 0 end marker
+                                DMA_TX_BUF[encoded_len + 1] = 0;
+                            }
+                            //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
+                            //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
+                            let tx_idle = tx.take().unwrap();
+                            // Transfer completion and re-scheduling of new TX transfers will be done
+                            // by the IRQ handler.
+                            // SAFETY: The DMA is the exclusive writer to the DMA buffer now.
+                            let transfer = tx_idle.tx.write_all(
+                                unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
+                                tx_idle.dma_channel,
+                            );
+                            tx_shared.state = UartTxState::Transmitting(Some(transfer));
+                            // The memory block is automatically returned to the pool when it is dropped.
+                        }
+                        UartTxState::Transmitting(_) => (),
+                    });
+                // Check for completion after 1 ms
+                Systick::delay(1.millis()).await;
+                continue;
+            }
+            // Nothing to do, and we are idle.
+            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
        }
    }

    #[task(
        local = [
-            rx,
-            read_buf: [u8; 128] = [0; 128],
+            verif_reporter,
            decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
+            src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
+            timestamp: [u8; 7] = [0; 7],
        ],
        shared = [blink_freq]
    )]
    async fn serial_rx_handler(
-        cx: serial_rx_handler::Context,
-        mut sender: Sender<'static, RequestWithTcId, 16>,
+        mut cx: serial_rx_handler::Context,
+        received_packet: Vec<u8, MAX_TC_LEN>,
    ) {
-        let mut decoder = cobs::CobsDecoder::new(cx.local.decode_buf);
-        loop {
-            match cx.local.rx.read(cx.local.read_buf).await {
-                Ok(bytes) => {
-                    defmt::debug!("received {} bytes over UART", bytes);
-                    for byte in cx.local.read_buf[0..bytes].iter() {
-                        match decoder.feed(*byte) {
-                            Ok(None) => (),
-                            Ok(Some(packet_size)) => {
-                                match CcsdsPacketReader::new_with_checksum(
-                                    &decoder.dest()[0..packet_size],
-                                ) {
-                                    Ok(packet) => {
-                                        let packet_id = packet.packet_id();
-                                        let psc = packet.psc();
-                                        let tc_packet_id = CcsdsPacketId { packet_id, psc };
-                                        if let Ok(request) =
-                                            postcard::from_bytes::<Request>(packet.packet_data())
-                                        {
-                                            sender
-                                                .send(RequestWithTcId {
-                                                    request,
-                                                    tc_id: tc_packet_id,
-                                                })
-                                                .await
-                                                .unwrap();
-                                        }
+        cx.local.timestamp[0] = P_FIELD_BASE;
+        defmt::info!("Received packet with {} bytes", received_packet.len());
+        let decode_buf = cx.local.decode_buf;
+        let packet = received_packet.as_slice();
+        let mut start_idx = None;
+        for (idx, byte) in packet.iter().enumerate() {
+            if *byte != 0 {
+                start_idx = Some(idx);
+                break;
+            }
+        }
+        if start_idx.is_none() {
+            defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
+            return;
+        }
+        let start_idx = start_idx.unwrap();
+        match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
+            Ok(len) => {
+                defmt::info!("Decoded packet length: {}", len);
+                let pus_tc = PusTcReader::new(decode_buf);
+                match pus_tc {
+                    Ok((tc, _tc_len)) => {
+                        match convert_pus_tc_to_request(
+                            &tc,
+                            cx.local.verif_reporter,
+                            cx.local.src_data_buf,
+                            cx.local.timestamp,
+                        ) {
+                            Ok(request_with_token) => {
+                                let started_token = handle_start_verification(
+                                    request_with_token.token,
+                                    cx.local.verif_reporter,
+                                    cx.local.src_data_buf,
+                                    cx.local.timestamp,
+                                );
+
+                                match request_with_token.request {
+                                    Request::Ping => {
+                                        handle_ping_request(cx.local.timestamp);
                                    }
-                                    Err(e) => {
-                                        defmt::error!("error unpacking ccsds packet: {}", e);
+                                    Request::ChangeBlinkFrequency(new_freq_ms) => {
+                                        defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
+                                        cx.shared.blink_freq.lock(|blink_freq| {
+                                            *blink_freq =
+                                                MillisDurationU32::from_ticks(new_freq_ms);
+                                        });
                                    }
                                }
+                                handle_completion_verification(
+                                    started_token,
+                                    cx.local.verif_reporter,
+                                    cx.local.src_data_buf,
+                                    cx.local.timestamp,
+                                );
                            }
                            Err(e) => {
-                                defmt::error!("cobs decoding error: {}", e);
+                                // TODO: Error handling: Send verification failure based on request error.
+                                defmt::warn!("request error {}", e);
                            }
                        }
                    }
-                }
-                Err(e) => {
-                    defmt::error!("uart read error: {}", e);
-                }
-            }
-        }
-    }
-
-    #[task(shared = [blink_freq], local = [seq_count])]
-    async fn req_handler(
-        mut cx: req_handler::Context,
-        mut receiver: Receiver<'static, RequestWithTcId, 16>,
-    ) {
-        loop {
-            match receiver.recv().await {
-                Ok(request_with_tc_id) => {
-                    let tm_send_result = match request_with_tc_id.request {
-                        Request::Ping => handle_ping_request(&mut cx, request_with_tc_id.tc_id),
-                        Request::ChangeBlinkFrequency(duration) => {
-                            handle_change_blink_frequency_request(
-                                &mut cx,
-                                request_with_tc_id.tc_id,
-                                duration,
-                            )
-                        }
-                    };
-                    if let Err(e) = tm_send_result {
-                        defmt::error!("error sending TM response: {}", e);
+                    Err(e) => {
+                        defmt::warn!("Error unpacking PUS TC: {}", e);
                    }
                }
-                Err(_e) => defmt::error!("request receive error"),
+            }
+            Err(_) => {
+                defmt::warn!("decoding error, can only process cobs encoded frames")
            }
        }
    }

-    fn handle_ping_request(
-        cx: &mut req_handler::Context,
-        tc_packet_id: CcsdsPacketId,
-    ) -> Result<(), TmSendError> {
-        defmt::info!("Received PUS ping telecommand, sending ping reply");
-        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
-        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
-        Ok(())
+    fn handle_ping_request(timestamp: &[u8]) {
+        defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
+        let sp_header =
+            SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
+        let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
+        let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
+        let mut tm_packet = TmPacket::new();
+        tm_packet
+            .resize(ping_reply.len_written(), 0)
+            .expect("vec resize failed");
+        ping_reply.write_to_bytes(&mut tm_packet).unwrap();
+        if TM_REQUESTS.enqueue(tm_packet).is_err() {
+            defmt::warn!("TC queue full");
+            return;
+        }
    }

-    fn handle_change_blink_frequency_request(
-        cx: &mut req_handler::Context,
-        tc_packet_id: CcsdsPacketId,
-        duration: Duration,
-    ) -> Result<(), TmSendError> {
-        defmt::info!(
-            "Received ChangeBlinkFrequency request, new frequency: {} ms",
-            duration.as_millis()
+    fn handle_start_verification(
+        accepted_token: VerificationToken<TcStateAccepted>,
+        verif_reporter: &mut VerificationReportCreator,
+        src_data_buf: &mut [u8],
+        timestamp: &[u8],
+    ) -> VerificationToken<TcStateStarted> {
+        let (tm_creator, started_token) = verif_reporter
+            .start_success(
+                src_data_buf,
+                accepted_token,
+                SEQ_COUNT_PROVIDER.get(),
+                0,
+                &timestamp,
+            )
+            .unwrap();
+        let result = send_tm(tm_creator);
+        if let Err(e) = result {
+            handle_tm_send_error(e);
+        }
+        started_token
+    }
+
+    fn handle_completion_verification(
+        started_token: VerificationToken<TcStateStarted>,
+        verif_reporter: &mut VerificationReportCreator,
+        src_data_buf: &mut [u8],
+        timestamp: &[u8],
+    ) {
+        let result = send_tm(
+            verif_reporter
+                .completion_success(
+                    src_data_buf,
+                    started_token,
+                    SEQ_COUNT_PROVIDER.get(),
+                    0,
+                    timestamp,
+                )
+                .unwrap(),
        );
+        if let Err(e) = result {
+            handle_tm_send_error(e);
+        }
+    }
+
+    #[task(binds = DMA1_CH6, shared = [rx_transfer])]
+    fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
+        let mut tc_packet = TcPacket::new();
+        cx.shared.rx_transfer.lock(|rx_transfer| {
+            let rx_ref = rx_transfer.as_ref().unwrap();
+            if rx_ref.is_complete() {
+                let uart_rx_owned = rx_transfer.take().unwrap();
+                let (buf, c, rx) = uart_rx_owned.stop();
+                // The received data is transferred to another task now to avoid any processing overhead
+                // during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
+                // to do this.
+                tc_packet.resize(buf.len(), 0).expect("vec resize failed");
+                tc_packet.copy_from_slice(buf);
+
+                // Start the next transfer as soon as possible.
+                *rx_transfer = Some(rx.read_exact(buf, c));
+
+                // Send the vector to a regular task.
+                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
+                // If this happens, there is a high chance that the maximum packet length was
+                // exceeded. Circular mode is not used here, so data might be missed.
+                defmt::warn!(
+                    "rx transfer with maximum length {}, might miss data",
+                    TC_BUF_LEN
+                );
+            }
+        });
+    }
+
+    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
+    fn serial_isr(mut cx: serial_isr::Context) {
        cx.shared
-            .blink_freq
-            .lock(|blink_freq| *blink_freq = duration);
-        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
-        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
-        Ok(())
-    }
-}
-
-fn send_tm(
-    tc_packet_id: CcsdsPacketId,
-    response: Response,
-    current_seq_count: u14,
-) -> Result<(), TmSendError> {
-    let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
-    let tm_header = satrs_stm32f3_disco_rtic::TmHeader {
-        tc_packet_id: Some(tc_packet_id),
-        uptime_millis: Mono::now().duration_since_epoch().to_millis(),
-    };
-    let mut tm_packet = TmPacket::new();
-    let tm_size = tm_size(&tm_header, &response);
-    tm_packet.resize(tm_size, 0).expect("vec resize failed");
-    create_tm_packet(&mut tm_packet, sp_header, tm_header, response)?;
-    if TM_QUEUE.enqueue(tm_packet).is_err() {
-        defmt::warn!("TC queue full");
-        return Err(TmSendError::Queue);
-    }
-    Ok(())
-}
-
-// same panicking *behavior* as `panic-probe` but doesn't print a panic message
-// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
-#[defmt::panic_handler]
-fn panic() -> ! {
-    cortex_m::asm::udf()
-}
-
-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with status code 0.
-pub fn exit() -> ! {
-    loop {
-        debug::exit(EXIT_SUCCESS);
-    }
-}
-
-/// Hardfault handler.
-///
-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with an error. This seems better than the default, which is to spin in a
-/// loop.
-#[cortex_m_rt::exception]
-unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
-    loop {
-        debug::exit(EXIT_FAILURE);
-    }
-}
-
-// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
-// once within a crate. the module can be in any file but there can only be at most
-// one `#[tests]` module in this library crate
-#[cfg(test)]
-#[defmt_test::tests]
-mod unit_tests {
-    use defmt::assert;
-
-    #[test]
-    fn it_works() {
-        assert!(true)
+            .tx_shared
+            .lock(|tx_shared| match &mut tx_shared.state {
+                UartTxState::Idle(_) => (),
+                UartTxState::Transmitting(transfer) => {
+                    let transfer_ref = transfer.as_ref().unwrap();
+                    if transfer_ref.is_complete() {
+                        let transfer = transfer.take().unwrap();
+                        let (_, dma_channel, mut tx) = transfer.stop();
+                        tx.clear_event(TxEvent::TransmissionComplete);
+                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
+                        // We cache the last completed time to ensure that there is a minimum delay between consecutive
+                        // transferred packets.
+                        tx_shared.last_completed = Some(Systick::now());
+                    }
+                }
+            });
+        let mut tc_packet = TcPacket::new();
+        cx.shared.rx_transfer.lock(|rx_transfer| {
+            let rx_transfer_ref = rx_transfer.as_ref().unwrap();
+            // Received a partial packet.
+            if rx_transfer_ref.is_event_triggered(RxEvent::Idle) {
+                let rx_transfer_owned = rx_transfer.take().unwrap();
+                let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
+                // The received data is transferred to another task now to avoid any processing overhead
+                // during the interrupt. There are multiple ways to do this, we use a stack
+                // allocated vector to do this.
+                tc_packet
+                    .resize(rx_len as usize, 0)
+                    .expect("vec resize failed");
+                tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
+                rx.clear_event(RxEvent::Idle);
+                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
+                *rx_transfer = Some(rx.read_exact(buf, ch));
+            }
+        });
    }
 }
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
@@ -16,17 +16,16 @@ harness = false
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-defmt = "1"
+defmt = "0.3"
 defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "1", features = ["print-defmt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
 cortex-m-semihosting = "0.5.0"
-# TODO: Replace with embassy-hal.
 stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
-embedded-alloc = "0.6"
+embedded-alloc = "0.5"
 rtic-sync = { version = "1", features = ["defmt-03"] }

 [dependencies.smoltcp]
-version = "0.12"
+version = "0.11.0"
 default-features = false
 features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]

@@ -35,17 +34,17 @@ version = "2"
 features = ["thumbv7-backend"]

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

 [dependencies.satrs]
 path = "../../satrs"
-# version = "0.2"
+version = "0.2"
 default-features = false
 features = ["defmt", "heapless"]

 [dev-dependencies]
-defmt-test = "0.4"
+defmt-test = "0.3"

 # cargo build/run
 [profile.dev]
--- a/embedded-examples/stm32h7-nucleo-rtic/README.md
+++ b/embedded-examples/stm32h7-nucleo-rtic/README.md
@@ -1,4 +1,4 @@
-sat-rs example for the STM32H73ZI-Nucleo board
+sat-rs example for the STM32F3-Discovery board
 =======

 This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
--- a/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
+++ b/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
@@ -3,7 +3,8 @@
 extern crate alloc;

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

 use core::mem::MaybeUninit;
-use embedded_alloc::LlffHeap as Heap;
+use embedded_alloc::Heap;
 use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
 use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
 use stm32h7xx_hal::ethernet;
@@ -31,8 +32,6 @@ 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;
@@ -73,7 +72,7 @@ impl Net {
        let mut iface = Interface::new(
            config,
            &mut ethdev,
-            smoltcp::time::Instant::from_millis(Mono::now().duration_since_epoch().to_millis()),
+            smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
        );
        // Create sockets
        let dhcp_socket = dhcpv4::Socket::new();
@@ -92,7 +91,7 @@ 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 = Mono::now().duration_since_epoch();
+        let uptime = Systick::now() - Systick::ZERO;
        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());

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

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

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

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

        shared_pool
            .grow(
-                SUBPOOL_SMALL.get_mut().unwrap(),
-                SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
+                unsafe { SUBPOOL_SMALL.assume_init_mut() },
+                unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
                SUBPOOL_SMALL_NUM_BLOCKS,
                true,
            )
            .expect("growing heapless memory pool failed");
        shared_pool
            .grow(
-                SUBPOOL_MEDIUM.get_mut().unwrap(),
-                SUBPOOL_MEDIUM_SIZES.get_mut().unwrap(),
+                unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
+                unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
                SUBPOOL_MEDIUM_NUM_BLOCKS,
                true,
            )
            .expect("growing heapless memory pool failed");
        shared_pool
            .grow(
-                SUBPOOL_LARGE.get_mut().unwrap(),
-                SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
+                unsafe { SUBPOOL_LARGE.assume_init_mut() },
+                unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
                SUBPOOL_LARGE_NUM_BLOCKS,
                true,
            )
@@ -398,7 +403,7 @@ 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(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
+        unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }

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

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

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

--- a/experiments/satrs-gen/Cargo.toml
+++ b/experiments/satrs-gen/Cargo.toml
@@ -1,8 +0,0 @@
-[package]
-name = "satrs-gen"
-version = "0.1.0"
-edition = "2024"
-
-[dependencies]
-toml = "0.8"
-heck = "0.5"
--- a/experiments/satrs-gen/components.toml
+++ b/experiments/satrs-gen/components.toml
@@ -1,34 +0,0 @@
-[apid]
-Sched = 1
-GenericPus = 2
-Acs = 3
-Cfdp = 4
-Tmtc = 5
-Eps = 6
-
-
-[ids]
-[ids.Eps]
-Pcdu = 0
-Subsystem = 1
-
-[ids.Tmtc]
-UdpServer = 0
-TcpServer = 1
-
-[ids.GenericPus]
-PusEventManagement = 0
-PusRouting = 1
-PusTest = 2
-PusAction = 3
-PusMode = 4
-PusHk = 5
-
-[ids.Sched]
-PusSched = 0
-
-[ids.Acs]
-Subsystem = 1
-Assembly = 2
-Mgm0 = 3
-Mgm1 = 4
--- a/experiments/satrs-gen/src/main.rs
+++ b/experiments/satrs-gen/src/main.rs
@@ -1,91 +0,0 @@
-use heck::{ToShoutySnakeCase, ToSnakeCase};
-use std::{
-    collections::BTreeMap,
-    fs::{self, File},
-    io::{self, Write},
-};
-
-use toml::{Value, map::Map};
-
-fn main() -> io::Result<()> {
-    // Read the configuration file
-    let config_str = fs::read_to_string("components.toml").expect("Unable to read file");
-    let config: Value = toml::from_str(&config_str).expect("Unable to parse TOML");
-
-    let mut output = File::create("../satrs-example/src/ids.rs")?;
-
-    generate_rust_code(&config, &mut output);
-    Ok(())
-}
-
-fn sort_enum_table(table_map: &Map<String, Value>) -> BTreeMap<u64, &str> {
-    // Collect entries into a BTreeMap to sort them by key
-    let mut sorted_entries: BTreeMap<u64, &str> = BTreeMap::new();
-
-    for (key, value) in table_map {
-        if let Some(value) = value.as_integer() {
-            if !(0..=0x7FF).contains(&value) {
-                panic!("Invalid APID value: {}", value);
-            }
-            sorted_entries.insert(value as u64, key);
-        }
-    }
-    sorted_entries
-}
-
-fn generate_rust_code(config: &Value, writer: &mut impl Write) {
-    writeln!(
-        writer,
-        "//! This is an auto-generated configuration module."
-    )
-    .unwrap();
-    writeln!(writer, "use satrs::request::UniqueApidTargetId;").unwrap();
-    writeln!(writer).unwrap();
-
-    // Generate the main module
-    writeln!(
-        writer,
-        "#[derive(Debug, Copy, Clone, PartialEq, Eq, strum::EnumIter)]"
-    )
-    .unwrap();
-    writeln!(writer, "pub enum Apid {{").unwrap();
-
-    // Generate constants for the main module
-    if let Some(apid_table) = config.get("apid").and_then(Value::as_table) {
-        let sorted_entries = sort_enum_table(apid_table);
-        // Write the sorted entries to the writer
-        for (value, key) in sorted_entries {
-            writeln!(writer, "    {} = {},", key, value).unwrap();
-        }
-    }
-    writeln!(writer, "}}").unwrap();
-
-    // Generate ID tables.
-    if let Some(id_tables) = config.get("ids").and_then(Value::as_table) {
-        for (mod_name, table) in id_tables {
-            let mod_name_as_snake = mod_name.to_snake_case();
-            writeln!(writer).unwrap();
-            writeln!(writer, "pub mod {} {{", mod_name_as_snake).unwrap();
-            let sorted_entries = sort_enum_table(table.as_table().unwrap());
-            writeln!(writer, "    #[derive(Debug, Copy, Clone, PartialEq, Eq)]").unwrap();
-            writeln!(writer, "    pub enum Id {{").unwrap();
-            // Write the sorted entries to the writer
-            for (value, key) in &sorted_entries {
-                writeln!(writer, "        {} = {},", key, value).unwrap();
-            }
-            writeln!(writer, "    }}").unwrap();
-            writeln!(writer).unwrap();
-
-            for (_value, key) in sorted_entries {
-                let key_shouting = key.to_shouty_snake_case();
-                writeln!(
-                    writer,
-                    "    pub const {}: super::UniqueApidTargetId = super::UniqueApidTargetId::new(super::Apid::{} as u16, Id::{} as u32);",
-                key_shouting, mod_name, key
-                ).unwrap();
-            }
-
-            writeln!(writer, "}}").unwrap();
-        }
-    }
-}
--- a/images/minisim-arch/minisim-arch.graphml
+++ b/images/minisim-arch/minisim-arch.graphml
@@ -1,260 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<graphml xmlns="http://graphml.graphdrawing.org/xmlns" xmlns:java="http://www.yworks.com/xml/yfiles-common/1.0/java" xmlns:sys="http://www.yworks.com/xml/yfiles-common/markup/primitives/2.0" xmlns:x="http://www.yworks.com/xml/yfiles-common/markup/2.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:y="http://www.yworks.com/xml/graphml" xmlns:yed="http://www.yworks.com/xml/yed/3" xsi:schemaLocation="http://graphml.graphdrawing.org/xmlns http://www.yworks.com/xml/schema/graphml/1.1/ygraphml.xsd">
-  <!--Created by yEd 3.23.2-->
-  <key attr.name="Description" attr.type="string" for="graph" id="d0"/>
-  <key for="port" id="d1" yfiles.type="portgraphics"/>
-  <key for="port" id="d2" yfiles.type="portgeometry"/>
-  <key for="port" id="d3" yfiles.type="portuserdata"/>
-  <key attr.name="url" attr.type="string" for="node" id="d4"/>
-  <key attr.name="description" attr.type="string" for="node" id="d5"/>
-  <key for="node" id="d6" yfiles.type="nodegraphics"/>
-  <key for="graphml" id="d7" yfiles.type="resources"/>
-  <key attr.name="url" attr.type="string" for="edge" id="d8"/>
-  <key attr.name="description" attr.type="string" for="edge" id="d9"/>
-  <key for="edge" id="d10" yfiles.type="edgegraphics"/>
-  <graph edgedefault="directed" id="G">
-    <data key="d0" xml:space="preserve"/>
-    <node id="n0">
-      <data key="d5"/>
-      <data key="d6">
-        <y:ShapeNode>
-          <y:Geometry height="360.0" width="479.0" x="771.3047672479152" y="458.0"/>
-          <y:Fill hasColor="false" transparent="false"/>
-          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" hasText="false" height="4.0" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="4.0" x="237.5" y="178.0">
-            <y:LabelModel>
-              <y:SmartNodeLabelModel distance="4.0"/>
-            </y:LabelModel>
-            <y:ModelParameter>
-              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
-            </y:ModelParameter>
-          </y:NodeLabel>
-          <y:Shape type="rectangle"/>
-        </y:ShapeNode>
-      </data>
-    </node>
-    <node id="n1">
-      <data key="d6">
-        <y:ShapeNode>
-          <y:Geometry height="177.64799999999997" width="200.75199999999973" x="1037.5527672479152" y="470.15200000000027"/>
-          <y:Fill hasColor="false" transparent="false"/>
-          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="67.919921875" x="13.264464667588754" xml:space="preserve" y="8.302185845943427">Simulation<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="-0.5" labelRatioY="-0.5" nodeRatioX="-0.433926114471642" nodeRatioY="-0.45326608886143704" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
-          <y:Shape type="rectangle"/>
-        </y:ShapeNode>
-      </data>
-    </node>
-    <node id="n2">
-      <data key="d6">
-        <y:ShapeNode>
-          <y:Geometry height="34.0" width="84.39999999999986" x="1068.8351781652768" y="508.2800000000002"/>
-          <y:Fill color="#FFCC00" transparent="false"/>
-          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="37.638671875" x="23.380664062499818" xml:space="preserve" y="8.015625">PCDU<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
-          <y:Shape type="rectangle"/>
-        </y:ShapeNode>
-      </data>
-    </node>
-    <node id="n3">
-      <data key="d6">
-        <y:ShapeNode>
-          <y:Geometry height="34.0" width="120.39999999999986" x="1068.8351781652768" y="550.4800000000001"/>
-          <y:Fill color="#FFCC00" transparent="false"/>
-          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="92.453125" x="13.973437499999818" xml:space="preserve" y="8.015625">Magnetometer<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
-          <y:Shape type="rectangle"/>
-        </y:ShapeNode>
-      </data>
-    </node>
-    <node id="n4">
-      <data key="d6">
-        <y:ShapeNode>
-          <y:Geometry height="34.0" width="120.39999999999986" x="1068.8351781652768" y="594.9000000000001"/>
-          <y:Fill color="#FFCC00" transparent="false"/>
-          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="88.83203125" x="15.783984374999818" xml:space="preserve" y="8.015625">Magnetorquer<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
-          <y:Shape type="rectangle"/>
-        </y:ShapeNode>
-      </data>
-    </node>
-    <node id="n5">
-      <data key="d6">
-        <y:ShapeNode>
-          <y:Geometry height="34.0" width="120.39999999999986" x="783.4063563305535" y="545.2800000000002"/>
-          <y:Fill color="#FFCC00" transparent="false"/>
-          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="85.931640625" x="17.234179687499932" xml:space="preserve" y="8.015625">SimController<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
-          <y:Shape type="rectangle"/>
-        </y:ShapeNode>
-      </data>
-    </node>
-    <node id="n6">
-      <data key="d6">
-        <y:ShapeNode>
-          <y:Geometry height="34.0" width="120.39999999999986" x="840.5407126611072" y="677.8000000000002"/>
-          <y:Fill color="#FFCC00" transparent="false"/>
-          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="105.05078125" x="7.674609374999932" xml:space="preserve" y="8.015625">UDP TC Receiver<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
-          <y:Shape type="rectangle"/>
-        </y:ShapeNode>
-      </data>
-    </node>
-    <node id="n7">
-      <data key="d6">
-        <y:ShapeNode>
-          <y:Geometry height="34.0" width="120.39999999999986" x="1005.2814253222144" y="677.8000000000002"/>
-          <y:Fill color="#FFCC00" transparent="false"/>
-          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="97.111328125" x="11.644335937499932" xml:space="preserve" y="8.015625">UDP TM Sender<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
-          <y:Shape type="rectangle"/>
-        </y:ShapeNode>
-      </data>
-    </node>
-    <node id="n8">
-      <data key="d6">
-        <y:ShapeNode>
-          <y:Geometry height="34.0" width="120.39999999999986" x="931.6174253222144" y="775.5920000000002"/>
-          <y:Fill color="#FFCC00" transparent="false"/>
-          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="38.740234375" x="40.82988281249993" xml:space="preserve" y="8.015625">Client<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
-          <y:Shape type="rectangle"/>
-        </y:ShapeNode>
-      </data>
-    </node>
-    <edge id="e0" source="n5" target="n3">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="-5.199999999999932"/>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-    <edge id="e1" source="n5" target="n2">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="60.19999999999993" sy="0.0" tx="0.0" ty="0.0">
-            <y:Point x="1023.8695890826383" y="562.2800000000002"/>
-            <y:Point x="1023.8695890826383" y="525.2800000000002"/>
-          </y:Path>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-    <edge id="e2" source="n5" target="n4">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="48.72964366944643" sy="0.0" tx="0.0" ty="0.0">
-            <y:Point x="1023.8695890826383" y="562.2800000000002"/>
-            <y:Point x="1023.8695890826383" y="611.9000000000001"/>
-          </y:Path>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="97.955078125" x="12.686124396959713" xml:space="preserve" y="-22.50440429687478">schedule_event<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="13.519999999999978" distanceToCenter="true" position="left" ratio="0.11621274698385183" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-    <edge id="e3" source="n6" target="n5">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="0.0" sy="0.0" tx="-5.329643669446341" ty="0.0">
-            <y:Point x="900.7407126611072" y="628.5400000000002"/>
-            <y:Point x="838.2767126611071" y="628.5400000000002"/>
-          </y:Path>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="75.923828125" x="-87.89792405764274" xml:space="preserve" y="-40.606550292968564">SimRequest<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="49.935999999999936" distanceToCenter="true" position="left" ratio="0.5" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-    <edge id="e4" source="n4" target="n7">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="60.200000000000045" sy="0.0" tx="0.0" ty="0.0">
-            <y:Point x="1223.8814253222142" y="611.9000000000001"/>
-            <y:Point x="1223.8814253222142" y="694.8000000000002"/>
-          </y:Path>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-    <edge id="e5" source="n3" target="n7">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0">
-            <y:Point x="1223.8814253222142" y="567.4800000000001"/>
-            <y:Point x="1223.8814253222142" y="694.8000000000002"/>
-          </y:Path>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-    <edge id="e6" source="n2" target="n7">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="11.514125426161627" sy="-2.5781798912005343" tx="45.553752843062284" ty="0.0">
-            <y:Point x="1223.8814253222142" y="522.7018201087997"/>
-            <y:Point x="1223.8814253222142" y="694.8000000000002"/>
-          </y:Path>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="60.4140625" x="-2.4087265765670054" xml:space="preserve" y="145.1356018470808">SimReply<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="17.97817989120062" distanceToCenter="true" position="right" ratio="0.679561684469248" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-    <edge id="e7" source="n8" target="n6">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="-25.212712661107275" sy="0.0" tx="-11.264000000000124" ty="0.0">
-            <y:Point x="966.6047126611071" y="731.8000000000002"/>
-            <y:Point x="889.4767126611071" y="731.8000000000002"/>
-          </y:Path>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="119.751953125" x="-132.27600022951788" xml:space="preserve" y="-32.03587548828091">SimRequest in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="20.73181250000017" distanceToCenter="true" position="left" ratio="0.9386993050513424" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-    <edge id="e8" source="n7" target="n8">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="29.18399999999997" sy="0.0" tx="24.28800000000001" ty="0.0">
-            <y:Point x="1094.6654253222143" y="731.8000000000002"/>
-            <y:Point x="1016.1054253222144" y="731.8000000000002"/>
-          </y:Path>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="104.2421875" x="-62.15307370122309" xml:space="preserve" y="34.80927001953137">SimReply in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="23.81218750000005" distanceToCenter="true" position="left" ratio="0.12769857433808468" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-    <edge id="e9" source="n5" target="n1">
-      <data key="d10">
-        <y:PolyLineEdge>
-          <y:Path sx="23.921741802203996" sy="-3.0501798912007416" tx="0.0" ty="-56.27417989120056">
-            <y:Point x="867.5280981327575" y="502.70182010879967"/>
-          </y:Path>
-          <y:LineStyle color="#000000" type="line" width="1.0"/>
-          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="29.95703125" x="73.38950633588263" xml:space="preserve" y="-62.699758016200235">step<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="11.126187499999986" distanceToCenter="true" position="left" ratio="0.5889387894625147" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
-          <y:BendStyle smoothed="false"/>
-        </y:PolyLineEdge>
-      </data>
-    </edge>
-  </graph>
-  <data key="d7">
-    <y:Resources/>
-  </data>
-</graphml>
--- a/images/minisim-arch/minisim-arch.png
+++ b/images/minisim-arch/minisim-arch.png
--- a/29
+++ b/29
@@ -1,29 +0,0 @@
-all: check build embedded test check-fmt clippy docs
-
-check:
-  cargo check
-  cargo check -p satrs-example --no-default-features
-
-build:
-  cargo build
-
-test:
-  cargo nextest run --all-features
-  cargo test --doc --all-features
-
-embedded:
-  cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
-
-fmt:
-  cargo fmt --all
-
-check-fmt:
-  cargo fmt --all -- --check
-
-clippy:
-  cargo clippy -- -D warnings
-
-docs-satrs:
-  RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p satrs --all-features
-
-docs: docs-satrs
--- 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 important resources
-which are also constrained. This might make completeley heap based memory management schemes which
+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
 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 commonly used in space systems is to limit heap allocations to program
+A useful pattern used commonly 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 candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
+A huge 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-book/src/introduction.md
+++ b/satrs-book/src/introduction.md
@@ -5,8 +5,10 @@ This book is the primary information resource for the [sat-rs library](https://e
 in addition to the regular API documentation. It contains the following resources:

 1. Architecture informations and consideration which would exceeds the scope of the regular API.
-2. General information on how to build on-board Software and how `sat-rs` can help to fulfill
+2. General information on how to build On-Board Software and how `sat-rs` can help to fulfill
   the unique requirements of writing software for remote systems.
+2. A Getting-Started workshop where a small On-Board Software is built from scratch using
+   sat-rs components.

 # Introduction

@@ -29,9 +31,7 @@ and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-
 The [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 provides various practical usage examples of the `sat-rs` framework. If you are more interested in
 the practical application of `sat-rs` inside an application, it is recommended to have a look at
-the example application. The [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
-applicatin complements the example application and can be used to simulate some physical devices
-for the `satrs-example` device handlers.
+the example application.

 # Flight Heritage

@@ -43,7 +43,3 @@ Currently this library has the following flight heritage:
  [flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
  The application is strongly based on the sat-rs example application. You can find the repository
  of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
- Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
-  alongside a Flight System Simulator in the context of a
-  [Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
-  at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).
--- a/satrs-example/CHANGELOG.md
+++ b/satrs-example/CHANGELOG.md
@@ -7,13 +7,3 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]
-
-# [v0.1.1] 2024-02-21
-
-satrs v0.2.0-rc.0
-satrs-mib v0.1.1
-
-# [v0.1.0] 2024-02-13
-
-satrs v0.1.1
-satrs-mib v0.1.0
--- a/satrs-example/Cargo.toml
+++ b/satrs-example/Cargo.toml
@@ -8,21 +8,18 @@ homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"

 [dependencies]
-fern = "0.7"
+fern = "0.6"
 chrono = "0.4"
 log = "0.4"
 crossbeam-channel = "0.5"
-delegate = "0.13"
-zerocopy = "0.8"
+delegate = "0.10"
+zerocopy = "0.6"
 csv = "1"
 num_enum = "0.7"
-thiserror = "2"
+thiserror = "1"
 lazy_static = "1"
-strum = { version = "0.27", features = ["derive"] }
-derive-new = "0.7"
-cfg-if = "1"
-arbitrary-int = "2"
-bitbybit = "1.4"
+strum = { version = "0.26", features = ["derive"] }
+derive-new = "0.5"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"

@@ -38,8 +35,8 @@ version = "0.1.1"
 path = "../satrs-mib"

 [features]
-default = ["heap_tmtc"]
-heap_tmtc = []
+dyn_tmtc = []
+default = ["dyn_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 `heap_tmtc` feature which is enabled by default. With this feature enabled,
+The example has the `dyn_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.

@@ -73,22 +73,3 @@ the `simpleclient`:
 ```

 You can also simply call the script without any arguments to view the command tree.
-
-## Adding the mini simulator application
-
-This example application features a few device handlers. The
-[`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
-can be used to simulate the physical devices managed by these device handlers.
-
-The example application will attempt communication with the mini simulator on UDP port 7303.
-If this works, the device handlers will use communication interfaces dedicated to the communication
-with the mini simulator. Otherwise, they will be replaced by dummy interfaces which either
-return constant values or behave like ideal devices.
-
-In summary, you can use the following command command to run the mini-simulator first:
-
-```sh
-cargo run -p satrs-minisim
-```
-
-and then start the example using `cargo run -p satrs-example`.
--- a/satrs-example/pytmtc/main.py
+++ b/satrs-example/pytmtc/main.py
@@ -1,6 +1,5 @@
 #!/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~=8.1",
+    "tmtccmd~=8.0",
    "pydantic~=2.7"
 ]

--- a/satrs-example/pytmtc/pytmtc/acs/init.py
+++ b/satrs-example/pytmtc/pytmtc/acs/init.py
@@ -1,11 +0,0 @@
-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/common.py
+++ b/satrs-example/pytmtc/pytmtc/common.py
@@ -39,10 +39,7 @@ class EventU32:


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


 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)
+        super().__init__(json_cfg_path=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.acs.mgms import handle_mgm_hk_report
+from pytmtc.mgms import handle_mgm_hk_report


 _LOGGER = logging.getLogger(__name__)
--- a/satrs-example/pytmtc/pytmtc/acs/mgms.py
+++ b/satrs-example/pytmtc/pytmtc/acs/mgms.py
--- a/satrs-example/pytmtc/pytmtc/pus_tc.py
+++ b/satrs-example/pytmtc/pytmtc/pus_tc.py
@@ -17,9 +17,8 @@ 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.acs.mgms import create_mgm_cmds
+from pytmtc.mgms import create_mgm_cmds

 _LOGGER = logging.getLogger(__name__)

@@ -68,6 +67,7 @@ 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)
@@ -101,7 +101,15 @@ def create_cmd_definition_tree() -> CmdTreeNode:
        )
    )
    root_node.add_child(scheduler_node)
-    root_node.add_child(create_acs_node(mode_node, hk_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)
+
    return root_node


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

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

 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};

@@ -52,6 +48,11 @@ 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,
@@ -83,7 +84,7 @@ impl SpiInterface for SpiSimInterface {
            .sim_request_tx
            .send(SimRequest::new_with_epoch_time(mgm_sensor_request))
        {
-            log::error!("failed to send MGM LIS3 request: {e}");
+            log::error!("failed to send MGM LIS3 request: {}", e);
        }
        match self.sim_reply_rx.recv_timeout(Duration::from_millis(50)) {
            Ok(sim_reply) => {
@@ -97,7 +98,7 @@ impl SpiInterface for SpiSimInterface {
                    .copy_from_slice(&sim_reply_lis3.raw.z.to_le_bytes());
            }
            Err(e) => {
-                log::warn!("MGM LIS3 SIM reply timeout: {e}");
+                log::warn!("MGM LIS3 SIM reply timeout: {}", e);
            }
        }
        Ok(())
@@ -128,6 +129,12 @@ pub struct MgmData {
    pub z: f32,
 }

+pub struct MpscModeLeafInterface {
+    pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
+    pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
+    pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
+}
+
 #[derive(Default)]
 pub struct BufWrapper {
    tx_buf: [u8; 32],
@@ -158,15 +165,16 @@ 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_node: ModeRequestHandlerMpscBounded,
+    mode_interface: MpscModeLeafInterface,
    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
+    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
    switch_helper: SwitchHelper,
-    tm_sender: TmTcSender,
+    tm_sender: TmSender,
    pub com_interface: ComInterface,
    shared_mgm_set: Arc<Mutex<MgmData>>,
    #[new(value = "PusHkHelper::new(id)")]
@@ -181,8 +189,9 @@ pub struct MgmHandlerLis3Mdl<

 impl<
        ComInterface: SpiInterface,
+        TmSender: EcssTmSender,
        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
-    > MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
+    > MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
 {
    pub fn periodic_operation(&mut self) {
        self.stamp_helper.update_from_now();
@@ -265,28 +274,25 @@ impl<
    pub fn handle_mode_requests(&mut self) {
        loop {
            // TODO: Only allow one set mode request per cycle?
-            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()
-                            );
-                        }
+            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);
                    } 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);
-                    }
-                },
            }
        }
    }
@@ -358,8 +364,9 @@ impl<

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

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

@@ -377,7 +385,6 @@ impl<
        &mut self,
        requestor: MessageMetadata,
        mode_and_submode: ModeAndSubmode,
-        _forced: bool,
    ) -> Result<(), satrs::mode::ModeError> {
        log::info!(
            "{}: transitioning to mode {:?}",
@@ -414,12 +421,9 @@ impl<
        self.mode_helpers.target = None;
        self.announce_mode(requestor, false);
        if let Some(requestor) = requestor {
-            if requestor.sender_id() == NO_SENDER {
-                return Ok(());
-            }
-            if requestor.sender_id() != PUS_MODE.id() {
+            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
                log::warn!(
-                    "can not send back mode reply to sender {:x}",
+                    "can not send back mode reply to sender {}",
                    requestor.sender_id()
                );
            } else {
@@ -434,15 +438,16 @@ impl<
        requestor: MessageMetadata,
        reply: ModeReply,
    ) -> Result<(), Self::Error> {
-        if requestor.sender_id() != PUS_MODE.id() {
+        if requestor.sender_id() != PUS_MODE_SERVICE.id() {
            log::warn!(
                "can not send back mode reply to sender {}",
                requestor.sender_id()
            );
        }
-        self.mode_node
-            .send_mode_reply(requestor, reply)
-            .map_err(ModeError::Send)?;
+        self.mode_interface
+            .reply_to_pus_tx
+            .send(GenericMessage::new(requestor, reply))
+            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
        Ok(())
    }

@@ -455,45 +460,17 @@ 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::{
-        collections::HashMap,
-        sync::{mpsc, Arc},
-    };
+    use std::sync::{mpsc, Arc};

-    use arbitrary_int::u21;
    use satrs::{
        mode::{ModeReply, ModeRequest},
-        mode_tree::ModeParent,
        power::SwitchStateBinary,
        request::{GenericMessage, UniqueApidTargetId},
        tmtc::PacketAsVec,
-        ComponentId,
    };
-    use satrs_example::ids::{acs::ASSEMBLY, Apid};
+    use satrs_example::config::components::Apid;
    use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;

    use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};
@@ -521,88 +498,49 @@ mod tests {
        }
    }

-    #[allow(dead_code)]
    pub struct MgmTestbench {
-        pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        pub mode_request_tx: mpsc::Sender<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, TestSwitchHelper>,
-    }
-
-    #[derive(Default)]
-    pub struct MgmAssemblyMock(
-        pub HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
-    );
-
-    impl ModeNode for MgmAssemblyMock {
-        fn id(&self) -> satrs::ComponentId {
-            PUS_MODE.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.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);
-        }
+        pub handler:
+            MgmHandlerLis3Mdl<TestSpiInterface, mpsc::Sender<PacketAsVec>, TestSwitchHelper>,
    }

    impl MgmTestbench {
        pub fn new() -> Self {
-            let (request_tx, request_rx) = mpsc::sync_channel(5);
-            let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::sync_channel(5);
+            let (request_tx, request_rx) = mpsc::channel();
+            let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::channel();
            let (reply_tx_to_parent, reply_rx_to_parent) = mpsc::sync_channel(5);
-            let id = UniqueApidTargetId::new(Apid::Acs.raw_value(), u21::new(1));
-            let mode_node = ModeRequestHandlerMpscBounded::new(id.into(), request_rx);
+            let mode_interface = MpscModeLeafInterface {
+                request_rx,
+                reply_to_pus_tx: reply_tx_to_pus,
+                reply_to_parent_tx: reply_tx_to_parent,
+            };
            let (composite_request_tx, composite_request_rx) = mpsc::channel();
-            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 (hk_reply_tx, hk_reply_rx) = mpsc::channel();
+            let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
            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.into(), reply_tx_to_pus);
-            handler.add_mode_parent(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,
+                ),
            }
        }
    }
@@ -632,11 +570,8 @@ mod tests {
        testbench
            .mode_request_tx
            .send(GenericMessage::new(
-                MessageMetadata::new(0, PUS_MODE.id()),
-                ModeRequest::SetMode {
-                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
-                    forced: false,
-                },
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
            ))
            .expect("failed to send mode request");
        testbench.handler.periodic_operation();
@@ -693,11 +628,8 @@ mod tests {
        testbench
            .mode_request_tx
            .send(GenericMessage::new(
-                MessageMetadata::new(0, PUS_MODE.id()),
-                ModeRequest::SetMode {
-                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
-                    forced: false,
-                },
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
            ))
            .expect("failed to send mode request");
        testbench.handler.periodic_operation();
--- a/satrs-example/src/acs/mod.rs
+++ b/satrs-example/src/acs/mod.rs
@@ -1,4 +1 @@
-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
@@ -1 +0,0 @@
-// TODO: Write subsystem
--- a/satrs-example/src/bin/simpleclient.rs
+++ b/satrs-example/src/bin/simpleclient.rs
@@ -1,9 +1,10 @@
-use arbitrary_int::u11;
 use satrs::pus::verification::RequestId;
 use satrs::spacepackets::ecss::tc::PusTcCreator;
 use satrs::spacepackets::ecss::tm::PusTmReader;
-use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
-use satrs::spacepackets::SpHeader;
+use satrs::{
+    spacepackets::ecss::{PusPacket, WritablePusPacket},
+    spacepackets::SpHeader,
+};
 use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
 use std::net::{IpAddr, SocketAddr, UdpSocket};
 use std::time::Duration;
@@ -11,12 +12,7 @@ use std::time::Duration;
 fn main() {
    let mut buf = [0; 32];
    let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let pus_tc = PusTcCreator::new_simple(
-        SpHeader::new_from_apid(u11::new(0x02)),
-        MessageTypeId::new(17, 1),
-        &[],
-        CreatorConfig::default(),
-    );
+    let pus_tc = PusTcCreator::new_simple(SpHeader::new_from_apid(0x02), 17, 1, &[], true);
    let client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
    let tc_req_id = RequestId::new(&pus_tc);
    println!("Packing and sending PUS ping command TC[17,1] with request ID {tc_req_id}");
@@ -33,10 +29,10 @@ fn main() {
        let res = client.recv(&mut buf);
        match res {
            Ok(_len) => {
-                let pus_tm = PusTmReader::new(&buf, 7).expect("Parsing PUS TM failed");
-                if pus_tm.service_type_id() == 17 && pus_tm.message_subtype_id() == 2 {
+                let (pus_tm, size) = 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_type_id() == 1 {
+                } else if pus_tm.service() == 1 {
                    if pus_tm.source_data().is_empty() {
                        println!("Invalid verification TM, no source data");
                    }
@@ -45,29 +41,28 @@ fn main() {
                        println!("Invalid verification TM source data, less than 4 bytes")
                    }
                    let req_id = RequestId::from_bytes(src_data).unwrap();
-                    let subtype_id = pus_tm.message_subtype_id();
-                    if subtype_id == 1 {
+                    if pus_tm.subservice() == 1 {
                        println!("Received TM[1,1] acceptance success for request ID {req_id}")
-                    } else if subtype_id == 2 {
+                    } else if pus_tm.subservice() == 2 {
                        println!("Received TM[1,2] acceptance failure for request ID {req_id}")
-                    } else if subtype_id == 3 {
+                    } else if pus_tm.subservice() == 3 {
                        println!("Received TM[1,3] start success for request ID {req_id}")
-                    } else if subtype_id == 4 {
+                    } else if pus_tm.subservice() == 4 {
                        println!("Received TM[1,2] start failure for request ID {req_id}")
-                    } else if subtype_id == 5 {
+                    } else if pus_tm.subservice() == 5 {
                        println!("Received TM[1,5] step success for request ID {req_id}")
-                    } else if subtype_id == 6 {
+                    } else if pus_tm.subservice() == 6 {
                        println!("Received TM[1,6] step failure for request ID {req_id}")
-                    } else if subtype_id == 7 {
+                    } else if pus_tm.subservice() == 7 {
                        println!("Received TM[1,7] completion success for request ID {req_id}")
-                    } else if subtype_id == 8 {
+                    } else if pus_tm.subservice() == 8 {
                        println!("Received TM[1,8] completion failure for request ID {req_id}");
                    }
                } else {
                    println!(
                        "Received TM[{}, {}] with {} bytes",
-                        pus_tm.service_type_id(),
-                        pus_tm.message_subtype_id(),
+                        pus_tm.service(),
+                        pus_tm.subservice(),
                        size
                    );
                }
--- a/satrs-example/src/bin/test.rs
+++ b/satrs-example/src/bin/test.rs
@@ -3,7 +3,7 @@
 use crossbeam_channel::{bounded, Receiver, Sender};
 use std::sync::atomic::{AtomicU16, Ordering};
 use std::thread;
-use zerocopy::{FromBytes, Immutable, IntoBytes, NetworkEndian, Unaligned, U16};
+use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned, U16};

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

-#[derive(FromBytes, IntoBytes, Immutable, Unaligned)]
+#[derive(FromBytes, AsBytes, Unaligned)]
 #[repr(C)]
 struct ExampleMgmSetZc {
    mgm_vec: [u8; 12],
--- a/satrs-example/src/config.rs
+++ b/satrs-example/src/config.rs
@@ -1,4 +1,3 @@
-use arbitrary_int::u11;
 use lazy_static::lazy_static;
 use satrs::{
    res_code::ResultU16,
@@ -11,7 +10,7 @@ use strum::IntoEnumIterator;

 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use satrs::{
-    events_legacy::{EventU32TypedSev, SeverityInfo},
+    events::{EventU32TypedSev, SeverityInfo},
    pool::{StaticMemoryPool, StaticPoolConfig},
 };

@@ -44,14 +43,14 @@ pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::<Severi
 lazy_static! {
    pub static ref PACKET_ID_VALIDATOR: HashSet<PacketId> = {
        let mut set = HashSet::new();
-        for id in crate::ids::Apid::iter() {
-            set.insert(PacketId::new(PacketType::Tc, true, u11::new(id as u16)));
+        for id in components::Apid::iter() {
+            set.insert(PacketId::new(PacketType::Tc, true, id as u16));
        }
        set
    };
    pub static ref APID_VALIDATOR: HashSet<u16> = {
        let mut set = HashSet::new();
-        for id in crate::ids::Apid::iter() {
+        for id in components::Apid::iter() {
            set.insert(id as u16);
        }
        set
@@ -123,9 +122,68 @@ pub mod mode_err {
 }

 pub mod components {
-    use satrs::ComponentId;
+    use satrs::request::UniqueApidTargetId;
+    use strum::EnumIter;

-    pub const NO_SENDER: ComponentId = ComponentId::MAX;
+    #[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
+    pub enum Apid {
+        Sched = 1,
+        GenericPus = 2,
+        Acs = 3,
+        Cfdp = 4,
+        Tmtc = 5,
+        Eps = 6,
+    }
+
+    // Component IDs for components with the PUS APID.
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum PusId {
+        PusEventManagement = 0,
+        PusRouting = 1,
+        PusTest = 2,
+        PusAction = 3,
+        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 =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, 0);
+    pub const PUS_ROUTING_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusRouting as u32);
+    pub const PUS_TEST_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusTest as u32);
+    pub const PUS_MODE_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusMode as u32);
+    pub const PUS_HK_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
+    pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Sched as u16, 0);
+    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 mod pool {
--- a/satrs-example/src/eps/mod.rs
+++ b/satrs-example/src/eps/mod.rs
@@ -88,7 +88,6 @@ impl PowerSwitcherCommandSender<PcduSwitch> for PowerSwitchHelper {
    }
 }

-#[allow(dead_code)]
 #[derive(new)]
 pub struct SwitchRequestInfo {
    pub requestor_info: MessageMetadata,
@@ -100,7 +99,6 @@ pub struct SwitchRequestInfo {
 pub struct TestSwitchHelper {
    pub switch_requests: RefCell<VecDeque<SwitchRequestInfo>>,
    pub switch_info_requests: RefCell<VecDeque<PcduSwitch>>,
-    #[allow(dead_code)]
    pub switch_delay_request_count: u32,
    pub next_switch_delay: Duration,
    pub switch_map: RefCell<SwitchMapWrapper>,
--- a/satrs-example/src/eps/pcdu.rs
+++ b/satrs-example/src/eps/pcdu.rs
@@ -8,22 +8,14 @@ use derive_new::new;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use satrs::{
    hk::{HkRequest, HkRequestVariant},
-    mode::{
-        ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
-        ModeRequestHandlerMpscBounded,
-    },
-    mode_tree::{ModeChild, ModeNode},
+    mode::{ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler},
    power::SwitchRequest,
    pus::{EcssTmSender, PusTmVariant},
-    queue::GenericSendError,
+    queue::{GenericSendError, GenericTargetedMessagingError},
    request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
    spacepackets::ByteConversionError,
 };
-use satrs_example::{
-    config::components::NO_SENDER,
-    ids::{eps::PCDU, generic_pus::PUS_MODE},
-    DeviceMode, TimestampHelper,
-};
+use satrs_example::{config::components::PUS_MODE_SERVICE, DeviceMode, TimestampHelper};
 use satrs_minisim::{
    eps::{
        PcduReply, PcduRequest, PcduSwitch, SwitchMap, SwitchMapBinaryWrapper, SwitchMapWrapper,
@@ -33,10 +25,10 @@ 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 {
@@ -68,9 +60,9 @@ impl SerialInterface for SerialInterfaceToSim {
    type Error = ();

    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
-        let request: PcduRequest = serde_json::from_slice(data).expect("expected a PCDU request");
+        let request: SimRequest = serde_json::from_slice(data).unwrap();
        self.sim_request_tx
-            .send(SimRequest::new_with_epoch_time(request))
+            .send(request)
            .expect("failed to send request to simulation");
        Ok(())
    }
@@ -109,7 +101,9 @@ impl SerialInterface for SerialInterfaceDummy {
    type Error = ();

    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
-        let pcdu_req: PcduRequest = serde_json::from_slice(data).unwrap();
+        let sim_req: SimRequest = serde_json::from_slice(data).unwrap();
+        let pcdu_req =
+            PcduRequest::from_sim_message(&sim_req).expect("PCDU request creation failed");
        let switch_map_mut = &mut self.switch_map.borrow_mut().0;
        match pcdu_req {
            PcduRequest::SwitchDevice { switch, state } => {
@@ -125,7 +119,7 @@ impl SerialInterface for SerialInterfaceDummy {
            PcduRequest::RequestSwitchInfo => {
                let mut reply_deque_mut = self.reply_deque.borrow_mut();
                reply_deque_mut.push_back(SimReply::new(&PcduReply::SwitchInfo(
-                    switch_map_mut.clone(),
+                    self.switch_map.borrow().0.clone(),
                )));
            }
        };
@@ -136,13 +130,15 @@ impl SerialInterface for SerialInterfaceDummy {
        &self,
        mut f: ReplyHandler,
    ) -> Result<(), Self::Error> {
-        if self.reply_queue_empty() {
+        if self.reply_deque.borrow().is_empty() {
            return Ok(());
        }
        loop {
-            let reply = self.get_next_reply_as_string();
+            let mut reply_deque_mut = self.reply_deque.borrow_mut();
+            let next_reply = reply_deque_mut.pop_front().unwrap();
+            let reply = serde_json::to_string(&next_reply).unwrap();
            f(reply.as_bytes());
-            if self.reply_queue_empty() {
+            if reply_deque_mut.is_empty() {
                break;
            }
        }
@@ -150,18 +146,6 @@ impl SerialInterface for SerialInterfaceDummy {
    }
 }

-impl SerialInterfaceDummy {
-    fn get_next_reply_as_string(&self) -> String {
-        let mut reply_deque_mut = self.reply_deque.borrow_mut();
-        let next_reply = reply_deque_mut.pop_front().unwrap();
-        serde_json::to_string(&next_reply).unwrap()
-    }
-
-    fn reply_queue_empty(&self) -> bool {
-        self.reply_deque.borrow().is_empty()
-    }
-}
-
 pub enum SerialSimInterfaceWrapper {
    Dummy(SerialInterfaceDummy),
    Sim(SerialInterfaceToSim),
@@ -205,14 +189,14 @@ pub type SharedSwitchSet = Arc<Mutex<SwitchSet>>;
 /// Example PCDU device handler.
 #[derive(new)]
 #[allow(clippy::too_many_arguments)]
-pub struct PcduHandler<ComInterface: SerialInterface> {
+pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
    id: UniqueApidTargetId,
    dev_str: &'static str,
-    mode_node: ModeRequestHandlerMpscBounded,
+    mode_interface: MpscModeLeafInterface,
    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
+    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
    switch_request_rx: mpsc::Receiver<GenericMessage<SwitchRequest>>,
-    tm_sender: TmTcSender,
+    tm_sender: TmSender,
    pub com_interface: ComInterface,
    shared_switch_map: Arc<Mutex<SwitchSet>>,
    #[new(value = "PusHkHelper::new(id)")]
@@ -225,7 +209,7 @@ pub struct PcduHandler<ComInterface: SerialInterface> {
    tm_buf: [u8; 256],
 }

-impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInterface, TmSender> {
    pub fn periodic_operation(&mut self, op_code: OpCode) {
        match op_code {
            OpCode::RegularOp => {
@@ -329,30 +313,25 @@ impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
    pub fn handle_mode_requests(&mut self) {
        loop {
            // TODO: Only allow one set mode request per cycle?
-            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()
-                            );
-                        }
+            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);
                    } 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);
-                    }
-                },
            }
        }
    }
@@ -392,33 +371,34 @@ impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
                PcduReply::SwitchInfo(switch_info) => {
                    let switch_map_wrapper =
                        SwitchMapWrapper::from_binary_switch_map_ref(&switch_info);
-                    let mut shared_switch_map = self
-                        .shared_switch_map
+                    self.shared_switch_map
                        .lock()
-                        .expect("failed to lock switch map");
-                    shared_switch_map.switch_map = switch_map_wrapper.0;
-                    shared_switch_map.valid = true;
+                        .expect("failed to lock switch map")
+                        .switch_map = switch_map_wrapper.0;
                }
            }
        }) {
-            log::warn!("receiving PCDU replies failed: {e:?}");
+            log::warn!("receiving PCDU replies failed: {:?}", e);
        }
    }
 }

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

-impl<ComInterface: SerialInterface> ModeRequestHandler for PcduHandler<ComInterface> {
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
+    for PcduHandler<ComInterface, TmSender>
+{
    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 {:?}",
@@ -447,10 +427,7 @@ impl<ComInterface: SerialInterface> ModeRequestHandler for PcduHandler<ComInterf
    ) -> Result<(), Self::Error> {
        self.announce_mode(requestor, false);
        if let Some(requestor) = requestor {
-            if requestor.sender_id() == NO_SENDER {
-                return Ok(());
-            }
-            if requestor.sender_id() != PUS_MODE.id() {
+            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
                log::warn!(
                    "can not send back mode reply to sender {}",
                    requestor.sender_id()
@@ -467,15 +444,16 @@ impl<ComInterface: SerialInterface> ModeRequestHandler for PcduHandler<ComInterf
        requestor: MessageMetadata,
        reply: ModeReply,
    ) -> Result<(), Self::Error> {
-        if requestor.sender_id() != PUS_MODE.id() {
+        if requestor.sender_id() != PUS_MODE_SERVICE.id() {
            log::warn!(
                "can not send back mode reply to sender {}",
                requestor.sender_id()
            );
        }
-        self.mode_node
-            .send_mode_reply(requestor, reply)
-            .map_err(|_| GenericSendError::RxDisconnected)?;
+        self.mode_interface
+            .reply_to_pus_tx
+            .send(GenericMessage::new(requestor, reply))
+            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
        Ok(())
    }

@@ -487,262 +465,3 @@ impl<ComInterface: SerialInterface> ModeRequestHandler for PcduHandler<ComInterf
        Ok(())
    }
 }
-
-impl<ComInterface: SerialInterface> ModeNode for PcduHandler<ComInterface> {
-    fn id(&self) -> satrs::ComponentId {
-        PCDU.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;
-
-    use arbitrary_int::u21;
-    use satrs::{
-        mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
-    };
-    use satrs_example::ids::{self, Apid};
-    use satrs_minisim::eps::SwitchMapBinary;
-
-    use super::*;
-
-    #[derive(Default)]
-    pub struct SerialInterfaceTest {
-        pub inner: SerialInterfaceDummy,
-        pub send_queue: RefCell<VecDeque<Vec<u8>>>,
-        pub reply_queue: RefCell<VecDeque<String>>,
-    }
-
-    impl SerialInterface for SerialInterfaceTest {
-        type Error = ();
-
-        fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
-            let mut send_queue_mut = self.send_queue.borrow_mut();
-            send_queue_mut.push_back(data.to_vec());
-            self.inner.send(data)
-        }
-
-        fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
-            &self,
-            mut f: ReplyHandler,
-        ) -> Result<(), Self::Error> {
-            if self.inner.reply_queue_empty() {
-                return Ok(());
-            }
-            loop {
-                let reply = self.inner.get_next_reply_as_string();
-                self.reply_queue.borrow_mut().push_back(reply.clone());
-                f(reply.as_bytes());
-                if self.inner.reply_queue_empty() {
-                    break;
-                }
-            }
-            Ok(())
-        }
-    }
-
-    pub struct PcduTestbench {
-        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>,
-    }
-
-    impl PcduTestbench {
-        pub fn new() -> Self {
-            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_node = ModeRequestHandlerMpscBounded::new(PCDU.into(), mode_request_rx);
-            let (composite_request_tx, composite_request_rx) = mpsc::channel();
-            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.raw_value(), u21::new(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(ids::eps::SUBSYSTEM.into(), mode_reply_tx_to_parent);
-            handler.add_mode_parent(PUS_MODE.into(), mode_reply_tx_to_pus);
-            Self {
-                mode_request_tx,
-                mode_reply_rx_to_pus,
-                mode_reply_rx_to_parent,
-                composite_request_tx,
-                hk_reply_rx,
-                tm_rx,
-                switch_request_tx,
-                handler,
-            }
-        }
-
-        pub fn verify_switch_info_req_was_sent(&self, expected_queue_len: usize) {
-            // Check that there is now communication happening.
-            let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
-            assert_eq!(send_queue_mut.len(), expected_queue_len);
-            let packet_sent = send_queue_mut.pop_front().unwrap();
-            drop(send_queue_mut);
-            let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
-            assert_eq!(pcdu_req, PcduRequest::RequestSwitchInfo);
-        }
-
-        pub fn verify_switch_req_was_sent(
-            &self,
-            expected_queue_len: usize,
-            switch_id: PcduSwitch,
-            target_state: SwitchStateBinary,
-        ) {
-            // Check that there is now communication happening.
-            let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
-            assert_eq!(send_queue_mut.len(), expected_queue_len);
-            let packet_sent = send_queue_mut.pop_front().unwrap();
-            drop(send_queue_mut);
-            let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
-            assert_eq!(
-                pcdu_req,
-                PcduRequest::SwitchDevice {
-                    switch: switch_id,
-                    state: target_state
-                }
-            )
-        }
-
-        pub fn verify_switch_reply_received(
-            &self,
-            expected_queue_len: usize,
-            expected_map: SwitchMapBinary,
-        ) {
-            // Check that a switch reply was read back.
-            let mut reply_received_mut = self.handler.com_interface.reply_queue.borrow_mut();
-            assert_eq!(reply_received_mut.len(), expected_queue_len);
-            let reply_received = reply_received_mut.pop_front().unwrap();
-            let sim_reply: SimReply = serde_json::from_str(&reply_received).unwrap();
-            let pcdu_reply = PcduReply::from_sim_message(&sim_reply).unwrap();
-            assert_eq!(pcdu_reply, PcduReply::SwitchInfo(expected_map));
-        }
-    }
-
-    #[test]
-    fn test_basic_handler() {
-        let mut testbench = PcduTestbench::new();
-        assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
-        assert_eq!(
-            testbench.handler.com_interface.reply_queue.borrow().len(),
-            0
-        );
-        assert_eq!(
-            testbench.handler.mode_and_submode().mode(),
-            DeviceMode::Off as u32
-        );
-        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
-        testbench.handler.periodic_operation(OpCode::RegularOp);
-        testbench
-            .handler
-            .periodic_operation(OpCode::PollAndRecvReplies);
-        // Handler is OFF, no changes expected.
-        assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
-        assert_eq!(
-            testbench.handler.com_interface.reply_queue.borrow().len(),
-            0
-        );
-        assert_eq!(
-            testbench.handler.mode_and_submode().mode(),
-            DeviceMode::Off as u32
-        );
-        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
-    }
-
-    #[test]
-    fn test_normal_mode() {
-        let mut testbench = PcduTestbench::new();
-        testbench
-            .mode_request_tx
-            .send(GenericMessage::new(
-                MessageMetadata::new(0, PUS_MODE.id()),
-                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();
-        assert!(!switch_map_shared.valid);
-        drop(switch_map_shared);
-        testbench.handler.periodic_operation(OpCode::RegularOp);
-        testbench
-            .handler
-            .periodic_operation(OpCode::PollAndRecvReplies);
-        // Check correctness of mode.
-        assert_eq!(
-            testbench.handler.mode_and_submode().mode(),
-            DeviceMode::Normal as u32
-        );
-        assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
-
-        testbench.verify_switch_info_req_was_sent(1);
-        testbench.verify_switch_reply_received(1, SwitchMapBinaryWrapper::default().0);
-
-        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
-        assert!(switch_map_shared.valid);
-        drop(switch_map_shared);
-    }
-
-    #[test]
-    fn test_switch_request_handling() {
-        let mut testbench = PcduTestbench::new();
-        testbench
-            .mode_request_tx
-            .send(GenericMessage::new(
-                MessageMetadata::new(0, PUS_MODE.id()),
-                ModeRequest::SetMode {
-                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
-                    forced: false,
-                },
-            ))
-            .expect("failed to send mode request");
-        testbench
-            .switch_request_tx
-            .send(GenericMessage::new(
-                MessageMetadata::new(0, ids::acs::MGM0.id()),
-                SwitchRequest::new(0, SwitchStateBinary::On),
-            ))
-            .expect("failed to send switch request");
-        testbench.handler.periodic_operation(OpCode::RegularOp);
-        testbench
-            .handler
-            .periodic_operation(OpCode::PollAndRecvReplies);
-
-        testbench.verify_switch_req_was_sent(2, PcduSwitch::Mgm, SwitchStateBinary::On);
-        testbench.verify_switch_info_req_was_sent(1);
-        let mut switch_map = SwitchMapBinaryWrapper::default().0;
-        *switch_map
-            .get_mut(&PcduSwitch::Mgm)
-            .expect("switch state setting failed") = SwitchStateBinary::On;
-        testbench.verify_switch_reply_received(1, switch_map);
-
-        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
-        assert!(switch_map_shared.valid);
-        drop(switch_map_shared);
-    }
-}
--- a/satrs-example/src/events.rs
+++ b/satrs-example/src/events.rs
@@ -1,15 +1,13 @@
 use std::sync::mpsc::{self};

 use crate::pus::create_verification_reporter;
-use arbitrary_int::traits::Integer as _;
-use arbitrary_int::u11;
-use satrs::event_man_legacy::{EventMessageU32, EventRoutingError};
-use satrs::pus::event::EventTmHook;
+use satrs::event_man::{EventMessageU32, EventRoutingError};
+use satrs::pus::event::EventTmHookProvider;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::EcssTmSender;
 use satrs::request::UniqueApidTargetId;
 use satrs::{
-    event_man_legacy::{EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded},
+    event_man::{EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded},
    pus::{
        event_man::{
            DefaultPusEventU32TmCreator, EventReporter, EventRequest, EventRequestWithToken,
@@ -18,17 +16,17 @@ use satrs::{
    },
    spacepackets::time::cds::CdsTime,
 };
-use satrs_example::ids::generic_pus::PUS_EVENT_MANAGEMENT;
+use satrs_example::config::components::PUS_EVENT_MANAGEMENT;

 use crate::update_time;

 // This helper sets the APID of the event sender for the PUS telemetry.
 #[derive(Default)]
 pub struct EventApidSetter {
-    pub next_apid: u11,
+    pub next_apid: u16,
 }

-impl EventTmHook for EventApidSetter {
+impl EventTmHookProvider for EventApidSetter {
    fn modify_tm(&self, tm: &mut satrs::spacepackets::ecss::tm::PusTmCreator) {
        tm.set_apid(self.next_apid);
    }
@@ -61,11 +59,12 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
        // telemetry for each event.
        let event_reporter = EventReporter::new_with_hook(
            PUS_EVENT_MANAGEMENT.raw(),
-            u11::ZERO,
+            0,
            0,
            128,
            EventApidSetter::default(),
-        );
+        )
+        .unwrap();
        let pus_event_dispatcher =
            DefaultPusEventU32TmCreator::new_with_default_backend(event_reporter);
        let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
@@ -218,18 +217,20 @@ impl<TmSender: EcssTmSender> EventHandler<TmSender> {

 #[cfg(test)]
 mod tests {
-    use arbitrary_int::u21;
    use satrs::{
-        events_legacy::EventU32,
-        pus::verification::VerificationReporterConfig,
-        spacepackets::ecss::{tm::PusTmReader, PusPacket},
+        events::EventU32,
+        pus::verification::VerificationReporterCfg,
+        spacepackets::{
+            ecss::{tm::PusTmReader, PusPacket},
+            CcsdsPacket,
+        },
        tmtc::PacketAsVec,
    };

    use super::*;

-    const TEST_CREATOR_ID: UniqueApidTargetId = UniqueApidTargetId::new(u11::new(1), u21::new(2));
-    const TEST_EVENT: EventU32 = EventU32::new(satrs::events_legacy::Severity::Info, 1, 1);
+    const TEST_CREATOR_ID: UniqueApidTargetId = UniqueApidTargetId::new(1, 2);
+    const TEST_EVENT: EventU32 = EventU32::new(satrs::events::Severity::Info, 1, 1);

    pub struct EventManagementTestbench {
        pub event_tx: mpsc::SyncSender<EventMessageU32>,
@@ -243,7 +244,7 @@ mod tests {
            let (event_tx, event_rx) = mpsc::sync_channel(10);
            let (_event_req_tx, event_req_rx) = mpsc::sync_channel(10);
            let (tm_sender, tm_receiver) = mpsc::channel();
-            let verif_reporter_cfg = VerificationReporterConfig::new(u11::new(0x05), 2, 2, 128);
+            let verif_reporter_cfg = VerificationReporterCfg::new(0x05, 2, 2, 128).unwrap();
            let verif_reporter =
                VerificationReporter::new(PUS_EVENT_MANAGEMENT.id(), &verif_reporter_cfg);
            let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
@@ -269,7 +270,7 @@ mod tests {
            .event_tx
            .send(EventMessageU32::new(
                TEST_CREATOR_ID.id(),
-                EventU32::new(satrs::events_legacy::Severity::Info, 1, 1),
+                EventU32::new(satrs::events::Severity::Info, 1, 1),
            ))
            .expect("failed to send event");
        testbench.pus_event_handler.handle_event_requests();
@@ -280,7 +281,9 @@ 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");
+        let tm_reader = PusTmReader::new(&tm_packet.packet, 7)
+            .expect("failed to create TM reader")
+            .0;
        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/hk.rs
+++ b/satrs-example/src/hk.rs
@@ -1,9 +1,8 @@
-use arbitrary_int::traits::Integer as _;
 use derive_new::new;
 use satrs::hk::UniqueId;
 use satrs::request::UniqueApidTargetId;
+use satrs::spacepackets::ecss::hk;
 use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::ecss::{hk, CreatorConfig, MessageTypeId};
 use satrs::spacepackets::{ByteConversionError, SpHeader};

 #[derive(Debug, new, Copy, Clone)]
@@ -30,7 +29,7 @@ impl HkUniqueId {
                expected: 8,
            });
        }
-        buf[0..4].copy_from_slice(&self.target_id.unique_id.as_u32().to_be_bytes());
+        buf[0..4].copy_from_slice(&self.target_id.unique_id.to_be_bytes());
        buf[4..8].copy_from_slice(&self.set_id.to_be_bytes());

        Ok(8)
@@ -54,13 +53,9 @@ impl PusHkHelper {
        hk_data_writer: &mut HkWriter,
        buf: &'b mut [u8],
    ) -> Result<PusTmCreator<'a, 'b>, ByteConversionError> {
-        let sec_header = PusTmSecondaryHeader::new(
-            MessageTypeId::new(3, hk::MessageSubtypeId::TmHkPacket as u8),
-            0,
-            0,
-            timestamp,
-        );
-        buf[0..4].copy_from_slice(&self.component_id.unique_id.as_u32().to_be_bytes());
+        let sec_header =
+            PusTmSecondaryHeader::new(3, hk::Subservice::TmHkPacket as u8, 0, 0, timestamp);
+        buf[0..4].copy_from_slice(&self.component_id.unique_id.to_be_bytes());
        buf[4..8].copy_from_slice(&set_id.to_be_bytes());
        let (_, second_half) = buf.split_at_mut(8);
        let hk_data_len = hk_data_writer(second_half)?;
@@ -68,7 +63,7 @@ impl PusHkHelper {
            SpHeader::new_from_apid(self.component_id.apid),
            sec_header,
            &buf[0..8 + hk_data_len],
-            CreatorConfig::default(),
+            true,
        ))
    }
 }
--- a/satrs-example/src/ids.rs
+++ b/satrs-example/src/ids.rs
@@ -1,109 +0,0 @@
-//! This is an auto-generated configuration module.
-use satrs::request::UniqueApidTargetId;
-
-#[derive(Debug, PartialEq, Eq, strum::EnumIter)]
-#[bitbybit::bitenum(u11)]
-pub enum Apid {
-    Sched = 1,
-    GenericPus = 2,
-    Acs = 3,
-    Cfdp = 4,
-    Tmtc = 5,
-    Eps = 6,
-}
-
-pub mod acs {
-
-    #[derive(Debug, PartialEq, Eq)]
-    #[bitbybit::bitenum(u21, exhaustive = false)]
-    pub enum Id {
-        Subsystem = 1,
-        Assembly = 2,
-        Mgm0 = 3,
-        Mgm1 = 4,
-    }
-
-    pub const SUBSYSTEM: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Subsystem.raw_value());
-    pub const ASSEMBLY: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Assembly.raw_value());
-    pub const MGM0: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Mgm0.raw_value());
-    pub const MGM1: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Mgm1.raw_value());
-}
-
-pub mod eps {
-    #[derive(Debug, PartialEq, Eq)]
-    #[bitbybit::bitenum(u21, exhaustive = false)]
-    pub enum Id {
-        Pcdu = 0,
-        Subsystem = 1,
-    }
-
-    pub const PCDU: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Eps.raw_value(), Id::Pcdu.raw_value());
-    pub const SUBSYSTEM: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Eps.raw_value(), Id::Subsystem.raw_value());
-}
-
-pub mod generic_pus {
-    #[derive(Debug, PartialEq, Eq)]
-    #[bitbybit::bitenum(u21, exhaustive = false)]
-    pub enum Id {
-        PusEventManagement = 0,
-        PusRouting = 1,
-        PusTest = 2,
-        PusAction = 3,
-        PusMode = 4,
-        PusHk = 5,
-    }
-
-    pub const PUS_EVENT_MANAGEMENT: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
-        super::Apid::GenericPus.raw_value(),
-        Id::PusEventManagement.raw_value(),
-    );
-    pub const PUS_ROUTING: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
-        super::Apid::GenericPus.raw_value(),
-        Id::PusRouting.raw_value(),
-    );
-    pub const PUS_TEST: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
-        super::Apid::GenericPus.raw_value(),
-        Id::PusTest.raw_value(),
-    );
-    pub const PUS_ACTION: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
-        super::Apid::GenericPus.raw_value(),
-        Id::PusAction.raw_value(),
-    );
-    pub const PUS_MODE: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
-        super::Apid::GenericPus.raw_value(),
-        Id::PusMode.raw_value(),
-    );
-    pub const PUS_HK: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::GenericPus.raw_value(), Id::PusHk.raw_value());
-}
-
-pub mod sched {
-    #[derive(Debug, PartialEq, Eq)]
-    #[bitbybit::bitenum(u21, exhaustive = false)]
-    pub enum Id {
-        PusSched = 0,
-    }
-
-    pub const PUS_SCHED: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Sched.raw_value(), Id::PusSched.raw_value());
-}
-
-pub mod tmtc {
-    #[derive(Debug, PartialEq, Eq)]
-    #[bitbybit::bitenum(u21, exhaustive = false)]
-    pub enum Id {
-        UdpServer = 0,
-        TcpServer = 1,
-    }
-
-    pub const UDP_SERVER: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Tmtc.raw_value(), Id::UdpServer.raw_value());
-    pub const TCP_SERVER: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Tmtc.raw_value(), Id::TcpServer.raw_value());
-}
--- a/satrs-example/src/interface/sim_client_udp.rs
+++ b/satrs-example/src/interface/sim_client_udp.rs
@@ -24,7 +24,7 @@ pub fn create_sim_client(sim_request_rx: mpsc::Receiver<SimRequest>) -> Option<S
            return Some(sim_client);
        }
        Err(e) => {
-            log::warn!("sim client creation error: {e}");
+            log::warn!("sim client creation error: {}", e);
        }
    }
    None
@@ -116,7 +116,7 @@ impl SimClientUdp {
                        .udp_client
                        .send_to(request_json.as_bytes(), self.simulator_addr)
                    {
-                        log::error!("error sending data to UDP SIM server: {e}");
+                        log::error!("error sending data to UDP SIM server: {}", e);
                        break;
                    } else {
                        no_sim_requests_handled = false;
@@ -151,7 +151,7 @@ impl SimClientUdp {
                            }
                        }
                        Err(e) => {
-                            log::warn!("failed to deserialize SIM reply: {e}");
+                            log::warn!("failed to deserialize SIM reply: {}", e);
                        }
                    }
                }
@@ -161,7 +161,7 @@ impl SimClientUdp {
                    {
                        break;
                    }
-                    log::error!("error receiving data from UDP SIM server: {e}");
+                    log::error!("error receiving data from UDP SIM server: {}", e);
                    break;
                }
            }
--- a/satrs-example/src/interface/tcp.rs
+++ b/satrs-example/src/interface/tcp.rs
@@ -1,20 +1,19 @@
 use std::time::Duration;
 use std::{
    collections::{HashSet, VecDeque},
+    fmt::Debug,
+    marker::PhantomData,
    sync::{Arc, Mutex},
 };

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

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

@@ -31,7 +30,7 @@ impl SpacePacketValidator for SimplePacketValidator {
        if self.valid_ids.contains(&sp_header.packet_id()) {
            return SpValidity::Valid;
        }
-        log::warn!("ignoring space packet with header {sp_header:?}");
+        log::warn!("ignoring space packet with header {:?}", sp_header);
        // We could perform a CRC check.. but lets keep this simple and assume that TCP ensures
        // data integrity.
        SpValidity::Skip
@@ -103,29 +102,40 @@ impl PacketSource for SyncTcpTmSource {
    }
 }

-pub type TcpServer<ReceivesTc> = TcpSpacepacketsServer<
+pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
    SyncTcpTmSource,
    ReceivesTc,
    SimplePacketValidator,
    ConnectionFinishedHandler,
+    (),
+    SendError,
 >;

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

-impl TcpTask {
+impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
+    TcpTask<TcSender, SendError>
+{
    pub fn new(
        cfg: ServerConfig,
        tm_source: SyncTcpTmSource,
-        tc_sender: TmTcSender,
+        tc_sender: TcSender,
        valid_ids: HashSet<PacketId>,
    ) -> Result<Self, std::io::Error> {
-        Ok(Self(TcpSpacepacketsServer::new(
-            cfg,
-            tm_source,
-            CcsdsPacketParser::new(cfg.id, 2048, tc_sender, SimplePacketValidator { valid_ids }),
-            ConnectionFinishedHandler::default(),
-            None,
-        )?))
+        Ok(Self(
+            TcpSpacepacketsServer::new(
+                cfg,
+                tm_source,
+                tc_sender,
+                SimplePacketValidator { valid_ids },
+                ConnectionFinishedHandler::default(),
+                None,
+            )?,
+            PhantomData,
+        ))
    }

    pub fn periodic_operation(&mut self) {
--- a/satrs-example/src/interface/udp.rs
+++ b/satrs-example/src/interface/udp.rs
@@ -1,17 +1,14 @@
-#![allow(dead_code)]
+use core::fmt::Debug;
 use std::net::{SocketAddr, UdpSocket};
 use std::sync::mpsc;

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

 pub trait UdpTmHandler {
    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
@@ -68,12 +65,21 @@ impl UdpTmHandler for DynamicUdpTmHandler {
    }
 }

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

-impl<TmHandler: UdpTmHandler> UdpTmtcServer<TmHandler> {
+impl<
+        TcSender: PacketSenderRaw<Error = SendError>,
+        TmHandler: UdpTmHandler,
+        SendError: Debug + 'static,
+    > UdpTmtcServer<TcSender, TmHandler, SendError>
+{
    pub fn periodic_operation(&mut self) {
        loop {
            if self.poll_tc_server() == HandlingStatus::Empty {
@@ -109,30 +115,41 @@ impl<TmHandler: UdpTmHandler> UdpTmtcServer<TmHandler> {
 mod tests {
    use std::net::Ipv4Addr;
    use std::{
+        cell::RefCell,
        collections::VecDeque,
        net::IpAddr,
        sync::{Arc, Mutex},
    };

-    use arbitrary_int::traits::Integer as _;
-    use arbitrary_int::u14;
-    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
    use satrs::{
        spacepackets::{
            ecss::{tc::PusTcCreator, WritablePusPacket},
            SpHeader,
        },
+        tmtc::PacketSenderRaw,
        ComponentId,
    };
-    use satrs_example::config::OBSW_SERVER_ADDR;
-    use satrs_example::ids;
-
-    use crate::tmtc::sender::{MockSender, TmTcSender};
+    use satrs_example::config::{components, OBSW_SERVER_ADDR};

    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>>>,
@@ -147,7 +164,8 @@ mod tests {
    #[test]
    fn test_basic() {
        let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
-        let test_receiver = TmTcSender::Mock(MockSender::default());
+        let test_receiver = TestSender::default();
+        // let tc_queue = test_receiver.tc_vec.clone();
        let udp_tc_server =
            UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
        let tm_handler = TestTmHandler::default();
@@ -157,13 +175,7 @@ mod tests {
            tm_handler,
        };
        udp_dyn_server.periodic_operation();
-        let queue = udp_dyn_server
-            .udp_tc_server
-            .tc_sender
-            .get_mock_sender()
-            .unwrap()
-            .0
-            .borrow();
+        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
        assert!(queue.is_empty());
        assert!(tm_handler_calls.lock().unwrap().is_empty());
    }
@@ -171,7 +183,8 @@ mod tests {
    #[test]
    fn test_transactions() {
        let sock_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), 0);
-        let test_receiver = TmTcSender::Mock(MockSender::default());
+        let test_receiver = TestSender::default();
+        // let tc_queue = test_receiver.tc_vec.clone();
        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();
@@ -181,28 +194,17 @@ mod tests {
            udp_tc_server,
            tm_handler,
        };
-        let sph = SpHeader::new_for_unseg_tc(ids::Apid::GenericPus.raw_value(), u14::ZERO, 0);
-        let ping_tc = PusTcCreator::new_simple(
-            sph,
-            MessageTypeId::new(17, 1),
-            &[],
-            CreatorConfig::default(),
-        )
-        .to_vec()
-        .unwrap();
+        let sph = SpHeader::new_for_unseg_tc(components::Apid::GenericPus as u16, 0, 0);
+        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true)
+            .to_vec()
+            .unwrap();
        let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
        let client_addr = client.local_addr().unwrap();
        println!("{}", server_addr);
        client.send_to(&ping_tc, server_addr).unwrap();
        udp_dyn_server.periodic_operation();
        {
-            let mut queue = udp_dyn_server
-                .udp_tc_server
-                .tc_sender
-                .get_mock_sender()
-                .unwrap()
-                .0
-                .borrow_mut();
+            let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
            assert!(!queue.is_empty());
            let packet_with_sender = queue.pop_front().unwrap();
            assert_eq!(packet_with_sender.packet, ping_tc);
@@ -217,13 +219,7 @@ mod tests {
            assert_eq!(received_addr, client_addr);
        }
        udp_dyn_server.periodic_operation();
-        let queue = udp_dyn_server
-            .udp_tc_server
-            .tc_sender
-            .get_mock_sender()
-            .unwrap()
-            .0
-            .borrow();
+        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
        assert!(queue.is_empty());
        drop(queue);
        // Still tries to send to the same client.
--- a/satrs-example/src/lib.rs
+++ b/satrs-example/src/lib.rs
@@ -1,7 +1,6 @@
-use satrs::spacepackets::time::cds::CdsTime;
+use satrs::spacepackets::time::{cds::CdsTime, TimeWriter};

 pub mod config;
-pub mod ids;

 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 pub enum DeviceMode {
--- a/satrs-example/src/main.rs
+++ b/satrs-example/src/main.rs
@@ -1,77 +1,3 @@
-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, EcssTcCacher, HandlingStatus},
-    request::{GenericMessage, MessageMetadata},
-    spacepackets::time::cds::CdsTime,
-};
-use satrs_example::{
-    config::{
-        components::NO_SENDER,
-        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,
-    },
-    ids::{
-        acs::*,
-        eps::*,
-        tmtc::{TCP_SERVER, UDP_SERVER},
-    },
-    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::EcssTcVecCacher;
-        use tmtc::{tc_source::TcSourceTaskDynamic, tm_sink::TmSinkDynamic};
-    } else {
-        use std::sync::RwLock;
-        use interface::udp::StaticUdpTmHandler;
-        use satrs::pus::EcssTcInSharedPoolCacher;
-        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;
@@ -80,74 +6,103 @@ mod interface;
 mod logger;
 mod pus;
 mod requests;
-mod spi;
 mod tmtc;

-fn main() {
-    setup_logger().expect("setting up logging with fern failed");
-    println!("Running OBSW example");
+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;
+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};

-    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);
-        }
-    }
+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::ModeRequest;
+use satrs::pus::event_man::EventRequestWithToken;
+use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
+use satrs_example::config::components::{MGM_HANDLER_0, 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;

+#[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);

-    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 tm_sink_tx_sender =
+        PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());

    let (sim_request_tx, sim_request_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 (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);

-    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);
+    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);

    // 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(MGM0.id(), mgm_0_handler_composite_tx);
+        .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(MGM1.id(), mgm_1_handler_composite_tx);
+        .insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
    request_map
-        .composite_router_map
-        .insert(PCDU.id(), pcdu_handler_composite_tx);
+        .mode_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx);

    // This helper structure is used by all telecommand providers which need to send telecommands
    // to the TC source.
-    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 =
-                EcssTcCacher::Static(EcssTcInSharedPoolCacher::new(shared_tc_pool, 4096));
-        } else if #[cfg(feature = "heap_tmtc")] {
-            let tc_in_mem_converter = EcssTcCacher::Heap(EcssTcVecCacher::default());
-        }
-    }
+    let tc_source = PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());

    // Create event handling components
    // These sender handles are used to send event requests, for example to enable or disable
@@ -159,24 +114,17 @@ fn 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::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_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::sync_channel(50);
-    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(30);
+    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
+    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();

-    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,
@@ -185,42 +133,41 @@ fn main() {
        action_tc_sender: pus_action_tx,
        mode_tc_sender: pus_mode_tx,
    };
-    let pus_test_service = create_test_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
+    let pus_test_service = create_test_service_static(
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
        event_tx.clone(),
        pus_test_rx,
    );
-    let pus_scheduler_service = create_scheduler_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
-        tc_releaser,
+    let pus_scheduler_service = create_scheduler_service_static(
+        tm_sink_tx_sender.clone(),
+        tc_source.clone(),
        pus_sched_rx,
        create_sched_tc_pool(),
    );
-    let pus_event_service = create_event_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
+    let pus_event_service = create_event_service_static(
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
        pus_event_rx,
        event_request_tx,
    );
-    let pus_action_service = create_action_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
+    let pus_action_service = create_action_service_static(
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
        pus_action_rx,
        request_map.clone(),
        pus_action_reply_rx,
    );
-    let pus_hk_service = create_hk_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
+    let pus_hk_service = create_hk_service_static(
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
        pus_hk_rx,
        request_map.clone(),
        pus_hk_reply_rx,
    );
-    let pus_mode_service = create_mode_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
+    let pus_mode_service = create_mode_service_static(
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
        pus_mode_rx,
        request_map,
        pus_mode_reply_rx,
@@ -234,36 +181,21 @@ fn main() {
        pus_mode_service,
    );

-    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 mut tmtc_task = TcSourceTaskStatic::new(
+        shared_tc_pool_wrapper.clone(),
+        tc_source_rx,
+        PusTcDistributor::new(tm_sink_tx_sender, 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_sender.clone())
+    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source.clone())
        .expect("creating UDP TMTC server failed");
    let mut udp_tmtc_server = UdpTmtcServer {
        udp_tc_server,
-        tm_handler: udp_tm_handler,
+        tm_handler: StaticUdpTmHandler {
+            tm_rx: tm_server_rx,
+            tm_store: shared_tm_pool.clone(),
+        },
    };

    let tcp_server_cfg = ServerConfig::new(
@@ -277,94 +209,60 @@ fn main() {
    let mut tcp_server = TcpTask::new(
        tcp_server_cfg,
        sync_tm_tcp_source.clone(),
-        tc_sender,
+        tc_source.clone(),
        PACKET_ID_VALIDATOR.clone(),
    )
    .expect("tcp server creation failed");

-    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 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);

    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_0_set = Arc::default();
-    let shared_mgm_1_set = Arc::default();
-    let mgm_0_mode_node = ModeRequestHandlerMpscBounded::new(MGM0.into(), mgm_0_handler_mode_rx);
-    let mgm_1_mode_node = ModeRequestHandlerMpscBounded::new(MGM1.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(
-        MGM0,
+    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(
+        MGM_HANDLER_0,
        "MGM_0",
-        mgm_0_mode_node,
-        mgm_0_handler_composite_rx,
+        mgm_mode_leaf_interface,
+        mgm_handler_composite_rx,
        pus_hk_reply_tx.clone(),
        switch_helper.clone(),
-        tm_sender.clone(),
-        mgm_0_spi_interface,
-        shared_mgm_0_set,
-    );
-    let mut mgm_1_handler = MgmHandlerLis3Mdl::new(
-        MGM1,
-        "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(),
+        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(
@@ -374,35 +272,17 @@ fn main() {
    } else {
        SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
    };
-    let pcdu_mode_node = ModeRequestHandlerMpscBounded::new(PCDU.into(), pcdu_handler_mode_rx);
    let mut pcdu_handler = PcduHandler::new(
-        PCDU,
+        PCDU_HANDLER,
        "PCDU",
-        pcdu_mode_node,
+        pcdu_mode_leaf_interface,
        pcdu_handler_composite_rx,
        pus_hk_reply_tx,
        switch_request_rx,
-        tm_sender.clone(),
+        tm_sink_tx,
        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 {
-                mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as Mode, 0),
-                forced: false,
-            },
-        ))
-        .expect("sending initial mode request failed");

    info!("Starting TMTC and UDP task");
    let jh_udp_tmtc = thread::Builder::new()
@@ -455,8 +335,7 @@ fn main() {
    let jh_aocs = thread::Builder::new()
        .name("sat-rs aocs".to_string())
        .spawn(move || loop {
-            mgm_0_handler.periodic_operation();
-            mgm_1_handler.periodic_operation();
+            mgm_handler.periodic_operation();
            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
        })
        .unwrap();
@@ -467,13 +346,11 @@ fn 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.
-            //
-            // TODO: The fixed timeslot handler exists.. use it.
-            pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::RegularOp);
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
            thread::sleep(Duration::from_millis(50));
-            pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
            thread::sleep(Duration::from_millis(50));
-            pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
            thread::sleep(Duration::from_millis(300));
        })
        .unwrap();
@@ -509,6 +386,315 @@ fn 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);
+
+    // 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,
+    );
+
+    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
@@ -1,5 +1,6 @@
 use log::warn;
 use satrs::action::{ActionRequest, ActionRequestVariant};
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::action::{
    ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
 };
@@ -9,21 +10,21 @@ use satrs::pus::verification::{
    VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    ActiveRequest, EcssTcAndToken, EcssTcCacher, EcssTmSender, EcssTmtcError,
-    GenericConversionError, MpscTcReceiver, PusPacketHandlingError, PusReplyHandler,
-    PusServiceHelper, PusTcToRequestConverter,
+    ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
+    MpscTmAsVecSender, 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::tmtc_err;
-use satrs_example::ids;
-use satrs_example::ids::generic_pus::PUS_ACTION;
 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,
@@ -161,7 +162,7 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
        verif_reporter: &impl VerificationReportingProvider,
        time_stamp: &[u8],
    ) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
-        let subservice = tc.message_subtype_id();
+        let subservice = tc.subservice();
        let user_data = tc.user_data();
        if user_data.len() < 8 {
            verif_reporter
@@ -206,20 +207,20 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
    }
 }

-pub fn create_action_service(
-    tm_sender: TmTcSender,
-    tc_in_mem_converter: EcssTcCacher,
+pub fn create_action_service_static(
+    tm_sender: PacketSenderWithSharedPool,
+    tc_pool: SharedStaticMemoryPool,
    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
    action_router: GenericRequestRouter,
    reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
-) -> ActionServiceWrapper {
+) -> ActionServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
    let action_request_handler = PusTargetedRequestService::new(
        PusServiceHelper::new(
-            ids::generic_pus::PUS_ACTION.id(),
+            PUS_ACTION_SERVICE.id(),
            pus_action_rx,
            tm_sender,
-            create_verification_reporter(PUS_ACTION.id(), PUS_ACTION.apid),
-            tc_in_mem_converter,
+            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
+            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
        ),
        ActionRequestConverter::default(),
        // TODO: Implementation which does not use run-time allocation? Maybe something like
@@ -234,9 +235,36 @@ pub fn create_action_service(
    }
 }

-pub struct ActionServiceWrapper {
+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(crate) service: PusTargetedRequestService<
        MpscTcReceiver,
+        TmSender,
+        TcInMemConverter,
        VerificationReporter,
        ActionRequestConverter,
        ActionReplyHandler,
@@ -247,7 +275,9 @@ pub struct ActionServiceWrapper {
    >,
 }

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

@@ -270,15 +300,12 @@ impl TargetedPusService for ActionServiceWrapper {

 #[cfg(test)]
 mod tests {
-    use arbitrary_int::traits::Integer as _;
    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, EcssTcVecCacher};
    use satrs::request::MessageMetadata;
-    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
-    use satrs::tmtc::PacketAsVec;
    use satrs::ComponentId;
    use satrs::{
        res_code::ResultU16,
@@ -311,7 +338,7 @@ 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::sync_channel(5);
+            let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
            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);
@@ -325,9 +352,9 @@ mod tests {
                    PusServiceHelper::new(
                        owner_id,
                        pus_action_rx,
-                        TmTcSender::Heap(tm_funnel_tx.clone()),
+                        tm_funnel_tx.clone(),
                        verif_reporter,
-                        EcssTcCacher::Heap(EcssTcVecCacher::default()),
+                        EcssTcInVecConverter::default(),
                    ),
                    ActionRequestConverter::default(),
                    DefaultActiveActionRequestMap::default(),
@@ -370,7 +397,7 @@ mod tests {
            if let Err(mpsc::TryRecvError::Empty) = packet {
            } else {
                let tm = packet.unwrap();
-                let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap();
+                let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
                panic!("unexpected TM packet {unexpected_tm:?}");
            }
        }
@@ -413,11 +440,7 @@ 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()
-                .start_verification(tc);
+            let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
            let accepted_token = self
                .service
                .service_helper
@@ -450,13 +473,12 @@ mod tests {
        );
        // Create a basic action request and verify forwarding.
        let sp_header = SpHeader::new_from_apid(TEST_APID);
-        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(8, 128));
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
        let action_id = 5_u32;
        let mut app_data: [u8; 8] = [0; 8];
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_1.as_u32().to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_1.to_be_bytes());
        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
-        let pus8_packet =
-            PusTcCreator::new(sp_header, sec_header, &app_data, CreatorConfig::default());
+        let pus8_packet = PusTcCreator::new(sp_header, sec_header, &app_data, true);
        testbench.add_tc(&pus8_packet);
        let time_stamp: [u8; 7] = [0; 7];
        testbench.verify_next_tc_is_handled_properly(&time_stamp);
@@ -492,7 +514,7 @@ mod tests {
            TEST_COMPONENT_ID_1.id(),
        );
        // Create a basic action request and verify forwarding.
-        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(8, 128));
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
        let action_id = 5_u32;
        let mut app_data: [u8; 8] = [0; 8];
        // Invalid ID, routing should fail.
@@ -502,7 +524,7 @@ mod tests {
            SpHeader::new_from_apid(TEST_APID),
            sec_header,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        testbench.add_tc(&pus8_packet);
        let time_stamp: [u8; 7] = [0; 7];
@@ -518,17 +540,17 @@ mod tests {
            TEST_COMPONENT_ID_0.raw(),
            ActionRequestConverter::default(),
        );
-        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(8, 128));
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
        let action_id = 5_u32;
        let mut app_data: [u8; 8] = [0; 8];
        // Invalid ID, routing should fail.
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
        let pus8_packet = PusTcCreator::new(
            SpHeader::new_from_apid(TEST_APID),
            sec_header,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        let token = testbench.add_tc(&pus8_packet);
        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
@@ -554,11 +576,11 @@ mod tests {
    fn converter_action_req_with_data() {
        let mut testbench =
            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
-        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(8, 128));
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
        let action_id = 5_u32;
        let mut app_data: [u8; 16] = [0; 16];
        // Invalid ID, routing should fail.
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
        for i in 0..8 {
            app_data[i + 8] = i as u8;
@@ -567,7 +589,7 @@ mod tests {
            SpHeader::new_from_apid(TEST_APID),
            sec_header,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        let token = testbench.add_tc(&pus8_packet);
        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
@@ -697,7 +719,7 @@ mod tests {
            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
        let action_reply = ActionReplyPus::new(5_u32, ActionReplyVariant::Completed);
        let unrequested_reply =
-            GenericMessage::new(MessageMetadata::new(10_u32, 15_u32), action_reply);
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
        // Right now this function does not do a lot. We simply check that it does not panic or do
        // weird stuff.
        let result = testbench.handle_unrequested_reply(&unrequested_reply);
--- a/satrs-example/src/pus/event.rs
+++ b/satrs-example/src/pus/event.rs
@@ -1,32 +1,34 @@
 use std::sync::mpsc;

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

 use super::{DirectPusService, HandlingStatus};

-pub fn create_event_service(
-    tm_sender: TmTcSender,
-    tm_in_pool_converter: EcssTcCacher,
+pub fn create_event_service_static(
+    tm_sender: PacketSenderWithSharedPool,
+    tc_pool: SharedStaticMemoryPool,
    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
    event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> EventServiceWrapper {
+) -> EventServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
    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),
-            tm_in_pool_converter,
+            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
        ),
        event_request_tx,
    );
@@ -35,12 +37,34 @@ pub fn create_event_service(
    }
 }

-pub struct EventServiceWrapper {
-    pub handler:
-        PusEventServiceHandler<MpscTcReceiver, TmTcSender, EcssTcCacher, VerificationReporter>,
+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,
+    }
 }

-impl DirectPusService for EventServiceWrapper {
+pub struct EventServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+    pub handler:
+        PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+}
+
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+    for EventServiceWrapper<TmSender, TcInMemConverter>
+{
    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
@@ -1,26 +1,28 @@
 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, ActiveRequest, DefaultActiveRequestMap, EcssTcAndToken, EcssTcCacher,
-    EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver, PusPacketHandlingError,
-    PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
+    ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
+    EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
+    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::{hk_err, tmtc_err};
-use satrs_example::ids::generic_pus::PUS_HK;
 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};

@@ -31,7 +33,6 @@ pub struct HkReply {
 }

 #[derive(Clone, PartialEq, Debug)]
-#[allow(dead_code)]
 pub enum HkReplyVariant {
    Ack,
    Failed(ResultU16),
@@ -164,11 +165,11 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
                found: 4,
            });
        }
-        let subservice = tc.message_subtype_id();
+        let subservice = tc.subservice();
        let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).expect("invalid tc format");
        let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());

-        let standard_subservice = hk::MessageSubtypeId::try_from(subservice);
+        let standard_subservice = hk::Subservice::try_from(subservice);
        if standard_subservice.is_err() {
            verif_reporter
                .start_failure(
@@ -180,22 +181,19 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
            return Err(GenericConversionError::InvalidSubservice(subservice));
        }
        let request = match standard_subservice.unwrap() {
-            hk::MessageSubtypeId::TcEnableHkGeneration
-            | hk::MessageSubtypeId::TcEnableDiagGeneration => {
+            hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
                HkRequest::new(unique_id, HkRequestVariant::EnablePeriodic)
            }
-            hk::MessageSubtypeId::TcDisableHkGeneration
-            | hk::MessageSubtypeId::TcDisableDiagGeneration => {
+            hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
                HkRequest::new(unique_id, HkRequestVariant::DisablePeriodic)
            }
-            hk::MessageSubtypeId::TcReportHkReportStructures => todo!(),
-            hk::MessageSubtypeId::TmHkPacket => todo!(),
-            hk::MessageSubtypeId::TcGenerateOneShotHk
-            | hk::MessageSubtypeId::TcGenerateOneShotDiag => {
+            hk::Subservice::TcReportHkReportStructures => todo!(),
+            hk::Subservice::TmHkPacket => todo!(),
+            hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
                HkRequest::new(unique_id, HkRequestVariant::OneShot)
            }
-            hk::MessageSubtypeId::TcModifyDiagCollectionInterval
-            | hk::MessageSubtypeId::TcModifyHkCollectionInterval => {
+            hk::Subservice::TcModifyDiagCollectionInterval
+            | hk::Subservice::TcModifyHkCollectionInterval => {
                if user_data.len() < 12 {
                    verif_reporter
                        .start_failure(
@@ -243,20 +241,20 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
    }
 }

-pub fn create_hk_service(
-    tm_sender: TmTcSender,
-    tc_in_mem_converter: EcssTcCacher,
+pub fn create_hk_service_static(
+    tm_sender: PacketSenderWithSharedPool,
+    tc_pool: SharedStaticMemoryPool,
    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
    request_router: GenericRequestRouter,
    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
-) -> HkServiceWrapper {
+) -> HkServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
    let pus_3_handler = PusTargetedRequestService::new(
        PusServiceHelper::new(
-            PUS_HK.id(),
+            PUS_HK_SERVICE.id(),
            pus_hk_rx,
            tm_sender,
-            create_verification_reporter(PUS_HK.id(), PUS_HK.apid),
-            tc_in_mem_converter,
+            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
+            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
        ),
        HkRequestConverter::default(),
        DefaultActiveRequestMap::default(),
@@ -269,9 +267,36 @@ pub fn create_hk_service(
    }
 }

-pub struct HkServiceWrapper {
+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(crate) service: PusTargetedRequestService<
        MpscTcReceiver,
+        TmSender,
+        TcInMemConverter,
        VerificationReporter,
        HkRequestConverter,
        HkReplyHandler,
@@ -282,7 +307,9 @@ pub struct HkServiceWrapper {
    >,
 }

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

@@ -305,19 +332,16 @@ impl TargetedPusService for HkServiceWrapper {

 #[cfg(test)]
 mod tests {
-    use arbitrary_int::traits::Integer as _;
-    use arbitrary_int::{u14, u21};
    use satrs::pus::test_util::{
        TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
    };
    use satrs::request::MessageMetadata;
-    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
    use satrs::{
        hk::HkRequestVariant,
        pus::test_util::TEST_APID,
        request::GenericMessage,
        spacepackets::{
-            ecss::{hk::MessageSubtypeId, tc::PusTcCreator},
+            ecss::{hk::Subservice, tc::PusTcCreator},
            SpHeader,
        },
    };
@@ -334,18 +358,19 @@ mod tests {
    fn hk_converter_one_shot_req() {
        let mut hk_bench =
            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
        let target_id = TEST_UNIQUE_ID_0;
        let unique_id = 5_u32;
        let mut app_data: [u8; 8] = [0; 8];
-        app_data[0..4].copy_from_slice(&target_id.as_u32().to_be_bytes());
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());

        let hk_req = PusTcCreator::new_simple(
            sp_header,
-            MessageTypeId::new(3, MessageSubtypeId::TcGenerateOneShotHk as u8),
+            3,
+            Subservice::TcGenerateOneShotHk as u8,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        let accepted_token = hk_bench.add_tc(&hk_req);
        let (_active_req, req) = hk_bench
@@ -363,11 +388,11 @@ mod tests {
    fn hk_converter_enable_periodic_generation() {
        let mut hk_bench =
            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
        let target_id = TEST_UNIQUE_ID_0;
        let unique_id = 5_u32;
        let mut app_data: [u8; 8] = [0; 8];
-        app_data[0..4].copy_from_slice(&target_id.as_u32().to_be_bytes());
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
        let mut generic_check = |tc: &PusTcCreator| {
            let accepted_token = hk_bench.add_tc(tc);
@@ -382,16 +407,18 @@ mod tests {
        };
        let tc0 = PusTcCreator::new_simple(
            sp_header,
-            MessageTypeId::new(3, MessageSubtypeId::TcEnableHkGeneration as u8),
+            3,
+            Subservice::TcEnableHkGeneration as u8,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        generic_check(&tc0);
        let tc1 = PusTcCreator::new_simple(
            sp_header,
-            MessageTypeId::new(3, MessageSubtypeId::TcEnableDiagGeneration as u8),
+            3,
+            Subservice::TcEnableDiagGeneration as u8,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        generic_check(&tc1);
    }
@@ -400,11 +427,11 @@ mod tests {
    fn hk_conversion_disable_periodic_generation() {
        let mut hk_bench =
            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
        let target_id = TEST_UNIQUE_ID_0;
        let unique_id = 5_u32;
        let mut app_data: [u8; 8] = [0; 8];
-        app_data[0..4].copy_from_slice(&target_id.as_u32().to_be_bytes());
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
        let mut generic_check = |tc: &PusTcCreator| {
            let accepted_token = hk_bench.add_tc(tc);
@@ -419,16 +446,18 @@ mod tests {
        };
        let tc0 = PusTcCreator::new_simple(
            sp_header,
-            MessageTypeId::new(3, MessageSubtypeId::TcDisableHkGeneration as u8),
+            3,
+            Subservice::TcDisableHkGeneration as u8,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        generic_check(&tc0);
        let tc1 = PusTcCreator::new_simple(
            sp_header,
-            MessageTypeId::new(3, MessageSubtypeId::TcDisableDiagGeneration as u8),
+            3,
+            Subservice::TcDisableDiagGeneration as u8,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        generic_check(&tc1);
    }
@@ -437,12 +466,12 @@ mod tests {
    fn hk_conversion_modify_interval() {
        let mut hk_bench =
            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
        let target_id = TEST_UNIQUE_ID_0;
        let unique_id = 5_u32;
        let mut app_data: [u8; 12] = [0; 12];
        let collection_interval_factor = 5_u32;
-        app_data[0..4].copy_from_slice(&target_id.as_u32().to_be_bytes());
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
        app_data[8..12].copy_from_slice(&collection_interval_factor.to_be_bytes());

@@ -460,16 +489,18 @@ mod tests {
        };
        let tc0 = PusTcCreator::new_simple(
            sp_header,
-            MessageTypeId::new(3, MessageSubtypeId::TcModifyHkCollectionInterval as u8),
+            3,
+            Subservice::TcModifyHkCollectionInterval as u8,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        generic_check(&tc0);
        let tc1 = PusTcCreator::new_simple(
            sp_header,
-            MessageTypeId::new(3, MessageSubtypeId::TcModifyDiagCollectionInterval as u8),
+            3,
+            Subservice::TcModifyDiagCollectionInterval as u8,
            &app_data,
-            CreatorConfig::default(),
+            true,
        );
        generic_check(&tc1);
    }
@@ -478,8 +509,8 @@ mod tests {
    fn hk_reply_handler() {
        let mut reply_testbench =
            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), HkReplyHandler::default());
-        let sender_id = 2_u32;
-        let apid_target_id = u21::new(3);
+        let sender_id = 2_u64;
+        let apid_target_id = 3_u32;
        let unique_id = 5_u32;
        let (req_id, active_req) = reply_testbench.add_tc(TEST_APID, apid_target_id, &[]);
        let reply = GenericMessage::new(
@@ -500,7 +531,7 @@ mod tests {
            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
        let action_reply = HkReply::new(5_u32, HkReplyVariant::Ack);
        let unrequested_reply =
-            GenericMessage::new(MessageMetadata::new(10_u32, 15_u32), action_reply);
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
        // Right now this function does not do a lot. We simply check that it does not panic or do
        // weird stuff.
        let result = testbench.handle_unrequested_reply(&unrequested_reply);
--- a/satrs-example/src/pus/mod.rs
+++ b/satrs-example/src/pus/mod.rs
@@ -1,13 +1,12 @@
 use crate::requests::GenericRequestRouter;
-use crate::tmtc::sender::TmTcSender;
 use log::warn;
 use satrs::pool::PoolAddr;
 use satrs::pus::verification::{
    self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
-    VerificationReporterConfig, VerificationReportingProvider, VerificationToken,
+    VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    ActiveRequest, ActiveRequestStore, CacheAndReadRawEcssTc, EcssTcAndToken, EcssTcCacher,
+    ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
    EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
    HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
    PusTcToRequestConverter, TcInMemory,
@@ -18,11 +17,11 @@ 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::{tmtc_err, CustomPusServiceId};
-use satrs_example::ids::generic_pus::PUS_ROUTING;
 use satrs_example::TimestampHelper;
 use std::fmt::Debug;
-use std::sync::mpsc;
+use std::sync::mpsc::{self, Sender};

 pub mod action;
 pub mod event;
@@ -33,7 +32,7 @@ pub mod stack;
 pub mod test;

 pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
-    let verif_cfg = VerificationReporterConfig::new(apid, 1, 2, 8);
+    let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
    // Every software component which needs to generate verification telemetry, gets a cloned
    // verification reporter.
    VerificationReporter::new(owner_id, &verif_cfg)
@@ -41,30 +40,31 @@ 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: mpsc::SyncSender<EcssTcAndToken>,
-    pub event_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
-    pub sched_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
-    pub hk_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
-    #[allow(dead_code)]
-    pub action_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
-    pub mode_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
+    pub test_tc_sender: Sender<EcssTcAndToken>,
+    pub event_tc_sender: Sender<EcssTcAndToken>,
+    pub sched_tc_sender: Sender<EcssTcAndToken>,
+    pub hk_tc_sender: Sender<EcssTcAndToken>,
+    pub action_tc_sender: Sender<EcssTcAndToken>,
+    pub mode_tc_sender: Sender<EcssTcAndToken>,
 }

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

-impl PusTcDistributor {
-    pub fn new(tm_sender: TmTcSender, pus_router: PusTcMpscRouter) -> Self {
+impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
+    pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
        Self {
-            id: PUS_ROUTING.raw(),
+            id: PUS_ROUTING_SERVICE.raw(),
            tm_sender,
-            verif_reporter: create_verification_reporter(PUS_ROUTING.id(), PUS_ROUTING.apid),
+            verif_reporter: create_verification_reporter(
+                PUS_ROUTING_SERVICE.id(),
+                PUS_ROUTING_SERVICE.apid,
+            ),
            pus_router,
            stamp_helper: TimestampHelper::default(),
        }
@@ -102,18 +102,18 @@ impl PusTcDistributor {
                sender_id,
                pus_tc_result.unwrap_err()
            );
-            log::warn!("raw data: {raw_tc:x?}");
+            log::warn!("raw data: {:x?}", raw_tc);
            // TODO: Shouldn't this be an error?
            return Ok(HandlingStatus::HandledOne);
        }
-        let pus_tc = pus_tc_result.unwrap();
-        let init_token = self.verif_reporter.start_verification(&pus_tc);
+        let pus_tc = pus_tc_result.unwrap().0;
+        let init_token = self.verif_reporter.add_tc(&pus_tc);
        self.stamp_helper.update_from_now();
        let accepted_token = self
            .verif_reporter
            .acceptance_success(&self.tm_sender, init_token, self.stamp_helper.stamp())
            .expect("Acceptance success failure");
-        let service = PusServiceId::try_from(pus_tc.service_type_id());
+        let service = PusServiceId::try_from(pus_tc.service());
        let tc_in_memory: TcInMemory = if let Some(store_addr) = addr_opt {
            PacketInPool::new(sender_id, store_addr).into()
        } else {
@@ -266,19 +266,21 @@ 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>,
-    ActiveRequestMapInstance: ActiveRequestStore<ActiveRequestInfo>,
-    ActiveRequestInfo: ActiveRequest,
+    ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+    ActiveRequestInfo: ActiveRequestProvider,
    RequestType,
    ReplyType,
 > {
    pub service_helper:
-        PusServiceHelper<TcReceiver, TmTcSender, EcssTcCacher, VerificationReporter>,
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
    pub request_router: GenericRequestRouter,
    pub request_converter: RequestConverter,
-    pub active_request_map: ActiveRequestMapInstance,
+    pub active_request_map: ActiveRequestMap,
    pub reply_handler: ReplyHandler,
    pub reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
    phantom: std::marker::PhantomData<(RequestType, ActiveRequestInfo, ReplyType)>,
@@ -286,20 +288,24 @@ pub struct PusTargetedRequestService<

 impl<
        TcReceiver: EcssTcReceiver,
+        TmSender: EcssTmSender,
+        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
        RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
        ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
-        ActiveRequestMapInstance: ActiveRequestStore<ActiveRequestInfo>,
-        ActiveRequestInfo: ActiveRequest,
+        ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+        ActiveRequestInfo: ActiveRequestProvider,
        RequestType,
        ReplyType,
    >
    PusTargetedRequestService<
        TcReceiver,
+        TmSender,
+        TcInMemConverter,
        VerificationReporter,
        RequestConverter,
        ReplyHandler,
-        ActiveRequestMapInstance,
+        ActiveRequestMap,
        ActiveRequestInfo,
        RequestType,
        ReplyType,
@@ -310,12 +316,12 @@ where
    pub fn new(
        service_helper: PusServiceHelper<
            TcReceiver,
-            TmTcSender,
-            EcssTcCacher,
+            TmSender,
+            TcInMemConverter,
            VerificationReporter,
        >,
        request_converter: RequestConverter,
-        active_request_map: ActiveRequestMapInstance,
+        active_request_map: ActiveRequestMap,
        reply_hook: ReplyHandler,
        request_router: GenericRequestRouter,
        reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
@@ -509,7 +515,7 @@ where
 /// and also log the error.
 pub fn generic_pus_request_timeout_handler(
    sender: &(impl EcssTmSender + ?Sized),
-    active_request: &(impl ActiveRequest + Debug),
+    active_request: &(impl ActiveRequestProvider + Debug),
    verification_handler: &impl VerificationReportingProvider,
    time_stamp: &[u8],
    service_str: &'static str,
@@ -531,15 +537,13 @@ pub fn generic_pus_request_timeout_handler(
 pub(crate) mod tests {
    use std::time::Duration;

-    use arbitrary_int::{u11, u21};
    use satrs::pus::test_util::TEST_COMPONENT_ID_0;
    use satrs::pus::{MpscTmAsVecSender, PusTmVariant};
    use satrs::request::RequestId;
-    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
    use satrs::{
        pus::{
            verification::test_util::TestVerificationReporter, ActivePusRequestStd,
-            ActiveRequestStore, MpscTcReceiver,
+            ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
        },
        request::UniqueApidTargetId,
        spacepackets::{
@@ -558,7 +562,7 @@ pub(crate) mod tests {
    // Testbench dedicated to the testing of [PusReplyHandler]s
    pub struct ReplyHandlerTestbench<
        ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
-        ActiveRequestInfo: ActiveRequest,
+        ActiveRequestInfo: ActiveRequestProvider,
        Reply,
    > {
        pub id: ComponentId,
@@ -572,7 +576,7 @@ pub(crate) mod tests {

    impl<
            ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
-            ActiveRequestInfo: ActiveRequest,
+            ActiveRequestInfo: ActiveRequestProvider,
            Reply,
        > ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
    {
@@ -592,17 +596,17 @@ pub(crate) mod tests {

        pub fn add_tc(
            &mut self,
-            apid: u11,
-            apid_target: u21,
+            apid: u16,
+            apid_target: u32,
            time_stamp: &[u8],
        ) -> (verification::RequestId, ActivePusRequestStd) {
            let sp_header = SpHeader::new_from_apid(apid);
-            let sec_header_dummy = PusTcSecondaryHeader::new_simple(MessageTypeId::new(0, 0));
-            let init = self.verif_reporter.start_verification(&PusTcCreator::new(
+            let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
+            let init = self.verif_reporter.add_tc(&PusTcCreator::new(
                sp_header,
                sec_header_dummy,
                &[],
-                CreatorConfig::default(),
+                true,
            ));
            let accepted = self
                .verif_reporter
@@ -673,7 +677,7 @@ pub(crate) mod tests {
    // Testbench dedicated to the testing of [PusTcToRequestConverter]s
    pub struct PusConverterTestbench<
        Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
-        ActiveRequestInfo: ActiveRequest,
+        ActiveRequestInfo: ActiveRequestProvider,
        Request,
    > {
        pub id: ComponentId,
@@ -687,7 +691,7 @@ pub(crate) mod tests {

    impl<
            Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
-            ActiveRequestInfo: ActiveRequest,
+            ActiveRequestInfo: ActiveRequestProvider,
            Request,
        > PusConverterTestbench<Converter, ActiveRequestInfo, Request>
    {
@@ -705,7 +709,7 @@ pub(crate) mod tests {
        }

        pub fn add_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
-            let token = self.verif_reporter.start_verification(tc);
+            let token = self.verif_reporter.add_tc(tc);
            self.current_request_id = Some(verification::RequestId::new(tc));
            self.current_packet = Some(tc.to_vec().unwrap());
            self.verif_reporter
@@ -721,8 +725,8 @@ pub(crate) mod tests {
            &mut self,
            token: VerificationToken<TcStateAccepted>,
            time_stamp: &[u8],
-            expected_apid: u11,
-            expected_apid_target: u21,
+            expected_apid: u16,
+            expected_apid_target: u32,
        ) -> Result<(ActiveRequestInfo, Request), Converter::Error> {
            if self.current_packet.is_none() {
                return Err(GenericConversionError::InvalidAppData(
@@ -733,7 +737,7 @@ pub(crate) mod tests {
            let tc_reader = PusTcReader::new(&current_packet).unwrap();
            let (active_info, request) = self.converter.convert(
                token,
-                &tc_reader,
+                &tc_reader.0,
                &self.dummy_sender,
                &self.verif_reporter,
                time_stamp,
@@ -753,17 +757,19 @@ pub(crate) mod tests {
    pub struct TargetedPusRequestTestbench<
        RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
        ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
-        ActiveRequestMapInstance: ActiveRequestStore<ActiveRequestInfo>,
-        ActiveRequestInfo: ActiveRequest,
+        ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+        ActiveRequestInfo: ActiveRequestProvider,
        RequestType,
        ReplyType,
    > {
        pub service: PusTargetedRequestService<
            MpscTcReceiver,
+            MpscTmAsVecSender,
+            EcssTcInVecConverter,
            TestVerificationReporter,
            RequestConverter,
            ReplyHandler,
-            ActiveRequestMapInstance,
+            ActiveRequestMap,
            ActiveRequestInfo,
            RequestType,
            ReplyType,
--- a/satrs-example/src/pus/mode.rs
+++ b/satrs-example/src/pus/mode.rs
@@ -1,17 +1,14 @@
-use arbitrary_int::traits::Integer as _;
-use arbitrary_int::u14;
 use derive_new::new;
-use satrs::mode_tree::{ModeNode, ModeParent};
-use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
-use satrs_example::ids;
+use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use std::sync::mpsc;
 use std::time::Duration;

 use crate::requests::GenericRequestRouter;
-use crate::tmtc::sender::TmTcSender;
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    DefaultActiveRequestMap, EcssTcAndToken, EcssTcCacher, MpscTcReceiver, PusPacketHandlingError,
+    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
    PusServiceHelper,
 };
 use satrs::request::GenericMessage;
@@ -23,8 +20,8 @@ use satrs::{
            self, FailParams, TcStateAccepted, TcStateStarted, VerificationReportingProvider,
            VerificationToken,
        },
-        ActivePusRequestStd, ActiveRequest, EcssTmSender, EcssTmtcError, GenericConversionError,
-        PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
+        ActivePusRequestStd, ActiveRequestProvider, EcssTmSender, EcssTmtcError,
+        GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
    },
    request::UniqueApidTargetId,
    spacepackets::{
@@ -37,6 +34,7 @@ use satrs::{
    },
    ComponentId,
 };
+use satrs_example::config::components::PUS_MODE_SERVICE;
 use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};

 use super::{
@@ -80,19 +78,10 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                    .write_to_be_bytes(&mut source_data)
                    .expect("writing mode reply failed");
                let req_id = verification::RequestId::from(reply.request_id());
-                let sp_header = SpHeader::new_for_unseg_tm(req_id.packet_id().apid(), u14::ZERO, 0);
-                let sec_header = PusTmSecondaryHeader::new(
-                    MessageTypeId::new(200, Subservice::TmModeReply as u8),
-                    0,
-                    0,
-                    time_stamp,
-                );
-                let pus_tm = PusTmCreator::new(
-                    sp_header,
-                    sec_header,
-                    &source_data,
-                    CreatorConfig::default(),
-                );
+                let sp_header = SpHeader::new_for_unseg_tm(req_id.packet_id().apid(), 0, 0);
+                let sec_header =
+                    PusTmSecondaryHeader::new(200, Subservice::TmModeReply as u8, 0, 0, time_stamp);
+                let pus_tm = PusTmCreator::new(sp_header, sec_header, &source_data, true);
                tm_sender.send_tm(self.owner_id, PusTmVariant::Direct(pus_tm))?;
                verification_handler.completion_success(tm_sender, started_token, time_stamp)?;
            }
@@ -121,7 +110,6 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                    ),
                )?;
            }
-            ModeReply::ModeInfo(_mode_and_submode) => (),
        };
        Ok(true)
    }
@@ -158,7 +146,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
        verif_reporter: &impl VerificationReportingProvider,
        time_stamp: &[u8],
    ) -> Result<(ActivePusRequestStd, ModeRequest), Self::Error> {
-        let subservice = tc.message_subtype_id();
+        let subservice = tc.subservice();
        let user_data = tc.user_data();
        let not_enough_app_data = |expected: usize| {
            verif_reporter
@@ -202,13 +190,7 @@ 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,
-                        forced: false,
-                    },
-                ))
+                Ok((active_request, ModeRequest::SetMode(mode_and_submode)))
            }
            Subservice::TcReadMode => Ok((active_request, ModeRequest::ReadMode)),
            Subservice::TcAnnounceMode => Ok((active_request, ModeRequest::AnnounceMode)),
@@ -220,27 +202,24 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
    }
 }

-pub fn create_mode_service(
-    tm_sender: TmTcSender,
-    tc_in_mem_converter: EcssTcCacher,
+pub fn create_mode_service_static(
+    tm_sender: PacketSenderWithSharedPool,
+    tc_pool: SharedStaticMemoryPool,
    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
    mode_router: GenericRequestRouter,
    reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
-) -> ModeServiceWrapper {
+) -> ModeServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
    let mode_request_handler = PusTargetedRequestService::new(
        PusServiceHelper::new(
-            ids::generic_pus::PUS_MODE.id(),
+            PUS_MODE_SERVICE.id(),
            pus_action_rx,
            tm_sender,
-            create_verification_reporter(
-                ids::generic_pus::PUS_MODE.id(),
-                ids::generic_pus::PUS_MODE.apid,
-            ),
-            tc_in_mem_converter,
+            create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
+            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
        ),
        ModeRequestConverter::default(),
        DefaultActiveRequestMap::default(),
-        ModeReplyHandler::new(ids::generic_pus::PUS_MODE.id()),
+        ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
        mode_router,
        reply_receiver,
    );
@@ -249,9 +228,36 @@ pub fn create_mode_service(
    }
 }

-pub struct ModeServiceWrapper {
+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(crate) service: PusTargetedRequestService<
        MpscTcReceiver,
+        TmSender,
+        TcInMemConverter,
        VerificationReporter,
        ModeRequestConverter,
        ModeReplyHandler,
@@ -262,24 +268,9 @@ pub struct ModeServiceWrapper {
    >,
 }

-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 {
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for ModeServiceWrapper<TmSender, TcInMemConverter>
+{
    const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
    const SERVICE_STR: &'static str = "mode";

@@ -302,11 +293,8 @@ impl TargetedPusService for ModeServiceWrapper {

 #[cfg(test)]
 mod tests {
-    use arbitrary_int::traits::Integer;
-    use arbitrary_int::u14;
    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};
    use satrs::request::MessageMetadata;
-    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
    use satrs::{
        mode::{ModeAndSubmode, ModeReply, ModeRequest},
        pus::mode::Subservice,
@@ -329,12 +317,11 @@ mod tests {
    fn mode_converter_read_mode_request() {
        let mut testbench =
            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header =
-            PusTcSecondaryHeader::new_simple(MessageTypeId::new(200, Subservice::TcReadMode as u8));
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcReadMode as u8);
        let mut app_data: [u8; 4] = [0; 4];
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
-        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, CreatorConfig::default());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
        let token = testbench.add_tc(&tc);
        let (_active_req, req) = testbench
            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
@@ -346,41 +333,31 @@ mod tests {
    fn mode_converter_set_mode_request() {
        let mut testbench =
            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header =
-            PusTcSecondaryHeader::new_simple(MessageTypeId::new(200, Subservice::TcSetMode as u8));
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcSetMode as u8);
        let mut app_data: [u8; 4 + ModeAndSubmode::RAW_LEN] = [0; 4 + ModeAndSubmode::RAW_LEN];
        let mode_and_submode = ModeAndSubmode::new(2, 1);
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
        mode_and_submode
            .write_to_be_bytes(&mut app_data[4..])
            .unwrap();
-        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, CreatorConfig::default());
+        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
        let token = testbench.add_tc(&tc);
        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,
-                forced: false
-            }
-        );
+        assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
    }

    #[test]
    fn mode_converter_announce_mode() {
        let mut testbench =
            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(
-            200,
-            Subservice::TcAnnounceMode as u8,
-        ));
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceMode as u8);
        let mut app_data: [u8; 4] = [0; 4];
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
-        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, CreatorConfig::default());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
        let token = testbench.add_tc(&tc);
        let (_active_req, req) = testbench
            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
@@ -392,14 +369,12 @@ mod tests {
    fn mode_converter_announce_mode_recursively() {
        let mut testbench =
            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(
-            200,
-            Subservice::TcAnnounceModeRecursive as u8,
-        ));
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let sec_header =
+            PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceModeRecursive as u8);
        let mut app_data: [u8; 4] = [0; 4];
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
-        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, CreatorConfig::default());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
        let token = testbench.add_tc(&tc);
        let (_active_req, req) = testbench
            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
@@ -415,7 +390,7 @@ mod tests {
        );
        let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
        let unrequested_reply =
-            GenericMessage::new(MessageMetadata::new(10_u32, 15_u32), mode_reply);
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), mode_reply);
        // Right now this function does not do a lot. We simply check that it does not panic or do
        // weird stuff.
        let result = testbench.handle_unrequested_reply(&unrequested_reply);
--- 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, EcssTcCacher, MpscTcReceiver,
-    PartialPusHandlingError, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
+    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
 use satrs::spacepackets::ecss::PusServiceId;
 use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
 use satrs::ComponentId;
-use satrs_example::ids::sched::PUS_SCHED;
+use satrs_example::config::components::PUS_SCHED_SERVICE;

 use super::{DirectPusService, HandlingStatus};

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

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

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

-#[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 struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+{
    pub pus_11_handler: PusSchedServiceHandler<
        MpscTcReceiver,
-        TmTcSender,
-        EcssTcCacher,
+        TmSender,
+        TcInMemConverter,
        VerificationReporter,
        PusScheduler,
    >,
    pub sched_tc_pool: StaticMemoryPool,
    pub releaser_buf: [u8; 4096],
-    pub tc_releaser: TcReleaser,
+    pub tc_releaser: Box<dyn TcReleaser + Send>,
 }

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

    const SERVICE_STR: &'static str = "verification";
@@ -146,7 +134,9 @@ impl DirectPusService for SchedulingServiceWrapper {
    }
 }

-impl SchedulingServiceWrapper {
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+    SchedulingServiceWrapper<TmSender, TcInMemConverter>
+{
    pub fn release_tcs(&mut self) {
        let id = self.pus_11_handler.service_helper.id();
        let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
@@ -172,22 +162,21 @@ impl SchedulingServiceWrapper {
    }
 }

-pub fn create_scheduler_service(
-    tm_sender: TmTcSender,
-    tc_in_mem_converter: EcssTcCacher,
-    tc_releaser: TcReleaser,
+pub fn create_scheduler_service_static(
+    tm_sender: PacketSenderWithSharedPool,
+    tc_releaser: PacketSenderWithSharedPool,
    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
    sched_tc_pool: StaticMemoryPool,
-) -> SchedulingServiceWrapper {
+) -> SchedulingServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
    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.id(),
+            PUS_SCHED_SERVICE.id(),
            pus_sched_rx,
            tm_sender,
-            create_verification_reporter(PUS_SCHED.id(), PUS_SCHED.apid),
-            tc_in_mem_converter,
+            create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
+            EcssTcInSharedStoreConverter::new(tc_releaser.shared_packet_store().0.clone(), 2048),
        ),
        scheduler,
    );
@@ -195,6 +184,34 @@ pub fn create_scheduler_service(
        pus_11_handler,
        sched_tc_pool,
        releaser_buf: [0; 4096],
-        tc_releaser,
+        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),
    }
 }
--- a/satrs-example/src/pus/stack.rs
+++ b/satrs-example/src/pus/stack.rs
@@ -1,6 +1,9 @@
 use crate::pus::mode::ModeServiceWrapper;
 use derive_new::new;
-use satrs::spacepackets::time::{cds, TimeWriter};
+use satrs::{
+    pus::{EcssTcInMemConverter, EcssTmSender},
+    spacepackets::time::{cds, TimeWriter},
+};

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

-impl PusStack {
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+    PusStack<TmSender, TcInMemConverter>
+{
    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
@@ -1,34 +1,35 @@
 use crate::pus::create_verification_reporter;
-use crate::tmtc::sender::TmTcSender;
 use log::info;
-use satrs::event_man_legacy::{EventMessage, EventMessageU32};
+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::{
-    CacheAndReadRawEcssTc, DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcCacher,
-    MpscTcReceiver, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter,
+    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, 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::{tmtc_err, TEST_EVENT};
-use satrs_example::ids::generic_pus::PUS_TEST;
 use std::sync::mpsc;

 use super::{DirectPusService, HandlingStatus};

-pub fn create_test_service(
-    tm_sender: TmTcSender,
-    tc_in_mem_converter: EcssTcCacher,
+pub fn create_test_service_static(
+    tm_sender: PacketSenderWithSharedPool,
+    tc_pool: SharedStaticMemoryPool,
    event_sender: mpsc::SyncSender<EventMessageU32>,
    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> TestCustomServiceWrapper {
+) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        PUS_TEST.id(),
+        PUS_TEST_SERVICE.id(),
        pus_test_rx,
        tm_sender,
-        create_verification_reporter(PUS_TEST.id(), PUS_TEST.apid),
-        tc_in_mem_converter,
+        create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
+        EcssTcInSharedStoreConverter::new(tc_pool, 2048),
    ));
    TestCustomServiceWrapper {
        handler: pus17_handler,
@@ -36,13 +37,34 @@ pub fn create_test_service(
    }
 }

-pub struct TestCustomServiceWrapper {
+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, TmTcSender, EcssTcCacher, VerificationReporter>,
+        PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
    pub event_tx: mpsc::SyncSender<EventMessageU32>,
 }

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

    const SERVICE_STR: &'static str = "test";
@@ -86,7 +108,7 @@ impl DirectPusService for TestCustomServiceWrapper {
                );
            }
            DirectPusPacketHandlerResult::CustomSubservice(subservice, token) => {
-                let tc = PusTcReader::new(
+                let (tc, _) = PusTcReader::new(
                    self.handler
                        .service_helper
                        .tc_in_mem_converter
@@ -96,7 +118,7 @@ impl DirectPusService for TestCustomServiceWrapper {
                if subservice == 128 {
                    info!("generating test event");
                    self.event_tx
-                        .send(EventMessage::new(PUS_TEST.id(), TEST_EVENT.into()))
+                        .send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
                        .expect("Sending test event failed");
                    match self.handler.service_helper.verif_reporter().start_success(
                        self.handler.service_helper.tm_sender(),
@@ -122,7 +144,7 @@ impl DirectPusService for TestCustomServiceWrapper {
                        }
                    }
                } else {
-                    let fail_data = [tc.message_subtype_id()];
+                    let fail_data = [tc.subservice()];
                    self.handler
                        .service_helper
                        .verif_reporter()
--- a/satrs-example/src/requests.rs
+++ b/satrs-example/src/requests.rs
@@ -8,14 +8,14 @@ use satrs::mode::ModeRequest;
 use satrs::pus::verification::{
    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
 };
-use satrs::pus::{ActiveRequest, EcssTmSender, GenericRoutingError, PusRequestRouter};
+use satrs::pus::{ActiveRequestProvider, EcssTmSender, GenericRoutingError, PusRequestRouter};
 use satrs::queue::GenericSendError;
 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::tmtc_err;
-use satrs_example::ids;

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

 #[derive(Clone)]
 pub struct GenericRequestRouter {
-    #[allow(dead_code)]
    pub id: ComponentId,
    // All messages which do not have a dedicated queue.
    pub composite_router_map:
@@ -37,7 +36,7 @@ pub struct GenericRequestRouter {
 impl Default for GenericRequestRouter {
    fn default() -> Self {
        Self {
-            id: ids::generic_pus::PUS_ROUTING.raw(),
+            id: PUS_ROUTING_SERVICE.raw(),
            composite_router_map: Default::default(),
            mode_router_map: Default::default(),
        }
@@ -46,7 +45,7 @@ impl Default for GenericRequestRouter {
 impl GenericRequestRouter {
    pub(crate) fn handle_error_generic(
        &self,
-        active_request: &impl ActiveRequest,
+        active_request: &impl ActiveRequestProvider,
        tc: &PusTcReader,
        error: GenericRoutingError,
        tm_sender: &(impl EcssTmSender + ?Sized),
@@ -55,7 +54,7 @@ impl GenericRequestRouter {
    ) {
        warn!(
            "Routing request for service {} failed: {error:?}",
-            tc.service_type_id()
+            tc.service()
        );
        let accepted_token: VerificationToken<TcStateAccepted> = active_request
            .token()
@@ -66,8 +65,7 @@ impl GenericRequestRouter {
                let apid_target_id = UniqueApidTargetId::from(id);
                warn!("Target APID for request: {}", apid_target_id.apid);
                warn!("Target Unique ID for request: {}", apid_target_id.unique_id);
-                let mut fail_data: [u8; core::mem::size_of::<ComponentId>()] =
-                    [0; core::mem::size_of::<ComponentId>()];
+                let mut fail_data: [u8; 8] = [0; 8];
                fail_data.copy_from_slice(&id.to_be_bytes());
                verif_reporter
                    .completion_failure(
--- a/satrs-example/src/spi.rs
+++ b/satrs-example/src/spi.rs
@@ -1,6 +0,0 @@
-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
@@ -1,3 +1,2 @@
-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
@@ -1,82 +0,0 @@
-use std::{cell::RefCell, collections::VecDeque, sync::mpsc};
-
-use satrs::{
-    pus::EcssTmSender,
-    queue::GenericSendError,
-    spacepackets::ecss::WritablePusPacket,
-    tmtc::{PacketAsVec, PacketHandler, PacketSenderWithSharedPool},
-    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 PacketHandler for TmTcSender {
-    type Error = GenericSendError;
-
-    fn handle_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
-        match self {
-            TmTcSender::Static(packet_sender_with_shared_pool) => {
-                if let Err(e) = packet_sender_with_shared_pool.handle_packet(sender_id, packet) {
-                    log::error!("Error sending packet via Static TM/TC sender: {:?}", e);
-                }
-            }
-            TmTcSender::Heap(sync_sender) => {
-                if let Err(e) = sync_sender.handle_packet(sender_id, packet) {
-                    log::error!("Error sending packet via Heap TM/TC sender: {:?}", e);
-                }
-            }
-            TmTcSender::Mock(sender) => {
-                sender.handle_packet(sender_id, packet).unwrap();
-            }
-        }
-        Ok(())
-    }
-}
-
-impl PacketHandler for MockSender {
-    type Error = GenericSendError;
-
-    fn handle_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
@@ -1,33 +1,32 @@
 use satrs::{
    pool::PoolProvider,
    pus::HandlingStatus,
-    tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
+    tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, 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.
 pub struct TcSourceTaskStatic {
    shared_tc_pool: SharedPacketPool,
    tc_receiver: mpsc::Receiver<PacketInPool>,
-    /// We allocate this buffer from the heap to avoid a clippy warning on large enum variant
-    /// differences.
-    tc_buf: Box<[u8; 4096]>,
-    pus_distributor: PusTcDistributor,
+    tc_buf: [u8; 4096],
+    pus_distributor: PusTcDistributor<PacketSenderWithSharedPool>,
 }

-#[allow(dead_code)]
 impl TcSourceTaskStatic {
    pub fn new(
        shared_tc_pool: SharedPacketPool,
        tc_receiver: mpsc::Receiver<PacketInPool>,
-        pus_receiver: PusTcDistributor,
+        pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
    ) -> Self {
        Self {
            shared_tc_pool,
            tc_receiver,
-            tc_buf: Box::new([0; 4096]),
+            tc_buf: [0; 4096],
            pus_distributor: pus_receiver,
        }
    }
@@ -46,11 +45,11 @@ impl TcSourceTaskStatic {
                    .0
                    .read()
                    .expect("locking tc pool failed");
-                pool.read(&packet_in_pool.store_addr, self.tc_buf.as_mut_slice())
+                pool.read(&packet_in_pool.store_addr, &mut self.tc_buf)
                    .expect("reading pool failed");
                drop(pool);
                self.pus_distributor
-                    .handle_tc_packet_in_store(packet_in_pool, self.tc_buf.as_slice())
+                    .handle_tc_packet_in_store(packet_in_pool, &self.tc_buf)
                    .ok();
                HandlingStatus::HandledOne
            }
@@ -68,12 +67,14 @@ 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,
+    pus_distributor: PusTcDistributor<MpscTmAsVecSender>,
 }

-#[allow(dead_code)]
 impl TcSourceTaskDynamic {
-    pub fn new(tc_receiver: mpsc::Receiver<PacketAsVec>, pus_receiver: PusTcDistributor) -> Self {
+    pub fn new(
+        tc_receiver: mpsc::Receiver<PacketAsVec>,
+        pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
+    ) -> Self {
        Self {
            tc_receiver,
            pus_distributor: pus_receiver,
@@ -104,18 +105,3 @@ 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
@@ -3,34 +3,30 @@ use std::{
    sync::mpsc::{self},
 };

-use arbitrary_int::{u11, u14};
 use log::info;
+use satrs::tmtc::{PacketAsVec, PacketInPool, SharedPacketPool};
 use satrs::{
    pool::PoolProvider,
+    seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
    spacepackets::{
        ecss::{tm::PusTmZeroCopyWriter, PusPacket},
-        seq_count::SequenceCounter,
-        seq_count::SequenceCounterCcsdsSimple,
        time::cds::MIN_CDS_FIELD_LEN,
        CcsdsPacket,
    },
-    tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
 };

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

 #[derive(Default)]
 pub struct CcsdsSeqCounterMap {
-    apid_seq_counter_map: HashMap<u11, SequenceCounterCcsdsSimple>,
+    apid_seq_counter_map: HashMap<u16, CcsdsSimpleSeqCountProvider>,
 }
 impl CcsdsSeqCounterMap {
-    pub fn get_and_increment(&mut self, apid: u11) -> u14 {
-        u14::new(
-            self.apid_seq_counter_map
-                .entry(apid)
-                .or_default()
-                .get_and_increment(),
-        )
+    pub fn get_and_increment(&mut self, apid: u16) -> u16 {
+        self.apid_seq_counter_map
+            .entry(apid)
+            .or_default()
+            .get_and_increment()
    }
 }

@@ -59,7 +55,7 @@ impl TmFunnelCommon {
        );
        let entry = self
            .msg_counter_map
-            .entry(zero_copy_writer.service_type_id())
+            .entry(zero_copy_writer.service())
            .or_insert(0);
        zero_copy_writer.set_msg_count(*entry);
        if *entry == u16::MAX {
@@ -76,8 +72,8 @@ impl TmFunnelCommon {
    fn packet_printout(tm: &PusTmZeroCopyWriter) {
        info!(
            "Sending PUS TM[{},{}] with APID {}",
-            tm.service_type_id(),
-            tm.message_subtype_id(),
+            tm.service(),
+            tm.subservice(),
            tm.apid()
        );
    }
@@ -90,7 +86,6 @@ pub struct TmSinkStatic {
    tm_server_tx: mpsc::SyncSender<PacketInPool>,
 }

-#[allow(dead_code)]
 impl TmSinkStatic {
    pub fn new(
        shared_tm_store: SharedPacketPool,
@@ -115,7 +110,7 @@ impl TmSinkStatic {
            let mut tm_copy = Vec::new();
            pool_guard
                .modify(&pus_tm_in_pool.store_addr, |buf| {
-                    let zero_copy_writer = PusTmZeroCopyWriter::new(buf, MIN_CDS_FIELD_LEN, true)
+                    let zero_copy_writer = PusTmZeroCopyWriter::new(buf, MIN_CDS_FIELD_LEN)
                        .expect("Creating TM zero copy writer failed");
                    self.common.apply_packet_processing(zero_copy_writer);
                    tm_copy = buf.to_vec()
@@ -134,15 +129,14 @@ impl TmSinkStatic {
 pub struct TmSinkDynamic {
    common: TmFunnelCommon,
    tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
-    tm_server_tx: mpsc::SyncSender<PacketAsVec>,
+    tm_server_tx: mpsc::Sender<PacketAsVec>,
 }

-#[allow(dead_code)]
 impl TmSinkDynamic {
    pub fn new(
        sync_tm_tcp_source: SyncTcpTmSource,
        tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
-        tm_server_tx: mpsc::SyncSender<PacketAsVec>,
+        tm_server_tx: mpsc::Sender<PacketAsVec>,
    ) -> Self {
        Self {
            common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -155,9 +149,8 @@ impl TmSinkDynamic {
        if let Ok(mut tm) = self.tm_funnel_rx.recv() {
            // Read the TM, set sequence counter and message counter, and finally update
            // the CRC.
-            let zero_copy_writer =
-                PusTmZeroCopyWriter::new(&mut tm.packet, MIN_CDS_FIELD_LEN, true)
-                    .expect("Creating TM zero copy writer failed");
+            let zero_copy_writer = PusTmZeroCopyWriter::new(&mut tm.packet, MIN_CDS_FIELD_LEN)
+                .expect("Creating TM zero copy writer failed");
            self.common.apply_packet_processing(zero_copy_writer);
            self.common.sync_tm_tcp_source.add_tm(&tm.packet);
            self.tm_server_tx
@@ -166,18 +159,3 @@ 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/CHANGELOG.md
+++ b/satrs-mib/CHANGELOG.md
@@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-# [v0.1.3] 2024-08-26
-
-Bump `satrs-shared`.
-
 # [v0.1.2] 2024-04-17

 Allow `satrs-shared` from `v0.1.3` to `<v0.2`.
@@ -23,6 +19,3 @@ Allow `satrs-shared` from `v0.1.3` to `<v0.2`.
 # [v0.1.0] 2024-02-12

 Initial release containing the `resultcode` macro.
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-mib-v0.1.3...HEAD
-[v0.1.3]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-mib-v0.1.2...satrs-mib-v0.1.3
--- a/satrs-mib/Cargo.toml
+++ b/satrs-mib/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "satrs-mib"
-version = "0.1.3"
+version = "0.1.2"
 edition = "2021"
 rust-version = "1.61"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
@@ -23,8 +23,7 @@ version = "1"
 optional = true

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

 [dependencies.satrs-mib-codegen]
--- a/satrs-mib/codegen/Cargo.toml
+++ b/satrs-mib/codegen/Cargo.toml
@@ -28,8 +28,7 @@ features = ["full"]
 trybuild = { version = "1", features = ["diff"] }

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

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

--- a/satrs-minisim/Cargo.toml
+++ b/satrs-minisim/Cargo.toml
@@ -9,18 +9,20 @@ edition = "2021"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
 log = "0.4"
-thiserror = "2"
-fern = "0.7"
-strum = { version = "0.27", features = ["derive"] }
+thiserror = "1"
+fern = "0.5"
+strum = { version = "0.26", features = ["derive"] }
 num_enum = "0.7"
 humantime = "2"
-tai-time = { version = "0.3", features = ["serde"] }

-[dependencies.nexosim]
-version = "0.3.1"
+[dependencies.asynchronix]
+version = "0.2.1"
+git = "https://github.com/asynchronics/asynchronix.git"
+branch = "main"
+features = ["serde"]

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

 [dev-dependencies]
-delegate = "0.13"
+delegate = "0.12"
--- a/satrs-minisim/README.md
+++ b/satrs-minisim/README.md
@@ -1,32 +0,0 @@
-sat-rs minisim
-======
-
-This crate contains a mini-simulator based on the open-source discrete-event simulation framework
-[asynchronix](https://github.com/asynchronics/asynchronix).
-
-Right now, this crate is primarily used together with the
-[`satrs-example` application](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
-to simulate the devices connected to the example application.
-
-You can simply run this application using
-
-```sh
-cargo run
-```
-
-or
-
-```sh
-cargo run -p satrs-minisim
-```
-
-in the workspace. The mini simulator uses the UDP port 7303 to exchange simulation requests and
-simulation replies with any other application.
-
-The simulator was designed in a modular way to be scalable and adaptable to other communication
-schemes. This might allow it to serve a mini-simulator for other example applications which
-still have similar device handlers.
-
-The following graph shows the high-level architecture of the mini-simulator.
-
-<img src="../images/minisim-arch/minisim-arch.png" alt="Mini simulator architecture" width="500" class="center"/>
--- 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 nexosim::{
-    model::{Context, Model},
-    ports::Output,
+use asynchronix::{
+    model::{Model, Output},
+    time::Scheduler,
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
@@ -31,7 +31,6 @@ const PHASE_Z: f32 = 0.2;
 /// might still be possible and is probably sufficient for many OBSW needs.
 pub struct MagnetometerModel<ReplyProvider: MgmReplyProvider> {
    pub switch_state: SwitchStateBinary,
-    #[allow(dead_code)]
    pub periodicity: Duration,
    pub external_mag_field: Option<MgmSensorValuesMicroTesla>,
    pub reply_sender: mpsc::Sender<SimReply>,
@@ -55,7 +54,7 @@ impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
        self.switch_state = switch_state;
    }

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

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

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

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

        check_mgt_hk(
            &mut sim_testbench,
@@ -347,9 +347,7 @@ pub mod tests {
                torquing: true,
            },
        );
-        sim_testbench
-            .step_until(Duration::from_millis(100))
-            .unwrap();
+        sim_testbench.step_by(Duration::from_millis(100));
        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 nexosim::{
-    simulation::{Address, Scheduler, Simulation},
+use asynchronix::{
+    simulation::{Address, Simulation},
    time::{Clock, MonotonicTime, SystemClock},
 };
 use satrs_minisim::{
@@ -16,62 +16,40 @@ use crate::{
    eps::PcduModel,
 };

-const WARNING_FOR_STALE_DATA: bool = false;
-
-const SIM_CTRL_REQ_WIRETAPPING: bool = false;
-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>,
-}
+const SIM_CTRL_REQ_WIRETAPPING: bool = true;
+const MGM_REQ_WIRETAPPING: bool = true;
+const PCDU_REQ_WIRETAPPING: bool = true;
+const MGT_REQ_WIRETAPPING: bool = true;

 // 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 scheduler: Scheduler,
-    pub addr_wrapper: ModelAddrWrapper,
+    pub mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+    pub pcdu_addr: Address<PcduModel>,
+    pub mgt_addr: Address<MagnetorquerModel>,
 }

-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,
-        scheduler: Scheduler,
-        addr_wrapper: ModelAddrWrapper,
+        mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+        pcdu_addr: Address<PcduModel>,
+        mgt_addr: Address<MagnetorquerModel>,
    ) -> Self {
        Self {
            sys_clock,
            request_receiver,
            reply_sender,
            simulation,
-            scheduler,
-            addr_wrapper,
+            mgm_addr,
+            pcdu_addr,
+            mgt_addr,
        }
    }

@@ -82,7 +60,7 @@ 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);
-            let _synch_status = self.sys_clock.synchronize(t);
+            self.sys_clock.synchronize(t);
            self.handle_sim_requests(t_old);
            self.simulation
                .step_until(t)
@@ -94,13 +72,12 @@ impl SimController {
        loop {
            match self.request_receiver.try_recv() {
                Ok(request) => {
-                    if request.timestamp < old_timestamp && WARNING_FOR_STALE_DATA {
+                    if request.timestamp < old_timestamp {
                        log::warn!("stale data with timestamp {:?} received", request.timestamp);
                    }
                    if let Err(e) = match request.component() {
                        SimComponent::SimCtrl => self.handle_ctrl_request(&request),
-                        SimComponent::Mgm0Lis3Mdl => self.handle_mgm_request(0, &request),
-                        SimComponent::Mgm1Lis3Mdl => self.handle_mgm_request(1, &request),
+                        SimComponent::MgmLis3Mdl => self.handle_mgm_request(&request),
                        SimComponent::Mgt => self.handle_mgt_request(&request),
                        SimComponent::Pcdu => self.handle_pcdu_request(&request),
                    } {
@@ -120,7 +97,7 @@ impl SimController {
    fn handle_ctrl_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
        let sim_ctrl_request = SimCtrlRequest::from_sim_message(request)?;
        if SIM_CTRL_REQ_WIRETAPPING {
-            log::info!("received sim ctrl request: {sim_ctrl_request:?}");
+            log::info!("received sim ctrl request: {:?}", sim_ctrl_request);
        }
        match sim_ctrl_request {
            SimCtrlRequest::Ping => {
@@ -132,26 +109,18 @@ impl SimController {
        Ok(())
    }

-    fn handle_mgm_request(
-        &mut self,
-        mgm_idx: usize,
-        request: &SimRequest,
-    ) -> Result<(), SimRequestError> {
+    fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
        let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
        if MGM_REQ_WIRETAPPING {
-            log::info!("received MGM request: {mgm_request:?}");
+            log::info!("received MGM request: {:?}", mgm_request);
        }
        match mgm_request {
            MgmRequestLis3Mdl::RequestSensorData => {
-                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");
+                self.simulation.send_event(
+                    MagnetometerModel::send_sensor_values,
+                    (),
+                    &self.mgm_addr,
+                );
            }
        }
        Ok(())
@@ -160,26 +129,19 @@ impl SimController {
    fn handle_pcdu_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
        let pcdu_request = PcduRequest::from_sim_message(request)?;
        if PCDU_REQ_WIRETAPPING {
-            log::info!("received PCDU request: {pcdu_request:?}");
+            log::info!("received PCDU request: {:?}", pcdu_request);
        }
        match pcdu_request {
            PcduRequest::RequestSwitchInfo => {
                self.simulation
-                    .process_event(
-                        PcduModel::request_switch_info,
-                        (),
-                        &self.addr_wrapper.pcdu_addr,
-                    )
-                    .unwrap();
+                    .send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
            }
            PcduRequest::SwitchDevice { switch, state } => {
-                self.simulation
-                    .process_event(
-                        PcduModel::switch_device,
-                        (switch, state),
-                        &self.addr_wrapper.pcdu_addr,
-                    )
-                    .unwrap();
+                self.simulation.send_event(
+                    PcduModel::switch_device,
+                    (switch, state),
+                    &self.pcdu_addr,
+                );
            }
        }
        Ok(())
@@ -188,26 +150,20 @@ impl SimController {
    fn handle_mgt_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
        let mgt_request = MgtRequest::from_sim_message(request)?;
        if MGT_REQ_WIRETAPPING {
-            log::info!("received MGT request: {mgt_request:?}");
+            log::info!("received MGT request: {:?}", mgt_request);
        }
        match mgt_request {
-            MgtRequest::ApplyTorque { duration, dipole } => self
-                .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(),
-        };
+            MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
+                MagnetorquerModel::apply_torque,
+                (duration, dipole),
+                &self.mgt_addr,
+            ),
+            MgtRequest::RequestHk => self.simulation.send_event(
+                MagnetorquerModel::request_housekeeping_data,
+                (),
+                &self.mgt_addr,
+            ),
+        }
        Ok(())
    }

@@ -241,7 +197,7 @@ mod tests {
            .send_request(request)
            .expect("sending sim ctrl request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step().unwrap();
+        sim_testbench.step();
        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 nexosim::{
-    model::{Context, Model},
-    ports::Output,
+use asynchronix::{
+    model::{Model, Output},
+    time::Scheduler,
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
@@ -14,8 +14,7 @@ pub const SWITCH_INFO_DELAY_MS: u64 = 10;

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

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

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

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

        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_none());
        // Reply takes 20ms
-        sim_testbench.step_until(Duration::from_millis(25)).unwrap();
+        sim_testbench.step_by(Duration::from_millis(25));
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_some());
        let sim_reply = sim_reply.unwrap();
--- a/satrs-minisim/src/lib.rs
+++ b/satrs-minisim/src/lib.rs
@@ -1,12 +1,11 @@
-use nexosim::time::MonotonicTime;
+use asynchronix::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,
-    Mgm0Lis3Mdl,
-    Mgm1Lis3Mdl,
+    MgmLis3Mdl,
    Mgt,
    Pcdu,
 }
@@ -237,7 +236,7 @@ pub mod eps {
        RequestSwitchInfo = 1,
    }

-    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
    pub enum PcduRequest {
        SwitchDevice {
            switch: PcduSwitch,
@@ -278,7 +277,7 @@ pub mod acs {
    }

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

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

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

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

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

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

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

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

    let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
    // Input connections.
@@ -59,14 +52,9 @@ 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_0_addr,
-    );
-    mgt_model.gen_magnetic_field.connect(
-        MagnetometerModel::apply_external_magnetic_field,
-        &mgm_1_addr,
-    );
+    mgt_model
+        .gen_magnetic_field
+        .connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);

    // Instantiate the simulator
    let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
@@ -75,21 +63,19 @@ fn create_sim_controller(
    } else {
        SimInit::new()
    };
-    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();
+    let simulation = sim_init
+        .add_model(mgm_model, mgm_mailbox)
+        .add_model(pcdu_model, pcdu_mailbox)
+        .add_model(mgt_model, mgt_mailbox)
+        .init(start_time);
    SimController::new(
        sys_clock,
        request_receiver,
        reply_sender,
        simulation,
-        scheduler,
-        addrs,
+        mgm_addr,
+        pcdu_addr,
+        mgt_addr,
    )
 }

@@ -130,7 +116,7 @@ fn main() {
    let mut udp_server =
        SimUdpServer::new(SIM_CTRL_PORT, request_sender, reply_receiver, 200, None)
            .expect("could not create UDP request server");
-    log::info!("starting UDP server on port {SIM_CTRL_PORT}");
+    log::info!("starting UDP server on port {}", SIM_CTRL_PORT);
    // This thread manages the simulator UDP server.
    let udp_tc_thread = thread::spawn(move || {
        udp_server.run();
--- a/satrs-minisim/src/test_helpers.rs
+++ b/satrs-minisim/src/test_helpers.rs
@@ -1,10 +1,7 @@
 use delegate::delegate;
-use std::sync::mpsc;
+use std::{sync::mpsc, time::Duration};

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

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

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

 pub fn current_millis(time: MonotonicTime) -> u64 {
    (time.as_secs() as u64 * 1000) + (time.subsec_nanos() as u64 / 1_000_000)
--- a/satrs-shared/CHANGELOG.md
+++ b/satrs-shared/CHANGELOG.md
@@ -8,26 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-# [v0.2.4] 2025-11-06
-
-`spacepackets` v0.17.0
-
-# [v0.2.3] 2025-07-22
-
-`spacepackets` range v0.14 to v0.15
-
-# [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
-
 # [v0.1.4] 2024-04-24

 ## Added
@@ -53,8 +33,3 @@ 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-v0.2.4...HEAD
-[v0.2.3]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.3...satrs-shared-v0.2.4
-[v0.2.3]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.1...satrs-shared-v0.2.3
-[v0.2.2]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.1...satrs-shared-v0.2.2
--- 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 = "0.2.4"
+version = "0.1.4"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@@ -11,14 +11,23 @@ license = "Apache-2.0"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

 [dependencies]
-spacepackets = { version = "0.17", default-features = false }
-serde = { version = "1", default-features = false, optional = true }
-defmt = {version = "1", optional = true }
+
+[dependencies.serde]
+version = "1"
+default-features = false
+optional = true
+
+[dependencies.defmt]
+version = "0.3"
+optional = true
+
+[dependencies.spacepackets]
+version = ">0.9, <=0.11"
+default-features = false

 [features]
 serde = ["dep:serde", "spacepackets/serde"]
-defmt = ["dep:defmt", "spacepackets/defmt"]
+spacepackets = ["dep:defmt", "spacepackets/defmt"]

 [package.metadata.docs.rs]
-all-features = true
-rustdoc-args = ["--generate-link-to-definition"]
+rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
--- a/satrs-shared/docs.sh
+++ b/satrs-shared/docs.sh
@@ -1,3 +0,0 @@
-#!/bin/sh
-export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
-cargo +nightly doc --all-features --open
--- a/satrs-shared/release-checklist.md
+++ b/satrs-shared/release-checklist.md
@@ -1,23 +0,0 @@
-Checklist for new releases
-=======
-
-# Pre-Release
-
-1. Make sure any new modules are documented sufficiently enough and check docs by running
-   `docs.sh`.
-2. Bump version specifier in `Cargo.toml`.
-3. Update `CHANGELOG.md`: Convert `unreleased` section into version section with date and add new
-   `unreleased` section.
-4. Run `cargo test --all-features` or `cargo nextest r --all-features` and `cargo test --doc`.
-5. Run `cargo fmt` and `cargo clippy`. Check `cargo msrv` against MSRV in `Cargo.toml`.
-6. Wait for CI/CD results for EGit and Github. These also check cross-compilation for bare-metal
-   targets.
-
-# Release
-
-1. `cargo publish`
-
-# Post-Release
-
-1. Create a new release on `EGit` with the name `satrs-<version>`.
-
--- a/satrs-shared/src/lib.rs
+++ b/satrs-shared/src/lib.rs
@@ -1,4 +1,4 @@
 //! This crates contains modules shared among other sat-rs framework crates.
 #![no_std]
-#![cfg_attr(docsrs, feature(doc_cfg))]
+#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
 pub mod res_code;
--- a/satrs-shared/src/res_code.rs
+++ b/satrs-shared/src/res_code.rs
@@ -14,7 +14,6 @@ pub struct ResultU16 {
 }

 impl ResultU16 {
-    #[inline]
    pub const fn new(group_id: u8, unique_id: u8) -> Self {
        Self {
            group_id,
@@ -22,22 +21,18 @@ impl ResultU16 {
        }
    }

-    #[inline]
-    pub const fn raw(&self) -> u16 {
+    pub fn raw(&self) -> u16 {
        ((self.group_id as u16) << 8) | self.unique_id as u16
    }

-    #[inline]
-    pub const fn group_id(&self) -> u8 {
+    pub fn group_id(&self) -> u8 {
        self.group_id
    }

-    #[inline]
-    pub const fn unique_id(&self) -> u8 {
+    pub fn unique_id(&self) -> u8 {
        self.unique_id
    }

-    #[inline]
    pub fn from_be_bytes(bytes: [u8; 2]) -> Self {
        Self::from(u16::from_be_bytes(bytes))
    }
@@ -56,7 +51,6 @@ impl From<ResultU16> for EcssEnumU16 {
 }

 impl UnsignedEnum for ResultU16 {
-    #[inline]
    fn size(&self) -> usize {
        core::mem::size_of::<u16>()
    }
@@ -73,14 +67,12 @@ impl UnsignedEnum for ResultU16 {
        Ok(self.size())
    }

-    #[inline]
-    fn value_raw(&self) -> u64 {
+    fn value(&self) -> u64 {
        self.raw() as u64
    }
 }

 impl EcssEnumeration for ResultU16 {
-    #[inline]
    fn pfc(&self) -> u8 {
        16
    }
--- a/satrs/CHANGELOG.md
+++ b/satrs/CHANGELOG.md
@@ -8,58 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-# [v0.3.0-alpha.3] 2025-11-06
-
- Bump `sat-rs` edition to 2024.
- Bumped `spacepackets` to v0.17
- `ComponentId` is u32 now
- Simplified TCP servers
-
-## Changed
-
-Some trait renaming to be more in-line with Rust naming conventions.
-
- `EventTmHookProvider` -> `EventTmHook`
- `ActiveRequestProvider` -> `ActiveRequest`
- `EcssTcInMemConversionProvider` -> `CacheAndReadRawEcssTc`
- `ActiveRequestMapProvider` -> `ActiveRequestStore`
- `CountdownProvider` -> `Countdown`
-
-# [v0.3.0-alpha.2] 2025-07-22
-
-`satrs-shared` update
-
-# [v0.3.0-alpha.1] 2025-07-22
-
-`spacepackets` range v0.14 to v0.15
-
-# [v0.3.0-alpha.0] 2025-02-18
-
-`spacepackets` v0.13
-
 ## Changed

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

 ## Added

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

 # [v0.2.1] 2024-05-19

@@ -223,9 +179,3 @@ docs-rs hotfix
 # [v0.1.0] 2024-02-12

 Initial release.
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-v0.3.0-alpha.3...HEAD
-[v0.3.0-alpha.3]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-v0.3.0-alpha.2...satrs-v0.3.0-alpha.3
-[v0.3.0-alpha.2]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-v0.3.0-alpha.1...satrs-v0.3.0-alpha.2
-[v0.3.0-alpha.1]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-v0.3.0-alpha.0...satrs-v0.3.0-alpha.1
-[v0.3.0-alpha.0]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-v0.2.1...satrs-v0.3.0-alpha.0
--- a/satrs/Cargo.toml
+++ b/satrs/Cargo.toml
@@ -1,11 +1,11 @@
 [package]
 name = "satrs"
-version = "0.3.0-alpha.2"
-edition = "2024"
-rust-version = "1.85.0"
+version = "0.2.1"
+edition = "2021"
+rust-version = "1.71.1"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
-description = "A library collection to build software for remote systems"
-homepage = "https://github.com/us-irs/sat-rs"
+description = "A framework to build software for remote systems"
+homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 license = "Apache-2.0"
 keywords = ["no-std", "space", "aerospace"]
@@ -13,58 +13,110 @@ keywords = ["no-std", "space", "aerospace"]
 categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]

 [dependencies]
-satrs-shared = { version = "0.2", path = "../satrs-shared" }
-spacepackets = { version = "0.17", default-features = false }
-
-delegate = "0.13"
+delegate = ">0.7, <=0.10"
 paste = "1"
-derive-new = "0.7"
-num_enum = { version = "0.7", default-features = false }
-cobs = { version = "0.5", default-features = false }
-thiserror = { version = "2", default-features = false }
+derive-new = "0.6"
+smallvec = "1"
+crc = "3"

-hashbrown = { version = "0.16", optional = true }
-static_cell = { version = "2" }
-heapless = { version = "0.9", optional = true }
-dyn-clone = { version = "1", 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 }
-postcard = { version = "1", features = ["alloc"] }
-serde = { version = "1", default-features = false, optional = true }
-socket2 = { version = "0.6", features = ["all"], optional = true }
-arbitrary-int = "2"
-mio = { version = "1", features = ["os-poll", "net"], optional = true }
-defmt = { version = "1", optional = true }
+[dependencies.satrs-shared]
+version = ">=0.1.3, <0.2"
+
+[dependencies.num_enum]
+version = ">0.5, <=0.7"
+default-features = false
+
+[dependencies.spacepackets]
+version = "0.11"
+default-features = false
+
+[dependencies.cobs]
+git = "https://github.com/robamu/cobs.rs.git"
+version = "0.2.3"
+branch = "all_features"
+default-features = false
+
+[dependencies.num-traits]
+version = "0.2"
+default-features = false
+
+[dependencies.dyn-clone]
+version = "1"
+optional = true
+
+[dependencies.hashbrown]
+version = "0.14"
+optional = true
+
+[dependencies.heapless]
+version = "0.7"
+optional = true
+
+[dependencies.downcast-rs]
+version = "1.2"
+default-features = false
+optional = true
+
+[dependencies.bus]
+version = "2.2"
+optional = true
+
+[dependencies.crossbeam-channel]
+version= "0.5"
+default-features = false
+optional = true
+
+[dependencies.thiserror]
+version = "1"
+optional = true
+
+[dependencies.serde]
+version = "1"
+default-features = false
+optional = true
+
+[dependencies.socket2]
+version = "0.5.4"
+features = ["all"]
+optional = true
+
+[dependencies.mio]
+version = "0.8"
+features = ["os-poll", "net"]
+optional = true
+
+[dependencies.defmt]
+version = "0.3"
+optional = true

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

 [dev-dependencies.postcard]
 version = "1"

 [features]
-default = ["std", "heapless"]
+default = ["std"]
 std = [
    "downcast-rs/std",
    "alloc",
    "bus",
+    "postcard/use-std",
    "crossbeam-channel/std",
    "serde/std",
    "spacepackets/std",
    "num_enum/std",
-    "thiserror/std",
+    "thiserror",
    "socket2",
    "mio"
 ]
 alloc = [
    "serde/alloc",
-    "cobs/alloc",
    "spacepackets/alloc",
    "hashbrown",
    "dyn-clone",
@@ -72,14 +124,11 @@ alloc = [
 ]
 serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
 crossbeam = ["crossbeam-channel"]
+heapless = ["dep:heapless"]
 defmt = ["dep:defmt", "spacepackets/defmt"]
 test_util = []
+doc-images = []

 [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"]
+rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Robin Mueller	2eaa78dfbc	this actually works! All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-05-25 13:46:14 +02:00
Robin Mueller	a6d9bee5df	Merge branch 'sim-mgm-update' into serialization-prototyping All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-05-25 13:09:25 +02:00
Robin Mueller	a77bbfa953	Merge remote-tracking branch 'origin/main' into serialization-prototyping	2024-05-25 13:08:54 +02:00
Robin Mueller	4c67bcdde1	clean up serializatio ntest code	2024-05-25 13:08:32 +02:00
Robin Mueller	a710b30013	Merge remote-tracking branch 'origin/main' into serialization-prototyping All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-05-25 12:31:51 +02:00
Robin Mueller	29783b2b07	introduce new HK helper All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-25 12:29:44 +02:00
Robin Mueller	2a2a3a3eab	PCDU switch set TM handling All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-22 18:48:46 +02:00
Robin Mueller	2507469e68	continue PCDU integration Some checks failed Rust/sat-rs/pipeline/pr-main There was a failure building this commit Details	2024-05-22 18:34:37 +02:00
Robin Mueller	b4febefa33	introduce switch handling for MGM All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-22 16:48:51 +02:00
Robin Mueller	fe60cb9ccf	continue integrating power subsystem All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-19 17:33:37 +02:00
Robin Mueller	27e88ed7f7	fix tests All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-18 18:45:42 +02:00
Robin Mueller	295fed9a72	continue PCDU handler Some checks failed Rust/sat-rs/pipeline/pr-main There was a failure building this commit Details	2024-05-18 18:39:25 +02:00
Robin Mueller	8e89c8dd66	compiles again Some checks failed Rust/sat-rs/pipeline/pr-main There was a failure building this commit Details	2024-05-18 17:58:54 +02:00
Robin Mueller	cb0a65c4d4	continue PCDU Some checks failed Rust/sat-rs/pipeline/pr-main There was a failure building this commit Details	2024-05-18 14:08:42 +02:00
Robin Mueller	3db54da3df	Merge remote-tracking branch 'origin/main' into sim-mgm-update Some checks failed Rust/sat-rs/pipeline/pr-main There was a failure building this commit Details	2024-05-18 12:49:20 +02:00
Robin Mueller	15fcb17363	continue PCDU handler All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-16 16:28:22 +02:00
Robin Mueller	8728c7ebea	continued sample PCDU handler All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-12 14:23:42 +02:00
Robin Mueller	7606767f63	the PCDU handler is already required All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-11 19:11:41 +02:00
Robin Mueller	37b32a9008	try to make MGM set HK data work All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-10 17:55:11 +02:00
Robin Mueller	9e096193dd	clean up python commander a bit	2024-05-10 17:21:59 +02:00
Robin Mueller	43bd77eef0	check that MGM data conversion works All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-10 15:33:43 +02:00
Robin Mueller	a4888bce01	add first MGM device unittests	2024-05-09 21:38:56 +02:00
Robin Mueller	6e5b70af34	basic tests for SIM client All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-09 13:23:40 +02:00
Robin Mueller	d1476eb770	added basic tests for pytmtc app All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-09 11:41:11 +02:00
Robin Mueller	783388aa6f	pytmtc as regular package now All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-09 11:07:08 +02:00
Robin Mueller	4a8db6b26a	fix tests All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-08 21:08:41 +02:00
Robin Mueller	b86c2eb1d1	added some test stubs Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-05-08 21:02:16 +02:00
Robin Mueller	fe4126f7e2	first connection success Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details	2024-05-08 20:55:56 +02:00
Robin Mueller	c20163b10a	start integrating sim in example Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details	2024-05-08 20:38:45 +02:00
Robin Mueller	b970154488	add serialization prototyping All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-04-26 10:01:29 +02:00