changelog

Reviewed-on: #145

.gitignore

@@ -1,5 +1,9 @@
-/target
+target/
+
+output.log
 /Cargo.lock
 
+output.log
+
 /.idea/*
 !/.idea/runConfigurations

Cargo.toml

@@ -4,6 +4,7 @@ members = [
     "satrs",
     "satrs-mib",
     "satrs-example",
+    "satrs-minisim",
     "satrs-shared",
 ]
 

README.md

@@ -1,4 +1,4 @@
-<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
+<p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>
 
 [![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
 [![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
@@ -8,17 +8,27 @@
 sat-rs
 =========
 
-This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
+This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems. You can find an overview of the project and the
 link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
 at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
 
+This is early-stage software. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this library if your are willing to work in this
+environment.
+
 A lot of the architecture and general design considerations are based on the
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
 through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
 and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
 
+This framework is in the early stages of development. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this framework if your are willing to work in this
+environment.
+
 # Overview
 
 This project currently contains following crates:
@@ -35,7 +45,7 @@ This project currently contains following crates:
 * [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
    Components to build a mission information base from the on-board software directly.
 * [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
-   Example of a simple example on-board software using sat-rs components on a bare-metal system
+   Example of a simple example using low-level sat-rs components on a bare-metal system
    with constrained resources.
 
 Each project has its own `CHANGELOG.md`.

coverage.py

@@ -18,15 +18,19 @@ def generate_cov_report(open_report: bool, format: str, package: str):
     out_path = "./target/debug/coverage"
     if format == "lcov":
         out_path = "./target/debug/lcov.info"
-    os.system(
+    grcov_cmd = (
         f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
         f"-o {out_path}"
     )
+    print(f"Running: {grcov_cmd}")
+    os.system(grcov_cmd)
     if format == "lcov":
-        os.system(
+        lcov_cmd = (
             "genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
             "--legend ./target/debug/lcov.info"
         )
+        print(f"Running: {lcov_cmd}")
+        os.system(lcov_cmd)
     if open_report:
         coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
         webbrowser.open_new_tab(coverage_report_path)
@@ -43,7 +47,7 @@ def main():
     parser.add_argument(
         "-p",
         "--package",
-        choices=["satrs"],
+        choices=["satrs", "satrs-minisim", "satrs-example"],
         default="satrs",
         help="Choose project to generate coverage for",
     )

satrs-book/src/actions.md

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

satrs-book/src/communication.md

@@ -20,7 +20,7 @@ components.
 1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/host/udp_server/index.html).
    UDP is already packet based which makes it an excellent fit for exchanging space packets.
 2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
-   TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
+   TCP is a stream based protocol, so the library provides building blocks to parse telemetry
    from an arbitrary bytestream. Two concrete implementations are provided:
     - [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
       to parse tightly packed CCSDS Spacepackets.

satrs-book/src/design.md

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

satrs-book/src/example.md

@@ -1,6 +1,6 @@
 # sat-rs Example Application
 
-The `sat-rs` framework includes a monolithic example application which can be found inside
+The `sat-rs` library includes a monolithic example application which can be found inside
 the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 subdirectory of the repository. The primary purpose of this example application is to show how
 the various components of the sat-rs framework could be used as part of a larger on-board

satrs-book/src/introduction.md

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

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

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

satrs-example-stm32f3-disco/.gitignore

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

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

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

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

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

satrs-example-stm32f3-disco/Cargo.lock

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

satrs-example-stm32f3-disco/Cargo.toml

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

satrs-example-stm32f3-disco/README.md

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

satrs-example-stm32f3-disco/build.rs

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

satrs-example/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs-example"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 default-run = "satrs-example"
@@ -17,16 +17,23 @@ zerocopy = "0.6"
 csv = "1"
 num_enum = "0.7"
 thiserror = "1"
+lazy_static = "1"
+strum = { version = "0.26", features = ["derive"] }
 derive-new = "0.5"
+serde = { version = "1", features = ["derive"] }
+serde_json = "1"
 
 [dependencies.satrs]
-# version = "0.1.1"
 path = "../satrs"
+features = ["test_util"]
 
 [dependencies.satrs-mib]
-# version = "0.1.0"
+version = "0.1.1"
 path = "../satrs-mib"
 
 [features]
 dyn_tmtc = []
 default = ["dyn_tmtc"]
+
+[dev-dependencies]
+env_logger = "0.11"

satrs-example/satrs-tmtc/common.py

@@ -4,11 +4,12 @@ import dataclasses
 import enum
 import struct
 
-from spacepackets.ecss.tc import PacketId, PacketType
 
-EXAMPLE_PUS_APID = 0x02
-EXAMPLE_PUS_PACKET_ID_TM = PacketId(PacketType.TM, True, EXAMPLE_PUS_APID)
-TM_PACKET_IDS = [EXAMPLE_PUS_PACKET_ID_TM]
+class Apid(enum.IntEnum):
+    SCHED = 1
+    GENERIC_PUS = 2
+    ACS = 3
+    CFDP = 4
 
 
 class EventSeverity(enum.IntEnum):
@@ -36,8 +37,8 @@ class EventU32:
         )
 
 
-class RequestTargetId(enum.IntEnum):
-    ACS = 1
+class AcsId(enum.IntEnum):
+    MGM_0 = 0
 
 
 class AcsHkIds(enum.IntEnum):

satrs-example/satrs-tmtc/main.py

@@ -3,10 +3,11 @@
 import logging
 import sys
 import time
-from typing import Optional
+from typing import Any, Optional
 from prompt_toolkit.history import History
 from prompt_toolkit.history import FileHistory
 
+from spacepackets.ccsds import PacketId, PacketType
 import tmtccmd
 from spacepackets.ecss import PusTelemetry, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
@@ -16,7 +17,7 @@ from spacepackets.ccsds.time import CdsShortTimestamp
 from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
+from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
 from tmtccmd.com import ComInterface
 from tmtccmd.config import (
     CmdTreeNode,
@@ -46,7 +47,7 @@ from tmtccmd.util.obj_id import ObjectIdDictT
 
 
 import pus_tc
-from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
+from common import Apid, EventU32
 
 _LOGGER = logging.getLogger()
 
@@ -62,10 +63,13 @@ class SatRsConfigHook(HookBase):
         )
 
         assert self.cfg_path is not None
+        packet_id_list = []
+        for apid in Apid:
+            packet_id_list.append(PacketId(PacketType.TM, True, apid))
         cfg = create_com_interface_cfg_default(
             com_if_key=com_if_key,
             json_cfg_path=self.cfg_path,
-            space_packet_ids=TM_PACKET_IDS,
+            space_packet_ids=packet_id_list,
         )
         assert cfg is not None
         return create_com_interface_default(cfg)
@@ -85,19 +89,19 @@ class SatRsConfigHook(HookBase):
         return get_core_object_ids()
 
 
-class PusHandler(SpecificApidHandlerBase):
+class PusHandler(GenericApidHandlerBase):
     def __init__(
         self,
         file_logger: logging.Logger,
         verif_wrapper: VerificationWrapper,
         raw_logger: RawTmtcTimedLogWrapper,
     ):
-        super().__init__(EXAMPLE_PUS_APID, None)
+        super().__init__(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):
+    def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
         try:
             pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
         except ValueError as e:
@@ -177,7 +181,7 @@ class TcHandler(TcHandlerBase):
             tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
             seq_cnt_provider=seq_count_provider,
             pus_verificator=self.verif_wrapper.pus_verificator,
-            default_pus_apid=EXAMPLE_PUS_APID,
+            default_pus_apid=None,
         )
 
     def send_cb(self, send_params: SendCbParams):
@@ -221,7 +225,6 @@ def main():
         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
     )
@@ -233,8 +236,9 @@ def main():
     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)
+    ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
+    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
+    # ccsds_handler.add_apid_handler(tm_handler)
 
     # Create TC handler
     seq_count_provider = PusFileSeqCountProvider()

satrs-example/satrs-tmtc/pus_tc.py

@@ -1,27 +1,58 @@
 import datetime
+import struct
 import logging
 
 from spacepackets.ccsds import CdsShortTimestamp
 from spacepackets.ecss import PusTelecommand
 from tmtccmd.config import CmdTreeNode
+from tmtccmd.pus.tc.s200_fsfw_mode import Mode
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
-from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command
+from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
 
-from common import (
-    EXAMPLE_PUS_APID,
-    make_addressable_id,
-    RequestTargetId,
-    AcsHkIds,
-)
+from common import AcsId, Apid
 
 _LOGGER = logging.getLogger(__name__)
 
 
+def create_set_mode_cmd(
+    apid: int, unique_id: int, mode: int, submode: int
+) -> PusTelecommand:
+    app_data = bytearray()
+    app_data.extend(struct.pack("!I", unique_id))
+    app_data.extend(struct.pack("!I", mode))
+    app_data.extend(struct.pack("!H", submode))
+    return PusTelecommand(
+        service=200,
+        subservice=ModeSubservice.TC_MODE_COMMAND,
+        apid=apid,
+        app_data=app_data,
+    )
+
+
 def create_cmd_definition_tree() -> CmdTreeNode:
 
     root_node = CmdTreeNode.root_node()
 
+    hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
+    hk_node.add_child(CmdTreeNode("one_shot_hk", "Request One Shot HK set"))
+    hk_node.add_child(
+        CmdTreeNode("enable", "Enable periodic housekeeping data generation")
+    )
+    hk_node.add_child(
+        CmdTreeNode("disable", "Disable periodic housekeeping data generation")
+    )
+
+    mode_node = CmdTreeNode("mode", "Mode Node", hide_children_for_print=True)
+    set_mode_node = CmdTreeNode(
+        "set_mode", "Set Node", hide_children_which_are_leaves=True
+    )
+    set_mode_node.add_child(CmdTreeNode("off", "Set OFF Mode"))
+    set_mode_node.add_child(CmdTreeNode("on", "Set ON Mode"))
+    set_mode_node.add_child(CmdTreeNode("normal", "Set NORMAL Mode"))
+    mode_node.add_child(set_mode_node)
+    mode_node.add_child(CmdTreeNode("read_mode", "Read Mode"))
+
     test_node = CmdTreeNode("test", "Test Node")
     test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
     test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
@@ -37,7 +68,9 @@ def create_cmd_definition_tree() -> CmdTreeNode:
 
     acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
     mgm_node = CmdTreeNode("mgms", "MGM devices node")
-    mgm_node.add_child(CmdTreeNode("one_shot_hk", "Request one shot HK"))
+    mgm_node.add_child(mode_node)
+    mgm_node.add_child(hk_node)
+
     acs_node.add_child(mgm_node)
     root_node.add_child(acs_node)
 
@@ -54,10 +87,14 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
         assert len(cmd_path_list) >= 2
         if cmd_path_list[1] == "ping":
             q.add_log_cmd("Sending PUS ping telecommand")
-            return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+            return q.add_pus_tc(
+                PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=1)
+            )
         elif cmd_path_list[1] == "trigger_event":
             q.add_log_cmd("Triggering test event")
-            return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
+            return q.add_pus_tc(
+                PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=128)
+            )
     if cmd_path_list[0] == "scheduler":
         assert len(cmd_path_list) >= 2
         if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
@@ -69,17 +106,38 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
                 create_time_tagged_cmd(
                     time_stamp,
                     PusTelecommand(service=17, subservice=1),
-                    apid=EXAMPLE_PUS_APID,
+                    apid=Apid.SCHED,
                 )
             )
     if cmd_path_list[0] == "acs":
         assert len(cmd_path_list) >= 2
-        if cmd_path_list[1] == "mgm":
+        if cmd_path_list[1] == "mgms":
             assert len(cmd_path_list) >= 3
-            if cmd_path_list[2] == "one_shot_hk":
-                q.add_log_cmd("Sending HK one shot request")
-                q.add_pus_tc(
-                    create_request_one_hk_command(
-                        make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
+            if cmd_path_list[2] == "hk":
+                if cmd_path_list[3] == "one_shot_hk":
+                    q.add_log_cmd("Sending HK one shot request")
+                    # TODO: Fix
+                    # q.add_pus_tc(
+                    #   create_request_one_hk_command(
+                    #    make_addressable_id(Apid.ACS, AcsId.MGM_SET)
+                    # )
+                    # )
+            if cmd_path_list[2] == "mode":
+                if cmd_path_list[3] == "set_mode":
+                    handle_set_mode_cmd(
+                        q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
                     )
-                )
+
+
+def handle_set_mode_cmd(
+    q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
+):
+    if mode_str == "off":
+        q.add_log_cmd(f"Sending Mode OFF to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
+    elif mode_str == "on":
+        q.add_log_cmd(f"Sending Mode ON to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
+    elif mode_str == "normal":
+        q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))

satrs-example/src/acs.rs

@@ -1,118 +0,0 @@
-use std::sync::mpsc::{self, TryRecvError};
-
-use log::{info, warn};
-use satrs::pus::verification::{VerificationReporterWithSender, VerificationReportingProvider};
-use satrs::pus::{EcssTmSender, PusTmWrapper};
-use satrs::request::TargetAndApidId;
-use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
-use satrs::{
-    hk::HkRequest,
-    spacepackets::{
-        ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
-        time::cds::{DaysLen16Bits, TimeProvider},
-        SequenceFlags, SpHeader,
-    },
-};
-use satrs_example::config::{RequestTargetId, PUS_APID};
-
-use crate::{
-    hk::{AcsHkIds, HkUniqueId},
-    requests::{Request, RequestWithToken},
-    update_time,
-};
-
-pub struct AcsTask {
-    timestamp: [u8; 7],
-    time_provider: TimeProvider<DaysLen16Bits>,
-    verif_reporter: VerificationReporterWithSender,
-    tm_sender: Box<dyn EcssTmSender>,
-    request_rx: mpsc::Receiver<RequestWithToken>,
-}
-
-impl AcsTask {
-    pub fn new(
-        tm_sender: impl EcssTmSender,
-        request_rx: mpsc::Receiver<RequestWithToken>,
-        verif_reporter: VerificationReporterWithSender,
-    ) -> Self {
-        Self {
-            timestamp: [0; 7],
-            time_provider: TimeProvider::new_with_u16_days(0, 0),
-            verif_reporter,
-            tm_sender: Box::new(tm_sender),
-            request_rx,
-        }
-    }
-
-    fn handle_hk_request(&mut self, target_id: u32, unique_id: u32) {
-        assert_eq!(target_id, RequestTargetId::AcsSubsystem as u32);
-        if unique_id == AcsHkIds::TestMgmSet as u32 {
-            let mut sp_header = SpHeader::tm(PUS_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-            let sec_header = PusTmSecondaryHeader::new_simple(
-                3,
-                HkSubservice::TmHkPacket as u8,
-                &self.timestamp,
-            );
-            let mut buf: [u8; 8] = [0; 8];
-            let hk_id = HkUniqueId::new(target_id, unique_id);
-            hk_id.write_to_be_bytes(&mut buf).unwrap();
-            let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &buf, true);
-            self.tm_sender
-                .send_tm(PusTmWrapper::Direct(pus_tm))
-                .expect("Sending HK TM failed");
-        }
-        // TODO: Verification failure for invalid unique IDs.
-    }
-
-    pub fn try_reading_one_request(&mut self) -> bool {
-        match self.request_rx.try_recv() {
-            Ok(request) => {
-                info!(
-                    "ACS thread: Received HK request {:?}",
-                    request.targeted_request
-                );
-                let target_and_apid_id = TargetAndApidId::from(request.targeted_request.target_id);
-                match request.targeted_request.request {
-                    Request::Hk(hk_req) => match hk_req {
-                        HkRequest::OneShot(unique_id) => {
-                            self.handle_hk_request(target_and_apid_id.target(), unique_id)
-                        }
-                        HkRequest::Enable(_) => {}
-                        HkRequest::Disable(_) => {}
-                        HkRequest::ModifyCollectionInterval(_, _) => {}
-                    },
-                    Request::Mode(_mode_req) => {
-                        warn!("mode request handling not implemented yet")
-                    }
-                    Request::Action(_action_req) => {
-                        warn!("action request handling not implemented yet")
-                    }
-                }
-                let started_token = self
-                    .verif_reporter
-                    .start_success(request.token, &self.timestamp)
-                    .expect("Sending start success failed");
-                self.verif_reporter
-                    .completion_success(started_token, &self.timestamp)
-                    .expect("Sending completion success failed");
-                true
-            }
-            Err(e) => match e {
-                TryRecvError::Empty => false,
-                TryRecvError::Disconnected => {
-                    warn!("ACS thread: Message Queue TX disconnected!");
-                    false
-                }
-            },
-        }
-    }
-
-    pub fn periodic_operation(&mut self) {
-        update_time(&mut self.time_provider, &mut self.timestamp);
-        loop {
-            if !self.try_reading_one_request() {
-                break;
-            }
-        }
-    }
-}

satrs-example/src/acs/mgm.rs

@@ -0,0 +1,284 @@
+use derive_new::new;
+use satrs::hk::{HkRequest, HkRequestVariant};
+use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
+use satrs::spacepackets::ecss::hk;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::SpHeader;
+use satrs_example::{DeviceMode, TimeStampHelper};
+use std::sync::mpsc::{self};
+use std::sync::{Arc, Mutex};
+
+use satrs::mode::{
+    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
+};
+use satrs::pus::{EcssTmSenderCore, PusTmVariant};
+use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
+use satrs_example::config::components::PUS_MODE_SERVICE;
+
+use crate::pus::hk::{HkReply, HkReplyVariant};
+use crate::requests::CompositeRequest;
+
+use serde::{Deserialize, Serialize};
+
+const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
+// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
+const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
+
+pub trait SpiInterface {
+    type Error;
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
+}
+
+#[derive(Default)]
+pub struct SpiDummyInterface {
+    pub dummy_val_0: i16,
+    pub dummy_val_1: i16,
+    pub dummy_val_2: i16,
+}
+
+impl SpiInterface for SpiDummyInterface {
+    type Error = ();
+
+    fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
+        rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
+        rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
+        Ok(())
+    }
+}
+
+#[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
+pub struct MgmData {
+    pub valid: bool,
+    pub x: f32,
+    pub y: f32,
+    pub z: f32,
+}
+
+pub struct MpscModeLeafInterface {
+    pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
+    pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
+    pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
+}
+
+/// Example MGM device handler strongly based on the LIS3MDL MEMS device.
+#[derive(new)]
+#[allow(clippy::too_many_arguments)]
+pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> {
+    id: UniqueApidTargetId,
+    dev_str: &'static str,
+    mode_interface: MpscModeLeafInterface,
+    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
+    tm_sender: TmSender,
+    com_interface: ComInterface,
+    shared_mgm_set: Arc<Mutex<MgmData>>,
+    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
+    mode_and_submode: ModeAndSubmode,
+    #[new(default)]
+    tx_buf: [u8; 12],
+    #[new(default)]
+    rx_buf: [u8; 12],
+    #[new(default)]
+    tm_buf: [u8; 16],
+    #[new(default)]
+    stamp_helper: TimeStampHelper,
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore>
+    MgmHandlerLis3Mdl<ComInterface, TmSender>
+{
+    pub fn periodic_operation(&mut self) {
+        self.stamp_helper.update_from_now();
+        // Handle requests.
+        self.handle_composite_requests();
+        self.handle_mode_requests();
+        if self.mode() == DeviceMode::Normal as u32 {
+            log::trace!("polling LIS3MDL sensor {}", self.dev_str);
+            // Communicate with the device.
+            let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
+            assert!(result.is_ok());
+            // Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
+            let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
+            let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
+            let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
+            // Simple scaling to retrieve the float value, assuming a sensor resolution of
+            let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
+            mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+            mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+            mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+            drop(mgm_guard);
+        }
+    }
+
+    pub fn handle_composite_requests(&mut self) {
+        loop {
+            match self.composite_request_receiver.try_recv() {
+                Ok(ref msg) => match &msg.message {
+                    CompositeRequest::Hk(hk_request) => {
+                        self.handle_hk_request(&msg.requestor_info, hk_request)
+                    }
+                    // TODO: This object does not have actions (yet).. Still send back completion failure
+                    // reply.
+                    CompositeRequest::Action(_action_req) => {}
+                },
+
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!(
+                            "{}: failed to receive composite request: {:?}",
+                            self.dev_str,
+                            e
+                        );
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+        match hk_request.variant {
+            HkRequestVariant::OneShot => {
+                self.hk_reply_sender
+                    .send(GenericMessage::new(
+                        *requestor_info,
+                        HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
+                    ))
+                    .expect("failed to send HK reply");
+                let sec_header = PusTmSecondaryHeader::new(
+                    3,
+                    hk::Subservice::TmHkPacket as u8,
+                    0,
+                    0,
+                    self.stamp_helper.stamp(),
+                );
+                let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
+                // Use binary serialization here. We want the data to be tightly packed.
+                self.tm_buf[0] = mgm_snapshot.valid as u8;
+                self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
+                self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
+                self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
+                let hk_tm = PusTmCreator::new(
+                    SpHeader::new_from_apid(self.id.apid),
+                    sec_header,
+                    &self.tm_buf[0..12],
+                    true,
+                );
+                self.tm_sender
+                    .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                    .expect("failed to send HK TM");
+            }
+            HkRequestVariant::EnablePeriodic => todo!(),
+            HkRequestVariant::DisablePeriodic => todo!(),
+            HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
+        }
+    }
+
+    pub fn handle_mode_requests(&mut self) {
+        loop {
+            // TODO: Only allow one set mode request per cycle?
+            match self.mode_interface.request_rx.try_recv() {
+                Ok(msg) => {
+                    let result = self.handle_mode_request(msg);
+                    // TODO: Trigger event?
+                    if result.is_err() {
+                        log::warn!(
+                            "{}: mode request failed with error {:?}",
+                            self.dev_str,
+                            result.err().unwrap()
+                        );
+                    }
+                }
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeProvider
+    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+{
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
+    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+{
+    type Error = ModeError;
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), satrs::mode::ModeError> {
+        log::info!(
+            "{}: transitioning to mode {:?}",
+            self.dev_str,
+            mode_and_submode
+        );
+        self.mode_and_submode = mode_and_submode;
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
+        log::info!(
+            "{} announcing mode: {:?}",
+            self.dev_str,
+            self.mode_and_submode
+        );
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        requestor: Option<MessageMetadata>,
+    ) -> Result<(), Self::Error> {
+        self.announce_mode(requestor, false);
+        if let Some(requestor) = requestor {
+            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+                log::warn!(
+                    "can not send back mode reply to sender {}",
+                    requestor.sender_id()
+                );
+            } else {
+                self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
+            }
+        }
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        requestor: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), Self::Error> {
+        if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+            log::warn!(
+                "can not send back mode reply to sender {}",
+                requestor.sender_id()
+            );
+        }
+        self.mode_interface
+            .reply_tx_to_pus
+            .send(GenericMessage::new(requestor, reply))
+            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        _requestor_info: MessageMetadata,
+        _info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}

satrs-example/src/acs/mod.rs

@@ -0,0 +1 @@
+pub mod mgm;

satrs-example/src/bin/simpleclient.rs

@@ -12,8 +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 mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
-    let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+    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}");

satrs-example/src/ccsds.rs

@@ -1,7 +1,9 @@
 use satrs::pus::ReceivesEcssPusTc;
 use satrs::spacepackets::{CcsdsPacket, SpHeader};
 use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
-use satrs_example::config::PUS_APID;
+use satrs::ValidatorU16Id;
+use satrs_example::config::components::Apid;
+use satrs_example::config::APID_VALIDATOR;
 
 #[derive(Clone)]
 pub struct CcsdsReceiver<
@@ -11,6 +13,16 @@ pub struct CcsdsReceiver<
     pub tc_source: TcSource,
 }
 
+impl<
+        TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
+        E: 'static,
+    > ValidatorU16Id for CcsdsReceiver<TcSource, E>
+{
+    fn validate(&self, apid: u16) -> bool {
+        APID_VALIDATOR.contains(&apid)
+    }
+}
+
 impl<
         TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
         E: 'static,
@@ -18,27 +30,24 @@ impl<
 {
     type Error = E;
 
-    fn valid_apids(&self) -> &'static [u16] {
-        &[PUS_APID]
-    }
-
-    fn handle_known_apid(
+    fn handle_packet_with_valid_apid(
         &mut self,
         sp_header: &SpHeader,
         tc_raw: &[u8],
     ) -> Result<(), Self::Error> {
-        if sp_header.apid() == PUS_APID {
+        if sp_header.apid() == Apid::Cfdp as u16 {
+        } else {
             return self.tc_source.pass_ccsds(sp_header, tc_raw);
         }
         Ok(())
     }
 
-    fn handle_unknown_apid(
+    fn handle_packet_with_unknown_apid(
         &mut self,
         sp_header: &SpHeader,
         _tc_raw: &[u8],
     ) -> Result<(), Self::Error> {
-        println!("Unknown APID 0x{:x?} detected", sp_header.apid());
+        log::warn!("unknown APID 0x{:x?} detected", sp_header.apid());
         Ok(())
     }
 }

satrs-example/src/config.rs

@@ -1,7 +1,12 @@
-use satrs::res_code::ResultU16;
+use lazy_static::lazy_static;
+use satrs::{
+    res_code::ResultU16,
+    spacepackets::{PacketId, PacketType},
+};
 use satrs_mib::res_code::ResultU16Info;
 use satrs_mib::resultcode;
-use std::net::Ipv4Addr;
+use std::{collections::HashSet, net::Ipv4Addr};
+use strum::IntoEnumIterator;
 
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use satrs::{
@@ -9,8 +14,6 @@ use satrs::{
     pool::{StaticMemoryPool, StaticPoolConfig},
 };
 
-pub const PUS_APID: u16 = 0x02;
-
 #[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
 #[repr(u8)]
 pub enum CustomPusServiceId {
@@ -29,6 +32,7 @@ pub const AOCS_APID: u16 = 1;
 pub enum GroupId {
     Tmtc = 0,
     Hk = 1,
+    Mode = 2,
 }
 
 pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
@@ -37,6 +41,23 @@ pub const SERVER_PORT: u16 = 7301;
 pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
     EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
 
+lazy_static! {
+    pub static ref PACKET_ID_VALIDATOR: HashSet<PacketId> = {
+        let mut set = HashSet::new();
+        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 components::Apid::iter() {
+            set.insert(id as u16);
+        }
+        set
+    };
+}
+
 pub mod tmtc_err {
 
     use super::*;
@@ -53,6 +74,8 @@ pub mod tmtc_err {
     pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
     #[resultcode]
     pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
+    #[resultcode(info = "Request timeout for targeted PUS request. P1: Request ID. P2: Target ID")]
+    pub const REQUEST_TIMEOUT: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 6);
 
     #[resultcode(
         info = "Not enough data inside the TC application data field. Optionally includes: \
@@ -92,27 +115,59 @@ pub mod hk_err {
     ];
 }
 
-#[allow(clippy::enum_variant_names)]
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TmSenderId {
-    PusVerification = 0,
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
-    AllEvents = 6,
-    AcsSubsystem = 7,
+pub mod mode_err {
+    use super::*;
+
+    #[resultcode]
+    pub const WRONG_MODE: ResultU16 = ResultU16::new(GroupId::Mode as u8, 0);
 }
 
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TcReceiverId {
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
+pub mod components {
+    use satrs::request::UniqueApidTargetId;
+    use strum::EnumIter;
+
+    #[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
+    pub enum Apid {
+        Sched = 1,
+        GenericPus = 2,
+        Acs = 3,
+        Cfdp = 4,
+    }
+
+    // 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,
+    }
+
+    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 mod pool {
     use super::*;
     pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {

satrs-example/src/events.rs

@@ -1,71 +1,87 @@
-use std::sync::mpsc::{self, SendError};
+use std::sync::mpsc::{self};
 
+use crate::pus::create_verification_reporter;
+use satrs::event_man::{EventMessageU32, EventRoutingError};
+use satrs::params::WritableToBeBytes;
+use satrs::pus::event::EventTmHookProvider;
+use satrs::pus::verification::VerificationReporter;
+use satrs::pus::EcssTmSenderCore;
+use satrs::request::UniqueApidTargetId;
 use satrs::{
     event_man::{
-        EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
-        SendEventProvider,
+        EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
+        MpscEventReceiver,
     },
-    events::EventU32,
-    params::Params,
     pus::{
         event_man::{
-            DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
-            PusEventDispatcher,
+            DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
         },
-        verification::{
-            TcStateStarted, VerificationReporterWithSender, VerificationReportingProvider,
-            VerificationToken,
-        },
-        EcssTmSender,
+        verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
     },
-    spacepackets::time::cds::{self, TimeProvider},
+    spacepackets::time::cds::CdsTime,
 };
-use satrs_example::config::PUS_APID;
+use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
 use crate::update_time;
 
-pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
-
-pub struct PusEventHandler {
-    event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-    pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
-    pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
-    tm_sender: Box<dyn EcssTmSender>,
-    time_provider: TimeProvider,
-    timestamp: [u8; 7],
-    verif_handler: VerificationReporterWithSender,
+// This helper sets the APID of the event sender for the PUS telemetry.
+#[derive(Default)]
+pub struct EventApidSetter {
+    pub next_apid: u16,
 }
-/*
-*/
 
-impl PusEventHandler {
+impl EventTmHookProvider for EventApidSetter {
+    fn modify_tm(&self, tm: &mut satrs::spacepackets::ecss::tm::PusTmCreator) {
+        tm.set_apid(self.next_apid);
+    }
+}
+
+/// The PUS event handler subscribes for all events and converts them into ECSS PUS 5 event
+/// packets. It also handles the verification completion of PUS event service requests.
+pub struct PusEventHandler<TmSender: EcssTmSenderCore> {
+    event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+    pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
+    pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
+    tm_sender: TmSender,
+    time_provider: CdsTime,
+    timestamp: [u8; 7],
+    verif_handler: VerificationReporter,
+    event_apid_setter: EventApidSetter,
+}
+
+impl<TmSender: EcssTmSenderCore> PusEventHandler<TmSender> {
     pub fn new(
-        verif_handler: VerificationReporterWithSender,
-        event_manager: &mut MpscEventManager,
+        tm_sender: TmSender,
+        verif_handler: VerificationReporter,
+        event_manager: &mut EventManagerWithBoundedMpsc,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-        tm_sender: impl EcssTmSender,
     ) -> Self {
-        let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
+        let event_queue_cap = 30;
+        let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);
 
         // All events sent to the manager are routed to the PUS event manager, which generates PUS event
         // telemetry for each event.
-        let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
-        let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
+        let event_reporter = EventReporter::new(PUS_EVENT_MANAGEMENT.raw(), 0, 0, 128).unwrap();
         let pus_event_dispatcher =
-            PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
-        let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+            DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
+        let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
+            PUS_EVENT_MANAGEMENT.raw(),
+            pus_event_man_tx,
+            event_queue_cap,
+        );
 
-        event_manager.subscribe_all(pus_event_man_send_provider.id());
+        event_manager.subscribe_all(pus_event_man_send_provider.target_id());
         event_manager.add_sender(pus_event_man_send_provider);
 
         Self {
             event_request_rx,
             pus_event_dispatcher,
             pus_event_man_rx,
-            time_provider: cds::TimeProvider::new_with_u16_days(0, 0),
+            time_provider: CdsTime::new_with_u16_days(0, 0),
             timestamp: [0; 7],
             verif_handler,
-            tm_sender: Box::new(tm_sender),
+            tm_sender,
+            event_apid_setter: EventApidSetter::default(),
         }
     }
 
@@ -76,7 +92,7 @@ impl PusEventHandler {
                 .try_into()
                 .expect("expected start verification token");
             self.verif_handler
-                .completion_success(started_token, timestamp)
+                .completion_success(&self.tm_sender, started_token, timestamp)
                 .expect("Sending completion success failed");
         };
         // handle event requests
@@ -102,23 +118,29 @@ impl PusEventHandler {
 
     pub fn generate_pus_event_tm(&mut self) {
         // Perform the generation of PUS event packets
-        if let Ok((event, _param)) = self.pus_event_man_rx.try_recv() {
+        if let Ok(event_msg) = self.pus_event_man_rx.try_recv() {
             update_time(&mut self.time_provider, &mut self.timestamp);
+            let param_vec = event_msg.params().map_or(Vec::new(), |param| {
+                param.to_vec().expect("failed to convert params to vec")
+            });
+            self.event_apid_setter.next_apid = UniqueApidTargetId::from(event_msg.sender_id()).apid;
             self.pus_event_dispatcher
                 .generate_pus_event_tm_generic(
-                    self.tm_sender.upcast_mut(),
+                    &self.tm_sender,
                     &self.timestamp,
-                    event,
-                    None,
+                    event_msg.event(),
+                    Some(&param_vec),
                 )
                 .expect("Sending TM as event failed");
         }
     }
 }
 
+/// This is a thin wrapper around the event manager which also caches the sender component
+/// used to send events to the event manager.
 pub struct EventManagerWrapper {
-    event_manager: MpscEventManager,
-    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
+    event_manager: EventManagerWithBoundedMpsc,
+    event_sender: mpsc::Sender<EventMessageU32>,
 }
 
 impl EventManagerWrapper {
@@ -126,46 +148,51 @@ impl EventManagerWrapper {
         // The sender handle is the primary sender handle for all components which want to create events.
         // The event manager will receive the RX handle to receive all the events.
         let (event_sender, event_man_rx) = mpsc::channel();
-        let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
+        let event_recv = MpscEventReceiver::new(event_man_rx);
         Self {
-            event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
+            event_manager: EventManagerWithBoundedMpsc::new(event_recv),
             event_sender,
         }
     }
 
-    pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
+    // Returns a cached event sender to send events to the event manager for routing.
+    pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
         self.event_sender.clone()
     }
 
-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
         &mut self.event_manager
     }
 
     pub fn try_event_routing(&mut self) {
+        let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
+            self.routing_error_handler(event_msg, error)
+        };
         // Perform the event routing.
-        self.event_manager
-            .try_event_handling()
-            .expect("event handling failed");
+        self.event_manager.try_event_handling(error_handler);
+    }
+
+    pub fn routing_error_handler(&self, event_msg: &EventMessageU32, error: EventRoutingError) {
+        log::warn!("event routing error for event {event_msg:?}: {error:?}");
     }
 }
 
-pub struct EventHandler {
+pub struct EventHandler<TmSender: EcssTmSenderCore> {
     pub event_man_wrapper: EventManagerWrapper,
-    pub pus_event_handler: PusEventHandler,
+    pub pus_event_handler: PusEventHandler<TmSender>,
 }
 
-impl EventHandler {
+impl<TmSender: EcssTmSenderCore> EventHandler<TmSender> {
     pub fn new(
-        tm_sender: impl EcssTmSender,
-        verif_handler: VerificationReporterWithSender,
+        tm_sender: TmSender,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
     ) -> Self {
         let mut event_man_wrapper = EventManagerWrapper::new();
         let pus_event_handler = PusEventHandler::new(
-            verif_handler,
+            tm_sender,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
             event_man_wrapper.event_manager(),
             event_request_rx,
-            tm_sender,
         );
         Self {
             event_man_wrapper,
@@ -173,12 +200,12 @@ impl EventHandler {
         }
     }
 
-    pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
+    pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
         self.event_man_wrapper.clone_event_sender()
     }
 
     #[allow(dead_code)]
-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
         self.event_man_wrapper.event_manager()
     }
 

satrs-example/src/hk.rs

@@ -1,27 +1,25 @@
 use derive_new::new;
+use satrs::hk::UniqueId;
+use satrs::request::UniqueApidTargetId;
 use satrs::spacepackets::ByteConversionError;
 
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum AcsHkIds {
-    TestMgmSet = 1,
-}
-
 #[derive(Debug, new, Copy, Clone)]
 pub struct HkUniqueId {
-    target_id: u32,
-    set_id: u32,
+    target_id: UniqueApidTargetId,
+    set_id: UniqueId,
 }
 
 impl HkUniqueId {
     #[allow(dead_code)]
-    pub fn target_id(&self) -> u32 {
+    pub fn target_id(&self) -> UniqueApidTargetId {
         self.target_id
     }
     #[allow(dead_code)]
-    pub fn set_id(&self) -> u32 {
+    pub fn set_id(&self) -> UniqueId {
         self.set_id
     }
 
+    #[allow(dead_code)]
     pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
         if buf.len() < 8 {
             return Err(ByteConversionError::ToSliceTooSmall {
@@ -29,7 +27,7 @@ impl HkUniqueId {
                 expected: 8,
             });
         }
-        buf[0..4].copy_from_slice(&self.target_id.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)

satrs-example/src/lib.rs

@@ -1 +1,39 @@
+use satrs::spacepackets::time::{cds::CdsTime, TimeWriter};
+
 pub mod config;
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+pub enum DeviceMode {
+    Off = 0,
+    On = 1,
+    Normal = 2,
+}
+
+pub struct TimeStampHelper {
+    stamper: CdsTime,
+    time_stamp: [u8; 7],
+}
+
+impl TimeStampHelper {
+    pub fn stamp(&self) -> &[u8] {
+        &self.time_stamp
+    }
+
+    pub fn update_from_now(&mut self) {
+        self.stamper
+            .update_from_now()
+            .expect("Updating timestamp failed");
+        self.stamper
+            .write_to_bytes(&mut self.time_stamp)
+            .expect("Writing timestamp failed");
+    }
+}
+
+impl Default for TimeStampHelper {
+    fn default() -> Self {
+        Self {
+            stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),
+            time_stamp: Default::default(),
+        }
+    }
+}

satrs-example/src/main.rs

@@ -17,50 +17,44 @@ 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::request::TargetAndApidId;
+use satrs::request::GenericMessage;
 use satrs::tmtc::tm_helper::SharedTmPool;
 use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
 use satrs_example::config::tasks::{
     FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
 };
-use satrs_example::config::{RequestTargetId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT};
+use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
 use tmtc::PusTcSourceProviderDynamic;
 use udp::DynamicUdpTmHandler;
 
-use crate::acs::AcsTask;
+use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
 use crate::ccsds::CcsdsReceiver;
 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::{PusReceiver, PusTcMpscRouter};
-use crate::requests::{GenericRequestRouter, RequestWithToken};
+use crate::requests::{CompositeRequest, GenericRequestRouter};
 use crate::tcp::{SyncTcpTmSource, TcpTask};
 use crate::tmtc::{
     PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
 };
 use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
+use satrs::mode::ModeRequest;
 use satrs::pus::event_man::EventRequestWithToken;
-use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
-use satrs::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
-use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
+use satrs::pus::TmInSharedPoolSender;
+use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
 use satrs::tmtc::CcsdsDistributor;
-use satrs::ChannelId;
+use satrs_example::config::components::MGM_HANDLER_0;
 use std::net::{IpAddr, SocketAddr};
-use std::sync::mpsc::{self, channel};
+use std::sync::mpsc;
 use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
 
-fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
-    let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
-    // Every software component which needs to generate verification telemetry, gets a cloned
-    // verification reporter.
-    VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
-}
-
 #[allow(dead_code)]
 fn static_tmtc_pool_main() {
     let (tm_pool, tc_pool) = create_static_pools();
@@ -68,24 +62,25 @@ fn static_tmtc_pool_main() {
     let shared_tc_pool = SharedTcPool {
         pool: Arc::new(RwLock::new(tc_pool)),
     };
-    let (tc_source_tx, tc_source_rx) = channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
-    let (tm_server_tx, tm_server_rx) = channel();
+    let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
+    let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
+    let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
 
-    // Every software component which needs to generate verification telemetry, receives a cloned
-    // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
-        TmSenderId::PusVerification as ChannelId,
-        "verif_sender",
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-    ));
+    let tm_funnel_tx_sender =
+        TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_funnel_tx.clone());
+
+    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
+        mpsc::channel::<GenericMessage<CompositeRequest>>();
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
 
-    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
-    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let mut request_map = GenericRequestRouter::default();
-    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
+    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);
 
     // This helper structure is used by all telecommand providers which need to send telecommands
     // to the TC source.
@@ -101,86 +96,84 @@ fn static_tmtc_pool_main() {
 
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(
-        MpscTmInSharedPoolSender::new(
-            TmSenderId::AllEvents as ChannelId,
-            "ALL_EVENTS_TX",
-            shared_tm_pool.clone(),
-            tm_funnel_tx.clone(),
-        ),
-        verif_reporter.clone(),
-        event_request_rx,
-    );
+    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), 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_test_tx, pus_test_rx) = channel();
-    let (pus_event_tx, pus_event_rx) = channel();
-    let (pus_sched_tx, pus_sched_rx) = channel();
-    let (pus_hk_tx, pus_hk_rx) = channel();
-    let (pus_action_tx, pus_action_rx) = channel();
     let pus_router = PusTcMpscRouter {
-        test_service_receiver: pus_test_tx,
-        event_service_receiver: pus_event_tx,
-        sched_service_receiver: pus_sched_tx,
-        hk_service_receiver: pus_hk_tx,
-        action_service_receiver: pus_action_tx,
+        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_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         shared_tc_pool.pool.clone(),
         event_handler.clone_event_sender(),
         pus_test_rx,
     );
     let pus_scheduler_service = create_scheduler_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         tc_source.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
     let pus_event_service = create_event_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         shared_tc_pool.pool.clone(),
         pus_event_rx,
         event_request_tx,
     );
     let pus_action_service = create_action_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         shared_tc_pool.pool.clone(),
         pus_action_rx,
         request_map.clone(),
+        pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         shared_tc_pool.pool.clone(),
         pus_hk_rx,
+        request_map.clone(),
+        pus_hk_reply_rx,
+    );
+    let pus_mode_service = create_mode_service_static(
+        tm_funnel_tx_sender.clone(),
+        shared_tc_pool.pool.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_test_service,
+        pus_mode_service,
     );
 
     let ccsds_receiver = CcsdsReceiver { tc_source };
     let mut tmtc_task = TcSourceTaskStatic::new(
         shared_tc_pool.clone(),
         tc_source_rx,
-        PusReceiver::new(verif_reporter.clone(), pus_router),
+        PusReceiver::new(tm_funnel_tx_sender, pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
     let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
@@ -191,27 +184,17 @@ fn static_tmtc_pool_main() {
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
     let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
         tcp_server_cfg,
         sync_tm_tcp_source.clone(),
         tcp_ccsds_distributor,
+        PACKET_ID_VALIDATOR.clone(),
     )
     .expect("tcp server creation failed");
 
-    let mut acs_task = AcsTask::new(
-        MpscTmInSharedPoolSender::new(
-            TmSenderId::AcsSubsystem as ChannelId,
-            "ACS_TASK_SENDER",
-            shared_tm_pool.clone(),
-            tm_funnel_tx.clone(),
-        ),
-        acs_thread_rx,
-        verif_reporter,
-    );
-
     let mut tm_funnel = TmFunnelStatic::new(
         shared_tm_pool,
         sync_tm_tcp_source,
@@ -219,6 +202,27 @@ fn static_tmtc_pool_main() {
         tm_server_tx,
     );
 
+    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
+        mpsc::channel();
+
+    let dummy_spi_interface = SpiDummyInterface::default();
+    let shared_mgm_set = Arc::default();
+    let mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: mgm_handler_mode_rx,
+        reply_tx_to_pus: pus_mode_reply_tx,
+        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+    };
+    let mut mgm_handler = MgmHandlerLis3Mdl::new(
+        MGM_HANDLER_0,
+        "MGM_0",
+        mode_leaf_interface,
+        mgm_handler_composite_rx,
+        pus_hk_reply_tx,
+        tm_funnel_tx,
+        dummy_spi_interface,
+        shared_mgm_set,
+    );
+
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
         .name("TMTC and UDP".to_string())
@@ -264,7 +268,7 @@ fn static_tmtc_pool_main() {
     let jh_aocs = thread::Builder::new()
         .name("AOCS".to_string())
         .spawn(move || loop {
-            acs_task.periodic_operation();
+            mgm_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
@@ -298,22 +302,23 @@ fn static_tmtc_pool_main() {
 
 #[allow(dead_code)]
 fn dyn_tmtc_pool_main() {
-    let (tc_source_tx, tc_source_rx) = channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
-    let (tm_server_tx, tm_server_rx) = channel();
-    // Every software component which needs to generate verification telemetry, gets a cloned
-    // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
-        TmSenderId::PusVerification as ChannelId,
-        "verif_sender",
-        tm_funnel_tx.clone(),
-    ));
+    let (tc_source_tx, tc_source_rx) = mpsc::channel();
+    let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+    let (tm_server_tx, tm_server_rx) = mpsc::channel();
+
+    // 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::channel::<GenericMessage<CompositeRequest>>();
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
 
-    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
-    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let mut request_map = GenericRequestRouter::default();
-    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
+    request_map
+        .composite_router_map
+        .insert(MGM_HANDLER_0.raw(), mgm_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
 
     let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
 
@@ -323,78 +328,78 @@ fn dyn_tmtc_pool_main() {
     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(
-        MpscTmAsVecSender::new(
-            TmSenderId::AllEvents as ChannelId,
-            "ALL_EVENTS_TX",
-            tm_funnel_tx.clone(),
-        ),
-        verif_reporter.clone(),
-        event_request_rx,
-    );
+    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), 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_test_tx, pus_test_rx) = channel();
-    let (pus_event_tx, pus_event_rx) = channel();
-    let (pus_sched_tx, pus_sched_rx) = channel();
-    let (pus_hk_tx, pus_hk_rx) = channel();
-    let (pus_action_tx, pus_action_rx) = channel();
     let pus_router = PusTcMpscRouter {
-        test_service_receiver: pus_test_tx,
-        event_service_receiver: pus_event_tx,
-        sched_service_receiver: pus_sched_tx,
-        hk_service_receiver: pus_hk_tx,
-        action_service_receiver: pus_action_tx,
+        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_funnel_tx.clone(),
-        verif_reporter.clone(),
         event_handler.clone_event_sender(),
         pus_test_rx,
     );
     let pus_scheduler_service = create_scheduler_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         tc_source.0.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
 
-    let pus_event_service = create_event_service_dynamic(
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
-        pus_event_rx,
-        event_request_tx,
-    );
+    let pus_event_service =
+        create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
     let pus_action_service = create_action_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         pus_action_rx,
         request_map.clone(),
+        pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         pus_hk_rx,
+        request_map.clone(),
+        pus_hk_reply_rx,
+    );
+    let pus_mode_service = create_mode_service_dynamic(
+        tm_funnel_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_test_service,
+        pus_mode_service,
     );
 
     let ccsds_receiver = CcsdsReceiver { tc_source };
 
     let mut tmtc_task = TcSourceTaskDynamic::new(
         tc_source_rx,
-        PusReceiver::new(verif_reporter.clone(), pus_router),
+        PusReceiver::new(tm_funnel_tx.clone(), pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
     let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
@@ -404,27 +409,39 @@ fn dyn_tmtc_pool_main() {
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
     let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
         tcp_server_cfg,
         sync_tm_tcp_source.clone(),
         tcp_ccsds_distributor,
+        PACKET_ID_VALIDATOR.clone(),
     )
     .expect("tcp server creation failed");
 
-    let mut acs_task = AcsTask::new(
-        MpscTmAsVecSender::new(
-            TmSenderId::AcsSubsystem as ChannelId,
-            "ACS_TASK_SENDER",
-            tm_funnel_tx.clone(),
-        ),
-        acs_thread_rx,
-        verif_reporter,
-    );
     let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
 
+    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
+        mpsc::channel();
+    let dummy_spi_interface = SpiDummyInterface::default();
+    let shared_mgm_set = Arc::default();
+    let mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: mgm_handler_mode_rx,
+        reply_tx_to_pus: pus_mode_reply_tx,
+        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+    };
+    let mut mgm_handler = MgmHandlerLis3Mdl::new(
+        MGM_HANDLER_0,
+        "MGM_0",
+        mode_leaf_interface,
+        mgm_handler_composite_rx,
+        pus_hk_reply_tx,
+        tm_funnel_tx,
+        dummy_spi_interface,
+        shared_mgm_set,
+    );
+
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
         .name("TMTC and UDP".to_string())
@@ -470,7 +487,7 @@ fn dyn_tmtc_pool_main() {
     let jh_aocs = thread::Builder::new()
         .name("AOCS".to_string())
         .spawn(move || loop {
-            acs_task.periodic_operation();
+            mgm_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
@@ -511,7 +528,7 @@ fn main() {
     dyn_tmtc_pool_main();
 }
 
-pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {
+pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
     time_provider
         .update_from_now()
         .expect("Could not get current time");

satrs-example/src/pus/action.rs

@@ -1,155 +1,274 @@
 use log::{error, warn};
-use satrs::action::ActionRequest;
-use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
+use satrs::action::{ActionRequest, ActionRequestVariant};
+use satrs::params::WritableToBeBytes;
+use satrs::pool::SharedStaticMemoryPool;
+use satrs::pus::action::{
+    ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap, PusActionReply,
+};
 use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
-    VerificationToken,
+    FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
+    VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper,
+    ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTmSenderCore, EcssTmtcError, GenericConversionError, MpscTcReceiver,
+    MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler,
+    PusServiceHelper, PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::request::TargetAndApidId;
+use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::PusPacket;
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::{ChannelId, TargetId};
-use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
-use std::sync::mpsc::{self};
+use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
+use satrs_example::config::components::PUS_ACTION_SERVICE;
+use satrs_example::config::tmtc_err;
+use std::sync::mpsc;
+use std::time::Duration;
 
 use crate::requests::GenericRequestRouter;
 
-use super::GenericRoutingErrorHandler;
+use super::{
+    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
+    PusTargetedRequestService, TargetedPusService,
+};
+
+pub struct ActionReplyHandler {
+    fail_data_buf: [u8; 128],
+}
+
+impl Default for ActionReplyHandler {
+    fn default() -> Self {
+        Self {
+            fail_data_buf: [0; 128],
+        }
+    }
+}
+
+impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyHandler {
+    type Error = EcssTmtcError;
+
+    fn handle_unrequested_reply(
+        &mut self,
+        reply: &GenericMessage<PusActionReply>,
+        _tm_sender: &impl EcssTmSenderCore,
+    ) -> Result<(), Self::Error> {
+        warn!("received unexpected reply for service 8: {reply:?}");
+        Ok(())
+    }
+
+    fn handle_reply(
+        &mut self,
+        reply: &GenericMessage<PusActionReply>,
+        active_request: &ActivePusActionRequestStd,
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<bool, Self::Error> {
+        let verif_token: VerificationToken<TcStateStarted> = active_request
+            .token()
+            .try_into()
+            .expect("invalid token state");
+        let remove_entry = match &reply.message.variant {
+            ActionReplyVariant::CompletionFailed { error_code, params } => {
+                let mut fail_data_len = 0;
+                if let Some(params) = params {
+                    fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
+                }
+                verification_handler.completion_failure(
+                    tm_sender,
+                    verif_token,
+                    FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
+                )?;
+                true
+            }
+            ActionReplyVariant::StepFailed {
+                error_code,
+                step,
+                params,
+            } => {
+                let mut fail_data_len = 0;
+                if let Some(params) = params {
+                    fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
+                }
+                verification_handler.step_failure(
+                    tm_sender,
+                    verif_token,
+                    FailParamsWithStep::new(
+                        time_stamp,
+                        &EcssEnumU16::new(*step),
+                        error_code,
+                        &self.fail_data_buf[..fail_data_len],
+                    ),
+                )?;
+                true
+            }
+            ActionReplyVariant::Completed => {
+                verification_handler.completion_success(tm_sender, verif_token, time_stamp)?;
+                true
+            }
+            ActionReplyVariant::StepSuccess { step } => {
+                verification_handler.step_success(
+                    tm_sender,
+                    &verif_token,
+                    time_stamp,
+                    EcssEnumU16::new(*step),
+                )?;
+                false
+            }
+            _ => false,
+        };
+        Ok(remove_entry)
+    }
+
+    fn handle_request_timeout(
+        &mut self,
+        active_request: &ActivePusActionRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(), Self::Error> {
+        generic_pus_request_timeout_handler(
+            tm_sender,
+            active_request,
+            verification_handler,
+            time_stamp,
+            "action",
+        )
+    }
+}
 
 #[derive(Default)]
-pub struct ExampleActionRequestConverter {}
+pub struct ActionRequestConverter {}
 
-impl PusActionToRequestConverter for ExampleActionRequestConverter {
-    type Error = PusPacketHandlingError;
+impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for ActionRequestConverter {
+    type Error = GenericConversionError;
 
     fn convert(
         &mut self,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        time_stamp: &[u8],
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
-    ) -> Result<(TargetId, ActionRequest), Self::Error> {
+        time_stamp: &[u8],
+    ) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
         let subservice = tc.subservice();
         let user_data = tc.user_data();
         if user_data.len() < 8 {
             verif_reporter
                 .start_failure(
+                    tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
                 )
                 .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData {
+            return Err(GenericConversionError::NotEnoughAppData {
                 expected: 8,
                 found: user_data.len(),
             });
         }
-        let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
+        let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
         let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
         if subservice == 128 {
+            let req_variant = if user_data.len() == 8 {
+                ActionRequestVariant::NoData
+            } else {
+                ActionRequestVariant::VecData(user_data[8..].to_vec())
+            };
             Ok((
-                target_id.raw(),
-                ActionRequest::UnsignedIdAndVecData {
+                ActivePusActionRequestStd::new(
                     action_id,
-                    data: user_data[8..].to_vec(),
-                },
+                    target_id_and_apid.into(),
+                    token.into(),
+                    Duration::from_secs(30),
+                ),
+                ActionRequest::new(action_id, req_variant),
             ))
         } else {
             verif_reporter
                 .start_failure(
+                    tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
                 )
                 .expect("Sending start failure failed");
-            Err(PusPacketHandlingError::InvalidSubservice(subservice))
+            Err(GenericConversionError::InvalidSubservice(subservice))
         }
     }
 }
 
 pub fn create_action_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
-) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
-    let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
-        TmSenderId::PusAction as ChannelId,
-        "PUS_8_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
-    let pus_8_handler = PusService8ActionHandler::new(
+    reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
+) -> ActionServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
+    let action_request_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            Box::new(action_srv_receiver),
-            Box::new(action_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_ACTION_SERVICE.id(),
+            pus_action_rx,
+            tm_sender,
+            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
         ),
-        ExampleActionRequestConverter::default(),
+        ActionRequestConverter::default(),
+        // TODO: Implementation which does not use run-time allocation? Maybe something like
+        // a bounded wrapper which pre-allocates using [HashMap::with_capacity]..
+        DefaultActiveActionRequestMap::default(),
+        ActionReplyHandler::default(),
         action_router,
-        GenericRoutingErrorHandler::<8>::default(),
+        reply_receiver,
     );
-    Pus8Wrapper { pus_8_handler }
+    ActionServiceWrapper {
+        service: action_request_handler,
+    }
 }
 
 pub fn create_action_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
-) -> Pus8Wrapper<EcssTcInVecConverter> {
-    let action_srv_tm_sender = MpscTmAsVecSender::new(
-        TmSenderId::PusAction as ChannelId,
-        "PUS_8_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
-    let pus_8_handler = PusService8ActionHandler::new(
+    reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
+) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let action_request_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            Box::new(action_srv_receiver),
-            Box::new(action_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_ACTION_SERVICE.id(),
+            pus_action_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
-        ExampleActionRequestConverter::default(),
+        ActionRequestConverter::default(),
+        DefaultActiveActionRequestMap::default(),
+        ActionReplyHandler::default(),
         action_router,
-        GenericRoutingErrorHandler::<8>::default(),
+        reply_receiver,
     );
-    Pus8Wrapper { pus_8_handler }
+    ActionServiceWrapper {
+        service: action_request_handler,
+    }
 }
 
-pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub(crate) pus_8_handler: PusService8ActionHandler<
+pub struct ActionServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+{
+    pub(crate) service: PusTargetedRequestService<
+        MpscTcReceiver,
+        TmSender,
         TcInMemConverter,
-        VerificationReporterWithSender,
-        ExampleActionRequestConverter,
-        GenericRequestRouter,
-        GenericRoutingErrorHandler<8>,
+        VerificationReporter,
+        ActionRequestConverter,
+        ActionReplyHandler,
+        DefaultActiveActionRequestMap,
+        ActivePusActionRequestStd,
+        ActionRequest,
+        PusActionReply,
     >,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_8_handler.handle_one_tc() {
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for ActionServiceWrapper<TmSender, TcInMemConverter>
+{
+    /// Returns [true] if the packet handling is finished.
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self.service.poll_and_handle_next_tc(time_stamp) {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@@ -171,4 +290,463 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
         }
         false
     }
+
+    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        // This only fails if all senders disconnected. Treat it like an empty queue.
+        self.service
+            .poll_and_check_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!("PUS 8: Handling reply failed with error {e:?}");
+                HandlingStatus::Empty
+            })
+    }
+
+    fn check_for_request_timeouts(&mut self) {
+        self.service.check_for_request_timeouts();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use satrs::pus::test_util::{
+        TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
+    };
+    use satrs::pus::verification;
+    use satrs::pus::verification::test_util::TestVerificationReporter;
+    use satrs::request::MessageMetadata;
+    use satrs::ComponentId;
+    use satrs::{
+        res_code::ResultU16,
+        spacepackets::{
+            ecss::{
+                tc::{PusTcCreator, PusTcSecondaryHeader},
+                tm::PusTmReader,
+                WritablePusPacket,
+            },
+            SpHeader,
+        },
+    };
+
+    use crate::{
+        pus::tests::{PusConverterTestbench, ReplyHandlerTestbench, TargetedPusRequestTestbench},
+        requests::CompositeRequest,
+    };
+
+    use super::*;
+
+    impl
+        TargetedPusRequestTestbench<
+            ActionRequestConverter,
+            ActionReplyHandler,
+            DefaultActiveActionRequestMap,
+            ActivePusActionRequestStd,
+            ActionRequest,
+            PusActionReply,
+        >
+    {
+        pub fn new_for_action(owner_id: ComponentId, target_id: ComponentId) -> Self {
+            let _ = env_logger::builder().is_test(true).try_init();
+            let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+            let (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::channel();
+            let verif_reporter = TestVerificationReporter::new(owner_id);
+            let mut generic_req_router = GenericRequestRouter::default();
+            generic_req_router
+                .composite_router_map
+                .insert(target_id, action_req_tx);
+            Self {
+                service: PusTargetedRequestService::new(
+                    PusServiceHelper::new(
+                        owner_id,
+                        pus_action_rx,
+                        tm_funnel_tx.clone(),
+                        verif_reporter,
+                        EcssTcInVecConverter::default(),
+                    ),
+                    ActionRequestConverter::default(),
+                    DefaultActiveActionRequestMap::default(),
+                    ActionReplyHandler::default(),
+                    generic_req_router,
+                    action_reply_rx,
+                ),
+                request_id: None,
+                pus_packet_tx: pus_action_tx,
+                tm_funnel_rx,
+                reply_tx: action_reply_tx,
+                request_rx: action_req_rx,
+            }
+        }
+
+        pub fn verify_packet_started(&self) {
+            self.service
+                .service_helper
+                .common
+                .verif_reporter
+                .check_next_is_started_success(
+                    self.service.service_helper.id(),
+                    self.request_id.expect("request ID not set").into(),
+                );
+        }
+
+        pub fn verify_packet_completed(&self) {
+            self.service
+                .service_helper
+                .common
+                .verif_reporter
+                .check_next_is_completion_success(
+                    self.service.service_helper.id(),
+                    self.request_id.expect("request ID not set").into(),
+                );
+        }
+
+        pub fn verify_tm_empty(&self) {
+            let packet = self.tm_funnel_rx.try_recv();
+            if let Err(mpsc::TryRecvError::Empty) = packet {
+            } else {
+                let tm = packet.unwrap();
+                let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
+                panic!("unexpected TM packet {unexpected_tm:?}");
+            }
+        }
+
+        pub fn verify_next_tc_is_handled_properly(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_handle_next_tc(time_stamp);
+            if let Err(e) = result {
+                panic!("unexpected error {:?}", e);
+            }
+            let result = result.unwrap();
+            match result {
+                PusPacketHandlerResult::RequestHandled => (),
+                _ => panic!("unexpected result {result:?}"),
+            }
+        }
+
+        pub fn verify_all_tcs_handled(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_handle_next_tc(time_stamp);
+            if let Err(e) = result {
+                panic!("unexpected error {:?}", e);
+            }
+            let result = result.unwrap();
+            match result {
+                PusPacketHandlerResult::Empty => (),
+                _ => panic!("unexpected result {result:?}"),
+            }
+        }
+
+        pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_check_next_reply(time_stamp);
+            assert!(result.is_ok());
+            assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
+        }
+
+        pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_check_next_reply(time_stamp);
+            assert!(result.is_ok());
+            assert_eq!(result.unwrap(), HandlingStatus::Empty);
+        }
+
+        pub fn add_tc(&mut self, tc: &PusTcCreator) {
+            self.request_id = Some(verification::RequestId::new(tc).into());
+            let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
+            let accepted_token = self
+                .service
+                .service_helper
+                .verif_reporter()
+                .acceptance_success(self.service.service_helper.tm_sender(), token, &[0; 7])
+                .expect("TC acceptance failed");
+            self.service
+                .service_helper
+                .verif_reporter()
+                .check_next_was_added(accepted_token.request_id());
+            let id = self.service.service_helper.id();
+            self.service
+                .service_helper
+                .verif_reporter()
+                .check_next_is_acceptance_success(id, accepted_token.request_id());
+            self.pus_packet_tx
+                .send(EcssTcAndToken::new(tc.to_vec().unwrap(), accepted_token))
+                .unwrap();
+        }
+    }
+
+    #[test]
+    fn basic_request() {
+        let mut testbench = TargetedPusRequestTestbench::new_for_action(
+            TEST_COMPONENT_ID_0.id(),
+            TEST_COMPONENT_ID_1.id(),
+        );
+        // Create a basic action request and verify forwarding.
+        let sp_header = SpHeader::new_from_apid(TEST_APID);
+        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.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, true);
+        testbench.add_tc(&pus8_packet);
+        let time_stamp: [u8; 7] = [0; 7];
+        testbench.verify_next_tc_is_handled_properly(&time_stamp);
+        testbench.verify_all_tcs_handled(&time_stamp);
+
+        testbench.verify_packet_started();
+
+        let possible_req = testbench.request_rx.try_recv();
+        assert!(possible_req.is_ok());
+        let req = possible_req.unwrap();
+        if let CompositeRequest::Action(action_req) = req.message {
+            assert_eq!(action_req.action_id, action_id);
+            assert_eq!(action_req.variant, ActionRequestVariant::NoData);
+            let action_reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
+            testbench
+                .reply_tx
+                .send(GenericMessage::new(req.requestor_info, action_reply))
+                .unwrap();
+        } else {
+            panic!("unexpected request type");
+        }
+        testbench.verify_next_reply_is_handled_properly(&time_stamp);
+        testbench.verify_all_replies_handled(&time_stamp);
+
+        testbench.verify_packet_completed();
+        testbench.verify_tm_empty();
+    }
+
+    #[test]
+    fn basic_request_routing_error() {
+        let mut testbench = TargetedPusRequestTestbench::new_for_action(
+            TEST_COMPONENT_ID_0.id(),
+            TEST_COMPONENT_ID_1.id(),
+        );
+        // Create a basic action request and verify forwarding.
+        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(&0_u32.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,
+            true,
+        );
+        testbench.add_tc(&pus8_packet);
+        let time_stamp: [u8; 7] = [0; 7];
+
+        let result = testbench.service.poll_and_handle_next_tc(&time_stamp);
+        assert!(result.is_err());
+        // Verify the correct result and completion failure.
+    }
+
+    #[test]
+    fn converter_action_req_no_data() {
+        let mut testbench = PusConverterTestbench::new(
+            TEST_COMPONENT_ID_0.raw(),
+            ActionRequestConverter::default(),
+        );
+        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.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,
+            true,
+        );
+        let token = testbench.add_tc(&pus8_packet);
+        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
+        assert!(result.is_ok());
+        let (active_req, request) = result.unwrap();
+        if let ActionRequestVariant::NoData = request.variant {
+            assert_eq!(request.action_id, action_id);
+            assert_eq!(active_req.action_id, action_id);
+            assert_eq!(
+                active_req.target_id(),
+                UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0).raw()
+            );
+            assert_eq!(
+                active_req.token().request_id(),
+                testbench.request_id().unwrap()
+            );
+        } else {
+            panic!("unexpected action request variant");
+        }
+    }
+
+    #[test]
+    fn converter_action_req_with_data() {
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
+        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.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;
+        }
+        let pus8_packet = PusTcCreator::new(
+            SpHeader::new_from_apid(TEST_APID),
+            sec_header,
+            &app_data,
+            true,
+        );
+        let token = testbench.add_tc(&pus8_packet);
+        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
+        assert!(result.is_ok());
+        let (active_req, request) = result.unwrap();
+        if let ActionRequestVariant::VecData(vec) = request.variant {
+            assert_eq!(request.action_id, action_id);
+            assert_eq!(active_req.action_id, action_id);
+            assert_eq!(vec, app_data[8..].to_vec());
+        } else {
+            panic!("unexpected action request variant");
+        }
+    }
+
+    #[test]
+    fn reply_handling_completion_success() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        testbench.verif_reporter.assert_full_completion_success(
+            TEST_COMPONENT_ID_0.id(),
+            req_id,
+            None,
+        );
+    }
+
+    #[test]
+    fn reply_handling_completion_failure() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let error_code = ResultU16::new(2, 3);
+        let reply = PusActionReply::new(
+            action_id,
+            ActionReplyVariant::CompletionFailed {
+                error_code,
+                params: None,
+            },
+        );
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID_0.into(),
+            req_id,
+            None,
+            error_code.raw() as u64,
+        );
+    }
+
+    #[test]
+    fn reply_handling_step_success() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let reply = PusActionReply::new(action_id, ActionReplyVariant::StepSuccess { step: 1 });
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        // Entry should not be removed, completion not done yet.
+        assert!(!result.unwrap());
+        testbench.verif_reporter.check_next_was_added(req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID_0.raw(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_started_success(TEST_COMPONENT_ID_0.raw(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_step_success(TEST_COMPONENT_ID_0.raw(), req_id, 1);
+    }
+
+    #[test]
+    fn reply_handling_step_failure() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let error_code = ResultU16::new(2, 3);
+        let reply = PusActionReply::new(
+            action_id,
+            ActionReplyVariant::StepFailed {
+                error_code,
+                step: 1,
+                params: None,
+            },
+        );
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        testbench.verif_reporter.check_next_was_added(req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID_0.id(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_started_success(TEST_COMPONENT_ID_0.id(), req_id);
+        testbench.verif_reporter.check_next_is_step_failure(
+            TEST_COMPONENT_ID_0.id(),
+            req_id,
+            error_code.raw().into(),
+        );
+    }
+
+    #[test]
+    fn reply_handling_unrequested_reply() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_reply = PusActionReply::new(5_u32, ActionReplyVariant::Completed);
+        let unrequested_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);
+        assert!(result.is_ok());
+    }
+
+    #[test]
+    fn reply_handling_reply_timeout() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let result = testbench.handle_request_timeout(
+            &ActivePusActionRequestStd::new_from_common_req(action_id, active_request),
+            &[],
+        );
+        assert!(result.is_ok());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID_0.raw(),
+            req_id,
+            None,
+            tmtc_err::REQUEST_TIMEOUT.raw() as u64,
+        );
+    }
 }

satrs-example/src/pus/event.rs

@@ -1,87 +1,69 @@
 use std::sync::mpsc;
 
+use crate::pus::create_verification_reporter;
 use log::{error, warn};
-use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::event_man::EventRequestWithToken;
-use satrs::pus::event_srv::PusService5EventHandler;
-use satrs::pus::verification::VerificationReporterWithSender;
+use satrs::pus::event_srv::PusEventServiceHandler;
+use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusServiceHelper,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
-use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
 pub fn create_event_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
-    let event_srv_tm_sender = MpscTmInSharedPoolSender::new(
-        TmSenderId::PusEvent as ChannelId,
-        "PUS_5_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let event_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
+) -> EventServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
+    let pus_5_handler = PusEventServiceHandler::new(
         PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_EVENT_MANAGEMENT.id(),
+            pus_event_rx,
+            tm_sender,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
         ),
         event_request_tx,
     );
-    Pus5Wrapper { pus_5_handler }
+    EventServiceWrapper {
+        handler: pus_5_handler,
+    }
 }
 
 pub fn create_event_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInVecConverter> {
-    let event_srv_tm_sender = MpscTmAsVecSender::new(
-        TmSenderId::PusEvent as ChannelId,
-        "PUS_5_TM_SENDER",
-        tm_funnel_tx,
-    );
-    let event_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
+) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let pus_5_handler = PusEventServiceHandler::new(
         PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            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,
     );
-    Pus5Wrapper { pus_5_handler }
+    EventServiceWrapper {
+        handler: pus_5_handler,
+    }
 }
 
-pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus_5_handler: PusService5EventHandler<TcInMemConverter, VerificationReporterWithSender>,
+pub struct EventServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
+    pub handler:
+        PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_5_handler.handle_one_tc() {
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    EventServiceWrapper<TmSender, TcInMemConverter>
+{
+    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self.handler.poll_and_handle_next_tc(time_stamp) {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/hk.rs

@@ -1,47 +1,127 @@
+use derive_new::new;
 use log::{error, warn};
-use satrs::hk::{CollectionIntervalFactor, HkRequest};
-use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
+use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
-    VerificationToken,
+    FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
+    VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper,
+    ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSenderCore,
+    EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
+    MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
+    PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::request::TargetAndApidId;
+use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{hk, PusPacket};
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::{ChannelId, TargetId};
-use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
-use std::sync::mpsc::{self};
+use satrs_example::config::components::PUS_HK_SERVICE;
+use satrs_example::config::{hk_err, tmtc_err};
+use std::sync::mpsc;
+use std::time::Duration;
 
+use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
 
-use super::GenericRoutingErrorHandler;
+use super::{HandlingStatus, PusTargetedRequestService};
+
+#[derive(Clone, PartialEq, Debug, new)]
+pub struct HkReply {
+    pub unique_id: UniqueId,
+    pub variant: HkReplyVariant,
+}
+
+#[derive(Clone, PartialEq, Debug)]
+pub enum HkReplyVariant {
+    Ack,
+}
 
 #[derive(Default)]
-pub struct ExampleHkRequestConverter {}
+pub struct HkReplyHandler {}
 
-impl PusHkToRequestConverter for ExampleHkRequestConverter {
-    type Error = PusPacketHandlingError;
+impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
+    type Error = EcssTmtcError;
+
+    fn handle_unrequested_reply(
+        &mut self,
+        reply: &GenericMessage<HkReply>,
+        _tm_sender: &impl EcssTmSenderCore,
+    ) -> Result<(), Self::Error> {
+        log::warn!("received unexpected reply for service 3: {reply:?}");
+        Ok(())
+    }
+
+    fn handle_reply(
+        &mut self,
+        reply: &GenericMessage<HkReply>,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<bool, Self::Error> {
+        let started_token: VerificationToken<TcStateStarted> = active_request
+            .token()
+            .try_into()
+            .expect("invalid token state");
+        match reply.message.variant {
+            HkReplyVariant::Ack => {
+                verification_handler
+                    .completion_success(tm_sender, started_token, time_stamp)
+                    .expect("sending completion success verification failed");
+            }
+        };
+        Ok(true)
+    }
+
+    fn handle_request_timeout(
+        &mut self,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(), Self::Error> {
+        generic_pus_request_timeout_handler(
+            tm_sender,
+            active_request,
+            verification_handler,
+            time_stamp,
+            "HK",
+        )?;
+        Ok(())
+    }
+}
+
+pub struct HkRequestConverter {
+    timeout: Duration,
+}
+
+impl Default for HkRequestConverter {
+    fn default() -> Self {
+        Self {
+            timeout: Duration::from_secs(60),
+        }
+    }
+}
+
+impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConverter {
+    type Error = GenericConversionError;
 
     fn convert(
         &mut self,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        time_stamp: &[u8],
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
-    ) -> Result<(TargetId, HkRequest), Self::Error> {
+        time_stamp: &[u8],
+    ) -> Result<(ActivePusRequestStd, HkRequest), Self::Error> {
         let user_data = tc.user_data();
         if user_data.is_empty() {
             let user_data_len = user_data.len() as u32;
             let user_data_len_raw = user_data_len.to_be_bytes();
             verif_reporter
                 .start_failure(
+                    tm_sender,
                     token,
                     FailParams::new(
                         time_stamp,
@@ -50,7 +130,7 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
                     ),
                 )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData {
+            return Err(GenericConversionError::NotEnoughAppData {
                 expected: 4,
                 found: 0,
             });
@@ -64,155 +144,164 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
             let user_data_len = user_data.len() as u32;
             let user_data_len_raw = user_data_len.to_be_bytes();
             verif_reporter
-                .start_failure(token, FailParams::new(time_stamp, err, &user_data_len_raw))
+                .start_failure(
+                    tm_sender,
+                    token,
+                    FailParams::new(time_stamp, err, &user_data_len_raw),
+                )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData {
+            return Err(GenericConversionError::NotEnoughAppData {
                 expected: 8,
                 found: 4,
             });
         }
         let subservice = tc.subservice();
-        let target_id = TargetAndApidId::from_pus_tc(tc).expect("invalid tc format");
+        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::Subservice::try_from(subservice);
         if standard_subservice.is_err() {
             verif_reporter
                 .start_failure(
+                    tm_sender,
                     token,
                     FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
                 )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::InvalidSubservice(subservice));
+            return Err(GenericConversionError::InvalidSubservice(subservice));
         }
-        Ok((
-            target_id.into(),
-            match standard_subservice.unwrap() {
-                hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
-                    HkRequest::Enable(unique_id)
-                }
-                hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
-                    HkRequest::Disable(unique_id)
-                }
-                hk::Subservice::TcReportHkReportStructures => todo!(),
-                hk::Subservice::TmHkPacket => todo!(),
-                hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
-                    HkRequest::OneShot(unique_id)
-                }
-                hk::Subservice::TcModifyDiagCollectionInterval
-                | hk::Subservice::TcModifyHkCollectionInterval => {
-                    if user_data.len() < 12 {
-                        verif_reporter
-                            .start_failure(
-                                token,
-                                FailParams::new_no_fail_data(
-                                    time_stamp,
-                                    &tmtc_err::NOT_ENOUGH_APP_DATA,
-                                ),
-                            )
-                            .expect("Sending start failure TM failed");
-                        return Err(PusPacketHandlingError::NotEnoughAppData {
-                            expected: 12,
-                            found: user_data.len(),
-                        });
-                    }
-                    HkRequest::ModifyCollectionInterval(
-                        unique_id,
-                        CollectionIntervalFactor::from_be_bytes(
-                            user_data[8..12].try_into().unwrap(),
-                        ),
-                    )
-                }
-                _ => {
+        let request = match standard_subservice.unwrap() {
+            hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
+                HkRequest::new(unique_id, HkRequestVariant::EnablePeriodic)
+            }
+            hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
+                HkRequest::new(unique_id, HkRequestVariant::DisablePeriodic)
+            }
+            hk::Subservice::TcReportHkReportStructures => todo!(),
+            hk::Subservice::TmHkPacket => todo!(),
+            hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
+                HkRequest::new(unique_id, HkRequestVariant::OneShot)
+            }
+            hk::Subservice::TcModifyDiagCollectionInterval
+            | hk::Subservice::TcModifyHkCollectionInterval => {
+                if user_data.len() < 12 {
                     verif_reporter
                         .start_failure(
+                            tm_sender,
                             token,
-                            FailParams::new(
+                            FailParams::new_no_fail_data(
                                 time_stamp,
-                                &tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
-                                &[subservice],
+                                &tmtc_err::NOT_ENOUGH_APP_DATA,
                             ),
                         )
                         .expect("Sending start failure TM failed");
-                    return Err(PusPacketHandlingError::InvalidSubservice(subservice));
+                    return Err(GenericConversionError::NotEnoughAppData {
+                        expected: 12,
+                        found: user_data.len(),
+                    });
                 }
-            },
+                HkRequest::new(
+                    unique_id,
+                    HkRequestVariant::ModifyCollectionInterval(
+                        CollectionIntervalFactor::from_be_bytes(
+                            user_data[8..12].try_into().unwrap(),
+                        ),
+                    ),
+                )
+            }
+            _ => {
+                verif_reporter
+                    .start_failure(
+                        tm_sender,
+                        token,
+                        FailParams::new(
+                            time_stamp,
+                            &tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
+                            &[subservice],
+                        ),
+                    )
+                    .expect("Sending start failure TM failed");
+                return Err(GenericConversionError::InvalidSubservice(subservice));
+            }
+        };
+        Ok((
+            ActivePusRequestStd::new(target_id_and_apid.into(), token, self.timeout),
+            request,
         ))
     }
 }
 
 pub fn create_hk_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
-) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
-    let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
-        TmSenderId::PusHk as ChannelId,
-        "PUS_3_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver =
-        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
-    let pus_3_handler = PusService3HkHandler::new(
+    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
+) -> HkServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
+    let pus_3_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            Box::new(hk_srv_receiver),
-            Box::new(hk_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_HK_SERVICE.id(),
+            pus_hk_rx,
+            tm_sender,
+            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_pool, 2048),
         ),
-        ExampleHkRequestConverter::default(),
+        HkRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        HkReplyHandler::default(),
         request_router,
-        GenericRoutingErrorHandler::default(),
+        reply_receiver,
     );
-    Pus3Wrapper { pus_3_handler }
+    HkServiceWrapper {
+        service: pus_3_handler,
+    }
 }
 
 pub fn create_hk_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
-) -> Pus3Wrapper<EcssTcInVecConverter> {
-    let hk_srv_tm_sender = MpscTmAsVecSender::new(
-        TmSenderId::PusHk as ChannelId,
-        "PUS_3_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver =
-        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
-    let pus_3_handler = PusService3HkHandler::new(
+    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
+) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let pus_3_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            Box::new(hk_srv_receiver),
-            Box::new(hk_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_HK_SERVICE.id(),
+            pus_hk_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
-        ExampleHkRequestConverter::default(),
+        HkRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        HkReplyHandler::default(),
         request_router,
-        GenericRoutingErrorHandler::default(),
+        reply_receiver,
     );
-    Pus3Wrapper { pus_3_handler }
+    HkServiceWrapper {
+        service: pus_3_handler,
+    }
 }
 
-pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub(crate) pus_3_handler: PusService3HkHandler<
+pub struct HkServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) service: PusTargetedRequestService<
+        MpscTcReceiver,
+        TmSender,
         TcInMemConverter,
-        VerificationReporterWithSender,
-        ExampleHkRequestConverter,
-        GenericRequestRouter,
-        GenericRoutingErrorHandler<3>,
+        VerificationReporter,
+        HkRequestConverter,
+        HkReplyHandler,
+        DefaultActiveRequestMap<ActivePusRequestStd>,
+        ActivePusRequestStd,
+        HkRequest,
+        HkReply,
     >,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_3_handler.handle_one_tc() {
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    HkServiceWrapper<TmSender, TcInMemConverter>
+{
+    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self.service.poll_and_handle_next_tc(time_stamp) {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@@ -234,4 +323,242 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
         }
         false
     }
+
+    pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        // This only fails if all senders disconnected. Treat it like an empty queue.
+        self.service
+            .poll_and_check_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!("PUS 3: Handling reply failed with error {e:?}");
+                HandlingStatus::Empty
+            })
+    }
+
+    pub fn check_for_request_timeouts(&mut self) {
+        self.service.check_for_request_timeouts();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    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::{
+        hk::HkRequestVariant,
+        pus::test_util::TEST_APID,
+        request::GenericMessage,
+        spacepackets::{
+            ecss::{hk::Subservice, tc::PusTcCreator},
+            SpHeader,
+        },
+    };
+    use satrs_example::config::tmtc_err;
+
+    use crate::pus::{
+        hk::HkReplyVariant,
+        tests::{PusConverterTestbench, ReplyHandlerTestbench},
+    };
+
+    use super::{HkReply, HkReplyHandler, HkRequestConverter};
+
+    #[test]
+    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, 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.to_be_bytes());
+        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
+
+        let hk_req = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcGenerateOneShotHk as u8,
+            &app_data,
+            true,
+        );
+        let accepted_token = hk_bench.add_tc(&hk_req);
+        let (_active_req, req) = hk_bench
+            .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+            .expect("conversion failed");
+
+        assert_eq!(req.unique_id, unique_id);
+        if let HkRequestVariant::OneShot = req.variant {
+        } else {
+            panic!("unexpected HK request")
+        }
+    }
+
+    #[test]
+    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, 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.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);
+            let (_active_req, req) = hk_bench
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+                .expect("conversion failed");
+            assert_eq!(req.unique_id, unique_id);
+            if let HkRequestVariant::EnablePeriodic = req.variant {
+            } else {
+                panic!("unexpected HK request")
+            }
+        };
+        let tc0 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcEnableHkGeneration as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc0);
+        let tc1 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcEnableDiagGeneration as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc1);
+    }
+
+    #[test]
+    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, 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.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);
+            let (_active_req, req) = hk_bench
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+                .expect("conversion failed");
+            assert_eq!(req.unique_id, unique_id);
+            if let HkRequestVariant::DisablePeriodic = req.variant {
+            } else {
+                panic!("unexpected HK request")
+            }
+        };
+        let tc0 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcDisableHkGeneration as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc0);
+        let tc1 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcDisableDiagGeneration as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc1);
+    }
+
+    #[test]
+    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, 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.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());
+
+        let mut generic_check = |tc: &PusTcCreator| {
+            let accepted_token = hk_bench.add_tc(tc);
+            let (_active_req, req) = hk_bench
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+                .expect("conversion failed");
+            assert_eq!(req.unique_id, unique_id);
+            if let HkRequestVariant::ModifyCollectionInterval(interval_factor) = req.variant {
+                assert_eq!(interval_factor, collection_interval_factor);
+            } else {
+                panic!("unexpected HK request")
+            }
+        };
+        let tc0 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcModifyHkCollectionInterval as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc0);
+        let tc1 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcModifyDiagCollectionInterval as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc1);
+    }
+
+    #[test]
+    fn hk_reply_handler() {
+        let mut reply_testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), HkReplyHandler::default());
+        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(
+            MessageMetadata::new(req_id.into(), sender_id),
+            HkReply::new(unique_id, HkReplyVariant::Ack),
+        );
+        let result = reply_testbench.handle_reply(&reply, &active_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        reply_testbench
+            .verif_reporter
+            .assert_full_completion_success(TEST_COMPONENT_ID_0.raw(), req_id, None);
+    }
+
+    #[test]
+    fn reply_handling_unrequested_reply() {
+        let mut testbench =
+            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_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);
+        assert!(result.is_ok());
+    }
+
+    #[test]
+    fn reply_handling_reply_timeout() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_1, &[]);
+        let result = testbench.handle_request_timeout(&active_request, &[]);
+        assert!(result.is_ok());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID_1.raw(),
+            req_id,
+            None,
+            tmtc_err::REQUEST_TIMEOUT.raw() as u64,
+        );
+    }
 }

satrs-example/src/pus/mod.rs

@@ -1,77 +1,80 @@
+use crate::requests::GenericRequestRouter;
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
 use satrs::pus::verification::{
-    FailParams, StdVerifReporterWithSender, VerificationReportingProvider,
+    self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
+    VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
+    ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
+    EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError, GenericConversionError,
+    GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler,
+    PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
 };
+use satrs::queue::GenericReceiveError;
+use satrs::request::{Apid, GenericMessage, MessageMetadata};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusServiceId;
-use satrs::spacepackets::time::cds::TimeProvider;
-use satrs::spacepackets::time::TimeWriter;
+use satrs::ComponentId;
+use satrs_example::config::components::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
-use std::sync::mpsc::Sender;
+use satrs_example::TimeStampHelper;
+use std::fmt::Debug;
+use std::sync::mpsc::{self, Sender};
 
 pub mod action;
 pub mod event;
 pub mod hk;
+pub mod mode;
 pub mod scheduler;
 pub mod stack;
 pub mod test;
 
-pub struct PusTcMpscRouter {
-    pub test_service_receiver: Sender<EcssTcAndToken>,
-    pub event_service_receiver: Sender<EcssTcAndToken>,
-    pub sched_service_receiver: Sender<EcssTcAndToken>,
-    pub hk_service_receiver: Sender<EcssTcAndToken>,
-    pub action_service_receiver: Sender<EcssTcAndToken>,
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+pub enum HandlingStatus {
+    Empty,
+    HandledOne,
 }
 
-pub struct PusReceiver {
-    pub verif_reporter: StdVerifReporterWithSender,
+pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
+    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)
+}
+
+/// Simple router structure which forwards PUS telecommands to dedicated handlers.
+pub struct PusTcMpscRouter {
+    pub test_tc_sender: Sender<EcssTcAndToken>,
+    pub event_tc_sender: Sender<EcssTcAndToken>,
+    pub sched_tc_sender: Sender<EcssTcAndToken>,
+    pub hk_tc_sender: Sender<EcssTcAndToken>,
+    pub action_tc_sender: Sender<EcssTcAndToken>,
+    pub mode_tc_sender: Sender<EcssTcAndToken>,
+}
+
+pub struct PusReceiver<TmSender: EcssTmSenderCore> {
+    pub id: ComponentId,
+    pub tm_sender: TmSender,
+    pub verif_reporter: VerificationReporter,
     pub pus_router: PusTcMpscRouter,
     stamp_helper: TimeStampHelper,
 }
 
-struct TimeStampHelper {
-    stamper: TimeProvider,
-    time_stamp: [u8; 7],
-}
-
-impl TimeStampHelper {
-    pub fn new() -> Self {
+impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
+    pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
         Self {
-            stamper: TimeProvider::new_with_u16_days(0, 0),
-            time_stamp: [0; 7],
-        }
-    }
-
-    pub fn stamp(&self) -> &[u8] {
-        &self.time_stamp
-    }
-
-    pub fn update_from_now(&mut self) {
-        self.stamper
-            .update_from_now()
-            .expect("Updating timestamp failed");
-        self.stamper
-            .write_to_bytes(&mut self.time_stamp)
-            .expect("Writing timestamp failed");
-    }
-}
-
-impl PusReceiver {
-    pub fn new(verif_reporter: StdVerifReporterWithSender, pus_router: PusTcMpscRouter) -> Self {
-        Self {
-            verif_reporter,
+            id: PUS_ROUTING_SERVICE.raw(),
+            tm_sender,
+            verif_reporter: create_verification_reporter(
+                PUS_ROUTING_SERVICE.id(),
+                PUS_ROUTING_SERVICE.apid,
+            ),
             pus_router,
-            stamp_helper: TimeStampHelper::new(),
+            stamp_helper: TimeStampHelper::default(),
         }
     }
-}
 
-impl PusReceiver {
     pub fn handle_tc_packet(
         &mut self,
         tc_in_memory: TcInMemory,
@@ -82,41 +85,34 @@ impl PusReceiver {
         self.stamp_helper.update_from_now();
         let accepted_token = self
             .verif_reporter
-            .acceptance_success(init_token, self.stamp_helper.stamp())
+            .acceptance_success(&self.tm_sender, init_token, self.stamp_helper.stamp())
             .expect("Acceptance success failure");
         let service = PusServiceId::try_from(service);
         match service {
             Ok(standard_service) => match standard_service {
-                PusServiceId::Test => {
-                    self.pus_router.test_service_receiver.send(EcssTcAndToken {
-                        tc_in_memory,
-                        token: Some(accepted_token.into()),
-                    })?
-                }
+                PusServiceId::Test => self.pus_router.test_tc_sender.send(EcssTcAndToken {
+                    tc_in_memory,
+                    token: Some(accepted_token.into()),
+                })?,
                 PusServiceId::Housekeeping => {
-                    self.pus_router.hk_service_receiver.send(EcssTcAndToken {
+                    self.pus_router.hk_tc_sender.send(EcssTcAndToken {
                         tc_in_memory,
                         token: Some(accepted_token.into()),
                     })?
                 }
-                PusServiceId::Event => {
-                    self.pus_router
-                        .event_service_receiver
-                        .send(EcssTcAndToken {
-                            tc_in_memory,
-                            token: Some(accepted_token.into()),
-                        })?
-                }
+                PusServiceId::Event => self.pus_router.event_tc_sender.send(EcssTcAndToken {
+                    tc_in_memory,
+                    token: Some(accepted_token.into()),
+                })?,
                 PusServiceId::Scheduling => {
-                    self.pus_router
-                        .sched_service_receiver
-                        .send(EcssTcAndToken {
-                            tc_in_memory,
-                            token: Some(accepted_token.into()),
-                        })?
+                    self.pus_router.sched_tc_sender.send(EcssTcAndToken {
+                        tc_in_memory,
+                        token: Some(accepted_token.into()),
+                    })?
                 }
                 _ => {
                     let result = self.verif_reporter.start_failure(
+                        &self.tm_sender,
                         accepted_token,
                         FailParams::new(
                             self.stamp_helper.stamp(),
@@ -133,14 +129,17 @@ impl PusReceiver {
                 if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
                     match custom_service {
                         CustomPusServiceId::Mode => {
-                            // TODO: Fix mode service.
-                            //self.handle_mode_service(pus_tc, accepted_token)
+                            self.pus_router.mode_tc_sender.send(EcssTcAndToken {
+                                tc_in_memory,
+                                token: Some(accepted_token.into()),
+                            })?
                         }
                         CustomPusServiceId::Health => {}
                     }
                 } else {
                     self.verif_reporter
                         .start_failure(
+                            &self.tm_sender,
                             accepted_token,
                             FailParams::new(
                                 self.stamp_helper.stamp(),
@@ -156,55 +155,550 @@ impl PusReceiver {
     }
 }
 
-#[derive(Default)]
-pub struct GenericRoutingErrorHandler<const SERVICE_ID: u8> {}
+pub trait TargetedPusService {
+    /// Returns [true] if the packet handling is finished.
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool;
+    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
+    fn check_for_request_timeouts(&mut self);
+}
 
-impl<const SERVICE_ID: u8> PusRoutingErrorHandler for GenericRoutingErrorHandler<SERVICE_ID> {
-    type Error = satrs::pus::GenericRoutingError;
+/// This is a generic handler class for all PUS services where a PUS telecommand is converted
+/// to a targeted request.
+///
+/// The generic steps for this process are the following
+///
+///  1. Poll for TC packets
+///  2. Convert the raw packets to a [PusTcReader].
+///  3. Convert the PUS TC to a typed request using the [PusTcToRequestConverter].
+///  4. Route the requests using the [GenericRequestRouter].
+///  5. Add the request to the active request map using the [ActiveRequestMapProvider] abstraction.
+///  6. Check for replies which complete the forwarded request. The handler takes care of
+///     the verification process.
+///  7. Check for timeouts of active requests. Generally, the timeout on the service level should
+///     be highest expected timeout for the given target.
+///
+/// The handler exposes the following API:
+///
+///  1. [Self::handle_one_tc] which tries to poll and handle one TC packet, covering steps 1-5.
+///  2. [Self::check_one_reply] which tries to poll and handle one reply, covering step 6.
+///  3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
+pub struct PusTargetedRequestService<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+    RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
+    ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
+    ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+    ActiveRequestInfo: ActiveRequestProvider,
+    RequestType,
+    ReplyType,
+> {
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    pub request_router: GenericRequestRouter,
+    pub request_converter: RequestConverter,
+    pub active_request_map: ActiveRequestMap,
+    pub reply_handler: ReplyHandler,
+    pub reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
+    phantom: std::marker::PhantomData<(RequestType, ActiveRequestInfo, ReplyType)>,
+}
 
-    fn handle_error(
-        &self,
-        target_id: satrs::TargetId,
-        token: satrs::pus::verification::VerificationToken<
-            satrs::pus::verification::TcStateAccepted,
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+        RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
+        ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
+        ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        RequestType,
+        ReplyType,
+    >
+    PusTargetedRequestService<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        RequestConverter,
+        ReplyHandler,
+        ActiveRequestMap,
+        ActiveRequestInfo,
+        RequestType,
+        ReplyType,
+    >
+where
+    GenericRequestRouter: PusRequestRouter<RequestType, Error = GenericRoutingError>,
+{
+    pub fn new(
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
         >,
-        _tc: &PusTcReader,
-        error: Self::Error,
+        request_converter: RequestConverter,
+        active_request_map: ActiveRequestMap,
+        reply_hook: ReplyHandler,
+        request_router: GenericRequestRouter,
+        reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
+    ) -> Self {
+        Self {
+            service_helper,
+            request_converter,
+            active_request_map,
+            reply_handler: reply_hook,
+            request_router,
+            reply_receiver,
+            phantom: std::marker::PhantomData,
+        }
+    }
+
+    pub fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
+        if possible_packet.is_none() {
+            return Ok(PusPacketHandlerResult::Empty);
+        }
+        let ecss_tc_and_token = possible_packet.unwrap();
+        self.service_helper
+            .tc_in_mem_converter_mut()
+            .cache(&ecss_tc_and_token.tc_in_memory)?;
+        let tc = self.service_helper.tc_in_mem_converter().convert()?;
+        let (mut request_info, request) = match self.request_converter.convert(
+            ecss_tc_and_token.token,
+            &tc,
+            self.service_helper.tm_sender(),
+            &self.service_helper.common.verif_reporter,
+            time_stamp,
+        ) {
+            Ok((info, req)) => (info, req),
+            Err(e) => {
+                self.handle_conversion_to_request_error(&e, ecss_tc_and_token.token, time_stamp);
+                return Err(e.into());
+            }
+        };
+        let accepted_token: VerificationToken<TcStateAccepted> = request_info
+            .token()
+            .try_into()
+            .expect("token not in expected accepted state");
+        let verif_request_id = verification::RequestId::new(&tc).raw();
+        match self.request_router.route(
+            MessageMetadata::new(verif_request_id, self.service_helper.id()),
+            request_info.target_id(),
+            request,
+        ) {
+            Ok(()) => {
+                let started_token = self
+                    .service_helper
+                    .verif_reporter()
+                    .start_success(
+                        &self.service_helper.common.tm_sender,
+                        accepted_token,
+                        time_stamp,
+                    )
+                    .expect("Start success failure");
+                request_info.set_token(started_token.into());
+                self.active_request_map
+                    .insert(&verif_request_id, request_info);
+            }
+            Err(e) => {
+                self.request_router.handle_error_generic(
+                    &request_info,
+                    &tc,
+                    e.clone(),
+                    self.service_helper.tm_sender(),
+                    self.service_helper.verif_reporter(),
+                    time_stamp,
+                );
+                return Err(e.into());
+            }
+        }
+        Ok(PusPacketHandlerResult::RequestHandled)
+    }
+
+    fn handle_conversion_to_request_error(
+        &mut self,
+        error: &GenericConversionError,
+        token: VerificationToken<TcStateAccepted>,
         time_stamp: &[u8],
-        verif_reporter: &impl VerificationReportingProvider,
     ) {
-        warn!("Routing request for service {SERVICE_ID} failed: {error:?}");
         match error {
-            GenericRoutingError::UnknownTargetId(id) => {
-                let mut fail_data: [u8; 8] = [0; 8];
-                fail_data.copy_from_slice(&id.to_be_bytes());
-                verif_reporter
-                    .start_failure(
+            GenericConversionError::WrongService(service) => {
+                let service_slice: [u8; 1] = [*service];
+                self.service_helper
+                    .verif_reporter()
+                    .completion_failure(
+                        self.service_helper.tm_sender(),
                         token,
-                        FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
+                        FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SERVICE, &service_slice),
                     )
-                    .expect("Sending start failure failed");
+                    .expect("Sending completion failure failed");
             }
-            GenericRoutingError::SendError(_) => {
-                let mut fail_data: [u8; 8] = [0; 8];
-                fail_data.copy_from_slice(&target_id.to_be_bytes());
-                verif_reporter
-                    .start_failure(
+            GenericConversionError::InvalidSubservice(subservice) => {
+                let subservice_slice: [u8; 1] = [*subservice];
+                self.service_helper
+                    .verif_reporter()
+                    .completion_failure(
+                        self.service_helper.tm_sender(),
                         token,
-                        FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
+                        FailParams::new(
+                            time_stamp,
+                            &tmtc_err::INVALID_PUS_SUBSERVICE,
+                            &subservice_slice,
+                        ),
                     )
-                    .expect("Sending start failure failed");
+                    .expect("Sending completion failure failed");
             }
-            GenericRoutingError::NotEnoughAppData { expected, found } => {
-                let mut context_info = (found as u32).to_be_bytes().to_vec();
-                context_info.extend_from_slice(&(expected as u32).to_be_bytes());
-                verif_reporter
-                    .start_failure(
+            GenericConversionError::NotEnoughAppData { expected, found } => {
+                let mut context_info = (*found as u32).to_be_bytes().to_vec();
+                context_info.extend_from_slice(&(*expected as u32).to_be_bytes());
+                self.service_helper
+                    .verif_reporter()
+                    .completion_failure(
+                        self.service_helper.tm_sender(),
                         token,
                         FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
                     )
-                    .expect("Sending start failure failed");
+                    .expect("Sending completion failure failed");
+            }
+            // Do nothing.. this is service-level and can not be handled generically here.
+            GenericConversionError::InvalidAppData(_) => (),
+        }
+    }
+
+    pub fn poll_and_check_next_reply(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, EcssTmtcError> {
+        match self.reply_receiver.try_recv() {
+            Ok(reply) => {
+                self.handle_reply(&reply, time_stamp)?;
+                Ok(HandlingStatus::HandledOne)
+            }
+            Err(e) => match e {
+                mpsc::TryRecvError::Empty => Ok(HandlingStatus::Empty),
+                mpsc::TryRecvError::Disconnected => Err(EcssTmtcError::Receive(
+                    GenericReceiveError::TxDisconnected(None),
+                )),
+            },
+        }
+    }
+
+    pub fn handle_reply(
+        &mut self,
+        reply: &GenericMessage<ReplyType>,
+        time_stamp: &[u8],
+    ) -> Result<(), EcssTmtcError> {
+        let active_req_opt = self.active_request_map.get(reply.request_id());
+        if active_req_opt.is_none() {
+            self.reply_handler
+                .handle_unrequested_reply(reply, &self.service_helper.common.tm_sender)?;
+            return Ok(());
+        }
+        let active_request = active_req_opt.unwrap();
+        let request_finished = self
+            .reply_handler
+            .handle_reply(
+                reply,
+                active_request,
+                &self.service_helper.common.tm_sender,
+                &self.service_helper.common.verif_reporter,
+                time_stamp,
+            )
+            .unwrap_or(false);
+        if request_finished {
+            self.active_request_map.remove(reply.request_id());
+        }
+        Ok(())
+    }
+
+    pub fn check_for_request_timeouts(&mut self) {
+        let mut requests_to_delete = Vec::new();
+        self.active_request_map
+            .for_each(|request_id, request_info| {
+                if request_info.has_timed_out() {
+                    requests_to_delete.push(*request_id);
+                }
+            });
+        if !requests_to_delete.is_empty() {
+            for request_id in requests_to_delete {
+                self.active_request_map.remove(request_id);
             }
         }
     }
 }
+
+/// Generic timeout handling: Handle the verification failure with a dedicated return code
+/// and also log the error.
+pub fn generic_pus_request_timeout_handler(
+    sender: &(impl EcssTmSenderCore + ?Sized),
+    active_request: &(impl ActiveRequestProvider + Debug),
+    verification_handler: &impl VerificationReportingProvider,
+    time_stamp: &[u8],
+    service_str: &'static str,
+) -> Result<(), EcssTmtcError> {
+    log::warn!("timeout for active request {active_request:?} on {service_str} service");
+    let started_token: VerificationToken<TcStateStarted> = active_request
+        .token()
+        .try_into()
+        .expect("token not in expected started state");
+    verification_handler.completion_failure(
+        sender,
+        started_token,
+        FailParams::new(time_stamp, &tmtc_err::REQUEST_TIMEOUT, &[]),
+    )?;
+    Ok(())
+}
+
+#[cfg(test)]
+pub(crate) mod tests {
+    use std::time::Duration;
+
+    use satrs::pus::test_util::TEST_COMPONENT_ID_0;
+    use satrs::pus::{MpscTmAsVecSender, PusTmAsVec, PusTmVariant};
+    use satrs::request::RequestId;
+    use satrs::{
+        pus::{
+            verification::test_util::TestVerificationReporter, ActivePusRequestStd,
+            ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
+        },
+        request::UniqueApidTargetId,
+        spacepackets::{
+            ecss::{
+                tc::{PusTcCreator, PusTcSecondaryHeader},
+                WritablePusPacket,
+            },
+            SpHeader,
+        },
+    };
+
+    use crate::requests::CompositeRequest;
+
+    use super::*;
+
+    // Testbench dedicated to the testing of [PusReplyHandler]s
+    pub struct ReplyHandlerTestbench<
+        ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        Reply,
+    > {
+        pub id: ComponentId,
+        pub verif_reporter: TestVerificationReporter,
+        pub reply_handler: ReplyHandler,
+        pub tm_receiver: mpsc::Receiver<PusTmAsVec>,
+        pub default_timeout: Duration,
+        tm_sender: MpscTmAsVecSender,
+        phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
+    }
+
+    impl<
+            ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
+            ActiveRequestInfo: ActiveRequestProvider,
+            Reply,
+        > ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
+    {
+        pub fn new(owner_id: ComponentId, reply_handler: ReplyHandler) -> Self {
+            let test_verif_reporter = TestVerificationReporter::new(owner_id);
+            let (tm_sender, tm_receiver) = mpsc::channel();
+            Self {
+                id: TEST_COMPONENT_ID_0.raw(),
+                verif_reporter: test_verif_reporter,
+                reply_handler,
+                default_timeout: Duration::from_secs(30),
+                tm_sender,
+                tm_receiver,
+                phantom: std::marker::PhantomData,
+            }
+        }
+
+        pub fn add_tc(
+            &mut self,
+            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(0, 0);
+            let init = self.verif_reporter.add_tc(&PusTcCreator::new(
+                sp_header,
+                sec_header_dummy,
+                &[],
+                true,
+            ));
+            let accepted = self
+                .verif_reporter
+                .acceptance_success(&self.tm_sender, init, time_stamp)
+                .expect("acceptance failed");
+            let started = self
+                .verif_reporter
+                .start_success(&self.tm_sender, accepted, time_stamp)
+                .expect("start failed");
+            (
+                started.request_id(),
+                ActivePusRequestStd::new(
+                    UniqueApidTargetId::new(apid, apid_target).raw(),
+                    started,
+                    self.default_timeout,
+                ),
+            )
+        }
+
+        pub fn handle_reply(
+            &mut self,
+            reply: &GenericMessage<Reply>,
+            active_request: &ActiveRequestInfo,
+            time_stamp: &[u8],
+        ) -> Result<bool, ReplyHandler::Error> {
+            self.reply_handler.handle_reply(
+                reply,
+                active_request,
+                &self.tm_sender,
+                &self.verif_reporter,
+                time_stamp,
+            )
+        }
+
+        pub fn handle_unrequested_reply(
+            &mut self,
+            reply: &GenericMessage<Reply>,
+        ) -> Result<(), ReplyHandler::Error> {
+            self.reply_handler
+                .handle_unrequested_reply(reply, &self.tm_sender)
+        }
+        pub fn handle_request_timeout(
+            &mut self,
+            active_request_info: &ActiveRequestInfo,
+            time_stamp: &[u8],
+        ) -> Result<(), ReplyHandler::Error> {
+            self.reply_handler.handle_request_timeout(
+                active_request_info,
+                &self.tm_sender,
+                &self.verif_reporter,
+                time_stamp,
+            )
+        }
+    }
+
+    #[derive(Default)]
+    pub struct DummySender {}
+
+    /// Dummy sender component which does nothing on the [Self::send_tm] call.
+    ///
+    /// Useful for unit tests.
+    impl EcssTmSenderCore for DummySender {
+        fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
+            Ok(())
+        }
+    }
+
+    // Testbench dedicated to the testing of [PusTcToRequestConverter]s
+    pub struct PusConverterTestbench<
+        Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        Request,
+    > {
+        pub id: ComponentId,
+        pub verif_reporter: TestVerificationReporter,
+        pub converter: Converter,
+        dummy_sender: DummySender,
+        current_request_id: Option<verification::RequestId>,
+        current_packet: Option<Vec<u8>>,
+        phantom: std::marker::PhantomData<(ActiveRequestInfo, Request)>,
+    }
+
+    impl<
+            Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
+            ActiveRequestInfo: ActiveRequestProvider,
+            Request,
+        > PusConverterTestbench<Converter, ActiveRequestInfo, Request>
+    {
+        pub fn new(owner_id: ComponentId, converter: Converter) -> Self {
+            let test_verif_reporter = TestVerificationReporter::new(owner_id);
+            Self {
+                id: owner_id,
+                verif_reporter: test_verif_reporter,
+                converter,
+                dummy_sender: DummySender::default(),
+                current_request_id: None,
+                current_packet: None,
+                phantom: std::marker::PhantomData,
+            }
+        }
+
+        pub fn add_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            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
+                .acceptance_success(&self.dummy_sender, token, &[])
+                .expect("acceptance failed")
+        }
+
+        pub fn request_id(&self) -> Option<verification::RequestId> {
+            self.current_request_id
+        }
+
+        pub fn convert(
+            &mut self,
+            token: VerificationToken<TcStateAccepted>,
+            time_stamp: &[u8],
+            expected_apid: u16,
+            expected_apid_target: u32,
+        ) -> Result<(ActiveRequestInfo, Request), Converter::Error> {
+            if self.current_packet.is_none() {
+                return Err(GenericConversionError::InvalidAppData(
+                    "call add_tc first".to_string(),
+                ));
+            }
+            let current_packet = self.current_packet.take().unwrap();
+            let tc_reader = PusTcReader::new(&current_packet).unwrap();
+            let (active_info, request) = self.converter.convert(
+                token,
+                &tc_reader.0,
+                &self.dummy_sender,
+                &self.verif_reporter,
+                time_stamp,
+            )?;
+            assert_eq!(
+                active_info.token().request_id(),
+                self.request_id().expect("no request id is set")
+            );
+            assert_eq!(
+                active_info.target_id(),
+                UniqueApidTargetId::new(expected_apid, expected_apid_target).raw()
+            );
+            Ok((active_info, request))
+        }
+    }
+
+    pub struct TargetedPusRequestTestbench<
+        RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
+        ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
+        ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        RequestType,
+        ReplyType,
+    > {
+        pub service: PusTargetedRequestService<
+            MpscTcReceiver,
+            MpscTmAsVecSender,
+            EcssTcInVecConverter,
+            TestVerificationReporter,
+            RequestConverter,
+            ReplyHandler,
+            ActiveRequestMap,
+            ActiveRequestInfo,
+            RequestType,
+            ReplyType,
+        >,
+        pub request_id: Option<RequestId>,
+        pub tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
+        pub pus_packet_tx: mpsc::Sender<EcssTcAndToken>,
+        pub reply_tx: mpsc::Sender<GenericMessage<ReplyType>>,
+        pub request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    }
+}

satrs-example/src/pus/mode.rs

@@ -0,0 +1,434 @@
+use derive_new::new;
+use log::{error, warn};
+use std::sync::mpsc;
+use std::time::Duration;
+
+use crate::requests::GenericRequestRouter;
+use satrs::pool::SharedStaticMemoryPool;
+use satrs::pus::verification::VerificationReporter;
+use satrs::pus::{
+    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
+};
+use satrs::request::GenericMessage;
+use satrs::{
+    mode::{ModeAndSubmode, ModeReply, ModeRequest},
+    pus::{
+        mode::Subservice,
+        verification::{
+            self, FailParams, TcStateAccepted, TcStateStarted, VerificationReportingProvider,
+            VerificationToken,
+        },
+        ActivePusRequestStd, ActiveRequestProvider, EcssTmSenderCore, EcssTmtcError,
+        GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
+    },
+    request::UniqueApidTargetId,
+    spacepackets::{
+        ecss::{
+            tc::PusTcReader,
+            tm::{PusTmCreator, PusTmSecondaryHeader},
+            PusPacket,
+        },
+        SpHeader,
+    },
+    ComponentId,
+};
+use satrs_example::config::components::PUS_MODE_SERVICE;
+use satrs_example::config::{mode_err, tmtc_err};
+
+use super::{
+    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
+    PusTargetedRequestService, TargetedPusService,
+};
+
+#[derive(new)]
+pub struct ModeReplyHandler {
+    owner_id: ComponentId,
+}
+
+impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
+    type Error = EcssTmtcError;
+
+    fn handle_unrequested_reply(
+        &mut self,
+        reply: &GenericMessage<ModeReply>,
+        _tm_sender: &impl EcssTmSenderCore,
+    ) -> Result<(), Self::Error> {
+        log::warn!("received unexpected reply for mode service 5: {reply:?}");
+        Ok(())
+    }
+
+    fn handle_reply(
+        &mut self,
+        reply: &GenericMessage<ModeReply>,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<bool, Self::Error> {
+        let started_token: VerificationToken<TcStateStarted> = active_request
+            .token()
+            .try_into()
+            .expect("invalid token state");
+        match reply.message {
+            ModeReply::ModeReply(mode_reply) => {
+                let mut source_data: [u8; 12] = [0; 12];
+                mode_reply
+                    .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(), 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)?;
+            }
+            ModeReply::CantReachMode(error_code) => {
+                verification_handler.completion_failure(
+                    tm_sender,
+                    started_token,
+                    FailParams::new(time_stamp, &error_code, &[]),
+                )?;
+            }
+            ModeReply::WrongMode { expected, reached } => {
+                let mut error_info: [u8; 24] = [0; 24];
+                let mut written_len = expected
+                    .write_to_be_bytes(&mut error_info[0..ModeAndSubmode::RAW_LEN])
+                    .expect("writing expected mode failed");
+                written_len += reached
+                    .write_to_be_bytes(&mut error_info[ModeAndSubmode::RAW_LEN..])
+                    .expect("writing reached mode failed");
+                verification_handler.completion_failure(
+                    tm_sender,
+                    started_token,
+                    FailParams::new(
+                        time_stamp,
+                        &mode_err::WRONG_MODE,
+                        &error_info[..written_len],
+                    ),
+                )?;
+            }
+        };
+        Ok(true)
+    }
+
+    fn handle_request_timeout(
+        &mut self,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(), Self::Error> {
+        generic_pus_request_timeout_handler(
+            tm_sender,
+            active_request,
+            verification_handler,
+            time_stamp,
+            "HK",
+        )?;
+        Ok(())
+    }
+}
+
+#[derive(Default)]
+pub struct ModeRequestConverter {}
+
+impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestConverter {
+    type Error = GenericConversionError;
+
+    fn convert(
+        &mut self,
+        token: VerificationToken<TcStateAccepted>,
+        tc: &PusTcReader,
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
+        verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(ActivePusRequestStd, ModeRequest), Self::Error> {
+        let subservice = tc.subservice();
+        let user_data = tc.user_data();
+        let not_enough_app_data = |expected: usize| {
+            verif_reporter
+                .start_failure(
+                    tm_sender,
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
+                )
+                .expect("Sending start failure failed");
+            Err(GenericConversionError::NotEnoughAppData {
+                expected,
+                found: user_data.len(),
+            })
+        };
+        if user_data.len() < core::mem::size_of::<u32>() {
+            return not_enough_app_data(4);
+        }
+        let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
+        let active_request =
+            ActivePusRequestStd::new(target_id_and_apid.into(), token, Duration::from_secs(30));
+        let subservice_typed = Subservice::try_from(subservice);
+        let invalid_subservice = || {
+            // Invalid subservice
+            verif_reporter
+                .start_failure(
+                    tm_sender,
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
+                )
+                .expect("Sending start failure failed");
+            Err(GenericConversionError::InvalidSubservice(subservice))
+        };
+        if subservice_typed.is_err() {
+            return invalid_subservice();
+        }
+        let subservice_typed = subservice_typed.unwrap();
+        match subservice_typed {
+            Subservice::TcSetMode => {
+                if user_data.len() < core::mem::size_of::<u32>() + ModeAndSubmode::RAW_LEN {
+                    return not_enough_app_data(4 + ModeAndSubmode::RAW_LEN);
+                }
+                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)))
+            }
+            Subservice::TcReadMode => Ok((active_request, ModeRequest::ReadMode)),
+            Subservice::TcAnnounceMode => Ok((active_request, ModeRequest::AnnounceMode)),
+            Subservice::TcAnnounceModeRecursive => {
+                Ok((active_request, ModeRequest::AnnounceModeRecursive))
+            }
+            _ => invalid_subservice(),
+        }
+    }
+}
+
+pub fn create_mode_service_static(
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
+    tc_pool: SharedStaticMemoryPool,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    mode_router: GenericRequestRouter,
+    reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
+) -> ModeServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
+    let mode_request_handler = PusTargetedRequestService::new(
+        PusServiceHelper::new(
+            PUS_MODE_SERVICE.id(),
+            pus_action_rx,
+            tm_sender,
+            create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
+            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+        ),
+        ModeRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
+        mode_router,
+        reply_receiver,
+    );
+    ModeServiceWrapper {
+        service: mode_request_handler,
+    }
+}
+
+pub fn create_mode_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
+    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: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) service: PusTargetedRequestService<
+        MpscTcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        ModeRequestConverter,
+        ModeReplyHandler,
+        DefaultActiveRequestMap<ActivePusRequestStd>,
+        ActivePusRequestStd,
+        ModeRequest,
+        ModeReply,
+    >,
+}
+
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for ModeServiceWrapper<TmSender, TcInMemConverter>
+{
+    /// Returns [true] if the packet handling is finished.
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self.service.poll_and_handle_next_tc(time_stamp) {
+            Ok(result) => match result {
+                PusPacketHandlerResult::RequestHandled => {}
+                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+                    warn!("PUS mode service: partial packet handling success: {e:?}")
+                }
+                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
+                    warn!("PUS mode service: invalid subservice {invalid}");
+                }
+                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                    warn!("PUS mode service: {subservice} not implemented");
+                }
+                PusPacketHandlerResult::Empty => {
+                    return true;
+                }
+            },
+            Err(error) => {
+                error!("PUS mode service: packet handling error: {error:?}")
+            }
+        }
+        false
+    }
+
+    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        self.service
+            .poll_and_check_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!("PUS action service: Handling reply failed with error {e:?}");
+                HandlingStatus::HandledOne
+            })
+    }
+
+    fn check_for_request_timeouts(&mut self) {
+        self.service.check_for_request_timeouts();
+    }
+}
+#[cfg(test)]
+mod tests {
+    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};
+    use satrs::request::MessageMetadata;
+    use satrs::{
+        mode::{ModeAndSubmode, ModeReply, ModeRequest},
+        pus::mode::Subservice,
+        request::GenericMessage,
+        spacepackets::{
+            ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
+            SpHeader,
+        },
+    };
+    use satrs_example::config::tmtc_err;
+
+    use crate::pus::{
+        mode::ModeReplyHandler,
+        tests::{PusConverterTestbench, ReplyHandlerTestbench},
+    };
+
+    use super::ModeRequestConverter;
+
+    #[test]
+    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, 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.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)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::ReadMode);
+    }
+
+    #[test]
+    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, 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.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, 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));
+    }
+
+    #[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, 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.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)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::AnnounceMode);
+    }
+
+    #[test]
+    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, 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.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)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::AnnounceModeRecursive);
+    }
+
+    #[test]
+    fn reply_handling_unrequested_reply() {
+        let mut testbench = ReplyHandlerTestbench::new(
+            TEST_COMPONENT_ID_0.id(),
+            ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
+        );
+        let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
+        let unrequested_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);
+        assert!(result.is_ok());
+    }
+
+    #[test]
+    fn reply_handling_reply_timeout() {
+        let mut testbench = ReplyHandlerTestbench::new(
+            TEST_COMPONENT_ID_0.id(),
+            ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
+        );
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let result = testbench.handle_request_timeout(&active_request, &[]);
+        assert!(result.is_ok());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID_0.raw(),
+            req_id,
+            None,
+            tmtc_err::REQUEST_TIMEOUT.raw() as u64,
+        );
+    }
+}

satrs-example/src/pus/scheduler.rs

@@ -1,19 +1,18 @@
 use std::sync::mpsc;
 use std::time::Duration;
 
+use crate::pus::create_verification_reporter;
 use log::{error, info, warn};
-use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
+use satrs::pool::{PoolProvider, StaticMemoryPool};
 use satrs::pus::scheduler::{PusScheduler, TcInfo};
-use satrs::pus::scheduler_srv::PusService11SchedHandler;
-use satrs::pus::verification::VerificationReporterWithSender;
+use satrs::pus::scheduler_srv::PusSchedServiceHandler;
+use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusServiceHelper,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
-use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+use satrs_example::config::components::PUS_SCHED_SERVICE;
 
 use crate::tmtc::PusTcSourceProviderSharedPool;
 
@@ -51,15 +50,25 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
     }
 }
 
-pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus_11_handler:
-        PusService11SchedHandler<TcInMemConverter, VerificationReporterWithSender, PusScheduler>,
+pub struct SchedulingServiceWrapper<
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+> {
+    pub pus_11_handler: PusSchedServiceHandler<
+        MpscTcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        PusScheduler,
+    >,
     pub sched_tc_pool: StaticMemoryPool,
     pub releaser_buf: [u8; 4096],
     pub tc_releaser: Box<dyn TcReleaser + Send>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    SchedulingServiceWrapper<TmSender, TcInMemConverter>
+{
     pub fn release_tcs(&mut self) {
         let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
             self.tc_releaser.release(enabled, info, tc)
@@ -83,8 +92,11 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
         }
     }
 
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_11_handler.handle_one_tc(&mut self.sched_tc_pool) {
+    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self
+            .pus_11_handler
+            .poll_and_handle_next_tc(time_stamp, &mut self.sched_tc_pool)
+        {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@@ -109,37 +121,24 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
 }
 
 pub fn create_scheduler_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_releaser: PusTcSourceProviderSharedPool,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
-    let sched_srv_tm_sender = MpscTmInSharedPoolSender::new(
-        TmSenderId::PusSched as ChannelId,
-        "PUS_11_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let sched_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusSched as ChannelId,
-        "PUS_11_TC_RECV",
-        pus_sched_rx,
-    );
+) -> SchedulingServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
         .expect("Creating PUS Scheduler failed");
-    let pus_11_handler = PusService11SchedHandler::new(
+    let pus_11_handler = PusSchedServiceHandler::new(
         PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
-            Box::new(sched_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_SCHED_SERVICE.id(),
+            pus_sched_rx,
+            tm_sender,
+            create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
         ),
         scheduler,
     );
-    Pus11Wrapper {
+    SchedulingServiceWrapper {
         pus_11_handler,
         sched_tc_pool,
         releaser_buf: [0; 4096],
@@ -148,35 +147,26 @@ pub fn create_scheduler_service_static(
 }
 
 pub fn create_scheduler_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     tc_source_sender: mpsc::Sender<Vec<u8>>,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInVecConverter> {
-    let sched_srv_tm_sender = MpscTmAsVecSender::new(
-        TmSenderId::PusSched as ChannelId,
-        "PUS_11_TM_SENDER",
-        tm_funnel_tx,
-    );
-    let sched_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusSched as ChannelId,
-        "PUS_11_TC_RECV",
-        pus_sched_rx,
-    );
+) -> 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 = PusService11SchedHandler::new(
+    let pus_11_handler = PusSchedServiceHandler::new(
         PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
-            Box::new(sched_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_SCHED_SERVICE.id(),
+            pus_sched_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
         scheduler,
     );
-    Pus11Wrapper {
+    SchedulingServiceWrapper {
         pus_11_handler,
         sched_tc_pool,
         releaser_buf: [0; 4096],

satrs-example/src/pus/stack.rs

@@ -1,50 +1,71 @@
-use satrs::pus::EcssTcInMemConverter;
-
-use super::{
-    action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
-    test::Service17CustomWrapper,
+use crate::pus::mode::ModeServiceWrapper;
+use derive_new::new;
+use satrs::{
+    pus::{EcssTcInMemConverter, EcssTmSenderCore},
+    spacepackets::time::{cds, TimeWriter},
 };
 
-pub struct PusStack<TcInMemConverter: EcssTcInMemConverter> {
-    event_srv: Pus5Wrapper<TcInMemConverter>,
-    hk_srv: Pus3Wrapper<TcInMemConverter>,
-    action_srv: Pus8Wrapper<TcInMemConverter>,
-    schedule_srv: Pus11Wrapper<TcInMemConverter>,
-    test_srv: Service17CustomWrapper<TcInMemConverter>,
+use super::{
+    action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
+    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
+    TargetedPusService,
+};
+
+#[derive(new)]
+pub struct PusStack<TmSender: EcssTmSenderCore, 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<TcInMemConverter: EcssTcInMemConverter> PusStack<TcInMemConverter> {
-    pub fn new(
-        hk_srv: Pus3Wrapper<TcInMemConverter>,
-        event_srv: Pus5Wrapper<TcInMemConverter>,
-        action_srv: Pus8Wrapper<TcInMemConverter>,
-        schedule_srv: Pus11Wrapper<TcInMemConverter>,
-        test_srv: Service17CustomWrapper<TcInMemConverter>,
-    ) -> Self {
-        Self {
-            event_srv,
-            action_srv,
-            schedule_srv,
-            test_srv,
-            hk_srv,
-        }
-    }
-
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    PusStack<TmSender, TcInMemConverter>
+{
     pub fn periodic_operation(&mut self) {
+        // Release all telecommands which reached their release time before calling the service
+        // handlers.
         self.schedule_srv.release_tcs();
+        let time_stamp = cds::CdsTime::now_with_u16_days()
+            .expect("time stamp generation error")
+            .to_vec()
+            .unwrap();
         loop {
-            let mut all_queues_empty = true;
-            let mut is_srv_finished = |srv_handler_finished: bool| {
-                if !srv_handler_finished {
-                    all_queues_empty = false;
-                }
-            };
-            is_srv_finished(self.test_srv.handle_next_packet());
-            is_srv_finished(self.schedule_srv.handle_next_packet());
-            is_srv_finished(self.event_srv.handle_next_packet());
-            is_srv_finished(self.action_srv.handle_next_packet());
-            is_srv_finished(self.hk_srv.handle_next_packet());
-            if all_queues_empty {
+            let mut nothing_to_do = true;
+            let mut is_srv_finished =
+                |tc_handling_done: bool, reply_handling_done: Option<HandlingStatus>| {
+                    if !tc_handling_done
+                        || (reply_handling_done.is_some()
+                            && reply_handling_done.unwrap() == HandlingStatus::Empty)
+                    {
+                        nothing_to_do = false;
+                    }
+                };
+            is_srv_finished(self.test_srv.poll_and_handle_next_packet(&time_stamp), None);
+            is_srv_finished(self.schedule_srv.poll_and_handle_next_tc(&time_stamp), None);
+            is_srv_finished(self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
+            is_srv_finished(
+                self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
+                Some(
+                    self.action_srv_wrapper
+                        .poll_and_handle_next_reply(&time_stamp),
+                ),
+            );
+            is_srv_finished(
+                self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
+                Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
+            );
+            is_srv_finished(
+                self.mode_srv.poll_and_handle_next_tc(&time_stamp),
+                Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
+            );
+            if nothing_to_do {
+                // Timeout checking is only done once.
+                self.action_srv_wrapper.check_for_request_timeouts();
+                self.hk_srv_wrapper.check_for_request_timeouts();
+                self.mode_srv.check_for_request_timeouts();
                 break;
             }
         }

satrs-example/src/pus/test.rs

@@ -1,93 +1,74 @@
+use crate::pus::create_verification_reporter;
 use log::{info, warn};
-use satrs::params::Params;
-use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::event_man::{EventMessage, EventMessageU32};
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::test::PusService17TestHandler;
-use satrs::pus::verification::{
-    FailParams, VerificationReporterWithSender, VerificationReportingProvider,
-};
+use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
+use satrs::pus::EcssTcInSharedStoreConverter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
-    MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSenderCore, MpscTcReceiver,
+    MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusServiceHelper,
+    PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
-use satrs::spacepackets::time::cds::TimeProvider;
+use satrs::spacepackets::time::cds::CdsTime;
 use satrs::spacepackets::time::TimeWriter;
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
-use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
-use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID, TEST_EVENT};
-use std::sync::mpsc::{self, Sender};
+use satrs_example::config::components::PUS_TEST_SERVICE;
+use satrs_example::config::{tmtc_err, TEST_EVENT};
+use std::sync::mpsc;
 
 pub fn create_test_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
-    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
+    event_sender: mpsc::Sender<EventMessageU32>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
-    let test_srv_tm_sender = MpscTmInSharedPoolSender::new(
-        TmSenderId::PusTest as ChannelId,
-        "PUS_17_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let test_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusTest as ChannelId,
-        "PUS_17_TC_RECV",
-        pus_test_rx,
-    );
+) -> TestCustomServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
-        Box::new(test_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
+        PUS_TEST_SERVICE.id(),
+        pus_test_rx,
+        tm_sender,
+        create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
         EcssTcInSharedStoreConverter::new(tc_pool, 2048),
     ));
-    Service17CustomWrapper {
-        pus17_handler,
+    TestCustomServiceWrapper {
+        handler: pus17_handler,
         test_srv_event_sender: event_sender,
     }
 }
 
 pub fn create_test_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
-    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
+    event_sender: mpsc::Sender<EventMessageU32>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInVecConverter> {
-    let test_srv_tm_sender = MpscTmAsVecSender::new(
-        TmSenderId::PusTest as ChannelId,
-        "PUS_17_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let test_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusTest as ChannelId,
-        "PUS_17_TC_RECV",
-        pus_test_rx,
-    );
+) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
-        Box::new(test_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
+        PUS_TEST_SERVICE.id(),
+        pus_test_rx,
+        tm_funnel_tx,
+        create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
         EcssTcInVecConverter::default(),
     ));
-    Service17CustomWrapper {
-        pus17_handler,
+    TestCustomServiceWrapper {
+        handler: pus17_handler,
         test_srv_event_sender: event_sender,
     }
 }
 
-pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus17_handler: PusService17TestHandler<TcInMemConverter, VerificationReporterWithSender>,
-    pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
+pub struct TestCustomServiceWrapper<
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+> {
+    pub handler:
+        PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    pub test_srv_event_sender: mpsc::Sender<EventMessageU32>,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConverter> {
-    pub fn handle_next_packet(&mut self) -> bool {
-        let res = self.pus17_handler.handle_one_tc();
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    TestCustomServiceWrapper<TmSender, TcInMemConverter>
+{
+    pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> bool {
+        let res = self.handler.poll_and_handle_next_tc(time_stamp);
         if res.is_err() {
             warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
             return true;
@@ -108,40 +89,42 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
             }
             PusPacketHandlerResult::CustomSubservice(subservice, token) => {
                 let (tc, _) = PusTcReader::new(
-                    self.pus17_handler
+                    self.handler
                         .service_helper
                         .tc_in_mem_converter
                         .tc_slice_raw(),
                 )
                 .unwrap();
-                let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
+                let time_stamper = CdsTime::now_with_u16_days().unwrap();
                 let mut stamp_buf: [u8; 7] = [0; 7];
                 time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
                 if subservice == 128 {
                     info!("Generating test event");
                     self.test_srv_event_sender
-                        .send((TEST_EVENT.into(), None))
+                        .send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
                         .expect("Sending test event failed");
                     let start_token = self
-                        .pus17_handler
+                        .handler
                         .service_helper
-                        .common
-                        .verification_handler
-                        .start_success(token, &stamp_buf)
+                        .verif_reporter()
+                        .start_success(self.handler.service_helper.tm_sender(), token, &stamp_buf)
                         .expect("Error sending start success");
-                    self.pus17_handler
+                    self.handler
                         .service_helper
-                        .common
-                        .verification_handler
-                        .completion_success(start_token, &stamp_buf)
+                        .verif_reporter()
+                        .completion_success(
+                            self.handler.service_helper.tm_sender(),
+                            start_token,
+                            &stamp_buf,
+                        )
                         .expect("Error sending completion success");
                 } else {
                     let fail_data = [tc.subservice()];
-                    self.pus17_handler
+                    self.handler
                         .service_helper
-                        .common
-                        .verification_handler
+                        .verif_reporter()
                         .start_failure(
+                            self.handler.service_helper.tm_sender(),
                             token,
                             FailParams::new(
                                 &stamp_buf,

satrs-example/src/requests.rs

@@ -1,94 +1,152 @@
 use std::collections::HashMap;
 use std::sync::mpsc;
 
-use derive_new::new;
+use log::warn;
 use satrs::action::ActionRequest;
 use satrs::hk::HkRequest;
 use satrs::mode::ModeRequest;
-use satrs::pus::action::PusActionRequestRouter;
-use satrs::pus::hk::PusHkRequestRouter;
-use satrs::pus::verification::{TcStateAccepted, VerificationToken};
-use satrs::pus::GenericRoutingError;
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
+};
+use satrs::pus::{ActiveRequestProvider, EcssTmSenderCore, GenericRoutingError, PusRequestRouter};
 use satrs::queue::GenericSendError;
-use satrs::TargetId;
+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;
 
-#[allow(dead_code)]
-#[derive(Clone, Eq, PartialEq, Debug)]
+#[derive(Clone, Debug)]
 #[non_exhaustive]
-pub enum Request {
+pub enum CompositeRequest {
     Hk(HkRequest),
-    Mode(ModeRequest),
     Action(ActionRequest),
 }
 
-#[derive(Clone, Eq, PartialEq, Debug, new)]
-pub struct TargetedRequest {
-    pub(crate) target_id: TargetId,
-    pub(crate) request: Request,
+#[derive(Clone)]
+pub struct GenericRequestRouter {
+    pub id: ComponentId,
+    // All messages which do not have a dedicated queue.
+    pub composite_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
+    pub mode_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<ModeRequest>>>,
 }
 
-#[derive(Clone, Eq, PartialEq, Debug)]
-pub struct RequestWithToken {
-    pub(crate) targeted_request: TargetedRequest,
-    pub(crate) token: VerificationToken<TcStateAccepted>,
-}
-
-impl RequestWithToken {
-    pub fn new(
-        target_id: TargetId,
-        request: Request,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Self {
+impl Default for GenericRequestRouter {
+    fn default() -> Self {
         Self {
-            targeted_request: TargetedRequest::new(target_id, request),
-            token,
+            id: PUS_ROUTING_SERVICE.raw(),
+            composite_router_map: Default::default(),
+            mode_router_map: Default::default(),
         }
     }
 }
-
-#[derive(Default, Clone)]
-pub struct GenericRequestRouter(pub HashMap<TargetId, mpsc::Sender<RequestWithToken>>);
-
-impl PusHkRequestRouter for GenericRequestRouter {
+impl GenericRequestRouter {
+    pub(crate) fn handle_error_generic(
+        &self,
+        active_request: &impl ActiveRequestProvider,
+        tc: &PusTcReader,
+        error: GenericRoutingError,
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
+        verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) {
+        warn!(
+            "Routing request for service {} failed: {error:?}",
+            tc.service()
+        );
+        let accepted_token: VerificationToken<TcStateAccepted> = active_request
+            .token()
+            .try_into()
+            .expect("token is not in accepted state");
+        match error {
+            GenericRoutingError::UnknownTargetId(id) => {
+                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; 8] = [0; 8];
+                fail_data.copy_from_slice(&id.to_be_bytes());
+                verif_reporter
+                    .completion_failure(
+                        tm_sender,
+                        accepted_token,
+                        FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+            GenericRoutingError::Send(_) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&active_request.target_id().to_be_bytes());
+                verif_reporter
+                    .completion_failure(
+                        tm_sender,
+                        accepted_token,
+                        FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+        }
+    }
+}
+impl PusRequestRouter<HkRequest> for GenericRequestRouter {
     type Error = GenericRoutingError;
 
     fn route(
         &self,
-        target_id: TargetId,
+        requestor_info: MessageMetadata,
+        target_id: ComponentId,
         hk_request: HkRequest,
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<(), Self::Error> {
-        if let Some(sender) = self.0.get(&target_id) {
+        if let Some(sender) = self.composite_router_map.get(&target_id) {
             sender
-                .send(RequestWithToken::new(
-                    target_id,
-                    Request::Hk(hk_request),
-                    token,
+                .send(GenericMessage::new(
+                    requestor_info,
+                    CompositeRequest::Hk(hk_request),
                 ))
-                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+                .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
+            return Ok(());
         }
-        Ok(())
+        Err(GenericRoutingError::UnknownTargetId(target_id))
     }
 }
 
-impl PusActionRequestRouter for GenericRequestRouter {
+impl PusRequestRouter<ActionRequest> for GenericRequestRouter {
     type Error = GenericRoutingError;
 
     fn route(
         &self,
-        target_id: TargetId,
+        requestor_info: MessageMetadata,
+        target_id: ComponentId,
         action_request: ActionRequest,
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<(), Self::Error> {
-        if let Some(sender) = self.0.get(&target_id) {
+        if let Some(sender) = self.composite_router_map.get(&target_id) {
             sender
-                .send(RequestWithToken::new(
-                    target_id,
-                    Request::Action(action_request),
-                    token,
+                .send(GenericMessage::new(
+                    requestor_info,
+                    CompositeRequest::Action(action_request),
                 ))
-                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+                .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
+            return Ok(());
         }
-        Ok(())
+        Err(GenericRoutingError::UnknownTargetId(target_id))
+    }
+}
+
+impl PusRequestRouter<ModeRequest> for GenericRequestRouter {
+    type Error = GenericRoutingError;
+
+    fn route(
+        &self,
+        requestor_info: MessageMetadata,
+        target_id: ComponentId,
+        request: ModeRequest,
+    ) -> Result<(), Self::Error> {
+        if let Some(sender) = self.mode_router_map.get(&target_id) {
+            sender
+                .send(GenericMessage::new(requestor_info, request))
+                .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
+            return Ok(());
+        }
+        Err(GenericRoutingError::UnknownTargetId(target_id))
     }
 }

satrs-example/src/tcp.rs

@@ -1,17 +1,17 @@
 use std::{
-    collections::VecDeque,
+    collections::{HashSet, VecDeque},
     sync::{Arc, Mutex},
 };
 
 use log::{info, warn};
 use satrs::{
     hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
+    pus::ReceivesEcssPusTc,
     spacepackets::PacketId,
-    tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
+    tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
 };
-use satrs_example::config::PUS_APID;
 
-pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
+use crate::ccsds::CcsdsReceiver;
 
 #[derive(Default, Clone)]
 pub struct SyncTcpTmSource {
@@ -69,28 +69,42 @@ impl TmPacketSourceCore for SyncTcpTmSource {
     }
 }
 
-pub struct TcpTask<MpscErrorType: 'static> {
-    server: TcpSpacepacketsServer<
-        (),
-        CcsdsError<MpscErrorType>,
-        SyncTcpTmSource,
-        CcsdsDistributor<MpscErrorType>,
-    >,
+pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
+    (),
+    CcsdsError<MpscErrorType>,
+    SyncTcpTmSource,
+    CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
+    HashSet<PacketId>,
+>;
+
+pub struct TcpTask<
+    TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+        + ReceivesEcssPusTc<Error = MpscErrorType>
+        + Clone
+        + Send
+        + 'static,
+    MpscErrorType: 'static,
+> {
+    server: TcpServerType<TcSource, MpscErrorType>,
 }
 
-impl<MpscErrorType: 'static + core::fmt::Debug> TcpTask<MpscErrorType> {
+impl<
+        TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+            + ReceivesEcssPusTc<Error = MpscErrorType>
+            + Clone
+            + Send
+            + 'static,
+        MpscErrorType: 'static + core::fmt::Debug,
+    > TcpTask<TcSource, MpscErrorType>
+{
     pub fn new(
         cfg: ServerConfig,
         tm_source: SyncTcpTmSource,
-        tc_receiver: CcsdsDistributor<MpscErrorType>,
+        tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
+        packet_id_lookup: HashSet<PacketId>,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
-            server: TcpSpacepacketsServer::new(
-                cfg,
-                tm_source,
-                tc_receiver,
-                Box::new(PACKET_ID_LOOKUP),
-            )?,
+            server: TcpSpacepacketsServer::new(cfg, tm_source, tc_receiver, packet_id_lookup)?,
         })
     }
 

satrs-example/src/tm_funnel.rs

@@ -1,11 +1,12 @@
 use std::{
     collections::HashMap,
-    sync::mpsc::{Receiver, Sender},
+    sync::mpsc::{self},
 };
 
 use log::info;
+use satrs::pus::{PusTmAsVec, PusTmInPool};
 use satrs::{
-    pool::{PoolProvider, StoreAddr},
+    pool::PoolProvider,
     seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
     spacepackets::{
         ecss::{tm::PusTmZeroCopyWriter, PusPacket},
@@ -77,16 +78,16 @@ impl TmFunnelCommon {
 pub struct TmFunnelStatic {
     common: TmFunnelCommon,
     shared_tm_store: SharedTmPool,
-    tm_funnel_rx: Receiver<StoreAddr>,
-    tm_server_tx: Sender<StoreAddr>,
+    tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
+    tm_server_tx: mpsc::SyncSender<PusTmInPool>,
 }
 
 impl TmFunnelStatic {
     pub fn new(
         shared_tm_store: SharedTmPool,
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: Receiver<StoreAddr>,
-        tm_server_tx: Sender<StoreAddr>,
+        tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
+        tm_server_tx: mpsc::SyncSender<PusTmInPool>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -97,14 +98,14 @@ impl TmFunnelStatic {
     }
 
     pub fn operation(&mut self) {
-        if let Ok(addr) = self.tm_funnel_rx.recv() {
+        if let Ok(pus_tm_in_pool) = self.tm_funnel_rx.recv() {
             // Read the TM, set sequence counter and message counter, and finally update
             // the CRC.
             let shared_pool = self.shared_tm_store.clone_backing_pool();
             let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
             let mut tm_copy = Vec::new();
             pool_guard
-                .modify(&addr, |buf| {
+                .modify(&pus_tm_in_pool.store_addr, |buf| {
                     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);
@@ -112,7 +113,7 @@ impl TmFunnelStatic {
                 })
                 .expect("Reading TM from pool failed");
             self.tm_server_tx
-                .send(addr)
+                .send(pus_tm_in_pool)
                 .expect("Sending TM to server failed");
             // We could also do this step in the update closure, but I'd rather avoid this, could
             // lead to nested locking.
@@ -123,15 +124,15 @@ impl TmFunnelStatic {
 
 pub struct TmFunnelDynamic {
     common: TmFunnelCommon,
-    tm_funnel_rx: Receiver<Vec<u8>>,
-    tm_server_tx: Sender<Vec<u8>>,
+    tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
+    tm_server_tx: mpsc::Sender<PusTmAsVec>,
 }
 
 impl TmFunnelDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: Receiver<Vec<u8>>,
-        tm_server_tx: Sender<Vec<u8>>,
+        tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
+        tm_server_tx: mpsc::Sender<PusTmAsVec>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -144,13 +145,13 @@ impl TmFunnelDynamic {
         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, MIN_CDS_FIELD_LEN)
+            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
-                .send(tm.clone())
+                .send(tm)
                 .expect("Sending TM to server failed");
-            self.common.sync_tm_tcp_source.add_tm(&tm);
         }
     }
 }

satrs-example/src/tmtc.rs

@@ -1,7 +1,9 @@
 use log::warn;
-use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
+use satrs::pus::{
+    EcssTcAndToken, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, ReceivesEcssPusTc,
+};
 use satrs::spacepackets::SpHeader;
-use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
+use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
 use thiserror::Error;
 
 use crate::pus::PusReceiver;
@@ -37,7 +39,7 @@ impl SharedTcPool {
 
 #[derive(Clone)]
 pub struct PusTcSourceProviderSharedPool {
-    pub tc_source: Sender<StoreAddr>,
+    pub tc_source: SyncSender<StoreAddr>,
     pub shared_pool: SharedTcPool,
 }
 
@@ -97,14 +99,14 @@ pub struct TcSourceTaskStatic {
     shared_tc_pool: SharedTcPool,
     tc_receiver: Receiver<StoreAddr>,
     tc_buf: [u8; 4096],
-    pus_receiver: PusReceiver,
+    pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
 }
 
 impl TcSourceTaskStatic {
     pub fn new(
         shared_tc_pool: SharedTcPool,
         tc_receiver: Receiver<StoreAddr>,
-        pus_receiver: PusReceiver,
+        pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
     ) -> Self {
         Self {
             shared_tc_pool,
@@ -161,11 +163,14 @@ impl TcSourceTaskStatic {
 // TC source components where the heap is the backing memory of the received telecommands.
 pub struct TcSourceTaskDynamic {
     pub tc_receiver: Receiver<Vec<u8>>,
-    pus_receiver: PusReceiver,
+    pus_receiver: PusReceiver<MpscTmAsVecSender>,
 }
 
 impl TcSourceTaskDynamic {
-    pub fn new(tc_receiver: Receiver<Vec<u8>>, pus_receiver: PusReceiver) -> Self {
+    pub fn new(
+        tc_receiver: Receiver<Vec<u8>>,
+        pus_receiver: PusReceiver<MpscTmAsVecSender>,
+    ) -> Self {
         Self {
             tc_receiver,
             pus_receiver,

satrs-example/src/udp.rs

@@ -1,12 +1,11 @@
-use std::{
-    net::{SocketAddr, UdpSocket},
-    sync::mpsc::Receiver,
-};
+use std::net::{SocketAddr, UdpSocket};
+use std::sync::mpsc;
 
 use log::{info, warn};
+use satrs::pus::{PusTmAsVec, PusTmInPool};
 use satrs::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
-    pool::{PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr},
+    pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
     tmtc::CcsdsError,
 };
 
@@ -15,20 +14,20 @@ pub trait UdpTmHandler {
 }
 
 pub struct StaticUdpTmHandler {
-    pub tm_rx: Receiver<StoreAddr>,
+    pub tm_rx: mpsc::Receiver<PusTmInPool>,
     pub tm_store: SharedStaticMemoryPool,
 }
 
 impl UdpTmHandler for StaticUdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, &recv_addr: &SocketAddr) {
-        while let Ok(addr) = self.tm_rx.try_recv() {
+        while let Ok(pus_tm_in_pool) = self.tm_rx.try_recv() {
             let store_lock = self.tm_store.write();
             if store_lock.is_err() {
                 warn!("Locking TM store failed");
                 continue;
             }
             let mut store_lock = store_lock.unwrap();
-            let pg = store_lock.read_with_guard(addr);
+            let pg = store_lock.read_with_guard(pus_tm_in_pool.store_addr);
             let read_res = pg.read_as_vec();
             if read_res.is_err() {
                 warn!("Error reading TM pool data");
@@ -44,20 +43,20 @@ impl UdpTmHandler for StaticUdpTmHandler {
 }
 
 pub struct DynamicUdpTmHandler {
-    pub tm_rx: Receiver<Vec<u8>>,
+    pub tm_rx: mpsc::Receiver<PusTmAsVec>,
 }
 
 impl UdpTmHandler for DynamicUdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
         while let Ok(tm) = self.tm_rx.try_recv() {
-            if tm.len() > 9 {
-                let service = tm[7];
-                let subservice = tm[8];
+            if tm.packet.len() > 9 {
+                let service = tm.packet[7];
+                let subservice = tm.packet[8];
                 info!("Sending PUS TM[{service},{subservice}]")
             } else {
                 info!("Sending PUS TM");
             }
-            let result = socket.send_to(&tm, recv_addr);
+            let result = socket.send_to(&tm.packet, recv_addr);
             if let Err(e) = result {
                 warn!("Sending TM with UDP socket failed: {e}")
             }
@@ -120,7 +119,7 @@ mod tests {
         },
         tmtc::ReceivesTcCore,
     };
-    use satrs_example::config::{OBSW_SERVER_ADDR, PUS_APID};
+    use satrs_example::config::{components, OBSW_SERVER_ADDR};
 
     use super::*;
 
@@ -178,8 +177,8 @@ mod tests {
             udp_tc_server,
             tm_handler,
         };
-        let mut sph = SpHeader::tc_unseg(PUS_APID, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
+        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");

satrs-mib/Cargo.toml

@@ -23,7 +23,8 @@ version = "1"
 optional = true
 
 [dependencies.satrs-shared]
-version = "0.1.2"
+path = "../satrs-shared"
+version = "0.1.3"
 features = ["serde"]
 
 [dependencies.satrs-mib-codegen]

satrs-mib/codegen/Cargo.toml

@@ -26,7 +26,10 @@ features = ["full"]
 
 [dev-dependencies]
 trybuild = { version = "1", features = ["diff"] }
-satrs-shared = "0.1.2"
+
+[dev-dependencies.satrs-shared]
+version = "0.1.3"
+path = "../../satrs-shared"
 
 [dev-dependencies.satrs-mib]
 path = ".."

satrs-minisim/Cargo.toml

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

satrs-minisim/src/acs.rs

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

satrs-minisim/src/controller.rs

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

satrs-minisim/src/eps.rs

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

satrs-minisim/src/lib.rs

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

satrs-minisim/src/main.rs

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

satrs-minisim/src/test_helpers.rs

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

satrs-minisim/src/time.rs

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

satrs-minisim/src/udp.rs

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

satrs-shared/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "satrs-shared"
 description = "Components shared by multiple sat-rs crates"
-version = "0.1.2"
+version = "0.1.3"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@@ -18,7 +18,9 @@ default-features = false
 optional = true
 
 [dependencies.spacepackets]
-version = "0.10"
+git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
+version = "0.11.0-rc.2"
+branch = "main"
 default-features = false
 
 [features]

satrs/CHANGELOG.md

@@ -8,7 +8,71 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.2.0]
+- `spacepackets` v0.11.0
+
+## Added
+
+- Added `params::WritableToBeBytes::to_vec`.
+- New `ComponentId` (`u64` typedef for now) which replaces former `TargetId` as a generic
+  way to identify components.
+- Various abstraction and objects for targeted requests. This includes mode request/reply
+  types for actions, HK and modes.
+- `VerificationReportingProvider::owner_id` method.
+- Introduced generic `EventMessage` which is generic over the event type and the additional
+  parameter type. This message also contains the sender ID which can be useful for debugging
+  or application layer / FDIR logic.
+
+## Changed
+
+- `encoding::ccsds::PacketIdValidator` renamed to `ValidatorU16Id`, which lives in the crate root.
+  It can be used for both CCSDS packet ID and CCSDS APID validation.
+- `EventManager::try_event_handling` not expects a mutable error handling closure instead of
+  returning the occured errors.
+- Renamed `EventManagerBase` to `EventReportCreator`
+- Renamed `VerificationReporterCore` to `VerificationReportCreator`.
+- Removed `VerificationReporterCore`. The high-level API exposed by `VerificationReporter` and
+  the low level API exposed by `VerificationReportCreator` should be sufficient for all use-cases.
+- Refactored `EventManager` to heavily use generics instead of trait objects.
+  - `SendEventProvider` -> `EventSendProvider`. `id` trait method renamed to `channel_id`.
+  - `ListenerTable` -> `ListenerMapProvider`
+  - `SenderTable` -> `SenderMapProvider`
+  - There is an `EventManagerWithMpsc` and a `EventManagerWithBoundedMpsc` helper type now.
+- Refactored ECSS TM sender abstractions to be generic over different message queue backends.
+- Refactored Verification Reporter abstractions and implementation to be generic over the sender
+  instead of using trait objects.
+- Renamed `WritableToBeBytes::raw_len` to `WritableToBeBytes::written_len` for consistency.
+- `PusServiceProvider` renamed to `PusServiceDistributor` to make the purpose of the object
+  more clear
+- `PusServiceProvider::handle_pus_tc_packet` renamed to `PusServiceDistributor::distribute_packet`.
+- `PusServiceDistibutor` and `CcsdsDistributor` now use generics instead of trait objects.
+  This makes accessing the concrete trait implementations more easy as well.
+- Major overhaul of the PUS handling module.
+- Replace `TargetId` by `ComponentId`.
+- Replace most usages of `ChannelId` by `ComponentId`. A dedicated channel ID has limited usage
+  due to the nature of typed channels in Rust.
+- `CheckTimer` renamed to `CountdownProvider`.
+- Renamed `TargetId` to `ComponentId`.
+- Replaced most `ChannelId` occurences with `ComponentId`. For typed channels, there is generally
+  no need for dedicated channel IDs.
+- Changed `params::WritableToBeBytes::raw_len` to `written_len` for consistency.
+- `EventReporter` caches component ID.
+- Renamed `PusService11SchedHandler` to `PusSchedServiceHandler`.
+- Fixed general naming of PUS handlers from `handle_one_tc` to `poll_and_handle_next_tc`.
+- Reworked verification module: The sender (`impl EcssTmSenderCore`)
+  now needs to be passed explicitely to the `VerificationReportingProvider` abstraction. This
+  allows easier sharing of the TM sender component.
+
+## Fixed
+
+- Update deprecated API for `PusScheduler::insert_wrapped_tc_cds_short`
+  and `PusScheduler::insert_wrapped_tc_cds_long`.
+- `EventReporter` uses interior mutability pattern to allow non-mutable API.
+
+## Removed
+
+- Remove `objects` module.
+
+# [v0.2.0-rc.0] 2024-02-21
 
 ## Added
 

satrs/Cargo.toml

@@ -17,7 +17,10 @@ delegate = ">0.7, <=0.10"
 paste = "1"
 smallvec = "1"
 crc = "3"
-satrs-shared = "0.1.2"
+
+[dependencies.satrs-shared]
+version = "0.1.3"
+path = "../satrs-shared"
 
 [dependencies.num_enum]
 version = ">0.5, <=0.7"
@@ -68,7 +71,9 @@ features = ["all"]
 optional = true
 
 [dependencies.spacepackets]
-version = "0.10"
+git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
+version = "0.11.0-rc.2"
+branch = "main"
 default-features = false
 
 [dependencies.cobs]
@@ -112,6 +117,7 @@ alloc = [
 serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
 crossbeam = ["crossbeam-channel"]
 heapless = ["dep:heapless"]
+test_util = []
 doc-images = []
 
 [package.metadata.docs.rs]

satrs/release-checklist.md

@@ -4,11 +4,11 @@ Checklist for new releases
 # Pre-Release
 
 1. Make sure any new modules are documented sufficiently enough and check docs with
-   `cargo +nightly doc --all-features --config 'rustdocflags=["--cfg", "doc_cfg"]' --open`.
+   `cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]' --open`.
 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`.
+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.

satrs/src/action.rs

@@ -1,42 +1,68 @@
-use crate::{pool::StoreAddr, TargetId};
+use crate::{params::Params, pool::StoreAddr};
+
+#[cfg(feature = "alloc")]
+pub use alloc_mod::*;
 
 pub type ActionId = u32;
 
-#[non_exhaustive]
-#[derive(Clone, Eq, PartialEq, Debug)]
-pub enum ActionRequest {
-    UnsignedIdAndStoreData {
-        action_id: ActionId,
-        data_addr: StoreAddr,
-    },
-    #[cfg(feature = "alloc")]
-    UnsignedIdAndVecData {
-        action_id: ActionId,
-        data: alloc::vec::Vec<u8>,
-    },
-    #[cfg(feature = "alloc")]
-    StringIdAndVecData {
-        action_id: alloc::string::String,
-        data: alloc::vec::Vec<u8>,
-    },
-    #[cfg(feature = "alloc")]
-    StringIdAndStoreData {
-        action_id: alloc::string::String,
-        data: StoreAddr,
-    },
+#[derive(Debug, Eq, PartialEq, Clone)]
+pub struct ActionRequest {
+    pub action_id: ActionId,
+    pub variant: ActionRequestVariant,
 }
 
-#[derive(Debug, Clone, PartialEq, Eq)]
-pub struct TargetedActionRequest {
-    target: TargetId,
-    action_request: ActionRequest,
-}
-
-impl TargetedActionRequest {
-    pub fn new(target: TargetId, action_request: ActionRequest) -> Self {
-        Self {
-            target,
-            action_request,
-        }
+impl ActionRequest {
+    pub fn new(action_id: ActionId, variant: ActionRequestVariant) -> Self {
+        Self { action_id, variant }
     }
 }
+
+#[non_exhaustive]
+#[derive(Clone, Eq, PartialEq, Debug)]
+pub enum ActionRequestVariant {
+    NoData,
+    StoreData(StoreAddr),
+    #[cfg(feature = "alloc")]
+    VecData(alloc::vec::Vec<u8>),
+}
+
+#[derive(Debug, PartialEq, Clone)]
+pub struct ActionReply {
+    pub action_id: ActionId,
+    pub variant: ActionReplyVariant,
+}
+
+/// A reply to an action request.
+#[non_exhaustive]
+#[derive(Clone, Debug, PartialEq)]
+pub enum ActionReplyVariant {
+    CompletionFailed(Params),
+    StepFailed { step: u32, reason: Params },
+    Completed,
+}
+
+#[cfg(feature = "alloc")]
+pub mod alloc_mod {
+    use super::*;
+
+    #[derive(Debug, Eq, PartialEq, Clone)]
+    pub struct ActionRequestStringId {
+        pub action_id: alloc::string::String,
+        pub variant: ActionRequestVariant,
+    }
+
+    impl ActionRequestStringId {
+        pub fn new(action_id: alloc::string::String, variant: ActionRequestVariant) -> Self {
+            Self { action_id, variant }
+        }
+    }
+
+    #[derive(Debug, PartialEq, Clone)]
+    pub struct ActionReplyStringId {
+        pub action_id: alloc::string::String,
+        pub variant: ActionReplyVariant,
+    }
+}
+
+#[cfg(test)]
+mod tests {}

satrs/src/cfdp/dest.rs

@@ -5,7 +5,7 @@ use std::path::{Path, PathBuf};
 use super::{
     filestore::{FilestoreError, VirtualFilestore},
     user::{CfdpUser, FileSegmentRecvdParams, MetadataReceivedParams},
-    CheckTimer, CheckTimerCreator, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
+    CheckTimerCreator, CountdownProvider, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
     RemoteEntityConfig, RemoteEntityConfigProvider, State, TimerContext, TransactionId,
     TransactionStep,
 };
@@ -54,7 +54,7 @@ struct TransferState {
     completion_disposition: CompletionDisposition,
     checksum: u32,
     current_check_count: u32,
-    current_check_timer: Option<Box<dyn CheckTimer>>,
+    current_check_timer: Option<Box<dyn CountdownProvider>>,
 }
 
 impl Default for TransferState {
@@ -799,9 +799,9 @@ mod tests {
     };
 
     use crate::cfdp::{
-        filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimer, CheckTimerCreator,
-        DefaultFaultHandler, IndicationConfig, RemoteEntityConfig, StdRemoteEntityConfigProvider,
-        UserFaultHandler, CRC_32,
+        filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimerCreator,
+        CountdownProvider, DefaultFaultHandler, IndicationConfig, RemoteEntityConfig,
+        StdRemoteEntityConfigProvider, UserFaultHandler, CRC_32,
     };
 
     use super::*;
@@ -1057,7 +1057,7 @@ mod tests {
         expired: Arc<AtomicBool>,
     }
 
-    impl CheckTimer for TestCheckTimer {
+    impl CountdownProvider for TestCheckTimer {
         fn has_expired(&self) -> bool {
             self.expired.load(core::sync::atomic::Ordering::Relaxed)
         }
@@ -1088,7 +1088,10 @@ mod tests {
     }
 
     impl CheckTimerCreator for TestCheckTimerCreator {
-        fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer> {
+        fn get_check_timer_provider(
+            &self,
+            timer_context: TimerContext,
+        ) -> Box<dyn CountdownProvider> {
             match timer_context {
                 TimerContext::CheckLimit { .. } => {
                     Box::new(TestCheckTimer::new(self.check_limit_expired_flag.clone()))

satrs/src/cfdp/filestore.rs

@@ -7,7 +7,7 @@ use spacepackets::ByteConversionError;
 use std::error::Error;
 use std::path::Path;
 #[cfg(feature = "std")]
-pub use stdmod::*;
+pub use std_mod::*;
 
 pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
 
@@ -148,12 +148,11 @@ pub trait VirtualFilestore {
 }
 
 #[cfg(feature = "std")]
-pub mod stdmod {
+pub mod std_mod {
     use super::*;
     use std::{
         fs::{self, File, OpenOptions},
         io::{BufReader, Read, Seek, SeekFrom, Write},
-        path::Path,
     };
 
     #[derive(Default)]

satrs/src/cfdp/mod.rs

@@ -17,6 +17,8 @@ use alloc::boxed::Box;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 
+use crate::time::CountdownProvider;
+
 #[cfg(feature = "std")]
 pub mod dest;
 #[cfg(feature = "alloc")]
@@ -45,7 +47,15 @@ pub enum TimerContext {
     },
 }
 
-/// Generic abstraction for a check timer which is used by 3 mechanisms of the CFDP protocol.
+/// A generic trait which allows CFDP entities to create check timers which are required to
+/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
+/// and 4.6.3.3.
+///
+/// This trait also allows the creation of different check timers depending on context and purpose
+/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
+/// other factors.
+///
+/// The countdown timer is used by 3 mechanisms of the CFDP protocol.
 ///
 /// ## 1. Check limit handling
 ///
@@ -74,22 +84,9 @@ pub enum TimerContext {
 /// The timer will be used to perform the Positive Acknowledgement Procedures as  specified in
 /// 4.7. 1of the CFDP standard. The expiration period will be provided by the Positive ACK timer
 /// interval of the remote entity configuration.
-pub trait CheckTimer: Debug {
-    fn has_expired(&self) -> bool;
-    fn reset(&mut self);
-}
-
-/// A generic trait which allows CFDP entities to create check timers which are required to
-/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
-/// and 4.6.3.3. The [CheckTimer] documentation provides more information about the purpose of the
-/// check timer in the context of CFDP.
-///
-/// This trait also allows the creation of different check timers depending on context and purpose
-/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
-/// other factors.
 #[cfg(feature = "alloc")]
 pub trait CheckTimerCreator {
-    fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer>;
+    fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CountdownProvider>;
 }
 
 /// Simple implementation of the [CheckTimerCreator] trait assuming a standard runtime.
@@ -112,7 +109,7 @@ impl StdCheckTimer {
 }
 
 #[cfg(feature = "std")]
-impl CheckTimer for StdCheckTimer {
+impl CountdownProvider for StdCheckTimer {
     fn has_expired(&self) -> bool {
         let elapsed_time = self.start_time.elapsed();
         if elapsed_time.as_secs() > self.expiry_time_seconds {

satrs/src/encoding/ccsds.rs

@@ -1,65 +1,4 @@
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
-#[cfg(feature = "alloc")]
-use hashbrown::HashSet;
-use spacepackets::PacketId;
-
-use crate::tmtc::ReceivesTcCore;
-
-pub trait PacketIdLookup {
-    fn validate(&self, packet_id: u16) -> bool;
-}
-
-#[cfg(feature = "alloc")]
-impl PacketIdLookup for Vec<u16> {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.contains(&packet_id)
-    }
-}
-
-#[cfg(feature = "alloc")]
-impl PacketIdLookup for HashSet<u16> {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.contains(&packet_id)
-    }
-}
-
-impl PacketIdLookup for [u16] {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.binary_search(&packet_id).is_ok()
-    }
-}
-
-impl PacketIdLookup for &[u16] {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.binary_search(&packet_id).is_ok()
-    }
-}
-
-#[cfg(feature = "alloc")]
-impl PacketIdLookup for Vec<PacketId> {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.contains(&PacketId::from(packet_id))
-    }
-}
-#[cfg(feature = "alloc")]
-impl PacketIdLookup for HashSet<PacketId> {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.contains(&PacketId::from(packet_id))
-    }
-}
-
-impl PacketIdLookup for [PacketId] {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.binary_search(&PacketId::from(packet_id)).is_ok()
-    }
-}
-
-impl PacketIdLookup for &[PacketId] {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.binary_search(&PacketId::from(packet_id)).is_ok()
-    }
-}
+use crate::{tmtc::ReceivesTcCore, ValidatorU16Id};
 
 /// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
 /// [PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet and then
@@ -75,7 +14,7 @@ impl PacketIdLookup for &[PacketId] {
 /// error will be returned.
 pub fn parse_buffer_for_ccsds_space_packets<E>(
     buf: &mut [u8],
-    packet_id_lookup: &(impl PacketIdLookup + ?Sized),
+    packet_id_validator: &(impl ValidatorU16Id + ?Sized),
     tc_receiver: &mut (impl ReceivesTcCore<Error = E> + ?Sized),
     next_write_idx: &mut usize,
 ) -> Result<u32, E> {
@@ -88,7 +27,7 @@ pub fn parse_buffer_for_ccsds_space_packets<E>(
             break;
         }
         let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
-        if packet_id_lookup.validate(packet_id) {
+        if packet_id_validator.validate(packet_id) {
             let length_field =
                 u16::from_be_bytes(buf[current_idx + 4..current_idx + 6].try_into().unwrap());
             let packet_size = length_field + 7;
@@ -123,13 +62,13 @@ mod tests {
 
     const TEST_APID_0: u16 = 0x02;
     const TEST_APID_1: u16 = 0x10;
-    const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
-    const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
+    const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
+    const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
 
     #[test]
     fn test_basic() {
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let sph = SpHeader::new_from_apid(TEST_APID_0);
+        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len = ping_tc
             .write_to_bytes(&mut buffer)
@@ -155,9 +94,9 @@ mod tests {
 
     #[test]
     fn test_multi_packet() {
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
+        let sph = SpHeader::new_from_apid(TEST_APID_0);
+        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
+        let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)
@@ -190,10 +129,10 @@ mod tests {
 
     #[test]
     fn test_multi_apid() {
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
+        let sph = SpHeader::new_from_apid(TEST_APID_0);
+        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
+        let sph = SpHeader::new_from_apid(TEST_APID_1);
+        let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)
@@ -226,10 +165,10 @@ mod tests {
 
     #[test]
     fn test_split_packet_multi() {
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
+        let ping_tc =
+            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
+        let action_tc =
+            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 8, 0, &[], true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)
@@ -257,8 +196,8 @@ mod tests {
 
     #[test]
     fn test_one_split_packet() {
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let ping_tc =
+            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)

satrs/src/events.rs

@@ -80,7 +80,7 @@ impl HasSeverity for SeverityHigh {
     const SEVERITY: Severity = Severity::HIGH;
 }
 
-pub trait GenericEvent: EcssEnumeration {
+pub trait GenericEvent: EcssEnumeration + Copy + Clone {
     type Raw;
     type GroupId;
     type UniqueId;

satrs/src/hal/mod.rs

@@ -1,4 +1,3 @@
 //! # Hardware Abstraction Layer module
 #[cfg(feature = "std")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std;

satrs/src/hal/std/tcp_cobs_server.rs

@@ -107,7 +107,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
 ///
 /// ## Example
 ///
-/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
+/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
 /// test also serves as the example application for this module.
 pub struct TcpTmtcInCobsServer<
     TmError,

satrs/src/hal/std/tcp_spacepackets_server.rs

@@ -4,11 +4,10 @@ use std::{
     net::{SocketAddr, TcpListener, TcpStream},
 };
 
-use alloc::boxed::Box;
-
 use crate::{
-    encoding::{ccsds::PacketIdLookup, parse_buffer_for_ccsds_space_packets},
+    encoding::parse_buffer_for_ccsds_space_packets,
     tmtc::{ReceivesTc, TmPacketSource},
+    ValidatorU16Id,
 };
 
 use super::tcp_server::{
@@ -16,17 +15,19 @@ use super::tcp_server::{
 };
 
 /// Concrete [TcpTcParser] implementation for the [TcpSpacepacketsServer].
-pub struct SpacepacketsTcParser {
-    packet_id_lookup: Box<dyn PacketIdLookup + Send>,
+pub struct SpacepacketsTcParser<PacketIdChecker: ValidatorU16Id> {
+    packet_id_lookup: PacketIdChecker,
 }
 
-impl SpacepacketsTcParser {
-    pub fn new(packet_id_lookup: Box<dyn PacketIdLookup + Send>) -> Self {
+impl<PacketIdChecker: ValidatorU16Id> SpacepacketsTcParser<PacketIdChecker> {
+    pub fn new(packet_id_lookup: PacketIdChecker) -> Self {
         Self { packet_id_lookup }
     }
 }
 
-impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for SpacepacketsTcParser {
+impl<TmError, TcError: 'static, PacketIdChecker: ValidatorU16Id> TcpTcParser<TmError, TcError>
+    for SpacepacketsTcParser<PacketIdChecker>
+{
     fn handle_tc_parsing(
         &mut self,
         tc_buffer: &mut [u8],
@@ -38,7 +39,7 @@ impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for SpacepacketsTc
         // Reader vec full, need to parse for packets.
         conn_result.num_received_tcs += parse_buffer_for_ccsds_space_packets(
             &mut tc_buffer[..current_write_idx],
-            self.packet_id_lookup.as_ref(),
+            &self.packet_id_lookup,
             tc_receiver.upcast_mut(),
             next_write_idx,
         )
@@ -88,13 +89,14 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
 /// [spacepackets::PacketId]s as part of the server configuration for that purpose.
 ///
 /// ## Example
-/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
+/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
 /// also serves as the example application for this module.
 pub struct TcpSpacepacketsServer<
     TmError,
     TcError: 'static,
     TmSource: TmPacketSource<Error = TmError>,
     TcReceiver: ReceivesTc<Error = TcError>,
+    PacketIdChecker: ValidatorU16Id,
 > {
     generic_server: TcpTmtcGenericServer<
         TmError,
@@ -102,7 +104,7 @@ pub struct TcpSpacepacketsServer<
         TmSource,
         TcReceiver,
         SpacepacketsTmSender,
-        SpacepacketsTcParser,
+        SpacepacketsTcParser<PacketIdChecker>,
     >,
 }
 
@@ -111,7 +113,8 @@ impl<
         TcError: 'static,
         TmSource: TmPacketSource<Error = TmError>,
         TcReceiver: ReceivesTc<Error = TcError>,
-    > TcpSpacepacketsServer<TmError, TcError, TmSource, TcReceiver>
+        PacketIdChecker: ValidatorU16Id,
+    > TcpSpacepacketsServer<TmError, TcError, TmSource, TcReceiver, PacketIdChecker>
 {
     ///
     /// ## Parameter
@@ -127,12 +130,12 @@ impl<
         cfg: ServerConfig,
         tm_source: TmSource,
         tc_receiver: TcReceiver,
-        packet_id_lookup: Box<dyn PacketIdLookup + Send>,
+        packet_id_checker: PacketIdChecker,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             generic_server: TcpTmtcGenericServer::new(
                 cfg,
-                SpacepacketsTcParser::new(packet_id_lookup),
+                SpacepacketsTcParser::new(packet_id_checker),
                 SpacepacketsTmSender::default(),
                 tm_source,
                 tc_receiver,
@@ -170,7 +173,7 @@ mod tests {
         thread,
     };
 
-    use alloc::{boxed::Box, sync::Arc};
+    use alloc::sync::Arc;
     use hashbrown::HashSet;
     use spacepackets::{
         ecss::{tc::PusTcCreator, WritablePusPacket},
@@ -185,21 +188,21 @@ mod tests {
     use super::TcpSpacepacketsServer;
 
     const TEST_APID_0: u16 = 0x02;
-    const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
+    const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
     const TEST_APID_1: u16 = 0x10;
-    const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
+    const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
 
     fn generic_tmtc_server(
         addr: &SocketAddr,
         tc_receiver: SyncTcCacher,
         tm_source: SyncTmSource,
         packet_id_lookup: HashSet<PacketId>,
-    ) -> TcpSpacepacketsServer<(), (), SyncTmSource, SyncTcCacher> {
+    ) -> TcpSpacepacketsServer<(), (), SyncTmSource, SyncTcCacher, HashSet<PacketId>> {
         TcpSpacepacketsServer::new(
             ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
             tm_source,
             tc_receiver,
-            Box::new(packet_id_lookup),
+            packet_id_lookup,
         )
         .expect("TCP server generation failed")
     }
@@ -233,8 +236,8 @@ mod tests {
             assert_eq!(conn_result.num_sent_tms, 0);
             set_if_done.store(true, Ordering::Relaxed);
         });
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let ping_tc =
+            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
         let tc_0 = ping_tc.to_vec().expect("packet generation failed");
         let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
         stream
@@ -265,13 +268,13 @@ mod tests {
 
         // Add telemetry
         let mut total_tm_len = 0;
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 1, None, true);
+        let verif_tm =
+            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 1, 1, &[], true);
         let tm_0 = verif_tm.to_vec().expect("writing packet failed");
         total_tm_len += tm_0.len();
         tm_source.add_tm(&tm_0);
-        let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-        let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 3, None, true);
+        let verif_tm =
+            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 1, 3, &[], true);
         let tm_1 = verif_tm.to_vec().expect("writing packet failed");
         total_tm_len += tm_1.len();
         tm_source.add_tm(&tm_1);
@@ -312,14 +315,14 @@ mod tests {
             .expect("setting reas timeout failed");
 
         // Send telecommands
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let ping_tc =
+            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
         let tc_0 = ping_tc.to_vec().expect("ping tc creation failed");
         stream
             .write_all(&tc_0)
             .expect("writing to TCP server failed");
-        let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
+        let action_tc =
+            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 8, 0, &[], true);
         let tc_1 = action_tc.to_vec().expect("action tc creation failed");
         stream
             .write_all(&tc_1)

satrs/src/hal/std/udp_server.rs

@@ -40,8 +40,8 @@ use std::vec::Vec;
 /// let ping_receiver = PingReceiver::default();
 /// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
 ///       .expect("Creating UDP TMTC server failed");
-/// let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
-/// let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+/// let sph = SpHeader::new_from_apid(0x02);
+/// let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
 /// let len = pus_tc
 ///     .write_to_bytes(&mut buf)
 ///     .expect("Error writing PUS TC packet");
@@ -178,8 +178,8 @@ mod tests {
         let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
             .expect("Creating UDP TMTC server failed");
         is_send(&udp_tc_server);
-        let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
-        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let sph = SpHeader::new_from_apid(0x02);
+        let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
         let len = pus_tc
             .write_to_bytes(&mut buf)
             .expect("Error writing PUS TC packet");

satrs/src/hk.rs

@@ -1,40 +1,40 @@
-use crate::{
-    pus::verification::{TcStateAccepted, VerificationToken},
-    TargetId,
-};
+use crate::ComponentId;
 
 pub type CollectionIntervalFactor = u32;
+/// Unique Identifier for a certain housekeeping dataset.
 pub type UniqueId = u32;
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum HkRequest {
-    OneShot(UniqueId),
-    Enable(UniqueId),
-    Disable(UniqueId),
-    ModifyCollectionInterval(UniqueId, CollectionIntervalFactor),
+pub struct HkRequest {
+    pub unique_id: UniqueId,
+    pub variant: HkRequestVariant,
+}
+
+impl HkRequest {
+    pub fn new(unique_id: UniqueId, variant: HkRequestVariant) -> Self {
+        Self { unique_id, variant }
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum HkRequestVariant {
+    OneShot,
+    EnablePeriodic,
+    DisablePeriodic,
+    ModifyCollectionInterval(CollectionIntervalFactor),
 }
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub struct TargetedHkRequest {
-    pub target_id: TargetId,
-    pub hk_request: HkRequest,
+    pub target_id: ComponentId,
+    pub hk_request: HkRequestVariant,
 }
 
 impl TargetedHkRequest {
-    pub fn new(target_id: TargetId, hk_request: HkRequest) -> Self {
+    pub fn new(target_id: ComponentId, hk_request: HkRequestVariant) -> Self {
         Self {
             target_id,
             hk_request,
         }
     }
 }
-
-pub trait PusHkRequestRouter {
-    type Error;
-    fn route(
-        &self,
-        target_id: TargetId,
-        hk_request: HkRequest,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<(), Self::Error>;
-}

satrs/src/lib.rs

@@ -14,7 +14,7 @@
 //!  - The [pus] module which provides special support for projects using
 //!    the [ECSS PUS C standard](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
 #![no_std]
-#![cfg_attr(doc_cfg, feature(doc_cfg))]
+#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
 #[cfg(feature = "alloc")]
 extern crate alloc;
 #[cfg(feature = "alloc")]
@@ -23,18 +23,15 @@ extern crate downcast_rs;
 extern crate std;
 
 #[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod cfdp;
 pub mod encoding;
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod event_man;
 pub mod events;
 #[cfg(feature = "std")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod executable;
 pub mod hal;
-pub mod objects;
+#[cfg(feature = "std")]
+pub mod mode_tree;
 pub mod pool;
 pub mod power;
 pub mod pus;
@@ -42,6 +39,7 @@ pub mod queue;
 pub mod request;
 pub mod res_code;
 pub mod seq_count;
+pub mod time;
 pub mod tmtc;
 
 pub mod action;
@@ -51,8 +49,70 @@ pub mod params;
 
 pub use spacepackets;
 
-/// Generic channel ID type.
-pub type ChannelId = u32;
+use spacepackets::PacketId;
 
-/// Generic target ID type.
-pub type TargetId = u64;
+/// Generic component ID type.
+pub type ComponentId = u64;
+
+pub trait ValidatorU16Id {
+    fn validate(&self, id: u16) -> bool;
+}
+
+#[cfg(feature = "alloc")]
+impl ValidatorU16Id for alloc::vec::Vec<u16> {
+    fn validate(&self, id: u16) -> bool {
+        self.contains(&id)
+    }
+}
+
+#[cfg(feature = "alloc")]
+impl ValidatorU16Id for hashbrown::HashSet<u16> {
+    fn validate(&self, id: u16) -> bool {
+        self.contains(&id)
+    }
+}
+
+impl ValidatorU16Id for [u16] {
+    fn validate(&self, id: u16) -> bool {
+        self.binary_search(&id).is_ok()
+    }
+}
+
+impl ValidatorU16Id for &[u16] {
+    fn validate(&self, id: u16) -> bool {
+        self.binary_search(&id).is_ok()
+    }
+}
+
+#[cfg(feature = "alloc")]
+impl ValidatorU16Id for alloc::vec::Vec<spacepackets::PacketId> {
+    fn validate(&self, packet_id: u16) -> bool {
+        self.contains(&PacketId::from(packet_id))
+    }
+}
+
+#[cfg(feature = "alloc")]
+impl ValidatorU16Id for hashbrown::HashSet<spacepackets::PacketId> {
+    fn validate(&self, packet_id: u16) -> bool {
+        self.contains(&PacketId::from(packet_id))
+    }
+}
+
+#[cfg(feature = "std")]
+impl ValidatorU16Id for std::collections::HashSet<PacketId> {
+    fn validate(&self, packet_id: u16) -> bool {
+        self.contains(&PacketId::from(packet_id))
+    }
+}
+
+impl ValidatorU16Id for [PacketId] {
+    fn validate(&self, packet_id: u16) -> bool {
+        self.binary_search(&PacketId::from(packet_id)).is_ok()
+    }
+}
+
+impl ValidatorU16Id for &[PacketId] {
+    fn validate(&self, packet_id: u16) -> bool {
+        self.binary_search(&PacketId::from(packet_id)).is_ok()
+    }
+}

satrs/src/mode.rs

@@ -1,67 +1,95 @@
 use core::mem::size_of;
+use satrs_shared::res_code::ResultU16;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 use spacepackets::ByteConversionError;
 
-use crate::TargetId;
+#[cfg(feature = "alloc")]
+pub use alloc_mod::*;
+
+#[cfg(feature = "std")]
+pub use std_mod::*;
+
+use crate::{
+    queue::GenericTargetedMessagingError,
+    request::{GenericMessage, MessageMetadata, MessageReceiver, MessageReceiverWithId, RequestId},
+    ComponentId,
+};
+
+pub type Mode = u32;
+pub type Submode = u16;
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct ModeAndSubmode {
-    mode: u32,
-    submode: u16,
+    mode: Mode,
+    submode: Submode,
 }
 
 impl ModeAndSubmode {
-    pub const fn new_mode_only(mode: u32) -> Self {
+    pub const RAW_LEN: usize = size_of::<Mode>() + size_of::<Submode>();
+
+    pub const fn new_mode_only(mode: Mode) -> Self {
         Self { mode, submode: 0 }
     }
 
-    pub const fn new(mode: u32, submode: u16) -> Self {
+    pub const fn new(mode: Mode, submode: Submode) -> Self {
         Self { mode, submode }
     }
 
-    pub fn raw_len() -> usize {
-        size_of::<u32>() + size_of::<u16>()
-    }
-
     pub fn from_be_bytes(buf: &[u8]) -> Result<Self, ByteConversionError> {
         if buf.len() < 6 {
             return Err(ByteConversionError::FromSliceTooSmall {
-                expected: 6,
+                expected: Self::RAW_LEN,
                 found: buf.len(),
             });
         }
         Ok(Self {
-            mode: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
-            submode: u16::from_be_bytes(buf[4..6].try_into().unwrap()),
+            mode: Mode::from_be_bytes(buf[0..size_of::<Mode>()].try_into().unwrap()),
+            submode: Submode::from_be_bytes(
+                buf[size_of::<Mode>()..size_of::<Mode>() + size_of::<Submode>()]
+                    .try_into()
+                    .unwrap(),
+            ),
         })
     }
 
-    pub fn mode(&self) -> u32 {
+    pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        if buf.len() < Self::RAW_LEN {
+            return Err(ByteConversionError::ToSliceTooSmall {
+                expected: Self::RAW_LEN,
+                found: buf.len(),
+            });
+        }
+        buf[0..size_of::<Mode>()].copy_from_slice(&self.mode.to_be_bytes());
+        buf[size_of::<Mode>()..Self::RAW_LEN].copy_from_slice(&self.submode.to_be_bytes());
+        Ok(Self::RAW_LEN)
+    }
+
+    pub fn mode(&self) -> Mode {
         self.mode
     }
 
-    pub fn submode(&self) -> u16 {
+    pub fn submode(&self) -> Submode {
         self.submode
     }
 }
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TargetedModeCommand {
-    pub address: TargetId,
+    pub address: ComponentId,
     pub mode_submode: ModeAndSubmode,
 }
 
 impl TargetedModeCommand {
-    pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
+    pub const fn new(address: ComponentId, mode_submode: ModeAndSubmode) -> Self {
         Self {
             address,
             mode_submode,
         }
     }
 
-    pub fn address(&self) -> TargetId {
+    pub fn address(&self) -> ComponentId {
         self.address
     }
 
@@ -81,6 +109,8 @@ impl TargetedModeCommand {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum ModeRequest {
+    /// Mode information. Can be used to notify other components of changed modes.
+    ModeInfo(ModeAndSubmode),
     SetMode(ModeAndSubmode),
     ReadMode,
     AnnounceMode,
@@ -90,6 +120,479 @@ pub enum ModeRequest {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TargetedModeRequest {
-    target_id: TargetId,
+    target_id: ComponentId,
     mode_request: ModeRequest,
 }
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+pub enum ModeReply {
+    /// Reply to a mode request to confirm the commanded mode was reached.
+    ModeReply(ModeAndSubmode),
+    // Can not reach the commanded mode. Contains a reason as a [ResultU16].
+    CantReachMode(ResultU16),
+    /// We are in the wrong mode for unknown reasons. Contains the expected and reached mode.
+    WrongMode {
+        expected: ModeAndSubmode,
+        reached: ModeAndSubmode,
+    },
+}
+
+pub type GenericModeReply = GenericMessage<ModeReply>;
+
+pub trait ModeRequestSender {
+    fn local_channel_id(&self) -> ComponentId;
+    fn send_mode_request(
+        &self,
+        request_id: RequestId,
+        target_id: ComponentId,
+        request: ModeRequest,
+    ) -> Result<(), GenericTargetedMessagingError>;
+}
+
+pub trait ModeRequestReceiver {
+    fn try_recv_mode_request(
+        &self,
+    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError>;
+}
+
+impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
+    for MessageReceiverWithId<ModeRequest, R>
+{
+    fn try_recv_mode_request(
+        &self,
+    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+        self.try_recv_message()
+    }
+}
+
+#[derive(Debug, Clone)]
+pub enum ModeError {
+    Messaging(GenericTargetedMessagingError),
+}
+
+impl From<GenericTargetedMessagingError> for ModeError {
+    fn from(value: GenericTargetedMessagingError) -> Self {
+        Self::Messaging(value)
+    }
+}
+
+pub trait ModeProvider {
+    fn mode_and_submode(&self) -> ModeAndSubmode;
+
+    fn mode(&self) -> Mode {
+        self.mode_and_submode().mode()
+    }
+
+    fn submode(&self) -> Submode {
+        self.mode_and_submode().submode()
+    }
+}
+
+pub trait ModeRequestHandler: ModeProvider {
+    type Error;
+
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), Self::Error>;
+
+    fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool);
+
+    fn handle_mode_reached(
+        &mut self,
+        requestor_info: Option<MessageMetadata>,
+    ) -> Result<(), Self::Error>;
+
+    fn handle_mode_info(
+        &mut self,
+        requestor_info: MessageMetadata,
+        info: ModeAndSubmode,
+    ) -> Result<(), Self::Error>;
+
+    fn send_mode_reply(
+        &self,
+        requestor_info: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), Self::Error>;
+
+    fn handle_mode_request(
+        &mut self,
+        request: GenericMessage<ModeRequest>,
+    ) -> Result<(), Self::Error> {
+        match request.message {
+            ModeRequest::SetMode(mode_and_submode) => {
+                self.start_transition(request.requestor_info, mode_and_submode)
+            }
+            ModeRequest::ReadMode => self.send_mode_reply(
+                request.requestor_info,
+                ModeReply::ModeReply(self.mode_and_submode()),
+            ),
+            ModeRequest::AnnounceMode => {
+                self.announce_mode(Some(request.requestor_info), false);
+                Ok(())
+            }
+            ModeRequest::AnnounceModeRecursive => {
+                self.announce_mode(Some(request.requestor_info), true);
+                Ok(())
+            }
+            ModeRequest::ModeInfo(info) => self.handle_mode_info(request.requestor_info, info),
+        }
+    }
+}
+
+pub trait ModeReplyReceiver {
+    fn try_recv_mode_reply(
+        &self,
+    ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError>;
+}
+
+impl<R: MessageReceiver<ModeReply>> ModeReplyReceiver for MessageReceiverWithId<ModeReply, R> {
+    fn try_recv_mode_reply(
+        &self,
+    ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+        self.try_recv_message()
+    }
+}
+
+pub trait ModeReplySender {
+    fn local_channel_id(&self) -> ComponentId;
+
+    /// The requestor is assumed to be the target of the reply.
+    fn send_mode_reply(
+        &self,
+        requestor_info: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError>;
+}
+
+#[cfg(feature = "alloc")]
+pub mod alloc_mod {
+    use crate::{
+        mode::ModeRequest,
+        queue::GenericTargetedMessagingError,
+        request::{
+            MessageMetadata, MessageSender, MessageSenderAndReceiver, MessageSenderMap,
+            RequestAndReplySenderAndReceiver, RequestId,
+        },
+        ComponentId,
+    };
+
+    use super::*;
+
+    impl<S: MessageSender<ModeReply>> MessageSenderMap<ModeReply, S> {
+        pub fn send_mode_reply(
+            &self,
+            requestor_info: MessageMetadata,
+            target_id: ComponentId,
+            request: ModeReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(requestor_info, target_id, request)
+        }
+
+        pub fn add_reply_target(&mut self, target_id: ComponentId, request_sender: S) {
+            self.add_message_target(target_id, request_sender)
+        }
+    }
+
+    impl<FROM, S: MessageSender<ModeReply>, R: MessageReceiver<FROM>> ModeReplySender
+        for MessageSenderAndReceiver<ModeReply, FROM, S, R>
+    {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id_generic()
+        }
+
+        fn send_mode_reply(
+            &self,
+            requestor_info: MessageMetadata,
+            request: ModeReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.message_sender_map.send_mode_reply(
+                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
+                requestor_info.sender_id(),
+                request,
+            )
+        }
+    }
+
+    impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeReply>> ModeReplyReceiver
+        for MessageSenderAndReceiver<TO, ModeReply, S, R>
+    {
+        fn try_recv_mode_reply(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+            self.message_receiver.try_recv_message()
+        }
+    }
+
+    impl<
+            REQUEST,
+            S0: MessageSender<REQUEST>,
+            R0: MessageReceiver<ModeReply>,
+            S1: MessageSender<ModeReply>,
+            R1: MessageReceiver<REQUEST>,
+        > RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+    {
+        pub fn add_reply_target(&mut self, target_id: ComponentId, reply_sender: S1) {
+            self.reply_sender_map
+                .add_message_target(target_id, reply_sender)
+        }
+    }
+
+    impl<
+            REQUEST,
+            S0: MessageSender<REQUEST>,
+            R0: MessageReceiver<ModeReply>,
+            S1: MessageSender<ModeReply>,
+            R1: MessageReceiver<REQUEST>,
+        > ModeReplySender for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+    {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id_generic()
+        }
+
+        fn send_mode_reply(
+            &self,
+            requestor_info: MessageMetadata,
+            request: ModeReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.reply_sender_map.send_mode_reply(
+                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
+                requestor_info.sender_id(),
+                request,
+            )
+        }
+    }
+
+    impl<
+            REQUEST,
+            S0: MessageSender<REQUEST>,
+            R0: MessageReceiver<ModeReply>,
+            S1: MessageSender<ModeReply>,
+            R1: MessageReceiver<REQUEST>,
+        > ModeReplyReceiver
+        for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+    {
+        fn try_recv_mode_reply(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+            self.reply_receiver.try_recv_message()
+        }
+    }
+
+    /// Helper type definition for a mode handler which can handle mode requests.
+    pub type ModeRequestHandlerInterface<S, R> =
+        MessageSenderAndReceiver<ModeReply, ModeRequest, S, R>;
+
+    impl<S: MessageSender<ModeReply>, R: MessageReceiver<ModeRequest>>
+        ModeRequestHandlerInterface<S, R>
+    {
+        pub fn try_recv_mode_request(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+            self.try_recv_message()
+        }
+
+        pub fn send_mode_reply(
+            &self,
+            requestor_info: MessageMetadata,
+            reply: ModeReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(
+                requestor_info.request_id(),
+                requestor_info.sender_id(),
+                reply,
+            )
+        }
+    }
+
+    /// Helper type defintion for a mode handler object which can send mode requests and receive
+    /// mode replies.
+    pub type ModeRequestorInterface<S, R> = MessageSenderAndReceiver<ModeRequest, ModeReply, S, R>;
+
+    impl<S: MessageSender<ModeRequest>, R: MessageReceiver<ModeReply>> ModeRequestorInterface<S, R> {
+        pub fn try_recv_mode_reply(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+            self.try_recv_message()
+        }
+
+        pub fn send_mode_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            reply: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(request_id, target_id, reply)
+        }
+    }
+
+    /// Helper type defintion for a mode handler object which can both send mode requests and
+    /// process mode requests.
+    pub type ModeInterface<S0, R0, S1, R1> =
+        RequestAndReplySenderAndReceiver<ModeRequest, ModeReply, S0, R0, S1, R1>;
+
+    impl<S: MessageSender<ModeRequest>> MessageSenderMap<ModeRequest, S> {
+        pub fn send_mode_request(
+            &self,
+            requestor_info: MessageMetadata,
+            target_id: ComponentId,
+            request: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(requestor_info, target_id, request)
+        }
+
+        pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S) {
+            self.add_message_target(target_id, request_sender)
+        }
+    }
+
+    /*
+    impl<S: MessageSender<ModeRequest>> ModeRequestSender for MessageSenderMapWithId<ModeRequest, S> {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id
+        }
+
+        fn send_mode_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            request: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(request_id, target_id, request)
+        }
+    }
+    */
+
+    impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeRequest>> ModeRequestReceiver
+        for MessageSenderAndReceiver<TO, ModeRequest, S, R>
+    {
+        fn try_recv_mode_request(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+            self.message_receiver.try_recv_message()
+        }
+    }
+
+    impl<FROM, S: MessageSender<ModeRequest>, R: MessageReceiver<FROM>> ModeRequestSender
+        for MessageSenderAndReceiver<ModeRequest, FROM, S, R>
+    {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id_generic()
+        }
+
+        fn send_mode_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            request: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.message_sender_map.send_mode_request(
+                MessageMetadata::new(request_id, self.local_channel_id()),
+                target_id,
+                request,
+            )
+        }
+    }
+
+    impl<
+            REPLY,
+            S0: MessageSender<ModeRequest>,
+            R0: MessageReceiver<REPLY>,
+            S1: MessageSender<REPLY>,
+            R1: MessageReceiver<ModeRequest>,
+        > RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+    {
+        pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S0) {
+            self.request_sender_map
+                .add_message_target(target_id, request_sender)
+        }
+    }
+
+    impl<
+            REPLY,
+            S0: MessageSender<ModeRequest>,
+            R0: MessageReceiver<REPLY>,
+            S1: MessageSender<REPLY>,
+            R1: MessageReceiver<ModeRequest>,
+        > ModeRequestSender
+        for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+    {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id_generic()
+        }
+
+        fn send_mode_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            request: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.request_sender_map.send_mode_request(
+                MessageMetadata::new(request_id, self.local_channel_id()),
+                target_id,
+                request,
+            )
+        }
+    }
+
+    impl<
+            REPLY,
+            S0: MessageSender<ModeRequest>,
+            R0: MessageReceiver<REPLY>,
+            S1: MessageSender<REPLY>,
+            R1: MessageReceiver<ModeRequest>,
+        > ModeRequestReceiver
+        for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+    {
+        fn try_recv_mode_request(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+            self.request_receiver.try_recv_message()
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+pub mod std_mod {
+    use std::sync::mpsc;
+
+    use crate::request::GenericMessage;
+
+    use super::*;
+
+    pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<
+        mpsc::Sender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+    pub type ModeRequestHandlerMpscBounded = ModeRequestHandlerInterface<
+        mpsc::SyncSender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+
+    pub type ModeRequestorMpsc = ModeRequestorInterface<
+        mpsc::Sender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+    >;
+    pub type ModeRequestorBoundedMpsc = ModeRequestorInterface<
+        mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+    >;
+
+    pub type ModeRequestorAndHandlerMpsc = ModeInterface<
+        mpsc::Sender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        mpsc::Sender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+    pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
+        mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        mpsc::SyncSender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+}
+
+#[cfg(test)]
+mod tests {}

satrs/src/mode_tree.rs

@@ -0,0 +1,37 @@
+use alloc::vec::Vec;
+use hashbrown::HashMap;
+
+use crate::{
+    mode::{Mode, ModeAndSubmode, Submode},
+    ComponentId,
+};
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum TableEntryType {
+    /// Target table containing information of the expected children modes for  given mode.
+    Target,
+    /// Sequence table which contains information about how to reach a target table, including
+    /// the order of the sequences.
+    Sequence,
+}
+
+pub struct ModeTableEntry {
+    /// Name of respective table entry.
+    pub name: &'static str,
+    /// Target channel ID.
+    pub channel_id: ComponentId,
+    pub mode_submode: ModeAndSubmode,
+    pub allowed_submode_mask: Option<Submode>,
+    pub check_success: bool,
+}
+
+pub struct ModeTableMapValue {
+    /// Name for a given mode table entry.
+    pub name: &'static str,
+    pub entries: Vec<ModeTableEntry>,
+}
+
+pub type ModeTable = HashMap<Mode, ModeTableMapValue>;
+
+#[cfg(test)]
+mod tests {}

satrs/src/objects.rs

@@ -1,308 +0,0 @@
-//! # Module providing addressable object support and a manager for them
-//!
-//! Each addressable object can be identified using an [object ID][ObjectId].
-//! The [system object][ManagedSystemObject] trait also allows storing these objects into the
-//! [object manager][ObjectManager]. They can then be retrieved and casted back to a known type
-//! using the object ID.
-//!
-//! # Examples
-//!
-//! ```rust
-//! use std::any::Any;
-//! use std::error::Error;
-//! use satrs::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
-//!
-//! struct ExampleSysObj {
-//!     id: ObjectId,
-//!     dummy: u32,
-//!     was_initialized: bool,
-//! }
-//!
-//! impl ExampleSysObj {
-//!     fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
-//!         ExampleSysObj {
-//!             id,
-//!             dummy,
-//!             was_initialized: false,
-//!         }
-//!     }
-//! }
-//!
-//! impl SystemObject for ExampleSysObj {
-//!     type Error = ();
-//!     fn get_object_id(&self) -> &ObjectId {
-//!         &self.id
-//!     }
-//!
-//!     fn initialize(&mut self) -> Result<(), Self::Error> {
-//!         self.was_initialized = true;
-//!         Ok(())
-//!     }
-//! }
-//!
-//! impl ManagedSystemObject for ExampleSysObj {}
-//!
-//!  let mut obj_manager = ObjectManager::default();
-//!  let obj_id = ObjectId { id: 0, name: "Example 0"};
-//!  let example_obj = ExampleSysObj::new(obj_id, 42);
-//!  obj_manager.insert(Box::new(example_obj));
-//!  let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&obj_id);
-//!  let example_obj = obj_back_casted.unwrap();
-//!  assert_eq!(example_obj.id, obj_id);
-//!  assert_eq!(example_obj.dummy, 42);
-//! ```
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-#[cfg(feature = "alloc")]
-use downcast_rs::Downcast;
-#[cfg(feature = "alloc")]
-use hashbrown::HashMap;
-#[cfg(feature = "std")]
-use std::error::Error;
-
-use crate::TargetId;
-
-#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
-pub struct ObjectId {
-    pub id: TargetId,
-    pub name: &'static str,
-}
-
-#[cfg(feature = "alloc")]
-pub mod alloc_mod {
-    use super::*;
-
-    /// Each object which is stored inside the [object manager][ObjectManager] needs to implemented
-    /// this trait
-    pub trait SystemObject: Downcast {
-        type Error;
-        fn get_object_id(&self) -> &ObjectId;
-        fn initialize(&mut self) -> Result<(), Self::Error>;
-    }
-    downcast_rs::impl_downcast!(SystemObject assoc Error);
-
-    pub trait ManagedSystemObject: SystemObject + Send {}
-    downcast_rs::impl_downcast!(ManagedSystemObject assoc Error);
-
-    /// Helper module to manage multiple [ManagedSystemObjects][ManagedSystemObject] by mapping them
-    /// using an [object ID][ObjectId]
-    #[cfg(feature = "alloc")]
-    pub struct ObjectManager<E> {
-        obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject<Error = E>>>,
-    }
-
-    #[cfg(feature = "alloc")]
-    impl<E: 'static> Default for ObjectManager<E> {
-        fn default() -> Self {
-            Self::new()
-        }
-    }
-
-    #[cfg(feature = "alloc")]
-    impl<E: 'static> ObjectManager<E> {
-        pub fn new() -> Self {
-            ObjectManager {
-                obj_map: HashMap::new(),
-            }
-        }
-        pub fn insert(&mut self, sys_obj: Box<dyn ManagedSystemObject<Error = E>>) -> bool {
-            let obj_id = sys_obj.get_object_id();
-            if self.obj_map.contains_key(obj_id) {
-                return false;
-            }
-            self.obj_map.insert(*obj_id, sys_obj).is_none()
-        }
-
-        /// Initializes all System Objects in the hash map and returns the number of successful
-        /// initializations
-        pub fn initialize(&mut self) -> Result<u32, Box<dyn Error>> {
-            let mut init_success = 0;
-            for val in self.obj_map.values_mut() {
-                if val.initialize().is_ok() {
-                    init_success += 1
-                }
-            }
-            Ok(init_success)
-        }
-
-        /// Retrieve a reference to an object stored inside the manager. The type to retrieve needs to
-        /// be explicitly passed as a generic parameter or specified on the left hand side of the
-        /// expression.
-        pub fn get_ref<T: ManagedSystemObject<Error = E>>(&self, key: &ObjectId) -> Option<&T> {
-            self.obj_map.get(key).and_then(|o| o.downcast_ref::<T>())
-        }
-
-        /// Retrieve a mutable reference to an object stored inside the manager. The type to retrieve
-        /// needs to be explicitly passed as a generic parameter or specified on the left hand side
-        /// of the expression.
-        pub fn get_mut<T: ManagedSystemObject<Error = E>>(
-            &mut self,
-            key: &ObjectId,
-        ) -> Option<&mut T> {
-            self.obj_map
-                .get_mut(key)
-                .and_then(|o| o.downcast_mut::<T>())
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
-    use std::boxed::Box;
-    use std::string::String;
-    use std::sync::{Arc, Mutex};
-    use std::thread;
-
-    struct ExampleSysObj {
-        id: ObjectId,
-        dummy: u32,
-        was_initialized: bool,
-    }
-
-    impl ExampleSysObj {
-        fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
-            ExampleSysObj {
-                id,
-                dummy,
-                was_initialized: false,
-            }
-        }
-    }
-
-    impl SystemObject for ExampleSysObj {
-        type Error = ();
-        fn get_object_id(&self) -> &ObjectId {
-            &self.id
-        }
-
-        fn initialize(&mut self) -> Result<(), Self::Error> {
-            self.was_initialized = true;
-            Ok(())
-        }
-    }
-
-    impl ManagedSystemObject for ExampleSysObj {}
-
-    struct OtherExampleObject {
-        id: ObjectId,
-        string: String,
-        was_initialized: bool,
-    }
-
-    impl SystemObject for OtherExampleObject {
-        type Error = ();
-        fn get_object_id(&self) -> &ObjectId {
-            &self.id
-        }
-
-        fn initialize(&mut self) -> Result<(), Self::Error> {
-            self.was_initialized = true;
-            Ok(())
-        }
-    }
-
-    impl ManagedSystemObject for OtherExampleObject {}
-
-    #[test]
-    fn test_obj_manager_simple() {
-        let mut obj_manager = ObjectManager::default();
-        let expl_obj_id = ObjectId {
-            id: 0,
-            name: "Example 0",
-        };
-        let example_obj = ExampleSysObj::new(expl_obj_id, 42);
-        assert!(obj_manager.insert(Box::new(example_obj)));
-        let res = obj_manager.initialize();
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 1);
-        let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&expl_obj_id);
-        assert!(obj_back_casted.is_some());
-        let expl_obj_back_casted = obj_back_casted.unwrap();
-        assert_eq!(expl_obj_back_casted.dummy, 42);
-        assert!(expl_obj_back_casted.was_initialized);
-
-        let second_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let second_example_obj = OtherExampleObject {
-            id: second_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        assert!(obj_manager.insert(Box::new(second_example_obj)));
-        let res = obj_manager.initialize();
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 2);
-        let obj_back_casted: Option<&OtherExampleObject> = obj_manager.get_ref(&second_obj_id);
-        assert!(obj_back_casted.is_some());
-        let expl_obj_back_casted = obj_back_casted.unwrap();
-        assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
-        assert!(expl_obj_back_casted.was_initialized);
-
-        let existing_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let invalid_obj = OtherExampleObject {
-            id: existing_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        assert!(!obj_manager.insert(Box::new(invalid_obj)));
-    }
-
-    #[test]
-    fn object_man_threaded() {
-        let obj_manager = Arc::new(Mutex::new(ObjectManager::new()));
-        let expl_obj_id = ObjectId {
-            id: 0,
-            name: "Example 0",
-        };
-        let example_obj = ExampleSysObj::new(expl_obj_id, 42);
-        let second_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let second_example_obj = OtherExampleObject {
-            id: second_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        let mut obj_man_handle = obj_manager.lock().expect("Mutex lock failed");
-        assert!(obj_man_handle.insert(Box::new(example_obj)));
-        assert!(obj_man_handle.insert(Box::new(second_example_obj)));
-        let res = obj_man_handle.initialize();
-        std::mem::drop(obj_man_handle);
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 2);
-        let obj_man_0 = obj_manager.clone();
-        let jh0 = thread::spawn(move || {
-            let locked_man = obj_man_0.lock().expect("Mutex lock failed");
-            let obj_back_casted: Option<&ExampleSysObj> = locked_man.get_ref(&expl_obj_id);
-            assert!(obj_back_casted.is_some());
-            let expl_obj_back_casted = obj_back_casted.unwrap();
-            assert_eq!(expl_obj_back_casted.dummy, 42);
-            assert!(expl_obj_back_casted.was_initialized);
-            std::mem::drop(locked_man)
-        });
-
-        let jh1 = thread::spawn(move || {
-            let locked_man = obj_manager.lock().expect("Mutex lock failed");
-            let obj_back_casted: Option<&OtherExampleObject> = locked_man.get_ref(&second_obj_id);
-            assert!(obj_back_casted.is_some());
-            let expl_obj_back_casted = obj_back_casted.unwrap();
-            assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
-            assert!(expl_obj_back_casted.was_initialized);
-            std::mem::drop(locked_man)
-        });
-        jh0.join().expect("Joining thread 0 failed");
-        jh1.join().expect("Joining thread 1 failed");
-    }
-}

satrs/src/params.rs

@@ -43,41 +43,45 @@
 //! This includes the [ParamsHeapless] enumeration for contained values which do not require heap
 //! allocation, and the [Params] which enumerates [ParamsHeapless] and some additional types which
 //! require [alloc] support but allow for more flexbility.
-#[cfg(feature = "alloc")]
 use crate::pool::StoreAddr;
-#[cfg(feature = "alloc")]
-use alloc::string::{String, ToString};
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
 use core::fmt::Debug;
 use core::mem::size_of;
 use paste::paste;
 use spacepackets::ecss::{EcssEnumU16, EcssEnumU32, EcssEnumU64, EcssEnumU8};
+pub use spacepackets::util::ToBeBytes;
 use spacepackets::util::UnsignedEnum;
 use spacepackets::ByteConversionError;
 
 #[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-pub use spacepackets::util::ToBeBytes;
+use alloc::string::{String, ToString};
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
 
 /// Generic trait which is used for objects which can be converted into a raw network (big) endian
 /// byte format.
 pub trait WritableToBeBytes {
-    fn raw_len(&self) -> usize;
+    fn written_len(&self) -> usize;
     /// Writes the object to a raw buffer in network endianness (big)
     fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
+
+    #[cfg(feature = "alloc")]
+    fn to_vec(&self) -> Result<Vec<u8>, ByteConversionError> {
+        let mut vec = alloc::vec![0; self.written_len()];
+        self.write_to_be_bytes(&mut vec)?;
+        Ok(vec)
+    }
 }
 
 macro_rules! param_to_be_bytes_impl {
     ($Newtype: ident) => {
         impl WritableToBeBytes for $Newtype {
             #[inline]
-            fn raw_len(&self) -> usize {
+            fn written_len(&self) -> usize {
                 size_of::<<Self as ToBeBytes>::ByteArray>()
             }
 
             fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-                let raw_len = self.raw_len();
+                let raw_len = WritableToBeBytes::written_len(self);
                 if buf.len() < raw_len {
                     return Err(ByteConversionError::ToSliceTooSmall {
                         found: buf.len(),
@@ -385,32 +389,32 @@ pub enum ParamsRaw {
 }
 
 impl WritableToBeBytes for ParamsRaw {
-    fn raw_len(&self) -> usize {
+    fn written_len(&self) -> usize {
         match self {
-            ParamsRaw::U8(v) => v.raw_len(),
-            ParamsRaw::U8Pair(v) => v.raw_len(),
-            ParamsRaw::U8Triplet(v) => v.raw_len(),
-            ParamsRaw::I8(v) => v.raw_len(),
-            ParamsRaw::I8Pair(v) => v.raw_len(),
-            ParamsRaw::I8Triplet(v) => v.raw_len(),
-            ParamsRaw::U16(v) => v.raw_len(),
-            ParamsRaw::U16Pair(v) => v.raw_len(),
-            ParamsRaw::U16Triplet(v) => v.raw_len(),
-            ParamsRaw::I16(v) => v.raw_len(),
-            ParamsRaw::I16Pair(v) => v.raw_len(),
-            ParamsRaw::I16Triplet(v) => v.raw_len(),
-            ParamsRaw::U32(v) => v.raw_len(),
-            ParamsRaw::U32Pair(v) => v.raw_len(),
-            ParamsRaw::U32Triplet(v) => v.raw_len(),
-            ParamsRaw::I32(v) => v.raw_len(),
-            ParamsRaw::I32Pair(v) => v.raw_len(),
-            ParamsRaw::I32Triplet(v) => v.raw_len(),
-            ParamsRaw::F32(v) => v.raw_len(),
-            ParamsRaw::F32Pair(v) => v.raw_len(),
-            ParamsRaw::F32Triplet(v) => v.raw_len(),
-            ParamsRaw::U64(v) => v.raw_len(),
-            ParamsRaw::I64(v) => v.raw_len(),
-            ParamsRaw::F64(v) => v.raw_len(),
+            ParamsRaw::U8(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U8Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U8Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I8(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I8Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I8Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U16(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U16Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U16Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I16(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I16Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I16Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U32(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U32Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U32Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I32(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I32Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I32Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::F32(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::F32Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::F32Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U64(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I64(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::F64(v) => WritableToBeBytes::written_len(v),
         }
     }
 
@@ -463,7 +467,7 @@ params_raw_from_newtype!(
 );
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum EcssEnumParams {
+pub enum ParamsEcssEnum {
     U8(EcssEnumU8),
     U16(EcssEnumU16),
     U32(EcssEnumU32),
@@ -471,40 +475,46 @@ pub enum EcssEnumParams {
 }
 
 macro_rules! writable_as_be_bytes_ecss_enum_impl {
-    ($EnumIdent: ident) => {
+    ($EnumIdent: ident, $Ty: ident) => {
+        impl From<$EnumIdent> for ParamsEcssEnum {
+            fn from(e: $EnumIdent) -> Self {
+                Self::$Ty(e)
+            }
+        }
+
         impl WritableToBeBytes for $EnumIdent {
-            fn raw_len(&self) -> usize {
+            fn written_len(&self) -> usize {
                 self.size()
             }
 
             fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-                <Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.raw_len())
+                <Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.written_len())
             }
         }
     };
 }
 
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64);
+writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8, U8);
+writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16, U16);
+writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32, U32);
+writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64, U64);
 
-impl WritableToBeBytes for EcssEnumParams {
-    fn raw_len(&self) -> usize {
+impl WritableToBeBytes for ParamsEcssEnum {
+    fn written_len(&self) -> usize {
         match self {
-            EcssEnumParams::U8(e) => e.raw_len(),
-            EcssEnumParams::U16(e) => e.raw_len(),
-            EcssEnumParams::U32(e) => e.raw_len(),
-            EcssEnumParams::U64(e) => e.raw_len(),
+            ParamsEcssEnum::U8(e) => e.written_len(),
+            ParamsEcssEnum::U16(e) => e.written_len(),
+            ParamsEcssEnum::U32(e) => e.written_len(),
+            ParamsEcssEnum::U64(e) => e.written_len(),
         }
     }
 
     fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
         match self {
-            EcssEnumParams::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
+            ParamsEcssEnum::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
+            ParamsEcssEnum::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
+            ParamsEcssEnum::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
+            ParamsEcssEnum::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
         }
     }
 }
@@ -513,7 +523,19 @@ impl WritableToBeBytes for EcssEnumParams {
 #[derive(Debug, Copy, Clone, PartialEq)]
 pub enum ParamsHeapless {
     Raw(ParamsRaw),
-    EcssEnum(EcssEnumParams),
+    EcssEnum(ParamsEcssEnum),
+}
+
+impl From<ParamsRaw> for ParamsHeapless {
+    fn from(v: ParamsRaw) -> Self {
+        Self::Raw(v)
+    }
+}
+
+impl From<ParamsEcssEnum> for ParamsHeapless {
+    fn from(v: ParamsEcssEnum) -> Self {
+        Self::EcssEnum(v)
+    }
 }
 
 macro_rules! from_conversions_for_raw {
@@ -560,55 +582,113 @@ from_conversions_for_raw!(
     (f64, Self::F64),
 );
 
+/// Generic enumeration for additional parameters, including parameters which rely on heap
+/// allocations.
+#[derive(Debug, Clone, PartialEq)]
+#[non_exhaustive]
+pub enum Params {
+    Heapless(ParamsHeapless),
+    Store(StoreAddr),
+    #[cfg(feature = "alloc")]
+    Vec(Vec<u8>),
+    #[cfg(feature = "alloc")]
+    String(String),
+}
+
+impl From<StoreAddr> for Params {
+    fn from(x: StoreAddr) -> Self {
+        Self::Store(x)
+    }
+}
+
+impl From<ParamsHeapless> for Params {
+    fn from(x: ParamsHeapless) -> Self {
+        Self::Heapless(x)
+    }
+}
+
+impl From<ParamsRaw> for Params {
+    fn from(x: ParamsRaw) -> Self {
+        Self::Heapless(ParamsHeapless::Raw(x))
+    }
+}
+
 #[cfg(feature = "alloc")]
-mod alloc_mod {
-    use super::*;
-    /// Generic enumeration for additional parameters, including parameters which rely on heap
-    /// allocations.
-    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-    #[derive(Debug, Clone)]
-    pub enum Params {
-        Heapless(ParamsHeapless),
-        Store(StoreAddr),
-        Vec(Vec<u8>),
-        String(String),
+impl From<Vec<u8>> for Params {
+    fn from(val: Vec<u8>) -> Self {
+        Self::Vec(val)
     }
+}
 
-    impl From<StoreAddr> for Params {
-        fn from(x: StoreAddr) -> Self {
-            Self::Store(x)
+/// Converts a byte slice into the [Params::Vec] variant
+#[cfg(feature = "alloc")]
+impl From<&[u8]> for Params {
+    fn from(val: &[u8]) -> Self {
+        Self::Vec(val.to_vec())
+    }
+}
+
+#[cfg(feature = "alloc")]
+impl From<String> for Params {
+    fn from(val: String) -> Self {
+        Self::String(val)
+    }
+}
+
+#[cfg(feature = "alloc")]
+/// Converts a string slice into the [Params::String] variant
+impl From<&str> for Params {
+    fn from(val: &str) -> Self {
+        Self::String(val.to_string())
+    }
+}
+
+/// Please note while [WritableToBeBytes] is implemented for [Params], the default implementation
+/// will not be able to process the [Params::Store] parameter variant.
+impl WritableToBeBytes for Params {
+    fn written_len(&self) -> usize {
+        match self {
+            Params::Heapless(p) => match p {
+                ParamsHeapless::Raw(raw) => raw.written_len(),
+                ParamsHeapless::EcssEnum(enumeration) => enumeration.written_len(),
+            },
+            Params::Store(_) => 0,
+            #[cfg(feature = "alloc")]
+            Params::Vec(vec) => vec.len(),
+            #[cfg(feature = "alloc")]
+            Params::String(string) => string.len(),
         }
     }
 
-    impl From<ParamsHeapless> for Params {
-        fn from(x: ParamsHeapless) -> Self {
-            Self::Heapless(x)
-        }
-    }
-
-    impl From<Vec<u8>> for Params {
-        fn from(val: Vec<u8>) -> Self {
-            Self::Vec(val)
-        }
-    }
-
-    /// Converts a byte slice into the [Params::Vec] variant
-    impl From<&[u8]> for Params {
-        fn from(val: &[u8]) -> Self {
-            Self::Vec(val.to_vec())
-        }
-    }
-
-    impl From<String> for Params {
-        fn from(val: String) -> Self {
-            Self::String(val)
-        }
-    }
-
-    /// Converts a string slice into the [Params::String] variant
-    impl From<&str> for Params {
-        fn from(val: &str) -> Self {
-            Self::String(val.to_string())
+    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        match self {
+            Params::Heapless(p) => match p {
+                ParamsHeapless::Raw(raw) => raw.write_to_be_bytes(buf),
+                ParamsHeapless::EcssEnum(enumeration) => enumeration.write_to_be_bytes(buf),
+            },
+            Params::Store(_) => Ok(0),
+            #[cfg(feature = "alloc")]
+            Params::Vec(vec) => {
+                if buf.len() < vec.len() {
+                    return Err(ByteConversionError::ToSliceTooSmall {
+                        found: buf.len(),
+                        expected: vec.len(),
+                    });
+                }
+                buf[0..vec.len()].copy_from_slice(vec);
+                Ok(vec.len())
+            }
+            #[cfg(feature = "alloc")]
+            Params::String(string) => {
+                if buf.len() < string.len() {
+                    return Err(ByteConversionError::ToSliceTooSmall {
+                        found: buf.len(),
+                        expected: string.len(),
+                    });
+                }
+                buf[0..string.len()].copy_from_slice(string.as_bytes());
+                Ok(string.len())
+            }
         }
     }
 }
@@ -617,6 +697,36 @@ mod alloc_mod {
 mod tests {
     use super::*;
 
+    fn test_cloning_works(param_raw: &impl WritableToBeBytes) {
+        let _new_param = param_raw;
+    }
+
+    fn test_writing_fails(param_raw: &(impl WritableToBeBytes + ToBeBytes)) {
+        let pair_size = WritableToBeBytes::written_len(param_raw);
+        assert_eq!(pair_size, ToBeBytes::written_len(param_raw));
+        let mut vec = alloc::vec![0; pair_size - 1];
+        let result = param_raw.write_to_be_bytes(&mut vec);
+        if let Err(ByteConversionError::ToSliceTooSmall { found, expected }) = result {
+            assert_eq!(found, pair_size - 1);
+            assert_eq!(expected, pair_size);
+        } else {
+            panic!("Expected ByteConversionError::ToSliceTooSmall");
+        }
+    }
+
+    fn test_writing(params_raw: &ParamsRaw, writeable: &impl WritableToBeBytes) {
+        assert_eq!(params_raw.written_len(), writeable.written_len());
+        let mut vec = alloc::vec![0; writeable.written_len()];
+        writeable
+            .write_to_be_bytes(&mut vec)
+            .expect("writing parameter to buffer failed");
+        let mut other_vec = alloc::vec![0; writeable.written_len()];
+        params_raw
+            .write_to_be_bytes(&mut other_vec)
+            .expect("writing parameter to buffer failed");
+        assert_eq!(vec, other_vec);
+    }
+
     #[test]
     fn test_basic_u32_pair() {
         let u32_pair = U32Pair(4, 8);
@@ -627,10 +737,32 @@ mod tests {
         assert_eq!(u32_conv_back, 4);
         u32_conv_back = u32::from_be_bytes(raw[4..8].try_into().unwrap());
         assert_eq!(u32_conv_back, 8);
+        test_writing_fails(&u32_pair);
+        test_cloning_works(&u32_pair);
+        let u32_praw = ParamsRaw::from(u32_pair);
+        test_writing(&u32_praw, &u32_pair);
     }
 
     #[test]
-    fn basic_signed_test_pair() {
+    fn test_u16_pair_writing_fails() {
+        let u16_pair = U16Pair(4, 8);
+        test_writing_fails(&u16_pair);
+        test_cloning_works(&u16_pair);
+        let u16_praw = ParamsRaw::from(u16_pair);
+        test_writing(&u16_praw, &u16_pair);
+    }
+
+    #[test]
+    fn test_u8_pair_writing_fails() {
+        let u8_pair = U8Pair(4, 8);
+        test_writing_fails(&u8_pair);
+        test_cloning_works(&u8_pair);
+        let u8_praw = ParamsRaw::from(u8_pair);
+        test_writing(&u8_praw, &u8_pair);
+    }
+
+    #[test]
+    fn basic_i8_test() {
         let i8_pair = I8Pair(-3, -16);
         assert_eq!(i8_pair.0, -3);
         assert_eq!(i8_pair.1, -16);
@@ -639,10 +771,31 @@ mod tests {
         assert_eq!(i8_conv_back, -3);
         i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
         assert_eq!(i8_conv_back, -16);
+        test_writing_fails(&i8_pair);
+        test_cloning_works(&i8_pair);
+        let i8_praw = ParamsRaw::from(i8_pair);
+        test_writing(&i8_praw, &i8_pair);
     }
 
     #[test]
-    fn basic_signed_test_triplet() {
+    fn test_from_u32_triplet() {
+        let raw_params = U32Triplet::from((1, 2, 3));
+        assert_eq!(raw_params.0, 1);
+        assert_eq!(raw_params.1, 2);
+        assert_eq!(raw_params.2, 3);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 12);
+        assert_eq!(
+            raw_params.to_be_bytes(),
+            [0, 0, 0, 1, 0, 0, 0, 2, 0, 0, 0, 3]
+        );
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u32_triplet = ParamsRaw::from(raw_params);
+        test_writing(&u32_triplet, &raw_params);
+    }
+
+    #[test]
+    fn test_i8_triplet() {
         let i8_triplet = I8Triplet(-3, -16, -126);
         assert_eq!(i8_triplet.0, -3);
         assert_eq!(i8_triplet.1, -16);
@@ -654,6 +807,10 @@ mod tests {
         assert_eq!(i8_conv_back, -16);
         i8_conv_back = i8::from_be_bytes(raw[2..3].try_into().unwrap());
         assert_eq!(i8_conv_back, -126);
+        test_writing_fails(&i8_triplet);
+        test_cloning_works(&i8_triplet);
+        let i8_praw = ParamsRaw::from(i8_triplet);
+        test_writing(&i8_praw, &i8_triplet);
     }
 
     #[test]
@@ -676,4 +833,352 @@ mod tests {
             panic!("Params type is not a vector")
         }
     }
+
+    #[test]
+    fn test_params_written_len_raw() {
+        let param_raw = ParamsRaw::from((500_u32, 1000_u32));
+        let param: Params = Params::Heapless(param_raw.into());
+        assert_eq!(param.written_len(), 8);
+        let mut buf: [u8; 8] = [0; 8];
+        param
+            .write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        assert_eq!(u32::from_be_bytes(buf[0..4].try_into().unwrap()), 500);
+        assert_eq!(u32::from_be_bytes(buf[4..8].try_into().unwrap()), 1000);
+    }
+
+    #[test]
+    fn test_params_written_string() {
+        let string = "Test String".to_string();
+        let param = Params::String(string.clone());
+        assert_eq!(param.written_len(), string.len());
+        let vec = param.to_vec().unwrap();
+        let string_conv_back = String::from_utf8(vec).expect("conversion to string failed");
+        assert_eq!(string_conv_back, string);
+    }
+
+    #[test]
+    fn test_params_written_vec() {
+        let vec: Vec<u8> = alloc::vec![1, 2, 3, 4, 5];
+        let param = Params::Vec(vec.clone());
+        assert_eq!(param.written_len(), vec.len());
+        assert_eq!(param.to_vec().expect("writing vec params failed"), vec);
+    }
+
+    #[test]
+    fn test_u32_single() {
+        let raw_params = U32::from(20);
+        assert_eq!(raw_params.0, 20);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
+        assert_eq!(raw_params.to_be_bytes(), [0, 0, 0, 20]);
+        let other = U32::from(20);
+        assert_eq!(raw_params, other);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u32_praw = ParamsRaw::from(raw_params);
+        test_writing(&u32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i8_single() {
+        let neg_number: i8 = -5_i8;
+        let raw_params = I8::from(neg_number);
+        assert_eq!(raw_params.0, neg_number);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 1);
+        assert_eq!(raw_params.to_be_bytes(), neg_number.to_be_bytes());
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u8_praw = ParamsRaw::from(raw_params);
+        test_writing(&u8_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_u8_single() {
+        let raw_params = U8::from(20);
+        assert_eq!(raw_params.0, 20);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 1);
+        assert_eq!(raw_params.to_be_bytes(), [20]);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u32_praw = ParamsRaw::from(raw_params);
+        test_writing(&u32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_u16_single() {
+        let raw_params = U16::from(0x123);
+        assert_eq!(raw_params.0, 0x123);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 2);
+        assert_eq!(raw_params.to_be_bytes(), [0x01, 0x23]);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u16_praw = ParamsRaw::from(raw_params);
+        test_writing(&u16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_u16_triplet() {
+        let raw_params = U16Triplet::from((1, 2, 3));
+        assert_eq!(raw_params.0, 1);
+        assert_eq!(raw_params.1, 2);
+        assert_eq!(raw_params.2, 3);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 6);
+        assert_eq!(raw_params.to_be_bytes(), [0, 1, 0, 2, 0, 3]);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u16_praw = ParamsRaw::from(raw_params);
+        test_writing(&u16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_u8_triplet() {
+        let raw_params = U8Triplet::from((1, 2, 3));
+        assert_eq!(raw_params.0, 1);
+        assert_eq!(raw_params.1, 2);
+        assert_eq!(raw_params.2, 3);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 3);
+        assert_eq!(raw_params.to_be_bytes(), [1, 2, 3]);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u8_praw = ParamsRaw::from(raw_params);
+        test_writing(&u8_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i16_single() {
+        let value = -300_i16;
+        let raw_params = I16::from(value);
+        assert_eq!(raw_params.0, value);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 2);
+        assert_eq!(raw_params.to_be_bytes(), value.to_be_bytes());
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i16_praw = ParamsRaw::from(raw_params);
+        test_writing(&i16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i16_pair() {
+        let raw_params = I16Pair::from((-300, -400));
+        assert_eq!(raw_params.0, -300);
+        assert_eq!(raw_params.1, -400);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i16_praw = ParamsRaw::from(raw_params);
+        test_writing(&i16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i16_triplet() {
+        let raw_params = I16Triplet::from((-300, -400, -350));
+        assert_eq!(raw_params.0, -300);
+        assert_eq!(raw_params.1, -400);
+        assert_eq!(raw_params.2, -350);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 6);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i16_praw = ParamsRaw::from(raw_params);
+        test_writing(&i16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i32_single() {
+        let raw_params = I32::from(-80000);
+        assert_eq!(raw_params.0, -80000);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i32_praw = ParamsRaw::from(raw_params);
+        test_writing(&i32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i32_pair() {
+        let raw_params = I32Pair::from((-80000, -200));
+        assert_eq!(raw_params.0, -80000);
+        assert_eq!(raw_params.1, -200);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 8);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i32_praw = ParamsRaw::from(raw_params);
+        test_writing(&i32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i32_triplet() {
+        let raw_params = I32Triplet::from((-80000, -5, -200));
+        assert_eq!(raw_params.0, -80000);
+        assert_eq!(raw_params.1, -5);
+        assert_eq!(raw_params.2, -200);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 12);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i32_praw = ParamsRaw::from(raw_params);
+        test_writing(&i32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_f32_single() {
+        let param = F32::from(0.1);
+        assert_eq!(param.0, 0.1);
+        assert_eq!(WritableToBeBytes::written_len(&param), 4);
+        let f32_pair_raw = param.to_be_bytes();
+        let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
+        assert_eq!(f32_0, 0.1);
+        test_writing_fails(&param);
+        test_cloning_works(&param);
+        let praw = ParamsRaw::from(param);
+        test_writing(&praw, &param);
+        let p_try_from = F32::try_from(param.to_be_bytes().as_ref()).expect("try_from failed");
+        assert_eq!(p_try_from, param);
+    }
+
+    #[test]
+    fn test_f32_pair() {
+        let param = F32Pair::from((0.1, 0.2));
+        assert_eq!(param.0, 0.1);
+        assert_eq!(param.1, 0.2);
+        assert_eq!(WritableToBeBytes::written_len(&param), 8);
+        let f32_pair_raw = param.to_be_bytes();
+        let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
+        assert_eq!(f32_0, 0.1);
+        let f32_1 = f32::from_be_bytes(f32_pair_raw[4..8].try_into().unwrap());
+        assert_eq!(f32_1, 0.2);
+        let other_pair = F32Pair::from((0.1, 0.2));
+        assert_eq!(param, other_pair);
+        test_writing_fails(&param);
+        test_cloning_works(&param);
+        let praw = ParamsRaw::from(param);
+        test_writing(&praw, &param);
+        let p_try_from = F32Pair::try_from(param.to_be_bytes().as_ref()).expect("try_from failed");
+        assert_eq!(p_try_from, param);
+    }
+
+    #[test]
+    fn test_f32_triplet() {
+        let f32 = F32Triplet::from((0.1, -0.1, -5.2));
+        assert_eq!(f32.0, 0.1);
+        assert_eq!(f32.1, -0.1);
+        assert_eq!(f32.2, -5.2);
+        assert_eq!(WritableToBeBytes::written_len(&f32), 12);
+        let f32_pair_raw = f32.to_be_bytes();
+        let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
+        assert_eq!(f32_0, 0.1);
+        let f32_1 = f32::from_be_bytes(f32_pair_raw[4..8].try_into().unwrap());
+        assert_eq!(f32_1, -0.1);
+        let f32_2 = f32::from_be_bytes(f32_pair_raw[8..12].try_into().unwrap());
+        assert_eq!(f32_2, -5.2);
+        test_writing_fails(&f32);
+        test_cloning_works(&f32);
+        let f32_praw = ParamsRaw::from(f32);
+        test_writing(&f32_praw, &f32);
+        let f32_try_from =
+            F32Triplet::try_from(f32.to_be_bytes().as_ref()).expect("try_from failed");
+        assert_eq!(f32_try_from, f32);
+    }
+
+    #[test]
+    fn test_u64_single() {
+        let u64 = U64::from(0x1010101010);
+        assert_eq!(u64.0, 0x1010101010);
+        assert_eq!(WritableToBeBytes::written_len(&u64), 8);
+        test_writing_fails(&u64);
+        test_cloning_works(&u64);
+        let praw = ParamsRaw::from(u64);
+        test_writing(&praw, &u64);
+    }
+
+    #[test]
+    fn test_i64_single() {
+        let i64 = I64::from(-0xfffffffff);
+        assert_eq!(i64.0, -0xfffffffff);
+        assert_eq!(WritableToBeBytes::written_len(&i64), 8);
+        test_writing_fails(&i64);
+        test_cloning_works(&i64);
+        let praw = ParamsRaw::from(i64);
+        test_writing(&praw, &i64);
+    }
+
+    #[test]
+    fn test_f64_single() {
+        let value = 823_823_812_832.232_3;
+        let f64 = F64::from(value);
+        assert_eq!(f64.0, value);
+        assert_eq!(WritableToBeBytes::written_len(&f64), 8);
+        test_writing_fails(&f64);
+        test_cloning_works(&f64);
+        let praw = ParamsRaw::from(f64);
+        test_writing(&praw, &f64);
+    }
+
+    #[test]
+    fn test_f64_triplet() {
+        let f64_triplet = F64Triplet::from((0.1, 0.2, 0.3));
+        assert_eq!(f64_triplet.0, 0.1);
+        assert_eq!(f64_triplet.1, 0.2);
+        assert_eq!(f64_triplet.2, 0.3);
+        assert_eq!(WritableToBeBytes::written_len(&f64_triplet), 24);
+        let f64_triplet_raw = f64_triplet.to_be_bytes();
+        let f64_0 = f64::from_be_bytes(f64_triplet_raw[0..8].try_into().unwrap());
+        assert_eq!(f64_0, 0.1);
+        let f64_1 = f64::from_be_bytes(f64_triplet_raw[8..16].try_into().unwrap());
+        assert_eq!(f64_1, 0.2);
+        let f64_2 = f64::from_be_bytes(f64_triplet_raw[16..24].try_into().unwrap());
+        assert_eq!(f64_2, 0.3);
+        test_writing_fails(&f64_triplet);
+        test_cloning_works(&f64_triplet);
+    }
+
+    #[test]
+    fn test_u8_ecss_enum() {
+        let value = 200;
+        let u8p = EcssEnumU8::new(value);
+        test_cloning_works(&u8p);
+        let praw = ParamsEcssEnum::from(u8p);
+        assert_eq!(praw.written_len(), 1);
+        let mut buf = [0; 1];
+        praw.write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        buf[0] = 200;
+    }
+
+    #[test]
+    fn test_u16_ecss_enum() {
+        let value = 60000;
+        let u16p = EcssEnumU16::new(value);
+        test_cloning_works(&u16p);
+        let praw = ParamsEcssEnum::from(u16p);
+        assert_eq!(praw.written_len(), 2);
+        let mut buf = [0; 2];
+        praw.write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        assert_eq!(u16::from_be_bytes(buf), value);
+    }
+
+    #[test]
+    fn test_u32_ecss_enum() {
+        let value = 70000;
+        let u32p = EcssEnumU32::new(value);
+        test_cloning_works(&u32p);
+        let praw = ParamsEcssEnum::from(u32p);
+        assert_eq!(praw.written_len(), 4);
+        let mut buf = [0; 4];
+        praw.write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        assert_eq!(u32::from_be_bytes(buf), value);
+    }
+
+    #[test]
+    fn test_u64_ecss_enum() {
+        let value = 0xffffffffff;
+        let u64p = EcssEnumU64::new(value);
+        test_cloning_works(&u64p);
+        let praw = ParamsEcssEnum::from(u64p);
+        assert_eq!(praw.written_len(), 8);
+        let mut buf = [0; 8];
+        praw.write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        assert_eq!(u64::from_be_bytes(buf), value);
+    }
 }

satrs/src/pool.rs

@@ -72,7 +72,6 @@
 //! }
 //! ```
 #[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub use alloc_mod::*;
 use core::fmt::{Display, Formatter};
 use delegate::delegate;

satrs/src/power.rs

@@ -24,6 +24,42 @@ pub enum SwitchState {
     Faulty = 3,
 }
 
+#[derive(Debug, Eq, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+pub enum SwitchStateBinary {
+    Off = 0,
+    On = 1,
+}
+
+impl TryFrom<SwitchState> for SwitchStateBinary {
+    type Error = ();
+    fn try_from(value: SwitchState) -> Result<Self, Self::Error> {
+        match value {
+            SwitchState::Off => Ok(SwitchStateBinary::Off),
+            SwitchState::On => Ok(SwitchStateBinary::On),
+            _ => Err(()),
+        }
+    }
+}
+
+impl<T: Into<u64>> From<T> for SwitchStateBinary {
+    fn from(value: T) -> Self {
+        if value.into() == 0 {
+            return SwitchStateBinary::Off;
+        }
+        SwitchStateBinary::On
+    }
+}
+
+impl From<SwitchStateBinary> for SwitchState {
+    fn from(value: SwitchStateBinary) -> Self {
+        match value {
+            SwitchStateBinary::Off => SwitchState::Off,
+            SwitchStateBinary::On => SwitchState::On,
+        }
+    }
+}
+
 pub type SwitchId = u16;
 
 /// Generic trait for a device capable of turning on and off switches.

satrs/src/pus/action.rs

@@ -1,6 +1,10 @@
-use crate::{action::ActionRequest, TargetId};
+use crate::{
+    action::{ActionId, ActionRequest},
+    params::Params,
+    request::{GenericMessage, MessageMetadata, RequestId},
+};
 
-use super::verification::{TcStateAccepted, VerificationToken};
+use satrs_shared::res_code::ResultU16;
 
 #[cfg(feature = "std")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
@@ -8,209 +12,278 @@ pub use std_mod::*;
 
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+#[allow(unused_imports)]
 pub use alloc_mod::*;
 
-/// This trait is an abstraction for the routing of PUS service 8 action requests to a dedicated
-/// recipient using the generic [TargetId].
-pub trait PusActionRequestRouter {
-    type Error;
-    fn route(
-        &self,
-        target_id: TargetId,
-        hk_request: ActionRequest,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<(), Self::Error>;
+#[derive(Clone, Debug)]
+pub struct ActionRequestWithId {
+    pub request_id: RequestId,
+    pub request: ActionRequest,
+}
+
+/// A reply to an action request, but tailored to the PUS standard verification process.
+#[non_exhaustive]
+#[derive(Clone, PartialEq, Debug)]
+pub enum ActionReplyVariant {
+    Completed,
+    StepSuccess {
+        step: u16,
+    },
+    CompletionFailed {
+        error_code: ResultU16,
+        params: Option<Params>,
+    },
+    StepFailed {
+        error_code: ResultU16,
+        step: u16,
+        params: Option<Params>,
+    },
+}
+
+#[derive(Debug, PartialEq, Clone)]
+pub struct PusActionReply {
+    pub action_id: ActionId,
+    pub variant: ActionReplyVariant,
+}
+
+impl PusActionReply {
+    pub fn new(action_id: ActionId, variant: ActionReplyVariant) -> Self {
+        Self { action_id, variant }
+    }
+}
+
+pub type GenericActionReplyPus = GenericMessage<PusActionReply>;
+
+impl GenericActionReplyPus {
+    pub fn new_action_reply(
+        requestor_info: MessageMetadata,
+        action_id: ActionId,
+        reply: ActionReplyVariant,
+    ) -> Self {
+        Self::new(requestor_info, PusActionReply::new(action_id, reply))
+    }
 }
 
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod alloc_mod {
-    use spacepackets::ecss::tc::PusTcReader;
+    use crate::{
+        action::ActionRequest,
+        queue::GenericTargetedMessagingError,
+        request::{
+            GenericMessage, MessageReceiver, MessageSender, MessageSenderAndReceiver, RequestId,
+        },
+        ComponentId,
+    };
 
-    use crate::pus::verification::VerificationReportingProvider;
+    use super::PusActionReply;
 
-    use super::*;
+    /// Helper type definition for a mode handler which can handle mode requests.
+    pub type ActionRequestHandlerInterface<S, R> =
+        MessageSenderAndReceiver<PusActionReply, ActionRequest, S, R>;
 
-    /// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
-    /// an [ActionRequest].
-    ///
-    /// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
-    /// The only requirement is that a valid [TargetId] and an [ActionRequest] are returned by the
-    /// core conversion function.
-    ///
-    /// The user should take care of performing the error handling as well. Some of the following
-    /// aspects might be relevant:
-    ///
-    /// - Checking the validity of the APID, service ID, subservice ID.
-    /// - Checking the validity of the user data.
-    ///
-    /// A [VerificationReporterWithSender] instance is passed to the user to also allow handling
-    /// of the verification process as part of the PUS standard requirements.
-    pub trait PusActionToRequestConverter {
-        type Error;
-        fn convert(
-            &mut self,
-            token: VerificationToken<TcStateAccepted>,
-            tc: &PusTcReader,
-            time_stamp: &[u8],
-            verif_reporter: &impl VerificationReportingProvider,
-        ) -> Result<(TargetId, ActionRequest), Self::Error>;
+    impl<S: MessageSender<PusActionReply>, R: MessageReceiver<ActionRequest>>
+        ActionRequestHandlerInterface<S, R>
+    {
+        pub fn try_recv_action_request(
+            &self,
+        ) -> Result<Option<GenericMessage<ActionRequest>>, GenericTargetedMessagingError> {
+            self.try_recv_message()
+        }
+
+        pub fn send_action_reply(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            reply: PusActionReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(request_id, target_id, reply)
+        }
+    }
+
+    /// Helper type defintion for a mode handler object which can send mode requests and receive
+    /// mode replies.
+    pub type ActionRequestorInterface<S, R> =
+        MessageSenderAndReceiver<ActionRequest, PusActionReply, S, R>;
+
+    impl<S: MessageSender<ActionRequest>, R: MessageReceiver<PusActionReply>>
+        ActionRequestorInterface<S, R>
+    {
+        pub fn try_recv_action_reply(
+            &self,
+        ) -> Result<Option<GenericMessage<PusActionReply>>, GenericTargetedMessagingError> {
+            self.try_recv_message()
+        }
+
+        pub fn send_action_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            request: ActionRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(request_id, target_id, request)
+        }
     }
 }
 
 #[cfg(feature = "std")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
-    use crate::pus::{
-        verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
-        PusServiceHelper,
+    use std::sync::mpsc;
+
+    use crate::{
+        pus::{
+            verification::{self, TcStateToken},
+            ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap,
+        },
+        ComponentId,
     };
 
     use super::*;
 
-    /// This is a high-level handler for the PUS service 8 action service.
-    ///
-    /// It performs the following handling steps:
-    ///
-    /// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
-    ///    allows to configure the used telecommand memory backend.
-    /// 2. Convert the TC to a targeted action request using the provided
-    ///    [PusActionToRequestConverter]. The generic error type is constrained to the
-    ///    [PusPacketHandlingError] for the concrete implementation which offers a packet handler.
-    /// 3. Route the action request using the provided [PusActionRequestRouter].
-    /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler].
-    pub struct PusService8ActionHandler<
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-        RequestConverter: PusActionToRequestConverter,
-        RequestRouter: PusActionRequestRouter<Error = RoutingError>,
-        RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
-        RoutingError = GenericRoutingError,
-    > {
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
-        pub request_converter: RequestConverter,
-        pub request_router: RequestRouter,
-        pub routing_error_handler: RoutingErrorHandler,
+    #[derive(Debug, Clone, PartialEq, Eq)]
+    pub struct ActivePusActionRequestStd {
+        pub action_id: ActionId,
+        common: ActivePusRequestStd,
     }
 
-    impl<
-            TcInMemConverter: EcssTcInMemConverter,
-            VerificationReporter: VerificationReportingProvider,
-            RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
-            RequestRouter: PusActionRequestRouter<Error = RoutingError>,
-            RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
-            RoutingError: Clone,
-        >
-        PusService8ActionHandler<
-            TcInMemConverter,
-            VerificationReporter,
-            RequestConverter,
-            RequestRouter,
-            RoutingErrorHandler,
-            RoutingError,
-        >
-    where
-        PusPacketHandlingError: From<RoutingError>,
-    {
+    impl ActiveRequestProvider for ActivePusActionRequestStd {
+        delegate::delegate! {
+            to self.common {
+                fn target_id(&self) -> ComponentId;
+                fn token(&self) -> verification::TcStateToken;
+                fn set_token(&mut self, token: verification::TcStateToken);
+                fn has_timed_out(&self) -> bool;
+                fn timeout(&self) -> core::time::Duration;
+            }
+        }
+    }
+
+    impl ActivePusActionRequestStd {
+        pub fn new_from_common_req(action_id: ActionId, common: ActivePusRequestStd) -> Self {
+            Self { action_id, common }
+        }
+
         pub fn new(
-            service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
-            request_converter: RequestConverter,
-            request_router: RequestRouter,
-            routing_error_handler: RoutingErrorHandler,
+            action_id: ActionId,
+            target_id: ComponentId,
+            token: TcStateToken,
+            timeout: core::time::Duration,
         ) -> Self {
             Self {
-                service_helper,
-                request_converter,
-                request_router,
-                routing_error_handler,
+                action_id,
+                common: ActivePusRequestStd::new(target_id, token, timeout),
             }
         }
-
-        /// Core function to poll the next TC packet and try to handle it.
-        pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-            let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-            if possible_packet.is_none() {
-                return Ok(PusPacketHandlerResult::Empty);
-            }
-            let ecss_tc_and_token = possible_packet.unwrap();
-            let tc = self
-                .service_helper
-                .tc_in_mem_converter
-                .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-            let mut partial_error = None;
-            let time_stamp =
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
-            let (target_id, action_request) = self.request_converter.convert(
-                ecss_tc_and_token.token,
-                &tc,
-                &time_stamp,
-                &self.service_helper.common.verification_handler,
-            )?;
-            if let Err(e) =
-                self.request_router
-                    .route(target_id, action_request, ecss_tc_and_token.token)
-            {
-                self.routing_error_handler.handle_error(
-                    target_id,
-                    ecss_tc_and_token.token,
-                    &tc,
-                    e.clone(),
-                    &time_stamp,
-                    &self.service_helper.common.verification_handler,
-                );
-                return Err(e.into());
-            }
-            Ok(PusPacketHandlerResult::RequestHandled)
-        }
     }
+    pub type DefaultActiveActionRequestMap = DefaultActiveRequestMap<ActivePusActionRequestStd>;
+
+    pub type ActionRequestHandlerMpsc = ActionRequestHandlerInterface<
+        mpsc::Sender<GenericMessage<PusActionReply>>,
+        mpsc::Receiver<GenericMessage<ActionRequest>>,
+    >;
+    pub type ActionRequestHandlerMpscBounded = ActionRequestHandlerInterface<
+        mpsc::SyncSender<GenericMessage<PusActionReply>>,
+        mpsc::Receiver<GenericMessage<ActionRequest>>,
+    >;
+
+    pub type ActionRequestorMpsc = ActionRequestorInterface<
+        mpsc::Sender<GenericMessage<ActionRequest>>,
+        mpsc::Receiver<GenericMessage<PusActionReply>>,
+    >;
+    pub type ActionRequestorBoundedMpsc = ActionRequestorInterface<
+        mpsc::SyncSender<GenericMessage<ActionRequest>>,
+        mpsc::Receiver<GenericMessage<PusActionReply>>,
+    >;
+
+    /*
+    pub type ModeRequestorAndHandlerMpsc = ModeInterface<
+        mpsc::Sender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        mpsc::Sender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+    pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
+        mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        mpsc::SyncSender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+    */
 }
 
 #[cfg(test)]
 mod tests {
+    /*
+    use core::{cell::RefCell, time::Duration};
+    use std::{sync::mpsc, time::SystemTimeError};
+
+    use alloc::{collections::VecDeque, vec::Vec};
     use delegate::delegate;
 
     use spacepackets::{
         ecss::{
-            tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
+            tc::{PusTcCreator, PusTcReader},
             tm::PusTmReader,
             PusPacket,
         },
-        CcsdsPacket, SequenceFlags, SpHeader,
+        time::{cds, TimeWriter},
+        CcsdsPacket,
     };
 
-    use crate::pus::{
-        tests::{
-            PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler, TestConverter,
-            TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
+    use crate::{
+        action::ActionRequestVariant,
+        params::{self, ParamsRaw, WritableToBeBytes},
+        pus::{
+            tests::{
+                PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
+                TestConverter, TestRouter, APP_DATA_TOO_SHORT,
+            },
+            verification::{
+                self,
+                tests::{SharedVerificationMap, TestVerificationReporter, VerificationStatus},
+                FailParams, TcStateAccepted, TcStateNone, TcStateStarted,
+                VerificationReportingProvider,
+            },
+            EcssTcInMemConverter, EcssTcInVecConverter, EcssTmtcError, GenericRoutingError,
+            MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRequestRouter,
+            PusServiceHelper, PusTcToRequestConverter, TmAsVecSenderWithMpsc,
         },
-        verification::{
-            tests::TestVerificationReporter, FailParams, RequestId, VerificationReportingProvider,
-        },
-        EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError,
     };
 
     use super::*;
 
-    impl PusActionRequestRouter for TestRouter<ActionRequest> {
+    impl<Request> PusRequestRouter<Request> for TestRouter<Request> {
         type Error = GenericRoutingError;
 
         fn route(
             &self,
             target_id: TargetId,
-            hk_request: ActionRequest,
+            request: Request,
             _token: VerificationToken<TcStateAccepted>,
         ) -> Result<(), Self::Error> {
             self.routing_requests
                 .borrow_mut()
-                .push_back((target_id, hk_request));
+                .push_back((target_id, request));
             self.check_for_injected_error()
         }
+
+        fn handle_error(
+            &self,
+            target_id: TargetId,
+            token: VerificationToken<TcStateAccepted>,
+            tc: &PusTcReader,
+            error: Self::Error,
+            time_stamp: &[u8],
+            verif_reporter: &impl VerificationReportingProvider,
+        ) {
+            self.routing_errors
+                .borrow_mut()
+                .push_back((target_id, error));
+        }
     }
 
-    impl PusActionToRequestConverter for TestConverter<8> {
+    impl PusTcToRequestConverter<ActionRequest> for TestConverter<8> {
         type Error = PusPacketHandlingError;
         fn convert(
             &mut self,
@@ -244,9 +317,9 @@ mod tests {
                     .expect("start success failure");
                 return Ok((
                     target_id.into(),
-                    ActionRequest::UnsignedIdAndVecData {
+                    ActionRequest {
                         action_id: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
-                        data: tc.user_data()[4..].to_vec(),
+                        variant: ActionRequestVariant::VecData(tc.user_data()[4..].to_vec()),
                     },
                 ));
             }
@@ -256,29 +329,32 @@ mod tests {
         }
     }
 
-    struct Pus8HandlerWithVecTester {
-        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
-        handler: PusService8ActionHandler<
+    pub struct PusDynRequestHandler<const SERVICE: u8, Request> {
+        srv_helper: PusServiceHelper<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
             EcssTcInVecConverter,
             TestVerificationReporter,
-            TestConverter<8>,
-            TestRouter<ActionRequest>,
-            TestRoutingErrorHandler,
         >,
+        request_converter: TestConverter<SERVICE>,
+        request_router: TestRouter<Request>,
     }
 
-    impl Pus8HandlerWithVecTester {
+    struct Pus8RequestTestbenchWithVec {
+        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
+        handler: PusDynRequestHandler<8, ActionRequest>,
+    }
+
+    impl Pus8RequestTestbenchWithVec {
         pub fn new() -> Self {
-            let (common, srv_handler) =
-                PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
+            let (common, srv_helper) = PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
             Self {
                 common,
-                handler: PusService8ActionHandler::new(
-                    srv_handler,
-                    TestConverter::default(),
-                    TestRouter::default(),
-                    TestRoutingErrorHandler::default(),
-                ),
+                handler: PusDynRequestHandler {
+                    srv_helper,
+                    request_converter: TestConverter::default(),
+                    request_router: TestRouter::default(),
+                },
             }
         }
 
@@ -293,13 +369,13 @@ mod tests {
             }
         }
         delegate! {
-            to self.handler.routing_error_handler {
-                pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
+            to self.handler.request_router {
+                pub fn retrieve_next_routing_error(&mut self) -> (TargetId, GenericRoutingError);
             }
         }
     }
 
-    impl PusTestHarness for Pus8HandlerWithVecTester {
+    impl PusTestHarness for Pus8RequestTestbenchWithVec {
         delegate! {
             to self.common {
                 fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
@@ -308,78 +384,421 @@ mod tests {
                 fn check_next_verification_tm(
                     &self,
                     subservice: u8,
-                    expected_request_id: RequestId,
+                    expected_request_id: verification::RequestId,
                 );
             }
         }
     }
-    impl SimplePusPacketHandler for Pus8HandlerWithVecTester {
+    impl SimplePusPacketHandler for Pus8RequestTestbenchWithVec {
+        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+            let possible_packet = self.handler.srv_helper.retrieve_and_accept_next_packet()?;
+            if possible_packet.is_none() {
+                return Ok(PusPacketHandlerResult::Empty);
+            }
+            let ecss_tc_and_token = possible_packet.unwrap();
+            let tc = self
+                .handler
+                .srv_helper
+                .tc_in_mem_converter
+                .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
+            let time_stamp = cds::TimeProvider::from_now_with_u16_days()
+                .expect("timestamp generation failed")
+                .to_vec()
+                .unwrap();
+            let (target_id, action_request) = self.handler.request_converter.convert(
+                ecss_tc_and_token.token,
+                &tc,
+                &time_stamp,
+                &self.handler.srv_helper.common.verification_handler,
+            )?;
+            if let Err(e) = self.handler.request_router.route(
+                target_id,
+                action_request,
+                ecss_tc_and_token.token,
+            ) {
+                self.handler.request_router.handle_error(
+                    target_id,
+                    ecss_tc_and_token.token,
+                    &tc,
+                    e.clone(),
+                    &time_stamp,
+                    &self.handler.srv_helper.common.verification_handler,
+                );
+                return Err(e.into());
+            }
+            Ok(PusPacketHandlerResult::RequestHandled)
+        }
+    }
+
+    const TIMEOUT_ERROR_CODE: ResultU16 = ResultU16::new(1, 2);
+    const COMPLETION_ERROR_CODE: ResultU16 = ResultU16::new(2, 0);
+    const COMPLETION_ERROR_CODE_STEP: ResultU16 = ResultU16::new(2, 1);
+
+    #[derive(Default)]
+    pub struct TestReplyHandlerHook {
+        pub unexpected_replies: VecDeque<GenericActionReplyPus>,
+        pub timeouts: RefCell<VecDeque<ActivePusActionRequest>>,
+    }
+
+    impl ReplyHandlerHook<ActivePusActionRequest, ActionReplyPusWithActionId> for TestReplyHandlerHook {
+        fn handle_unexpected_reply(&mut self, reply: &GenericActionReplyPus) {
+            self.unexpected_replies.push_back(reply.clone());
+        }
+
+        fn timeout_callback(&self, active_request: &ActivePusActionRequest) {
+            self.timeouts.borrow_mut().push_back(active_request.clone());
+        }
+
+        fn timeout_error_code(&self) -> ResultU16 {
+            TIMEOUT_ERROR_CODE
+        }
+    }
+
+    pub struct Pus8ReplyTestbench {
+        verif_reporter: TestVerificationReporter,
+        #[allow(dead_code)]
+        ecss_tm_receiver: mpsc::Receiver<Vec<u8>>,
+        handler: PusService8ReplyHandler<
+            TestVerificationReporter,
+            DefaultActiveActionRequestMap,
+            TestReplyHandlerHook,
+            mpsc::Sender<Vec<u8>>,
+        >,
+    }
+
+    impl Pus8ReplyTestbench {
+        pub fn new(normal_ctor: bool) -> Self {
+            let reply_handler_hook = TestReplyHandlerHook::default();
+            let shared_verif_map = SharedVerificationMap::default();
+            let test_verif_reporter = TestVerificationReporter::new(shared_verif_map.clone());
+            let (ecss_tm_sender, ecss_tm_receiver) = mpsc::channel();
+            let reply_handler = if normal_ctor {
+                PusService8ReplyHandler::new_from_now_with_default_map(
+                    test_verif_reporter.clone(),
+                    128,
+                    reply_handler_hook,
+                    ecss_tm_sender,
+                )
+                .expect("creating reply handler failed")
+            } else {
+                PusService8ReplyHandler::new_from_now(
+                    test_verif_reporter.clone(),
+                    DefaultActiveActionRequestMap::default(),
+                    128,
+                    reply_handler_hook,
+                    ecss_tm_sender,
+                )
+                .expect("creating reply handler failed")
+            };
+            Self {
+                verif_reporter: test_verif_reporter,
+                ecss_tm_receiver,
+                handler: reply_handler,
+            }
+        }
+
+        pub fn init_handling_for_request(
+            &mut self,
+            request_id: RequestId,
+            _action_id: ActionId,
+        ) -> VerificationToken<TcStateStarted> {
+            assert!(!self.handler.request_active(request_id));
+            // let action_req = ActionRequest::new(action_id, ActionRequestVariant::NoData);
+            let token = self.add_tc_with_req_id(request_id.into());
+            let token = self
+                .verif_reporter
+                .acceptance_success(token, &[])
+                .expect("acceptance success failure");
+            let token = self
+                .verif_reporter
+                .start_success(token, &[])
+                .expect("start success failure");
+            let verif_info = self
+                .verif_reporter
+                .verification_info(&verification::RequestId::from(request_id))
+                .expect("no verification info found");
+            assert!(verif_info.started.expect("request was not started"));
+            assert!(verif_info.accepted.expect("request was not accepted"));
+            token
+        }
+
+        pub fn next_unrequested_reply(&self) -> Option<GenericActionReplyPus> {
+            self.handler.user_hook.unexpected_replies.front().cloned()
+        }
+
+        pub fn assert_request_completion_success(&self, step: Option<u16>, request_id: RequestId) {
+            let verif_info = self
+                .verif_reporter
+                .verification_info(&verification::RequestId::from(request_id))
+                .expect("no verification info found");
+            self.assert_request_completion_common(request_id, &verif_info, step, true);
+        }
+
+        pub fn assert_request_completion_failure(
+            &self,
+            step: Option<u16>,
+            request_id: RequestId,
+            fail_enum: ResultU16,
+            fail_data: &[u8],
+        ) {
+            let verif_info = self
+                .verif_reporter
+                .verification_info(&verification::RequestId::from(request_id))
+                .expect("no verification info found");
+            self.assert_request_completion_common(request_id, &verif_info, step, false);
+            assert_eq!(verif_info.fail_enum.unwrap(), fail_enum.raw() as u64);
+            assert_eq!(verif_info.failure_data.unwrap(), fail_data);
+        }
+
+        pub fn assert_request_completion_common(
+            &self,
+            request_id: RequestId,
+            verif_info: &VerificationStatus,
+            step: Option<u16>,
+            completion_success: bool,
+        ) {
+            if let Some(step) = step {
+                assert!(verif_info.step_status.is_some());
+                assert!(verif_info.step_status.unwrap());
+                assert_eq!(step, verif_info.step);
+            }
+            assert_eq!(
+                verif_info.completed.expect("request is not completed"),
+                completion_success
+            );
+            assert!(!self.handler.request_active(request_id));
+        }
+
+        pub fn assert_request_step_failure(&self, step: u16, request_id: RequestId) {
+            let verif_info = self
+                .verif_reporter
+                .verification_info(&verification::RequestId::from(request_id))
+                .expect("no verification info found");
+            assert!(verif_info.step_status.is_some());
+            assert!(!verif_info.step_status.unwrap());
+            assert_eq!(step, verif_info.step);
+        }
+        pub fn add_routed_request(
+            &mut self,
+            request_id: verification::RequestId,
+            target_id: TargetId,
+            action_id: ActionId,
+            token: VerificationToken<TcStateStarted>,
+            timeout: Duration,
+        ) {
+            if self.handler.request_active(request_id.into()) {
+                panic!("request already present");
+            }
+            self.handler
+                .add_routed_action_request(request_id, target_id, action_id, token, timeout);
+            if !self.handler.request_active(request_id.into()) {
+                panic!("request should be active now");
+            }
+        }
+
         delegate! {
             to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+                pub fn request_active(&self, request_id: RequestId) -> bool;
+
+        pub fn handle_action_reply(
+            &mut self,
+            action_reply_with_ids: GenericMessage<ActionReplyPusWithActionId>,
+            time_stamp: &[u8]
+        ) -> Result<(), EcssTmtcError>;
+
+                pub fn update_time_from_now(&mut self) -> Result<(), SystemTimeError>;
+
+                pub fn check_for_timeouts(&mut self, time_stamp: &[u8]) -> Result<(), EcssTmtcError>;
+            }
+            to self.verif_reporter {
+                fn add_tc_with_req_id(&mut self, req_id: verification::RequestId) -> VerificationToken<TcStateNone>;
             }
         }
     }
 
     #[test]
-    fn basic_test() {
-        let mut action_handler = Pus8HandlerWithVecTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
-        let action_id: u32 = 1;
-        let action_id_raw = action_id.to_be_bytes();
-        let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
-        action_handler.send_tc(&tc);
-        let result = action_handler.handle_one_tc();
-        assert!(result.is_ok());
-        action_handler.check_next_conversion(&tc);
-        let (target_id, action_req) = action_handler.retrieve_next_request();
-        assert_eq!(target_id, TEST_APID.into());
-        if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
-            assert_eq!(action_id, 1);
-            assert_eq!(data, &[]);
-        }
+    fn test_reply_handler_completion_success() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let sender_id = 0x06;
+        let request_id = 0x02;
+        let target_id = 0x05;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        assert!(reply_testbench.request_active(request_id));
+        let action_reply = GenericMessage::new(
+            request_id,
+            sender_id,
+            ActionReplyPusWithActionId {
+                action_id,
+                variant: ActionReplyPus::Completed,
+            },
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        reply_testbench.assert_request_completion_success(None, request_id);
     }
 
     #[test]
-    fn test_routing_error() {
-        let mut action_handler = Pus8HandlerWithVecTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
-        let action_id: u32 = 1;
-        let action_id_raw = action_id.to_be_bytes();
-        let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
-        let error = GenericRoutingError::UnknownTargetId(25);
-        action_handler
-            .handler
-            .request_router
-            .inject_routing_error(error);
-        action_handler.send_tc(&tc);
-        let result = action_handler.handle_one_tc();
-        assert!(result.is_err());
-        let check_error = |routing_error: GenericRoutingError| {
-            if let GenericRoutingError::UnknownTargetId(id) = routing_error {
-                assert_eq!(id, 25);
-            } else {
-                panic!("unexpected error type");
-            }
-        };
-        if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
-            check_error(routing_error);
-        } else {
-            panic!("unexpected error type");
-        }
-
-        action_handler.check_next_conversion(&tc);
-        let (target_id, action_req) = action_handler.retrieve_next_request();
-        assert_eq!(target_id, TEST_APID.into());
-        if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
-            assert_eq!(action_id, 1);
-            assert_eq!(data, &[]);
-        }
-
-        let (target_id, found_error) = action_handler.retrieve_next_error();
-        assert_eq!(target_id, TEST_APID.into());
-        check_error(found_error);
+    fn test_reply_handler_step_success() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(false);
+        let request_id = 0x02;
+        let target_id = 0x05;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            action_id,
+            action_id,
+            ActionReplyPus::StepSuccess { step: 1 },
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            action_id,
+            action_id,
+            ActionReplyPus::Completed,
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        reply_testbench.assert_request_completion_success(Some(1), request_id);
     }
+
+    #[test]
+    fn test_reply_handler_completion_failure() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let sender_id = 0x01;
+        let request_id = 0x02;
+        let target_id = 0x05;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        let params_raw = ParamsRaw::U32(params::U32(5));
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            sender_id,
+            action_id,
+            ActionReplyPus::CompletionFailed {
+                error_code: COMPLETION_ERROR_CODE,
+                params: params_raw.into(),
+            },
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        reply_testbench.assert_request_completion_failure(
+            None,
+            request_id,
+            COMPLETION_ERROR_CODE,
+            &params_raw.to_vec().unwrap(),
+        );
+    }
+
+    #[test]
+    fn test_reply_handler_step_failure() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(false);
+        let sender_id = 0x01;
+        let request_id = 0x02;
+        let target_id = 0x05;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            sender_id,
+            action_id,
+            ActionReplyPus::StepFailed {
+                error_code: COMPLETION_ERROR_CODE_STEP,
+                step: 2,
+                params: ParamsRaw::U32(crate::params::U32(5)).into(),
+            },
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        reply_testbench.assert_request_step_failure(2, request_id);
+    }
+
+    #[test]
+    fn test_reply_handler_timeout_handling() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let request_id = 0x02;
+        let target_id = 0x06;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        let timeout_param = Duration::from_millis(1).as_millis() as u64;
+        let timeout_param_raw = timeout_param.to_be_bytes();
+        std::thread::sleep(Duration::from_millis(2));
+        reply_testbench
+            .update_time_from_now()
+            .expect("time update failure");
+        reply_testbench.check_for_timeouts(&[]).unwrap();
+        reply_testbench.assert_request_completion_failure(
+            None,
+            request_id,
+            TIMEOUT_ERROR_CODE,
+            &timeout_param_raw,
+        );
+    }
+
+    #[test]
+    fn test_unrequested_reply() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let sender_id = 0x01;
+        let request_id = 0x02;
+        let action_id = 0x03;
+
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            sender_id,
+            action_id,
+            ActionReplyPus::Completed,
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        let reply = reply_testbench.next_unrequested_reply();
+        assert!(reply.is_some());
+        let reply = reply.unwrap();
+        assert_eq!(reply.message.action_id, action_id);
+        assert_eq!(reply.request_id, request_id);
+        assert_eq!(reply.message.variant, ActionReplyPus::Completed);
+    }
+    */
 }

satrs/src/pus/event.rs

@@ -2,152 +2,130 @@ use crate::pus::{source_buffer_large_enough, EcssTmtcError};
 use spacepackets::ecss::tm::PusTmCreator;
 use spacepackets::ecss::tm::PusTmSecondaryHeader;
 use spacepackets::ecss::{EcssEnumeration, PusError};
+use spacepackets::ByteConversionError;
 use spacepackets::{SpHeader, MAX_APID};
 
 use crate::pus::EcssTmSenderCore;
+
 #[cfg(feature = "alloc")]
-pub use alloc_mod::EventReporter;
+pub use alloc_mod::*;
+
 pub use spacepackets::ecss::event::*;
 
-pub struct EventReporterBase {
-    msg_count: u16,
+pub struct EventReportCreator {
     apid: u16,
     pub dest_id: u16,
 }
 
-impl EventReporterBase {
-    pub fn new(apid: u16) -> Option<Self> {
+impl EventReportCreator {
+    pub fn new(apid: u16, dest_id: u16) -> Option<Self> {
         if apid > MAX_APID {
             return None;
         }
-        Some(Self {
-            msg_count: 0,
-            dest_id: 0,
-            apid,
-        })
+        Some(Self { dest_id, apid })
     }
 
-    pub fn event_info(
-        &mut self,
-        buf: &mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
+    pub fn event_info<'time, 'src_data>(
+        &self,
+        time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcError> {
+        params: Option<&'src_data [u8]>,
+        src_data_buf: &'src_data mut [u8],
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
-            buf,
             Subservice::TmInfoReport,
-            sender,
             time_stamp,
             event_id,
-            aux_data,
+            params,
+            src_data_buf,
         )
     }
 
-    pub fn event_low_severity(
-        &mut self,
-        buf: &mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
+    pub fn event_low_severity<'time, 'src_data>(
+        &self,
+        time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcError> {
+        params: Option<&'src_data [u8]>,
+        src_data_buf: &'src_data mut [u8],
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
-            buf,
             Subservice::TmLowSeverityReport,
-            sender,
             time_stamp,
             event_id,
-            aux_data,
+            params,
+            src_data_buf,
         )
     }
 
-    pub fn event_medium_severity(
-        &mut self,
-        buf: &mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
+    pub fn event_medium_severity<'time, 'src_data>(
+        &self,
+        time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcError> {
+        params: Option<&'src_data [u8]>,
+        buf: &'src_data mut [u8],
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
-            buf,
             Subservice::TmMediumSeverityReport,
-            sender,
             time_stamp,
             event_id,
-            aux_data,
-        )
-    }
-
-    pub fn event_high_severity(
-        &mut self,
-        buf: &mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
-        event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcError> {
-        self.generate_and_send_generic_tm(
+            params,
             buf,
-            Subservice::TmHighSeverityReport,
-            sender,
-            time_stamp,
-            event_id,
-            aux_data,
         )
     }
 
-    fn generate_and_send_generic_tm(
-        &mut self,
-        buf: &mut [u8],
-        subservice: Subservice,
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
+    pub fn event_high_severity<'time, 'src_data>(
+        &self,
+        time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcError> {
-        let tm = self.generate_generic_event_tm(buf, subservice, time_stamp, event_id, aux_data)?;
-        sender.send_tm(tm.into())?;
-        self.msg_count += 1;
-        Ok(())
+        params: Option<&'src_data [u8]>,
+        src_data_buf: &'src_data mut [u8],
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
+        self.generate_and_send_generic_tm(
+            Subservice::TmHighSeverityReport,
+            time_stamp,
+            event_id,
+            params,
+            src_data_buf,
+        )
     }
 
-    fn generate_generic_event_tm<'a>(
-        &'a self,
-        buf: &'a mut [u8],
+    fn generate_and_send_generic_tm<'time, 'src_data>(
+        &self,
         subservice: Subservice,
-        time_stamp: &'a [u8],
+        time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<PusTmCreator, EcssTmtcError> {
+        params: Option<&'src_data [u8]>,
+        src_data_buf: &'src_data mut [u8],
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
+        self.generate_generic_event_tm(subservice, time_stamp, event_id, params, src_data_buf)
+    }
+
+    fn generate_generic_event_tm<'time, 'src_data>(
+        &self,
+        subservice: Subservice,
+        time_stamp: &'time [u8],
+        event_id: impl EcssEnumeration,
+        params: Option<&'src_data [u8]>,
+        src_data_buf: &'src_data mut [u8],
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         let mut src_data_len = event_id.size();
-        if let Some(aux_data) = aux_data {
+        if let Some(aux_data) = params {
             src_data_len += aux_data.len();
         }
-        source_buffer_large_enough(buf.len(), src_data_len)?;
-        let mut sp_header = SpHeader::tm_unseg(self.apid, 0, 0).unwrap();
-        let sec_header = PusTmSecondaryHeader::new(
-            5,
-            subservice.into(),
-            self.msg_count,
-            self.dest_id,
-            Some(time_stamp),
-        );
+        source_buffer_large_enough(src_data_buf.len(), src_data_len)?;
+        let sec_header =
+            PusTmSecondaryHeader::new(5, subservice.into(), 0, self.dest_id, time_stamp);
         let mut current_idx = 0;
-        event_id
-            .write_to_be_bytes(&mut buf[0..event_id.size()])
-            .map_err(PusError::ByteConversion)?;
+        event_id.write_to_be_bytes(&mut src_data_buf[0..event_id.size()])?;
         current_idx += event_id.size();
-        if let Some(aux_data) = aux_data {
-            buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
+        if let Some(aux_data) = params {
+            src_data_buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
             current_idx += aux_data.len();
         }
         Ok(PusTmCreator::new(
-            &mut sp_header,
+            SpHeader::new_from_apid(self.apid),
             sec_header,
-            &buf[0..current_idx],
+            &src_data_buf[0..current_idx],
             true,
         ))
     }
@@ -156,84 +134,130 @@ impl EventReporterBase {
 #[cfg(feature = "alloc")]
 mod alloc_mod {
     use super::*;
+    use crate::ComponentId;
     use alloc::vec;
     use alloc::vec::Vec;
+    use core::cell::RefCell;
 
-    pub struct EventReporter {
-        source_data_buf: Vec<u8>,
-        pub reporter: EventReporterBase,
+    pub trait EventTmHookProvider {
+        fn modify_tm(&self, tm: &mut PusTmCreator);
     }
 
-    impl EventReporter {
-        pub fn new(apid: u16, max_event_id_and_aux_data_size: usize) -> Option<Self> {
-            let reporter = EventReporterBase::new(apid)?;
+    #[derive(Default)]
+    pub struct DummyEventHook {}
+
+    impl EventTmHookProvider for DummyEventHook {
+        fn modify_tm(&self, _tm: &mut PusTmCreator) {}
+    }
+
+    pub struct EventReporter<EventTmHook: EventTmHookProvider = DummyEventHook> {
+        id: ComponentId,
+        // Use interior mutability pattern here. This is just an intermediate buffer to the PUS event packet
+        // generation.
+        source_data_buf: RefCell<Vec<u8>>,
+        pub report_creator: EventReportCreator,
+        pub tm_hook: EventTmHook,
+    }
+
+    impl EventReporter<DummyEventHook> {
+        pub fn new(
+            id: ComponentId,
+            default_apid: u16,
+            default_dest_id: u16,
+            max_event_id_and_aux_data_size: usize,
+        ) -> Option<Self> {
+            let reporter = EventReportCreator::new(default_apid, default_dest_id)?;
             Some(Self {
-                source_data_buf: vec![0; max_event_id_and_aux_data_size],
-                reporter,
+                id,
+                source_data_buf: RefCell::new(vec![0; max_event_id_and_aux_data_size]),
+                report_creator: reporter,
+                tm_hook: DummyEventHook::default(),
             })
         }
+    }
+    impl<EventTmHook: EventTmHookProvider> EventReporter<EventTmHook> {
+        pub fn new_with_hook(
+            id: ComponentId,
+            default_apid: u16,
+            default_dest_id: u16,
+            max_event_id_and_aux_data_size: usize,
+            tm_hook: EventTmHook,
+        ) -> Option<Self> {
+            let reporter = EventReportCreator::new(default_apid, default_dest_id)?;
+            Some(Self {
+                id,
+                source_data_buf: RefCell::new(vec![0; max_event_id_and_aux_data_size]),
+                report_creator: reporter,
+                tm_hook,
+            })
+        }
+
         pub fn event_info(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
-            aux_data: Option<&[u8]>,
+            params: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_info(
-                self.source_data_buf.as_mut_slice(),
-                sender,
-                time_stamp,
-                event_id,
-                aux_data,
-            )
+            let mut mut_buf = self.source_data_buf.borrow_mut();
+            let mut tm_creator = self
+                .report_creator
+                .event_info(time_stamp, event_id, params, mut_buf.as_mut_slice())
+                .map_err(PusError::ByteConversion)?;
+            self.tm_hook.modify_tm(&mut tm_creator);
+            sender.send_tm(self.id, tm_creator.into())?;
+            Ok(())
         }
 
         pub fn event_low_severity(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
-            aux_data: Option<&[u8]>,
+            params: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_low_severity(
-                self.source_data_buf.as_mut_slice(),
-                sender,
-                time_stamp,
-                event_id,
-                aux_data,
-            )
+            let mut mut_buf = self.source_data_buf.borrow_mut();
+            let mut tm_creator = self
+                .report_creator
+                .event_low_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
+                .map_err(PusError::ByteConversion)?;
+            self.tm_hook.modify_tm(&mut tm_creator);
+            sender.send_tm(self.id, tm_creator.into())?;
+            Ok(())
         }
 
         pub fn event_medium_severity(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
-            aux_data: Option<&[u8]>,
+            params: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_medium_severity(
-                self.source_data_buf.as_mut_slice(),
-                sender,
-                time_stamp,
-                event_id,
-                aux_data,
-            )
+            let mut mut_buf = self.source_data_buf.borrow_mut();
+            let mut tm_creator = self
+                .report_creator
+                .event_medium_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
+                .map_err(PusError::ByteConversion)?;
+            self.tm_hook.modify_tm(&mut tm_creator);
+            sender.send_tm(self.id, tm_creator.into())?;
+            Ok(())
         }
 
         pub fn event_high_severity(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
-            aux_data: Option<&[u8]>,
+            params: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_high_severity(
-                self.source_data_buf.as_mut_slice(),
-                sender,
-                time_stamp,
-                event_id,
-                aux_data,
-            )
+            let mut mut_buf = self.source_data_buf.borrow_mut();
+            let mut tm_creator = self
+                .report_creator
+                .event_high_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
+                .map_err(PusError::ByteConversion)?;
+            self.tm_hook.modify_tm(&mut tm_creator);
+            sender.send_tm(self.id, tm_creator.into())?;
+            Ok(())
         }
     }
 }
@@ -242,9 +266,10 @@ mod alloc_mod {
 mod tests {
     use super::*;
     use crate::events::{EventU32, Severity};
+    use crate::pus::test_util::TEST_COMPONENT_ID_0;
     use crate::pus::tests::CommonTmInfo;
-    use crate::pus::{EcssChannel, PusTmWrapper};
-    use crate::ChannelId;
+    use crate::pus::{ChannelWithId, PusTmVariant};
+    use crate::ComponentId;
     use spacepackets::ByteConversionError;
     use std::cell::RefCell;
     use std::collections::VecDeque;
@@ -258,6 +283,7 @@ mod tests {
 
     #[derive(Debug, Eq, PartialEq, Clone)]
     struct TmInfo {
+        pub sender_id: ComponentId,
         pub common: CommonTmInfo,
         pub event: EventU32,
         pub aux_data: Vec<u8>,
@@ -268,19 +294,19 @@ mod tests {
         pub service_queue: RefCell<VecDeque<TmInfo>>,
     }
 
-    impl EcssChannel for TestSender {
-        fn id(&self) -> ChannelId {
+    impl ChannelWithId for TestSender {
+        fn id(&self) -> ComponentId {
             0
         }
     }
 
     impl EcssTmSenderCore for TestSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+        fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
             match tm {
-                PusTmWrapper::InStore(_) => {
+                PusTmVariant::InStore(_) => {
                     panic!("TestSender: unexpected call with address");
                 }
-                PusTmWrapper::Direct(tm) => {
+                PusTmVariant::Direct(tm) => {
                     assert!(!tm.source_data().is_empty());
                     let src_data = tm.source_data();
                     assert!(src_data.len() >= 4);
@@ -291,6 +317,7 @@ mod tests {
                         aux_data.extend_from_slice(&src_data[4..]);
                     }
                     self.service_queue.borrow_mut().push_back(TmInfo {
+                        sender_id,
                         common: CommonTmInfo::new_from_tm(&tm),
                         event,
                         aux_data,
@@ -348,7 +375,12 @@ mod tests {
         error_data: Option<&[u8]>,
     ) {
         let mut sender = TestSender::default();
-        let reporter = EventReporter::new(EXAMPLE_APID, max_event_aux_data_buf);
+        let reporter = EventReporter::new(
+            TEST_COMPONENT_ID_0.id(),
+            EXAMPLE_APID,
+            0,
+            max_event_aux_data_buf,
+        );
         assert!(reporter.is_some());
         let mut reporter = reporter.unwrap();
         let time_stamp_empty: [u8; 7] = [0; 7];
@@ -378,6 +410,7 @@ mod tests {
         assert_eq!(tm_info.common.msg_counter, 0);
         assert_eq!(tm_info.common.apid, EXAMPLE_APID);
         assert_eq!(tm_info.event, event);
+        assert_eq!(tm_info.sender_id, TEST_COMPONENT_ID_0.id());
         assert_eq!(tm_info.aux_data, error_copy);
     }
 
@@ -440,7 +473,7 @@ mod tests {
     fn insufficient_buffer() {
         let mut sender = TestSender::default();
         for i in 0..3 {
-            let reporter = EventReporter::new(EXAMPLE_APID, i);
+            let reporter = EventReporter::new(0, EXAMPLE_APID, 0, i);
             assert!(reporter.is_some());
             let mut reporter = reporter.unwrap();
             check_buf_too_small(&mut reporter, &mut sender, i);

satrs/src/pus/event_man.rs

@@ -2,8 +2,6 @@ use crate::events::{EventU32, GenericEvent, Severity};
 #[cfg(feature = "alloc")]
 use crate::events::{EventU32TypedSev, HasSeverity};
 #[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
 use core::hash::Hash;
 #[cfg(feature = "alloc")]
 use hashbrown::HashSet;
@@ -32,19 +30,19 @@ pub use heapless_mod::*;
 /// structure to track disabled events. A more primitive and embedded friendly
 /// solution could track this information in a static or pre-allocated list which contains
 /// the disabled events.
-pub trait PusEventMgmtBackendProvider<Provider: GenericEvent> {
+pub trait PusEventMgmtBackendProvider<Event: GenericEvent> {
     type Error;
 
-    fn event_enabled(&self, event: &Provider) -> bool;
-    fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
-    fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
+    fn event_enabled(&self, event: &Event) -> bool;
+    fn enable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
+    fn disable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
 }
 
 #[cfg(feature = "heapless")]
 pub mod heapless_mod {
     use super::*;
-    use crate::events::{GenericEvent, LargestEventRaw};
-    use std::marker::PhantomData;
+    use crate::events::LargestEventRaw;
+    use core::marker::PhantomData;
 
     #[cfg_attr(doc_cfg, doc(cfg(feature = "heapless")))]
     // TODO: After a new version of heapless is released which uses hash32 version 0.3, try using
@@ -108,6 +106,10 @@ impl From<EcssTmtcError> for EventManError {
 
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
+    use core::marker::PhantomData;
+
+    use crate::events::EventU16;
+
     use super::*;
 
     /// Default backend provider which uses a hash set as the event reporting status container
@@ -115,14 +117,11 @@ pub mod alloc_mod {
     ///
     /// This provider is a good option for host systems or larger embedded systems where
     /// the expected occasional memory allocation performed by the [HashSet] is not an issue.
-    pub struct DefaultPusMgmtBackendProvider<Event: GenericEvent = EventU32> {
+    pub struct DefaultPusEventMgmtBackend<Event: GenericEvent = EventU32> {
         disabled: HashSet<Event>,
     }
 
-    /// Safety: All contained field are [Send] as well
-    unsafe impl<Event: GenericEvent + Send> Send for DefaultPusMgmtBackendProvider<Event> {}
-
-    impl<Event: GenericEvent> Default for DefaultPusMgmtBackendProvider<Event> {
+    impl<Event: GenericEvent> Default for DefaultPusEventMgmtBackend<Event> {
         fn default() -> Self {
             Self {
                 disabled: HashSet::default(),
@@ -130,55 +129,59 @@ pub mod alloc_mod {
         }
     }
 
-    impl<Provider: GenericEvent + PartialEq + Eq + Hash + Copy + Clone>
-        PusEventMgmtBackendProvider<Provider> for DefaultPusMgmtBackendProvider<Provider>
+    impl<EV: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventMgmtBackendProvider<EV>
+        for DefaultPusEventMgmtBackend<EV>
     {
         type Error = ();
-        fn event_enabled(&self, event: &Provider) -> bool {
+
+        fn event_enabled(&self, event: &EV) -> bool {
             !self.disabled.contains(event)
         }
 
-        fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
+        fn enable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
             Ok(self.disabled.remove(event))
         }
 
-        fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
+        fn disable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
             Ok(self.disabled.insert(*event))
         }
     }
 
-    pub struct PusEventDispatcher<BackendError, Provider: GenericEvent> {
+    pub struct PusEventDispatcher<
+        B: PusEventMgmtBackendProvider<EV, Error = E>,
+        EV: GenericEvent,
+        E,
+    > {
         reporter: EventReporter,
-        backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
+        backend: B,
+        phantom: PhantomData<(E, EV)>,
     }
 
-    /// Safety: All contained fields are send as well.
-    unsafe impl<E: Send, Event: GenericEvent + Send> Send for PusEventDispatcher<E, Event> {}
-
-    impl<BackendError, Provider: GenericEvent> PusEventDispatcher<BackendError, Provider> {
-        pub fn new(
-            reporter: EventReporter,
-            backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
-        ) -> Self {
-            Self { reporter, backend }
+    impl<B: PusEventMgmtBackendProvider<Event, Error = E>, Event: GenericEvent, E>
+        PusEventDispatcher<B, Event, E>
+    {
+        pub fn new(reporter: EventReporter, backend: B) -> Self {
+            Self {
+                reporter,
+                backend,
+                phantom: PhantomData,
+            }
         }
-    }
 
-    impl<BackendError, Event: GenericEvent> PusEventDispatcher<BackendError, Event> {
-        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
+        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
             self.backend.enable_event_reporting(event)
         }
 
-        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
+        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
             self.backend.disable_event_reporting(event)
         }
 
         pub fn generate_pus_event_tm_generic(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event: Event,
-            aux_data: Option<&[u8]>,
+            params: Option<&[u8]>,
         ) -> Result<bool, EventManError> {
             if !self.backend.event_enabled(&event) {
                 return Ok(false);
@@ -186,46 +189,58 @@ pub mod alloc_mod {
             match event.severity() {
                 Severity::INFO => self
                     .reporter
-                    .event_info(sender, time_stamp, event, aux_data)
+                    .event_info(sender, time_stamp, event, params)
                     .map(|_| true)
                     .map_err(|e| e.into()),
                 Severity::LOW => self
                     .reporter
-                    .event_low_severity(sender, time_stamp, event, aux_data)
+                    .event_low_severity(sender, time_stamp, event, params)
                     .map(|_| true)
                     .map_err(|e| e.into()),
                 Severity::MEDIUM => self
                     .reporter
-                    .event_medium_severity(sender, time_stamp, event, aux_data)
+                    .event_medium_severity(sender, time_stamp, event, params)
                     .map(|_| true)
                     .map_err(|e| e.into()),
                 Severity::HIGH => self
                     .reporter
-                    .event_high_severity(sender, time_stamp, event, aux_data)
+                    .event_high_severity(sender, time_stamp, event, params)
                     .map(|_| true)
                     .map_err(|e| e.into()),
             }
         }
     }
 
-    impl<BackendError> PusEventDispatcher<BackendError, EventU32> {
+    impl<EV: GenericEvent + Copy + PartialEq + Eq + Hash>
+        PusEventDispatcher<DefaultPusEventMgmtBackend<EV>, EV, ()>
+    {
+        pub fn new_with_default_backend(reporter: EventReporter) -> Self {
+            Self {
+                reporter,
+                backend: DefaultPusEventMgmtBackend::default(),
+                phantom: PhantomData,
+            }
+        }
+    }
+
+    impl<B: PusEventMgmtBackendProvider<EventU32, Error = E>, E> PusEventDispatcher<B, EventU32, E> {
         pub fn enable_tm_for_event_with_sev<Severity: HasSeverity>(
             &mut self,
             event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, BackendError> {
+        ) -> Result<bool, E> {
             self.backend.enable_event_reporting(event.as_ref())
         }
 
         pub fn disable_tm_for_event_with_sev<Severity: HasSeverity>(
             &mut self,
             event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, BackendError> {
+        ) -> Result<bool, E> {
             self.backend.disable_event_reporting(event.as_ref())
         }
 
         pub fn generate_pus_event_tm<Severity: HasSeverity>(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event: EventU32TypedSev<Severity>,
             aux_data: Option<&[u8]>,
@@ -233,32 +248,45 @@ pub mod alloc_mod {
             self.generate_pus_event_tm_generic(sender, time_stamp, event.into(), aux_data)
         }
     }
+
+    pub type DefaultPusEventU16Dispatcher<E> =
+        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU16>, EventU16, E>;
+    pub type DefaultPusEventU32Dispatcher<E> =
+        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU32>, EventU32, E>;
 }
 #[cfg(test)]
 mod tests {
     use super::*;
     use crate::events::SeverityInfo;
-    use crate::pus::MpscTmAsVecSender;
-    use std::sync::mpsc::{channel, TryRecvError};
+    use crate::pus::PusTmAsVec;
+    use crate::request::UniqueApidTargetId;
+    use std::sync::mpsc::{self, TryRecvError};
 
     const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
         EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
     const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
     const EMPTY_STAMP: [u8; 7] = [0; 7];
+    const TEST_APID: u16 = 0x02;
+    const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
 
-    fn create_basic_man() -> PusEventDispatcher<(), EventU32> {
-        let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
-        let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
-        PusEventDispatcher::new(reporter, Box::new(backend))
+    fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
+        let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
+            .expect("Creating event repoter failed");
+        PusEventDispatcher::new_with_default_backend(reporter)
+    }
+    fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
+        let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
+            .expect("Creating event repoter failed");
+        let backend = DefaultPusEventMgmtBackend::default();
+        PusEventDispatcher::new(reporter, backend)
     }
 
     #[test]
     fn test_basic() {
-        let mut event_man = create_basic_man();
-        let (event_tx, event_rx) = channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test_sender", event_tx);
+        let event_man = create_basic_man_1();
+        let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
         let event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
+            .generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
             .expect("Sending info event failed");
 
         assert!(event_sent);
@@ -268,14 +296,14 @@ mod tests {
 
     #[test]
     fn test_disable_event() {
-        let mut event_man = create_basic_man();
-        let (event_tx, event_rx) = channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
+        let mut event_man = create_basic_man_2();
+        let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
+        // let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
         let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
         assert!(res.is_ok());
         assert!(res.unwrap());
         let mut event_sent = event_man
-            .generate_pus_event_tm_generic(&mut sender, &EMPTY_STAMP, LOW_SEV_EVENT, None)
+            .generate_pus_event_tm_generic(&event_tx, &EMPTY_STAMP, LOW_SEV_EVENT, None)
             .expect("Sending low severity event failed");
         assert!(!event_sent);
         let res = event_rx.try_recv();
@@ -283,7 +311,7 @@ mod tests {
         assert!(matches!(res.unwrap_err(), TryRecvError::Empty));
         // Check that only the low severity event was disabled
         event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
+            .generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
             .expect("Sending info event failed");
         assert!(event_sent);
         event_rx.try_recv().expect("No info event received");
@@ -291,9 +319,8 @@ mod tests {
 
     #[test]
     fn test_reenable_event() {
-        let mut event_man = create_basic_man();
-        let (event_tx, event_rx) = channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
+        let mut event_man = create_basic_man_1();
+        let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
         let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
         assert!(res.is_ok());
         assert!(res.unwrap());
@@ -301,7 +328,7 @@ mod tests {
         assert!(res.is_ok());
         assert!(res.unwrap());
         let event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
+            .generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
             .expect("Sending info event failed");
         assert!(event_sent);
         event_rx.try_recv().expect("No info event received");

satrs/src/pus/event_srv.rs

@@ -2,46 +2,63 @@ use crate::events::EventU32;
 use crate::pus::event_man::{EventRequest, EventRequestWithToken};
 use crate::pus::verification::TcStateToken;
 use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
+use crate::queue::GenericSendError;
 use spacepackets::ecss::event::Subservice;
 use spacepackets::ecss::PusPacket;
 use std::sync::mpsc::Sender;
 
 use super::verification::VerificationReportingProvider;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+use super::{
+    EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericConversionError,
+    GenericRoutingError, PusServiceHelper,
+};
 
-pub struct PusService5EventHandler<
+pub struct PusEventServiceHandler<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
     VerificationReporter: VerificationReportingProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
     event_request_tx: Sender<EventRequestWithToken>,
 }
 
 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
-    > PusService5EventHandler<TcInMemConverter, VerificationReporter>
+    > PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     pub fn new(
-        service_handler: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
         event_request_tx: Sender<EventRequestWithToken>,
     ) -> Self {
         Self {
-            service_helper: service_handler,
+            service_helper,
             event_request_tx,
         }
     }
 
-    pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    pub fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
             return Ok(PusPacketHandlerResult::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
-        let tc = self
-            .service_helper
-            .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
+        self.service_helper
+            .tc_in_mem_converter_mut()
+            .cache(&ecss_tc_and_token.tc_in_memory)?;
+        let tc = self.service_helper.tc_in_mem_converter().convert()?;
         let subservice = tc.subservice();
         let srv = Subservice::try_from(subservice);
         if srv.is_err() {
@@ -50,65 +67,73 @@ impl<
                 ecss_tc_and_token.token,
             ));
         }
-        let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
-            if tc.user_data().len() < 4 {
-                return Err(PusPacketHandlingError::NotEnoughAppData {
-                    expected: 4,
-                    found: tc.user_data().len(),
-                });
-            }
-            let user_data = tc.user_data();
-            let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
-            let start_token = self
-                .service_helper
-                .common
-                .verification_handler
-                .start_success(ecss_tc_and_token.token, &stamp)
-                .map_err(|_| PartialPusHandlingError::Verification);
-            let partial_error = start_token.clone().err();
-            let mut token: TcStateToken = ecss_tc_and_token.token.into();
-            if let Ok(start_token) = start_token {
-                token = start_token.into();
-            }
-            let event_req_with_token = if enable {
-                EventRequestWithToken {
-                    request: EventRequest::Enable(event_u32),
-                    token,
+        let handle_enable_disable_request =
+            |enable: bool| -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+                if tc.user_data().len() < 4 {
+                    return Err(GenericConversionError::NotEnoughAppData {
+                        expected: 4,
+                        found: tc.user_data().len(),
+                    }
+                    .into());
                 }
-            } else {
-                EventRequestWithToken {
-                    request: EventRequest::Disable(event_u32),
-                    token,
+                let user_data = tc.user_data();
+                let event_u32 =
+                    EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
+                let start_token = self
+                    .service_helper
+                    .common
+                    .verif_reporter
+                    .start_success(
+                        &self.service_helper.common.tm_sender,
+                        ecss_tc_and_token.token,
+                        time_stamp,
+                    )
+                    .map_err(|_| PartialPusHandlingError::Verification);
+                let partial_error = start_token.clone().err();
+                let mut token: TcStateToken = ecss_tc_and_token.token.into();
+                if let Ok(start_token) = start_token {
+                    token = start_token.into();
                 }
+                let event_req_with_token = if enable {
+                    EventRequestWithToken {
+                        request: EventRequest::Enable(event_u32),
+                        token,
+                    }
+                } else {
+                    EventRequestWithToken {
+                        request: EventRequest::Disable(event_u32),
+                        token,
+                    }
+                };
+                self.event_request_tx
+                    .send(event_req_with_token)
+                    .map_err(|_| {
+                        PusPacketHandlingError::RequestRouting(GenericRoutingError::Send(
+                            GenericSendError::RxDisconnected,
+                        ))
+                    })?;
+                if let Some(partial_error) = partial_error {
+                    return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
+                        partial_error,
+                    ));
+                }
+                Ok(PusPacketHandlerResult::RequestHandled)
             };
-            self.event_request_tx
-                .send(event_req_with_token)
-                .map_err(|_| {
-                    PusPacketHandlingError::Other("Forwarding event request failed".into())
-                })?;
-            if let Some(partial_error) = partial_error {
-                return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                    partial_error,
-                ));
-            }
-            Ok(PusPacketHandlerResult::RequestHandled)
-        };
-        let mut partial_error = None;
-        let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-            &mut partial_error,
-        );
+
         match srv.unwrap() {
             Subservice::TmInfoReport
             | Subservice::TmLowSeverityReport
             | Subservice::TmMediumSeverityReport
             | Subservice::TmHighSeverityReport => {
-                return Err(PusPacketHandlingError::InvalidSubservice(tc.subservice()))
+                return Err(PusPacketHandlingError::RequestConversion(
+                    GenericConversionError::WrongService(tc.subservice()),
+                ))
             }
             Subservice::TcEnableEventGeneration => {
-                handle_enable_disable_request(true, time_stamp)?;
+                handle_enable_disable_request(true)?;
             }
             Subservice::TcDisableEventGeneration => {
-                handle_enable_disable_request(false, time_stamp)?;
+                handle_enable_disable_request(false)?;
             }
             Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
                 return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
@@ -126,53 +151,70 @@ impl<
 mod tests {
     use delegate::delegate;
     use spacepackets::ecss::event::Subservice;
+    use spacepackets::time::{cds, TimeWriter};
     use spacepackets::util::UnsignedEnum;
     use spacepackets::{
         ecss::{
             tc::{PusTcCreator, PusTcSecondaryHeader},
             tm::PusTmReader,
         },
-        SequenceFlags, SpHeader,
+        SpHeader,
     };
     use std::sync::mpsc::{self, Sender};
 
     use crate::pus::event_man::EventRequest;
-    use crate::pus::tests::SimplePusPacketHandler;
-    use crate::pus::verification::{RequestId, VerificationReporterWithSender};
+    use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
+    use crate::pus::verification::{
+        RequestId, VerificationReporter, VerificationReportingProvider,
+    };
+    use crate::pus::{GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSenderBounded};
     use crate::{
         events::EventU32,
         pus::{
             event_man::EventRequestWithToken,
-            tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness, TEST_APID},
+            tests::PusServiceHandlerWithSharedStoreCommon,
             verification::{TcStateAccepted, VerificationToken},
             EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
         },
     };
 
-    use super::PusService5EventHandler;
+    use super::PusEventServiceHandler;
 
     const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
 
     struct Pus5HandlerWithStoreTester {
         common: PusServiceHandlerWithSharedStoreCommon,
-        handler:
-            PusService5EventHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
+        handler: PusEventServiceHandler<
+            MpscTcReceiver,
+            MpscTmInSharedPoolSenderBounded,
+            EcssTcInSharedStoreConverter,
+            VerificationReporter,
+        >,
     }
 
     impl Pus5HandlerWithStoreTester {
         pub fn new(event_request_tx: Sender<EventRequestWithToken>) -> Self {
-            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(0);
             Self {
                 common,
-                handler: PusService5EventHandler::new(srv_handler, event_request_tx),
+                handler: PusEventServiceHandler::new(srv_handler, event_request_tx),
             }
         }
     }
 
     impl PusTestHarness for Pus5HandlerWithStoreTester {
+        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
+            self.handler
+                .service_helper
+                .verif_reporter()
+                .acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
+                .expect("acceptance success failure")
+        }
+
         delegate! {
             to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
                 fn read_next_tm(&mut self) -> PusTmReader<'_>;
                 fn check_no_tm_available(&self) -> bool;
                 fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
@@ -182,10 +224,9 @@ mod tests {
     }
 
     impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
-        delegate! {
-            to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-            }
+        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+            let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
+            self.handler.poll_and_handle_next_tc(&time_stamp)
         }
     }
 
@@ -195,15 +236,16 @@ mod tests {
         expected_event_req: EventRequest,
         event_req_receiver: mpsc::Receiver<EventRequestWithToken>,
     ) {
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
         let sec_header = PusTcSecondaryHeader::new_simple(5, subservice as u8);
         let mut app_data = [0; 4];
         TEST_EVENT_0
             .write_to_be_bytes(&mut app_data)
             .expect("writing test event failed");
-        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
-        let token = test_harness.send_tc(&ping_tc);
-        let request_id = token.req_id();
+        let ping_tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
+        let token = test_harness.init_verification(&ping_tc);
+        test_harness.send_tc(&token, &ping_tc);
+        let request_id = token.request_id();
         test_harness.handle_one_tc().unwrap();
         test_harness.check_next_verification_tm(1, request_id);
         test_harness.check_next_verification_tm(3, request_id);
@@ -256,10 +298,11 @@ mod tests {
     fn test_sending_custom_subservice() {
         let (event_request_tx, _) = mpsc::channel();
         let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
         let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
-        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        test_harness.send_tc(&ping_tc);
+        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
+        let token = test_harness.init_verification(&ping_tc);
+        test_harness.send_tc(&token, &ping_tc);
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();
@@ -274,15 +317,19 @@ mod tests {
     fn test_sending_invalid_app_data() {
         let (event_request_tx, _) = mpsc::channel();
         let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
         let sec_header =
             PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
-        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
-        test_harness.send_tc(&ping_tc);
+        let ping_tc = PusTcCreator::new(sp_header, sec_header, &[0, 1, 2], true);
+        let token = test_harness.init_verification(&ping_tc);
+        test_harness.send_tc(&token, &ping_tc);
         let result = test_harness.handle_one_tc();
         assert!(result.is_err());
         let result = result.unwrap_err();
-        if let PusPacketHandlingError::NotEnoughAppData { expected, found } = result {
+        if let PusPacketHandlingError::RequestConversion(
+            GenericConversionError::NotEnoughAppData { expected, found },
+        ) = result
+        {
             assert_eq!(expected, 4);
             assert_eq!(found, 3);
         } else {

satrs/src/pus/hk.rs

@@ -1,394 +0,0 @@
-pub use spacepackets::ecss::hk::*;
-
-#[cfg(feature = "std")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
-pub use std_mod::*;
-
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub use alloc_mod::*;
-
-use crate::{hk::HkRequest, TargetId};
-
-use super::verification::{TcStateAccepted, VerificationToken};
-
-/// This trait is an abstraction for the routing of PUS service 3 housekeeping requests to a
-/// dedicated recipient using the generic [TargetId].
-pub trait PusHkRequestRouter {
-    type Error;
-    fn route(
-        &self,
-        target_id: TargetId,
-        hk_request: HkRequest,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<(), Self::Error>;
-}
-
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub mod alloc_mod {
-    use spacepackets::ecss::tc::PusTcReader;
-
-    use crate::pus::verification::VerificationReportingProvider;
-
-    use super::*;
-
-    /// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
-    /// a [HkRequest].
-    ///
-    /// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
-    /// The only requirement is that a valid [TargetId] and a [HkRequest] are returned by the
-    /// core conversion function.
-    ///
-    /// The user should take care of performing the error handling as well. Some of the following
-    /// aspects might be relevant:
-    ///
-    /// - Checking the validity of the APID, service ID, subservice ID.
-    /// - Checking the validity of the user data.
-    ///
-    /// A [VerificationReporterWithSender] instance is passed to the user to also allow handling
-    /// of the verification process as part of the PUS standard requirements.
-    pub trait PusHkToRequestConverter {
-        type Error;
-        fn convert(
-            &mut self,
-            token: VerificationToken<TcStateAccepted>,
-            tc: &PusTcReader,
-            time_stamp: &[u8],
-            verif_reporter: &impl VerificationReportingProvider,
-        ) -> Result<(TargetId, HkRequest), Self::Error>;
-    }
-}
-
-#[cfg(feature = "std")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
-pub mod std_mod {
-    use crate::pus::{
-        verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
-        PusServiceHelper,
-    };
-
-    use super::*;
-
-    /// This is a generic high-level handler for the PUS service 3 housekeeping service.
-    ///
-    /// It performs the following handling steps:
-    ///
-    /// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
-    ///    allows to configure the used telecommand memory backend.
-    /// 2. Convert the TC to a targeted action request using the provided
-    ///    [PusActionToRequestConverter]. The generic error type is constrained to the
-    ///    [PusPacketHandlerResult] for the concrete implementation which offers a packet handler.
-    /// 3. Route the action request using the provided [PusActionRequestRouter]. The generic error
-    ///    type is constrained to the [GenericRoutingError] for the concrete implementation.
-    /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler]. The generic error
-    ///    type is constrained to the [GenericRoutingError] for the concrete implementation.
-    pub struct PusService3HkHandler<
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-        RequestConverter: PusHkToRequestConverter,
-        RequestRouter: PusHkRequestRouter<Error = RoutingError>,
-        RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
-        RoutingError = GenericRoutingError,
-    > {
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
-        pub request_converter: RequestConverter,
-        pub request_router: RequestRouter,
-        pub routing_error_handler: RoutingErrorHandler,
-    }
-
-    impl<
-            TcInMemConverter: EcssTcInMemConverter,
-            VerificationReporter: VerificationReportingProvider,
-            RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
-            RequestRouter: PusHkRequestRouter<Error = RoutingError>,
-            RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
-            RoutingError: Clone,
-        >
-        PusService3HkHandler<
-            TcInMemConverter,
-            VerificationReporter,
-            RequestConverter,
-            RequestRouter,
-            RoutingErrorHandler,
-            RoutingError,
-        >
-    where
-        PusPacketHandlingError: From<RoutingError>,
-    {
-        pub fn new(
-            service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
-            request_converter: RequestConverter,
-            request_router: RequestRouter,
-            routing_error_handler: RoutingErrorHandler,
-        ) -> Self {
-            Self {
-                service_helper,
-                request_converter,
-                request_router,
-                routing_error_handler,
-            }
-        }
-
-        pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-            let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-            if possible_packet.is_none() {
-                return Ok(PusPacketHandlerResult::Empty);
-            }
-            let ecss_tc_and_token = possible_packet.unwrap();
-            let tc = self
-                .service_helper
-                .tc_in_mem_converter
-                .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-            let mut partial_error = None;
-            let time_stamp =
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
-            let (target_id, hk_request) = self.request_converter.convert(
-                ecss_tc_and_token.token,
-                &tc,
-                &time_stamp,
-                &self.service_helper.common.verification_handler,
-            )?;
-            if let Err(e) =
-                self.request_router
-                    .route(target_id, hk_request, ecss_tc_and_token.token)
-            {
-                self.routing_error_handler.handle_error(
-                    target_id,
-                    ecss_tc_and_token.token,
-                    &tc,
-                    e.clone(),
-                    &time_stamp,
-                    &self.service_helper.common.verification_handler,
-                );
-                return Err(e.into());
-            }
-            Ok(PusPacketHandlerResult::RequestHandled)
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use delegate::delegate;
-    use spacepackets::ecss::hk::Subservice;
-
-    use spacepackets::{
-        ecss::{
-            tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
-            tm::PusTmReader,
-            PusPacket,
-        },
-        CcsdsPacket, SequenceFlags, SpHeader,
-    };
-
-    use crate::{
-        hk::HkRequest,
-        pus::{
-            tests::{
-                PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
-                TestConverter, TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
-            },
-            verification::{
-                tests::TestVerificationReporter, FailParams, RequestId, TcStateAccepted,
-                VerificationReportingProvider, VerificationToken,
-            },
-            EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult,
-            PusPacketHandlingError,
-        },
-        TargetId,
-    };
-
-    use super::{PusHkRequestRouter, PusHkToRequestConverter, PusService3HkHandler};
-
-    impl PusHkRequestRouter for TestRouter<HkRequest> {
-        type Error = GenericRoutingError;
-
-        fn route(
-            &self,
-            target_id: TargetId,
-            hk_request: HkRequest,
-            _token: VerificationToken<TcStateAccepted>,
-        ) -> Result<(), Self::Error> {
-            self.routing_requests
-                .borrow_mut()
-                .push_back((target_id, hk_request));
-            self.check_for_injected_error()
-        }
-    }
-
-    impl PusHkToRequestConverter for TestConverter<3> {
-        type Error = PusPacketHandlingError;
-        fn convert(
-            &mut self,
-            token: VerificationToken<TcStateAccepted>,
-            tc: &PusTcReader,
-            time_stamp: &[u8],
-            verif_reporter: &impl VerificationReportingProvider,
-        ) -> Result<(TargetId, HkRequest), Self::Error> {
-            self.conversion_request.push_back(tc.raw_data().to_vec());
-            self.check_service(tc)?;
-            let target_id = tc.apid();
-            if tc.user_data().len() < 4 {
-                verif_reporter
-                    .start_failure(
-                        token,
-                        FailParams::new(
-                            time_stamp,
-                            &APP_DATA_TOO_SHORT,
-                            (tc.user_data().len() as u32).to_be_bytes().as_ref(),
-                        ),
-                    )
-                    .expect("start success failure");
-                return Err(PusPacketHandlingError::NotEnoughAppData {
-                    expected: 4,
-                    found: tc.user_data().len(),
-                });
-            }
-            if tc.subservice() == Subservice::TcGenerateOneShotHk as u8 {
-                verif_reporter
-                    .start_success(token, time_stamp)
-                    .expect("start success failure");
-                return Ok((
-                    target_id.into(),
-                    HkRequest::OneShot(u32::from_be_bytes(
-                        tc.user_data()[0..4].try_into().unwrap(),
-                    )),
-                ));
-            }
-            Err(PusPacketHandlingError::InvalidAppData(
-                "unexpected app data".into(),
-            ))
-        }
-    }
-
-    struct Pus3HandlerWithVecTester {
-        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
-        handler: PusService3HkHandler<
-            EcssTcInVecConverter,
-            TestVerificationReporter,
-            TestConverter<3>,
-            TestRouter<HkRequest>,
-            TestRoutingErrorHandler,
-        >,
-    }
-
-    impl Pus3HandlerWithVecTester {
-        pub fn new() -> Self {
-            let (common, srv_handler) =
-                PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
-            Self {
-                common,
-                handler: PusService3HkHandler::new(
-                    srv_handler,
-                    TestConverter::default(),
-                    TestRouter::default(),
-                    TestRoutingErrorHandler::default(),
-                ),
-            }
-        }
-
-        delegate! {
-            to self.handler.request_converter {
-                pub fn check_next_conversion(&mut self, tc: &PusTcCreator);
-            }
-        }
-        delegate! {
-            to self.handler.request_router {
-                pub fn retrieve_next_request(&mut self) -> (TargetId, HkRequest);
-            }
-        }
-        delegate! {
-            to self.handler.routing_error_handler {
-                pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
-            }
-        }
-    }
-
-    impl PusTestHarness for Pus3HandlerWithVecTester {
-        delegate! {
-            to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
-                fn read_next_tm(&mut self) -> PusTmReader<'_>;
-                fn check_no_tm_available(&self) -> bool;
-                fn check_next_verification_tm(
-                    &self,
-                    subservice: u8,
-                    expected_request_id: RequestId,
-                );
-            }
-        }
-    }
-    impl SimplePusPacketHandler for Pus3HandlerWithVecTester {
-        delegate! {
-            to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-            }
-        }
-    }
-
-    #[test]
-    fn basic_test() {
-        let mut hk_handler = Pus3HandlerWithVecTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
-        let unique_id: u32 = 1;
-        let unique_id_raw = unique_id.to_be_bytes();
-        let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
-        hk_handler.send_tc(&tc);
-        let result = hk_handler.handle_one_tc();
-        assert!(result.is_ok());
-        hk_handler.check_next_conversion(&tc);
-        let (target_id, hk_request) = hk_handler.retrieve_next_request();
-        assert_eq!(target_id, TEST_APID.into());
-        if let HkRequest::OneShot(id) = hk_request {
-            assert_eq!(id, unique_id);
-        } else {
-            panic!("unexpected request");
-        }
-    }
-
-    #[test]
-    fn test_routing_error() {
-        let mut hk_handler = Pus3HandlerWithVecTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
-        let unique_id: u32 = 1;
-        let unique_id_raw = unique_id.to_be_bytes();
-        let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
-        let error = GenericRoutingError::UnknownTargetId(25);
-        hk_handler
-            .handler
-            .request_router
-            .inject_routing_error(error);
-        hk_handler.send_tc(&tc);
-        let result = hk_handler.handle_one_tc();
-        assert!(result.is_err());
-        let check_error = |routing_error: GenericRoutingError| {
-            if let GenericRoutingError::UnknownTargetId(id) = routing_error {
-                assert_eq!(id, 25);
-            } else {
-                panic!("unexpected error type");
-            }
-        };
-        if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
-            check_error(routing_error);
-        } else {
-            panic!("unexpected error type");
-        }
-
-        hk_handler.check_next_conversion(&tc);
-        let (target_id, hk_req) = hk_handler.retrieve_next_request();
-        assert_eq!(target_id, TEST_APID.into());
-        if let HkRequest::OneShot(unique_id) = hk_req {
-            assert_eq!(unique_id, 1);
-        }
-
-        let (target_id, found_error) = hk_handler.retrieve_next_error();
-        assert_eq!(target_id, TEST_APID.into());
-        check_error(found_error);
-    }
-}