Major refactoring and update of PUS module

README.md

@@ -1,4 +1,4 @@
-<p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>
+<p align="center"> <img src="misc/satrs-logo.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/)
@@ -24,6 +24,11 @@ A lot of the architecture and general design considerations are based on the
 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:
@@ -40,7 +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 using low-level sat-rs components on a bare-metal system
+   Example of a simple example on-board software using sat-rs components on a bare-metal system
    with constrained resources.
 
 Each project has its own `CHANGELOG.md`.

satrs-book/src/communication.md

@@ -17,7 +17,7 @@ it is still centered around small packets. `sat-rs` provides support for these E
 standards and also attempts to fill the gap to the internet protocol by providing the following
 components.
 
-1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/index.html).
+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 library provides building blocks to parse telemetry
@@ -39,12 +39,8 @@ task might be to store all arriving telemetry persistently. This is especially i
 space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
 
 The most important task of a TC source is to deliver the telecommands to the correct recipients.
-For component oriented software using message passing, this usually includes staged demultiplexing
+For modern component oriented software using message passing, this usually includes staged
-components to determine where a command needs to be sent.
+demultiplexing components to determine where a command needs to be sent.
-
-Using a generic concept of a TC source and a TM sink as part of the software design simplifies
-the flexibility of the TMTC infrastructure: Newly added TM generators and TC receiver only have to
-forward their generated or received packets to those handler objects.
 
 # Low-level protocols and the bridge to the communcation subsystem
 

satrs-book/src/modes-and-health.md

@@ -1,11 +1,11 @@
 # Modes
 
-Modes are an extremely useful concept to model complex systems. They allow simplified
+Modes are an extremely useful concept for complex system in general. They also allow simplified
-system reasoning for both system operators and OBSW developers. They also provide a way to alter
+system reasoning for both system operators and OBSW developers. They model the behaviour of a
-the behaviour of a component and also provide observability of a system. A few examples of how to
+component and also provide observability of a system. A few examples of how to model
-model the mode of different components within a space system with modes will be given.
+different components of a space system with modes will be given.
 
-## Pyhsical device component with modes
+## Modelling a pyhsical devices with modes
 
 The following simple mode scheme with the following three mode
 
@@ -13,8 +13,7 @@ The following simple mode scheme with the following three mode
 - `ON`
 - `NORMAL`
 
-can be applied to a large number of simpler device controllers of a remote system, for example
+can be applied to a large number of simpler devices of a remote system, for example sensors.
-sensors.
 
 1. `OFF` means that a device is physically switched off, and the corresponding software component
 does not poll the device regularly.
@@ -32,7 +31,7 @@ for the majority of devices:
 2. `NORMAL` or `ON` to `OFF`: Any important shutdown configuration or handling must be performed
    before powering off the device.
 
-## Controller components with modes
+## Modelling a controller with modes
 
 Controller components are not modelling physical devices, but a mode scheme is still the best
 way to model most of these components.

satrs-example-stm32f3-disco/Cargo.lock

@@ -22,9 +22,9 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.2.0"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
+checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
 
 [[package]]
 name = "bare-metal"
@@ -88,13 +88,19 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "chrono"
-version = "0.4.37"
+version = "0.4.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
+checksum = "8eaf5903dcbc0a39312feb77df2ff4c76387d591b9fc7b04a238dcf8bb62639a"
 dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
 [[package]]
 name = "cobs"
 version = "0.2.3"
@@ -183,7 +189,7 @@ dependencies = [
  "ident_case",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -194,7 +200,7 @@ checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -227,7 +233,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -259,7 +265,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -325,7 +331,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -553,7 +559,7 @@ checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -574,9 +580,9 @@ checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.14"
+version = "0.2.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
 
 [[package]]
 name = "pin-utils"
@@ -628,9 +634,9 @@ dependencies = [
 
 [[package]]
 name = "rtcc"
-version = "0.3.2"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "95973c3a0274adc4f3c5b70d2b5b85618d6de9559a6737d3293ecae9a2fc0839"
+checksum = "f4fbd0d5bed2b76e27a7ef872568b34072c1af94c277cd52c17a89d54673b3fe"
 dependencies = [
  "chrono",
 ]
@@ -674,7 +680,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -723,8 +729,10 @@ dependencies = [
 [[package]]
 name = "satrs"
 version = "0.2.0-rc.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8cb19cba46a45047ff0879ebfbf9d6ae1c5b2e0e38b2e08760b10a441d4dae6"
 dependencies = [
- "cobs",
+ "cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
  "crc",
  "delegate",
  "num-traits",
@@ -739,7 +747,7 @@ dependencies = [
 name = "satrs-example-stm32f3-disco"
 version = "0.1.0"
 dependencies = [
- "cobs",
+ "cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
  "cortex-m",
  "cortex-m-rt",
  "cortex-m-semihosting",
@@ -759,7 +767,9 @@ dependencies = [
 
 [[package]]
 name = "satrs-shared"
-version = "0.1.3"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75a402ba556a7f5eef707035b45e64a3259b09674311e98697f3dd0508a1bf51"
 dependencies = [
  "spacepackets",
 ]
@@ -799,12 +809,12 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
 
 [[package]]
 name = "spacepackets"
-version = "0.11.0-rc.2"
+version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
+checksum = "28246ae2451af240c3e3ff3c51363c7b6ad565ca6aa9bad23b8c725687c485e1"
 dependencies = [
+ "chrono",
  "crc",
- "defmt",
  "delegate",
  "num-traits",
  "num_enum",
@@ -899,9 +909,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.58"
+version = "2.0.53"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
+checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -925,7 +935,7 @@ checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -991,5 +1001,5 @@ checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.53",
 ]

satrs-example-stm32f3-disco/Cargo.toml

@@ -46,9 +46,8 @@ branch = "complete-dma-update-hal"
 # path = "../stm32f3-discovery"
 
 [dependencies.satrs]
-path = "../satrs"
+version = "0.2.0-rc.0"
 default-features = false
-features = ["defmt"]
 
 [dev-dependencies]
 defmt-test = "0.3"

satrs-example-stm32f3-disco/README.md

@@ -103,12 +103,3 @@ After that, you can for example send a ping to the MCU using the following comma
 ```sh
 ./main.py -p /ping
 ```
-
-You can configure the blinky frequency using
-
-```sh
-./main.py -p /change_blink_freq
-```
-
-All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
-format as the packet framing format.

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

@@ -94,7 +94,6 @@ class SatRsConfigHook(HookBase):
 def create_cmd_definition_tree() -> CmdTreeNode:
     root_node = CmdTreeNode.root_node()
     root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
-    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
     return root_node
 
 
@@ -216,25 +215,6 @@ class TcHandler(TcHandlerBase):
             if cmd_path == "/ping":
                 q.add_log_cmd("Sending PUS ping telecommand")
                 q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-            if cmd_path == "/change_blink_freq":
-                self.create_change_blink_freq_command(q)
-
-    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
-        q.add_log_cmd("Changing blink frequency")
-        while True:
-            blink_freq = int(
-                input(
-                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
-                )
-            )
-            if blink_freq < 2 or blink_freq > 10000:
-                print(
-                    "Invalid blink frequency. Please specify a value between 2 and 10000."
-                )
-                continue
-            break
-        app_data = struct.pack("!I", blink_freq)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
 
 
 def main():

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

@@ -1,13 +1,5 @@
 #![no_std]
 #![no_main]
-use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
-};
-use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::ecss::EcssEnumU16;
-use satrs::spacepackets::CcsdsPacket;
-use satrs::spacepackets::{ByteConversionError, SpHeader};
 // global logger + panicking-behavior + memory layout
 use satrs_example_stm32f3_disco as _;
 
@@ -15,17 +7,21 @@ use rtic::app;
 
 use heapless::{mpmc::Q8, Vec};
 #[allow(unused_imports)]
-use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
+use rtic_monotonics::systick::fugit::TimerInstantU32;
 use rtic_monotonics::systick::ExtU32;
 use satrs::seq_count::SequenceCountProviderCore;
-use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
+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};
 
 const UART_BAUD: u32 = 115200;
-const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+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;
@@ -58,6 +54,7 @@ type TcPacket = Vec<u8, MAX_TC_LEN>;
 
 static TM_REQUESTS: Q8<TmPacket> = Q8::new();
 
+use core::cell::RefCell;
 use core::sync::atomic::{AtomicU16, Ordering};
 
 pub struct SeqCountProviderAtomicRef {
@@ -96,45 +93,56 @@ pub struct TxIdle {
     dma_channel: dma1::C7,
 }
 
-#[derive(Debug, defmt::Format)]
+pub struct TmSender {
-pub enum TmSendError {
+    vec: Option<RefCell<Vec<u8, MAX_TM_LEN>>>,
-    ByteConversion(ByteConversionError),
-    Queue,
 }
 
-impl From<ByteConversionError> for TmSendError {
+impl TmSender {
-    fn from(value: ByteConversionError) -> Self {
+    pub fn new(tm_packet: TmPacket) -> Self {
-        Self::ByteConversion(value)
+        Self {
-    }
+            vec: Some(RefCell::new(tm_packet)),
-}
-
-fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
-    if tm_creator.len_written() > MAX_TM_LEN {
-        return Err(ByteConversionError::ToSliceTooSmall {
-            expected: tm_creator.len_written(),
-            found: MAX_TM_LEN,
         }
-        .into());
     }
-    let mut tm_vec = TmPacket::new();
-    tm_vec
-        .resize(tm_creator.len_written(), 0)
-        .expect("vec resize failed");
-    tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
-    defmt::info!(
-        "Sending TM[{},{}] with size {}",
-        tm_creator.service(),
-        tm_creator.subservice(),
-        tm_creator.len_written()
-    );
-    TM_REQUESTS
-        .enqueue(tm_vec)
-        .map_err(|_| TmSendError::Queue)?;
-    Ok(())
 }
 
-fn handle_tm_send_error(error: TmSendError) {
+impl EcssChannel for TmSender {
-    defmt::warn!("sending tm failed with error {}", error);
+    fn id(&self) -> satrs::ChannelId {
+        0
+    }
+}
+
+impl EcssTmSenderCore for TmSender {
+    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 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)))?;
+            }
+        }
+        Ok(())
+    }
 }
 
 pub enum UartTxState {
@@ -149,106 +157,18 @@ pub struct UartTxShared {
     state: UartTxState,
 }
 
-pub struct RequestWithToken {
-    token: VerificationToken<TcStateAccepted>,
-    request: Request,
-}
-
-#[derive(Debug, defmt::Format)]
-pub enum Request {
-    Ping,
-    ChangeBlinkFrequency(u32),
-}
-
-#[derive(Debug, defmt::Format)]
-pub enum RequestError {
-    InvalidApid = 1,
-    InvalidService = 2,
-    InvalidSubservice = 3,
-    NotEnoughAppData = 4,
-}
-
-pub fn convert_pus_tc_to_request(
-    tc: &PusTcReader,
-    verif_reporter: &mut VerificationReportCreator,
-    src_data_buf: &mut [u8],
-    timestamp: &[u8],
-) -> Result<RequestWithToken, RequestError> {
-    defmt::info!(
-        "Found PUS TC [{},{}] with length {}",
-        tc.service(),
-        tc.subservice(),
-        tc.len_packed()
-    );
-
-    let token = verif_reporter.add_tc(tc);
-    if tc.apid() != PUS_APID {
-        defmt::warn!("Received tc with unknown APID {}", tc.apid());
-        let result = send_tm(
-            verif_reporter
-                .acceptance_failure(
-                    src_data_buf,
-                    token,
-                    SEQ_COUNT_PROVIDER.get_and_increment(),
-                    0,
-                    FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
-                )
-                .unwrap(),
-        );
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        return Err(RequestError::InvalidApid);
-    }
-    let (tm_creator, accepted_token) = verif_reporter
-        .acceptance_success(
-            src_data_buf,
-            token,
-            SEQ_COUNT_PROVIDER.get_and_increment(),
-            0,
-            timestamp,
-        )
-        .unwrap();
-
-    if let Err(e) = send_tm(tm_creator) {
-        handle_tm_send_error(e);
-    }
-
-    if tc.service() == 17 && tc.subservice() == 1 {
-        if tc.subservice() == 1 {
-            return Ok(RequestWithToken {
-                request: Request::Ping,
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else if tc.service() == 8 {
-        if tc.subservice() == 1 {
-            if tc.user_data().len() < 4 {
-                return Err(RequestError::NotEnoughAppData);
-            }
-            let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
-            return Ok(RequestWithToken {
-                request: Request::ChangeBlinkFrequency(new_freq_ms),
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else {
-        return Err(RequestError::InvalidService);
-    }
-}
-
 #[app(device = stm32f3xx_hal::pac, peripherals = true)]
 mod app {
     use super::*;
     use core::slice::Iter;
     use rtic_monotonics::systick::Systick;
     use rtic_monotonics::Monotonic;
-    use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
+    use satrs::pus::verification::FailParams;
-    use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
+    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;
@@ -261,16 +181,15 @@ mod app {
 
     #[shared]
     struct Shared {
-        blink_freq: MillisDurationU32,
         tx_shared: UartTxShared,
         rx_transfer: Option<RxDmaTransferType>,
     }
 
     #[local]
     struct Local {
-        verif_reporter: VerificationReportCreator,
         leds: Leds,
         last_dir: Direction,
+        verif_reporter: VerificationReporterCore,
         curr_dir: Iter<'static, Direction>,
     }
 
@@ -296,6 +215,8 @@ mod app {
         defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
         let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
 
+        let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
+
         let leds = Leds::new(
             gpioe.pe8,
             gpioe.pe9,
@@ -344,12 +265,8 @@ mod app {
         defmt::info!("Spawning tasks");
         blink::spawn().unwrap();
         serial_tx_handler::spawn().unwrap();
-
-        let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
-
         (
             Shared {
-                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
                 tx_shared: UartTxShared {
                     last_completed: None,
                     state: UartTxState::Idle(Some(TxIdle {
@@ -360,16 +277,17 @@ mod app {
                 rx_transfer: Some(rx_transfer),
             },
             Local {
-                verif_reporter,
+                //timer: mono_timer,
                 leds,
                 last_dir: Direction::North,
                 curr_dir: Direction::iter(),
+                verif_reporter,
             },
         )
     }
 
-    #[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
+    #[task(local = [leds, curr_dir, last_dir])]
-    async fn blink(mut cx: blink::Context) {
+    async fn blink(cx: blink::Context) {
         let blink::LocalResources {
             leds,
             curr_dir,
@@ -393,8 +311,7 @@ mod app {
                     toggle_leds(curr_dir.next().unwrap());
                 }
             }
-            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Systick::delay(BLINK_FREQ_MS.millis()).await;
-            Systick::delay(current_blink_freq).await;
         }
     }
 
@@ -469,18 +386,18 @@ mod app {
 
     #[task(
         local = [
-            verif_reporter,
+            stamp_buf: [u8; 7] = [0; 7],
             decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
             src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
-            timestamp: [u8; 7] = [0; 7],
+            verif_reporter
         ],
-        shared = [blink_freq]
     )]
     async fn serial_rx_handler(
-        mut cx: serial_rx_handler::Context,
+        cx: serial_rx_handler::Context,
         received_packet: Vec<u8, MAX_TC_LEN>,
     ) {
-        cx.local.timestamp[0] = P_FIELD_BASE;
+        defmt::info!("running rx handler");
+        cx.local.stamp_buf[0] = P_FIELD_BASE;
         defmt::info!("Received packet with {} bytes", received_packet.len());
         let decode_buf = cx.local.decode_buf;
         let packet = received_packet.as_slice();
@@ -500,49 +417,18 @@ mod app {
             Ok(len) => {
                 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)) => {
+                    Ok((tc, tc_len)) => handle_tc(
-                        match convert_pus_tc_to_request(
+                        tc,
-                            &tc,
+                        tc_len,
-                            cx.local.verif_reporter,
+                        verif_reporter,
-                            cx.local.src_data_buf,
+                        cx.local.src_data_buf,
-                            cx.local.timestamp,
+                        cx.local.stamp_buf,
-                        ) {
+                    ),
-                            Ok(request_with_token) => {
+                    Err(_e) => {
-                                let started_token = handle_start_verification(
+                        // TODO: Print error after API rework.
-                                    request_with_token.token,
+                        defmt::warn!("Error unpacking PUS TC");
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
-
-                                match request_with_token.request {
-                                    Request::Ping => {
-                                        handle_ping_request(cx.local.timestamp);
-                                    }
-                                    Request::ChangeBlinkFrequency(new_freq_ms) => {
-                                        defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
-                                        cx.shared.blink_freq.lock(|blink_freq| {
-                                            *blink_freq =
-                                                MillisDurationU32::from_ticks(new_freq_ms);
-                                        });
-                                    }
-                                }
-                                handle_completion_verification(
-                                    started_token,
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
-                            }
-                            Err(e) => {
-                                // TODO: Error handling: Send verification failure based on request error.
-                                defmt::warn!("request error {}", e);
-                            }
-                        }
-                    }
-                    Err(e) => {
-                        defmt::warn!("Error unpacking PUS TC: {}", e);
                     }
                 }
             }
@@ -552,64 +438,104 @@ mod app {
         }
     }
 
-    fn handle_ping_request(timestamp: &[u8]) {
+    fn handle_tc(
-        defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
+        tc: PusTcReader,
-        let sp_header =
+        tc_len: usize,
-            SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
+        verif_reporter: &mut VerificationReporterCore,
-        let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
+        src_data_buf: &mut [u8; MAX_TM_LEN],
-        let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
+        stamp_buf: &[u8; 7],
-        let mut tm_packet = TmPacket::new();
-        tm_packet
-            .resize(ping_reply.len_written(), 0)
-            .expect("vec resize failed");
-        ping_reply.write_to_bytes(&mut tm_packet).unwrap();
-        if TM_REQUESTS.enqueue(tm_packet).is_err() {
-            defmt::warn!("TC queue full");
-            return;
-        }
-    }
-
-    fn handle_start_verification(
-        accepted_token: VerificationToken<TcStateAccepted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
-    ) -> VerificationToken<TcStateStarted> {
-        let (tm_creator, started_token) = verif_reporter
-            .start_success(
-                src_data_buf,
-                accepted_token,
-                SEQ_COUNT_PROVIDER.get(),
-                0,
-                &timestamp,
-            )
-            .unwrap();
-        let result = send_tm(tm_creator);
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        started_token
-    }
-
-    fn handle_completion_verification(
-        started_token: VerificationToken<TcStateStarted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
     ) {
-        let result = send_tm(
+        defmt::info!(
-            verif_reporter
+            "Found PUS TC [{},{}] with length {}",
-                .completion_success(
+            tc.service(),
+            tc.subservice(),
+            tc_len
+        );
+
+        let token = verif_reporter.add_tc(&tc);
+        if tc.apid() != PUS_APID {
+            defmt::warn!("Received tc with unknown APID {}", tc.apid());
+            let sendable = verif_reporter
+                .acceptance_failure(
                     src_data_buf,
-                    started_token,
+                    token,
                     SEQ_COUNT_PROVIDER.get(),
                     0,
-                    timestamp,
+                    FailParams::new(stamp_buf, &EcssEnumU16::new(0), &[]),
                 )
-                .unwrap(),
+                .unwrap();
-        );
+            let sender = TmSender::new(TmPacket::new());
-        if let Err(e) = result {
+            if let Err(_e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
-            handle_tm_send_error(e);
+                defmt::warn!("Sending acceptance failure failed");
+            };
+            return;
+        }
+        let sendable = verif_reporter
+            .acceptance_success(src_data_buf, token, SEQ_COUNT_PROVIDER.get(), 0, stamp_buf)
+            .unwrap();
+
+        let sender = TmSender::new(TmPacket::new());
+        let accepted_token = match verif_reporter.send_acceptance_success(sendable, &sender) {
+            Ok(token) => token,
+            Err(_e) => {
+                // TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
+                defmt::warn!("Sending acceptance success failed");
+                return;
+            }
+        };
+
+        if tc.service() == 17 {
+            if tc.subservice() == 1 {
+                let sendable = verif_reporter
+                    .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 sender = TmSender::new(TmPacket::new());
+                let started_token = match verif_reporter.send_start_success(sendable, &sender) {
+                    Ok(token) => token,
+                    Err(_e) => {
+                        // TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
+                        defmt::warn!("Sending acceptance success failed");
+                        return;
+                    }
+                };
+                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 = 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.get(),
+                        0,
+                        stamp_buf,
+                    )
+                    .unwrap();
+                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
+            }
         }
     }
 

satrs-example/Cargo.toml

@@ -17,8 +17,6 @@ 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"

satrs-example/satrs-tmtc/common.py

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

satrs-example/satrs-tmtc/main.py

@@ -3,11 +3,10 @@
 import logging
 import sys
 import time
-from typing import Any, Optional
+from typing import 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
@@ -17,7 +16,7 @@ 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, GenericApidHandlerBase
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
 from tmtccmd.com import ComInterface
 from tmtccmd.config import (
     CmdTreeNode,
@@ -47,7 +46,7 @@ from tmtccmd.util.obj_id import ObjectIdDictT
 
 
 import pus_tc
-from common import Apid, EventU32
+from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
 
 _LOGGER = logging.getLogger()
 
@@ -63,13 +62,10 @@ 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=packet_id_list,
+            space_packet_ids=TM_PACKET_IDS,
         )
         assert cfg is not None
         return create_com_interface_default(cfg)
@@ -89,19 +85,19 @@ class SatRsConfigHook(HookBase):
         return get_core_object_ids()
 
 
-class PusHandler(GenericApidHandlerBase):
+class PusHandler(SpecificApidHandlerBase):
     def __init__(
         self,
         file_logger: logging.Logger,
         verif_wrapper: VerificationWrapper,
         raw_logger: RawTmtcTimedLogWrapper,
     ):
-        super().__init__(None)
+        super().__init__(EXAMPLE_PUS_APID, None)
         self.file_logger = file_logger
         self.raw_logger = raw_logger
         self.verif_wrapper = verif_wrapper
 
-    def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
+    def handle_tm(self, packet: bytes, _user_args: any):
         try:
             pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
         except ValueError as e:
@@ -181,7 +177,7 @@ 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=None,
+            default_pus_apid=EXAMPLE_PUS_APID,
         )
 
     def send_cb(self, send_params: SendCbParams):
@@ -225,6 +221,7 @@ 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
     )
@@ -236,9 +233,8 @@ 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=tm_handler)
+    ccsds_handler = CcsdsTmHandler(generic_handler=None)
-    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
+    ccsds_handler.add_apid_handler(tm_handler)
-    # ccsds_handler.add_apid_handler(tm_handler)
 
     # Create TC handler
     seq_count_provider = PusFileSeqCountProvider()

satrs-example/satrs-tmtc/pus_tc.py

@@ -1,58 +1,27 @@
 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.s200_fsfw_mode import Subservice as ModeSubservice
+from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command
 
-from common import AcsId, Apid
+from common import (
+    EXAMPLE_PUS_APID,
+    make_addressable_id,
+    RequestTargetId,
+    AcsHkIds,
+)
 
 _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"))
@@ -68,9 +37,7 @@ def create_cmd_definition_tree() -> CmdTreeNode:
 
     acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
     mgm_node = CmdTreeNode("mgms", "MGM devices node")
-    mgm_node.add_child(mode_node)
+    mgm_node.add_child(CmdTreeNode("one_shot_hk", "Request one shot HK"))
-    mgm_node.add_child(hk_node)
-
     acs_node.add_child(mgm_node)
     root_node.add_child(acs_node)
 
@@ -87,14 +54,10 @@ 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(
+            return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-                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(
+            return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
-                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":
@@ -106,38 +69,17 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
                 create_time_tagged_cmd(
                     time_stamp,
                     PusTelecommand(service=17, subservice=1),
-                    apid=Apid.SCHED,
+                    apid=EXAMPLE_PUS_APID,
                 )
             )
     if cmd_path_list[0] == "acs":
         assert len(cmd_path_list) >= 2
-        if cmd_path_list[1] == "mgms":
+        if cmd_path_list[1] == "mgm":
             assert len(cmd_path_list) >= 3
-            if cmd_path_list[2] == "hk":
+            if cmd_path_list[2] == "one_shot_hk":
-                if cmd_path_list[3] == "one_shot_hk":
+                q.add_log_cmd("Sending HK one shot request")
-                    q.add_log_cmd("Sending HK one shot request")
+                q.add_pus_tc(
-                    # TODO: Fix
+                    create_request_one_hk_command(
-                    # q.add_pus_tc(
+                        make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
-                    #   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/mgm.rs

@@ -1,17 +1,18 @@
+// TODO: Remove this at a later stage.
+#![allow(dead_code)]
 use derive_new::new;
-use satrs::hk::{HkRequest, HkRequestVariant};
+use satrs::hk::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 satrs_example::TimeStampHelper;
 use std::sync::mpsc::{self};
 use std::sync::{Arc, Mutex};
 
 use satrs::mode::{
     ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
 };
-use satrs::pus::{EcssTmSender, PusTmVariant};
+use satrs::pus::{EcssTmSenderCore, PusTmVariant};
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
 use satrs_example::config::components::PUS_MODE_SERVICE;
 
@@ -20,36 +21,24 @@ 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>;
+    fn transfer(&mut self, data: &mut [u8]) -> Result<(), Self::Error>;
 }
 
 #[derive(Default)]
-pub struct SpiDummyInterface {
+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> {
+    fn transfer(&mut self, _data: &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,
@@ -61,10 +50,9 @@ pub struct MpscModeLeafInterface {
     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: EcssTmSender> {
+pub struct MgmHandler<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> {
     id: UniqueApidTargetId,
     dev_str: &'static str,
     mode_interface: MpscModeLeafInterface,
@@ -74,143 +62,84 @@ pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender>
     com_interface: ComInterface,
     shared_mgm_set: Arc<Mutex<MgmData>>,
     #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
-    mode_and_submode: ModeAndSubmode,
+    mode: 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: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInterface, TmSender> {
     pub fn periodic_operation(&mut self) {
         self.stamp_helper.update_from_now();
-        // Handle requests.
+        // Handle messages.
-        self.handle_composite_requests();
+        match self.composite_request_receiver.try_recv() {
-        self.handle_mode_requests();
+            Ok(ref msg) => match &msg.message {
-        if self.mode() == DeviceMode::Normal as u32 {
+                CompositeRequest::Hk(hk_req) => match hk_req.variant {
-            log::trace!("polling LIS3MDL sensor {}", self.dev_str);
+                    HkRequestVariant::OneShot => {
-            // Communicate with the device.
+                        self.hk_reply_sender
-            let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
+                            .send(GenericMessage::new(
-            assert!(result.is_ok());
+                                msg.requestor_info,
-            // Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
+                                HkReply::new(hk_req.unique_id, HkReplyVariant::Ack),
-            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());
+                            .expect("failed to send HK reply");
-            let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
+                        let mut sp_header = SpHeader::tm_unseg(self.id.apid, 0, 0).unwrap();
-            // Simple scaling to retrieve the float value, assuming a sensor resolution of
+                        let sec_header = PusTmSecondaryHeader::new(
-            let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
+                            3,
-            mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+                            hk::Subservice::TmHkPacket as u8,
-            mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+                            0,
-            mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+                            0,
-            drop(mgm_guard);
+                            Some(self.stamp_helper.stamp()),
-        }
+                        );
-    }
+                        // Let's serialize it as JSON for now.. This is a lot simpler than binary
-
+                        // serialization.
-    pub fn handle_composite_requests(&mut self) {
+                        let mgm_data_serialized =
-        loop {
+                            serde_json::to_vec(&*self.shared_mgm_set.lock().unwrap()).unwrap();
-            match self.composite_request_receiver.try_recv() {
+                        let hk_tm = PusTmCreator::new(
-                Ok(ref msg) => match &msg.message {
+                            &mut sp_header,
-                    CompositeRequest::Hk(hk_request) => {
+                            sec_header,
-                        self.handle_hk_request(&msg.requestor_info, hk_request)
+                            &mgm_data_serialized,
+                            true,
+                        );
+                        self.tm_sender
+                            .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                            .expect("failed to send HK TM");
                     }
-                    // TODO: This object does not have actions (yet).. Still send back completion failure
+                    HkRequestVariant::EnablePeriodic => todo!(),
-                    // reply.
+                    HkRequestVariant::DisablePeriodic => todo!(),
-                    CompositeRequest::Action(_action_req) => {}
+                    HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
                 },
-
+                // TODO: This object does not have actions (yet).. Still send back completion failure
-                Err(e) => {
+                // reply.
-                    if e != mpsc::TryRecvError::Empty {
+                CompositeRequest::Action(_action_req) => {}
-                        log::warn!(
+            },
-                            "{}: failed to receive composite request: {:?}",
+            Err(_) => todo!(),
-                            self.dev_str,
-                            e
-                        );
-                    } else {
-                        break;
-                    }
-                }
-            }
         }
-    }
+        match self.mode_interface.request_rx.try_recv() {
-
+            Ok(msg) => {
-    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+                let result = self.handle_mode_request(msg);
-        match hk_request.variant {
+                // TODO: Trigger event?
-            HkRequestVariant::OneShot => {
+                if result.is_err() {
-                self.hk_reply_sender
+                    log::warn!(
-                    .send(GenericMessage::new(
+                        "{}: mode request failed with error {:?}",
-                        *requestor_info,
+                        self.dev_str,
-                        HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
+                        result.err().unwrap()
-                    ))
+                    );
-                    .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;
-                    }
                 }
             }
+            Err(_) => todo!(),
         }
     }
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeProvider
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+    for MgmHandler<ComInterface, TmSender>
 {
     fn mode_and_submode(&self) -> ModeAndSubmode {
-        self.mode_and_submode
+        self.mode
     }
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+    for MgmHandler<ComInterface, TmSender>
 {
     type Error = ModeError;
     fn start_transition(
@@ -218,37 +147,24 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
         requestor: MessageMetadata,
         mode_and_submode: ModeAndSubmode,
     ) -> Result<(), satrs::mode::ModeError> {
-        log::info!(
+        self.mode = mode_and_submode;
-            "{}: 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) {
+    fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
-        log::info!(
+        log::info!("{} announcing mode: {:?}", self.dev_str, self.mode);
-            "{} 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() {
+            if requestor.sender_id() == PUS_MODE_SERVICE.raw() {
-                log::warn!(
+                // self.mode_reply_sender_to_pus.send(
-                    "can not send back mode reply to sender {}",
+                //GenericMessage::new(requestor.request_id, requestor.sender_id, ModeReply::ModeReply(self.mode))
-                    requestor.sender_id()
+                // )?;
-                );
-            } else {
-                self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
             }
         }
         Ok(())
@@ -256,19 +172,9 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
 
     fn send_mode_reply(
         &self,
-        requestor: MessageMetadata,
+        _requestor: MessageMetadata,
-        reply: ModeReply,
+        _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(())
     }
 

satrs-example/src/bin/simpleclient.rs

@@ -12,7 +12,8 @@ use std::time::Duration;
 fn main() {
     let mut buf = [0; 32];
     let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let pus_tc = PusTcCreator::new_simple(SpHeader::new_from_apid(0x02), 17, 1, &[], true);
+    let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
+    let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, 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

@@ -0,0 +1,50 @@
+use satrs::pus::ReceivesEcssPusTc;
+use satrs::spacepackets::{CcsdsPacket, SpHeader};
+use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
+use satrs_example::config::components::Apid;
+
+#[derive(Clone)]
+pub struct CcsdsReceiver<
+    TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
+    E,
+> {
+    pub tc_source: TcSource,
+}
+
+impl<
+        TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
+        E: 'static,
+    > CcsdsPacketHandler for CcsdsReceiver<TcSource, E>
+{
+    type Error = E;
+
+    fn valid_apids(&self) -> &'static [u16] {
+        &[
+            Apid::GenericPus as u16,
+            Apid::Acs as u16,
+            Apid::Sched as u16,
+            Apid::EventTm as u16,
+        ]
+    }
+
+    fn handle_known_apid(
+        &mut self,
+        sp_header: &SpHeader,
+        tc_raw: &[u8],
+    ) -> Result<(), Self::Error> {
+        if sp_header.apid() == Apid::Cfdp as u16 {
+        } else {
+            return self.tc_source.pass_ccsds(sp_header, tc_raw);
+        }
+        Ok(())
+    }
+
+    fn handle_unknown_apid(
+        &mut self,
+        sp_header: &SpHeader,
+        _tc_raw: &[u8],
+    ) -> Result<(), Self::Error> {
+        println!("Unknown APID 0x{:x?} detected", sp_header.apid());
+        Ok(())
+    }
+}

satrs-example/src/config.rs

@@ -1,12 +1,7 @@
-use lazy_static::lazy_static;
+use satrs::res_code::ResultU16;
-use satrs::{
-    res_code::ResultU16,
-    spacepackets::{PacketId, PacketType},
-};
 use satrs_mib::res_code::ResultU16Info;
 use satrs_mib::resultcode;
-use std::{collections::HashSet, net::Ipv4Addr};
+use std::net::Ipv4Addr;
-use strum::IntoEnumIterator;
 
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use satrs::{
@@ -41,23 +36,6 @@ 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::*;
@@ -124,26 +102,26 @@ pub mod mode_err {
 
 pub mod components {
     use satrs::request::UniqueApidTargetId;
-    use strum::EnumIter;
 
-    #[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
+    #[derive(Copy, Clone, PartialEq, Eq)]
     pub enum Apid {
-        Sched = 1,
+        VerificationTm = 1,
-        GenericPus = 2,
+        Sched = 2,
-        Acs = 3,
+        EventTm = 3,
-        Cfdp = 4,
+        HkTm = 4,
-        Tmtc = 5,
+        GenericPus = 5,
+        Acs = 6,
+        Cfdp = 7,
     }
 
     // Component IDs for components with the PUS APID.
     #[derive(Copy, Clone, PartialEq, Eq)]
     pub enum PusId {
-        PusEventManagement = 0,
+        PusRouting = 0,
-        PusRouting = 1,
+        PusTest = 1,
-        PusTest = 2,
+        PusAction = 2,
-        PusAction = 3,
+        PusMode = 3,
-        PusMode = 4,
+        PusHk = 4,
-        PusHk = 5,
     }
 
     #[derive(Copy, Clone, PartialEq, Eq)]
@@ -151,16 +129,10 @@ pub mod components {
         Mgm0 = 0,
     }
 
-    #[derive(Copy, Clone, PartialEq, Eq)]
-    pub enum TmtcId {
-        UdpServer = 0,
-        TcpServer = 1,
-    }
-
     pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
     pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::GenericPus as u16, 0);
+        UniqueApidTargetId::new(Apid::EventTm 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 =
@@ -173,10 +145,6 @@ pub mod components {
         UniqueApidTargetId::new(Apid::Sched as u16, 0);
     pub const MGM_HANDLER_0: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
-    pub const UDP_SERVER: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
-    pub const TCP_SERVER: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
 }
 
 pub mod pool {

satrs-example/src/events.rs

@@ -1,17 +1,15 @@
 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::EcssTmSender;
+use satrs::pus::EcssTmSenderCore;
-use satrs::request::UniqueApidTargetId;
 use satrs::{
     event_man::{
         EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
         MpscEventReceiver,
     },
+    events::EventU32,
+    params::Params,
     pus::{
         event_man::{
             DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
@@ -19,38 +17,29 @@ use satrs::{
         verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
     },
     spacepackets::time::cds::CdsTime,
+    ComponentId,
 };
+use satrs_example::config::components;
 use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
 use crate::update_time;
 
-// This helper sets the APID of the event sender for the PUS telemetry.
-#[derive(Default)]
-pub struct EventApidSetter {
-    pub next_apid: u16,
-}
-
-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: EcssTmSender> {
+pub struct PusEventHandler<TmSender: EcssTmSenderCore> {
+    id: ComponentId,
     event_request_rx: mpsc::Receiver<EventRequestWithToken>,
     pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
-    pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
+    pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
     tm_sender: TmSender,
     time_provider: CdsTime,
     timestamp: [u8; 7],
     verif_handler: VerificationReporter,
-    event_apid_setter: EventApidSetter,
 }
 
-impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
+impl<TmSender: EcssTmSenderCore> PusEventHandler<TmSender> {
     pub fn new(
+        id: ComponentId,
         tm_sender: TmSender,
         verif_handler: VerificationReporter,
         event_manager: &mut EventManagerWithBoundedMpsc,
@@ -61,7 +50,12 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
 
         // 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_EVENT_MANAGEMENT.raw(), 0, 0, 128).unwrap();
+        let event_reporter = EventReporter::new(
+            PUS_EVENT_MANAGEMENT.raw(),
+            components::Apid::EventTm as u16,
+            128,
+        )
+        .unwrap();
         let pus_event_dispatcher =
             DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
         let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
@@ -74,6 +68,7 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
         event_manager.add_sender(pus_event_man_send_provider);
 
         Self {
+            id,
             event_request_rx,
             pus_event_dispatcher,
             pus_event_man_rx,
@@ -81,7 +76,6 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
             timestamp: [0; 7],
             verif_handler,
             tm_sender,
-            event_apid_setter: EventApidSetter::default(),
         }
     }
 
@@ -92,7 +86,7 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
                 .try_into()
                 .expect("expected start verification token");
             self.verif_handler
-                .completion_success(&self.tm_sender, started_token, timestamp)
+                .completion_success(self.id, &self.tm_sender, started_token, timestamp)
                 .expect("Sending completion success failed");
         };
         // handle event requests
@@ -118,19 +112,10 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
 
     pub fn generate_pus_event_tm(&mut self) {
         // Perform the generation of PUS event packets
-        if let Ok(event_msg) = self.pus_event_man_rx.try_recv() {
+        if let Ok((event, _param)) = 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(
+                .generate_pus_event_tm_generic(&self.tm_sender, &self.timestamp, event, None)
-                    &self.tm_sender,
-                    &self.timestamp,
-                    event_msg.event(),
-                    Some(&param_vec),
-                )
                 .expect("Sending TM as event failed");
         }
     }
@@ -140,7 +125,7 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
 /// used to send events to the event manager.
 pub struct EventManagerWrapper {
     event_manager: EventManagerWithBoundedMpsc,
-    event_sender: mpsc::Sender<EventMessageU32>,
+    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
 }
 
 impl EventManagerWrapper {
@@ -148,7 +133,7 @@ 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::new(event_man_rx);
+        let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
         Self {
             event_manager: EventManagerWithBoundedMpsc::new(event_recv),
             event_sender,
@@ -156,7 +141,7 @@ impl EventManagerWrapper {
     }
 
     // Returns a cached event sender to send events to the event manager for routing.
-    pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
+    pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
         self.event_sender.clone()
     }
 
@@ -165,32 +150,28 @@ impl EventManagerWrapper {
     }
 
     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(error_handler);
+        self.event_manager
-    }
+            .try_event_handling()
-
+            .expect("event handling failed");
-    pub fn routing_error_handler(&self, event_msg: &EventMessageU32, error: EventRoutingError) {
-        log::warn!("event routing error for event {event_msg:?}: {error:?}");
     }
 }
 
-pub struct EventHandler<TmSender: EcssTmSender> {
+pub struct EventHandler<TmSender: EcssTmSenderCore> {
     pub event_man_wrapper: EventManagerWrapper,
     pub pus_event_handler: PusEventHandler<TmSender>,
 }
 
-impl<TmSender: EcssTmSender> EventHandler<TmSender> {
+impl<TmSender: EcssTmSenderCore> EventHandler<TmSender> {
     pub fn new(
         tm_sender: TmSender,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
     ) -> Self {
         let mut event_man_wrapper = EventManagerWrapper::new();
         let pus_event_handler = PusEventHandler::new(
+            PUS_EVENT_MANAGEMENT.raw(),
             tm_sender,
-            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
             event_man_wrapper.event_manager(),
             event_request_rx,
         );
@@ -200,7 +181,7 @@ impl<TmSender: EcssTmSender> EventHandler<TmSender> {
         }
     }
 
-    pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
+    pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
         self.event_man_wrapper.clone_event_sender()
     }
 

satrs-example/src/interface/mod.rs

@@ -1,3 +0,0 @@
-//! This module contains all component related to the direct interface of the example.
-pub mod tcp;
-pub mod udp;

satrs-example/src/main.rs

@@ -1,32 +1,34 @@
 mod acs;
+mod ccsds;
 mod events;
 mod hk;
-mod interface;
 mod logger;
 mod pus;
 mod requests;
+mod tcp;
+mod tm_funnel;
 mod tmtc;
+mod udp;
 
 use crate::events::EventHandler;
-use crate::interface::udp::DynamicUdpTmHandler;
 use crate::pus::stack::PusStack;
-use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
+use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
-use crate::tmtc::tm_sink::{TmFunnelDynamic, TmFunnelStatic};
 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::GenericMessage;
-use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
+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::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
+use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
+use tmtc::PusTcSourceProviderDynamic;
+use udp::DynamicUdpTmHandler;
 
-use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
+use crate::acs::mgm::{MgmHandler, MpscModeLeafInterface, SpiDummyInterface};
-use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
+use crate::ccsds::CcsdsReceiver;
-use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
 use crate::logger::setup_logger;
 use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
 use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
@@ -34,12 +36,19 @@ use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
 use crate::pus::mode::{create_mode_service_dynamic, create_mode_service_static};
 use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
 use crate::pus::test::create_test_service_static;
-use crate::pus::{PusTcDistributor, PusTcMpscRouter};
+use crate::pus::{PusReceiver, PusTcMpscRouter};
 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::TmInSharedPoolSender;
 use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
-use satrs_example::config::components::{MGM_HANDLER_0, TCP_SERVER, UDP_SERVER};
+use satrs::tmtc::CcsdsDistributor;
+use satrs_example::config::components::MGM_HANDLER_0;
 use std::net::{IpAddr, SocketAddr};
 use std::sync::mpsc;
 use std::sync::{Arc, RwLock};
@@ -49,16 +58,16 @@ use std::time::Duration;
 #[allow(dead_code)]
 fn static_tmtc_pool_main() {
     let (tm_pool, tc_pool) = create_static_pools();
-    let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
+    let shared_tm_pool = SharedTmPool::new(tm_pool);
-    let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
+    let shared_tc_pool = SharedTcPool {
-    let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
+        pool: Arc::new(RwLock::new(tc_pool)),
-    let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
+    };
     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);
 
     let tm_funnel_tx_sender =
-        PacketSenderWithSharedPool::new(tm_funnel_tx.clone(), shared_tm_pool_wrapper.clone());
+        TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_funnel_tx.clone());
 
     let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
         mpsc::channel::<GenericMessage<CompositeRequest>>();
@@ -75,7 +84,10 @@ fn static_tmtc_pool_main() {
 
     // This helper structure is used by all telecommand providers which need to send telecommands
     // to the TC source.
-    let tc_source = PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
+    let tc_source = PusTcSourceProviderSharedPool {
+        shared_pool: shared_tc_pool.clone(),
+        tc_source: tc_source_tx,
+    };
 
     // Create event handling components
     // These sender handles are used to send event requests, for example to enable or disable
@@ -107,7 +119,7 @@ fn static_tmtc_pool_main() {
     };
     let pus_test_service = create_test_service_static(
         tm_funnel_tx_sender.clone(),
-        shared_tc_pool.clone(),
+        shared_tc_pool.pool.clone(),
         event_handler.clone_event_sender(),
         pus_test_rx,
     );
@@ -119,27 +131,27 @@ fn static_tmtc_pool_main() {
     );
     let pus_event_service = create_event_service_static(
         tm_funnel_tx_sender.clone(),
-        shared_tc_pool.clone(),
+        shared_tc_pool.pool.clone(),
         pus_event_rx,
         event_request_tx,
     );
     let pus_action_service = create_action_service_static(
         tm_funnel_tx_sender.clone(),
-        shared_tc_pool.clone(),
+        shared_tc_pool.pool.clone(),
         pus_action_rx,
         request_map.clone(),
         pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_static(
         tm_funnel_tx_sender.clone(),
-        shared_tc_pool.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.clone(),
+        shared_tc_pool.pool.clone(),
         pus_mode_rx,
         request_map,
         pus_mode_reply_rx,
@@ -153,41 +165,37 @@ fn static_tmtc_pool_main() {
         pus_mode_service,
     );
 
+    let ccsds_receiver = CcsdsReceiver { tc_source };
     let mut tmtc_task = TcSourceTaskStatic::new(
-        shared_tc_pool_wrapper.clone(),
+        shared_tc_pool.clone(),
         tc_source_rx,
-        PusTcDistributor::new(tm_funnel_tx_sender, pus_router),
+        PusReceiver::new(tm_funnel_tx_sender, pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source.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 {
         udp_tc_server,
         tm_handler: StaticUdpTmHandler {
             tm_rx: tm_server_rx,
-            tm_store: shared_tm_pool.clone(),
+            tm_store: shared_tm_pool.clone_backing_pool(),
         },
     };
 
-    let tcp_server_cfg = ServerConfig::new(
+    let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
-        TCP_SERVER.id(),
+    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
-        sock_addr,
-        Duration::from_millis(400),
-        4096,
-        8192,
-    );
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
         tcp_server_cfg,
         sync_tm_tcp_source.clone(),
-        tc_source.clone(),
+        tcp_ccsds_distributor,
-        PACKET_ID_VALIDATOR.clone(),
     )
     .expect("tcp server creation failed");
 
     let mut tm_funnel = TmFunnelStatic::new(
-        shared_tm_pool_wrapper,
+        shared_tm_pool,
         sync_tm_tcp_source,
         tm_funnel_rx,
         tm_server_tx,
@@ -203,7 +211,7 @@ fn static_tmtc_pool_main() {
         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(
+    let mut mgm_handler = MgmHandler::new(
         MGM_HANDLER_0,
         "MGM_0",
         mode_leaf_interface,
@@ -216,7 +224,7 @@ fn static_tmtc_pool_main() {
 
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
-        .name("SATRS tmtc-udp".to_string())
+        .name("TMTC and UDP".to_string())
         .spawn(move || {
             info!("Running UDP server on port {SERVER_PORT}");
             loop {
@@ -229,7 +237,7 @@ fn static_tmtc_pool_main() {
 
     info!("Starting TCP task");
     let jh_tcp = thread::Builder::new()
-        .name("sat-rs tcp".to_string())
+        .name("TCP".to_string())
         .spawn(move || {
             info!("Running TCP server on port {SERVER_PORT}");
             loop {
@@ -248,7 +256,7 @@ fn static_tmtc_pool_main() {
 
     info!("Starting event handling task");
     let jh_event_handling = thread::Builder::new()
-        .name("sat-rs events".to_string())
+        .name("Event".to_string())
         .spawn(move || loop {
             event_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
@@ -257,7 +265,7 @@ fn static_tmtc_pool_main() {
 
     info!("Starting AOCS thread");
     let jh_aocs = thread::Builder::new()
-        .name("sat-rs aocs".to_string())
+        .name("AOCS".to_string())
         .spawn(move || loop {
             mgm_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
@@ -266,7 +274,7 @@ fn static_tmtc_pool_main() {
 
     info!("Starting PUS handler thread");
     let jh_pus_handler = thread::Builder::new()
-        .name("sat-rs pus".to_string())
+        .name("PUS".to_string())
         .spawn(move || loop {
             pus_stack.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
@@ -311,6 +319,8 @@ fn dyn_tmtc_pool_main() {
         .mode_router_map
         .insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
 
+    let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
+
     // Create event handling components
     // These sender handles are used to send event requests, for example to enable or disable
     // certain events.
@@ -346,7 +356,7 @@ fn dyn_tmtc_pool_main() {
     );
     let pus_scheduler_service = create_scheduler_service_dynamic(
         tm_funnel_tx.clone(),
-        tc_source_tx.clone(),
+        tc_source.0.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
@@ -380,13 +390,16 @@ fn dyn_tmtc_pool_main() {
         pus_mode_service,
     );
 
+    let ccsds_receiver = CcsdsReceiver { tc_source };
+
     let mut tmtc_task = TcSourceTaskDynamic::new(
         tc_source_rx,
-        PusTcDistributor::new(tm_funnel_tx.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_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source_tx.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 {
         udp_tc_server,
@@ -395,19 +408,13 @@ fn dyn_tmtc_pool_main() {
         },
     };
 
-    let tcp_server_cfg = ServerConfig::new(
+    let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
-        TCP_SERVER.id(),
+    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
-        sock_addr,
-        Duration::from_millis(400),
-        4096,
-        8192,
-    );
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
         tcp_server_cfg,
         sync_tm_tcp_source.clone(),
-        tc_source_tx.clone(),
+        tcp_ccsds_distributor,
-        PACKET_ID_VALIDATOR.clone(),
     )
     .expect("tcp server creation failed");
 
@@ -422,7 +429,7 @@ fn dyn_tmtc_pool_main() {
         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(
+    let mut mgm_handler = MgmHandler::new(
         MGM_HANDLER_0,
         "MGM_0",
         mode_leaf_interface,
@@ -435,7 +442,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
-        .name("sat-rs tmtc-udp".to_string())
+        .name("TMTC and UDP".to_string())
         .spawn(move || {
             info!("Running UDP server on port {SERVER_PORT}");
             loop {
@@ -448,7 +455,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting TCP task");
     let jh_tcp = thread::Builder::new()
-        .name("sat-rs tcp".to_string())
+        .name("TCP".to_string())
         .spawn(move || {
             info!("Running TCP server on port {SERVER_PORT}");
             loop {
@@ -459,7 +466,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting TM funnel task");
     let jh_tm_funnel = thread::Builder::new()
-        .name("sat-rs tm-funnel".to_string())
+        .name("TM Funnel".to_string())
         .spawn(move || loop {
             tm_funnel.operation();
         })
@@ -467,7 +474,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting event handling task");
     let jh_event_handling = thread::Builder::new()
-        .name("sat-rs events".to_string())
+        .name("Event".to_string())
         .spawn(move || loop {
             event_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
@@ -476,7 +483,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting AOCS thread");
     let jh_aocs = thread::Builder::new()
-        .name("sat-rs aocs".to_string())
+        .name("AOCS".to_string())
         .spawn(move || loop {
             mgm_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
@@ -485,7 +492,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting PUS handler thread");
     let jh_pus_handler = thread::Builder::new()
-        .name("sat-rs pus".to_string())
+        .name("PUS".to_string())
         .spawn(move || loop {
             pus_stack.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));

satrs-example/src/pus/action.rs

@@ -3,7 +3,7 @@ use satrs::action::{ActionRequest, ActionRequestVariant};
 use satrs::params::WritableToBeBytes;
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::action::{
-    ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
+    ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap, PusActionReply,
 };
 use satrs::pus::verification::{
     FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
@@ -11,14 +11,14 @@ use satrs::pus::verification::{
 };
 use satrs::pus::{
     ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
+    EcssTcInVecConverter, EcssTmSenderCore, EcssTmtcError, GenericConversionError, MpscTcReceiver,
-    MpscTmAsVecSender, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
+    MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler,
-    PusTcToRequestConverter,
+    PusServiceHelper, PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+use satrs::ComponentId;
 use satrs_example::config::components::PUS_ACTION_SERVICE;
 use satrs_example::config::tmtc_err;
 use std::sync::mpsc;
@@ -27,8 +27,8 @@ use std::time::Duration;
 use crate::requests::GenericRequestRouter;
 
 use super::{
-    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
+    create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
-    PusTargetedRequestService, TargetedPusService,
+    TargetedPusService,
 };
 
 pub struct ActionReplyHandler {
@@ -43,13 +43,14 @@ impl Default for ActionReplyHandler {
     }
 }
 
-impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyHandler {
+impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyHandler {
     type Error = EcssTmtcError;
 
     fn handle_unrequested_reply(
         &mut self,
-        reply: &GenericMessage<ActionReplyPus>,
+        _caller_id: ComponentId,
-        _tm_sender: &impl EcssTmSender,
+        reply: &GenericMessage<PusActionReply>,
+        _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error> {
         warn!("received unexpected reply for service 8: {reply:?}");
         Ok(())
@@ -57,9 +58,10 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
 
     fn handle_reply(
         &mut self,
-        reply: &GenericMessage<ActionReplyPus>,
+        caller_id: ComponentId,
+        reply: &GenericMessage<PusActionReply>,
         active_request: &ActivePusActionRequestStd,
-        tm_sender: &(impl EcssTmSender + ?Sized),
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<bool, Self::Error> {
@@ -74,6 +76,7 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
                     fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
                 }
                 verification_handler.completion_failure(
+                    caller_id,
                     tm_sender,
                     verif_token,
                     FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
@@ -90,6 +93,7 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
                     fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
                 }
                 verification_handler.step_failure(
+                    caller_id,
                     tm_sender,
                     verif_token,
                     FailParamsWithStep::new(
@@ -102,11 +106,17 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
                 true
             }
             ActionReplyVariant::Completed => {
-                verification_handler.completion_success(tm_sender, verif_token, time_stamp)?;
+                verification_handler.completion_success(
+                    caller_id,
+                    tm_sender,
+                    verif_token,
+                    time_stamp,
+                )?;
                 true
             }
             ActionReplyVariant::StepSuccess { step } => {
                 verification_handler.step_success(
+                    caller_id,
                     tm_sender,
                     &verif_token,
                     time_stamp,
@@ -121,12 +131,14 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
 
     fn handle_request_timeout(
         &mut self,
+        caller_id: ComponentId,
         active_request: &ActivePusActionRequestStd,
-        tm_sender: &impl EcssTmSender,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<(), Self::Error> {
         generic_pus_request_timeout_handler(
+            caller_id,
             tm_sender,
             active_request,
             verification_handler,
@@ -144,9 +156,10 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
 
     fn convert(
         &mut self,
+        caller_id: ComponentId,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        tm_sender: &(impl EcssTmSender + ?Sized),
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
@@ -155,6 +168,7 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
         if user_data.len() < 8 {
             verif_reporter
                 .start_failure(
+                    caller_id,
                     tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
@@ -185,6 +199,7 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
         } else {
             verif_reporter
                 .start_failure(
+                    caller_id,
                     tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
@@ -196,18 +211,18 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
 }
 
 pub fn create_action_service_static(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
-    reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
+    reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
-) -> ActionServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> ActionServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let action_request_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            PUS_ACTION_SERVICE.id(),
+            PUS_ACTION_SERVICE.raw(),
             pus_action_rx,
             tm_sender,
-            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
+            create_verification_reporter(PUS_ACTION_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
         ),
         ActionRequestConverter::default(),
@@ -224,17 +239,17 @@ pub fn create_action_service_static(
 }
 
 pub fn create_action_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
-    reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
+    reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
 ) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
     let action_request_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            PUS_ACTION_SERVICE.id(),
+            PUS_ACTION_SERVICE.raw(),
             pus_action_rx,
             tm_funnel_tx,
-            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
+            create_verification_reporter(PUS_ACTION_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
         ActionRequestConverter::default(),
@@ -248,7 +263,8 @@ pub fn create_action_service_dynamic(
     }
 }
 
-pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+pub struct ActionServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+{
     pub(crate) service: PusTargetedRequestService<
         MpscTcReceiver,
         TmSender,
@@ -259,15 +275,15 @@ pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTc
         DefaultActiveActionRequestMap,
         ActivePusActionRequestStd,
         ActionRequest,
-        ActionReplyPus,
+        PusActionReply,
     >,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+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]) -> HandlingStatus {
+    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 => {}
@@ -280,24 +296,23 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPus
                 PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
                     warn!("PUS 8 subservice {subservice} not implemented");
                 }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+                PusPacketHandlerResult::Empty => {
+                    return true;
+                }
             },
             Err(error) => {
-                error!("PUS packet handling error: {error:?}");
+                error!("PUS packet handling error: {error:?}")
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
             }
         }
-        HandlingStatus::HandledOne
+        false
     }
 
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
-        // 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
+                false
             })
     }
 
@@ -308,13 +323,10 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPus
 
 #[cfg(test)]
 mod tests {
-    use satrs::pus::test_util::{
+    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID, TEST_UNIQUE_ID};
-        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::{
@@ -341,24 +353,24 @@ mod tests {
             DefaultActiveActionRequestMap,
             ActivePusActionRequestStd,
             ActionRequest,
-            ActionReplyPus,
+            PusActionReply,
         >
     {
-        pub fn new_for_action(owner_id: ComponentId, target_id: ComponentId) -> Self {
+        pub fn new_for_action() -> 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 verif_reporter = TestVerificationReporter::default();
             let mut generic_req_router = GenericRequestRouter::default();
             generic_req_router
                 .composite_router_map
-                .insert(target_id, action_req_tx);
+                .insert(TEST_COMPONENT_ID.id(), action_req_tx);
             Self {
                 service: PusTargetedRequestService::new(
                     PusServiceHelper::new(
-                        owner_id,
+                        0,
                         pus_action_rx,
                         tm_funnel_tx.clone(),
                         verif_reporter,
@@ -437,13 +449,13 @@ mod tests {
         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);
+            assert!(!result.unwrap());
         }
 
         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);
+            assert!(result.unwrap());
         }
 
         pub fn add_tc(&mut self, tc: &PusTcCreator) {
@@ -453,7 +465,12 @@ mod tests {
                 .service
                 .service_helper
                 .verif_reporter()
-                .acceptance_success(self.service.service_helper.tm_sender(), token, &[0; 7])
+                .acceptance_success(
+                    self.service.service_helper.id(),
+                    self.service.service_helper.tm_sender(),
+                    token,
+                    &[0; 7],
+                )
                 .expect("TC acceptance failed");
             self.service
                 .service_helper
@@ -465,28 +482,22 @@ mod tests {
                 .verif_reporter()
                 .check_next_is_acceptance_success(id, accepted_token.request_id());
             self.pus_packet_tx
-                .send(EcssTcAndToken::new(
+                .send(EcssTcAndToken::new(tc.to_vec().unwrap(), accepted_token))
-                    PacketAsVec::new(self.service.service_helper.id(), tc.to_vec().unwrap()),
-                    accepted_token,
-                ))
                 .unwrap();
         }
     }
 
     #[test]
     fn basic_request() {
-        let mut testbench = TargetedPusRequestTestbench::new_for_action(
+        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 mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         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[0..4].copy_from_slice(&TEST_UNIQUE_ID.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);
+        let pus8_packet = PusTcCreator::new(&mut 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);
@@ -500,7 +511,7 @@ mod tests {
         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 = ActionReplyPus::new(action_id, ActionReplyVariant::Completed);
+            let action_reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
             testbench
                 .reply_tx
                 .send(GenericMessage::new(req.requestor_info, action_reply))
@@ -517,23 +528,16 @@ mod tests {
 
     #[test]
     fn basic_request_routing_error() {
-        let mut testbench = TargetedPusRequestTestbench::new_for_action(
+        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 mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         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[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(
+        let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
-            SpHeader::new_from_apid(TEST_APID),
-            sec_header,
-            &app_data,
-            true,
-        );
         testbench.add_tc(&pus8_packet);
         let time_stamp: [u8; 7] = [0; 7];
 
@@ -544,24 +548,17 @@ mod tests {
 
     #[test]
     fn converter_action_req_no_data() {
-        let mut testbench = PusConverterTestbench::new(
+        let mut testbench = PusConverterTestbench::new(ActionRequestConverter::default());
-            TEST_COMPONENT_ID_0.raw(),
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
-            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[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
         app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
-        let pus8_packet = PusTcCreator::new(
+        let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
-            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);
+        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID);
         assert!(result.is_ok());
         let (active_req, request) = result.unwrap();
         if let ActionRequestVariant::NoData = request.variant {
@@ -569,7 +566,7 @@ mod tests {
             assert_eq!(active_req.action_id, action_id);
             assert_eq!(
                 active_req.target_id(),
-                UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0).raw()
+                UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID).raw()
             );
             assert_eq!(
                 active_req.token().request_id(),
@@ -582,25 +579,20 @@ mod tests {
 
     #[test]
     fn converter_action_req_with_data() {
-        let mut testbench =
+        let mut testbench = PusConverterTestbench::new(ActionRequestConverter::default());
-            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         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[0..4].copy_from_slice(&TEST_UNIQUE_ID.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(
+        let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
-            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);
+        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID);
         assert!(result.is_ok());
         let (active_req, request) = result.unwrap();
         if let ActionRequestVariant::VecData(vec) = request.variant {
@@ -614,19 +606,18 @@ mod tests {
 
     #[test]
     fn reply_handling_completion_success() {
-        let mut testbench =
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
-            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 (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
         let active_action_req =
             ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
-        let reply = ActionReplyPus::new(action_id, ActionReplyVariant::Completed);
+        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(),
+            TEST_COMPONENT_ID.id(),
             req_id,
             None,
         );
@@ -634,14 +625,13 @@ mod tests {
 
     #[test]
     fn reply_handling_completion_failure() {
-        let mut testbench =
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
-            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 (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
         let active_action_req =
             ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
         let error_code = ResultU16::new(2, 3);
-        let reply = ActionReplyPus::new(
+        let reply = PusActionReply::new(
             action_id,
             ActionReplyVariant::CompletionFailed {
                 error_code,
@@ -653,7 +643,7 @@ mod tests {
         assert!(result.is_ok());
         assert!(result.unwrap());
         testbench.verif_reporter.assert_completion_failure(
-            TEST_COMPONENT_ID_0.into(),
+            TEST_COMPONENT_ID.into(),
             req_id,
             None,
             error_code.raw() as u64,
@@ -662,13 +652,12 @@ mod tests {
 
     #[test]
     fn reply_handling_step_success() {
-        let mut testbench =
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
-            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 (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
         let active_action_req =
             ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
-        let reply = ActionReplyPus::new(action_id, ActionReplyVariant::StepSuccess { step: 1 });
+        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());
@@ -677,25 +666,24 @@ mod tests {
         testbench.verif_reporter.check_next_was_added(req_id);
         testbench
             .verif_reporter
-            .check_next_is_acceptance_success(TEST_COMPONENT_ID_0.raw(), req_id);
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID.raw(), req_id);
         testbench
             .verif_reporter
-            .check_next_is_started_success(TEST_COMPONENT_ID_0.raw(), req_id);
+            .check_next_is_started_success(TEST_COMPONENT_ID.raw(), req_id);
         testbench
             .verif_reporter
-            .check_next_is_step_success(TEST_COMPONENT_ID_0.raw(), req_id, 1);
+            .check_next_is_step_success(TEST_COMPONENT_ID.raw(), req_id, 1);
     }
 
     #[test]
     fn reply_handling_step_failure() {
-        let mut testbench =
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
-            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 (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
         let active_action_req =
             ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
         let error_code = ResultU16::new(2, 3);
-        let reply = ActionReplyPus::new(
+        let reply = PusActionReply::new(
             action_id,
             ActionReplyVariant::StepFailed {
                 error_code,
@@ -710,12 +698,12 @@ mod tests {
         testbench.verif_reporter.check_next_was_added(req_id);
         testbench
             .verif_reporter
-            .check_next_is_acceptance_success(TEST_COMPONENT_ID_0.id(), req_id);
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID.id(), req_id);
         testbench
             .verif_reporter
-            .check_next_is_started_success(TEST_COMPONENT_ID_0.id(), req_id);
+            .check_next_is_started_success(TEST_COMPONENT_ID.id(), req_id);
         testbench.verif_reporter.check_next_is_step_failure(
-            TEST_COMPONENT_ID_0.id(),
+            TEST_COMPONENT_ID.id(),
             req_id,
             error_code.raw().into(),
         );
@@ -723,9 +711,8 @@ mod tests {
 
     #[test]
     fn reply_handling_unrequested_reply() {
-        let mut testbench =
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
-            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_reply = PusActionReply::new(5_u32, ActionReplyVariant::Completed);
-        let action_reply = ActionReplyPus::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
@@ -736,17 +723,16 @@ mod tests {
 
     #[test]
     fn reply_handling_reply_timeout() {
-        let mut testbench =
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
-            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 (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
         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(),
+            TEST_COMPONENT_ID.raw(),
             req_id,
             None,
             tmtc_err::REQUEST_TIMEOUT.raw() as u64,

satrs-example/src/pus/event.rs

@@ -8,25 +8,23 @@ use satrs::pus::event_srv::PusEventServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
-use super::HandlingStatus;
-
 pub fn create_event_service_static(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> EventServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> EventServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let pus_5_handler = PusEventServiceHandler::new(
         PusServiceHelper::new(
-            PUS_EVENT_MANAGEMENT.id(),
+            PUS_EVENT_MANAGEMENT.raw(),
             pus_event_rx,
             tm_sender,
-            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
         ),
         event_request_tx,
@@ -37,16 +35,16 @@ pub fn create_event_service_static(
 }
 
 pub fn create_event_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
 ) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
     let pus_5_handler = PusEventServiceHandler::new(
         PusServiceHelper::new(
-            PUS_EVENT_MANAGEMENT.id(),
+            PUS_EVENT_MANAGEMENT.raw(),
             pus_event_rx,
             tm_funnel_tx,
-            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
             EcssTcInVecConverter::default(),
         ),
         event_request_tx,
@@ -56,15 +54,15 @@ pub fn create_event_service_dynamic(
     }
 }
 
-pub struct EventServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+pub struct EventServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
     pub handler:
         PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
     EventServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    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 => {}
@@ -77,12 +75,14 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                 PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
                     warn!("PUS 5 subservice {subservice} not implemented");
                 }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+                PusPacketHandlerResult::Empty => {
+                    return true;
+                }
             },
             Err(error) => {
                 error!("PUS packet handling error: {error:?}")
             }
         }
-        HandlingStatus::HandledOne
+        false
     }
 }

satrs-example/src/pus/hk.rs

@@ -8,14 +8,15 @@ use satrs::pus::verification::{
 };
 use satrs::pus::{
     ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSenderCore,
     EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
-    PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
+    MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
+    PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{hk, PusPacket};
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+use satrs::ComponentId;
 use satrs_example::config::components::PUS_HK_SERVICE;
 use satrs_example::config::{hk_err, tmtc_err};
 use std::sync::mpsc;
@@ -24,7 +25,7 @@ use std::time::Duration;
 use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
 
-use super::{HandlingStatus, PusTargetedRequestService};
+use super::PusTargetedRequestService;
 
 #[derive(Clone, PartialEq, Debug, new)]
 pub struct HkReply {
@@ -45,8 +46,9 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
 
     fn handle_unrequested_reply(
         &mut self,
+        _caller_id: ComponentId,
         reply: &GenericMessage<HkReply>,
-        _tm_sender: &impl EcssTmSender,
+        _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error> {
         log::warn!("received unexpected reply for service 3: {reply:?}");
         Ok(())
@@ -54,9 +56,10 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
 
     fn handle_reply(
         &mut self,
+        caller_id: ComponentId,
         reply: &GenericMessage<HkReply>,
         active_request: &ActivePusRequestStd,
-        tm_sender: &impl EcssTmSender,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<bool, Self::Error> {
@@ -67,7 +70,7 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
         match reply.message.variant {
             HkReplyVariant::Ack => {
                 verification_handler
-                    .completion_success(tm_sender, started_token, time_stamp)
+                    .completion_success(caller_id, tm_sender, started_token, time_stamp)
                     .expect("sending completion success verification failed");
             }
         };
@@ -76,12 +79,14 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
 
     fn handle_request_timeout(
         &mut self,
+        caller_id: ComponentId,
         active_request: &ActivePusRequestStd,
-        tm_sender: &impl EcssTmSender,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<(), Self::Error> {
         generic_pus_request_timeout_handler(
+            caller_id,
             tm_sender,
             active_request,
             verification_handler,
@@ -109,9 +114,10 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
 
     fn convert(
         &mut self,
+        caller_id: ComponentId,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        tm_sender: &(impl EcssTmSender + ?Sized),
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<(ActivePusRequestStd, HkRequest), Self::Error> {
@@ -121,6 +127,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
             let user_data_len_raw = user_data_len.to_be_bytes();
             verif_reporter
                 .start_failure(
+                    caller_id,
                     tm_sender,
                     token,
                     FailParams::new(
@@ -145,6 +152,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
             let user_data_len_raw = user_data_len.to_be_bytes();
             verif_reporter
                 .start_failure(
+                    caller_id,
                     tm_sender,
                     token,
                     FailParams::new(time_stamp, err, &user_data_len_raw),
@@ -163,6 +171,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
         if standard_subservice.is_err() {
             verif_reporter
                 .start_failure(
+                    caller_id,
                     tm_sender,
                     token,
                     FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
@@ -187,6 +196,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
                 if user_data.len() < 12 {
                     verif_reporter
                         .start_failure(
+                            caller_id,
                             tm_sender,
                             token,
                             FailParams::new_no_fail_data(
@@ -212,6 +222,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
             _ => {
                 verif_reporter
                     .start_failure(
+                        caller_id,
                         tm_sender,
                         token,
                         FailParams::new(
@@ -232,18 +243,18 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
 }
 
 pub fn create_hk_service_static(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
     reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
-) -> HkServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> HkServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let pus_3_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            PUS_HK_SERVICE.id(),
+            PUS_HK_SERVICE.raw(),
             pus_hk_rx,
             tm_sender,
-            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
+            create_verification_reporter(PUS_HK_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_pool, 2048),
         ),
         HkRequestConverter::default(),
@@ -258,17 +269,17 @@ pub fn create_hk_service_static(
 }
 
 pub fn create_hk_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
     reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
 ) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
     let pus_3_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            PUS_HK_SERVICE.id(),
+            PUS_HK_SERVICE.raw(),
             pus_hk_rx,
             tm_funnel_tx,
-            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
+            create_verification_reporter(PUS_HK_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
         HkRequestConverter::default(),
@@ -282,7 +293,7 @@ pub fn create_hk_service_dynamic(
     }
 }
 
-pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+pub struct HkServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
     pub(crate) service: PusTargetedRequestService<
         MpscTcReceiver,
         TmSender,
@@ -297,10 +308,10 @@ pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMe
     >,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
     HkServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    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 => {}
@@ -313,24 +324,23 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                 PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
                     warn!("PUS 3 subservice {subservice} not implemented");
                 }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+                PusPacketHandlerResult::Empty => {
+                    return true;
+                }
             },
             Err(error) => {
-                error!("PUS packet handling error: {error:?}");
+                error!("PUS packet handling error: {error:?}")
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
             }
         }
-        HandlingStatus::HandledOne
+        false
     }
 
-    pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
-        // 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
+                false
             })
     }
 
@@ -341,9 +351,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
 
 #[cfg(test)]
 mod tests {
-    use satrs::pus::test_util::{
+    use satrs::pus::test_util::{TEST_COMPONENT_ID, TEST_UNIQUE_ID};
-        TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
-    };
     use satrs::request::MessageMetadata;
     use satrs::{
         hk::HkRequestVariant,
@@ -365,25 +373,24 @@ mod tests {
 
     #[test]
     fn hk_converter_one_shot_req() {
-        let mut hk_bench =
+        let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
-            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let target_id = TEST_UNIQUE_ID;
-        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,
+            &mut sp_header,
             3,
             Subservice::TcGenerateOneShotHk as u8,
-            &app_data,
+            Some(&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)
+            .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion failed");
 
         assert_eq!(req.unique_id, unique_id);
@@ -395,10 +402,9 @@ mod tests {
 
     #[test]
     fn hk_converter_enable_periodic_generation() {
-        let mut hk_bench =
+        let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
-            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let target_id = TEST_UNIQUE_ID;
-        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());
@@ -406,7 +412,7 @@ mod tests {
         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)
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
                 .expect("conversion failed");
             assert_eq!(req.unique_id, unique_id);
             if let HkRequestVariant::EnablePeriodic = req.variant {
@@ -415,18 +421,18 @@ mod tests {
             }
         };
         let tc0 = PusTcCreator::new_simple(
-            sp_header,
+            &mut sp_header,
             3,
             Subservice::TcEnableHkGeneration as u8,
-            &app_data,
+            Some(&app_data),
             true,
         );
         generic_check(&tc0);
         let tc1 = PusTcCreator::new_simple(
-            sp_header,
+            &mut sp_header,
             3,
             Subservice::TcEnableDiagGeneration as u8,
-            &app_data,
+            Some(&app_data),
             true,
         );
         generic_check(&tc1);
@@ -434,10 +440,9 @@ mod tests {
 
     #[test]
     fn hk_conversion_disable_periodic_generation() {
-        let mut hk_bench =
+        let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
-            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let target_id = TEST_UNIQUE_ID;
-        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());
@@ -445,7 +450,7 @@ mod tests {
         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)
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
                 .expect("conversion failed");
             assert_eq!(req.unique_id, unique_id);
             if let HkRequestVariant::DisablePeriodic = req.variant {
@@ -454,18 +459,18 @@ mod tests {
             }
         };
         let tc0 = PusTcCreator::new_simple(
-            sp_header,
+            &mut sp_header,
             3,
             Subservice::TcDisableHkGeneration as u8,
-            &app_data,
+            Some(&app_data),
             true,
         );
         generic_check(&tc0);
         let tc1 = PusTcCreator::new_simple(
-            sp_header,
+            &mut sp_header,
             3,
             Subservice::TcDisableDiagGeneration as u8,
-            &app_data,
+            Some(&app_data),
             true,
         );
         generic_check(&tc1);
@@ -473,10 +478,9 @@ mod tests {
 
     #[test]
     fn hk_conversion_modify_interval() {
-        let mut hk_bench =
+        let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
-            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let target_id = TEST_UNIQUE_ID;
-        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;
@@ -487,7 +491,7 @@ mod tests {
         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)
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
                 .expect("conversion failed");
             assert_eq!(req.unique_id, unique_id);
             if let HkRequestVariant::ModifyCollectionInterval(interval_factor) = req.variant {
@@ -497,18 +501,18 @@ mod tests {
             }
         };
         let tc0 = PusTcCreator::new_simple(
-            sp_header,
+            &mut sp_header,
             3,
             Subservice::TcModifyHkCollectionInterval as u8,
-            &app_data,
+            Some(&app_data),
             true,
         );
         generic_check(&tc0);
         let tc1 = PusTcCreator::new_simple(
-            sp_header,
+            &mut sp_header,
             3,
             Subservice::TcModifyDiagCollectionInterval as u8,
-            &app_data,
+            Some(&app_data),
             true,
         );
         generic_check(&tc1);
@@ -516,8 +520,7 @@ mod tests {
 
     #[test]
     fn hk_reply_handler() {
-        let mut reply_testbench =
+        let mut reply_testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
-            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;
@@ -531,13 +534,12 @@ mod tests {
         assert!(result.unwrap());
         reply_testbench
             .verif_reporter
-            .assert_full_completion_success(TEST_COMPONENT_ID_0.raw(), req_id, None);
+            .assert_full_completion_success(TEST_COMPONENT_ID.raw(), req_id, None);
     }
 
     #[test]
     fn reply_handling_unrequested_reply() {
-        let mut testbench =
+        let mut testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
-            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);
@@ -549,13 +551,12 @@ mod tests {
 
     #[test]
     fn reply_handling_reply_timeout() {
-        let mut testbench =
+        let mut testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
-            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
-        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(),
+            TEST_COMPONENT_ID.raw(),
             req_id,
             None,
             tmtc_err::REQUEST_TIMEOUT.raw() as u64,

satrs-example/src/pus/mod.rs

@@ -1,21 +1,20 @@
 use crate::requests::GenericRequestRouter;
+use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
-use satrs::pool::PoolAddr;
 use satrs::pus::verification::{
     self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
     VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
     ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
-    EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
+    EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError, GenericConversionError,
-    PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
+    GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler,
-    PusServiceHelper, PusTcToRequestConverter, TcInMemory,
+    PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
 };
-use satrs::queue::{GenericReceiveError, GenericSendError};
+use satrs::queue::GenericReceiveError;
 use satrs::request::{Apid, GenericMessage, MessageMetadata};
 use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
+use satrs::spacepackets::ecss::PusServiceId;
-use satrs::tmtc::{PacketAsVec, PacketInPool};
 use satrs::ComponentId;
 use satrs_example::config::components::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
@@ -31,17 +30,11 @@ pub mod scheduler;
 pub mod stack;
 pub mod test;
 
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+pub fn create_verification_reporter(apid: Apid) -> VerificationReporter {
-pub enum HandlingStatus {
-    Empty,
-    HandledOne,
-}
-
-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)
+    VerificationReporter::new(&verif_cfg)
 }
 
 /// Simple router structure which forwards PUS telecommands to dedicated handlers.
@@ -54,7 +47,7 @@ pub struct PusTcMpscRouter {
     pub mode_tc_sender: Sender<EcssTcAndToken>,
 }
 
-pub struct PusTcDistributor<TmSender: EcssTmSender> {
+pub struct PusReceiver<TmSender: EcssTmSenderCore> {
     pub id: ComponentId,
     pub tm_sender: TmSender,
     pub verif_reporter: VerificationReporter,
@@ -62,68 +55,35 @@ pub struct PusTcDistributor<TmSender: EcssTmSender> {
     stamp_helper: TimeStampHelper,
 }
 
-impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
+impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
     pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
         Self {
             id: PUS_ROUTING_SERVICE.raw(),
             tm_sender,
-            verif_reporter: create_verification_reporter(
+            verif_reporter: create_verification_reporter(PUS_ROUTING_SERVICE.apid),
-                PUS_ROUTING_SERVICE.id(),
-                PUS_ROUTING_SERVICE.apid,
-            ),
             pus_router,
             stamp_helper: TimeStampHelper::default(),
         }
     }
 
-    pub fn handle_tc_packet_vec(
+    pub fn handle_tc_packet(
         &mut self,
-        packet_as_vec: PacketAsVec,
+        tc_in_memory: TcInMemory,
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+        service: u8,
-        self.handle_tc_generic(packet_as_vec.sender_id, None, &packet_as_vec.packet)
+        pus_tc: &PusTcReader,
-    }
+    ) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
-
+        let init_token = self.verif_reporter.add_tc(pus_tc);
-    pub fn handle_tc_packet_in_store(
-        &mut self,
-        packet_in_pool: PacketInPool,
-        pus_tc_copy: &[u8],
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
-        self.handle_tc_generic(
-            packet_in_pool.sender_id,
-            Some(packet_in_pool.store_addr),
-            pus_tc_copy,
-        )
-    }
-
-    pub fn handle_tc_generic(
-        &mut self,
-        sender_id: ComponentId,
-        addr_opt: Option<PoolAddr>,
-        raw_tc: &[u8],
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
-        let pus_tc_result = PusTcReader::new(raw_tc);
-        if pus_tc_result.is_err() {
-            log::warn!(
-                "error creating PUS TC from raw data received from {}: {}",
-                sender_id,
-                pus_tc_result.unwrap_err()
-            );
-            log::warn!("raw data: {:x?}", raw_tc);
-            return Ok(PusPacketHandlerResult::RequestHandled);
-        }
-        let pus_tc = pus_tc_result.unwrap().0;
-        let init_token = self.verif_reporter.add_tc(&pus_tc);
         self.stamp_helper.update_from_now();
         let accepted_token = self
             .verif_reporter
-            .acceptance_success(&self.tm_sender, init_token, self.stamp_helper.stamp())
+            .acceptance_success(
+                self.id,
+                &self.tm_sender,
+                init_token,
+                self.stamp_helper.stamp(),
+            )
             .expect("Acceptance success failure");
-        let service = PusServiceId::try_from(pus_tc.service());
+        let service = PusServiceId::try_from(service);
-        let tc_in_memory: TcInMemory = if let Some(store_addr) = addr_opt {
-            PacketInPool::new(sender_id, store_addr).into()
-        } else {
-            PacketAsVec::new(sender_id, Vec::from(raw_tc)).into()
-        };
         match service {
             Ok(standard_service) => match standard_service {
                 PusServiceId::Test => self.pus_router.test_tc_sender.send(EcssTcAndToken {
@@ -148,6 +108,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 }
                 _ => {
                     let result = self.verif_reporter.start_failure(
+                        self.id,
                         &self.tm_sender,
                         accepted_token,
                         FailParams::new(
@@ -164,19 +125,16 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
             Err(e) => {
                 if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
                     match custom_service {
-                        CustomPusServiceId::Mode => self
+                        CustomPusServiceId::Mode => {
-                            .pus_router
+                            // TODO: Fix mode service.
-                            .mode_tc_sender
+                            //self.handle_mode_service(pus_tc, accepted_token)
-                            .send(EcssTcAndToken {
+                        }
-                                tc_in_memory,
-                                token: Some(accepted_token.into()),
-                            })
-                            .map_err(|_| GenericSendError::RxDisconnected)?,
                         CustomPusServiceId::Health => {}
                     }
                 } else {
                     self.verif_reporter
                         .start_failure(
+                            self.id,
                             &self.tm_sender,
                             accepted_token,
                             FailParams::new(
@@ -195,8 +153,8 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
 
 pub trait TargetedPusService {
     /// Returns [true] if the packet handling is finished.
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus;
+    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 poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool;
     fn check_for_request_timeouts(&mut self);
 }
 
@@ -217,13 +175,12 @@ pub trait TargetedPusService {
 ///
 /// The handler exposes the following API:
 ///
-///  1. [Self::poll_and_handle_next_tc] which tries to poll and handle one TC packet, covering
+///  1. [Self::handle_one_tc] which tries to poll and handle one TC packet, covering steps 1-5.
-///     steps 1-5.
+///  2. [Self::check_one_reply] which tries to poll and handle one reply, covering step 6.
-///  2. [Self::poll_and_check_next_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: EcssTcReceiver,
+    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSender,
+    TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
     VerificationReporter: VerificationReportingProvider,
     RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
@@ -244,8 +201,8 @@ pub struct PusTargetedRequestService<
 }
 
 impl<
-        TcReceiver: EcssTcReceiver,
+        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSender,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
         RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
@@ -308,6 +265,7 @@ where
             .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(
+            self.service_helper.id(),
             ecss_tc_and_token.token,
             &tc,
             self.service_helper.tm_sender(),
@@ -335,6 +293,7 @@ where
                     .service_helper
                     .verif_reporter()
                     .start_success(
+                        self.service_helper.id(),
                         &self.service_helper.common.tm_sender,
                         accepted_token,
                         time_stamp,
@@ -371,6 +330,7 @@ where
                 self.service_helper
                     .verif_reporter()
                     .completion_failure(
+                        self.service_helper.id(),
                         self.service_helper.tm_sender(),
                         token,
                         FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SERVICE, &service_slice),
@@ -382,6 +342,7 @@ where
                 self.service_helper
                     .verif_reporter()
                     .completion_failure(
+                        self.service_helper.id(),
                         self.service_helper.tm_sender(),
                         token,
                         FailParams::new(
@@ -398,6 +359,7 @@ where
                 self.service_helper
                     .verif_reporter()
                     .completion_failure(
+                        self.service_helper.id(),
                         self.service_helper.tm_sender(),
                         token,
                         FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
@@ -409,17 +371,14 @@ where
         }
     }
 
-    pub fn poll_and_check_next_reply(
+    pub fn poll_and_check_next_reply(&mut self, time_stamp: &[u8]) -> Result<bool, EcssTmtcError> {
-        &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)
+                Ok(false)
             }
             Err(e) => match e {
-                mpsc::TryRecvError::Empty => Ok(HandlingStatus::Empty),
+                mpsc::TryRecvError::Empty => Ok(true),
                 mpsc::TryRecvError::Disconnected => Err(EcssTmtcError::Receive(
                     GenericReceiveError::TxDisconnected(None),
                 )),
@@ -434,14 +393,18 @@ where
     ) -> Result<(), EcssTmtcError> {
         let active_req_opt = self.active_request_map.get(reply.request_id());
         if active_req_opt.is_none() {
-            self.reply_handler
+            self.reply_handler.handle_unrequested_reply(
-                .handle_unrequested_reply(reply, &self.service_helper.common.tm_sender)?;
+                self.service_helper.id(),
+                reply,
+                &self.service_helper.common.tm_sender,
+            )?;
             return Ok(());
         }
         let active_request = active_req_opt.unwrap();
         let request_finished = self
             .reply_handler
             .handle_reply(
+                self.service_helper.id(),
                 reply,
                 active_request,
                 &self.service_helper.common.tm_sender,
@@ -474,7 +437,8 @@ where
 /// 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 EcssTmSender + ?Sized),
+    sender_id: ComponentId,
+    sender: &(impl EcssTmSenderCore + ?Sized),
     active_request: &(impl ActiveRequestProvider + Debug),
     verification_handler: &impl VerificationReportingProvider,
     time_stamp: &[u8],
@@ -486,6 +450,7 @@ pub fn generic_pus_request_timeout_handler(
         .try_into()
         .expect("token not in expected started state");
     verification_handler.completion_failure(
+        sender_id,
         sender,
         started_token,
         FailParams::new(time_stamp, &tmtc_err::REQUEST_TIMEOUT, &[]),
@@ -497,8 +462,8 @@ pub fn generic_pus_request_timeout_handler(
 pub(crate) mod tests {
     use std::time::Duration;
 
-    use satrs::pus::test_util::TEST_COMPONENT_ID_0;
+    use satrs::pus::test_util::TEST_COMPONENT_ID;
-    use satrs::pus::{MpscTmAsVecSender, PusTmVariant};
+    use satrs::pus::{MpscTmAsVecSender, PusTmAsVec, PusTmVariant};
     use satrs::request::RequestId;
     use satrs::{
         pus::{
@@ -528,7 +493,7 @@ pub(crate) mod tests {
         pub id: ComponentId,
         pub verif_reporter: TestVerificationReporter,
         pub reply_handler: ReplyHandler,
-        pub tm_receiver: mpsc::Receiver<PacketAsVec>,
+        pub tm_receiver: mpsc::Receiver<PusTmAsVec>,
         pub default_timeout: Duration,
         tm_sender: MpscTmAsVecSender,
         phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
@@ -540,11 +505,11 @@ pub(crate) mod tests {
             Reply,
         > ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
     {
-        pub fn new(owner_id: ComponentId, reply_handler: ReplyHandler) -> Self {
+        pub fn new(reply_handler: ReplyHandler) -> Self {
-            let test_verif_reporter = TestVerificationReporter::new(owner_id);
+            let test_verif_reporter = TestVerificationReporter::default();
             let (tm_sender, tm_receiver) = mpsc::channel();
             Self {
-                id: TEST_COMPONENT_ID_0.raw(),
+                id: TEST_COMPONENT_ID.raw(),
                 verif_reporter: test_verif_reporter,
                 reply_handler,
                 default_timeout: Duration::from_secs(30),
@@ -560,21 +525,21 @@ pub(crate) mod tests {
             apid_target: u32,
             time_stamp: &[u8],
         ) -> (verification::RequestId, ActivePusRequestStd) {
-            let sp_header = SpHeader::new_from_apid(apid);
+            let mut sp_header = SpHeader::tc_unseg(apid, 0, 0).unwrap();
             let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
             let init = self.verif_reporter.add_tc(&PusTcCreator::new(
-                sp_header,
+                &mut sp_header,
                 sec_header_dummy,
                 &[],
                 true,
             ));
             let accepted = self
                 .verif_reporter
-                .acceptance_success(&self.tm_sender, init, time_stamp)
+                .acceptance_success(self.id, &self.tm_sender, init, time_stamp)
                 .expect("acceptance failed");
             let started = self
                 .verif_reporter
-                .start_success(&self.tm_sender, accepted, time_stamp)
+                .start_success(self.id, &self.tm_sender, accepted, time_stamp)
                 .expect("start failed");
             (
                 started.request_id(),
@@ -593,6 +558,7 @@ pub(crate) mod tests {
             time_stamp: &[u8],
         ) -> Result<bool, ReplyHandler::Error> {
             self.reply_handler.handle_reply(
+                self.id,
                 reply,
                 active_request,
                 &self.tm_sender,
@@ -606,7 +572,7 @@ pub(crate) mod tests {
             reply: &GenericMessage<Reply>,
         ) -> Result<(), ReplyHandler::Error> {
             self.reply_handler
-                .handle_unrequested_reply(reply, &self.tm_sender)
+                .handle_unrequested_reply(self.id, reply, &self.tm_sender)
         }
         pub fn handle_request_timeout(
             &mut self,
@@ -614,6 +580,7 @@ pub(crate) mod tests {
             time_stamp: &[u8],
         ) -> Result<(), ReplyHandler::Error> {
             self.reply_handler.handle_request_timeout(
+                self.id,
                 active_request_info,
                 &self.tm_sender,
                 &self.verif_reporter,
@@ -628,7 +595,7 @@ pub(crate) mod tests {
     /// Dummy sender component which does nothing on the [Self::send_tm] call.
     ///
     /// Useful for unit tests.
-    impl EcssTmSender for DummySender {
+    impl EcssTmSenderCore for DummySender {
         fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
             Ok(())
         }
@@ -655,10 +622,10 @@ pub(crate) mod tests {
             Request,
         > PusConverterTestbench<Converter, ActiveRequestInfo, Request>
     {
-        pub fn new(owner_id: ComponentId, converter: Converter) -> Self {
+        pub fn new(converter: Converter) -> Self {
-            let test_verif_reporter = TestVerificationReporter::new(owner_id);
+            let test_verif_reporter = TestVerificationReporter::default();
             Self {
-                id: owner_id,
+                id: TEST_COMPONENT_ID.raw(),
                 verif_reporter: test_verif_reporter,
                 converter,
                 dummy_sender: DummySender::default(),
@@ -673,7 +640,7 @@ pub(crate) mod tests {
             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, &[])
+                .acceptance_success(self.id, &self.dummy_sender, token, &[])
                 .expect("acceptance failed")
         }
 
@@ -696,6 +663,7 @@ pub(crate) mod tests {
             let current_packet = self.current_packet.take().unwrap();
             let tc_reader = PusTcReader::new(&current_packet).unwrap();
             let (active_info, request) = self.converter.convert(
+                self.id,
                 token,
                 &tc_reader.0,
                 &self.dummy_sender,
@@ -735,7 +703,7 @@ pub(crate) mod tests {
             ReplyType,
         >,
         pub request_id: Option<RequestId>,
-        pub tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
+        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

@@ -1,6 +1,4 @@
-use derive_new::new;
 use log::{error, warn};
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use std::sync::mpsc;
 use std::time::Duration;
 
@@ -9,8 +7,8 @@ use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
     DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult,
+    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
-    PusServiceHelper,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
 use satrs::request::GenericMessage;
 use satrs::{
@@ -21,7 +19,7 @@ use satrs::{
             self, FailParams, TcStateAccepted, TcStateStarted, VerificationReportingProvider,
             VerificationToken,
         },
-        ActivePusRequestStd, ActiveRequestProvider, EcssTmSender, EcssTmtcError,
+        ActivePusRequestStd, ActiveRequestProvider, EcssTmSenderCore, EcssTmtcError,
         GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
     },
     request::UniqueApidTargetId,
@@ -39,22 +37,21 @@ 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,
+    create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
-    PusTargetedRequestService, TargetedPusService,
+    TargetedPusService,
 };
 
-#[derive(new)]
+#[derive(Default)]
-pub struct ModeReplyHandler {
+pub struct ModeReplyHandler {}
-    owner_id: ComponentId,
-}
 
 impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
     type Error = EcssTmtcError;
 
     fn handle_unrequested_reply(
         &mut self,
+        _caller_id: ComponentId,
         reply: &GenericMessage<ModeReply>,
-        _tm_sender: &impl EcssTmSender,
+        _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error> {
         log::warn!("received unexpected reply for mode service 5: {reply:?}");
         Ok(())
@@ -62,9 +59,10 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
 
     fn handle_reply(
         &mut self,
+        caller_id: ComponentId,
         reply: &GenericMessage<ModeReply>,
         active_request: &ActivePusRequestStd,
-        tm_sender: &impl EcssTmSender,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<bool, Self::Error> {
@@ -79,15 +77,27 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                     .write_to_be_bytes(&mut source_data)
                     .expect("writing mode reply failed");
                 let req_id = verification::RequestId::from(reply.request_id());
-                let sp_header = SpHeader::new_for_unseg_tm(req_id.packet_id().apid(), 0, 0);
+                let mut sp_header = SpHeader::tm_unseg(req_id.packet_id().apid(), 0, 0)
-                let sec_header =
+                    .expect("generating SP header failed");
-                    PusTmSecondaryHeader::new(200, Subservice::TmModeReply as u8, 0, 0, time_stamp);
+                let sec_header = PusTmSecondaryHeader::new(
-                let pus_tm = PusTmCreator::new(sp_header, sec_header, &source_data, true);
+                    200,
-                tm_sender.send_tm(self.owner_id, PusTmVariant::Direct(pus_tm))?;
+                    Subservice::TmModeReply as u8,
-                verification_handler.completion_success(tm_sender, started_token, time_stamp)?;
+                    0,
+                    0,
+                    Some(time_stamp),
+                );
+                let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &source_data, true);
+                tm_sender.send_tm(caller_id, PusTmVariant::Direct(pus_tm))?;
+                verification_handler.completion_success(
+                    caller_id,
+                    tm_sender,
+                    started_token,
+                    time_stamp,
+                )?;
             }
             ModeReply::CantReachMode(error_code) => {
                 verification_handler.completion_failure(
+                    caller_id,
                     tm_sender,
                     started_token,
                     FailParams::new(time_stamp, &error_code, &[]),
@@ -102,6 +112,7 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                     .write_to_be_bytes(&mut error_info[ModeAndSubmode::RAW_LEN..])
                     .expect("writing reached mode failed");
                 verification_handler.completion_failure(
+                    caller_id,
                     tm_sender,
                     started_token,
                     FailParams::new(
@@ -117,12 +128,14 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
 
     fn handle_request_timeout(
         &mut self,
+        caller_id: ComponentId,
         active_request: &ActivePusRequestStd,
-        tm_sender: &impl EcssTmSender,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<(), Self::Error> {
         generic_pus_request_timeout_handler(
+            caller_id,
             tm_sender,
             active_request,
             verification_handler,
@@ -141,9 +154,11 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
 
     fn convert(
         &mut self,
+
+        caller_id: ComponentId,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        tm_sender: &(impl EcssTmSender + ?Sized),
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<(ActivePusRequestStd, ModeRequest), Self::Error> {
@@ -152,6 +167,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
         let not_enough_app_data = |expected: usize| {
             verif_reporter
                 .start_failure(
+                    caller_id,
                     tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
@@ -173,6 +189,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
             // Invalid subservice
             verif_reporter
                 .start_failure(
+                    caller_id,
                     tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
@@ -204,23 +221,23 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
 }
 
 pub fn create_mode_service_static(
-    tm_sender: PacketSenderWithSharedPool,
+    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<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> ModeServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let mode_request_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            PUS_MODE_SERVICE.id(),
+            PUS_MODE_SERVICE.raw(),
             pus_action_rx,
             tm_sender,
-            create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
+            create_verification_reporter(PUS_MODE_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_pool, 2048),
         ),
         ModeRequestConverter::default(),
         DefaultActiveRequestMap::default(),
-        ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
+        ModeReplyHandler::default(),
         mode_router,
         reply_receiver,
     );
@@ -230,22 +247,22 @@ pub fn create_mode_service_static(
 }
 
 pub fn create_mode_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    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_MODE_SERVICE.raw(),
             pus_action_rx,
             tm_funnel_tx,
-            create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
+            create_verification_reporter(PUS_MODE_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
         ModeRequestConverter::default(),
         DefaultActiveRequestMap::default(),
-        ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
+        ModeReplyHandler::default(),
         mode_router,
         reply_receiver,
     );
@@ -254,7 +271,7 @@ pub fn create_mode_service_dynamic(
     }
 }
 
-pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+pub struct ModeServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
     pub(crate) service: PusTargetedRequestService<
         MpscTcReceiver,
         TmSender,
@@ -269,11 +286,11 @@ pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcIn
     >,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+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]) -> HandlingStatus {
+    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 => {}
@@ -286,23 +303,23 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPus
                 PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
                     warn!("PUS mode service: {subservice} not implemented");
                 }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+                PusPacketHandlerResult::Empty => {
+                    return true;
+                }
             },
             Err(error) => {
-                error!("PUS mode service: packet handling error: {error:?}");
+                error!("PUS mode service: packet handling error: {error:?}")
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
             }
         }
-        HandlingStatus::HandledOne
+        false
     }
 
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
         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
+                false
             })
     }
 
@@ -312,7 +329,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPus
 }
 #[cfg(test)]
 mod tests {
-    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};
+    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID, TEST_UNIQUE_ID};
     use satrs::request::MessageMetadata;
     use satrs::{
         mode::{ModeAndSubmode, ModeReply, ModeRequest},
@@ -334,79 +351,72 @@ mod tests {
 
     #[test]
     fn mode_converter_read_mode_request() {
-        let mut testbench =
+        let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
-            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
-        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());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
-        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
+        let tc = PusTcCreator::new(&mut 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)
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion has failed");
         assert_eq!(req, ModeRequest::ReadMode);
     }
 
     #[test]
     fn mode_converter_set_mode_request() {
-        let mut testbench =
+        let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
-            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
-        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());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.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 tc = PusTcCreator::new(&mut 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)
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion has failed");
         assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
     }
 
     #[test]
     fn mode_converter_announce_mode() {
-        let mut testbench =
+        let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
-            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
-        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());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
-        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
+        let tc = PusTcCreator::new(&mut 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)
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion has failed");
         assert_eq!(req, ModeRequest::AnnounceMode);
     }
 
     #[test]
     fn mode_converter_announce_mode_recursively() {
-        let mut testbench =
+        let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
-            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
-        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());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
-        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
+        let tc = PusTcCreator::new(&mut 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)
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion has failed");
         assert_eq!(req, ModeRequest::AnnounceModeRecursive);
     }
 
     #[test]
     fn reply_handling_unrequested_reply() {
-        let mut testbench = ReplyHandlerTestbench::new(
+        let mut testbench = ReplyHandlerTestbench::new(ModeReplyHandler::default());
-            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);
@@ -418,15 +428,12 @@ mod tests {
 
     #[test]
     fn reply_handling_reply_timeout() {
-        let mut testbench = ReplyHandlerTestbench::new(
+        let mut testbench = ReplyHandlerTestbench::new(ModeReplyHandler::default());
-            TEST_COMPONENT_ID_0.id(),
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_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(),
+            TEST_COMPONENT_ID.raw(),
             req_id,
             None,
             tmtc_err::REQUEST_TIMEOUT.raw() as u64,

satrs-example/src/pus/scheduler.rs

@@ -9,62 +9,51 @@ use satrs::pus::scheduler_srv::PusSchedServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
-use satrs::ComponentId;
 use satrs_example::config::components::PUS_SCHED_SERVICE;
 
-use super::HandlingStatus;
+use crate::tmtc::PusTcSourceProviderSharedPool;
 
 pub trait TcReleaser {
-    fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
+    fn release(&mut self, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
 }
 
-impl TcReleaser for PacketSenderWithSharedPool {
+impl TcReleaser for PusTcSourceProviderSharedPool {
-    fn release(
+    fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
-        &mut self,
-        sender_id: ComponentId,
-        enabled: bool,
-        _info: &TcInfo,
-        tc: &[u8],
-    ) -> bool {
         if enabled {
-            let shared_pool = self.shared_pool.get_mut();
             // Transfer TC from scheduler TC pool to shared TC pool.
-            let released_tc_addr = shared_pool
+            let released_tc_addr = self
-                .0
+                .shared_pool
+                .pool
                 .write()
                 .expect("locking pool failed")
                 .add(tc)
                 .expect("adding TC to shared pool failed");
-            self.sender
+            self.tc_source
-                .send(PacketInPool::new(sender_id, released_tc_addr))
+                .send(released_tc_addr)
                 .expect("sending TC to TC source failed");
         }
         true
     }
 }
 
-impl TcReleaser for mpsc::Sender<PacketAsVec> {
+impl TcReleaser for mpsc::Sender<Vec<u8>> {
-    fn release(
+    fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
-        &mut self,
-        sender_id: ComponentId,
-        enabled: bool,
-        _info: &TcInfo,
-        tc: &[u8],
-    ) -> bool {
         if enabled {
             // Send released TC to centralized TC source.
-            self.send(PacketAsVec::new(sender_id, tc.to_vec()))
+            self.send(tc.to_vec())
                 .expect("sending TC to TC source failed");
         }
         true
     }
 }
 
-pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+pub struct SchedulingServiceWrapper<
-{
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+> {
     pub pus_11_handler: PusSchedServiceHandler<
         MpscTcReceiver,
         TmSender,
@@ -77,13 +66,12 @@ pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: Ec
     pub tc_releaser: Box<dyn TcReleaser + Send>,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
     SchedulingServiceWrapper<TmSender, TcInMemConverter>
 {
     pub fn release_tcs(&mut self) {
-        let id = self.pus_11_handler.service_helper.id();
         let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
-            self.tc_releaser.release(id, enabled, info, tc)
+            self.tc_releaser.release(enabled, info, tc)
         };
 
         self.pus_11_handler
@@ -104,7 +92,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
         }
     }
 
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    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)
@@ -120,31 +108,33 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                 PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
                     warn!("PUS11: Subservice {subservice} not implemented");
                 }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+                PusPacketHandlerResult::Empty => {
+                    return true;
+                }
             },
             Err(error) => {
                 error!("PUS packet handling error: {error:?}")
             }
         }
-        HandlingStatus::HandledOne
+        false
     }
 }
 
 pub fn create_scheduler_service_static(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
-    tc_releaser: PacketSenderWithSharedPool,
+    tc_releaser: PusTcSourceProviderSharedPool,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> SchedulingServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> SchedulingServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusSchedServiceHandler::new(
         PusServiceHelper::new(
-            PUS_SCHED_SERVICE.id(),
+            PUS_SCHED_SERVICE.raw(),
             pus_sched_rx,
             tm_sender,
-            create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
+            create_verification_reporter(PUS_SCHED_SERVICE.apid),
-            EcssTcInSharedStoreConverter::new(tc_releaser.shared_packet_store().0.clone(), 2048),
+            EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
         ),
         scheduler,
     );
@@ -157,8 +147,8 @@ pub fn create_scheduler_service_static(
 }
 
 pub fn create_scheduler_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
-    tc_source_sender: mpsc::Sender<PacketAsVec>,
+    tc_source_sender: mpsc::Sender<Vec<u8>>,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
 ) -> SchedulingServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
@@ -168,10 +158,10 @@ pub fn create_scheduler_service_dynamic(
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusSchedServiceHandler::new(
         PusServiceHelper::new(
-            PUS_SCHED_SERVICE.id(),
+            PUS_SCHED_SERVICE.raw(),
             pus_sched_rx,
             tm_funnel_tx,
-            create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
+            create_verification_reporter(PUS_SCHED_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
         scheduler,

satrs-example/src/pus/stack.rs

@@ -1,18 +1,17 @@
 use crate::pus::mode::ModeServiceWrapper;
 use derive_new::new;
 use satrs::{
-    pus::{EcssTcInMemConverter, EcssTmSender},
+    pus::{EcssTcInMemConverter, EcssTmSenderCore},
     spacepackets::time::{cds, TimeWriter},
 };
 
 use super::{
     action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
-    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
+    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, TargetedPusService,
-    TargetedPusService,
 };
 
 #[derive(new)]
-pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+pub struct PusStack<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
     test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
     hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
     event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
@@ -21,7 +20,7 @@ pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConvert
     mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
     PusStack<TmSender, TcInMemConverter>
 {
     pub fn periodic_operation(&mut self) {
@@ -35,29 +34,17 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
         loop {
             let mut nothing_to_do = true;
             let mut is_srv_finished =
-                |_srv_id: u8,
+                |tc_handling_done: bool, reply_handling_done: Option<bool>| {
-                 tc_handling_status: HandlingStatus,
+                    if !tc_handling_done
-                 reply_handling_status: Option<HandlingStatus>| {
+                        || (reply_handling_done.is_some() && !reply_handling_done.unwrap())
-                    if tc_handling_status == HandlingStatus::HandledOne
-                        || (reply_handling_status.is_some()
-                            && reply_handling_status.unwrap() == HandlingStatus::HandledOne)
                     {
                         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(
-                17,
-                self.test_srv.poll_and_handle_next_packet(&time_stamp),
-                None,
-            );
-            is_srv_finished(
-                11,
-                self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
-                None,
-            );
-            is_srv_finished(5, self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
-            is_srv_finished(
-                8,
                 self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
                 Some(
                     self.action_srv_wrapper
@@ -65,12 +52,10 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                 ),
             );
             is_srv_finished(
-                3,
                 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(
-                200,
                 self.mode_srv.poll_and_handle_next_tc(&time_stamp),
                 Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
             );

satrs-example/src/pus/test.rs

@@ -1,36 +1,34 @@
 use crate::pus::create_verification_reporter;
 use log::{info, warn};
-use satrs::event_man::{EventMessage, EventMessageU32};
+use satrs::params::Params;
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::test::PusService17TestHandler;
 use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
-use satrs::pus::EcssTcInSharedStoreConverter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSenderCore, MpscTcReceiver,
-    MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusServiceHelper,
+    PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
 use satrs::spacepackets::time::cds::CdsTime;
 use satrs::spacepackets::time::TimeWriter;
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
 use satrs_example::config::components::PUS_TEST_SERVICE;
 use satrs_example::config::{tmtc_err, TEST_EVENT};
 use std::sync::mpsc;
 
-use super::HandlingStatus;
-
 pub fn create_test_service_static(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
-    event_sender: mpsc::Sender<EventMessageU32>,
+    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> TestCustomServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        PUS_TEST_SERVICE.id(),
+        PUS_TEST_SERVICE.raw(),
         pus_test_rx,
         tm_sender,
-        create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
+        create_verification_reporter(PUS_TEST_SERVICE.apid),
         EcssTcInSharedStoreConverter::new(tc_pool, 2048),
     ));
     TestCustomServiceWrapper {
@@ -40,15 +38,15 @@ pub fn create_test_service_static(
 }
 
 pub fn create_test_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
-    event_sender: mpsc::Sender<EventMessageU32>,
+    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
 ) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        PUS_TEST_SERVICE.id(),
+        PUS_TEST_SERVICE.raw(),
         pus_test_rx,
         tm_funnel_tx,
-        create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
+        create_verification_reporter(PUS_TEST_SERVICE.apid),
         EcssTcInVecConverter::default(),
     ));
     TestCustomServiceWrapper {
@@ -57,21 +55,23 @@ pub fn create_test_service_dynamic(
     }
 }
 
-pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+pub struct TestCustomServiceWrapper<
-{
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+> {
     pub handler:
         PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    pub test_srv_event_sender: mpsc::Sender<EventMessageU32>,
+    pub test_srv_event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
     TestCustomServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    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 HandlingStatus::HandledOne;
+            return true;
         }
         match res.unwrap() {
             PusPacketHandlerResult::RequestHandled => {
@@ -101,18 +101,24 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                 if subservice == 128 {
                     info!("Generating test event");
                     self.test_srv_event_sender
-                        .send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
+                        .send((TEST_EVENT.into(), None))
                         .expect("Sending test event failed");
                     let start_token = self
                         .handler
                         .service_helper
                         .verif_reporter()
-                        .start_success(self.handler.service_helper.tm_sender(), token, &stamp_buf)
+                        .start_success(
+                            self.handler.service_helper.common.id,
+                            self.handler.service_helper.tm_sender(),
+                            token,
+                            &stamp_buf,
+                        )
                         .expect("Error sending start success");
                     self.handler
                         .service_helper
                         .verif_reporter()
                         .completion_success(
+                            self.handler.service_helper.id(),
                             self.handler.service_helper.tm_sender(),
                             start_token,
                             &stamp_buf,
@@ -124,6 +130,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                         .service_helper
                         .verif_reporter()
                         .start_failure(
+                            self.handler.service_helper.id(),
                             self.handler.service_helper.tm_sender(),
                             token,
                             FailParams::new(
@@ -135,8 +142,10 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                         .expect("Sending start failure verification failed");
                 }
             }
-            PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+            PusPacketHandlerResult::Empty => {
+                return true;
+            }
         }
-        HandlingStatus::HandledOne
+        false
     }
 }

satrs-example/src/queue.rs

@@ -0,0 +1,45 @@
+/// Generic error type for sending something via a message queue.
+#[derive(Debug, Copy, Clone)]
+pub enum GenericSendError {
+    RxDisconnected,
+    QueueFull(Option<u32>),
+}
+
+impl Display for GenericSendError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            GenericSendError::RxDisconnected => {
+                write!(f, "rx side has disconnected")
+            }
+            GenericSendError::QueueFull(max_cap) => {
+                write!(f, "queue with max capacity of {max_cap:?} is full")
+            }
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for GenericSendError {}
+
+/// Generic error type for sending something via a message queue.
+#[derive(Debug, Copy, Clone)]
+pub enum GenericRecvError {
+    Empty,
+    TxDisconnected,
+}
+
+impl Display for GenericRecvError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::TxDisconnected => {
+                write!(f, "tx side has disconnected")
+            }
+            Self::Empty => {
+                write!(f, "nothing to receive")
+            }
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for GenericRecvError {}

satrs-example/src/requests.rs

@@ -8,9 +8,9 @@ use satrs::mode::ModeRequest;
 use satrs::pus::verification::{
     FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
 };
-use satrs::pus::{ActiveRequestProvider, EcssTmSender, GenericRoutingError, PusRequestRouter};
+use satrs::pus::{ActiveRequestProvider, EcssTmSenderCore, GenericRoutingError, PusRequestRouter};
 use satrs::queue::GenericSendError;
-use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
+use satrs::request::{GenericMessage, MessageMetadata};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
 use satrs::ComponentId;
@@ -47,7 +47,7 @@ impl GenericRequestRouter {
         active_request: &impl ActiveRequestProvider,
         tc: &PusTcReader,
         error: GenericRoutingError,
-        tm_sender: &(impl EcssTmSender + ?Sized),
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) {
@@ -61,13 +61,11 @@ impl GenericRequestRouter {
             .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(
+                        self.id,
                         tm_sender,
                         accepted_token,
                         FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
@@ -79,6 +77,7 @@ impl GenericRequestRouter {
                 fail_data.copy_from_slice(&active_request.target_id().to_be_bytes());
                 verif_reporter
                     .completion_failure(
+                        self.id,
                         tm_sender,
                         accepted_token,
                         FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),

satrs-example/src/tcp.rs

@@ -1,49 +1,25 @@
 use std::{
-    collections::{HashSet, VecDeque},
+    collections::VecDeque,
-    fmt::Debug,
-    marker::PhantomData,
     sync::{Arc, Mutex},
 };
 
 use log::{info, warn};
 use satrs::{
-    encoding::ccsds::{SpValidity, SpacePacketValidator},
+    hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
-    hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
+    pus::ReceivesEcssPusTc,
-    spacepackets::{CcsdsPacket, PacketId},
+    spacepackets::PacketId,
-    tmtc::{PacketSenderRaw, PacketSource},
+    tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
 };
+use satrs_example::config::components;
 
-#[derive(Default)]
+use crate::ccsds::CcsdsReceiver;
-pub struct ConnectionFinishedHandler {}
 
-pub struct SimplePacketValidator {
+pub const PACKET_ID_LOOKUP: &[PacketId] = &[
-    pub valid_ids: HashSet<PacketId>,
+    PacketId::const_tc(true, components::Apid::GenericPus as u16),
-}
+    PacketId::const_tc(true, components::Apid::EventTm as u16),
-
+    PacketId::const_tc(true, components::Apid::Acs as u16),
-impl SpacePacketValidator for SimplePacketValidator {
+    PacketId::const_tc(true, components::Apid::Sched as u16),
-    fn validate(
+];
-        &self,
-        sp_header: &satrs::spacepackets::SpHeader,
-        _raw_buf: &[u8],
-    ) -> satrs::encoding::ccsds::SpValidity {
-        if self.valid_ids.contains(&sp_header.packet_id()) {
-            return SpValidity::Valid;
-        }
-        log::warn!("ignoring space packet with header {:?}", sp_header);
-        // We could perform a CRC check.. but lets keep this simple and assume that TCP ensures
-        // data integrity.
-        SpValidity::Skip
-    }
-}
-
-impl HandledConnectionHandler for ConnectionFinishedHandler {
-    fn handled_connection(&mut self, info: satrs::hal::std::tcp_server::HandledConnectionInfo) {
-        info!(
-            "Served {} TMs and {} TCs for client {:?}",
-            info.num_sent_tms, info.num_received_tcs, info.addr
-        );
-    }
-}
 
 #[derive(Default, Clone)]
 pub struct SyncTcpTmSource {
@@ -73,7 +49,7 @@ impl SyncTcpTmSource {
     }
 }
 
-impl PacketSource for SyncTcpTmSource {
+impl TmPacketSourceCore for SyncTcpTmSource {
     type Error = ();
 
     fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
@@ -101,47 +77,58 @@ impl PacketSource for SyncTcpTmSource {
     }
 }
 
-pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
+pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
-    SyncTcpTmSource,
-    ReceivesTc,
-    SimplePacketValidator,
-    ConnectionFinishedHandler,
     (),
-    SendError,
+    CcsdsError<MpscErrorType>,
+    SyncTcpTmSource,
+    CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
 >;
 
-pub struct TcpTask<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>(
+pub struct TcpTask<
-    pub TcpServer<TcSender, SendError>,
+    TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
-    PhantomData<SendError>,
+        + ReceivesEcssPusTc<Error = MpscErrorType>
-);
+        + Clone
+        + Send
+        + 'static,
+    MpscErrorType: 'static,
+> {
+    server: TcpServerType<TcSource, MpscErrorType>,
+}
 
-impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
+impl<
-    TcpTask<TcSender, SendError>
+        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_sender: TcSender,
+        tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
-        valid_ids: HashSet<PacketId>,
     ) -> Result<Self, std::io::Error> {
-        Ok(Self(
+        Ok(Self {
-            TcpSpacepacketsServer::new(
+            server: TcpSpacepacketsServer::new(
                 cfg,
                 tm_source,
-                tc_sender,
+                tc_receiver,
-                SimplePacketValidator { valid_ids },
+                Box::new(PACKET_ID_LOOKUP),
-                ConnectionFinishedHandler::default(),
-                None,
             )?,
-            PhantomData,
+        })
-        ))
     }
 
     pub fn periodic_operation(&mut self) {
         loop {
-            let result = self.0.handle_all_connections(None);
+            let result = self.server.handle_next_connection();
             match result {
-                Ok(_conn_result) => (),
+                Ok(conn_result) => {
+                    info!(
+                        "Served {} TMs and {} TCs for client {:?}",
+                        conn_result.num_sent_tms, conn_result.num_received_tcs, conn_result.addr
+                    );
+                }
                 Err(e) => {
                     warn!("TCP server error: {e:?}");
                 }

satrs-example/src/tm_funnel.rs

@@ -4,7 +4,7 @@ use std::{
 };
 
 use log::info;
-use satrs::tmtc::{PacketAsVec, PacketInPool, SharedPacketPool};
+use satrs::pus::{PusTmAsVec, PusTmInPool};
 use satrs::{
     pool::PoolProvider,
     seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
@@ -13,9 +13,10 @@ use satrs::{
         time::cds::MIN_CDS_FIELD_LEN,
         CcsdsPacket,
     },
+    tmtc::tm_helper::SharedTmPool,
 };
 
-use crate::interface::tcp::SyncTcpTmSource;
+use crate::tcp::SyncTcpTmSource;
 
 #[derive(Default)]
 pub struct CcsdsSeqCounterMap {
@@ -76,17 +77,17 @@ impl TmFunnelCommon {
 
 pub struct TmFunnelStatic {
     common: TmFunnelCommon,
-    shared_tm_store: SharedPacketPool,
+    shared_tm_store: SharedTmPool,
-    tm_funnel_rx: mpsc::Receiver<PacketInPool>,
+    tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
-    tm_server_tx: mpsc::SyncSender<PacketInPool>,
+    tm_server_tx: mpsc::SyncSender<PusTmInPool>,
 }
 
 impl TmFunnelStatic {
     pub fn new(
-        shared_tm_store: SharedPacketPool,
+        shared_tm_store: SharedTmPool,
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: mpsc::Receiver<PacketInPool>,
+        tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
-        tm_server_tx: mpsc::SyncSender<PacketInPool>,
+        tm_server_tx: mpsc::SyncSender<PusTmInPool>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -100,7 +101,7 @@ impl TmFunnelStatic {
         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.0.clone();
+            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
@@ -123,15 +124,15 @@ impl TmFunnelStatic {
 
 pub struct TmFunnelDynamic {
     common: TmFunnelCommon,
-    tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
+    tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
-    tm_server_tx: mpsc::Sender<PacketAsVec>,
+    tm_server_tx: mpsc::Sender<PusTmAsVec>,
 }
 
 impl TmFunnelDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
+        tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
-        tm_server_tx: mpsc::Sender<PacketAsVec>,
+        tm_server_tx: mpsc::Sender<PusTmAsVec>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),

satrs-example/src/tmtc.rs

@@ -0,0 +1,212 @@
+use log::warn;
+use satrs::pus::{
+    EcssTcAndToken, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, ReceivesEcssPusTc,
+};
+use satrs::spacepackets::SpHeader;
+use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
+use thiserror::Error;
+
+use crate::pus::PusReceiver;
+use satrs::pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::tmtc::ReceivesCcsdsTc;
+
+#[derive(Debug, Clone, PartialEq, Eq, Error)]
+pub enum MpscStoreAndSendError {
+    #[error("Store error: {0}")]
+    Store(#[from] StoreError),
+    #[error("TC send error: {0}")]
+    TcSend(#[from] SendError<EcssTcAndToken>),
+    #[error("TMTC send error: {0}")]
+    TmTcSend(#[from] SendError<StoreAddr>),
+}
+
+#[derive(Clone)]
+pub struct SharedTcPool {
+    pub pool: SharedStaticMemoryPool,
+}
+
+impl SharedTcPool {
+    pub fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<StoreAddr, StoreError> {
+        let mut pg = self.pool.write().expect("error locking TC store");
+        let addr = pg.free_element(pus_tc.len_packed(), |buf| {
+            buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
+        })?;
+        Ok(addr)
+    }
+}
+
+#[derive(Clone)]
+pub struct PusTcSourceProviderSharedPool {
+    pub tc_source: SyncSender<StoreAddr>,
+    pub shared_pool: SharedTcPool,
+}
+
+impl PusTcSourceProviderSharedPool {
+    #[allow(dead_code)]
+    pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
+        self.shared_pool.pool.clone()
+    }
+}
+
+impl ReceivesEcssPusTc for PusTcSourceProviderSharedPool {
+    type Error = MpscStoreAndSendError;
+
+    fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
+        let addr = self.shared_pool.add_pus_tc(pus_tc)?;
+        self.tc_source.send(addr)?;
+        Ok(())
+    }
+}
+
+impl ReceivesCcsdsTc for PusTcSourceProviderSharedPool {
+    type Error = MpscStoreAndSendError;
+
+    fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        let mut pool = self.shared_pool.pool.write().expect("locking pool failed");
+        let addr = pool.add(tc_raw)?;
+        drop(pool);
+        self.tc_source.send(addr)?;
+        Ok(())
+    }
+}
+
+// Newtype, can not implement necessary traits on MPSC sender directly because of orphan rules.
+#[derive(Clone)]
+pub struct PusTcSourceProviderDynamic(pub Sender<Vec<u8>>);
+
+impl ReceivesEcssPusTc for PusTcSourceProviderDynamic {
+    type Error = SendError<Vec<u8>>;
+
+    fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
+        self.0.send(pus_tc.raw_data().to_vec())?;
+        Ok(())
+    }
+}
+
+impl ReceivesCcsdsTc for PusTcSourceProviderDynamic {
+    type Error = mpsc::SendError<Vec<u8>>;
+
+    fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        self.0.send(tc_raw.to_vec())?;
+        Ok(())
+    }
+}
+
+// TC source components where static pools are the backing memory of the received telecommands.
+pub struct TcSourceTaskStatic {
+    shared_tc_pool: SharedTcPool,
+    tc_receiver: Receiver<StoreAddr>,
+    tc_buf: [u8; 4096],
+    pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
+}
+
+impl TcSourceTaskStatic {
+    pub fn new(
+        shared_tc_pool: SharedTcPool,
+        tc_receiver: Receiver<StoreAddr>,
+        pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
+    ) -> Self {
+        Self {
+            shared_tc_pool,
+            tc_receiver,
+            tc_buf: [0; 4096],
+            pus_receiver,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.poll_tc();
+    }
+
+    pub fn poll_tc(&mut self) -> bool {
+        match self.tc_receiver.try_recv() {
+            Ok(addr) => {
+                let pool = self
+                    .shared_tc_pool
+                    .pool
+                    .read()
+                    .expect("locking tc pool failed");
+                pool.read(&addr, &mut self.tc_buf)
+                    .expect("reading pool failed");
+                drop(pool);
+                match PusTcReader::new(&self.tc_buf) {
+                    Ok((pus_tc, _)) => {
+                        self.pus_receiver
+                            .handle_tc_packet(
+                                satrs::pus::TcInMemory::StoreAddr(addr),
+                                pus_tc.service(),
+                                &pus_tc,
+                            )
+                            .ok();
+                        true
+                    }
+                    Err(e) => {
+                        warn!("error creating PUS TC from raw data: {e}");
+                        warn!("raw data: {:x?}", self.tc_buf);
+                        true
+                    }
+                }
+            }
+            Err(e) => match e {
+                TryRecvError::Empty => false,
+                TryRecvError::Disconnected => {
+                    warn!("tmtc thread: sender disconnected");
+                    false
+                }
+            },
+        }
+    }
+}
+
+// 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<MpscTmAsVecSender>,
+}
+
+impl TcSourceTaskDynamic {
+    pub fn new(
+        tc_receiver: Receiver<Vec<u8>>,
+        pus_receiver: PusReceiver<MpscTmAsVecSender>,
+    ) -> Self {
+        Self {
+            tc_receiver,
+            pus_receiver,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.poll_tc();
+    }
+
+    pub fn poll_tc(&mut self) -> bool {
+        match self.tc_receiver.try_recv() {
+            Ok(tc) => match PusTcReader::new(&tc) {
+                Ok((pus_tc, _)) => {
+                    self.pus_receiver
+                        .handle_tc_packet(
+                            satrs::pus::TcInMemory::Vec(tc.clone()),
+                            pus_tc.service(),
+                            &pus_tc,
+                        )
+                        .ok();
+                    true
+                }
+                Err(e) => {
+                    warn!("error creating PUS TC from raw data: {e}");
+                    warn!("raw data: {:x?}", tc);
+                    true
+                }
+            },
+            Err(e) => match e {
+                TryRecvError::Empty => false,
+                TryRecvError::Disconnected => {
+                    warn!("tmtc thread: sender disconnected");
+                    false
+                }
+            },
+        }
+    }
+}

satrs-example/src/tmtc/mod.rs

@@ -1,2 +0,0 @@
-pub mod tc_source;
-pub mod tm_sink;

satrs-example/src/tmtc/tc_source.rs

@@ -1,106 +0,0 @@
-use satrs::{
-    pool::PoolProvider,
-    tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool},
-};
-use std::sync::mpsc::{self, TryRecvError};
-
-use satrs::pus::MpscTmAsVecSender;
-
-use crate::pus::{HandlingStatus, PusTcDistributor};
-
-// TC source components where static pools are the backing memory of the received telecommands.
-pub struct TcSourceTaskStatic {
-    shared_tc_pool: SharedPacketPool,
-    tc_receiver: mpsc::Receiver<PacketInPool>,
-    tc_buf: [u8; 4096],
-    pus_distributor: PusTcDistributor<PacketSenderWithSharedPool>,
-}
-
-impl TcSourceTaskStatic {
-    pub fn new(
-        shared_tc_pool: SharedPacketPool,
-        tc_receiver: mpsc::Receiver<PacketInPool>,
-        pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
-    ) -> Self {
-        Self {
-            shared_tc_pool,
-            tc_receiver,
-            tc_buf: [0; 4096],
-            pus_distributor: pus_receiver,
-        }
-    }
-
-    pub fn periodic_operation(&mut self) {
-        self.poll_tc();
-    }
-
-    pub fn poll_tc(&mut self) -> HandlingStatus {
-        // Right now, we only expect ECSS PUS packets.
-        // If packets like CFDP are expected, we might have to check the APID first.
-        match self.tc_receiver.try_recv() {
-            Ok(packet_in_pool) => {
-                let pool = self
-                    .shared_tc_pool
-                    .0
-                    .read()
-                    .expect("locking tc pool failed");
-                pool.read(&packet_in_pool.store_addr, &mut self.tc_buf)
-                    .expect("reading pool failed");
-                drop(pool);
-                self.pus_distributor
-                    .handle_tc_packet_in_store(packet_in_pool, &self.tc_buf)
-                    .ok();
-                HandlingStatus::HandledOne
-            }
-            Err(e) => match e {
-                TryRecvError::Empty => HandlingStatus::Empty,
-                TryRecvError::Disconnected => {
-                    log::warn!("tmtc thread: sender disconnected");
-                    HandlingStatus::Empty
-                }
-            },
-        }
-    }
-}
-
-// TC source components where the heap is the backing memory of the received telecommands.
-pub struct TcSourceTaskDynamic {
-    pub tc_receiver: mpsc::Receiver<PacketAsVec>,
-    pus_distributor: PusTcDistributor<MpscTmAsVecSender>,
-}
-
-impl TcSourceTaskDynamic {
-    pub fn new(
-        tc_receiver: mpsc::Receiver<PacketAsVec>,
-        pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
-    ) -> Self {
-        Self {
-            tc_receiver,
-            pus_distributor: pus_receiver,
-        }
-    }
-
-    pub fn periodic_operation(&mut self) {
-        self.poll_tc();
-    }
-
-    pub fn poll_tc(&mut self) -> HandlingStatus {
-        // Right now, we only expect ECSS PUS packets.
-        // If packets like CFDP are expected, we might have to check the APID first.
-        match self.tc_receiver.try_recv() {
-            Ok(packet_as_vec) => {
-                self.pus_distributor
-                    .handle_tc_packet_vec(packet_as_vec)
-                    .ok();
-                HandlingStatus::HandledOne
-            }
-            Err(e) => match e {
-                TryRecvError::Empty => HandlingStatus::Empty,
-                TryRecvError::Disconnected => {
-                    log::warn!("tmtc thread: sender disconnected");
-                    HandlingStatus::Empty
-                }
-            },
-        }
-    }
-}

satrs-example/src/udp.rs

@@ -1,22 +1,20 @@
-use core::fmt::Debug;
 use std::net::{SocketAddr, UdpSocket};
 use std::sync::mpsc;
 
 use log::{info, warn};
-use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
+use satrs::pus::{PusTmAsVec, PusTmInPool};
 use satrs::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
     pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
+    tmtc::CcsdsError,
 };
 
-use crate::pus::HandlingStatus;
-
 pub trait UdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
 }
 
 pub struct StaticUdpTmHandler {
-    pub tm_rx: mpsc::Receiver<PacketInPool>,
+    pub tm_rx: mpsc::Receiver<PusTmInPool>,
     pub tm_store: SharedStaticMemoryPool,
 }
 
@@ -45,7 +43,7 @@ impl UdpTmHandler for StaticUdpTmHandler {
 }
 
 pub struct DynamicUdpTmHandler {
-    pub tm_rx: mpsc::Receiver<PacketAsVec>,
+    pub tm_rx: mpsc::Receiver<PusTmAsVec>,
 }
 
 impl UdpTmHandler for DynamicUdpTmHandler {
@@ -66,48 +64,42 @@ impl UdpTmHandler for DynamicUdpTmHandler {
     }
 }
 
-pub struct UdpTmtcServer<
+pub struct UdpTmtcServer<TmHandler: UdpTmHandler, SendError> {
-    TcSender: PacketSenderRaw<Error = SendError>,
+    pub udp_tc_server: UdpTcServer<CcsdsError<SendError>>,
-    TmHandler: UdpTmHandler,
-    SendError,
-> {
-    pub udp_tc_server: UdpTcServer<TcSender, SendError>,
     pub tm_handler: TmHandler,
 }
 
-impl<
+impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
-        TcSender: PacketSenderRaw<Error = SendError>,
+    UdpTmtcServer<TmHandler, SendError>
-        TmHandler: UdpTmHandler,
-        SendError: Debug + 'static,
-    > UdpTmtcServer<TcSender, TmHandler, SendError>
 {
     pub fn periodic_operation(&mut self) {
-        loop {
+        while self.poll_tc_server() {}
-            if self.poll_tc_server() == HandlingStatus::Empty {
-                break;
-            }
-        }
         if let Some(recv_addr) = self.udp_tc_server.last_sender() {
             self.tm_handler
                 .send_tm_to_udp_client(&self.udp_tc_server.socket, &recv_addr);
         }
     }
 
-    fn poll_tc_server(&mut self) -> HandlingStatus {
+    fn poll_tc_server(&mut self) -> bool {
         match self.udp_tc_server.try_recv_tc() {
-            Ok(_) => HandlingStatus::HandledOne,
+            Ok(_) => true,
-            Err(e) => {
+            Err(e) => match e {
-                match e {
+                ReceiveResult::ReceiverError(e) => match e {
-                    ReceiveResult::NothingReceived => (),
+                    CcsdsError::ByteConversionError(e) => {
-                    ReceiveResult::Io(e) => {
+                        warn!("packet error: {e:?}");
-                        warn!("IO error {e}");
+                        true
                     }
-                    ReceiveResult::Send(send_error) => {
+                    CcsdsError::CustomError(e) => {
-                        warn!("send error {send_error:?}");
+                        warn!("mpsc custom error {e:?}");
+                        true
                     }
+                },
+                ReceiveResult::IoError(e) => {
+                    warn!("IO error {e}");
+                    false
                 }
-                HandlingStatus::Empty
+                ReceiveResult::NothingReceived => false,
-            }
+            },
         }
     }
 }
@@ -115,7 +107,6 @@ impl<
 #[cfg(test)]
 mod tests {
     use std::{
-        cell::RefCell,
         collections::VecDeque,
         net::IpAddr,
         sync::{Arc, Mutex},
@@ -126,26 +117,21 @@ mod tests {
             ecss::{tc::PusTcCreator, WritablePusPacket},
             SpHeader,
         },
-        tmtc::PacketSenderRaw,
+        tmtc::ReceivesTcCore,
-        ComponentId,
     };
     use satrs_example::config::{components, OBSW_SERVER_ADDR};
 
     use super::*;
 
-    const UDP_SERVER_ID: ComponentId = 0x05;
+    #[derive(Default, Debug, Clone)]
-
+    pub struct TestReceiver {
-    #[derive(Default, Debug)]
+        tc_vec: Arc<Mutex<VecDeque<Vec<u8>>>>,
-    pub struct TestSender {
-        tc_vec: RefCell<VecDeque<PacketAsVec>>,
     }
 
-    impl PacketSenderRaw for TestSender {
+    impl ReceivesTcCore for TestReceiver {
-        type Error = ();
+        type Error = CcsdsError<()>;
-
+        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+            self.tc_vec.lock().unwrap().push_back(tc_raw.to_vec());
-            let mut mut_queue = self.tc_vec.borrow_mut();
-            mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
             Ok(())
         }
     }
@@ -164,10 +150,9 @@ mod tests {
     #[test]
     fn test_basic() {
         let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
-        let test_receiver = TestSender::default();
+        let test_receiver = TestReceiver::default();
-        // let tc_queue = test_receiver.tc_vec.clone();
+        let tc_queue = test_receiver.tc_vec.clone();
-        let udp_tc_server =
+        let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
-            UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
         let tm_handler = TestTmHandler::default();
         let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
         let mut udp_dyn_server = UdpTmtcServer {
@@ -175,18 +160,16 @@ mod tests {
             tm_handler,
         };
         udp_dyn_server.periodic_operation();
-        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
+        assert!(tc_queue.lock().unwrap().is_empty());
-        assert!(queue.is_empty());
         assert!(tm_handler_calls.lock().unwrap().is_empty());
     }
 
     #[test]
     fn test_transactions() {
         let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
-        let test_receiver = TestSender::default();
+        let test_receiver = TestReceiver::default();
-        // let tc_queue = test_receiver.tc_vec.clone();
+        let tc_queue = test_receiver.tc_vec.clone();
-        let udp_tc_server =
+        let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
-            UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
         let server_addr = udp_tc_server.socket.local_addr().unwrap();
         let tm_handler = TestTmHandler::default();
         let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
@@ -194,8 +177,8 @@ mod tests {
             udp_tc_server,
             tm_handler,
         };
-        let sph = SpHeader::new_for_unseg_tc(components::Apid::GenericPus as u16, 0, 0);
+        let mut sph = SpHeader::tc_unseg(components::Apid::GenericPus as u16, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true)
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
             .to_vec()
             .unwrap();
         let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
@@ -204,11 +187,10 @@ mod tests {
         client.send(&ping_tc).unwrap();
         udp_dyn_server.periodic_operation();
         {
-            let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
+            let mut tc_queue = tc_queue.lock().unwrap();
-            assert!(!queue.is_empty());
+            assert!(!tc_queue.is_empty());
-            let packet_with_sender = queue.pop_front().unwrap();
+            let received_tc = tc_queue.pop_front().unwrap();
-            assert_eq!(packet_with_sender.packet, ping_tc);
+            assert_eq!(received_tc, ping_tc);
-            assert_eq!(packet_with_sender.sender_id, UDP_SERVER_ID);
         }
 
         {
@@ -219,9 +201,7 @@ mod tests {
             assert_eq!(received_addr, client_addr);
         }
         udp_dyn_server.periodic_operation();
-        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
+        assert!(tc_queue.lock().unwrap().is_empty());
-        assert!(queue.is_empty());
-        drop(queue);
         // Still tries to send to the same client.
         {
             let mut tm_handler_calls = tm_handler_calls.lock().unwrap();

satrs-mib/CHANGELOG.md

@@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.1.2] 2024-04-17
-
-Allow `satrs-shared` from `v0.1.3` to `<v0.2`.
-
 # [v0.1.1] 2024-02-17
 
 - Bumped `spacepackets` to v0.10.0

satrs-mib/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs-mib"
-version = "0.1.2"
+version = "0.1.1"
 edition = "2021"
 rust-version = "1.61"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
@@ -23,6 +23,7 @@ version = "1"
 optional = true
 
 [dependencies.satrs-shared]
+path = "../satrs-shared"
 version = "0.1.3"
 features = ["serde"]
 

satrs-mib/codegen/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs-mib-codegen"
-version = "0.1.2"
+version = "0.1.1"
 edition = "2021"
 description = "satrs-mib proc macro implementation"
 homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
@@ -28,7 +28,8 @@ features = ["full"]
 trybuild = { version = "1", features = ["diff"] }
 
 [dev-dependencies.satrs-shared]
-version = ">=0.1.3, <0.2"
+version = "0.1.3"
+path = "../../satrs-shared"
 
 [dev-dependencies.satrs-mib]
 path = ".."

satrs-shared/CHANGELOG.md

@@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.1.3] 2024-04-16
-
-Allow `spacepackets` range starting with v0.10 and v0.11.
-
 # [v0.1.2] 2024-02-17
 
 - Bumped `spacepackets` to v0.10.0 for `UnsignedEnum` trait change.

satrs-shared/Cargo.toml

@@ -18,7 +18,9 @@ default-features = false
 optional = true
 
 [dependencies.spacepackets]
-version = ">0.9, <=0.11"
+git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
+version = "0.11.0-rc.0"
+branch = "main"
 default-features = false
 
 [features]

satrs/CHANGELOG.md

@@ -8,43 +8,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.2.0-rc.1] 2024-04-17
-
-- `spacepackets` v0.11
-
-## 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.
-- Stop signal handling for the TCP servers.
-- TCP server now uses `mio` crate to allow non-blocking operation. The server can now handle
-  multiple connections at once, and the context information about handled transfers is
-  passed via a callback which is inserted as a generic as well.
-
 ## Changed
 
-- Renamed `ReceivesTcCore` to `PacketSenderRaw` to better show its primary purpose. It now contains
-  a `send_raw_tc` method which is not mutable anymore.
-- Renamed `TmPacketSourceCore` to `TmPacketSource`.
-- Renamed `EcssTmSenderCore` to `EcssTmSender`.
-- Renamed `StoreAddr` to `PoolAddr`.
-- Reanmed `StoreError` to `PoolError`.
-- TCP server generics order. The error generics come last now.
-- `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`
@@ -63,30 +28,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - 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.
-- Removed CCSDS and PUS distributor modules. Their worth is questionable in an architecture
-  where routing traits are sufficient and the core logic to demultiplex and distribute packets
-  is simple enough to be application code.
 
 # [v0.2.0-rc.0] 2024-02-21
 

satrs/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs"
-version = "0.2.0-rc.1"
+version = "0.2.0-rc.0"
 edition = "2021"
 rust-version = "1.61"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
@@ -19,26 +19,13 @@ smallvec = "1"
 crc = "3"
 
 [dependencies.satrs-shared]
-version = ">=0.1.3, <0.2"
+version = "0.1.3"
+path = "../satrs-shared"
 
 [dependencies.num_enum]
 version = ">0.5, <=0.7"
 default-features = false
 
-[dependencies.spacepackets]
-version = "0.11"
-default-features = false
-
-[dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
-version = "0.2.3"
-branch = "all_features"
-default-features = false
-
-[dependencies.num-traits]
-version = "0.2"
-default-features = false
-
 [dependencies.dyn-clone]
 version = "1"
 optional = true
@@ -51,6 +38,10 @@ optional = true
 version = "0.7"
 optional = true
 
+[dependencies.num-traits]
+version = "0.2"
+default-features = false
+
 [dependencies.downcast-rs]
 version = "1.2"
 default-features = false
@@ -79,10 +70,17 @@ version = "0.5.4"
 features = ["all"]
 optional = true
 
-[dependencies.mio]
+[dependencies.spacepackets]
-version = "0.8"
+git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
-features = ["os-poll", "net"]
+version = "0.11.0-rc.0"
-optional = true
+branch = "main"
+default-features = false
+
+[dependencies.cobs]
+git = "https://github.com/robamu/cobs.rs.git"
+version = "0.2.3"
+branch = "all_features"
+default-features = false
 
 [dev-dependencies]
 serde = "1"
@@ -107,8 +105,7 @@ std = [
     "spacepackets/std",
     "num_enum/std",
     "thiserror",
-    "socket2",
+    "socket2"
-    "mio"
 ]
 alloc = [
     "serde/alloc",
@@ -120,7 +117,6 @@ alloc = [
 serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
 crossbeam = ["crossbeam-channel"]
 heapless = ["dep:heapless"]
-defmt = ["spacepackets/defmt"]
 test_util = []
 doc-images = []
 

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 'build.rustdocflags=["--cfg", "docs_rs"]' --open`.
+   `cargo +nightly doc --all-features --config 'rustdocflags=["--cfg", "doc_cfg"]' --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` or `cargo nextest r --all-features` and `cargo test --doc`.
+4. Run `cargo test --all-features`.
 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

@@ -1,6 +1,7 @@
-use crate::{params::Params, pool::PoolAddr};
+use crate::{params::Params, pool::StoreAddr};
 
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub use alloc_mod::*;
 
 pub type ActionId = u32;
@@ -21,8 +22,9 @@ impl ActionRequest {
 #[derive(Clone, Eq, PartialEq, Debug)]
 pub enum ActionRequestVariant {
     NoData,
-    StoreData(PoolAddr),
+    StoreData(StoreAddr),
     #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
     VecData(alloc::vec::Vec<u8>),
 }
 
@@ -42,21 +44,28 @@ pub enum ActionReplyVariant {
 }
 
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod alloc_mod {
     use super::*;
 
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
     #[derive(Debug, Eq, PartialEq, Clone)]
     pub struct ActionRequestStringId {
         pub action_id: alloc::string::String,
         pub variant: ActionRequestVariant,
     }
 
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
     impl ActionRequestStringId {
         pub fn new(action_id: alloc::string::String, variant: ActionRequestVariant) -> Self {
             Self { action_id, variant }
         }
     }
 
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
     #[derive(Debug, PartialEq, Clone)]
     pub struct ActionReplyStringId {
         pub action_id: alloc::string::String,

satrs/src/encoding/ccsds.rs

@@ -1,52 +1,84 @@
-use spacepackets::{CcsdsPacket, SpHeader};
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
+#[cfg(feature = "alloc")]
+use hashbrown::HashSet;
+use spacepackets::PacketId;
 
-use crate::{tmtc::PacketSenderRaw, ComponentId};
+use crate::tmtc::ReceivesTcCore;
 
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub trait PacketIdLookup {
-pub enum SpValidity {
+    fn validate(&self, packet_id: u16) -> bool;
-    Valid,
-    /// The space packet can be assumed to have a valid format, but the packet should
-    /// be skipped.
-    Skip,
-    /// The space packet or space packet header has an invalid format, for example a CRC check
-    /// failed. In that case, the parser loses the packet synchronization and needs to check for
-    /// the start of a new space packet header start again. The space packet header
-    /// [spacepackets::PacketId] can be used as a synchronization marker to detect the start
-    /// of a possible valid packet again.
-    Invalid,
 }
 
-/// Simple trait to allow user code to check the validity of a space packet.
+#[cfg(feature = "alloc")]
-pub trait SpacePacketValidator {
+impl PacketIdLookup for Vec<u16> {
-    fn validate(&self, sp_header: &SpHeader, raw_buf: &[u8]) -> SpValidity;
+    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()
+    }
 }
 
 /// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
-/// [spacepackets::SpHeader] of the CCSDS packets and a user provided [SpacePacketValidator]
+/// [PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet and then
-/// to check whether a received space packet is relevant for processing.
+/// uses the length field of the packet to extract CCSDS packets.
 ///
 /// This function is also able to deal with broken tail packets at the end as long a the parser
 /// can read the full 7 bytes which constitue a space packet header plus one byte minimal size.
 /// If broken tail packets are detected, they are moved to the front of the buffer, and the write
 /// index for future write operations will be written to the `next_write_idx` argument.
 ///
-/// The parses will behave differently based on the [SpValidity] returned from the user provided
+/// The parser will write all packets which were decoded successfully to the given `tc_receiver`
-/// [SpacePacketValidator]:
+/// and return the number of packets found. If the [ReceivesTcCore::pass_tc] calls fails, the
-///
+/// error will be returned.
-///  1. [SpValidity::Valid]: The parser will forward all packets to the given `packet_sender` and
+pub fn parse_buffer_for_ccsds_space_packets<E>(
-///     return the number of packets found.If the [PacketSenderRaw::send_packet] calls fails, the
-///     error will be returned.
-///  2. [SpValidity::Invalid]: The parser assumes that the synchronization is lost and tries to
-///     find the start of a new space packet header by scanning all the following bytes.
-///  3. [SpValidity::Skip]: The parser skips the packet using the packet length determined from the
-///     space packet header.
-pub fn parse_buffer_for_ccsds_space_packets<SendError>(
     buf: &mut [u8],
-    packet_validator: &(impl SpacePacketValidator + ?Sized),
+    packet_id_lookup: &(impl PacketIdLookup + ?Sized),
-    sender_id: ComponentId,
+    tc_receiver: &mut (impl ReceivesTcCore<Error = E> + ?Sized),
-    packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
     next_write_idx: &mut usize,
-) -> Result<u32, SendError> {
+) -> Result<u32, E> {
     *next_write_idx = 0;
     let mut packets_found = 0;
     let mut current_idx = 0;
@@ -55,33 +87,25 @@ pub fn parse_buffer_for_ccsds_space_packets<SendError>(
         if current_idx + 7 >= buf.len() {
             break;
         }
-        let sp_header = SpHeader::from_be_bytes(&buf[current_idx..]).unwrap().0;
+        let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
-        // let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
+        if packet_id_lookup.validate(packet_id) {
-        match packet_validator.validate(&sp_header, &buf[current_idx..]) {
+            let length_field =
-            SpValidity::Valid => {
+                u16::from_be_bytes(buf[current_idx + 4..current_idx + 6].try_into().unwrap());
-                let packet_size = sp_header.total_len();
+            let packet_size = length_field + 7;
-                if (current_idx + packet_size) <= buf_len {
+            if (current_idx + packet_size as usize) <= buf_len {
-                    packet_sender
+                tc_receiver.pass_tc(&buf[current_idx..current_idx + packet_size as usize])?;
-                        .send_packet(sender_id, &buf[current_idx..current_idx + packet_size])?;
+                packets_found += 1;
-                    packets_found += 1;
+            } else {
-                } else {
+                // Move packet to start of buffer if applicable.
-                    // Move packet to start of buffer if applicable.
+                if current_idx > 0 {
-                    if current_idx > 0 {
+                    buf.copy_within(current_idx.., 0);
-                        buf.copy_within(current_idx.., 0);
+                    *next_write_idx = buf.len() - current_idx;
-                        *next_write_idx = buf.len() - current_idx;
-                    }
                 }
-                current_idx += packet_size;
-                continue;
-            }
-            SpValidity::Skip => {
-                current_idx += sp_header.total_len();
-            }
-            // We might have lost sync. Try to find the start of a new space packet header.
-            SpValidity::Invalid => {
-                current_idx += 1;
             }
+            current_idx += packet_size as usize;
+            continue;
         }
+        current_idx += 1;
     }
     Ok(packets_found)
 }
@@ -90,75 +114,50 @@ pub fn parse_buffer_for_ccsds_space_packets<SendError>(
 mod tests {
     use spacepackets::{
         ecss::{tc::PusTcCreator, WritablePusPacket},
-        CcsdsPacket, PacketId, SpHeader,
+        PacketId, SpHeader,
     };
 
-    use crate::{encoding::tests::TcCacher, ComponentId};
+    use crate::encoding::tests::TcCacher;
 
-    use super::{parse_buffer_for_ccsds_space_packets, SpValidity, SpacePacketValidator};
+    use super::parse_buffer_for_ccsds_space_packets;
 
-    const PARSER_ID: ComponentId = 0x05;
     const TEST_APID_0: u16 = 0x02;
     const TEST_APID_1: u16 = 0x10;
-    const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
+    const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
-    const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
+    const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
-
-    #[derive(Default)]
-    struct SimpleVerificator {
-        pub enable_second_id: bool,
-    }
-
-    impl SimpleVerificator {
-        pub fn new_with_second_id() -> Self {
-            Self {
-                enable_second_id: true,
-            }
-        }
-    }
-
-    impl SpacePacketValidator for SimpleVerificator {
-        fn validate(&self, sp_header: &SpHeader, _raw_buf: &[u8]) -> super::SpValidity {
-            if sp_header.packet_id() == TEST_PACKET_ID_0
-                || (self.enable_second_id && sp_header.packet_id() == TEST_PACKET_ID_1)
-            {
-                return SpValidity::Valid;
-            }
-            SpValidity::Skip
-        }
-    }
 
     #[test]
     fn test_basic() {
-        let sph = SpHeader::new_from_apid(TEST_APID_0);
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len = ping_tc
             .write_to_bytes(&mut buffer)
             .expect("writing packet failed");
-        let tc_cacher = TcCacher::default();
+        let valid_packet_ids = [TEST_PACKET_ID_0];
+        let mut tc_cacher = TcCacher::default();
         let mut next_write_idx = 0;
         let parse_result = parse_buffer_for_ccsds_space_packets(
             &mut buffer,
-            &SimpleVerificator::default(),
+            valid_packet_ids.as_slice(),
-            PARSER_ID,
+            &mut tc_cacher,
-            &tc_cacher,
             &mut next_write_idx,
         );
         assert!(parse_result.is_ok());
         let parsed_packets = parse_result.unwrap();
         assert_eq!(parsed_packets, 1);
-        let mut queue = tc_cacher.tc_queue.borrow_mut();
+        assert_eq!(tc_cacher.tc_queue.len(), 1);
-        assert_eq!(queue.len(), 1);
+        assert_eq!(
-        let packet_with_sender = queue.pop_front().unwrap();
+            tc_cacher.tc_queue.pop_front().unwrap(),
-        assert_eq!(packet_with_sender.packet, buffer[..packet_len]);
+            buffer[..packet_len]
-        assert_eq!(packet_with_sender.sender_id, PARSER_ID);
+        );
     }
 
     #[test]
     fn test_multi_packet() {
-        let sph = SpHeader::new_from_apid(TEST_APID_0);
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], true);
+        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)
@@ -166,37 +165,35 @@ mod tests {
         let packet_len_action = action_tc
             .write_to_bytes(&mut buffer[packet_len_ping..])
             .expect("writing packet failed");
-        let tc_cacher = TcCacher::default();
+        let valid_packet_ids = [TEST_PACKET_ID_0];
+        let mut tc_cacher = TcCacher::default();
         let mut next_write_idx = 0;
         let parse_result = parse_buffer_for_ccsds_space_packets(
             &mut buffer,
-            &SimpleVerificator::default(),
+            valid_packet_ids.as_slice(),
-            PARSER_ID,
+            &mut tc_cacher,
-            &tc_cacher,
             &mut next_write_idx,
         );
         assert!(parse_result.is_ok());
         let parsed_packets = parse_result.unwrap();
         assert_eq!(parsed_packets, 2);
-        let mut queue = tc_cacher.tc_queue.borrow_mut();
+        assert_eq!(tc_cacher.tc_queue.len(), 2);
-        assert_eq!(queue.len(), 2);
-        let packet_with_addr = queue.pop_front().unwrap();
-        assert_eq!(packet_with_addr.packet, buffer[..packet_len_ping]);
-        assert_eq!(packet_with_addr.sender_id, PARSER_ID);
-        let packet_with_addr = queue.pop_front().unwrap();
-        assert_eq!(packet_with_addr.sender_id, PARSER_ID);
         assert_eq!(
-            packet_with_addr.packet,
+            tc_cacher.tc_queue.pop_front().unwrap(),
+            buffer[..packet_len_ping]
+        );
+        assert_eq!(
+            tc_cacher.tc_queue.pop_front().unwrap(),
             buffer[packet_len_ping..packet_len_ping + packet_len_action]
         );
     }
 
     #[test]
     fn test_multi_apid() {
-        let sph = SpHeader::new_from_apid(TEST_APID_0);
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        let sph = SpHeader::new_from_apid(TEST_APID_1);
+        sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-        let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], true);
+        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)
@@ -204,36 +201,35 @@ mod tests {
         let packet_len_action = action_tc
             .write_to_bytes(&mut buffer[packet_len_ping..])
             .expect("writing packet failed");
-        let tc_cacher = TcCacher::default();
+        let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
+        let mut tc_cacher = TcCacher::default();
         let mut next_write_idx = 0;
-        let verificator = SimpleVerificator::new_with_second_id();
         let parse_result = parse_buffer_for_ccsds_space_packets(
             &mut buffer,
-            &verificator,
+            valid_packet_ids.as_slice(),
-            PARSER_ID,
+            &mut tc_cacher,
-            &tc_cacher,
             &mut next_write_idx,
         );
         assert!(parse_result.is_ok());
         let parsed_packets = parse_result.unwrap();
         assert_eq!(parsed_packets, 2);
-        let mut queue = tc_cacher.tc_queue.borrow_mut();
+        assert_eq!(tc_cacher.tc_queue.len(), 2);
-        assert_eq!(queue.len(), 2);
-        let packet_with_addr = queue.pop_front().unwrap();
-        assert_eq!(packet_with_addr.packet, buffer[..packet_len_ping]);
-        let packet_with_addr = queue.pop_front().unwrap();
         assert_eq!(
-            packet_with_addr.packet,
+            tc_cacher.tc_queue.pop_front().unwrap(),
+            buffer[..packet_len_ping]
+        );
+        assert_eq!(
+            tc_cacher.tc_queue.pop_front().unwrap(),
             buffer[packet_len_ping..packet_len_ping + packet_len_action]
         );
     }
 
     #[test]
     fn test_split_packet_multi() {
-        let ping_tc =
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        let action_tc =
+        sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 8, 0, &[], true);
+        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)
@@ -241,22 +237,19 @@ mod tests {
         let packet_len_action = action_tc
             .write_to_bytes(&mut buffer[packet_len_ping..])
             .expect("writing packet failed");
-        let tc_cacher = TcCacher::default();
+        let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
+        let mut tc_cacher = TcCacher::default();
         let mut next_write_idx = 0;
-        let verificator = SimpleVerificator::new_with_second_id();
         let parse_result = parse_buffer_for_ccsds_space_packets(
             &mut buffer[..packet_len_ping + packet_len_action - 4],
-            &verificator,
+            valid_packet_ids.as_slice(),
-            PARSER_ID,
+            &mut tc_cacher,
-            &tc_cacher,
             &mut next_write_idx,
         );
         assert!(parse_result.is_ok());
         let parsed_packets = parse_result.unwrap();
         assert_eq!(parsed_packets, 1);
-
+        assert_eq!(tc_cacher.tc_queue.len(), 1);
-        let queue = tc_cacher.tc_queue.borrow();
-        assert_eq!(queue.len(), 1);
         // The broken packet was moved to the start, so the next write index should be after the
         // last segment missing 4 bytes.
         assert_eq!(next_write_idx, packet_len_action - 4);
@@ -264,28 +257,25 @@ mod tests {
 
     #[test]
     fn test_one_split_packet() {
-        let ping_tc =
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)
             .expect("writing packet failed");
-        let tc_cacher = TcCacher::default();
+        let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
-
+        let mut tc_cacher = TcCacher::default();
-        let verificator = SimpleVerificator::new_with_second_id();
         let mut next_write_idx = 0;
         let parse_result = parse_buffer_for_ccsds_space_packets(
             &mut buffer[..packet_len_ping - 4],
-            &verificator,
+            valid_packet_ids.as_slice(),
-            PARSER_ID,
+            &mut tc_cacher,
-            &tc_cacher,
             &mut next_write_idx,
         );
         assert_eq!(next_write_idx, 0);
         assert!(parse_result.is_ok());
         let parsed_packets = parse_result.unwrap();
         assert_eq!(parsed_packets, 0);
-        let queue = tc_cacher.tc_queue.borrow();
+        assert_eq!(tc_cacher.tc_queue.len(), 0);
-        assert_eq!(queue.len(), 0);
     }
 }

satrs/src/encoding/cobs.rs

@@ -1,4 +1,4 @@
-use crate::{tmtc::PacketSenderRaw, ComponentId};
+use crate::tmtc::ReceivesTcCore;
 use cobs::{decode_in_place, encode, max_encoding_length};
 
 /// This function encodes the given packet with COBS and also wraps the encoded packet with
@@ -55,12 +55,11 @@ pub fn encode_packet_with_cobs(
 /// future write operations will be written to the `next_write_idx` argument.
 ///
 /// The parser will write all packets which were decoded successfully to the given `tc_receiver`.
-pub fn parse_buffer_for_cobs_encoded_packets<SendError>(
+pub fn parse_buffer_for_cobs_encoded_packets<E>(
     buf: &mut [u8],
-    sender_id: ComponentId,
+    tc_receiver: &mut dyn ReceivesTcCore<Error = E>,
-    packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
     next_write_idx: &mut usize,
-) -> Result<u32, SendError> {
+) -> Result<u32, E> {
     let mut start_index_packet = 0;
     let mut start_found = false;
     let mut last_byte = false;
@@ -79,10 +78,8 @@ pub fn parse_buffer_for_cobs_encoded_packets<SendError>(
                 let decode_result = decode_in_place(&mut buf[start_index_packet..i]);
                 if let Ok(packet_len) = decode_result {
                     packets_found += 1;
-                    packet_sender.send_packet(
+                    tc_receiver
-                        sender_id,
+                        .pass_tc(&buf[start_index_packet..start_index_packet + packet_len])?;
-                        &buf[start_index_packet..start_index_packet + packet_len],
-                    )?;
                 }
                 start_found = false;
             } else {
@@ -103,39 +100,32 @@ pub fn parse_buffer_for_cobs_encoded_packets<SendError>(
 pub(crate) mod tests {
     use cobs::encode;
 
-    use crate::{
+    use crate::encoding::tests::{encode_simple_packet, TcCacher, INVERTED_PACKET, SIMPLE_PACKET};
-        encoding::tests::{encode_simple_packet, TcCacher, INVERTED_PACKET, SIMPLE_PACKET},
-        ComponentId,
-    };
 
     use super::parse_buffer_for_cobs_encoded_packets;
 
-    const PARSER_ID: ComponentId = 0x05;
-
     #[test]
     fn test_parsing_simple_packet() {
-        let test_sender = TcCacher::default();
+        let mut test_sender = TcCacher::default();
         let mut encoded_buf: [u8; 16] = [0; 16];
         let mut current_idx = 0;
         encode_simple_packet(&mut encoded_buf, &mut current_idx);
         let mut next_read_idx = 0;
         let packets = parse_buffer_for_cobs_encoded_packets(
             &mut encoded_buf[0..current_idx],
-            PARSER_ID,
+            &mut test_sender,
-            &test_sender,
             &mut next_read_idx,
         )
         .unwrap();
         assert_eq!(packets, 1);
-        let queue = test_sender.tc_queue.borrow();
+        assert_eq!(test_sender.tc_queue.len(), 1);
-        assert_eq!(queue.len(), 1);
+        let packet = &test_sender.tc_queue[0];
-        let packet = &queue[0];
+        assert_eq!(packet, &SIMPLE_PACKET);
-        assert_eq!(packet.packet, &SIMPLE_PACKET);
     }
 
     #[test]
     fn test_parsing_consecutive_packets() {
-        let test_sender = TcCacher::default();
+        let mut test_sender = TcCacher::default();
         let mut encoded_buf: [u8; 16] = [0; 16];
         let mut current_idx = 0;
         encode_simple_packet(&mut encoded_buf, &mut current_idx);
@@ -149,23 +139,21 @@ pub(crate) mod tests {
         let mut next_read_idx = 0;
         let packets = parse_buffer_for_cobs_encoded_packets(
             &mut encoded_buf[0..current_idx],
-            PARSER_ID,
+            &mut test_sender,
-            &test_sender,
             &mut next_read_idx,
         )
         .unwrap();
         assert_eq!(packets, 2);
-        let queue = test_sender.tc_queue.borrow();
+        assert_eq!(test_sender.tc_queue.len(), 2);
-        assert_eq!(queue.len(), 2);
+        let packet0 = &test_sender.tc_queue[0];
-        let packet0 = &queue[0];
+        assert_eq!(packet0, &SIMPLE_PACKET);
-        assert_eq!(packet0.packet, &SIMPLE_PACKET);
+        let packet1 = &test_sender.tc_queue[1];
-        let packet1 = &queue[1];
+        assert_eq!(packet1, &INVERTED_PACKET);
-        assert_eq!(packet1.packet, &INVERTED_PACKET);
     }
 
     #[test]
     fn test_split_tail_packet_only() {
-        let test_sender = TcCacher::default();
+        let mut test_sender = TcCacher::default();
         let mut encoded_buf: [u8; 16] = [0; 16];
         let mut current_idx = 0;
         encode_simple_packet(&mut encoded_buf, &mut current_idx);
@@ -173,19 +161,17 @@ pub(crate) mod tests {
         let packets = parse_buffer_for_cobs_encoded_packets(
             // Cut off the sentinel byte at the end.
             &mut encoded_buf[0..current_idx - 1],
-            PARSER_ID,
+            &mut test_sender,
-            &test_sender,
             &mut next_read_idx,
         )
         .unwrap();
         assert_eq!(packets, 0);
-        let queue = test_sender.tc_queue.borrow();
+        assert_eq!(test_sender.tc_queue.len(), 0);
-        assert_eq!(queue.len(), 0);
         assert_eq!(next_read_idx, 0);
     }
 
     fn generic_test_split_packet(cut_off: usize) {
-        let test_sender = TcCacher::default();
+        let mut test_sender = TcCacher::default();
         let mut encoded_buf: [u8; 16] = [0; 16];
         assert!(cut_off < INVERTED_PACKET.len() + 1);
         let mut current_idx = 0;
@@ -207,15 +193,13 @@ pub(crate) mod tests {
         let packets = parse_buffer_for_cobs_encoded_packets(
             // Cut off the sentinel byte at the end.
             &mut encoded_buf[0..current_idx - cut_off],
-            PARSER_ID,
+            &mut test_sender,
-            &test_sender,
             &mut next_write_idx,
         )
         .unwrap();
         assert_eq!(packets, 1);
-        let queue = test_sender.tc_queue.borrow();
+        assert_eq!(test_sender.tc_queue.len(), 1);
-        assert_eq!(queue.len(), 1);
+        assert_eq!(&test_sender.tc_queue[0], &SIMPLE_PACKET);
-        assert_eq!(&queue[0].packet, &SIMPLE_PACKET);
         assert_eq!(next_write_idx, next_expected_write_idx);
         assert_eq!(encoded_buf[..next_expected_write_idx], expected_at_start);
     }
@@ -237,7 +221,7 @@ pub(crate) mod tests {
 
     #[test]
     fn test_zero_at_end() {
-        let test_sender = TcCacher::default();
+        let mut test_sender = TcCacher::default();
         let mut encoded_buf: [u8; 16] = [0; 16];
         let mut next_write_idx = 0;
         let mut current_idx = 0;
@@ -249,35 +233,31 @@ pub(crate) mod tests {
         let packets = parse_buffer_for_cobs_encoded_packets(
             // Cut off the sentinel byte at the end.
             &mut encoded_buf[0..current_idx],
-            PARSER_ID,
+            &mut test_sender,
-            &test_sender,
             &mut next_write_idx,
         )
         .unwrap();
         assert_eq!(packets, 1);
-        let queue = test_sender.tc_queue.borrow_mut();
+        assert_eq!(test_sender.tc_queue.len(), 1);
-        assert_eq!(queue.len(), 1);
+        assert_eq!(&test_sender.tc_queue[0], &SIMPLE_PACKET);
-        assert_eq!(&queue[0].packet, &SIMPLE_PACKET);
         assert_eq!(next_write_idx, 1);
         assert_eq!(encoded_buf[0], 0);
     }
 
     #[test]
     fn test_all_zeroes() {
-        let test_sender = TcCacher::default();
+        let mut test_sender = TcCacher::default();
         let mut all_zeroes: [u8; 5] = [0; 5];
         let mut next_write_idx = 0;
         let packets = parse_buffer_for_cobs_encoded_packets(
             // Cut off the sentinel byte at the end.
             &mut all_zeroes,
-            PARSER_ID,
+            &mut test_sender,
-            &test_sender,
             &mut next_write_idx,
         )
         .unwrap();
         assert_eq!(packets, 0);
-        let queue = test_sender.tc_queue.borrow();
+        assert!(test_sender.tc_queue.is_empty());
-        assert!(queue.is_empty());
         assert_eq!(next_write_idx, 0);
     }
 }

satrs/src/encoding/mod.rs

@@ -6,14 +6,9 @@ pub use crate::encoding::cobs::{encode_packet_with_cobs, parse_buffer_for_cobs_e
 
 #[cfg(test)]
 pub(crate) mod tests {
-    use core::cell::RefCell;
+    use alloc::{collections::VecDeque, vec::Vec};
 
-    use alloc::collections::VecDeque;
+    use crate::tmtc::ReceivesTcCore;
-
-    use crate::{
-        tmtc::{PacketAsVec, PacketSenderRaw},
-        ComponentId,
-    };
 
     use super::cobs::encode_packet_with_cobs;
 
@@ -22,15 +17,14 @@ pub(crate) mod tests {
 
     #[derive(Default)]
     pub(crate) struct TcCacher {
-        pub(crate) tc_queue: RefCell<VecDeque<PacketAsVec>>,
+        pub(crate) tc_queue: VecDeque<Vec<u8>>,
     }
 
-    impl PacketSenderRaw for TcCacher {
+    impl ReceivesTcCore for TcCacher {
         type Error = ();
 
-        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-            let mut mut_queue = self.tc_queue.borrow_mut();
+            self.tc_queue.push_back(tc_raw.to_vec());
-            mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
             Ok(())
         }
     }

satrs/src/event_man.rs

@@ -11,7 +11,7 @@
 //! about events first:
 //!
 //! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
-//! listener groups identified by [ListenerKey]s to a [listener ID][ComponentId].
+//! listener groups identified by [ListenerKey]s to a [sender ID][ComponentId].
 //! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
 //! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
 //! for each OBSW thread and then subscribe for all interesting events for a particular thread
@@ -28,8 +28,8 @@
 //!     manager.
 //!  3. The event manager receives the receiver component as part of a [EventReceiveProvider]
 //!     implementation so all events are routed to the manager.
-//!  4. Create the [event sender map][SenderMapProvider]s which allow routing events to
+//!  4. Create the [send event providers][EventSendProvider]s which allow routing events to
-//!     subscribers. You can now use the subscriber component IDs to subscribe
+//!     subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
 //!     for event groups, for example by using the [EventManager::subscribe_single] method.
 //!  5. Add the send provider as well using the [EventManager::add_sender] call so the event
 //!     manager can route listener groups to a the send provider.
@@ -45,9 +45,8 @@
 //! for a concrete example using multi-threading where events are routed to
 //! different threads.
 use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
-use crate::params::Params;
+use crate::params::{Params, ParamsHeapless};
 use crate::queue::GenericSendError;
-use core::fmt::Debug;
 use core::marker::PhantomData;
 use core::slice::Iter;
 
@@ -66,81 +65,45 @@ pub enum ListenerKey {
     All,
 }
 
-#[derive(Debug)]
+pub type EventWithHeaplessAuxData<Event> = (Event, Option<ParamsHeapless>);
-pub struct EventMessage<Event: GenericEvent, ParamProvider: Debug = Params> {
+pub type EventU32WithHeaplessAuxData = EventWithHeaplessAuxData<EventU32>;
-    sender_id: ComponentId,
+pub type EventU16WithHeaplessAuxData = EventWithHeaplessAuxData<EventU16>;
-    event: Event,
-    params: Option<ParamProvider>,
-}
 
-impl<Event: GenericEvent, ParamProvider: Debug + Clone> EventMessage<Event, ParamProvider> {
+pub type EventWithAuxData<Event> = (Event, Option<Params>);
-    pub fn new_generic(
+pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
-        sender_id: ComponentId,
+pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
-        event: Event,
-        params: Option<&ParamProvider>,
-    ) -> Self {
-        Self {
-            sender_id,
-            event,
-            params: params.cloned(),
-        }
-    }
-
-    pub fn sender_id(&self) -> ComponentId {
-        self.sender_id
-    }
-
-    pub fn event(&self) -> Event {
-        self.event
-    }
-
-    pub fn params(&self) -> Option<&ParamProvider> {
-        self.params.as_ref()
-    }
-
-    pub fn new(sender_id: ComponentId, event: Event) -> Self {
-        Self::new_generic(sender_id, event, None)
-    }
-
-    pub fn new_with_params(sender_id: ComponentId, event: Event, params: &ParamProvider) -> Self {
-        Self::new_generic(sender_id, event, Some(params))
-    }
-}
-
-pub type EventMessageU32 = EventMessage<EventU32, Params>;
-pub type EventMessageU16 = EventMessage<EventU16, Params>;
-
-/// Generic abstraction
-pub trait EventSendProvider<Event: GenericEvent, ParamProvider: Debug = Params> {
-    type Error;
 
+pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
     fn target_id(&self) -> ComponentId;
 
-    fn send(&self, message: EventMessage<Event, ParamProvider>) -> Result<(), Self::Error>;
+    fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
+        self.send(event, None)
+    }
+
+    fn send(&self, event: EV, aux_data: Option<AuxDataProvider>) -> Result<(), GenericSendError>;
 }
 
 /// Generic abstraction for an event receiver.
-pub trait EventReceiveProvider<Event: GenericEvent, ParamsProvider: Debug = Params> {
+pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
-    type Error;
-
     /// This function has to be provided by any event receiver. A call may or may not return
     /// an event and optional auxiliary data.
-    fn try_recv_event(&self) -> Result<Option<EventMessage<Event, ParamsProvider>>, Self::Error>;
+    fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
 }
 
 pub trait ListenerMapProvider {
     #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
     fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
     fn contains_listener(&self, key: &ListenerKey) -> bool;
     fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>>;
-    fn add_listener(&mut self, key: ListenerKey, listener_id: ComponentId) -> bool;
+    fn add_listener(&mut self, key: ListenerKey, sender_id: ComponentId) -> bool;
     fn remove_duplicates(&mut self, key: &ListenerKey);
 }
 
 pub trait SenderMapProvider<
-    EventSender: EventSendProvider<Event, ParamProvider>,
+    EventSender: EventSendProvider<Ev, Data>,
-    Event: GenericEvent = EventU32,
+    Ev: GenericEvent = EventU32,
-    ParamProvider: Debug = Params,
+    Data = Params,
 >
 {
     fn contains_send_event_provider(&self, target_id: &ComponentId) -> bool;
@@ -161,27 +124,28 @@ pub trait SenderMapProvider<
 ///     and [EventU16] are supported.
 ///  * `Data`: Auxiliary data which is sent with the event to provide optional context information
 pub struct EventManager<
-    EventReceiver: EventReceiveProvider<Event, ParamProvider>,
+    EventReceiver: EventReceiveProvider<Ev, Data>,
-    SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
+    SenderMap: SenderMapProvider<EventSender, Ev, Data>,
     ListenerMap: ListenerMapProvider,
-    EventSender: EventSendProvider<Event, ParamProvider>,
+    EventSender: EventSendProvider<Ev, Data>,
-    Event: GenericEvent = EventU32,
+    Ev: GenericEvent = EventU32,
-    ParamProvider: Debug = Params,
+    Data = Params,
 > {
     event_receiver: EventReceiver,
     sender_map: SenderMap,
     listener_map: ListenerMap,
-    phantom: core::marker::PhantomData<(EventSender, Event, ParamProvider)>,
+    phantom: core::marker::PhantomData<(EventSender, Ev, Data)>,
 }
 
 #[derive(Debug)]
-pub enum EventRoutingResult<Event: GenericEvent, ParamProvider: Debug> {
+pub enum EventRoutingResult<EV: GenericEvent, AUX> {
     /// No event was received
     Empty,
     /// An event was received and routed to listeners.
     Handled {
         num_recipients: u32,
-        event_msg: EventMessage<Event, ParamProvider>,
+        event: EV,
+        aux_data: Option<AUX>,
     },
 }
 
@@ -192,21 +156,27 @@ pub enum EventRoutingError {
     NoSenderForId(ComponentId),
 }
 
+#[derive(Debug)]
+pub struct EventRoutingErrorsWithResult<Ev: GenericEvent, Data> {
+    pub result: EventRoutingResult<Ev, Data>,
+    pub errors: [Option<EventRoutingError>; 3],
+}
+
 impl<
-        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
+        EventReceiver: EventReceiveProvider<Ev, Data>,
-        SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
+        SenderMap: SenderMapProvider<EventSender, Ev, Data>,
         ListenerMap: ListenerMapProvider,
-        EventSender: EventSendProvider<Event, ParamProvider>,
+        EventSender: EventSendProvider<Ev, Data>,
-        Event: GenericEvent + Copy,
+        Ev: GenericEvent + Copy,
-        ParamProvider: Debug,
+        Data: Clone,
-    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Event, ParamProvider>
+    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Ev, Data>
 {
     pub fn remove_duplicates(&mut self, key: &ListenerKey) {
         self.listener_map.remove_duplicates(key)
     }
 
     /// Subscribe for a unique event.
-    pub fn subscribe_single(&mut self, event: &Event, sender_id: ComponentId) {
+    pub fn subscribe_single(&mut self, event: &Ev, sender_id: ComponentId) {
         self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
     }
 
@@ -223,20 +193,17 @@ impl<
         self.update_listeners(ListenerKey::All, sender_id);
     }
 }
+
 impl<
-        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
+        ERP: EventReceiveProvider<EV, AUX>,
-        SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
+        SMP: SenderMapProvider<SP, EV, AUX>,
-        ListenerMap: ListenerMapProvider,
+        LTR: ListenerMapProvider,
-        EventSenderMap: EventSendProvider<Event, ParamProvider>,
+        SP: EventSendProvider<EV, AUX>,
-        Event: GenericEvent + Copy,
+        EV: GenericEvent + Copy,
-        ParamProvider: Debug,
+        AUX: Clone,
-    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
+    > EventManager<ERP, SMP, LTR, SP, EV, AUX>
 {
-    pub fn new_with_custom_maps(
+    pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
-        event_receiver: EventReceiver,
-        sender_map: SenderMap,
-        listener_map: ListenerMap,
-    ) -> Self {
         EventManager {
             listener_map,
             sender_map,
@@ -246,7 +213,7 @@ impl<
     }
 
     /// Add a new sender component which can be used to send events to subscribers.
-    pub fn add_sender(&mut self, send_provider: EventSenderMap) {
+    pub fn add_sender(&mut self, send_provider: SP) {
         if !self
             .sender_map
             .contains_send_event_provider(&send_provider.target_id())
@@ -259,66 +226,68 @@ impl<
     fn update_listeners(&mut self, key: ListenerKey, sender_id: ComponentId) {
         self.listener_map.add_listener(key, sender_id);
     }
-}
 
-impl<
-        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
-        SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
-        ListenerMap: ListenerMapProvider,
-        EventSenderMap: EventSendProvider<Event, ParamProvider, Error = GenericSendError>,
-        Event: GenericEvent + Copy,
-        ParamProvider: Clone + Debug,
-    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
-{
     /// This function will use the cached event receiver and try to receive one event.
     /// If an event was received, it will try to route that event to all subscribed event listeners.
     /// If this works without any issues, the [EventRoutingResult] will contain context information
     /// about the routed event.
     ///
-    /// If an error occurs during the routing, the error handler will be called. The error handler
+    /// This function will track up to 3 errors returned as part of the
-    /// should take a reference to the event message as the first argument, and the routing error
+    /// [EventRoutingErrorsWithResult] error struct.
-    /// as the second argument.
+    pub fn try_event_handling(
-    pub fn try_event_handling<E: FnMut(&EventMessage<Event, ParamProvider>, EventRoutingError)>(
         &self,
-        mut error_handler: E,
+    ) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
-    ) -> EventRoutingResult<Event, ParamProvider> {
+        let mut err_idx = 0;
+        let mut err_slice = [None, None, None];
         let mut num_recipients = 0;
-        let mut send_handler =
+        let mut add_error = |error: EventRoutingError| {
-            |key: &ListenerKey, event_msg: &EventMessage<Event, ParamProvider>| {
+            if err_idx < 3 {
-                if self.listener_map.contains_listener(key) {
+                err_slice[err_idx] = Some(error);
-                    if let Some(ids) = self.listener_map.get_listener_ids(key) {
+                err_idx += 1;
-                        for id in ids {
+            }
-                            if let Some(sender) = self.sender_map.get_send_event_provider(id) {
+        };
-                                if let Err(e) = sender.send(EventMessage::new_generic(
+        let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
-                                    *id,
+            if self.listener_map.contains_listener(key) {
-                                    event_msg.event,
+                if let Some(ids) = self.listener_map.get_listener_ids(key) {
-                                    event_msg.params.as_ref(),
+                    for id in ids {
-                                )) {
+                        if let Some(sender) = self.sender_map.get_send_event_provider(id) {
-                                    error_handler(event_msg, EventRoutingError::Send(e));
+                            if let Err(e) = sender.send(event, aux_data.clone()) {
-                                } else {
+                                add_error(EventRoutingError::Send(e));
-                                    num_recipients += 1;
-                                }
                             } else {
-                                error_handler(event_msg, EventRoutingError::NoSenderForId(*id));
+                                num_recipients += 1;
                             }
+                        } else {
+                            add_error(EventRoutingError::NoSenderForId(*id));
                         }
-                    } else {
-                        error_handler(event_msg, EventRoutingError::NoSendersForKey(*key));
                     }
+                } else {
+                    add_error(EventRoutingError::NoSendersForKey(*key));
                 }
-            };
+            }
-        if let Ok(Some(event_msg)) = self.event_receiver.try_recv_event() {
+        };
-            let single_key = ListenerKey::Single(event_msg.event.raw_as_largest_type());
+        if let Some((event, aux_data)) = self.event_receiver.try_recv_event() {
-            send_handler(&single_key, &event_msg);
+            let single_key = ListenerKey::Single(event.raw_as_largest_type());
-            let group_key = ListenerKey::Group(event_msg.event.group_id_as_largest_type());
+            send_handler(&single_key, event, &aux_data);
-            send_handler(&group_key, &event_msg);
+            let group_key = ListenerKey::Group(event.group_id_as_largest_type());
-            send_handler(&ListenerKey::All, &event_msg);
+            send_handler(&group_key, event, &aux_data);
-            return EventRoutingResult::Handled {
+            send_handler(&ListenerKey::All, event, &aux_data);
+            if err_idx > 0 {
+                return Err(EventRoutingErrorsWithResult {
+                    result: EventRoutingResult::Handled {
+                        num_recipients,
+                        event,
+                        aux_data,
+                    },
+                    errors: err_slice,
+                });
+            }
+            return Ok(EventRoutingResult::Handled {
                 num_recipients,
-                event_msg,
+                event,
-            };
+                aux_data,
+            });
         }
-        EventRoutingResult::Empty
+        Ok(EventRoutingResult::Empty)
     }
 }
 
@@ -342,31 +311,23 @@ pub mod alloc_mod {
     /// and the [DefaultListenerMap]. It uses
     /// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
     /// message queue backend.
-    pub type EventManagerWithBoundedMpsc<Event = EventU32, ParamProvider = Params> = EventManager<
+    pub type EventManagerWithBoundedMpsc<EV = EventU32, AUX = Params> = EventManager<
         MpscEventReceiver,
-        DefaultSenderMap<EventSenderMpscBounded<Event>, Event, ParamProvider>,
+        DefaultSenderMap<EventSenderMpscBounded<EV>, EV, AUX>,
         DefaultListenerMap,
-        EventSenderMpscBounded<Event>,
+        EventSenderMpscBounded<EV>,
     >;
 
     impl<
-            EventReceiver: EventReceiveProvider<Event, ParamProvider>,
+            ER: EventReceiveProvider<EV, AUX>,
-            EventSender: EventSendProvider<Event, ParamProvider>,
+            SP: EventSendProvider<EV, AUX>,
-            Event: GenericEvent + Copy,
+            EV: GenericEvent + Copy,
-            ParamProvider: 'static + Debug,
+            AUX: 'static,
-        >
+        > EventManager<ER, DefaultSenderMap<SP, EV, AUX>, DefaultListenerMap, SP, EV, AUX>
-        EventManager<
-            EventReceiver,
-            DefaultSenderMap<EventSender, Event, ParamProvider>,
-            DefaultListenerMap,
-            EventSender,
-            Event,
-            ParamProvider,
-        >
     {
         /// Create an event manager where the sender table will be the [DefaultSenderMap]
         /// and the listener table will be the [DefaultListenerMap].
-        pub fn new(event_receiver: EventReceiver) -> Self {
+        pub fn new(event_receiver: ER) -> Self {
             Self {
                 listener_map: DefaultListenerMap::default(),
                 sender_map: DefaultSenderMap::default(),
@@ -423,19 +384,16 @@ pub mod alloc_mod {
     ///
     /// Simple implementation which uses a [HashMap] internally.
     pub struct DefaultSenderMap<
-        EventSender: EventSendProvider<Event, ParamProvider>,
+        SP: EventSendProvider<EV, AUX>,
-        Event: GenericEvent = EventU32,
+        EV: GenericEvent = EventU32,
-        ParamProvider: Debug = Params,
+        AUX = Params,
     > {
-        senders: HashMap<ComponentId, EventSender>,
+        senders: HashMap<ComponentId, SP>,
-        phantom: PhantomData<(Event, ParamProvider)>,
+        phantom: PhantomData<(EV, AUX)>,
     }
 
-    impl<
+    impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> Default
-            EventSender: EventSendProvider<Event, ParamProvider>,
+        for DefaultSenderMap<SP, EV, AUX>
-            Event: GenericEvent,
-            ParamProvider: Debug,
-        > Default for DefaultSenderMap<EventSender, Event, ParamProvider>
     {
         fn default() -> Self {
             Self {
@@ -445,24 +403,20 @@ pub mod alloc_mod {
         }
     }
 
-    impl<
+    impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
-            EventSender: EventSendProvider<Event, ParamProvider>,
+        for DefaultSenderMap<SP, EV, AUX>
-            Event: GenericEvent,
-            ParamProvider: Debug,
-        > SenderMapProvider<EventSender, Event, ParamProvider>
-        for DefaultSenderMap<EventSender, Event, ParamProvider>
     {
         fn contains_send_event_provider(&self, id: &ComponentId) -> bool {
             self.senders.contains_key(id)
         }
 
-        fn get_send_event_provider(&self, id: &ComponentId) -> Option<&EventSender> {
+        fn get_send_event_provider(&self, id: &ComponentId) -> Option<&SP> {
             self.senders
                 .get(id)
                 .filter(|sender| sender.target_id() == *id)
         }
 
-        fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool {
+        fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
             let id = send_provider.target_id();
             if self.senders.contains_key(&id) {
                 return false;
@@ -474,33 +428,26 @@ pub mod alloc_mod {
 
 #[cfg(feature = "std")]
 pub mod std_mod {
-    use crate::queue::GenericReceiveError;
-
     use super::*;
     use std::sync::mpsc;
 
     pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
-        receiver: mpsc::Receiver<EventMessage<Event>>,
+        mpsc_receiver: mpsc::Receiver<(Event, Option<Params>)>,
     }
 
     impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
-        pub fn new(receiver: mpsc::Receiver<EventMessage<Event>>) -> Self {
+        pub fn new(receiver: mpsc::Receiver<(Event, Option<Params>)>) -> Self {
-            Self { receiver }
+            Self {
+                mpsc_receiver: receiver,
+            }
         }
     }
     impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
-        type Error = GenericReceiveError;
+        fn try_recv_event(&self) -> Option<EventWithAuxData<Event>> {
-
+            if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
-        fn try_recv_event(&self) -> Result<Option<EventMessage<Event>>, Self::Error> {
+                return Some(event_and_data);
-            match self.receiver.try_recv() {
-                Ok(msg) => Ok(Some(msg)),
-                Err(e) => match e {
-                    mpsc::TryRecvError::Empty => Ok(None),
-                    mpsc::TryRecvError::Disconnected => {
-                        Err(GenericReceiveError::TxDisconnected(None))
-                    }
-                },
             }
+            None
         }
     }
 
@@ -512,25 +459,22 @@ pub mod std_mod {
     #[derive(Clone)]
     pub struct EventSenderMpsc<Event: GenericEvent + Send> {
         target_id: ComponentId,
-        sender: mpsc::Sender<EventMessage<Event>>,
+        sender: mpsc::Sender<(Event, Option<Params>)>,
     }
 
     impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
-        pub fn new(target_id: ComponentId, sender: mpsc::Sender<EventMessage<Event>>) -> Self {
+        pub fn new(target_id: ComponentId, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
             Self { target_id, sender }
         }
     }
 
     impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
-        type Error = GenericSendError;
-
         fn target_id(&self) -> ComponentId {
             self.target_id
         }
-
+        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
-        fn send(&self, event_msg: EventMessage<Event>) -> Result<(), GenericSendError> {
             self.sender
-                .send(event_msg)
+                .send((event, aux_data))
                 .map_err(|_| GenericSendError::RxDisconnected)
         }
     }
@@ -540,14 +484,14 @@ pub mod std_mod {
     #[derive(Clone)]
     pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
         target_id: ComponentId,
-        sender: mpsc::SyncSender<EventMessage<Event>>,
+        sender: mpsc::SyncSender<(Event, Option<Params>)>,
         capacity: usize,
     }
 
     impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
         pub fn new(
             target_id: ComponentId,
-            sender: mpsc::SyncSender<EventMessage<Event>>,
+            sender: mpsc::SyncSender<(Event, Option<Params>)>,
             capacity: usize,
         ) -> Self {
             Self {
@@ -559,14 +503,11 @@ pub mod std_mod {
     }
 
     impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
-        type Error = GenericSendError;
-
         fn target_id(&self) -> ComponentId {
             self.target_id
         }
-
+        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
-        fn send(&self, event_msg: EventMessage<Event>) -> Result<(), Self::Error> {
+            if let Err(e) = self.sender.try_send((event, aux_data)) {
-            if let Err(e) = self.sender.try_send(event_msg) {
                 return match e {
                     mpsc::TrySendError::Full(_) => {
                         Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
@@ -589,20 +530,19 @@ mod tests {
     use super::*;
     use crate::event_man::EventManager;
     use crate::events::{EventU32, GenericEvent, Severity};
-    use crate::params::{ParamsHeapless, ParamsRaw};
+    use crate::params::ParamsRaw;
-    use crate::pus::test_util::{TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1};
     use std::format;
-    use std::sync::mpsc::{self};
+    use std::sync::mpsc::{self, channel, Receiver, Sender};
 
     const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);
 
     fn check_next_event(
         expected: EventU32,
-        receiver: &mpsc::Receiver<EventMessageU32>,
+        receiver: &Receiver<EventU32WithAuxData>,
     ) -> Option<Params> {
-        if let Ok(event_msg) = receiver.try_recv() {
+        if let Ok(event) = receiver.try_recv() {
-            assert_eq!(event_msg.event, expected);
+            assert_eq!(event.0, expected);
-            return event_msg.params;
+            return event.1;
         }
         None
     }
@@ -615,16 +555,17 @@ mod tests {
         assert!(matches!(res, EventRoutingResult::Handled { .. }));
         if let EventRoutingResult::Handled {
             num_recipients,
-            event_msg,
+            event,
+            ..
         } = res
         {
-            assert_eq!(event_msg.event, expected);
+            assert_eq!(event, expected);
             assert_eq!(num_recipients, expected_num_sent);
         }
     }
 
-    fn generic_event_man() -> (mpsc::Sender<EventMessageU32>, EventManagerWithMpsc) {
+    fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
-        let (event_sender, manager_queue) = mpsc::channel();
+        let (event_sender, manager_queue) = channel();
         let event_man_receiver = MpscEventReceiver::new(manager_queue);
         (event_sender, EventManager::new(event_man_receiver))
     }
@@ -634,56 +575,48 @@ mod tests {
         let (event_sender, mut event_man) = generic_event_man();
         let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
         let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (single_event_sender, single_event_receiver) = mpsc::channel();
+        let (single_event_sender, single_event_receiver) = channel();
         let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
         event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
         event_man.add_sender(single_event_listener);
-        let (group_event_sender_0, group_event_receiver_0) = mpsc::channel();
+        let (group_event_sender_0, group_event_receiver_0) = channel();
         let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
         event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.target_id());
         event_man.add_sender(group_event_listener);
 
-        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
-            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
-        };
         // Test event with one listener
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
+            .send((event_grp_0, None))
             .expect("Sending single error failed");
-        let res = event_man.try_event_handling(&error_handler);
+        let res = event_man.try_event_handling();
-        // assert!(res.is_ok());
+        assert!(res.is_ok());
-        check_handled_event(res, event_grp_0, 1);
+        check_handled_event(res.unwrap(), event_grp_0, 1);
         check_next_event(event_grp_0, &single_event_receiver);
 
         // Test event which is sent to all group listeners
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
+            .send((event_grp_1_0, None))
             .expect("Sending group error failed");
-        let res = event_man.try_event_handling(&error_handler);
+        let res = event_man.try_event_handling();
-        check_handled_event(res, event_grp_1_0, 1);
+        assert!(res.is_ok());
+        check_handled_event(res.unwrap(), event_grp_1_0, 1);
         check_next_event(event_grp_1_0, &group_event_receiver_0);
     }
 
     #[test]
-    fn test_with_basic_params() {
+    fn test_with_basic_aux_data() {
-        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
-            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
-        };
         let (event_sender, mut event_man) = generic_event_man();
         let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let (single_event_sender, single_event_receiver) = mpsc::channel();
+        let (single_event_sender, single_event_receiver) = channel();
         let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
         event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
         event_man.add_sender(single_event_listener);
         event_sender
-            .send(EventMessage::new_with_params(
+            .send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
-                TEST_COMPONENT_ID_0.id(),
-                event_grp_0,
-                &Params::Heapless((2_u32, 3_u32).into()),
-            ))
             .expect("Sending group error failed");
-        let res = event_man.try_event_handling(&error_handler);
+        let res = event_man.try_event_handling();
-        check_handled_event(res, event_grp_0, 1);
+        assert!(res.is_ok());
+        check_handled_event(res.unwrap(), event_grp_0, 1);
         let aux = check_next_event(event_grp_0, &single_event_receiver);
         assert!(aux.is_some());
         let aux = aux.unwrap();
@@ -698,16 +631,15 @@ mod tests {
     /// Test listening for multiple groups
     #[test]
     fn test_multi_group() {
-        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
-            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
-        };
         let (event_sender, mut event_man) = generic_event_man();
-        let res = event_man.try_event_handling(error_handler);
+        let res = event_man.try_event_handling();
-        assert!(matches!(res, EventRoutingResult::Empty));
+        assert!(res.is_ok());
+        let hres = res.unwrap();
+        assert!(matches!(hres, EventRoutingResult::Empty));
 
         let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
         let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_grp_0_sender, event_grp_0_receiver) = mpsc::channel();
+        let (event_grp_0_sender, event_grp_0_receiver) = channel();
         let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
         event_man.subscribe_group(
             event_grp_0.group_id(),
@@ -720,15 +652,17 @@ mod tests {
         event_man.add_sender(event_grp_0_and_1_listener);
 
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
+            .send((event_grp_0, None))
             .expect("Sending Event Group 0 failed");
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
+            .send((event_grp_1_0, None))
             .expect("Sendign Event Group 1 failed");
-        let res = event_man.try_event_handling(error_handler);
+        let res = event_man.try_event_handling();
-        check_handled_event(res, event_grp_0, 1);
+        assert!(res.is_ok());
-        let res = event_man.try_event_handling(error_handler);
+        check_handled_event(res.unwrap(), event_grp_0, 1);
-        check_handled_event(res, event_grp_1_0, 1);
+        let res = event_man.try_event_handling();
+        assert!(res.is_ok());
+        check_handled_event(res.unwrap(), event_grp_1_0, 1);
 
         check_next_event(event_grp_0, &event_grp_0_receiver);
         check_next_event(event_grp_1_0, &event_grp_0_receiver);
@@ -738,14 +672,11 @@ mod tests {
     /// to both group and single events from one listener
     #[test]
     fn test_listening_to_same_event_and_multi_type() {
-        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
-            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
-        };
         let (event_sender, mut event_man) = generic_event_man();
         let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
         let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_0_tx_0, event_0_rx_0) = mpsc::channel();
+        let (event_0_tx_0, event_0_rx_0) = channel();
-        let (event_0_tx_1, event_0_rx_1) = mpsc::channel();
+        let (event_0_tx_1, event_0_rx_1) = channel();
         let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
         let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
         let event_listener_0_sender_id = event_listener_0.target_id();
@@ -755,25 +686,28 @@ mod tests {
         event_man.subscribe_single(&event_0, event_listener_1_sender_id);
         event_man.add_sender(event_listener_1);
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
+            .send((event_0, None))
             .expect("Triggering Event 0 failed");
-        let res = event_man.try_event_handling(error_handler);
+        let res = event_man.try_event_handling();
-        check_handled_event(res, event_0, 2);
+        assert!(res.is_ok());
+        check_handled_event(res.unwrap(), event_0, 2);
         check_next_event(event_0, &event_0_rx_0);
         check_next_event(event_0, &event_0_rx_1);
         event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
+            .send((event_0, None))
             .expect("Triggering Event 0 failed");
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
+            .send((event_1, None))
             .expect("Triggering Event 1 failed");
 
         // 3 Events messages will be sent now
-        let res = event_man.try_event_handling(error_handler);
+        let res = event_man.try_event_handling();
-        check_handled_event(res, event_0, 2);
+        assert!(res.is_ok());
-        let res = event_man.try_event_handling(error_handler);
+        check_handled_event(res.unwrap(), event_0, 2);
-        check_handled_event(res, event_1, 1);
+        let res = event_man.try_event_handling();
+        assert!(res.is_ok());
+        check_handled_event(res.unwrap(), event_1, 1);
         // Both the single event and the group event should arrive now
         check_next_event(event_0, &event_0_rx_0);
         check_next_event(event_1, &event_0_rx_0);
@@ -782,36 +716,36 @@ mod tests {
         event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
         event_man.remove_duplicates(&ListenerKey::Group(event_1.group_id()));
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_1))
+            .send((event_1, None))
             .expect("Triggering Event 1 failed");
-        let res = event_man.try_event_handling(error_handler);
+        let res = event_man.try_event_handling();
-        check_handled_event(res, event_1, 1);
+        assert!(res.is_ok());
+        check_handled_event(res.unwrap(), event_1, 1);
     }
 
     #[test]
     fn test_all_events_listener() {
-        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
+        let (event_sender, manager_queue) = channel();
-            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
-        };
-        let (event_sender, manager_queue) = mpsc::channel();
         let event_man_receiver = MpscEventReceiver::new(manager_queue);
         let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
         let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
         let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_0_tx_0, all_events_rx) = mpsc::channel();
+        let (event_0_tx_0, all_events_rx) = channel();
         let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
         event_man.subscribe_all(all_events_listener.target_id());
         event_man.add_sender(all_events_listener);
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
+            .send((event_0, None))
             .expect("Triggering event 0 failed");
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
+            .send((event_1, None))
             .expect("Triggering event 1 failed");
-        let res = event_man.try_event_handling(error_handler);
+        let res = event_man.try_event_handling();
-        check_handled_event(res, event_0, 1);
+        assert!(res.is_ok());
-        let res = event_man.try_event_handling(error_handler);
+        check_handled_event(res.unwrap(), event_0, 1);
-        check_handled_event(res, event_1, 1);
+        let res = event_man.try_event_handling();
+        assert!(res.is_ok());
+        check_handled_event(res.unwrap(), event_1, 1);
         check_next_event(event_0, &all_events_rx);
         check_next_event(event_1, &all_events_rx);
     }
@@ -821,15 +755,15 @@ mod tests {
         let (event_sender, _event_receiver) = mpsc::sync_channel(3);
         let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
+            .send_no_data(TEST_EVENT)
             .expect("sending test event failed");
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
+            .send_no_data(TEST_EVENT)
             .expect("sending test event failed");
         event_sender
-            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
+            .send_no_data(TEST_EVENT)
             .expect("sending test event failed");
-        let error = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT));
+        let error = event_sender.send_no_data(TEST_EVENT);
         if let Err(e) = error {
             assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
         } else {
@@ -841,7 +775,7 @@ mod tests {
         let (event_sender, event_receiver) = mpsc::sync_channel(3);
         let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
         drop(event_receiver);
-        if let Err(e) = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT)) {
+        if let Err(e) = event_sender.send_no_data(TEST_EVENT) {
             assert!(matches!(e, GenericSendError::RxDisconnected));
         } else {
             panic!("Expected error");

satrs/src/events.rs

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

satrs/src/hal/mod.rs

@@ -1,3 +1,4 @@
 //! # 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

@@ -1,25 +1,19 @@
-use alloc::sync::Arc;
 use alloc::vec;
 use cobs::encode;
-use core::sync::atomic::AtomicBool;
-use core::time::Duration;
 use delegate::delegate;
-use mio::net::{TcpListener, TcpStream};
 use std::io::Write;
 use std::net::SocketAddr;
+use std::net::TcpListener;
+use std::net::TcpStream;
 use std::vec::Vec;
 
 use crate::encoding::parse_buffer_for_cobs_encoded_packets;
-use crate::tmtc::PacketSenderRaw;
+use crate::tmtc::ReceivesTc;
-use crate::tmtc::PacketSource;
+use crate::tmtc::TmPacketSource;
 
 use crate::hal::std::tcp_server::{
     ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
 };
-use crate::ComponentId;
-
-use super::tcp_server::HandledConnectionHandler;
-use super::tcp_server::HandledConnectionInfo;
 
 /// Concrete [TcpTcParser] implementation for the [TcpTmtcInCobsServer].
 #[derive(Default)]
@@ -29,16 +23,14 @@ impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for CobsTcParser {
     fn handle_tc_parsing(
         &mut self,
         tc_buffer: &mut [u8],
-        sender_id: ComponentId,
+        tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
-        tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
+        conn_result: &mut ConnectionResult,
-        conn_result: &mut HandledConnectionInfo,
         current_write_idx: usize,
         next_write_idx: &mut usize,
     ) -> Result<(), TcpTmtcError<TmError, TcError>> {
         conn_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
             &mut tc_buffer[..current_write_idx],
-            sender_id,
+            tc_receiver.upcast_mut(),
-            tc_sender,
             next_write_idx,
         )
         .map_err(|e| TcpTmtcError::TcError(e))?;
@@ -65,8 +57,8 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
     fn handle_tm_sending(
         &mut self,
         tm_buffer: &mut [u8],
-        tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
+        tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
-        conn_result: &mut HandledConnectionInfo,
+        conn_result: &mut ConnectionResult,
         stream: &mut TcpStream,
     ) -> Result<bool, TcpTmtcError<TmError, TcError>> {
         let mut tm_was_sent = false;
@@ -104,7 +96,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
 /// Telemetry will be encoded with the COBS  protocol using [cobs::encode] in addition to being
 /// wrapped with the sentinel value 0 as the packet delimiter as well before being sent back to
 /// the client. Please note that the server will send as much data as it can retrieve from the
-/// [PacketSource] in its current implementation.
+/// [TmPacketSource] in its current implementation.
 ///
 /// Using a framing protocol like COBS imposes minimal restrictions on the type of TMTC data
 /// exchanged while also allowing packets with flexible size and a reliable way to reconstruct full
@@ -118,30 +110,21 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
 /// 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<
-    TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = SendError>,
-    HandledConnection: HandledConnectionHandler,
     TmError,
-    SendError: 'static,
+    TcError: 'static,
+    TmSource: TmPacketSource<Error = TmError>,
+    TcReceiver: ReceivesTc<Error = TcError>,
 > {
-    pub generic_server: TcpTmtcGenericServer<
+    generic_server:
-        TmSource,
+        TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, CobsTmSender, CobsTcParser>,
-        TcSender,
-        CobsTmSender,
-        CobsTcParser,
-        HandledConnection,
-        TmError,
-        SendError,
-    >,
 }
 
 impl<
-        TmSource: PacketSource<Error = TmError>,
-        TcReceiver: PacketSenderRaw<Error = TcError>,
-        HandledConnection: HandledConnectionHandler,
         TmError: 'static,
         TcError: 'static,
-    > TcpTmtcInCobsServer<TmSource, TcReceiver, HandledConnection, TmError, TcError>
+        TmSource: TmPacketSource<Error = TmError>,
+        TcReceiver: ReceivesTc<Error = TcError>,
+    > TcpTmtcInCobsServer<TmError, TcError, TmSource, TcReceiver>
 {
     /// Create a new TCP TMTC server which exchanges TMTC packets encoded with
     /// [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
@@ -157,8 +140,6 @@ impl<
         cfg: ServerConfig,
         tm_source: TmSource,
         tc_receiver: TcReceiver,
-        handled_connection: HandledConnection,
-        stop_signal: Option<Arc<AtomicBool>>,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             generic_server: TcpTmtcGenericServer::new(
@@ -167,8 +148,6 @@ impl<
                 CobsTmSender::new(cfg.tm_buffer_size),
                 tm_source,
                 tc_receiver,
-                handled_connection,
-                stop_signal,
             )?,
         })
     }
@@ -181,10 +160,9 @@ impl<
             /// useful if using the port number 0 for OS auto-assignment.
             pub fn local_addr(&self) -> std::io::Result<SocketAddr>;
 
-            /// Delegation to the [TcpTmtcGenericServer::handle_all_connections] call.
+            /// Delegation to the [TcpTmtcGenericServer::handle_next_connection] call.
-            pub fn handle_all_connections(
+            pub fn handle_next_connection(
                 &mut self,
-                poll_duration: Option<Duration>,
             ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
         }
     }
@@ -199,29 +177,21 @@ mod tests {
     use std::{
         io::{Read, Write},
         net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
-        panic,
-        sync::mpsc,
         thread,
-        time::Instant,
     };
 
     use crate::{
         encoding::tests::{INVERTED_PACKET, SIMPLE_PACKET},
         hal::std::tcp_server::{
-            tests::{ConnectionFinishedHandler, SyncTmSource},
+            tests::{SyncTcCacher, SyncTmSource},
-            ConnectionResult, ServerConfig,
+            ServerConfig,
         },
-        queue::GenericSendError,
-        tmtc::PacketAsVec,
-        ComponentId,
     };
     use alloc::sync::Arc;
     use cobs::encode;
 
     use super::TcpTmtcInCobsServer;
 
-    const TCP_SERVER_ID: ComponentId = 0x05;
-
     fn encode_simple_packet(encoded_buf: &mut [u8], current_idx: &mut usize) {
         encode_packet(&SIMPLE_PACKET, encoded_buf, current_idx)
     }
@@ -240,22 +210,13 @@ mod tests {
 
     fn generic_tmtc_server(
         addr: &SocketAddr,
-        tc_sender: mpsc::Sender<PacketAsVec>,
+        tc_receiver: SyncTcCacher,
         tm_source: SyncTmSource,
-        stop_signal: Option<Arc<AtomicBool>>,
+    ) -> TcpTmtcInCobsServer<(), (), SyncTmSource, SyncTcCacher> {
-    ) -> TcpTmtcInCobsServer<
-        SyncTmSource,
-        mpsc::Sender<PacketAsVec>,
-        ConnectionFinishedHandler,
-        (),
-        GenericSendError,
-    > {
         TcpTmtcInCobsServer::new(
-            ServerConfig::new(TCP_SERVER_ID, *addr, Duration::from_millis(2), 1024, 1024),
+            ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
             tm_source,
-            tc_sender,
+            tc_receiver,
-            ConnectionFinishedHandler::default(),
-            stop_signal,
         )
         .expect("TCP server generation failed")
     }
@@ -263,10 +224,9 @@ mod tests {
     #[test]
     fn test_server_basic_no_tm() {
         let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
-        let (tc_sender, tc_receiver) = mpsc::channel();
+        let tc_receiver = SyncTcCacher::default();
         let tm_source = SyncTmSource::default();
-        let mut tcp_server =
+        let mut tcp_server = generic_tmtc_server(&auto_port_addr, tc_receiver.clone(), tm_source);
-            generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source, None);
         let dest_addr = tcp_server
             .local_addr()
             .expect("retrieving dest addr failed");
@@ -274,20 +234,13 @@ mod tests {
         let set_if_done = conn_handled.clone();
         // Call the connection handler in separate thread, does block.
         thread::spawn(move || {
-            let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
+            let result = tcp_server.handle_next_connection();
             if result.is_err() {
                 panic!("handling connection failed: {:?}", result.unwrap_err());
             }
-            let result = result.unwrap();
+            let conn_result = result.unwrap();
-            assert_eq!(result, ConnectionResult::HandledConnections(1));
+            assert_eq!(conn_result.num_received_tcs, 1);
-            tcp_server
+            assert_eq!(conn_result.num_sent_tms, 0);
-                .generic_server
-                .finished_handler
-                .check_last_connection(0, 1);
-            tcp_server
-                .generic_server
-                .finished_handler
-                .check_no_connections_left();
             set_if_done.store(true, Ordering::Relaxed);
         });
         // Send TC to server now.
@@ -309,20 +262,24 @@ mod tests {
             panic!("connection was not handled properly");
         }
         // Check that the packet was received and decoded successfully.
-        let packet_with_sender = tc_receiver.recv().expect("receiving TC failed");
+        let mut tc_queue = tc_receiver
-        assert_eq!(packet_with_sender.packet, &SIMPLE_PACKET);
+            .tc_queue
-        matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
+            .lock()
+            .expect("locking tc queue failed");
+        assert_eq!(tc_queue.len(), 1);
+        assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
+        drop(tc_queue);
     }
 
     #[test]
     fn test_server_basic_multi_tm_multi_tc() {
         let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
-        let (tc_sender, tc_receiver) = mpsc::channel();
+        let tc_receiver = SyncTcCacher::default();
         let mut tm_source = SyncTmSource::default();
         tm_source.add_tm(&INVERTED_PACKET);
         tm_source.add_tm(&SIMPLE_PACKET);
         let mut tcp_server =
-            generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source.clone(), None);
+            generic_tmtc_server(&auto_port_addr, tc_receiver.clone(), tm_source.clone());
         let dest_addr = tcp_server
             .local_addr()
             .expect("retrieving dest addr failed");
@@ -330,20 +287,13 @@ mod tests {
         let set_if_done = conn_handled.clone();
         // Call the connection handler in separate thread, does block.
         thread::spawn(move || {
-            let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
+            let result = tcp_server.handle_next_connection();
             if result.is_err() {
                 panic!("handling connection failed: {:?}", result.unwrap_err());
             }
-            let result = result.unwrap();
+            let conn_result = result.unwrap();
-            assert_eq!(result, ConnectionResult::HandledConnections(1));
+            assert_eq!(conn_result.num_received_tcs, 2, "Not enough TCs received");
-            tcp_server
+            assert_eq!(conn_result.num_sent_tms, 2, "Not enough TMs received");
-                .generic_server
-                .finished_handler
-                .check_last_connection(2, 2);
-            tcp_server
-                .generic_server
-                .finished_handler
-                .check_no_connections_left();
             set_if_done.store(true, Ordering::Relaxed);
         });
         // Send TC to server now.
@@ -417,78 +367,13 @@ mod tests {
             panic!("connection was not handled properly");
         }
         // Check that the packet was received and decoded successfully.
-        let packet_with_sender = tc_receiver.recv().expect("receiving TC failed");
+        let mut tc_queue = tc_receiver
-        let packet = &packet_with_sender.packet;
+            .tc_queue
-        assert_eq!(packet, &SIMPLE_PACKET);
+            .lock()
-        let packet_with_sender = tc_receiver.recv().expect("receiving TC failed");
+            .expect("locking tc queue failed");
-        let packet = &packet_with_sender.packet;
+        assert_eq!(tc_queue.len(), 2);
-        assert_eq!(packet, &INVERTED_PACKET);
+        assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
-        matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
+        assert_eq!(tc_queue.pop_front().unwrap(), &INVERTED_PACKET);
-    }
+        drop(tc_queue);
-
-    #[test]
-    fn test_server_accept_timeout() {
-        let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
-        let (tc_sender, _tc_receiver) = mpsc::channel();
-        let tm_source = SyncTmSource::default();
-        let mut tcp_server =
-            generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source, None);
-        let start = Instant::now();
-        // Call the connection handler in separate thread, does block.
-        let thread_jh = thread::spawn(move || loop {
-            let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
-            if result.is_err() {
-                panic!("handling connection failed: {:?}", result.unwrap_err());
-            }
-            let result = result.unwrap();
-            if result == ConnectionResult::AcceptTimeout {
-                break;
-            }
-            if Instant::now() - start > Duration::from_millis(100) {
-                panic!("regular stop signal handling failed");
-            }
-        });
-        thread_jh.join().expect("thread join failed");
-    }
-
-    #[test]
-    fn test_server_stop_signal() {
-        let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
-        let (tc_sender, _tc_receiver) = mpsc::channel();
-        let tm_source = SyncTmSource::default();
-        let stop_signal = Arc::new(AtomicBool::new(false));
-        let mut tcp_server = generic_tmtc_server(
-            &auto_port_addr,
-            tc_sender.clone(),
-            tm_source,
-            Some(stop_signal.clone()),
-        );
-        let dest_addr = tcp_server
-            .local_addr()
-            .expect("retrieving dest addr failed");
-        let stop_signal_copy = stop_signal.clone();
-        let start = Instant::now();
-        // Call the connection handler in separate thread, does block.
-        let thread_jh = thread::spawn(move || loop {
-            let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
-            if result.is_err() {
-                panic!("handling connection failed: {:?}", result.unwrap_err());
-            }
-            let result = result.unwrap();
-            if result == ConnectionResult::AcceptTimeout {
-                panic!("unexpected accept timeout");
-            }
-            if stop_signal_copy.load(Ordering::Relaxed) {
-                break;
-            }
-            if Instant::now() - start > Duration::from_millis(100) {
-                panic!("regular stop signal handling failed");
-            }
-        });
-        // We connect but do not do anything.
-        let _stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
-        stop_signal.store(true, Ordering::Relaxed);
-        // No need to drop the connection, the stop signal should take take of everything.
-        thread_jh.join().expect("thread join failed");
     }
 }

satrs/src/hal/std/tcp_server.rs

@@ -1,25 +1,21 @@
 //! Generic TCP TMTC servers with different TMTC format flavours.
-use alloc::sync::Arc;
 use alloc::vec;
 use alloc::vec::Vec;
-use core::sync::atomic::AtomicBool;
 use core::time::Duration;
-use mio::net::{TcpListener, TcpStream};
-use mio::{Events, Interest, Poll, Token};
 use socket2::{Domain, Socket, Type};
-use std::io::{self, Read};
+use std::io::Read;
-use std::net::SocketAddr;
+use std::net::TcpListener;
-// use std::net::TcpListener;
+use std::net::{SocketAddr, TcpStream};
-// use std::net::{SocketAddr, TcpStream};
 use std::thread;
 
-use crate::tmtc::{PacketSenderRaw, PacketSource};
+use crate::tmtc::{ReceivesTc, TmPacketSource};
-use crate::ComponentId;
 use thiserror::Error;
 
 // Re-export the TMTC in COBS server.
 pub use crate::hal::std::tcp_cobs_server::{CobsTcParser, CobsTmSender, TcpTmtcInCobsServer};
-pub use crate::hal::std::tcp_spacepackets_server::{SpacepacketsTmSender, TcpSpacepacketsServer};
+pub use crate::hal::std::tcp_spacepackets_server::{
+    SpacepacketsTcParser, SpacepacketsTmSender, TcpSpacepacketsServer,
+};
 
 /// Configuration struct for the generic TCP TMTC server
 ///
@@ -29,7 +25,7 @@ pub use crate::hal::std::tcp_spacepackets_server::{SpacepacketsTmSender, TcpSpac
 /// * `inner_loop_delay` - If a client connects for a longer period, but no TC is received or
 ///     no TM needs to be sent, the TCP server will delay for the specified amount of time
 ///     to reduce CPU load.
-/// * `tm_buffer_size` - Size of the TM buffer used to read TM from the [PacketSource] and
+/// * `tm_buffer_size` - Size of the TM buffer used to read TM from the [TmPacketSource] and
 ///     encoding of that data. This buffer should at large enough to hold the maximum expected
 ///     TM size read from the packet source.
 /// * `tc_buffer_size` - Size of the TC buffer used to read encoded telecommands sent from
@@ -45,7 +41,6 @@ pub use crate::hal::std::tcp_spacepackets_server::{SpacepacketsTmSender, TcpSpac
 ///     default.
 #[derive(Debug, Copy, Clone)]
 pub struct ServerConfig {
-    pub id: ComponentId,
     pub addr: SocketAddr,
     pub inner_loop_delay: Duration,
     pub tm_buffer_size: usize,
@@ -56,14 +51,12 @@ pub struct ServerConfig {
 
 impl ServerConfig {
     pub fn new(
-        id: ComponentId,
         addr: SocketAddr,
         inner_loop_delay: Duration,
         tm_buffer_size: usize,
         tc_buffer_size: usize,
     ) -> Self {
         Self {
-            id,
             addr,
             inner_loop_delay,
             tm_buffer_size,
@@ -86,62 +79,37 @@ pub enum TcpTmtcError<TmError, TcError> {
 
 /// Result of one connection attempt. Contains the client address if a connection was established,
 /// in addition to the number of telecommands and telemetry packets exchanged.
-#[derive(Debug, PartialEq, Eq)]
+#[derive(Debug, Default)]
-pub enum ConnectionResult {
+pub struct ConnectionResult {
-    AcceptTimeout,
+    pub addr: Option<SocketAddr>,
-    HandledConnections(u32),
-}
-
-#[derive(Debug)]
-pub struct HandledConnectionInfo {
-    pub addr: SocketAddr,
     pub num_received_tcs: u32,
     pub num_sent_tms: u32,
-    /// The generic TCP server can be stopped using an external signal. If this happened, this
-    /// boolean will be set to true.
-    pub stopped_by_signal: bool,
-}
-
-impl HandledConnectionInfo {
-    pub fn new(addr: SocketAddr) -> Self {
-        Self {
-            addr,
-            num_received_tcs: 0,
-            num_sent_tms: 0,
-            stopped_by_signal: false,
-        }
-    }
-}
-
-pub trait HandledConnectionHandler {
-    fn handled_connection(&mut self, info: HandledConnectionInfo);
 }
 
 /// Generic parser abstraction for an object which can parse for telecommands given a raw
-/// bytestream received from a TCP socket and send them using a generic [PacketSenderRaw]
+/// bytestream received from a TCP socket and send them to a generic [ReceivesTc] telecommand
-/// implementation. This allows different encoding schemes for telecommands.
+/// receiver. This allows different encoding schemes for telecommands.
-pub trait TcpTcParser<TmError, SendError> {
+pub trait TcpTcParser<TmError, TcError> {
     fn handle_tc_parsing(
         &mut self,
         tc_buffer: &mut [u8],
-        sender_id: ComponentId,
+        tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
-        tc_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
+        conn_result: &mut ConnectionResult,
-        conn_result: &mut HandledConnectionInfo,
         current_write_idx: usize,
         next_write_idx: &mut usize,
-    ) -> Result<(), TcpTmtcError<TmError, SendError>>;
+    ) -> Result<(), TcpTmtcError<TmError, TcError>>;
 }
 
 /// Generic sender abstraction for an object which can pull telemetry from a given TM source
-/// using a [PacketSource] and then send them back to a client using a given [TcpStream].
+/// using a [TmPacketSource] and then send them back to a client using a given [TcpStream].
 /// The concrete implementation can also perform any encoding steps which are necessary before
 /// sending back the data to a client.
 pub trait TcpTmSender<TmError, TcError> {
     fn handle_tm_sending(
         &mut self,
         tm_buffer: &mut [u8],
-        tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
+        tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
-        conn_result: &mut HandledConnectionInfo,
+        conn_result: &mut ConnectionResult,
         stream: &mut TcpStream,
     ) -> Result<bool, TcpTmtcError<TmError, TcError>>;
 }
@@ -153,9 +121,9 @@ pub trait TcpTmSender<TmError, TcError> {
 /// through the following 4 core abstractions:
 ///
 /// 1. [TcpTcParser] to parse for telecommands from the raw bytestream received from a client.
-/// 2. Parsed telecommands will be sent using the [PacketSenderRaw] object.
+/// 2. Parsed telecommands will be sent to the [ReceivesTc] telecommand receiver.
 /// 3. [TcpTmSender] to send telemetry pulled from a TM source back to the client.
-/// 4. [PacketSource] as a generic TM source used by the [TcpTmSender].
+/// 4. [TmPacketSource] as a generic TM source used by the [TcpTmSender].
 ///
 /// It is possible to specify custom abstractions to build a dedicated TCP TMTC server without
 /// having to re-implement common logic.
@@ -163,49 +131,32 @@ pub trait TcpTmSender<TmError, TcError> {
 /// Currently, this framework offers the following concrete implementations:
 ///
 /// 1. [TcpTmtcInCobsServer] to exchange TMTC wrapped inside the COBS framing protocol.
-/// 2. [TcpSpacepacketsServer] to exchange space packets via TCP.
 pub struct TcpTmtcGenericServer<
-    TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = TcSendError>,
-    TmSender: TcpTmSender<TmError, TcSendError>,
-    TcParser: TcpTcParser<TmError, TcSendError>,
-    HandledConnection: HandledConnectionHandler,
     TmError,
-    TcSendError,
+    TcError,
+    TmSource: TmPacketSource<Error = TmError>,
+    TcReceiver: ReceivesTc<Error = TcError>,
+    TmSender: TcpTmSender<TmError, TcError>,
+    TcParser: TcpTcParser<TmError, TcError>,
 > {
-    pub id: ComponentId,
-    pub finished_handler: HandledConnection,
     pub(crate) listener: TcpListener,
     pub(crate) inner_loop_delay: Duration,
     pub(crate) tm_source: TmSource,
     pub(crate) tm_buffer: Vec<u8>,
-    pub(crate) tc_sender: TcSender,
+    pub(crate) tc_receiver: TcReceiver,
     pub(crate) tc_buffer: Vec<u8>,
-    poll: Poll,
+    tc_handler: TcParser,
-    events: Events,
+    tm_handler: TmSender,
-    pub tc_handler: TcParser,
-    pub tm_handler: TmSender,
-    stop_signal: Option<Arc<AtomicBool>>,
 }
 
 impl<
-        TmSource: PacketSource<Error = TmError>,
-        TcSender: PacketSenderRaw<Error = TcSendError>,
-        TmSender: TcpTmSender<TmError, TcSendError>,
-        TcParser: TcpTcParser<TmError, TcSendError>,
-        HandledConnection: HandledConnectionHandler,
         TmError: 'static,
-        TcSendError: 'static,
+        TcError: 'static,
-    >
+        TmSource: TmPacketSource<Error = TmError>,
-    TcpTmtcGenericServer<
+        TcReceiver: ReceivesTc<Error = TcError>,
-        TmSource,
+        TmSender: TcpTmSender<TmError, TcError>,
-        TcSender,
+        TcParser: TcpTcParser<TmError, TcError>,
-        TmSender,
+    > TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, TmSender, TcParser>
-        TcParser,
-        HandledConnection,
-        TmError,
-        TcSendError,
-    >
 {
     /// Create a new generic TMTC server instance.
     ///
@@ -217,55 +168,32 @@ impl<
     /// * `tm_sender` - Sends back telemetry to the client using the specified TM source.
     /// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
     ///     then sent back to the client.
-    /// * `tc_sender` - Any received telecommand which was decoded successfully will be forwarded
+    /// * `tc_receiver` - Any received telecommand which was decoded successfully will be forwarded
-    ///     using this TC sender.
+    ///     to this TC receiver.
-    /// * `stop_signal` - Can be used to stop the server even if a connection is ongoing.
     pub fn new(
         cfg: ServerConfig,
         tc_parser: TcParser,
         tm_sender: TmSender,
         tm_source: TmSource,
-        tc_receiver: TcSender,
+        tc_receiver: TcReceiver,
-        finished_handler: HandledConnection,
-        stop_signal: Option<Arc<AtomicBool>>,
     ) -> Result<Self, std::io::Error> {
         // Create a TCP listener bound to two addresses.
         let socket = Socket::new(Domain::IPV4, Type::STREAM, None)?;
-
         socket.set_reuse_address(cfg.reuse_addr)?;
         #[cfg(unix)]
         socket.set_reuse_port(cfg.reuse_port)?;
-        // MIO does not do this for us. We want the accept calls to be non-blocking.
-        socket.set_nonblocking(true)?;
         let addr = (cfg.addr).into();
         socket.bind(&addr)?;
         socket.listen(128)?;
-
-        // Create a poll instance.
-        let poll = Poll::new()?;
-        // Create storage for events.
-        let events = Events::with_capacity(10);
-        let listener: std::net::TcpListener = socket.into();
-        let mut mio_listener = TcpListener::from_std(listener);
-
-        // Start listening for incoming connections.
-        poll.registry()
-            .register(&mut mio_listener, Token(0), Interest::READABLE)?;
-
         Ok(Self {
-            id: cfg.id,
             tc_handler: tc_parser,
             tm_handler: tm_sender,
-            poll,
+            listener: socket.into(),
-            events,
-            listener: mio_listener,
             inner_loop_delay: cfg.inner_loop_delay,
             tm_source,
             tm_buffer: vec![0; cfg.tm_buffer_size],
-            tc_sender: tc_receiver,
+            tc_receiver,
             tc_buffer: vec![0; cfg.tc_buffer_size],
-            stop_signal,
-            finished_handler,
         })
     }
 
@@ -293,52 +221,15 @@ impl<
     /// The server will delay for a user-specified period if the client connects to the server
     /// for prolonged periods and there is no traffic for the server. This is the case if the
     /// client does not send any telecommands and no telemetry needs to be sent back to the client.
-    pub fn handle_all_connections(
+    pub fn handle_next_connection(
         &mut self,
-        poll_timeout: Option<Duration>,
+    ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>> {
-    ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcSendError>> {
+        let mut connection_result = ConnectionResult::default();
-        let mut handled_connections = 0;
-        // Poll Mio for events.
-        self.poll.poll(&mut self.events, poll_timeout)?;
-        let mut acceptable_connection = false;
-        // Process each event.
-        for event in self.events.iter() {
-            if event.token() == Token(0) {
-                acceptable_connection = true;
-            } else {
-                // Should never happen..
-                panic!("unexpected TCP event token");
-            }
-        }
-        // I'd love to do this in the loop above, but there are issues with multiple borrows.
-        if acceptable_connection {
-            // There might be mutliple connections available. Accept until all of them have
-            // been handled.
-            loop {
-                match self.listener.accept() {
-                    Ok((stream, addr)) => {
-                        self.handle_accepted_connection(stream, addr)?;
-                        handled_connections += 1;
-                    }
-                    Err(ref err) if err.kind() == io::ErrorKind::WouldBlock => break,
-                    Err(err) => return Err(TcpTmtcError::Io(err)),
-                }
-            }
-        }
-        if handled_connections > 0 {
-            return Ok(ConnectionResult::HandledConnections(handled_connections));
-        }
-        Ok(ConnectionResult::AcceptTimeout)
-    }
-
-    fn handle_accepted_connection(
-        &mut self,
-        mut stream: TcpStream,
-        addr: SocketAddr,
-    ) -> Result<(), TcpTmtcError<TmError, TcSendError>> {
         let mut current_write_idx;
         let mut next_write_idx = 0;
-        let mut connection_result = HandledConnectionInfo::new(addr);
+        let (mut stream, addr) = self.listener.accept()?;
+        stream.set_nonblocking(true)?;
+        connection_result.addr = Some(addr);
         current_write_idx = next_write_idx;
         loop {
             let read_result = stream.read(&mut self.tc_buffer[current_write_idx..]);
@@ -349,8 +240,7 @@ impl<
                     if current_write_idx > 0 {
                         self.tc_handler.handle_tc_parsing(
                             &mut self.tc_buffer,
-                            self.id,
+                            &mut self.tc_receiver,
-                            &self.tc_sender,
                             &mut connection_result,
                             current_write_idx,
                             &mut next_write_idx,
@@ -364,8 +254,7 @@ impl<
                     if current_write_idx == self.tc_buffer.capacity() {
                         self.tc_handler.handle_tc_parsing(
                             &mut self.tc_buffer,
-                            self.id,
+                            &mut self.tc_receiver,
-                            &self.tc_sender,
                             &mut connection_result,
                             current_write_idx,
                             &mut next_write_idx,
@@ -379,8 +268,7 @@ impl<
                     std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut => {
                         self.tc_handler.handle_tc_parsing(
                             &mut self.tc_buffer,
-                            self.id,
+                            &mut self.tc_receiver,
-                            &self.tc_sender,
                             &mut connection_result,
                             current_write_idx,
                             &mut next_write_idx,
@@ -396,18 +284,6 @@ impl<
                             // No TC read, no TM was sent, but the client has not disconnected.
                             // Perform an inner delay to avoid burning CPU time.
                             thread::sleep(self.inner_loop_delay);
-                            // Optional stop signal handling.
-                            if self.stop_signal.is_some()
-                                && self
-                                    .stop_signal
-                                    .as_ref()
-                                    .unwrap()
-                                    .load(std::sync::atomic::Ordering::Relaxed)
-                            {
-                                connection_result.stopped_by_signal = true;
-                                self.finished_handler.handled_connection(connection_result);
-                                return Ok(());
-                            }
                         }
                     }
                     _ => {
@@ -422,8 +298,7 @@ impl<
             &mut connection_result,
             &mut stream,
         )?;
-        self.finished_handler.handled_connection(connection_result);
+        Ok(connection_result)
-        Ok(())
     }
 }
 
@@ -433,9 +308,21 @@ pub(crate) mod tests {
 
     use alloc::{collections::VecDeque, sync::Arc, vec::Vec};
 
-    use crate::tmtc::PacketSource;
+    use crate::tmtc::{ReceivesTcCore, TmPacketSourceCore};
 
-    use super::*;
+    #[derive(Default, Clone)]
+    pub(crate) struct SyncTcCacher {
+        pub(crate) tc_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
+    }
+    impl ReceivesTcCore for SyncTcCacher {
+        type Error = ();
+
+        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+            let mut tc_queue = self.tc_queue.lock().expect("tc forwarder failed");
+            tc_queue.push_back(tc_raw.to_vec());
+            Ok(())
+        }
+    }
 
     #[derive(Default, Clone)]
     pub(crate) struct SyncTmSource {
@@ -449,7 +336,7 @@ pub(crate) mod tests {
         }
     }
 
-    impl PacketSource for SyncTmSource {
+    impl TmPacketSourceCore for SyncTmSource {
         type Error = ();
 
         fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
@@ -469,30 +356,4 @@ pub(crate) mod tests {
             Ok(0)
         }
     }
-
-    #[derive(Default)]
-    pub struct ConnectionFinishedHandler {
-        connection_info: VecDeque<HandledConnectionInfo>,
-    }
-
-    impl HandledConnectionHandler for ConnectionFinishedHandler {
-        fn handled_connection(&mut self, info: HandledConnectionInfo) {
-            self.connection_info.push_back(info);
-        }
-    }
-
-    impl ConnectionFinishedHandler {
-        pub fn check_last_connection(&mut self, num_tms: u32, num_tcs: u32) {
-            let last_conn_result = self
-                .connection_info
-                .pop_back()
-                .expect("no connection info available");
-            assert_eq!(last_conn_result.num_received_tcs, num_tcs);
-            assert_eq!(last_conn_result.num_sent_tms, num_tms);
-        }
-
-        pub fn check_no_connections_left(&self) {
-            assert!(self.connection_info.is_empty());
-        }
-    }
 }

satrs/src/hal/std/tcp_spacepackets_server.rs

@@ -1,36 +1,45 @@
-use alloc::sync::Arc;
-use core::{sync::atomic::AtomicBool, time::Duration};
 use delegate::delegate;
-use mio::net::{TcpListener, TcpStream};
+use std::{
-use std::{io::Write, net::SocketAddr};
+    io::Write,
+    net::{SocketAddr, TcpListener, TcpStream},
+};
+
+use alloc::boxed::Box;
 
 use crate::{
-    encoding::{ccsds::SpacePacketValidator, parse_buffer_for_ccsds_space_packets},
+    encoding::{ccsds::PacketIdLookup, parse_buffer_for_ccsds_space_packets},
-    tmtc::{PacketSenderRaw, PacketSource},
+    tmtc::{ReceivesTc, TmPacketSource},
-    ComponentId,
 };
 
 use super::tcp_server::{
-    ConnectionResult, HandledConnectionHandler, HandledConnectionInfo, ServerConfig, TcpTcParser,
+    ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
-    TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
 };
 
-impl<T: SpacePacketValidator, TmError, TcError: 'static> TcpTcParser<TmError, TcError> for T {
+/// Concrete [TcpTcParser] implementation for the [TcpSpacepacketsServer].
+pub struct SpacepacketsTcParser {
+    packet_id_lookup: Box<dyn PacketIdLookup + Send>,
+}
+
+impl SpacepacketsTcParser {
+    pub fn new(packet_id_lookup: Box<dyn PacketIdLookup + Send>) -> Self {
+        Self { packet_id_lookup }
+    }
+}
+
+impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for SpacepacketsTcParser {
     fn handle_tc_parsing(
         &mut self,
         tc_buffer: &mut [u8],
-        sender_id: ComponentId,
+        tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
-        tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
+        conn_result: &mut ConnectionResult,
-        conn_result: &mut HandledConnectionInfo,
         current_write_idx: usize,
         next_write_idx: &mut usize,
     ) -> Result<(), TcpTmtcError<TmError, TcError>> {
         // 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,
+            self.packet_id_lookup.as_ref(),
-            sender_id,
+            tc_receiver.upcast_mut(),
-            tc_sender,
             next_write_idx,
         )
         .map_err(|e| TcpTmtcError::TcError(e))?;
@@ -46,8 +55,8 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
     fn handle_tm_sending(
         &mut self,
         tm_buffer: &mut [u8],
-        tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
+        tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
-        conn_result: &mut HandledConnectionInfo,
+        conn_result: &mut ConnectionResult,
         stream: &mut TcpStream,
     ) -> Result<bool, TcpTmtcError<TmError, TcError>> {
         let mut tm_was_sent = false;
@@ -74,41 +83,35 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
 ///
 /// This serves only works if
 /// [CCSDS 133.0-B-2 space packets](https://public.ccsds.org/Pubs/133x0b2e1.pdf) are the only
-/// packet type being exchanged. It uses the CCSDS space packet header [spacepackets::SpHeader] and
+/// packet type being exchanged. It uses the CCSDS [spacepackets::PacketId] as the packet delimiter
-/// a user specified [SpacePacketValidator] to determine the space packets relevant for further
+/// and start marker when parsing for packets. The user specifies a set of expected
-/// processing.
+/// [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/tests/tcp_servers.rs)
 /// also serves as the example application for this module.
 pub struct TcpSpacepacketsServer<
-    TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = SendError>,
-    Validator: SpacePacketValidator,
-    HandledConnection: HandledConnectionHandler,
     TmError,
-    SendError: 'static,
+    TcError: 'static,
+    TmSource: TmPacketSource<Error = TmError>,
+    TcReceiver: ReceivesTc<Error = TcError>,
 > {
-    pub generic_server: TcpTmtcGenericServer<
+    generic_server: TcpTmtcGenericServer<
-        TmSource,
-        TcSender,
-        SpacepacketsTmSender,
-        Validator,
-        HandledConnection,
         TmError,
-        SendError,
+        TcError,
+        TmSource,
+        TcReceiver,
+        SpacepacketsTmSender,
+        SpacepacketsTcParser,
     >,
 }
 
 impl<
-        TmSource: PacketSource<Error = TmError>,
-        TcSender: PacketSenderRaw<Error = TcError>,
-        Validator: SpacePacketValidator,
-        HandledConnection: HandledConnectionHandler,
         TmError: 'static,
         TcError: 'static,
-    > TcpSpacepacketsServer<TmSource, TcSender, Validator, HandledConnection, TmError, TcError>
+        TmSource: TmPacketSource<Error = TmError>,
+        TcReceiver: ReceivesTc<Error = TcError>,
+    > TcpSpacepacketsServer<TmError, TcError, TmSource, TcReceiver>
 {
     ///
     /// ## Parameter
@@ -116,31 +119,23 @@ impl<
     /// * `cfg` - Configuration of the server.
     /// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
     ///     then sent back to the client.
-    /// * `tc_sender` - Any received telecommands which were decoded successfully will be
+    /// * `tc_receiver` - Any received telecommands which were decoded successfully will be
-    ///     forwarded using this [PacketSenderRaw].
+    ///     forwarded to this TC receiver.
-    /// * `validator` - Used to determine the space packets relevant for further processing and
+    /// * `packet_id_lookup` - This lookup table contains the relevant packets IDs for packet
-    ///    to detect broken space packets.
+    ///     parsing. This mechanism is used to have a start marker for finding CCSDS packets.
-    /// * `handled_connection_hook` - Called to notify the user about a succesfully handled
-    ///    connection.
-    /// * `stop_signal` - Can be used to shut down the TCP server even for longer running
-    ///    connections.
     pub fn new(
         cfg: ServerConfig,
         tm_source: TmSource,
-        tc_sender: TcSender,
+        tc_receiver: TcReceiver,
-        validator: Validator,
+        packet_id_lookup: Box<dyn PacketIdLookup + Send>,
-        handled_connection_hook: HandledConnection,
-        stop_signal: Option<Arc<AtomicBool>>,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             generic_server: TcpTmtcGenericServer::new(
                 cfg,
-                validator,
+                SpacepacketsTcParser::new(packet_id_lookup),
                 SpacepacketsTmSender::default(),
                 tm_source,
-                tc_sender,
+                tc_receiver,
-                handled_connection_hook,
-                stop_signal,
             )?,
         })
     }
@@ -153,10 +148,9 @@ impl<
             /// useful if using the port number 0 for OS auto-assignment.
             pub fn local_addr(&self) -> std::io::Result<SocketAddr>;
 
-            /// Delegation to the [TcpTmtcGenericServer::handle_all_connections] call.
+            /// Delegation to the [TcpTmtcGenericServer::handle_next_connection] call.
-            pub fn handle_all_connections(
+            pub fn handle_next_connection(
                 &mut self,
-                poll_timeout: Option<Duration>
             ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
         }
     }
@@ -173,70 +167,39 @@ mod tests {
     use std::{
         io::{Read, Write},
         net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
-        sync::mpsc,
         thread,
     };
 
-    use alloc::sync::Arc;
+    use alloc::{boxed::Box, sync::Arc};
     use hashbrown::HashSet;
     use spacepackets::{
         ecss::{tc::PusTcCreator, WritablePusPacket},
-        CcsdsPacket, PacketId, SpHeader,
+        PacketId, SpHeader,
     };
 
-    use crate::{
+    use crate::hal::std::tcp_server::{
-        encoding::ccsds::{SpValidity, SpacePacketValidator},
+        tests::{SyncTcCacher, SyncTmSource},
-        hal::std::tcp_server::{
+        ServerConfig,
-            tests::{ConnectionFinishedHandler, SyncTmSource},
-            ConnectionResult, ServerConfig,
-        },
-        queue::GenericSendError,
-        tmtc::PacketAsVec,
-        ComponentId,
     };
 
     use super::TcpSpacepacketsServer;
 
-    const TCP_SERVER_ID: ComponentId = 0x05;
     const TEST_APID_0: u16 = 0x02;
-    const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
+    const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
     const TEST_APID_1: u16 = 0x10;
-    const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
+    const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
-
-    #[derive(Default)]
-    pub struct SimpleValidator(pub HashSet<PacketId>);
-
-    impl SpacePacketValidator for SimpleValidator {
-        fn validate(&self, sp_header: &SpHeader, _raw_buf: &[u8]) -> SpValidity {
-            if self.0.contains(&sp_header.packet_id()) {
-                return SpValidity::Valid;
-            }
-            // Simple case: Assume that the interface always contains valid space packets.
-            SpValidity::Skip
-        }
-    }
 
     fn generic_tmtc_server(
         addr: &SocketAddr,
-        tc_sender: mpsc::Sender<PacketAsVec>,
+        tc_receiver: SyncTcCacher,
         tm_source: SyncTmSource,
-        validator: SimpleValidator,
+        packet_id_lookup: HashSet<PacketId>,
-        stop_signal: Option<Arc<AtomicBool>>,
+    ) -> TcpSpacepacketsServer<(), (), SyncTmSource, SyncTcCacher> {
-    ) -> TcpSpacepacketsServer<
-        SyncTmSource,
-        mpsc::Sender<PacketAsVec>,
-        SimpleValidator,
-        ConnectionFinishedHandler,
-        (),
-        GenericSendError,
-    > {
         TcpSpacepacketsServer::new(
-            ServerConfig::new(TCP_SERVER_ID, *addr, Duration::from_millis(2), 1024, 1024),
+            ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
             tm_source,
-            tc_sender,
+            tc_receiver,
-            validator,
+            Box::new(packet_id_lookup),
-            ConnectionFinishedHandler::default(),
-            stop_signal,
         )
         .expect("TCP server generation failed")
     }
@@ -244,16 +207,15 @@ mod tests {
     #[test]
     fn test_basic_tc_only() {
         let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
-        let (tc_sender, tc_receiver) = mpsc::channel();
+        let tc_receiver = SyncTcCacher::default();
         let tm_source = SyncTmSource::default();
-        let mut validator = SimpleValidator::default();
+        let mut packet_id_lookup = HashSet::new();
-        validator.0.insert(TEST_PACKET_ID_0);
+        packet_id_lookup.insert(TEST_PACKET_ID_0);
         let mut tcp_server = generic_tmtc_server(
             &auto_port_addr,
-            tc_sender.clone(),
+            tc_receiver.clone(),
             tm_source,
-            validator,
+            packet_id_lookup,
-            None,
         );
         let dest_addr = tcp_server
             .local_addr()
@@ -262,24 +224,17 @@ mod tests {
         let set_if_done = conn_handled.clone();
         // Call the connection handler in separate thread, does block.
         thread::spawn(move || {
-            let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
+            let result = tcp_server.handle_next_connection();
             if result.is_err() {
                 panic!("handling connection failed: {:?}", result.unwrap_err());
             }
             let conn_result = result.unwrap();
-            matches!(conn_result, ConnectionResult::HandledConnections(1));
+            assert_eq!(conn_result.num_received_tcs, 1);
-            tcp_server
+            assert_eq!(conn_result.num_sent_tms, 0);
-                .generic_server
-                .finished_handler
-                .check_last_connection(0, 1);
-            tcp_server
-                .generic_server
-                .finished_handler
-                .check_no_connections_left();
             set_if_done.store(true, Ordering::Relaxed);
         });
-        let ping_tc =
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, 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
@@ -296,40 +251,40 @@ mod tests {
         if !conn_handled.load(Ordering::Relaxed) {
             panic!("connection was not handled properly");
         }
-        let packet = tc_receiver.try_recv().expect("receiving TC failed");
+        // Check that TC has arrived.
-        assert_eq!(packet.packet, tc_0);
+        let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
-        matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
+        assert_eq!(tc_queue.len(), 1);
+        assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
     }
 
     #[test]
     fn test_multi_tc_multi_tm() {
         let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
-        let (tc_sender, tc_receiver) = mpsc::channel();
+        let tc_receiver = SyncTcCacher::default();
         let mut tm_source = SyncTmSource::default();
 
         // Add telemetry
         let mut total_tm_len = 0;
-        let verif_tm =
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 1, 1, &[], true);
+        let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 1, None, 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 verif_tm =
+        let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 1, 3, &[], true);
+        let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 3, None, true);
         let tm_1 = verif_tm.to_vec().expect("writing packet failed");
         total_tm_len += tm_1.len();
         tm_source.add_tm(&tm_1);
 
         // Set up server
-        let mut validator = SimpleValidator::default();
+        let mut packet_id_lookup = HashSet::new();
-        validator.0.insert(TEST_PACKET_ID_0);
+        packet_id_lookup.insert(TEST_PACKET_ID_0);
-        validator.0.insert(TEST_PACKET_ID_1);
+        packet_id_lookup.insert(TEST_PACKET_ID_1);
         let mut tcp_server = generic_tmtc_server(
             &auto_port_addr,
-            tc_sender.clone(),
+            tc_receiver.clone(),
             tm_source,
-            validator,
+            packet_id_lookup,
-            None,
         );
         let dest_addr = tcp_server
             .local_addr()
@@ -339,20 +294,16 @@ mod tests {
 
         // Call the connection handler in separate thread, does block.
         thread::spawn(move || {
-            let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
+            let result = tcp_server.handle_next_connection();
             if result.is_err() {
                 panic!("handling connection failed: {:?}", result.unwrap_err());
             }
             let conn_result = result.unwrap();
-            matches!(conn_result, ConnectionResult::HandledConnections(1));
+            assert_eq!(
-            tcp_server
+                conn_result.num_received_tcs, 2,
-                .generic_server
+                "wrong number of received TCs"
-                .finished_handler
+            );
-                .check_last_connection(2, 2);
+            assert_eq!(conn_result.num_sent_tms, 2, "wrong number of sent TMs");
-            tcp_server
-                .generic_server
-                .finished_handler
-                .check_no_connections_left();
             set_if_done.store(true, Ordering::Relaxed);
         });
         let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
@@ -361,14 +312,14 @@ mod tests {
             .expect("setting reas timeout failed");
 
         // Send telecommands
-        let ping_tc =
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, 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 action_tc =
+        let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-            PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 8, 0, &[], true);
+        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
         let tc_1 = action_tc.to_vec().expect("action tc creation failed");
         stream
             .write_all(&tc_1)
@@ -403,10 +354,9 @@ mod tests {
             panic!("connection was not handled properly");
         }
         // Check that TC has arrived.
-        let packet_0 = tc_receiver.try_recv().expect("receiving TC failed");
+        let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
-        assert_eq!(packet_0.packet, tc_0);
+        assert_eq!(tc_queue.len(), 2);
-        let packet_1 = tc_receiver.try_recv().expect("receiving TC failed");
+        assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
-        assert_eq!(packet_1.packet, tc_1);
+        assert_eq!(tc_queue.pop_front().unwrap(), tc_1);
-        matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
     }
 }

satrs/src/hal/std/udp_server.rs

@@ -1,8 +1,7 @@
 //! Generic UDP TC server.
-use crate::tmtc::PacketSenderRaw;
+use crate::tmtc::{ReceivesTc, ReceivesTcCore};
-use crate::ComponentId;
+use std::boxed::Box;
-use core::fmt::Debug;
+use std::io::{Error, ErrorKind};
-use std::io::{self, ErrorKind};
 use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
 use std::vec;
 use std::vec::Vec;
@@ -12,46 +11,45 @@ use std::vec::Vec;
 ///
 /// It caches all received telecomands into a vector. The maximum expected telecommand size should
 /// be declared upfront. This avoids dynamic allocation during run-time. The user can specify a TC
-/// sender in form of a special trait object which implements [PacketSenderRaw]. For example, this
+/// receiver in form of a special trait object which implements [ReceivesTc]. Please note that the
-/// can be used to send the telecommands to a centralized TC source component for further
+/// receiver should copy out the received data if it the data is required past the
-/// processing and routing.
+/// [ReceivesTcCore::pass_tc] call.
 ///
 /// # Examples
 ///
 /// ```
 /// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
-/// use std::sync::mpsc;
 /// use spacepackets::ecss::WritablePusPacket;
 /// use satrs::hal::std::udp_server::UdpTcServer;
-/// use satrs::ComponentId;
+/// use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
-/// use satrs::tmtc::PacketSenderRaw;
 /// use spacepackets::SpHeader;
 /// use spacepackets::ecss::tc::PusTcCreator;
 ///
-/// const UDP_SERVER_ID: ComponentId = 0x05;
+/// #[derive (Default)]
+/// struct PingReceiver {}
+/// impl ReceivesTcCore for PingReceiver {
+///    type Error = ();
+///    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+///         assert_eq!(tc_raw.len(), 13);
+///         Ok(())
+///     }
+/// }
 ///
-/// let (packet_sender, packet_receiver) = mpsc::channel();
+/// let mut buf = [0; 32];
 /// let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
-/// let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, packet_sender)
+/// 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 sph = SpHeader::new_from_apid(0x02);
+/// let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
-/// let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
+/// let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-/// // Can not fail.
+/// let len = pus_tc
-/// let ping_tc_raw = pus_tc.to_vec().unwrap();
+///     .write_to_bytes(&mut buf)
-///
+///     .expect("Error writing PUS TC packet");
-/// // Now create a UDP client and send the ping telecommand to the server.
+/// assert_eq!(len, 13);
-/// let client = UdpSocket::bind("127.0.0.1:0").expect("creating UDP client failed");
+/// let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
 /// client
-///     .send_to(&ping_tc_raw, dest_addr)
+///     .send_to(&buf[0..len], dest_addr)
 ///     .expect("Error sending PUS TC via UDP");
-/// let recv_result = udp_tc_server.try_recv_tc();
-/// assert!(recv_result.is_ok());
-/// // The packet is received by the UDP TC server and sent via the mpsc channel.
-/// let sent_packet_with_sender = packet_receiver.try_recv().expect("expected telecommand");
-/// assert_eq!(sent_packet_with_sender.packet, ping_tc_raw);
-/// assert_eq!(sent_packet_with_sender.sender_id, UDP_SERVER_ID);
-/// // No more packets received.
-/// matches!(packet_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
 /// ```
 ///
 /// The [satrs-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/satrs-example)
@@ -59,45 +57,65 @@ use std::vec::Vec;
 /// [example code](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/src/tmtc.rs#L67)
 /// on how to use this TC server. It uses the server to receive PUS telecommands on a specific port
 /// and then forwards them to a generic CCSDS packet receiver.
-pub struct UdpTcServer<TcSender: PacketSenderRaw<Error = SendError>, SendError> {
+pub struct UdpTcServer<E> {
-    pub id: ComponentId,
     pub socket: UdpSocket,
     recv_buf: Vec<u8>,
     sender_addr: Option<SocketAddr>,
-    pub tc_sender: TcSender,
+    tc_receiver: Box<dyn ReceivesTc<Error = E>>,
 }
 
-#[derive(Debug, thiserror::Error)]
+#[derive(Debug)]
-pub enum ReceiveResult<SendError: Debug + 'static> {
+pub enum ReceiveResult<E> {
-    #[error("nothing was received")]
     NothingReceived,
-    #[error(transparent)]
+    IoError(Error),
-    Io(#[from] io::Error),
+    ReceiverError(E),
-    #[error(transparent)]
-    Send(SendError),
 }
 
-impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
+impl<E> From<Error> for ReceiveResult<E> {
-    UdpTcServer<TcSender, SendError>
+    fn from(e: Error) -> Self {
-{
+        ReceiveResult::IoError(e)
+    }
+}
+
+impl<E: PartialEq> PartialEq for ReceiveResult<E> {
+    fn eq(&self, other: &Self) -> bool {
+        use ReceiveResult::*;
+        match (self, other) {
+            (IoError(ref e), IoError(ref other_e)) => e.kind() == other_e.kind(),
+            (NothingReceived, NothingReceived) => true,
+            (ReceiverError(e), ReceiverError(other_e)) => e == other_e,
+            _ => false,
+        }
+    }
+}
+
+impl<E: Eq + PartialEq> Eq for ReceiveResult<E> {}
+
+impl<E: 'static> ReceivesTcCore for UdpTcServer<E> {
+    type Error = E;
+
+    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        self.tc_receiver.pass_tc(tc_raw)
+    }
+}
+
+impl<E: 'static> UdpTcServer<E> {
     pub fn new<A: ToSocketAddrs>(
-        id: ComponentId,
         addr: A,
         max_recv_size: usize,
-        tc_sender: TcSender,
+        tc_receiver: Box<dyn ReceivesTc<Error = E>>,
-    ) -> Result<Self, io::Error> {
+    ) -> Result<Self, Error> {
         let server = Self {
-            id,
             socket: UdpSocket::bind(addr)?,
             recv_buf: vec![0; max_recv_size],
             sender_addr: None,
-            tc_sender,
+            tc_receiver,
         };
         server.socket.set_nonblocking(true)?;
         Ok(server)
     }
 
-    pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<SendError>> {
+    pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
         let res = match self.socket.recv_from(&mut self.recv_buf) {
             Ok(res) => res,
             Err(e) => {
@@ -110,9 +128,9 @@ impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
         };
         let (num_bytes, from) = res;
         self.sender_addr = Some(from);
-        self.tc_sender
+        self.tc_receiver
-            .send_packet(self.id, &self.recv_buf[0..num_bytes])
+            .pass_tc(&self.recv_buf[0..num_bytes])
-            .map_err(ReceiveResult::Send)?;
+            .map_err(|e| ReceiveResult::ReceiverError(e))?;
         Ok(res)
     }
 
@@ -124,35 +142,29 @@ impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
 #[cfg(test)]
 mod tests {
     use crate::hal::std::udp_server::{ReceiveResult, UdpTcServer};
-    use crate::queue::GenericSendError;
+    use crate::tmtc::ReceivesTcCore;
-    use crate::tmtc::PacketSenderRaw;
-    use crate::ComponentId;
-    use core::cell::RefCell;
     use spacepackets::ecss::tc::PusTcCreator;
     use spacepackets::ecss::WritablePusPacket;
     use spacepackets::SpHeader;
+    use std::boxed::Box;
     use std::collections::VecDeque;
     use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
     use std::vec::Vec;
 
     fn is_send<T: Send>(_: &T) {}
 
-    const UDP_SERVER_ID: ComponentId = 0x05;
-
     #[derive(Default)]
     struct PingReceiver {
-        pub sent_cmds: RefCell<VecDeque<Vec<u8>>>,
+        pub sent_cmds: VecDeque<Vec<u8>>,
     }
 
-    impl PacketSenderRaw for PingReceiver {
+    impl ReceivesTcCore for PingReceiver {
-        type Error = GenericSendError;
+        type Error = ();
 
-        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-            assert_eq!(sender_id, UDP_SERVER_ID);
             let mut sent_data = Vec::new();
             sent_data.extend_from_slice(tc_raw);
-            let mut queue = self.sent_cmds.borrow_mut();
+            self.sent_cmds.push_back(sent_data);
-            queue.push_back(sent_data);
             Ok(())
         }
     }
@@ -163,11 +175,11 @@ mod tests {
         let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
         let ping_receiver = PingReceiver::default();
         is_send(&ping_receiver);
-        let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, ping_receiver)
+        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 sph = SpHeader::new_from_apid(0x02);
+        let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
-        let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
         let len = pus_tc
             .write_to_bytes(&mut buf)
             .expect("Error writing PUS TC packet");
@@ -183,10 +195,9 @@ mod tests {
             udp_tc_server.last_sender().expect("No sender set"),
             local_addr
         );
-        let ping_receiver = &mut udp_tc_server.tc_sender;
+        let ping_receiver: &mut PingReceiver = udp_tc_server.tc_receiver.downcast_mut().unwrap();
-        let mut queue = ping_receiver.sent_cmds.borrow_mut();
+        assert_eq!(ping_receiver.sent_cmds.len(), 1);
-        assert_eq!(queue.len(), 1);
+        let sent_cmd = ping_receiver.sent_cmds.pop_front().unwrap();
-        let sent_cmd = queue.pop_front().unwrap();
         assert_eq!(sent_cmd, buf[0..len]);
     }
 
@@ -194,11 +205,11 @@ mod tests {
     fn test_nothing_received() {
         let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7779);
         let ping_receiver = PingReceiver::default();
-        let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, ping_receiver)
+        let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
             .expect("Creating UDP TMTC server failed");
         let res = udp_tc_server.try_recv_tc();
         assert!(res.is_err());
         let err = res.unwrap_err();
-        matches!(err, ReceiveResult::NothingReceived);
+        assert_eq!(err, ReceiveResult::NothingReceived);
     }
 }

satrs/src/lib.rs

@@ -14,7 +14,7 @@
 //!  - The [pus] module which provides special support for projects using
 //!    the [ECSS PUS C standard](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
 #![no_std]
-#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
+#![cfg_attr(doc_cfg, feature(doc_cfg))]
 #[cfg(feature = "alloc")]
 extern crate alloc;
 #[cfg(feature = "alloc")]
@@ -23,14 +23,17 @@ extern crate downcast_rs;
 extern crate std;
 
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod cfdp;
 pub mod encoding;
 pub mod event_man;
 pub mod events;
 #[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod executable;
 pub mod hal;
 #[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod mode_tree;
 pub mod pool;
 pub mod power;
@@ -49,82 +52,7 @@ pub mod params;
 
 pub use spacepackets;
 
-use spacepackets::PacketId;
+pub use queue::ChannelId;
 
 /// 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 {
-        id == *self
-    }
-}
-
-impl ValidatorU16Id for &u16 {
-    fn validate(&self, id: u16) -> bool {
-        id == **self
-    }
-}
-
-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

@@ -179,14 +179,6 @@ impl From<GenericTargetedMessagingError> for ModeError {
 
 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 {
@@ -198,7 +190,7 @@ pub trait ModeRequestHandler: ModeProvider {
         mode_and_submode: ModeAndSubmode,
     ) -> Result<(), Self::Error>;
 
-    fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool);
+    fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool);
 
     fn handle_mode_reached(
         &mut self,
@@ -230,11 +222,11 @@ pub trait ModeRequestHandler: ModeProvider {
                 ModeReply::ModeReply(self.mode_and_submode()),
             ),
             ModeRequest::AnnounceMode => {
-                self.announce_mode(Some(request.requestor_info), false);
+                self.announce_mode(request.requestor_info, false);
                 Ok(())
             }
             ModeRequest::AnnounceModeRecursive => {
-                self.announce_mode(Some(request.requestor_info), true);
+                self.announce_mode(request.requestor_info, true);
                 Ok(())
             }
             ModeRequest::ModeInfo(info) => self.handle_mode_info(request.requestor_info, info),
@@ -268,9 +260,16 @@ pub trait ModeReplySender {
 }
 
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod alloc_mod {
-    use crate::request::{
+    use crate::{
-        MessageSender, MessageSenderAndReceiver, MessageSenderMap, RequestAndReplySenderAndReceiver,
+        mode::ModeRequest,
+        queue::GenericTargetedMessagingError,
+        request::{
+            MessageMetadata, MessageSender, MessageSenderAndReceiver, MessageSenderMap,
+            RequestAndReplySenderAndReceiver, RequestId,
+        },
+        ComponentId,
     };
 
     use super::*;
@@ -549,9 +548,12 @@ pub mod alloc_mod {
 }
 
 #[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
     use std::sync::mpsc;
 
+    use crate::request::GenericMessage;
+
     use super::*;
 
     pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<

satrs/src/params.rs

@@ -43,7 +43,7 @@
 //! 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.
-use crate::pool::PoolAddr;
+use crate::pool::StoreAddr;
 use core::fmt::Debug;
 use core::mem::size_of;
 use paste::paste;
@@ -588,15 +588,17 @@ from_conversions_for_raw!(
 #[non_exhaustive]
 pub enum Params {
     Heapless(ParamsHeapless),
-    Store(PoolAddr),
+    Store(StoreAddr),
     #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
     Vec(Vec<u8>),
     #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
     String(String),
 }
 
-impl From<PoolAddr> for Params {
+impl From<StoreAddr> for Params {
-    fn from(x: PoolAddr) -> Self {
+    fn from(x: StoreAddr) -> Self {
         Self::Store(x)
     }
 }
@@ -614,6 +616,7 @@ impl From<ParamsRaw> for Params {
 }
 
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 impl From<Vec<u8>> for Params {
     fn from(val: Vec<u8>) -> Self {
         Self::Vec(val)
@@ -622,6 +625,7 @@ impl From<Vec<u8>> for Params {
 
 /// Converts a byte slice into the [Params::Vec] variant
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 impl From<&[u8]> for Params {
     fn from(val: &[u8]) -> Self {
         Self::Vec(val.to_vec())
@@ -629,6 +633,7 @@ impl From<&[u8]> for Params {
 }
 
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 impl From<String> for Params {
     fn from(val: String) -> Self {
         Self::String(val)
@@ -636,6 +641,7 @@ impl From<String> for Params {
 }
 
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 /// Converts a string slice into the [Params::String] variant
 impl From<&str> for Params {
     fn from(val: &str) -> Self {

satrs/src/pool.rs

@@ -72,6 +72,7 @@
 //! }
 //! ```
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub use alloc_mod::*;
 use core::fmt::{Display, Formatter};
 use delegate::delegate;
@@ -82,7 +83,7 @@ use spacepackets::ByteConversionError;
 use std::error::Error;
 
 type NumBlocks = u16;
-pub type PoolAddr = u64;
+pub type StoreAddr = u64;
 
 /// Simple address type used for transactions with the local pool.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
@@ -100,14 +101,14 @@ impl StaticPoolAddr {
     }
 }
 
-impl From<StaticPoolAddr> for PoolAddr {
+impl From<StaticPoolAddr> for StoreAddr {
     fn from(value: StaticPoolAddr) -> Self {
         ((value.pool_idx as u64) << 16) | value.packet_idx as u64
     }
 }
 
-impl From<PoolAddr> for StaticPoolAddr {
+impl From<StoreAddr> for StaticPoolAddr {
-    fn from(value: PoolAddr) -> Self {
+    fn from(value: StoreAddr) -> Self {
         Self {
             pool_idx: ((value >> 16) & 0xff) as u16,
             packet_idx: (value & 0xff) as u16,
@@ -150,59 +151,59 @@ impl Error for StoreIdError {}
 
 #[derive(Debug, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum PoolError {
+pub enum StoreError {
     /// Requested data block is too large
     DataTooLarge(usize),
     /// The store is full. Contains the index of the full subpool
     StoreFull(u16),
     /// Store ID is invalid. This also includes partial errors where only the subpool is invalid
-    InvalidStoreId(StoreIdError, Option<PoolAddr>),
+    InvalidStoreId(StoreIdError, Option<StoreAddr>),
     /// Valid subpool and packet index, but no data is stored at the given address
-    DataDoesNotExist(PoolAddr),
+    DataDoesNotExist(StoreAddr),
     ByteConversionError(spacepackets::ByteConversionError),
     LockError,
     /// Internal or configuration errors
     InternalError(u32),
 }
 
-impl Display for PoolError {
+impl Display for StoreError {
     fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
         match self {
-            PoolError::DataTooLarge(size) => {
+            StoreError::DataTooLarge(size) => {
                 write!(f, "data to store with size {size} is too large")
             }
-            PoolError::StoreFull(u16) => {
+            StoreError::StoreFull(u16) => {
                 write!(f, "store is too full. index for full subpool: {u16}")
             }
-            PoolError::InvalidStoreId(id_e, addr) => {
+            StoreError::InvalidStoreId(id_e, addr) => {
                 write!(f, "invalid store ID: {id_e}, address: {addr:?}")
             }
-            PoolError::DataDoesNotExist(addr) => {
+            StoreError::DataDoesNotExist(addr) => {
                 write!(f, "no data exists at address {addr:?}")
             }
-            PoolError::InternalError(e) => {
+            StoreError::InternalError(e) => {
                 write!(f, "internal error: {e}")
             }
-            PoolError::ByteConversionError(e) => {
+            StoreError::ByteConversionError(e) => {
                 write!(f, "store error: {e}")
             }
-            PoolError::LockError => {
+            StoreError::LockError => {
                 write!(f, "lock error")
             }
         }
     }
 }
 
-impl From<ByteConversionError> for PoolError {
+impl From<ByteConversionError> for StoreError {
     fn from(value: ByteConversionError) -> Self {
         Self::ByteConversionError(value)
     }
 }
 
 #[cfg(feature = "std")]
-impl Error for PoolError {
+impl Error for StoreError {
     fn source(&self) -> Option<&(dyn Error + 'static)> {
-        if let PoolError::InvalidStoreId(e, _) = self {
+        if let StoreError::InvalidStoreId(e, _) = self {
             return Some(e);
         }
         None
@@ -217,41 +218,44 @@ impl Error for PoolError {
 /// pool structure being wrapped inside a lock.
 pub trait PoolProvider {
     /// Add new data to the pool. The provider should attempt to reserve a memory block with the
-    /// appropriate size and then copy the given data to the block. Yields a [PoolAddr] which can
+    /// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
     /// be used to access the data stored in the pool
-    fn add(&mut self, data: &[u8]) -> Result<PoolAddr, PoolError>;
+    fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
 
     /// The provider should attempt to reserve a free memory block with the appropriate size first.
     /// It then executes a user-provided closure and passes a mutable reference to that memory
     /// block to the closure. This allows the user to write data to the memory block.
-    /// The function should yield a [PoolAddr] which can be used to access the data stored in the
+    /// The function should yield a [StoreAddr] which can be used to access the data stored in the
     /// pool.
     fn free_element<W: FnMut(&mut [u8])>(
         &mut self,
         len: usize,
         writer: W,
-    ) -> Result<PoolAddr, PoolError>;
+    ) -> Result<StoreAddr, StoreError>;
 
-    /// Modify data added previously using a given [PoolAddr]. The provider should use the store
+    /// Modify data added previously using a given [StoreAddr]. The provider should use the store
     /// address to determine if a memory block exists for that address. If it does, it should
     /// call the user-provided closure and pass a mutable reference to the memory block
     /// to the closure. This allows the user to modify the memory block.
-    fn modify<U: FnMut(&mut [u8])>(&mut self, addr: &PoolAddr, updater: U)
+    fn modify<U: FnMut(&mut [u8])>(
-        -> Result<(), PoolError>;
+        &mut self,
+        addr: &StoreAddr,
+        updater: U,
+    ) -> Result<(), StoreError>;
 
     /// The provider should copy the data from the memory block to the user-provided buffer if
     /// it exists.
-    fn read(&self, addr: &PoolAddr, buf: &mut [u8]) -> Result<usize, PoolError>;
+    fn read(&self, addr: &StoreAddr, buf: &mut [u8]) -> Result<usize, StoreError>;
 
-    /// Delete data inside the pool given a [PoolAddr].
+    /// Delete data inside the pool given a [StoreAddr].
-    fn delete(&mut self, addr: PoolAddr) -> Result<(), PoolError>;
+    fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
-    fn has_element_at(&self, addr: &PoolAddr) -> Result<bool, PoolError>;
+    fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
 
     /// Retrieve the length of the data at the given store address.
-    fn len_of_data(&self, addr: &PoolAddr) -> Result<usize, PoolError>;
+    fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError>;
 
     #[cfg(feature = "alloc")]
-    fn read_as_vec(&self, addr: &PoolAddr) -> Result<alloc::vec::Vec<u8>, PoolError> {
+    fn read_as_vec(&self, addr: &StoreAddr) -> Result<alloc::vec::Vec<u8>, StoreError> {
         let mut vec = alloc::vec![0; self.len_of_data(addr)?];
         self.read(addr, &mut vec)?;
         Ok(vec)
@@ -268,7 +272,7 @@ pub trait PoolProviderWithGuards: PoolProvider {
     /// This can prevent memory leaks. Users can read the data and release the guard
     /// if the data in the store is valid for further processing. If the data is faulty, no
     /// manual deletion is necessary when returning from a processing function prematurely.
-    fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<Self>;
+    fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self>;
 
     /// This function behaves like [PoolProvider::modify], but consumes the provided
     /// address and returns a RAII conformant guard object.
@@ -278,20 +282,20 @@ pub trait PoolProviderWithGuards: PoolProvider {
     /// This can prevent memory leaks. Users can read (and modify) the data and release the guard
     /// if the data in the store is valid for further processing. If the data is faulty, no
     /// manual deletion is necessary when returning from a processing function prematurely.
-    fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<Self>;
+    fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self>;
 }
 
 pub struct PoolGuard<'a, MemProvider: PoolProvider + ?Sized> {
     pool: &'a mut MemProvider,
-    pub addr: PoolAddr,
+    pub addr: StoreAddr,
     no_deletion: bool,
-    deletion_failed_error: Option<PoolError>,
+    deletion_failed_error: Option<StoreError>,
 }
 
 /// This helper object can be used to safely access pool data without worrying about memory
 /// leaks.
 impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
-    pub fn new(pool: &'a mut MemProvider, addr: PoolAddr) -> Self {
+    pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
         Self {
             pool,
             addr,
@@ -300,12 +304,12 @@ impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
         }
     }
 
-    pub fn read(&self, buf: &mut [u8]) -> Result<usize, PoolError> {
+    pub fn read(&self, buf: &mut [u8]) -> Result<usize, StoreError> {
         self.pool.read(&self.addr, buf)
     }
 
     #[cfg(feature = "alloc")]
-    pub fn read_as_vec(&self) -> Result<alloc::vec::Vec<u8>, PoolError> {
+    pub fn read_as_vec(&self) -> Result<alloc::vec::Vec<u8>, StoreError> {
         self.pool.read_as_vec(&self.addr)
     }
 
@@ -331,19 +335,19 @@ pub struct PoolRwGuard<'a, MemProvider: PoolProvider + ?Sized> {
 }
 
 impl<'a, MemProvider: PoolProvider> PoolRwGuard<'a, MemProvider> {
-    pub fn new(pool: &'a mut MemProvider, addr: PoolAddr) -> Self {
+    pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
         Self {
             guard: PoolGuard::new(pool, addr),
         }
     }
 
-    pub fn update<U: FnMut(&mut [u8])>(&mut self, updater: &mut U) -> Result<(), PoolError> {
+    pub fn update<U: FnMut(&mut [u8])>(&mut self, updater: &mut U) -> Result<(), StoreError> {
         self.guard.pool.modify(&self.guard.addr, updater)
     }
 
     delegate!(
         to self.guard {
-            pub fn read(&self, buf: &mut [u8]) -> Result<usize, PoolError>;
+            pub fn read(&self, buf: &mut [u8]) -> Result<usize, StoreError>;
             /// Releasing the pool guard will disable the automatic deletion of the data when the guard
             /// is dropped.
             pub fn release(&mut self);
@@ -354,7 +358,7 @@ impl<'a, MemProvider: PoolProvider> PoolRwGuard<'a, MemProvider> {
 #[cfg(feature = "alloc")]
 mod alloc_mod {
     use super::{PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticPoolAddr};
-    use crate::pool::{NumBlocks, PoolAddr, PoolError, StoreIdError};
+    use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
     use alloc::vec;
     use alloc::vec::Vec;
     use spacepackets::ByteConversionError;
@@ -419,7 +423,7 @@ mod alloc_mod {
     /// fitting subpool is full. This might be added in the future.
     ///
     /// Transactions with the [pool][StaticMemoryPool] are done using a generic
-    /// [address][PoolAddr] type. Adding any data to the pool will yield a store address.
+    /// [address][StoreAddr] type. Adding any data to the pool will yield a store address.
     /// Modification and read operations are done using a reference to a store address. Deletion
     /// will consume the store address.
     pub struct StaticMemoryPool {
@@ -449,41 +453,41 @@ mod alloc_mod {
             local_pool
         }
 
-        fn addr_check(&self, addr: &StaticPoolAddr) -> Result<usize, PoolError> {
+        fn addr_check(&self, addr: &StaticPoolAddr) -> Result<usize, StoreError> {
             self.validate_addr(addr)?;
             let pool_idx = addr.pool_idx as usize;
             let size_list = self.sizes_lists.get(pool_idx).unwrap();
             let curr_size = size_list[addr.packet_idx as usize];
             if curr_size == STORE_FREE {
-                return Err(PoolError::DataDoesNotExist(PoolAddr::from(*addr)));
+                return Err(StoreError::DataDoesNotExist(StoreAddr::from(*addr)));
             }
             Ok(curr_size)
         }
 
-        fn validate_addr(&self, addr: &StaticPoolAddr) -> Result<(), PoolError> {
+        fn validate_addr(&self, addr: &StaticPoolAddr) -> Result<(), StoreError> {
             let pool_idx = addr.pool_idx as usize;
             if pool_idx >= self.pool_cfg.cfg.len() {
-                return Err(PoolError::InvalidStoreId(
+                return Err(StoreError::InvalidStoreId(
                     StoreIdError::InvalidSubpool(addr.pool_idx),
-                    Some(PoolAddr::from(*addr)),
+                    Some(StoreAddr::from(*addr)),
                 ));
             }
             if addr.packet_idx >= self.pool_cfg.cfg[addr.pool_idx as usize].0 {
-                return Err(PoolError::InvalidStoreId(
+                return Err(StoreError::InvalidStoreId(
                     StoreIdError::InvalidPacketIdx(addr.packet_idx),
-                    Some(PoolAddr::from(*addr)),
+                    Some(StoreAddr::from(*addr)),
                 ));
             }
             Ok(())
         }
 
-        fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, PoolError> {
+        fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, StoreError> {
             let mut subpool_idx = self.find_subpool(data_len, 0)?;
 
             if self.pool_cfg.spill_to_higher_subpools {
-                while let Err(PoolError::StoreFull(_)) = self.find_empty(subpool_idx) {
+                while let Err(StoreError::StoreFull(_)) = self.find_empty(subpool_idx) {
                     if (subpool_idx + 1) as usize == self.sizes_lists.len() {
-                        return Err(PoolError::StoreFull(subpool_idx));
+                        return Err(StoreError::StoreFull(subpool_idx));
                     }
                     subpool_idx += 1;
                 }
@@ -497,7 +501,7 @@ mod alloc_mod {
             })
         }
 
-        fn find_subpool(&self, req_size: usize, start_at_subpool: u16) -> Result<u16, PoolError> {
+        fn find_subpool(&self, req_size: usize, start_at_subpool: u16) -> Result<u16, StoreError> {
             for (i, &(_, elem_size)) in self.pool_cfg.cfg.iter().enumerate() {
                 if i < start_at_subpool as usize {
                     continue;
@@ -506,21 +510,21 @@ mod alloc_mod {
                     return Ok(i as u16);
                 }
             }
-            Err(PoolError::DataTooLarge(req_size))
+            Err(StoreError::DataTooLarge(req_size))
         }
 
-        fn write(&mut self, addr: &StaticPoolAddr, data: &[u8]) -> Result<(), PoolError> {
+        fn write(&mut self, addr: &StaticPoolAddr, data: &[u8]) -> Result<(), StoreError> {
-            let packet_pos = self.raw_pos(addr).ok_or(PoolError::InternalError(0))?;
+            let packet_pos = self.raw_pos(addr).ok_or(StoreError::InternalError(0))?;
             let subpool = self
                 .pool
                 .get_mut(addr.pool_idx as usize)
-                .ok_or(PoolError::InternalError(1))?;
+                .ok_or(StoreError::InternalError(1))?;
             let pool_slice = &mut subpool[packet_pos..packet_pos + data.len()];
             pool_slice.copy_from_slice(data);
             Ok(())
         }
 
-        fn find_empty(&mut self, subpool: u16) -> Result<(u16, &mut usize), PoolError> {
+        fn find_empty(&mut self, subpool: u16) -> Result<(u16, &mut usize), StoreError> {
             if let Some(size_list) = self.sizes_lists.get_mut(subpool as usize) {
                 for (i, elem_size) in size_list.iter_mut().enumerate() {
                     if *elem_size == STORE_FREE {
@@ -528,12 +532,12 @@ mod alloc_mod {
                     }
                 }
             } else {
-                return Err(PoolError::InvalidStoreId(
+                return Err(StoreError::InvalidStoreId(
                     StoreIdError::InvalidSubpool(subpool),
                     None,
                 ));
             }
-            Err(PoolError::StoreFull(subpool))
+            Err(StoreError::StoreFull(subpool))
         }
 
         fn raw_pos(&self, addr: &StaticPoolAddr) -> Option<usize> {
@@ -543,10 +547,10 @@ mod alloc_mod {
     }
 
     impl PoolProvider for StaticMemoryPool {
-        fn add(&mut self, data: &[u8]) -> Result<PoolAddr, PoolError> {
+        fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
             let data_len = data.len();
             if data_len > POOL_MAX_SIZE {
-                return Err(PoolError::DataTooLarge(data_len));
+                return Err(StoreError::DataTooLarge(data_len));
             }
             let addr = self.reserve(data_len)?;
             self.write(&addr, data)?;
@@ -557,9 +561,9 @@ mod alloc_mod {
             &mut self,
             len: usize,
             mut writer: W,
-        ) -> Result<PoolAddr, PoolError> {
+        ) -> Result<StoreAddr, StoreError> {
             if len > POOL_MAX_SIZE {
-                return Err(PoolError::DataTooLarge(len));
+                return Err(StoreError::DataTooLarge(len));
             }
             let addr = self.reserve(len)?;
             let raw_pos = self.raw_pos(&addr).unwrap();
@@ -571,9 +575,9 @@ mod alloc_mod {
 
         fn modify<U: FnMut(&mut [u8])>(
             &mut self,
-            addr: &PoolAddr,
+            addr: &StoreAddr,
             mut updater: U,
-        ) -> Result<(), PoolError> {
+        ) -> Result<(), StoreError> {
             let addr = StaticPoolAddr::from(*addr);
             let curr_size = self.addr_check(&addr)?;
             let raw_pos = self.raw_pos(&addr).unwrap();
@@ -583,7 +587,7 @@ mod alloc_mod {
             Ok(())
         }
 
-        fn read(&self, addr: &PoolAddr, buf: &mut [u8]) -> Result<usize, PoolError> {
+        fn read(&self, addr: &StoreAddr, buf: &mut [u8]) -> Result<usize, StoreError> {
             let addr = StaticPoolAddr::from(*addr);
             let curr_size = self.addr_check(&addr)?;
             if buf.len() < curr_size {
@@ -601,7 +605,7 @@ mod alloc_mod {
             Ok(curr_size)
         }
 
-        fn delete(&mut self, addr: PoolAddr) -> Result<(), PoolError> {
+        fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
             let addr = StaticPoolAddr::from(addr);
             self.addr_check(&addr)?;
             let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
@@ -614,7 +618,7 @@ mod alloc_mod {
             Ok(())
         }
 
-        fn has_element_at(&self, addr: &PoolAddr) -> Result<bool, PoolError> {
+        fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError> {
             let addr = StaticPoolAddr::from(*addr);
             self.validate_addr(&addr)?;
             let pool_idx = addr.pool_idx as usize;
@@ -626,7 +630,7 @@ mod alloc_mod {
             Ok(true)
         }
 
-        fn len_of_data(&self, addr: &PoolAddr) -> Result<usize, PoolError> {
+        fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
             let addr = StaticPoolAddr::from(*addr);
             self.validate_addr(&addr)?;
             let pool_idx = addr.pool_idx as usize;
@@ -640,11 +644,11 @@ mod alloc_mod {
     }
 
     impl PoolProviderWithGuards for StaticMemoryPool {
-        fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<Self> {
+        fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self> {
             PoolRwGuard::new(self, addr)
         }
 
-        fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<Self> {
+        fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self> {
             PoolGuard::new(self, addr)
         }
     }
@@ -653,8 +657,8 @@ mod alloc_mod {
 #[cfg(test)]
 mod tests {
     use crate::pool::{
-        PoolError, PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticMemoryPool,
+        PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticMemoryPool,
-        StaticPoolAddr, StaticPoolConfig, StoreIdError, POOL_MAX_SIZE,
+        StaticPoolAddr, StaticPoolConfig, StoreError, StoreIdError, POOL_MAX_SIZE,
     };
     use std::vec;
 
@@ -778,7 +782,7 @@ mod tests {
         let res = local_pool.free_element(8, |_| {});
         assert!(res.is_err());
         let err = res.unwrap_err();
-        assert_eq!(err, PoolError::StoreFull(1));
+        assert_eq!(err, StoreError::StoreFull(1));
 
         // Verify that the two deletions are successful
         assert!(local_pool.delete(addr0).is_ok());
@@ -800,7 +804,7 @@ mod tests {
         assert!(res.is_err());
         assert!(matches!(
             res.unwrap_err(),
-            PoolError::DataDoesNotExist { .. }
+            StoreError::DataDoesNotExist { .. }
         ));
     }
 
@@ -813,8 +817,8 @@ mod tests {
         let res = local_pool.add(&test_buf);
         assert!(res.is_err());
         let err = res.unwrap_err();
-        assert!(matches!(err, PoolError::StoreFull { .. }));
+        assert!(matches!(err, StoreError::StoreFull { .. }));
-        if let PoolError::StoreFull(subpool) = err {
+        if let StoreError::StoreFull(subpool) = err {
             assert_eq!(subpool, 2);
         }
     }
@@ -832,7 +836,7 @@ mod tests {
         let err = res.unwrap_err();
         assert!(matches!(
             err,
-            PoolError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
+            StoreError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
         ));
     }
 
@@ -849,7 +853,7 @@ mod tests {
         let err = res.unwrap_err();
         assert!(matches!(
             err,
-            PoolError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
+            StoreError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
         ));
     }
 
@@ -860,7 +864,7 @@ mod tests {
         let res = local_pool.add(&data_too_large);
         assert!(res.is_err());
         let err = res.unwrap_err();
-        assert_eq!(err, PoolError::DataTooLarge(20));
+        assert_eq!(err, StoreError::DataTooLarge(20));
     }
 
     #[test]
@@ -868,7 +872,10 @@ mod tests {
         let mut local_pool = basic_small_pool();
         let res = local_pool.free_element(POOL_MAX_SIZE + 1, |_| {});
         assert!(res.is_err());
-        assert_eq!(res.unwrap_err(), PoolError::DataTooLarge(POOL_MAX_SIZE + 1));
+        assert_eq!(
+            res.unwrap_err(),
+            StoreError::DataTooLarge(POOL_MAX_SIZE + 1)
+        );
     }
 
     #[test]
@@ -877,7 +884,7 @@ mod tests {
         // Try to request a slot which is too large
         let res = local_pool.free_element(20, |_| {});
         assert!(res.is_err());
-        assert_eq!(res.unwrap_err(), PoolError::DataTooLarge(20));
+        assert_eq!(res.unwrap_err(), StoreError::DataTooLarge(20));
     }
 
     #[test]
@@ -997,7 +1004,7 @@ mod tests {
         let should_fail = local_pool.free_element(8, |_| {});
         assert!(should_fail.is_err());
         if let Err(err) = should_fail {
-            assert_eq!(err, PoolError::StoreFull(1));
+            assert_eq!(err, StoreError::StoreFull(1));
         } else {
             panic!("unexpected store address");
         }
@@ -1028,7 +1035,7 @@ mod tests {
         let should_fail = local_pool.free_element(8, |_| {});
         assert!(should_fail.is_err());
         if let Err(err) = should_fail {
-            assert_eq!(err, PoolError::StoreFull(2));
+            assert_eq!(err, StoreError::StoreFull(2));
         } else {
             panic!("unexpected store address");
         }

satrs/src/pus/action.rs

@@ -41,18 +41,18 @@ pub enum ActionReplyVariant {
 }
 
 #[derive(Debug, PartialEq, Clone)]
-pub struct ActionReplyPus {
+pub struct PusActionReply {
     pub action_id: ActionId,
     pub variant: ActionReplyVariant,
 }
 
-impl ActionReplyPus {
+impl PusActionReply {
     pub fn new(action_id: ActionId, variant: ActionReplyVariant) -> Self {
         Self { action_id, variant }
     }
 }
 
-pub type GenericActionReplyPus = GenericMessage<ActionReplyPus>;
+pub type GenericActionReplyPus = GenericMessage<PusActionReply>;
 
 impl GenericActionReplyPus {
     pub fn new_action_reply(
@@ -60,7 +60,7 @@ impl GenericActionReplyPus {
         action_id: ActionId,
         reply: ActionReplyVariant,
     ) -> Self {
-        Self::new(requestor_info, ActionReplyPus::new(action_id, reply))
+        Self::new(requestor_info, PusActionReply::new(action_id, reply))
     }
 }
 
@@ -76,13 +76,13 @@ pub mod alloc_mod {
         ComponentId,
     };
 
-    use super::ActionReplyPus;
+    use super::PusActionReply;
 
     /// Helper type definition for a mode handler which can handle mode requests.
     pub type ActionRequestHandlerInterface<S, R> =
-        MessageSenderAndReceiver<ActionReplyPus, ActionRequest, S, R>;
+        MessageSenderAndReceiver<PusActionReply, ActionRequest, S, R>;
 
-    impl<S: MessageSender<ActionReplyPus>, R: MessageReceiver<ActionRequest>>
+    impl<S: MessageSender<PusActionReply>, R: MessageReceiver<ActionRequest>>
         ActionRequestHandlerInterface<S, R>
     {
         pub fn try_recv_action_request(
@@ -95,7 +95,7 @@ pub mod alloc_mod {
             &self,
             request_id: RequestId,
             target_id: ComponentId,
-            reply: ActionReplyPus,
+            reply: PusActionReply,
         ) -> Result<(), GenericTargetedMessagingError> {
             self.send_message(request_id, target_id, reply)
         }
@@ -104,14 +104,14 @@ pub mod alloc_mod {
     /// Helper type defintion for a mode handler object which can send mode requests and receive
     /// mode replies.
     pub type ActionRequestorInterface<S, R> =
-        MessageSenderAndReceiver<ActionRequest, ActionReplyPus, S, R>;
+        MessageSenderAndReceiver<ActionRequest, PusActionReply, S, R>;
 
-    impl<S: MessageSender<ActionRequest>, R: MessageReceiver<ActionReplyPus>>
+    impl<S: MessageSender<ActionRequest>, R: MessageReceiver<PusActionReply>>
         ActionRequestorInterface<S, R>
     {
         pub fn try_recv_action_reply(
             &self,
-        ) -> Result<Option<GenericMessage<ActionReplyPus>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<PusActionReply>>, GenericTargetedMessagingError> {
             self.try_recv_message()
         }
 
@@ -179,23 +179,626 @@ pub mod std_mod {
     pub type DefaultActiveActionRequestMap = DefaultActiveRequestMap<ActivePusActionRequestStd>;
 
     pub type ActionRequestHandlerMpsc = ActionRequestHandlerInterface<
-        mpsc::Sender<GenericMessage<ActionReplyPus>>,
+        mpsc::Sender<GenericMessage<PusActionReply>>,
         mpsc::Receiver<GenericMessage<ActionRequest>>,
     >;
     pub type ActionRequestHandlerMpscBounded = ActionRequestHandlerInterface<
-        mpsc::SyncSender<GenericMessage<ActionReplyPus>>,
+        mpsc::SyncSender<GenericMessage<PusActionReply>>,
         mpsc::Receiver<GenericMessage<ActionRequest>>,
     >;
 
     pub type ActionRequestorMpsc = ActionRequestorInterface<
         mpsc::Sender<GenericMessage<ActionRequest>>,
-        mpsc::Receiver<GenericMessage<ActionReplyPus>>,
+        mpsc::Receiver<GenericMessage<PusActionReply>>,
     >;
     pub type ActionRequestorBoundedMpsc = ActionRequestorInterface<
         mpsc::SyncSender<GenericMessage<ActionRequest>>,
-        mpsc::Receiver<GenericMessage<ActionReplyPus>>,
+        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 {}
+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},
+            tm::PusTmReader,
+            PusPacket,
+        },
+        time::{cds, TimeWriter},
+        CcsdsPacket,
+    };
+
+    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,
+        },
+    };
+
+    use super::*;
+
+    impl<Request> PusRequestRouter<Request> for TestRouter<Request> {
+        type Error = GenericRoutingError;
+
+        fn route(
+            &self,
+            target_id: TargetId,
+            request: Request,
+            _token: VerificationToken<TcStateAccepted>,
+        ) -> Result<(), Self::Error> {
+            self.routing_requests
+                .borrow_mut()
+                .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 PusTcToRequestConverter<ActionRequest> for TestConverter<8> {
+        type Error = PusPacketHandlingError;
+        fn convert(
+            &mut self,
+            token: VerificationToken<TcStateAccepted>,
+            tc: &PusTcReader,
+            time_stamp: &[u8],
+            verif_reporter: &impl VerificationReportingProvider,
+        ) -> Result<(TargetId, ActionRequest), 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() == 1 {
+                verif_reporter
+                    .start_success(token, time_stamp)
+                    .expect("start success failure");
+                return Ok((
+                    target_id.into(),
+                    ActionRequest {
+                        action_id: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
+                        variant: ActionRequestVariant::VecData(tc.user_data()[4..].to_vec()),
+                    },
+                ));
+            }
+            Err(PusPacketHandlingError::InvalidAppData(
+                "unexpected app data".into(),
+            ))
+        }
+    }
+
+    pub struct PusDynRequestHandler<const SERVICE: u8, Request> {
+        srv_helper: PusServiceHelper<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
+            EcssTcInVecConverter,
+            TestVerificationReporter,
+        >,
+        request_converter: TestConverter<SERVICE>,
+        request_router: TestRouter<Request>,
+    }
+
+    struct Pus8RequestTestbenchWithVec {
+        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
+        handler: PusDynRequestHandler<8, ActionRequest>,
+    }
+
+    impl Pus8RequestTestbenchWithVec {
+        pub fn new() -> Self {
+            let (common, srv_helper) = PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
+            Self {
+                common,
+                handler: PusDynRequestHandler {
+                    srv_helper,
+                    request_converter: TestConverter::default(),
+                    request_router: TestRouter::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, ActionRequest);
+            }
+        }
+        delegate! {
+            to self.handler.request_router {
+                pub fn retrieve_next_routing_error(&mut self) -> (TargetId, GenericRoutingError);
+            }
+        }
+    }
+
+    impl PusTestHarness for Pus8RequestTestbenchWithVec {
+        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: verification::RequestId,
+                );
+            }
+        }
+    }
+    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 {
+                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 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_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

@@ -1,13 +1,13 @@
-use crate::pus::source_buffer_large_enough;
+use crate::pus::{source_buffer_large_enough, EcssTmtcError};
 use spacepackets::ecss::tm::PusTmCreator;
 use spacepackets::ecss::tm::PusTmSecondaryHeader;
-use spacepackets::ecss::EcssEnumeration;
+use spacepackets::ecss::{EcssEnumeration, PusError};
 use spacepackets::ByteConversionError;
 use spacepackets::{SpHeader, MAX_APID};
 
+use crate::pus::EcssTmSenderCore;
 #[cfg(feature = "alloc")]
-pub use alloc_mod::*;
+pub use alloc_mod::EventReporter;
-
 pub use spacepackets::ecss::event::*;
 
 pub struct EventReportCreator {
@@ -16,112 +16,117 @@ pub struct EventReportCreator {
 }
 
 impl EventReportCreator {
-    pub fn new(apid: u16, dest_id: u16) -> Option<Self> {
+    pub fn new(apid: u16) -> Option<Self> {
         if apid > MAX_APID {
             return None;
         }
-        Some(Self { dest_id, apid })
+        Some(Self {
+            // msg_count: 0,
+            dest_id: 0,
+            apid,
+        })
     }
 
     pub fn event_info<'time, 'src_data>(
         &self,
+        src_data_buf: &'src_data mut [u8],
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        params: Option<&'src_data [u8]>,
+        aux_data: Option<&'src_data [u8]>,
-        src_data_buf: &'src_data mut [u8],
     ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
+            src_data_buf,
             Subservice::TmInfoReport,
             time_stamp,
             event_id,
-            params,
+            aux_data,
-            src_data_buf,
         )
     }
 
     pub fn event_low_severity<'time, 'src_data>(
         &self,
+        src_data_buf: &'src_data mut [u8],
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        params: Option<&'src_data [u8]>,
+        aux_data: Option<&'src_data [u8]>,
-        src_data_buf: &'src_data mut [u8],
     ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
+            src_data_buf,
             Subservice::TmLowSeverityReport,
             time_stamp,
             event_id,
-            params,
+            aux_data,
-            src_data_buf,
         )
     }
 
     pub fn event_medium_severity<'time, 'src_data>(
         &self,
+        buf: &'src_data mut [u8],
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        params: Option<&'src_data [u8]>,
+        aux_data: Option<&'src_data [u8]>,
-        buf: &'src_data mut [u8],
     ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
+            buf,
             Subservice::TmMediumSeverityReport,
             time_stamp,
             event_id,
-            params,
+            aux_data,
-            buf,
         )
     }
 
     pub fn event_high_severity<'time, 'src_data>(
         &self,
+        src_data_buf: &'src_data mut [u8],
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        params: Option<&'src_data [u8]>,
+        aux_data: Option<&'src_data [u8]>,
-        src_data_buf: &'src_data mut [u8],
     ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
+            src_data_buf,
             Subservice::TmHighSeverityReport,
             time_stamp,
             event_id,
-            params,
+            aux_data,
-            src_data_buf,
         )
     }
 
     fn generate_and_send_generic_tm<'time, 'src_data>(
         &self,
+        src_data_buf: &'src_data mut [u8],
         subservice: Subservice,
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        params: Option<&'src_data [u8]>,
+        aux_data: 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)
+        self.generate_generic_event_tm(src_data_buf, subservice, time_stamp, event_id, aux_data)
     }
 
     fn generate_generic_event_tm<'time, 'src_data>(
         &self,
+        src_data_buf: &'src_data mut [u8],
         subservice: Subservice,
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        params: Option<&'src_data [u8]>,
+        aux_data: 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) = params {
+        if let Some(aux_data) = aux_data {
             src_data_len += aux_data.len();
         }
         source_buffer_large_enough(src_data_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(), 0, self.dest_id, time_stamp);
+            PusTmSecondaryHeader::new(5, subservice.into(), 0, self.dest_id, Some(time_stamp));
         let mut current_idx = 0;
         event_id.write_to_be_bytes(&mut src_data_buf[0..event_id.size()])?;
         current_idx += event_id.size();
-        if let Some(aux_data) = params {
+        if let Some(aux_data) = aux_data {
             src_data_buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
             current_idx += aux_data.len();
         }
         Ok(PusTmCreator::new(
-            SpHeader::new_from_apid(self.apid),
+            &mut sp_header,
             sec_header,
             &src_data_buf[0..current_idx],
             true,
@@ -132,130 +137,93 @@ impl EventReportCreator {
 #[cfg(feature = "alloc")]
 mod alloc_mod {
     use super::*;
-    use crate::pus::{EcssTmSender, EcssTmtcError};
     use crate::ComponentId;
     use alloc::vec;
     use alloc::vec::Vec;
     use core::cell::RefCell;
-    use spacepackets::ecss::PusError;
 
-    pub trait EventTmHookProvider {
+    pub struct EventReporter {
-        fn modify_tm(&self, tm: &mut PusTmCreator);
-    }
-
-    #[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> {
+    impl EventReporter {
         pub fn new(
             id: ComponentId,
-            default_apid: u16,
+            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)?;
+            let reporter = EventReportCreator::new(apid)?;
             Some(Self {
                 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(
             &self,
-            sender: &(impl EcssTmSender + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
-            params: Option<&[u8]>,
+            aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
             let mut mut_buf = self.source_data_buf.borrow_mut();
-            let mut tm_creator = self
+            let tm_creator = self
                 .report_creator
-                .event_info(time_stamp, event_id, params, mut_buf.as_mut_slice())
+                .event_info(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
                 .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(
             &self,
-            sender: &(impl EcssTmSender + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
-            params: Option<&[u8]>,
+            aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
             let mut mut_buf = self.source_data_buf.borrow_mut();
-            let mut tm_creator = self
+            let tm_creator = self
                 .report_creator
-                .event_low_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
+                .event_low_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
                 .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(
             &self,
-            sender: &(impl EcssTmSender + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
-            params: Option<&[u8]>,
+            aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
             let mut mut_buf = self.source_data_buf.borrow_mut();
-            let mut tm_creator = self
+            let tm_creator = self
                 .report_creator
-                .event_medium_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
+                .event_medium_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
                 .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(
             &self,
-            sender: &(impl EcssTmSender + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
-            params: Option<&[u8]>,
+            aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
             let mut mut_buf = self.source_data_buf.borrow_mut();
-            let mut tm_creator = self
+            let tm_creator = self
                 .report_creator
-                .event_high_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
+                .event_high_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
                 .map_err(PusError::ByteConversion)?;
-            self.tm_hook.modify_tm(&mut tm_creator);
             sender.send_tm(self.id, tm_creator.into())?;
             Ok(())
         }
@@ -266,11 +234,10 @@ mod alloc_mod {
 mod tests {
     use super::*;
     use crate::events::{EventU32, Severity};
-    use crate::pus::test_util::TEST_COMPONENT_ID_0;
+    use crate::pus::test_util::TEST_COMPONENT_ID;
     use crate::pus::tests::CommonTmInfo;
-    use crate::pus::{ChannelWithId, EcssTmSender, EcssTmtcError, PusTmVariant};
+    use crate::pus::{ChannelWithId, PusTmVariant};
     use crate::ComponentId;
-    use spacepackets::ecss::PusError;
     use spacepackets::ByteConversionError;
     use std::cell::RefCell;
     use std::collections::VecDeque;
@@ -301,7 +268,7 @@ mod tests {
         }
     }
 
-    impl EcssTmSender for TestSender {
+    impl EcssTmSenderCore for TestSender {
         fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
             match tm {
                 PusTmVariant::InStore(_) => {
@@ -376,12 +343,8 @@ mod tests {
         error_data: Option<&[u8]>,
     ) {
         let mut sender = TestSender::default();
-        let reporter = EventReporter::new(
+        let reporter =
-            TEST_COMPONENT_ID_0.id(),
+            EventReporter::new(TEST_COMPONENT_ID.id(), EXAMPLE_APID, max_event_aux_data_buf);
-            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];
@@ -411,7 +374,7 @@ 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.sender_id, TEST_COMPONENT_ID.id());
         assert_eq!(tm_info.aux_data, error_copy);
     }
 
@@ -474,7 +437,7 @@ mod tests {
     fn insufficient_buffer() {
         let mut sender = TestSender::default();
         for i in 0..3 {
-            let reporter = EventReporter::new(0, EXAMPLE_APID, 0, i);
+            let reporter = EventReporter::new(0, EXAMPLE_APID, 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

@@ -10,7 +10,7 @@ use hashbrown::HashSet;
 pub use crate::pus::event::EventReporter;
 use crate::pus::verification::TcStateToken;
 #[cfg(feature = "alloc")]
-use crate::pus::EcssTmSender;
+use crate::pus::EcssTmSenderCore;
 use crate::pus::EcssTmtcError;
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
@@ -157,8 +157,8 @@ pub mod alloc_mod {
         phantom: PhantomData<(E, EV)>,
     }
 
-    impl<B: PusEventMgmtBackendProvider<Event, Error = E>, Event: GenericEvent, E>
+    impl<B: PusEventMgmtBackendProvider<EV, Error = E>, EV: GenericEvent, E>
-        PusEventDispatcher<B, Event, E>
+        PusEventDispatcher<B, EV, E>
     {
         pub fn new(reporter: EventReporter, backend: B) -> Self {
             Self {
@@ -168,20 +168,20 @@ pub mod alloc_mod {
             }
         }
 
-        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
+        pub fn enable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
             self.backend.enable_event_reporting(event)
         }
 
-        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
+        pub fn disable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
             self.backend.disable_event_reporting(event)
         }
 
         pub fn generate_pus_event_tm_generic(
             &self,
-            sender: &(impl EcssTmSender + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
-            event: Event,
+            event: EV,
-            params: Option<&[u8]>,
+            aux_data: Option<&[u8]>,
         ) -> Result<bool, EventManError> {
             if !self.backend.event_enabled(&event) {
                 return Ok(false);
@@ -189,22 +189,22 @@ pub mod alloc_mod {
             match event.severity() {
                 Severity::INFO => self
                     .reporter
-                    .event_info(sender, time_stamp, event, params)
+                    .event_info(sender, time_stamp, event, aux_data)
                     .map(|_| true)
                     .map_err(|e| e.into()),
                 Severity::LOW => self
                     .reporter
-                    .event_low_severity(sender, time_stamp, event, params)
+                    .event_low_severity(sender, time_stamp, event, aux_data)
                     .map(|_| true)
                     .map_err(|e| e.into()),
                 Severity::MEDIUM => self
                     .reporter
-                    .event_medium_severity(sender, time_stamp, event, params)
+                    .event_medium_severity(sender, time_stamp, event, aux_data)
                     .map(|_| true)
                     .map_err(|e| e.into()),
                 Severity::HIGH => self
                     .reporter
-                    .event_high_severity(sender, time_stamp, event, params)
+                    .event_high_severity(sender, time_stamp, event, aux_data)
                     .map(|_| true)
                     .map_err(|e| e.into()),
             }
@@ -240,7 +240,7 @@ pub mod alloc_mod {
 
         pub fn generate_pus_event_tm<Severity: HasSeverity>(
             &self,
-            sender: &(impl EcssTmSender + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event: EventU32TypedSev<Severity>,
             aux_data: Option<&[u8]>,
@@ -257,8 +257,9 @@ pub mod alloc_mod {
 #[cfg(test)]
 mod tests {
     use super::*;
+    use crate::events::SeverityInfo;
+    use crate::pus::PusTmAsVec;
     use crate::request::UniqueApidTargetId;
-    use crate::{events::SeverityInfo, tmtc::PacketAsVec};
     use std::sync::mpsc::{self, TryRecvError};
 
     const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
@@ -269,12 +270,12 @@ mod tests {
     const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
 
     fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
-        let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
+        let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 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)
+        let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 128)
             .expect("Creating event repoter failed");
         let backend = DefaultPusEventMgmtBackend::default();
         PusEventDispatcher::new(reporter, backend)
@@ -283,7 +284,7 @@ mod tests {
     #[test]
     fn test_basic() {
         let event_man = create_basic_man_1();
-        let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
+        let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
         let event_sent = event_man
             .generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
             .expect("Sending info event failed");
@@ -296,7 +297,7 @@ mod tests {
     #[test]
     fn test_disable_event() {
         let mut event_man = create_basic_man_2();
-        let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
+        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());
@@ -319,7 +320,7 @@ mod tests {
     #[test]
     fn test_reenable_event() {
         let mut event_man = create_basic_man_1();
-        let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
+        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());

satrs/src/pus/event_srv.rs

@@ -9,13 +9,13 @@ use std::sync::mpsc::Sender;
 
 use super::verification::VerificationReportingProvider;
 use super::{
-    EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, GenericConversionError,
+    EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericConversionError,
     GenericRoutingError, PusServiceHelper,
 };
 
 pub struct PusEventServiceHandler<
-    TcReceiver: EcssTcReceiver,
+    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSender,
+    TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
     VerificationReporter: VerificationReportingProvider,
 > {
@@ -25,8 +25,8 @@ pub struct PusEventServiceHandler<
 }
 
 impl<
-        TcReceiver: EcssTcReceiver,
+        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSender,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
     > PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
@@ -84,6 +84,7 @@ impl<
                     .common
                     .verif_reporter
                     .start_success(
+                        self.service_helper.common.id,
                         &self.service_helper.common.tm_sender,
                         ecss_tc_and_token.token,
                         time_stamp,
@@ -158,7 +159,7 @@ mod tests {
             tc::{PusTcCreator, PusTcSecondaryHeader},
             tm::PusTmReader,
         },
-        SpHeader,
+        SequenceFlags, SpHeader,
     };
     use std::sync::mpsc::{self, Sender};
 
@@ -167,8 +168,7 @@ mod tests {
     use crate::pus::verification::{
         RequestId, VerificationReporter, VerificationReportingProvider,
     };
-    use crate::pus::{GenericConversionError, MpscTcReceiver};
+    use crate::pus::{GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSenderBounded};
-    use crate::tmtc::PacketSenderWithSharedPool;
     use crate::{
         events::EventU32,
         pus::{
@@ -187,7 +187,7 @@ mod tests {
         common: PusServiceHandlerWithSharedStoreCommon,
         handler: PusEventServiceHandler<
             MpscTcReceiver,
-            PacketSenderWithSharedPool,
+            MpscTmInSharedPoolSenderBounded,
             EcssTcInSharedStoreConverter,
             VerificationReporter,
         >,
@@ -209,17 +209,18 @@ mod tests {
             self.handler
                 .service_helper
                 .verif_reporter()
-                .acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
+                .acceptance_success(
+                    self.handler.service_helper.id(),
+                    self.handler.service_helper.tm_sender(),
+                    init_token,
+                    &[0; 7],
+                )
                 .expect("acceptance success failure")
         }
 
-        fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
-            self.common
-                .send_tc(self.handler.service_helper.id(), token, tc);
-        }
-
         delegate! {
             to self.common {
+                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);
@@ -241,13 +242,13 @@ mod tests {
         expected_event_req: EventRequest,
         event_req_receiver: mpsc::Receiver<EventRequestWithToken>,
     ) {
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         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(sp_header, sec_header, &app_data, true);
+        let ping_tc = PusTcCreator::new(&mut 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();
@@ -303,9 +304,9 @@ mod tests {
     fn test_sending_custom_subservice() {
         let (event_request_tx, _) = mpsc::channel();
         let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
-        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut 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();
@@ -322,10 +323,10 @@ mod tests {
     fn test_sending_invalid_app_data() {
         let (event_request_tx, _) = mpsc::channel();
         let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header =
             PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
-        let ping_tc = PusTcCreator::new(sp_header, sec_header, &[0, 1, 2], true);
+        let ping_tc = PusTcCreator::new(&mut 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();

satrs/src/pus/scheduler.rs

@@ -14,7 +14,7 @@ use spacepackets::{ByteConversionError, CcsdsPacket};
 #[cfg(feature = "std")]
 use std::error::Error;
 
-use crate::pool::{PoolError, PoolProvider};
+use crate::pool::{PoolProvider, StoreError};
 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;
 
@@ -151,7 +151,7 @@ pub enum ScheduleError {
     },
     /// Nested time-tagged commands are not allowed.
     NestedScheduledTc,
-    StoreError(PoolError),
+    StoreError(StoreError),
     TcDataEmpty,
     TimestampError(TimestampError),
     WrongSubservice(u8),
@@ -206,8 +206,8 @@ impl From<PusError> for ScheduleError {
     }
 }
 
-impl From<PoolError> for ScheduleError {
+impl From<StoreError> for ScheduleError {
-    fn from(e: PoolError) -> Self {
+    fn from(e: StoreError) -> Self {
         Self::StoreError(e)
     }
 }
@@ -240,7 +240,7 @@ impl Error for ScheduleError {
 pub trait PusSchedulerProvider {
     type TimeProvider: CcsdsTimeProvider + TimeReader;
 
-    fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), PoolError>;
+    fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), StoreError>;
 
     fn is_enabled(&self) -> bool;
 
@@ -345,9 +345,12 @@ pub mod alloc_mod {
         },
         vec::Vec,
     };
-    use spacepackets::time::cds::{self, DaysLen24Bits};
+    use spacepackets::time::{
+        cds::{self, DaysLen24Bits},
+        UnixTime,
+    };
 
-    use crate::pool::PoolAddr;
+    use crate::pool::StoreAddr;
 
     use super::*;
 
@@ -368,8 +371,8 @@ pub mod alloc_mod {
     }
 
     enum DeletionResult {
-        WithoutStoreDeletion(Option<PoolAddr>),
+        WithoutStoreDeletion(Option<StoreAddr>),
-        WithStoreDeletion(Result<bool, PoolError>),
+        WithStoreDeletion(Result<bool, StoreError>),
     }
 
     /// This is the core data structure for scheduling PUS telecommands with [alloc] support.
@@ -378,7 +381,7 @@ pub mod alloc_mod {
     /// a [crate::pool::PoolProvider] API. This data structure just tracks the store
     /// addresses and their release times and offers a convenient API to insert and release
     /// telecommands and perform other functionality specified by the ECSS standard in section 6.11.
-    /// The time is tracked as a [spacepackets::time::UnixTime] but the only requirement to
+    /// The time is tracked as a [spacepackets::time::UnixTimestamp] but the only requirement to
     /// the timekeeping of the user is that it is convertible to that timestamp.
     ///
     /// The standard also specifies that the PUS scheduler can be enabled and disabled.
@@ -525,7 +528,7 @@ pub mod alloc_mod {
             &mut self,
             time_window: TimeWindow<TimeProvider>,
             pool: &mut (impl PoolProvider + ?Sized),
-        ) -> Result<u64, (u64, PoolError)> {
+        ) -> Result<u64, (u64, StoreError)> {
             let range = self.retrieve_by_time_filter(time_window);
             let mut del_packets = 0;
             let mut res_if_fails = None;
@@ -555,7 +558,7 @@ pub mod alloc_mod {
         pub fn delete_all(
             &mut self,
             pool: &mut (impl PoolProvider + ?Sized),
-        ) -> Result<u64, (u64, PoolError)> {
+        ) -> Result<u64, (u64, StoreError)> {
             self.delete_by_time_filter(TimeWindow::<cds::CdsTime>::new_select_all(), pool)
         }
 
@@ -601,7 +604,7 @@ pub mod alloc_mod {
         /// Please note that this function will stop on the first telecommand with a request ID match.
         /// In case of duplicate IDs (which should generally not happen), this function needs to be
         /// called repeatedly.
-        pub fn delete_by_request_id(&mut self, req_id: &RequestId) -> Option<PoolAddr> {
+        pub fn delete_by_request_id(&mut self, req_id: &RequestId) -> Option<StoreAddr> {
             if let DeletionResult::WithoutStoreDeletion(v) =
                 self.delete_by_request_id_internal_without_store_deletion(req_id)
             {
@@ -615,7 +618,7 @@ pub mod alloc_mod {
             &mut self,
             req_id: &RequestId,
             pool: &mut (impl PoolProvider + ?Sized),
-        ) -> Result<bool, PoolError> {
+        ) -> Result<bool, StoreError> {
             if let DeletionResult::WithStoreDeletion(v) =
                 self.delete_by_request_id_internal_with_store_deletion(req_id, pool)
             {
@@ -693,7 +696,7 @@ pub mod alloc_mod {
             releaser: R,
             tc_store: &mut (impl PoolProvider + ?Sized),
             tc_buf: &mut [u8],
-        ) -> Result<u64, (u64, PoolError)> {
+        ) -> Result<u64, (u64, StoreError)> {
             self.release_telecommands_internal(releaser, tc_store, Some(tc_buf))
         }
 
@@ -707,7 +710,7 @@ pub mod alloc_mod {
             &mut self,
             releaser: R,
             tc_store: &mut (impl PoolProvider + ?Sized),
-        ) -> Result<u64, (u64, PoolError)> {
+        ) -> Result<u64, (u64, StoreError)> {
             self.release_telecommands_internal(releaser, tc_store, None)
         }
 
@@ -716,7 +719,7 @@ pub mod alloc_mod {
             mut releaser: R,
             tc_store: &mut (impl PoolProvider + ?Sized),
             mut tc_buf: Option<&mut [u8]>,
-        ) -> Result<u64, (u64, PoolError)> {
+        ) -> Result<u64, (u64, StoreError)> {
             let tcs_to_release = self.telecommands_to_release();
             let mut released_tcs = 0;
             let mut store_error = Ok(());
@@ -762,7 +765,7 @@ pub mod alloc_mod {
             mut releaser: R,
             tc_store: &(impl PoolProvider + ?Sized),
             tc_buf: &mut [u8],
-        ) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, PoolError)> {
+        ) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, StoreError)> {
             let tcs_to_release = self.telecommands_to_release();
             let mut released_tcs = alloc::vec::Vec::new();
             for tc in tcs_to_release {
@@ -793,7 +796,7 @@ pub mod alloc_mod {
         /// The holding store for the telecommands needs to be passed so all the stored telecommands
         /// can be deleted to avoid a memory leak. If at last one deletion operation fails, the error
         /// will be returned but the method will still try to delete all the commands in the schedule.
-        fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), PoolError> {
+        fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), StoreError> {
             self.enabled = false;
             let mut deletion_ok = Ok(());
             for tc_lists in &mut self.tc_map {
@@ -851,7 +854,7 @@ pub mod alloc_mod {
 mod tests {
     use super::*;
     use crate::pool::{
-        PoolAddr, PoolError, PoolProvider, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig,
+        PoolProvider, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreAddr, StoreError,
     };
     use alloc::collections::btree_map::Range;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
@@ -868,28 +871,28 @@ mod tests {
             cds::CdsTime::from_unix_time_with_u16_days(&timestamp, cds::SubmillisPrecision::Absent)
                 .unwrap();
         let len_time_stamp = cds_time.write_to_bytes(buf).unwrap();
-        let len_packet = base_ping_tc_simple_ctor(0, &[])
+        let len_packet = base_ping_tc_simple_ctor(0, None)
             .write_to_bytes(&mut buf[len_time_stamp..])
             .unwrap();
         (
-            SpHeader::new_for_unseg_tc(0x02, 0x34, len_packet as u16),
+            SpHeader::tc_unseg(0x02, 0x34, len_packet as u16).unwrap(),
             len_packet + len_time_stamp,
         )
     }
 
     fn scheduled_tc(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
-        let (sph, len_app_data) = pus_tc_base(timestamp, buf);
+        let (mut sph, len_app_data) = pus_tc_base(timestamp, buf);
-        PusTcCreator::new_simple(sph, 11, 4, &buf[..len_app_data], true)
+        PusTcCreator::new_simple(&mut sph, 11, 4, Some(&buf[..len_app_data]), true)
     }
 
     fn wrong_tc_service(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
-        let (sph, len_app_data) = pus_tc_base(timestamp, buf);
+        let (mut sph, len_app_data) = pus_tc_base(timestamp, buf);
-        PusTcCreator::new_simple(sph, 12, 4, &buf[..len_app_data], true)
+        PusTcCreator::new_simple(&mut sph, 12, 4, Some(&buf[..len_app_data]), true)
     }
 
     fn wrong_tc_subservice(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
-        let (sph, len_app_data) = pus_tc_base(timestamp, buf);
+        let (mut sph, len_app_data) = pus_tc_base(timestamp, buf);
-        PusTcCreator::new_simple(sph, 11, 5, &buf[..len_app_data], true)
+        PusTcCreator::new_simple(&mut sph, 11, 5, Some(&buf[..len_app_data]), true)
     }
 
     fn double_wrapped_time_tagged_tc(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
@@ -897,31 +900,40 @@ mod tests {
             cds::CdsTime::from_unix_time_with_u16_days(&timestamp, cds::SubmillisPrecision::Absent)
                 .unwrap();
         let len_time_stamp = cds_time.write_to_bytes(buf).unwrap();
-        let sph = SpHeader::new_for_unseg_tc(0x02, 0x34, 0);
+        let mut sph = SpHeader::tc_unseg(0x02, 0x34, 0).unwrap();
         // app data should not matter, double wrapped time-tagged commands should be rejected right
         // away
-        let inner_time_tagged_tc = PusTcCreator::new_simple(sph, 11, 4, &[], true);
+        let inner_time_tagged_tc = PusTcCreator::new_simple(&mut sph, 11, 4, None, true);
         let packet_len = inner_time_tagged_tc
             .write_to_bytes(&mut buf[len_time_stamp..])
             .expect("writing inner time tagged tc failed");
-        PusTcCreator::new_simple(sph, 11, 4, &buf[..len_time_stamp + packet_len], true)
+        PusTcCreator::new_simple(
+            &mut sph,
+            11,
+            4,
+            Some(&buf[..len_time_stamp + packet_len]),
+            true,
+        )
     }
 
     fn invalid_time_tagged_cmd() -> PusTcCreator<'static> {
-        let sph = SpHeader::new_for_unseg_tc(0x02, 0x34, 1);
+        let mut sph = SpHeader::tc_unseg(0x02, 0x34, 1).unwrap();
-        PusTcCreator::new_simple(sph, 11, 4, &[], true)
+        PusTcCreator::new_simple(&mut sph, 11, 4, None, true)
     }
 
-    fn base_ping_tc_simple_ctor(seq_count: u16, app_data: &'static [u8]) -> PusTcCreator<'static> {
+    fn base_ping_tc_simple_ctor(
-        let sph = SpHeader::new_for_unseg_tc(0x02, seq_count, 0);
+        seq_count: u16,
-        PusTcCreator::new_simple(sph, 17, 1, app_data, true)
+        app_data: Option<&'static [u8]>,
+    ) -> PusTcCreator<'static> {
+        let mut sph = SpHeader::tc_unseg(0x02, seq_count, 0).unwrap();
+        PusTcCreator::new_simple(&mut sph, 17, 1, app_data, true)
     }
 
     fn ping_tc_to_store(
         pool: &mut StaticMemoryPool,
         buf: &mut [u8],
         seq_count: u16,
-        app_data: &'static [u8],
+        app_data: Option<&'static [u8]>,
     ) -> TcInfo {
         let ping_tc = base_ping_tc_simple_ctor(seq_count, app_data);
         let ping_size = ping_tc.write_to_bytes(buf).expect("writing ping TC failed");
@@ -945,7 +957,7 @@ mod tests {
         let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
 
         scheduler
             .insert_unwrapped_and_stored_tc(
@@ -955,7 +967,7 @@ mod tests {
             .unwrap();
 
         let app_data = &[0, 1, 2];
-        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, app_data);
+        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, Some(app_data));
         scheduler
             .insert_unwrapped_and_stored_tc(
                 UnixTime::new_only_secs(200),
@@ -964,7 +976,7 @@ mod tests {
             .unwrap();
 
         let app_data = &[0, 1, 2];
-        let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, app_data);
+        let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, Some(app_data));
         scheduler
             .insert_unwrapped_and_stored_tc(
                 UnixTime::new_only_secs(300),
@@ -990,7 +1002,7 @@ mod tests {
             .insert_unwrapped_and_stored_tc(
                 UnixTime::new_only_secs(100),
                 TcInfo::new(
-                    PoolAddr::from(StaticPoolAddr {
+                    StoreAddr::from(StaticPoolAddr {
                         pool_idx: 0,
                         packet_idx: 1,
                     }),
@@ -1007,7 +1019,7 @@ mod tests {
             .insert_unwrapped_and_stored_tc(
                 UnixTime::new_only_secs(100),
                 TcInfo::new(
-                    PoolAddr::from(StaticPoolAddr {
+                    StoreAddr::from(StaticPoolAddr {
                         pool_idx: 0,
                         packet_idx: 2,
                     }),
@@ -1051,8 +1063,8 @@ mod tests {
 
     fn common_check(
         enabled: bool,
-        store_addr: &PoolAddr,
+        store_addr: &StoreAddr,
-        expected_store_addrs: Vec<PoolAddr>,
+        expected_store_addrs: Vec<StoreAddr>,
         counter: &mut usize,
     ) {
         assert!(enabled);
@@ -1061,8 +1073,8 @@ mod tests {
     }
     fn common_check_disabled(
         enabled: bool,
-        store_addr: &PoolAddr,
+        store_addr: &StoreAddr,
-        expected_store_addrs: Vec<PoolAddr>,
+        expected_store_addrs: Vec<StoreAddr>,
         counter: &mut usize,
     ) {
         assert!(!enabled);
@@ -1075,10 +1087,10 @@ mod tests {
         let src_id_to_set = 12;
         let apid_to_set = 0x22;
         let seq_count = 105;
-        let sp_header = SpHeader::new_for_unseg_tc(apid_to_set, 105, 0);
+        let mut sp_header = SpHeader::tc_unseg(apid_to_set, 105, 0).unwrap();
         let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
         sec_header.source_id = src_id_to_set;
-        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
         let req_id = RequestId::from_tc(&ping_tc);
         assert_eq!(req_id.source_id(), src_id_to_set);
         assert_eq!(req_id.apid(), apid_to_set);
@@ -1094,13 +1106,13 @@ mod tests {
         let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
 
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
             .expect("insertion failed");
 
-        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
+        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(200), tc_info_1)
             .expect("insertion failed");
@@ -1159,13 +1171,13 @@ mod tests {
         let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
 
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
             .expect("insertion failed");
 
-        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
+        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_1)
             .expect("insertion failed");
@@ -1218,13 +1230,13 @@ mod tests {
         scheduler.disable();
 
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
 
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
             .expect("insertion failed");
 
-        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
+        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(200), tc_info_1)
             .expect("insertion failed");
@@ -1282,7 +1294,7 @@ mod tests {
 
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
 
         let info = scheduler
             .insert_unwrapped_tc(
@@ -1297,7 +1309,7 @@ mod tests {
         let mut read_buf: [u8; 64] = [0; 64];
         pool.read(&tc_info_0.addr(), &mut read_buf).unwrap();
         let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
-        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
+        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
 
         assert_eq!(scheduler.num_scheduled_telecommands(), 1);
 
@@ -1320,7 +1332,7 @@ mod tests {
         let read_len = pool.read(&addr_vec[0], &mut read_buf).unwrap();
         let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
         assert_eq!(read_len, check_tc.1);
-        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
+        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
     }
 
     #[test]
@@ -1344,7 +1356,7 @@ mod tests {
         let read_len = pool.read(&info.addr, &mut buf).unwrap();
         let check_tc = PusTcReader::new(&buf).expect("incorrect Pus tc raw data");
         assert_eq!(read_len, check_tc.1);
-        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
+        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
 
         assert_eq!(scheduler.num_scheduled_telecommands(), 1);
 
@@ -1369,7 +1381,7 @@ mod tests {
         let read_len = pool.read(&addr_vec[0], &mut buf).unwrap();
         let check_tc = PusTcReader::new(&buf).expect("incorrect PUS tc raw data");
         assert_eq!(read_len, check_tc.1);
-        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
+        assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
     }
 
     #[test]
@@ -1494,7 +1506,7 @@ mod tests {
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
         let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
             .expect("insertion failed");
@@ -1516,7 +1528,7 @@ mod tests {
         // TC could not even be read..
         assert_eq!(err.0, 0);
         match err.1 {
-            PoolError::DataDoesNotExist(addr) => {
+            StoreError::DataDoesNotExist(addr) => {
                 assert_eq!(tc_info_0.addr(), addr);
             }
             _ => panic!("unexpected error {}", err.1),
@@ -1528,7 +1540,7 @@ mod tests {
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
         let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
             .expect("insertion failed");
@@ -1539,7 +1551,7 @@ mod tests {
         assert!(reset_res.is_err());
         let err = reset_res.unwrap_err();
         match err {
-            PoolError::DataDoesNotExist(addr) => {
+            StoreError::DataDoesNotExist(addr) => {
                 assert_eq!(addr, tc_info_0.addr());
             }
             _ => panic!("unexpected error {err}"),
@@ -1551,7 +1563,7 @@ mod tests {
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
         let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
             .expect("inserting tc failed");
@@ -1569,7 +1581,7 @@ mod tests {
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
         let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
             .expect("inserting tc failed");
@@ -1587,15 +1599,15 @@ mod tests {
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
         let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
             .expect("inserting tc failed");
-        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
+        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_1)
             .expect("inserting tc failed");
-        let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, &[]);
+        let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_2)
             .expect("inserting tc failed");
@@ -1641,7 +1653,7 @@ mod tests {
         let err = insert_res.unwrap_err();
         match err {
             ScheduleError::StoreError(e) => match e {
-                PoolError::StoreFull(_) => {}
+                StoreError::StoreFull(_) => {}
                 _ => panic!("unexpected store error {e}"),
             },
             _ => panic!("unexpected error {err}"),
@@ -1655,7 +1667,7 @@ mod tests {
         release_secs: u64,
     ) -> TcInfo {
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info = ping_tc_to_store(pool, &mut buf, seq_count, &[]);
+        let tc_info = ping_tc_to_store(pool, &mut buf, seq_count, None);
 
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(release_secs as i64), tc_info)
@@ -1903,13 +1915,13 @@ mod tests {
         let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut buf: [u8; 32] = [0; 32];
-        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
+        let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
 
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
             .expect("insertion failed");
 
-        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
+        let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
         scheduler
             .insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(200), tc_info_1)
             .expect("insertion failed");
@@ -1937,13 +1949,13 @@ mod tests {
     #[test]
     fn test_generic_insert_app_data_test() {
         let time_writer = cds::CdsTime::new_with_u16_days(1, 1);
-        let sph = SpHeader::new(
+        let mut sph = SpHeader::new(
-            PacketId::new(PacketType::Tc, true, 0x002),
+            PacketId::const_new(PacketType::Tc, true, 0x002),
-            PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 5),
+            PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
             0,
         );
         let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, true);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
         let mut buf: [u8; 64] = [0; 64];
         let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
         assert!(result.is_ok());
@@ -1959,13 +1971,13 @@ mod tests {
     #[test]
     fn test_generic_insert_app_data_test_byte_conv_error() {
         let time_writer = cds::CdsTime::new_with_u16_days(1, 1);
-        let sph = SpHeader::new(
+        let mut sph = SpHeader::new(
-            PacketId::new(PacketType::Tc, true, 0x002),
+            PacketId::const_new(PacketType::Tc, true, 0x002),
-            PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 5),
+            PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
             0,
         );
         let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, true);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
         let mut buf: [u8; 16] = [0; 16];
         let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
         assert!(result.is_err());
@@ -1988,13 +2000,13 @@ mod tests {
     #[test]
     fn test_generic_insert_app_data_test_as_vec() {
         let time_writer = cds::CdsTime::new_with_u16_days(1, 1);
-        let sph = SpHeader::new(
+        let mut sph = SpHeader::new(
-            PacketId::new(PacketType::Tc, true, 0x002),
+            PacketId::const_new(PacketType::Tc, true, 0x002),
-            PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 5),
+            PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
             0,
         );
         let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, true);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
         let mut buf: [u8; 64] = [0; 64];
         generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc).unwrap();
         let vec = generate_insert_telecommand_app_data_as_vec(&time_writer, &ping_tc)

satrs/src/pus/scheduler_srv.rs

@@ -1,12 +1,12 @@
 use super::scheduler::PusSchedulerProvider;
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
-    EcssTmSender, MpscTcReceiver, PusServiceHelper,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmInSharedPoolSender, MpscTmInSharedPoolSenderBounded,
+    PusServiceHelper, PusTmAsVec,
 };
 use crate::pool::PoolProvider;
 use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
-use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use alloc::string::ToString;
 use spacepackets::ecss::{scheduling, PusPacket};
 use spacepackets::time::cds::CdsTime;
@@ -21,8 +21,8 @@ use std::sync::mpsc;
 /// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
 /// telecommands when applicable.
 pub struct PusSchedServiceHandler<
-    TcReceiver: EcssTcReceiver,
+    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSender,
+    TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
     VerificationReporter: VerificationReportingProvider,
     PusScheduler: PusSchedulerProvider,
@@ -33,8 +33,8 @@ pub struct PusSchedServiceHandler<
 }
 
 impl<
-        TcReceiver: EcssTcReceiver,
+        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSender,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
         Scheduler: PusSchedulerProvider,
@@ -93,6 +93,7 @@ impl<
                     .service_helper
                     .verif_reporter()
                     .start_success(
+                        self.service_helper.common.id,
                         &self.service_helper.common.tm_sender,
                         ecss_tc_and_token.token,
                         time_stamp,
@@ -104,6 +105,7 @@ impl<
                     self.service_helper
                         .verif_reporter()
                         .completion_success(
+                            self.service_helper.common.id,
                             &self.service_helper.common.tm_sender,
                             start_token,
                             time_stamp,
@@ -120,6 +122,7 @@ impl<
                     .service_helper
                     .verif_reporter()
                     .start_success(
+                        self.service_helper.common.id,
                         &self.service_helper.common.tm_sender,
                         ecss_tc_and_token.token,
                         time_stamp,
@@ -131,6 +134,7 @@ impl<
                     self.service_helper
                         .verif_reporter()
                         .completion_success(
+                            self.service_helper.common.id,
                             &self.service_helper.common.tm_sender,
                             start_token,
                             time_stamp,
@@ -147,6 +151,7 @@ impl<
                     .service_helper
                     .verif_reporter()
                     .start_success(
+                        self.service_helper.common.id,
                         &self.service_helper.common.tm_sender,
                         ecss_tc_and_token.token,
                         time_stamp,
@@ -160,6 +165,7 @@ impl<
                 self.service_helper
                     .verif_reporter()
                     .completion_success(
+                        self.service_helper.common.id,
                         &self.service_helper.common.tm_sender,
                         start_token,
                         time_stamp,
@@ -172,6 +178,7 @@ impl<
                     .common
                     .verif_reporter
                     .start_success(
+                        self.service_helper.common.id,
                         &self.service_helper.common.tm_sender,
                         ecss_tc_and_token.token,
                         time_stamp,
@@ -186,6 +193,7 @@ impl<
                 self.service_helper
                     .verif_reporter()
                     .completion_success(
+                        self.service_helper.common.id,
                         &self.service_helper.common.tm_sender,
                         start_token,
                         time_stamp,
@@ -212,7 +220,7 @@ impl<
 /// mpsc queues.
 pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
-    mpsc::Sender<PacketAsVec>,
+    mpsc::Sender<PusTmAsVec>,
     EcssTcInVecConverter,
     VerificationReporter,
     PusScheduler,
@@ -221,7 +229,7 @@ pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusSchedServiceHand
 /// queues.
 pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
-    mpsc::SyncSender<PacketAsVec>,
+    mpsc::SyncSender<PusTmAsVec>,
     EcssTcInVecConverter,
     VerificationReporter,
     PusScheduler,
@@ -230,7 +238,7 @@ pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServ
 /// mpsc queues.
 pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
-    PacketSenderWithSharedPool,
+    MpscTmInSharedPoolSender,
     EcssTcInSharedStoreConverter,
     VerificationReporter,
     PusScheduler,
@@ -239,7 +247,7 @@ pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceH
 /// mpsc queues.
 pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
-    PacketSenderWithSharedPool,
+    MpscTmInSharedPoolSenderBounded,
     EcssTcInSharedStoreConverter,
     VerificationReporter,
     PusScheduler,
@@ -257,8 +265,10 @@ mod tests {
         verification::{RequestId, TcStateAccepted, VerificationToken},
         EcssTcInSharedStoreConverter,
     };
-    use crate::pus::{MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError};
+    use crate::pus::{
-    use crate::tmtc::PacketSenderWithSharedPool;
+        MpscTcReceiver, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
+        PusPacketHandlingError,
+    };
     use alloc::collections::VecDeque;
     use delegate::delegate;
     use spacepackets::ecss::scheduling::Subservice;
@@ -277,7 +287,7 @@ mod tests {
         common: PusServiceHandlerWithSharedStoreCommon,
         handler: PusSchedServiceHandler<
             MpscTcReceiver,
-            PacketSenderWithSharedPool,
+            MpscTmInSharedPoolSenderBounded,
             EcssTcInSharedStoreConverter,
             VerificationReporter,
             TestScheduler,
@@ -311,17 +321,18 @@ mod tests {
             self.handler
                 .service_helper
                 .verif_reporter()
-                .acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
+                .acceptance_success(
+                    self.handler.service_helper.id(),
+                    self.handler.service_helper.tm_sender(),
+                    init_token,
+                    &[0; 7],
+                )
                 .expect("acceptance success failure")
         }
 
-        fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
-            self.common
-                .send_tc(self.handler.service_helper.id(), token, tc);
-        }
-
         delegate! {
             to self.common {
+                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);
@@ -344,7 +355,7 @@ mod tests {
         fn reset(
             &mut self,
             _store: &mut (impl crate::pool::PoolProvider + ?Sized),
-        ) -> Result<(), crate::pool::PoolError> {
+        ) -> Result<(), crate::pool::StoreError> {
             self.reset_count += 1;
             Ok(())
         }
@@ -377,9 +388,9 @@ mod tests {
         test_harness: &mut Pus11HandlerWithStoreTester,
         subservice: Subservice,
     ) {
-        let reply_header = SpHeader::new_for_unseg_tm(TEST_APID, 0, 0);
+        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
         let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
-        let enable_scheduling = PusTcCreator::new(reply_header, tc_header, &[0; 7], true);
+        let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
         let token = test_harness.init_verification(&enable_scheduling);
         test_harness.send_tc(&token, &enable_scheduling);
 
@@ -424,9 +435,9 @@ mod tests {
     #[test]
     fn test_insert_activity_tc() {
         let mut test_harness = Pus11HandlerWithStoreTester::new();
-        let mut reply_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
         let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let ping_tc = PusTcCreator::new(reply_header, sec_header, &[], true);
+        let ping_tc = PusTcCreator::new(&mut reply_header, sec_header, &[], true);
         let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
         let stamper = cds::CdsTime::now_with_u16_days().expect("time provider failed");
         let mut sched_app_data: [u8; 64] = [0; 64];
@@ -434,10 +445,10 @@ mod tests {
         let ping_raw = ping_tc.to_vec().expect("generating raw tc failed");
         sched_app_data[written_len..written_len + ping_raw.len()].copy_from_slice(&ping_raw);
         written_len += ping_raw.len();
-        reply_header = SpHeader::new_for_unseg_tc(TEST_APID, 1, 0);
+        reply_header = SpHeader::tm_unseg(TEST_APID, 1, 0).unwrap();
         sec_header = PusTcSecondaryHeader::new_simple(11, Subservice::TcInsertActivity as u8);
         let enable_scheduling = PusTcCreator::new(
-            reply_header,
+            &mut reply_header,
             sec_header,
             &sched_app_data[..written_len],
             true,

satrs/src/pus/test.rs

@@ -1,7 +1,7 @@
 use crate::pus::{
-    PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmVariant,
+    PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmAsVec,
+    PusTmInPool, PusTmVariant,
 };
-use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use spacepackets::ecss::PusPacket;
 use spacepackets::SpHeader;
@@ -9,15 +9,16 @@ use std::sync::mpsc;
 
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
-    EcssTmSender, GenericConversionError, MpscTcReceiver, PusServiceHelper,
+    EcssTmSenderCore, GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSender,
+    MpscTmInSharedPoolSenderBounded, PusServiceHelper,
 };
 
 /// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
 /// This handler only processes ping requests and generates a ping reply for them accordingly.
 pub struct PusService17TestHandler<
-    TcReceiver: EcssTcReceiver,
+    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSender,
+    TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
     VerificationReporter: VerificationReportingProvider,
 > {
@@ -26,8 +27,8 @@ pub struct PusService17TestHandler<
 }
 
 impl<
-        TcReceiver: EcssTcReceiver,
+        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSender,
+        TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
     > PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
@@ -65,6 +66,7 @@ impl<
                 .service_helper
                 .verif_reporter()
                 .start_success(
+                    self.service_helper.common.id,
                     &self.service_helper.common.tm_sender,
                     ecss_tc_and_token.token,
                     time_stamp,
@@ -77,12 +79,10 @@ impl<
                 None
             };
             // Sequence count will be handled centrally in TM funnel.
-            // It is assumed that the verification reporter was built with a valid APID, so we use
+            let mut reply_header =
-            // the unchecked API here.
+                SpHeader::tm_unseg(self.service_helper.verif_reporter().apid(), 0, 0).unwrap();
-            let reply_header =
-                SpHeader::new_for_unseg_tm(self.service_helper.verif_reporter().apid(), 0, 0);
             let tc_header = PusTmSecondaryHeader::new_simple(17, 2, time_stamp);
-            let ping_reply = PusTmCreator::new(reply_header, tc_header, &[], true);
+            let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
             let result = self
                 .service_helper
                 .common
@@ -98,6 +98,7 @@ impl<
                     .service_helper
                     .verif_reporter()
                     .completion_success(
+                        self.service_helper.common.id,
                         &self.service_helper.common.tm_sender,
                         start_token,
                         time_stamp,
@@ -126,7 +127,7 @@ impl<
 /// mpsc queues.
 pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
     MpscTcReceiver,
-    mpsc::Sender<PacketAsVec>,
+    mpsc::Sender<PusTmAsVec>,
     EcssTcInVecConverter,
     VerificationReporter,
 >;
@@ -134,15 +135,23 @@ pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
 /// queues.
 pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
     MpscTcReceiver,
-    mpsc::SyncSender<PacketAsVec>,
+    mpsc::SyncSender<PusTmInPool>,
     EcssTcInVecConverter,
     VerificationReporter,
 >;
+/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    MpscTmInSharedPoolSender,
+    EcssTcInSharedStoreConverter,
+    VerificationReporter,
+>;
 /// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
 /// mpsc queues.
 pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
     MpscTcReceiver,
-    PacketSenderWithSharedPool,
+    MpscTmInSharedPoolSenderBounded,
     EcssTcInSharedStoreConverter,
     VerificationReporter,
 >;
@@ -159,16 +168,16 @@ mod tests {
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
         EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericConversionError, MpscTcReceiver,
-        MpscTmAsVecSender, PusPacketHandlerResult, PusPacketHandlingError,
+        MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
+        PusPacketHandlingError,
     };
-    use crate::tmtc::PacketSenderWithSharedPool;
     use crate::ComponentId;
     use delegate::delegate;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
     use spacepackets::ecss::PusPacket;
     use spacepackets::time::{cds, TimeWriter};
-    use spacepackets::SpHeader;
+    use spacepackets::{SequenceFlags, SpHeader};
 
     use super::PusService17TestHandler;
 
@@ -176,7 +185,7 @@ mod tests {
         common: PusServiceHandlerWithSharedStoreCommon,
         handler: PusService17TestHandler<
             MpscTcReceiver,
-            PacketSenderWithSharedPool,
+            MpscTmInSharedPoolSenderBounded,
             EcssTcInSharedStoreConverter,
             VerificationReporter,
         >,
@@ -199,18 +208,19 @@ mod tests {
             self.handler
                 .service_helper
                 .verif_reporter()
-                .acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
+                .acceptance_success(
+                    self.handler.service_helper.id(),
+                    self.handler.service_helper.tm_sender(),
+                    init_token,
+                    &[0; 7],
+                )
                 .expect("acceptance success failure")
         }
 
-        fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
-            self.common
-                .send_tc(self.handler.service_helper.id(), token, tc);
-        }
-
         delegate! {
             to self.common {
                 fn read_next_tm(&mut self) -> PusTmReader<'_>;
+                fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
                 fn check_no_tm_available(&self) -> bool;
                 fn check_next_verification_tm(
                     &self,
@@ -254,17 +264,18 @@ mod tests {
             self.handler
                 .service_helper
                 .verif_reporter()
-                .acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
+                .acceptance_success(
+                    self.handler.service_helper.id(),
+                    self.handler.service_helper.tm_sender(),
+                    init_token,
+                    &[0; 7],
+                )
                 .expect("acceptance success failure")
         }
 
-        fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
-            self.common
-                .send_tc(self.handler.service_helper.id(), token, tc);
-        }
-
         delegate! {
             to self.common {
+                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(
@@ -284,9 +295,9 @@ mod tests {
 
     fn ping_test(test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler)) {
         // Create a ping TC, verify acceptance.
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
         let token = test_harness.init_verification(&ping_tc);
         test_harness.send_tc(&token, &ping_tc);
         let request_id = token.request_id();
@@ -338,9 +349,9 @@ mod tests {
     #[test]
     fn test_sending_unsupported_service() {
         let mut test_harness = Pus17HandlerWithStoreTester::new(0);
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
-        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut 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();
@@ -359,9 +370,9 @@ mod tests {
     #[test]
     fn test_sending_custom_subservice() {
         let mut test_harness = Pus17HandlerWithStoreTester::new(0);
-        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
-        let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut 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();

satrs/src/request.rs

@@ -3,9 +3,11 @@ use core::{fmt, marker::PhantomData};
 use serde::{Deserialize, Serialize};
 
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub use alloc_mod::*;
 
 #[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub use std_mod::*;
 
 use spacepackets::{
@@ -87,10 +89,6 @@ impl fmt::Display for UniqueApidTargetId {
     }
 }
 
-/// This contains metadata information which might be useful when used together with a
-/// generic message tpye.
-///
-/// This could for example be used to build request/reply patterns or state tracking for request.
 #[derive(Debug, Copy, PartialEq, Eq, Clone)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct MessageMetadata {
@@ -115,16 +113,17 @@ impl MessageMetadata {
     }
 }
 
-/// Generic message type which adds [metadata][MessageMetadata] to a generic message typ.
+/// Generic message type which is associated with a sender using a [ChannelId] and associated
+/// with a request using a [RequestId].
 #[derive(Debug, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct GenericMessage<Message> {
+pub struct GenericMessage<MSG> {
     pub requestor_info: MessageMetadata,
-    pub message: Message,
+    pub message: MSG,
 }
 
-impl<Message> GenericMessage<Message> {
+impl<MSG> GenericMessage<MSG> {
-    pub fn new(requestor_info: MessageMetadata, message: Message) -> Self {
+    pub fn new(requestor_info: MessageMetadata, message: MSG) -> Self {
         Self {
             requestor_info,
             message,
@@ -192,7 +191,10 @@ impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
 }
 
 #[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod alloc_mod {
+    use core::marker::PhantomData;
+
     use crate::queue::GenericSendError;
 
     use super::*;
@@ -326,12 +328,13 @@ pub mod alloc_mod {
 }
 
 #[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
 
     use super::*;
     use std::sync::mpsc;
 
-    use crate::queue::{GenericReceiveError, GenericSendError};
+    use crate::queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError};
 
     impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
         fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
@@ -415,9 +418,9 @@ mod tests {
 
     #[test]
     fn test_basic_target_id_with_apid_from_pus_tc() {
-        let sp_header = SpHeader::new_for_unseg_tc(0x111, 5, 0);
+        let mut sp_header = SpHeader::tc_unseg(0x111, 5, 0).unwrap();
         let app_data = 1_u32.to_be_bytes();
-        let pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &app_data, true);
+        let pus_tc = PusTcCreator::new_simple(&mut sp_header, 17, 1, Some(&app_data), true);
         let id = UniqueApidTargetId::from_pus_tc(&pus_tc).unwrap();
         assert_eq!(id.apid, 0x111);
         assert_eq!(id.unique_id, 1);
@@ -425,9 +428,9 @@ mod tests {
 
     #[test]
     fn test_basic_target_id_with_apid_from_pus_tc_invalid_app_data() {
-        let sp_header = SpHeader::new_for_unseg_tc(0x111, 5, 0);
+        let mut sp_header = SpHeader::tc_unseg(0x111, 5, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let pus_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
+        let pus_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
         let error = UniqueApidTargetId::from_pus_tc(&pus_tc);
         assert!(error.is_err());
         let error = error.unwrap_err();

satrs/src/seq_count.rs

@@ -32,7 +32,7 @@ dyn_clone::clone_trait_object!(SequenceCountProvider<u16>);
 #[cfg(feature = "alloc")]
 impl<T, Raw> SequenceCountProvider<Raw> for T where T: SequenceCountProviderCore<Raw> + Clone {}
 
-#[derive(Clone)]
+#[derive(Default, Clone)]
 pub struct SeqCountProviderSimple<T: Copy> {
     seq_count: Cell<T>,
     max_val: T,
@@ -43,12 +43,13 @@ macro_rules! impl_for_primitives {
         $(
             paste! {
                 impl SeqCountProviderSimple<$ty> {
-                    pub fn [<new_custom_max_val_ $ty>](max_val: $ty) -> Self {
+                    pub fn [<new_ $ty _max_val>](max_val: $ty) -> Self {
                         Self {
                             seq_count: Cell::new(0),
                             max_val,
                         }
                     }
+
                     pub fn [<new_ $ty>]() -> Self {
                         Self {
                             seq_count: Cell::new(0),
@@ -57,12 +58,6 @@ macro_rules! impl_for_primitives {
                     }
                 }
 
-                impl Default for SeqCountProviderSimple<$ty> {
-                    fn default() -> Self {
-                        Self::[<new_ $ty>]()
-                    }
-                }
-
                 impl SequenceCountProviderCore<$ty> for SeqCountProviderSimple<$ty> {
                     fn get(&self) -> $ty {
                         self.seq_count.get()
@@ -91,16 +86,21 @@ macro_rules! impl_for_primitives {
 impl_for_primitives!(u8, u16, u32, u64,);
 
 /// This is a sequence count provider which wraps around at [MAX_SEQ_COUNT].
-#[derive(Clone)]
 pub struct CcsdsSimpleSeqCountProvider {
     provider: SeqCountProviderSimple<u16>,
 }
 
+impl CcsdsSimpleSeqCountProvider {
+    pub fn new() -> Self {
+        Self {
+            provider: SeqCountProviderSimple::new_u16_max_val(MAX_SEQ_COUNT),
+        }
+    }
+}
+
 impl Default for CcsdsSimpleSeqCountProvider {
     fn default() -> Self {
-        Self {
+        Self::new()
-            provider: SeqCountProviderSimple::new_custom_max_val_u16(MAX_SEQ_COUNT),
-        }
     }
 }
 
@@ -187,7 +187,7 @@ mod tests {
 
     #[test]
     fn test_u8_counter() {
-        let u8_counter = SeqCountProviderSimple::<u8>::default();
+        let u8_counter = SeqCountProviderSimple::new_u8();
         assert_eq!(u8_counter.get(), 0);
         assert_eq!(u8_counter.get_and_increment(), 0);
         assert_eq!(u8_counter.get_and_increment(), 1);

satrs/src/tmtc/ccsds_distrib.rs

@@ -0,0 +1,391 @@
+//! CCSDS packet routing components.
+//!
+//! The routing components consist of two core components:
+//!  1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
+//!  2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
+//!
+//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTcCore] trait which allows to
+//! pass raw or CCSDS packets to it. Upon receiving a packet, it performs the following steps:
+//!
+//! 1. It tries to identify the target Application Process Identifier (APID) based on the
+//!    respective CCSDS space packet header field. If that process fails, a [ByteConversionError] is
+//!    returned to the user
+//! 2. If a valid APID is found and matches one of the APIDs provided by
+//!    [CcsdsPacketHandler::valid_apids], it will pass the packet to the user provided
+//!    [CcsdsPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
+//!    will be passed to the [CcsdsPacketHandler::handle_unknown_apid] function.
+//!
+//! # Example
+//!
+//! ```rust
+//! use satrs::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
+//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
+//! use spacepackets::{CcsdsPacket, SpHeader};
+//! use spacepackets::ecss::WritablePusPacket;
+//! use spacepackets::ecss::tc::PusTcCreator;
+//!
+//! #[derive (Default)]
+//! struct ConcreteApidHandler {
+//!     known_call_count: u32,
+//!     unknown_call_count: u32
+//! }
+//!
+//! impl ConcreteApidHandler {
+//!     fn mutable_foo(&mut self) {}
+//! }
+//!
+//! impl CcsdsPacketHandler for ConcreteApidHandler {
+//!     type Error = ();
+//!     fn valid_apids(&self) -> &'static [u16] { &[0x002] }
+//!     fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
+//!         assert_eq!(sp_header.apid(), 0x002);
+//!         assert_eq!(tc_raw.len(), 13);
+//!         self.known_call_count += 1;
+//!         Ok(())
+//!     }
+//!     fn handle_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
+//!         assert_eq!(sp_header.apid(), 0x003);
+//!         assert_eq!(tc_raw.len(), 13);
+//!         self.unknown_call_count += 1;
+//!         Ok(())
+//!     }
+//! }
+//!
+//! let apid_handler = ConcreteApidHandler::default();
+//! let mut ccsds_distributor = CcsdsDistributor::new(apid_handler);
+//!
+//! // Create and pass PUS telecommand with a valid APID
+//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
+//! let mut test_buf: [u8; 32] = [0; 32];
+//! let mut size = pus_tc
+//!     .write_to_bytes(test_buf.as_mut_slice())
+//!     .expect("Error writing TC to buffer");
+//! let tc_slice = &test_buf[0..size];
+//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
+//!
+//! // Now pass a packet with an unknown APID to the distributor
+//! pus_tc.set_apid(0x003);
+//! size = pus_tc
+//!     .write_to_bytes(test_buf.as_mut_slice())
+//!     .expect("Error writing TC to buffer");
+//! let tc_slice = &test_buf[0..size];
+//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
+//!
+//! // Retrieve the APID handler.
+//! let handler_ref = ccsds_distributor.packet_handler();
+//! assert_eq!(handler_ref.known_call_count, 1);
+//! assert_eq!(handler_ref.unknown_call_count, 1);
+//!
+//! // Mutable access to the handler.
+//! let mutable_handler_ref = ccsds_distributor.packet_handler_mut();
+//! mutable_handler_ref.mutable_foo();
+//! ```
+use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
+use core::fmt::{Display, Formatter};
+use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
+#[cfg(feature = "std")]
+use std::error::Error;
+
+/// Generic trait for a handler or dispatcher object handling CCSDS packets.
+///
+/// Users should implement this trait on their custom CCSDS packet handler and then pass a boxed
+/// instance of this handler to the [CcsdsDistributor]. The distributor will use the trait
+/// interface to dispatch received packets to the user based on the Application Process Identifier
+/// (APID) field of the CCSDS packet.
+pub trait CcsdsPacketHandler {
+    type Error;
+
+    // TODO: Rework this to return a boolean based on u16 input..
+    fn valid_apids(&self) -> &'static [u16];
+    fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8])
+        -> Result<(), Self::Error>;
+    fn handle_unknown_apid(
+        &mut self,
+        sp_header: &SpHeader,
+        tc_raw: &[u8],
+    ) -> Result<(), Self::Error>;
+}
+
+/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
+pub struct CcsdsDistributor<PacketHandler: CcsdsPacketHandler<Error = E>, E> {
+    /// User provided APID handler stored as a generic trait object.
+    /// It can be cast back to the original concrete type using [Self::packet_handler] or
+    /// the [Self::packet_handler_mut] method.
+    packet_handler: PacketHandler,
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum CcsdsError<E> {
+    CustomError(E),
+    ByteConversionError(ByteConversionError),
+}
+
+impl<E: Display> Display for CcsdsError<E> {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::CustomError(e) => write!(f, "{e}"),
+            Self::ByteConversionError(e) => write!(f, "{e}"),
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl<E: Error> Error for CcsdsError<E> {
+    fn source(&self) -> Option<&(dyn Error + 'static)> {
+        match self {
+            Self::CustomError(e) => e.source(),
+            Self::ByteConversionError(e) => e.source(),
+        }
+    }
+}
+
+impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesCcsdsTc
+    for CcsdsDistributor<PacketHandler, E>
+{
+    type Error = CcsdsError<E>;
+
+    fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        self.dispatch_ccsds(header, tc_raw)
+    }
+}
+
+impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesTcCore
+    for CcsdsDistributor<PacketHandler, E>
+{
+    type Error = CcsdsError<E>;
+
+    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        if tc_raw.len() < 7 {
+            return Err(CcsdsError::ByteConversionError(
+                ByteConversionError::FromSliceTooSmall {
+                    found: tc_raw.len(),
+                    expected: 7,
+                },
+            ));
+        }
+        let (sp_header, _) =
+            SpHeader::from_be_bytes(tc_raw).map_err(|e| CcsdsError::ByteConversionError(e))?;
+        self.dispatch_ccsds(&sp_header, tc_raw)
+    }
+}
+
+impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> CcsdsDistributor<PacketHandler, E> {
+    pub fn new(packet_handler: PacketHandler) -> Self {
+        CcsdsDistributor { packet_handler }
+    }
+
+    pub fn packet_handler(&self) -> &PacketHandler {
+        &self.packet_handler
+    }
+
+    pub fn packet_handler_mut(&mut self) -> &mut PacketHandler {
+        &mut self.packet_handler
+    }
+
+    fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
+        let apid = sp_header.apid();
+        let valid_apids = self.packet_handler.valid_apids();
+        for &valid_apid in valid_apids {
+            if valid_apid == apid {
+                return self
+                    .packet_handler
+                    .handle_known_apid(sp_header, tc_raw)
+                    .map_err(|e| CcsdsError::CustomError(e));
+            }
+        }
+        self.packet_handler
+            .handle_unknown_apid(sp_header, tc_raw)
+            .map_err(|e| CcsdsError::CustomError(e))
+    }
+}
+
+#[cfg(test)]
+pub(crate) mod tests {
+    use super::*;
+    use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
+    use spacepackets::ecss::tc::PusTcCreator;
+    use spacepackets::ecss::WritablePusPacket;
+    use spacepackets::CcsdsPacket;
+    use std::collections::VecDeque;
+    use std::sync::{Arc, Mutex};
+    use std::vec::Vec;
+
+    fn is_send<T: Send>(_: &T) {}
+
+    pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let size = pus_tc
+            .write_to_bytes(buf)
+            .expect("Error writing TC to buffer");
+        assert_eq!(size, 13);
+        &buf[0..size]
+    }
+
+    pub fn generate_ping_tc_as_vec() -> Vec<u8> {
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
+            .to_vec()
+            .unwrap()
+    }
+
+    type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
+    pub struct BasicApidHandlerSharedQueue {
+        pub known_packet_queue: SharedPacketQueue,
+        pub unknown_packet_queue: SharedPacketQueue,
+    }
+
+    #[derive(Default)]
+    pub struct BasicApidHandlerOwnedQueue {
+        pub known_packet_queue: VecDeque<(u16, Vec<u8>)>,
+        pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
+    }
+
+    impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
+        type Error = ();
+        fn valid_apids(&self) -> &'static [u16] {
+            &[0x000, 0x002]
+        }
+
+        fn handle_known_apid(
+            &mut self,
+            sp_header: &SpHeader,
+            tc_raw: &[u8],
+        ) -> Result<(), Self::Error> {
+            let mut vec = Vec::new();
+            vec.extend_from_slice(tc_raw);
+            self.known_packet_queue
+                .lock()
+                .unwrap()
+                .push_back((sp_header.apid(), vec));
+            Ok(())
+        }
+
+        fn handle_unknown_apid(
+            &mut self,
+            sp_header: &SpHeader,
+            tc_raw: &[u8],
+        ) -> Result<(), Self::Error> {
+            let mut vec = Vec::new();
+            vec.extend_from_slice(tc_raw);
+            self.unknown_packet_queue
+                .lock()
+                .unwrap()
+                .push_back((sp_header.apid(), vec));
+            Ok(())
+        }
+    }
+
+    impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
+        type Error = ();
+
+        fn valid_apids(&self) -> &'static [u16] {
+            &[0x000, 0x002]
+        }
+
+        fn handle_known_apid(
+            &mut self,
+            sp_header: &SpHeader,
+            tc_raw: &[u8],
+        ) -> Result<(), Self::Error> {
+            let mut vec = Vec::new();
+            vec.extend_from_slice(tc_raw);
+            self.known_packet_queue.push_back((sp_header.apid(), vec));
+            Ok(())
+        }
+
+        fn handle_unknown_apid(
+            &mut self,
+            sp_header: &SpHeader,
+            tc_raw: &[u8],
+        ) -> Result<(), Self::Error> {
+            let mut vec = Vec::new();
+            vec.extend_from_slice(tc_raw);
+            self.unknown_packet_queue.push_back((sp_header.apid(), vec));
+            Ok(())
+        }
+    }
+
+    #[test]
+    fn test_distribs_known_apid() {
+        let known_packet_queue = Arc::new(Mutex::default());
+        let unknown_packet_queue = Arc::new(Mutex::default());
+        let apid_handler = BasicApidHandlerSharedQueue {
+            known_packet_queue: known_packet_queue.clone(),
+            unknown_packet_queue: unknown_packet_queue.clone(),
+        };
+        let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
+        is_send(&ccsds_distrib);
+        let mut test_buf: [u8; 32] = [0; 32];
+        let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
+
+        ccsds_distrib.pass_tc(tc_slice).expect("Passing TC failed");
+        let recvd = known_packet_queue.lock().unwrap().pop_front();
+        assert!(unknown_packet_queue.lock().unwrap().is_empty());
+        assert!(recvd.is_some());
+        let (apid, packet) = recvd.unwrap();
+        assert_eq!(apid, 0x002);
+        assert_eq!(packet, tc_slice);
+    }
+
+    #[test]
+    fn test_unknown_apid_handling() {
+        let apid_handler = BasicApidHandlerOwnedQueue::default();
+        let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
+        let mut sph = SpHeader::tc_unseg(0x004, 0x34, 0).unwrap();
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let mut test_buf: [u8; 32] = [0; 32];
+        pus_tc
+            .write_to_bytes(test_buf.as_mut_slice())
+            .expect("Error writing TC to buffer");
+        ccsds_distrib.pass_tc(&test_buf).expect("Passing TC failed");
+        assert!(ccsds_distrib.packet_handler().known_packet_queue.is_empty());
+        let apid_handler = ccsds_distrib.packet_handler_mut();
+        let recvd = apid_handler.unknown_packet_queue.pop_front();
+        assert!(recvd.is_some());
+        let (apid, packet) = recvd.unwrap();
+        assert_eq!(apid, 0x004);
+        assert_eq!(packet.as_slice(), test_buf);
+    }
+
+    #[test]
+    fn test_ccsds_distribution() {
+        let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let tc_vec = pus_tc.to_vec().unwrap();
+        ccsds_distrib
+            .pass_ccsds(&sph, &tc_vec)
+            .expect("passing CCSDS TC failed");
+        let recvd = ccsds_distrib
+            .packet_handler_mut()
+            .known_packet_queue
+            .pop_front();
+        assert!(recvd.is_some());
+        let recvd = recvd.unwrap();
+        assert_eq!(recvd.0, 0x002);
+        assert_eq!(recvd.1, tc_vec);
+    }
+
+    #[test]
+    fn test_distribution_short_packet_fails() {
+        let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let tc_vec = pus_tc.to_vec().unwrap();
+        let result = ccsds_distrib.pass_tc(&tc_vec[0..6]);
+        assert!(result.is_err());
+        let error = result.unwrap_err();
+        if let CcsdsError::ByteConversionError(ByteConversionError::FromSliceTooSmall {
+            found,
+            expected,
+        }) = error
+        {
+            assert_eq!(found, 6);
+            assert_eq!(expected, 7);
+        } else {
+            panic!("Unexpected error variant");
+        }
+    }
+}

satrs/src/tmtc/mod.rs

@@ -1,651 +1,115 @@
 //! Telemetry and Telecommanding (TMTC) module. Contains packet routing components with special
 //! support for CCSDS and ECSS packets.
 //!
-//! It is recommended to read the [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/communication.html)
+//! The distributor modules provided by this module use trait objects provided by the user to
-//! about communication first. The TMTC abstractions provided by this framework are based on the
+//! directly dispatch received packets to packet listeners based on packet fields like the CCSDS
-//! assumption that all telemetry is sent to a special handler object called the TM sink while
+//! Application Process ID (APID) or the ECSS PUS service type. This allows for fast packet
-//! all received telecommands are sent to a special handler object called TC source. Using
+//! routing without the overhead and complication of using message queues. However, it also requires
-//! a design like this makes it simpler to add new TC packet sources or new telemetry generators:
-//! They only need to send the received and generated data to these objects.
-use crate::queue::GenericSendError;
-use crate::{
-    pool::{PoolAddr, PoolError},
-    ComponentId,
-};
-#[cfg(feature = "std")]
-pub use alloc_mod::*;
 #[cfg(feature = "alloc")]
 use downcast_rs::{impl_downcast, Downcast};
-use spacepackets::{
+use spacepackets::SpHeader;
-    ecss::{
-        tc::PusTcReader,
-        tm::{PusTmCreator, PusTmReader},
-    },
-    SpHeader,
-};
-#[cfg(feature = "std")]
-use std::sync::mpsc;
-#[cfg(feature = "std")]
-pub use std_mod::*;
 
+#[cfg(feature = "alloc")]
+pub mod ccsds_distrib;
+#[cfg(feature = "alloc")]
+pub mod pus_distrib;
 pub mod tm_helper;
 
-/// Simple type modelling packet stored inside a pool structure. This structure is intended to
+#[cfg(feature = "alloc")]
-/// be used when sending a packet via a message queue, so it also contains the sender ID.
+pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
-#[derive(Debug, PartialEq, Eq, Clone)]
+#[cfg(feature = "alloc")]
-pub struct PacketInPool {
+pub use pus_distrib::{PusDistributor, PusServiceDistributor};
-    pub sender_id: ComponentId,
-    pub store_addr: PoolAddr,
-}
 
-impl PacketInPool {
+/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
-    pub fn new(sender_id: ComponentId, store_addr: PoolAddr) -> Self {
-        Self {
-            sender_id,
-            store_addr,
-        }
-    }
-}
-
-/// Generic trait for object which can send any packets in form of a raw bytestream, with
 /// no assumptions about the received protocol.
-pub trait PacketSenderRaw: Send {
+///
+/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
+/// [crate::tmtc::ccsds_distrib::CcsdsDistributor]  which allows to pass the respective packets in
+/// raw byte format into them.
+pub trait ReceivesTcCore {
     type Error;
-    fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error>;
+    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
 }
 
-/// Extension trait of [PacketSenderRaw] which allows downcasting by implementing [Downcast].
+/// Extension trait of [ReceivesTcCore] which allows downcasting by implementing [Downcast] and
+/// is also sendable.
 #[cfg(feature = "alloc")]
-pub trait PacketSenderRawExt: PacketSenderRaw + Downcast {
+pub trait ReceivesTc: ReceivesTcCore + Downcast + Send {
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn PacketSenderRaw<Error = Self::Error>;
+    fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error>;
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn PacketSenderRaw<Error = Self::Error>;
+    fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error>;
 }
 
-/// Blanket implementation to automatically implement [PacketSenderRawExt] when the [alloc]
+/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
-/// feature is enabled.
+/// is enabled.
 #[cfg(feature = "alloc")]
-impl<T> PacketSenderRawExt for T
+impl<T> ReceivesTc for T
 where
-    T: PacketSenderRaw + Send + 'static,
+    T: ReceivesTcCore + Send + 'static,
 {
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn PacketSenderRaw<Error = Self::Error> {
+    fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error> {
         self
     }
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn PacketSenderRaw<Error = Self::Error> {
+    fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error> {
         self
     }
 }
 
 #[cfg(feature = "alloc")]
-impl_downcast!(PacketSenderRawExt assoc Error);
+impl_downcast!(ReceivesTc assoc Error);
 
-/// Generic trait for object which can send CCSDS space packets, for example ECSS PUS packets
+/// Generic trait for object which can receive CCSDS space packets, for example ECSS PUS packets
-/// or CCSDS File Delivery Protocol (CFDP) packets wrapped in space packets.
+/// for CCSDS File Delivery Protocol (CFDP) packets.
-pub trait PacketSenderCcsds: Send {
+///
+/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
+/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows
+/// to pass the respective packets in raw byte format or in CCSDS format into them.
+pub trait ReceivesCcsdsTc {
     type Error;
-    fn send_ccsds(
+    fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error>;
-        &self,
-        sender_id: ComponentId,
-        header: &SpHeader,
-        tc_raw: &[u8],
-    ) -> Result<(), Self::Error>;
 }
 
-#[cfg(feature = "std")]
+/// Generic trait for a TM packet source, with no restrictions on the type of TM.
-impl PacketSenderCcsds for mpsc::Sender<PacketAsVec> {
-    type Error = GenericSendError;
-
-    fn send_ccsds(
-        &self,
-        sender_id: ComponentId,
-        _: &SpHeader,
-        tc_raw: &[u8],
-    ) -> Result<(), Self::Error> {
-        self.send(PacketAsVec::new(sender_id, tc_raw.to_vec()))
-            .map_err(|_| GenericSendError::RxDisconnected)
-    }
-}
-
-#[cfg(feature = "std")]
-impl PacketSenderCcsds for mpsc::SyncSender<PacketAsVec> {
-    type Error = GenericSendError;
-
-    fn send_ccsds(
-        &self,
-        sender_id: ComponentId,
-        _: &SpHeader,
-        packet_raw: &[u8],
-    ) -> Result<(), Self::Error> {
-        self.try_send(PacketAsVec::new(sender_id, packet_raw.to_vec()))
-            .map_err(|e| match e {
-                mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
-                mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
-            })
-    }
-}
-
-/// Generic trait for a packet receiver, with no restrictions on the type of packet.
 /// Implementors write the telemetry into the provided buffer and return the size of the telemetry.
-pub trait PacketSource: Send {
+pub trait TmPacketSourceCore {
     type Error;
     fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error>;
 }
 
-/// Extension trait of [PacketSource] which allows downcasting by implementing [Downcast].
+/// Extension trait of [TmPacketSourceCore] which allows downcasting by implementing [Downcast] and
+/// is also sendable.
 #[cfg(feature = "alloc")]
-pub trait PacketSourceExt: PacketSource + Downcast {
+pub trait TmPacketSource: TmPacketSourceCore + Downcast + Send {
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn PacketSource<Error = Self::Error>;
+    fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error>;
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn PacketSource<Error = Self::Error>;
+    fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error>;
 }
 
-/// Blanket implementation to automatically implement [PacketSourceExt] when the [alloc] feature
+/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
 /// is enabled.
 #[cfg(feature = "alloc")]
-impl<T> PacketSourceExt for T
+impl<T> TmPacketSource for T
 where
-    T: PacketSource + 'static,
+    T: TmPacketSourceCore + Send + 'static,
 {
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn PacketSource<Error = Self::Error> {
+    fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error> {
         self
     }
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn PacketSource<Error = Self::Error> {
+    fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error> {
         self
     }
 }
-
-/// Helper trait for any generic (static) store which allows storing raw or CCSDS packets.
-pub trait CcsdsPacketPool {
-    fn add_ccsds_tc(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<PoolAddr, PoolError> {
-        self.add_raw_tc(tc_raw)
-    }
-
-    fn add_raw_tc(&mut self, tc_raw: &[u8]) -> Result<PoolAddr, PoolError>;
-}
-
-/// Helper trait for any generic (static) store which allows storing ECSS PUS Telecommand packets.
-pub trait PusTcPool {
-    fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<PoolAddr, PoolError>;
-}
-
-/// Helper trait for any generic (static) store which allows storing ECSS PUS Telemetry packets.
-pub trait PusTmPool {
-    fn add_pus_tm_from_reader(&mut self, pus_tm: &PusTmReader) -> Result<PoolAddr, PoolError>;
-    fn add_pus_tm_from_creator(&mut self, pus_tm: &PusTmCreator) -> Result<PoolAddr, PoolError>;
-}
-
-/// Generic trait for any sender component able to send packets stored inside a pool structure.
-pub trait PacketInPoolSender: Send {
-    fn send_packet(
-        &self,
-        sender_id: ComponentId,
-        store_addr: PoolAddr,
-    ) -> Result<(), GenericSendError>;
-}
-
-#[cfg(feature = "alloc")]
-pub mod alloc_mod {
-    use alloc::vec::Vec;
-
-    use super::*;
-
-    /// Simple type modelling packet stored in the heap. This structure is intended to
-    /// be used when sending a packet via a message queue, so it also contains the sender ID.
-    #[derive(Debug, PartialEq, Eq, Clone)]
-    pub struct PacketAsVec {
-        pub sender_id: ComponentId,
-        pub packet: Vec<u8>,
-    }
-
-    impl PacketAsVec {
-        pub fn new(sender_id: ComponentId, packet: Vec<u8>) -> Self {
-            Self { sender_id, packet }
-        }
-    }
-}
-#[cfg(feature = "std")]
-pub mod std_mod {
-
-    use core::cell::RefCell;
-
-    #[cfg(feature = "crossbeam")]
-    use crossbeam_channel as cb;
-    use spacepackets::ecss::WritablePusPacket;
-    use thiserror::Error;
-
-    use crate::pool::PoolProvider;
-    use crate::pus::{EcssTmSender, EcssTmtcError, PacketSenderPusTc};
-
-    use super::*;
-
-    /// Newtype wrapper around the [SharedStaticMemoryPool] to enable extension helper traits on
-    /// top of the regular shared memory pool API.
-    #[derive(Clone)]
-    pub struct SharedPacketPool(pub SharedStaticMemoryPool);
-
-    impl SharedPacketPool {
-        pub fn new(pool: &SharedStaticMemoryPool) -> Self {
-            Self(pool.clone())
-        }
-    }
-
-    impl PusTcPool for SharedPacketPool {
-        fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<PoolAddr, PoolError> {
-            let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
-            let addr = pg.free_element(pus_tc.len_packed(), |buf| {
-                buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
-            })?;
-            Ok(addr)
-        }
-    }
-
-    impl PusTmPool for SharedPacketPool {
-        fn add_pus_tm_from_reader(&mut self, pus_tm: &PusTmReader) -> Result<PoolAddr, PoolError> {
-            let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
-            let addr = pg.free_element(pus_tm.len_packed(), |buf| {
-                buf[0..pus_tm.len_packed()].copy_from_slice(pus_tm.raw_data());
-            })?;
-            Ok(addr)
-        }
-
-        fn add_pus_tm_from_creator(
-            &mut self,
-            pus_tm: &PusTmCreator,
-        ) -> Result<PoolAddr, PoolError> {
-            let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
-            let mut result = Ok(0);
-            let addr = pg.free_element(pus_tm.len_written(), |buf| {
-                result = pus_tm.write_to_bytes(buf);
-            })?;
-            result?;
-            Ok(addr)
-        }
-    }
-
-    impl CcsdsPacketPool for SharedPacketPool {
-        fn add_raw_tc(&mut self, tc_raw: &[u8]) -> Result<PoolAddr, PoolError> {
-            let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
-            let addr = pg.free_element(tc_raw.len(), |buf| {
-                buf[0..tc_raw.len()].copy_from_slice(tc_raw);
-            })?;
-            Ok(addr)
-        }
-    }
-
-    #[cfg(feature = "std")]
-    impl PacketSenderRaw for mpsc::Sender<PacketAsVec> {
-        type Error = GenericSendError;
-
-        fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
-            self.send(PacketAsVec::new(sender_id, packet.to_vec()))
-                .map_err(|_| GenericSendError::RxDisconnected)
-        }
-    }
-
-    #[cfg(feature = "std")]
-    impl PacketSenderRaw for mpsc::SyncSender<PacketAsVec> {
-        type Error = GenericSendError;
-
-        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
-            self.try_send(PacketAsVec::new(sender_id, tc_raw.to_vec()))
-                .map_err(|e| match e {
-                    mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
-                    mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
-                })
-        }
-    }
-
-    #[derive(Debug, Clone, PartialEq, Eq, Error)]
-    pub enum StoreAndSendError {
-        #[error("Store error: {0}")]
-        Store(#[from] PoolError),
-        #[error("Genreric send error: {0}")]
-        Send(#[from] GenericSendError),
-    }
-
-    pub use crate::pool::SharedStaticMemoryPool;
-
-    impl PacketInPoolSender for mpsc::Sender<PacketInPool> {
-        fn send_packet(
-            &self,
-            sender_id: ComponentId,
-            store_addr: PoolAddr,
-        ) -> Result<(), GenericSendError> {
-            self.send(PacketInPool::new(sender_id, store_addr))
-                .map_err(|_| GenericSendError::RxDisconnected)
-        }
-    }
-
-    impl PacketInPoolSender for mpsc::SyncSender<PacketInPool> {
-        fn send_packet(
-            &self,
-            sender_id: ComponentId,
-            store_addr: PoolAddr,
-        ) -> Result<(), GenericSendError> {
-            self.try_send(PacketInPool::new(sender_id, store_addr))
-                .map_err(|e| match e {
-                    mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
-                    mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
-                })
-        }
-    }
-
-    #[cfg(feature = "crossbeam")]
-    impl PacketInPoolSender for cb::Sender<PacketInPool> {
-        fn send_packet(
-            &self,
-            sender_id: ComponentId,
-            store_addr: PoolAddr,
-        ) -> Result<(), GenericSendError> {
-            self.try_send(PacketInPool::new(sender_id, store_addr))
-                .map_err(|e| match e {
-                    cb::TrySendError::Full(_) => GenericSendError::QueueFull(None),
-                    cb::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
-                })
-        }
-    }
-
-    /// This is the primary structure used to send packets stored in a dedicated memory pool
-    /// structure.
-    #[derive(Clone)]
-    pub struct PacketSenderWithSharedPool<
-        Sender: PacketInPoolSender = mpsc::SyncSender<PacketInPool>,
-        PacketPool: CcsdsPacketPool = SharedPacketPool,
-    > {
-        pub sender: Sender,
-        pub shared_pool: RefCell<PacketPool>,
-    }
-
-    impl<Sender: PacketInPoolSender> PacketSenderWithSharedPool<Sender, SharedPacketPool> {
-        pub fn new_with_shared_packet_pool(
-            packet_sender: Sender,
-            shared_pool: &SharedStaticMemoryPool,
-        ) -> Self {
-            Self {
-                sender: packet_sender,
-                shared_pool: RefCell::new(SharedPacketPool::new(shared_pool)),
-            }
-        }
-    }
-
-    impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool>
-        PacketSenderWithSharedPool<Sender, PacketStore>
-    {
-        pub fn new(packet_sender: Sender, shared_pool: PacketStore) -> Self {
-            Self {
-                sender: packet_sender,
-                shared_pool: RefCell::new(shared_pool),
-            }
-        }
-    }
-
-    impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Clone>
-        PacketSenderWithSharedPool<Sender, PacketStore>
-    {
-        pub fn shared_packet_store(&self) -> PacketStore {
-            let pool = self.shared_pool.borrow();
-            pool.clone()
-        }
-    }
-
-    impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Send> PacketSenderRaw
-        for PacketSenderWithSharedPool<Sender, PacketStore>
-    {
-        type Error = StoreAndSendError;
-
-        fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
-            let mut shared_pool = self.shared_pool.borrow_mut();
-            let store_addr = shared_pool.add_raw_tc(packet)?;
-            drop(shared_pool);
-            self.sender
-                .send_packet(sender_id, store_addr)
-                .map_err(StoreAndSendError::Send)?;
-            Ok(())
-        }
-    }
-
-    impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + PusTcPool + Send>
-        PacketSenderPusTc for PacketSenderWithSharedPool<Sender, PacketStore>
-    {
-        type Error = StoreAndSendError;
-
-        fn send_pus_tc(
-            &self,
-            sender_id: ComponentId,
-            _: &SpHeader,
-            pus_tc: &PusTcReader,
-        ) -> Result<(), Self::Error> {
-            let mut shared_pool = self.shared_pool.borrow_mut();
-            let store_addr = shared_pool.add_raw_tc(pus_tc.raw_data())?;
-            drop(shared_pool);
-            self.sender
-                .send_packet(sender_id, store_addr)
-                .map_err(StoreAndSendError::Send)?;
-            Ok(())
-        }
-    }
-
-    impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Send> PacketSenderCcsds
-        for PacketSenderWithSharedPool<Sender, PacketStore>
-    {
-        type Error = StoreAndSendError;
-
-        fn send_ccsds(
-            &self,
-            sender_id: ComponentId,
-            _sp_header: &SpHeader,
-            tc_raw: &[u8],
-        ) -> Result<(), Self::Error> {
-            self.send_packet(sender_id, tc_raw)
-        }
-    }
-
-    impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + PusTmPool + Send> EcssTmSender
-        for PacketSenderWithSharedPool<Sender, PacketStore>
-    {
-        fn send_tm(
-            &self,
-            sender_id: crate::ComponentId,
-            tm: crate::pus::PusTmVariant,
-        ) -> Result<(), crate::pus::EcssTmtcError> {
-            let send_addr = |store_addr: PoolAddr| {
-                self.sender
-                    .send_packet(sender_id, store_addr)
-                    .map_err(EcssTmtcError::Send)
-            };
-            match tm {
-                crate::pus::PusTmVariant::InStore(store_addr) => send_addr(store_addr),
-                crate::pus::PusTmVariant::Direct(tm_creator) => {
-                    let mut pool = self.shared_pool.borrow_mut();
-                    let store_addr = pool.add_pus_tm_from_creator(&tm_creator)?;
-                    send_addr(store_addr)
-                }
-            }
-        }
-    }
-}
-
-#[cfg(test)]
-pub(crate) mod tests {
-    use alloc::vec;
-
-    use std::sync::RwLock;
-
-    use crate::pool::{PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
-
-    use super::*;
-    use std::sync::mpsc;
-
-    pub(crate) fn send_with_sender<SendError>(
-        sender_id: ComponentId,
-        packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
-        packet: &[u8],
-    ) -> Result<(), SendError> {
-        packet_sender.send_packet(sender_id, packet)
-    }
-
-    #[test]
-    fn test_basic_mpsc_channel_sender_bounded() {
-        let (tx, rx) = mpsc::channel();
-        let some_packet = vec![1, 2, 3, 4, 5];
-        send_with_sender(1, &tx, &some_packet).expect("failed to send packet");
-        let rx_packet = rx.try_recv().unwrap();
-        assert_eq!(some_packet, rx_packet.packet);
-        assert_eq!(1, rx_packet.sender_id);
-    }
-
-    #[test]
-    fn test_basic_mpsc_channel_receiver_dropped() {
-        let (tx, rx) = mpsc::channel();
-        let some_packet = vec![1, 2, 3, 4, 5];
-        drop(rx);
-        let result = send_with_sender(2, &tx, &some_packet);
-        assert!(result.is_err());
-        matches!(result.unwrap_err(), GenericSendError::RxDisconnected);
-    }
-
-    #[test]
-    fn test_basic_mpsc_sync_sender() {
-        let (tx, rx) = mpsc::sync_channel(3);
-        let some_packet = vec![1, 2, 3, 4, 5];
-        send_with_sender(3, &tx, &some_packet).expect("failed to send packet");
-        let rx_packet = rx.try_recv().unwrap();
-        assert_eq!(some_packet, rx_packet.packet);
-        assert_eq!(3, rx_packet.sender_id);
-    }
-
-    #[test]
-    fn test_basic_mpsc_sync_sender_receiver_dropped() {
-        let (tx, rx) = mpsc::sync_channel(3);
-        let some_packet = vec![1, 2, 3, 4, 5];
-        drop(rx);
-        let result = send_with_sender(0, &tx, &some_packet);
-        assert!(result.is_err());
-        matches!(result.unwrap_err(), GenericSendError::RxDisconnected);
-    }
-
-    #[test]
-    fn test_basic_mpsc_sync_sender_queue_full() {
-        let (tx, rx) = mpsc::sync_channel(1);
-        let some_packet = vec![1, 2, 3, 4, 5];
-        send_with_sender(0, &tx, &some_packet).expect("failed to send packet");
-        let result = send_with_sender(1, &tx, &some_packet);
-        assert!(result.is_err());
-        matches!(result.unwrap_err(), GenericSendError::QueueFull(None));
-        let rx_packet = rx.try_recv().unwrap();
-        assert_eq!(some_packet, rx_packet.packet);
-    }
-
-    #[test]
-    fn test_basic_shared_store_sender_unbounded_sender() {
-        let (tc_tx, tc_rx) = mpsc::channel();
-        let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
-        let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
-            StaticMemoryPool::new(pool_cfg),
-        )));
-        let some_packet = vec![1, 2, 3, 4, 5];
-        let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
-        send_with_sender(5, &tc_sender, &some_packet).expect("failed to send packet");
-        let packet_in_pool = tc_rx.try_recv().unwrap();
-        let mut pool = shared_pool.0.write().unwrap();
-        let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
-        assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
-        assert_eq!(packet_in_pool.sender_id, 5)
-    }
-
-    #[test]
-    fn test_basic_shared_store_sender() {
-        let (tc_tx, tc_rx) = mpsc::sync_channel(10);
-        let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
-        let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
-            StaticMemoryPool::new(pool_cfg),
-        )));
-        let some_packet = vec![1, 2, 3, 4, 5];
-        let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
-        send_with_sender(5, &tc_sender, &some_packet).expect("failed to send packet");
-        let packet_in_pool = tc_rx.try_recv().unwrap();
-        let mut pool = shared_pool.0.write().unwrap();
-        let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
-        assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
-        assert_eq!(packet_in_pool.sender_id, 5)
-    }
-
-    #[test]
-    fn test_basic_shared_store_sender_rx_dropped() {
-        let (tc_tx, tc_rx) = mpsc::sync_channel(10);
-        let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
-        let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
-            StaticMemoryPool::new(pool_cfg),
-        )));
-        let some_packet = vec![1, 2, 3, 4, 5];
-        drop(tc_rx);
-        let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
-        let result = send_with_sender(2, &tc_sender, &some_packet);
-        assert!(result.is_err());
-        matches!(
-            result.unwrap_err(),
-            StoreAndSendError::Send(GenericSendError::RxDisconnected)
-        );
-    }
-
-    #[test]
-    fn test_basic_shared_store_sender_queue_full() {
-        let (tc_tx, tc_rx) = mpsc::sync_channel(1);
-        let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
-        let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
-            StaticMemoryPool::new(pool_cfg),
-        )));
-        let some_packet = vec![1, 2, 3, 4, 5];
-        let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
-        send_with_sender(3, &tc_sender, &some_packet).expect("failed to send packet");
-        let result = send_with_sender(3, &tc_sender, &some_packet);
-        assert!(result.is_err());
-        matches!(
-            result.unwrap_err(),
-            StoreAndSendError::Send(GenericSendError::RxDisconnected)
-        );
-        let packet_in_pool = tc_rx.try_recv().unwrap();
-        let mut pool = shared_pool.0.write().unwrap();
-        let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
-        assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
-        assert_eq!(packet_in_pool.sender_id, 3);
-    }
-
-    #[test]
-    fn test_basic_shared_store_store_error() {
-        let (tc_tx, tc_rx) = mpsc::sync_channel(1);
-        let pool_cfg = StaticPoolConfig::new(vec![(1, 8)], true);
-        let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
-            StaticMemoryPool::new(pool_cfg),
-        )));
-        let some_packet = vec![1, 2, 3, 4, 5];
-        let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
-        send_with_sender(4, &tc_sender, &some_packet).expect("failed to send packet");
-        let result = send_with_sender(4, &tc_sender, &some_packet);
-        assert!(result.is_err());
-        matches!(
-            result.unwrap_err(),
-            StoreAndSendError::Store(PoolError::StoreFull(..))
-        );
-        let packet_in_pool = tc_rx.try_recv().unwrap();
-        let mut pool = shared_pool.0.write().unwrap();
-        let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
-        assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
-        assert_eq!(packet_in_pool.sender_id, 4);
-    }
-}

satrs/src/tmtc/pus_distrib.rs

@@ -0,0 +1,405 @@
+//! ECSS PUS packet routing components.
+//!
+//! The routing components consist of two core components:
+//!  1. [PusDistributor] component which dispatches received packets to a user-provided handler.
+//!  2. [PusServiceDistributor] trait which should be implemented by the user-provided PUS packet
+//!     handler.
+//!
+//! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the
+//! [ReceivesTcCore] trait which allows to pass raw packets, CCSDS packets and PUS TC packets into
+//! it. Upon receiving a packet, it performs the following steps:
+//!
+//! 1. It tries to extract the [SpHeader] and [spacepackets::ecss::tc::PusTcReader] objects from
+//!    the raw bytestream. If this process fails, a [PusDistribError::PusError] is returned to the
+//!    user.
+//! 2. If it was possible to extract both components, the packet will be passed to the
+//!    [PusServiceDistributor::distribute_packet] method provided by the user.
+//!
+//! # Example
+//!
+//! ```rust
+//! use spacepackets::ecss::WritablePusPacket;
+//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceDistributor};
+//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
+//! use spacepackets::SpHeader;
+//! use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
+//!
+//! struct ConcretePusHandler {
+//!     handler_call_count: u32
+//! }
+//!
+//! // This is a very simple possible service provider. It increments an internal call count field,
+//! // which is used to verify the handler was called
+//! impl PusServiceDistributor for ConcretePusHandler {
+//!     type Error = ();
+//!     fn distribute_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
+//!         assert_eq!(service, 17);
+//!         assert_eq!(pus_tc.len_packed(), 13);
+//!         self.handler_call_count += 1;
+//!         Ok(())
+//!     }
+//! }
+//!
+//! let service_handler = ConcretePusHandler {
+//!     handler_call_count: 0
+//! };
+//! let mut pus_distributor = PusDistributor::new(service_handler);
+//!
+//! // Create and pass PUS ping telecommand with a valid APID
+//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
+//! let mut test_buf: [u8; 32] = [0; 32];
+//! let mut size = pus_tc
+//!     .write_to_bytes(test_buf.as_mut_slice())
+//!     .expect("Error writing TC to buffer");
+//! let tc_slice = &test_buf[0..size];
+//!
+//! pus_distributor.pass_tc(tc_slice).expect("Passing PUS telecommand failed");
+//!
+//! // User helper function to retrieve concrete class. We check the call count here to verify
+//! // that the PUS ping telecommand was routed successfully.
+//! let concrete_handler = pus_distributor.service_distributor();
+//! assert_eq!(concrete_handler.handler_call_count, 1);
+//! ```
+use crate::pus::ReceivesEcssPusTc;
+use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
+use core::fmt::{Display, Formatter};
+use spacepackets::ecss::tc::PusTcReader;
+use spacepackets::ecss::{PusError, PusPacket};
+use spacepackets::SpHeader;
+#[cfg(feature = "std")]
+use std::error::Error;
+
+/// Trait for a generic distributor object which can distribute PUS packets based on packet
+/// properties like the PUS service, space packet header or any other content of the PUS packet.
+pub trait PusServiceDistributor {
+    type Error;
+    fn distribute_packet(
+        &mut self,
+        service: u8,
+        header: &SpHeader,
+        pus_tc: &PusTcReader,
+    ) -> Result<(), Self::Error>;
+}
+
+/// Generic distributor object which dispatches received packets to a user provided handler.
+pub struct PusDistributor<ServiceDistributor: PusServiceDistributor<Error = E>, E> {
+    service_distributor: ServiceDistributor,
+}
+
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E>
+    PusDistributor<ServiceDistributor, E>
+{
+    pub fn new(service_provider: ServiceDistributor) -> Self {
+        PusDistributor {
+            service_distributor: service_provider,
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum PusDistribError<E> {
+    CustomError(E),
+    PusError(PusError),
+}
+
+impl<E: Display> Display for PusDistribError<E> {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            PusDistribError::CustomError(e) => write!(f, "pus distribution error: {e}"),
+            PusDistribError::PusError(e) => write!(f, "pus distribution error: {e}"),
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl<E: Error> Error for PusDistribError<E> {
+    fn source(&self) -> Option<&(dyn Error + 'static)> {
+        match self {
+            Self::CustomError(e) => e.source(),
+            Self::PusError(e) => e.source(),
+        }
+    }
+}
+
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesTcCore
+    for PusDistributor<ServiceDistributor, E>
+{
+    type Error = PusDistribError<E>;
+    fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
+        // Convert to ccsds and call pass_ccsds
+        let (sp_header, _) = SpHeader::from_be_bytes(tm_raw)
+            .map_err(|e| PusDistribError::PusError(PusError::ByteConversion(e)))?;
+        self.pass_ccsds(&sp_header, tm_raw)
+    }
+}
+
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesCcsdsTc
+    for PusDistributor<ServiceDistributor, E>
+{
+    type Error = PusDistribError<E>;
+    fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), Self::Error> {
+        let (tc, _) = PusTcReader::new(tm_raw).map_err(|e| PusDistribError::PusError(e))?;
+        self.pass_pus_tc(header, &tc)
+    }
+}
+
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesEcssPusTc
+    for PusDistributor<ServiceDistributor, E>
+{
+    type Error = PusDistribError<E>;
+    fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
+        self.service_distributor
+            .distribute_packet(pus_tc.service(), header, pus_tc)
+            .map_err(|e| PusDistribError::CustomError(e))
+    }
+}
+
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static>
+    PusDistributor<ServiceDistributor, E>
+{
+    pub fn service_distributor(&self) -> &ServiceDistributor {
+        &self.service_distributor
+    }
+
+    pub fn service_distributor_mut(&mut self) -> &mut ServiceDistributor {
+        &mut self.service_distributor
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::queue::GenericSendError;
+    use crate::tmtc::ccsds_distrib::tests::{
+        generate_ping_tc, generate_ping_tc_as_vec, BasicApidHandlerOwnedQueue,
+        BasicApidHandlerSharedQueue,
+    };
+    use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
+    use alloc::format;
+    use alloc::vec::Vec;
+    use spacepackets::ecss::PusError;
+    use spacepackets::CcsdsPacket;
+    #[cfg(feature = "std")]
+    use std::collections::VecDeque;
+    #[cfg(feature = "std")]
+    use std::sync::{Arc, Mutex};
+
+    fn is_send<T: Send>(_: &T) {}
+
+    pub struct PacketInfo {
+        pub service: u8,
+        pub apid: u16,
+        pub packet: Vec<u8>,
+    }
+
+    struct PusHandlerSharedQueue(Arc<Mutex<VecDeque<PacketInfo>>>);
+
+    #[derive(Default)]
+    struct PusHandlerOwnedQueue(VecDeque<PacketInfo>);
+
+    impl PusServiceDistributor for PusHandlerSharedQueue {
+        type Error = PusError;
+        fn distribute_packet(
+            &mut self,
+            service: u8,
+            sp_header: &SpHeader,
+            pus_tc: &PusTcReader,
+        ) -> Result<(), Self::Error> {
+            let mut packet: Vec<u8> = Vec::new();
+            packet.extend_from_slice(pus_tc.raw_data());
+            self.0
+                .lock()
+                .expect("Mutex lock failed")
+                .push_back(PacketInfo {
+                    service,
+                    apid: sp_header.apid(),
+                    packet,
+                });
+            Ok(())
+        }
+    }
+
+    impl PusServiceDistributor for PusHandlerOwnedQueue {
+        type Error = PusError;
+        fn distribute_packet(
+            &mut self,
+            service: u8,
+            sp_header: &SpHeader,
+            pus_tc: &PusTcReader,
+        ) -> Result<(), Self::Error> {
+            let mut packet: Vec<u8> = Vec::new();
+            packet.extend_from_slice(pus_tc.raw_data());
+            self.0.push_back(PacketInfo {
+                service,
+                apid: sp_header.apid(),
+                packet,
+            });
+            Ok(())
+        }
+    }
+
+    struct ApidHandlerShared {
+        pub pus_distrib: PusDistributor<PusHandlerSharedQueue, PusError>,
+        pub handler_base: BasicApidHandlerSharedQueue,
+    }
+
+    struct ApidHandlerOwned {
+        pub pus_distrib: PusDistributor<PusHandlerOwnedQueue, PusError>,
+        handler_base: BasicApidHandlerOwnedQueue,
+    }
+
+    macro_rules! apid_handler_impl {
+        () => {
+            type Error = PusError;
+
+            fn valid_apids(&self) -> &'static [u16] {
+                &[0x000, 0x002]
+            }
+
+            fn handle_known_apid(
+                &mut self,
+                sp_header: &SpHeader,
+                tc_raw: &[u8],
+            ) -> Result<(), Self::Error> {
+                self.handler_base
+                    .handle_known_apid(&sp_header, tc_raw)
+                    .ok()
+                    .expect("Unexpected error");
+                match self.pus_distrib.pass_ccsds(&sp_header, tc_raw) {
+                    Ok(_) => Ok(()),
+                    Err(e) => match e {
+                        PusDistribError::CustomError(_) => Ok(()),
+                        PusDistribError::PusError(e) => Err(e),
+                    },
+                }
+            }
+
+            fn handle_unknown_apid(
+                &mut self,
+                sp_header: &SpHeader,
+                tc_raw: &[u8],
+            ) -> Result<(), Self::Error> {
+                self.handler_base
+                    .handle_unknown_apid(&sp_header, tc_raw)
+                    .ok()
+                    .expect("Unexpected error");
+                Ok(())
+            }
+        };
+    }
+
+    impl CcsdsPacketHandler for ApidHandlerOwned {
+        apid_handler_impl!();
+    }
+
+    impl CcsdsPacketHandler for ApidHandlerShared {
+        apid_handler_impl!();
+    }
+
+    #[test]
+    fn test_pus_distribution_as_raw_packet() {
+        let mut pus_distrib = PusDistributor::new(PusHandlerOwnedQueue::default());
+        let tc = generate_ping_tc_as_vec();
+        let result = pus_distrib.pass_tc(&tc);
+        assert!(result.is_ok());
+        assert_eq!(pus_distrib.service_distributor_mut().0.len(), 1);
+        let packet_info = pus_distrib.service_distributor_mut().0.pop_front().unwrap();
+        assert_eq!(packet_info.service, 17);
+        assert_eq!(packet_info.apid, 0x002);
+        assert_eq!(packet_info.packet, tc);
+    }
+
+    #[test]
+    fn test_pus_distribution_combined_handler() {
+        let known_packet_queue = Arc::new(Mutex::default());
+        let unknown_packet_queue = Arc::new(Mutex::default());
+        let pus_queue = Arc::new(Mutex::default());
+        let pus_handler = PusHandlerSharedQueue(pus_queue.clone());
+        let handler_base = BasicApidHandlerSharedQueue {
+            known_packet_queue: known_packet_queue.clone(),
+            unknown_packet_queue: unknown_packet_queue.clone(),
+        };
+
+        let pus_distrib = PusDistributor::new(pus_handler);
+        is_send(&pus_distrib);
+        let apid_handler = ApidHandlerShared {
+            pus_distrib,
+            handler_base,
+        };
+        let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
+        let mut test_buf: [u8; 32] = [0; 32];
+        let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
+
+        // Pass packet to distributor
+        ccsds_distrib
+            .pass_tc(tc_slice)
+            .expect("Passing TC slice failed");
+        let recvd_ccsds = known_packet_queue.lock().unwrap().pop_front();
+        assert!(unknown_packet_queue.lock().unwrap().is_empty());
+        assert!(recvd_ccsds.is_some());
+        let (apid, packet) = recvd_ccsds.unwrap();
+        assert_eq!(apid, 0x002);
+        assert_eq!(packet.as_slice(), tc_slice);
+        let recvd_pus = pus_queue.lock().unwrap().pop_front();
+        assert!(recvd_pus.is_some());
+        let packet_info = recvd_pus.unwrap();
+        assert_eq!(packet_info.service, 17);
+        assert_eq!(packet_info.apid, 0x002);
+        assert_eq!(packet_info.packet, tc_slice);
+    }
+
+    #[test]
+    fn test_accessing_combined_distributor() {
+        let pus_handler = PusHandlerOwnedQueue::default();
+        let handler_base = BasicApidHandlerOwnedQueue::default();
+        let pus_distrib = PusDistributor::new(pus_handler);
+
+        let apid_handler = ApidHandlerOwned {
+            pus_distrib,
+            handler_base,
+        };
+        let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
+
+        let mut test_buf: [u8; 32] = [0; 32];
+        let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
+
+        ccsds_distrib
+            .pass_tc(tc_slice)
+            .expect("Passing TC slice failed");
+
+        let apid_handler_casted_back = ccsds_distrib.packet_handler_mut();
+        assert!(!apid_handler_casted_back
+            .handler_base
+            .known_packet_queue
+            .is_empty());
+        let handler_owned_queue = apid_handler_casted_back
+            .pus_distrib
+            .service_distributor_mut();
+        assert!(!handler_owned_queue.0.is_empty());
+        let packet_info = handler_owned_queue.0.pop_front().unwrap();
+        assert_eq!(packet_info.service, 17);
+        assert_eq!(packet_info.apid, 0x002);
+        assert_eq!(packet_info.packet, tc_slice);
+    }
+
+    #[test]
+    fn test_pus_distrib_error_custom_error() {
+        let error = PusDistribError::CustomError(GenericSendError::RxDisconnected);
+        let error_string = format!("{}", error);
+        assert_eq!(
+            error_string,
+            "pus distribution error: rx side has disconnected"
+        );
+    }
+
+    #[test]
+    fn test_pus_distrib_error_pus_error() {
+        let error = PusDistribError::<GenericSendError>::PusError(PusError::CrcCalculationMissing);
+        let error_string = format!("{}", error);
+        assert_eq!(
+            error_string,
+            "pus distribution error: crc16 was not calculated"
+        );
+    }
+}

satrs/src/tmtc/tm_helper.rs

@@ -3,6 +3,50 @@ use spacepackets::time::cds::CdsTime;
 use spacepackets::time::TimeWriter;
 use spacepackets::SpHeader;
 
+#[cfg(feature = "std")]
+pub use std_mod::*;
+
+#[cfg(feature = "std")]
+pub mod std_mod {
+    use crate::pool::{
+        PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr, StoreError,
+    };
+    use crate::pus::EcssTmtcError;
+    use spacepackets::ecss::tm::PusTmCreator;
+    use spacepackets::ecss::WritablePusPacket;
+    use std::sync::{Arc, RwLock};
+
+    #[derive(Clone)]
+    pub struct SharedTmPool(pub SharedStaticMemoryPool);
+
+    impl SharedTmPool {
+        pub fn new(shared_pool: StaticMemoryPool) -> Self {
+            Self(Arc::new(RwLock::new(shared_pool)))
+        }
+
+        pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
+            self.0.clone()
+        }
+        pub fn shared_pool(&self) -> &SharedStaticMemoryPool {
+            &self.0
+        }
+
+        pub fn shared_pool_mut(&mut self) -> &mut SharedStaticMemoryPool {
+            &mut self.0
+        }
+
+        pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
+            let mut pg = self.0.write().map_err(|_| StoreError::LockError)?;
+            let addr = pg.free_element(pus_tm.len_written(), |buf| {
+                pus_tm
+                    .write_to_bytes(buf)
+                    .expect("writing PUS TM to store failed");
+            })?;
+            Ok(addr)
+        }
+    }
+}
+
 pub struct PusTmWithCdsShortHelper {
     apid: u16,
     cds_short_buf: [u8; 7],
@@ -48,9 +92,9 @@ impl PusTmWithCdsShortHelper {
         source_data: &'a [u8],
         seq_count: u16,
     ) -> PusTmCreator {
-        let reply_header = SpHeader::new_for_unseg_tm(self.apid, seq_count, 0);
+        let mut reply_header = SpHeader::tm_unseg(self.apid, seq_count, 0).unwrap();
         let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
-        PusTmCreator::new(reply_header, tc_header, source_data, true)
+        PusTmCreator::new(&mut reply_header, tc_header, source_data, true)
     }
 }
 

satrs/tests/mode_tree.rs

@@ -79,7 +79,7 @@ impl ModeRequestHandler for TestDevice {
         Ok(())
     }
 
-    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
+    fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
         println!(
             "{}: announcing mode: {:?}",
             self.name, self.mode_and_submode
@@ -150,11 +150,9 @@ impl TestAssembly {
                         ModeReply::ModeReply(self.mode_and_submode),
                     )
                     .unwrap(),
-                ModeRequest::AnnounceMode => {
+                ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
-                    self.announce_mode(Some(request.requestor_info), false)
-                }
                 ModeRequest::AnnounceModeRecursive => {
-                    self.announce_mode(Some(request.requestor_info), true)
+                    self.announce_mode(request.requestor_info, true)
                 }
                 ModeRequest::ModeInfo(_) => todo!(),
             }
@@ -199,7 +197,7 @@ impl ModeRequestHandler for TestAssembly {
         Ok(())
     }
 
-    fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
+    fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool) {
         println!(
             "TestAssembly: Announcing mode (recursively: {}): {:?}",
             recursive, self.mode_and_submode
@@ -209,7 +207,6 @@ impl ModeRequestHandler for TestAssembly {
         if recursive {
             mode_request = ModeRequest::AnnounceModeRecursive;
         }
-        let request_id = requestor_info.map_or(0, |info| info.request_id());
         self.mode_node
             .request_sender_map
             .0
@@ -217,7 +214,10 @@ impl ModeRequestHandler for TestAssembly {
             .for_each(|(_, sender)| {
                 sender
                     .send(GenericMessage::new(
-                        MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
+                        MessageMetadata::new(
+                            requestor_info.request_id(),
+                            self.mode_node.local_channel_id_generic(),
+                        ),
                         mode_request,
                     ))
                     .expect("sending mode request failed");

satrs/tests/pools.rs

@@ -1,4 +1,4 @@
-use satrs::pool::{PoolAddr, PoolGuard, PoolProvider, StaticMemoryPool, StaticPoolConfig};
+use satrs::pool::{PoolGuard, PoolProvider, StaticMemoryPool, StaticPoolConfig, StoreAddr};
 use std::ops::DerefMut;
 use std::sync::mpsc;
 use std::sync::mpsc::{Receiver, Sender};
@@ -12,7 +12,7 @@ fn threaded_usage() {
     let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)], false);
     let shared_pool = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
     let shared_clone = shared_pool.clone();
-    let (tx, rx): (Sender<PoolAddr>, Receiver<PoolAddr>) = mpsc::channel();
+    let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
     let jh0 = thread::spawn(move || {
         let mut dummy = shared_pool.write().unwrap();
         let addr = dummy.add(&DUMMY_DATA).expect("Writing data failed");

satrs/tests/pus_events.rs

@@ -1,14 +1,12 @@
 use satrs::event_man::{
-    EventManagerWithMpsc, EventMessage, EventMessageU32, EventRoutingError, EventSendProvider,
+    EventManagerWithMpsc, EventSendProvider, EventU32SenderMpsc, MpscEventU32Receiver,
-    EventU32SenderMpsc, MpscEventU32Receiver,
 };
 use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
 use satrs::params::U32Pair;
 use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
 use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
-use satrs::pus::test_util::TEST_COMPONENT_ID_0;
+use satrs::pus::PusTmAsVec;
 use satrs::request::UniqueApidTargetId;
-use satrs::tmtc::PacketAsVec;
 use spacepackets::ecss::tm::PusTmReader;
 use spacepackets::ecss::{PusError, PusPacket};
 use std::sync::mpsc::{self, SendError, TryRecvError};
@@ -37,30 +35,28 @@ fn test_threaded_usage() {
     let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
     event_man.subscribe_all(pus_event_man_send_provider.target_id());
     event_man.add_sender(pus_event_man_send_provider);
-    let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
+    let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
     let reporter =
-        EventReporter::new(TEST_ID.raw(), 0x02, 0, 128).expect("Creating event reporter failed");
+        EventReporter::new(TEST_ID.raw(), 0x02, 128).expect("Creating event reporter failed");
     let pus_event_man = PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
-    let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
-        panic!("received routing error for event {event_msg:?}: {error:?}");
-    };
     // PUS + Generic event manager thread
     let jh0 = thread::spawn(move || {
         let mut event_cnt = 0;
         let mut params_array: [u8; 128] = [0; 128];
         loop {
-            event_man.try_event_handling(error_handler);
+            let res = event_man.try_event_handling();
+            assert!(res.is_ok());
             match pus_event_man_rx.try_recv() {
-                Ok(event_msg) => {
+                Ok((event, aux_data)) => {
                     let gen_event = |aux_data| {
                         pus_event_man.generate_pus_event_tm_generic(
                             &event_tx,
                             &EMPTY_STAMP,
-                            event_msg.event(),
+                            event,
                             aux_data,
                         )
                     };
-                    let res = if let Some(aux_data) = event_msg.params() {
+                    let res = if let Some(aux_data) = aux_data {
                         match aux_data {
                             Params::Heapless(heapless) => match heapless {
                                 ParamsHeapless::Raw(raw) => {
@@ -101,10 +97,7 @@ fn test_threaded_usage() {
     // Event sender and TM checker thread
     let jh1 = thread::spawn(move || {
         event_sender
-            .send(EventMessage::new(
+            .send((INFO_EVENT.into(), None))
-                TEST_COMPONENT_ID_0.id(),
-                INFO_EVENT.into(),
-            ))
             .expect("Sending info event failed");
         loop {
             match event_rx.try_recv() {
@@ -130,11 +123,7 @@ fn test_threaded_usage() {
             }
         }
         event_sender
-            .send(EventMessage::new_with_params(
+            .send((LOW_SEV_EVENT, Some(Params::Heapless((2_u32, 3_u32).into()))))
-                TEST_COMPONENT_ID_0.id(),
-                LOW_SEV_EVENT,
-                &Params::Heapless((2_u32, 3_u32).into()),
-            ))
             .expect("Sending low severity event failed");
         loop {
             match event_rx.try_recv() {

satrs/tests/pus_verification.rs

@@ -2,20 +2,24 @@
 pub mod crossbeam_test {
     use hashbrown::HashMap;
     use satrs::pool::{PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
-    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0};
     use satrs::pus::verification::{
         FailParams, RequestId, VerificationReporter, VerificationReporterCfg,
         VerificationReportingProvider,
     };
-    use satrs::tmtc::{PacketSenderWithSharedPool, SharedStaticMemoryPool};
+    use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
+    use satrs::request::UniqueApidTargetId;
+    use satrs::tmtc::tm_helper::SharedTmPool;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
     use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket, WritablePusPacket};
     use spacepackets::SpHeader;
-    use std::sync::RwLock;
+    use std::sync::{Arc, RwLock};
     use std::thread;
     use std::time::Duration;
 
+    const TEST_APID: u16 = 0x03;
+    const TEST_ID: TargetAndApidId = TargetAndApidId::new(TEST_APID, 0x05);
+
     const FIXED_STAMP: [u8; 7] = [0; 7];
     const PACKETS_SENT: u8 = 8;
 
@@ -35,16 +39,13 @@ pub mod crossbeam_test {
         // Shared pool object to store the verification PUS telemetry
         let pool_cfg =
             StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)], false);
-        let shared_tm_pool =
+        let shared_tm_pool = SharedTmPool::new(StaticMemoryPool::new(pool_cfg.clone()));
-            SharedStaticMemoryPool::new(RwLock::new(StaticMemoryPool::new(pool_cfg.clone())));
+        let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
-        let shared_tc_pool =
+        let shared_tc_pool_1 = shared_tc_pool_0.clone();
-            SharedStaticMemoryPool::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
-        let shared_tc_pool_1 = shared_tc_pool.clone();
         let (tx, rx) = crossbeam_channel::bounded(10);
-        let sender =
+        let sender_0 = TmInSharedPoolSenderWithCrossbeam::new(shared_tm_pool.clone(), tx.clone());
-            PacketSenderWithSharedPool::new_with_shared_packet_pool(tx.clone(), &shared_tm_pool);
+        let sender_1 = sender_0.clone();
-        let sender_1 = sender.clone();
+        let mut reporter_with_sender_0 = VerificationReporter::new(&cfg);
-        let mut reporter_with_sender_0 = VerificationReporter::new(TEST_COMPONENT_ID_0.id(), &cfg);
         let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
         // For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
         // tread.
@@ -54,10 +55,10 @@ pub mod crossbeam_test {
         let (tx_tc_0, rx_tc_0) = crossbeam_channel::bounded(3);
         let (tx_tc_1, rx_tc_1) = crossbeam_channel::bounded(3);
         {
-            let mut tc_guard = shared_tc_pool.write().unwrap();
+            let mut tc_guard = shared_tc_pool_0.write().unwrap();
-            let sph = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+            let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
             let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
-            let pus_tc_0 = PusTcCreator::new_no_app_data(sph, tc_header, true);
+            let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
             req_id_0 = RequestId::new(&pus_tc_0);
             let addr = tc_guard
                 .free_element(pus_tc_0.len_written(), |buf| {
@@ -65,9 +66,9 @@ pub mod crossbeam_test {
                 })
                 .unwrap();
             tx_tc_0.send(addr).unwrap();
-            let sph = SpHeader::new_for_unseg_tc(TEST_APID, 1, 0);
+            let mut sph = SpHeader::tc_unseg(TEST_APID, 1, 0).unwrap();
             let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
-            let pus_tc_1 = PusTcCreator::new_no_app_data(sph, tc_header, true);
+            let pus_tc_1 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
             req_id_1 = RequestId::new(&pus_tc_1);
             let addr = tc_guard
                 .free_element(pus_tc_0.len_written(), |buf| {
@@ -83,7 +84,7 @@ pub mod crossbeam_test {
                 .expect("Receive timeout");
             let tc_len;
             {
-                let mut tc_guard = shared_tc_pool.write().unwrap();
+                let mut tc_guard = shared_tc_pool_0.write().unwrap();
                 let pg = tc_guard.read_with_guard(tc_addr);
                 tc_len = pg.read(&mut tc_buf).unwrap();
             }
@@ -91,24 +92,36 @@ pub mod crossbeam_test {
 
             let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
             let accepted_token = reporter_with_sender_0
-                .acceptance_success(&sender, token, &FIXED_STAMP)
+                .acceptance_success(TEST_ID.raw(), &sender_0, token, &FIXED_STAMP)
                 .expect("Acceptance success failed");
 
             // Do some start handling here
             let started_token = reporter_with_sender_0
-                .start_success(&sender, accepted_token, &FIXED_STAMP)
+                .start_success(TEST_ID.raw(), &sender_0, accepted_token, &FIXED_STAMP)
                 .expect("Start success failed");
             // Do some step handling here
             reporter_with_sender_0
-                .step_success(&sender, &started_token, &FIXED_STAMP, EcssEnumU8::new(0))
+                .step_success(
+                    TEST_ID.raw(),
+                    &sender_0,
+                    &started_token,
+                    &FIXED_STAMP,
+                    EcssEnumU8::new(0),
+                )
                 .expect("Start success failed");
 
             // Finish up
             reporter_with_sender_0
-                .step_success(&sender, &started_token, &FIXED_STAMP, EcssEnumU8::new(1))
+                .step_success(
+                    TEST_ID.raw(),
+                    &sender_0,
+                    &started_token,
+                    &FIXED_STAMP,
+                    EcssEnumU8::new(1),
+                )
                 .expect("Start success failed");
             reporter_with_sender_0
-                .completion_success(&sender, started_token, &FIXED_STAMP)
+                .completion_success(TEST_ID.raw(), &sender_0, started_token, &FIXED_STAMP)
                 .expect("Completion success failed");
         });
 
@@ -126,15 +139,15 @@ pub mod crossbeam_test {
             let (tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
             let token = reporter_with_sender_1.add_tc(&tc);
             let accepted_token = reporter_with_sender_1
-                .acceptance_success(&sender_1, token, &FIXED_STAMP)
+                .acceptance_success(TEST_ID.raw(), &sender_1, token, &FIXED_STAMP)
                 .expect("Acceptance success failed");
             let started_token = reporter_with_sender_1
-                .start_success(&sender_1, accepted_token, &FIXED_STAMP)
+                .start_success(TEST_ID.raw(), &sender_1, accepted_token, &FIXED_STAMP)
                 .expect("Start success failed");
             let fail_code = EcssEnumU16::new(2);
             let params = FailParams::new_no_fail_data(&FIXED_STAMP, &fail_code);
             reporter_with_sender_1
-                .completion_failure(&sender_1, started_token, params)
+                .completion_failure(TEST_ID.raw(), &sender_1, started_token, params)
                 .expect("Completion success failed");
         });
 
@@ -147,8 +160,9 @@ pub mod crossbeam_test {
                     .recv_timeout(Duration::from_millis(50))
                     .expect("Packet reception timeout");
                 let tm_len;
+                let shared_tm_store = shared_tm_pool.clone_backing_pool();
                 {
-                    let mut rg = shared_tm_pool.write().expect("Error locking shared pool");
+                    let mut rg = shared_tm_store.write().expect("Error locking shared pool");
                     let store_guard = rg.read_with_guard(tm_in_pool.store_addr);
                     tm_len = store_guard
                         .read(&mut tm_buf)

satrs/tests/tcp_servers.rs

@@ -17,52 +17,34 @@ use core::{
 use std::{
     io::{Read, Write},
     net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
-    sync::{mpsc, Mutex},
+    sync::Mutex,
     thread,
 };
 
 use hashbrown::HashSet;
 use satrs::{
-    encoding::{
+    encoding::cobs::encode_packet_with_cobs,
-        ccsds::{SpValidity, SpacePacketValidator},
+    hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer, TcpTmtcInCobsServer},
-        cobs::encode_packet_with_cobs,
+    tmtc::{ReceivesTcCore, TmPacketSourceCore},
-    },
-    hal::std::tcp_server::{
-        ConnectionResult, HandledConnectionHandler, HandledConnectionInfo, ServerConfig,
-        TcpSpacepacketsServer, TcpTmtcInCobsServer,
-    },
-    tmtc::PacketSource,
-    ComponentId,
 };
 use spacepackets::{
     ecss::{tc::PusTcCreator, WritablePusPacket},
-    CcsdsPacket, PacketId, SpHeader,
+    PacketId, SpHeader,
 };
-use std::{collections::VecDeque, sync::Arc, vec::Vec};
+use std::{boxed::Box, collections::VecDeque, sync::Arc, vec::Vec};
 
-#[derive(Default)]
+#[derive(Default, Clone)]
-pub struct ConnectionFinishedHandler {
+struct SyncTcCacher {
-    connection_info: VecDeque<HandledConnectionInfo>,
+    tc_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
 }
+impl ReceivesTcCore for SyncTcCacher {
+    type Error = ();
 
-impl HandledConnectionHandler for ConnectionFinishedHandler {
+    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-    fn handled_connection(&mut self, info: HandledConnectionInfo) {
+        let mut tc_queue = self.tc_queue.lock().expect("tc forwarder failed");
-        self.connection_info.push_back(info);
+        println!("Received TC: {:x?}", tc_raw);
-    }
+        tc_queue.push_back(tc_raw.to_vec());
-}
+        Ok(())
-
-impl ConnectionFinishedHandler {
-    pub fn check_last_connection(&mut self, num_tms: u32, num_tcs: u32) {
-        let last_conn_result = self
-            .connection_info
-            .pop_back()
-            .expect("no connection info available");
-        assert_eq!(last_conn_result.num_received_tcs, num_tcs);
-        assert_eq!(last_conn_result.num_sent_tms, num_tms);
-    }
-
-    pub fn check_no_connections_left(&self) {
-        assert!(self.connection_info.is_empty());
     }
 }
 
@@ -78,7 +60,7 @@ impl SyncTmSource {
     }
 }
 
-impl PacketSource for SyncTmSource {
+impl TmPacketSourceCore for SyncTmSource {
     type Error = ();
 
     fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
@@ -100,29 +82,20 @@ impl PacketSource for SyncTmSource {
     }
 }
 
-const TCP_SERVER_ID: ComponentId = 0x05;
 const SIMPLE_PACKET: [u8; 5] = [1, 2, 3, 4, 5];
 const INVERTED_PACKET: [u8; 5] = [5, 4, 3, 4, 1];
 const AUTO_PORT_ADDR: SocketAddr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
 
 #[test]
 fn test_cobs_server() {
-    let (tc_sender, tc_receiver) = mpsc::channel();
+    let tc_receiver = SyncTcCacher::default();
     let mut tm_source = SyncTmSource::default();
     // Insert a telemetry packet which will be read back by the client at a later stage.
     tm_source.add_tm(&INVERTED_PACKET);
     let mut tcp_server = TcpTmtcInCobsServer::new(
-        ServerConfig::new(
+        ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
-            TCP_SERVER_ID,
-            AUTO_PORT_ADDR,
-            Duration::from_millis(2),
-            1024,
-            1024,
-        ),
         tm_source,
-        tc_sender.clone(),
+        tc_receiver.clone(),
-        ConnectionFinishedHandler::default(),
-        None,
     )
     .expect("TCP server generation failed");
     let dest_addr = tcp_server
@@ -133,20 +106,13 @@ fn test_cobs_server() {
 
     // Call the connection handler in separate thread, does block.
     thread::spawn(move || {
-        let result = tcp_server.handle_all_connections(Some(Duration::from_millis(400)));
+        let result = tcp_server.handle_next_connection();
         if result.is_err() {
             panic!("handling connection failed: {:?}", result.unwrap_err());
         }
         let conn_result = result.unwrap();
-        assert_eq!(conn_result, ConnectionResult::HandledConnections(1));
+        assert_eq!(conn_result.num_received_tcs, 1, "No TC received");
-        tcp_server
+        assert_eq!(conn_result.num_sent_tms, 1, "No TM received");
-            .generic_server
-            .finished_handler
-            .check_last_connection(1, 1);
-        tcp_server
-            .generic_server
-            .finished_handler
-            .check_no_connections_left();
         // Signal the main thread we are done.
         set_if_done.store(true, Ordering::Relaxed);
     });
@@ -186,56 +152,33 @@ fn test_cobs_server() {
         panic!("connection was not handled properly");
     }
     // Check that the packet was received and decoded successfully.
-    let tc_with_sender = tc_receiver.try_recv().expect("no TC received");
+    let mut tc_queue = tc_receiver
-    assert_eq!(tc_with_sender.packet, SIMPLE_PACKET);
+        .tc_queue
-    assert_eq!(tc_with_sender.sender_id, TCP_SERVER_ID);
+        .lock()
-    matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
+        .expect("locking tc queue failed");
+    assert_eq!(tc_queue.len(), 1);
+    assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
+    drop(tc_queue);
 }
 
 const TEST_APID_0: u16 = 0x02;
-const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
+const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
-
-#[derive(Default)]
-pub struct SimpleVerificator {
-    pub valid_ids: HashSet<PacketId>,
-}
-
-impl SpacePacketValidator for SimpleVerificator {
-    fn validate(
-        &self,
-        sp_header: &SpHeader,
-        _raw_buf: &[u8],
-    ) -> satrs::encoding::ccsds::SpValidity {
-        if self.valid_ids.contains(&sp_header.packet_id()) {
-            return SpValidity::Valid;
-        }
-        SpValidity::Skip
-    }
-}
 
 #[test]
 fn test_ccsds_server() {
-    let (tc_sender, tc_receiver) = mpsc::channel();
+    let tc_receiver = SyncTcCacher::default();
     let mut tm_source = SyncTmSource::default();
-    let sph = SpHeader::new_for_unseg_tc(TEST_APID_0, 0, 0);
+    let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-    let verif_tm = PusTcCreator::new_simple(sph, 1, 1, &[], true);
+    let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 1, None, true);
     let tm_0 = verif_tm.to_vec().expect("tm generation failed");
     tm_source.add_tm(&tm_0);
-    let mut packet_id_lookup = SimpleVerificator::default();
+    let mut packet_id_lookup = HashSet::new();
-    packet_id_lookup.valid_ids.insert(TEST_PACKET_ID_0);
+    packet_id_lookup.insert(TEST_PACKET_ID_0);
     let mut tcp_server = TcpSpacepacketsServer::new(
-        ServerConfig::new(
+        ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
-            TCP_SERVER_ID,
-            AUTO_PORT_ADDR,
-            Duration::from_millis(2),
-            1024,
-            1024,
-        ),
         tm_source,
-        tc_sender,
+        tc_receiver.clone(),
-        packet_id_lookup,
+        Box::new(packet_id_lookup),
-        ConnectionFinishedHandler::default(),
-        None,
     )
     .expect("TCP server generation failed");
     let dest_addr = tcp_server
@@ -245,20 +188,13 @@ fn test_ccsds_server() {
     let set_if_done = conn_handled.clone();
     // Call the connection handler in separate thread, does block.
     thread::spawn(move || {
-        let result = tcp_server.handle_all_connections(Some(Duration::from_millis(500)));
+        let result = tcp_server.handle_next_connection();
         if result.is_err() {
             panic!("handling connection failed: {:?}", result.unwrap_err());
         }
         let conn_result = result.unwrap();
-        assert_eq!(conn_result, ConnectionResult::HandledConnections(1));
+        assert_eq!(conn_result.num_received_tcs, 1);
-        tcp_server
+        assert_eq!(conn_result.num_sent_tms, 1);
-            .generic_server
-            .finished_handler
-            .check_last_connection(1, 1);
-        tcp_server
-            .generic_server
-            .finished_handler
-            .check_no_connections_left();
         set_if_done.store(true, Ordering::Relaxed);
     });
     let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
@@ -267,8 +203,8 @@ fn test_ccsds_server() {
         .expect("setting reas timeout failed");
 
     // Send ping telecommand.
-    let sph = SpHeader::new_for_unseg_tc(TEST_APID_0, 0, 0);
+    let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-    let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
+    let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
     let tc_0 = ping_tc.to_vec().expect("packet creation failed");
     stream
         .write_all(&tc_0)
@@ -299,8 +235,7 @@ fn test_ccsds_server() {
         panic!("connection was not handled properly");
     }
     // Check that TC has arrived.
-    let tc_with_sender = tc_receiver.try_recv().expect("no TC received");
+    let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
-    assert_eq!(tc_with_sender.packet, tc_0);
+    assert_eq!(tc_queue.len(), 1);
-    assert_eq!(tc_with_sender.sender_id, TCP_SERVER_ID);
+    assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
-    matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
 }