start new CCSDS scheduler

Reviewed-on: #251

.github/workflows/ci.yml

@@ -0,0 +1,70 @@
+name: ci
+on: [push, pull_request]
+
+jobs:
+  check:
+    name: Check build
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo check
+      # Check example with static pool configuration
+      - run: cargo check -p satrs-example --no-default-features
+
+  test:
+    name: Run Tests
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Install nextest
+        uses: taiki-e/install-action@nextest
+      - run: cargo nextest run --all-features
+      - run: cargo test --doc --all-features
+
+  cross-check:
+    name: Check Cross-Compilation
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target:
+          - armv7-unknown-linux-gnueabihf
+          - thumbv7em-none-eabihf
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
+      - run: cargo check -p satrs --target=${{matrix.target}} --no-default-features
+
+  fmt:
+    name: Check formatting
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
+      - run: cargo fmt --all -- --check
+
+  docs:
+    name: Check Documentation Build
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@nightly
+      - run: RUSTDOCFLAGS="--cfg docsrs" cargo +nightly doc -p satrs --all-features
+
+  clippy:
+    name: Clippy
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy
+      - run: cargo clippy -- -D warnings

.gitignore

@@ -2,6 +2,7 @@ target/
 
 output.log
 /Cargo.lock
+output.log
 
 output.log
 

Cargo.toml

@@ -9,6 +9,6 @@ members = [
 ]
 
 exclude = [
-    "satrs-example-stm32f3-disco",
+    "embedded-examples/stm32f3-disco-rtic",
+    "embedded-examples/stm32h7-nucleo-rtic",
 ]
-

README.md

@@ -1,9 +1,10 @@
 <p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>
 
 [![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
-[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
+[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://robamu.github.io/sat-rs/book/)
 [![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs)
 [![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs)
+[![matrix chat](https://img.shields.io/matrix/sat-rs%3Amatrix.org)](https://matrix.to/#/#sat-rs:matrix.org)
 
 sat-rs
 =========
@@ -11,7 +12,7 @@ sat-rs
 This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems. You can find an overview of the project and the
-link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
+link to the [more high-level sat-rs book](https://robamu.github.io/sat-rs/book/)
 at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
 
 This is early-stage software. Important features are missing. New releases
@@ -37,22 +38,47 @@ This project currently contains following crates:
 * [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
    Example of a simple example on-board software using various sat-rs components which can be run
    on a host computer or on any system with a standard runtime like a Raspberry Pi.
+* [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim):
+   Mini-Simulator based on [nexosim](https://github.com/asynchronics/nexosim) which
+   simulates some physical devices for the `satrs-example` application device handlers.
 * [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
    Components to build a mission information base from the on-board software directly.
-* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
+* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32f3-disco-rtic):
    Example of a simple example using low-level sat-rs components on a bare-metal system
-   with constrained resources.
+   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
+   framework on the STM32F3-Discovery device.
+* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32h7-nucleo-rtic):
+   Example of a simple example using sat-rs components on a bare-metal system
+   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
+   framework on the STM32H743ZIT device.
 
 Each project has its own `CHANGELOG.md`.
 
 # Related projects
- 
+
  In addition to the crates in this repository, the sat-rs project also maintains other libraries.
 
  * [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS
    packet protocol implementations. This repository is re-exported in the
    [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
    crate.
+ * [`cfdp`](https://egit.irs.uni-stuttgart.de/rust/cfdp): CCSDS File Delivery Protocol
+   (CFDP) high-level library components.
+
+# Flight Heritage
+
+There is an active and continuous effort to get early flight heritage for the sat-rs library.
+Currently this library has the following flight heritage:
+
+- Submission as an [OPS-SAT experiment](https://www.esa.int/Enabling_Support/Operations/OPS-SAT)
+  which has also
+  [flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
+  The application is strongly based on the sat-rs example application. You can find the repository
+  of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
+- Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
+  alongside a Flight System Simulator in the context of a
+  [Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
+  at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).
 
 # Coverage
 
@@ -64,5 +90,5 @@ rustup component add llvm-tools-preview
 cargo install grcov --locked
 ```
 
-After that, you can simply run `coverage.py` to test the `satrs-core` crate with coverage. You can
+After that, you can simply run `coverage.py` to test the `satrs` crate with coverage. You can
 optionally supply the `--open` flag to open the coverage report in your webbrowser.

automation/Jenkinsfile

@@ -33,6 +33,7 @@ pipeline {
     stage('Test') {
       steps {
         sh 'cargo nextest r --all-features'
+        sh 'cargo test --doc --all-features'
       }
     }
     stage('Check with all features') {

docs.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --all-features --open

embedded-examples/stm32f3-disco-rtic/Cargo.lock

@@ -1,6 +1,6 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
 
 [[package]]
 name = "accelerometer"
@@ -11,20 +11,11 @@ dependencies = [
  "micromath",
 ]
 
-[[package]]
-name = "atomic-polyfill"
-version = "1.0.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
-dependencies = [
- "critical-section",
-]
-
 [[package]]
 name = "autocfg"
-version = "1.2.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
+checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
 [[package]]
 name = "bare-metal"
@@ -77,7 +68,7 @@ version = "0.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4c24dab4283a142afa2fdca129b80ad2c6284e073930f964c3a1293c225ee39a"
 dependencies = [
- "rustc_version 0.4.0",
+ "rustc_version 0.4.1",
 ]
 
 [[package]]
@@ -88,9 +79,9 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "chrono"
-version = "0.4.37"
+version = "0.4.39"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
+checksum = "7e36cc9d416881d2e24f9a963be5fb1cd90966419ac844274161d10488b3e825"
 dependencies = [
  "num-traits",
 ]
@@ -98,7 +89,17 @@ dependencies = [
 [[package]]
 name = "cobs"
 version = "0.2.3"
-source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
+[[package]]
+name = "cobs"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fa961b519f0b462e3a3b4a34b64d119eeaca1d59af726fe450bbba07a9fc0a1"
+dependencies = [
+ "thiserror",
+]
 
 [[package]]
 name = "cortex-m"
@@ -115,22 +116,22 @@ dependencies = [
 
 [[package]]
 name = "cortex-m-rt"
-version = "0.7.3"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
+checksum = "801d4dec46b34c299ccf6b036717ae0fce602faa4f4fe816d9013b9a7c9f5ba6"
 dependencies = [
  "cortex-m-rt-macros",
 ]
 
 [[package]]
 name = "cortex-m-rt-macros"
-version = "0.7.0"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
+checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.96",
 ]
 
 [[package]]
@@ -144,9 +145,9 @@ dependencies = [
 
 [[package]]
 name = "crc"
-version = "3.0.1"
+version = "3.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
+checksum = "69e6e4d7b33a94f0991c26729976b10ebde1d34c3ee82408fb536164fa10d636"
 dependencies = [
  "crc-catalog",
 ]
@@ -159,15 +160,15 @@ checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
 
 [[package]]
 name = "critical-section"
-version = "1.1.2"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
 
 [[package]]
 name = "darling"
-version = "0.20.8"
+version = "0.20.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
+checksum = "6f63b86c8a8826a49b8c21f08a2d07338eec8d900540f8630dc76284be802989"
 dependencies = [
  "darling_core",
  "darling_macro",
@@ -175,33 +176,33 @@ dependencies = [
 
 [[package]]
 name = "darling_core"
-version = "0.20.8"
+version = "0.20.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
+checksum = "95133861a8032aaea082871032f5815eb9e98cef03fa916ab4500513994df9e5"
 dependencies = [
  "fnv",
  "ident_case",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.96",
 ]
 
 [[package]]
 name = "darling_macro"
-version = "0.20.8"
+version = "0.20.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
+checksum = "d336a2a514f6ccccaa3e09b02d41d35330c07ddf03a62165fcec10bb561c7806"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.96",
 ]
 
 [[package]]
 name = "defmt"
-version = "0.3.6"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
+checksum = "86f6162c53f659f65d00619fe31f14556a6e9f8752ccc4a41bd177ffcf3d6130"
 dependencies = [
  "bitflags",
  "defmt-macros",
@@ -219,22 +220,22 @@ dependencies = [
 
 [[package]]
 name = "defmt-macros"
-version = "0.3.7"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
+checksum = "9d135dd939bad62d7490b0002602d35b358dce5fd9233a709d3c1ef467d4bde6"
 dependencies = [
  "defmt-parser",
- "proc-macro-error",
+ "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.96",
 ]
 
 [[package]]
 name = "defmt-parser"
-version = "0.3.4"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+checksum = "3983b127f13995e68c1e29071e5d115cd96f215ccb5e6812e3728cd6f92653b3"
 dependencies = [
  "thiserror",
 ]
@@ -259,7 +260,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.96",
 ]
 
 [[package]]
@@ -273,6 +274,17 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "derive-new"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.96",
+]
+
 [[package]]
 name = "embedded-dma"
 version = "0.2.0"
@@ -298,6 +310,15 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
 
+[[package]]
+name = "embedded-hal-async"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
+dependencies = [
+ "embedded-hal 1.0.0",
+]
+
 [[package]]
 name = "embedded-time"
 version = "0.12.1"
@@ -309,23 +330,23 @@ dependencies = [
 
 [[package]]
 name = "enumset"
-version = "1.1.3"
+version = "1.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "226c0da7462c13fb57e5cc9e0dc8f0635e7d27f276a3a7fd30054647f669007d"
+checksum = "d07a4b049558765cef5f0c1a273c3fc57084d768b44d2f98127aef4cceb17293"
 dependencies = [
  "enumset_derive",
 ]
 
 [[package]]
 name = "enumset_derive"
-version = "0.8.1"
+version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e08b6c6ab82d70f08844964ba10c7babb716de2ecaeab9be5717918a5177d3af"
+checksum = "59c3b24c345d8c314966bdc1832f6c2635bfcce8e7cf363bd115987bba2ee242"
 dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.96",
 ]
 
 [[package]]
@@ -351,21 +372,21 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
 
 [[package]]
 name = "futures-task"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
 
 [[package]]
 name = "futures-util"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -409,9 +430,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.14.3"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
+checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"
 
 [[package]]
 name = "heapless"
@@ -431,9 +452,9 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
 
 [[package]]
 name = "indexmap"
-version = "2.2.6"
+version = "2.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
+checksum = "8c9c992b02b5b4c94ea26e32fe5bccb7aa7d9f390ab5c1221ff895bc7ea8b652"
 dependencies = [
  "equivalent",
  "hashbrown",
@@ -507,9 +528,9 @@ dependencies = [
 
 [[package]]
 name = "num-iter"
-version = "0.1.44"
+version = "0.1.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
+checksum = "1429034a0490724d0075ebb2bc9e875d6503c3cf69e235a8941aa757d83ef5bf"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -529,38 +550,38 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.18"
+version = "0.2.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
 ]
 
 [[package]]
 name = "num_enum"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+checksum = "4e613fc340b2220f734a8595782c551f1250e969d87d3be1ae0579e8d4065179"
 dependencies = [
  "num_enum_derive",
 ]
 
 [[package]]
 name = "num_enum_derive"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+checksum = "af1844ef2428cc3e1cb900be36181049ef3d3193c63e43026cfe202983b27a56"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.96",
 ]
 
 [[package]]
 name = "panic-probe"
-version = "0.3.1"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
+checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0"
 dependencies = [
  "cortex-m",
  "defmt",
@@ -568,15 +589,15 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.14"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.14"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
 
 [[package]]
 name = "pin-utils"
@@ -585,43 +606,47 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
-name = "proc-macro-error"
-version = "1.0.4"
+name = "portable-atomic"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
+
+[[package]]
+name = "proc-macro-error-attr2"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
 dependencies = [
- "proc-macro-error-attr",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
- "version_check",
 ]
 
 [[package]]
-name = "proc-macro-error-attr"
-version = "1.0.4"
+name = "proc-macro-error2"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
 dependencies = [
+ "proc-macro-error-attr2",
  "proc-macro2",
  "quote",
- "version_check",
+ "syn 2.0.96",
 ]
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.79"
+version = "1.0.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
+checksum = "60946a68e5f9d28b0dc1c21bb8a97ee7d018a8b322fa57838ba31cc878e22d99"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.35"
+version = "1.0.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
+checksum = "0e4dccaaaf89514f546c693ddc140f729f958c247918a13380cccc6078391acc"
 dependencies = [
  "proc-macro2",
 ]
@@ -637,14 +662,14 @@ dependencies = [
 
 [[package]]
 name = "rtic"
-version = "2.1.1"
+version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+checksum = "401961431a1e491124cdd216a313fada2d395aa2b5bee2867c872fc8af7c1bc1"
 dependencies = [
- "atomic-polyfill",
  "bare-metal 1.0.0",
  "cortex-m",
  "critical-section",
+ "portable-atomic",
  "rtic-core",
  "rtic-macros",
 ]
@@ -666,38 +691,40 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
 [[package]]
 name = "rtic-macros"
-version = "2.1.0"
+version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+checksum = "ac22ab522d80079b48f46ac66ded4d349e1adf81b52430d6a74faa3a7790ed80"
 dependencies = [
  "indexmap",
- "proc-macro-error",
+ "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.96",
 ]
 
 [[package]]
 name = "rtic-monotonics"
-version = "1.5.0"
+version = "2.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+checksum = "f1cb90bcfdbbacf3ca37340cdab52ec2de5611c744095ef7889e9c50c233b748"
 dependencies = [
- "atomic-polyfill",
  "cfg-if",
  "cortex-m",
- "embedded-hal 1.0.0",
  "fugit",
+ "portable-atomic",
  "rtic-time",
 ]
 
 [[package]]
 name = "rtic-time"
-version = "1.3.0"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+checksum = "a7b1d853fa50dc125695414ce4510567a0d420221e455b1568cfa8c9aece9614"
 dependencies = [
  "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
  "futures-util",
  "rtic-common",
 ]
@@ -713,20 +740,24 @@ dependencies = [
 
 [[package]]
 name = "rustc_version"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
 dependencies = [
- "semver 1.0.22",
+ "semver 1.0.25",
 ]
 
 [[package]]
 name = "satrs"
-version = "0.2.0-rc.0"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
 dependencies = [
- "cobs",
+ "cobs 0.2.3",
  "crc",
+ "defmt",
  "delegate",
+ "derive-new",
  "num-traits",
  "num_enum",
  "paste",
@@ -736,10 +767,19 @@ dependencies = [
 ]
 
 [[package]]
-name = "satrs-example-stm32f3-disco"
+name = "satrs-shared"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
+dependencies = [
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 dependencies = [
- "cobs",
+ "cobs 0.3.0",
  "cortex-m",
  "cortex-m-rt",
  "cortex-m-semihosting",
@@ -757,13 +797,6 @@ dependencies = [
  "stm32f3xx-hal",
 ]
 
-[[package]]
-name = "satrs-shared"
-version = "0.1.3"
-dependencies = [
- "spacepackets",
-]
-
 [[package]]
 name = "semver"
 version = "0.9.0"
@@ -775,9 +808,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.22"
+version = "1.0.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
+checksum = "f79dfe2d285b0488816f30e700a7438c5a73d816b5b7d3ac72fbc48b0d185e03"
 
 [[package]]
 name = "semver-parser"
@@ -799,9 +832,9 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
 
 [[package]]
 name = "spacepackets"
-version = "0.11.0-rc.2"
+version = "0.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
+checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
 dependencies = [
  "crc",
  "defmt",
@@ -899,9 +932,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.58"
+version = "2.0.96"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
+checksum = "d5d0adab1ae378d7f53bdebc67a39f1f151407ef230f0ce2883572f5d8985c80"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -910,22 +943,22 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.58"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
+checksum = "d452f284b73e6d76dd36758a0c8684b1d5be31f92b89d07fd5822175732206fc"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.58"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
+checksum = "26afc1baea8a989337eeb52b6e72a039780ce45c3edfcc9c5b9d112feeb173c2"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.96",
 ]
 
 [[package]]
@@ -936,9 +969,9 @@ checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.12"
+version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
 
 [[package]]
 name = "usb-device"
@@ -954,9 +987,9 @@ checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
 
 [[package]]
 name = "version_check"
-version = "0.9.4"
+version = "0.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
 
 [[package]]
 name = "void"
@@ -975,9 +1008,9 @@ dependencies = [
 
 [[package]]
 name = "zerocopy"
-version = "0.7.32"
+version = "0.7.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
 dependencies = [
  "byteorder",
  "zerocopy-derive",
@@ -985,11 +1018,11 @@ dependencies = [
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.32"
+version = "0.7.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.96",
 ]

embedded-examples/stm32f3-disco-rtic/Cargo.toml

@@ -1,8 +1,8 @@
 [package]
-name = "satrs-example-stm32f3-disco"
+name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 edition = "2021"
-default-run = "satrs-example-stm32f3-disco"
+default-run = "satrs-stm32f3-disco-rtic"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
@@ -22,12 +22,11 @@ version = "2"
 features = ["thumbv7-backend"]
 
 [dependencies.rtic-monotonics]
-version = "1"
+version = "2"
 features = ["cortex-m-systick"]
 
 [dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
-branch = "all_features"
+version = "0.3"
 default-features = false
 
 [dependencies.stm32f3xx-hal]
@@ -46,7 +45,8 @@ branch = "complete-dma-update-hal"
 # path = "../stm32f3-discovery"
 
 [dependencies.satrs]
-path = "../satrs"
+# path = "satrs"
+version = "0.2"
 default-features = false
 features = ["defmt"]
 

embedded-examples/stm32f3-disco-rtic/README.md

@@ -1,10 +1,10 @@
 sat-rs example for the STM32F3-Discovery board
 =======
 
-This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
+This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
 can be used on an embedded target.
 It also shows how a relatively simple OBSW could be built when no standard runtime is available.
-It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
+It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
 [defmt](https://defmt.ferrous-systems.com/) framework for logging.
 
 The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also

embedded-examples/stm32f3-disco-rtic/pyclient/main.py

@@ -9,7 +9,7 @@ from prompt_toolkit.history import FileHistory, History
 from spacepackets.ecss.tm import CdsShortTimestamp
 
 import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
+from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
 
@@ -43,7 +43,7 @@ from tmtccmd.tmtc import (
     DefaultPusQueueHelper,
 )
 from tmtccmd.pus.s5_fsfw_event import Service5Tm
-from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
+from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
 _LOGGER = logging.getLogger()
@@ -53,7 +53,7 @@ EXAMPLE_PUS_APID = 0x02
 
 class SatRsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)
 
     def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
         from tmtccmd.config.com import (
@@ -111,9 +111,10 @@ class PusHandler(SpecificApidHandlerBase):
         self.verif_wrapper = verif_wrapper
 
     def handle_tm(self, packet: bytes, _user_args: Any):
-        time_reader = CdsShortTimestamp.empty()
         try:
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
         except ValueError as e:
             _LOGGER.warning("Could not generate PUS TM object from raw data")
             _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
@@ -122,7 +123,7 @@ class PusHandler(SpecificApidHandlerBase):
         tm_packet = None
         if service == 1:
             tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(time_reader, 1, 2)
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
             )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
@@ -139,16 +140,16 @@ class PusHandler(SpecificApidHandlerBase):
         if service == 3:
             _LOGGER.info("No handling for HK packets implemented")
             _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
                 _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
         if service == 5:
-            tm_packet = Service5Tm.unpack(packet, time_reader)
+            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
         if service == 17:
-            tm_packet = Service17Tm.unpack(packet, time_reader)
+            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
             if tm_packet.subservice == 2:
                 _LOGGER.info("Received Ping Reply TM[17,2]")
             else:
@@ -159,7 +160,7 @@ class PusHandler(SpecificApidHandlerBase):
             _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
-            tm_packet = PusTelemetry.unpack(packet, time_reader)
+            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
         self.raw_logger.log_tm(pus_tm)
 
 
@@ -203,15 +204,15 @@ class TcHandler(TcHandlerBase):
             _LOGGER.info(log_entry.log_str)
 
     def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
             _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
     def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
             cmd_path = def_proc.cmd_path
             if cmd_path == "/ping":
                 q.add_log_cmd("Sending PUS ping telecommand")

embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 8.0.0rc.0
+tmtccmd == 8.0.1
 # -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs

@@ -1,6 +1,6 @@
 #![no_std]
 #![no_main]
-use satrs_example_stm32f3_disco as _;
+use satrs_stm32f3_disco_rtic as _;
 
 use stm32f3_discovery::leds::Leds;
 use stm32f3_discovery::stm32f3xx_hal::delay::Delay;

embedded-examples/stm32f3-disco-rtic/src/main.rs

@@ -9,14 +9,14 @@ 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 _;
+use satrs_stm32f3_disco_rtic as _;
 
 use rtic::app;
 
 use heapless::{mpmc::Q8, Vec};
 #[allow(unused_imports)]
-use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
-use rtic_monotonics::systick::ExtU32;
+use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
+use rtic_monotonics::systick::prelude::*;
 use satrs::seq_count::SequenceCountProviderCore;
 use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
 use stm32f3xx_hal::dma::dma1;
@@ -245,8 +245,6 @@ pub fn convert_pus_tc_to_request(
 mod app {
     use super::*;
     use core::slice::Iter;
-    use rtic_monotonics::systick::Systick;
-    use rtic_monotonics::Monotonic;
     use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
     use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
     #[allow(unused_imports)]
@@ -259,6 +257,8 @@ mod app {
     #[allow(dead_code)]
     type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
 
+    systick_monotonic!(Mono, 1000);
+
     #[shared]
     struct Shared {
         blink_freq: MillisDurationU32,
@@ -279,8 +279,7 @@ mod app {
         let mut rcc = cx.device.RCC.constrain();
 
         // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
+        Mono::start(cx.core.SYST, 8_000_000);
 
         let mut flash = cx.device.FLASH.constrain();
         let clocks = rcc
@@ -394,7 +393,7 @@ mod app {
                 }
             }
             let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
+            Mono::delay(current_blink_freq).await;
         }
     }
 
@@ -412,15 +411,14 @@ mod app {
             if is_idle {
                 let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
                 if let Some(last_completed) = last_completed {
-                    let elapsed_ms = (Systick::now() - last_completed).to_millis();
+                    let elapsed_ms = (Mono::now() - last_completed).to_millis();
                     if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
-                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
-                            .await;
+                        Mono::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis()).await;
                     }
                 }
             } else {
                 // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
+                Mono::delay(1.millis()).await;
                 continue;
             }
             if let Some(vec) = TM_REQUESTS.dequeue() {
@@ -459,11 +457,11 @@ mod app {
                         UartTxState::Transmitting(_) => (),
                     });
                 // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
+                Mono::delay(1.millis()).await;
                 continue;
             }
             // Nothing to do, and we are idle.
-            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
+            Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
         }
     }
 
@@ -657,7 +655,7 @@ mod app {
                         tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
                         // We cache the last completed time to ensure that there is a minimum delay between consecutive
                         // transferred packets.
-                        tx_shared.last_completed = Some(Systick::now());
+                        tx_shared.last_completed = Some(Mono::now());
                     }
                 }
             });

embedded-examples/stm32f3-disco-rtic/vscode/launch.json

@@ -12,11 +12,11 @@
       "chip": "STM32F303VCTx",
       "coreConfigs": [
         {
-          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic",
           "rttEnabled": true,
           "svdFile": "STM32F303.svd"
         }
       ]
     }
   ]
-}
+}

embedded-examples/stm32h7-nucleo-rtic/.cargo/def_config.toml

@@ -0,0 +1,29 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-rs run --chip STM32H743ZITx"
+# runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
+
+rustflags = [
+  "-C", "linker=flip-link",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+  # Can be useful for debugging.
+  # "-Clink-args=-Map=app.map"
+]
+
+[build]
+# (`thumbv6m-*` is compatible with all ARM Cortex-M chips but using the right
+# target improves performance)
+# target = "thumbv6m-none-eabi"    # Cortex-M0 and Cortex-M0+
+# target = "thumbv7m-none-eabi"    # Cortex-M3
+# target = "thumbv7em-none-eabi"   # Cortex-M4 and Cortex-M7 (no FPU)
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+
+[alias]
+rb = "run --bin"
+rrb = "run --release --bin"
+
+[env]
+DEFMT_LOG = "info"

embedded-examples/stm32h7-nucleo-rtic/.gitignore

@@ -0,0 +1,4 @@
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+/.cargo/config*
+/.vscode
+/app.map

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embedded-examples/stm32h7-nucleo-rtic/Cargo.toml

@@ -0,0 +1,85 @@
+[package]
+authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
+name = "satrs-stm32h7-nucleo-rtic"
+edition = "2021"
+version = "0.1.0"
+default-run = "satrs-stm32h7-nucleo-rtic"
+
+[lib]
+harness = false
+
+# needed for each integration test
+[[test]]
+name = "integration"
+harness = false
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+defmt = "0.3"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+cortex-m-semihosting = "0.5.0"
+stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
+embedded-alloc = "0.6"
+rtic-sync = { version = "1", features = ["defmt-03"] }
+
+[dependencies.smoltcp]
+version = "0.11"
+default-features = false
+features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "2"
+features = ["cortex-m-systick"]
+
+[dependencies.satrs]
+path = "../../satrs"
+version = "0.2"
+default-features = false
+features = ["defmt", "heapless"]
+
+[dev-dependencies]
+defmt-test = "0.3"
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 's'         # <-
+overflow-checks = true  # <-
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-

embedded-examples/stm32h7-nucleo-rtic/LICENSE-APACHE

@@ -0,0 +1,201 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
+   "Licensor" shall mean the copyright owner or entity authorized by
+   the copyright owner that is granting the License.
+
+   "Legal Entity" shall mean the union of the acting entity and all
+   other entities that control, are controlled by, or are under common
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+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
+   "Source" form shall mean the preferred form for making modifications,
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+   "Object" form shall mean any form resulting from mechanical
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+
+   "Work" shall mean the work of authorship, whether in Source or
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+limitations under the License.

embedded-examples/stm32h7-nucleo-rtic/README.md

@@ -0,0 +1,118 @@
+sat-rs example for the STM32H73ZI-Nucleo board
+=======
+
+This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+can be used on an embedded target.
+It also shows how a relatively simple OBSW could be built when no standard runtime is available.
+It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
+[defmt](https://defmt.ferrous-systems.com/) framework for logging.
+
+The STM32H743ZIT device was picked because it is one of the more powerful Cortex-M based devices
+available for STM with which also has a little bit more RAM available and also allows commanding
+via TCP/IP.
+
+## Pre-Requisites
+
+Make sure the following tools are installed:
+
+1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
+2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
+   [probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
+   for debugging.
+
+## Preparing Rust and the repository
+
+Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
+If you have not installed it yet, you can do so with
+
+```sh
+rustup target add thumbv7em-none-eabihf
+```
+
+A default `.cargo` config file is provided for this project, but needs to be copied to have
+the correct name. This is so that the config file can be updated or edited for custom needs
+without being tracked by git.
+
+```sh
+cp def_config.toml config.toml
+```
+
+The configuration file will also set the target so it does not always have to be specified with
+the `--target` argument.
+
+## Building
+
+After that, assuming that you have a `.cargo/config.toml` setting the correct build target,
+you can simply build the application with
+
+```sh
+cargo build
+```
+
+## Flashing from the command line
+
+You can flash the application from the command line using `probe-rs`:
+
+```sh
+probe-rs run --chip STM32H743ZITx
+```
+
+## Debugging with VS Code
+
+The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
+the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
+and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
+Make sure to install this plugin first.
+
+Sample configuration files are provided inside the `vscode` folder.
+Use `cp vscode .vscode -r` to use them for your project.
+
+Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
+to automatically rebuild and flash your application.
+
+The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
+the folder in VS code or adding it to a workspace.
+
+## Commanding with Python
+
+When the SW is running on the Discovery board, you can command the MCU via a serial interface,
+using COBS encoded PUS packets.
+
+It is recommended to use a virtual environment to do this. To set up one in the command line,
+you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
+After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
+on how to activate the environment and then use the following command to install the required
+dependency:
+
+```sh
+pip install -r requirements.txt
+```
+
+The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
+converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
+
+A default configuration file for the python application is provided and can be used by running
+
+```sh
+cp def_tmtc_conf.json tmtc_conf.json
+```
+
+After that, you can for example send a ping to the MCU using the following command
+
+```sh
+./main.py -p /ping
+```
+
+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.
+
+## Resources
+
+- [STM32H743ZI Ethernet link checker example](https://github.com/stm32-rs/stm32h7xx-hal/blob/master/examples/ethernet-nucleo-h743zi2.rs)
+- [smoltcp DHCP client](https://github.com/smoltcp-rs/smoltcp/blob/main/examples/dhcp_client.rs)

embedded-examples/stm32h7-nucleo-rtic/memory.x

@@ -0,0 +1,119 @@
+/* Taken from https://github.com/stm32-rs/stm32h7xx-hal/pull/299, adapted slightly to work with */
+/* flip-link */
+MEMORY
+{
+  /* This file is intended for parts in the STM32H743/743v/753/753v families (RM0433), */
+  /* with the exception of the STM32H742/742v parts which have a different RAM layout. */
+  /* - FLASH and RAM are mandatory memory sections.                                    */
+  /* - The sum of all non-FLASH sections must add to 1060K total device RAM.           */
+  /* - The FLASH section size must match your device, see table below.                 */
+
+  /* FLASH */
+  /* Flash is divided in two independent banks (except 750xB). */
+  /* Select the appropriate FLASH size for your device.        */
+  /* - STM32H750xB                          128K (only FLASH1) */
+  /* - STM32H750xB                            1M (512K + 512K) */
+  /* - STM32H743xI/753xI                      2M (  1M +   1M) */
+  FLASH1 : ORIGIN = 0x08000000, LENGTH = 1M
+  FLASH2  : ORIGIN = 0x08100000, LENGTH = 1M
+
+  /* Data TCM  */
+  /* - Two contiguous 64KB RAMs.                                     */
+  /* - Used for interrupt handlers, stacks and general RAM.          */
+  /* - Zero wait-states.                                             */
+  /* - The DTCM is taken as the origin of the base ram. (See below.) */
+  /*   This is also where the interrupt table and such will live,    */
+  /*   which is required for deterministic performance.              */
+  /* Need a region called RAM */
+  /* DTCM : ORIGIN = 0x20000000, LENGTH = 128K */
+  RAM : ORIGIN = 0x20000000, LENGTH = 128K
+
+  /* Instruction TCM */
+  /* - Used for latency-critical interrupt handlers etc. */
+  /* - Zero wait-states.                                 */
+  ITCM    : ORIGIN = 0x00000000, LENGTH = 64K
+
+  /* AXI SRAM */
+  /* - AXISRAM is in D1 and accessible by all system masters except BDMA. */
+  /* - Suitable for application data not stored in DTCM.                  */
+  /* - Zero wait-states.                                                  */
+  AXISRAM : ORIGIN = 0x24000000, LENGTH = 512K
+
+  /* AHB SRAM */
+  /* - SRAM1-3 are in D2 and accessible by all system masters except BDMA.   */
+  /*   Suitable for use as DMA buffers.                                      */
+  /* - SRAM4 is in D3 and additionally accessible by the BDMA. Used for BDMA */
+  /*   buffers, for storing application data in lower-power modes.           */
+  /* - Zero wait-states.                                                     */
+  SRAM1   : ORIGIN = 0x30000000, LENGTH = 128K
+  SRAM2   : ORIGIN = 0x30020000, LENGTH = 128K
+  SRAM3   : ORIGIN = 0x30040000, LENGTH = 32K
+  SRAM4   : ORIGIN = 0x38000000, LENGTH = 64K
+
+  /* Backup SRAM */
+  BSRAM   : ORIGIN = 0x38800000, LENGTH = 4K
+}
+
+/*
+/* Assign the memory regions defined above for use. */
+/*
+
+/* Provide the mandatory FLASH and RAM definitions for cortex-m-rt's linker script. */
+/* These do not work with flip-link */
+REGION_ALIAS(FLASH, FLASH1);
+/* REGION_ALIAS(RAM,   DTCM); */
+
+/* The location of the stack can be overridden using the `_stack_start` symbol. */
+/* - Set the stack location at the end of RAM, using all remaining space.       */
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);
+
+/* The location of the .text section can be overridden using the  */
+/* `_stext` symbol. By default it will place after .vector_table. */
+/* _stext = ORIGIN(FLASH) + 0x40c; */
+
+/* Define sections for placing symbols into the extra memory regions above.   */
+/* This makes them accessible from code.                                      */
+/* - ITCM, DTCM and AXISRAM connect to a 64-bit wide bus -> align to 8 bytes. */
+/* - All other memories     connect to a 32-bit wide bus -> align to 4 bytes. */
+SECTIONS {
+  .flash2 (NOLOAD) : ALIGN(4) {
+    *(.flash2 .flash2.*);
+    . = ALIGN(4);
+    } > FLASH2
+
+  .itcm (NOLOAD) : ALIGN(8) {
+    *(.itcm .itcm.*);
+    . = ALIGN(8);
+    } > ITCM
+
+  .axisram (NOLOAD) : ALIGN(8) {
+    *(.axisram .axisram.*);
+    . = ALIGN(8);
+    } > AXISRAM
+
+  .sram1 (NOLOAD) : ALIGN(8) {
+    *(.sram1 .sram1.*);
+    . = ALIGN(4);
+    } > SRAM1
+
+  .sram2 (NOLOAD) : ALIGN(8) {
+    *(.sram2 .sram2.*);
+    . = ALIGN(4);
+    } > SRAM2
+
+  .sram3 (NOLOAD) : ALIGN(4) {
+    *(.sram3 .sram3.*);
+    . = ALIGN(4);
+    } > SRAM3
+
+  .sram4 (NOLOAD) : ALIGN(4) {
+    *(.sram4 .sram4.*);
+    . = ALIGN(4);
+    } > SRAM4
+
+  .bsram (NOLOAD) : ALIGN(4) {
+    *(.bsram .bsram.*);
+    . = ALIGN(4);
+    } > BSRAM
+
+};

embedded-examples/stm32h7-nucleo-rtic/pyclient/.gitignore

@@ -1,9 +1,8 @@
-__pycache__
-
 /venv
+/.tmtc-history.txt
 /log
 /.idea/*
 !/.idea/runConfigurations
 
 /seqcnt.txt
-/.tmtc-history.txt
+/tmtc_conf.json

embedded-examples/stm32h7-nucleo-rtic/pyclient/def_tmtc_conf.json

@@ -0,0 +1,4 @@
+{
+    "com_if": "udp",
+    "tcpip_udp_port": 7301
+}

embedded-examples/stm32h7-nucleo-rtic/pyclient/main.py

@@ -1,23 +1,24 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
+import struct
 import logging
 import sys
 import time
-from typing import Any, Optional
-from prompt_toolkit.history import History
-from prompt_toolkit.history import FileHistory
+from typing import Any, Optional, cast
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ecss.tm import CdsShortTimestamp
 
-from spacepackets.ccsds import PacketId, PacketType
 import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusVerificator
+from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
-from spacepackets.ccsds.time import CdsShortTimestamp
 
 from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
+from tmtccmd.core.ccsds_backend import QueueWrapper
+from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
 from tmtccmd.com import ComInterface
 from tmtccmd.config import (
     CmdTreeNode,
@@ -26,8 +27,8 @@ from tmtccmd.config import (
     HookBase,
     params_to_procedure_conversion,
 )
+from tmtccmd.config.com import SerialCfgWrapper
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.logging.pus import (
     RegularTmtcLogWrapper,
     RawTmtcTimedLogWrapper,
@@ -40,21 +41,19 @@ from tmtccmd.tmtc import (
     FeedWrapper,
     SendCbParams,
     DefaultPusQueueHelper,
-    QueueWrapper,
 )
+from tmtccmd.pus.s5_fsfw_event import Service5Tm
 from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
-
-import pus_tc
-from common import Apid, EventU32
-
 _LOGGER = logging.getLogger()
 
+EXAMPLE_PUS_APID = 0x02
+
 
 class SatRsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)
 
     def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
         from tmtccmd.config.com import (
@@ -63,20 +62,23 @@ 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=None,
         )
-        assert cfg is not None
+        if cfg is None:
+            raise ValueError(
+                f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
+            )
+        if cfg.com_if_key == "serial_cobs":
+            cfg = cast(SerialCfgWrapper, cfg)
+            cfg.serial_cfg.serial_timeout = 0.5
         return create_com_interface_default(cfg)
 
     def get_command_definitions(self) -> CmdTreeNode:
         """This function should return the root node of the command definition tree."""
-        return pus_tc.create_cmd_definition_tree()
+        return create_cmd_definition_tree()
 
     def get_cmd_history(self) -> Optional[History]:
         """Optionlly return a history class for the past command paths which will be used
@@ -89,29 +91,39 @@ class SatRsConfigHook(HookBase):
         return get_core_object_ids()
 
 
-class PusHandler(GenericApidHandlerBase):
+def create_cmd_definition_tree() -> CmdTreeNode:
+    root_node = CmdTreeNode.root_node()
+    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
+    return root_node
+
+
+class PusHandler(SpecificApidHandlerBase):
     def __init__(
         self,
         file_logger: logging.Logger,
         verif_wrapper: VerificationWrapper,
         raw_logger: RawTmtcTimedLogWrapper,
     ):
-        super().__init__(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())
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
         except ValueError as e:
             _LOGGER.warning("Could not generate PUS TM object from raw data")
             _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
             raise e
         service = pus_tm.service
+        tm_packet = None
         if service == 1:
             tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
             )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
@@ -125,48 +137,39 @@ class PusHandler(GenericApidHandlerBase):
             else:
                 self.verif_wrapper.log_to_console(tm_packet, res)
                 self.verif_wrapper.log_to_file(tm_packet, res)
-        elif service == 3:
+        if service == 3:
             _LOGGER.info("No handling for HK packets implemented")
             _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
-                _LOGGER.info(json_str)
-        elif service == 5:
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
-            src_data = tm_packet.source_data
-            event_u32 = EventU32.unpack(src_data)
-            _LOGGER.info(f"Received event packet. Event: {event_u32}")
-            if event_u32.group_id == 0 and event_u32.unique_id == 0:
-                _LOGGER.info("Received test event")
-        elif service == 17:
-            tm_packet = Service17Tm.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
+                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
+        if service == 5:
+            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+        if service == 17:
+            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
             if tm_packet.subservice == 2:
-                self.file_logger.info("Received Ping Reply TM[17,2]")
                 _LOGGER.info("Received Ping Reply TM[17,2]")
             else:
-                self.file_logger.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
                 _LOGGER.info(
                     f"Received Test Packet with unknown subservice {tm_packet.subservice}"
                 )
-        else:
+        if tm_packet is None:
             _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
+            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
         self.raw_logger.log_tm(pus_tm)
 
 
+def make_addressable_id(target_id: int, unique_id: int) -> bytes:
+    byte_string = bytearray(struct.pack("!I", target_id))
+    byte_string.extend(struct.pack("!I", unique_id))
+    return byte_string
+
+
 class TcHandler(TcHandlerBase):
     def __init__(
         self,
@@ -178,10 +181,10 @@ class TcHandler(TcHandlerBase):
         self.verif_wrapper = verif_wrapper
         self.queue_helper = DefaultPusQueueHelper(
             queue_wrapper=QueueWrapper.empty(),
-            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
+            tc_sched_timestamp_len=7,
             seq_cnt_provider=seq_count_provider,
-            pus_verificator=self.verif_wrapper.pus_verificator,
-            default_pus_apid=None,
+            pus_verificator=verif_wrapper.pus_verificator,
+            default_pus_apid=EXAMPLE_PUS_APID,
         )
 
     def send_cb(self, send_params: SendCbParams):
@@ -189,6 +192,10 @@ class TcHandler(TcHandlerBase):
         if entry_helper.is_tc:
             if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
                 pus_tc_wrapper = entry_helper.to_pus_tc_entry()
+                pus_tc_wrapper.pus_tc.seq_count = (
+                    self.seq_count_provider.get_and_increment()
+                )
+                self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
                 raw_tc = pus_tc_wrapper.pus_tc.pack()
                 _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
                 send_params.com_if.send(raw_tc)
@@ -197,17 +204,38 @@ class TcHandler(TcHandlerBase):
             _LOGGER.info(log_entry.log_str)
 
     def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
             _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
     def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
-            assert def_proc.cmd_path is not None
-            pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            cmd_path = def_proc.cmd_path
+            if cmd_path == "/ping":
+                q.add_log_cmd("Sending PUS ping telecommand")
+                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+            if cmd_path == "/change_blink_freq":
+                self.create_change_blink_freq_command(q)
+
+    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
+        q.add_log_cmd("Changing blink frequency")
+        while True:
+            blink_freq = int(
+                input(
+                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
+                )
+            )
+            if blink_freq < 2 or blink_freq > 10000:
+                print(
+                    "Invalid blink frequency. Please specify a value between 2 and 10000."
+                )
+                continue
+            break
+        app_data = struct.pack("!I", blink_freq)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
 
 
 def main():
@@ -225,6 +253,7 @@ 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 +265,8 @@ 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)
-    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
-    # ccsds_handler.add_apid_handler(tm_handler)
+    ccsds_handler = CcsdsTmHandler(generic_handler=None)
+    ccsds_handler.add_apid_handler(tm_handler)
 
     # Create TC handler
     seq_count_provider = PusFileSeqCountProvider()

embedded-examples/stm32h7-nucleo-rtic/pyclient/requirements.txt

@@ -0,0 +1,2 @@
+tmtccmd == 8.0.1
+# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

embedded-examples/stm32h7-nucleo-rtic/src/bin/blinky.rs

@@ -0,0 +1,55 @@
+//! Blinks an LED
+//!
+//! This assumes that LD2 (blue) is connected to pb7 and LD3 (red) is connected
+//! to pb14. This assumption is true for the nucleo-h743zi board.
+
+#![no_std]
+#![no_main]
+use satrs_stm32h7_nucleo_rtic as _;
+
+use stm32h7xx_hal::{block, prelude::*, timer::Timer};
+
+use cortex_m_rt::entry;
+
+#[entry]
+fn main() -> ! {
+    defmt::println!("starting stm32h7 blinky example");
+
+    // Get access to the device specific peripherals from the peripheral access crate
+    let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
+
+    // Take ownership over the RCC devices and convert them into the corresponding HAL structs
+    let rcc = dp.RCC.constrain();
+
+    let pwr = dp.PWR.constrain();
+    let pwrcfg = pwr.freeze();
+
+    // Freeze the configuration of all the clocks in the system and
+    // retrieve the Core Clock Distribution and Reset (CCDR) object
+    let rcc = rcc.use_hse(8.MHz()).bypass_hse();
+    let ccdr = rcc.freeze(pwrcfg, &dp.SYSCFG);
+
+    // Acquire the GPIOB peripheral
+    let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
+
+    // Configure gpio B pin 0 as a push-pull output.
+    let mut ld1 = gpiob.pb0.into_push_pull_output();
+
+    // Configure gpio B pin 7 as a push-pull output.
+    let mut ld2 = gpiob.pb7.into_push_pull_output();
+
+    // Configure gpio B pin 14 as a push-pull output.
+    let mut ld3 = gpiob.pb14.into_push_pull_output();
+
+    // Configure the timer to trigger an update every second
+    let mut timer = Timer::tim1(dp.TIM1, ccdr.peripheral.TIM1, &ccdr.clocks);
+    timer.start(1.Hz());
+
+    // Wait for the timer to trigger an update and change the state of the LED
+    loop {
+        ld1.toggle();
+        ld2.toggle();
+        ld3.toggle();
+        block!(timer.wait()).unwrap();
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/src/bin/hello.rs

@@ -0,0 +1,11 @@
+#![no_main]
+#![no_std]
+
+use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    defmt::println!("Hello, world!");
+
+    satrs_stm32h7_nucleo_rtic::exit()
+}

embedded-examples/stm32h7-nucleo-rtic/src/lib.rs

@@ -0,0 +1,52 @@
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::debug;
+
+use defmt_brtt as _; // global logger
+
+// TODO(5) adjust HAL import
+use stm32h7xx_hal as _; // memory layout
+
+use panic_probe as _;
+
+// same panicking *behavior* as `panic-probe` but doesn't print a panic message
+// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
+#[defmt::panic_handler]
+fn panic() -> ! {
+    cortex_m::asm::udf()
+}
+
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with status code 0.
+pub fn exit() -> ! {
+    loop {
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+}
+
+/// Hardfault handler.
+///
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with an error. This seems better than the default, which is to spin in a
+/// loop.
+#[cortex_m_rt::exception]
+unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
+    loop {
+        debug::exit(debug::EXIT_FAILURE);
+    }
+}
+
+// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
+// once within a crate. the module can be in any file but there can only be at most
+// one `#[tests]` module in this library crate
+#[cfg(test)]
+#[defmt_test::tests]
+mod unit_tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/src/main.rs

@@ -0,0 +1,523 @@
+#![no_main]
+#![no_std]
+extern crate alloc;
+
+use rtic::app;
+use rtic_monotonics::systick::prelude::*;
+use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
+use satrs::static_subpool;
+// global logger + panicking-behavior + memory layout
+use satrs_stm32h7_nucleo_rtic as _;
+use smoltcp::socket::udp::UdpMetadata;
+use smoltcp::socket::{dhcpv4, udp};
+
+use core::mem::MaybeUninit;
+use embedded_alloc::LlffHeap as Heap;
+use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
+use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
+use stm32h7xx_hal::ethernet;
+
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const PORT: u16 = 7301;
+
+const HEAP_SIZE: usize = 131_072;
+
+const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
+pub type SharedPool = StaticHeaplessMemoryPool<3>;
+pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+
+#[global_allocator]
+static HEAP: Heap = Heap::empty();
+
+systick_monotonic!(Mono, 1000);
+
+// We place the memory pool buffers inside the larger AXISRAM.
+pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
+pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
+pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
+pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
+pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
+pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
+
+// This data will be held by Net through a mutable reference
+pub struct NetStorageStatic<'a> {
+    socket_storage: [SocketStorage<'a>; 8],
+}
+// MaybeUninit allows us write code that is correct even if STORE is not
+// initialised by the runtime
+static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
+
+static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
+static mut UDP_RX: [u8; 2048] = [0; 2048];
+static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
+static mut UDP_TX: [u8; 2048] = [0; 2048];
+
+/// Locally administered MAC address
+const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
+
+pub struct Net {
+    iface: Interface,
+    ethdev: ethernet::EthernetDMA<4, 4>,
+    dhcp_handle: SocketHandle,
+}
+
+impl Net {
+    pub fn new(
+        sockets: &mut SocketSet<'static>,
+        mut ethdev: ethernet::EthernetDMA<4, 4>,
+        ethernet_addr: HardwareAddress,
+    ) -> Self {
+        let config = Config::new(ethernet_addr);
+        let mut iface = Interface::new(
+            config,
+            &mut ethdev,
+            smoltcp::time::Instant::from_millis(Mono::now().duration_since_epoch().to_millis()),
+        );
+        // Create sockets
+        let dhcp_socket = dhcpv4::Socket::new();
+        iface.update_ip_addrs(|addrs| {
+            let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
+        });
+
+        let dhcp_handle = sockets.add(dhcp_socket);
+        Net {
+            iface,
+            ethdev,
+            dhcp_handle,
+        }
+    }
+
+    /// Polls on the ethernet interface. You should refer to the smoltcp
+    /// documentation for poll() to understand how to call poll efficiently
+    pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
+        let uptime = Mono::now().duration_since_epoch();
+        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
+
+        self.iface.poll(timestamp, &mut self.ethdev, sockets)
+    }
+
+    pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
+        let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
+        if let Some(event) = &opt_event {
+            match event {
+                dhcpv4::Event::Deconfigured => {
+                    defmt::info!("DHCP lost configuration");
+                    self.iface.update_ip_addrs(|addrs| addrs.clear());
+                    self.iface.routes_mut().remove_default_ipv4_route();
+                }
+                dhcpv4::Event::Configured(config) => {
+                    defmt::info!("DHCP configuration acquired");
+                    defmt::info!("IP address: {}", config.address);
+                    self.iface.update_ip_addrs(|addrs| {
+                        addrs.clear();
+                        addrs.push(IpCidr::Ipv4(config.address)).unwrap();
+                    });
+
+                    if let Some(router) = config.router {
+                        defmt::debug!("Default gateway: {}", router);
+                        self.iface
+                            .routes_mut()
+                            .add_default_ipv4_route(router)
+                            .unwrap();
+                    } else {
+                        defmt::debug!("Default gateway: None");
+                        self.iface.routes_mut().remove_default_ipv4_route();
+                    }
+                }
+            }
+        }
+        opt_event
+    }
+}
+
+pub struct UdpNet {
+    udp_handle: SocketHandle,
+    last_client: Option<UdpMetadata>,
+    tc_source_tx: TcSourceTx,
+}
+
+impl UdpNet {
+    pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
+        // SAFETY: The RX and TX buffers are passed here and not used anywhere else.
+        let udp_rx_buffer =
+            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
+                &mut UDP_RX[..]
+            });
+        let udp_tx_buffer =
+            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
+                &mut UDP_TX[..]
+            });
+        let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
+
+        let udp_handle = sockets.add(udp_socket);
+        Self {
+            udp_handle,
+            last_client: None,
+            tc_source_tx,
+        }
+    }
+
+    pub fn poll<'sockets>(
+        &mut self,
+        sockets: &'sockets mut SocketSet,
+        shared_pool: &mut SharedPool,
+    ) {
+        let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
+        if !socket.is_open() {
+            if let Err(e) = socket.bind(PORT) {
+                defmt::warn!("binding UDP socket failed: {}", e);
+            }
+        }
+        loop {
+            match socket.recv() {
+                Ok((data, client)) => {
+                    match shared_pool.add(data) {
+                        Ok(store_addr) => {
+                            if let Err(e) = self.tc_source_tx.try_send(store_addr) {
+                                defmt::warn!("TC source channel is full: {}", e);
+                            }
+                        }
+                        Err(e) => {
+                            defmt::warn!("could not add UDP packet to shared pool: {}", e);
+                        }
+                    }
+                    self.last_client = Some(client);
+                    // TODO: Implement packet wiretapping.
+                }
+                Err(e) => match e {
+                    udp::RecvError::Exhausted => {
+                        break;
+                    }
+                    udp::RecvError::Truncated => {
+                        defmt::warn!("UDP packet was truncacted");
+                    }
+                },
+            };
+        }
+    }
+}
+
+#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
+mod app {
+    use core::ptr::addr_of_mut;
+
+    use super::*;
+    use rtic_monotonics::fugit::MillisDurationU32;
+    use satrs::spacepackets::ecss::tc::PusTcReader;
+    use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
+    use stm32h7xx_hal::gpio::{Output, Pin};
+    use stm32h7xx_hal::prelude::*;
+    use stm32h7xx_hal::stm32::Interrupt;
+
+    struct BlinkyLeds {
+        led1: Pin<'B', 7, Output>,
+        led2: Pin<'B', 14, Output>,
+    }
+
+    #[local]
+    struct Local {
+        leds: BlinkyLeds,
+        link_led: Pin<'B', 0, Output>,
+        net: Net,
+        udp: UdpNet,
+        tc_source_rx: TcSourceRx,
+        phy: ethernet::phy::LAN8742A<EthernetMAC>,
+    }
+
+    #[shared]
+    struct Shared {
+        blink_freq: MillisDurationU32,
+        eth_link_up: bool,
+        sockets: SocketSet<'static>,
+        shared_pool: SharedPool,
+    }
+
+    #[init]
+    fn init(mut cx: init::Context) -> (Shared, Local) {
+        defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
+
+        let pwr = cx.device.PWR.constrain();
+        let pwrcfg = pwr.freeze();
+
+        let rcc = cx.device.RCC.constrain();
+        // Try to keep the clock configuration similar to one used in STM examples:
+        // https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
+        let ccdr = rcc
+            .sys_ck(400.MHz())
+            .hclk(200.MHz())
+            .use_hse(8.MHz())
+            .bypass_hse()
+            .pclk1(100.MHz())
+            .pclk2(100.MHz())
+            .pclk3(100.MHz())
+            .pclk4(100.MHz())
+            .freeze(pwrcfg, &cx.device.SYSCFG);
+
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        Mono::start(cx.core.SYST, ccdr.clocks.sys_ck().to_Hz());
+
+        // Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
+        // good for.
+        cx.core.SCB.enable_icache();
+        cx.core.DWT.enable_cycle_counter();
+
+        let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
+        let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
+        let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
+        let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
+
+        let link_led = gpiob.pb0.into_push_pull_output();
+        let mut led1 = gpiob.pb7.into_push_pull_output();
+        let mut led2 = gpiob.pb14.into_push_pull_output();
+
+        // Criss-cross pattern looks cooler.
+        led1.set_high();
+        led2.set_low();
+        let leds = BlinkyLeds { led1, led2 };
+
+        let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
+        let rmii_mdio = gpioa.pa2.into_alternate::<11>();
+        let rmii_mdc = gpioc.pc1.into_alternate::<11>();
+        let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
+        let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
+        let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
+        let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
+        let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
+        let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
+
+        let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
+
+        /// Ethernet descriptor rings are a global singleton
+        #[link_section = ".sram3.eth"]
+        static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
+
+        let (eth_dma, eth_mac) = ethernet::new(
+            cx.device.ETHERNET_MAC,
+            cx.device.ETHERNET_MTL,
+            cx.device.ETHERNET_DMA,
+            (
+                rmii_ref_clk,
+                rmii_mdio,
+                rmii_mdc,
+                rmii_crs_dv,
+                rmii_rxd0,
+                rmii_rxd1,
+                rmii_tx_en,
+                rmii_txd0,
+                rmii_txd1,
+            ),
+            // SAFETY: We do not move the returned DMA struct across thread boundaries, so this
+            // should be safe according to the docs.
+            unsafe { DES_RING.assume_init_mut() },
+            mac_addr,
+            ccdr.peripheral.ETH1MAC,
+            &ccdr.clocks,
+        );
+        // Initialise ethernet PHY...
+        let mut lan8742a = ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
+        lan8742a.phy_reset();
+        lan8742a.phy_init();
+
+        unsafe {
+            ethernet::enable_interrupt();
+            cx.core.NVIC.set_priority(Interrupt::ETH, 196); // Mid prio
+            cortex_m::peripheral::NVIC::unmask(Interrupt::ETH);
+        }
+
+        // unsafe: mutable reference to static storage, we only do this once
+        let store = unsafe {
+            let store_ptr = STORE.as_mut_ptr();
+
+            // Initialise the socket_storage field. Using `write` instead of
+            // assignment via `=` to not call `drop` on the old, uninitialised
+            // value
+            addr_of_mut!((*store_ptr).socket_storage).write([SocketStorage::EMPTY; 8]);
+
+            // Now that all fields are initialised we can safely use
+            // assume_init_mut to return a mutable reference to STORE
+            STORE.assume_init_mut()
+        };
+
+        let (tc_source_tx, tc_source_rx) =
+            rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
+
+        let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
+        let net = Net::new(&mut sockets, eth_dma, mac_addr.into());
+        let udp = UdpNet::new(&mut sockets, tc_source_tx);
+
+        let mut shared_pool: SharedPool = StaticHeaplessMemoryPool::new(true);
+        static_subpool!(
+            SUBPOOL_SMALL,
+            SUBPOOL_SMALL_SIZES,
+            SUBPOOL_SMALL_NUM_BLOCKS as usize,
+            SUBPOOL_SMALL_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_MEDIUM,
+            SUBPOOL_MEDIUM_SIZES,
+            SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
+            SUBPOOL_MEDIUM_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_LARGE,
+            SUBPOOL_LARGE_SIZES,
+            SUBPOOL_LARGE_NUM_BLOCKS as usize,
+            SUBPOOL_LARGE_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+
+        shared_pool
+            .grow(
+                SUBPOOL_SMALL.get_mut().unwrap(),
+                SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
+                SUBPOOL_SMALL_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                SUBPOOL_MEDIUM.get_mut().unwrap(),
+                SUBPOOL_MEDIUM_SIZES.get_mut().unwrap(),
+                SUBPOOL_MEDIUM_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                SUBPOOL_LARGE.get_mut().unwrap(),
+                SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
+                SUBPOOL_LARGE_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+
+        // Set up global allocator. Use AXISRAM for the heap.
+        #[link_section = ".axisram"]
+        static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
+        unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
+
+        eth_link_check::spawn().expect("eth link check failed");
+        blinky::spawn().expect("spawning blink task failed");
+        udp_task::spawn().expect("spawning UDP task failed");
+        tc_source_task::spawn().expect("spawning TC source task failed");
+
+        (
+            Shared {
+                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
+                eth_link_up: false,
+                sockets,
+                shared_pool,
+            },
+            Local {
+                link_led,
+                leds,
+                net,
+                udp,
+                tc_source_rx,
+                phy: lan8742a,
+            },
+        )
+    }
+
+    #[task(local = [leds], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
+        let leds = cx.local.leds;
+        loop {
+            leds.led1.toggle();
+            leds.led2.toggle();
+            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Mono::delay(current_blink_freq).await;
+        }
+    }
+
+    /// This task checks for the network link.
+    #[task(local=[link_led, phy], shared=[eth_link_up])]
+    async fn eth_link_check(mut cx: eth_link_check::Context) {
+        let phy = cx.local.phy;
+        let link_led = cx.local.link_led;
+        loop {
+            let link_was_up = cx.shared.eth_link_up.lock(|link_up| *link_up);
+            if phy.poll_link() {
+                if !link_was_up {
+                    link_led.set_high();
+                    cx.shared.eth_link_up.lock(|link_up| *link_up = true);
+                    defmt::info!("Ethernet link up");
+                }
+            } else if link_was_up {
+                link_led.set_low();
+                cx.shared.eth_link_up.lock(|link_up| *link_up = false);
+                defmt::info!("Ethernet link down");
+            }
+            Mono::delay(100.millis()).await;
+        }
+    }
+
+    #[task(binds=ETH, local=[net], shared=[sockets])]
+    fn eth_isr(mut cx: eth_isr::Context) {
+        // SAFETY: We do not write the register mentioned inside the docs anywhere else.
+        unsafe {
+            ethernet::interrupt_handler();
+        }
+        // Check and process ETH frames and DHCP. UDP is checked in a different task.
+        cx.shared.sockets.lock(|sockets| {
+            cx.local.net.poll(sockets);
+            cx.local.net.poll_dhcp(sockets);
+        });
+    }
+
+    /// This task routes UDP packets.
+    #[task(local=[udp], shared=[sockets, shared_pool])]
+    async fn udp_task(mut cx: udp_task::Context) {
+        loop {
+            cx.shared.sockets.lock(|sockets| {
+                cx.shared.shared_pool.lock(|pool| {
+                    cx.local.udp.poll(sockets, pool);
+                })
+            });
+            Mono::delay(40.millis()).await;
+        }
+    }
+
+    /// This task handles all the incoming telecommands.
+    #[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
+    async fn tc_source_task(mut cx: tc_source_task::Context) {
+        loop {
+            let recv_result = cx.local.tc_source_rx.recv().await;
+            match recv_result {
+                Ok(pool_addr) => {
+                    cx.shared.shared_pool.lock(|pool| {
+                        match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
+                            Ok(packet_len) => {
+                                defmt::info!("received {} bytes in the TC source task", packet_len);
+                                match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
+                                    Ok((packet, _tc_len)) => {
+                                        // TODO: Handle packet here or dispatch to dedicated PUS
+                                        // handler? Dispatching could simplify some things and make
+                                        // the software more scalable..
+                                        defmt::info!("received PUS packet: {}", packet);
+                                    }
+                                    Err(e) => {
+                                        defmt::info!("invalid TC format, not a PUS packet: {}", e);
+                                    }
+                                }
+                                if let Err(e) = pool.delete(pool_addr) {
+                                    defmt::warn!("deleting TC data failed: {}", e);
+                                }
+                            }
+                            Err(e) => {
+                                defmt::warn!("TC packet read failed: {}", e);
+                            }
+                        }
+                    });
+                }
+                Err(e) => {
+                    defmt::warn!("TC source reception error: {}", e);
+                }
+            };
+        }
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/tests/integration.rs

@@ -0,0 +1,16 @@
+#![no_std]
+#![no_main]
+
+use stm32h7_testapp as _; // memory layout + panic handler
+
+// See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
+// feature)
+#[defmt_test::tests]
+mod tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/.gitignore

@@ -0,0 +1,2 @@
+/settings.json
+/.cortex-debug.*

embedded-examples/stm32h7-nucleo-rtic/vscode/extensions.json

@@ -0,0 +1,12 @@
+{
+	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"rust-lang.rust",
+		"probe-rs.probe-rs-debugger"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": []
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/launch.json

@@ -0,0 +1,22 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "preLaunchTask": "${defaultBuildTask}",
+      "type": "probe-rs-debug",
+      "request": "launch",
+      "name": "probe-rs Debugging ",
+      "flashingConfig": {
+        "flashingEnabled": true
+      },
+      "chip": "STM32H743ZITx",
+      "coreConfigs": [
+        {
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
+          "rttEnabled": true,
+          "svdFile": "STM32H743.svd"
+        }
+      ]
+    }
+  ]
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/tasks.json

@@ -0,0 +1,20 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558 
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "cargo build",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        },
+
+    ]
+}

experiments/satrs-gen/Cargo.toml

@@ -0,0 +1,8 @@
+[package]
+name = "satrs-gen"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+toml = "0.8"
+heck = "0.5"

experiments/satrs-gen/components.toml

@@ -0,0 +1,34 @@
+[apid]
+Sched = 1
+GenericPus = 2
+Acs = 3
+Cfdp = 4
+Tmtc = 5
+Eps = 6
+
+
+[ids]
+[ids.Eps]
+Pcdu = 0
+Subsystem = 1
+
+[ids.Tmtc]
+UdpServer = 0
+TcpServer = 1
+
+[ids.GenericPus]
+PusEventManagement = 0
+PusRouting = 1
+PusTest = 2
+PusAction = 3
+PusMode = 4
+PusHk = 5
+
+[ids.Sched]
+PusSched = 0
+
+[ids.Acs]
+Subsystem = 1
+Assembly = 2
+Mgm0 = 3
+Mgm1 = 4

experiments/satrs-gen/src/main.rs

@@ -0,0 +1,91 @@
+use heck::{ToShoutySnakeCase, ToSnakeCase};
+use std::{
+    collections::BTreeMap,
+    fs::{self, File},
+    io::{self, Write},
+};
+
+use toml::{Value, map::Map};
+
+fn main() -> io::Result<()> {
+    // Read the configuration file
+    let config_str = fs::read_to_string("components.toml").expect("Unable to read file");
+    let config: Value = toml::from_str(&config_str).expect("Unable to parse TOML");
+
+    let mut output = File::create("../satrs-example/src/ids.rs")?;
+
+    generate_rust_code(&config, &mut output);
+    Ok(())
+}
+
+fn sort_enum_table(table_map: &Map<String, Value>) -> BTreeMap<u64, &str> {
+    // Collect entries into a BTreeMap to sort them by key
+    let mut sorted_entries: BTreeMap<u64, &str> = BTreeMap::new();
+
+    for (key, value) in table_map {
+        if let Some(value) = value.as_integer() {
+            if !(0..=0x7FF).contains(&value) {
+                panic!("Invalid APID value: {}", value);
+            }
+            sorted_entries.insert(value as u64, key);
+        }
+    }
+    sorted_entries
+}
+
+fn generate_rust_code(config: &Value, writer: &mut impl Write) {
+    writeln!(
+        writer,
+        "//! This is an auto-generated configuration module."
+    )
+    .unwrap();
+    writeln!(writer, "use satrs::request::UniqueApidTargetId;").unwrap();
+    writeln!(writer).unwrap();
+
+    // Generate the main module
+    writeln!(
+        writer,
+        "#[derive(Debug, Copy, Clone, PartialEq, Eq, strum::EnumIter)]"
+    )
+    .unwrap();
+    writeln!(writer, "pub enum Apid {{").unwrap();
+
+    // Generate constants for the main module
+    if let Some(apid_table) = config.get("apid").and_then(Value::as_table) {
+        let sorted_entries = sort_enum_table(apid_table);
+        // Write the sorted entries to the writer
+        for (value, key) in sorted_entries {
+            writeln!(writer, "    {} = {},", key, value).unwrap();
+        }
+    }
+    writeln!(writer, "}}").unwrap();
+
+    // Generate ID tables.
+    if let Some(id_tables) = config.get("ids").and_then(Value::as_table) {
+        for (mod_name, table) in id_tables {
+            let mod_name_as_snake = mod_name.to_snake_case();
+            writeln!(writer).unwrap();
+            writeln!(writer, "pub mod {} {{", mod_name_as_snake).unwrap();
+            let sorted_entries = sort_enum_table(table.as_table().unwrap());
+            writeln!(writer, "    #[derive(Debug, Copy, Clone, PartialEq, Eq)]").unwrap();
+            writeln!(writer, "    pub enum Id {{").unwrap();
+            // Write the sorted entries to the writer
+            for (value, key) in &sorted_entries {
+                writeln!(writer, "        {} = {},", key, value).unwrap();
+            }
+            writeln!(writer, "    }}").unwrap();
+            writeln!(writer).unwrap();
+
+            for (_value, key) in sorted_entries {
+                let key_shouting = key.to_shouty_snake_case();
+                writeln!(
+                    writer,
+                    "    pub const {}: super::UniqueApidTargetId = super::UniqueApidTargetId::new(super::Apid::{} as u16, Id::{} as u32);",
+                key_shouting, mod_name, key
+                ).unwrap();
+            }
+
+            writeln!(writer, "}}").unwrap();
+        }
+    }
+}

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images/satrs-example-goal/satrs-example-goal.graphml

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justfile

@@ -0,0 +1,23 @@
+all: check embedded test fmt clippy docs
+
+check:
+  cargo check
+  cargo check -p satrs-example --no-default-features
+
+test:
+  cargo nextest run --all-features
+  cargo test --doc --all-features
+
+embedded:
+  cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
+
+fmt:
+  cargo fmt --all -- --check
+
+clippy:
+  cargo clippy -- -D warnings
+
+docs-satrs:
+  RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p satrs --all-features
+
+docs: docs-satrs

satrs-book/src/constrained-systems.md

@@ -3,20 +3,20 @@
 Software for space systems oftentimes has different requirements than the software for host
 systems or servers. Currently, most space systems are considered embedded systems.
 
-For these systems, the computation power and the available heap are the most important resources
-which are constrained. This might make completeley heap based memory management schemes which
+For these systems, the computation power and the available heap are important resources
+which are also constrained. This might make completeley heap based memory management schemes which
 are oftentimes used on host and server based systems unfeasable. Still, completely forbidding
 heap allocations might make software development unnecessarilly difficult, especially in a
 time where the OBSW might be running on Linux based systems with hundreds of MBs of RAM.
 
-A useful pattern used commonly in space systems is to limit heap allocations to program
+A useful pattern commonly used in space systems is to limit heap allocations to program
 initialization time and avoid frequent run-time allocations. This prevents issues like
 running out of memory (something even Rust can not protect from) or heap fragmentation on systems
 without a MMU.
 
 # Using pre-allocated pool structures
 
-A huge candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
+A candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
 candidates where the data size might vary greatly. The regular solution for host systems
 might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
 another solution to avoid run-time allocations by offering pre-allocated static

satrs-book/src/events.md

@@ -1,16 +1,24 @@
 # Events
 
-Events can be an extremely important mechanism used for remote systems to monitor unexpected
-or expected anomalies and events occuring on these systems. They are oftentimes tied to
+Events are an important mechanism used for remote systems to monitor unexpected
+or expected anomalies and events occuring on these systems. 
+
+One common use case for events on remote systems is to offer a light-weight publish-subscribe
+mechanism and IPC mechanism for software and hardware events which are also packaged as telemetry
+(TM) or can trigger a system response. They can also be tied to
 Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.
 
-Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
-also observable for the Ground segment. The PUS Service 5 standardizes how the ground interface
-for events might look like, but does not specify how other software components might react
-to those events. There is the PUS Service 19, which might be used for that purpose, but the
-event components recommended by this framework do not really need this service.
+The PUS Service 5 standardizes how the ground interface for events might look like, but does not
+specify how other software components might react to those events. There is the PUS Service 19,
+which might be used for that purpose, but the event components recommended by this framework do not
+rely on the present of this service.
 
 The following images shows how the flow of events could look like in a system where components
 can generate events, and where other system components might be interested in those events:
 
 ![Event flow](images/events/event_man_arch.png)
+
+For the concrete implementation of your own event management and/or event routing system, you
+can have a look at the event management documentation inside the
+[API documentation](https://docs.rs/satrs/latest/satrs/event_man/index.html) where you can also
+find references to all examples.

satrs-book/src/introduction.md

@@ -5,10 +5,8 @@ This book is the primary information resource for the [sat-rs library](https://e
 in addition to the regular API documentation. It contains the following resources:
 
 1. Architecture informations and consideration which would exceeds the scope of the regular API.
-2. General information on how to build On-Board Software and how `sat-rs` can help to fulfill
+2. General information on how to build on-board Software and how `sat-rs` can help to fulfill
    the unique requirements of writing software for remote systems.
-2. A Getting-Started workshop where a small On-Board Software is built from scratch using
-   sat-rs components.
 
 # Introduction
 
@@ -31,4 +29,21 @@ and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-
 The [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 provides various practical usage examples of the `sat-rs` framework. If you are more interested in
 the practical application of `sat-rs` inside an application, it is recommended to have a look at
-the example application.
+the example application. The [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
+applicatin complements the example application and can be used to simulate some physical devices
+for the `satrs-example` device handlers.
+
+# Flight Heritage
+
+There is an active and continuous effort to get early flight heritage for the sat-rs library.
+Currently this library has the following flight heritage:
+
+- Submission as an [OPS-SAT experiment](https://www.esa.int/Enabling_Support/Operations/OPS-SAT)
+  which has also
+  [flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
+  The application is strongly based on the sat-rs example application. You can find the repository
+  of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
+- Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
+  alongside a Flight System Simulator in the context of a
+  [Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
+  at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).

satrs-example/CHANGELOG.md

@@ -7,3 +7,13 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
+
+# [v0.1.1] 2024-02-21
+
+satrs v0.2.0-rc.0
+satrs-mib v0.1.1
+
+# [v0.1.0] 2024-02-13
+
+satrs v0.1.1
+satrs-mib v0.1.0

satrs-example/Cargo.toml

@@ -8,18 +8,21 @@ homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 
 [dependencies]
-fern = "0.6"
+fern = "0.7"
 chrono = "0.4"
 log = "0.4"
 crossbeam-channel = "0.5"
-delegate = "0.10"
-zerocopy = "0.6"
+delegate = "0.13"
+zerocopy = "0.8"
 csv = "1"
 num_enum = "0.7"
-thiserror = "1"
+thiserror = "2"
 lazy_static = "1"
-strum = { version = "0.26", features = ["derive"] }
-derive-new = "0.5"
+strum = { version = "0.27", features = ["derive"] }
+derive-new = "0.7"
+cfg-if = "1"
+arbitrary-int = "2"
+bitbybit = "1.4"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
 
@@ -27,13 +30,16 @@ serde_json = "1"
 path = "../satrs"
 features = ["test_util"]
 
+[dependencies.satrs-minisim]
+path = "../satrs-minisim"
+
 [dependencies.satrs-mib]
 version = "0.1.1"
 path = "../satrs-mib"
 
 [features]
-dyn_tmtc = []
-default = ["dyn_tmtc"]
+default = ["heap_tmtc"]
+heap_tmtc = []
 
 [dev-dependencies]
 env_logger = "0.11"

satrs-example/README.md

@@ -14,7 +14,7 @@ You can run the application using `cargo run`.
 
 # Features
 
-The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
+The example has the `heap_tmtc` feature which is enabled by default. With this feature enabled,
 TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
 stores.
 
@@ -48,16 +48,17 @@ It is recommended to use a virtual environment to do this. To set up one in the
 you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
 After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
 on how to activate the environment and then use the following command to install the required
-dependency:
+dependency interactively:
 
 ```sh
-pip install -r requirements.txt
+pip install -e .
 ```
 
 Alternatively, if you would like to use the GUI functionality provided by `tmtccmd`, you can also
 install it manually with
 
 ```sh
+pip install -e .
 pip install tmtccmd[gui]
 ```
 
@@ -72,3 +73,22 @@ the `simpleclient`:
 ```
 
 You can also simply call the script without any arguments to view the command tree.
+
+## Adding the mini simulator application
+
+This example application features a few device handlers. The
+[`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
+can be used to simulate the physical devices managed by these device handlers.
+
+The example application will attempt communication with the mini simulator on UDP port 7303.
+If this works, the device handlers will use communication interfaces dedicated to the communication
+with the mini simulator. Otherwise, they will be replaced by dummy interfaces which either
+return constant values or behave like ideal devices.
+
+In summary, you can use the following command command to run the mini-simulator first:
+
+```sh
+cargo run -p satrs-minisim
+```
+
+and then start the example using `cargo run -p satrs-example`.

satrs-example/pytmtc/.gitignore

@@ -0,0 +1,143 @@
+/tmtc_conf.json
+__pycache__
+
+/venv
+/log
+/.idea/*
+!/.idea/runConfigurations
+
+/seqcnt.txt
+/.tmtc-history.txt
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# PyCharm
+.idea

satrs-example/pytmtc/main.py

@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+"""Example client for the sat-rs example application"""
+
+import logging
+import sys
+import time
+
+import tmtccmd
+from spacepackets.ecss import PusVerificator
+
+from tmtccmd import ProcedureParamsWrapper
+from tmtccmd.core.base import BackendRequest
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import CcsdsTmHandler
+from tmtccmd.config import (
+    default_json_path,
+    SetupParams,
+    params_to_procedure_conversion,
+)
+from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
+from tmtccmd.logging import add_colorlog_console_logger
+from tmtccmd.logging.pus import (
+    RegularTmtcLogWrapper,
+    RawTmtcTimedLogWrapper,
+    TimedLogWhen,
+)
+from spacepackets.seqcount import PusFileSeqCountProvider
+
+
+from pytmtc.config import SatrsConfigHook
+from pytmtc.pus_tc import TcHandler
+from pytmtc.pus_tm import PusHandler
+
+_LOGGER = logging.getLogger()
+
+
+def main():
+    add_colorlog_console_logger(_LOGGER)
+    tmtccmd.init_printout(False)
+    hook_obj = SatrsConfigHook(json_cfg_path=default_json_path())
+    parser_wrapper = PreArgsParsingWrapper()
+    parser_wrapper.create_default_parent_parser()
+    parser_wrapper.create_default_parser()
+    parser_wrapper.add_def_proc_args()
+    params = SetupParams()
+    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
+    proc_wrapper = ProcedureParamsWrapper()
+    if post_args_wrapper.use_gui:
+        post_args_wrapper.set_params_without_prompts(proc_wrapper)
+    else:
+        post_args_wrapper.set_params_with_prompts(proc_wrapper)
+    setup_args = SetupWrapper(
+        hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
+    )
+    # Create console logger helper and file loggers
+    tmtc_logger = RegularTmtcLogWrapper()
+    file_logger = tmtc_logger.logger
+    raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
+    verificator = PusVerificator()
+    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
+    # Create primary TM handler and add it to the CCSDS Packet Handler
+    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
+    ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
+    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
+    # ccsds_handler.add_apid_handler(tm_handler)
+
+    # Create TC handler
+    seq_count_provider = PusFileSeqCountProvider()
+    tc_handler = TcHandler(seq_count_provider, verification_wrapper)
+    tmtccmd.setup(setup_args=setup_args)
+    init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
+    tmtc_backend = tmtccmd.create_default_tmtc_backend(
+        setup_wrapper=setup_args,
+        tm_handler=ccsds_handler,
+        tc_handler=tc_handler,
+        init_procedure=init_proc,
+    )
+    tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
+    try:
+        while True:
+            state = tmtc_backend.periodic_op(None)
+            if state.request == BackendRequest.TERMINATION_NO_ERROR:
+                tmtc_backend.close_com_if()
+                sys.exit(0)
+            elif state.request == BackendRequest.DELAY_IDLE:
+                _LOGGER.info("TMTC Client in IDLE mode")
+                time.sleep(3.0)
+            elif state.request == BackendRequest.DELAY_LISTENER:
+                time.sleep(0.8)
+            elif state.request == BackendRequest.DELAY_CUSTOM:
+                if state.next_delay.total_seconds() <= 0.4:
+                    time.sleep(state.next_delay.total_seconds())
+                else:
+                    time.sleep(0.4)
+            elif state.request == BackendRequest.CALL_NEXT:
+                pass
+    except KeyboardInterrupt:
+        tmtc_backend.close_com_if()
+        sys.exit(0)
+
+
+if __name__ == "__main__":
+    main()

satrs-example/pytmtc/pyproject.toml

@@ -0,0 +1,27 @@
+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "pytmtc"
+description = "Python TMTC client for OPS-SAT"
+readme = "README.md"
+version = "0.1.0"
+requires-python = ">=3.8"
+authors = [
+  {name = "Robin Mueller", email = "robin.mueller.m@gmail.com"},
+]
+dependencies = [
+    "tmtccmd~=8.1",
+    "pydantic~=2.7"
+]
+
+[tool.setuptools.packages]
+find = {}
+
+[tool.ruff]
+extend-exclude = ["archive"]
+[tool.ruff.lint]
+ignore = ["E501"]
+[tool.ruff.lint.extend-per-file-ignores]
+"__init__.py" = ["F401"]

satrs-example/pytmtc/pytmtc/acs/__init__.py

@@ -0,0 +1,11 @@
+from tmtccmd.config import CmdTreeNode
+
+
+def create_acs_node(mode_node: CmdTreeNode, hk_node: CmdTreeNode) -> CmdTreeNode:
+    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
+    mgm_node = CmdTreeNode("mgms", "MGM devices node")
+    mgm_node.add_child(mode_node)
+    mgm_node.add_child(hk_node)
+
+    acs_node.add_child(mgm_node)
+    return acs_node

satrs-example/pytmtc/pytmtc/acs/mgms.py

@@ -0,0 +1,45 @@
+import logging
+import struct
+import enum
+from typing import List
+from spacepackets.ecss import PusTm
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+from pytmtc.common import AcsId, Apid
+from pytmtc.hk_common import create_request_one_shot_hk_cmd
+from pytmtc.mode import handle_set_mode_cmd
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+class SetId(enum.IntEnum):
+    SENSOR_SET = 0
+
+
+def create_mgm_cmds(q: DefaultPusQueueHelper, cmd_path: List[str]):
+    assert len(cmd_path) >= 3
+    if cmd_path[2] == "hk":
+        if cmd_path[3] == "one_shot_hk":
+            q.add_log_cmd("Sending HK one shot request")
+            q.add_pus_tc(
+                create_request_one_shot_hk_cmd(Apid.ACS, AcsId.MGM_0, SetId.SENSOR_SET)
+            )
+
+    if cmd_path[2] == "mode":
+        if cmd_path[3] == "set_mode":
+            handle_set_mode_cmd(q, "MGM 0", cmd_path[4], Apid.ACS, AcsId.MGM_0)
+
+
+def handle_mgm_hk_report(pus_tm: PusTm, set_id: int, hk_data: bytes):
+    if set_id == SetId.SENSOR_SET:
+        if len(hk_data) != 13:
+            raise ValueError(f"invalid HK data length, expected 13, got {len(hk_data)}")
+        data_valid = hk_data[0]
+        mgm_x = struct.unpack("!f", hk_data[1:5])[0]
+        mgm_y = struct.unpack("!f", hk_data[5:9])[0]
+        mgm_z = struct.unpack("!f", hk_data[9:13])[0]
+        _LOGGER.info(
+            f"received MGM HK set in uT: Valid {data_valid} X {mgm_x} Y {mgm_y} Z {mgm_z}"
+        )
+        pass

satrs-example/pytmtc/pytmtc/common.py

@@ -10,6 +10,7 @@ class Apid(enum.IntEnum):
     GENERIC_PUS = 2
     ACS = 3
     CFDP = 4
+    TMTC = 5
 
 
 class EventSeverity(enum.IntEnum):
@@ -38,7 +39,10 @@ class EventU32:
 
 
 class AcsId(enum.IntEnum):
-    MGM_0 = 0
+    SUBSYSTEM = 1
+    MGM_ASSEMBLY = 2
+    MGM_0 = 3
+    MGM_1 = 4
 
 
 class AcsHkIds(enum.IntEnum):

satrs-example/pytmtc/pytmtc/config.py

@@ -0,0 +1,47 @@
+from typing import Optional
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ccsds import PacketId, PacketType
+from tmtccmd import HookBase
+from tmtccmd.com import ComInterface
+from tmtccmd.config import CmdTreeNode
+from tmtccmd.util.obj_id import ObjectIdDictT
+
+from pytmtc.common import Apid
+from pytmtc.pus_tc import create_cmd_definition_tree
+
+
+class SatrsConfigHook(HookBase):
+    def __init__(self, json_cfg_path: str):
+        super().__init__(json_cfg_path)
+
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
+        from tmtccmd.config.com import (
+            create_com_interface_default,
+            create_com_interface_cfg_default,
+        )
+
+        assert self.cfg_path is not None
+        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,
+        )
+        assert cfg is not None
+        return create_com_interface_default(cfg)
+
+    def get_command_definitions(self) -> CmdTreeNode:
+        """This function should return the root node of the command definition tree."""
+        return create_cmd_definition_tree()
+
+    def get_cmd_history(self) -> Optional[History]:
+        """Optionlly return a history class for the past command paths which will be used
+        when prompting a command path from the user in CLI mode."""
+        return FileHistory(".tmtc-history.txt")
+
+    def get_object_ids(self) -> ObjectIdDictT:
+        from tmtccmd.config.objects import get_core_object_ids
+
+        return get_core_object_ids()

satrs-example/pytmtc/pytmtc/hk.py

@@ -0,0 +1,42 @@
+import logging
+import struct
+from spacepackets.ecss.pus_3_hk import Subservice
+from spacepackets.ecss import PusTm
+
+from pytmtc.common import AcsId, Apid
+from pytmtc.acs.mgms import handle_mgm_hk_report
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+def handle_hk_packet(pus_tm: PusTm):
+    if len(pus_tm.source_data) < 4:
+        raise ValueError("no unique ID in HK packet")
+    unique_id = struct.unpack("!I", pus_tm.source_data[:4])[0]
+    if (
+        pus_tm.subservice == Subservice.TM_HK_REPORT
+        or pus_tm.subservice == Subservice.TM_DIAGNOSTICS_REPORT
+    ):
+        if len(pus_tm.source_data) < 8:
+            raise ValueError("no set ID in HK packet")
+        set_id = struct.unpack("!I", pus_tm.source_data[4:8])[0]
+        handle_hk_report(pus_tm, unique_id, set_id)
+    _LOGGER.warning(
+        f"handling for HK packet with subservice {pus_tm.subservice} not implemented yet"
+    )
+
+
+def handle_hk_report(pus_tm: PusTm, unique_id: int, set_id: int):
+    hk_data = pus_tm.source_data[8:]
+    if pus_tm.apid == Apid.ACS:
+        if unique_id == AcsId.MGM_0:
+            handle_mgm_hk_report(pus_tm, set_id, hk_data)
+        else:
+            _LOGGER.warning(
+                f"handling for HK report with unique ID {unique_id} not implemented yet"
+            )
+    else:
+        _LOGGER.warning(
+            f"handling for HK report with apid {pus_tm.apid} not implemented yet"
+        )

satrs-example/pytmtc/pytmtc/hk_common.py

@@ -0,0 +1,16 @@
+import struct
+
+from spacepackets.ecss import PusService, PusTc
+from spacepackets.ecss.pus_3_hk import Subservice
+
+
+def create_request_one_shot_hk_cmd(apid: int, unique_id: int, set_id: int) -> PusTc:
+    app_data = bytearray()
+    app_data.extend(struct.pack("!I", unique_id))
+    app_data.extend(struct.pack("!I", set_id))
+    return PusTc(
+        service=PusService.S3_HOUSEKEEPING,
+        subservice=Subservice.TC_GENERATE_ONE_PARAMETER_REPORT,
+        apid=apid,
+        app_data=app_data,
+    )

satrs-example/pytmtc/pytmtc/mode.py

@@ -0,0 +1,31 @@
+import struct
+from spacepackets.ecss import PusTc
+from tmtccmd.pus.s200_fsfw_mode import Mode, Subservice
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+
+def create_set_mode_cmd(apid: int, unique_id: int, mode: int, submode: int) -> PusTc:
+    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 PusTc(
+        service=200,
+        subservice=Subservice.TC_MODE_COMMAND,
+        apid=apid,
+        app_data=app_data,
+    )
+
+
+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/pytmtc/pytmtc/pus_tc.py

@@ -1,37 +1,73 @@
 import datetime
-import struct
 import logging
 
 from spacepackets.ccsds import CdsShortTimestamp
 from spacepackets.ecss import PusTelecommand
+from spacepackets.seqcount import FileSeqCountProvider
+from tmtccmd import ProcedureWrapper, TcHandlerBase
 from tmtccmd.config import CmdTreeNode
-from tmtccmd.pus.tc.s200_fsfw_mode import Mode
-from tmtccmd.tmtc import DefaultPusQueueHelper
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import (
+    DefaultPusQueueHelper,
+    FeedWrapper,
+    QueueWrapper,
+    SendCbParams,
+    TcProcedureType,
+    TcQueueEntryType,
+)
 from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
-from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
 
-from common import AcsId, Apid
+from pytmtc.acs import create_acs_node
+from pytmtc.common import Apid
+from pytmtc.acs.mgms import create_mgm_cmds
 
 _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,
-    )
+class TcHandler(TcHandlerBase):
+    def __init__(
+        self,
+        seq_count_provider: FileSeqCountProvider,
+        verif_wrapper: VerificationWrapper,
+    ):
+        super(TcHandler, self).__init__()
+        self.seq_count_provider = seq_count_provider
+        self.verif_wrapper = verif_wrapper
+        self.queue_helper = DefaultPusQueueHelper(
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
+            seq_cnt_provider=seq_count_provider,
+            pus_verificator=self.verif_wrapper.pus_verificator,
+            default_pus_apid=None,
+        )
+
+    def send_cb(self, send_params: SendCbParams):
+        entry_helper = send_params.entry
+        if entry_helper.is_tc:
+            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
+                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
+                raw_tc = pus_tc_wrapper.pus_tc.pack()
+                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
+                send_params.com_if.send(raw_tc)
+        elif entry_helper.entry_type == TcQueueEntryType.LOG:
+            log_entry = entry_helper.to_log_entry()
+            _LOGGER.info(log_entry.log_str)
+
+    def queue_finished_cb(self, info: ProcedureWrapper):
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
+
+    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
+        q = self.queue_helper
+        q.queue_wrapper = wrapper.queue_wrapper
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            assert def_proc.cmd_path is not None
+            pack_pus_telecommands(q, def_proc.cmd_path)
 
 
 def create_cmd_definition_tree() -> CmdTreeNode:
-
     root_node = CmdTreeNode.root_node()
 
     hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
@@ -65,15 +101,7 @@ def create_cmd_definition_tree() -> CmdTreeNode:
         )
     )
     root_node.add_child(scheduler_node)
-
-    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
-    mgm_node = CmdTreeNode("mgms", "MGM devices node")
-    mgm_node.add_child(mode_node)
-    mgm_node.add_child(hk_node)
-
-    acs_node.add_child(mgm_node)
-    root_node.add_child(acs_node)
-
+    root_node.add_child(create_acs_node(mode_node, hk_node))
     return root_node
 
 
@@ -112,32 +140,4 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
     if cmd_path_list[0] == "acs":
         assert len(cmd_path_list) >= 2
         if cmd_path_list[1] == "mgms":
-            assert len(cmd_path_list) >= 3
-            if cmd_path_list[2] == "hk":
-                if cmd_path_list[3] == "one_shot_hk":
-                    q.add_log_cmd("Sending HK one shot request")
-                    # TODO: Fix
-                    # q.add_pus_tc(
-                    #   create_request_one_hk_command(
-                    #    make_addressable_id(Apid.ACS, AcsId.MGM_SET)
-                    # )
-                    # )
-            if cmd_path_list[2] == "mode":
-                if cmd_path_list[3] == "set_mode":
-                    handle_set_mode_cmd(
-                        q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
-                    )
-
-
-def handle_set_mode_cmd(
-    q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
-):
-    if mode_str == "off":
-        q.add_log_cmd(f"Sending Mode OFF to {target_str}")
-        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
-    elif mode_str == "on":
-        q.add_log_cmd(f"Sending Mode ON to {target_str}")
-        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
-    elif mode_str == "normal":
-        q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
-        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))
+            create_mgm_cmds(q, cmd_path_list)

satrs-example/pytmtc/pytmtc/pus_tm.py

@@ -0,0 +1,93 @@
+import logging
+from typing import Any
+from spacepackets.ccsds.time import CdsShortTimestamp
+from spacepackets.ecss import PusTm
+from spacepackets.ecss.pus_17_test import Service17Tm
+from spacepackets.ecss.pus_1_verification import Service1Tm, UnpackParams
+from tmtccmd.logging.pus import RawTmtcTimedLogWrapper
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import GenericApidHandlerBase
+
+from pytmtc.common import Apid, EventU32
+from pytmtc.hk import handle_hk_packet
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+class PusHandler(GenericApidHandlerBase):
+    def __init__(
+        self,
+        file_logger: logging.Logger,
+        verif_wrapper: VerificationWrapper,
+        raw_logger: RawTmtcTimedLogWrapper,
+    ):
+        super().__init__(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):
+        try:
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+        except ValueError as e:
+            _LOGGER.warning("Could not generate PUS TM object from raw data")
+            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
+            raise e
+        service = pus_tm.service
+        if service == 1:
+            tm_packet = Service1Tm.unpack(
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
+            )
+            res = self.verif_wrapper.add_tm(tm_packet)
+            if res is None:
+                _LOGGER.info(
+                    f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
+                    f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
+                )
+                _LOGGER.warning(
+                    f"No matching telecommand found for {tm_packet.tc_req_id}"
+                )
+            else:
+                self.verif_wrapper.log_to_console(tm_packet, res)
+                self.verif_wrapper.log_to_file(tm_packet, res)
+        elif service == 3:
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+            handle_hk_packet(pus_tm)
+        elif service == 5:
+            tm_packet = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+            src_data = tm_packet.source_data
+            event_u32 = EventU32.unpack(src_data)
+            _LOGGER.info(
+                f"Received event packet. Source APID: {Apid(tm_packet.apid)!r}, Event: {event_u32}"
+            )
+            if event_u32.group_id == 0 and event_u32.unique_id == 0:
+                _LOGGER.info("Received test event")
+        elif service == 17:
+            tm_packet = Service17Tm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+            if tm_packet.subservice == 2:
+                self.file_logger.info("Received Ping Reply TM[17,2]")
+                _LOGGER.info("Received Ping Reply TM[17,2]")
+            else:
+                self.file_logger.info(
+                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
+                )
+                _LOGGER.info(
+                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
+                )
+        else:
+            _LOGGER.info(
+                f"The service {service} is not implemented in Telemetry Factory"
+            )
+            tm_packet = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+        self.raw_logger.log_tm(pus_tm)

satrs-example/pytmtc/requirements.txt

@@ -0,0 +1 @@
+.

satrs-example/pytmtc/tests/test_tc_mods.py

@@ -0,0 +1,48 @@
+from unittest import TestCase
+
+from spacepackets.ccsds import CdsShortTimestamp
+from tmtccmd.tmtc import DefaultPusQueueHelper, QueueEntryHelper
+from tmtccmd.tmtc.queue import QueueWrapper
+
+from pytmtc.config import SatrsConfigHook
+from pytmtc.pus_tc import pack_pus_telecommands
+
+
+class TestTcModules(TestCase):
+    def setUp(self):
+        self.hook = SatrsConfigHook(json_cfg_path="tmtc_conf.json")
+        self.queue_helper = DefaultPusQueueHelper(
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
+            seq_cnt_provider=None,
+            pus_verificator=None,
+            default_pus_apid=None,
+        )
+
+    def test_cmd_tree_creation_works_without_errors(self):
+        cmd_defs = self.hook.get_command_definitions()
+        self.assertIsNotNone(cmd_defs)
+
+    def test_ping_cmd_generation(self):
+        pack_pus_telecommands(self.queue_helper, "/test/ping")
+        queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
+        entry_helper = QueueEntryHelper(queue_entry)
+        log_queue = entry_helper.to_log_entry()
+        self.assertEqual(log_queue.log_str, "Sending PUS ping telecommand")
+        queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
+        entry_helper.entry = queue_entry
+        pus_tc_entry = entry_helper.to_pus_tc_entry()
+        self.assertEqual(pus_tc_entry.pus_tc.service, 17)
+        self.assertEqual(pus_tc_entry.pus_tc.subservice, 1)
+
+    def test_event_trigger_generation(self):
+        pack_pus_telecommands(self.queue_helper, "/test/trigger_event")
+        queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
+        entry_helper = QueueEntryHelper(queue_entry)
+        log_queue = entry_helper.to_log_entry()
+        self.assertEqual(log_queue.log_str, "Triggering test event")
+        queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
+        entry_helper.entry = queue_entry
+        pus_tc_entry = entry_helper.to_pus_tc_entry()
+        self.assertEqual(pus_tc_entry.pus_tc.service, 17)
+        self.assertEqual(pus_tc_entry.pus_tc.subservice, 128)

satrs-example/satrs-tmtc/requirements.txt

@@ -1,2 +0,0 @@
-tmtccmd == 8.0.0rc1
-# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

satrs-example/satrs-tmtc/tc_definitions.py

@@ -1,38 +0,0 @@
-from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper, CoreServiceList
-from tmtccmd.config.globals import get_default_tmtc_defs
-
-from common import HkOpCodes
-
-
-def tc_definitions() -> TmtcDefinitionWrapper:
-    defs = get_default_tmtc_defs()
-    srv_5 = OpCodeEntry()
-    srv_5.add("0", "Event Test")
-    defs.add_service(
-        name=CoreServiceList.SERVICE_5.value,
-        info="PUS Service 5 Event",
-        op_code_entry=srv_5,
-    )
-    srv_17 = OpCodeEntry()
-    srv_17.add("ping", "Ping Test")
-    srv_17.add("trigger_event", "Trigger Event")
-    defs.add_service(
-        name=CoreServiceList.SERVICE_17_ALT,
-        info="PUS Service 17 Test",
-        op_code_entry=srv_17,
-    )
-    srv_3 = OpCodeEntry()
-    srv_3.add(HkOpCodes.GENERATE_ONE_SHOT, "Generate AOCS one shot HK")
-    defs.add_service(
-        name=CoreServiceList.SERVICE_3,
-        info="PUS Service 3 Housekeeping",
-        op_code_entry=srv_3,
-    )
-    srv_11 = OpCodeEntry()
-    srv_11.add("0", "Scheduled TC Test")
-    defs.add_service(
-        name=CoreServiceList.SERVICE_11,
-        info="PUS Service 11 TC Scheduling",
-        op_code_entry=srv_11,
-    )
-    return defs

satrs-example/src/acs/assembly.rs

@@ -0,0 +1 @@
+// TODO: Write the assembly

satrs-example/src/acs/ctrl.rs

@@ -0,0 +1 @@
+// TODO: Write dummy controller

satrs-example/src/acs/mgm.rs

@@ -1,52 +1,125 @@
 use derive_new::new;
 use satrs::hk::{HkRequest, HkRequestVariant};
-use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
-use satrs::spacepackets::ecss::hk;
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::SpHeader;
-use satrs_example::{DeviceMode, TimeStampHelper};
+use satrs::mode_tree::{ModeChild, ModeNode};
+use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
+use satrs_example::ids::generic_pus::PUS_MODE;
+use satrs_example::{DeviceMode, TimestampHelper};
+use satrs_minisim::acs::lis3mdl::{
+    MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
+};
+use satrs_minisim::acs::MgmRequestLis3Mdl;
+use satrs_minisim::eps::PcduSwitch;
+use satrs_minisim::{SerializableSimMsgPayload, SimReply, SimRequest};
+use std::fmt::Debug;
 use std::sync::mpsc::{self};
 use std::sync::{Arc, Mutex};
+use std::time::Duration;
 
 use satrs::mode::{
-    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
+    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
+    ModeRequestHandlerMpscBounded,
 };
 use satrs::pus::{EcssTmSender, PusTmVariant};
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
-use satrs_example::config::components::PUS_MODE_SERVICE;
+use satrs_example::config::components::NO_SENDER;
 
+use crate::hk::PusHkHelper;
 use crate::pus::hk::{HkReply, HkReplyVariant};
 use crate::requests::CompositeRequest;
+use crate::spi::SpiInterface;
+use crate::tmtc::sender::TmTcSender;
 
 use serde::{Deserialize, Serialize};
 
-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 const NR_OF_DATA_AND_CFG_REGISTERS: usize = 14;
 
-pub trait SpiInterface {
-    type Error;
-    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
+// Register adresses to access various bytes from the raw reply.
+pub const X_LOWBYTE_IDX: usize = 9;
+pub const Y_LOWBYTE_IDX: usize = 11;
+pub const Z_LOWBYTE_IDX: usize = 13;
+
+#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+#[repr(u32)]
+pub enum SetId {
+    SensorData = 0,
+}
+
+#[derive(Default, Debug, PartialEq, Eq)]
+pub enum TransitionState {
+    #[default]
+    Idle,
+    PowerSwitching,
+    Done,
 }
 
 #[derive(Default)]
 pub struct SpiDummyInterface {
-    pub dummy_val_0: i16,
-    pub dummy_val_1: i16,
-    pub dummy_val_2: i16,
+    pub dummy_values: MgmLis3RawValues,
 }
 
 impl SpiInterface for SpiDummyInterface {
     type Error = ();
 
     fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
-        rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
-        rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
-        rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
+        rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.x.to_le_bytes());
+        rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.y.to_be_bytes());
+        rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.z.to_be_bytes());
         Ok(())
     }
 }
 
+pub struct SpiSimInterface {
+    pub sim_request_tx: mpsc::Sender<SimRequest>,
+    pub sim_reply_rx: mpsc::Receiver<SimReply>,
+}
+
+impl SpiInterface for SpiSimInterface {
+    type Error = ();
+
+    // Right now, we only support requesting sensor data and not configuration of the sensor.
+    fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        let mgm_sensor_request = MgmRequestLis3Mdl::RequestSensorData;
+        if let Err(e) = self
+            .sim_request_tx
+            .send(SimRequest::new_with_epoch_time(mgm_sensor_request))
+        {
+            log::error!("failed to send MGM LIS3 request: {e}");
+        }
+        match self.sim_reply_rx.recv_timeout(Duration::from_millis(50)) {
+            Ok(sim_reply) => {
+                let sim_reply_lis3 = MgmLis3MdlReply::from_sim_message(&sim_reply)
+                    .expect("failed to parse LIS3 reply");
+                rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.x.to_le_bytes());
+                rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.y.to_le_bytes());
+                rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.z.to_le_bytes());
+            }
+            Err(e) => {
+                log::warn!("MGM LIS3 SIM reply timeout: {e}");
+            }
+        }
+        Ok(())
+    }
+}
+
+pub enum SpiSimInterfaceWrapper {
+    Dummy(SpiDummyInterface),
+    Sim(SpiSimInterface),
+}
+
+impl SpiInterface for SpiSimInterfaceWrapper {
+    type Error = ();
+
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        match self {
+            SpiSimInterfaceWrapper::Dummy(dummy) => dummy.transfer(tx, rx),
+            SpiSimInterfaceWrapper::Sim(sim_if) => sim_if.transfer(tx, rx),
+        }
+    }
+}
+
 #[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
 pub struct MgmData {
     pub valid: bool,
@@ -55,63 +128,79 @@ pub struct MgmData {
     pub z: f32,
 }
 
-pub struct MpscModeLeafInterface {
-    pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
-    pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
-    pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
+#[derive(Default)]
+pub struct BufWrapper {
+    tx_buf: [u8; 32],
+    rx_buf: [u8; 32],
+    tm_buf: [u8; 32],
+}
+
+pub struct ModeHelpers {
+    current: ModeAndSubmode,
+    target: Option<ModeAndSubmode>,
+    requestor_info: Option<MessageMetadata>,
+    transition_state: TransitionState,
+}
+
+impl Default for ModeHelpers {
+    fn default() -> Self {
+        Self {
+            current: ModeAndSubmode::new(DeviceMode::Off as u32, 0),
+            target: Default::default(),
+            requestor_info: Default::default(),
+            transition_state: Default::default(),
+        }
+    }
 }
 
 /// 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 MgmHandlerLis3Mdl<
+    ComInterface: SpiInterface,
+    SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+> {
     id: UniqueApidTargetId,
     dev_str: &'static str,
-    mode_interface: MpscModeLeafInterface,
-    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
-    tm_sender: TmSender,
-    com_interface: ComInterface,
+    mode_node: ModeRequestHandlerMpscBounded,
+    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
+    switch_helper: SwitchHelper,
+    tm_sender: TmTcSender,
+    pub com_interface: ComInterface,
     shared_mgm_set: Arc<Mutex<MgmData>>,
-    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
-    mode_and_submode: ModeAndSubmode,
+    #[new(value = "PusHkHelper::new(id)")]
+    hk_helper: PusHkHelper,
     #[new(default)]
-    tx_buf: [u8; 12],
+    mode_helpers: ModeHelpers,
     #[new(default)]
-    rx_buf: [u8; 12],
+    bufs: BufWrapper,
     #[new(default)]
-    tm_buf: [u8; 16],
-    #[new(default)]
-    stamp_helper: TimeStampHelper,
+    stamp_helper: TimestampHelper,
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
+impl<
+        ComInterface: SpiInterface,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
+{
     pub fn periodic_operation(&mut self) {
         self.stamp_helper.update_from_now();
         // Handle requests.
         self.handle_composite_requests();
         self.handle_mode_requests();
+        if let Some(target_mode_submode) = self.mode_helpers.target {
+            self.handle_mode_transition(target_mode_submode);
+        }
         if self.mode() == DeviceMode::Normal as u32 {
             log::trace!("polling LIS3MDL sensor {}", self.dev_str);
-            // Communicate with the device.
-            let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
-            assert!(result.is_ok());
-            // Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
-            let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
-            let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
-            let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
-            // Simple scaling to retrieve the float value, assuming a sensor resolution of
-            let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
-            mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            drop(mgm_guard);
+            self.poll_sensor();
         }
     }
 
     pub fn handle_composite_requests(&mut self) {
         loop {
-            match self.composite_request_receiver.try_recv() {
+            match self.composite_request_rx.try_recv() {
                 Ok(ref msg) => match &msg.message {
                     CompositeRequest::Hk(hk_request) => {
                         self.handle_hk_request(&msg.requestor_info, hk_request)
@@ -139,34 +228,33 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
     pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
         match hk_request.variant {
             HkRequestVariant::OneShot => {
-                self.hk_reply_sender
-                    .send(GenericMessage::new(
-                        *requestor_info,
-                        HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
-                    ))
-                    .expect("failed to send HK reply");
-                let sec_header = PusTmSecondaryHeader::new(
-                    3,
-                    hk::Subservice::TmHkPacket as u8,
-                    0,
-                    0,
-                    self.stamp_helper.stamp(),
-                );
                 let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
-                // Use binary serialization here. We want the data to be tightly packed.
-                self.tm_buf[0] = mgm_snapshot.valid as u8;
-                self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
-                self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
-                self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
-                let hk_tm = PusTmCreator::new(
-                    SpHeader::new_from_apid(self.id.apid),
-                    sec_header,
-                    &self.tm_buf[0..12],
-                    true,
-                );
-                self.tm_sender
-                    .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
-                    .expect("failed to send HK TM");
+                if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet(
+                    self.stamp_helper.stamp(),
+                    SetId::SensorData as u32,
+                    &mut |hk_buf| {
+                        hk_buf[0] = mgm_snapshot.valid as u8;
+                        hk_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
+                        hk_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
+                        hk_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
+                        Ok(13)
+                    },
+                    &mut self.bufs.tm_buf,
+                ) {
+                    // TODO: If sending the TM fails, we should also send a failure reply.
+                    self.tm_sender
+                        .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                        .expect("failed to send HK TM");
+                    self.hk_reply_tx
+                        .send(GenericMessage::new(
+                            *requestor_info,
+                            HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
+                        ))
+                        .expect("failed to send HK reply");
+                } else {
+                    // TODO: Send back failure reply. Need result code for this.
+                    log::error!("TM buffer too small to generate HK data");
+                }
             }
             HkRequestVariant::EnablePeriodic => todo!(),
             HkRequestVariant::DisablePeriodic => todo!(),
@@ -177,54 +265,137 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
     pub fn handle_mode_requests(&mut self) {
         loop {
             // TODO: Only allow one set mode request per cycle?
-            match self.mode_interface.request_rx.try_recv() {
-                Ok(msg) => {
-                    let result = self.handle_mode_request(msg);
-                    // TODO: Trigger event?
-                    if result.is_err() {
-                        log::warn!(
-                            "{}: mode request failed with error {:?}",
-                            self.dev_str,
-                            result.err().unwrap()
-                        );
-                    }
-                }
-                Err(e) => {
-                    if e != mpsc::TryRecvError::Empty {
-                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+            match self.mode_node.try_recv_mode_request() {
+                Ok(opt_msg) => {
+                    if let Some(msg) = opt_msg {
+                        let result = self.handle_mode_request(msg);
+                        // TODO: Trigger event?
+                        if result.is_err() {
+                            log::warn!(
+                                "{}: mode request failed with error {:?}",
+                                self.dev_str,
+                                result.err().unwrap()
+                            );
+                        }
                     } else {
                         break;
                     }
                 }
+                Err(e) => match e {
+                    satrs::queue::GenericReceiveError::Empty => break,
+                    satrs::queue::GenericReceiveError::TxDisconnected(e) => {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    }
+                },
+            }
+        }
+    }
+
+    pub fn poll_sensor(&mut self) {
+        // Communicate with the device. This is actually how to read the data from the LIS3 device
+        // SPI interface.
+        self.com_interface
+            .transfer(
+                &self.bufs.tx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
+                &mut self.bufs.rx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
+            )
+            .expect("failed to transfer data");
+        let x_raw = i16::from_le_bytes(
+            self.bufs.rx_buf[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                .try_into()
+                .unwrap(),
+        );
+        let y_raw = i16::from_le_bytes(
+            self.bufs.rx_buf[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                .try_into()
+                .unwrap(),
+        );
+        let z_raw = i16::from_le_bytes(
+            self.bufs.rx_buf[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                .try_into()
+                .unwrap(),
+        );
+        // Simple scaling to retrieve the float value, assuming the best sensor resolution.
+        let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
+        mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        mgm_guard.valid = true;
+        drop(mgm_guard);
+    }
+
+    pub fn handle_mode_transition(&mut self, target_mode_submode: ModeAndSubmode) {
+        if target_mode_submode.mode() == DeviceMode::On as u32
+            || target_mode_submode.mode() == DeviceMode::Normal as u32
+        {
+            if self.mode_helpers.transition_state == TransitionState::Idle {
+                let result = self
+                    .switch_helper
+                    .send_switch_on_cmd(MessageMetadata::new(0, self.id.id()), PcduSwitch::Mgm);
+                if result.is_err() {
+                    // Could not send switch command.. still continue with transition.
+                    log::error!("failed to send switch on command");
+                }
+                self.mode_helpers.transition_state = TransitionState::PowerSwitching;
+            }
+            if self.mode_helpers.transition_state == TransitionState::PowerSwitching
+                && self
+                    .switch_helper
+                    .is_switch_on(PcduSwitch::Mgm)
+                    .expect("switch info error")
+            {
+                self.mode_helpers.transition_state = TransitionState::Done;
+            }
+            if self.mode_helpers.transition_state == TransitionState::Done {
+                self.mode_helpers.current = self.mode_helpers.target.unwrap();
+                self.handle_mode_reached(self.mode_helpers.requestor_info)
+                    .expect("failed to handle mode reached");
+                self.mode_helpers.transition_state = TransitionState::Idle;
             }
         }
     }
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+impl<
+        ComInterface: SpiInterface,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeProvider for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
 {
     fn mode_and_submode(&self) -> ModeAndSubmode {
-        self.mode_and_submode
+        self.mode_helpers.current
     }
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+impl<
+        ComInterface: SpiInterface,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
 {
     type Error = ModeError;
+
     fn start_transition(
         &mut self,
         requestor: MessageMetadata,
         mode_and_submode: ModeAndSubmode,
+        _forced: bool,
     ) -> Result<(), satrs::mode::ModeError> {
         log::info!(
             "{}: transitioning to mode {:?}",
             self.dev_str,
             mode_and_submode
         );
-        self.mode_and_submode = mode_and_submode;
-        self.handle_mode_reached(Some(requestor))?;
+        self.mode_helpers.current = mode_and_submode;
+        if mode_and_submode.mode() == DeviceMode::Off as u32 {
+            self.shared_mgm_set.lock().unwrap().valid = false;
+            self.handle_mode_reached(Some(requestor))?;
+        } else if mode_and_submode.mode() == DeviceMode::Normal as u32
+            || mode_and_submode.mode() == DeviceMode::On as u32
+        {
+            // TODO: Write helper method for the struct? Might help for other handlers as well..
+            self.mode_helpers.transition_state = TransitionState::Idle;
+            self.mode_helpers.requestor_info = Some(requestor);
+            self.mode_helpers.target = Some(mode_and_submode);
+        }
         Ok(())
     }
 
@@ -232,7 +403,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
         log::info!(
             "{} announcing mode: {:?}",
             self.dev_str,
-            self.mode_and_submode
+            self.mode_and_submode()
         );
     }
 
@@ -240,11 +411,15 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
         &mut self,
         requestor: Option<MessageMetadata>,
     ) -> Result<(), Self::Error> {
+        self.mode_helpers.target = None;
         self.announce_mode(requestor, false);
         if let Some(requestor) = requestor {
-            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+            if requestor.sender_id() == NO_SENDER {
+                return Ok(());
+            }
+            if requestor.sender_id() != PUS_MODE.id() {
                 log::warn!(
-                    "can not send back mode reply to sender {}",
+                    "can not send back mode reply to sender {:x}",
                     requestor.sender_id()
                 );
             } else {
@@ -259,16 +434,15 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
         requestor: MessageMetadata,
         reply: ModeReply,
     ) -> Result<(), Self::Error> {
-        if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+        if requestor.sender_id() != PUS_MODE.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))?;
+        self.mode_node
+            .send_mode_reply(requestor, reply)
+            .map_err(ModeError::Send)?;
         Ok(())
     }
 
@@ -280,3 +454,265 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
         Ok(())
     }
 }
+
+impl<
+        ComInterface: SpiInterface,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeNode for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
+{
+    fn id(&self) -> satrs::ComponentId {
+        self.id.into()
+    }
+}
+
+impl<
+        ComInterface: SpiInterface,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeChild for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
+{
+    type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
+
+    fn add_mode_parent(&mut self, id: satrs::ComponentId, reply_sender: Self::Sender) {
+        self.mode_node.add_message_target(id, reply_sender);
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::{
+        collections::HashMap,
+        sync::{mpsc, Arc},
+    };
+
+    use satrs::{
+        mode::{ModeReply, ModeRequest},
+        mode_tree::ModeParent,
+        power::SwitchStateBinary,
+        request::{GenericMessage, UniqueApidTargetId},
+        tmtc::PacketAsVec,
+        ComponentId,
+    };
+    use satrs_example::ids::{acs::ASSEMBLY, Apid};
+    use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;
+
+    use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};
+
+    use super::*;
+
+    #[derive(Default)]
+    pub struct TestSpiInterface {
+        pub call_count: u32,
+        pub next_mgm_data: MgmLis3RawValues,
+    }
+
+    impl SpiInterface for TestSpiInterface {
+        type Error = ();
+
+        fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+            rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                .copy_from_slice(&self.next_mgm_data.x.to_le_bytes());
+            rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                .copy_from_slice(&self.next_mgm_data.y.to_le_bytes());
+            rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                .copy_from_slice(&self.next_mgm_data.z.to_le_bytes());
+            self.call_count += 1;
+            Ok(())
+        }
+    }
+
+    #[allow(dead_code)]
+    pub struct MgmTestbench {
+        pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
+        pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
+        pub tm_rx: mpsc::Receiver<PacketAsVec>,
+        pub handler: MgmHandlerLis3Mdl<TestSpiInterface, TestSwitchHelper>,
+    }
+
+    #[derive(Default)]
+    pub struct MgmAssemblyMock(
+        pub HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
+    );
+
+    impl ModeNode for MgmAssemblyMock {
+        fn id(&self) -> satrs::ComponentId {
+            PUS_MODE.into()
+        }
+    }
+
+    impl ModeParent for MgmAssemblyMock {
+        type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
+
+        fn add_mode_child(&mut self, id: satrs::ComponentId, request_sender: Self::Sender) {
+            self.0.insert(id, request_sender);
+        }
+    }
+
+    #[derive(Default)]
+    pub struct PusMock {
+        pub request_sender_map: HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
+    }
+
+    impl ModeNode for PusMock {
+        fn id(&self) -> satrs::ComponentId {
+            PUS_MODE.into()
+        }
+    }
+
+    impl ModeParent for PusMock {
+        type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
+
+        fn add_mode_child(&mut self, id: satrs::ComponentId, request_sender: Self::Sender) {
+            self.request_sender_map.insert(id, request_sender);
+        }
+    }
+
+    impl MgmTestbench {
+        pub fn new() -> Self {
+            let (request_tx, request_rx) = mpsc::sync_channel(5);
+            let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::sync_channel(5);
+            let (reply_tx_to_parent, reply_rx_to_parent) = mpsc::sync_channel(5);
+            let id = UniqueApidTargetId::new(Apid::Acs.raw_value(), 1);
+            let mode_node = ModeRequestHandlerMpscBounded::new(id.into(), request_rx);
+            let (composite_request_tx, composite_request_rx) = mpsc::channel();
+            let (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);
+            let (tm_tx, tm_rx) = mpsc::sync_channel(10);
+            let tm_sender = TmTcSender::Heap(tm_tx);
+            let shared_mgm_set = Arc::default();
+            let mut handler = MgmHandlerLis3Mdl::new(
+                id,
+                "TEST_MGM",
+                mode_node,
+                composite_request_rx,
+                hk_reply_tx,
+                TestSwitchHelper::default(),
+                tm_sender,
+                TestSpiInterface::default(),
+                shared_mgm_set,
+            );
+            handler.add_mode_parent(PUS_MODE.into(), reply_tx_to_pus);
+            handler.add_mode_parent(ASSEMBLY.into(), reply_tx_to_parent);
+            Self {
+                mode_request_tx: request_tx,
+                mode_reply_rx_to_pus: reply_rx_to_pus,
+                mode_reply_rx_to_parent: reply_rx_to_parent,
+                composite_request_tx,
+                handler,
+                tm_rx,
+                hk_reply_rx,
+            }
+        }
+    }
+
+    #[test]
+    fn test_basic_handler() {
+        let mut testbench = MgmTestbench::new();
+        assert_eq!(testbench.handler.com_interface.call_count, 0);
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+        testbench.handler.periodic_operation();
+        // Handler is OFF, no changes expected.
+        assert_eq!(testbench.handler.com_interface.call_count, 0);
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+    }
+
+    #[test]
+    fn test_normal_handler() {
+        let mut testbench = MgmTestbench::new();
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE.id()),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
+            ))
+            .expect("failed to send mode request");
+        testbench.handler.periodic_operation();
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Normal as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
+
+        // Verify power switch handling.
+        let mut switch_requests = testbench.handler.switch_helper.switch_requests.borrow_mut();
+        assert_eq!(switch_requests.len(), 1);
+        let switch_req = switch_requests.pop_front().expect("no switch request");
+        assert_eq!(switch_req.target_state, SwitchStateBinary::On);
+        assert_eq!(switch_req.switch_id, PcduSwitch::Mgm);
+        let mut switch_info_requests = testbench
+            .handler
+            .switch_helper
+            .switch_info_requests
+            .borrow_mut();
+        assert_eq!(switch_info_requests.len(), 1);
+        let switch_info_req = switch_info_requests.pop_front().expect("no switch request");
+        assert_eq!(switch_info_req, PcduSwitch::Mgm);
+
+        let mode_reply = testbench
+            .mode_reply_rx_to_pus
+            .try_recv()
+            .expect("no mode reply generated");
+        match mode_reply.message {
+            ModeReply::ModeReply(mode) => {
+                assert_eq!(mode.mode(), DeviceMode::Normal as u32);
+                assert_eq!(mode.submode(), 0);
+            }
+            _ => panic!("unexpected mode reply"),
+        }
+        // The device should have been polled once.
+        assert_eq!(testbench.handler.com_interface.call_count, 1);
+        let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
+        assert!(mgm_set.x < 0.001);
+        assert!(mgm_set.y < 0.001);
+        assert!(mgm_set.z < 0.001);
+        assert!(mgm_set.valid);
+    }
+
+    #[test]
+    fn test_normal_handler_mgm_set_conversion() {
+        let mut testbench = MgmTestbench::new();
+        let raw_values = MgmLis3RawValues {
+            x: 1000,
+            y: -1000,
+            z: 1000,
+        };
+        testbench.handler.com_interface.next_mgm_data = raw_values;
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE.id()),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
+            ))
+            .expect("failed to send mode request");
+        testbench.handler.periodic_operation();
+        let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
+        let expected_x =
+            raw_values.x as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        let expected_y =
+            raw_values.y as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        let expected_z =
+            raw_values.z as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        let x_diff = (mgm_set.x - expected_x).abs();
+        let y_diff = (mgm_set.y - expected_y).abs();
+        let z_diff = (mgm_set.z - expected_z).abs();
+        assert!(x_diff < 0.001, "x diff too large: {}", x_diff);
+        assert!(y_diff < 0.001, "y diff too large: {}", y_diff);
+        assert!(z_diff < 0.001, "z diff too large: {}", z_diff);
+        assert!(mgm_set.valid);
+    }
+}

satrs-example/src/acs/mod.rs

@@ -1 +1,4 @@
+pub mod assembly;
+pub mod ctrl;
 pub mod mgm;
+pub mod subsystem;

satrs-example/src/acs/subsystem.rs

@@ -0,0 +1 @@
+// TODO: Write subsystem

satrs-example/src/bin/simpleclient.rs

@@ -1,10 +1,9 @@
+use arbitrary_int::u11;
 use satrs::pus::verification::RequestId;
 use satrs::spacepackets::ecss::tc::PusTcCreator;
 use satrs::spacepackets::ecss::tm::PusTmReader;
-use satrs::{
-    spacepackets::ecss::{PusPacket, WritablePusPacket},
-    spacepackets::SpHeader,
-};
+use satrs::spacepackets::ecss::CreatorConfig;
+use satrs::spacepackets::SpHeader;
 use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
 use std::net::{IpAddr, SocketAddr, UdpSocket};
 use std::time::Duration;
@@ -12,7 +11,13 @@ 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 pus_tc = PusTcCreator::new_simple(
+        SpHeader::new_from_apid(u11::new(0x02)),
+        17,
+        1,
+        &[],
+        CreatorConfig::default(),
+    );
     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}");
@@ -29,7 +34,7 @@ fn main() {
         let res = client.recv(&mut buf);
         match res {
             Ok(_len) => {
-                let (pus_tm, size) = PusTmReader::new(&buf, 7).expect("Parsing PUS TM failed");
+                let pus_tm = PusTmReader::new(&buf, 7).expect("Parsing PUS TM failed");
                 if pus_tm.service() == 17 && pus_tm.subservice() == 2 {
                     println!("Received PUS Ping Reply TM[17,2]")
                 } else if pus_tm.service() == 1 {

satrs-example/src/bin/test.rs

@@ -3,7 +3,7 @@
 use crossbeam_channel::{bounded, Receiver, Sender};
 use std::sync::atomic::{AtomicU16, Ordering};
 use std::thread;
-use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned, U16};
+use zerocopy::{FromBytes, Immutable, IntoBytes, NetworkEndian, Unaligned, U16};
 
 trait FieldDataProvider: Send {
     fn get_data(&self) -> &[u8];
@@ -35,7 +35,7 @@ struct ExampleMgmSet {
     temperature: u16,
 }
 
-#[derive(FromBytes, AsBytes, Unaligned)]
+#[derive(FromBytes, IntoBytes, Immutable, Unaligned)]
 #[repr(C)]
 struct ExampleMgmSetZc {
     mgm_vec: [u8; 12],

satrs-example/src/config.rs

@@ -1,3 +1,4 @@
+use arbitrary_int::u11;
 use lazy_static::lazy_static;
 use satrs::{
     res_code::ResultU16,
@@ -10,7 +11,7 @@ use strum::IntoEnumIterator;
 
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use satrs::{
-    events::{EventU32TypedSev, SeverityInfo},
+    events_legacy::{EventU32TypedSev, SeverityInfo},
     pool::{StaticMemoryPool, StaticPoolConfig},
 };
 
@@ -38,20 +39,19 @@ pub enum GroupId {
 pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
 pub const SERVER_PORT: u16 = 7301;
 
-pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
-    EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
+pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::<SeverityInfo>::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));
+        for id in crate::ids::Apid::iter() {
+            set.insert(PacketId::new(PacketType::Tc, true, u11::new(id as u16)));
         }
         set
     };
     pub static ref APID_VALIDATOR: HashSet<u16> = {
         let mut set = HashSet::new();
-        for id in components::Apid::iter() {
+        for id in crate::ids::Apid::iter() {
             set.insert(id as u16);
         }
         set
@@ -123,67 +123,16 @@ pub mod mode_err {
 }
 
 pub mod components {
-    use satrs::request::UniqueApidTargetId;
-    use strum::EnumIter;
+    use satrs::ComponentId;
 
-    #[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
-    pub enum Apid {
-        Sched = 1,
-        GenericPus = 2,
-        Acs = 3,
-        Cfdp = 4,
-        Tmtc = 5,
-    }
-
-    // Component IDs for components with the PUS APID.
-    #[derive(Copy, Clone, PartialEq, Eq)]
-    pub enum PusId {
-        PusEventManagement = 0,
-        PusRouting = 1,
-        PusTest = 2,
-        PusAction = 3,
-        PusMode = 4,
-        PusHk = 5,
-    }
-
-    #[derive(Copy, Clone, PartialEq, Eq)]
-    pub enum AcsId {
-        Mgm0 = 0,
-    }
-
-    #[derive(Copy, Clone, PartialEq, Eq)]
-    pub enum TmtcId {
-        UdpServer = 0,
-        TcpServer = 1,
-    }
-
-    pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
-    pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::GenericPus as u16, 0);
-    pub const PUS_ROUTING_SERVICE: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusRouting as u32);
-    pub const PUS_TEST_SERVICE: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusTest as u32);
-    pub const PUS_MODE_SERVICE: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusMode as u32);
-    pub const PUS_HK_SERVICE: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
-    pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::Sched as u16, 0);
-    pub const MGM_HANDLER_0: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
-    pub const UDP_SERVER: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
-    pub const TCP_SERVER: UniqueApidTargetId =
-        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
+    pub const NO_SENDER: ComponentId = ComponentId::MAX;
 }
 
 pub mod pool {
     use super::*;
     pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
         (
-            StaticMemoryPool::new(StaticPoolConfig::new(
+            StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
                 vec![
                     (30, 32),
                     (15, 64),
@@ -194,7 +143,7 @@ pub mod pool {
                 ],
                 true,
             )),
-            StaticMemoryPool::new(StaticPoolConfig::new(
+            StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
                 vec![
                     (30, 32),
                     (15, 64),
@@ -209,7 +158,7 @@ pub mod pool {
     }
 
     pub fn create_sched_tc_pool() -> StaticMemoryPool {
-        StaticMemoryPool::new(StaticPoolConfig::new(
+        StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![
                 (30, 32),
                 (15, 64),
@@ -225,7 +174,7 @@ pub mod pool {
 
 pub mod tasks {
     pub const FREQ_MS_UDP_TMTC: u64 = 200;
-    pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
     pub const FREQ_MS_AOCS: u64 = 500;
     pub const FREQ_MS_PUS_STACK: u64 = 200;
+    pub const SIM_CLIENT_IDLE_DELAY_MS: u64 = 5;
 }

satrs-example/src/eps/mod.rs

@@ -0,0 +1,197 @@
+use derive_new::new;
+use std::{cell::RefCell, collections::VecDeque, sync::mpsc, time::Duration};
+
+use satrs::{
+    power::{
+        PowerSwitchInfo, PowerSwitcherCommandSender, SwitchRequest, SwitchState, SwitchStateBinary,
+    },
+    queue::GenericSendError,
+    request::{GenericMessage, MessageMetadata},
+};
+use satrs_minisim::eps::{PcduSwitch, SwitchMapWrapper};
+use thiserror::Error;
+
+use self::pcdu::SharedSwitchSet;
+
+pub mod pcdu;
+
+#[derive(new, Clone)]
+pub struct PowerSwitchHelper {
+    switcher_tx: mpsc::SyncSender<GenericMessage<SwitchRequest>>,
+    shared_switch_set: SharedSwitchSet,
+}
+
+#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
+pub enum SwitchCommandingError {
+    #[error("send error: {0}")]
+    Send(#[from] GenericSendError),
+}
+
+#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
+pub enum SwitchInfoError {
+    /// This is a configuration error which should not occur.
+    #[error("switch ID not in map")]
+    SwitchIdNotInMap(PcduSwitch),
+    #[error("switch set invalid")]
+    SwitchSetInvalid,
+}
+
+impl PowerSwitchInfo<PcduSwitch> for PowerSwitchHelper {
+    type Error = SwitchInfoError;
+
+    fn switch_state(
+        &self,
+        switch_id: PcduSwitch,
+    ) -> Result<satrs::power::SwitchState, Self::Error> {
+        let switch_set = self
+            .shared_switch_set
+            .lock()
+            .expect("failed to lock switch set");
+        if !switch_set.valid {
+            return Err(SwitchInfoError::SwitchSetInvalid);
+        }
+
+        if let Some(state) = switch_set.switch_map.get(&switch_id) {
+            return Ok(*state);
+        }
+        Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
+    }
+
+    fn switch_delay_ms(&self) -> Duration {
+        // Here, we could set device specific switch delays theoretically. Set it to this value
+        // for now.
+        Duration::from_millis(1000)
+    }
+}
+
+impl PowerSwitcherCommandSender<PcduSwitch> for PowerSwitchHelper {
+    type Error = SwitchCommandingError;
+
+    fn send_switch_on_cmd(
+        &self,
+        requestor_info: satrs::request::MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        self.switcher_tx
+            .send_switch_on_cmd(requestor_info, switch_id)?;
+        Ok(())
+    }
+
+    fn send_switch_off_cmd(
+        &self,
+        requestor_info: satrs::request::MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        self.switcher_tx
+            .send_switch_off_cmd(requestor_info, switch_id)?;
+        Ok(())
+    }
+}
+
+#[allow(dead_code)]
+#[derive(new)]
+pub struct SwitchRequestInfo {
+    pub requestor_info: MessageMetadata,
+    pub switch_id: PcduSwitch,
+    pub target_state: satrs::power::SwitchStateBinary,
+}
+
+// Test switch helper which can be used for unittests.
+pub struct TestSwitchHelper {
+    pub switch_requests: RefCell<VecDeque<SwitchRequestInfo>>,
+    pub switch_info_requests: RefCell<VecDeque<PcduSwitch>>,
+    #[allow(dead_code)]
+    pub switch_delay_request_count: u32,
+    pub next_switch_delay: Duration,
+    pub switch_map: RefCell<SwitchMapWrapper>,
+    pub switch_map_valid: bool,
+}
+
+impl Default for TestSwitchHelper {
+    fn default() -> Self {
+        Self {
+            switch_requests: Default::default(),
+            switch_info_requests: Default::default(),
+            switch_delay_request_count: Default::default(),
+            next_switch_delay: Duration::from_millis(1000),
+            switch_map: Default::default(),
+            switch_map_valid: true,
+        }
+    }
+}
+
+impl PowerSwitchInfo<PcduSwitch> for TestSwitchHelper {
+    type Error = SwitchInfoError;
+
+    fn switch_state(
+        &self,
+        switch_id: PcduSwitch,
+    ) -> Result<satrs::power::SwitchState, Self::Error> {
+        let mut switch_info_requests_mut = self.switch_info_requests.borrow_mut();
+        switch_info_requests_mut.push_back(switch_id);
+        if !self.switch_map_valid {
+            return Err(SwitchInfoError::SwitchSetInvalid);
+        }
+        let switch_map_mut = self.switch_map.borrow_mut();
+        if let Some(state) = switch_map_mut.0.get(&switch_id) {
+            return Ok(*state);
+        }
+        Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
+    }
+
+    fn switch_delay_ms(&self) -> Duration {
+        self.next_switch_delay
+    }
+}
+
+impl PowerSwitcherCommandSender<PcduSwitch> for TestSwitchHelper {
+    type Error = SwitchCommandingError;
+
+    fn send_switch_on_cmd(
+        &self,
+        requestor_info: MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        let mut switch_requests_mut = self.switch_requests.borrow_mut();
+        switch_requests_mut.push_back(SwitchRequestInfo {
+            requestor_info,
+            switch_id,
+            target_state: SwitchStateBinary::On,
+        });
+        // By default, the test helper immediately acknowledges the switch request by setting
+        // the appropriate switch state in the internal switch map.
+        let mut switch_map_mut = self.switch_map.borrow_mut();
+        if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
+            *switch_state = SwitchState::On;
+        }
+        Ok(())
+    }
+
+    fn send_switch_off_cmd(
+        &self,
+        requestor_info: MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        let mut switch_requests_mut = self.switch_requests.borrow_mut();
+        switch_requests_mut.push_back(SwitchRequestInfo {
+            requestor_info,
+            switch_id,
+            target_state: SwitchStateBinary::Off,
+        });
+        // By default, the test helper immediately acknowledges the switch request by setting
+        // the appropriate switch state in the internal switch map.
+        let mut switch_map_mut = self.switch_map.borrow_mut();
+        if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
+            *switch_state = SwitchState::Off;
+        }
+        Ok(())
+    }
+}
+
+#[allow(dead_code)]
+impl TestSwitchHelper {
+    // Helper function which can be used to force a switch to another state for test purposes.
+    pub fn set_switch_state(&mut self, switch: PcduSwitch, state: SwitchState) {
+        self.switch_map.get_mut().0.insert(switch, state);
+    }
+}

satrs-example/src/eps/pcdu.rs

@@ -0,0 +1,747 @@
+use std::{
+    cell::RefCell,
+    collections::VecDeque,
+    sync::{mpsc, Arc, Mutex},
+};
+
+use derive_new::new;
+use num_enum::{IntoPrimitive, TryFromPrimitive};
+use satrs::{
+    hk::{HkRequest, HkRequestVariant},
+    mode::{
+        ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
+        ModeRequestHandlerMpscBounded,
+    },
+    mode_tree::{ModeChild, ModeNode},
+    power::SwitchRequest,
+    pus::{EcssTmSender, PusTmVariant},
+    queue::GenericSendError,
+    request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
+    spacepackets::ByteConversionError,
+};
+use satrs_example::{
+    config::components::NO_SENDER,
+    ids::{eps::PCDU, generic_pus::PUS_MODE},
+    DeviceMode, TimestampHelper,
+};
+use satrs_minisim::{
+    eps::{
+        PcduReply, PcduRequest, PcduSwitch, SwitchMap, SwitchMapBinaryWrapper, SwitchMapWrapper,
+    },
+    SerializableSimMsgPayload, SimReply, SimRequest,
+};
+use serde::{Deserialize, Serialize};
+
+use crate::{
+    hk::PusHkHelper,
+    pus::hk::{HkReply, HkReplyVariant},
+    requests::CompositeRequest,
+    tmtc::sender::TmTcSender,
+};
+
+pub trait SerialInterface {
+    type Error: core::fmt::Debug;
+
+    /// Send some data via the serial interface.
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error>;
+    /// Receive all replies received on the serial interface so far. This function takes a closure
+    /// and call its for each received packet, passing the received packet into it.
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        f: ReplyHandler,
+    ) -> Result<(), Self::Error>;
+}
+
+#[derive(new)]
+pub struct SerialInterfaceToSim {
+    pub sim_request_tx: mpsc::Sender<SimRequest>,
+    pub sim_reply_rx: mpsc::Receiver<SimReply>,
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+#[repr(u32)]
+pub enum SetId {
+    SwitcherSet = 0,
+}
+
+impl SerialInterface for SerialInterfaceToSim {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        let request: PcduRequest = serde_json::from_slice(data).expect("expected a PCDU request");
+        self.sim_request_tx
+            .send(SimRequest::new_with_epoch_time(request))
+            .expect("failed to send request to simulation");
+        Ok(())
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        mut f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        loop {
+            match self.sim_reply_rx.try_recv() {
+                Ok(reply) => {
+                    let reply = serde_json::to_string(&reply).unwrap();
+                    f(reply.as_bytes());
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("sim reply sender has disconnected");
+                        break;
+                    }
+                },
+            }
+        }
+        Ok(())
+    }
+}
+
+#[derive(Default)]
+pub struct SerialInterfaceDummy {
+    // Need interior mutability here for both fields.
+    pub switch_map: RefCell<SwitchMapBinaryWrapper>,
+    pub reply_deque: RefCell<VecDeque<SimReply>>,
+}
+
+impl SerialInterface for SerialInterfaceDummy {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        let pcdu_req: PcduRequest = serde_json::from_slice(data).unwrap();
+        let switch_map_mut = &mut self.switch_map.borrow_mut().0;
+        match pcdu_req {
+            PcduRequest::SwitchDevice { switch, state } => {
+                match switch_map_mut.entry(switch) {
+                    std::collections::hash_map::Entry::Occupied(mut val) => {
+                        *val.get_mut() = state;
+                    }
+                    std::collections::hash_map::Entry::Vacant(vacant) => {
+                        vacant.insert(state);
+                    }
+                };
+            }
+            PcduRequest::RequestSwitchInfo => {
+                let mut reply_deque_mut = self.reply_deque.borrow_mut();
+                reply_deque_mut.push_back(SimReply::new(&PcduReply::SwitchInfo(
+                    switch_map_mut.clone(),
+                )));
+            }
+        };
+        Ok(())
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        mut f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        if self.reply_queue_empty() {
+            return Ok(());
+        }
+        loop {
+            let reply = self.get_next_reply_as_string();
+            f(reply.as_bytes());
+            if self.reply_queue_empty() {
+                break;
+            }
+        }
+        Ok(())
+    }
+}
+
+impl SerialInterfaceDummy {
+    fn get_next_reply_as_string(&self) -> String {
+        let mut reply_deque_mut = self.reply_deque.borrow_mut();
+        let next_reply = reply_deque_mut.pop_front().unwrap();
+        serde_json::to_string(&next_reply).unwrap()
+    }
+
+    fn reply_queue_empty(&self) -> bool {
+        self.reply_deque.borrow().is_empty()
+    }
+}
+
+pub enum SerialSimInterfaceWrapper {
+    Dummy(SerialInterfaceDummy),
+    Sim(SerialInterfaceToSim),
+}
+
+impl SerialInterface for SerialSimInterfaceWrapper {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        match self {
+            SerialSimInterfaceWrapper::Dummy(dummy) => dummy.send(data),
+            SerialSimInterfaceWrapper::Sim(sim) => sim.send(data),
+        }
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        match self {
+            SerialSimInterfaceWrapper::Dummy(dummy) => dummy.try_recv_replies(f),
+            SerialSimInterfaceWrapper::Sim(sim) => sim.try_recv_replies(f),
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum OpCode {
+    RegularOp = 0,
+    PollAndRecvReplies = 1,
+}
+
+#[derive(Clone, PartialEq, Eq, Default, Serialize, Deserialize)]
+pub struct SwitchSet {
+    pub valid: bool,
+    pub switch_map: SwitchMap,
+}
+
+pub type SharedSwitchSet = Arc<Mutex<SwitchSet>>;
+
+/// Example PCDU device handler.
+#[derive(new)]
+#[allow(clippy::too_many_arguments)]
+pub struct PcduHandler<ComInterface: SerialInterface> {
+    id: UniqueApidTargetId,
+    dev_str: &'static str,
+    mode_node: ModeRequestHandlerMpscBounded,
+    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
+    switch_request_rx: mpsc::Receiver<GenericMessage<SwitchRequest>>,
+    tm_sender: TmTcSender,
+    pub com_interface: ComInterface,
+    shared_switch_map: Arc<Mutex<SwitchSet>>,
+    #[new(value = "PusHkHelper::new(id)")]
+    hk_helper: PusHkHelper,
+    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
+    mode_and_submode: ModeAndSubmode,
+    #[new(default)]
+    stamp_helper: TimestampHelper,
+    #[new(value = "[0; 256]")]
+    tm_buf: [u8; 256],
+}
+
+impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
+    pub fn periodic_operation(&mut self, op_code: OpCode) {
+        match op_code {
+            OpCode::RegularOp => {
+                self.stamp_helper.update_from_now();
+                // Handle requests.
+                self.handle_composite_requests();
+                self.handle_mode_requests();
+                self.handle_switch_requests();
+                // Poll the switch states and/or telemetry regularly here.
+                if self.mode() == DeviceMode::Normal as u32 || self.mode() == DeviceMode::On as u32
+                {
+                    self.handle_periodic_commands();
+                }
+            }
+            OpCode::PollAndRecvReplies => {
+                self.poll_and_handle_replies();
+            }
+        }
+    }
+
+    pub fn handle_composite_requests(&mut self) {
+        loop {
+            match self.composite_request_rx.try_recv() {
+                Ok(ref msg) => match &msg.message {
+                    CompositeRequest::Hk(hk_request) => {
+                        self.handle_hk_request(&msg.requestor_info, hk_request)
+                    }
+                    // TODO: This object does not have actions (yet).. Still send back completion failure
+                    // reply.
+                    CompositeRequest::Action(_action_req) => {}
+                },
+
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!(
+                            "{}: failed to receive composite request: {:?}",
+                            self.dev_str,
+                            e
+                        );
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+        match hk_request.variant {
+            HkRequestVariant::OneShot => {
+                if hk_request.unique_id == SetId::SwitcherSet as u32 {
+                    if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet(
+                        self.stamp_helper.stamp(),
+                        SetId::SwitcherSet as u32,
+                        &mut |hk_buf| {
+                            // Send TM down as JSON.
+                            let switch_map_snapshot = self
+                                .shared_switch_map
+                                .lock()
+                                .expect("failed to lock switch map")
+                                .clone();
+                            let switch_map_json = serde_json::to_string(&switch_map_snapshot)
+                                .expect("failed to serialize switch map");
+                            if switch_map_json.len() > hk_buf.len() {
+                                log::error!("switch map JSON too large for HK buffer");
+                                return Err(ByteConversionError::ToSliceTooSmall {
+                                    found: hk_buf.len(),
+                                    expected: switch_map_json.len(),
+                                });
+                            }
+                            Ok(switch_map_json.len())
+                        },
+                        &mut self.tm_buf,
+                    ) {
+                        self.tm_sender
+                            .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                            .expect("failed to send HK TM");
+                        self.hk_reply_tx
+                            .send(GenericMessage::new(
+                                *requestor_info,
+                                HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
+                            ))
+                            .expect("failed to send HK reply");
+                    }
+                }
+            }
+            HkRequestVariant::EnablePeriodic => todo!(),
+            HkRequestVariant::DisablePeriodic => todo!(),
+            HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
+        }
+    }
+
+    pub fn handle_periodic_commands(&self) {
+        let pcdu_req = PcduRequest::RequestSwitchInfo;
+        let pcdu_req_ser = serde_json::to_string(&pcdu_req).unwrap();
+        if let Err(_e) = self.com_interface.send(pcdu_req_ser.as_bytes()) {
+            log::warn!("polling PCDU switch info failed");
+        }
+    }
+
+    pub fn handle_mode_requests(&mut self) {
+        loop {
+            // TODO: Only allow one set mode request per cycle?
+            match self.mode_node.try_recv_mode_request() {
+                Ok(opt_msg) => {
+                    if let Some(msg) = opt_msg {
+                        let result = self.handle_mode_request(msg);
+                        // TODO: Trigger event?
+                        if result.is_err() {
+                            log::warn!(
+                                "{}: mode request failed with error {:?}",
+                                self.dev_str,
+                                result.err().unwrap()
+                            );
+                        }
+                    } else {
+                        break;
+                    }
+                }
+                Err(e) => match e {
+                    satrs::queue::GenericReceiveError::Empty => {
+                        break;
+                    }
+                    satrs::queue::GenericReceiveError::TxDisconnected(_) => {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    }
+                },
+            }
+        }
+    }
+
+    pub fn handle_switch_requests(&mut self) {
+        loop {
+            match self.switch_request_rx.try_recv() {
+                Ok(switch_req) => match PcduSwitch::try_from(switch_req.message.switch_id()) {
+                    Ok(pcdu_switch) => {
+                        let pcdu_req = PcduRequest::SwitchDevice {
+                            switch: pcdu_switch,
+                            state: switch_req.message.target_state(),
+                        };
+                        let pcdu_req_ser = serde_json::to_string(&pcdu_req).unwrap();
+                        self.com_interface
+                            .send(pcdu_req_ser.as_bytes())
+                            .expect("failed to send switch request to PCDU");
+                    }
+                    Err(e) => todo!("failed to convert switch ID {:?} to typed PCDU switch", e),
+                },
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("switch request receiver has disconnected");
+                        break;
+                    }
+                },
+            };
+        }
+    }
+
+    pub fn poll_and_handle_replies(&mut self) {
+        if let Err(e) = self.com_interface.try_recv_replies(|reply| {
+            let sim_reply: SimReply = serde_json::from_slice(reply).expect("invalid reply format");
+            let pcdu_reply = PcduReply::from_sim_message(&sim_reply).expect("invalid reply format");
+            match pcdu_reply {
+                PcduReply::SwitchInfo(switch_info) => {
+                    let switch_map_wrapper =
+                        SwitchMapWrapper::from_binary_switch_map_ref(&switch_info);
+                    let mut shared_switch_map = self
+                        .shared_switch_map
+                        .lock()
+                        .expect("failed to lock switch map");
+                    shared_switch_map.switch_map = switch_map_wrapper.0;
+                    shared_switch_map.valid = true;
+                }
+            }
+        }) {
+            log::warn!("receiving PCDU replies failed: {e:?}");
+        }
+    }
+}
+
+impl<ComInterface: SerialInterface> ModeProvider for PcduHandler<ComInterface> {
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl<ComInterface: SerialInterface> ModeRequestHandler for PcduHandler<ComInterface> {
+    type Error = ModeError;
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+        _forced: bool,
+    ) -> Result<(), satrs::mode::ModeError> {
+        log::info!(
+            "{}: transitioning to mode {:?}",
+            self.dev_str,
+            mode_and_submode
+        );
+        self.mode_and_submode = mode_and_submode;
+        if mode_and_submode.mode() == DeviceMode::Off as u32 {
+            self.shared_switch_map.lock().unwrap().valid = false;
+        }
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
+        log::info!(
+            "{} announcing mode: {:?}",
+            self.dev_str,
+            self.mode_and_submode
+        );
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        requestor: Option<MessageMetadata>,
+    ) -> Result<(), Self::Error> {
+        self.announce_mode(requestor, false);
+        if let Some(requestor) = requestor {
+            if requestor.sender_id() == NO_SENDER {
+                return Ok(());
+            }
+            if requestor.sender_id() != PUS_MODE.id() {
+                log::warn!(
+                    "can not send back mode reply to sender {}",
+                    requestor.sender_id()
+                );
+            } else {
+                self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
+            }
+        }
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        requestor: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), Self::Error> {
+        if requestor.sender_id() != PUS_MODE.id() {
+            log::warn!(
+                "can not send back mode reply to sender {}",
+                requestor.sender_id()
+            );
+        }
+        self.mode_node
+            .send_mode_reply(requestor, reply)
+            .map_err(|_| GenericSendError::RxDisconnected)?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        _requestor_info: MessageMetadata,
+        _info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}
+
+impl<ComInterface: SerialInterface> ModeNode for PcduHandler<ComInterface> {
+    fn id(&self) -> satrs::ComponentId {
+        PCDU.into()
+    }
+}
+
+impl<ComInterface: SerialInterface> ModeChild for PcduHandler<ComInterface> {
+    type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
+
+    fn add_mode_parent(&mut self, id: satrs::ComponentId, reply_sender: Self::Sender) {
+        self.mode_node.add_message_target(id, reply_sender);
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::sync::mpsc;
+
+    use satrs::{
+        mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
+    };
+    use satrs_example::ids::{self, Apid};
+    use satrs_minisim::eps::SwitchMapBinary;
+
+    use super::*;
+
+    #[derive(Default)]
+    pub struct SerialInterfaceTest {
+        pub inner: SerialInterfaceDummy,
+        pub send_queue: RefCell<VecDeque<Vec<u8>>>,
+        pub reply_queue: RefCell<VecDeque<String>>,
+    }
+
+    impl SerialInterface for SerialInterfaceTest {
+        type Error = ();
+
+        fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+            let mut send_queue_mut = self.send_queue.borrow_mut();
+            send_queue_mut.push_back(data.to_vec());
+            self.inner.send(data)
+        }
+
+        fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+            &self,
+            mut f: ReplyHandler,
+        ) -> Result<(), Self::Error> {
+            if self.inner.reply_queue_empty() {
+                return Ok(());
+            }
+            loop {
+                let reply = self.inner.get_next_reply_as_string();
+                self.reply_queue.borrow_mut().push_back(reply.clone());
+                f(reply.as_bytes());
+                if self.inner.reply_queue_empty() {
+                    break;
+                }
+            }
+            Ok(())
+        }
+    }
+
+    pub struct PcduTestbench {
+        pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
+        pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
+        pub tm_rx: mpsc::Receiver<PacketAsVec>,
+        pub switch_request_tx: mpsc::Sender<GenericMessage<SwitchRequest>>,
+        pub handler: PcduHandler<SerialInterfaceTest>,
+    }
+
+    impl PcduTestbench {
+        pub fn new() -> Self {
+            let (mode_request_tx, mode_request_rx) = mpsc::sync_channel(5);
+            let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::sync_channel(5);
+            let (mode_reply_tx_to_parent, mode_reply_rx_to_parent) = mpsc::sync_channel(5);
+            let mode_node = ModeRequestHandlerMpscBounded::new(PCDU.into(), mode_request_rx);
+            let (composite_request_tx, composite_request_rx) = mpsc::channel();
+            let (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);
+            let (tm_tx, tm_rx) = mpsc::sync_channel::<PacketAsVec>(5);
+            let (switch_request_tx, switch_reqest_rx) = mpsc::channel();
+            let shared_switch_map = Arc::new(Mutex::new(SwitchSet::default()));
+            let mut handler = PcduHandler::new(
+                UniqueApidTargetId::new(Apid::Eps.raw_value(), 0),
+                "TEST_PCDU",
+                mode_node,
+                composite_request_rx,
+                hk_reply_tx,
+                switch_reqest_rx,
+                TmTcSender::Heap(tm_tx.clone()),
+                SerialInterfaceTest::default(),
+                shared_switch_map,
+            );
+            handler.add_mode_parent(ids::eps::SUBSYSTEM.into(), mode_reply_tx_to_parent);
+            handler.add_mode_parent(PUS_MODE.into(), mode_reply_tx_to_pus);
+            Self {
+                mode_request_tx,
+                mode_reply_rx_to_pus,
+                mode_reply_rx_to_parent,
+                composite_request_tx,
+                hk_reply_rx,
+                tm_rx,
+                switch_request_tx,
+                handler,
+            }
+        }
+
+        pub fn verify_switch_info_req_was_sent(&self, expected_queue_len: usize) {
+            // Check that there is now communication happening.
+            let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
+            assert_eq!(send_queue_mut.len(), expected_queue_len);
+            let packet_sent = send_queue_mut.pop_front().unwrap();
+            drop(send_queue_mut);
+            let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
+            assert_eq!(pcdu_req, PcduRequest::RequestSwitchInfo);
+        }
+
+        pub fn verify_switch_req_was_sent(
+            &self,
+            expected_queue_len: usize,
+            switch_id: PcduSwitch,
+            target_state: SwitchStateBinary,
+        ) {
+            // Check that there is now communication happening.
+            let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
+            assert_eq!(send_queue_mut.len(), expected_queue_len);
+            let packet_sent = send_queue_mut.pop_front().unwrap();
+            drop(send_queue_mut);
+            let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
+            assert_eq!(
+                pcdu_req,
+                PcduRequest::SwitchDevice {
+                    switch: switch_id,
+                    state: target_state
+                }
+            )
+        }
+
+        pub fn verify_switch_reply_received(
+            &self,
+            expected_queue_len: usize,
+            expected_map: SwitchMapBinary,
+        ) {
+            // Check that a switch reply was read back.
+            let mut reply_received_mut = self.handler.com_interface.reply_queue.borrow_mut();
+            assert_eq!(reply_received_mut.len(), expected_queue_len);
+            let reply_received = reply_received_mut.pop_front().unwrap();
+            let sim_reply: SimReply = serde_json::from_str(&reply_received).unwrap();
+            let pcdu_reply = PcduReply::from_sim_message(&sim_reply).unwrap();
+            assert_eq!(pcdu_reply, PcduReply::SwitchInfo(expected_map));
+        }
+    }
+
+    #[test]
+    fn test_basic_handler() {
+        let mut testbench = PcduTestbench::new();
+        assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
+        assert_eq!(
+            testbench.handler.com_interface.reply_queue.borrow().len(),
+            0
+        );
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+        testbench.handler.periodic_operation(OpCode::RegularOp);
+        testbench
+            .handler
+            .periodic_operation(OpCode::PollAndRecvReplies);
+        // Handler is OFF, no changes expected.
+        assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
+        assert_eq!(
+            testbench.handler.com_interface.reply_queue.borrow().len(),
+            0
+        );
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+    }
+
+    #[test]
+    fn test_normal_mode() {
+        let mut testbench = PcduTestbench::new();
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE.id()),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
+            ))
+            .expect("failed to send mode request");
+        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
+        assert!(!switch_map_shared.valid);
+        drop(switch_map_shared);
+        testbench.handler.periodic_operation(OpCode::RegularOp);
+        testbench
+            .handler
+            .periodic_operation(OpCode::PollAndRecvReplies);
+        // Check correctness of mode.
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Normal as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
+
+        testbench.verify_switch_info_req_was_sent(1);
+        testbench.verify_switch_reply_received(1, SwitchMapBinaryWrapper::default().0);
+
+        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
+        assert!(switch_map_shared.valid);
+        drop(switch_map_shared);
+    }
+
+    #[test]
+    fn test_switch_request_handling() {
+        let mut testbench = PcduTestbench::new();
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE.id()),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
+            ))
+            .expect("failed to send mode request");
+        testbench
+            .switch_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, ids::acs::MGM0.id()),
+                SwitchRequest::new(0, SwitchStateBinary::On),
+            ))
+            .expect("failed to send switch request");
+        testbench.handler.periodic_operation(OpCode::RegularOp);
+        testbench
+            .handler
+            .periodic_operation(OpCode::PollAndRecvReplies);
+
+        testbench.verify_switch_req_was_sent(2, PcduSwitch::Mgm, SwitchStateBinary::On);
+        testbench.verify_switch_info_req_was_sent(1);
+        let mut switch_map = SwitchMapBinaryWrapper::default().0;
+        *switch_map
+            .get_mut(&PcduSwitch::Mgm)
+            .expect("switch state setting failed") = SwitchStateBinary::On;
+        testbench.verify_switch_reply_received(1, switch_map);
+
+        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
+        assert!(switch_map_shared.valid);
+        drop(switch_map_shared);
+    }
+}

satrs-example/src/events.rs

@@ -1,36 +1,34 @@
 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 arbitrary_int::traits::Integer as _;
+use arbitrary_int::u11;
+use satrs::event_man_legacy::{EventMessageU32, EventRoutingError};
+use satrs::pus::event::EventTmHook;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::EcssTmSender;
 use satrs::request::UniqueApidTargetId;
 use satrs::{
-    event_man::{
-        EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
-        MpscEventReceiver,
-    },
+    event_man_legacy::{EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded},
     pus::{
         event_man::{
-            DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
+            DefaultPusEventU32TmCreator, EventReporter, EventRequest, EventRequestWithToken,
         },
         verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
     },
     spacepackets::time::cds::CdsTime,
 };
-use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
+use satrs_example::ids::generic_pus::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,
+    pub next_apid: u11,
 }
 
-impl EventTmHookProvider for EventApidSetter {
+impl EventTmHook for EventApidSetter {
     fn modify_tm(&self, tm: &mut satrs::spacepackets::ecss::tm::PusTmCreator) {
         tm.set_apid(self.next_apid);
     }
@@ -40,13 +38,13 @@ impl EventTmHookProvider for EventApidSetter {
 /// packets. It also handles the verification completion of PUS event service requests.
 pub struct PusEventHandler<TmSender: EcssTmSender> {
     event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-    pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
+    pus_event_tm_creator: DefaultPusEventU32TmCreator<EventApidSetter>,
     pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
     tm_sender: TmSender,
     time_provider: CdsTime,
     timestamp: [u8; 7],
+    small_data_buf: [u8; 64],
     verif_handler: VerificationReporter,
-    event_apid_setter: EventApidSetter,
 }
 
 impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
@@ -61,9 +59,15 @@ 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_with_hook(
+            PUS_EVENT_MANAGEMENT.raw(),
+            u11::ZERO,
+            0,
+            128,
+            EventApidSetter::default(),
+        );
         let pus_event_dispatcher =
-            DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
+            DefaultPusEventU32TmCreator::new_with_default_backend(event_reporter);
         let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
             PUS_EVENT_MANAGEMENT.raw(),
             pus_event_man_tx,
@@ -75,13 +79,13 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
 
         Self {
             event_request_rx,
-            pus_event_dispatcher,
+            pus_event_tm_creator: pus_event_dispatcher,
             pus_event_man_rx,
             time_provider: CdsTime::new_with_u16_days(0, 0),
             timestamp: [0; 7],
+            small_data_buf: [0; 64],
             verif_handler,
             tm_sender,
-            event_apid_setter: EventApidSetter::default(),
         }
     }
 
@@ -95,75 +99,110 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
                 .completion_success(&self.tm_sender, started_token, timestamp)
                 .expect("Sending completion success failed");
         };
-        // handle event requests
-        if let Ok(event_req) = self.event_request_rx.try_recv() {
-            match event_req.request {
-                EventRequest::Enable(event) => {
-                    self.pus_event_dispatcher
-                        .enable_tm_for_event(&event)
-                        .expect("Enabling TM failed");
-                    update_time(&mut self.time_provider, &mut self.timestamp);
-                    report_completion(event_req, &self.timestamp);
-                }
-                EventRequest::Disable(event) => {
-                    self.pus_event_dispatcher
-                        .disable_tm_for_event(&event)
-                        .expect("Disabling TM failed");
-                    update_time(&mut self.time_provider, &mut self.timestamp);
-                    report_completion(event_req, &self.timestamp);
-                }
+        loop {
+            // handle event requests
+            match self.event_request_rx.try_recv() {
+                Ok(event_req) => match event_req.request {
+                    EventRequest::Enable(event) => {
+                        self.pus_event_tm_creator
+                            .enable_tm_for_event(&event)
+                            .expect("Enabling TM failed");
+                        update_time(&mut self.time_provider, &mut self.timestamp);
+                        report_completion(event_req, &self.timestamp);
+                    }
+                    EventRequest::Disable(event) => {
+                        self.pus_event_tm_creator
+                            .disable_tm_for_event(&event)
+                            .expect("Disabling TM failed");
+                        update_time(&mut self.time_provider, &mut self.timestamp);
+                        report_completion(event_req, &self.timestamp);
+                    }
+                },
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("all event request senders have disconnected");
+                        break;
+                    }
+                },
             }
         }
     }
 
     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() {
-            update_time(&mut self.time_provider, &mut self.timestamp);
-            let param_vec = event_msg.params().map_or(Vec::new(), |param| {
-                param.to_vec().expect("failed to convert params to vec")
-            });
-            self.event_apid_setter.next_apid = UniqueApidTargetId::from(event_msg.sender_id()).apid;
-            self.pus_event_dispatcher
-                .generate_pus_event_tm_generic(
-                    &self.tm_sender,
-                    &self.timestamp,
-                    event_msg.event(),
-                    Some(&param_vec),
-                )
-                .expect("Sending TM as event failed");
+        loop {
+            // Perform the generation of PUS event packets
+            match self.pus_event_man_rx.try_recv() {
+                Ok(event_msg) => {
+                    // We use the TM modification hook to set the sender APID for each event.
+                    self.pus_event_tm_creator.reporter.tm_hook.next_apid =
+                        UniqueApidTargetId::from(event_msg.sender_id()).apid;
+                    update_time(&mut self.time_provider, &mut self.timestamp);
+                    let generation_result = self
+                        .pus_event_tm_creator
+                        .generate_pus_event_tm_generic_with_generic_params(
+                            &self.tm_sender,
+                            &self.timestamp,
+                            event_msg.event(),
+                            &mut self.small_data_buf,
+                            event_msg.params(),
+                        )
+                        .expect("Sending TM as event failed");
+                    if !generation_result.params_were_propagated {
+                        log::warn!(
+                            "Event TM parameters were not propagated: {:?}",
+                            event_msg.params()
+                        );
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("All event senders have disconnected");
+                        break;
+                    }
+                },
+            }
         }
     }
 }
 
-/// This is a thin wrapper around the event manager which also caches the sender component
-/// used to send events to the event manager.
-pub struct EventManagerWrapper {
+pub struct EventHandler<TmSender: EcssTmSender> {
+    pub pus_event_handler: PusEventHandler<TmSender>,
     event_manager: EventManagerWithBoundedMpsc,
-    event_sender: mpsc::Sender<EventMessageU32>,
 }
 
-impl EventManagerWrapper {
-    pub fn new() -> Self {
-        // 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);
+impl<TmSender: EcssTmSender> EventHandler<TmSender> {
+    pub fn new(
+        tm_sender: TmSender,
+        event_rx: mpsc::Receiver<EventMessageU32>,
+        event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+    ) -> Self {
+        let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
+        let pus_event_handler = PusEventHandler::new(
+            tm_sender,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
+            &mut event_manager,
+            event_request_rx,
+        );
+
         Self {
-            event_manager: EventManagerWithBoundedMpsc::new(event_recv),
-            event_sender,
+            pus_event_handler,
+            event_manager,
         }
     }
 
-    // Returns a cached event sender to send events to the event manager for routing.
-    pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
-        self.event_sender.clone()
-    }
-
+    #[allow(dead_code)]
     pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
         &mut self.event_manager
     }
 
+    pub fn periodic_operation(&mut self) {
+        self.pus_event_handler.handle_event_requests();
+        self.try_event_routing();
+        self.pus_event_handler.generate_pus_event_tm();
+    }
+
     pub fn try_event_routing(&mut self) {
         let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
             self.routing_error_handler(event_msg, error)
@@ -177,41 +216,78 @@ impl EventManagerWrapper {
     }
 }
 
-pub struct EventHandler<TmSender: EcssTmSender> {
-    pub event_man_wrapper: EventManagerWrapper,
-    pub pus_event_handler: PusEventHandler<TmSender>,
-}
+#[cfg(test)]
+mod tests {
+    use satrs::{
+        events_legacy::EventU32,
+        pus::verification::VerificationReporterConfig,
+        spacepackets::ecss::{tm::PusTmReader, PusPacket},
+        tmtc::PacketAsVec,
+    };
 
-impl<TmSender: EcssTmSender> 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(
-            tm_sender,
-            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
-            event_man_wrapper.event_manager(),
-            event_request_rx,
-        );
-        Self {
-            event_man_wrapper,
-            pus_event_handler,
+    use super::*;
+
+    const TEST_CREATOR_ID: UniqueApidTargetId = UniqueApidTargetId::new(u11::new(1), 2);
+    const TEST_EVENT: EventU32 = EventU32::new(satrs::events_legacy::Severity::Info, 1, 1);
+
+    pub struct EventManagementTestbench {
+        pub event_tx: mpsc::SyncSender<EventMessageU32>,
+        pub event_manager: EventManagerWithBoundedMpsc,
+        pub tm_receiver: mpsc::Receiver<PacketAsVec>,
+        pub pus_event_handler: PusEventHandler<mpsc::Sender<PacketAsVec>>,
+    }
+
+    impl EventManagementTestbench {
+        pub fn new() -> Self {
+            let (event_tx, event_rx) = mpsc::sync_channel(10);
+            let (_event_req_tx, event_req_rx) = mpsc::sync_channel(10);
+            let (tm_sender, tm_receiver) = mpsc::channel();
+            let verif_reporter_cfg = VerificationReporterConfig::new(u11::new(0x05), 2, 2, 128);
+            let verif_reporter =
+                VerificationReporter::new(PUS_EVENT_MANAGEMENT.id(), &verif_reporter_cfg);
+            let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
+            let pus_event_handler = PusEventHandler::<mpsc::Sender<PacketAsVec>>::new(
+                tm_sender,
+                verif_reporter,
+                &mut event_manager,
+                event_req_rx,
+            );
+            Self {
+                event_tx,
+                tm_receiver,
+                event_manager,
+                pus_event_handler,
+            }
         }
     }
 
-    pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
-        self.event_man_wrapper.clone_event_sender()
+    #[test]
+    fn test_basic_event_generation() {
+        let mut testbench = EventManagementTestbench::new();
+        testbench
+            .event_tx
+            .send(EventMessageU32::new(
+                TEST_CREATOR_ID.id(),
+                EventU32::new(satrs::events_legacy::Severity::Info, 1, 1),
+            ))
+            .expect("failed to send event");
+        testbench.pus_event_handler.handle_event_requests();
+        testbench.event_manager.try_event_handling(|_, _| {});
+        testbench.pus_event_handler.generate_pus_event_tm();
+        let tm_packet = testbench
+            .tm_receiver
+            .try_recv()
+            .expect("failed to receive TM packet");
+        assert_eq!(tm_packet.sender_id, PUS_EVENT_MANAGEMENT.id());
+        let tm_reader = PusTmReader::new(&tm_packet.packet, 7).expect("failed to create TM reader");
+        assert_eq!(tm_reader.apid(), TEST_CREATOR_ID.apid);
+        assert_eq!(tm_reader.user_data().len(), 4);
+        let event_read_back = EventU32::from_be_bytes(tm_reader.user_data().try_into().unwrap());
+        assert_eq!(event_read_back, TEST_EVENT);
     }
 
-    #[allow(dead_code)]
-    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
-        self.event_man_wrapper.event_manager()
-    }
-
-    pub fn periodic_operation(&mut self) {
-        self.pus_event_handler.handle_event_requests();
-        self.event_man_wrapper.try_event_routing();
-        self.pus_event_handler.generate_pus_event_tm();
+    #[test]
+    fn test_basic_event_disabled() {
+        // TODO: Add test.
     }
 }

satrs-example/src/hk.rs

@@ -1,7 +1,9 @@
 use derive_new::new;
 use satrs::hk::UniqueId;
 use satrs::request::UniqueApidTargetId;
-use satrs::spacepackets::ByteConversionError;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::ecss::{hk, CreatorConfig};
+use satrs::spacepackets::{ByteConversionError, SpHeader};
 
 #[derive(Debug, new, Copy, Clone)]
 pub struct HkUniqueId {
@@ -33,3 +35,35 @@ impl HkUniqueId {
         Ok(8)
     }
 }
+
+#[derive(new)]
+pub struct PusHkHelper {
+    component_id: UniqueApidTargetId,
+}
+
+impl PusHkHelper {
+    pub fn generate_hk_report_packet<
+        'a,
+        'b,
+        HkWriter: FnMut(&mut [u8]) -> Result<usize, ByteConversionError>,
+    >(
+        &self,
+        timestamp: &'a [u8],
+        set_id: u32,
+        hk_data_writer: &mut HkWriter,
+        buf: &'b mut [u8],
+    ) -> Result<PusTmCreator<'a, 'b>, ByteConversionError> {
+        let sec_header =
+            PusTmSecondaryHeader::new(3, hk::Subservice::TmHkPacket as u8, 0, 0, timestamp);
+        buf[0..4].copy_from_slice(&self.component_id.unique_id.to_be_bytes());
+        buf[4..8].copy_from_slice(&set_id.to_be_bytes());
+        let (_, second_half) = buf.split_at_mut(8);
+        let hk_data_len = hk_data_writer(second_half)?;
+        Ok(PusTmCreator::new(
+            SpHeader::new_from_apid(self.component_id.apid),
+            sec_header,
+            &buf[0..8 + hk_data_len],
+            CreatorConfig::default(),
+        ))
+    }
+}