Merge pull request 'cross ref docs for events' (#188) from cross-ref-docs-for-events into main

Reviewed-on: #188

.github/workflows/ci.yml

@@ -0,0 +1,64 @@
+name: ci
+on: [push, pull_request]
+
+jobs:
+  check:
+    name: Check build
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo check --release
+
+  test:
+    name: Run Tests
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Install nextest
+        uses: taiki-e/install-action@nextest
+      - run: cargo nextest run --all-features
+      - run: cargo test --doc
+
+  cross-check:
+    name: Check Cross-Compilation
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target:
+          - armv7-unknown-linux-gnueabihf
+          - thumbv7em-none-eabihf
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
+      - run: cargo check -p satrs --release --target=${{matrix.target}} --no-default-features
+
+  fmt:
+    name: Check formatting
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - 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: cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'
+
+  clippy:
+    name: Clippy
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo clippy -- -D warnings

.gitignore

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

automation/Jenkinsfile

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

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

@@ -166,7 +166,7 @@ Subsystem<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
                   <y:Geometry height="30.0" width="125.0" x="1151.9280499999995" y="281.84403125000006"/>
                   <y:Fill color="#CCFFFF" transparent="false"/>
                   <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-                  <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="76.255859375" x="24.3720703125" xml:space="preserve" y="4.8515625">TM Funnel<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+                  <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="58.837890625" x="33.0810546875" xml:space="preserve" y="4.8515625">TM Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
                   <y:Shape type="rectangle"/>
                 </y:ShapeNode>
               </data>
@@ -260,7 +260,7 @@ Mode Tree<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
           <y:Geometry height="57.265600000000006" width="631.1152" x="810.8847999999999" y="411.39428125"/>
           <y:Fill hasColor="false" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="261.8125" x="166.89412267941418" xml:space="preserve" y="3.144146301369915">satrs-satellite
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="261.8125" x="166.89412267941418" xml:space="preserve" y="3.144146301369915">satrs-minisim
 Simulator based on asynchronix<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="-0.028136269449041573" nodeRatioY="-0.08493150684931505" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -272,7 +272,7 @@ Simulator based on asynchronix<y:LabelModel><y:SmartNodeLabelModel distance="4.0
           <y:Geometry height="50.0" width="631.1152000000002" x="810.8847999999998" y="476.2958625000002"/>
           <y:Fill hasColor="false" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="374.8359375" x="110.3824039294143" xml:space="preserve" y="0.12842465753431043">satrs-tmtc
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="374.8359375" x="110.3824039294143" xml:space="preserve" y="0.12842465753431043">pytmtc
 Command-line interface based TMTC handling<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="-0.028136269449041573" nodeRatioY="-0.08493150684931505" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>

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-example/pytmtc/common.py

@@ -10,6 +10,7 @@ class Apid(enum.IntEnum):
     GENERIC_PUS = 2
     ACS = 3
     CFDP = 4
+    TMTC = 5
 
 
 class EventSeverity(enum.IntEnum):

satrs-example/pytmtc/main.py

@@ -103,7 +103,9 @@ class PusHandler(GenericApidHandlerBase):
 
     def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
         try:
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.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}")
@@ -111,7 +113,7 @@ class PusHandler(GenericApidHandlerBase):
         service = pus_tm.service
         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:
@@ -128,7 +130,9 @@ class PusHandler(GenericApidHandlerBase):
         elif 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, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
@@ -136,16 +140,18 @@ class PusHandler(GenericApidHandlerBase):
                 _LOGGER.info(json_str)
         elif service == 5:
             tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
             )
             src_data = tm_packet.source_data
             event_u32 = EventU32.unpack(src_data)
-            _LOGGER.info(f"Received event packet. Event: {event_u32}")
+            _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, time_reader=CdsShortTimestamp.empty()
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
             )
             if tm_packet.subservice == 2:
                 self.file_logger.info("Received Ping Reply TM[17,2]")
@@ -162,7 +168,7 @@ class PusHandler(GenericApidHandlerBase):
                 f"The service {service} is not implemented in Telemetry Factory"
             )
             tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
             )
         self.raw_logger.log_tm(pus_tm)
 
@@ -197,15 +203,15 @@ 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()
             assert def_proc.cmd_path is not None
             pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
 
@@ -256,6 +262,7 @@ def main():
         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")
@@ -270,6 +277,7 @@ def main():
             elif state.request == BackendRequest.CALL_NEXT:
                 pass
     except KeyboardInterrupt:
+        tmtc_backend.close_com_if()
         sys.exit(0)
 
 

satrs-example/pytmtc/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 8.0.0rc1
+tmtccmd == 8.0.0rc2
 # -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

satrs-example/src/config.rs

@@ -38,8 +38,7 @@ 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> = {

satrs-example/src/events.rs

@@ -2,19 +2,15 @@ use std::sync::mpsc::{self};
 
 use crate::pus::create_verification_reporter;
 use satrs::event_man::{EventMessageU32, EventRoutingError};
-use satrs::params::WritableToBeBytes;
 use satrs::pus::event::EventTmHookProvider;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::EcssTmSender;
 use satrs::request::UniqueApidTargetId;
 use satrs::{
-    event_man::{
-        EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
-        MpscEventReceiver,
-    },
+    event_man::{EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded},
     pus::{
         event_man::{
-            DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
+            DefaultPusEventU32TmCreator, EventReporter, EventRequest, EventRequestWithToken,
         },
         verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
     },
@@ -40,13 +36,13 @@ 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 +57,16 @@ 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(),
+            0,
+            0,
+            128,
+            EventApidSetter::default(),
+        )
+        .unwrap();
         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 +78,13 @@ 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 +98,110 @@ 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 +215,83 @@ 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::EventU32,
+        pus::verification::VerificationReporterCfg,
+        spacepackets::{
+            ecss::{tm::PusTmReader, PusPacket},
+            CcsdsPacket,
+        },
+        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(1, 2);
+    const TEST_EVENT: EventU32 = EventU32::new(satrs::events::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 = VerificationReporterCfg::new(0x05, 2, 2, 128).unwrap();
+            let verif_reporter =
+                VerificationReporter::new(PUS_EVENT_MANAGEMENT.id(), &verif_reporter_cfg);
+            let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
+            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::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")
+            .0;
+        assert_eq!(tm_reader.apid(), TEST_CREATOR_ID.apid);
+        assert_eq!(tm_reader.user_data().len(), 4);
+        let event_read_back = EventU32::from_be_bytes(tm_reader.user_data().try_into().unwrap());
+        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/interface/tcp.rs

@@ -1,3 +1,4 @@
+use std::time::Duration;
 use std::{
     collections::{HashSet, VecDeque},
     fmt::Debug,
@@ -139,7 +140,9 @@ impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
 
     pub fn periodic_operation(&mut self) {
         loop {
-            let result = self.0.handle_all_connections(None);
+            let result = self
+                .0
+                .handle_all_connections(Some(Duration::from_millis(400)));
             match result {
                 Ok(_conn_result) => (),
                 Err(e) => {

satrs-example/src/interface/udp.rs

@@ -3,14 +3,13 @@ use std::net::{SocketAddr, UdpSocket};
 use std::sync::mpsc;
 
 use log::{info, warn};
+use satrs::pus::HandlingStatus;
 use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
 use satrs::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
     pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
 };
 
-use crate::pus::HandlingStatus;
-
 pub trait UdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
 }
@@ -114,6 +113,7 @@ impl<
 
 #[cfg(test)]
 mod tests {
+    use std::net::Ipv4Addr;
     use std::{
         cell::RefCell,
         collections::VecDeque,
@@ -182,7 +182,7 @@ mod tests {
 
     #[test]
     fn test_transactions() {
-        let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
+        let sock_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), 0);
         let test_receiver = TestSender::default();
         // let tc_queue = test_receiver.tc_vec.clone();
         let udp_tc_server =
@@ -200,8 +200,8 @@ mod tests {
             .unwrap();
         let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
         let client_addr = client.local_addr().unwrap();
-        client.connect(server_addr).unwrap();
-        client.send(&ping_tc).unwrap();
+        println!("{}", server_addr);
+        client.send_to(&ping_tc, server_addr).unwrap();
         udp_dyn_server.periodic_operation();
         {
             let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();

satrs-example/src/main.rs

@@ -11,7 +11,7 @@ use crate::events::EventHandler;
 use crate::interface::udp::DynamicUdpTmHandler;
 use crate::pus::stack::PusStack;
 use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
-use crate::tmtc::tm_sink::{TmFunnelDynamic, TmFunnelStatic};
+use crate::tmtc::tm_sink::{TmSinkDynamic, TmSinkStatic};
 use log::info;
 use pus::test::create_test_service_dynamic;
 use satrs::hal::std::tcp_server::ServerConfig;
@@ -54,11 +54,11 @@ fn static_tmtc_pool_main() {
     let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
     let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
     let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
-    let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
+    let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
     let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
 
-    let tm_funnel_tx_sender =
-        PacketSenderWithSharedPool::new(tm_funnel_tx.clone(), shared_tm_pool_wrapper.clone());
+    let tm_sink_tx_sender =
+        PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
 
     let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
         mpsc::channel::<GenericMessage<CompositeRequest>>();
@@ -80,11 +80,12 @@ fn static_tmtc_pool_main() {
     // Create event handling components
     // These sender handles are used to send event requests, for example to enable or disable
     // certain events.
+    let (event_tx, event_rx) = mpsc::sync_channel(100);
     let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
 
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
+    let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
 
     let (pus_test_tx, pus_test_rx) = mpsc::channel();
     let (pus_event_tx, pus_event_rx) = mpsc::channel();
@@ -106,39 +107,39 @@ fn static_tmtc_pool_main() {
         mode_tc_sender: pus_mode_tx,
     };
     let pus_test_service = create_test_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
-        event_handler.clone_event_sender(),
+        event_tx.clone(),
         pus_test_rx,
     );
     let pus_scheduler_service = create_scheduler_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         tc_source.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
     let pus_event_service = create_event_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
         pus_event_rx,
         event_request_tx,
     );
     let pus_action_service = create_action_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
         pus_action_rx,
         request_map.clone(),
         pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
         pus_hk_rx,
         request_map.clone(),
         pus_hk_reply_rx,
     );
     let pus_mode_service = create_mode_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
         pus_mode_rx,
         request_map,
@@ -156,7 +157,7 @@ fn static_tmtc_pool_main() {
     let mut tmtc_task = TcSourceTaskStatic::new(
         shared_tc_pool_wrapper.clone(),
         tc_source_rx,
-        PusTcDistributor::new(tm_funnel_tx_sender, pus_router),
+        PusTcDistributor::new(tm_sink_tx_sender, pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@@ -186,10 +187,10 @@ fn static_tmtc_pool_main() {
     )
     .expect("tcp server creation failed");
 
-    let mut tm_funnel = TmFunnelStatic::new(
+    let mut tm_sink = TmSinkStatic::new(
         shared_tm_pool_wrapper,
         sync_tm_tcp_source,
-        tm_funnel_rx,
+        tm_sink_rx,
         tm_server_tx,
     );
 
@@ -209,7 +210,7 @@ fn static_tmtc_pool_main() {
         mode_leaf_interface,
         mgm_handler_composite_rx,
         pus_hk_reply_tx,
-        tm_funnel_tx,
+        tm_sink_tx,
         dummy_spi_interface,
         shared_mgm_set,
     );
@@ -240,9 +241,9 @@ fn static_tmtc_pool_main() {
 
     info!("Starting TM funnel task");
     let jh_tm_funnel = thread::Builder::new()
-        .name("TM Funnel".to_string())
+        .name("tm sink".to_string())
         .spawn(move || loop {
-            tm_funnel.operation();
+            tm_sink.operation();
         })
         .unwrap();
 
@@ -314,10 +315,11 @@ fn dyn_tmtc_pool_main() {
     // Create event handling components
     // These sender handles are used to send event requests, for example to enable or disable
     // certain events.
+    let (event_tx, event_rx) = mpsc::sync_channel(100);
     let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
+    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_rx, event_request_rx);
 
     let (pus_test_tx, pus_test_rx) = mpsc::channel();
     let (pus_event_tx, pus_event_rx) = mpsc::channel();
@@ -339,11 +341,8 @@ fn dyn_tmtc_pool_main() {
         mode_tc_sender: pus_mode_tx,
     };
 
-    let pus_test_service = create_test_service_dynamic(
-        tm_funnel_tx.clone(),
-        event_handler.clone_event_sender(),
-        pus_test_rx,
-    );
+    let pus_test_service =
+        create_test_service_dynamic(tm_funnel_tx.clone(), event_tx.clone(), pus_test_rx);
     let pus_scheduler_service = create_scheduler_service_dynamic(
         tm_funnel_tx.clone(),
         tc_source_tx.clone(),
@@ -411,7 +410,7 @@ fn dyn_tmtc_pool_main() {
     )
     .expect("tcp server creation failed");
 
-    let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
+    let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
 
     let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
         mpsc::channel();
@@ -459,7 +458,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting TM funnel task");
     let jh_tm_funnel = thread::Builder::new()
-        .name("sat-rs tm-funnel".to_string())
+        .name("sat-rs tm-sink".to_string())
         .spawn(move || loop {
             tm_funnel.operation();
         })

satrs-example/src/pus/action.rs

@@ -1,23 +1,23 @@
-use log::{error, warn};
+use log::warn;
 use satrs::action::{ActionRequest, ActionRequestVariant};
-use satrs::params::WritableToBeBytes;
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::action::{
     ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
 };
 use satrs::pus::verification::{
-    FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
+    handle_completion_failure_with_generic_params, handle_step_failure_with_generic_params,
+    FailParamHelper, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
     VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
     ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
     EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
-    MpscTmAsVecSender, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
+    MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler, PusServiceHelper,
     PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
+use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket, PusServiceId};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_ACTION_SERVICE;
 use satrs_example::config::tmtc_err;
@@ -61,7 +61,7 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
         active_request: &ActivePusActionRequestStd,
         tm_sender: &(impl EcssTmSender + ?Sized),
         verification_handler: &impl VerificationReportingProvider,
-        time_stamp: &[u8],
+        timestamp: &[u8],
     ) -> Result<bool, Self::Error> {
         let verif_token: VerificationToken<TcStateStarted> = active_request
             .token()
@@ -69,15 +69,23 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
             .expect("invalid token state");
         let remove_entry = match &reply.message.variant {
             ActionReplyVariant::CompletionFailed { error_code, params } => {
-                let mut fail_data_len = 0;
-                if let Some(params) = params {
-                    fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
-                }
-                verification_handler.completion_failure(
+                let error_propagated = handle_completion_failure_with_generic_params(
                     tm_sender,
                     verif_token,
-                    FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
+                    verification_handler,
+                    FailParamHelper {
+                        error_code,
+                        params: params.as_ref(),
+                        timestamp,
+                        small_data_buf: &mut self.fail_data_buf,
+                    },
                 )?;
+                if !error_propagated {
+                    log::warn!(
+                        "error params for completion failure were not propated: {:?}",
+                        params.as_ref()
+                    );
+                }
                 true
             }
             ActionReplyVariant::StepFailed {
@@ -85,31 +93,35 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
                 step,
                 params,
             } => {
-                let mut fail_data_len = 0;
-                if let Some(params) = params {
-                    fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
-                }
-                verification_handler.step_failure(
+                let error_propagated = handle_step_failure_with_generic_params(
                     tm_sender,
                     verif_token,
-                    FailParamsWithStep::new(
-                        time_stamp,
-                        &EcssEnumU16::new(*step),
+                    verification_handler,
+                    FailParamHelper {
                         error_code,
-                        &self.fail_data_buf[..fail_data_len],
-                    ),
+                        params: params.as_ref(),
+                        timestamp,
+                        small_data_buf: &mut self.fail_data_buf,
+                    },
+                    &EcssEnumU16::new(*step),
                 )?;
+                if !error_propagated {
+                    log::warn!(
+                        "error params for completion failure were not propated: {:?}",
+                        params.as_ref()
+                    );
+                }
                 true
             }
             ActionReplyVariant::Completed => {
-                verification_handler.completion_success(tm_sender, verif_token, time_stamp)?;
+                verification_handler.completion_success(tm_sender, verif_token, timestamp)?;
                 true
             }
             ActionReplyVariant::StepSuccess { step } => {
                 verification_handler.step_success(
                     tm_sender,
                     &verif_token,
-                    time_stamp,
+                    timestamp,
                     EcssEnumU16::new(*step),
                 )?;
                 false
@@ -266,43 +278,23 @@ pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTc
 impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
     for ActionServiceWrapper<TmSender, TcInMemConverter>
 {
-    /// Returns [true] if the packet handling is finished.
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.service.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 8 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 8 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 8 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}");
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
-            }
+    const SERVICE_ID: u8 = PusServiceId::Action as u8;
+    const SERVICE_STR: &'static str = "action";
+
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
         }
-        HandlingStatus::HandledOne
-    }
-
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        // This only fails if all senders disconnected. Treat it like an empty queue.
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS 8: Handling reply failed with error {e:?}");
-                HandlingStatus::Empty
-            })
-    }
-
-    fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
     }
 }
 
@@ -417,7 +409,7 @@ mod tests {
             }
             let result = result.unwrap();
             match result {
-                PusPacketHandlerResult::RequestHandled => (),
+                HandlingStatus::HandledOne => (),
                 _ => panic!("unexpected result {result:?}"),
             }
         }
@@ -429,19 +421,19 @@ mod tests {
             }
             let result = result.unwrap();
             match result {
-                PusPacketHandlerResult::Empty => (),
+                HandlingStatus::Empty => (),
                 _ => panic!("unexpected result {result:?}"),
             }
         }
 
         pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
-            let result = self.service.poll_and_check_next_reply(time_stamp);
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
             assert!(result.is_ok());
             assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
         }
 
         pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
-            let result = self.service.poll_and_check_next_reply(time_stamp);
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
             assert!(result.is_ok());
             assert_eq!(result.unwrap(), HandlingStatus::Empty);
         }

satrs-example/src/pus/event.rs

@@ -1,19 +1,20 @@
 use std::sync::mpsc;
 
 use crate::pus::create_verification_reporter;
-use log::{error, warn};
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::event_srv::PusEventServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
+    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
+use satrs::spacepackets::ecss::PusServiceId;
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
-use super::HandlingStatus;
+use super::{DirectPusService, HandlingStatus};
 
 pub fn create_event_service_static(
     tm_sender: PacketSenderWithSharedPool,
@@ -61,26 +62,52 @@ pub struct EventServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcI
         PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-    EventServiceWrapper<TmSender, TcInMemConverter>
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+    for EventServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.handler.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 5 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 5 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 5 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}")
+    const SERVICE_ID: u8 = PusServiceId::Event as u8;
+
+    const SERVICE_STR: &'static str = "events";
+
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!(
+                "PUS {}({}) partial error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                partial_error
+            );
+        };
+        let result = self
+            .handler
+            .poll_and_handle_next_tc(error_handler, time_stamp);
+        if let Err(e) = result {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on continuous errors.
+            return HandlingStatus::Empty;
+        }
+        match result.unwrap() {
+            DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
             }
         }
         HandlingStatus::HandledOne

satrs-example/src/pus/hk.rs

@@ -1,5 +1,4 @@
 use derive_new::new;
-use log::{error, warn};
 use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::{
@@ -10,11 +9,11 @@ use satrs::pus::{
     ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
     EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
     EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
-    PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
+    PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::{hk, PusPacket};
+use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_HK_SERVICE;
 use satrs_example::config::{hk_err, tmtc_err};
@@ -24,7 +23,7 @@ use std::time::Duration;
 use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
 
-use super::{HandlingStatus, PusTargetedRequestService};
+use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};
 
 #[derive(Clone, PartialEq, Debug, new)]
 pub struct HkReply {
@@ -297,45 +296,26 @@ pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMe
     >,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-    HkServiceWrapper<TmSender, TcInMemConverter>
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for HkServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.service.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 3 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 3 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 3 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}");
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
-            }
+    const SERVICE_ID: u8 = PusServiceId::Housekeeping as u8;
+    const SERVICE_STR: &'static str = "housekeeping";
+
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
         }
-        HandlingStatus::HandledOne
-    }
-
-    pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        // This only fails if all senders disconnected. Treat it like an empty queue.
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS 3: Handling reply failed with error {e:?}");
-                HandlingStatus::Empty
-            })
-    }
-
-    pub fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
     }
 }
 

satrs-example/src/pus/mod.rs

@@ -8,8 +8,8 @@ use satrs::pus::verification::{
 use satrs::pus::{
     ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
     EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
-    PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
-    PusServiceHelper, PusTcToRequestConverter, TcInMemory,
+    HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
+    PusTcToRequestConverter, TcInMemory,
 };
 use satrs::queue::{GenericReceiveError, GenericSendError};
 use satrs::request::{Apid, GenericMessage, MessageMetadata};
@@ -31,12 +31,6 @@ pub mod scheduler;
 pub mod stack;
 pub mod test;
 
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-pub enum HandlingStatus {
-    Empty,
-    HandledOne,
-}
-
 pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
     let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
     // Every software component which needs to generate verification telemetry, gets a cloned
@@ -79,7 +73,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
     pub fn handle_tc_packet_vec(
         &mut self,
         packet_as_vec: PacketAsVec,
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
         self.handle_tc_generic(packet_as_vec.sender_id, None, &packet_as_vec.packet)
     }
 
@@ -87,7 +81,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
         &mut self,
         packet_in_pool: PacketInPool,
         pus_tc_copy: &[u8],
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
         self.handle_tc_generic(
             packet_in_pool.sender_id,
             Some(packet_in_pool.store_addr),
@@ -100,7 +94,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
         sender_id: ComponentId,
         addr_opt: Option<PoolAddr>,
         raw_tc: &[u8],
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
         let pus_tc_result = PusTcReader::new(raw_tc);
         if pus_tc_result.is_err() {
             log::warn!(
@@ -109,7 +103,8 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 pus_tc_result.unwrap_err()
             );
             log::warn!("raw data: {:x?}", raw_tc);
-            return Ok(PusPacketHandlerResult::RequestHandled);
+            // TODO: Shouldn't this be an error?
+            return Ok(HandlingStatus::HandledOne);
         }
         let pus_tc = pus_tc_result.unwrap().0;
         let init_token = self.verif_reporter.add_tc(&pus_tc);
@@ -189,17 +184,65 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 }
             }
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne)
     }
 }
 
 pub trait TargetedPusService {
-    /// Returns [true] if the packet handling is finished.
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus;
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
+    const SERVICE_ID: u8;
+    const SERVICE_STR: &'static str;
+
+    fn poll_and_handle_next_tc_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let result = self.poll_and_handle_next_tc(time_stamp);
+        if let Err(e) = result {
+            log::error!(
+                "PUS service {}({})packet handling error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on error cases.
+            return HandlingStatus::Empty;
+        }
+        result.unwrap()
+    }
+
+    fn poll_and_handle_next_reply_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        // This only fails if all senders disconnected. Treat it like an empty queue.
+        self.poll_and_handle_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!(
+                    "PUS servce {}({}): Handling reply failed with error {:?}",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    e
+                );
+                HandlingStatus::Empty
+            })
+    }
+
+    fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+    fn poll_and_handle_next_reply(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, EcssTmtcError>;
+
     fn check_for_request_timeouts(&mut self);
 }
 
+/// Generic trait for services which handle packets directly. Kept minimal right now because
+/// of the difficulty to allow flexible user code for these services..
+pub trait DirectPusService {
+    const SERVICE_ID: u8;
+    const SERVICE_STR: &'static str;
+
+    fn poll_and_handle_next_tc(&mut self, timestamp: &[u8]) -> HandlingStatus;
+}
+
 /// This is a generic handler class for all PUS services where a PUS telecommand is converted
 /// to a targeted request.
 ///
@@ -297,10 +340,10 @@ where
     pub fn poll_and_handle_next_tc(
         &mut self,
         time_stamp: &[u8],
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<HandlingStatus, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         self.service_helper
@@ -356,7 +399,7 @@ where
                 return Err(e.into());
             }
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne)
     }
 
     fn handle_conversion_to_request_error(
@@ -409,7 +452,7 @@ where
         }
     }
 
-    pub fn poll_and_check_next_reply(
+    pub fn poll_and_handle_next_reply(
         &mut self,
         time_stamp: &[u8],
     ) -> Result<HandlingStatus, EcssTmtcError> {
@@ -439,20 +482,17 @@ where
             return Ok(());
         }
         let active_request = active_req_opt.unwrap();
-        let request_finished = self
-            .reply_handler
-            .handle_reply(
-                reply,
-                active_request,
-                &self.service_helper.common.tm_sender,
-                &self.service_helper.common.verif_reporter,
-                time_stamp,
-            )
-            .unwrap_or(false);
-        if request_finished {
+        let result = self.reply_handler.handle_reply(
+            reply,
+            active_request,
+            &self.service_helper.common.tm_sender,
+            &self.service_helper.common.verif_reporter,
+            time_stamp,
+        );
+        if result.is_err() || (result.is_ok() && *result.as_ref().unwrap()) {
             self.active_request_map.remove(reply.request_id());
         }
-        Ok(())
+        result.map(|_| ())
     }
 
     pub fn check_for_request_timeouts(&mut self) {

satrs-example/src/pus/mode.rs

@@ -1,5 +1,4 @@
 use derive_new::new;
-use log::{error, warn};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use std::sync::mpsc;
 use std::time::Duration;
@@ -9,7 +8,7 @@ use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
     DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult,
+    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
     PusServiceHelper,
 };
 use satrs::request::GenericMessage;
@@ -36,7 +35,7 @@ use satrs::{
     ComponentId,
 };
 use satrs_example::config::components::PUS_MODE_SERVICE;
-use satrs_example::config::{mode_err, tmtc_err};
+use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};
 
 use super::{
     create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
@@ -272,44 +271,26 @@ pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcIn
 impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
     for ModeServiceWrapper<TmSender, TcInMemConverter>
 {
-    /// Returns [true] if the packet handling is finished.
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.service.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS mode service: partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS mode service: invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS mode service: {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS mode service: packet handling error: {error:?}");
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
-            }
+    const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
+    const SERVICE_STR: &'static str = "mode";
+
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
         }
-        HandlingStatus::HandledOne
-    }
-
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS action service: Handling reply failed with error {e:?}");
-                HandlingStatus::HandledOne
-            })
-    }
-
-    fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
     }
 }
+
 #[cfg(test)]
 mod tests {
     use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};

satrs-example/src/pus/scheduler.rs

@@ -2,20 +2,22 @@ use std::sync::mpsc;
 use std::time::Duration;
 
 use crate::pus::create_verification_reporter;
-use log::{error, info, warn};
+use log::info;
 use satrs::pool::{PoolProvider, StaticMemoryPool};
 use satrs::pus::scheduler::{PusScheduler, TcInfo};
 use satrs::pus::scheduler_srv::PusSchedServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
+    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
+use satrs::spacepackets::ecss::PusServiceId;
 use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
 use satrs::ComponentId;
 use satrs_example::config::components::PUS_SCHED_SERVICE;
 
-use super::HandlingStatus;
+use super::{DirectPusService, HandlingStatus};
 
 pub trait TcReleaser {
     fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
@@ -77,6 +79,61 @@ pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: Ec
     pub tc_releaser: Box<dyn TcReleaser + Send>,
 }
 
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+    for SchedulingServiceWrapper<TmSender, TcInMemConverter>
+{
+    const SERVICE_ID: u8 = PusServiceId::Verification as u8;
+
+    const SERVICE_STR: &'static str = "verification";
+
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!(
+                "PUS {}({}) partial error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                partial_error
+            );
+        };
+
+        let result = self.pus_11_handler.poll_and_handle_next_tc(
+            error_handler,
+            time_stamp,
+            &mut self.sched_tc_pool,
+        );
+        if let Err(e) = result {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on continuous errors.
+            return HandlingStatus::Empty;
+        }
+        match result.unwrap() {
+            DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+        }
+        HandlingStatus::HandledOne
+    }
+}
+
 impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
     SchedulingServiceWrapper<TmSender, TcInMemConverter>
 {
@@ -103,31 +160,6 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
             info!("{released_tcs} TC(s) released from scheduler");
         }
     }
-
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self
-            .pus_11_handler
-            .poll_and_handle_next_tc(time_stamp, &mut self.sched_tc_pool)
-        {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS11 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS11 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS11: Subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}")
-            }
-        }
-        HandlingStatus::HandledOne
-    }
 }
 
 pub fn create_scheduler_service_static(

satrs-example/src/pus/stack.rs

@@ -7,10 +7,12 @@ use satrs::{
 
 use super::{
     action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
-    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
-    TargetedPusService,
+    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, DirectPusService,
+    HandlingStatus, TargetedPusService,
 };
 
+// TODO: For better extensibility, we could create 2 vectors: One for direct PUS services and one
+// for targeted services..
 #[derive(new)]
 pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
     test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
@@ -28,52 +30,28 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
         // Release all telecommands which reached their release time before calling the service
         // handlers.
         self.schedule_srv.release_tcs();
-        let time_stamp = cds::CdsTime::now_with_u16_days()
+        let timestamp = cds::CdsTime::now_with_u16_days()
             .expect("time stamp generation error")
             .to_vec()
             .unwrap();
+        let mut loop_count = 0_u32;
+        // Hot loop which will run continuously until all request and reply handling is done.
         loop {
             let mut nothing_to_do = true;
-            let mut is_srv_finished =
-                |_srv_id: u8,
-                 tc_handling_status: HandlingStatus,
-                 reply_handling_status: Option<HandlingStatus>| {
-                    if tc_handling_status == HandlingStatus::HandledOne
-                        || (reply_handling_status.is_some()
-                            && reply_handling_status.unwrap() == HandlingStatus::HandledOne)
-                    {
-                        nothing_to_do = false;
-                    }
-                };
-            is_srv_finished(
-                17,
-                self.test_srv.poll_and_handle_next_packet(&time_stamp),
-                None,
+            Self::direct_service_checker(&mut self.test_srv, &timestamp, &mut nothing_to_do);
+            Self::direct_service_checker(&mut self.schedule_srv, &timestamp, &mut nothing_to_do);
+            Self::direct_service_checker(&mut self.event_srv, &timestamp, &mut nothing_to_do);
+            Self::targeted_service_checker(
+                &mut self.action_srv_wrapper,
+                &timestamp,
+                &mut nothing_to_do,
             );
-            is_srv_finished(
-                11,
-                self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
-                None,
-            );
-            is_srv_finished(5, self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
-            is_srv_finished(
-                8,
-                self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
-                Some(
-                    self.action_srv_wrapper
-                        .poll_and_handle_next_reply(&time_stamp),
-                ),
-            );
-            is_srv_finished(
-                3,
-                self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
-                Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
-            );
-            is_srv_finished(
-                200,
-                self.mode_srv.poll_and_handle_next_tc(&time_stamp),
-                Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
+            Self::targeted_service_checker(
+                &mut self.hk_srv_wrapper,
+                &timestamp,
+                &mut nothing_to_do,
             );
+            Self::targeted_service_checker(&mut self.mode_srv, &timestamp, &mut nothing_to_do);
             if nothing_to_do {
                 // Timeout checking is only done once.
                 self.action_srv_wrapper.check_for_request_timeouts();
@@ -81,6 +59,37 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                 self.mode_srv.check_for_request_timeouts();
                 break;
             }
+            // Safety mechanism to avoid infinite loops.
+            loop_count += 1;
+            if loop_count >= 500 {
+                log::warn!("reached PUS stack loop count 500, breaking");
+                break;
+            }
+        }
+    }
+
+    pub fn direct_service_checker<S: DirectPusService>(
+        service: &mut S,
+        timestamp: &[u8],
+        nothing_to_do: &mut bool,
+    ) {
+        let handling_status = service.poll_and_handle_next_tc(timestamp);
+        if handling_status == HandlingStatus::HandledOne {
+            *nothing_to_do = false;
+        }
+    }
+
+    pub fn targeted_service_checker<S: TargetedPusService>(
+        service: &mut S,
+        timestamp: &[u8],
+        nothing_to_do: &mut bool,
+    ) {
+        let request_handling = service.poll_and_handle_next_tc_default_handler(timestamp);
+        let reply_handling = service.poll_and_handle_next_reply_default_handler(timestamp);
+        if request_handling == HandlingStatus::HandledOne
+            || reply_handling == HandlingStatus::HandledOne
+        {
+            *nothing_to_do = false;
         }
     }
 }

satrs-example/src/pus/test.rs

@@ -1,29 +1,27 @@
 use crate::pus::create_verification_reporter;
-use log::{info, warn};
+use log::info;
 use satrs::event_man::{EventMessage, EventMessageU32};
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::test::PusService17TestHandler;
 use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
-use satrs::pus::EcssTcInSharedStoreConverter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
-    MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter,
+    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusServiceHelper,
 };
+use satrs::pus::{EcssTcInSharedStoreConverter, PartialPusHandlingError};
 use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::PusPacket;
-use satrs::spacepackets::time::cds::CdsTime;
-use satrs::spacepackets::time::TimeWriter;
+use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_TEST_SERVICE;
 use satrs_example::config::{tmtc_err, TEST_EVENT};
 use std::sync::mpsc;
 
-use super::HandlingStatus;
+use super::{DirectPusService, HandlingStatus};
 
 pub fn create_test_service_static(
     tm_sender: PacketSenderWithSharedPool,
     tc_pool: SharedStaticMemoryPool,
-    event_sender: mpsc::Sender<EventMessageU32>,
+    event_sender: mpsc::SyncSender<EventMessageU32>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
 ) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
@@ -35,13 +33,13 @@ pub fn create_test_service_static(
     ));
     TestCustomServiceWrapper {
         handler: pus17_handler,
-        test_srv_event_sender: event_sender,
+        event_tx: event_sender,
     }
 }
 
 pub fn create_test_service_dynamic(
     tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    event_sender: mpsc::Sender<EventMessageU32>,
+    event_sender: mpsc::SyncSender<EventMessageU32>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
 ) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
@@ -53,7 +51,7 @@ pub fn create_test_service_dynamic(
     ));
     TestCustomServiceWrapper {
         handler: pus17_handler,
-        test_srv_event_sender: event_sender,
+        event_tx: event_sender,
     }
 }
 
@@ -61,33 +59,55 @@ pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: Ec
 {
     pub handler:
         PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    pub test_srv_event_sender: mpsc::Sender<EventMessageU32>,
+    pub event_tx: mpsc::SyncSender<EventMessageU32>,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-    TestCustomServiceWrapper<TmSender, TcInMemConverter>
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+    for TestCustomServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        let res = self.handler.poll_and_handle_next_tc(time_stamp);
-        if res.is_err() {
-            warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
-            return HandlingStatus::HandledOne;
+    const SERVICE_ID: u8 = PusServiceId::Test as u8;
+
+    const SERVICE_STR: &'static str = "test";
+
+    fn poll_and_handle_next_tc(&mut self, timestamp: &[u8]) -> HandlingStatus {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!(
+                "PUS {}({}) partial error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                partial_error
+            );
+        };
+        let res = self
+            .handler
+            .poll_and_handle_next_tc(error_handler, timestamp);
+        if let Err(e) = res {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on continuous errors.
+            return HandlingStatus::Empty;
         }
         match res.unwrap() {
-            PusPacketHandlerResult::RequestHandled => {
-                info!("Received PUS ping command TC[17,1]");
-                info!("Sent ping reply PUS TM[17,2]");
+            DirectPusPacketHandlerResult::Handled(handling_status) => {
+                if handling_status == HandlingStatus::HandledOne {
+                    info!("Received PUS ping command TC[17,1]");
+                    info!("Sent ping reply PUS TM[17,2]");
+                }
+                return handling_status;
             }
-            PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
-                warn!(
-                    "Handled PUS ping command with partial success: {:?}",
-                    partial_err
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
                 );
             }
-            PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                warn!("PUS17: Subservice {subservice} not implemented")
-            }
-            PusPacketHandlerResult::CustomSubservice(subservice, token) => {
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, token) => {
                 let (tc, _) = PusTcReader::new(
                     self.handler
                         .service_helper
@@ -95,29 +115,34 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                         .tc_slice_raw(),
                 )
                 .unwrap();
-                let time_stamper = CdsTime::now_with_u16_days().unwrap();
-                let mut stamp_buf: [u8; 7] = [0; 7];
-                time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
                 if subservice == 128 {
-                    info!("Generating test event");
-                    self.test_srv_event_sender
+                    info!("generating test event");
+                    self.event_tx
                         .send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
                         .expect("Sending test event failed");
-                    let start_token = self
-                        .handler
-                        .service_helper
-                        .verif_reporter()
-                        .start_success(self.handler.service_helper.tm_sender(), token, &stamp_buf)
-                        .expect("Error sending start success");
-                    self.handler
-                        .service_helper
-                        .verif_reporter()
-                        .completion_success(
-                            self.handler.service_helper.tm_sender(),
-                            start_token,
-                            &stamp_buf,
-                        )
-                        .expect("Error sending completion success");
+                    match self.handler.service_helper.verif_reporter().start_success(
+                        self.handler.service_helper.tm_sender(),
+                        token,
+                        timestamp,
+                    ) {
+                        Ok(started_token) => {
+                            if let Err(e) = self
+                                .handler
+                                .service_helper
+                                .verif_reporter()
+                                .completion_success(
+                                    self.handler.service_helper.tm_sender(),
+                                    started_token,
+                                    timestamp,
+                                )
+                            {
+                                error_handler(&PartialPusHandlingError::Verification(e));
+                            }
+                        }
+                        Err(e) => {
+                            error_handler(&PartialPusHandlingError::Verification(e));
+                        }
+                    }
                 } else {
                     let fail_data = [tc.subservice()];
                     self.handler
@@ -127,7 +152,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                             self.handler.service_helper.tm_sender(),
                             token,
                             FailParams::new(
-                                &stamp_buf,
+                                timestamp,
                                 &tmtc_err::INVALID_PUS_SUBSERVICE,
                                 &fail_data,
                             ),
@@ -135,7 +160,6 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                         .expect("Sending start failure verification failed");
                 }
             }
-            PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
         }
         HandlingStatus::HandledOne
     }

satrs-example/src/tmtc/tc_source.rs

@@ -1,12 +1,13 @@
 use satrs::{
     pool::PoolProvider,
+    pus::HandlingStatus,
     tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool},
 };
 use std::sync::mpsc::{self, TryRecvError};
 
 use satrs::pus::MpscTmAsVecSender;
 
-use crate::pus::{HandlingStatus, PusTcDistributor};
+use crate::pus::PusTcDistributor;
 
 // TC source components where static pools are the backing memory of the received telecommands.
 pub struct TcSourceTaskStatic {

satrs-example/src/tmtc/tm_sink.rs

@@ -70,18 +70,23 @@ impl TmFunnelCommon {
     }
 
     fn packet_printout(tm: &PusTmZeroCopyWriter) {
-        info!("Sending PUS TM[{},{}]", tm.service(), tm.subservice());
+        info!(
+            "Sending PUS TM[{},{}] with APID {}",
+            tm.service(),
+            tm.subservice(),
+            tm.apid()
+        );
     }
 }
 
-pub struct TmFunnelStatic {
+pub struct TmSinkStatic {
     common: TmFunnelCommon,
     shared_tm_store: SharedPacketPool,
     tm_funnel_rx: mpsc::Receiver<PacketInPool>,
     tm_server_tx: mpsc::SyncSender<PacketInPool>,
 }
 
-impl TmFunnelStatic {
+impl TmSinkStatic {
     pub fn new(
         shared_tm_store: SharedPacketPool,
         sync_tm_tcp_source: SyncTcpTmSource,
@@ -121,13 +126,13 @@ impl TmFunnelStatic {
     }
 }
 
-pub struct TmFunnelDynamic {
+pub struct TmSinkDynamic {
     common: TmFunnelCommon,
     tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
     tm_server_tx: mpsc::Sender<PacketAsVec>,
 }
 
-impl TmFunnelDynamic {
+impl TmSinkDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
         tm_funnel_rx: mpsc::Receiver<PacketAsVec>,

satrs-minisim/Cargo.toml

@@ -10,9 +10,14 @@ serde = { version = "1", features = ["derive"] }
 serde_json = "1"
 log = "0.4"
 thiserror = "1"
+fern = "0.5"
+humantime = "2"
 
 [dependencies.asynchronix]
 version = "0.2.1"
+git = "https://github.com/asynchronics/asynchronix.git"
+branch = "main"
+features = ["serde"]
 
 [dependencies.satrs]
 path = "../satrs"

satrs-minisim/src/acs.rs

@@ -189,11 +189,11 @@ pub mod tests {
     #[test]
     fn test_basic_mgm_request() {
         let mut sim_testbench = SimTestbench::new();
-        let request = SimRequest::new(MgmRequest::RequestSensorData);
+        let request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step();
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
@@ -212,11 +212,11 @@ pub mod tests {
         let mut sim_testbench = SimTestbench::new();
         switch_device_on(&mut sim_testbench, PcduSwitch::Mgm);
 
-        let mut request = SimRequest::new(MgmRequest::RequestSensorData);
+        let mut request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step();
         let mut sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_some());
@@ -226,11 +226,11 @@ pub mod tests {
             .expect("failed to deserialize MGM sensor values");
         sim_testbench.step_by(Duration::from_millis(50));
 
-        request = SimRequest::new(MgmRequest::RequestSensorData);
+        request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step();
         sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_some());
@@ -245,11 +245,11 @@ pub mod tests {
     #[test]
     fn test_basic_mgt_request_is_off() {
         let mut sim_testbench = SimTestbench::new();
-        let request = SimRequest::new(MgtRequest::RequestHk);
+        let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk);
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step();
         let sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_none());
@@ -259,12 +259,12 @@ pub mod tests {
     fn test_basic_mgt_request_is_on() {
         let mut sim_testbench = SimTestbench::new();
         switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
-        let request = SimRequest::new(MgtRequest::RequestHk);
+        let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk);
 
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step();
         let sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_some());
@@ -281,11 +281,11 @@ pub mod tests {
     }
 
     fn check_mgt_hk(sim_testbench: &mut SimTestbench, expected_hk_set: MgtHkSet) {
-        let request = SimRequest::new(MgtRequest::RequestHk);
+        let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk);
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step();
         let sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_some());
@@ -309,14 +309,14 @@ pub mod tests {
             y: 200,
             z: 1000,
         };
-        let request = SimRequest::new(MgtRequest::ApplyTorque {
+        let request = SimRequest::new_with_epoch_time(MgtRequest::ApplyTorque {
             duration: Duration::from_millis(100),
             dipole: commanded_dipole,
         });
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step_by(Duration::from_millis(5));
 
         check_mgt_hk(

satrs-minisim/src/controller.rs

@@ -49,25 +49,27 @@ impl SimController {
     }
 
     pub fn run(&mut self, start_time: MonotonicTime, udp_polling_interval_ms: u64) {
-        let mut t = start_time + Duration::from_millis(udp_polling_interval_ms);
-        self.sys_clock.synchronize(t);
+        let mut t = start_time;
         loop {
+            let t_old = t;
             // Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
             // replies lying in the past.
             t += Duration::from_millis(udp_polling_interval_ms);
+            self.sys_clock.synchronize(t);
+            self.handle_sim_requests(t_old);
             self.simulation
                 .step_until(t)
                 .expect("simulation step failed");
-            self.handle_sim_requests();
-
-            self.sys_clock.synchronize(t);
         }
     }
 
-    pub fn handle_sim_requests(&mut self) {
+    pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime) {
         loop {
             match self.request_receiver.try_recv() {
                 Ok(request) => {
+                    if request.timestamp < old_timestamp {
+                        log::warn!("stale data with timestamp {:?} received", request.timestamp);
+                    }
                     if let Err(e) = match request.target() {
                         SimTarget::SimCtrl => self.handle_ctrl_request(&request),
                         SimTarget::Mgm => self.handle_mgm_request(&request),
@@ -172,11 +174,11 @@ mod tests {
     #[test]
     fn test_basic_ping() {
         let mut sim_testbench = SimTestbench::new();
-        let request = SimRequest::new(SimCtrlRequest::Ping);
+        let request = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping);
         sim_testbench
             .send_request(request)
             .expect("sending sim ctrl request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step();
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());

satrs-minisim/src/eps.rs

@@ -86,14 +86,14 @@ pub(crate) mod tests {
         switch: PcduSwitch,
         target: SwitchStateBinary,
     ) {
-        let request = SimRequest::new(PcduRequest::SwitchDevice {
+        let request = SimRequest::new_with_epoch_time(PcduRequest::SwitchDevice {
             switch,
             state: target,
         });
         sim_testbench
             .send_request(request)
             .expect("sending MGM switch request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step();
     }
 
@@ -113,11 +113,11 @@ pub(crate) mod tests {
     }
 
     fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
-        let request = SimRequest::new(PcduRequest::RequestSwitchInfo);
+        let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step();
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
@@ -143,11 +143,11 @@ pub(crate) mod tests {
     #[test]
     fn test_pcdu_switcher_request() {
         let mut sim_testbench = SimTestbench::new();
-        let request = SimRequest::new(PcduRequest::RequestSwitchInfo);
+        let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
+        sim_testbench.handle_sim_requests_time_agnostic();
         sim_testbench.step_by(Duration::from_millis(1));
 
         let sim_reply = sim_testbench.try_receive_next_reply();

satrs-minisim/src/lib.rs

@@ -1,5 +1,8 @@
+use asynchronix::time::MonotonicTime;
 use serde::{de::DeserializeOwned, Deserialize, Serialize};
 
+pub const SIM_CTRL_UDP_PORT: u16 = 7303;
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
 pub enum SimTarget {
     SimCtrl,
@@ -19,6 +22,7 @@ pub struct SimMessage {
 #[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
 pub struct SimRequest {
     inner: SimMessage,
+    pub timestamp: MonotonicTime,
 }
 
 #[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
@@ -53,12 +57,22 @@ pub trait SimMessageProvider: Serialize + DeserializeOwned + Clone + Sized {
 }
 
 impl SimRequest {
-    pub fn new<T: SerializableSimMsgPayload<SimRequest>>(serializable_request: T) -> Self {
+    pub fn new_with_epoch_time<T: SerializableSimMsgPayload<SimRequest>>(
+        serializable_request: T,
+    ) -> Self {
+        Self::new(serializable_request, MonotonicTime::EPOCH)
+    }
+
+    pub fn new<T: SerializableSimMsgPayload<SimRequest>>(
+        serializable_request: T,
+        timestamp: MonotonicTime,
+    ) -> Self {
         Self {
             inner: SimMessage {
                 target: T::TARGET,
                 payload: serde_json::to_string(&serializable_request).unwrap(),
             },
+            timestamp,
         }
     }
 }
@@ -363,7 +377,7 @@ pub mod tests {
 
     #[test]
     fn test_basic_request() {
-        let sim_request = SimRequest::new(DummyRequest::Ping);
+        let sim_request = SimRequest::new_with_epoch_time(DummyRequest::Ping);
         assert_eq!(sim_request.target(), SimTarget::SimCtrl);
         assert_eq!(sim_request.msg_type(), SimMessageType::Request);
         let dummy_request =

satrs-minisim/src/main.rs

@@ -3,7 +3,7 @@ use asynchronix::simulation::{Mailbox, SimInit};
 use asynchronix::time::{MonotonicTime, SystemClock};
 use controller::SimController;
 use eps::PcduModel;
-use satrs_minisim::{SimReply, SimRequest};
+use satrs_minisim::{SimReply, SimRequest, SIM_CTRL_UDP_PORT};
 use std::sync::mpsc;
 use std::thread;
 use std::time::{Duration, SystemTime};
@@ -83,14 +83,38 @@ fn main() {
     let t0 = MonotonicTime::EPOCH;
     let mut sim_ctrl =
         create_sim_controller(ThreadingModel::Default, t0, reply_sender, request_receiver);
+    // Configure logger at runtime
+    fern::Dispatch::new()
+        // Perform allocation-free log formatting
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339(std::time::SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        // Add blanket level filter -
+        .level(log::LevelFilter::Debug)
+        // - and per-module overrides
+        // Output to stdout, files, and other Dispatch configurations
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log").expect("could not open log output file"))
+        // Apply globally
+        .apply()
+        .expect("could not apply logger configuration");
 
+    log::info!("starting simulation thread");
     // This thread schedules the simulator.
     let sim_thread = thread::spawn(move || {
         sim_ctrl.run(t0, 1);
     });
 
-    let mut udp_server = SimUdpServer::new(0, request_sender, reply_receiver, 200, None)
-        .expect("could not create UDP request server");
+    let mut udp_server =
+        SimUdpServer::new(SIM_CTRL_UDP_PORT, request_sender, reply_receiver, 200, None)
+            .expect("could not create UDP request server");
+    log::info!("starting UDP server on port {}", SIM_CTRL_UDP_PORT);
     // This thread manages the simulator UDP server.
     let udp_tc_thread = thread::spawn(move || {
         udp_server.run();

satrs-minisim/src/test_helpers.rs

@@ -26,10 +26,13 @@ impl SimTestbench {
             request_sender,
         }
     }
+    pub fn handle_sim_requests_time_agnostic(&mut self) {
+        self.handle_sim_requests(MonotonicTime::EPOCH);
+    }
 
     delegate! {
         to self.sim_controller {
-            pub fn handle_sim_requests(&mut self);
+            pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime);
         }
         to self.sim_controller.simulation {
             pub fn step(&mut self);

satrs-minisim/src/udp.rs

@@ -270,7 +270,7 @@ mod tests {
             UdpTestbench::new(true, Some(SERVER_WAIT_TIME_MS), 10)
                 .expect("could not create testbench");
         let server_thread = std::thread::spawn(move || udp_server.run());
-        let sim_request = SimRequest::new(PcduRequest::RequestSwitchInfo);
+        let sim_request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
         udp_testbench
             .send_request(&sim_request)
             .expect("sending request failed");
@@ -292,7 +292,7 @@ mod tests {
                 .expect("could not create testbench");
         let server_thread = std::thread::spawn(move || udp_server.run());
         udp_testbench
-            .send_request(&SimRequest::new(SimCtrlRequest::Ping))
+            .send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
             .expect("sending request failed");
 
         let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
@@ -316,7 +316,7 @@ mod tests {
         // Send a ping so that the server knows the address of the client.
         // Do not check that the request arrives on the receiver side, is done by other test.
         udp_testbench
-            .send_request(&SimRequest::new(SimCtrlRequest::Ping))
+            .send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
             .expect("sending request failed");
 
         // Send a reply to the server, ensure it gets forwarded to the client.
@@ -347,7 +347,7 @@ mod tests {
 
         // Connect by sending a ping.
         udp_testbench
-            .send_request(&SimRequest::new(SimCtrlRequest::Ping))
+            .send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
             .expect("sending request failed");
         std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
 
@@ -376,7 +376,7 @@ mod tests {
 
         // Connect by sending a ping.
         udp_testbench
-            .send_request(&SimRequest::new(SimCtrlRequest::Ping))
+            .send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
             .expect("sending request failed");
         std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
 

satrs-shared/CHANGELOG.md

@@ -8,6 +8,15 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+# [v0.1.4] 2024-04-24
+
+## Added
+
+- `ResultU16::from_be_bytes`
+- `From<u16>` impl for `ResultU16`.
+- Optional `defmt` support: `defmt::Format` impl on `ResultU16` if the `defmt` feature is
+  activated.
+
 # [v0.1.3] 2024-04-16
 
 Allow `spacepackets` range starting with v0.10 and v0.11.

satrs-shared/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "satrs-shared"
 description = "Components shared by multiple sat-rs crates"
-version = "0.1.3"
+version = "0.1.4"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@@ -17,12 +17,17 @@ version = "1"
 default-features = false
 optional = true
 
+[dependencies.defmt]
+version = "0.3"
+optional = true
+
 [dependencies.spacepackets]
 version = ">0.9, <=0.11"
 default-features = false
 
 [features]
 serde = ["dep:serde", "spacepackets/serde"]
+spacepackets = ["dep:defmt", "spacepackets/defmt"]
 
 [package.metadata.docs.rs]
-rustdoc-args = ["--cfg", "doc_cfg", "--generate-link-to-definition"]
+rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]

satrs-shared/src/lib.rs

@@ -1,3 +1,4 @@
 //! This crates contains modules shared among other sat-rs framework crates.
 #![no_std]
+#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
 pub mod res_code;

satrs-shared/src/res_code.rs

@@ -7,6 +7,7 @@ use spacepackets::ByteConversionError;
 /// Simple [u16] based result code type which also allows to group related resultcodes.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct ResultU16 {
     group_id: u8,
     unique_id: u8,
@@ -19,15 +20,28 @@ impl ResultU16 {
             unique_id,
         }
     }
+
     pub fn raw(&self) -> u16 {
         ((self.group_id as u16) << 8) | self.unique_id as u16
     }
+
     pub fn group_id(&self) -> u8 {
         self.group_id
     }
+
     pub fn unique_id(&self) -> u8 {
         self.unique_id
     }
+
+    pub fn from_be_bytes(bytes: [u8; 2]) -> Self {
+        Self::from(u16::from_be_bytes(bytes))
+    }
+}
+
+impl From<u16> for ResultU16 {
+    fn from(value: u16) -> Self {
+        Self::new(((value >> 8) & 0xff) as u8, (value & 0xff) as u8)
+    }
 }
 
 impl From<ResultU16> for EcssEnumU16 {
@@ -84,5 +98,14 @@ mod tests {
         assert_eq!(written, 2);
         assert_eq!(buf[0], 1);
         assert_eq!(buf[1], 1);
+        let read_back = ResultU16::from_be_bytes(buf);
+        assert_eq!(read_back, result_code);
+    }
+
+    #[test]
+    fn test_from_u16() {
+        let result_code = ResultU16::new(1, 1);
+        let result_code_2 = ResultU16::from(result_code.raw());
+        assert_eq!(result_code, result_code_2);
     }
 }

satrs/CHANGELOG.md

@@ -8,6 +8,48 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+# [v0.2.0] 2024-05-02
+
+## Changed
+
+- Various improvements for the PUS stack components.
+
+## Added
+
+- Added `HandlingStatus` enumeration.
+
+# [v0.2.0-rc.5] 2024-04-24
+
+## Added
+
+- Optional `defmt::Format` support for the event types, if the `defmt` feature is activated.
+
+## Changed
+
+- Removed `MpscEventReceiver`, the `EventReceiveProvider` trait is implemented directly
+  on `mpsc::Receiver<EventMessage<Event>>`
+- Renamed `PusEventDispatcher` to `PusEventTmCreatorWithMap`.
+- Renamed `DefaultPusEventU32Dispatcher` to `DefaultPusEventU32EventCreator`.
+- Renamed `PusEventMgmtBackendProvider` renamed to `PusEventReportingMap`.
+- Reanmed Event `const_new` methods to `new` and the former `new` methods to `new_checked`
+
+# [v0.2.0-rc.4] 2024-04-23
+
+## Changed
+
+- The `parse_for_ccsds_space_packets` method now expects a non-mutable slice and does not copy
+  broken tail packets anymore. It also does not expect a mutable `next_write_idx` argument anymore.
+  Instead, a `ParseResult` structure is returned which contains the `packets_found` and an
+  optional `incomplete_tail_start` value.
+
+## Fixed
+
+- `parse_for_ccsds_space_packets` did not detect CCSDS space packets at the buffer end with the
+  smallest possible size of 7 bytes.
+- TCP server component now re-registers the internal `mio::Poll` object if the client reset
+  the connection unexpectedly. Not doing so prevented the server from functioning properly
+  after a re-connect.
+
 # [v0.2.0-rc.3] 2024-04-17
 
 docs-rs hotfix 2

satrs/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs"
-version = "0.2.0-rc.3"
+version = "0.2.0"
 edition = "2021"
 rust-version = "1.71.1"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
@@ -15,6 +15,7 @@ categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-sup
 [dependencies]
 delegate = ">0.7, <=0.10"
 paste = "1"
+derive-new = "0.6"
 smallvec = "1"
 crc = "3"
 
@@ -84,10 +85,14 @@ version = "0.8"
 features = ["os-poll", "net"]
 optional = true
 
+[dependencies.defmt]
+version = "0.3"
+optional = true
+
 [dev-dependencies]
 serde = "1"
 zerocopy = "0.7"
-once_cell = "1.13"
+once_cell = "1"
 serde_json = "1"
 rand = "0.8"
 tempfile = "3"
@@ -120,7 +125,7 @@ alloc = [
 serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
 crossbeam = ["crossbeam-channel"]
 heapless = ["dep:heapless"]
-defmt = ["spacepackets/defmt"]
+defmt = ["dep:defmt", "spacepackets/defmt"]
 test_util = []
 doc-images = []
 

satrs/src/encoding/ccsds.rs

@@ -21,6 +21,13 @@ pub trait SpacePacketValidator {
     fn validate(&self, sp_header: &SpHeader, raw_buf: &[u8]) -> SpValidity;
 }
 
+#[derive(Default, Debug, PartialEq, Eq)]
+pub struct ParseResult {
+    pub packets_found: u32,
+    /// If an incomplete space packet was found, its start index is indicated by this value.
+    pub incomplete_tail_start: Option<usize>,
+}
+
 /// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
 /// [spacepackets::SpHeader] of the CCSDS packets and a user provided [SpacePacketValidator]
 /// to check whether a received space packet is relevant for processing.
@@ -41,35 +48,29 @@ pub trait SpacePacketValidator {
 ///  3. [SpValidity::Skip]: The parser skips the packet using the packet length determined from the
 ///     space packet header.
 pub fn parse_buffer_for_ccsds_space_packets<SendError>(
-    buf: &mut [u8],
+    buf: &[u8],
     packet_validator: &(impl SpacePacketValidator + ?Sized),
     sender_id: ComponentId,
     packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
-    next_write_idx: &mut usize,
-) -> Result<u32, SendError> {
-    *next_write_idx = 0;
-    let mut packets_found = 0;
+) -> Result<ParseResult, SendError> {
+    let mut parse_result = ParseResult::default();
     let mut current_idx = 0;
     let buf_len = buf.len();
     loop {
-        if current_idx + 7 >= buf.len() {
+        if current_idx + 7 > buf.len() {
             break;
         }
         let sp_header = SpHeader::from_be_bytes(&buf[current_idx..]).unwrap().0;
-        // let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
         match packet_validator.validate(&sp_header, &buf[current_idx..]) {
             SpValidity::Valid => {
                 let packet_size = sp_header.total_len();
                 if (current_idx + packet_size) <= buf_len {
                     packet_sender
                         .send_packet(sender_id, &buf[current_idx..current_idx + packet_size])?;
-                    packets_found += 1;
+                    parse_result.packets_found += 1;
                 } else {
                     // Move packet to start of buffer if applicable.
-                    if current_idx > 0 {
-                        buf.copy_within(current_idx.., 0);
-                        *next_write_idx = buf.len() - current_idx;
-                    }
+                    parse_result.incomplete_tail_start = Some(current_idx);
                 }
                 current_idx += packet_size;
                 continue;
@@ -83,14 +84,14 @@ pub fn parse_buffer_for_ccsds_space_packets<SendError>(
             }
         }
     }
-    Ok(packets_found)
+    Ok(parse_result)
 }
 
 #[cfg(test)]
 mod tests {
     use spacepackets::{
         ecss::{tc::PusTcCreator, WritablePusPacket},
-        CcsdsPacket, PacketId, SpHeader,
+        CcsdsPacket, PacketId, PacketSequenceCtrl, PacketType, SequenceFlags, SpHeader,
     };
 
     use crate::{encoding::tests::TcCacher, ComponentId};
@@ -136,17 +137,15 @@ mod tests {
             .write_to_bytes(&mut buffer)
             .expect("writing packet failed");
         let tc_cacher = TcCacher::default();
-        let mut next_write_idx = 0;
         let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer,
+            &buffer,
             &SimpleVerificator::default(),
             PARSER_ID,
             &tc_cacher,
-            &mut next_write_idx,
         );
         assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 1);
+        let parse_result = parse_result.unwrap();
+        assert_eq!(parse_result.packets_found, 1);
         let mut queue = tc_cacher.tc_queue.borrow_mut();
         assert_eq!(queue.len(), 1);
         let packet_with_sender = queue.pop_front().unwrap();
@@ -167,17 +166,15 @@ mod tests {
             .write_to_bytes(&mut buffer[packet_len_ping..])
             .expect("writing packet failed");
         let tc_cacher = TcCacher::default();
-        let mut next_write_idx = 0;
         let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer,
+            &buffer,
             &SimpleVerificator::default(),
             PARSER_ID,
             &tc_cacher,
-            &mut next_write_idx,
         );
         assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 2);
+        let parse_result = parse_result.unwrap();
+        assert_eq!(parse_result.packets_found, 2);
         let mut queue = tc_cacher.tc_queue.borrow_mut();
         assert_eq!(queue.len(), 2);
         let packet_with_addr = queue.pop_front().unwrap();
@@ -205,18 +202,12 @@ mod tests {
             .write_to_bytes(&mut buffer[packet_len_ping..])
             .expect("writing packet failed");
         let tc_cacher = TcCacher::default();
-        let mut next_write_idx = 0;
         let verificator = SimpleVerificator::new_with_second_id();
-        let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer,
-            &verificator,
-            PARSER_ID,
-            &tc_cacher,
-            &mut next_write_idx,
-        );
+        let parse_result =
+            parse_buffer_for_ccsds_space_packets(&buffer, &verificator, PARSER_ID, &tc_cacher);
         assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 2);
+        let parse_result = parse_result.unwrap();
+        assert_eq!(parse_result.packets_found, 2);
         let mut queue = tc_cacher.tc_queue.borrow_mut();
         assert_eq!(queue.len(), 2);
         let packet_with_addr = queue.pop_front().unwrap();
@@ -242,24 +233,24 @@ mod tests {
             .write_to_bytes(&mut buffer[packet_len_ping..])
             .expect("writing packet failed");
         let tc_cacher = TcCacher::default();
-        let mut next_write_idx = 0;
         let verificator = SimpleVerificator::new_with_second_id();
         let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer[..packet_len_ping + packet_len_action - 4],
+            &buffer[..packet_len_ping + packet_len_action - 4],
             &verificator,
             PARSER_ID,
             &tc_cacher,
-            &mut next_write_idx,
         );
         assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 1);
+        let parse_result = parse_result.unwrap();
+        assert_eq!(parse_result.packets_found, 1);
+        assert!(parse_result.incomplete_tail_start.is_some());
+        let incomplete_tail_idx = parse_result.incomplete_tail_start.unwrap();
+        assert_eq!(incomplete_tail_idx, packet_len_ping);
 
         let queue = tc_cacher.tc_queue.borrow();
         assert_eq!(queue.len(), 1);
         // The broken packet was moved to the start, so the next write index should be after the
         // last segment missing 4 bytes.
-        assert_eq!(next_write_idx, packet_len_action - 4);
     }
 
     #[test]
@@ -273,19 +264,36 @@ mod tests {
         let tc_cacher = TcCacher::default();
 
         let verificator = SimpleVerificator::new_with_second_id();
-        let mut next_write_idx = 0;
         let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer[..packet_len_ping - 4],
+            &buffer[..packet_len_ping - 4],
             &verificator,
             PARSER_ID,
             &tc_cacher,
-            &mut next_write_idx,
         );
-        assert_eq!(next_write_idx, 0);
         assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 0);
+        let parse_result = parse_result.unwrap();
+        assert_eq!(parse_result.packets_found, 0);
         let queue = tc_cacher.tc_queue.borrow();
         assert_eq!(queue.len(), 0);
     }
+
+    #[test]
+    fn test_smallest_packet() {
+        let ccsds_header_only = SpHeader::new(
+            PacketId::new(PacketType::Tc, true, TEST_APID_0),
+            PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 0),
+            0,
+        );
+        let mut buf: [u8; 7] = [0; 7];
+        ccsds_header_only
+            .write_to_be_bytes(&mut buf)
+            .expect("writing failed");
+        let verificator = SimpleVerificator::default();
+        let tc_cacher = TcCacher::default();
+        let parse_result =
+            parse_buffer_for_ccsds_space_packets(&buf, &verificator, PARSER_ID, &tc_cacher);
+        assert!(parse_result.is_ok());
+        let parse_result = parse_result.unwrap();
+        assert_eq!(parse_result.packets_found, 1);
+    }
 }

satrs/src/event_man.rs

@@ -1,14 +1,12 @@
 //! Event management and forwarding
 //!
-//! This module provides components to perform event routing. The most important component for this
-//! task is the [EventManager]. It receives all events and then routes them to event subscribers
-//! where appropriate. One common use case for satellite 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.
-//!
 //! It is recommended to read the
 //! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
-//! about events first:
+//! about events first.
+//!
+//! This module provides components to perform event routing. The most important component for this
+//! task is the [EventManager]. It receives all events and then routes them to event subscribers
+//! where appropriate.
 //!
 //! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
 //! listener groups identified by [ListenerKey]s to a [listener ID][ComponentId].
@@ -21,8 +19,8 @@
 //!
 //!  1. Provide a concrete [EventReceiveProvider] implementation. This abstraction allow to use different
 //!     message queue backends. A straightforward implementation where dynamic memory allocation is
-//!     not a big concern could use [std::sync::mpsc::channel] to do this and is provided in
-//!     form of the [MpscEventReceiver].
+//!     not a big concern would be to use the [std::sync::mpsc::Receiver] handle. The trait is
+//!     already implemented for this type.
 //!  2. To set up event creators, create channel pairs using some message queue implementation.
 //!     Each event creator gets a (cloned) sender component which allows it to send events to the
 //!     manager.
@@ -44,6 +42,12 @@
 //! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/pus_events.rs)
 //! for a concrete example using multi-threading where events are routed to
 //! different threads.
+//!
+//! The [satrs-example](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
+//! also contains a full event manager instance and exposes a test event via the PUS test service.
+//! The [PUS event](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/src/pus/event.rs)
+//! module and the generic [events module](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/src/events.rs)
+//! show how the event management modules can be integrated into a more complex software.
 use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
 use crate::params::Params;
 use crate::queue::GenericSendError;
@@ -157,9 +161,10 @@ pub trait SenderMapProvider<
 ///  * `SenderMap`: [SenderMapProvider]  which maps channel IDs to send providers.
 ///  * `ListenerMap`: [ListenerMapProvider] which maps listener keys to channel IDs.
 ///  * `EventSender`: [EventSendProvider] contained within the sender map which sends the events.
-///  * `Ev`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
+///  * `Event`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
 ///     and [EventU16] are supported.
-///  * `Data`: Auxiliary data which is sent with the event to provide optional context information
+///  * `ParamProvider`: Auxiliary data which is sent with the event to provide optional context
+///    information
 pub struct EventManager<
     EventReceiver: EventReceiveProvider<Event, ParamProvider>,
     SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
@@ -290,7 +295,7 @@ impl<
                         for id in ids {
                             if let Some(sender) = self.sender_map.get_send_event_provider(id) {
                                 if let Err(e) = sender.send(EventMessage::new_generic(
-                                    *id,
+                                    event_msg.sender_id,
                                     event_msg.event,
                                     event_msg.params.as_ref(),
                                 )) {
@@ -331,11 +336,11 @@ pub mod alloc_mod {
 
     /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
     /// and the [DefaultListenerMap]. It uses regular mpsc channels as the message queue backend.
-    pub type EventManagerWithMpsc<EV = EventU32, AUX = Params> = EventManager<
-        MpscEventReceiver,
-        DefaultSenderMap<EventSenderMpsc<EV>, EV, AUX>,
+    pub type EventManagerWithMpsc<Event = EventU32, ParamProvider = Params> = EventManager<
+        EventU32ReceiverMpsc<ParamProvider>,
+        DefaultSenderMap<EventSenderMpsc<Event>, Event, ParamProvider>,
         DefaultListenerMap,
-        EventSenderMpsc<EV>,
+        EventSenderMpsc<Event>,
     >;
 
     /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
@@ -343,7 +348,7 @@ pub mod alloc_mod {
     /// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
     /// message queue backend.
     pub type EventManagerWithBoundedMpsc<Event = EventU32, ParamProvider = Params> = EventManager<
-        MpscEventReceiver,
+        EventU32ReceiverMpsc<ParamProvider>,
         DefaultSenderMap<EventSenderMpscBounded<Event>, Event, ParamProvider>,
         DefaultListenerMap,
         EventSenderMpscBounded<Event>,
@@ -479,20 +484,16 @@ pub mod std_mod {
     use super::*;
     use std::sync::mpsc;
 
-    pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
-        receiver: mpsc::Receiver<EventMessage<Event>>,
-    }
-
-    impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
-        pub fn new(receiver: mpsc::Receiver<EventMessage<Event>>) -> Self {
-            Self { receiver }
-        }
-    }
-    impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
+    impl<Event: GenericEvent + Send, ParamProvider: Debug>
+        EventReceiveProvider<Event, ParamProvider>
+        for mpsc::Receiver<EventMessage<Event, ParamProvider>>
+    {
         type Error = GenericReceiveError;
 
-        fn try_recv_event(&self) -> Result<Option<EventMessage<Event>>, Self::Error> {
-            match self.receiver.try_recv() {
+        fn try_recv_event(
+            &self,
+        ) -> Result<Option<EventMessage<Event, ParamProvider>>, Self::Error> {
+            match self.try_recv() {
                 Ok(msg) => Ok(Some(msg)),
                 Err(e) => match e {
                     mpsc::TryRecvError::Empty => Ok(None),
@@ -504,8 +505,10 @@ pub mod std_mod {
         }
     }
 
-    pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
-    pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;
+    pub type EventU32ReceiverMpsc<ParamProvider = Params> =
+        mpsc::Receiver<EventMessage<EventU32, ParamProvider>>;
+    pub type EventU16ReceiverMpsc<ParamProvider = Params> =
+        mpsc::Receiver<EventMessage<EventU16, ParamProvider>>;
 
     /// Generic event sender which uses a regular [mpsc::Sender] as the messaging backend to
     /// send events.
@@ -594,7 +597,7 @@ mod tests {
     use std::format;
     use std::sync::mpsc::{self};
 
-    const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);
+    const TEST_EVENT: EventU32 = EventU32::new(Severity::Info, 0, 5);
 
     fn check_next_event(
         expected: EventU32,
@@ -611,6 +614,7 @@ mod tests {
         res: EventRoutingResult<EventU32, Params>,
         expected: EventU32,
         expected_num_sent: u32,
+        expected_sender_id: ComponentId,
     ) {
         assert!(matches!(res, EventRoutingResult::Handled { .. }));
         if let EventRoutingResult::Handled {
@@ -619,21 +623,21 @@ mod tests {
         } = res
         {
             assert_eq!(event_msg.event, expected);
+            assert_eq!(event_msg.sender_id, expected_sender_id);
             assert_eq!(num_recipients, expected_num_sent);
         }
     }
 
     fn generic_event_man() -> (mpsc::Sender<EventMessageU32>, EventManagerWithMpsc) {
-        let (event_sender, manager_queue) = mpsc::channel();
-        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        (event_sender, EventManager::new(event_man_receiver))
+        let (event_sender, event_receiver) = mpsc::channel();
+        (event_sender, EventManager::new(event_receiver))
     }
 
     #[test]
     fn test_basic() {
         let (event_sender, mut event_man) = generic_event_man();
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
+        let event_grp_0 = EventU32::new(Severity::Info, 0, 0);
+        let event_grp_1_0 = EventU32::new(Severity::High, 1, 0);
         let (single_event_sender, single_event_receiver) = mpsc::channel();
         let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
         event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
@@ -651,8 +655,7 @@ mod tests {
             .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
             .expect("Sending single error failed");
         let res = event_man.try_event_handling(&error_handler);
-        // assert!(res.is_ok());
-        check_handled_event(res, event_grp_0, 1);
+        check_handled_event(res, event_grp_0, 1, TEST_COMPONENT_ID_0.id());
         check_next_event(event_grp_0, &single_event_receiver);
 
         // Test event which is sent to all group listeners
@@ -660,7 +663,7 @@ mod tests {
             .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
             .expect("Sending group error failed");
         let res = event_man.try_event_handling(&error_handler);
-        check_handled_event(res, event_grp_1_0, 1);
+        check_handled_event(res, event_grp_1_0, 1, TEST_COMPONENT_ID_1.id());
         check_next_event(event_grp_1_0, &group_event_receiver_0);
     }
 
@@ -670,7 +673,7 @@ mod tests {
             panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
         };
         let (event_sender, mut event_man) = generic_event_man();
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
+        let event_grp_0 = EventU32::new(Severity::Info, 0, 0);
         let (single_event_sender, single_event_receiver) = mpsc::channel();
         let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
         event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
@@ -683,7 +686,7 @@ mod tests {
             ))
             .expect("Sending group error failed");
         let res = event_man.try_event_handling(&error_handler);
-        check_handled_event(res, event_grp_0, 1);
+        check_handled_event(res, event_grp_0, 1, TEST_COMPONENT_ID_0.id());
         let aux = check_next_event(event_grp_0, &single_event_receiver);
         assert!(aux.is_some());
         let aux = aux.unwrap();
@@ -705,8 +708,8 @@ mod tests {
         let res = event_man.try_event_handling(error_handler);
         assert!(matches!(res, EventRoutingResult::Empty));
 
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
+        let event_grp_0 = EventU32::new(Severity::Info, 0, 0);
+        let event_grp_1_0 = EventU32::new(Severity::High, 1, 0);
         let (event_grp_0_sender, event_grp_0_receiver) = mpsc::channel();
         let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
         event_man.subscribe_group(
@@ -726,9 +729,9 @@ mod tests {
             .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
             .expect("Sendign Event Group 1 failed");
         let res = event_man.try_event_handling(error_handler);
-        check_handled_event(res, event_grp_0, 1);
+        check_handled_event(res, event_grp_0, 1, TEST_COMPONENT_ID_0.id());
         let res = event_man.try_event_handling(error_handler);
-        check_handled_event(res, event_grp_1_0, 1);
+        check_handled_event(res, event_grp_1_0, 1, TEST_COMPONENT_ID_1.id());
 
         check_next_event(event_grp_0, &event_grp_0_receiver);
         check_next_event(event_grp_1_0, &event_grp_0_receiver);
@@ -742,8 +745,8 @@ mod tests {
             panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
         };
         let (event_sender, mut event_man) = generic_event_man();
-        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
-        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
+        let event_0 = EventU32::new(Severity::Info, 0, 5);
+        let event_1 = EventU32::new(Severity::High, 1, 0);
         let (event_0_tx_0, event_0_rx_0) = mpsc::channel();
         let (event_0_tx_1, event_0_rx_1) = mpsc::channel();
         let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
@@ -758,7 +761,7 @@ mod tests {
             .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
             .expect("Triggering Event 0 failed");
         let res = event_man.try_event_handling(error_handler);
-        check_handled_event(res, event_0, 2);
+        check_handled_event(res, event_0, 2, TEST_COMPONENT_ID_0.id());
         check_next_event(event_0, &event_0_rx_0);
         check_next_event(event_0, &event_0_rx_1);
         event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
@@ -771,9 +774,9 @@ mod tests {
 
         // 3 Events messages will be sent now
         let res = event_man.try_event_handling(error_handler);
-        check_handled_event(res, event_0, 2);
+        check_handled_event(res, event_0, 2, TEST_COMPONENT_ID_0.id());
         let res = event_man.try_event_handling(error_handler);
-        check_handled_event(res, event_1, 1);
+        check_handled_event(res, event_1, 1, TEST_COMPONENT_ID_1.id());
         // Both the single event and the group event should arrive now
         check_next_event(event_0, &event_0_rx_0);
         check_next_event(event_1, &event_0_rx_0);
@@ -785,7 +788,7 @@ mod tests {
             .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_1))
             .expect("Triggering Event 1 failed");
         let res = event_man.try_event_handling(error_handler);
-        check_handled_event(res, event_1, 1);
+        check_handled_event(res, event_1, 1, TEST_COMPONENT_ID_0.id());
     }
 
     #[test]
@@ -793,11 +796,10 @@ mod tests {
         let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
             panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
         };
-        let (event_sender, manager_queue) = mpsc::channel();
-        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
-        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
-        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
+        let (event_sender, event_receiver) = mpsc::channel();
+        let mut event_man = EventManagerWithMpsc::new(event_receiver);
+        let event_0 = EventU32::new(Severity::Info, 0, 5);
+        let event_1 = EventU32::new(Severity::High, 1, 0);
         let (event_0_tx_0, all_events_rx) = mpsc::channel();
         let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
         event_man.subscribe_all(all_events_listener.target_id());
@@ -809,9 +811,9 @@ mod tests {
             .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
             .expect("Triggering event 1 failed");
         let res = event_man.try_event_handling(error_handler);
-        check_handled_event(res, event_0, 1);
+        check_handled_event(res, event_0, 1, TEST_COMPONENT_ID_0.id());
         let res = event_man.try_event_handling(error_handler);
-        check_handled_event(res, event_1, 1);
+        check_handled_event(res, event_1, 1, TEST_COMPONENT_ID_1.id());
         check_next_event(event_0, &all_events_rx);
         check_next_event(event_1, &all_events_rx);
     }

satrs/src/events.rs

@@ -20,12 +20,12 @@
 //! ```
 //! use satrs::events::{EventU16, EventU32, EventU32TypedSev, Severity, SeverityHigh, SeverityInfo};
 //!
-//! const MSG_RECVD: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::const_new(1, 0);
-//! const MSG_FAILED: EventU32 = EventU32::const_new(Severity::LOW, 1, 1);
+//! const MSG_RECVD: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::new(1, 0);
+//! const MSG_FAILED: EventU32 = EventU32::new(Severity::Low, 1, 1);
 //!
-//! const TEMPERATURE_HIGH: EventU32TypedSev<SeverityHigh> = EventU32TypedSev::const_new(2, 0);
+//! const TEMPERATURE_HIGH: EventU32TypedSev<SeverityHigh> = EventU32TypedSev::new(2, 0);
 //!
-//! let small_event = EventU16::new(Severity::INFO, 3, 0);
+//! let small_event = EventU16::new(Severity::Info, 3, 0);
 //! ```
 use core::fmt::Debug;
 use core::hash::Hash;
@@ -40,12 +40,17 @@ pub type LargestEventRaw = u32;
 /// Using a type definition allows to change this to u32 in the future more easily
 pub type LargestGroupIdRaw = u16;
 
+pub const MAX_GROUP_ID_U32_EVENT: u16 = 2_u16.pow(14) - 1;
+pub const MAX_GROUP_ID_U16_EVENT: u16 = 2_u16.pow(6) - 1;
+
 #[derive(Copy, Clone, PartialEq, Eq, Debug, Hash)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Severity {
-    INFO = 0,
-    LOW = 1,
-    MEDIUM = 2,
-    HIGH = 3,
+    Info = 0,
+    Low = 1,
+    Medium = 2,
+    High = 3,
 }
 
 pub trait HasSeverity: Debug + PartialEq + Eq + Copy + Clone {
@@ -56,28 +61,28 @@ pub trait HasSeverity: Debug + PartialEq + Eq + Copy + Clone {
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 pub struct SeverityInfo {}
 impl HasSeverity for SeverityInfo {
-    const SEVERITY: Severity = Severity::INFO;
+    const SEVERITY: Severity = Severity::Info;
 }
 
 /// Type level support struct
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 pub struct SeverityLow {}
 impl HasSeverity for SeverityLow {
-    const SEVERITY: Severity = Severity::LOW;
+    const SEVERITY: Severity = Severity::Low;
 }
 
 /// Type level support struct
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 pub struct SeverityMedium {}
 impl HasSeverity for SeverityMedium {
-    const SEVERITY: Severity = Severity::MEDIUM;
+    const SEVERITY: Severity = Severity::Medium;
 }
 
 /// Type level support struct
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 pub struct SeverityHigh {}
 impl HasSeverity for SeverityHigh {
-    const SEVERITY: Severity = Severity::HIGH;
+    const SEVERITY: Severity = Severity::High;
 }
 
 pub trait GenericEvent: EcssEnumeration + Copy + Clone {
@@ -99,27 +104,29 @@ impl TryFrom<u8> for Severity {
 
     fn try_from(value: u8) -> Result<Self, Self::Error> {
         match value {
-            x if x == Severity::INFO as u8 => Ok(Severity::INFO),
-            x if x == Severity::LOW as u8 => Ok(Severity::LOW),
-            x if x == Severity::MEDIUM as u8 => Ok(Severity::MEDIUM),
-            x if x == Severity::HIGH as u8 => Ok(Severity::HIGH),
+            x if x == Severity::Info as u8 => Ok(Severity::Info),
+            x if x == Severity::Low as u8 => Ok(Severity::Low),
+            x if x == Severity::Medium as u8 => Ok(Severity::Medium),
+            x if x == Severity::High as u8 => Ok(Severity::High),
             _ => Err(()),
         }
     }
 }
 
 #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
-struct EventBase<RAW, GID, UID> {
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+struct EventBase<Raw, GroupId, UniqueId> {
     severity: Severity,
-    group_id: GID,
-    unique_id: UID,
-    phantom: PhantomData<RAW>,
+    group_id: GroupId,
+    unique_id: UniqueId,
+    phantom: PhantomData<Raw>,
 }
 
-impl<RAW: ToBeBytes, GID, UID> EventBase<RAW, GID, UID> {
+impl<Raw: ToBeBytes, GroupId, UniqueId> EventBase<Raw, GroupId, UniqueId> {
     fn write_to_bytes(
         &self,
-        raw: RAW,
+        raw: Raw,
         buf: &mut [u8],
         width: usize,
     ) -> Result<usize, ByteConversionError> {
@@ -267,6 +274,7 @@ macro_rules! const_from_fn {
 }
 
 #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct EventU32 {
     base: EventBase<u32, u16, u16>,
 }
@@ -309,12 +317,12 @@ impl EventU32 {
     ///        next 14 bits after the severity. Therefore, the size is limited by dec 16383 hex 0x3FFF.
     /// * `unique_id`: Each event has a unique 16 bit ID occupying the last 16 bits of the
     ///       raw event ID
-    pub fn new(
+    pub fn new_checked(
         severity: Severity,
         group_id: <Self as GenericEvent>::GroupId,
         unique_id: <Self as GenericEvent>::UniqueId,
     ) -> Option<Self> {
-        if group_id > (2u16.pow(14) - 1) {
+        if group_id > MAX_GROUP_ID_U32_EVENT {
             return None;
         }
         Some(Self {
@@ -326,12 +334,14 @@ impl EventU32 {
             },
         })
     }
-    pub const fn const_new(
+
+    /// This constructor will panic if the passed group is is larger than [MAX_GROUP_ID_U32_EVENT].
+    pub const fn new(
         severity: Severity,
         group_id: <Self as GenericEvent>::GroupId,
         unique_id: <Self as GenericEvent>::UniqueId,
     ) -> Self {
-        if group_id > (2u16.pow(14) - 1) {
+        if group_id > MAX_GROUP_ID_U32_EVENT {
             panic!("Group ID too large");
         }
         Self {
@@ -344,50 +354,16 @@ impl EventU32 {
         }
     }
 
+    pub fn from_be_bytes(bytes: [u8; 4]) -> Self {
+        Self::from(u32::from_be_bytes(bytes))
+    }
+
     const_from_fn!(const_from_info, EventU32TypedSev, SeverityInfo);
     const_from_fn!(const_from_low, EventU32TypedSev, SeverityLow);
     const_from_fn!(const_from_medium, EventU32TypedSev, SeverityMedium);
     const_from_fn!(const_from_high, EventU32TypedSev, SeverityHigh);
 }
 
-impl<SEVERITY: HasSeverity> EventU32TypedSev<SEVERITY> {
-    /// This is similar to [EventU32::new] but the severity is a type generic, which allows to
-    /// have distinct types for events with different severities
-    pub fn new(
-        group_id: <Self as GenericEvent>::GroupId,
-        unique_id: <Self as GenericEvent>::UniqueId,
-    ) -> Option<Self> {
-        let event = EventU32::new(SEVERITY::SEVERITY, group_id, unique_id)?;
-        Some(Self {
-            event,
-            phantom: PhantomData,
-        })
-    }
-
-    /// Const version of [Self::new], but panics on invalid group ID input values.
-    pub const fn const_new(
-        group_id: <Self as GenericEvent>::GroupId,
-        unique_id: <Self as GenericEvent>::UniqueId,
-    ) -> Self {
-        let event = EventU32::const_new(SEVERITY::SEVERITY, group_id, unique_id);
-        Self {
-            event,
-            phantom: PhantomData,
-        }
-    }
-
-    fn try_from_generic(expected: Severity, raw: u32) -> Result<Self, Severity> {
-        let severity = Severity::try_from(((raw >> 30) & 0b11) as u8).unwrap();
-        if severity != expected {
-            return Err(severity);
-        }
-        Ok(Self::const_new(
-            ((raw >> 16) & 0x3FFF) as u16,
-            (raw & 0xFFFF) as u16,
-        ))
-    }
-}
-
 impl From<u32> for EventU32 {
     fn from(raw: u32) -> Self {
         // Severity conversion from u8 should never fail
@@ -395,15 +371,10 @@ impl From<u32> for EventU32 {
         let group_id = ((raw >> 16) & 0x3FFF) as u16;
         let unique_id = (raw & 0xFFFF) as u16;
         // Sanitized input, should never fail
-        Self::const_new(severity, group_id, unique_id)
+        Self::new(severity, group_id, unique_id)
     }
 }
 
-try_from_impls!(SeverityInfo, Severity::INFO, u32, EventU32TypedSev);
-try_from_impls!(SeverityLow, Severity::LOW, u32, EventU32TypedSev);
-try_from_impls!(SeverityMedium, Severity::MEDIUM, u32, EventU32TypedSev);
-try_from_impls!(SeverityHigh, Severity::HIGH, u32, EventU32TypedSev);
-
 impl UnsignedEnum for EventU32 {
     fn size(&self) -> usize {
         core::mem::size_of::<u32>()
@@ -424,6 +395,49 @@ impl EcssEnumeration for EventU32 {
     }
 }
 
+impl<SEVERITY: HasSeverity> EventU32TypedSev<SEVERITY> {
+    /// This is similar to [EventU32::new] but the severity is a type generic, which allows to
+    /// have distinct types for events with different severities
+    pub fn new_checked(
+        group_id: <Self as GenericEvent>::GroupId,
+        unique_id: <Self as GenericEvent>::UniqueId,
+    ) -> Option<Self> {
+        let event = EventU32::new_checked(SEVERITY::SEVERITY, group_id, unique_id)?;
+        Some(Self {
+            event,
+            phantom: PhantomData,
+        })
+    }
+
+    /// This constructor will panic if the `group_id` is larger than [MAX_GROUP_ID_U32_EVENT].
+    pub const fn new(
+        group_id: <Self as GenericEvent>::GroupId,
+        unique_id: <Self as GenericEvent>::UniqueId,
+    ) -> Self {
+        let event = EventU32::new(SEVERITY::SEVERITY, group_id, unique_id);
+        Self {
+            event,
+            phantom: PhantomData,
+        }
+    }
+
+    fn try_from_generic(expected: Severity, raw: u32) -> Result<Self, Severity> {
+        let severity = Severity::try_from(((raw >> 30) & 0b11) as u8).unwrap();
+        if severity != expected {
+            return Err(severity);
+        }
+        Ok(Self::new(
+            ((raw >> 16) & 0x3FFF) as u16,
+            (raw & 0xFFFF) as u16,
+        ))
+    }
+}
+
+try_from_impls!(SeverityInfo, Severity::Info, u32, EventU32TypedSev);
+try_from_impls!(SeverityLow, Severity::Low, u32, EventU32TypedSev);
+try_from_impls!(SeverityMedium, Severity::Medium, u32, EventU32TypedSev);
+try_from_impls!(SeverityHigh, Severity::High, u32, EventU32TypedSev);
+
 //noinspection RsTraitImplementation
 impl<SEVERITY: HasSeverity> UnsignedEnum for EventU32TypedSev<SEVERITY> {
     delegate!(to self.event {
@@ -441,6 +455,8 @@ impl<SEVERITY: HasSeverity> EcssEnumeration for EventU32TypedSev<SEVERITY> {
 }
 
 #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct EventU16 {
     base: EventBase<u16, u8, u8>,
 }
@@ -475,7 +491,7 @@ impl EventU16 {
     ///        next 6 bits after the severity. Therefore, the size is limited by dec 63 hex 0x3F.
     /// * `unique_id`: Each event has a unique 8 bit ID occupying the last 8 bits of the
     ///       raw event ID
-    pub fn new(
+    pub fn new_checked(
         severity: Severity,
         group_id: <Self as GenericEvent>::GroupId,
         unique_id: <Self as GenericEvent>::UniqueId,
@@ -493,8 +509,8 @@ impl EventU16 {
         })
     }
 
-    /// Const version of [Self::new], but panics on invalid group ID input values.
-    pub const fn const_new(
+    /// This constructor will panic if the `group_id` is larger than [MAX_GROUP_ID_U16_EVENT].
+    pub const fn new(
         severity: Severity,
         group_id: <Self as GenericEvent>::GroupId,
         unique_id: <Self as GenericEvent>::UniqueId,
@@ -511,52 +527,26 @@ impl EventU16 {
             },
         }
     }
+    pub fn from_be_bytes(bytes: [u8; 2]) -> Self {
+        Self::from(u16::from_be_bytes(bytes))
+    }
+
     const_from_fn!(const_from_info, EventU16TypedSev, SeverityInfo);
     const_from_fn!(const_from_low, EventU16TypedSev, SeverityLow);
     const_from_fn!(const_from_medium, EventU16TypedSev, SeverityMedium);
     const_from_fn!(const_from_high, EventU16TypedSev, SeverityHigh);
 }
 
-impl<SEVERITY: HasSeverity> EventU16TypedSev<SEVERITY> {
-    /// This is similar to [EventU16::new] but the severity is a type generic, which allows to
-    /// have distinct types for events with different severities
-    pub fn new(
-        group_id: <Self as GenericEvent>::GroupId,
-        unique_id: <Self as GenericEvent>::UniqueId,
-    ) -> Option<Self> {
-        let event = EventU16::new(SEVERITY::SEVERITY, group_id, unique_id)?;
-        Some(Self {
-            event,
-            phantom: PhantomData,
-        })
-    }
-
-    /// Const version of [Self::new], but panics on invalid group ID input values.
-    pub const fn const_new(
-        group_id: <Self as GenericEvent>::GroupId,
-        unique_id: <Self as GenericEvent>::UniqueId,
-    ) -> Self {
-        let event = EventU16::const_new(SEVERITY::SEVERITY, group_id, unique_id);
-        Self {
-            event,
-            phantom: PhantomData,
-        }
-    }
-
-    fn try_from_generic(expected: Severity, raw: u16) -> Result<Self, Severity> {
+impl From<u16> for EventU16 {
+    fn from(raw: <Self as GenericEvent>::Raw) -> Self {
         let severity = Severity::try_from(((raw >> 14) & 0b11) as u8).unwrap();
-        if severity != expected {
-            return Err(severity);
-        }
-        Ok(Self::const_new(
-            ((raw >> 8) & 0x3F) as u8,
-            (raw & 0xFF) as u8,
-        ))
+        let group_id = ((raw >> 8) & 0x3F) as u8;
+        let unique_id = (raw & 0xFF) as u8;
+        // Sanitized input, new call should never fail
+        Self::new(severity, group_id, unique_id)
     }
 }
 
-impl_event_provider!(EventU16, EventU16TypedSev, u16, u8, u8);
-
 impl UnsignedEnum for EventU16 {
     fn size(&self) -> usize {
         core::mem::size_of::<u16>()
@@ -577,6 +567,43 @@ impl EcssEnumeration for EventU16 {
     }
 }
 
+impl<SEVERITY: HasSeverity> EventU16TypedSev<SEVERITY> {
+    /// This is similar to [EventU16::new] but the severity is a type generic, which allows to
+    /// have distinct types for events with different severities
+    pub fn new_checked(
+        group_id: <Self as GenericEvent>::GroupId,
+        unique_id: <Self as GenericEvent>::UniqueId,
+    ) -> Option<Self> {
+        let event = EventU16::new_checked(SEVERITY::SEVERITY, group_id, unique_id)?;
+        Some(Self {
+            event,
+            phantom: PhantomData,
+        })
+    }
+
+    /// This constructor will panic if the `group_id` is larger than [MAX_GROUP_ID_U16_EVENT].
+    pub const fn new(
+        group_id: <Self as GenericEvent>::GroupId,
+        unique_id: <Self as GenericEvent>::UniqueId,
+    ) -> Self {
+        let event = EventU16::new(SEVERITY::SEVERITY, group_id, unique_id);
+        Self {
+            event,
+            phantom: PhantomData,
+        }
+    }
+
+    fn try_from_generic(expected: Severity, raw: u16) -> Result<Self, Severity> {
+        let severity = Severity::try_from(((raw >> 14) & 0b11) as u8).unwrap();
+        if severity != expected {
+            return Err(severity);
+        }
+        Ok(Self::new(((raw >> 8) & 0x3F) as u8, (raw & 0xFF) as u8))
+    }
+}
+
+impl_event_provider!(EventU16, EventU16TypedSev, u16, u8, u8);
+
 //noinspection RsTraitImplementation
 impl<SEVERITY: HasSeverity> UnsignedEnum for EventU16TypedSev<SEVERITY> {
     delegate!(to self.event {
@@ -593,20 +620,10 @@ impl<SEVERITY: HasSeverity> EcssEnumeration for EventU16TypedSev<SEVERITY> {
     });
 }
 
-impl From<u16> for EventU16 {
-    fn from(raw: <Self as GenericEvent>::Raw) -> Self {
-        let severity = Severity::try_from(((raw >> 14) & 0b11) as u8).unwrap();
-        let group_id = ((raw >> 8) & 0x3F) as u8;
-        let unique_id = (raw & 0xFF) as u8;
-        // Sanitized input, new call should never fail
-        Self::const_new(severity, group_id, unique_id)
-    }
-}
-
-try_from_impls!(SeverityInfo, Severity::INFO, u16, EventU16TypedSev);
-try_from_impls!(SeverityLow, Severity::LOW, u16, EventU16TypedSev);
-try_from_impls!(SeverityMedium, Severity::MEDIUM, u16, EventU16TypedSev);
-try_from_impls!(SeverityHigh, Severity::HIGH, u16, EventU16TypedSev);
+try_from_impls!(SeverityInfo, Severity::Info, u16, EventU16TypedSev);
+try_from_impls!(SeverityLow, Severity::Low, u16, EventU16TypedSev);
+try_from_impls!(SeverityMedium, Severity::Medium, u16, EventU16TypedSev);
+try_from_impls!(SeverityHigh, Severity::High, u16, EventU16TypedSev);
 
 impl<Severity: HasSeverity> PartialEq<EventU32> for EventU32TypedSev<Severity> {
     #[inline]
@@ -647,12 +664,10 @@ mod tests {
         assert_eq!(size_of::<T>(), val);
     }
 
-    const INFO_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::const_new(0, 0);
-    const INFO_EVENT_SMALL: EventU16TypedSev<SeverityInfo> = EventU16TypedSev::const_new(0, 0);
-    const HIGH_SEV_EVENT: EventU32TypedSev<SeverityHigh> =
-        EventU32TypedSev::const_new(0x3FFF, 0xFFFF);
-    const HIGH_SEV_EVENT_SMALL: EventU16TypedSev<SeverityHigh> =
-        EventU16TypedSev::const_new(0x3F, 0xff);
+    const INFO_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::new(0, 0);
+    const INFO_EVENT_SMALL: EventU16TypedSev<SeverityInfo> = EventU16TypedSev::new(0, 0);
+    const HIGH_SEV_EVENT: EventU32TypedSev<SeverityHigh> = EventU32TypedSev::new(0x3FFF, 0xFFFF);
+    const HIGH_SEV_EVENT_SMALL: EventU16TypedSev<SeverityHigh> = EventU16TypedSev::new(0x3F, 0xff);
 
     /// This working is a test in itself.
     const INFO_REDUCED: EventU32 = EventU32::const_from_info(INFO_EVENT);
@@ -683,7 +698,7 @@ mod tests {
 
     #[test]
     fn test_normal_event_getters() {
-        assert_eq!(INFO_EVENT.severity(), Severity::INFO);
+        assert_eq!(INFO_EVENT.severity(), Severity::Info);
         assert_eq!(INFO_EVENT.unique_id(), 0);
         assert_eq!(INFO_EVENT.group_id(), 0);
         let raw_event = INFO_EVENT.raw();
@@ -692,7 +707,7 @@ mod tests {
 
     #[test]
     fn test_small_event_getters() {
-        assert_eq!(INFO_EVENT_SMALL.severity(), Severity::INFO);
+        assert_eq!(INFO_EVENT_SMALL.severity(), Severity::Info);
         assert_eq!(INFO_EVENT_SMALL.unique_id(), 0);
         assert_eq!(INFO_EVENT_SMALL.group_id(), 0);
         let raw_event = INFO_EVENT_SMALL.raw();
@@ -701,7 +716,7 @@ mod tests {
 
     #[test]
     fn all_ones_event_regular() {
-        assert_eq!(HIGH_SEV_EVENT.severity(), Severity::HIGH);
+        assert_eq!(HIGH_SEV_EVENT.severity(), Severity::High);
         assert_eq!(HIGH_SEV_EVENT.group_id(), 0x3FFF);
         assert_eq!(HIGH_SEV_EVENT.unique_id(), 0xFFFF);
         let raw_event = HIGH_SEV_EVENT.raw();
@@ -710,7 +725,7 @@ mod tests {
 
     #[test]
     fn all_ones_event_small() {
-        assert_eq!(HIGH_SEV_EVENT_SMALL.severity(), Severity::HIGH);
+        assert_eq!(HIGH_SEV_EVENT_SMALL.severity(), Severity::High);
         assert_eq!(HIGH_SEV_EVENT_SMALL.group_id(), 0x3F);
         assert_eq!(HIGH_SEV_EVENT_SMALL.unique_id(), 0xFF);
         let raw_event = HIGH_SEV_EVENT_SMALL.raw();
@@ -719,18 +734,19 @@ mod tests {
 
     #[test]
     fn invalid_group_id_normal() {
-        assert!(EventU32TypedSev::<SeverityMedium>::new(2_u16.pow(14), 0).is_none());
+        assert!(EventU32TypedSev::<SeverityMedium>::new_checked(2_u16.pow(14), 0).is_none());
     }
 
     #[test]
     fn invalid_group_id_small() {
-        assert!(EventU16TypedSev::<SeverityMedium>::new(2_u8.pow(6), 0).is_none());
+        assert!(EventU16TypedSev::<SeverityMedium>::new_checked(2_u8.pow(6), 0).is_none());
     }
 
     #[test]
     fn regular_new() {
         assert_eq!(
-            EventU32TypedSev::<SeverityInfo>::new(0, 0).expect("Creating regular event failed"),
+            EventU32TypedSev::<SeverityInfo>::new_checked(0, 0)
+                .expect("Creating regular event failed"),
             INFO_EVENT
         );
     }
@@ -738,7 +754,8 @@ mod tests {
     #[test]
     fn small_new() {
         assert_eq!(
-            EventU16TypedSev::<SeverityInfo>::new(0, 0).expect("Creating regular event failed"),
+            EventU16TypedSev::<SeverityInfo>::new_checked(0, 0)
+                .expect("Creating regular event failed"),
             INFO_EVENT_SMALL
         );
     }
@@ -777,6 +794,8 @@ mod tests {
         assert!(HIGH_SEV_EVENT.write_to_be_bytes(&mut buf).is_ok());
         let val_from_raw = u32::from_be_bytes(buf);
         assert_eq!(val_from_raw, 0xFFFFFFFF);
+        let event_read_back = EventU32::from_be_bytes(buf);
+        assert_eq!(event_read_back, HIGH_SEV_EVENT);
     }
 
     #[test]
@@ -785,6 +804,8 @@ mod tests {
         assert!(HIGH_SEV_EVENT_SMALL.write_to_be_bytes(&mut buf).is_ok());
         let val_from_raw = u16::from_be_bytes(buf);
         assert_eq!(val_from_raw, 0xFFFF);
+        let event_read_back = EventU16::from_be_bytes(buf);
+        assert_eq!(event_read_back, HIGH_SEV_EVENT_SMALL);
     }
 
     #[test]
@@ -815,13 +836,13 @@ mod tests {
     fn severity_from_invalid_raw_val() {
         let invalid = 0xFF;
         assert!(Severity::try_from(invalid).is_err());
-        let invalid = Severity::HIGH as u8 + 1;
+        let invalid = Severity::High as u8 + 1;
         assert!(Severity::try_from(invalid).is_err());
     }
 
     #[test]
     fn reduction() {
-        let event = EventU32TypedSev::<SeverityInfo>::const_new(1, 1);
+        let event = EventU32TypedSev::<SeverityInfo>::new(1, 1);
         let raw = event.raw();
         let reduced: EventU32 = event.into();
         assert_eq!(reduced.group_id(), 1);

satrs/src/hal/std/tcp_server.rs

@@ -9,8 +9,6 @@ use mio::{Events, Interest, Poll, Token};
 use socket2::{Domain, Socket, Type};
 use std::io::{self, Read};
 use std::net::SocketAddr;
-// use std::net::TcpListener;
-// use std::net::{SocketAddr, TcpStream};
 use std::thread;
 
 use crate::tmtc::{PacketSenderRaw, PacketSource};
@@ -244,13 +242,16 @@ impl<
         // Create a poll instance.
         let poll = Poll::new()?;
         // Create storage for events.
-        let events = Events::with_capacity(10);
+        let events = Events::with_capacity(32);
         let listener: std::net::TcpListener = socket.into();
         let mut mio_listener = TcpListener::from_std(listener);
 
         // Start listening for incoming connections.
-        poll.registry()
-            .register(&mut mio_listener, Token(0), Interest::READABLE)?;
+        poll.registry().register(
+            &mut mio_listener,
+            Token(0),
+            Interest::READABLE | Interest::WRITABLE,
+        )?;
 
         Ok(Self {
             id: cfg.id,
@@ -280,11 +281,11 @@ impl<
         self.listener.local_addr()
     }
 
-    /// This call is used to handle the next connection to a client. Right now, it performs
+    /// This call is used to handle all connection from clients. Right now, it performs
     /// the following steps:
     ///
-    /// 1. It calls the [std::net::TcpListener::accept] method internally using the blocking API
-    ///    until a client connects.
+    /// 1. It calls the [std::net::TcpListener::accept] method until a client connects. An optional
+    ///    timeout can be specified for non-blocking acceptance.
     /// 2. It reads all the telecommands from the client and parses all received data using the
     ///    user specified [TcpTcParser].
     /// 3. After reading and parsing all telecommands, it sends back all telemetry using the
@@ -317,11 +318,17 @@ impl<
             loop {
                 match self.listener.accept() {
                     Ok((stream, addr)) => {
-                        self.handle_accepted_connection(stream, addr)?;
+                        if let Err(e) = self.handle_accepted_connection(stream, addr) {
+                            self.reregister_poll_interest()?;
+                            return Err(e);
+                        }
                         handled_connections += 1;
                     }
                     Err(ref err) if err.kind() == io::ErrorKind::WouldBlock => break,
-                    Err(err) => return Err(TcpTmtcError::Io(err)),
+                    Err(err) => {
+                        self.reregister_poll_interest()?;
+                        return Err(TcpTmtcError::Io(err));
+                    }
                 }
             }
         }
@@ -331,6 +338,14 @@ impl<
         Ok(ConnectionResult::AcceptTimeout)
     }
 
+    fn reregister_poll_interest(&mut self) -> io::Result<()> {
+        self.poll.registry().reregister(
+            &mut self.listener,
+            Token(0),
+            Interest::READABLE | Interest::WRITABLE,
+        )
+    }
+
     fn handle_accepted_connection(
         &mut self,
         mut stream: TcpStream,

satrs/src/hal/std/tcp_spacepackets_server.rs

@@ -26,14 +26,19 @@ impl<T: SpacePacketValidator, TmError, TcError: 'static> TcpTcParser<TmError, Tc
         next_write_idx: &mut usize,
     ) -> Result<(), TcpTmtcError<TmError, TcError>> {
         // Reader vec full, need to parse for packets.
-        conn_result.num_received_tcs += parse_buffer_for_ccsds_space_packets(
-            &mut tc_buffer[..current_write_idx],
+        let parse_result = parse_buffer_for_ccsds_space_packets(
+            &tc_buffer[..current_write_idx],
             self,
             sender_id,
             tc_sender,
-            next_write_idx,
         )
         .map_err(|e| TcpTmtcError::TcError(e))?;
+        if let Some(broken_tail_start) = parse_result.incomplete_tail_start {
+            // Copy broken tail to front of buffer.
+            tc_buffer.copy_within(broken_tail_start..current_write_idx, 0);
+            *next_write_idx = current_write_idx - broken_tail_start;
+        }
+        conn_result.num_received_tcs += parse_result.packets_found;
         Ok(())
     }
 }

satrs/src/params.rs

@@ -643,52 +643,18 @@ impl From<&str> for Params {
     }
 }
 
-/// Please note while [WritableToBeBytes] is implemented for [Params], the default implementation
-/// will not be able to process the [Params::Store] parameter variant.
-impl WritableToBeBytes for Params {
+impl WritableToBeBytes for ParamsHeapless {
     fn written_len(&self) -> usize {
         match self {
-            Params::Heapless(p) => match p {
-                ParamsHeapless::Raw(raw) => raw.written_len(),
-                ParamsHeapless::EcssEnum(enumeration) => enumeration.written_len(),
-            },
-            Params::Store(_) => 0,
-            #[cfg(feature = "alloc")]
-            Params::Vec(vec) => vec.len(),
-            #[cfg(feature = "alloc")]
-            Params::String(string) => string.len(),
+            ParamsHeapless::Raw(raw) => raw.written_len(),
+            ParamsHeapless::EcssEnum(ecss_enum) => ecss_enum.written_len(),
         }
     }
 
     fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
         match self {
-            Params::Heapless(p) => match p {
-                ParamsHeapless::Raw(raw) => raw.write_to_be_bytes(buf),
-                ParamsHeapless::EcssEnum(enumeration) => enumeration.write_to_be_bytes(buf),
-            },
-            Params::Store(_) => Ok(0),
-            #[cfg(feature = "alloc")]
-            Params::Vec(vec) => {
-                if buf.len() < vec.len() {
-                    return Err(ByteConversionError::ToSliceTooSmall {
-                        found: buf.len(),
-                        expected: vec.len(),
-                    });
-                }
-                buf[0..vec.len()].copy_from_slice(vec);
-                Ok(vec.len())
-            }
-            #[cfg(feature = "alloc")]
-            Params::String(string) => {
-                if buf.len() < string.len() {
-                    return Err(ByteConversionError::ToSliceTooSmall {
-                        found: buf.len(),
-                        expected: string.len(),
-                    });
-                }
-                buf[0..string.len()].copy_from_slice(string.as_bytes());
-                Ok(string.len())
-            }
+            ParamsHeapless::Raw(raw) => raw.write_to_be_bytes(buf),
+            ParamsHeapless::EcssEnum(ecss_enum) => ecss_enum.write_to_be_bytes(buf),
         }
     }
 }
@@ -837,10 +803,9 @@ mod tests {
     #[test]
     fn test_params_written_len_raw() {
         let param_raw = ParamsRaw::from((500_u32, 1000_u32));
-        let param: Params = Params::Heapless(param_raw.into());
-        assert_eq!(param.written_len(), 8);
+        assert_eq!(param_raw.written_len(), 8);
         let mut buf: [u8; 8] = [0; 8];
-        param
+        param_raw
             .write_to_be_bytes(&mut buf)
             .expect("writing to buffer failed");
         assert_eq!(u32::from_be_bytes(buf[0..4].try_into().unwrap()), 500);
@@ -848,21 +813,28 @@ mod tests {
     }
 
     #[test]
-    fn test_params_written_string() {
-        let string = "Test String".to_string();
-        let param = Params::String(string.clone());
-        assert_eq!(param.written_len(), string.len());
-        let vec = param.to_vec().unwrap();
-        let string_conv_back = String::from_utf8(vec).expect("conversion to string failed");
-        assert_eq!(string_conv_back, string);
+    fn test_heapless_param_writable_trait_raw() {
+        let param_heapless = ParamsHeapless::Raw(ParamsRaw::from((500_u32, 1000_u32)));
+        assert_eq!(param_heapless.written_len(), 8);
+        let mut buf: [u8; 8] = [0; 8];
+        let size = param_heapless
+            .write_to_be_bytes(&mut buf)
+            .expect("writing failed");
+        assert_eq!(size, 8);
+        assert_eq!(u32::from_be_bytes(buf[0..4].try_into().unwrap()), 500);
+        assert_eq!(u32::from_be_bytes(buf[4..8].try_into().unwrap()), 1000);
     }
 
     #[test]
-    fn test_params_written_vec() {
-        let vec: Vec<u8> = alloc::vec![1, 2, 3, 4, 5];
-        let param = Params::Vec(vec.clone());
-        assert_eq!(param.written_len(), vec.len());
-        assert_eq!(param.to_vec().expect("writing vec params failed"), vec);
+    fn test_heapless_param_writable_trait_ecss_enum() {
+        let param_heapless = ParamsHeapless::EcssEnum(ParamsEcssEnum::U16(5.into()));
+        assert_eq!(param_heapless.written_len(), 2);
+        let mut buf: [u8; 2] = [0; 2];
+        let size = param_heapless
+            .write_to_be_bytes(&mut buf)
+            .expect("writing failed");
+        assert_eq!(size, 2);
+        assert_eq!(u16::from_be_bytes(buf[0..2].try_into().unwrap()), 5);
     }
 
     #[test]

satrs/src/pus/action.rs

@@ -54,11 +54,11 @@ pub type GenericActionReplyPus = GenericMessage<ActionReplyPus>;
 
 impl GenericActionReplyPus {
     pub fn new_action_reply(
-        requestor_info: MessageMetadata,
+        replier_info: MessageMetadata,
         action_id: ActionId,
         reply: ActionReplyVariant,
     ) -> Self {
-        Self::new(requestor_info, ActionReplyPus::new(action_id, reply))
+        Self::new(replier_info, ActionReplyPus::new(action_id, reply))
     }
 }
 

satrs/src/pus/event.rs

@@ -331,10 +331,10 @@ mod tests {
 
     fn severity_to_subservice(severity: Severity) -> Subservice {
         match severity {
-            Severity::INFO => Subservice::TmInfoReport,
-            Severity::LOW => Subservice::TmLowSeverityReport,
-            Severity::MEDIUM => Subservice::TmMediumSeverityReport,
-            Severity::HIGH => Subservice::TmHighSeverityReport,
+            Severity::Info => Subservice::TmInfoReport,
+            Severity::Low => Subservice::TmLowSeverityReport,
+            Severity::Medium => Subservice::TmMediumSeverityReport,
+            Severity::High => Subservice::TmHighSeverityReport,
         }
     }
 
@@ -347,22 +347,22 @@ mod tests {
         aux_data: Option<&[u8]>,
     ) {
         match severity {
-            Severity::INFO => {
+            Severity::Info => {
                 reporter
                     .event_info(sender, time_stamp, event, aux_data)
                     .expect("Error reporting info event");
             }
-            Severity::LOW => {
+            Severity::Low => {
                 reporter
                     .event_low_severity(sender, time_stamp, event, aux_data)
                     .expect("Error reporting low event");
             }
-            Severity::MEDIUM => {
+            Severity::Medium => {
                 reporter
                     .event_medium_severity(sender, time_stamp, event, aux_data)
                     .expect("Error reporting medium event");
             }
-            Severity::HIGH => {
+            Severity::High => {
                 reporter
                     .event_high_severity(sender, time_stamp, event, aux_data)
                     .expect("Error reporting high event");
@@ -389,7 +389,7 @@ mod tests {
         if let Some(err_data) = error_data {
             error_copy.extend_from_slice(err_data);
         }
-        let event = EventU32::new(severity, EXAMPLE_GROUP_ID, EXAMPLE_EVENT_ID_0)
+        let event = EventU32::new_checked(severity, EXAMPLE_GROUP_ID, EXAMPLE_EVENT_ID_0)
             .expect("Error creating example event");
         report_basic_event(
             &mut reporter,
@@ -407,7 +407,7 @@ mod tests {
             severity_to_subservice(severity) as u8
         );
         assert_eq!(tm_info.common.dest_id, 0);
-        assert_eq!(tm_info.common.time_stamp, time_stamp_empty);
+        assert_eq!(tm_info.common.timestamp, time_stamp_empty);
         assert_eq!(tm_info.common.msg_counter, 0);
         assert_eq!(tm_info.common.apid, EXAMPLE_APID);
         assert_eq!(tm_info.event, event);
@@ -417,35 +417,35 @@ mod tests {
 
     #[test]
     fn basic_info_event_generation() {
-        basic_event_test(4, Severity::INFO, None);
+        basic_event_test(4, Severity::Info, None);
     }
 
     #[test]
     fn basic_low_severity_event() {
-        basic_event_test(4, Severity::LOW, None);
+        basic_event_test(4, Severity::Low, None);
     }
 
     #[test]
     fn basic_medium_severity_event() {
-        basic_event_test(4, Severity::MEDIUM, None);
+        basic_event_test(4, Severity::Medium, None);
     }
 
     #[test]
     fn basic_high_severity_event() {
-        basic_event_test(4, Severity::HIGH, None);
+        basic_event_test(4, Severity::High, None);
     }
 
     #[test]
     fn event_with_info_string() {
         let info_string = "Test Information";
-        basic_event_test(32, Severity::INFO, Some(info_string.as_bytes()));
+        basic_event_test(32, Severity::Info, Some(info_string.as_bytes()));
     }
 
     #[test]
     fn low_severity_with_raw_err_data() {
         let raw_err_param: i32 = -1;
         let raw_err = raw_err_param.to_be_bytes();
-        basic_event_test(8, Severity::LOW, Some(&raw_err))
+        basic_event_test(8, Severity::Low, Some(&raw_err))
     }
 
     fn check_buf_too_small(
@@ -454,7 +454,7 @@ mod tests {
         expected_found_len: usize,
     ) {
         let time_stamp_empty: [u8; 7] = [0; 7];
-        let event = EventU32::new(Severity::INFO, EXAMPLE_GROUP_ID, EXAMPLE_EVENT_ID_0)
+        let event = EventU32::new_checked(Severity::Info, EXAMPLE_GROUP_ID, EXAMPLE_EVENT_ID_0)
             .expect("Error creating example event");
         let err = reporter.event_info(sender, &time_stamp_empty, event, None);
         assert!(err.is_err());

satrs/src/pus/event_man.rs

@@ -28,7 +28,7 @@ pub use heapless_mod::*;
 /// structure to track disabled events. A more primitive and embedded friendly
 /// solution could track this information in a static or pre-allocated list which contains
 /// the disabled events.
-pub trait PusEventMgmtBackendProvider<Event: GenericEvent> {
+pub trait PusEventReportingMapProvider<Event: GenericEvent> {
     type Error;
 
     fn event_enabled(&self, event: &Event) -> bool;
@@ -56,7 +56,7 @@ pub mod heapless_mod {
     {
     }
 
-    impl<const N: usize, Provider: GenericEvent> PusEventMgmtBackendProvider<Provider>
+    impl<const N: usize, Provider: GenericEvent> PusEventReportingMapProvider<Provider>
         for HeaplessPusMgmtBackendProvider<N, Provider>
     {
         type Error = ();
@@ -105,20 +105,24 @@ impl From<EcssTmtcError> for EventManError {
 pub mod alloc_mod {
     use core::marker::PhantomData;
 
-    use crate::events::EventU16;
+    use crate::{
+        events::EventU16,
+        params::{Params, WritableToBeBytes},
+        pus::event::{DummyEventHook, EventTmHookProvider},
+    };
 
     use super::*;
 
     /// Default backend provider which uses a hash set as the event reporting status container
-    /// like mentioned in the example of the [PusEventMgmtBackendProvider] documentation.
+    /// like mentioned in the example of the [PusEventReportingMapProvider] documentation.
     ///
     /// This provider is a good option for host systems or larger embedded systems where
     /// the expected occasional memory allocation performed by the [HashSet] is not an issue.
-    pub struct DefaultPusEventMgmtBackend<Event: GenericEvent = EventU32> {
+    pub struct DefaultPusEventReportingMap<Event: GenericEvent = EventU32> {
         disabled: HashSet<Event>,
     }
 
-    impl<Event: GenericEvent> Default for DefaultPusEventMgmtBackend<Event> {
+    impl<Event: GenericEvent> Default for DefaultPusEventReportingMap<Event> {
         fn default() -> Self {
             Self {
                 disabled: HashSet::default(),
@@ -126,51 +130,60 @@ pub mod alloc_mod {
         }
     }
 
-    impl<EV: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventMgmtBackendProvider<EV>
-        for DefaultPusEventMgmtBackend<EV>
+    impl<Event: GenericEvent + PartialEq + Eq + Hash + Copy + Clone>
+        PusEventReportingMapProvider<Event> for DefaultPusEventReportingMap<Event>
     {
         type Error = ();
 
-        fn event_enabled(&self, event: &EV) -> bool {
+        fn event_enabled(&self, event: &Event) -> bool {
             !self.disabled.contains(event)
         }
 
-        fn enable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
+        fn enable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error> {
             Ok(self.disabled.remove(event))
         }
 
-        fn disable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
+        fn disable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error> {
             Ok(self.disabled.insert(*event))
         }
     }
 
-    pub struct PusEventDispatcher<
-        B: PusEventMgmtBackendProvider<EV, Error = E>,
-        EV: GenericEvent,
-        E,
-    > {
-        reporter: EventReporter,
-        backend: B,
-        phantom: PhantomData<(E, EV)>,
+    #[derive(Debug, Copy, Clone, PartialEq, Eq)]
+    pub struct EventGenerationResult {
+        pub event_was_enabled: bool,
+        pub params_were_propagated: bool,
     }
 
-    impl<B: PusEventMgmtBackendProvider<Event, Error = E>, Event: GenericEvent, E>
-        PusEventDispatcher<B, Event, E>
+    pub struct PusEventTmCreatorWithMap<
+        ReportingMap: PusEventReportingMapProvider<Event>,
+        Event: GenericEvent,
+        EventTmHook: EventTmHookProvider = DummyEventHook,
+    > {
+        pub reporter: EventReporter<EventTmHook>,
+        reporting_map: ReportingMap,
+        phantom: PhantomData<Event>,
+    }
+
+    impl<
+            ReportingMap: PusEventReportingMapProvider<Event>,
+            Event: GenericEvent,
+            EventTmHook: EventTmHookProvider,
+        > PusEventTmCreatorWithMap<ReportingMap, Event, EventTmHook>
     {
-        pub fn new(reporter: EventReporter, backend: B) -> Self {
+        pub fn new(reporter: EventReporter<EventTmHook>, backend: ReportingMap) -> Self {
             Self {
                 reporter,
-                backend,
+                reporting_map: backend,
                 phantom: PhantomData,
             }
         }
 
-        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
-            self.backend.enable_event_reporting(event)
+        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, ReportingMap::Error> {
+            self.reporting_map.enable_event_reporting(event)
         }
 
-        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
-            self.backend.disable_event_reporting(event)
+        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, ReportingMap::Error> {
+            self.reporting_map.disable_event_reporting(event)
         }
 
         pub fn generate_pus_event_tm_generic(
@@ -180,59 +193,108 @@ pub mod alloc_mod {
             event: Event,
             params: Option<&[u8]>,
         ) -> Result<bool, EventManError> {
-            if !self.backend.event_enabled(&event) {
+            if !self.reporting_map.event_enabled(&event) {
                 return Ok(false);
             }
             match event.severity() {
-                Severity::INFO => self
+                Severity::Info => self
                     .reporter
                     .event_info(sender, time_stamp, event, params)
                     .map(|_| true)
                     .map_err(|e| e.into()),
-                Severity::LOW => self
+                Severity::Low => self
                     .reporter
                     .event_low_severity(sender, time_stamp, event, params)
                     .map(|_| true)
                     .map_err(|e| e.into()),
-                Severity::MEDIUM => self
+                Severity::Medium => self
                     .reporter
                     .event_medium_severity(sender, time_stamp, event, params)
                     .map(|_| true)
                     .map_err(|e| e.into()),
-                Severity::HIGH => self
+                Severity::High => self
                     .reporter
                     .event_high_severity(sender, time_stamp, event, params)
                     .map(|_| true)
                     .map_err(|e| e.into()),
             }
         }
+
+        pub fn generate_pus_event_tm_generic_with_generic_params(
+            &self,
+            sender: &(impl EcssTmSender + ?Sized),
+            time_stamp: &[u8],
+            event: Event,
+            small_data_buf: &mut [u8],
+            params: Option<&Params>,
+        ) -> Result<EventGenerationResult, EventManError> {
+            let mut result = EventGenerationResult {
+                event_was_enabled: false,
+                params_were_propagated: true,
+            };
+            if params.is_none() {
+                result.event_was_enabled =
+                    self.generate_pus_event_tm_generic(sender, time_stamp, event, None)?;
+                return Ok(result);
+            }
+            let params = params.unwrap();
+            result.event_was_enabled = match params {
+                Params::Heapless(heapless_param) => {
+                    heapless_param
+                        .write_to_be_bytes(&mut small_data_buf[..heapless_param.written_len()])
+                        .map_err(EcssTmtcError::ByteConversion)?;
+                    self.generate_pus_event_tm_generic(
+                        sender,
+                        time_stamp,
+                        event,
+                        Some(small_data_buf),
+                    )?
+                }
+                Params::Vec(vec) => {
+                    self.generate_pus_event_tm_generic(sender, time_stamp, event, Some(vec))?
+                }
+                Params::String(string) => self.generate_pus_event_tm_generic(
+                    sender,
+                    time_stamp,
+                    event,
+                    Some(string.as_bytes()),
+                )?,
+                _ => {
+                    result.params_were_propagated = false;
+                    self.generate_pus_event_tm_generic(sender, time_stamp, event, None)?
+                }
+            };
+            Ok(result)
+        }
     }
 
-    impl<EV: GenericEvent + Copy + PartialEq + Eq + Hash>
-        PusEventDispatcher<DefaultPusEventMgmtBackend<EV>, EV, ()>
+    impl<Event: GenericEvent + Copy + PartialEq + Eq + Hash, EventTmHook: EventTmHookProvider>
+        PusEventTmCreatorWithMap<DefaultPusEventReportingMap<Event>, Event, EventTmHook>
     {
-        pub fn new_with_default_backend(reporter: EventReporter) -> Self {
+        pub fn new_with_default_backend(reporter: EventReporter<EventTmHook>) -> Self {
             Self {
                 reporter,
-                backend: DefaultPusEventMgmtBackend::default(),
+                reporting_map: DefaultPusEventReportingMap::default(),
                 phantom: PhantomData,
             }
         }
     }
 
-    impl<B: PusEventMgmtBackendProvider<EventU32, Error = E>, E> PusEventDispatcher<B, EventU32, E> {
+    impl<ReportingMap: PusEventReportingMapProvider<EventU32>>
+        PusEventTmCreatorWithMap<ReportingMap, EventU32>
+    {
         pub fn enable_tm_for_event_with_sev<Severity: HasSeverity>(
             &mut self,
             event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, E> {
-            self.backend.enable_event_reporting(event.as_ref())
+        ) -> Result<bool, ReportingMap::Error> {
+            self.reporting_map.enable_event_reporting(event.as_ref())
         }
 
         pub fn disable_tm_for_event_with_sev<Severity: HasSeverity>(
             &mut self,
             event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, E> {
-            self.backend.disable_event_reporting(event.as_ref())
+        ) -> Result<bool, ReportingMap::Error> {
+            self.reporting_map.disable_event_reporting(event.as_ref())
         }
 
         pub fn generate_pus_event_tm<Severity: HasSeverity>(
@@ -246,35 +308,40 @@ pub mod alloc_mod {
         }
     }
 
-    pub type DefaultPusEventU16Dispatcher<E> =
-        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU16>, EventU16, E>;
-    pub type DefaultPusEventU32Dispatcher<E> =
-        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU32>, EventU32, E>;
+    pub type DefaultPusEventU16TmCreator<EventTmHook = DummyEventHook> =
+        PusEventTmCreatorWithMap<DefaultPusEventReportingMap<EventU16>, EventU16, EventTmHook>;
+    pub type DefaultPusEventU32TmCreator<EventTmHook = DummyEventHook> =
+        PusEventTmCreatorWithMap<DefaultPusEventReportingMap<EventU32>, EventU32, EventTmHook>;
 }
 #[cfg(test)]
 mod tests {
+    use alloc::string::{String, ToString};
+    use alloc::vec;
+    use spacepackets::ecss::event::Subservice;
+    use spacepackets::ecss::tm::PusTmReader;
+    use spacepackets::ecss::PusPacket;
+
     use super::*;
     use crate::request::UniqueApidTargetId;
     use crate::{events::SeverityInfo, tmtc::PacketAsVec};
     use std::sync::mpsc::{self, TryRecvError};
 
-    const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
-        EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
-    const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
+    const INFO_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::<SeverityInfo>::new(1, 0);
+    const LOW_SEV_EVENT: EventU32 = EventU32::new(Severity::Low, 1, 5);
     const EMPTY_STAMP: [u8; 7] = [0; 7];
     const TEST_APID: u16 = 0x02;
     const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
 
-    fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
+    fn create_basic_man_1() -> DefaultPusEventU32TmCreator {
         let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
             .expect("Creating event repoter failed");
-        PusEventDispatcher::new_with_default_backend(reporter)
+        PusEventTmCreatorWithMap::new_with_default_backend(reporter)
     }
-    fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
+    fn create_basic_man_2() -> DefaultPusEventU32TmCreator {
         let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
             .expect("Creating event repoter failed");
-        let backend = DefaultPusEventMgmtBackend::default();
-        PusEventDispatcher::new(reporter, backend)
+        let backend = DefaultPusEventReportingMap::default();
+        PusEventTmCreatorWithMap::new(reporter, backend)
     }
 
     #[test]
@@ -329,4 +396,70 @@ mod tests {
         assert!(event_sent);
         event_rx.try_recv().expect("No info event received");
     }
+
+    #[test]
+    fn test_event_with_generic_string_param() {
+        let event_man = create_basic_man_1();
+        let mut small_data_buf = [0; 128];
+        let param_data = "hello world";
+        let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
+        let res = event_man.generate_pus_event_tm_generic_with_generic_params(
+            &event_tx,
+            &EMPTY_STAMP,
+            INFO_EVENT.into(),
+            &mut small_data_buf,
+            Some(&param_data.to_string().into()),
+        );
+        assert!(res.is_ok());
+        let res = res.unwrap();
+        assert!(res.event_was_enabled);
+        assert!(res.params_were_propagated);
+        let event_tm = event_rx.try_recv().expect("no event received");
+        let (tm, _) = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
+        assert_eq!(tm.service(), 5);
+        assert_eq!(tm.subservice(), Subservice::TmInfoReport as u8);
+        assert_eq!(tm.user_data().len(), 4 + param_data.len());
+        let u32_event = u32::from_be_bytes(tm.user_data()[0..4].try_into().unwrap());
+        assert_eq!(u32_event, INFO_EVENT.raw());
+        let string_data = String::from_utf8_lossy(&tm.user_data()[4..]);
+        assert_eq!(string_data, param_data);
+    }
+
+    #[test]
+    fn test_event_with_generic_vec_param() {
+        let event_man = create_basic_man_1();
+        let mut small_data_buf = [0; 128];
+        let param_data = vec![1, 2, 3, 4];
+        let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
+        let res = event_man.generate_pus_event_tm_generic_with_generic_params(
+            &event_tx,
+            &EMPTY_STAMP,
+            INFO_EVENT.into(),
+            &mut small_data_buf,
+            Some(&param_data.clone().into()),
+        );
+        assert!(res.is_ok());
+        let res = res.unwrap();
+        assert!(res.event_was_enabled);
+        assert!(res.params_were_propagated);
+        let event_tm = event_rx.try_recv().expect("no event received");
+        let (tm, _) = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
+        assert_eq!(tm.service(), 5);
+        assert_eq!(tm.subservice(), Subservice::TmInfoReport as u8);
+        assert_eq!(tm.user_data().len(), 4 + param_data.len());
+        let u32_event = u32::from_be_bytes(tm.user_data()[0..4].try_into().unwrap());
+        assert_eq!(u32_event, INFO_EVENT.raw());
+        let vec_data = tm.user_data()[4..].to_vec();
+        assert_eq!(vec_data, param_data);
+    }
+
+    #[test]
+    fn test_event_with_generic_store_param_not_propagated() {
+        // TODO: Test this.
+    }
+
+    #[test]
+    fn test_event_with_generic_heapless_param() {
+        // TODO: Test this.
+    }
 }

satrs/src/pus/event_srv.rs

@@ -1,7 +1,7 @@
 use crate::events::EventU32;
 use crate::pus::event_man::{EventRequest, EventRequestWithToken};
 use crate::pus::verification::TcStateToken;
-use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
+use crate::pus::{DirectPusPacketHandlerResult, PartialPusHandlingError, PusPacketHandlingError};
 use crate::queue::GenericSendError;
 use spacepackets::ecss::event::Subservice;
 use spacepackets::ecss::PusPacket;
@@ -10,7 +10,7 @@ use std::sync::mpsc::Sender;
 use super::verification::VerificationReportingProvider;
 use super::{
     EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, GenericConversionError,
-    GenericRoutingError, PusServiceHelper,
+    GenericRoutingError, HandlingStatus, PusServiceHelper,
 };
 
 pub struct PusEventServiceHandler<
@@ -46,13 +46,14 @@ impl<
         }
     }
 
-    pub fn poll_and_handle_next_tc(
+    pub fn poll_and_handle_next_tc<ErrorCb: FnMut(&PartialPusHandlingError)>(
         &mut self,
+        mut error_callback: ErrorCb,
         time_stamp: &[u8],
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty.into());
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         self.service_helper
@@ -62,13 +63,13 @@ impl<
         let subservice = tc.subservice();
         let srv = Subservice::try_from(subservice);
         if srv.is_err() {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
+            return Ok(DirectPusPacketHandlerResult::CustomSubservice(
                 tc.subservice(),
                 ecss_tc_and_token.token,
             ));
         }
-        let handle_enable_disable_request =
-            |enable: bool| -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        let mut handle_enable_disable_request =
+            |enable: bool| -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
                 if tc.user_data().len() < 4 {
                     return Err(GenericConversionError::NotEnoughAppData {
                         expected: 4,
@@ -79,21 +80,20 @@ impl<
                 let user_data = tc.user_data();
                 let event_u32 =
                     EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
-                let start_token = self
-                    .service_helper
-                    .common
-                    .verif_reporter
-                    .start_success(
-                        &self.service_helper.common.tm_sender,
-                        ecss_tc_and_token.token,
-                        time_stamp,
-                    )
-                    .map_err(|_| PartialPusHandlingError::Verification);
-                let partial_error = start_token.clone().err();
                 let mut token: TcStateToken = ecss_tc_and_token.token.into();
-                if let Ok(start_token) = start_token {
-                    token = start_token.into();
+                match self.service_helper.common.verif_reporter.start_success(
+                    &self.service_helper.common.tm_sender,
+                    ecss_tc_and_token.token,
+                    time_stamp,
+                ) {
+                    Ok(start_token) => {
+                        token = start_token.into();
+                    }
+                    Err(e) => {
+                        error_callback(&PartialPusHandlingError::Verification(e));
+                    }
                 }
+
                 let event_req_with_token = if enable {
                     EventRequestWithToken {
                         request: EventRequest::Enable(event_u32),
@@ -112,12 +112,7 @@ impl<
                             GenericSendError::RxDisconnected,
                         ))
                     })?;
-                if let Some(partial_error) = partial_error {
-                    return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                        partial_error,
-                    ));
-                }
-                Ok(PusPacketHandlerResult::RequestHandled)
+                Ok(HandlingStatus::HandledOne.into())
             };
 
         match srv.unwrap() {
@@ -136,14 +131,14 @@ impl<
                 handle_enable_disable_request(false)?;
             }
             Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
-                return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
+                return Ok(DirectPusPacketHandlerResult::SubserviceNotImplemented(
                     subservice,
                     ecss_tc_and_token.token,
                 ));
             }
         }
 
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne.into())
     }
 }
 
@@ -167,7 +162,7 @@ mod tests {
     use crate::pus::verification::{
         RequestId, VerificationReporter, VerificationReportingProvider,
     };
-    use crate::pus::{GenericConversionError, MpscTcReceiver};
+    use crate::pus::{GenericConversionError, HandlingStatus, MpscTcReceiver};
     use crate::tmtc::PacketSenderWithSharedPool;
     use crate::{
         events::EventU32,
@@ -175,13 +170,13 @@ mod tests {
             event_man::EventRequestWithToken,
             tests::PusServiceHandlerWithSharedStoreCommon,
             verification::{TcStateAccepted, VerificationToken},
-            EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
+            DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, PusPacketHandlingError,
         },
     };
 
     use super::PusEventServiceHandler;
 
-    const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
+    const TEST_EVENT_0: EventU32 = EventU32::new(crate::events::Severity::Info, 5, 25);
 
     struct Pus5HandlerWithStoreTester {
         common: PusServiceHandlerWithSharedStoreCommon,
@@ -229,9 +224,11 @@ mod tests {
     }
 
     impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
-        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        fn handle_one_tc(
+            &mut self,
+        ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
             let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
-            self.handler.poll_and_handle_next_tc(&time_stamp)
+            self.handler.poll_and_handle_next_tc(|_| {}, &time_stamp)
         }
     }
 
@@ -293,10 +290,13 @@ mod tests {
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();
-        if let PusPacketHandlerResult::Empty = result {
-        } else {
-            panic!("unexpected result type {result:?}")
-        }
+        assert!(
+            matches!(
+                result,
+                DirectPusPacketHandlerResult::Handled(HandlingStatus::Empty)
+            ),
+            "unexpected result type {result:?}"
+        )
     }
 
     #[test]
@@ -311,7 +311,7 @@ mod tests {
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();
-        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
+        if let DirectPusPacketHandlerResult::CustomSubservice(subservice, _) = result {
             assert_eq!(subservice, 200);
         } else {
             panic!("unexpected result type {result:?}")

satrs/src/pus/mod.rs

@@ -45,6 +45,15 @@ pub use std_mod::*;
 
 use self::verification::VerificationReportingProvider;
 
+/// Generic handling status for an object which is able to continuosly handle a queue to handle
+/// request or replies until the queue is empty.
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
+pub enum HandlingStatus {
+    HandledOne,
+    Empty,
+}
+
 #[derive(Debug, PartialEq, Eq, Clone)]
 pub enum PusTmVariant<'time, 'src_data> {
     InStore(PoolAddr),
@@ -649,14 +658,11 @@ pub mod alloc_mod {
 
 #[cfg(feature = "std")]
 pub mod std_mod {
+    use super::*;
     use crate::pool::{
         PoolAddr, PoolError, PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool,
     };
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
-    use crate::pus::{
-        EcssTcAndToken, EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericReceiveError,
-        GenericSendError, PusTmVariant, TryRecvTmtcError,
-    };
     use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
     use crate::ComponentId;
     use alloc::vec::Vec;
@@ -920,26 +926,24 @@ pub mod std_mod {
         #[error("generic timestamp generation error")]
         Time(#[from] StdTimestampError),
         #[error("error sending telemetry: {0}")]
-        TmSend(#[from] EcssTmtcError),
+        TmSend(EcssTmtcError),
         #[error("error sending verification message")]
-        Verification,
+        Verification(EcssTmtcError),
         #[error("invalid verification token")]
         NoVerificationToken,
     }
 
     /// Generic result type for handlers which can process PUS packets.
     #[derive(Debug, Clone)]
-    pub enum PusPacketHandlerResult {
-        RequestHandled,
-        RequestHandledPartialSuccess(PartialPusHandlingError),
+    pub enum DirectPusPacketHandlerResult {
+        Handled(HandlingStatus),
         SubserviceNotImplemented(u8, VerificationToken<TcStateAccepted>),
         CustomSubservice(u8, VerificationToken<TcStateAccepted>),
-        Empty,
     }
 
-    impl From<PartialPusHandlingError> for PusPacketHandlerResult {
-        fn from(value: PartialPusHandlingError) -> Self {
-            Self::RequestHandledPartialSuccess(value)
+    impl From<HandlingStatus> for DirectPusPacketHandlerResult {
+        fn from(value: HandlingStatus) -> Self {
+            Self::Handled(value)
         }
     }
 
@@ -1222,7 +1226,7 @@ pub mod test_util {
 
     use super::{
         verification::{self, TcStateAccepted, VerificationToken},
-        PusPacketHandlerResult, PusPacketHandlingError,
+        DirectPusPacketHandlerResult, PusPacketHandlingError,
     };
 
     pub const TEST_APID: u16 = 0x101;
@@ -1246,7 +1250,8 @@ pub mod test_util {
     }
 
     pub trait SimplePusPacketHandler {
-        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+        fn handle_one_tc(&mut self)
+            -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError>;
     }
 }
 
@@ -1284,36 +1289,46 @@ pub mod tests {
         pub seq_count: u16,
         pub msg_counter: u16,
         pub dest_id: u16,
-        pub time_stamp: [u8; 7],
+        pub timestamp: Vec<u8>,
     }
 
     impl CommonTmInfo {
-        pub fn new_zero_seq_count(
+        pub fn new(
             subservice: u8,
             apid: u16,
+            seq_count: u16,
+            msg_counter: u16,
             dest_id: u16,
-            time_stamp: [u8; 7],
+            timestamp: &[u8],
         ) -> Self {
             Self {
                 subservice,
                 apid,
-                seq_count: 0,
-                msg_counter: 0,
+                seq_count,
+                msg_counter,
                 dest_id,
-                time_stamp,
+                timestamp: timestamp.to_vec(),
             }
         }
+        pub fn new_zero_seq_count(
+            subservice: u8,
+            apid: u16,
+            dest_id: u16,
+            timestamp: &[u8],
+        ) -> Self {
+            Self::new(subservice, apid, 0, 0, dest_id, timestamp)
+        }
 
         pub fn new_from_tm(tm: &PusTmCreator) -> Self {
-            let mut time_stamp = [0; 7];
-            time_stamp.clone_from_slice(&tm.timestamp()[0..7]);
+            let mut timestamp = [0; 7];
+            timestamp.clone_from_slice(&tm.timestamp()[0..7]);
             Self {
                 subservice: PusPacket::subservice(tm),
                 apid: tm.apid(),
                 seq_count: tm.seq_count(),
                 msg_counter: tm.msg_counter(),
                 dest_id: tm.dest_id(),
-                time_stamp,
+                timestamp: timestamp.to_vec(),
             }
         }
     }

satrs/src/pus/scheduler_srv.rs

@@ -1,11 +1,12 @@
 use super::scheduler::PusSchedulerProvider;
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
-    EcssTmSender, MpscTcReceiver, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTcReceiver, EcssTmSender, HandlingStatus, MpscTcReceiver,
+    PartialPusHandlingError, PusServiceHelper,
 };
 use crate::pool::PoolProvider;
-use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
+use crate::pus::PusPacketHandlingError;
 use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use alloc::string::ToString;
 use spacepackets::ecss::{scheduling, PusPacket};
@@ -64,14 +65,15 @@ impl<
         &self.scheduler
     }
 
-    pub fn poll_and_handle_next_tc(
+    pub fn poll_and_handle_next_tc<ErrorCb: FnMut(&PartialPusHandlingError)>(
         &mut self,
+        mut error_callback: ErrorCb,
         time_stamp: &[u8],
         sched_tc_pool: &mut (impl PoolProvider + ?Sized),
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty.into());
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         self.service_helper
@@ -81,34 +83,34 @@ impl<
         let subservice = PusPacket::subservice(&tc);
         let standard_subservice = scheduling::Subservice::try_from(subservice);
         if standard_subservice.is_err() {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
+            return Ok(DirectPusPacketHandlerResult::CustomSubservice(
                 subservice,
                 ecss_tc_and_token.token,
             ));
         }
-        let partial_error = None;
         match standard_subservice.unwrap() {
             scheduling::Subservice::TcEnableScheduling => {
-                let start_token = self
-                    .service_helper
-                    .verif_reporter()
-                    .start_success(
-                        &self.service_helper.common.tm_sender,
-                        ecss_tc_and_token.token,
-                        time_stamp,
-                    )
-                    .expect("Error sending start success");
-
+                let opt_started_token = match self.service_helper.verif_reporter().start_success(
+                    &self.service_helper.common.tm_sender,
+                    ecss_tc_and_token.token,
+                    time_stamp,
+                ) {
+                    Ok(started_token) => Some(started_token),
+                    Err(e) => {
+                        error_callback(&PartialPusHandlingError::Verification(e));
+                        None
+                    }
+                };
                 self.scheduler.enable();
-                if self.scheduler.is_enabled() {
-                    self.service_helper
-                        .verif_reporter()
-                        .completion_success(
-                            &self.service_helper.common.tm_sender,
-                            start_token,
-                            time_stamp,
-                        )
-                        .expect("Error sending completion success");
+
+                if self.scheduler.is_enabled() && opt_started_token.is_some() {
+                    if let Err(e) = self.service_helper.verif_reporter().completion_success(
+                        &self.service_helper.common.tm_sender,
+                        opt_started_token.unwrap(),
+                        time_stamp,
+                    ) {
+                        error_callback(&PartialPusHandlingError::Verification(e));
+                    }
                 } else {
                     return Err(PusPacketHandlingError::Other(
                         "failed to enabled scheduler".to_string(),
@@ -116,26 +118,27 @@ impl<
                 }
             }
             scheduling::Subservice::TcDisableScheduling => {
-                let start_token = self
-                    .service_helper
-                    .verif_reporter()
-                    .start_success(
-                        &self.service_helper.common.tm_sender,
-                        ecss_tc_and_token.token,
-                        time_stamp,
-                    )
-                    .expect("Error sending start success");
+                let opt_started_token = match self.service_helper.verif_reporter().start_success(
+                    &self.service_helper.common.tm_sender,
+                    ecss_tc_and_token.token,
+                    time_stamp,
+                ) {
+                    Ok(started_token) => Some(started_token),
+                    Err(e) => {
+                        error_callback(&PartialPusHandlingError::Verification(e));
+                        None
+                    }
+                };
 
                 self.scheduler.disable();
-                if !self.scheduler.is_enabled() {
-                    self.service_helper
-                        .verif_reporter()
-                        .completion_success(
-                            &self.service_helper.common.tm_sender,
-                            start_token,
-                            time_stamp,
-                        )
-                        .expect("Error sending completion success");
+                if !self.scheduler.is_enabled() && opt_started_token.is_some() {
+                    if let Err(e) = self.service_helper.verif_reporter().completion_success(
+                        &self.service_helper.common.tm_sender,
+                        opt_started_token.unwrap(),
+                        time_stamp,
+                    ) {
+                        error_callback(&PartialPusHandlingError::Verification(e));
+                    }
                 } else {
                     return Err(PusPacketHandlingError::Other(
                         "failed to disable scheduler".to_string(),
@@ -194,18 +197,13 @@ impl<
             }
             _ => {
                 // Treat unhandled standard subservices as custom subservices for now.
-                return Ok(PusPacketHandlerResult::CustomSubservice(
+                return Ok(DirectPusPacketHandlerResult::CustomSubservice(
                     subservice,
                     ecss_tc_and_token.token,
                 ));
             }
         }
-        if let Some(partial_error) = partial_error {
-            return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                partial_error,
-            ));
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne.into())
     }
 }
 /// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
@@ -257,7 +255,7 @@ mod tests {
         verification::{RequestId, TcStateAccepted, VerificationToken},
         EcssTcInSharedStoreConverter,
     };
-    use crate::pus::{MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError};
+    use crate::pus::{DirectPusPacketHandlerResult, MpscTcReceiver, PusPacketHandlingError};
     use crate::tmtc::PacketSenderWithSharedPool;
     use alloc::collections::VecDeque;
     use delegate::delegate;
@@ -298,10 +296,12 @@ mod tests {
             }
         }
 
-        pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        pub fn handle_one_tc(
+            &mut self,
+        ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
             let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
             self.handler
-                .poll_and_handle_next_tc(&time_stamp, &mut self.sched_tc_pool)
+                .poll_and_handle_next_tc(|_| {}, &time_stamp, &mut self.sched_tc_pool)
         }
     }
 
@@ -387,7 +387,7 @@ mod tests {
         let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
         test_harness
             .handler
-            .poll_and_handle_next_tc(&time_stamp, &mut test_harness.sched_tc_pool)
+            .poll_and_handle_next_tc(|_| {}, &time_stamp, &mut test_harness.sched_tc_pool)
             .unwrap();
         test_harness.check_next_verification_tm(1, request_id);
         test_harness.check_next_verification_tm(3, request_id);

satrs/src/pus/test.rs

@@ -1,5 +1,5 @@
 use crate::pus::{
-    PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmVariant,
+    DirectPusPacketHandlerResult, PartialPusHandlingError, PusPacketHandlingError, PusTmVariant,
 };
 use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
@@ -10,7 +10,7 @@ use std::sync::mpsc;
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
     EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
-    EcssTmSender, GenericConversionError, MpscTcReceiver, PusServiceHelper,
+    EcssTmSender, GenericConversionError, HandlingStatus, MpscTcReceiver, PusServiceHelper,
 };
 
 /// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
@@ -43,13 +43,14 @@ impl<
         Self { service_helper }
     }
 
-    pub fn poll_and_handle_next_tc(
+    pub fn poll_and_handle_next_tc<ErrorCb: FnMut(&PartialPusHandlingError)>(
         &mut self,
+        mut error_callback: ErrorCb,
         time_stamp: &[u8],
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty.into());
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         self.service_helper
@@ -60,21 +61,16 @@ impl<
             return Err(GenericConversionError::WrongService(tc.service()).into());
         }
         if tc.subservice() == 1 {
-            let mut partial_error = None;
-            let result = self
-                .service_helper
-                .verif_reporter()
-                .start_success(
-                    &self.service_helper.common.tm_sender,
-                    ecss_tc_and_token.token,
-                    time_stamp,
-                )
-                .map_err(|_| PartialPusHandlingError::Verification);
-            let start_token = if let Ok(result) = result {
-                Some(result)
-            } else {
-                partial_error = Some(result.unwrap_err());
-                None
+            let opt_started_token = match self.service_helper.verif_reporter().start_success(
+                &self.service_helper.common.tm_sender,
+                ecss_tc_and_token.token,
+                time_stamp,
+            ) {
+                Ok(token) => Some(token),
+                Err(e) => {
+                    error_callback(&PartialPusHandlingError::Verification(e));
+                    None
+                }
             };
             // Sequence count will be handled centrally in TM funnel.
             // It is assumed that the verification reporter was built with a valid APID, so we use
@@ -83,42 +79,30 @@ impl<
                 SpHeader::new_for_unseg_tm(self.service_helper.verif_reporter().apid(), 0, 0);
             let tc_header = PusTmSecondaryHeader::new_simple(17, 2, time_stamp);
             let ping_reply = PusTmCreator::new(reply_header, tc_header, &[], true);
-            let result = self
+            if let Err(e) = self
                 .service_helper
                 .common
                 .tm_sender
                 .send_tm(self.service_helper.id(), PusTmVariant::Direct(ping_reply))
-                .map_err(PartialPusHandlingError::TmSend);
-            if let Err(err) = result {
-                partial_error = Some(err);
+            {
+                error_callback(&PartialPusHandlingError::TmSend(e));
             }
-
-            if let Some(start_token) = start_token {
-                if self
-                    .service_helper
-                    .verif_reporter()
-                    .completion_success(
-                        &self.service_helper.common.tm_sender,
-                        start_token,
-                        time_stamp,
-                    )
-                    .is_err()
-                {
-                    partial_error = Some(PartialPusHandlingError::Verification)
+            if let Some(start_token) = opt_started_token {
+                if let Err(e) = self.service_helper.verif_reporter().completion_success(
+                    &self.service_helper.common.tm_sender,
+                    start_token,
+                    time_stamp,
+                ) {
+                    error_callback(&PartialPusHandlingError::Verification(e));
                 }
             }
-            if let Some(partial_error) = partial_error {
-                return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                    partial_error,
-                ));
-            };
         } else {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
+            return Ok(DirectPusPacketHandlerResult::CustomSubservice(
                 tc.subservice(),
                 ecss_tc_and_token.token,
             ));
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne.into())
     }
 }
 
@@ -158,8 +142,9 @@ mod tests {
     };
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
-        EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericConversionError, MpscTcReceiver,
-        MpscTmAsVecSender, PusPacketHandlerResult, PusPacketHandlingError,
+        DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+        GenericConversionError, HandlingStatus, MpscTcReceiver, MpscTmAsVecSender,
+        PartialPusHandlingError, PusPacketHandlingError,
     };
     use crate::tmtc::PacketSenderWithSharedPool;
     use crate::ComponentId;
@@ -221,9 +206,12 @@ mod tests {
         }
     }
     impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
-        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        fn handle_one_tc(
+            &mut self,
+        ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
             let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
-            self.handler.poll_and_handle_next_tc(&time_stamp)
+            self.handler
+                .poll_and_handle_next_tc(|_partial_error: &PartialPusHandlingError| {}, &time_stamp)
         }
     }
 
@@ -276,9 +264,12 @@ mod tests {
         }
     }
     impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
-        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        fn handle_one_tc(
+            &mut self,
+        ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
             let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
-            self.handler.poll_and_handle_next_tc(&time_stamp)
+            self.handler
+                .poll_and_handle_next_tc(|_partial_error: &PartialPusHandlingError| {}, &time_stamp)
         }
     }
 
@@ -328,10 +319,11 @@ mod tests {
         let mut test_harness = Pus17HandlerWithStoreTester::new(0);
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
-        let result = result.unwrap();
-        if let PusPacketHandlerResult::Empty = result {
-        } else {
-            panic!("unexpected result type {result:?}")
+        match result.unwrap() {
+            DirectPusPacketHandlerResult::Handled(handled) => {
+                assert_eq!(handled, HandlingStatus::Empty);
+            }
+            _ => panic!("unexpected result"),
         }
     }
 
@@ -367,7 +359,7 @@ mod tests {
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();
-        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
+        if let DirectPusPacketHandlerResult::CustomSubservice(subservice, _) = result {
             assert_eq!(subservice, 200);
         } else {
             panic!("unexpected result type {result:?}")

satrs/src/pus/verification.rs

@@ -79,6 +79,7 @@
 //! The [integration test](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-core/tests/verification_test.rs)
 //! for the verification module contains examples how this module could be used in a more complex
 //! context involving multiple threads
+use crate::params::{Params, WritableToBeBytes};
 use crate::pus::{source_buffer_large_enough, EcssTmSender, EcssTmtcError};
 use core::fmt::{Debug, Display, Formatter};
 use core::hash::{Hash, Hasher};
@@ -353,7 +354,7 @@ pub struct FailParams<'stamp, 'fargs> {
 impl<'stamp, 'fargs> FailParams<'stamp, 'fargs> {
     pub fn new(
         time_stamp: &'stamp [u8],
-        failure_code: &'fargs impl EcssEnumeration,
+        failure_code: &'fargs dyn EcssEnumeration,
         failure_data: &'fargs [u8],
     ) -> Self {
         Self {
@@ -381,7 +382,7 @@ impl<'stamp, 'fargs> FailParamsWithStep<'stamp, 'fargs> {
     pub fn new(
         time_stamp: &'stamp [u8],
         step: &'fargs impl EcssEnumeration,
-        failure_code: &'fargs impl EcssEnumeration,
+        failure_code: &'fargs dyn EcssEnumeration,
         failure_data: &'fargs [u8],
     ) -> Self {
         Self {
@@ -1171,26 +1172,143 @@ pub mod alloc_mod {
     }
 }
 
-/*
-#[cfg(feature = "std")]
-pub mod std_mod {
-    use std::sync::mpsc;
-
-    use crate::pool::StoreAddr;
-    use crate::pus::verification::VerificationReporterWithSender;
-
-    use super::alloc_mod::VerificationReporterWithSharedPoolSender;
-
-    pub type VerificationReporterWithSharedPoolMpscSender =
-        VerificationReporterWithSharedPoolSender<mpsc::Sender<StoreAddr>>;
-    pub type VerificationReporterWithSharedPoolMpscBoundedSender =
-        VerificationReporterWithSharedPoolSender<mpsc::SyncSender<StoreAddr>>;
-    pub type VerificationReporterWithVecMpscSender =
-        VerificationReporterWithSender<mpsc::Sender<alloc::vec::Vec<u8>>>;
-    pub type VerificationReporterWithVecMpscBoundedSender =
-        VerificationReporterWithSender<mpsc::SyncSender<alloc::vec::Vec<u8>>>;
+pub struct FailParamHelper<'stamp, 'fargs, 'buf, 'params> {
+    pub timestamp: &'stamp [u8],
+    pub error_code: &'fargs dyn EcssEnumeration,
+    pub small_data_buf: &'buf mut [u8],
+    pub params: Option<&'params Params>,
+}
+
+/// This helper function simplifies generating completion failures where the error data has
+/// the generic [Params] type.
+///
+/// A small data buffer needs to be supplied for the [Params::Heapless] type because all data
+/// suplied as error data must be held in a slice. Passing a static buffer avoids dynamic memory
+/// allocation for this case.
+///
+/// Please note that this specific function can not propagate the [Params::Store] variant.
+/// This function also might not be able to propagate other error variants which are added in
+/// the future. The returned boolean on success denotes whether the error parameters were
+/// propagated properly.
+pub fn handle_completion_failure_with_generic_params<TcState: WasAtLeastAccepted + Copy>(
+    tm_sender: &(impl EcssTmSender + ?Sized),
+    verif_token: VerificationToken<TcState>,
+    verif_reporter: &impl VerificationReportingProvider,
+    helper: FailParamHelper,
+) -> Result<bool, EcssTmtcError> {
+    let mut error_params_propagated = true;
+    if helper.params.is_none() {
+        verif_reporter.completion_failure(
+            tm_sender,
+            verif_token,
+            FailParams::new(helper.timestamp, helper.error_code, &[]),
+        )?;
+        return Ok(true);
+    }
+    let error_params = helper.params.unwrap();
+    match error_params {
+        Params::Heapless(heapless_param) => {
+            heapless_param
+                .write_to_be_bytes(&mut helper.small_data_buf[..heapless_param.written_len()])?;
+            verif_reporter.completion_failure(
+                tm_sender,
+                verif_token,
+                FailParams::new(
+                    helper.timestamp,
+                    helper.error_code,
+                    &helper.small_data_buf[..heapless_param.written_len()],
+                ),
+            )?;
+        }
+        #[cfg(feature = "alloc")]
+        Params::Vec(vec) => {
+            verif_reporter.completion_failure(
+                tm_sender,
+                verif_token,
+                FailParams::new(helper.timestamp, helper.error_code, vec),
+            )?;
+        }
+        #[cfg(feature = "alloc")]
+        Params::String(str) => {
+            verif_reporter.completion_failure(
+                tm_sender,
+                verif_token,
+                FailParams::new(helper.timestamp, helper.error_code, str.as_bytes()),
+            )?;
+        }
+        _ => {
+            verif_reporter.completion_failure(
+                tm_sender,
+                verif_token,
+                FailParams::new(helper.timestamp, helper.error_code, &[]),
+            )?;
+            error_params_propagated = false;
+        }
+    }
+    Ok(error_params_propagated)
+}
+
+/// This function is similar to [handle_completion_failure_with_error_as_params] but handles the
+/// step failure case.
+pub fn handle_step_failure_with_generic_params(
+    tm_sender: &(impl EcssTmSender + ?Sized),
+    verif_token: VerificationToken<TcStateStarted>,
+    verif_reporter: &impl VerificationReportingProvider,
+    helper: FailParamHelper,
+    step: &impl EcssEnumeration,
+) -> Result<bool, EcssTmtcError> {
+    if helper.params.is_none() {
+        verif_reporter.step_failure(
+            tm_sender,
+            verif_token,
+            FailParamsWithStep::new(helper.timestamp, step, helper.error_code, &[]),
+        )?;
+        return Ok(true);
+    }
+    let error_params = helper.params.unwrap();
+    let mut error_params_propagated = true;
+    match error_params {
+        Params::Heapless(heapless_param) => {
+            heapless_param
+                .write_to_be_bytes(&mut helper.small_data_buf[..heapless_param.written_len()])?;
+            verif_reporter.step_failure(
+                tm_sender,
+                verif_token,
+                FailParamsWithStep::new(
+                    helper.timestamp,
+                    step,
+                    helper.error_code,
+                    &helper.small_data_buf[..heapless_param.written_len()],
+                ),
+            )?;
+        }
+        #[cfg(feature = "alloc")]
+        Params::Vec(vec) => {
+            verif_reporter.step_failure(
+                tm_sender,
+                verif_token,
+                FailParamsWithStep::new(helper.timestamp, step, helper.error_code, vec),
+            )?;
+        }
+        #[cfg(feature = "alloc")]
+        Params::String(str) => {
+            verif_reporter.step_failure(
+                tm_sender,
+                verif_token,
+                FailParamsWithStep::new(helper.timestamp, step, helper.error_code, str.as_bytes()),
+            )?;
+        }
+        _ => {
+            verif_reporter.step_failure(
+                tm_sender,
+                verif_token,
+                FailParamsWithStep::new(helper.timestamp, step, helper.error_code, &[]),
+            )?;
+            error_params_propagated = false;
+        }
+    }
+    Ok(error_params_propagated)
 }
- */
 
 #[cfg(any(feature = "test_util", test))]
 pub mod test_util {
@@ -1566,73 +1684,19 @@ pub mod test_util {
                 .pop_front()
                 .expect("report queue is empty")
         }
-        /*
-        pub fn verification_info(&self, req_id: &RequestId) -> Option<VerificationStatus> {
-            let verif_map = self.verification_map.lock().unwrap();
-            let value = verif_map.borrow().get(req_id).cloned();
-            value
-        }
-
-
-        pub fn check_started(&self, req_id: &RequestId) -> bool {
-            let verif_map = self.verification_map.lock().unwrap();
-            if let Some(entry) = verif_map.borrow().get(req_id) {
-                return entry.started.unwrap_or(false);
-            }
-            false
-        }
-
-        fn generic_completion_checks(
-            entry: &VerificationStatus,
-            step: Option<u16>,
-            completion_success: bool,
-        ) {
-            assert!(entry.accepted.unwrap());
-            assert!(entry.started.unwrap());
-            if let Some(step) = step {
-                assert!(entry.step_status.unwrap());
-                assert_eq!(entry.step, step);
-            } else {
-                assert!(entry.step_status.is_none());
-            }
-            assert_eq!(entry.completed.unwrap(), completion_success);
-        }
-
-
-        pub fn assert_completion_failure(
-            &self,
-            req_id: &RequestId,
-            step: Option<u16>,
-            error_code: u64,
-        ) {
-            let verif_map = self.verification_map.lock().unwrap();
-            if let Some(entry) = verif_map.borrow().get(req_id) {
-                Self::generic_completion_checks(entry, step, false);
-                assert_eq!(entry.fail_enum.unwrap(), error_code);
-                return;
-            }
-            panic!("request not in verification map");
-        }
-
-        pub fn completion_status(&self, req_id: &RequestId) -> Option<bool> {
-            let verif_map = self.verification_map.lock().unwrap();
-            if let Some(entry) = verif_map.borrow().get(req_id) {
-                return entry.completed;
-            }
-            panic!("request not in verification map");
-        }
-         */
     }
 }
 
 #[cfg(test)]
 pub mod tests {
+    use crate::params::Params;
     use crate::pool::{SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig};
     use crate::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0};
     use crate::pus::tests::CommonTmInfo;
     use crate::pus::verification::{
-        EcssTmSender, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
-        VerificationReporter, VerificationReporterCfg, VerificationToken,
+        handle_step_failure_with_generic_params, EcssTmSender, EcssTmtcError, FailParams,
+        FailParamsWithStep, RequestId, TcStateNone, VerificationReporter, VerificationReporterCfg,
+        VerificationToken,
     };
     use crate::pus::{ChannelWithId, PusTmVariant};
     use crate::request::MessageMetadata;
@@ -1640,6 +1704,7 @@ pub mod tests {
     use crate::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
     use crate::ComponentId;
     use alloc::format;
+    use alloc::string::ToString;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::{
         EcssEnumU16, EcssEnumU32, EcssEnumU8, EcssEnumeration, PusError, PusPacket,
@@ -1654,8 +1719,9 @@ pub mod tests {
     use std::vec::Vec;
 
     use super::{
-        DummyVerificationHook, SeqCountProviderSimple, TcStateAccepted, TcStateStarted,
-        VerificationHookProvider, VerificationReportingProvider, WasAtLeastAccepted,
+        handle_completion_failure_with_generic_params, DummyVerificationHook, FailParamHelper,
+        SeqCountProviderSimple, TcStateAccepted, TcStateStarted, VerificationHookProvider,
+        VerificationReportingProvider, WasAtLeastAccepted,
     };
 
     fn is_send<T: Send>(_: &T) {}
@@ -1663,6 +1729,7 @@ pub mod tests {
     fn is_sync<T: Sync>(_: &T) {}
 
     const EMPTY_STAMP: [u8; 7] = [0; 7];
+    const DUMMY_STAMP: &[u8] = &[0, 1, 0, 1, 0, 1, 0];
 
     #[derive(Debug, Eq, PartialEq, Clone)]
     struct TmInfo {
@@ -1740,8 +1807,8 @@ pub mod tests {
         tc: Vec<u8>,
     }
 
-    fn base_reporter(id: ComponentId) -> VerificationReporter {
-        let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
+    fn base_reporter(id: ComponentId, max_fail_data_len: usize) -> VerificationReporter {
+        let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, max_fail_data_len).unwrap();
         VerificationReporter::new(id, &cfg)
     }
 
@@ -1844,66 +1911,57 @@ pub mod tests {
                 .completion_failure(&self.sender, token, params)
         }
 
-        fn completion_success_check(&mut self, incrementing_couters: bool) {
-            assert_eq!(self.sender.service_queue.borrow().len(), 3);
-            let mut current_seq_count = 0;
+        fn check_acceptance_success(&self, timestamp: &[u8; 7]) {
             let cmp_info = TmInfo {
                 requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo {
-                    subservice: 1,
-                    apid: TEST_APID,
-                    seq_count: current_seq_count,
-                    msg_counter: current_seq_count,
-                    dest_id: self.reporter.dest_id(),
-                    time_stamp: EMPTY_STAMP,
-                },
+                common: CommonTmInfo::new(1, TEST_APID, 0, 0, self.reporter.dest_id(), timestamp),
                 additional_data: None,
             };
-            let mut info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
+            let mut service_queue = self.sender.service_queue.borrow_mut();
+            assert!(service_queue.len() >= 1);
+            let info = service_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
+        }
 
-            if incrementing_couters {
-                current_seq_count += 1;
-            }
-
+        fn check_start_success(&mut self, seq_count: u16, msg_counter: u16, timestamp: &[u8]) {
+            let mut srv_queue = self.sender.service_queue.borrow_mut();
             let cmp_info = TmInfo {
                 requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo {
-                    subservice: 3,
-                    apid: TEST_APID,
-                    msg_counter: current_seq_count,
-                    seq_count: current_seq_count,
-                    dest_id: self.reporter.dest_id(),
-                    time_stamp: [0, 1, 0, 1, 0, 1, 0],
-                },
+                common: CommonTmInfo::new(
+                    3,
+                    TEST_APID,
+                    seq_count,
+                    msg_counter,
+                    self.reporter.dest_id(),
+                    timestamp,
+                ),
                 additional_data: None,
             };
-            info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
+            let info = srv_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
+        }
 
-            if incrementing_couters {
-                current_seq_count += 1;
-            }
+        fn check_completion_success(&mut self, seq_count: u16, msg_counter: u16) {
             let cmp_info = TmInfo {
                 requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo {
-                    subservice: 7,
-                    apid: TEST_APID,
-                    msg_counter: current_seq_count,
-                    seq_count: current_seq_count,
-                    dest_id: self.reporter.dest_id(),
-                    time_stamp: EMPTY_STAMP,
-                },
+                common: CommonTmInfo::new(
+                    7,
+                    TEST_APID,
+                    seq_count,
+                    msg_counter,
+                    self.reporter.dest_id(),
+                    &EMPTY_STAMP,
+                ),
                 additional_data: None,
             };
-            info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
+            let info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
         }
     }
 
     impl VerificationReporterTestbench<DummyVerificationHook> {
-        fn new(id: ComponentId, tc: PusTcCreator) -> Self {
-            let reporter = base_reporter(id);
+        fn new(id: ComponentId, tc: PusTcCreator, max_fail_data_len: usize) -> Self {
+            let reporter = base_reporter(id, max_fail_data_len);
             Self {
                 id,
                 sender: TestSender::default(),
@@ -1913,36 +1971,10 @@ pub mod tests {
             }
         }
 
-        fn acceptance_check(&self, time_stamp: &[u8; 7]) {
+        fn check_acceptance_failure(&mut self, timestamp: &[u8; 7]) {
             let cmp_info = TmInfo {
                 requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo {
-                    subservice: 1,
-                    apid: TEST_APID,
-                    seq_count: 0,
-                    msg_counter: 0,
-                    dest_id: self.reporter.dest_id(),
-                    time_stamp: *time_stamp,
-                },
-                additional_data: None,
-            };
-            let mut service_queue = self.sender.service_queue.borrow_mut();
-            assert_eq!(service_queue.len(), 1);
-            let info = service_queue.pop_front().unwrap();
-            assert_eq!(info, cmp_info);
-        }
-
-        fn acceptance_fail_check(&mut self, stamp_buf: [u8; 7]) {
-            let cmp_info = TmInfo {
-                requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo {
-                    subservice: 2,
-                    seq_count: 0,
-                    apid: TEST_APID,
-                    msg_counter: 0,
-                    dest_id: self.reporter.dest_id(),
-                    time_stamp: stamp_buf,
-                },
+                common: CommonTmInfo::new(2, TEST_APID, 0, 0, self.reporter.dest_id(), timestamp),
                 additional_data: Some([0, 2].to_vec()),
             };
             let service_queue = self.sender.service_queue.get_mut();
@@ -1951,12 +1983,12 @@ pub mod tests {
             assert_eq!(info, cmp_info);
         }
 
-        fn start_fail_check(&mut self, fail_data_raw: [u8; 4]) {
+        fn check_start_failure(&mut self, fail_data_raw: [u8; 4]) {
             let mut srv_queue = self.sender.service_queue.borrow_mut();
             assert_eq!(srv_queue.len(), 2);
             let mut cmp_info = TmInfo {
                 requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(1, TEST_APID, 0, EMPTY_STAMP),
+                common: CommonTmInfo::new_zero_seq_count(1, TEST_APID, 0, &EMPTY_STAMP),
                 additional_data: None,
             };
             let mut info = srv_queue.pop_front().unwrap();
@@ -1964,148 +1996,67 @@ pub mod tests {
 
             cmp_info = TmInfo {
                 requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(4, TEST_APID, 0, EMPTY_STAMP),
+                common: CommonTmInfo::new_zero_seq_count(4, TEST_APID, 0, &EMPTY_STAMP),
                 additional_data: Some([&[22], fail_data_raw.as_slice()].concat().to_vec()),
             };
             info = srv_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
         }
 
-        fn step_success_check(&mut self, time_stamp: &[u8; 7]) {
-            let mut cmp_info = TmInfo {
+        fn check_step_success(&mut self, step: u8, timestamp: &[u8; 7]) {
+            let cmp_info = TmInfo {
                 requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(1, TEST_APID, 0, *time_stamp),
-                additional_data: None,
+                common: CommonTmInfo::new_zero_seq_count(5, TEST_APID, 0, timestamp),
+                additional_data: Some([step].to_vec()),
             };
             let mut srv_queue = self.sender.service_queue.borrow_mut();
-            let mut info = srv_queue.pop_front().unwrap();
-            assert_eq!(info, cmp_info);
-            cmp_info = TmInfo {
-                requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(3, TEST_APID, 0, *time_stamp),
-                additional_data: None,
-            };
-            info = srv_queue.pop_front().unwrap();
-            assert_eq!(info, cmp_info);
-            cmp_info = TmInfo {
-                requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(5, TEST_APID, 0, *time_stamp),
-                additional_data: Some([0].to_vec()),
-            };
-            info = srv_queue.pop_front().unwrap();
-            assert_eq!(info, cmp_info);
-            cmp_info = TmInfo {
-                requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(5, TEST_APID, 0, *time_stamp),
-                additional_data: Some([1].to_vec()),
-            };
-            info = srv_queue.pop_front().unwrap();
+            let info = srv_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
         }
 
-        fn check_step_failure(&mut self, fail_data_raw: [u8; 4]) {
-            assert_eq!(self.sender.service_queue.borrow().len(), 4);
-            let mut cmp_info = TmInfo {
-                requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(
-                    1,
-                    TEST_APID,
-                    self.reporter.dest_id(),
-                    EMPTY_STAMP,
-                ),
-                additional_data: None,
-            };
-            let mut info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
-            assert_eq!(info, cmp_info);
-
-            cmp_info = TmInfo {
-                requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(
-                    3,
-                    TEST_APID,
-                    self.reporter.dest_id(),
-                    [0, 1, 0, 1, 0, 1, 0],
-                ),
-                additional_data: None,
-            };
-            info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
-            assert_eq!(info, cmp_info);
-
-            cmp_info = TmInfo {
-                requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(
-                    5,
-                    TEST_APID,
-                    self.reporter.dest_id(),
-                    EMPTY_STAMP,
-                ),
-                additional_data: Some([0].to_vec()),
-            };
-            info = self.sender.service_queue.get_mut().pop_front().unwrap();
-            assert_eq!(info, cmp_info);
-
-            cmp_info = TmInfo {
+        fn check_step_failure(
+            &mut self,
+            step: &impl EcssEnumeration,
+            error_code: &impl EcssEnumeration,
+            fail_data: &[u8],
+        ) {
+            let mut additional_data = Vec::new();
+            additional_data.extend(step.to_vec());
+            additional_data.extend(error_code.to_vec());
+            additional_data.extend(fail_data);
+            let cmp_info = TmInfo {
                 requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo::new_zero_seq_count(
                     6,
                     TEST_APID,
                     self.reporter.dest_id(),
-                    EMPTY_STAMP,
-                ),
-                additional_data: Some(
-                    [
-                        [1].as_slice(),
-                        &[0, 0, 0x10, 0x20],
-                        fail_data_raw.as_slice(),
-                    ]
-                    .concat()
-                    .to_vec(),
+                    &EMPTY_STAMP,
                 ),
+                additional_data: Some(additional_data),
             };
-            info = self.sender.service_queue.get_mut().pop_front().unwrap();
+            let info = self.sender.service_queue.get_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
         }
 
-        fn completion_fail_check(&mut self) {
-            assert_eq!(self.sender.service_queue.borrow().len(), 3);
-
-            let mut cmp_info = TmInfo {
-                requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(
-                    1,
-                    TEST_APID,
-                    self.reporter.dest_id(),
-                    EMPTY_STAMP,
-                ),
-                additional_data: None,
-            };
-            let mut info = self.sender.service_queue.get_mut().pop_front().unwrap();
-            assert_eq!(info, cmp_info);
-
-            cmp_info = TmInfo {
-                requestor: MessageMetadata::new(self.request_id.into(), self.id),
-                common: CommonTmInfo::new_zero_seq_count(
-                    3,
-                    TEST_APID,
-                    self.reporter.dest_id(),
-                    [0, 1, 0, 1, 0, 1, 0],
-                ),
-                additional_data: None,
-            };
-            info = self.sender.service_queue.get_mut().pop_front().unwrap();
-            assert_eq!(info, cmp_info);
-
-            cmp_info = TmInfo {
+        fn check_completion_failure(
+            &mut self,
+            error_code: &impl EcssEnumeration,
+            fail_data: &[u8],
+        ) {
+            let mut additional_data = Vec::new();
+            additional_data.extend(error_code.to_vec());
+            additional_data.extend(fail_data);
+            let cmp_info = TmInfo {
                 requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo::new_zero_seq_count(
                     8,
                     TEST_APID,
                     self.reporter.dest_id(),
-                    EMPTY_STAMP,
+                    &EMPTY_STAMP,
                 ),
-                additional_data: Some([0, 0, 0x10, 0x20].to_vec()),
+                additional_data: Some(additional_data),
             };
-            info = self.sender.service_queue.get_mut().pop_front().unwrap();
+            let info = self.sender.service_queue.get_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
         }
     }
@@ -2128,7 +2079,7 @@ pub mod tests {
 
     #[test]
     fn test_state() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         assert_eq!(testbench.reporter.apid(), TEST_APID);
         testbench.reporter.set_apid(TEST_APID + 1);
         assert_eq!(testbench.reporter.apid(), TEST_APID + 1);
@@ -2136,43 +2087,43 @@ pub mod tests {
 
     #[test]
     fn test_basic_acceptance_success() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         let token = testbench.init();
         testbench
             .acceptance_success(token, &EMPTY_STAMP)
             .expect("sending acceptance success failed");
-        testbench.acceptance_check(&EMPTY_STAMP);
+        testbench.check_acceptance_success(&EMPTY_STAMP);
     }
 
     #[test]
     fn test_basic_acceptance_failure() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         let init_token = testbench.init();
-        let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
+        let timestamp = [1, 2, 3, 4, 5, 6, 7];
         let fail_code = EcssEnumU16::new(2);
-        let fail_params = FailParams::new_no_fail_data(stamp_buf.as_slice(), &fail_code);
+        let fail_params = FailParams::new_no_fail_data(timestamp.as_slice(), &fail_code);
         testbench
             .acceptance_failure(init_token, fail_params)
             .expect("sending acceptance failure failed");
-        testbench.acceptance_fail_check(stamp_buf);
+        testbench.check_acceptance_failure(&timestamp);
     }
 
     #[test]
     fn test_basic_acceptance_failure_with_helper() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         let init_token = testbench.init();
-        let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
+        let timestamp = [1, 2, 3, 4, 5, 6, 7];
         let fail_code = EcssEnumU16::new(2);
-        let fail_params = FailParams::new_no_fail_data(stamp_buf.as_slice(), &fail_code);
+        let fail_params = FailParams::new_no_fail_data(timestamp.as_slice(), &fail_code);
         testbench
             .acceptance_failure(init_token, fail_params)
             .expect("sending acceptance failure failed");
-        testbench.acceptance_fail_check(stamp_buf);
+        testbench.check_acceptance_failure(&timestamp);
     }
 
     #[test]
     fn test_acceptance_fail_data_too_large() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 8);
         let init_token = testbench.init();
         let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
         let fail_code = EcssEnumU16::new(2);
@@ -2204,7 +2155,7 @@ pub mod tests {
 
     #[test]
     fn test_basic_acceptance_failure_with_fail_data() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         let fail_code = EcssEnumU8::new(10);
         let fail_data = EcssEnumU32::new(12);
         let mut fail_data_raw = [0; 4];
@@ -2216,7 +2167,7 @@ pub mod tests {
             .expect("sending acceptance failure failed");
         let cmp_info = TmInfo {
             requestor: MessageMetadata::new(testbench.request_id.into(), testbench.id),
-            common: CommonTmInfo::new_zero_seq_count(2, TEST_APID, 0, EMPTY_STAMP),
+            common: CommonTmInfo::new_zero_seq_count(2, TEST_APID, 0, &EMPTY_STAMP),
             additional_data: Some([10, 0, 0, 0, 12].to_vec()),
         };
         let mut service_queue = testbench.sender.service_queue.borrow_mut();
@@ -2227,7 +2178,7 @@ pub mod tests {
 
     #[test]
     fn test_start_failure() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         let init_token = testbench.init();
         let fail_code = EcssEnumU8::new(22);
         let fail_data: i32 = -12;
@@ -2241,12 +2192,12 @@ pub mod tests {
         testbench
             .start_failure(accepted_token, fail_params)
             .expect("Start failure failure");
-        testbench.start_fail_check(fail_data_raw);
+        testbench.check_start_failure(fail_data_raw);
     }
 
     #[test]
     fn test_start_failure_with_helper() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         let token = testbench.init();
         let fail_code = EcssEnumU8::new(22);
         let fail_data: i32 = -12;
@@ -2260,12 +2211,12 @@ pub mod tests {
         testbench
             .start_failure(accepted_token, fail_params)
             .expect("start failure failed");
-        testbench.start_fail_check(fail_data_raw);
+        testbench.check_start_failure(fail_data_raw);
     }
 
     #[test]
     fn test_steps_success() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         let token = testbench.init();
         let accepted_token = testbench
             .acceptance_success(token, &EMPTY_STAMP)
@@ -2280,12 +2231,15 @@ pub mod tests {
             .step_success(&started_token, &EMPTY_STAMP, EcssEnumU8::new(1))
             .expect("step 1 failed");
         assert_eq!(testbench.sender.service_queue.borrow().len(), 4);
-        testbench.step_success_check(&EMPTY_STAMP);
+        testbench.check_acceptance_success(&EMPTY_STAMP);
+        testbench.check_start_success(0, 0, &EMPTY_STAMP);
+        testbench.check_step_success(0, &EMPTY_STAMP);
+        testbench.check_step_success(1, &EMPTY_STAMP);
     }
 
     #[test]
     fn test_step_failure() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         let token = testbench.init();
         let fail_code = EcssEnumU32::new(0x1020);
         let fail_data: f32 = -22.3232;
@@ -2303,7 +2257,7 @@ pub mod tests {
             .acceptance_success(token, &EMPTY_STAMP)
             .expect("Sending acceptance success failed");
         let started_token = testbench
-            .start_success(accepted_token, &[0, 1, 0, 1, 0, 1, 0])
+            .start_success(accepted_token, DUMMY_STAMP)
             .expect("Sending start success failed");
         testbench
             .step_success(&started_token, &EMPTY_STAMP, EcssEnumU8::new(0))
@@ -2311,12 +2265,15 @@ pub mod tests {
         testbench
             .step_failure(started_token, fail_params)
             .expect("Step failure failed");
-        testbench.check_step_failure(fail_data_raw);
+        testbench.check_acceptance_success(&EMPTY_STAMP);
+        testbench.check_start_success(0, 0, DUMMY_STAMP);
+        testbench.check_step_success(0, &EMPTY_STAMP);
+        testbench.check_step_failure(&fail_step, &fail_code, &fail_data_raw);
     }
 
     #[test]
     fn test_completion_failure() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
         let token = testbench.init();
         let fail_code = EcssEnumU32::new(0x1020);
         let fail_params = FailParams::new_no_fail_data(&EMPTY_STAMP, &fail_code);
@@ -2325,29 +2282,34 @@ pub mod tests {
             .acceptance_success(token, &EMPTY_STAMP)
             .expect("Sending acceptance success failed");
         let started_token = testbench
-            .start_success(accepted_token, &[0, 1, 0, 1, 0, 1, 0])
+            .start_success(accepted_token, DUMMY_STAMP)
             .expect("Sending start success failed");
         testbench
             .completion_failure(started_token, fail_params)
             .expect("Completion failure");
-        testbench.completion_fail_check();
+        testbench.check_acceptance_success(&EMPTY_STAMP);
+        testbench.check_start_success(0, 0, DUMMY_STAMP);
+
+        testbench.check_completion_failure(&fail_code, &[]);
     }
 
     #[test]
     fn test_complete_success_sequence() {
         let mut testbench =
-            VerificationReporterTestbench::new(TEST_COMPONENT_ID_0.id(), create_generic_ping());
+            VerificationReporterTestbench::new(TEST_COMPONENT_ID_0.id(), create_generic_ping(), 16);
         let token = testbench.init();
         let accepted_token = testbench
             .acceptance_success(token, &EMPTY_STAMP)
             .expect("Sending acceptance success failed");
         let started_token = testbench
-            .start_success(accepted_token, &[0, 1, 0, 1, 0, 1, 0])
+            .start_success(accepted_token, DUMMY_STAMP)
             .expect("Sending start success failed");
         testbench
             .completion_success(started_token, &EMPTY_STAMP)
             .expect("Sending completion success failed");
-        testbench.completion_success_check(false);
+        testbench.check_acceptance_success(&EMPTY_STAMP);
+        testbench.check_start_success(0, 0, DUMMY_STAMP);
+        testbench.check_completion_success(0, 0);
     }
 
     #[test]
@@ -2367,6 +2329,83 @@ pub mod tests {
         testbench
             .completion_success(started_token, &EMPTY_STAMP)
             .expect("Sending completion success failed");
-        testbench.completion_success_check(true);
+        testbench.check_acceptance_success(&EMPTY_STAMP);
+        testbench.check_start_success(1, 1, DUMMY_STAMP);
+        testbench.check_completion_success(2, 2);
+    }
+
+    #[test]
+    fn test_completion_failure_helper_string_param() {
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 32);
+        let token = testbench.init();
+        let accepted_token = testbench
+            .acceptance_success(token, &EMPTY_STAMP)
+            .expect("Sending acceptance success failed");
+        let mut small_data_buf: [u8; 16] = [0; 16];
+        let fail_code = EcssEnumU8::new(1);
+        let fail_data = "error 404 oh no".to_string();
+        let fail_params = Params::String(fail_data.clone());
+        let result = handle_completion_failure_with_generic_params(
+            &testbench.sender,
+            accepted_token,
+            &testbench.reporter,
+            FailParamHelper {
+                timestamp: &EMPTY_STAMP,
+                error_code: &fail_code,
+                small_data_buf: &mut small_data_buf,
+                params: Some(&fail_params),
+            },
+        );
+        assert!(result.unwrap());
+        testbench.check_acceptance_success(&EMPTY_STAMP);
+        testbench.check_completion_failure(&fail_code, fail_data.as_bytes());
+    }
+
+    #[test]
+    fn test_step_failure_helper_string_param() {
+        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 32);
+        let token = testbench.init();
+        let accepted_token = testbench
+            .acceptance_success(token, &EMPTY_STAMP)
+            .expect("Sending acceptance success failed");
+        let started_token = testbench
+            .start_success(accepted_token, &EMPTY_STAMP)
+            .expect("Sending start success failed");
+        let mut small_data_buf: [u8; 16] = [0; 16];
+        let step = EcssEnumU8::new(2);
+        let fail_code = EcssEnumU8::new(1);
+        let fail_data = "AAAAAAAAAAAHHHHHH".to_string();
+        let fail_params = Params::String(fail_data.clone());
+        let result = handle_step_failure_with_generic_params(
+            &testbench.sender,
+            started_token,
+            &testbench.reporter,
+            FailParamHelper {
+                timestamp: &EMPTY_STAMP,
+                error_code: &fail_code,
+                small_data_buf: &mut small_data_buf,
+                params: Some(&fail_params),
+            },
+            &step,
+        );
+        assert!(result.unwrap());
+        testbench.check_acceptance_success(&EMPTY_STAMP);
+        testbench.check_start_success(0, 0, &EMPTY_STAMP);
+        testbench.check_step_failure(&step, &fail_code, fail_data.as_bytes());
+    }
+
+    #[test]
+    fn test_completion_failure_helper_vec_param() {
+        // TODO: Test this.
+    }
+
+    #[test]
+    fn test_completion_failure_helper_raw_param() {
+        // TODO: Test this.
+    }
+
+    #[test]
+    fn test_completion_failure_helper_store_param_ignored() {
+        // TODO: Test this.
     }
 }

satrs/src/request.rs

@@ -10,7 +10,7 @@ pub use std_mod::*;
 
 use spacepackets::{
     ecss::{tc::IsPusTelecommand, PusPacket},
-    ByteConversionError, CcsdsPacket,
+    ByteConversionError,
 };
 
 use crate::{queue::GenericTargetedMessagingError, ComponentId};
@@ -47,7 +47,7 @@ impl UniqueApidTargetId {
     /// This function attempts to build the ID from a PUS telecommand by extracting the APID
     /// and the first four bytes of the application data field as the target field.
     pub fn from_pus_tc(
-        tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
+        tc: &(impl PusPacket + IsPusTelecommand),
     ) -> Result<Self, ByteConversionError> {
         if tc.user_data().len() < 4 {
             return Err(ByteConversionError::FromSliceTooSmall {

satrs/tests/pus_autogen_events.rs

@@ -21,7 +21,7 @@ struct EventIntrospection {
 }
 
 //#[event(descr="This is some info event")]
-const INFO_EVENT_0: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::const_new(0, 0);
+const INFO_EVENT_0: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::new(0, 0);
 const INFO_EVENT_0_ERASED: EventU32 = EventU32::const_from_info(INFO_EVENT_0);
 
 // This is ideally auto-generated
@@ -36,7 +36,7 @@ const INFO_EVENT_0_INTROSPECTION: EventIntrospection = EventIntrospection {
 };
 
 //#[event(descr="This is some low severity event")]
-const SOME_LOW_SEV_EVENT: EventU32TypedSev<SeverityLow> = EventU32TypedSev::const_new(0, 12);
+const SOME_LOW_SEV_EVENT: EventU32TypedSev<SeverityLow> = EventU32TypedSev::new(0, 12);
 
 //const EVENT_LIST: [&'static Event; 2] = [&INFO_EVENT_0, &SOME_LOW_SEV_EVENT];
 
@@ -47,7 +47,7 @@ const TEST_GROUP_NAME_NAME: &str = "TEST_GROUP_NAME";
 
 //#[event(desc="Some medium severity event")]
 const MEDIUM_SEV_EVENT_IN_OTHER_GROUP: EventU32TypedSev<SeverityMedium> =
-    EventU32TypedSev::const_new(TEST_GROUP_NAME, 0);
+    EventU32TypedSev::new(TEST_GROUP_NAME, 0);
 const MEDIUM_SEV_EVENT_IN_OTHER_GROUP_REDUCED: EventU32 =
     EventU32::const_from_medium(MEDIUM_SEV_EVENT_IN_OTHER_GROUP);
 
@@ -62,7 +62,7 @@ const MEDIUM_SEV_EVENT_IN_OTHER_GROUP_INTROSPECTION: EventIntrospection = EventI
     info: "Some medium severity event",
 };
 
-const CONST_SLICE: &'static [u8] = &[0, 1, 2, 3];
+const CONST_SLICE: &[u8] = &[0, 1, 2, 3];
 const INTROSPECTION_FOR_TEST_GROUP_0: [&EventIntrospection; 2] =
     [&INFO_EVENT_0_INTROSPECTION, &INFO_EVENT_0_INTROSPECTION];
 

satrs/tests/pus_events.rs

@@ -1,11 +1,11 @@
 use satrs::event_man::{
     EventManagerWithMpsc, EventMessage, EventMessageU32, EventRoutingError, EventSendProvider,
-    EventU32SenderMpsc, MpscEventU32Receiver,
+    EventU32SenderMpsc,
 };
 use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
 use satrs::params::U32Pair;
 use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
-use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
+use satrs::pus::event_man::{DefaultPusEventReportingMap, EventReporter, PusEventTmCreatorWithMap};
 use satrs::pus::test_util::TEST_COMPONENT_ID_0;
 use satrs::request::UniqueApidTargetId;
 use satrs::tmtc::PacketAsVec;
@@ -14,9 +14,8 @@ use spacepackets::ecss::{PusError, PusPacket};
 use std::sync::mpsc::{self, SendError, TryRecvError};
 use std::thread;
 
-const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
-    EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
-const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
+const INFO_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::<SeverityInfo>::new(1, 0);
+const LOW_SEV_EVENT: EventU32 = EventU32::new(Severity::Low, 1, 5);
 const EMPTY_STAMP: [u8; 7] = [0; 7];
 const TEST_APID: u16 = 0x02;
 const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
@@ -29,18 +28,18 @@ pub enum CustomTmSenderError {
 
 #[test]
 fn test_threaded_usage() {
-    let (event_sender, event_man_receiver) = mpsc::channel();
-    let event_receiver = MpscEventU32Receiver::new(event_man_receiver);
-    let mut event_man = EventManagerWithMpsc::new(event_receiver);
+    let (event_tx, event_rx) = mpsc::sync_channel(100);
+    let mut event_man = EventManagerWithMpsc::new(event_rx);
 
     let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
     let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
     event_man.subscribe_all(pus_event_man_send_provider.target_id());
     event_man.add_sender(pus_event_man_send_provider);
-    let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
+    let (event_packet_tx, event_packet_rx) = mpsc::channel::<PacketAsVec>();
     let reporter =
         EventReporter::new(TEST_ID.raw(), 0x02, 0, 128).expect("Creating event reporter failed");
-    let pus_event_man = PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
+    let pus_event_man =
+        PusEventTmCreatorWithMap::new(reporter, DefaultPusEventReportingMap::default());
     let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
         panic!("received routing error for event {event_msg:?}: {error:?}");
     };
@@ -54,7 +53,7 @@ fn test_threaded_usage() {
                 Ok(event_msg) => {
                     let gen_event = |aux_data| {
                         pus_event_man.generate_pus_event_tm_generic(
-                            &event_tx,
+                            &event_packet_tx,
                             &EMPTY_STAMP,
                             event_msg.event(),
                             aux_data,
@@ -100,14 +99,14 @@ fn test_threaded_usage() {
 
     // Event sender and TM checker thread
     let jh1 = thread::spawn(move || {
-        event_sender
+        event_tx
             .send(EventMessage::new(
                 TEST_COMPONENT_ID_0.id(),
                 INFO_EVENT.into(),
             ))
             .expect("Sending info event failed");
         loop {
-            match event_rx.try_recv() {
+            match event_packet_rx.try_recv() {
                 // Event TM received successfully
                 Ok(event_tm) => {
                     let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
@@ -129,7 +128,7 @@ fn test_threaded_usage() {
                 }
             }
         }
-        event_sender
+        event_tx
             .send(EventMessage::new_with_params(
                 TEST_COMPONENT_ID_0.id(),
                 LOW_SEV_EVENT,
@@ -137,7 +136,7 @@ fn test_threaded_usage() {
             ))
             .expect("Sending low severity event failed");
         loop {
-            match event_rx.try_recv() {
+            match event_packet_rx.try_recv() {
                 // Event TM received successfully
                 Ok(event_tm) => {
                     let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)