Merge pull request 'another small documentation fix' (#199) from another-small-doc-fix into main

Reviewed-on: #199

.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: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo check --release
+
+  test:
+    name: Run Tests
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Install nextest
+        uses: taiki-e/install-action@nextest
+      - run: cargo nextest run --all-features
+      - run: cargo test --doc --all-features
+
+  cross-check:
+    name: Check Cross-Compilation
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target:
+          - armv7-unknown-linux-gnueabihf
+          - thumbv7em-none-eabihf
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
+      - run: cargo check -p satrs --release --target=${{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
 

Cargo.toml

@@ -9,6 +9,7 @@ members = [
 ]
 
 exclude = [
-    "satrs-example-stm32f3-disco",
+    "embedded-examples/stm32f3-disco-rtic",
+    "embedded-examples/stm32h7-rtic",
 ]
 

README.md

@@ -37,11 +37,19 @@ This project currently contains following crates:
 * [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
    Example of a simple example on-board software using various sat-rs components which can be run
    on a host computer or on any system with a standard runtime like a Raspberry Pi.
+* [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim):
+   Mini-Simulator based on [asynchronix](https://github.com/asynchronics/asynchronix) which
+   simulates some physical devices for the `satrs-example` application device handlers.
 * [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
    Components to build a mission information base from the on-board software directly.
-* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
+* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32f3-disco-rtic):
    Example of a simple example using low-level sat-rs components on a bare-metal system
-   with constrained resources.
+   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
+   framework on the STM32F3-Discovery device.
+* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32h7-nucleo-rtic):
+   Example of a simple example using sat-rs components on a bare-metal system
+   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
+   framework on the STM32H743ZIT device.
 
 Each project has its own `CHANGELOG.md`.
 
@@ -54,6 +62,21 @@ Each project has its own `CHANGELOG.md`.
    [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
    crate.
 
+# Flight Heritage
+
+There is an active and continuous effort to get early flight heritage for the sat-rs library.
+Currently this library has the following flight heritage:
+
+- Submission as an [OPS-SAT experiment](https://www.esa.int/Enabling_Support/Operations/OPS-SAT)
+  which has also
+  [flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
+  The application is strongly based on the sat-rs example application. You can find the repository
+  of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
+- Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
+  alongside a Flight System Simulator in the context of a
+  [Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
+  at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).
+
 # Coverage
 
 Coverage was generated using [`grcov`](https://github.com/mozilla/grcov). If you have not done so
@@ -64,5 +87,5 @@ rustup component add llvm-tools-preview
 cargo install grcov --locked
 ```
 
-After that, you can simply run `coverage.py` to test the `satrs-core` crate with coverage. You can
+After that, you can simply run `coverage.py` to test the `satrs` crate with coverage. You can
 optionally supply the `--open` flag to open the coverage report in your webbrowser.

automation/Jenkinsfile

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

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

@@ -22,9 +22,9 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.2.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
+checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
 
 [[package]]
 name = "bare-metal"
@@ -88,13 +88,19 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "chrono"
-version = "0.4.37"
+version = "0.4.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
+checksum = "a21f936df1771bf62b77f047b726c4625ff2e8aa607c01ec06e5a05bd8463401"
 dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
 [[package]]
 name = "cobs"
 version = "0.2.3"
@@ -115,9 +121,9 @@ dependencies = [
 
 [[package]]
 name = "cortex-m-rt"
-version = "0.7.3"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
+checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
 dependencies = [
  "cortex-m-rt-macros",
 ]
@@ -144,9 +150,9 @@ dependencies = [
 
 [[package]]
 name = "crc"
-version = "3.0.1"
+version = "3.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
+checksum = "69e6e4d7b33a94f0991c26729976b10ebde1d34c3ee82408fb536164fa10d636"
 dependencies = [
  "crc-catalog",
 ]
@@ -165,9 +171,9 @@ checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "darling"
-version = "0.20.8"
+version = "0.20.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
+checksum = "83b2eb4d90d12bdda5ed17de686c2acb4c57914f8f921b8da7e112b5a36f3fe1"
 dependencies = [
  "darling_core",
  "darling_macro",
@@ -175,33 +181,33 @@ dependencies = [
 
 [[package]]
 name = "darling_core"
-version = "0.20.8"
+version = "0.20.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
+checksum = "622687fe0bac72a04e5599029151f5796111b90f1baaa9b544d807a5e31cd120"
 dependencies = [
  "fnv",
  "ident_case",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
 name = "darling_macro"
-version = "0.20.8"
+version = "0.20.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
+checksum = "733cabb43482b1a1b53eee8583c2b9e8684d592215ea83efd305dd31bc2f0178"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
 name = "defmt"
-version = "0.3.6"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
+checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
 dependencies = [
  "bitflags",
  "defmt-macros",
@@ -219,15 +225,15 @@ dependencies = [
 
 [[package]]
 name = "defmt-macros"
-version = "0.3.7"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
+checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
 dependencies = [
  "defmt-parser",
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -259,7 +265,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -273,6 +279,17 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "derive-new"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.65",
+]
+
 [[package]]
 name = "embedded-dma"
 version = "0.2.0"
@@ -325,7 +342,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -409,9 +426,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.14.3"
+version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 
 [[package]]
 name = "heapless"
@@ -507,9 +524,9 @@ dependencies = [
 
 [[package]]
 name = "num-iter"
-version = "0.1.44"
+version = "0.1.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
+checksum = "1429034a0490724d0075ebb2bc9e875d6503c3cf69e235a8941aa757d83ef5bf"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -529,9 +546,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.18"
+version = "0.2.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
 ]
@@ -553,14 +570,14 @@ checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
 name = "panic-probe"
-version = "0.3.1"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
+checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0"
 dependencies = [
  "cortex-m",
  "defmt",
@@ -568,9 +585,9 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.14"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
 name = "pin-project-lite"
@@ -610,18 +627,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.79"
+version = "1.0.83"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
+checksum = "0b33eb56c327dec362a9e55b3ad14f9d2f0904fb5a5b03b513ab5465399e9f43"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.35"
+version = "1.0.36"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
+checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
 dependencies = [
  "proc-macro2",
 ]
@@ -674,7 +691,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -717,16 +734,20 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
- "semver 1.0.22",
+ "semver 1.0.23",
 ]
 
 [[package]]
 name = "satrs"
-version = "0.2.0-rc.0"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
 dependencies = [
- "cobs",
+ "cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
  "crc",
+ "defmt",
  "delegate",
+ "derive-new",
  "num-traits",
  "num_enum",
  "paste",
@@ -736,10 +757,19 @@ dependencies = [
 ]
 
 [[package]]
-name = "satrs-example-stm32f3-disco"
+name = "satrs-shared"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
+dependencies = [
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 dependencies = [
- "cobs",
+ "cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
  "cortex-m",
  "cortex-m-rt",
  "cortex-m-semihosting",
@@ -757,13 +787,6 @@ dependencies = [
  "stm32f3xx-hal",
 ]
 
-[[package]]
-name = "satrs-shared"
-version = "0.1.3"
-dependencies = [
- "spacepackets",
-]
-
 [[package]]
 name = "semver"
 version = "0.9.0"
@@ -775,9 +798,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.22"
+version = "1.0.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
 
 [[package]]
 name = "semver-parser"
@@ -799,9 +822,9 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
 
 [[package]]
 name = "spacepackets"
-version = "0.11.0-rc.2"
+version = "0.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
+checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
 dependencies = [
  "crc",
  "defmt",
@@ -899,9 +922,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.58"
+version = "2.0.65"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
+checksum = "d2863d96a84c6439701d7a38f9de935ec562c8832cc55d1dde0f513b52fad106"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -910,22 +933,22 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.58"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
+checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.58"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
+checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -975,9 +998,9 @@ dependencies = [
 
 [[package]]
 name = "zerocopy"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
 dependencies = [
  "byteorder",
  "zerocopy-derive",
@@ -985,11 +1008,11 @@ dependencies = [
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

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

@@ -1,8 +1,8 @@
 [package]
-name = "satrs-example-stm32f3-disco"
+name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 edition = "2021"
-default-run = "satrs-example-stm32f3-disco"
+default-run = "satrs-stm32f3-disco-rtic"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
@@ -46,7 +46,8 @@ branch = "complete-dma-update-hal"
 # path = "../stm32f3-discovery"
 
 [dependencies.satrs]
-path = "../satrs"
+# path = "satrs"
+version = "0.2"
 default-features = false
 features = ["defmt"]
 

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

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

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

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

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

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

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

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

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

@@ -9,7 +9,7 @@ use satrs::spacepackets::ecss::EcssEnumU16;
 use satrs::spacepackets::CcsdsPacket;
 use satrs::spacepackets::{ByteConversionError, SpHeader};
 // global logger + panicking-behavior + memory layout
-use satrs_example_stm32f3_disco as _;
+use satrs_stm32f3_disco_rtic as _;
 
 use rtic::app;
 

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

@@ -12,7 +12,7 @@
       "chip": "STM32F303VCTx",
       "coreConfigs": [
         {
-          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic",
           "rttEnabled": true,
           "svdFile": "STM32F303.svd"
         }

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

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

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

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

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

@@ -0,0 +1,881 @@
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embedded-examples/stm32h7-nucleo-rtic/Cargo.toml

@@ -0,0 +1,85 @@
+[package]
+authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
+name = "satrs-stm32h7-nucleo-rtic"
+edition = "2021"
+version = "0.1.0"
+default-run = "satrs-stm32h7-nucleo-rtic"
+
+[lib]
+harness = false
+
+# needed for each integration test
+[[test]]
+name = "integration"
+harness = false
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+defmt = "0.3"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+cortex-m-semihosting = "0.5.0"
+stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
+embedded-alloc = "0.5"
+rtic-sync = { version = "1", features = ["defmt-03"] }
+
+[dependencies.smoltcp]
+version = "0.11.0"
+default-features = false
+features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]
+
+[dependencies.satrs]
+path = "../../satrs"
+version = "0.2"
+default-features = false
+features = ["defmt", "heapless"]
+
+[dev-dependencies]
+defmt-test = "0.3"
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 's'         # <-
+overflow-checks = true  # <-
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-

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

@@ -0,0 +1,201 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
+   "Licensor" shall mean the copyright owner or entity authorized by
+   the copyright owner that is granting the License.
+
+   "Legal Entity" shall mean the union of the acting entity and all
+   other entities that control, are controlled by, or are under common
+   control with that entity. For the purposes of this definition,
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embedded-examples/stm32h7-nucleo-rtic/README.md

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

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

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

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

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

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

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

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

@@ -1,23 +1,24 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
+import struct
 import logging
 import sys
 import time
-from typing import Any, Optional
-from prompt_toolkit.history import History
-from prompt_toolkit.history import FileHistory
+from typing import Any, Optional, cast
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ecss.tm import CdsShortTimestamp
 
-from spacepackets.ccsds import PacketId, PacketType
 import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusVerificator
+from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
-from spacepackets.ccsds.time import CdsShortTimestamp
 
 from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
+from tmtccmd.core.ccsds_backend import QueueWrapper
+from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
 from tmtccmd.com import ComInterface
 from tmtccmd.config import (
     CmdTreeNode,
@@ -26,8 +27,8 @@ from tmtccmd.config import (
     HookBase,
     params_to_procedure_conversion,
 )
+from tmtccmd.config.com import SerialCfgWrapper
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.logging.pus import (
     RegularTmtcLogWrapper,
     RawTmtcTimedLogWrapper,
@@ -40,21 +41,19 @@ from tmtccmd.tmtc import (
     FeedWrapper,
     SendCbParams,
     DefaultPusQueueHelper,
-    QueueWrapper,
 )
+from tmtccmd.pus.s5_fsfw_event import Service5Tm
 from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
-
-import pus_tc
-from common import Apid, EventU32
-
 _LOGGER = logging.getLogger()
 
+EXAMPLE_PUS_APID = 0x02
+
 
 class SatRsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)
 
     def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
         from tmtccmd.config.com import (
@@ -63,20 +62,23 @@ class SatRsConfigHook(HookBase):
         )
 
         assert self.cfg_path is not None
-        packet_id_list = []
-        for apid in Apid:
-            packet_id_list.append(PacketId(PacketType.TM, True, apid))
         cfg = create_com_interface_cfg_default(
             com_if_key=com_if_key,
             json_cfg_path=self.cfg_path,
-            space_packet_ids=packet_id_list,
+            space_packet_ids=None,
         )
-        assert cfg is not None
+        if cfg is None:
+            raise ValueError(
+                f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
+            )
+        if cfg.com_if_key == "serial_cobs":
+            cfg = cast(SerialCfgWrapper, cfg)
+            cfg.serial_cfg.serial_timeout = 0.5
         return create_com_interface_default(cfg)
 
     def get_command_definitions(self) -> CmdTreeNode:
         """This function should return the root node of the command definition tree."""
-        return pus_tc.create_cmd_definition_tree()
+        return create_cmd_definition_tree()
 
     def get_cmd_history(self) -> Optional[History]:
         """Optionlly return a history class for the past command paths which will be used
@@ -89,29 +91,39 @@ class SatRsConfigHook(HookBase):
         return get_core_object_ids()
 
 
-class PusHandler(GenericApidHandlerBase):
+def create_cmd_definition_tree() -> CmdTreeNode:
+    root_node = CmdTreeNode.root_node()
+    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
+    return root_node
+
+
+class PusHandler(SpecificApidHandlerBase):
     def __init__(
         self,
         file_logger: logging.Logger,
         verif_wrapper: VerificationWrapper,
         raw_logger: RawTmtcTimedLogWrapper,
     ):
-        super().__init__(None)
+        super().__init__(EXAMPLE_PUS_APID, None)
         self.file_logger = file_logger
         self.raw_logger = raw_logger
         self.verif_wrapper = verif_wrapper
 
-    def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
+    def handle_tm(self, packet: bytes, _user_args: Any):
         try:
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
         except ValueError as e:
             _LOGGER.warning("Could not generate PUS TM object from raw data")
             _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
             raise e
         service = pus_tm.service
+        tm_packet = None
         if service == 1:
             tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
             )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
@@ -125,48 +137,39 @@ class PusHandler(GenericApidHandlerBase):
             else:
                 self.verif_wrapper.log_to_console(tm_packet, res)
                 self.verif_wrapper.log_to_file(tm_packet, res)
-        elif service == 3:
+        if service == 3:
             _LOGGER.info("No handling for HK packets implemented")
             _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
-                _LOGGER.info(json_str)
-        elif service == 5:
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
-            src_data = tm_packet.source_data
-            event_u32 = EventU32.unpack(src_data)
-            _LOGGER.info(f"Received event packet. Event: {event_u32}")
-            if event_u32.group_id == 0 and event_u32.unique_id == 0:
-                _LOGGER.info("Received test event")
-        elif service == 17:
-            tm_packet = Service17Tm.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
+                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
+        if service == 5:
+            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+        if service == 17:
+            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
             if tm_packet.subservice == 2:
-                self.file_logger.info("Received Ping Reply TM[17,2]")
                 _LOGGER.info("Received Ping Reply TM[17,2]")
             else:
-                self.file_logger.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
                 _LOGGER.info(
                     f"Received Test Packet with unknown subservice {tm_packet.subservice}"
                 )
-        else:
+        if tm_packet is None:
             _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
+            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
         self.raw_logger.log_tm(pus_tm)
 
 
+def make_addressable_id(target_id: int, unique_id: int) -> bytes:
+    byte_string = bytearray(struct.pack("!I", target_id))
+    byte_string.extend(struct.pack("!I", unique_id))
+    return byte_string
+
+
 class TcHandler(TcHandlerBase):
     def __init__(
         self,
@@ -178,10 +181,10 @@ class TcHandler(TcHandlerBase):
         self.verif_wrapper = verif_wrapper
         self.queue_helper = DefaultPusQueueHelper(
             queue_wrapper=QueueWrapper.empty(),
-            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
+            tc_sched_timestamp_len=7,
             seq_cnt_provider=seq_count_provider,
-            pus_verificator=self.verif_wrapper.pus_verificator,
-            default_pus_apid=None,
+            pus_verificator=verif_wrapper.pus_verificator,
+            default_pus_apid=EXAMPLE_PUS_APID,
         )
 
     def send_cb(self, send_params: SendCbParams):
@@ -189,6 +192,10 @@ class TcHandler(TcHandlerBase):
         if entry_helper.is_tc:
             if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
                 pus_tc_wrapper = entry_helper.to_pus_tc_entry()
+                pus_tc_wrapper.pus_tc.seq_count = (
+                    self.seq_count_provider.get_and_increment()
+                )
+                self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
                 raw_tc = pus_tc_wrapper.pus_tc.pack()
                 _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
                 send_params.com_if.send(raw_tc)
@@ -197,17 +204,38 @@ class TcHandler(TcHandlerBase):
             _LOGGER.info(log_entry.log_str)
 
     def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
             _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
     def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
-            assert def_proc.cmd_path is not None
-            pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            cmd_path = def_proc.cmd_path
+            if cmd_path == "/ping":
+                q.add_log_cmd("Sending PUS ping telecommand")
+                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+            if cmd_path == "/change_blink_freq":
+                self.create_change_blink_freq_command(q)
+
+    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
+        q.add_log_cmd("Changing blink frequency")
+        while True:
+            blink_freq = int(
+                input(
+                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
+                )
+            )
+            if blink_freq < 2 or blink_freq > 10000:
+                print(
+                    "Invalid blink frequency. Please specify a value between 2 and 10000."
+                )
+                continue
+            break
+        app_data = struct.pack("!I", blink_freq)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
 
 
 def main():
@@ -225,6 +253,7 @@ def main():
         post_args_wrapper.set_params_without_prompts(proc_wrapper)
     else:
         post_args_wrapper.set_params_with_prompts(proc_wrapper)
+    params.apid = EXAMPLE_PUS_APID
     setup_args = SetupWrapper(
         hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
     )
@@ -236,9 +265,8 @@ def main():
     verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
     # Create primary TM handler and add it to the CCSDS Packet Handler
     tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
-    ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
-    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
-    # ccsds_handler.add_apid_handler(tm_handler)
+    ccsds_handler = CcsdsTmHandler(generic_handler=None)
+    ccsds_handler.add_apid_handler(tm_handler)
 
     # Create TC handler
     seq_count_provider = PusFileSeqCountProvider()

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,528 @@
+#![no_main]
+#![no_std]
+extern crate alloc;
+
+use rtic::app;
+use rtic_monotonics::systick::Systick;
+use rtic_monotonics::Monotonic;
+use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
+use satrs::static_subpool;
+// global logger + panicking-behavior + memory layout
+use satrs_stm32h7_nucleo_rtic as _;
+use smoltcp::socket::udp::UdpMetadata;
+use smoltcp::socket::{dhcpv4, udp};
+
+use core::mem::MaybeUninit;
+use embedded_alloc::Heap;
+use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
+use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
+use stm32h7xx_hal::ethernet;
+
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const PORT: u16 = 7301;
+
+const HEAP_SIZE: usize = 131_072;
+
+const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
+pub type SharedPool = StaticHeaplessMemoryPool<3>;
+pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+
+#[global_allocator]
+static HEAP: Heap = Heap::empty();
+
+// We place the memory pool buffers inside the larger AXISRAM.
+pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
+pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
+pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
+pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
+pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
+pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
+
+// This data will be held by Net through a mutable reference
+pub struct NetStorageStatic<'a> {
+    socket_storage: [SocketStorage<'a>; 8],
+}
+// MaybeUninit allows us write code that is correct even if STORE is not
+// initialised by the runtime
+static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
+
+static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
+static mut UDP_RX: [u8; 2048] = [0; 2048];
+static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
+static mut UDP_TX: [u8; 2048] = [0; 2048];
+
+/// Locally administered MAC address
+const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
+
+pub struct Net {
+    iface: Interface,
+    ethdev: ethernet::EthernetDMA<4, 4>,
+    dhcp_handle: SocketHandle,
+}
+
+impl Net {
+    pub fn new(
+        sockets: &mut SocketSet<'static>,
+        mut ethdev: ethernet::EthernetDMA<4, 4>,
+        ethernet_addr: HardwareAddress,
+    ) -> Self {
+        let config = Config::new(ethernet_addr);
+        let mut iface = Interface::new(
+            config,
+            &mut ethdev,
+            smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
+        );
+        // Create sockets
+        let dhcp_socket = dhcpv4::Socket::new();
+        iface.update_ip_addrs(|addrs| {
+            let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
+        });
+
+        let dhcp_handle = sockets.add(dhcp_socket);
+        Net {
+            iface,
+            ethdev,
+            dhcp_handle,
+        }
+    }
+
+    /// Polls on the ethernet interface. You should refer to the smoltcp
+    /// documentation for poll() to understand how to call poll efficiently
+    pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
+        let uptime = Systick::now() - Systick::ZERO;
+        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
+
+        self.iface.poll(timestamp, &mut self.ethdev, sockets)
+    }
+
+    pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
+        let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
+        if let Some(event) = &opt_event {
+            match event {
+                dhcpv4::Event::Deconfigured => {
+                    defmt::info!("DHCP lost configuration");
+                    self.iface.update_ip_addrs(|addrs| addrs.clear());
+                    self.iface.routes_mut().remove_default_ipv4_route();
+                }
+                dhcpv4::Event::Configured(config) => {
+                    defmt::info!("DHCP configuration acquired");
+                    defmt::info!("IP address: {}", config.address);
+                    self.iface.update_ip_addrs(|addrs| {
+                        addrs.clear();
+                        addrs.push(IpCidr::Ipv4(config.address)).unwrap();
+                    });
+
+                    if let Some(router) = config.router {
+                        defmt::debug!("Default gateway: {}", router);
+                        self.iface
+                            .routes_mut()
+                            .add_default_ipv4_route(router)
+                            .unwrap();
+                    } else {
+                        defmt::debug!("Default gateway: None");
+                        self.iface.routes_mut().remove_default_ipv4_route();
+                    }
+                }
+            }
+        }
+        opt_event
+    }
+}
+
+pub struct UdpNet {
+    udp_handle: SocketHandle,
+    last_client: Option<UdpMetadata>,
+    tc_source_tx: TcSourceTx,
+}
+
+impl UdpNet {
+    pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
+        // SAFETY: The RX and TX buffers are passed here and not used anywhere else.
+        let udp_rx_buffer =
+            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
+                &mut UDP_RX[..]
+            });
+        let udp_tx_buffer =
+            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
+                &mut UDP_TX[..]
+            });
+        let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
+
+        let udp_handle = sockets.add(udp_socket);
+        Self {
+            udp_handle,
+            last_client: None,
+            tc_source_tx,
+        }
+    }
+
+    pub fn poll<'sockets>(
+        &mut self,
+        sockets: &'sockets mut SocketSet,
+        shared_pool: &mut SharedPool,
+    ) {
+        let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
+        if !socket.is_open() {
+            if let Err(e) = socket.bind(PORT) {
+                defmt::warn!("binding UDP socket failed: {}", e);
+            }
+        }
+        loop {
+            match socket.recv() {
+                Ok((data, client)) => {
+                    match shared_pool.add(data) {
+                        Ok(store_addr) => {
+                            if let Err(e) = self.tc_source_tx.try_send(store_addr) {
+                                defmt::warn!("TC source channel is full: {}", e);
+                            }
+                        }
+                        Err(e) => {
+                            defmt::warn!("could not add UDP packet to shared pool: {}", e);
+                        }
+                    }
+                    self.last_client = Some(client);
+                    // TODO: Implement packet wiretapping.
+                }
+                Err(e) => match e {
+                    udp::RecvError::Exhausted => {
+                        break;
+                    }
+                    udp::RecvError::Truncated => {
+                        defmt::warn!("UDP packet was truncacted");
+                    }
+                },
+            };
+        }
+    }
+}
+
+#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
+mod app {
+    use core::ptr::addr_of_mut;
+
+    use super::*;
+    use rtic_monotonics::systick::fugit::MillisDurationU32;
+    use rtic_monotonics::systick::Systick;
+    use satrs::spacepackets::ecss::tc::PusTcReader;
+    use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
+    use stm32h7xx_hal::gpio::{Output, Pin};
+    use stm32h7xx_hal::prelude::*;
+    use stm32h7xx_hal::stm32::Interrupt;
+
+    struct BlinkyLeds {
+        led1: Pin<'B', 7, Output>,
+        led2: Pin<'B', 14, Output>,
+    }
+
+    #[local]
+    struct Local {
+        leds: BlinkyLeds,
+        link_led: Pin<'B', 0, Output>,
+        net: Net,
+        udp: UdpNet,
+        tc_source_rx: TcSourceRx,
+        phy: ethernet::phy::LAN8742A<EthernetMAC>,
+    }
+
+    #[shared]
+    struct Shared {
+        blink_freq: MillisDurationU32,
+        eth_link_up: bool,
+        sockets: SocketSet<'static>,
+        shared_pool: SharedPool,
+    }
+
+    #[init]
+    fn init(mut cx: init::Context) -> (Shared, Local) {
+        defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
+
+        let pwr = cx.device.PWR.constrain();
+        let pwrcfg = pwr.freeze();
+
+        let rcc = cx.device.RCC.constrain();
+        // Try to keep the clock configuration similar to one used in STM examples:
+        // https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
+        let ccdr = rcc
+            .sys_ck(400.MHz())
+            .hclk(200.MHz())
+            .use_hse(8.MHz())
+            .bypass_hse()
+            .pclk1(100.MHz())
+            .pclk2(100.MHz())
+            .pclk3(100.MHz())
+            .pclk4(100.MHz())
+            .freeze(pwrcfg, &cx.device.SYSCFG);
+
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(
+            cx.core.SYST,
+            ccdr.clocks.sys_ck().to_Hz(),
+            systick_mono_token,
+        );
+
+        // Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
+        // good for.
+        cx.core.SCB.enable_icache();
+        cx.core.DWT.enable_cycle_counter();
+
+        let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
+        let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
+        let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
+        let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
+
+        let link_led = gpiob.pb0.into_push_pull_output();
+        let mut led1 = gpiob.pb7.into_push_pull_output();
+        let mut led2 = gpiob.pb14.into_push_pull_output();
+
+        // Criss-cross pattern looks cooler.
+        led1.set_high();
+        led2.set_low();
+        let leds = BlinkyLeds { led1, led2 };
+
+        let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
+        let rmii_mdio = gpioa.pa2.into_alternate::<11>();
+        let rmii_mdc = gpioc.pc1.into_alternate::<11>();
+        let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
+        let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
+        let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
+        let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
+        let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
+        let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
+
+        let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
+
+        /// Ethernet descriptor rings are a global singleton
+        #[link_section = ".sram3.eth"]
+        static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
+
+        let (eth_dma, eth_mac) = ethernet::new(
+            cx.device.ETHERNET_MAC,
+            cx.device.ETHERNET_MTL,
+            cx.device.ETHERNET_DMA,
+            (
+                rmii_ref_clk,
+                rmii_mdio,
+                rmii_mdc,
+                rmii_crs_dv,
+                rmii_rxd0,
+                rmii_rxd1,
+                rmii_tx_en,
+                rmii_txd0,
+                rmii_txd1,
+            ),
+            // SAFETY: We do not move the returned DMA struct across thread boundaries, so this
+            // should be safe according to the docs.
+            unsafe { DES_RING.assume_init_mut() },
+            mac_addr,
+            ccdr.peripheral.ETH1MAC,
+            &ccdr.clocks,
+        );
+        // Initialise ethernet PHY...
+        let mut lan8742a = ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
+        lan8742a.phy_reset();
+        lan8742a.phy_init();
+
+        unsafe {
+            ethernet::enable_interrupt();
+            cx.core.NVIC.set_priority(Interrupt::ETH, 196); // Mid prio
+            cortex_m::peripheral::NVIC::unmask(Interrupt::ETH);
+        }
+
+        // unsafe: mutable reference to static storage, we only do this once
+        let store = unsafe {
+            let store_ptr = STORE.as_mut_ptr();
+
+            // Initialise the socket_storage field. Using `write` instead of
+            // assignment via `=` to not call `drop` on the old, uninitialised
+            // value
+            addr_of_mut!((*store_ptr).socket_storage).write([SocketStorage::EMPTY; 8]);
+
+            // Now that all fields are initialised we can safely use
+            // assume_init_mut to return a mutable reference to STORE
+            STORE.assume_init_mut()
+        };
+
+        let (tc_source_tx, tc_source_rx) =
+            rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
+
+        let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
+        let net = Net::new(&mut sockets, eth_dma, mac_addr.into());
+        let udp = UdpNet::new(&mut sockets, tc_source_tx);
+
+        let mut shared_pool: SharedPool = StaticHeaplessMemoryPool::new(true);
+        static_subpool!(
+            SUBPOOL_SMALL,
+            SUBPOOL_SMALL_SIZES,
+            SUBPOOL_SMALL_NUM_BLOCKS as usize,
+            SUBPOOL_SMALL_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_MEDIUM,
+            SUBPOOL_MEDIUM_SIZES,
+            SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
+            SUBPOOL_MEDIUM_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_LARGE,
+            SUBPOOL_LARGE_SIZES,
+            SUBPOOL_LARGE_NUM_BLOCKS as usize,
+            SUBPOOL_LARGE_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+
+        shared_pool
+            .grow(
+                unsafe { SUBPOOL_SMALL.assume_init_mut() },
+                unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
+                SUBPOOL_SMALL_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
+                unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
+                SUBPOOL_MEDIUM_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                unsafe { SUBPOOL_LARGE.assume_init_mut() },
+                unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
+                SUBPOOL_LARGE_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+
+        // Set up global allocator. Use AXISRAM for the heap.
+        #[link_section = ".axisram"]
+        static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
+        unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
+
+        eth_link_check::spawn().expect("eth link check failed");
+        blinky::spawn().expect("spawning blink task failed");
+        udp_task::spawn().expect("spawning UDP task failed");
+        tc_source_task::spawn().expect("spawning TC source task failed");
+
+        (
+            Shared {
+                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
+                eth_link_up: false,
+                sockets,
+                shared_pool,
+            },
+            Local {
+                link_led,
+                leds,
+                net,
+                udp,
+                tc_source_rx,
+                phy: lan8742a,
+            },
+        )
+    }
+
+    #[task(local = [leds], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
+        let leds = cx.local.leds;
+        loop {
+            leds.led1.toggle();
+            leds.led2.toggle();
+            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Systick::delay(current_blink_freq).await;
+        }
+    }
+
+    /// This task checks for the network link.
+    #[task(local=[link_led, phy], shared=[eth_link_up])]
+    async fn eth_link_check(mut cx: eth_link_check::Context) {
+        let phy = cx.local.phy;
+        let link_led = cx.local.link_led;
+        loop {
+            let link_was_up = cx.shared.eth_link_up.lock(|link_up| *link_up);
+            if phy.poll_link() {
+                if !link_was_up {
+                    link_led.set_high();
+                    cx.shared.eth_link_up.lock(|link_up| *link_up = true);
+                    defmt::info!("Ethernet link up");
+                }
+            } else if link_was_up {
+                link_led.set_low();
+                cx.shared.eth_link_up.lock(|link_up| *link_up = false);
+                defmt::info!("Ethernet link down");
+            }
+            Systick::delay(100.millis()).await;
+        }
+    }
+
+    #[task(binds=ETH, local=[net], shared=[sockets])]
+    fn eth_isr(mut cx: eth_isr::Context) {
+        // SAFETY: We do not write the register mentioned inside the docs anywhere else.
+        unsafe {
+            ethernet::interrupt_handler();
+        }
+        // Check and process ETH frames and DHCP. UDP is checked in a different task.
+        cx.shared.sockets.lock(|sockets| {
+            cx.local.net.poll(sockets);
+            cx.local.net.poll_dhcp(sockets);
+        });
+    }
+
+    /// This task routes UDP packets.
+    #[task(local=[udp], shared=[sockets, shared_pool])]
+    async fn udp_task(mut cx: udp_task::Context) {
+        loop {
+            cx.shared.sockets.lock(|sockets| {
+                cx.shared.shared_pool.lock(|pool| {
+                    cx.local.udp.poll(sockets, pool);
+                })
+            });
+            Systick::delay(40.millis()).await;
+        }
+    }
+
+    /// This task handles all the incoming telecommands.
+    #[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
+    async fn tc_source_task(mut cx: tc_source_task::Context) {
+        loop {
+            let recv_result = cx.local.tc_source_rx.recv().await;
+            match recv_result {
+                Ok(pool_addr) => {
+                    cx.shared.shared_pool.lock(|pool| {
+                        match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
+                            Ok(packet_len) => {
+                                defmt::info!("received {} bytes in the TC source task", packet_len);
+                                match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
+                                    Ok((packet, _tc_len)) => {
+                                        // TODO: Handle packet here or dispatch to dedicated PUS
+                                        // handler? Dispatching could simplify some things and make
+                                        // the software more scalable..
+                                        defmt::info!("received PUS packet: {}", packet);
+                                    }
+                                    Err(e) => {
+                                        defmt::info!("invalid TC format, not a PUS packet: {}", e);
+                                    }
+                                }
+                                if let Err(e) = pool.delete(pool_addr) {
+                                    defmt::warn!("deleting TC data failed: {}", e);
+                                }
+                            }
+                            Err(e) => {
+                                defmt::warn!("TC packet read failed: {}", e);
+                            }
+                        }
+                    });
+                }
+                Err(e) => {
+                    defmt::warn!("TC source reception error: {}", e);
+                }
+            };
+        }
+    }
+}

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

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

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

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

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

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

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

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

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

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

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

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satrs-book/src/events.md

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

satrs-book/src/introduction.md

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

satrs-example/CHANGELOG.md

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

satrs-example/Cargo.toml

@@ -27,6 +27,9 @@ serde_json = "1"
 path = "../satrs"
 features = ["test_util"]
 
+[dependencies.satrs-minisim]
+path = "../satrs-minisim"
+
 [dependencies.satrs-mib]
 version = "0.1.1"
 path = "../satrs-mib"

satrs-example/README.md

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

satrs-example/pytmtc/.gitignore

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

satrs-example/pytmtc/main.py

@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+"""Example client for the sat-rs example application"""
+import logging
+import sys
+import time
+
+import tmtccmd
+from spacepackets.ecss import PusVerificator
+
+from tmtccmd import ProcedureParamsWrapper
+from tmtccmd.core.base import BackendRequest
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import CcsdsTmHandler
+from tmtccmd.config import (
+    default_json_path,
+    SetupParams,
+    params_to_procedure_conversion,
+)
+from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
+from tmtccmd.logging import add_colorlog_console_logger
+from tmtccmd.logging.pus import (
+    RegularTmtcLogWrapper,
+    RawTmtcTimedLogWrapper,
+    TimedLogWhen,
+)
+from spacepackets.seqcount import PusFileSeqCountProvider
+
+
+from pytmtc.config import SatrsConfigHook
+from pytmtc.pus_tc import TcHandler
+from pytmtc.pus_tm import PusHandler
+
+_LOGGER = logging.getLogger()
+
+
+def main():
+    add_colorlog_console_logger(_LOGGER)
+    tmtccmd.init_printout(False)
+    hook_obj = SatrsConfigHook(json_cfg_path=default_json_path())
+    parser_wrapper = PreArgsParsingWrapper()
+    parser_wrapper.create_default_parent_parser()
+    parser_wrapper.create_default_parser()
+    parser_wrapper.add_def_proc_args()
+    params = SetupParams()
+    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
+    proc_wrapper = ProcedureParamsWrapper()
+    if post_args_wrapper.use_gui:
+        post_args_wrapper.set_params_without_prompts(proc_wrapper)
+    else:
+        post_args_wrapper.set_params_with_prompts(proc_wrapper)
+    setup_args = SetupWrapper(
+        hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
+    )
+    # Create console logger helper and file loggers
+    tmtc_logger = RegularTmtcLogWrapper()
+    file_logger = tmtc_logger.logger
+    raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
+    verificator = PusVerificator()
+    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
+    # Create primary TM handler and add it to the CCSDS Packet Handler
+    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
+    ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
+    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
+    # ccsds_handler.add_apid_handler(tm_handler)
+
+    # Create TC handler
+    seq_count_provider = PusFileSeqCountProvider()
+    tc_handler = TcHandler(seq_count_provider, verification_wrapper)
+    tmtccmd.setup(setup_args=setup_args)
+    init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
+    tmtc_backend = tmtccmd.create_default_tmtc_backend(
+        setup_wrapper=setup_args,
+        tm_handler=ccsds_handler,
+        tc_handler=tc_handler,
+        init_procedure=init_proc,
+    )
+    tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
+    try:
+        while True:
+            state = tmtc_backend.periodic_op(None)
+            if state.request == BackendRequest.TERMINATION_NO_ERROR:
+                tmtc_backend.close_com_if()
+                sys.exit(0)
+            elif state.request == BackendRequest.DELAY_IDLE:
+                _LOGGER.info("TMTC Client in IDLE mode")
+                time.sleep(3.0)
+            elif state.request == BackendRequest.DELAY_LISTENER:
+                time.sleep(0.8)
+            elif state.request == BackendRequest.DELAY_CUSTOM:
+                if state.next_delay.total_seconds() <= 0.4:
+                    time.sleep(state.next_delay.total_seconds())
+                else:
+                    time.sleep(0.4)
+            elif state.request == BackendRequest.CALL_NEXT:
+                pass
+    except KeyboardInterrupt:
+        tmtc_backend.close_com_if()
+        sys.exit(0)
+
+
+if __name__ == "__main__":
+    main()

satrs-example/pytmtc/pyproject.toml

@@ -0,0 +1,27 @@
+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "pytmtc"
+description = "Python TMTC client for OPS-SAT"
+readme = "README.md"
+version = "0.1.0"
+requires-python = ">=3.8"
+authors = [
+  {name = "Robin Mueller", email = "robin.mueller.m@gmail.com"},
+]
+dependencies = [
+    "tmtccmd~=8.0",
+    "pydantic~=2.7"
+]
+
+[tool.setuptools.packages]
+find = {}
+
+[tool.ruff]
+extend-exclude = ["archive"]
+[tool.ruff.lint]
+ignore = ["E501"]
+[tool.ruff.lint.extend-per-file-ignores]
+"__init__.py" = ["F401"]

satrs-example/pytmtc/pytmtc/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/pytmtc/config.py

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

satrs-example/pytmtc/pytmtc/hk.py

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

satrs-example/pytmtc/pytmtc/hk_common.py

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

satrs-example/pytmtc/pytmtc/mgms.py

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

satrs-example/pytmtc/pytmtc/mode.py

@@ -0,0 +1,31 @@
+import struct
+from spacepackets.ecss import PusTc
+from tmtccmd.pus.s200_fsfw_mode import Mode, Subservice
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+
+def create_set_mode_cmd(apid: int, unique_id: int, mode: int, submode: int) -> PusTc:
+    app_data = bytearray()
+    app_data.extend(struct.pack("!I", unique_id))
+    app_data.extend(struct.pack("!I", mode))
+    app_data.extend(struct.pack("!H", submode))
+    return PusTc(
+        service=200,
+        subservice=Subservice.TC_MODE_COMMAND,
+        apid=apid,
+        app_data=app_data,
+    )
+
+
+def handle_set_mode_cmd(
+    q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
+):
+    if mode_str == "off":
+        q.add_log_cmd(f"Sending Mode OFF to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
+    elif mode_str == "on":
+        q.add_log_cmd(f"Sending Mode ON to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
+    elif mode_str == "normal":
+        q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))

satrs-example/pytmtc/pytmtc/pus_tc.py

@@ -1,34 +1,70 @@
 import datetime
-import struct
 import logging
 
 from spacepackets.ccsds import CdsShortTimestamp
 from spacepackets.ecss import PusTelecommand
+from spacepackets.seqcount import FileSeqCountProvider
+from tmtccmd import ProcedureWrapper, TcHandlerBase
 from tmtccmd.config import CmdTreeNode
-from tmtccmd.pus.tc.s200_fsfw_mode import Mode
-from tmtccmd.tmtc import DefaultPusQueueHelper
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import (
+    DefaultPusQueueHelper,
+    FeedWrapper,
+    QueueWrapper,
+    SendCbParams,
+    TcProcedureType,
+    TcQueueEntryType,
+)
 from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
-from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
 
-from common import AcsId, Apid
+from pytmtc.common import Apid
+from pytmtc.mgms import create_mgm_cmds
 
 _LOGGER = logging.getLogger(__name__)
 
 
-def create_set_mode_cmd(
-    apid: int, unique_id: int, mode: int, submode: int
-) -> PusTelecommand:
-    app_data = bytearray()
-    app_data.extend(struct.pack("!I", unique_id))
-    app_data.extend(struct.pack("!I", mode))
-    app_data.extend(struct.pack("!H", submode))
-    return PusTelecommand(
-        service=200,
-        subservice=ModeSubservice.TC_MODE_COMMAND,
-        apid=apid,
-        app_data=app_data,
+class TcHandler(TcHandlerBase):
+    def __init__(
+        self,
+        seq_count_provider: FileSeqCountProvider,
+        verif_wrapper: VerificationWrapper,
+    ):
+        super(TcHandler, self).__init__()
+        self.seq_count_provider = seq_count_provider
+        self.verif_wrapper = verif_wrapper
+        self.queue_helper = DefaultPusQueueHelper(
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
+            seq_cnt_provider=seq_count_provider,
+            pus_verificator=self.verif_wrapper.pus_verificator,
+            default_pus_apid=None,
         )
 
+    def send_cb(self, send_params: SendCbParams):
+        entry_helper = send_params.entry
+        if entry_helper.is_tc:
+            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
+                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
+                raw_tc = pus_tc_wrapper.pus_tc.pack()
+                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
+                send_params.com_if.send(raw_tc)
+        elif entry_helper.entry_type == TcQueueEntryType.LOG:
+            log_entry = entry_helper.to_log_entry()
+            _LOGGER.info(log_entry.log_str)
+
+    def queue_finished_cb(self, info: ProcedureWrapper):
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
+
+    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
+        q = self.queue_helper
+        q.queue_wrapper = wrapper.queue_wrapper
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            assert def_proc.cmd_path is not None
+            pack_pus_telecommands(q, def_proc.cmd_path)
+
 
 def create_cmd_definition_tree() -> CmdTreeNode:
 
@@ -112,32 +148,4 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
     if cmd_path_list[0] == "acs":
         assert len(cmd_path_list) >= 2
         if cmd_path_list[1] == "mgms":
-            assert len(cmd_path_list) >= 3
-            if cmd_path_list[2] == "hk":
-                if cmd_path_list[3] == "one_shot_hk":
-                    q.add_log_cmd("Sending HK one shot request")
-                    # TODO: Fix
-                    # q.add_pus_tc(
-                    #   create_request_one_hk_command(
-                    #    make_addressable_id(Apid.ACS, AcsId.MGM_SET)
-                    # )
-                    # )
-            if cmd_path_list[2] == "mode":
-                if cmd_path_list[3] == "set_mode":
-                    handle_set_mode_cmd(
-                        q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
-                    )
-
-
-def handle_set_mode_cmd(
-    q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
-):
-    if mode_str == "off":
-        q.add_log_cmd(f"Sending Mode OFF to {target_str}")
-        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
-    elif mode_str == "on":
-        q.add_log_cmd(f"Sending Mode ON to {target_str}")
-        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
-    elif mode_str == "normal":
-        q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
-        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))
+            create_mgm_cmds(q, cmd_path_list)

satrs-example/pytmtc/pytmtc/pus_tm.py

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

satrs-example/pytmtc/requirements.txt

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

satrs-example/pytmtc/tests/test_tc_mods.py

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

satrs-example/satrs-tmtc/requirements.txt

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

satrs-example/satrs-tmtc/tc_definitions.py

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

satrs-example/src/acs/mgm.rs

@@ -1,52 +1,126 @@
 use derive_new::new;
 use satrs::hk::{HkRequest, HkRequestVariant};
+use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
 use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
-use satrs::spacepackets::ecss::hk;
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::SpHeader;
-use satrs_example::{DeviceMode, TimeStampHelper};
+use satrs_example::{DeviceMode, TimestampHelper};
+use satrs_minisim::acs::lis3mdl::{
+    MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
+};
+use satrs_minisim::acs::MgmRequestLis3Mdl;
+use satrs_minisim::eps::PcduSwitch;
+use satrs_minisim::{SerializableSimMsgPayload, SimReply, SimRequest};
+use std::fmt::Debug;
 use std::sync::mpsc::{self};
 use std::sync::{Arc, Mutex};
+use std::time::Duration;
 
 use satrs::mode::{
     ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
 };
 use satrs::pus::{EcssTmSender, PusTmVariant};
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
-use satrs_example::config::components::PUS_MODE_SERVICE;
+use satrs_example::config::components::{NO_SENDER, PUS_MODE_SERVICE};
 
+use crate::hk::PusHkHelper;
 use crate::pus::hk::{HkReply, HkReplyVariant};
 use crate::requests::CompositeRequest;
 
 use serde::{Deserialize, Serialize};
 
-const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
-// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
-const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
+pub const NR_OF_DATA_AND_CFG_REGISTERS: usize = 14;
+
+// Register adresses to access various bytes from the raw reply.
+pub const X_LOWBYTE_IDX: usize = 9;
+pub const Y_LOWBYTE_IDX: usize = 11;
+pub const Z_LOWBYTE_IDX: usize = 13;
+
+#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+#[repr(u32)]
+pub enum SetId {
+    SensorData = 0,
+}
+
+#[derive(Default, Debug, PartialEq, Eq)]
+pub enum TransitionState {
+    #[default]
+    Idle,
+    PowerSwitching,
+    Done,
+}
 
 pub trait SpiInterface {
-    type Error;
+    type Error: Debug;
     fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
 }
 
 #[derive(Default)]
 pub struct SpiDummyInterface {
-    pub dummy_val_0: i16,
-    pub dummy_val_1: i16,
-    pub dummy_val_2: i16,
+    pub dummy_values: MgmLis3RawValues,
 }
 
 impl SpiInterface for SpiDummyInterface {
     type Error = ();
 
     fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
-        rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
-        rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
-        rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
+        rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.x.to_le_bytes());
+        rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.y.to_be_bytes());
+        rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.z.to_be_bytes());
         Ok(())
     }
 }
 
+pub struct SpiSimInterface {
+    pub sim_request_tx: mpsc::Sender<SimRequest>,
+    pub sim_reply_rx: mpsc::Receiver<SimReply>,
+}
+
+impl SpiInterface for SpiSimInterface {
+    type Error = ();
+
+    // Right now, we only support requesting sensor data and not configuration of the sensor.
+    fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        let mgm_sensor_request = MgmRequestLis3Mdl::RequestSensorData;
+        if let Err(e) = self
+            .sim_request_tx
+            .send(SimRequest::new_with_epoch_time(mgm_sensor_request))
+        {
+            log::error!("failed to send MGM LIS3 request: {}", e);
+        }
+        match self.sim_reply_rx.recv_timeout(Duration::from_millis(50)) {
+            Ok(sim_reply) => {
+                let sim_reply_lis3 = MgmLis3MdlReply::from_sim_message(&sim_reply)
+                    .expect("failed to parse LIS3 reply");
+                rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.x.to_le_bytes());
+                rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.y.to_le_bytes());
+                rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.z.to_le_bytes());
+            }
+            Err(e) => {
+                log::warn!("MGM LIS3 SIM reply timeout: {}", e);
+            }
+        }
+        Ok(())
+    }
+}
+
+pub enum SpiSimInterfaceWrapper {
+    Dummy(SpiDummyInterface),
+    Sim(SpiSimInterface),
+}
+
+impl SpiInterface for SpiSimInterfaceWrapper {
+    type Error = ();
+
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        match self {
+            SpiSimInterfaceWrapper::Dummy(dummy) => dummy.transfer(tx, rx),
+            SpiSimInterfaceWrapper::Sim(sim_if) => sim_if.transfer(tx, rx),
+        }
+    }
+}
+
 #[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
 pub struct MgmData {
     pub valid: bool,
@@ -57,61 +131,85 @@ pub struct MgmData {
 
 pub struct MpscModeLeafInterface {
     pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
-    pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
-    pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
+    pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
+    pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
+}
+
+#[derive(Default)]
+pub struct BufWrapper {
+    tx_buf: [u8; 32],
+    rx_buf: [u8; 32],
+    tm_buf: [u8; 32],
+}
+
+pub struct ModeHelpers {
+    current: ModeAndSubmode,
+    target: Option<ModeAndSubmode>,
+    requestor_info: Option<MessageMetadata>,
+    transition_state: TransitionState,
+}
+
+impl Default for ModeHelpers {
+    fn default() -> Self {
+        Self {
+            current: ModeAndSubmode::new(DeviceMode::Off as u32, 0),
+            target: Default::default(),
+            requestor_info: Default::default(),
+            transition_state: Default::default(),
+        }
+    }
 }
 
 /// Example MGM device handler strongly based on the LIS3MDL MEMS device.
 #[derive(new)]
 #[allow(clippy::too_many_arguments)]
-pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender> {
+pub struct MgmHandlerLis3Mdl<
+    ComInterface: SpiInterface,
+    TmSender: EcssTmSender,
+    SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+> {
     id: UniqueApidTargetId,
     dev_str: &'static str,
     mode_interface: MpscModeLeafInterface,
-    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
+    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
+    switch_helper: SwitchHelper,
     tm_sender: TmSender,
-    com_interface: ComInterface,
+    pub com_interface: ComInterface,
     shared_mgm_set: Arc<Mutex<MgmData>>,
-    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
-    mode_and_submode: ModeAndSubmode,
+    #[new(value = "PusHkHelper::new(id)")]
+    hk_helper: PusHkHelper,
     #[new(default)]
-    tx_buf: [u8; 12],
+    mode_helpers: ModeHelpers,
     #[new(default)]
-    rx_buf: [u8; 12],
+    bufs: BufWrapper,
     #[new(default)]
-    tm_buf: [u8; 16],
-    #[new(default)]
-    stamp_helper: TimeStampHelper,
+    stamp_helper: TimestampHelper,
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
+impl<
+        ComInterface: SpiInterface,
+        TmSender: EcssTmSender,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+{
     pub fn periodic_operation(&mut self) {
         self.stamp_helper.update_from_now();
         // Handle requests.
         self.handle_composite_requests();
         self.handle_mode_requests();
+        if let Some(target_mode_submode) = self.mode_helpers.target {
+            self.handle_mode_transition(target_mode_submode);
+        }
         if self.mode() == DeviceMode::Normal as u32 {
             log::trace!("polling LIS3MDL sensor {}", self.dev_str);
-            // Communicate with the device.
-            let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
-            assert!(result.is_ok());
-            // Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
-            let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
-            let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
-            let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
-            // Simple scaling to retrieve the float value, assuming a sensor resolution of
-            let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
-            mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            drop(mgm_guard);
+            self.poll_sensor();
         }
     }
 
     pub fn handle_composite_requests(&mut self) {
         loop {
-            match self.composite_request_receiver.try_recv() {
+            match self.composite_request_rx.try_recv() {
                 Ok(ref msg) => match &msg.message {
                     CompositeRequest::Hk(hk_request) => {
                         self.handle_hk_request(&msg.requestor_info, hk_request)
@@ -139,34 +237,33 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
     pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
         match hk_request.variant {
             HkRequestVariant::OneShot => {
-                self.hk_reply_sender
+                let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
+                if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet(
+                    self.stamp_helper.stamp(),
+                    SetId::SensorData as u32,
+                    &mut |hk_buf| {
+                        hk_buf[0] = mgm_snapshot.valid as u8;
+                        hk_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
+                        hk_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
+                        hk_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
+                        Ok(13)
+                    },
+                    &mut self.bufs.tm_buf,
+                ) {
+                    // TODO: If sending the TM fails, we should also send a failure reply.
+                    self.tm_sender
+                        .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                        .expect("failed to send HK TM");
+                    self.hk_reply_tx
                         .send(GenericMessage::new(
                             *requestor_info,
                             HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
                         ))
                         .expect("failed to send HK reply");
-                let sec_header = PusTmSecondaryHeader::new(
-                    3,
-                    hk::Subservice::TmHkPacket as u8,
-                    0,
-                    0,
-                    self.stamp_helper.stamp(),
-                );
-                let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
-                // Use binary serialization here. We want the data to be tightly packed.
-                self.tm_buf[0] = mgm_snapshot.valid as u8;
-                self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
-                self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
-                self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
-                let hk_tm = PusTmCreator::new(
-                    SpHeader::new_from_apid(self.id.apid),
-                    sec_header,
-                    &self.tm_buf[0..12],
-                    true,
-                );
-                self.tm_sender
-                    .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
-                    .expect("failed to send HK TM");
+                } else {
+                    // TODO: Send back failure reply. Need result code for this.
+                    log::error!("TM buffer too small to generate HK data");
+                }
             }
             HkRequestVariant::EnablePeriodic => todo!(),
             HkRequestVariant::DisablePeriodic => todo!(),
@@ -199,20 +296,91 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
             }
         }
     }
-}
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
-{
-    fn mode_and_submode(&self) -> ModeAndSubmode {
-        self.mode_and_submode
+    pub fn poll_sensor(&mut self) {
+        // Communicate with the device. This is actually how to read the data from the LIS3 device
+        // SPI interface.
+        self.com_interface
+            .transfer(
+                &self.bufs.tx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
+                &mut self.bufs.rx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
+            )
+            .expect("failed to transfer data");
+        let x_raw = i16::from_le_bytes(
+            self.bufs.rx_buf[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                .try_into()
+                .unwrap(),
+        );
+        let y_raw = i16::from_le_bytes(
+            self.bufs.rx_buf[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                .try_into()
+                .unwrap(),
+        );
+        let z_raw = i16::from_le_bytes(
+            self.bufs.rx_buf[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                .try_into()
+                .unwrap(),
+        );
+        // Simple scaling to retrieve the float value, assuming the best sensor resolution.
+        let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
+        mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        mgm_guard.valid = true;
+        drop(mgm_guard);
+    }
+
+    pub fn handle_mode_transition(&mut self, target_mode_submode: ModeAndSubmode) {
+        if target_mode_submode.mode() == DeviceMode::On as u32
+            || target_mode_submode.mode() == DeviceMode::Normal as u32
+        {
+            if self.mode_helpers.transition_state == TransitionState::Idle {
+                let result = self
+                    .switch_helper
+                    .send_switch_on_cmd(MessageMetadata::new(0, self.id.id()), PcduSwitch::Mgm);
+                if result.is_err() {
+                    // Could not send switch command.. still continue with transition.
+                    log::error!("failed to send switch on command");
+                }
+                self.mode_helpers.transition_state = TransitionState::PowerSwitching;
+            }
+            if self.mode_helpers.transition_state == TransitionState::PowerSwitching
+                && self
+                    .switch_helper
+                    .is_switch_on(PcduSwitch::Mgm)
+                    .expect("switch info error")
+            {
+                self.mode_helpers.transition_state = TransitionState::Done;
+            }
+            if self.mode_helpers.transition_state == TransitionState::Done {
+                self.mode_helpers.current = self.mode_helpers.target.unwrap();
+                self.handle_mode_reached(self.mode_helpers.requestor_info)
+                    .expect("failed to handle mode reached");
+                self.mode_helpers.transition_state = TransitionState::Idle;
+            }
+        }
     }
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+impl<
+        ComInterface: SpiInterface,
+        TmSender: EcssTmSender,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeProvider for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+{
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_helpers.current
+    }
+}
+
+impl<
+        ComInterface: SpiInterface,
+        TmSender: EcssTmSender,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
 {
     type Error = ModeError;
+
     fn start_transition(
         &mut self,
         requestor: MessageMetadata,
@@ -223,8 +391,18 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
             self.dev_str,
             mode_and_submode
         );
-        self.mode_and_submode = mode_and_submode;
+        self.mode_helpers.current = mode_and_submode;
+        if mode_and_submode.mode() == DeviceMode::Off as u32 {
+            self.shared_mgm_set.lock().unwrap().valid = false;
             self.handle_mode_reached(Some(requestor))?;
+        } else if mode_and_submode.mode() == DeviceMode::Normal as u32
+            || mode_and_submode.mode() == DeviceMode::On as u32
+        {
+            // TODO: Write helper method for the struct? Might help for other handlers as well..
+            self.mode_helpers.transition_state = TransitionState::Idle;
+            self.mode_helpers.requestor_info = Some(requestor);
+            self.mode_helpers.target = Some(mode_and_submode);
+        }
         Ok(())
     }
 
@@ -232,7 +410,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
         log::info!(
             "{} announcing mode: {:?}",
             self.dev_str,
-            self.mode_and_submode
+            self.mode_and_submode()
         );
     }
 
@@ -240,11 +418,15 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
         &mut self,
         requestor: Option<MessageMetadata>,
     ) -> Result<(), Self::Error> {
+        self.mode_helpers.target = None;
         self.announce_mode(requestor, false);
         if let Some(requestor) = requestor {
+            if requestor.sender_id() == NO_SENDER {
+                return Ok(());
+            }
             if requestor.sender_id() != PUS_MODE_SERVICE.id() {
                 log::warn!(
-                    "can not send back mode reply to sender {}",
+                    "can not send back mode reply to sender {:x}",
                     requestor.sender_id()
                 );
             } else {
@@ -266,7 +448,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
             );
         }
         self.mode_interface
-            .reply_tx_to_pus
+            .reply_to_pus_tx
             .send(GenericMessage::new(requestor, reply))
             .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
         Ok(())
@@ -280,3 +462,193 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
         Ok(())
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use std::sync::{mpsc, Arc};
+
+    use satrs::{
+        mode::{ModeReply, ModeRequest},
+        power::SwitchStateBinary,
+        request::{GenericMessage, UniqueApidTargetId},
+        tmtc::PacketAsVec,
+    };
+    use satrs_example::config::components::Apid;
+    use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;
+
+    use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};
+
+    use super::*;
+
+    #[derive(Default)]
+    pub struct TestSpiInterface {
+        pub call_count: u32,
+        pub next_mgm_data: MgmLis3RawValues,
+    }
+
+    impl SpiInterface for TestSpiInterface {
+        type Error = ();
+
+        fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+            rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                .copy_from_slice(&self.next_mgm_data.x.to_le_bytes());
+            rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                .copy_from_slice(&self.next_mgm_data.y.to_le_bytes());
+            rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                .copy_from_slice(&self.next_mgm_data.z.to_le_bytes());
+            self.call_count += 1;
+            Ok(())
+        }
+    }
+
+    pub struct MgmTestbench {
+        pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
+        pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
+        pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
+        pub tm_rx: mpsc::Receiver<PacketAsVec>,
+        pub handler:
+            MgmHandlerLis3Mdl<TestSpiInterface, mpsc::Sender<PacketAsVec>, TestSwitchHelper>,
+    }
+
+    impl MgmTestbench {
+        pub fn new() -> Self {
+            let (request_tx, request_rx) = mpsc::channel();
+            let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::channel();
+            let (reply_tx_to_parent, reply_rx_to_parent) = mpsc::sync_channel(5);
+            let mode_interface = MpscModeLeafInterface {
+                request_rx,
+                reply_to_pus_tx: reply_tx_to_pus,
+                reply_to_parent_tx: reply_tx_to_parent,
+            };
+            let (composite_request_tx, composite_request_rx) = mpsc::channel();
+            let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
+            let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
+            let shared_mgm_set = Arc::default();
+            Self {
+                mode_request_tx: request_tx,
+                mode_reply_rx_to_pus: reply_rx_to_pus,
+                mode_reply_rx_to_parent: reply_rx_to_parent,
+                composite_request_tx,
+                tm_rx,
+                hk_reply_rx,
+                handler: MgmHandlerLis3Mdl::new(
+                    UniqueApidTargetId::new(Apid::Acs as u16, 1),
+                    "TEST_MGM",
+                    mode_interface,
+                    composite_request_rx,
+                    hk_reply_tx,
+                    TestSwitchHelper::default(),
+                    tm_tx,
+                    TestSpiInterface::default(),
+                    shared_mgm_set,
+                ),
+            }
+        }
+    }
+
+    #[test]
+    fn test_basic_handler() {
+        let mut testbench = MgmTestbench::new();
+        assert_eq!(testbench.handler.com_interface.call_count, 0);
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+        testbench.handler.periodic_operation();
+        // Handler is OFF, no changes expected.
+        assert_eq!(testbench.handler.com_interface.call_count, 0);
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+    }
+
+    #[test]
+    fn test_normal_handler() {
+        let mut testbench = MgmTestbench::new();
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+            ))
+            .expect("failed to send mode request");
+        testbench.handler.periodic_operation();
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Normal as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
+
+        // Verify power switch handling.
+        let mut switch_requests = testbench.handler.switch_helper.switch_requests.borrow_mut();
+        assert_eq!(switch_requests.len(), 1);
+        let switch_req = switch_requests.pop_front().expect("no switch request");
+        assert_eq!(switch_req.target_state, SwitchStateBinary::On);
+        assert_eq!(switch_req.switch_id, PcduSwitch::Mgm);
+        let mut switch_info_requests = testbench
+            .handler
+            .switch_helper
+            .switch_info_requests
+            .borrow_mut();
+        assert_eq!(switch_info_requests.len(), 1);
+        let switch_info_req = switch_info_requests.pop_front().expect("no switch request");
+        assert_eq!(switch_info_req, PcduSwitch::Mgm);
+
+        let mode_reply = testbench
+            .mode_reply_rx_to_pus
+            .try_recv()
+            .expect("no mode reply generated");
+        match mode_reply.message {
+            ModeReply::ModeReply(mode) => {
+                assert_eq!(mode.mode(), DeviceMode::Normal as u32);
+                assert_eq!(mode.submode(), 0);
+            }
+            _ => panic!("unexpected mode reply"),
+        }
+        // The device should have been polled once.
+        assert_eq!(testbench.handler.com_interface.call_count, 1);
+        let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
+        assert!(mgm_set.x < 0.001);
+        assert!(mgm_set.y < 0.001);
+        assert!(mgm_set.z < 0.001);
+        assert!(mgm_set.valid);
+    }
+
+    #[test]
+    fn test_normal_handler_mgm_set_conversion() {
+        let mut testbench = MgmTestbench::new();
+        let raw_values = MgmLis3RawValues {
+            x: 1000,
+            y: -1000,
+            z: 1000,
+        };
+        testbench.handler.com_interface.next_mgm_data = raw_values;
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+            ))
+            .expect("failed to send mode request");
+        testbench.handler.periodic_operation();
+        let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
+        let expected_x =
+            raw_values.x as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        let expected_y =
+            raw_values.y as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        let expected_z =
+            raw_values.z as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        let x_diff = (mgm_set.x - expected_x).abs();
+        let y_diff = (mgm_set.y - expected_y).abs();
+        let z_diff = (mgm_set.z - expected_z).abs();
+        assert!(x_diff < 0.001, "x diff too large: {}", x_diff);
+        assert!(y_diff < 0.001, "y diff too large: {}", y_diff);
+        assert!(z_diff < 0.001, "z diff too large: {}", z_diff);
+        assert!(mgm_set.valid);
+    }
+}

satrs-example/src/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> = {
@@ -123,7 +122,7 @@ pub mod mode_err {
 }
 
 pub mod components {
-    use satrs::request::UniqueApidTargetId;
+    use satrs::{request::UniqueApidTargetId, ComponentId};
     use strum::EnumIter;
 
     #[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
@@ -133,6 +132,7 @@ pub mod components {
         Acs = 3,
         Cfdp = 4,
         Tmtc = 5,
+        Eps = 6,
     }
 
     // Component IDs for components with the PUS APID.
@@ -151,6 +151,11 @@ pub mod components {
         Mgm0 = 0,
     }
 
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum EpsId {
+        Pcdu = 0,
+    }
+
     #[derive(Copy, Clone, PartialEq, Eq)]
     pub enum TmtcId {
         UdpServer = 0,
@@ -173,17 +178,20 @@ pub mod components {
         UniqueApidTargetId::new(Apid::Sched as u16, 0);
     pub const MGM_HANDLER_0: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
+    pub const PCDU_HANDLER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Pcdu as u32);
     pub const UDP_SERVER: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
     pub const TCP_SERVER: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
+    pub const NO_SENDER: ComponentId = ComponentId::MAX;
 }
 
 pub mod pool {
     use super::*;
     pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
         (
-            StaticMemoryPool::new(StaticPoolConfig::new(
+            StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
                 vec![
                     (30, 32),
                     (15, 64),
@@ -194,7 +202,7 @@ pub mod pool {
                 ],
                 true,
             )),
-            StaticMemoryPool::new(StaticPoolConfig::new(
+            StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
                 vec![
                     (30, 32),
                     (15, 64),
@@ -209,7 +217,7 @@ pub mod pool {
     }
 
     pub fn create_sched_tc_pool() -> StaticMemoryPool {
-        StaticMemoryPool::new(StaticPoolConfig::new(
+        StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![
                 (30, 32),
                 (15, 64),
@@ -225,7 +233,7 @@ pub mod pool {
 
 pub mod tasks {
     pub const FREQ_MS_UDP_TMTC: u64 = 200;
-    pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
     pub const FREQ_MS_AOCS: u64 = 500;
     pub const FREQ_MS_PUS_STACK: u64 = 200;
+    pub const SIM_CLIENT_IDLE_DELAY_MS: u64 = 5;
 }

satrs-example/src/eps/mod.rs

@@ -0,0 +1,195 @@
+use derive_new::new;
+use std::{cell::RefCell, collections::VecDeque, sync::mpsc, time::Duration};
+
+use satrs::{
+    power::{
+        PowerSwitchInfo, PowerSwitcherCommandSender, SwitchRequest, SwitchState, SwitchStateBinary,
+    },
+    queue::GenericSendError,
+    request::{GenericMessage, MessageMetadata},
+};
+use satrs_minisim::eps::{PcduSwitch, SwitchMapWrapper};
+use thiserror::Error;
+
+use self::pcdu::SharedSwitchSet;
+
+pub mod pcdu;
+
+#[derive(new, Clone)]
+pub struct PowerSwitchHelper {
+    switcher_tx: mpsc::SyncSender<GenericMessage<SwitchRequest>>,
+    shared_switch_set: SharedSwitchSet,
+}
+
+#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
+pub enum SwitchCommandingError {
+    #[error("send error: {0}")]
+    Send(#[from] GenericSendError),
+}
+
+#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
+pub enum SwitchInfoError {
+    /// This is a configuration error which should not occur.
+    #[error("switch ID not in map")]
+    SwitchIdNotInMap(PcduSwitch),
+    #[error("switch set invalid")]
+    SwitchSetInvalid,
+}
+
+impl PowerSwitchInfo<PcduSwitch> for PowerSwitchHelper {
+    type Error = SwitchInfoError;
+
+    fn switch_state(
+        &self,
+        switch_id: PcduSwitch,
+    ) -> Result<satrs::power::SwitchState, Self::Error> {
+        let switch_set = self
+            .shared_switch_set
+            .lock()
+            .expect("failed to lock switch set");
+        if !switch_set.valid {
+            return Err(SwitchInfoError::SwitchSetInvalid);
+        }
+
+        if let Some(state) = switch_set.switch_map.get(&switch_id) {
+            return Ok(*state);
+        }
+        Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
+    }
+
+    fn switch_delay_ms(&self) -> Duration {
+        // Here, we could set device specific switch delays theoretically. Set it to this value
+        // for now.
+        Duration::from_millis(1000)
+    }
+}
+
+impl PowerSwitcherCommandSender<PcduSwitch> for PowerSwitchHelper {
+    type Error = SwitchCommandingError;
+
+    fn send_switch_on_cmd(
+        &self,
+        requestor_info: satrs::request::MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        self.switcher_tx
+            .send_switch_on_cmd(requestor_info, switch_id)?;
+        Ok(())
+    }
+
+    fn send_switch_off_cmd(
+        &self,
+        requestor_info: satrs::request::MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        self.switcher_tx
+            .send_switch_off_cmd(requestor_info, switch_id)?;
+        Ok(())
+    }
+}
+
+#[derive(new)]
+pub struct SwitchRequestInfo {
+    pub requestor_info: MessageMetadata,
+    pub switch_id: PcduSwitch,
+    pub target_state: satrs::power::SwitchStateBinary,
+}
+
+// Test switch helper which can be used for unittests.
+pub struct TestSwitchHelper {
+    pub switch_requests: RefCell<VecDeque<SwitchRequestInfo>>,
+    pub switch_info_requests: RefCell<VecDeque<PcduSwitch>>,
+    pub switch_delay_request_count: u32,
+    pub next_switch_delay: Duration,
+    pub switch_map: RefCell<SwitchMapWrapper>,
+    pub switch_map_valid: bool,
+}
+
+impl Default for TestSwitchHelper {
+    fn default() -> Self {
+        Self {
+            switch_requests: Default::default(),
+            switch_info_requests: Default::default(),
+            switch_delay_request_count: Default::default(),
+            next_switch_delay: Duration::from_millis(1000),
+            switch_map: Default::default(),
+            switch_map_valid: true,
+        }
+    }
+}
+
+impl PowerSwitchInfo<PcduSwitch> for TestSwitchHelper {
+    type Error = SwitchInfoError;
+
+    fn switch_state(
+        &self,
+        switch_id: PcduSwitch,
+    ) -> Result<satrs::power::SwitchState, Self::Error> {
+        let mut switch_info_requests_mut = self.switch_info_requests.borrow_mut();
+        switch_info_requests_mut.push_back(switch_id);
+        if !self.switch_map_valid {
+            return Err(SwitchInfoError::SwitchSetInvalid);
+        }
+        let switch_map_mut = self.switch_map.borrow_mut();
+        if let Some(state) = switch_map_mut.0.get(&switch_id) {
+            return Ok(*state);
+        }
+        Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
+    }
+
+    fn switch_delay_ms(&self) -> Duration {
+        self.next_switch_delay
+    }
+}
+
+impl PowerSwitcherCommandSender<PcduSwitch> for TestSwitchHelper {
+    type Error = SwitchCommandingError;
+
+    fn send_switch_on_cmd(
+        &self,
+        requestor_info: MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        let mut switch_requests_mut = self.switch_requests.borrow_mut();
+        switch_requests_mut.push_back(SwitchRequestInfo {
+            requestor_info,
+            switch_id,
+            target_state: SwitchStateBinary::On,
+        });
+        // By default, the test helper immediately acknowledges the switch request by setting
+        // the appropriate switch state in the internal switch map.
+        let mut switch_map_mut = self.switch_map.borrow_mut();
+        if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
+            *switch_state = SwitchState::On;
+        }
+        Ok(())
+    }
+
+    fn send_switch_off_cmd(
+        &self,
+        requestor_info: MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        let mut switch_requests_mut = self.switch_requests.borrow_mut();
+        switch_requests_mut.push_back(SwitchRequestInfo {
+            requestor_info,
+            switch_id,
+            target_state: SwitchStateBinary::Off,
+        });
+        // By default, the test helper immediately acknowledges the switch request by setting
+        // the appropriate switch state in the internal switch map.
+        let mut switch_map_mut = self.switch_map.borrow_mut();
+        if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
+            *switch_state = SwitchState::Off;
+        }
+        Ok(())
+    }
+}
+
+#[allow(dead_code)]
+impl TestSwitchHelper {
+    // Helper function which can be used to force a switch to another state for test purposes.
+    pub fn set_switch_state(&mut self, switch: PcduSwitch, state: SwitchState) {
+        self.switch_map.get_mut().0.insert(switch, state);
+    }
+}

satrs-example/src/eps/pcdu.rs

@@ -0,0 +1,722 @@
+use std::{
+    cell::RefCell,
+    collections::VecDeque,
+    sync::{mpsc, Arc, Mutex},
+};
+
+use derive_new::new;
+use num_enum::{IntoPrimitive, TryFromPrimitive};
+use satrs::{
+    hk::{HkRequest, HkRequestVariant},
+    mode::{ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler},
+    power::SwitchRequest,
+    pus::{EcssTmSender, PusTmVariant},
+    queue::{GenericSendError, GenericTargetedMessagingError},
+    request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
+    spacepackets::ByteConversionError,
+};
+use satrs_example::{
+    config::components::{NO_SENDER, PUS_MODE_SERVICE},
+    DeviceMode, TimestampHelper,
+};
+use satrs_minisim::{
+    eps::{
+        PcduReply, PcduRequest, PcduSwitch, SwitchMap, SwitchMapBinaryWrapper, SwitchMapWrapper,
+    },
+    SerializableSimMsgPayload, SimReply, SimRequest,
+};
+use serde::{Deserialize, Serialize};
+
+use crate::{
+    acs::mgm::MpscModeLeafInterface,
+    hk::PusHkHelper,
+    pus::hk::{HkReply, HkReplyVariant},
+    requests::CompositeRequest,
+};
+
+pub trait SerialInterface {
+    type Error: core::fmt::Debug;
+
+    /// Send some data via the serial interface.
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error>;
+    /// Receive all replies received on the serial interface so far. This function takes a closure
+    /// and call its for each received packet, passing the received packet into it.
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        f: ReplyHandler,
+    ) -> Result<(), Self::Error>;
+}
+
+#[derive(new)]
+pub struct SerialInterfaceToSim {
+    pub sim_request_tx: mpsc::Sender<SimRequest>,
+    pub sim_reply_rx: mpsc::Receiver<SimReply>,
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+#[repr(u32)]
+pub enum SetId {
+    SwitcherSet = 0,
+}
+
+impl SerialInterface for SerialInterfaceToSim {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        let request: PcduRequest = serde_json::from_slice(data).expect("expected a PCDU request");
+        self.sim_request_tx
+            .send(SimRequest::new_with_epoch_time(request))
+            .expect("failed to send request to simulation");
+        Ok(())
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        mut f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        loop {
+            match self.sim_reply_rx.try_recv() {
+                Ok(reply) => {
+                    let reply = serde_json::to_string(&reply).unwrap();
+                    f(reply.as_bytes());
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("sim reply sender has disconnected");
+                        break;
+                    }
+                },
+            }
+        }
+        Ok(())
+    }
+}
+
+#[derive(Default)]
+pub struct SerialInterfaceDummy {
+    // Need interior mutability here for both fields.
+    pub switch_map: RefCell<SwitchMapBinaryWrapper>,
+    pub reply_deque: RefCell<VecDeque<SimReply>>,
+}
+
+impl SerialInterface for SerialInterfaceDummy {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        let pcdu_req: PcduRequest = serde_json::from_slice(data).unwrap();
+        let switch_map_mut = &mut self.switch_map.borrow_mut().0;
+        match pcdu_req {
+            PcduRequest::SwitchDevice { switch, state } => {
+                match switch_map_mut.entry(switch) {
+                    std::collections::hash_map::Entry::Occupied(mut val) => {
+                        *val.get_mut() = state;
+                    }
+                    std::collections::hash_map::Entry::Vacant(vacant) => {
+                        vacant.insert(state);
+                    }
+                };
+            }
+            PcduRequest::RequestSwitchInfo => {
+                let mut reply_deque_mut = self.reply_deque.borrow_mut();
+                reply_deque_mut.push_back(SimReply::new(&PcduReply::SwitchInfo(
+                    switch_map_mut.clone(),
+                )));
+            }
+        };
+        Ok(())
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        mut f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        if self.reply_queue_empty() {
+            return Ok(());
+        }
+        loop {
+            let reply = self.get_next_reply_as_string();
+            f(reply.as_bytes());
+            if self.reply_queue_empty() {
+                break;
+            }
+        }
+        Ok(())
+    }
+}
+
+impl SerialInterfaceDummy {
+    fn get_next_reply_as_string(&self) -> String {
+        let mut reply_deque_mut = self.reply_deque.borrow_mut();
+        let next_reply = reply_deque_mut.pop_front().unwrap();
+        serde_json::to_string(&next_reply).unwrap()
+    }
+
+    fn reply_queue_empty(&self) -> bool {
+        self.reply_deque.borrow().is_empty()
+    }
+}
+
+pub enum SerialSimInterfaceWrapper {
+    Dummy(SerialInterfaceDummy),
+    Sim(SerialInterfaceToSim),
+}
+
+impl SerialInterface for SerialSimInterfaceWrapper {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        match self {
+            SerialSimInterfaceWrapper::Dummy(dummy) => dummy.send(data),
+            SerialSimInterfaceWrapper::Sim(sim) => sim.send(data),
+        }
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        match self {
+            SerialSimInterfaceWrapper::Dummy(dummy) => dummy.try_recv_replies(f),
+            SerialSimInterfaceWrapper::Sim(sim) => sim.try_recv_replies(f),
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum OpCode {
+    RegularOp = 0,
+    PollAndRecvReplies = 1,
+}
+
+#[derive(Clone, PartialEq, Eq, Default, Serialize, Deserialize)]
+pub struct SwitchSet {
+    pub valid: bool,
+    pub switch_map: SwitchMap,
+}
+
+pub type SharedSwitchSet = Arc<Mutex<SwitchSet>>;
+
+/// Example PCDU device handler.
+#[derive(new)]
+#[allow(clippy::too_many_arguments)]
+pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
+    id: UniqueApidTargetId,
+    dev_str: &'static str,
+    mode_interface: MpscModeLeafInterface,
+    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
+    switch_request_rx: mpsc::Receiver<GenericMessage<SwitchRequest>>,
+    tm_sender: TmSender,
+    pub com_interface: ComInterface,
+    shared_switch_map: Arc<Mutex<SwitchSet>>,
+    #[new(value = "PusHkHelper::new(id)")]
+    hk_helper: PusHkHelper,
+    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
+    mode_and_submode: ModeAndSubmode,
+    #[new(default)]
+    stamp_helper: TimestampHelper,
+    #[new(value = "[0; 256]")]
+    tm_buf: [u8; 256],
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInterface, TmSender> {
+    pub fn periodic_operation(&mut self, op_code: OpCode) {
+        match op_code {
+            OpCode::RegularOp => {
+                self.stamp_helper.update_from_now();
+                // Handle requests.
+                self.handle_composite_requests();
+                self.handle_mode_requests();
+                self.handle_switch_requests();
+                // Poll the switch states and/or telemetry regularly here.
+                if self.mode() == DeviceMode::Normal as u32 || self.mode() == DeviceMode::On as u32
+                {
+                    self.handle_periodic_commands();
+                }
+            }
+            OpCode::PollAndRecvReplies => {
+                self.poll_and_handle_replies();
+            }
+        }
+    }
+
+    pub fn handle_composite_requests(&mut self) {
+        loop {
+            match self.composite_request_rx.try_recv() {
+                Ok(ref msg) => match &msg.message {
+                    CompositeRequest::Hk(hk_request) => {
+                        self.handle_hk_request(&msg.requestor_info, hk_request)
+                    }
+                    // TODO: This object does not have actions (yet).. Still send back completion failure
+                    // reply.
+                    CompositeRequest::Action(_action_req) => {}
+                },
+
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!(
+                            "{}: failed to receive composite request: {:?}",
+                            self.dev_str,
+                            e
+                        );
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+        match hk_request.variant {
+            HkRequestVariant::OneShot => {
+                if hk_request.unique_id == SetId::SwitcherSet as u32 {
+                    if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet(
+                        self.stamp_helper.stamp(),
+                        SetId::SwitcherSet as u32,
+                        &mut |hk_buf| {
+                            // Send TM down as JSON.
+                            let switch_map_snapshot = self
+                                .shared_switch_map
+                                .lock()
+                                .expect("failed to lock switch map")
+                                .clone();
+                            let switch_map_json = serde_json::to_string(&switch_map_snapshot)
+                                .expect("failed to serialize switch map");
+                            if switch_map_json.len() > hk_buf.len() {
+                                log::error!("switch map JSON too large for HK buffer");
+                                return Err(ByteConversionError::ToSliceTooSmall {
+                                    found: hk_buf.len(),
+                                    expected: switch_map_json.len(),
+                                });
+                            }
+                            Ok(switch_map_json.len())
+                        },
+                        &mut self.tm_buf,
+                    ) {
+                        self.tm_sender
+                            .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                            .expect("failed to send HK TM");
+                        self.hk_reply_tx
+                            .send(GenericMessage::new(
+                                *requestor_info,
+                                HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
+                            ))
+                            .expect("failed to send HK reply");
+                    }
+                }
+            }
+            HkRequestVariant::EnablePeriodic => todo!(),
+            HkRequestVariant::DisablePeriodic => todo!(),
+            HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
+        }
+    }
+
+    pub fn handle_periodic_commands(&self) {
+        let pcdu_req = PcduRequest::RequestSwitchInfo;
+        let pcdu_req_ser = serde_json::to_string(&pcdu_req).unwrap();
+        if let Err(_e) = self.com_interface.send(pcdu_req_ser.as_bytes()) {
+            log::warn!("polling PCDU switch info failed");
+        }
+    }
+
+    pub fn handle_mode_requests(&mut self) {
+        loop {
+            // TODO: Only allow one set mode request per cycle?
+            match self.mode_interface.request_rx.try_recv() {
+                Ok(msg) => {
+                    let result = self.handle_mode_request(msg);
+                    // TODO: Trigger event?
+                    if result.is_err() {
+                        log::warn!(
+                            "{}: mode request failed with error {:?}",
+                            self.dev_str,
+                            result.err().unwrap()
+                        );
+                    }
+                }
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn handle_switch_requests(&mut self) {
+        loop {
+            match self.switch_request_rx.try_recv() {
+                Ok(switch_req) => match PcduSwitch::try_from(switch_req.message.switch_id()) {
+                    Ok(pcdu_switch) => {
+                        let pcdu_req = PcduRequest::SwitchDevice {
+                            switch: pcdu_switch,
+                            state: switch_req.message.target_state(),
+                        };
+                        let pcdu_req_ser = serde_json::to_string(&pcdu_req).unwrap();
+                        self.com_interface
+                            .send(pcdu_req_ser.as_bytes())
+                            .expect("failed to send switch request to PCDU");
+                    }
+                    Err(e) => todo!("failed to convert switch ID {:?} to typed PCDU switch", e),
+                },
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("switch request receiver has disconnected");
+                        break;
+                    }
+                },
+            };
+        }
+    }
+
+    pub fn poll_and_handle_replies(&mut self) {
+        if let Err(e) = self.com_interface.try_recv_replies(|reply| {
+            let sim_reply: SimReply = serde_json::from_slice(reply).expect("invalid reply format");
+            let pcdu_reply = PcduReply::from_sim_message(&sim_reply).expect("invalid reply format");
+            match pcdu_reply {
+                PcduReply::SwitchInfo(switch_info) => {
+                    let switch_map_wrapper =
+                        SwitchMapWrapper::from_binary_switch_map_ref(&switch_info);
+                    let mut shared_switch_map = self
+                        .shared_switch_map
+                        .lock()
+                        .expect("failed to lock switch map");
+                    shared_switch_map.switch_map = switch_map_wrapper.0;
+                    shared_switch_map.valid = true;
+                }
+            }
+        }) {
+            log::warn!("receiving PCDU replies failed: {:?}", e);
+        }
+    }
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeProvider
+    for PcduHandler<ComInterface, TmSender>
+{
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
+    for PcduHandler<ComInterface, TmSender>
+{
+    type Error = ModeError;
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), satrs::mode::ModeError> {
+        log::info!(
+            "{}: transitioning to mode {:?}",
+            self.dev_str,
+            mode_and_submode
+        );
+        self.mode_and_submode = mode_and_submode;
+        if mode_and_submode.mode() == DeviceMode::Off as u32 {
+            self.shared_switch_map.lock().unwrap().valid = false;
+        }
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
+        log::info!(
+            "{} announcing mode: {:?}",
+            self.dev_str,
+            self.mode_and_submode
+        );
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        requestor: Option<MessageMetadata>,
+    ) -> Result<(), Self::Error> {
+        self.announce_mode(requestor, false);
+        if let Some(requestor) = requestor {
+            if requestor.sender_id() == NO_SENDER {
+                return Ok(());
+            }
+            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+                log::warn!(
+                    "can not send back mode reply to sender {}",
+                    requestor.sender_id()
+                );
+            } else {
+                self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
+            }
+        }
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        requestor: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), Self::Error> {
+        if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+            log::warn!(
+                "can not send back mode reply to sender {}",
+                requestor.sender_id()
+            );
+        }
+        self.mode_interface
+            .reply_to_pus_tx
+            .send(GenericMessage::new(requestor, reply))
+            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        _requestor_info: MessageMetadata,
+        _info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::sync::mpsc;
+
+    use satrs::{
+        mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
+    };
+    use satrs_example::config::components::{Apid, MGM_HANDLER_0};
+    use satrs_minisim::eps::SwitchMapBinary;
+
+    use super::*;
+
+    #[derive(Default)]
+    pub struct SerialInterfaceTest {
+        pub inner: SerialInterfaceDummy,
+        pub send_queue: RefCell<VecDeque<Vec<u8>>>,
+        pub reply_queue: RefCell<VecDeque<String>>,
+    }
+
+    impl SerialInterface for SerialInterfaceTest {
+        type Error = ();
+
+        fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+            let mut send_queue_mut = self.send_queue.borrow_mut();
+            send_queue_mut.push_back(data.to_vec());
+            self.inner.send(data)
+        }
+
+        fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+            &self,
+            mut f: ReplyHandler,
+        ) -> Result<(), Self::Error> {
+            if self.inner.reply_queue_empty() {
+                return Ok(());
+            }
+            loop {
+                let reply = self.inner.get_next_reply_as_string();
+                self.reply_queue.borrow_mut().push_back(reply.clone());
+                f(reply.as_bytes());
+                if self.inner.reply_queue_empty() {
+                    break;
+                }
+            }
+            Ok(())
+        }
+    }
+
+    pub struct PcduTestbench {
+        pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
+        pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
+        pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
+        pub tm_rx: mpsc::Receiver<PacketAsVec>,
+        pub switch_request_tx: mpsc::Sender<GenericMessage<SwitchRequest>>,
+        pub handler: PcduHandler<SerialInterfaceTest, mpsc::Sender<PacketAsVec>>,
+    }
+
+    impl PcduTestbench {
+        pub fn new() -> Self {
+            let (mode_request_tx, mode_request_rx) = mpsc::channel();
+            let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::channel();
+            let (mode_reply_tx_to_parent, mode_reply_rx_to_parent) = mpsc::sync_channel(5);
+            let mode_interface = MpscModeLeafInterface {
+                request_rx: mode_request_rx,
+                reply_to_pus_tx: mode_reply_tx_to_pus,
+                reply_to_parent_tx: mode_reply_tx_to_parent,
+            };
+            let (composite_request_tx, composite_request_rx) = mpsc::channel();
+            let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
+            let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
+            let (switch_request_tx, switch_reqest_rx) = mpsc::channel();
+            let shared_switch_map = Arc::new(Mutex::new(SwitchSet::default()));
+            Self {
+                mode_request_tx,
+                mode_reply_rx_to_pus,
+                mode_reply_rx_to_parent,
+                composite_request_tx,
+                hk_reply_rx,
+                tm_rx,
+                switch_request_tx,
+                handler: PcduHandler::new(
+                    UniqueApidTargetId::new(Apid::Eps as u16, 0),
+                    "TEST_PCDU",
+                    mode_interface,
+                    composite_request_rx,
+                    hk_reply_tx,
+                    switch_reqest_rx,
+                    tm_tx,
+                    SerialInterfaceTest::default(),
+                    shared_switch_map,
+                ),
+            }
+        }
+
+        pub fn verify_switch_info_req_was_sent(&self, expected_queue_len: usize) {
+            // Check that there is now communication happening.
+            let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
+            assert_eq!(send_queue_mut.len(), expected_queue_len);
+            let packet_sent = send_queue_mut.pop_front().unwrap();
+            drop(send_queue_mut);
+            let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
+            assert_eq!(pcdu_req, PcduRequest::RequestSwitchInfo);
+        }
+
+        pub fn verify_switch_req_was_sent(
+            &self,
+            expected_queue_len: usize,
+            switch_id: PcduSwitch,
+            target_state: SwitchStateBinary,
+        ) {
+            // Check that there is now communication happening.
+            let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
+            assert_eq!(send_queue_mut.len(), expected_queue_len);
+            let packet_sent = send_queue_mut.pop_front().unwrap();
+            drop(send_queue_mut);
+            let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
+            assert_eq!(
+                pcdu_req,
+                PcduRequest::SwitchDevice {
+                    switch: switch_id,
+                    state: target_state
+                }
+            )
+        }
+
+        pub fn verify_switch_reply_received(
+            &self,
+            expected_queue_len: usize,
+            expected_map: SwitchMapBinary,
+        ) {
+            // Check that a switch reply was read back.
+            let mut reply_received_mut = self.handler.com_interface.reply_queue.borrow_mut();
+            assert_eq!(reply_received_mut.len(), expected_queue_len);
+            let reply_received = reply_received_mut.pop_front().unwrap();
+            let sim_reply: SimReply = serde_json::from_str(&reply_received).unwrap();
+            let pcdu_reply = PcduReply::from_sim_message(&sim_reply).unwrap();
+            assert_eq!(pcdu_reply, PcduReply::SwitchInfo(expected_map));
+        }
+    }
+
+    #[test]
+    fn test_basic_handler() {
+        let mut testbench = PcduTestbench::new();
+        assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
+        assert_eq!(
+            testbench.handler.com_interface.reply_queue.borrow().len(),
+            0
+        );
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+        testbench.handler.periodic_operation(OpCode::RegularOp);
+        testbench
+            .handler
+            .periodic_operation(OpCode::PollAndRecvReplies);
+        // Handler is OFF, no changes expected.
+        assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
+        assert_eq!(
+            testbench.handler.com_interface.reply_queue.borrow().len(),
+            0
+        );
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+    }
+
+    #[test]
+    fn test_normal_mode() {
+        let mut testbench = PcduTestbench::new();
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+            ))
+            .expect("failed to send mode request");
+        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
+        assert!(!switch_map_shared.valid);
+        drop(switch_map_shared);
+        testbench.handler.periodic_operation(OpCode::RegularOp);
+        testbench
+            .handler
+            .periodic_operation(OpCode::PollAndRecvReplies);
+        // Check correctness of mode.
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Normal as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
+
+        testbench.verify_switch_info_req_was_sent(1);
+        testbench.verify_switch_reply_received(1, SwitchMapBinaryWrapper::default().0);
+
+        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
+        assert!(switch_map_shared.valid);
+        drop(switch_map_shared);
+    }
+
+    #[test]
+    fn test_switch_request_handling() {
+        let mut testbench = PcduTestbench::new();
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+            ))
+            .expect("failed to send mode request");
+        testbench
+            .switch_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, MGM_HANDLER_0.id()),
+                SwitchRequest::new(0, SwitchStateBinary::On),
+            ))
+            .expect("failed to send switch request");
+        testbench.handler.periodic_operation(OpCode::RegularOp);
+        testbench
+            .handler
+            .periodic_operation(OpCode::PollAndRecvReplies);
+
+        testbench.verify_switch_req_was_sent(2, PcduSwitch::Mgm, SwitchStateBinary::On);
+        testbench.verify_switch_info_req_was_sent(1);
+        let mut switch_map = SwitchMapBinaryWrapper::default().0;
+        *switch_map
+            .get_mut(&PcduSwitch::Mgm)
+            .expect("switch state setting failed") = SwitchStateBinary::On;
+        testbench.verify_switch_reply_received(1, switch_map);
+
+        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
+        assert!(switch_map_shared.valid);
+        drop(switch_map_shared);
+    }
+}

satrs-example/src/events.rs

@@ -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");
         };
+        loop {
             // handle event requests
-        if let Ok(event_req) = self.event_request_rx.try_recv() {
-            match event_req.request {
+            match self.event_request_rx.try_recv() {
+                Ok(event_req) => match event_req.request {
                     EventRequest::Enable(event) => {
-                    self.pus_event_dispatcher
+                        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_dispatcher
+                        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) {
+        loop {
             // Perform the generation of PUS event packets
-        if let Ok(event_msg) = self.pus_event_man_rx.try_recv() {
+            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 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(
+                    let generation_result = self
+                        .pus_event_tm_creator
+                        .generate_pus_event_tm_generic_with_generic_params(
                             &self.tm_sender,
                             &self.timestamp,
                             event_msg.event(),
-                    Some(&param_vec),
+                            &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(
+    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,
-            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
-            event_man_wrapper.event_manager(),
-            event_request_rx,
+                verif_reporter,
+                &mut event_manager,
+                event_req_rx,
             );
             Self {
-            event_man_wrapper,
+                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()
     }
 
-    #[allow(dead_code)]
-    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
-        self.event_man_wrapper.event_manager()
+    #[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);
     }
 
-    pub fn periodic_operation(&mut self) {
-        self.pus_event_handler.handle_event_requests();
-        self.event_man_wrapper.try_event_routing();
-        self.pus_event_handler.generate_pus_event_tm();
+    #[test]
+    fn test_basic_event_disabled() {
+        // TODO: Add test.
     }
 }

satrs-example/src/hk.rs

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

satrs-example/src/interface/mod.rs

@@ -1,3 +1,4 @@
 //! This module contains all component related to the direct interface of the example.
+pub mod sim_client_udp;
 pub mod tcp;
 pub mod udp;

satrs-example/src/interface/sim_client_udp.rs

@@ -0,0 +1,420 @@
+use std::{
+    collections::HashMap,
+    net::{Ipv4Addr, SocketAddr, SocketAddrV4, UdpSocket},
+    sync::mpsc,
+    time::Duration,
+};
+
+use satrs::pus::HandlingStatus;
+use satrs_minisim::{
+    udp::SIM_CTRL_PORT, SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimReply,
+    SimRequest,
+};
+use satrs_minisim::{SimCtrlReply, SimCtrlRequest};
+
+struct SimReplyMap(pub HashMap<SimComponent, mpsc::Sender<SimReply>>);
+
+pub fn create_sim_client(sim_request_rx: mpsc::Receiver<SimRequest>) -> Option<SimClientUdp> {
+    match SimClientUdp::new(
+        SocketAddr::V4(SocketAddrV4::new(Ipv4Addr::LOCALHOST, SIM_CTRL_PORT)),
+        sim_request_rx,
+    ) {
+        Ok(sim_client) => {
+            log::info!("simulator client connection success");
+            return Some(sim_client);
+        }
+        Err(e) => {
+            log::warn!("sim client creation error: {}", e);
+        }
+    }
+    None
+}
+
+#[derive(thiserror::Error, Debug)]
+pub enum SimClientCreationError {
+    #[error("io error: {0}")]
+    Io(#[from] std::io::Error),
+    #[error("timeout when trying to connect to sim UDP server")]
+    Timeout,
+    #[error("invalid ping reply when trying connection to UDP sim server")]
+    InvalidReplyJsonError(#[from] serde_json::Error),
+    #[error("invalid sim reply, not pong reply as expected: {0:?}")]
+    ReplyIsNotPong(SimReply),
+}
+
+pub struct SimClientUdp {
+    udp_client: UdpSocket,
+    simulator_addr: SocketAddr,
+    sim_request_rx: mpsc::Receiver<SimRequest>,
+    reply_map: SimReplyMap,
+    reply_buf: [u8; 4096],
+}
+
+impl SimClientUdp {
+    pub fn new(
+        simulator_addr: SocketAddr,
+        sim_request_rx: mpsc::Receiver<SimRequest>,
+    ) -> Result<Self, SimClientCreationError> {
+        let mut reply_buf: [u8; 4096] = [0; 4096];
+        let mut udp_client = UdpSocket::bind("127.0.0.1:0")?;
+        udp_client.set_read_timeout(Some(Duration::from_millis(100)))?;
+        Self::attempt_connection(&mut udp_client, simulator_addr, &mut reply_buf)?;
+        udp_client.set_nonblocking(true)?;
+        Ok(Self {
+            udp_client,
+            simulator_addr,
+            sim_request_rx,
+            reply_map: SimReplyMap(HashMap::new()),
+            reply_buf,
+        })
+    }
+
+    pub fn attempt_connection(
+        udp_client: &mut UdpSocket,
+        simulator_addr: SocketAddr,
+        reply_buf: &mut [u8],
+    ) -> Result<(), SimClientCreationError> {
+        let sim_req = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping);
+        let sim_req_json = serde_json::to_string(&sim_req).expect("failed to serialize SimRequest");
+        udp_client.send_to(sim_req_json.as_bytes(), simulator_addr)?;
+        match udp_client.recv(reply_buf) {
+            Ok(reply_len) => {
+                let sim_reply: SimReply = serde_json::from_slice(&reply_buf[0..reply_len])?;
+                if sim_reply.component() != SimComponent::SimCtrl {
+                    return Err(SimClientCreationError::ReplyIsNotPong(sim_reply));
+                }
+                let sim_ctrl_reply =
+                    SimCtrlReply::from_sim_message(&sim_reply).expect("invalid SIM reply");
+                match sim_ctrl_reply {
+                    SimCtrlReply::InvalidRequest(_) => {
+                        panic!("received invalid request reply from UDP sim server")
+                    }
+                    SimCtrlReply::Pong => Ok(()),
+                }
+            }
+            Err(e) => {
+                if e.kind() == std::io::ErrorKind::TimedOut
+                    || e.kind() == std::io::ErrorKind::WouldBlock
+                {
+                    Err(SimClientCreationError::Timeout)
+                } else {
+                    Err(SimClientCreationError::Io(e))
+                }
+            }
+        }
+    }
+
+    pub fn operation(&mut self) -> HandlingStatus {
+        let mut no_sim_requests_handled = true;
+        let mut no_data_from_udp_server_received = true;
+        loop {
+            match self.sim_request_rx.try_recv() {
+                Ok(request) => {
+                    let request_json =
+                        serde_json::to_string(&request).expect("failed to serialize SimRequest");
+                    if let Err(e) = self
+                        .udp_client
+                        .send_to(request_json.as_bytes(), self.simulator_addr)
+                    {
+                        log::error!("error sending data to UDP SIM server: {}", e);
+                        break;
+                    } else {
+                        no_sim_requests_handled = false;
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => {
+                        break;
+                    }
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("SIM request sender disconnected");
+                        break;
+                    }
+                },
+            }
+        }
+        loop {
+            match self.udp_client.recv(&mut self.reply_buf) {
+                Ok(recvd_bytes) => {
+                    no_data_from_udp_server_received = false;
+                    let sim_reply_result: serde_json::Result<SimReply> =
+                        serde_json::from_slice(&self.reply_buf[0..recvd_bytes]);
+                    match sim_reply_result {
+                        Ok(sim_reply) => {
+                            if let Some(sender) = self.reply_map.0.get(&sim_reply.component()) {
+                                sender.send(sim_reply).expect("failed to send SIM reply");
+                            } else {
+                                log::warn!(
+                                    "no recipient for SIM reply from component {:?}",
+                                    sim_reply.component()
+                                );
+                            }
+                        }
+                        Err(e) => {
+                            log::warn!("failed to deserialize SIM reply: {}", e);
+                        }
+                    }
+                }
+                Err(e) => {
+                    if e.kind() == std::io::ErrorKind::WouldBlock
+                        || e.kind() == std::io::ErrorKind::TimedOut
+                    {
+                        break;
+                    }
+                    log::error!("error receiving data from UDP SIM server: {}", e);
+                    break;
+                }
+            }
+        }
+        if no_sim_requests_handled && no_data_from_udp_server_received {
+            return HandlingStatus::Empty;
+        }
+        HandlingStatus::HandledOne
+    }
+
+    pub fn add_reply_recipient(
+        &mut self,
+        component: SimComponent,
+        reply_sender: mpsc::Sender<SimReply>,
+    ) {
+        self.reply_map.0.insert(component, reply_sender);
+    }
+}
+
+#[cfg(test)]
+pub mod tests {
+    use std::{
+        collections::HashMap,
+        net::{SocketAddr, UdpSocket},
+        sync::{
+            atomic::{AtomicBool, Ordering},
+            mpsc, Arc,
+        },
+        time::Duration,
+    };
+
+    use satrs_minisim::{
+        eps::{PcduReply, PcduRequest},
+        SerializableSimMsgPayload, SimComponent, SimCtrlReply, SimCtrlRequest, SimMessageProvider,
+        SimReply, SimRequest,
+    };
+
+    use super::SimClientUdp;
+
+    struct UdpSimTestServer {
+        udp_server: UdpSocket,
+        request_tx: mpsc::Sender<SimRequest>,
+        reply_rx: mpsc::Receiver<SimReply>,
+        last_sender: Option<SocketAddr>,
+        stop_signal: Arc<AtomicBool>,
+        recv_buf: [u8; 1024],
+    }
+
+    impl UdpSimTestServer {
+        pub fn new(
+            request_tx: mpsc::Sender<SimRequest>,
+            reply_rx: mpsc::Receiver<SimReply>,
+            stop_signal: Arc<AtomicBool>,
+        ) -> Self {
+            let udp_server = UdpSocket::bind("127.0.0.1:0").expect("creating UDP server failed");
+            udp_server
+                .set_nonblocking(true)
+                .expect("failed to set UDP server to non-blocking");
+            Self {
+                udp_server,
+                request_tx,
+                reply_rx,
+                last_sender: None,
+                stop_signal,
+                recv_buf: [0; 1024],
+            }
+        }
+
+        pub fn operation(&mut self) {
+            loop {
+                let mut no_sim_replies_handled = true;
+                let mut no_data_received = true;
+                if self.stop_signal.load(Ordering::Relaxed) {
+                    break;
+                }
+                if let Some(last_sender) = self.last_sender {
+                    loop {
+                        match self.reply_rx.try_recv() {
+                            Ok(sim_reply) => {
+                                let sim_reply_json = serde_json::to_string(&sim_reply)
+                                    .expect("failed to serialize SimReply");
+                                self.udp_server
+                                    .send_to(sim_reply_json.as_bytes(), last_sender)
+                                    .expect("failed to send reply to client from UDP server");
+                                no_sim_replies_handled = false;
+                            }
+                            Err(e) => match e {
+                                mpsc::TryRecvError::Empty => break,
+                                mpsc::TryRecvError::Disconnected => {
+                                    panic!("reply sender disconnected")
+                                }
+                            },
+                        }
+                    }
+                }
+
+                loop {
+                    match self.udp_server.recv_from(&mut self.recv_buf) {
+                        Ok((read_bytes, from)) => {
+                            let sim_request: SimRequest =
+                                serde_json::from_slice(&self.recv_buf[0..read_bytes])
+                                    .expect("failed to deserialize SimRequest");
+                            if sim_request.component() == SimComponent::SimCtrl {
+                                // For a ping, we perform the reply handling here directly
+                                let sim_ctrl_request =
+                                    SimCtrlRequest::from_sim_message(&sim_request)
+                                        .expect("failed to convert SimRequest to SimCtrlRequest");
+                                match sim_ctrl_request {
+                                    SimCtrlRequest::Ping => {
+                                        no_data_received = false;
+                                        self.last_sender = Some(from);
+                                        let sim_reply = SimReply::new(&SimCtrlReply::Pong);
+                                        let sim_reply_json = serde_json::to_string(&sim_reply)
+                                            .expect("failed to serialize SimReply");
+                                        self.udp_server
+                                            .send_to(sim_reply_json.as_bytes(), from)
+                                            .expect(
+                                                "failed to send reply to client from UDP server",
+                                            );
+                                    }
+                                };
+                            }
+                            // Forward each SIM request for testing purposes.
+                            self.request_tx
+                                .send(sim_request)
+                                .expect("failed to send request");
+                        }
+                        Err(e) => {
+                            if e.kind() != std::io::ErrorKind::WouldBlock
+                                && e.kind() != std::io::ErrorKind::TimedOut
+                            {
+                                panic!("UDP server error: {}", e);
+                            }
+                            break;
+                        }
+                    }
+                }
+                if no_sim_replies_handled && no_data_received {
+                    std::thread::sleep(Duration::from_millis(5));
+                }
+            }
+        }
+
+        pub fn local_addr(&self) -> SocketAddr {
+            self.udp_server.local_addr().unwrap()
+        }
+    }
+
+    #[test]
+    fn basic_connection_test() {
+        let (server_sim_request_tx, server_sim_request_rx) = mpsc::channel();
+        let (_server_sim_reply_tx, server_sim_reply_rx) = mpsc::channel();
+        let stop_signal = Arc::new(AtomicBool::new(false));
+        let mut udp_server = UdpSimTestServer::new(
+            server_sim_request_tx,
+            server_sim_reply_rx,
+            stop_signal.clone(),
+        );
+        let server_addr = udp_server.local_addr();
+        let (_client_sim_req_tx, client_sim_req_rx) = mpsc::channel();
+        // Need to spawn the simulator UDP server before calling the client constructor.
+        let jh0 = std::thread::spawn(move || {
+            udp_server.operation();
+        });
+        // Creating the client also performs the connection test.
+        SimClientUdp::new(server_addr, client_sim_req_rx).unwrap();
+        let sim_request = server_sim_request_rx
+            .recv_timeout(Duration::from_millis(50))
+            .expect("no SIM request received");
+        let ping_request = SimCtrlRequest::from_sim_message(&sim_request)
+            .expect("failed to create SimCtrlRequest");
+        assert_eq!(ping_request, SimCtrlRequest::Ping);
+        // Stop the server.
+        stop_signal.store(true, Ordering::Relaxed);
+        jh0.join().unwrap();
+    }
+
+    #[test]
+    fn basic_request_reply_test() {
+        let (server_sim_request_tx, server_sim_request_rx) = mpsc::channel();
+        let (server_sim_reply_tx, sever_sim_reply_rx) = mpsc::channel();
+        let stop_signal = Arc::new(AtomicBool::new(false));
+        let mut udp_server = UdpSimTestServer::new(
+            server_sim_request_tx,
+            sever_sim_reply_rx,
+            stop_signal.clone(),
+        );
+        let server_addr = udp_server.local_addr();
+        let (client_sim_req_tx, client_sim_req_rx) = mpsc::channel();
+        let (client_pcdu_reply_tx, client_pcdu_reply_rx) = mpsc::channel();
+        // Need to spawn the simulator UDP server before calling the client constructor.
+        let jh0 = std::thread::spawn(move || {
+            udp_server.operation();
+        });
+
+        // Creating the client also performs the connection test.
+        let mut client = SimClientUdp::new(server_addr, client_sim_req_rx).unwrap();
+        client.add_reply_recipient(SimComponent::Pcdu, client_pcdu_reply_tx);
+
+        let sim_request = server_sim_request_rx
+            .recv_timeout(Duration::from_millis(50))
+            .expect("no SIM request received");
+        let ping_request = SimCtrlRequest::from_sim_message(&sim_request)
+            .expect("failed to create SimCtrlRequest");
+        assert_eq!(ping_request, SimCtrlRequest::Ping);
+
+        let pcdu_req = PcduRequest::RequestSwitchInfo;
+        client_sim_req_tx
+            .send(SimRequest::new_with_epoch_time(pcdu_req))
+            .expect("send failed");
+        client.operation();
+
+        // Check that the request arrives properly at the server.
+        let sim_request = server_sim_request_rx
+            .recv_timeout(Duration::from_millis(50))
+            .expect("no SIM request received");
+        let req_recvd_on_server =
+            PcduRequest::from_sim_message(&sim_request).expect("failed to create SimCtrlRequest");
+        matches!(req_recvd_on_server, PcduRequest::RequestSwitchInfo);
+
+        // We inject the reply ourselves.
+        let pcdu_reply = PcduReply::SwitchInfo(HashMap::new());
+        server_sim_reply_tx
+            .send(SimReply::new(&pcdu_reply))
+            .expect("sending PCDU reply failed");
+
+        // Now we verify that the reply is sent by the UDP server back to the client, and then
+        // forwarded by the clients internal map.
+        let mut pcdu_reply_received = false;
+        for _ in 0..3 {
+            client.operation();
+
+            match client_pcdu_reply_rx.try_recv() {
+                Ok(sim_reply) => {
+                    assert_eq!(sim_reply.component(), SimComponent::Pcdu);
+                    let pcdu_reply_from_client = PcduReply::from_sim_message(&sim_reply)
+                        .expect("failed to create PcduReply");
+                    assert_eq!(pcdu_reply_from_client, pcdu_reply);
+                    pcdu_reply_received = true;
+                    break;
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => std::thread::sleep(Duration::from_millis(10)),
+                    mpsc::TryRecvError::Disconnected => panic!("reply sender disconnected"),
+                },
+            }
+        }
+        if !pcdu_reply_received {
+            panic!("no reply received");
+        }
+
+        // Stop the server.
+        stop_signal.store(true, Ordering::Relaxed);
+        jh0.join().unwrap();
+    }
+}

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/lib.rs

@@ -9,12 +9,12 @@ pub enum DeviceMode {
     Normal = 2,
 }
 
-pub struct TimeStampHelper {
+pub struct TimestampHelper {
     stamper: CdsTime,
     time_stamp: [u8; 7],
 }
 
-impl TimeStampHelper {
+impl TimestampHelper {
     pub fn stamp(&self) -> &[u8] {
         &self.time_stamp
     }
@@ -29,7 +29,7 @@ impl TimeStampHelper {
     }
 }
 
-impl Default for TimeStampHelper {
+impl Default for TimestampHelper {
     fn default() -> Self {
         Self {
             stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),

satrs-example/src/main.rs

@@ -1,4 +1,5 @@
 mod acs;
+mod eps;
 mod events;
 mod hk;
 mod interface;
@@ -7,24 +8,34 @@ mod pus;
 mod requests;
 mod tmtc;
 
+use crate::eps::pcdu::{
+    PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
+};
+use crate::eps::PowerSwitchHelper;
 use crate::events::EventHandler;
 use crate::interface::udp::DynamicUdpTmHandler;
 use crate::pus::stack::PusStack;
 use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
-use crate::tmtc::tm_sink::{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;
 use satrs::hal::std::udp_server::UdpTcServer;
-use satrs::request::GenericMessage;
+use satrs::pus::HandlingStatus;
+use satrs::request::{GenericMessage, MessageMetadata};
 use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
 use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
 use satrs_example::config::tasks::{
-    FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
+    FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS,
 };
 use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
+use satrs_example::DeviceMode;
 
-use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
+use crate::acs::mgm::{
+    MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface, SpiSimInterface,
+    SpiSimInterfaceWrapper,
+};
+use crate::interface::sim_client_udp::create_sim_client;
 use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
 use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
 use crate::logger::setup_logger;
@@ -36,12 +47,14 @@ use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_s
 use crate::pus::test::create_test_service_static;
 use crate::pus::{PusTcDistributor, PusTcMpscRouter};
 use crate::requests::{CompositeRequest, GenericRequestRouter};
-use satrs::mode::ModeRequest;
+use satrs::mode::{Mode, ModeAndSubmode, ModeRequest};
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
-use satrs_example::config::components::{MGM_HANDLER_0, TCP_SERVER, UDP_SERVER};
+use satrs_example::config::components::{
+    MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER,
+};
 use std::net::{IpAddr, SocketAddr};
-use std::sync::mpsc;
+use std::sync::{mpsc, Mutex};
 use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
@@ -54,15 +67,26 @@ 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 (sim_request_tx, sim_request_rx) = mpsc::channel();
+    let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
+    let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
+    let mut opt_sim_client = create_sim_client(sim_request_rx);
 
     let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
-        mpsc::channel::<GenericMessage<CompositeRequest>>();
-    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
+    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(30);
+
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
+        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
+    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
+        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
 
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let mut request_map = GenericRequestRouter::default();
@@ -72,6 +96,12 @@ fn static_tmtc_pool_main() {
     request_map
         .mode_router_map
         .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
+    request_map
+        .composite_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());
 
     // This helper structure is used by all telecommand providers which need to send telecommands
     // to the TC source.
@@ -80,11 +110,12 @@ 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 +137,39 @@ 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 +187,7 @@ 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);
@@ -186,34 +217,84 @@ 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,
     );
 
     let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
-        mpsc::channel();
+        mpsc::sync_channel(5);
+
+    let shared_switch_set = Arc::new(Mutex::default());
+    let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
+    let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
 
-    let dummy_spi_interface = SpiDummyInterface::default();
     let shared_mgm_set = Arc::default();
-    let mode_leaf_interface = MpscModeLeafInterface {
+    let mgm_mode_leaf_interface = MpscModeLeafInterface {
         request_rx: mgm_handler_mode_rx,
-        reply_tx_to_pus: pus_mode_reply_tx,
-        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+        reply_to_pus_tx: pus_mode_reply_tx.clone(),
+        reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
+    };
+
+    let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
+        sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
+        SpiSimInterfaceWrapper::Sim(SpiSimInterface {
+            sim_request_tx: sim_request_tx.clone(),
+            sim_reply_rx: mgm_sim_reply_rx,
+        })
+    } else {
+        SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
     };
     let mut mgm_handler = MgmHandlerLis3Mdl::new(
         MGM_HANDLER_0,
         "MGM_0",
-        mode_leaf_interface,
+        mgm_mode_leaf_interface,
         mgm_handler_composite_rx,
-        pus_hk_reply_tx,
-        tm_funnel_tx,
-        dummy_spi_interface,
+        pus_hk_reply_tx.clone(),
+        switch_helper.clone(),
+        tm_sink_tx.clone(),
+        mgm_spi_interface,
         shared_mgm_set,
     );
 
+    let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
+        mpsc::sync_channel(10);
+    let pcdu_mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: pcdu_handler_mode_rx,
+        reply_to_pus_tx: pus_mode_reply_tx,
+        reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
+    };
+    let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
+        sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
+        SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
+            sim_request_tx.clone(),
+            pcdu_sim_reply_rx,
+        ))
+    } else {
+        SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
+    };
+
+    let mut pcdu_handler = PcduHandler::new(
+        PCDU_HANDLER,
+        "PCDU",
+        pcdu_mode_leaf_interface,
+        pcdu_handler_composite_rx,
+        pus_hk_reply_tx,
+        switch_request_rx,
+        tm_sink_tx,
+        pcdu_serial_interface,
+        shared_switch_set,
+    );
+    // The PCDU is a critical component which should be in normal mode immediately.
+    pcdu_handler_mode_tx
+        .send(GenericMessage::new(
+            MessageMetadata::new(0, NO_SENDER),
+            ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
+        ))
+        .expect("sending initial mode request failed");
+
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
         .name("SATRS tmtc-udp".to_string())
@@ -240,20 +321,26 @@ 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();
 
-    info!("Starting event handling task");
-    let jh_event_handling = thread::Builder::new()
-        .name("sat-rs events".to_string())
+    let mut opt_jh_sim_client = None;
+    if let Some(mut sim_client) = opt_sim_client {
+        info!("Starting UDP sim client task");
+        opt_jh_sim_client = Some(
+            thread::Builder::new()
+                .name("sat-rs sim adapter".to_string())
                 .spawn(move || loop {
-            event_handler.periodic_operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
+                    if sim_client.operation() == HandlingStatus::Empty {
+                        std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
+                    }
                 })
-        .unwrap();
+                .unwrap(),
+        );
+    }
 
     info!("Starting AOCS thread");
     let jh_aocs = thread::Builder::new()
@@ -264,10 +351,26 @@ fn static_tmtc_pool_main() {
         })
         .unwrap();
 
+    info!("Starting EPS thread");
+    let jh_eps = thread::Builder::new()
+        .name("sat-rs eps".to_string())
+        .spawn(move || loop {
+            // TODO: We should introduce something like a fixed timeslot helper to allow a more
+            // declarative API. It would also be very useful for the AOCS task.
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
+            thread::sleep(Duration::from_millis(50));
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            thread::sleep(Duration::from_millis(50));
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            thread::sleep(Duration::from_millis(300));
+        })
+        .unwrap();
+
     info!("Starting PUS handler thread");
     let jh_pus_handler = thread::Builder::new()
         .name("sat-rs pus".to_string())
         .spawn(move || loop {
+            event_handler.periodic_operation();
             pus_stack.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
         })
@@ -282,10 +385,13 @@ fn static_tmtc_pool_main() {
     jh_tm_funnel
         .join()
         .expect("Joining TM Funnel thread failed");
-    jh_event_handling
+    if let Some(jh_sim_client) = opt_jh_sim_client {
+        jh_sim_client
             .join()
-        .expect("Joining Event Manager thread failed");
+            .expect("Joining SIM client thread failed");
+    }
     jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_eps.join().expect("Joining EPS thread failed");
     jh_pus_handler
         .join()
         .expect("Joining PUS handler thread failed");
@@ -294,30 +400,47 @@ fn static_tmtc_pool_main() {
 #[allow(dead_code)]
 fn dyn_tmtc_pool_main() {
     let (tc_source_tx, tc_source_rx) = mpsc::channel();
-    let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+    let (tm_sink_tx, tm_sink_rx) = mpsc::channel();
     let (tm_server_tx, tm_server_rx) = mpsc::channel();
 
+    let (sim_request_tx, sim_request_rx) = mpsc::channel();
+    let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
+    let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
+    let mut opt_sim_client = create_sim_client(sim_request_rx);
+
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
-        mpsc::channel::<GenericMessage<CompositeRequest>>();
-    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(5);
+    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
+        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
+    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
+        mpsc::sync_channel::<GenericMessage<ModeRequest>>(10);
 
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let mut request_map = GenericRequestRouter::default();
     request_map
         .composite_router_map
-        .insert(MGM_HANDLER_0.raw(), mgm_handler_composite_tx);
+        .insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
     request_map
         .mode_router_map
-        .insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
+        .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
+    request_map
+        .composite_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());
 
     // 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();
@@ -339,34 +462,31 @@ 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_sink_tx.clone(), event_tx.clone(), pus_test_rx);
     let pus_scheduler_service = create_scheduler_service_dynamic(
-        tm_funnel_tx.clone(),
+        tm_sink_tx.clone(),
         tc_source_tx.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
 
     let pus_event_service =
-        create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
+        create_event_service_dynamic(tm_sink_tx.clone(), pus_event_rx, event_request_tx);
     let pus_action_service = create_action_service_dynamic(
-        tm_funnel_tx.clone(),
+        tm_sink_tx.clone(),
         pus_action_rx,
         request_map.clone(),
         pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_dynamic(
-        tm_funnel_tx.clone(),
+        tm_sink_tx.clone(),
         pus_hk_rx,
         request_map.clone(),
         pus_hk_reply_rx,
     );
     let pus_mode_service = create_mode_service_dynamic(
-        tm_funnel_tx.clone(),
+        tm_sink_tx.clone(),
         pus_mode_rx,
         request_map,
         pus_mode_reply_rx,
@@ -382,7 +502,7 @@ fn dyn_tmtc_pool_main() {
 
     let mut tmtc_task = TcSourceTaskDynamic::new(
         tc_source_rx,
-        PusTcDistributor::new(tm_funnel_tx.clone(), pus_router),
+        PusTcDistributor::new(tm_sink_tx.clone(), pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@@ -411,28 +531,77 @@ 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_sink_rx, tm_server_tx);
+
+    let shared_switch_set = Arc::new(Mutex::default());
+    let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
+    let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
 
     let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
-        mpsc::channel();
-    let dummy_spi_interface = SpiDummyInterface::default();
+        mpsc::sync_channel(5);
     let shared_mgm_set = Arc::default();
     let mode_leaf_interface = MpscModeLeafInterface {
         request_rx: mgm_handler_mode_rx,
-        reply_tx_to_pus: pus_mode_reply_tx,
-        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+        reply_to_pus_tx: pus_mode_reply_tx.clone(),
+        reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
+    };
+
+    let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
+        sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
+        SpiSimInterfaceWrapper::Sim(SpiSimInterface {
+            sim_request_tx: sim_request_tx.clone(),
+            sim_reply_rx: mgm_sim_reply_rx,
+        })
+    } else {
+        SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
     };
     let mut mgm_handler = MgmHandlerLis3Mdl::new(
         MGM_HANDLER_0,
         "MGM_0",
         mode_leaf_interface,
         mgm_handler_composite_rx,
-        pus_hk_reply_tx,
-        tm_funnel_tx,
-        dummy_spi_interface,
+        pus_hk_reply_tx.clone(),
+        switch_helper.clone(),
+        tm_sink_tx.clone(),
+        mgm_spi_interface,
         shared_mgm_set,
     );
 
+    let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
+        mpsc::sync_channel(10);
+    let pcdu_mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: pcdu_handler_mode_rx,
+        reply_to_pus_tx: pus_mode_reply_tx,
+        reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
+    };
+    let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
+        sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
+        SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
+            sim_request_tx.clone(),
+            pcdu_sim_reply_rx,
+        ))
+    } else {
+        SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
+    };
+    let mut pcdu_handler = PcduHandler::new(
+        PCDU_HANDLER,
+        "PCDU",
+        pcdu_mode_leaf_interface,
+        pcdu_handler_composite_rx,
+        pus_hk_reply_tx,
+        switch_request_rx,
+        tm_sink_tx,
+        pcdu_serial_interface,
+        shared_switch_set,
+    );
+    // The PCDU is a critical component which should be in normal mode immediately.
+    pcdu_handler_mode_tx
+        .send(GenericMessage::new(
+            MessageMetadata::new(0, NO_SENDER),
+            ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
+        ))
+        .expect("sending initial mode request failed");
+
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
         .name("sat-rs tmtc-udp".to_string())
@@ -459,20 +628,26 @@ 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();
         })
         .unwrap();
 
-    info!("Starting event handling task");
-    let jh_event_handling = thread::Builder::new()
-        .name("sat-rs events".to_string())
+    let mut opt_jh_sim_client = None;
+    if let Some(mut sim_client) = opt_sim_client {
+        info!("Starting UDP sim client task");
+        opt_jh_sim_client = Some(
+            thread::Builder::new()
+                .name("sat-rs sim adapter".to_string())
                 .spawn(move || loop {
-            event_handler.periodic_operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
+                    if sim_client.operation() == HandlingStatus::Empty {
+                        std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
+                    }
                 })
-        .unwrap();
+                .unwrap(),
+        );
+    }
 
     info!("Starting AOCS thread");
     let jh_aocs = thread::Builder::new()
@@ -483,11 +658,27 @@ fn dyn_tmtc_pool_main() {
         })
         .unwrap();
 
+    info!("Starting EPS thread");
+    let jh_eps = thread::Builder::new()
+        .name("sat-rs eps".to_string())
+        .spawn(move || loop {
+            // TODO: We should introduce something like a fixed timeslot helper to allow a more
+            // declarative API. It would also be very useful for the AOCS task.
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
+            thread::sleep(Duration::from_millis(50));
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            thread::sleep(Duration::from_millis(50));
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            thread::sleep(Duration::from_millis(300));
+        })
+        .unwrap();
+
     info!("Starting PUS handler thread");
     let jh_pus_handler = thread::Builder::new()
         .name("sat-rs pus".to_string())
         .spawn(move || loop {
             pus_stack.periodic_operation();
+            event_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
         })
         .unwrap();
@@ -501,10 +692,13 @@ fn dyn_tmtc_pool_main() {
     jh_tm_funnel
         .join()
         .expect("Joining TM Funnel thread failed");
-    jh_event_handling
+    if let Some(jh_sim_client) = opt_jh_sim_client {
+        jh_sim_client
             .join()
-        .expect("Joining Event Manager thread failed");
+            .expect("Joining SIM client thread failed");
+    }
     jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_eps.join().expect("Joining EPS thread failed");
     jh_pus_handler
         .join()
         .expect("Joining PUS handler thread failed");

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;
-            }
-        }
-        HandlingStatus::HandledOne
-    }
+    const SERVICE_ID: u8 = PusServiceId::Action as u8;
+    const SERVICE_STR: &'static str = "action";
 
-    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
-            })
-    }
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
 
-    fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
+        }
     }
 }
 
@@ -349,7 +341,7 @@ mod tests {
             let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
             let (pus_action_tx, pus_action_rx) = mpsc::channel();
             let (action_reply_tx, action_reply_rx) = mpsc::channel();
-            let (action_req_tx, action_req_rx) = mpsc::channel();
+            let (action_req_tx, action_req_rx) = mpsc::sync_channel(10);
             let verif_reporter = TestVerificationReporter::new(owner_id);
             let mut generic_req_router = GenericRequestRouter::default();
             generic_req_router
@@ -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:?}")
+    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;
         }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 5 invalid subservice {invalid}");
+        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
+                );
             }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 5 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}")
+            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 +9,12 @@ 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::res_code::ResultU16;
 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 +24,7 @@ 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 {
@@ -33,8 +33,10 @@ pub struct HkReply {
 }
 
 #[derive(Clone, PartialEq, Debug)]
+#[allow(dead_code)]
 pub enum HkReplyVariant {
     Ack,
+    Failed(ResultU16),
 }
 
 #[derive(Default)]
@@ -70,6 +72,15 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
                     .completion_success(tm_sender, started_token, time_stamp)
                     .expect("sending completion success verification failed");
             }
+            HkReplyVariant::Failed(failure_code) => {
+                verification_handler
+                    .completion_failure(
+                        tm_sender,
+                        started_token,
+                        FailParams::new(time_stamp, &failure_code, &[]),
+                    )
+                    .expect("sending completion success verification failed");
+            }
         };
         Ok(true)
     }
@@ -297,45 +308,26 @@ 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;
-            }
-        }
-        HandlingStatus::HandledOne
-    }
+    const SERVICE_ID: u8 = PusServiceId::Housekeeping as u8;
+    const SERVICE_STR: &'static str = "housekeeping";
 
-    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
-            })
-    }
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
 
-    pub fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
+        }
     }
 }
 

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};
@@ -19,7 +19,7 @@ use satrs::tmtc::{PacketAsVec, PacketInPool};
 use satrs::ComponentId;
 use satrs_example::config::components::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
-use satrs_example::TimeStampHelper;
+use satrs_example::TimestampHelper;
 use std::fmt::Debug;
 use std::sync::mpsc::{self, Sender};
 
@@ -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
@@ -59,7 +53,7 @@ pub struct PusTcDistributor<TmSender: EcssTmSender> {
     pub tm_sender: TmSender,
     pub verif_reporter: VerificationReporter,
     pub pus_router: PusTcMpscRouter,
-    stamp_helper: TimeStampHelper,
+    stamp_helper: TimestampHelper,
 }
 
 impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
@@ -72,14 +66,14 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 PUS_ROUTING_SERVICE.apid,
             ),
             pus_router,
-            stamp_helper: TimeStampHelper::default(),
+            stamp_helper: TimestampHelper::default(),
         }
     }
 
     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(
+        let result = 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 {
+        );
+        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;
-            }
-        }
-        HandlingStatus::HandledOne
-    }
+    const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
+    const SERVICE_STR: &'static str = "mode";
 
-    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
-            })
-    }
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
 
-    fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
+        }
     }
 }
+
 #[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 => {
+            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]");
                 }
-            PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
-                warn!(
-                    "Handled PUS ping command with partial success: {:?}",
-                    partial_err
+                return handling_status;
+            }
+            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
+                    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()
-                        .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,
+                                    started_token,
+                                    timestamp,
                                 )
-                        .expect("Error sending completion success");
+                            {
+                                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/requests.rs

@@ -28,8 +28,9 @@ pub enum CompositeRequest {
 pub struct GenericRequestRouter {
     pub id: ComponentId,
     // All messages which do not have a dedicated queue.
-    pub composite_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
-    pub mode_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<ModeRequest>>>,
+    pub composite_router_map:
+        HashMap<ComponentId, mpsc::SyncSender<GenericMessage<CompositeRequest>>>,
+    pub mode_router_map: HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
 }
 
 impl Default for GenericRequestRouter {