Mode Tree Feature Update

Merge pull request 'update some outdated dependencies' (#219 ) from update-outdated-deps into main
Reviewed-on: #219
2025-02-05 13:57:21 +01:00 · 2025-01-31 18:37:49 +01:00 · 2025-01-31 18:37:12 +01:00 · 2025-01-31 18:32:41 +01:00 · 2025-01-31 18:20:06 +01:00 · 2025-01-31 12:12:57 +01:00
98 changed files with 9505 additions and 5222 deletions
--- a/Cargo.toml
+++ b/Cargo.toml
@ -10,6 +10,5 @@ members = [
 exclude = [
    "embedded-examples/stm32f3-disco-rtic",
-    "embedded-examples/stm32h7-rtic",
+    "embedded-examples/stm32h7-nucleo-rtic",
 ]
--- a/README.md
+++ b/README.md
@ -37,13 +37,16 @@ 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-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/satrs-stm32f3-disco-rtic):
+* [`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. 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/satrs-stm32h7-nucleo-rtic):
+* [`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.
@ -69,6 +72,10 @@ Currently this library has the following flight heritage:
  [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
--- a/docs.sh
+++ b/docs.sh
@ -0,0 +1,3 @@
 #!/bin/sh
 export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
 cargo +nightly doc --all-features --open
--- a/embedded-examples/stm32f3-disco-rtic/Cargo.lock
+++ b/embedded-examples/stm32f3-disco-rtic/Cargo.lock
@ -1,6 +1,6 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
 [[package]]
 name = "accelerometer"
@ -11,20 +11,11 @@ dependencies = [
 "micromath",
 ]
 [[package]]
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 dependencies = [
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 [[package]]
 name = "bare-metal"
@ -77,7 +68,7 @@ version = "0.2.7"
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 dependencies = [
- "rustc_version 0.4.0",
+ "rustc_version 0.4.1",
 ]
 [[package]]
@ -88,9 +79,9 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 [[package]]
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+version = "0.4.39"
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-checksum = "a21f936df1771bf62b77f047b726c4625ff2e8aa607c01ec06e5a05bd8463401"
+checksum = "7e36cc9d416881d2e24f9a963be5fb1cd90966419ac844274161d10488b3e825"
 dependencies = [
 "num-traits",
 ]
@ -103,8 +94,12 @@ checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
 [[package]]
 name = "cobs"
-version = "0.2.3"
+version = "0.3.0"
-source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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 [[package]]
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@ -121,22 +116,22 @@ dependencies = [
 [[package]]
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+version = "0.7.5"
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 [[package]]
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 dependencies = [
 "proc-macro2",
 "quote",
- "syn 1.0.109",
+ "syn 2.0.96",
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 [[package]]
@ -165,15 +160,15 @@ checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
 [[package]]
 name = "critical-section"
-version = "1.1.2"
+version = "1.2.0"
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+checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
 [[package]]
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-version = "0.20.9"
+version = "0.20.10"
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 "darling_macro",
@ -181,33 +176,33 @@ dependencies = [
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+version = "0.20.10"
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 "ident_case",
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
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@ -225,22 +220,22 @@ dependencies = [
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 name = "defmt-macros"
-version = "0.3.9"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
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 dependencies = [
 "defmt-parser",
- "proc-macro-error",
+ "proc-macro-error2",
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 "quote",
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+ "syn 2.0.96",
 ]
 [[package]]
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@ -265,7 +260,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
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@ -287,7 +282,7 @@ checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]
 [[package]]
@ -315,6 +310,15 @@ version = "1.0.0"
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@ -326,23 +330,23 @@ dependencies = [
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+ "syn 2.0.96",
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@ -368,21 +372,21 @@ dependencies = [
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@ -426,9 +430,9 @@ dependencies = [
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@ -448,9 +452,9 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
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@ -654,14 +662,14 @@ dependencies = [
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+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+checksum = "a7b1d853fa50dc125695414ce4510567a0d420221e455b1568cfa8c9aece9614"
 dependencies = [
 "critical-section",
 "embedded-hal 1.0.0",
 "embedded-hal-async",
 "fugit",
 "futures-util",
 "rtic-common",
 ]
@ -730,11 +740,11 @@ dependencies = [
 [[package]]
 name = "rustc_version"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
 dependencies = [
- "semver 1.0.23",
+ "semver 1.0.25",
 ]
 [[package]]
@ -743,7 +753,7 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
 dependencies = [
- "cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cobs 0.2.3",
 "crc",
 "defmt",
 "delegate",
@ -769,7 +779,7 @@ dependencies = [
 name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 dependencies = [
- "cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
+ "cobs 0.3.0",
 "cortex-m",
 "cortex-m-rt",
 "cortex-m-semihosting",
@ -798,9 +808,9 @@ dependencies = [
 [[package]]
 name = "semver"
-version = "1.0.23"
+version = "1.0.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+checksum = "f79dfe2d285b0488816f30e700a7438c5a73d816b5b7d3ac72fbc48b0d185e03"
 [[package]]
 name = "semver-parser"
@ -922,9 +932,9 @@ dependencies = [
 [[package]]
 name = "syn"
-version = "2.0.65"
+version = "2.0.96"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2863d96a84c6439701d7a38f9de935ec562c8832cc55d1dde0f513b52fad106"
+checksum = "d5d0adab1ae378d7f53bdebc67a39f1f151407ef230f0ce2883572f5d8985c80"
 dependencies = [
 "proc-macro2",
 "quote",
@ -933,22 +943,22 @@ dependencies = [
 [[package]]
 name = "thiserror"
-version = "1.0.61"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
+checksum = "d452f284b73e6d76dd36758a0c8684b1d5be31f92b89d07fd5822175732206fc"
 dependencies = [
 "thiserror-impl",
 ]
 [[package]]
 name = "thiserror-impl"
-version = "1.0.61"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
+checksum = "26afc1baea8a989337eeb52b6e72a039780ce45c3edfcc9c5b9d112feeb173c2"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]
 [[package]]
@ -959,9 +969,9 @@ checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 [[package]]
 name = "unicode-ident"
-version = "1.0.12"
+version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
 [[package]]
 name = "usb-device"
@ -977,9 +987,9 @@ checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
 [[package]]
 name = "version_check"
-version = "0.9.4"
+version = "0.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
 [[package]]
 name = "void"
@ -998,9 +1008,9 @@ dependencies = [
 [[package]]
 name = "zerocopy"
-version = "0.7.34"
+version = "0.7.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
 dependencies = [
 "byteorder",
 "zerocopy-derive",
@ -1008,11 +1018,11 @@ dependencies = [
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.34"
+version = "0.7.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.65",
+ "syn 2.0.96",
 ]
--- a/embedded-examples/stm32f3-disco-rtic/Cargo.toml
+++ b/embedded-examples/stm32f3-disco-rtic/Cargo.toml
@ -22,12 +22,11 @@ version = "2"
 features = ["thumbv7-backend"]
 [dependencies.rtic-monotonics]
-version = "1"
+version = "2"
 features = ["cortex-m-systick"]
 [dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
+version = "0.3"
 branch = "all_features"
 default-features = false
 [dependencies.stm32f3xx-hal]
--- a/embedded-examples/stm32f3-disco-rtic/src/main.rs
+++ b/embedded-examples/stm32f3-disco-rtic/src/main.rs
@ -15,8 +15,8 @@ use rtic::app;
 use heapless::{mpmc::Q8, Vec};
 #[allow(unused_imports)]
-use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
+use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
-use rtic_monotonics::systick::ExtU32;
+use rtic_monotonics::systick::prelude::*;
 use satrs::seq_count::SequenceCountProviderCore;
 use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
 use stm32f3xx_hal::dma::dma1;
@ -245,8 +245,6 @@ pub fn convert_pus_tc_to_request(
 mod app {
    use super::*;
    use core::slice::Iter;
    use rtic_monotonics::systick::Systick;
    use rtic_monotonics::Monotonic;
    use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
    use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
    #[allow(unused_imports)]
@ -259,6 +257,8 @@ mod app {
    #[allow(dead_code)]
    type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
    systick_monotonic!(Mono, 1000);
    #[shared]
    struct Shared {
        blink_freq: MillisDurationU32,
@ -279,8 +279,7 @@ mod app {
        let mut rcc = cx.device.RCC.constrain();
        // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Mono::start(cx.core.SYST, 8_000_000);
        Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
        let mut flash = cx.device.FLASH.constrain();
        let clocks = rcc
@ -394,7 +393,7 @@ mod app {
                }
            }
            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
+            Mono::delay(current_blink_freq).await;
        }
    }
@ -412,15 +411,14 @@ mod app {
            if is_idle {
                let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
                if let Some(last_completed) = last_completed {
-                    let elapsed_ms = (Systick::now() - last_completed).to_millis();
+                    let elapsed_ms = (Mono::now() - last_completed).to_millis();
                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
-                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
+                        Mono::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis()).await;
                            .await;
                    }
                }
            } else {
                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
+                Mono::delay(1.millis()).await;
                continue;
            }
            if let Some(vec) = TM_REQUESTS.dequeue() {
@ -459,11 +457,11 @@ mod app {
                        UartTxState::Transmitting(_) => (),
                    });
                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
+                Mono::delay(1.millis()).await;
                continue;
            }
            // Nothing to do, and we are idle.
-            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
+            Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
        }
    }
@ -657,7 +655,7 @@ mod app {
                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
                        // We cache the last completed time to ensure that there is a minimum delay between consecutive
                        // transferred packets.
-                        tx_shared.last_completed = Some(Systick::now());
+                        tx_shared.last_completed = Some(Mono::now());
                    }
                }
            });
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
@ -1,21 +1,12 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
 [[package]]
 name = "atomic-polyfill"
 version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
 dependencies = [
 "critical-section",
 ]
 [[package]]
 name = "autocfg"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 [[package]]
 name = "bare-metal"
@ -23,7 +14,7 @@ version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 dependencies = [
- "rustc_version 0.2.3",
+ "rustc_version",
 ]
 [[package]]
@ -32,6 +23,12 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
 [[package]]
 name = "base64"
 version = "0.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
 [[package]]
 name = "bitfield"
 version = "0.13.2"
@ -64,8 +61,18 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 [[package]]
 name = "cobs"
-version = "0.2.3"
+version = "0.3.0"
-source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
+source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0fa961b519f0b462e3a3b4a34b64d119eeaca1d59af726fe450bbba07a9fc0a1"
 dependencies = [
 "thiserror",
 ]
 [[package]]
 name = "const-default"
 version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0b396d1f76d455557e1218ec8066ae14bba60b4b36ecd55577ba979f5db7ecaa"
 [[package]]
 name = "cortex-m"
@ -82,22 +89,22 @@ dependencies = [
 [[package]]
 name = "cortex-m-rt"
-version = "0.7.4"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
+checksum = "801d4dec46b34c299ccf6b036717ae0fce602faa4f4fe816d9013b9a7c9f5ba6"
 dependencies = [
 "cortex-m-rt-macros",
 ]
 [[package]]
 name = "cortex-m-rt-macros"
-version = "0.7.0"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
+checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 1.0.109",
+ "syn 2.0.96",
 ]
 [[package]]
@ -126,15 +133,15 @@ checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
 [[package]]
 name = "critical-section"
-version = "1.1.2"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
 [[package]]
 name = "defmt"
-version = "0.3.8"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
+checksum = "86f6162c53f659f65d00619fe31f14556a6e9f8752ccc4a41bd177ffcf3d6130"
 dependencies = [
 "bitflags",
 "defmt-macros",
@ -152,22 +159,22 @@ dependencies = [
 [[package]]
 name = "defmt-macros"
-version = "0.3.9"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
+checksum = "9d135dd939bad62d7490b0002602d35b358dce5fd9233a709d3c1ef467d4bde6"
 dependencies = [
 "defmt-parser",
- "proc-macro-error",
+ "proc-macro-error2",
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]
 [[package]]
 name = "defmt-parser"
-version = "0.3.4"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+checksum = "3983b127f13995e68c1e29071e5d115cd96f215ccb5e6812e3728cd6f92653b3"
 dependencies = [
 "thiserror",
 ]
@ -192,39 +199,41 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]
 [[package]]
 name = "delegate"
-version = "0.10.0"
+version = "0.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0ee5df75c70b95bd3aacc8e2fd098797692fb1d54121019c4de481e42f04c8a1"
+checksum = "297806318ef30ad066b15792a8372858020ae3ca2e414ee6c2133b1eb9e9e945"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 1.0.109",
+ "syn 2.0.96",
 ]
 [[package]]
 name = "derive-new"
-version = "0.6.0"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
+checksum = "2cdc8d50f426189eef89dac62fabfa0abb27d5cc008f25bf4156a0203325becc"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]
 [[package]]
 name = "embedded-alloc"
-version = "0.5.1"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddae17915accbac2cfbc64ea0ae6e3b330e6ea124ba108dada63646fd3c6f815"
+checksum = "8f2de9133f68db0d4627ad69db767726c99ff8585272716708227008d3f1bddd"
 dependencies = [
 "const-default",
 "critical-section",
 "linked_list_allocator",
 "rlsf",
 ]
 [[package]]
@ -300,21 +309,21 @@ dependencies = [
 [[package]]
 name = "futures-core"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
 [[package]]
 name = "futures-task"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
 [[package]]
 name = "futures-util"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
 dependencies = [
 "futures-core",
 "futures-task",
@ -328,15 +337,6 @@ version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 [[package]]
 name = "hash32"
 version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
 dependencies = [
 "byteorder",
 ]
 [[package]]
 name = "hash32"
 version = "0.3.1"
@ -348,22 +348,9 @@ dependencies = [
 [[package]]
 name = "hashbrown"
-version = "0.14.5"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
+checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"
 [[package]]
 name = "heapless"
 version = "0.7.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
 dependencies = [
 "atomic-polyfill",
 "hash32 0.2.1",
 "rustc_version 0.4.0",
 "spin",
 "stable_deref_trait",
 ]
 [[package]]
 name = "heapless"
@ -372,36 +359,32 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
 dependencies = [
 "defmt",
- "hash32 0.3.1",
+ "hash32",
 "stable_deref_trait",
 ]
 [[package]]
 name = "indexmap"
-version = "2.2.6"
+version = "2.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
+checksum = "8c9c992b02b5b4c94ea26e32fe5bccb7aa7d9f390ab5c1221ff895bc7ea8b652"
 dependencies = [
 "equivalent",
 "hashbrown",
 ]
 [[package]]
 name = "libc"
 version = "0.2.169"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b5aba8db14291edd000dfcc4d620c7ebfb122c613afb886ca8803fa4e128a20a"
 [[package]]
 name = "linked_list_allocator"
 version = "0.10.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9afa463f5405ee81cdb9cc2baf37e08ec7e4c8209442b5d72c04cfb2cd6e6286"
 [[package]]
 name = "lock_api"
 version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
 dependencies = [
 "autocfg",
 "scopeguard",
 ]
 [[package]]
 name = "managed"
 version = "0.8.0"
@ -434,22 +417,22 @@ dependencies = [
 [[package]]
 name = "num_enum"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+checksum = "4e613fc340b2220f734a8595782c551f1250e969d87d3be1ae0579e8d4065179"
 dependencies = [
 "num_enum_derive",
 ]
 [[package]]
 name = "num_enum_derive"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+checksum = "af1844ef2428cc3e1cb900be36181049ef3d3193c63e43026cfe202983b27a56"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]
 [[package]]
@ -470,9 +453,9 @@ checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 [[package]]
 name = "pin-project-lite"
-version = "0.2.14"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
 [[package]]
 name = "pin-utils"
@ -482,62 +465,72 @@ checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 [[package]]
 name = "portable-atomic"
-version = "1.6.0"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
 [[package]]
-name = "proc-macro-error"
+name = "proc-macro-error-attr2"
-version = "1.0.4"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
 dependencies = [
 "proc-macro-error-attr",
 "proc-macro2",
 "quote",
 "syn 1.0.109",
 "version_check",
 ]
 [[package]]
-name = "proc-macro-error-attr"
+name = "proc-macro-error2"
-version = "1.0.4"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
 dependencies = [
 "proc-macro-error-attr2",
 "proc-macro2",
 "quote",
- "version_check",
+ "syn 2.0.96",
 ]
 [[package]]
 name = "proc-macro2"
-version = "1.0.82"
+version = "1.0.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ad3d49ab951a01fbaafe34f2ec74122942fe18a3f9814c3268f1bb72042131b"
+checksum = "60946a68e5f9d28b0dc1c21bb8a97ee7d018a8b322fa57838ba31cc878e22d99"
 dependencies = [
 "unicode-ident",
 ]
 [[package]]
 name = "quote"
-version = "1.0.36"
+version = "1.0.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
+checksum = "0e4dccaaaf89514f546c693ddc140f729f958c247918a13380cccc6078391acc"
 dependencies = [
 "proc-macro2",
 ]
 [[package]]
-name = "rtic"
+name = "rlsf"
-version = "2.1.1"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+checksum = "222fb240c3286247ecdee6fa5341e7cdad0ffdf8e7e401d9937f2d58482a20bf"
 dependencies = [
 "cfg-if",
 "const-default",
 "libc",
 "svgbobdoc",
 ]
 [[package]]
 name = "rtic"
 version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "401961431a1e491124cdd216a313fada2d395aa2b5bee2867c872fc8af7c1bc1"
 dependencies = [
 "atomic-polyfill",
 "bare-metal 1.0.0",
 "cortex-m",
 "critical-section",
 "portable-atomic",
 "rtic-core",
 "rtic-macros",
 ]
@ -559,28 +552,27 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 [[package]]
 name = "rtic-macros"
-version = "2.1.0"
+version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+checksum = "ac22ab522d80079b48f46ac66ded4d349e1adf81b52430d6a74faa3a7790ed80"
 dependencies = [
 "indexmap",
- "proc-macro-error",
+ "proc-macro-error2",
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]
 [[package]]
 name = "rtic-monotonics"
-version = "1.5.0"
+version = "2.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+checksum = "f1cb90bcfdbbacf3ca37340cdab52ec2de5611c744095ef7889e9c50c233b748"
 dependencies = [
 "atomic-polyfill",
 "cfg-if",
 "cortex-m",
 "embedded-hal 1.0.0",
 "fugit",
 "portable-atomic",
 "rtic-time",
 ]
@ -595,18 +587,21 @@ dependencies = [
 "embedded-hal 1.0.0",
 "embedded-hal-async",
 "embedded-hal-bus",
- "heapless 0.8.0",
+ "heapless",
 "portable-atomic",
 "rtic-common",
 ]
 [[package]]
 name = "rtic-time"
-version = "1.3.0"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+checksum = "a7b1d853fa50dc125695414ce4510567a0d420221e455b1568cfa8c9aece9614"
 dependencies = [
 "critical-section",
 "embedded-hal 1.0.0",
 "embedded-hal-async",
 "fugit",
 "futures-util",
 "rtic-common",
 ]
@ -617,16 +612,7 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
 dependencies = [
- "semver 0.9.0",
+ "semver",
 ]
 [[package]]
 name = "rustc_version"
 version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
 "semver 1.0.23",
 ]
 [[package]]
@ -638,20 +624,21 @@ dependencies = [
 "defmt",
 "delegate",
 "derive-new",
- "heapless 0.7.17",
+ "heapless",
 "num-traits",
 "num_enum",
 "paste",
 "satrs-shared",
 "smallvec",
 "spacepackets",
 "thiserror",
 ]
 [[package]]
 name = "satrs-shared"
-version = "0.1.4"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
+checksum = "f10b962c131d0bcb0de06fefa5d4716cbd7f836167f90229f7f38405dc573bd3"
 dependencies = [
 "spacepackets",
 ]
@ -676,12 +663,6 @@ dependencies = [
 "stm32h7xx-hal",
 ]
 [[package]]
 name = "scopeguard"
 version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 [[package]]
 name = "semver"
 version = "0.9.0"
@ -691,12 +672,6 @@ dependencies = [
 "semver-parser",
 ]
 [[package]]
 name = "semver"
 version = "1.0.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
 [[package]]
 name = "semver-parser"
 version = "0.7.0"
@ -719,33 +694,26 @@ dependencies = [
 "byteorder",
 "cfg-if",
 "defmt",
- "heapless 0.8.0",
+ "heapless",
 "managed",
 ]
 [[package]]
 name = "spacepackets"
-version = "0.11.2"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
+checksum = "591d42bfa6af2ab308e5efd8f0870e2d0eb5dd19a141bdcb7da731f5ff9cc11c"
 dependencies = [
 "crc",
 "defmt",
 "delegate",
 "num-traits",
 "num_enum",
 "paste",
 "thiserror",
 "zerocopy",
 ]
 [[package]]
 name = "spin"
 version = "0.9.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
 dependencies = [
 "lock_api",
 ]
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
@ -784,6 +752,19 @@ dependencies = [
 "void",
 ]
 [[package]]
 name = "svgbobdoc"
 version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f2c04b93fc15d79b39c63218f15e3fdffaa4c227830686e3b7c5f41244eb3e50"
 dependencies = [
 "base64",
 "proc-macro2",
 "quote",
 "syn 1.0.109",
 "unicode-width",
 ]
 [[package]]
 name = "syn"
 version = "1.0.109"
@ -797,9 +778,9 @@ dependencies = [
 [[package]]
 name = "syn"
-version = "2.0.64"
+version = "2.0.96"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ad3dee41f36859875573074334c200d1add8e4a87bb37113ebd31d926b7b11f"
+checksum = "d5d0adab1ae378d7f53bdebc67a39f1f151407ef230f0ce2883572f5d8985c80"
 dependencies = [
 "proc-macro2",
 "quote",
@ -808,29 +789,35 @@ dependencies = [
 [[package]]
 name = "thiserror"
-version = "1.0.61"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
+checksum = "d452f284b73e6d76dd36758a0c8684b1d5be31f92b89d07fd5822175732206fc"
 dependencies = [
 "thiserror-impl",
 ]
 [[package]]
 name = "thiserror-impl"
-version = "1.0.61"
+version = "2.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
+checksum = "26afc1baea8a989337eeb52b6e72a039780ce45c3edfcc9c5b9d112feeb173c2"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]
 [[package]]
 name = "unicode-ident"
-version = "1.0.12"
+version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
 [[package]]
 name = "unicode-width"
 version = "0.1.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af"
 [[package]]
 name = "vcell"
@ -838,12 +825,6 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
 [[package]]
 name = "version_check"
 version = "0.9.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
 [[package]]
 name = "void"
 version = "1.0.2"
@ -861,21 +842,20 @@ dependencies = [
 [[package]]
 name = "zerocopy"
-version = "0.7.34"
+version = "0.8.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
+checksum = "a367f292d93d4eab890745e75a778da40909cab4d6ff8173693812f79c4a2468"
 dependencies = [
 "byteorder",
 "zerocopy-derive",
 ]
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.34"
+version = "0.8.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
+checksum = "d3931cb58c62c13adec22e38686b559c86a30565e16ad6e8510a337cedc611e1"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.64",
+ "syn 2.0.96",
 ]
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
@ -21,11 +21,11 @@ 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"
+embedded-alloc = "0.6"
 rtic-sync = { version = "1", features = ["defmt-03"] }
 [dependencies.smoltcp]
-version = "0.11.0"
+version = "0.11"
 default-features = false
 features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
@ -34,7 +34,7 @@ version = "2"
 features = ["thumbv7-backend"]
 [dependencies.rtic-monotonics]
-version = "1"
+version = "2"
 features = ["cortex-m-systick"]
 [dependencies.satrs]
--- a/embedded-examples/stm32h7-nucleo-rtic/README.md
+++ b/embedded-examples/stm32h7-nucleo-rtic/README.md
@ -1,4 +1,4 @@
-sat-rs example for the STM32F3-Discovery board
+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)
--- a/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
+++ b/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
@ -3,8 +3,8 @@
 extern crate alloc;
 use rtic::app;
-use rtic_monotonics::systick::Systick;
+use rtic_monotonics::fugit::TimerInstantU32;
-use rtic_monotonics::Monotonic;
+use rtic_monotonics::systick::prelude::*;
 use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
 use satrs::static_subpool;
 // global logger + panicking-behavior + memory layout
@ -13,7 +13,7 @@ use smoltcp::socket::udp::UdpMetadata;
 use smoltcp::socket::{dhcpv4, udp};
 use core::mem::MaybeUninit;
-use embedded_alloc::Heap;
+use embedded_alloc::LlffHeap as Heap;
 use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
 use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
 use stm32h7xx_hal::ethernet;
@ -32,6 +32,8 @@ pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_
 #[global_allocator]
 static HEAP: Heap = Heap::empty();
 systick_monotonic!(Mono, 1000);
 // We place the memory pool buffers inside the larger AXISRAM.
 pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
 pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
@ -72,7 +74,9 @@ impl Net {
        let mut iface = Interface::new(
            config,
            &mut ethdev,
-            smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
+            smoltcp::time::Instant::from_millis(
                (Mono::now() - TimerInstantU32::<1000>::from_ticks(0)).to_millis(),
            ),
        );
        // Create sockets
        let dhcp_socket = dhcpv4::Socket::new();
@ -91,7 +95,7 @@ impl Net {
    /// 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 uptime = Mono::now() - TimerInstantU32::<1000>::from_ticks(0);
        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
        self.iface.poll(timestamp, &mut self.ethdev, sockets)
@ -203,8 +207,7 @@ mod app {
    use core::ptr::addr_of_mut;
    use super::*;
-    use rtic_monotonics::systick::fugit::MillisDurationU32;
+    use rtic_monotonics::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};
@ -256,12 +259,7 @@ mod app {
            .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!();
+        Mono::start(cx.core.SYST, ccdr.clocks.sys_ck().to_Hz());
        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.
@ -377,24 +375,24 @@ mod app {
        shared_pool
            .grow(
-                unsafe { SUBPOOL_SMALL.assume_init_mut() },
+                SUBPOOL_SMALL.get_mut().unwrap(),
-                unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
+                SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
                SUBPOOL_SMALL_NUM_BLOCKS,
                true,
            )
            .expect("growing heapless memory pool failed");
        shared_pool
            .grow(
-                unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
+                SUBPOOL_MEDIUM.get_mut().unwrap(),
-                unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
+                SUBPOOL_MEDIUM_SIZES.get_mut().unwrap(),
                SUBPOOL_MEDIUM_NUM_BLOCKS,
                true,
            )
            .expect("growing heapless memory pool failed");
        shared_pool
            .grow(
-                unsafe { SUBPOOL_LARGE.assume_init_mut() },
+                SUBPOOL_LARGE.get_mut().unwrap(),
-                unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
+                SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
                SUBPOOL_LARGE_NUM_BLOCKS,
                true,
            )
@ -403,7 +401,7 @@ mod app {
        // 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) }
+        unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
        eth_link_check::spawn().expect("eth link check failed");
        blinky::spawn().expect("spawning blink task failed");
@ -435,7 +433,7 @@ mod app {
            leds.led1.toggle();
            leds.led2.toggle();
            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
+            Mono::delay(current_blink_freq).await;
        }
    }
@ -457,7 +455,7 @@ mod app {
                cx.shared.eth_link_up.lock(|link_up| *link_up = false);
                defmt::info!("Ethernet link down");
            }
-            Systick::delay(100.millis()).await;
+            Mono::delay(100.millis()).await;
        }
    }
@ -483,7 +481,7 @@ mod app {
                    cx.local.udp.poll(sockets, pool);
                })
            });
-            Systick::delay(40.millis()).await;
+            Mono::delay(40.millis()).await;
        }
    }
--- a/images/minisim-arch/minisim-arch.graphml
+++ b/images/minisim-arch/minisim-arch.graphml
@ -0,0 +1,260 @@
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  <data key="d7">
    <y:Resources/>
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 </graphml>
--- a/images/minisim-arch/minisim-arch.png
+++ b/images/minisim-arch/minisim-arch.png
--- a/satrs-book/src/introduction.md
+++ b/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
@ -31,7 +29,9 @@ 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
@ -43,3 +43,7 @@ Currently this library has the following flight heritage:
  [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/).
--- a/satrs-example/CHANGELOG.md
+++ b/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
--- a/satrs-example/Cargo.toml
+++ b/satrs-example/Cargo.toml
@ -8,18 +8,18 @@ homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 [dependencies]
-fern = "0.6"
+fern = "0.7"
 chrono = "0.4"
 log = "0.4"
 crossbeam-channel = "0.5"
-delegate = "0.10"
+delegate = "0.13"
-zerocopy = "0.6"
+zerocopy = "0.8"
 csv = "1"
 num_enum = "0.7"
-thiserror = "1"
+thiserror = "2"
 lazy_static = "1"
 strum = { version = "0.26", features = ["derive"] }
-derive-new = "0.5"
+derive-new = "0.7"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
@ -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"
--- a/satrs-example/README.md
+++ b/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`.
--- a/satrs-example/pytmtc/.gitignore
+++ b/satrs-example/pytmtc/.gitignore
@ -1,3 +1,4 @@
 /tmtc_conf.json
 __pycache__
 /venv
@ -7,3 +8,136 @@ __pycache__
 /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
--- a/satrs-example/pytmtc/main.py
+++ b/satrs-example/pytmtc/main.py
@ -1,29 +1,20 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
 import logging
 import sys
 import time
 from typing import Any, Optional
 from prompt_toolkit.history import History
 from prompt_toolkit.history import FileHistory
 from spacepackets.ccsds import PacketId, PacketType
 import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusVerificator
+from spacepackets.ecss import 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 import ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
+from tmtccmd.tmtc import CcsdsTmHandler
 from tmtccmd.com import ComInterface
 from tmtccmd.config import (
    CmdTreeNode,
    default_json_path,
    SetupParams,
    HookBase,
    params_to_procedure_conversion,
 )
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
@ -33,193 +24,20 @@ from tmtccmd.logging.pus import (
    RawTmtcTimedLogWrapper,
    TimedLogWhen,
 )
-from tmtccmd.tmtc import (
+from spacepackets.seqcount import PusFileSeqCountProvider
    TcQueueEntryType,
    ProcedureWrapper,
    TcProcedureType,
    FeedWrapper,
    SendCbParams,
    DefaultPusQueueHelper,
    QueueWrapper,
 )
 from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
-import pus_tc
+from pytmtc.config import SatrsConfigHook
-from common import Apid, EventU32
+from pytmtc.pus_tc import TcHandler
 from pytmtc.pus_tm import PusHandler
 _LOGGER = logging.getLogger()
 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 pus_tc.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()
 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 = PusTelemetry.unpack(
                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
            )
        except ValueError as e:
            _LOGGER.warning("Could not generate PUS TM object from raw data")
            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
            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:
            _LOGGER.info("No handling for HK packets implemented")
            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
            pus_tm = PusTelemetry.unpack(
                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
            )
            if pus_tm.subservice == 25:
                if len(pus_tm.source_data) < 8:
                    raise ValueError("No addressable ID in HK packet")
                json_str = pus_tm.source_data[8:]
                _LOGGER.info(json_str)
        elif service == 5:
            tm_packet = PusTelemetry.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 = PusTelemetry.unpack(
                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
            )
        self.raw_logger.log_tm(pus_tm)
 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
            pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
 def main():
    add_colorlog_console_logger(_LOGGER)
    tmtccmd.init_printout(False)
-    hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
+    hook_obj = SatrsConfigHook(json_cfg_path=default_json_path())
    parser_wrapper = PreArgsParsingWrapper()
    parser_wrapper.create_default_parent_parser()
    parser_wrapper.create_default_parser()
--- a/satrs-example/pytmtc/pyproject.toml
+++ b/satrs-example/pytmtc/pyproject.toml
@ -0,0 +1,27 @@
 [build-system]
 requires = ["setuptools>=61.0"]
 build-backend = "setuptools.build_meta"
 [project]
 name = "pytmtc"
 description = "Python TMTC client for OPS-SAT"
 readme = "README.md"
 version = "0.1.0"
 requires-python = ">=3.8"
 authors = [
  {name = "Robin Mueller", email = "robin.mueller.m@gmail.com"},
 ]
 dependencies = [
    "tmtccmd~=8.1",
    "pydantic~=2.7"
 ]
 [tool.setuptools.packages]
 find = {}
 [tool.ruff]
 extend-exclude = ["archive"]
 [tool.ruff.lint]
 ignore = ["E501"]
 [tool.ruff.lint.extend-per-file-ignores]
 "__init__.py" = ["F401"]
--- a/satrs-example/pytmtc/pytmtc/init.py
+++ b/satrs-example/pytmtc/pytmtc/init.py
--- a/satrs-example/pytmtc/pytmtc/acs/init.py
+++ b/satrs-example/pytmtc/pytmtc/acs/init.py
@ -0,0 +1,11 @@
 from tmtccmd.config import CmdTreeNode
 def create_acs_node(mode_node: CmdTreeNode, hk_node: CmdTreeNode) -> CmdTreeNode:
    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
    mgm_node = CmdTreeNode("mgms", "MGM devices node")
    mgm_node.add_child(mode_node)
    mgm_node.add_child(hk_node)
    acs_node.add_child(mgm_node)
    return acs_node
--- a/satrs-example/pytmtc/pytmtc/acs/mgms.py
+++ b/satrs-example/pytmtc/pytmtc/acs/mgms.py
@ -0,0 +1,45 @@
 import logging
 import struct
 import enum
 from typing import List
 from spacepackets.ecss import PusTm
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from pytmtc.common import AcsId, Apid
 from pytmtc.hk_common import create_request_one_shot_hk_cmd
 from pytmtc.mode import handle_set_mode_cmd
 _LOGGER = logging.getLogger(__name__)
 class SetId(enum.IntEnum):
    SENSOR_SET = 0
 def create_mgm_cmds(q: DefaultPusQueueHelper, cmd_path: List[str]):
    assert len(cmd_path) >= 3
    if cmd_path[2] == "hk":
        if cmd_path[3] == "one_shot_hk":
            q.add_log_cmd("Sending HK one shot request")
            q.add_pus_tc(
                create_request_one_shot_hk_cmd(Apid.ACS, AcsId.MGM_0, SetId.SENSOR_SET)
            )
    if cmd_path[2] == "mode":
        if cmd_path[3] == "set_mode":
            handle_set_mode_cmd(q, "MGM 0", cmd_path[4], Apid.ACS, AcsId.MGM_0)
 def handle_mgm_hk_report(pus_tm: PusTm, set_id: int, hk_data: bytes):
    if set_id == SetId.SENSOR_SET:
        if len(hk_data) != 13:
            raise ValueError(f"invalid HK data length, expected 13, got {len(hk_data)}")
        data_valid = hk_data[0]
        mgm_x = struct.unpack("!f", hk_data[1:5])[0]
        mgm_y = struct.unpack("!f", hk_data[5:9])[0]
        mgm_z = struct.unpack("!f", hk_data[9:13])[0]
        _LOGGER.info(
            f"received MGM HK set in uT: Valid {data_valid} X {mgm_x} Y {mgm_y} Z {mgm_z}"
        )
        pass
--- a/satrs-example/pytmtc/pytmtc/common.py
+++ b/satrs-example/pytmtc/pytmtc/common.py
--- a/satrs-example/pytmtc/pytmtc/config.py
+++ b/satrs-example/pytmtc/pytmtc/config.py
@ -0,0 +1,47 @@
 from typing import Optional
 from prompt_toolkit.history import FileHistory, History
 from spacepackets.ccsds import PacketId, PacketType
 from tmtccmd import HookBase
 from tmtccmd.com import ComInterface
 from tmtccmd.config import CmdTreeNode
 from tmtccmd.util.obj_id import ObjectIdDictT
 from pytmtc.common import Apid
 from pytmtc.pus_tc import create_cmd_definition_tree
 class SatrsConfigHook(HookBase):
    def __init__(self, json_cfg_path: str):
        super().__init__(json_cfg_path)
    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
        from tmtccmd.config.com import (
            create_com_interface_default,
            create_com_interface_cfg_default,
        )
        assert self.cfg_path is not None
        packet_id_list = []
        for apid in Apid:
            packet_id_list.append(PacketId(PacketType.TM, True, apid))
        cfg = create_com_interface_cfg_default(
            com_if_key=com_if_key,
            json_cfg_path=self.cfg_path,
            space_packet_ids=packet_id_list,
        )
        assert cfg is not None
        return create_com_interface_default(cfg)
    def get_command_definitions(self) -> CmdTreeNode:
        """This function should return the root node of the command definition tree."""
        return create_cmd_definition_tree()
    def get_cmd_history(self) -> Optional[History]:
        """Optionlly return a history class for the past command paths which will be used
        when prompting a command path from the user in CLI mode."""
        return FileHistory(".tmtc-history.txt")
    def get_object_ids(self) -> ObjectIdDictT:
        from tmtccmd.config.objects import get_core_object_ids
        return get_core_object_ids()
--- a/satrs-example/pytmtc/pytmtc/eps/init.py
+++ b/satrs-example/pytmtc/pytmtc/eps/init.py
--- a/satrs-example/pytmtc/pytmtc/eps/pcdu.py
+++ b/satrs-example/pytmtc/pytmtc/eps/pcdu.py
--- a/satrs-example/pytmtc/pytmtc/hk.py
+++ b/satrs-example/pytmtc/pytmtc/hk.py
@ -0,0 +1,42 @@
 import logging
 import struct
 from spacepackets.ecss.pus_3_hk import Subservice
 from spacepackets.ecss import PusTm
 from pytmtc.common import AcsId, Apid
 from pytmtc.acs.mgms import handle_mgm_hk_report
 _LOGGER = logging.getLogger(__name__)
 def handle_hk_packet(pus_tm: PusTm):
    if len(pus_tm.source_data) < 4:
        raise ValueError("no unique ID in HK packet")
    unique_id = struct.unpack("!I", pus_tm.source_data[:4])[0]
    if (
        pus_tm.subservice == Subservice.TM_HK_REPORT
        or pus_tm.subservice == Subservice.TM_DIAGNOSTICS_REPORT
    ):
        if len(pus_tm.source_data) < 8:
            raise ValueError("no set ID in HK packet")
        set_id = struct.unpack("!I", pus_tm.source_data[4:8])[0]
        handle_hk_report(pus_tm, unique_id, set_id)
    _LOGGER.warning(
        f"handling for HK packet with subservice {pus_tm.subservice} not implemented yet"
    )
 def handle_hk_report(pus_tm: PusTm, unique_id: int, set_id: int):
    hk_data = pus_tm.source_data[8:]
    if pus_tm.apid == Apid.ACS:
        if unique_id == AcsId.MGM_0:
            handle_mgm_hk_report(pus_tm, set_id, hk_data)
        else:
            _LOGGER.warning(
                f"handling for HK report with unique ID {unique_id} not implemented yet"
            )
    else:
        _LOGGER.warning(
            f"handling for HK report with apid {pus_tm.apid} not implemented yet"
        )
--- a/satrs-example/pytmtc/pytmtc/hk_common.py
+++ b/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,
    )
--- a/satrs-example/pytmtc/pytmtc/mode.py
+++ b/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))
--- a/satrs-example/pytmtc/pytmtc/pus_tc.py
+++ b/satrs-example/pytmtc/pytmtc/pus_tc.py
@ -1,37 +1,73 @@
 import datetime
 import struct
 import logging
 from spacepackets.ccsds import CdsShortTimestamp
 from spacepackets.ecss import PusTelecommand
 from spacepackets.seqcount import FileSeqCountProvider
 from tmtccmd import ProcedureWrapper, TcHandlerBase
 from tmtccmd.config import CmdTreeNode
-from tmtccmd.pus.tc.s200_fsfw_mode import Mode
+from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import DefaultPusQueueHelper
+from tmtccmd.tmtc import (
    DefaultPusQueueHelper,
    FeedWrapper,
    QueueWrapper,
    SendCbParams,
    TcProcedureType,
    TcQueueEntryType,
 )
 from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
 from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
-from common import AcsId, Apid
+from pytmtc.acs import create_acs_node
 from pytmtc.common import Apid
 from pytmtc.acs.mgms import create_mgm_cmds
 _LOGGER = logging.getLogger(__name__)
-def create_set_mode_cmd(
+class TcHandler(TcHandlerBase):
-    apid: int, unique_id: int, mode: int, submode: int
+    def __init__(
-) -> PusTelecommand:
+        self,
-    app_data = bytearray()
+        seq_count_provider: FileSeqCountProvider,
-    app_data.extend(struct.pack("!I", unique_id))
+        verif_wrapper: VerificationWrapper,
-    app_data.extend(struct.pack("!I", mode))
+    ):
-    app_data.extend(struct.pack("!H", submode))
+        super(TcHandler, self).__init__()
-    return PusTelecommand(
+        self.seq_count_provider = seq_count_provider
-        service=200,
+        self.verif_wrapper = verif_wrapper
-        subservice=ModeSubservice.TC_MODE_COMMAND,
+        self.queue_helper = DefaultPusQueueHelper(
-        apid=apid,
+            queue_wrapper=QueueWrapper.empty(),
-        app_data=app_data,
+            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
            seq_cnt_provider=seq_count_provider,
            pus_verificator=self.verif_wrapper.pus_verificator,
            default_pus_apid=None,
        )
    def send_cb(self, send_params: SendCbParams):
        entry_helper = send_params.entry
        if entry_helper.is_tc:
            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
                raw_tc = pus_tc_wrapper.pus_tc.pack()
                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
                send_params.com_if.send(raw_tc)
        elif entry_helper.entry_type == TcQueueEntryType.LOG:
            log_entry = entry_helper.to_log_entry()
            _LOGGER.info(log_entry.log_str)
    def queue_finished_cb(self, info: ProcedureWrapper):
        if info.proc_type == TcProcedureType.TREE_COMMANDING:
            def_proc = info.to_tree_commanding_procedure()
            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
        q = self.queue_helper
        q.queue_wrapper = wrapper.queue_wrapper
        if info.proc_type == TcProcedureType.TREE_COMMANDING:
            def_proc = info.to_tree_commanding_procedure()
            assert def_proc.cmd_path is not None
            pack_pus_telecommands(q, def_proc.cmd_path)
 def create_cmd_definition_tree() -> CmdTreeNode:
    root_node = CmdTreeNode.root_node()
    hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
@ -65,15 +101,7 @@ def create_cmd_definition_tree() -> CmdTreeNode:
        )
    )
    root_node.add_child(scheduler_node)
-
+    root_node.add_child(create_acs_node(mode_node, hk_node))
    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
    mgm_node = CmdTreeNode("mgms", "MGM devices node")
    mgm_node.add_child(mode_node)
    mgm_node.add_child(hk_node)
    acs_node.add_child(mgm_node)
    root_node.add_child(acs_node)
    return root_node
@ -112,32 +140,4 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
    if cmd_path_list[0] == "acs":
        assert len(cmd_path_list) >= 2
        if cmd_path_list[1] == "mgms":
-            assert len(cmd_path_list) >= 3
+            create_mgm_cmds(q, cmd_path_list)
            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))
--- a/satrs-example/pytmtc/pytmtc/pus_tm.py
+++ b/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)
--- a/satrs-example/pytmtc/requirements.txt
+++ b/satrs-example/pytmtc/requirements.txt
@ -1,2 +1 @@
-tmtccmd == 8.0.0rc2
+.
 # -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd
--- a/satrs-example/pytmtc/tc_definitions.py
+++ b/satrs-example/pytmtc/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
--- a/satrs-example/pytmtc/tests/init.py
+++ b/satrs-example/pytmtc/tests/init.py
--- a/satrs-example/pytmtc/tests/test_tc_mods.py
+++ b/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)
--- a/satrs-example/src/acs/mgm.rs
+++ b/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_example::{DeviceMode, TimestampHelper};
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs_minisim::acs::lis3mdl::{
-use satrs::spacepackets::SpHeader;
+    MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
-use satrs_example::{DeviceMode, TimeStampHelper};
+};
 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;
+pub const NR_OF_DATA_AND_CFG_REGISTERS: usize = 14;
-// 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;
+// 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_values: MgmLis3RawValues,
    pub dummy_val_1: i16,
    pub dummy_val_2: i16,
 }
 impl SpiInterface for SpiDummyInterface {
    type Error = ();
    fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
-        rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
+        rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.x.to_le_bytes());
-        rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
+        rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.y.to_be_bytes());
-        rx[4..6].copy_from_slice(&self.dummy_val_2.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 +131,86 @@ pub struct MgmData {
 pub struct MpscModeLeafInterface {
    pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
-    pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
+    pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
-    pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
+    #[allow(dead_code)]
    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>>,
+    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
+    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)")]
+    #[new(value = "PusHkHelper::new(id)")]
-    mode_and_submode: ModeAndSubmode,
+    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],
+    stamp_helper: TimestampHelper,
    #[new(default)]
    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.
+            self.poll_sensor();
            let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
            assert!(result.is_ok());
            // Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
            let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
            let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
            let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
            // Simple scaling to retrieve the float value, assuming a sensor resolution of
            let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
            mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
            mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
            mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
            drop(mgm_guard);
        }
    }
    pub fn handle_composite_requests(&mut self) {
        loop {
-            match self.composite_request_receiver.try_recv() {
+            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 +238,33 @@ 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(
+                } else {
-                    3,
+                    // TODO: Send back failure reply. Need result code for this.
-                    hk::Subservice::TmHkPacket as u8,
+                    log::error!("TM buffer too small to generate HK data");
-                    0,
+                }
                    0,
                    self.stamp_helper.stamp(),
                );
                let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
                // Use binary serialization here. We want the data to be tightly packed.
                self.tm_buf[0] = mgm_snapshot.valid as u8;
                self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
                self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
                self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
                let hk_tm = PusTmCreator::new(
                    SpHeader::new_from_apid(self.id.apid),
                    sec_header,
                    &self.tm_buf[0..12],
                    true,
                );
                self.tm_sender
                    .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
                    .expect("failed to send HK TM");
            }
            HkRequestVariant::EnablePeriodic => todo!(),
            HkRequestVariant::DisablePeriodic => todo!(),
@ -199,32 +297,114 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
            }
        }
    }
 }
-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
+    pub fn poll_sensor(&mut self) {
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+        // Communicate with the device. This is actually how to read the data from the LIS3 device
-{
+        // SPI interface.
-    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.com_interface
-        self.mode_and_submode
+            .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
+impl<
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+        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,
        mode_and_submode: ModeAndSubmode,
        _forced: bool,
    ) -> Result<(), satrs::mode::ModeError> {
        log::info!(
            "{}: transitioning to mode {:?}",
            self.dev_str,
            mode_and_submode
        );
-        self.mode_and_submode = mode_and_submode;
+        self.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 +412,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
        log::info!(
            "{} announcing mode: {:?}",
            self.dev_str,
-            self.mode_and_submode
+            self.mode_and_submode()
        );
    }
@ -240,11 +420,15 @@ 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 +450,7 @@ 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 +464,199 @@ 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 {
                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
                    forced: false,
                },
            ))
            .expect("failed to send mode request");
        testbench.handler.periodic_operation();
        assert_eq!(
            testbench.handler.mode_and_submode().mode(),
            DeviceMode::Normal as u32
        );
        assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
        // Verify power switch handling.
        let mut switch_requests = testbench.handler.switch_helper.switch_requests.borrow_mut();
        assert_eq!(switch_requests.len(), 1);
        let switch_req = switch_requests.pop_front().expect("no switch request");
        assert_eq!(switch_req.target_state, SwitchStateBinary::On);
        assert_eq!(switch_req.switch_id, PcduSwitch::Mgm);
        let mut switch_info_requests = testbench
            .handler
            .switch_helper
            .switch_info_requests
            .borrow_mut();
        assert_eq!(switch_info_requests.len(), 1);
        let switch_info_req = switch_info_requests.pop_front().expect("no switch request");
        assert_eq!(switch_info_req, PcduSwitch::Mgm);
        let mode_reply = testbench
            .mode_reply_rx_to_pus
            .try_recv()
            .expect("no mode reply generated");
        match mode_reply.message {
            ModeReply::ModeReply(mode) => {
                assert_eq!(mode.mode(), DeviceMode::Normal as u32);
                assert_eq!(mode.submode(), 0);
            }
            _ => panic!("unexpected mode reply"),
        }
        // The device should have been polled once.
        assert_eq!(testbench.handler.com_interface.call_count, 1);
        let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
        assert!(mgm_set.x < 0.001);
        assert!(mgm_set.y < 0.001);
        assert!(mgm_set.z < 0.001);
        assert!(mgm_set.valid);
    }
    #[test]
    fn test_normal_handler_mgm_set_conversion() {
        let mut testbench = MgmTestbench::new();
        let raw_values = MgmLis3RawValues {
            x: 1000,
            y: -1000,
            z: 1000,
        };
        testbench.handler.com_interface.next_mgm_data = raw_values;
        testbench
            .mode_request_tx
            .send(GenericMessage::new(
                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
                ModeRequest::SetMode {
                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
                    forced: false,
                },
            ))
            .expect("failed to send mode request");
        testbench.handler.periodic_operation();
        let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
        let expected_x =
            raw_values.x as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
        let expected_y =
            raw_values.y as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
        let expected_z =
            raw_values.z as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
        let x_diff = (mgm_set.x - expected_x).abs();
        let y_diff = (mgm_set.y - expected_y).abs();
        let z_diff = (mgm_set.z - expected_z).abs();
        assert!(x_diff < 0.001, "x diff too large: {}", x_diff);
        assert!(y_diff < 0.001, "y diff too large: {}", y_diff);
        assert!(z_diff < 0.001, "z diff too large: {}", z_diff);
        assert!(mgm_set.valid);
    }
 }
--- a/satrs-example/src/bin/test.rs
+++ b/satrs-example/src/bin/test.rs
@ -3,7 +3,7 @@
 use crossbeam_channel::{bounded, Receiver, Sender};
 use std::sync::atomic::{AtomicU16, Ordering};
 use std::thread;
-use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned, U16};
+use zerocopy::{FromBytes, Immutable, IntoBytes, NetworkEndian, Unaligned, U16};
 trait FieldDataProvider: Send {
    fn get_data(&self) -> &[u8];
@ -35,7 +35,7 @@ struct ExampleMgmSet {
    temperature: u16,
 }
-#[derive(FromBytes, AsBytes, Unaligned)]
+#[derive(FromBytes, IntoBytes, Immutable, Unaligned)]
 #[repr(C)]
 struct ExampleMgmSetZc {
    mgm_vec: [u8; 12],
--- a/satrs-example/src/config.rs
+++ b/satrs-example/src/config.rs
@ -122,7 +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)]
@ -132,6 +132,7 @@ pub mod components {
        Acs = 3,
        Cfdp = 4,
        Tmtc = 5,
        Eps = 6,
    }
    // Component IDs for components with the PUS APID.
@ -150,6 +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,
@ -172,10 +178,13 @@ 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 {
@ -224,7 +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;
 }
--- a/satrs-example/src/eps/mod.rs
+++ b/satrs-example/src/eps/mod.rs
@ -0,0 +1,197 @@
 use derive_new::new;
 use std::{cell::RefCell, collections::VecDeque, sync::mpsc, time::Duration};
 use satrs::{
    power::{
        PowerSwitchInfo, PowerSwitcherCommandSender, SwitchRequest, SwitchState, SwitchStateBinary,
    },
    queue::GenericSendError,
    request::{GenericMessage, MessageMetadata},
 };
 use satrs_minisim::eps::{PcduSwitch, SwitchMapWrapper};
 use thiserror::Error;
 use self::pcdu::SharedSwitchSet;
 pub mod pcdu;
 #[derive(new, Clone)]
 pub struct PowerSwitchHelper {
    switcher_tx: mpsc::SyncSender<GenericMessage<SwitchRequest>>,
    shared_switch_set: SharedSwitchSet,
 }
 #[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
 pub enum SwitchCommandingError {
    #[error("send error: {0}")]
    Send(#[from] GenericSendError),
 }
 #[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
 pub enum SwitchInfoError {
    /// This is a configuration error which should not occur.
    #[error("switch ID not in map")]
    SwitchIdNotInMap(PcduSwitch),
    #[error("switch set invalid")]
    SwitchSetInvalid,
 }
 impl PowerSwitchInfo<PcduSwitch> for PowerSwitchHelper {
    type Error = SwitchInfoError;
    fn switch_state(
        &self,
        switch_id: PcduSwitch,
    ) -> Result<satrs::power::SwitchState, Self::Error> {
        let switch_set = self
            .shared_switch_set
            .lock()
            .expect("failed to lock switch set");
        if !switch_set.valid {
            return Err(SwitchInfoError::SwitchSetInvalid);
        }
        if let Some(state) = switch_set.switch_map.get(&switch_id) {
            return Ok(*state);
        }
        Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
    }
    fn switch_delay_ms(&self) -> Duration {
        // Here, we could set device specific switch delays theoretically. Set it to this value
        // for now.
        Duration::from_millis(1000)
    }
 }
 impl PowerSwitcherCommandSender<PcduSwitch> for PowerSwitchHelper {
    type Error = SwitchCommandingError;
    fn send_switch_on_cmd(
        &self,
        requestor_info: satrs::request::MessageMetadata,
        switch_id: PcduSwitch,
    ) -> Result<(), Self::Error> {
        self.switcher_tx
            .send_switch_on_cmd(requestor_info, switch_id)?;
        Ok(())
    }
    fn send_switch_off_cmd(
        &self,
        requestor_info: satrs::request::MessageMetadata,
        switch_id: PcduSwitch,
    ) -> Result<(), Self::Error> {
        self.switcher_tx
            .send_switch_off_cmd(requestor_info, switch_id)?;
        Ok(())
    }
 }
 #[allow(dead_code)]
 #[derive(new)]
 pub struct SwitchRequestInfo {
    pub requestor_info: MessageMetadata,
    pub switch_id: PcduSwitch,
    pub target_state: satrs::power::SwitchStateBinary,
 }
 // Test switch helper which can be used for unittests.
 pub struct TestSwitchHelper {
    pub switch_requests: RefCell<VecDeque<SwitchRequestInfo>>,
    pub switch_info_requests: RefCell<VecDeque<PcduSwitch>>,
    #[allow(dead_code)]
    pub switch_delay_request_count: u32,
    pub next_switch_delay: Duration,
    pub switch_map: RefCell<SwitchMapWrapper>,
    pub switch_map_valid: bool,
 }
 impl Default for TestSwitchHelper {
    fn default() -> Self {
        Self {
            switch_requests: Default::default(),
            switch_info_requests: Default::default(),
            switch_delay_request_count: Default::default(),
            next_switch_delay: Duration::from_millis(1000),
            switch_map: Default::default(),
            switch_map_valid: true,
        }
    }
 }
 impl PowerSwitchInfo<PcduSwitch> for TestSwitchHelper {
    type Error = SwitchInfoError;
    fn switch_state(
        &self,
        switch_id: PcduSwitch,
    ) -> Result<satrs::power::SwitchState, Self::Error> {
        let mut switch_info_requests_mut = self.switch_info_requests.borrow_mut();
        switch_info_requests_mut.push_back(switch_id);
        if !self.switch_map_valid {
            return Err(SwitchInfoError::SwitchSetInvalid);
        }
        let switch_map_mut = self.switch_map.borrow_mut();
        if let Some(state) = switch_map_mut.0.get(&switch_id) {
            return Ok(*state);
        }
        Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
    }
    fn switch_delay_ms(&self) -> Duration {
        self.next_switch_delay
    }
 }
 impl PowerSwitcherCommandSender<PcduSwitch> for TestSwitchHelper {
    type Error = SwitchCommandingError;
    fn send_switch_on_cmd(
        &self,
        requestor_info: MessageMetadata,
        switch_id: PcduSwitch,
    ) -> Result<(), Self::Error> {
        let mut switch_requests_mut = self.switch_requests.borrow_mut();
        switch_requests_mut.push_back(SwitchRequestInfo {
            requestor_info,
            switch_id,
            target_state: SwitchStateBinary::On,
        });
        // By default, the test helper immediately acknowledges the switch request by setting
        // the appropriate switch state in the internal switch map.
        let mut switch_map_mut = self.switch_map.borrow_mut();
        if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
            *switch_state = SwitchState::On;
        }
        Ok(())
    }
    fn send_switch_off_cmd(
        &self,
        requestor_info: MessageMetadata,
        switch_id: PcduSwitch,
    ) -> Result<(), Self::Error> {
        let mut switch_requests_mut = self.switch_requests.borrow_mut();
        switch_requests_mut.push_back(SwitchRequestInfo {
            requestor_info,
            switch_id,
            target_state: SwitchStateBinary::Off,
        });
        // By default, the test helper immediately acknowledges the switch request by setting
        // the appropriate switch state in the internal switch map.
        let mut switch_map_mut = self.switch_map.borrow_mut();
        if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
            *switch_state = SwitchState::Off;
        }
        Ok(())
    }
 }
 #[allow(dead_code)]
 impl TestSwitchHelper {
    // Helper function which can be used to force a switch to another state for test purposes.
    pub fn set_switch_state(&mut self, switch: PcduSwitch, state: SwitchState) {
        self.switch_map.get_mut().0.insert(switch, state);
    }
 }
--- a/satrs-example/src/eps/pcdu.rs
+++ b/satrs-example/src/eps/pcdu.rs
@ -0,0 +1,729 @@
 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,
        _forced: bool,
    ) -> Result<(), satrs::mode::ModeError> {
        log::info!(
            "{}: transitioning to mode {:?}",
            self.dev_str,
            mode_and_submode
        );
        self.mode_and_submode = mode_and_submode;
        if mode_and_submode.mode() == DeviceMode::Off as u32 {
            self.shared_switch_map.lock().unwrap().valid = false;
        }
        self.handle_mode_reached(Some(requestor))?;
        Ok(())
    }
    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
        log::info!(
            "{} announcing mode: {:?}",
            self.dev_str,
            self.mode_and_submode
        );
    }
    fn handle_mode_reached(
        &mut self,
        requestor: Option<MessageMetadata>,
    ) -> Result<(), Self::Error> {
        self.announce_mode(requestor, false);
        if let Some(requestor) = requestor {
            if requestor.sender_id() == NO_SENDER {
                return Ok(());
            }
            if requestor.sender_id() != PUS_MODE_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 {
                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
                    forced: false,
                },
            ))
            .expect("failed to send mode request");
        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
        assert!(!switch_map_shared.valid);
        drop(switch_map_shared);
        testbench.handler.periodic_operation(OpCode::RegularOp);
        testbench
            .handler
            .periodic_operation(OpCode::PollAndRecvReplies);
        // Check correctness of mode.
        assert_eq!(
            testbench.handler.mode_and_submode().mode(),
            DeviceMode::Normal as u32
        );
        assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
        testbench.verify_switch_info_req_was_sent(1);
        testbench.verify_switch_reply_received(1, SwitchMapBinaryWrapper::default().0);
        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
        assert!(switch_map_shared.valid);
        drop(switch_map_shared);
    }
    #[test]
    fn test_switch_request_handling() {
        let mut testbench = PcduTestbench::new();
        testbench
            .mode_request_tx
            .send(GenericMessage::new(
                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
                ModeRequest::SetMode {
                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
                    forced: false,
                },
            ))
            .expect("failed to send mode request");
        testbench
            .switch_request_tx
            .send(GenericMessage::new(
                MessageMetadata::new(0, 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);
    }
 }
--- a/satrs-example/src/hk.rs
+++ b/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,
        ))
    }
 }
--- a/satrs-example/src/interface/mod.rs
+++ b/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;
--- a/satrs-example/src/interface/sim_client_udp.rs
+++ b/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();
    }
 }
--- a/satrs-example/src/lib.rs
+++ b/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"),
--- a/satrs-example/src/main.rs
+++ b/satrs-example/src/main.rs
@ -1,4 +1,5 @@
 mod acs;
 mod eps;
 mod events;
 mod hk;
 mod interface;
@ -7,6 +8,10 @@ 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;
@ -16,15 +21,21 @@ 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;
@ -60,9 +73,20 @@ fn static_tmtc_pool_main() {
    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>>();
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
-    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
+    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.
@ -195,26 +225,79 @@ fn static_tmtc_pool_main() {
    );
    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_to_pus_tx: pus_mode_reply_tx.clone(),
-        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+        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,
+        pus_hk_reply_tx.clone(),
-        tm_sink_tx,
+        switch_helper.clone(),
-        dummy_spi_interface,
+        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 {
                mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as Mode, 0),
                forced: false,
            },
        ))
        .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())
@ -247,14 +330,20 @@ fn static_tmtc_pool_main() {
        })
        .unwrap();
-    info!("Starting event handling task");
+    let mut opt_jh_sim_client = None;
-    let jh_event_handling = thread::Builder::new()
+    if let Some(mut sim_client) = opt_sim_client {
-        .name("sat-rs events".to_string())
+        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();
+                    if sim_client.operation() == HandlingStatus::Empty {
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
+                        std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
                    }
                })
-        .unwrap();
+                .unwrap(),
        );
    }
    info!("Starting AOCS thread");
    let jh_aocs = thread::Builder::new()
@ -265,10 +354,26 @@ 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));
        })
@ -283,10 +388,13 @@ 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");
@ -295,22 +403,38 @@ 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>>();
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(5);
-    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
+    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
@ -319,7 +443,7 @@ fn dyn_tmtc_pool_main() {
    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
    // The event task is the core handler to perform the event routing and TM handling as specified
    // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_rx, 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();
@ -342,30 +466,30 @@ fn dyn_tmtc_pool_main() {
    };
    let pus_test_service =
-        create_test_service_dynamic(tm_funnel_tx.clone(), event_tx.clone(), pus_test_rx);
+        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,
@ -381,7 +505,7 @@ 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);
@ -410,28 +534,80 @@ fn dyn_tmtc_pool_main() {
    )
    .expect("tcp server creation failed");
-    let mut tm_funnel = TmSinkDynamic::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();
+        mpsc::sync_channel(5);
    let dummy_spi_interface = SpiDummyInterface::default();
    let shared_mgm_set = Arc::default();
    let mode_leaf_interface = MpscModeLeafInterface {
        request_rx: mgm_handler_mode_rx,
-        reply_tx_to_pus: pus_mode_reply_tx,
+        reply_to_pus_tx: pus_mode_reply_tx.clone(),
-        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+        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,
+        pus_hk_reply_tx.clone(),
-        tm_funnel_tx,
+        switch_helper.clone(),
-        dummy_spi_interface,
+        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 {
                mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as Mode, 0),
                forced: false,
            },
        ))
        .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())
@ -464,14 +640,20 @@ fn dyn_tmtc_pool_main() {
        })
        .unwrap();
-    info!("Starting event handling task");
+    let mut opt_jh_sim_client = None;
-    let jh_event_handling = thread::Builder::new()
+    if let Some(mut sim_client) = opt_sim_client {
-        .name("sat-rs events".to_string())
+        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();
+                    if sim_client.operation() == HandlingStatus::Empty {
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
+                        std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
                    }
                })
-        .unwrap();
+                .unwrap(),
        );
    }
    info!("Starting AOCS thread");
    let jh_aocs = thread::Builder::new()
@ -482,11 +664,27 @@ 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();
@ -500,10 +698,13 @@ 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");
--- a/satrs-example/src/pus/action.rs
+++ b/satrs-example/src/pus/action.rs
@ -341,7 +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
--- a/satrs-example/src/pus/hk.rs
+++ b/satrs-example/src/pus/hk.rs
@ -12,6 +12,7 @@ use satrs::pus::{
    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, PusServiceId};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
@ -32,8 +33,10 @@ pub struct HkReply {
 }
 #[derive(Clone, PartialEq, Debug)]
 #[allow(dead_code)]
 pub enum HkReplyVariant {
    Ack,
    Failed(ResultU16),
 }
 #[derive(Default)]
@ -69,6 +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)
    }
--- a/satrs-example/src/pus/mod.rs
+++ b/satrs-example/src/pus/mod.rs
@ -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};
@ -44,16 +44,18 @@ pub struct PusTcMpscRouter {
    pub event_tc_sender: Sender<EcssTcAndToken>,
    pub sched_tc_sender: Sender<EcssTcAndToken>,
    pub hk_tc_sender: Sender<EcssTcAndToken>,
    #[allow(dead_code)]
    pub action_tc_sender: Sender<EcssTcAndToken>,
    pub mode_tc_sender: Sender<EcssTcAndToken>,
 }
 pub struct PusTcDistributor<TmSender: EcssTmSender> {
    #[allow(dead_code)]
    pub id: ComponentId,
    pub tm_sender: TmSender,
    pub verif_reporter: VerificationReporter,
    pub pus_router: PusTcMpscRouter,
-    stamp_helper: TimeStampHelper,
+    stamp_helper: TimestampHelper,
 }
 impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
@ -66,7 +68,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                PUS_ROUTING_SERVICE.apid,
            ),
            pus_router,
-            stamp_helper: TimeStampHelper::default(),
+            stamp_helper: TimestampHelper::default(),
        }
    }
--- a/satrs-example/src/pus/mode.rs
+++ b/satrs-example/src/pus/mode.rs
@ -110,6 +110,7 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                    ),
                )?;
            }
            ModeReply::ModeInfo(_mode_and_submode) => (),
        };
        Ok(true)
    }
@ -190,7 +191,13 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
                }
                let mode_and_submode = ModeAndSubmode::from_be_bytes(&tc.user_data()[4..])
                    .expect("mode and submode extraction failed");
-                Ok((active_request, ModeRequest::SetMode(mode_and_submode)))
+                Ok((
                    active_request,
                    ModeRequest::SetMode {
                        mode_and_submode,
                        forced: false,
                    },
                ))
            }
            Subservice::TcReadMode => Ok((active_request, ModeRequest::ReadMode)),
            Subservice::TcAnnounceMode => Ok((active_request, ModeRequest::AnnounceMode)),
@ -346,7 +353,13 @@ mod tests {
        let (_active_req, req) = testbench
            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
            .expect("conversion has failed");
-        assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
+        assert_eq!(
            req,
            ModeRequest::SetMode {
                mode_and_submode,
                forced: false
            }
        );
    }
    #[test]
--- a/satrs-example/src/requests.rs
+++ b/satrs-example/src/requests.rs
@ -26,10 +26,12 @@ pub enum CompositeRequest {
 #[derive(Clone)]
 pub struct GenericRequestRouter {
    #[allow(dead_code)]
    pub id: ComponentId,
    // All messages which do not have a dedicated queue.
-    pub composite_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
+    pub composite_router_map:
-    pub mode_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<ModeRequest>>>,
+        HashMap<ComponentId, mpsc::SyncSender<GenericMessage<CompositeRequest>>>,
    pub mode_router_map: HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
 }
 impl Default for GenericRequestRouter {
--- a/satrs-example/src/tmtc/tm_sink.rs
+++ b/satrs-example/src/tmtc/tm_sink.rs
@ -4,16 +4,19 @@ use std::{
 };
 use log::info;
 use satrs::tmtc::{PacketAsVec, PacketInPool, SharedPacketPool};
 use satrs::{
    pool::PoolProvider,
    seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
    spacepackets::{
        ecss::{tm::PusTmZeroCopyWriter, PusPacket},
        seq_count::CcsdsSimpleSeqCountProvider,
        time::cds::MIN_CDS_FIELD_LEN,
        CcsdsPacket,
    },
 };
 use satrs::{
    spacepackets::seq_count::SequenceCountProvider,
    tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
 };
 use crate::interface::tcp::SyncTcpTmSource;
--- a/satrs-mib/Cargo.toml
+++ b/satrs-mib/Cargo.toml
@ -23,7 +23,7 @@ version = "1"
 optional = true
 [dependencies.satrs-shared]
-version = ">=0.1.3, <0.2"
+version = ">=0.1.3, <=0.2"
 features = ["serde"]
 [dependencies.satrs-mib-codegen]
--- a/satrs-mib/codegen/Cargo.toml
+++ b/satrs-mib/codegen/Cargo.toml
@ -28,7 +28,7 @@ features = ["full"]
 trybuild = { version = "1", features = ["diff"] }
 [dev-dependencies.satrs-shared]
-version = ">=0.1.3, <0.2"
+version = ">=0.1.3, <=0.2"
 [dev-dependencies.satrs-mib]
 path = ".."
--- a/satrs-mib/src/lib.rs
+++ b/satrs-mib/src/lib.rs
@ -1,6 +1,4 @@
 #![no_std]
 #[cfg(feature = "alloc")]
 extern crate alloc;
 #[cfg(any(feature = "std", test))]
 extern crate std;
--- a/satrs-minisim/Cargo.toml
+++ b/satrs-minisim/Cargo.toml
@ -9,18 +9,18 @@ edition = "2021"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
 log = "0.4"
-thiserror = "1"
+thiserror = "2"
-fern = "0.5"
+fern = "0.7"
 strum = { version = "0.26", features = ["derive"] }
 num_enum = "0.7"
 humantime = "2"
 tai-time = { version = "0.3", features = ["serde"] }
-[dependencies.asynchronix]
+[dependencies.nexosim]
-version = "0.2.1"
+version = "0.3.1"
 git = "https://github.com/asynchronics/asynchronix.git"
 branch = "main"
 features = ["serde"]
 [dependencies.satrs]
 path = "../satrs"
 [dev-dependencies]
-delegate = "0.12"
+delegate = "0.13"
--- a/satrs-minisim/README.md
+++ b/satrs-minisim/README.md
@ -0,0 +1,32 @@
 sat-rs minisim
 ======
 This crate contains a mini-simulator based on the open-source discrete-event simulation framework
 [asynchronix](https://github.com/asynchronics/asynchronix).
 Right now, this crate is primarily used together with the
 [`satrs-example` application](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 to simulate the devices connected to the example application.
 You can simply run this application using
 ```sh
 cargo run
 ```
 or
 ```sh
 cargo run -p satrs-minisim
 ```
 in the workspace. The mini simulator uses the UDP port 7303 to exchange simulation requests and
 simulation replies with any other application.
 The simulator was designed in a modular way to be scalable and adaptable to other communication
 schemes. This might allow it to serve a mini-simulator for other example applications which
 still have similar device handlers.
 The following graph shows the high-level architecture of the mini-simulator.
 <img src="../images/minisim-arch/minisim-arch.png" alt="Mini simulator architecture" width="500" class="center"/>
--- a/satrs-minisim/src/acs.rs
+++ b/satrs-minisim/src/acs.rs
@ -1,19 +1,22 @@
 use std::{f32::consts::PI, sync::mpsc, time::Duration};
-use asynchronix::{
+use nexosim::{
-    model::{Model, Output},
+    model::{Context, Model},
-    time::Scheduler,
+    ports::Output,
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
-    acs::{MgmReply, MgmSensorValues, MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD},
+    acs::{
        lis3mdl::MgmLis3MdlReply, MgmReplyCommon, MgmReplyProvider, MgmSensorValuesMicroTesla,
        MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD,
    },
    SimReply,
 };
 use crate::time::current_millis;
-// Earth magnetic field varies between -30 uT and 30 uT
+// Earth magnetic field varies between roughly -30 uT and 30 uT
-const AMPLITUDE_MGM: f32 = 0.03;
+const AMPLITUDE_MGM_UT: f32 = 30.0;
 // Lets start with a simple frequency here.
 const FREQUENCY_MGM: f32 = 1.0;
 const PHASE_X: f32 = 0.0;
@ -23,38 +26,38 @@ const PHASE_Z: f32 = 0.2;
 /// Simple model for a magnetometer where the measure magnetic fields are modeled with sine waves.
 ///
-/// Please note that that a more realistic MGM model wouold include the following components
+/// An ideal sensor would sample the magnetic field at a high fixed rate. This might not be
-/// which are not included here to simplify the model:
+/// possible for a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms)
-///
+/// might still be possible and is probably sufficient for many OBSW needs.
-/// 1. It would probably generate signed [i16] values which need to be converted to SI units
+pub struct MagnetometerModel<ReplyProvider: MgmReplyProvider> {
 ///    because it is a digital sensor
 /// 2. It would sample the magnetic field at a high fixed rate. This might not be possible for
 ///    a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms) might
 ///    stil lbe possible.
 pub struct MagnetometerModel {
    pub switch_state: SwitchStateBinary,
    #[allow(dead_code)]
    pub periodicity: Duration,
-    pub external_mag_field: Option<MgmSensorValues>,
+    pub external_mag_field: Option<MgmSensorValuesMicroTesla>,
    pub reply_sender: mpsc::Sender<SimReply>,
    pub phatom: std::marker::PhantomData<ReplyProvider>,
 }
-impl MagnetometerModel {
+impl MagnetometerModel<MgmLis3MdlReply> {
-    pub fn new(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
+    pub fn new_for_lis3mdl(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
        Self {
            switch_state: SwitchStateBinary::Off,
            periodicity,
            external_mag_field: None,
            reply_sender,
            phatom: std::marker::PhantomData,
        }
    }
 }
 impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
    pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
        self.switch_state = switch_state;
    }
-    pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
+    pub async fn send_sensor_values(&mut self, _: (), scheduler: &mut Context<Self>) {
        self.reply_sender
-            .send(SimReply::new(MgmReply {
+            .send(ReplyProvider::create_mgm_reply(MgmReplyCommon {
                switch_state: self.switch_state,
                sensor_values: self.calculate_current_mgm_tuple(current_millis(scheduler.time())),
            }))
@ -63,23 +66,23 @@ impl MagnetometerModel {
    // Devices like magnetorquers generate a strong magnetic field which overrides the default
    // model for the measured magnetic field.
-    pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValues) {
+    pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValuesMicroTesla) {
        self.external_mag_field = Some(field);
    }
-    fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValues {
+    fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValuesMicroTesla {
        if SwitchStateBinary::On == self.switch_state {
            if let Some(ext_field) = self.external_mag_field {
                return ext_field;
            }
            let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
-            return MgmSensorValues {
+            return MgmSensorValuesMicroTesla {
-                x: AMPLITUDE_MGM * (base_sin_val + PHASE_X).sin(),
+                x: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_X).sin(),
-                y: AMPLITUDE_MGM * (base_sin_val + PHASE_Y).sin(),
+                y: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Y).sin(),
-                z: AMPLITUDE_MGM * (base_sin_val + PHASE_Z).sin(),
+                z: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Z).sin(),
            };
        }
-        MgmSensorValues {
+        MgmSensorValuesMicroTesla {
            x: 0.0,
            y: 0.0,
            z: 0.0,
@ -87,13 +90,13 @@ impl MagnetometerModel {
    }
 }
-impl Model for MagnetometerModel {}
+impl<ReplyProvider: MgmReplyProvider> Model for MagnetometerModel<ReplyProvider> {}
 pub struct MagnetorquerModel {
    switch_state: SwitchStateBinary,
    torquing: bool,
    torque_dipole: MgtDipole,
-    pub gen_magnetic_field: Output<MgmSensorValues>,
+    pub gen_magnetic_field: Output<MgmSensorValuesMicroTesla>,
    reply_sender: mpsc::Sender<SimReply>,
 }
@ -111,11 +114,11 @@ impl MagnetorquerModel {
    pub async fn apply_torque(
        &mut self,
        duration_and_dipole: (Duration, MgtDipole),
-        scheduler: &Scheduler<Self>,
+        cx: &mut Context<Self>,
    ) {
        self.torque_dipole = duration_and_dipole.1;
        self.torquing = true;
-        if scheduler
+        if cx
            .schedule_event(duration_and_dipole.0, Self::clear_torque, ())
            .is_err()
        {
@ -135,25 +138,24 @@ impl MagnetorquerModel {
        self.generate_magnetic_field(()).await;
    }
-    pub async fn request_housekeeping_data(&mut self, _: (), scheduler: &Scheduler<Self>) {
+    pub async fn request_housekeeping_data(&mut self, _: (), cx: &mut Context<Self>) {
        if self.switch_state != SwitchStateBinary::On {
            return;
        }
-        scheduler
+        cx.schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
            .schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
            .expect("requesting housekeeping data failed")
    }
    pub fn send_housekeeping_data(&mut self) {
        self.reply_sender
-            .send(SimReply::new(MgtReply::Hk(MgtHkSet {
+            .send(SimReply::new(&MgtReply::Hk(MgtHkSet {
                dipole: self.torque_dipole,
                torquing: self.torquing,
            })))
            .unwrap();
    }
-    fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValues {
+    fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValuesMicroTesla {
        // Simplified model: Just returns some fixed magnetic field for now.
        // Later, we could make this more fancy by incorporating the commanded dipole.
        MGT_GEN_MAGNETIC_FIELD
@ -179,9 +181,12 @@ pub mod tests {
    use satrs::power::SwitchStateBinary;
    use satrs_minisim::{
-        acs::{MgmReply, MgmRequest, MgtDipole, MgtHkSet, MgtReply, MgtRequest},
+        acs::{
            lis3mdl::{self, MgmLis3MdlReply},
            MgmRequestLis3Mdl, MgtDipole, MgtHkSet, MgtReply, MgtRequest,
        },
        eps::PcduSwitch,
-        SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
+        SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
    };
    use crate::{eps::tests::switch_device_on, test_helpers::SimTestbench};
@ -189,22 +194,22 @@ pub mod tests {
    #[test]
    fn test_basic_mgm_request() {
        let mut sim_testbench = SimTestbench::new();
-        let request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
+        let request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
        sim_testbench
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_some());
        let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::Mgm);
+        assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
-        let reply = MgmReply::from_sim_message(&sim_reply)
+        let reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
            .expect("failed to deserialize MGM sensor values");
-        assert_eq!(reply.switch_state, SwitchStateBinary::Off);
+        assert_eq!(reply.common.switch_state, SwitchStateBinary::Off);
-        assert_eq!(reply.sensor_values.x, 0.0);
+        assert_eq!(reply.common.sensor_values.x, 0.0);
-        assert_eq!(reply.sensor_values.y, 0.0);
+        assert_eq!(reply.common.sensor_values.y, 0.0);
-        assert_eq!(reply.sensor_values.z, 0.0);
+        assert_eq!(reply.common.sensor_values.z, 0.0);
    }
    #[test]
@ -212,32 +217,48 @@ pub mod tests {
        let mut sim_testbench = SimTestbench::new();
        switch_device_on(&mut sim_testbench, PcduSwitch::Mgm);
-        let mut request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
+        let mut request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
        sim_testbench
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let mut sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_some());
        let mut sim_reply = sim_reply_res.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::Mgm);
+        assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
-        let first_reply = MgmReply::from_sim_message(&sim_reply)
+        let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
            .expect("failed to deserialize MGM sensor values");
-        sim_testbench.step_by(Duration::from_millis(50));
+        sim_testbench.step_until(Duration::from_millis(50)).unwrap();
-        request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
+        request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
        sim_testbench
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_some());
        sim_reply = sim_reply_res.unwrap();
-        let second_reply = MgmReply::from_sim_message(&sim_reply)
+        let second_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
            .expect("failed to deserialize MGM sensor values");
        let x_conv_back = second_reply.raw.x as f32
            * lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
            * lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
        let y_conv_back = second_reply.raw.y as f32
            * lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
            * lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
        let z_conv_back = second_reply.raw.z as f32
            * lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
            * lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
        let diff_x = (second_reply.common.sensor_values.x - x_conv_back).abs();
        assert!(diff_x < 0.01, "diff x too large: {}", diff_x);
        let diff_y = (second_reply.common.sensor_values.y - y_conv_back).abs();
        assert!(diff_y < 0.01, "diff y too large: {}", diff_y);
        let diff_z = (second_reply.common.sensor_values.z - z_conv_back).abs();
        assert!(diff_z < 0.01, "diff z too large: {}", diff_z);
        // assert_eq!(second_reply.raw_reply, SwitchStateBinary::On);
        // Check that the values are changing.
        assert!(first_reply != second_reply);
    }
@ -250,7 +271,7 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_none());
    }
@ -265,7 +286,7 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_some());
        let sim_reply = sim_reply_res.unwrap();
@ -286,7 +307,7 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply_res = sim_testbench.try_receive_next_reply();
        assert!(sim_reply_res.is_some());
        let sim_reply = sim_reply_res.unwrap();
@ -317,7 +338,7 @@ pub mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step_by(Duration::from_millis(5));
+        sim_testbench.step_until(Duration::from_millis(5)).unwrap();
        check_mgt_hk(
            &mut sim_testbench,
@ -326,7 +347,9 @@ pub mod tests {
                torquing: true,
            },
        );
-        sim_testbench.step_by(Duration::from_millis(100));
+        sim_testbench
            .step_until(Duration::from_millis(100))
            .unwrap();
        check_mgt_hk(
            &mut sim_testbench,
            MgtHkSet {
--- a/satrs-minisim/src/controller.rs
+++ b/satrs-minisim/src/controller.rs
@ -1,14 +1,14 @@
 use std::{sync::mpsc, time::Duration};
-use asynchronix::{
+use nexosim::{
-    simulation::{Address, Simulation},
+    simulation::{Address, Scheduler, Simulation},
    time::{Clock, MonotonicTime, SystemClock},
 };
 use satrs_minisim::{
-    acs::{MgmRequest, MgtRequest},
+    acs::{lis3mdl::MgmLis3MdlReply, MgmRequestLis3Mdl, MgtRequest},
    eps::PcduRequest,
-    SerializableSimMsgPayload, SimCtrlReply, SimCtrlRequest, SimMessageProvider, SimReply,
+    SerializableSimMsgPayload, SimComponent, SimCtrlReply, SimCtrlRequest, SimMessageProvider,
-    SimRequest, SimRequestError, SimTarget,
+    SimReply, SimRequest, SimRequestError,
 };
 use crate::{
@ -16,35 +16,59 @@ use crate::{
    eps::PcduModel,
 };
 const WARNING_FOR_STALE_DATA: bool = false;
 const SIM_CTRL_REQ_WIRETAPPING: bool = false;
 const MGM_REQ_WIRETAPPING: bool = false;
 const PCDU_REQ_WIRETAPPING: bool = false;
 const MGT_REQ_WIRETAPPING: bool = false;
 pub struct ModelAddrWrapper {
    mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
    pcdu_addr: Address<PcduModel>,
    mgt_addr: Address<MagnetorquerModel>,
 }
 // The simulation controller processes requests and drives the simulation.
 #[allow(dead_code)]
 pub struct SimController {
    pub sys_clock: SystemClock,
    pub request_receiver: mpsc::Receiver<SimRequest>,
    pub reply_sender: mpsc::Sender<SimReply>,
    pub simulation: Simulation,
-    pub mgm_addr: Address<MagnetometerModel>,
+    pub scheduler: Scheduler,
-    pub pcdu_addr: Address<PcduModel>,
+    pub addr_wrapper: ModelAddrWrapper,
    pub mgt_addr: Address<MagnetorquerModel>,
 }
 impl ModelAddrWrapper {
    pub fn new(
        mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
        pcdu_addr: Address<PcduModel>,
        mgt_addr: Address<MagnetorquerModel>,
    ) -> Self {
        Self {
            mgm_addr,
            pcdu_addr,
            mgt_addr,
        }
    }
 }
 impl SimController {
    pub fn new(
        sys_clock: SystemClock,
        request_receiver: mpsc::Receiver<SimRequest>,
        reply_sender: mpsc::Sender<SimReply>,
        simulation: Simulation,
-        mgm_addr: Address<MagnetometerModel>,
+        scheduler: Scheduler,
-        pcdu_addr: Address<PcduModel>,
+        addr_wrapper: ModelAddrWrapper,
        mgt_addr: Address<MagnetorquerModel>,
    ) -> Self {
        Self {
            sys_clock,
            request_receiver,
            reply_sender,
            simulation,
-            mgm_addr,
+            scheduler,
-            pcdu_addr,
+            addr_wrapper,
            mgt_addr,
        }
    }
@ -55,7 +79,7 @@ impl SimController {
            // Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
            // replies lying in the past.
            t += Duration::from_millis(udp_polling_interval_ms);
-            self.sys_clock.synchronize(t);
+            let _synch_status = self.sys_clock.synchronize(t);
            self.handle_sim_requests(t_old);
            self.simulation
                .step_until(t)
@ -67,14 +91,14 @@ impl SimController {
        loop {
            match self.request_receiver.try_recv() {
                Ok(request) => {
-                    if request.timestamp < old_timestamp {
+                    if request.timestamp < old_timestamp && WARNING_FOR_STALE_DATA {
                        log::warn!("stale data with timestamp {:?} received", request.timestamp);
                    }
-                    if let Err(e) = match request.target() {
+                    if let Err(e) = match request.component() {
-                        SimTarget::SimCtrl => self.handle_ctrl_request(&request),
+                        SimComponent::SimCtrl => self.handle_ctrl_request(&request),
-                        SimTarget::Mgm => self.handle_mgm_request(&request),
+                        SimComponent::MgmLis3Mdl => self.handle_mgm_request(&request),
-                        SimTarget::Mgt => self.handle_mgt_request(&request),
+                        SimComponent::Mgt => self.handle_mgt_request(&request),
-                        SimTarget::Pcdu => self.handle_pcdu_request(&request),
+                        SimComponent::Pcdu => self.handle_pcdu_request(&request),
                    } {
                        self.handle_invalid_request_with_valid_target(e, &request)
                    }
@ -91,24 +115,33 @@ impl SimController {
    fn handle_ctrl_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
        let sim_ctrl_request = SimCtrlRequest::from_sim_message(request)?;
        if SIM_CTRL_REQ_WIRETAPPING {
            log::info!("received sim ctrl request: {:?}", sim_ctrl_request);
        }
        match sim_ctrl_request {
            SimCtrlRequest::Ping => {
                self.reply_sender
-                    .send(SimReply::new(SimCtrlReply::Pong))
+                    .send(SimReply::new(&SimCtrlReply::Pong))
                    .expect("sending reply from sim controller failed");
            }
        }
        Ok(())
    }
    fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
-        let mgm_request = MgmRequest::from_sim_message(request)?;
+        let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
        if MGM_REQ_WIRETAPPING {
            log::info!("received MGM request: {:?}", mgm_request);
        }
        match mgm_request {
-            MgmRequest::RequestSensorData => {
+            MgmRequestLis3Mdl::RequestSensorData => {
-                self.simulation.send_event(
+                self.simulation
                    .process_event(
                        MagnetometerModel::send_sensor_values,
                        (),
-                    &self.mgm_addr,
+                        &self.addr_wrapper.mgm_addr,
-                );
+                    )
                    .expect("event execution error for mgm");
            }
        }
        Ok(())
@ -116,17 +149,27 @@ impl SimController {
    fn handle_pcdu_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
        let pcdu_request = PcduRequest::from_sim_message(request)?;
        if PCDU_REQ_WIRETAPPING {
            log::info!("received PCDU request: {:?}", pcdu_request);
        }
        match pcdu_request {
            PcduRequest::RequestSwitchInfo => {
                self.simulation
-                    .send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
+                    .process_event(
                        PcduModel::request_switch_info,
                        (),
                        &self.addr_wrapper.pcdu_addr,
                    )
                    .unwrap();
            }
            PcduRequest::SwitchDevice { switch, state } => {
-                self.simulation.send_event(
+                self.simulation
                    .process_event(
                        PcduModel::switch_device,
                        (switch, state),
-                    &self.pcdu_addr,
+                        &self.addr_wrapper.pcdu_addr,
-                );
+                    )
                    .unwrap();
            }
        }
        Ok(())
@ -134,18 +177,27 @@ impl SimController {
    fn handle_mgt_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
        let mgt_request = MgtRequest::from_sim_message(request)?;
        if MGT_REQ_WIRETAPPING {
            log::info!("received MGT request: {:?}", mgt_request);
        }
        match mgt_request {
-            MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
+            MgtRequest::ApplyTorque { duration, dipole } => self
                .simulation
                .process_event(
                    MagnetorquerModel::apply_torque,
                    (duration, dipole),
-                &self.mgt_addr,
+                    &self.addr_wrapper.mgt_addr,
-            ),
+                )
-            MgtRequest::RequestHk => self.simulation.send_event(
+                .unwrap(),
            MgtRequest::RequestHk => self
                .simulation
                .process_event(
                    MagnetorquerModel::request_housekeeping_data,
                    (),
-                &self.mgt_addr,
+                    &self.addr_wrapper.mgt_addr,
-            ),
+                )
-        }
+                .unwrap(),
        };
        Ok(())
    }
@ -156,11 +208,11 @@ impl SimController {
    ) {
        log::warn!(
            "received invalid {:?} request: {:?}",
-            request.target(),
+            request.component(),
            error
        );
        self.reply_sender
-            .send(SimReply::new(SimCtrlReply::from(error)))
+            .send(SimReply::new(&SimCtrlReply::from(error)))
            .expect("sending reply from sim controller failed");
    }
 }
@ -179,11 +231,11 @@ mod tests {
            .send_request(request)
            .expect("sending sim ctrl request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_some());
        let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
+        assert_eq!(sim_reply.component(), SimComponent::SimCtrl);
        let reply = SimCtrlReply::from_sim_message(&sim_reply)
            .expect("failed to deserialize MGM sensor values");
        assert_eq!(reply, SimCtrlReply::Pong);
--- a/satrs-minisim/src/eps.rs
+++ b/satrs-minisim/src/eps.rs
@ -1,19 +1,19 @@
-use std::{collections::HashMap, sync::mpsc, time::Duration};
+use std::{sync::mpsc, time::Duration};
-use asynchronix::{
+use nexosim::{
-    model::{Model, Output},
+    model::{Context, Model},
-    time::Scheduler,
+    ports::Output,
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
-    eps::{PcduReply, PcduSwitch, SwitchMap},
+    eps::{PcduReply, PcduSwitch, SwitchMapBinaryWrapper},
    SimReply,
 };
 pub const SWITCH_INFO_DELAY_MS: u64 = 10;
 pub struct PcduModel {
-    pub switcher_map: SwitchMap,
+    pub switcher_map: SwitchMapBinaryWrapper,
    pub mgm_switch: Output<SwitchStateBinary>,
    pub mgt_switch: Output<SwitchStateBinary>,
    pub reply_sender: mpsc::Sender<SimReply>,
@ -21,21 +21,16 @@ pub struct PcduModel {
 impl PcduModel {
    pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
        let mut switcher_map = HashMap::new();
        switcher_map.insert(PcduSwitch::Mgm, SwitchStateBinary::Off);
        switcher_map.insert(PcduSwitch::Mgt, SwitchStateBinary::Off);
        Self {
-            switcher_map,
+            switcher_map: Default::default(),
            mgm_switch: Output::new(),
            mgt_switch: Output::new(),
            reply_sender,
        }
    }
-    pub async fn request_switch_info(&mut self, _: (), scheduler: &Scheduler<Self>) {
+    pub async fn request_switch_info(&mut self, _: (), cx: &mut Context<Self>) {
-        scheduler
+        cx.schedule_event(
            .schedule_event(
            Duration::from_millis(SWITCH_INFO_DELAY_MS),
            Self::send_switch_info,
            (),
@ -44,7 +39,7 @@ impl PcduModel {
    }
    pub fn send_switch_info(&mut self) {
-        let reply = SimReply::new(PcduReply::SwitchInfo(self.switcher_map.clone()));
+        let reply = SimReply::new(&PcduReply::SwitchInfo(self.switcher_map.0.clone()));
        self.reply_sender.send(reply).unwrap();
    }
@ -54,6 +49,7 @@ impl PcduModel {
    ) {
        let val = self
            .switcher_map
            .0
            .get_mut(&switch_and_target_state.0)
            .unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
        *val = switch_and_target_state.1;
@ -76,7 +72,8 @@ pub(crate) mod tests {
    use std::time::Duration;
    use satrs_minisim::{
-        eps::PcduRequest, SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
+        eps::{PcduRequest, SwitchMapBinary},
        SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
    };
    use crate::test_helpers::SimTestbench;
@ -94,7 +91,7 @@ pub(crate) mod tests {
            .send_request(request)
            .expect("sending MGM switch request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
    }
    #[allow(dead_code)]
@ -105,24 +102,21 @@ pub(crate) mod tests {
        switch_device(sim_testbench, switch, SwitchStateBinary::On);
    }
-    pub(crate) fn get_all_off_switch_map() -> SwitchMap {
+    pub(crate) fn get_all_off_switch_map() -> SwitchMapBinary {
-        let mut switcher_map = SwitchMap::new();
+        SwitchMapBinaryWrapper::default().0
        switcher_map.insert(super::PcduSwitch::Mgm, super::SwitchStateBinary::Off);
        switcher_map.insert(super::PcduSwitch::Mgt, super::SwitchStateBinary::Off);
        switcher_map
    }
-    fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
+    fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMapBinary) {
        let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
        sim_testbench
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_some());
        let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::Pcdu);
+        assert_eq!(sim_reply.component(), SimComponent::Pcdu);
        let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
            .expect("failed to deserialize PCDU switch info");
        match pcdu_reply {
@ -148,16 +142,16 @@ pub(crate) mod tests {
            .send_request(request)
            .expect("sending MGM request failed");
        sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step_by(Duration::from_millis(1));
+        sim_testbench.step_until(Duration::from_millis(1)).unwrap();
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_none());
        // Reply takes 20ms
-        sim_testbench.step_by(Duration::from_millis(25));
+        sim_testbench.step_until(Duration::from_millis(25)).unwrap();
        let sim_reply = sim_testbench.try_receive_next_reply();
        assert!(sim_reply.is_some());
        let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::Pcdu);
+        assert_eq!(sim_reply.component(), SimComponent::Pcdu);
        let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
            .expect("failed to deserialize PCDU switch info");
        match pcdu_reply {
--- a/satrs-minisim/src/lib.rs
+++ b/satrs-minisim/src/lib.rs
@ -1,19 +1,18 @@
-use asynchronix::time::MonotonicTime;
+use nexosim::time::MonotonicTime;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use serde::{de::DeserializeOwned, Deserialize, Serialize};
-pub const SIM_CTRL_UDP_PORT: u16 = 7303;
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
-
+pub enum SimComponent {
 #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
 pub enum SimTarget {
    SimCtrl,
-    Mgm,
+    MgmLis3Mdl,
    Mgt,
    Pcdu,
 }
 #[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
 pub struct SimMessage {
-    pub target: SimTarget,
+    pub target: SimComponent,
    pub payload: String,
 }
@ -37,10 +36,10 @@ pub enum SimMessageType {
 pub trait SerializableSimMsgPayload<P: SimMessageProvider>:
    Serialize + DeserializeOwned + Sized
 {
-    const TARGET: SimTarget;
+    const TARGET: SimComponent;
    fn from_sim_message(sim_message: &P) -> Result<Self, SimMessageError<P>> {
-        if sim_message.target() == Self::TARGET {
+        if sim_message.component() == Self::TARGET {
            return Ok(serde_json::from_str(sim_message.payload())?);
        }
        Err(SimMessageError::TargetRequestMissmatch(sim_message.clone()))
@ -49,7 +48,7 @@ pub trait SerializableSimMsgPayload<P: SimMessageProvider>:
 pub trait SimMessageProvider: Serialize + DeserializeOwned + Clone + Sized {
    fn msg_type(&self) -> SimMessageType;
-    fn target(&self) -> SimTarget;
+    fn component(&self) -> SimComponent;
    fn payload(&self) -> &String;
    fn from_raw_data(data: &[u8]) -> serde_json::Result<Self> {
        serde_json::from_slice(data)
@ -78,7 +77,7 @@ impl SimRequest {
 }
 impl SimMessageProvider for SimRequest {
-    fn target(&self) -> SimTarget {
+    fn component(&self) -> SimComponent {
        self.inner.target
    }
    fn payload(&self) -> &String {
@ -91,25 +90,25 @@ impl SimMessageProvider for SimRequest {
 }
 /// A generic simulation reply type. Right now, the payload data is expected to be
-/// JSON, which might be changed inthe future.
+/// JSON, which might be changed in the future.
 #[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
 pub struct SimReply {
    inner: SimMessage,
 }
 impl SimReply {
-    pub fn new<T: SerializableSimMsgPayload<SimReply>>(serializable_reply: T) -> Self {
+    pub fn new<T: SerializableSimMsgPayload<SimReply>>(serializable_reply: &T) -> Self {
        Self {
            inner: SimMessage {
                target: T::TARGET,
-                payload: serde_json::to_string(&serializable_reply).unwrap(),
+                payload: serde_json::to_string(serializable_reply).unwrap(),
            },
        }
    }
 }
 impl SimMessageProvider for SimReply {
-    fn target(&self) -> SimTarget {
+    fn component(&self) -> SimComponent {
        self.inner.target
    }
    fn payload(&self) -> &String {
@ -126,7 +125,7 @@ pub enum SimCtrlRequest {
 }
 impl SerializableSimMsgPayload<SimRequest> for SimCtrlRequest {
-    const TARGET: SimTarget = SimTarget::SimCtrl;
+    const TARGET: SimComponent = SimComponent::SimCtrl;
 }
 pub type SimReplyError = SimMessageError<SimReply>;
@ -151,7 +150,7 @@ pub enum SimCtrlReply {
 }
 impl SerializableSimMsgPayload<SimReply> for SimCtrlReply {
-    const TARGET: SimTarget = SimTarget::SimCtrl;
+    const TARGET: SimComponent = SimComponent::SimCtrl;
 }
 impl From<SimRequestError> for SimCtrlReply {
@ -162,19 +161,82 @@ impl From<SimRequestError> for SimCtrlReply {
 pub mod eps {
    use super::*;
    use satrs::power::{SwitchState, SwitchStateBinary};
    use std::collections::HashMap;
    use strum::{EnumIter, IntoEnumIterator};
-    use satrs::power::SwitchStateBinary;
+    pub type SwitchMap = HashMap<PcduSwitch, SwitchState>;
    pub type SwitchMapBinary = HashMap<PcduSwitch, SwitchStateBinary>;
-    pub type SwitchMap = HashMap<PcduSwitch, SwitchStateBinary>;
+    pub struct SwitchMapWrapper(pub SwitchMap);
    pub struct SwitchMapBinaryWrapper(pub SwitchMapBinary);
-    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
+    #[derive(
        Debug,
        Copy,
        Clone,
        PartialEq,
        Eq,
        Serialize,
        Deserialize,
        Hash,
        EnumIter,
        IntoPrimitive,
        TryFromPrimitive,
    )]
    #[repr(u16)]
    pub enum PcduSwitch {
        Mgm = 0,
        Mgt = 1,
    }
-    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    impl Default for SwitchMapBinaryWrapper {
        fn default() -> Self {
            let mut switch_map = SwitchMapBinary::default();
            for entry in PcduSwitch::iter() {
                switch_map.insert(entry, SwitchStateBinary::Off);
            }
            Self(switch_map)
        }
    }
    impl Default for SwitchMapWrapper {
        fn default() -> Self {
            let mut switch_map = SwitchMap::default();
            for entry in PcduSwitch::iter() {
                switch_map.insert(entry, SwitchState::Unknown);
            }
            Self(switch_map)
        }
    }
    impl SwitchMapWrapper {
        pub fn new_with_init_switches_off() -> Self {
            let mut switch_map = SwitchMap::default();
            for entry in PcduSwitch::iter() {
                switch_map.insert(entry, SwitchState::Off);
            }
            Self(switch_map)
        }
        pub fn from_binary_switch_map_ref(switch_map: &SwitchMapBinary) -> Self {
            Self(
                switch_map
                    .iter()
                    .map(|(key, value)| (*key, SwitchState::from(*value)))
                    .collect(),
            )
        }
    }
    #[derive(Debug, Copy, Clone)]
    #[repr(u8)]
    pub enum PcduRequestId {
        SwitchDevice = 0,
        RequestSwitchInfo = 1,
    }
    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
    pub enum PcduRequest {
        SwitchDevice {
            switch: PcduSwitch,
@ -184,16 +246,17 @@ pub mod eps {
    }
    impl SerializableSimMsgPayload<SimRequest> for PcduRequest {
-        const TARGET: SimTarget = SimTarget::Pcdu;
+        const TARGET: SimComponent = SimComponent::Pcdu;
    }
-    #[derive(Debug, Clone, Serialize, Deserialize)]
+    #[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
    pub enum PcduReply {
-        SwitchInfo(SwitchMap),
+        // Ack,
        SwitchInfo(SwitchMapBinary),
    }
    impl SerializableSimMsgPayload<SimReply> for PcduReply {
-        const TARGET: SimTarget = SimTarget::Pcdu;
+        const TARGET: SimComponent = SimComponent::Pcdu;
    }
 }
@ -204,40 +267,116 @@ pub mod acs {
    use super::*;
    pub trait MgmReplyProvider: Send + 'static {
        fn create_mgm_reply(common: MgmReplyCommon) -> SimReply;
    }
    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
-    pub enum MgmRequest {
+    pub enum MgmRequestLis3Mdl {
        RequestSensorData,
    }
-    impl SerializableSimMsgPayload<SimRequest> for MgmRequest {
+    impl SerializableSimMsgPayload<SimRequest> for MgmRequestLis3Mdl {
-        const TARGET: SimTarget = SimTarget::Mgm;
+        const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
    }
    // Normally, small magnetometers generate their output as a signed 16 bit raw format or something
    // similar which needs to be converted to a signed float value with physical units. We will
-    // simplify this now and generate the signed float values directly.
+    // simplify this now and generate the signed float values directly. The unit is micro tesla.
    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
-    pub struct MgmSensorValues {
+    pub struct MgmSensorValuesMicroTesla {
        pub x: f32,
        pub y: f32,
        pub z: f32,
    }
    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
-    pub struct MgmReply {
+    pub struct MgmReplyCommon {
        pub switch_state: SwitchStateBinary,
-        pub sensor_values: MgmSensorValues,
+        pub sensor_values: MgmSensorValuesMicroTesla,
    }
-    impl SerializableSimMsgPayload<SimReply> for MgmReply {
+    pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValuesMicroTesla = MgmSensorValuesMicroTesla {
-        const TARGET: SimTarget = SimTarget::Mgm;
+        x: 30.0,
-    }
+        y: -30.0,
-
+        z: 30.0,
    pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValues = MgmSensorValues {
        x: 0.03,
        y: -0.03,
        z: 0.03,
    };
    pub const ALL_ONES_SENSOR_VAL: i16 = 0xffff_u16 as i16;
    pub mod lis3mdl {
        use super::*;
        // Field data register scaling
        pub const GAUSS_TO_MICROTESLA_FACTOR: u32 = 100;
        pub const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
        pub const FIELD_LSB_PER_GAUSS_8_SENS: f32 = 1.0 / 3421.0;
        pub const FIELD_LSB_PER_GAUSS_12_SENS: f32 = 1.0 / 2281.0;
        pub const FIELD_LSB_PER_GAUSS_16_SENS: f32 = 1.0 / 1711.0;
        #[derive(Default, Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
        pub struct MgmLis3RawValues {
            pub x: i16,
            pub y: i16,
            pub z: i16,
        }
        #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
        pub struct MgmLis3MdlReply {
            pub common: MgmReplyCommon,
            // Raw sensor values which are transmitted by the LIS3 device in little-endian
            // order.
            pub raw: MgmLis3RawValues,
        }
        impl MgmLis3MdlReply {
            pub fn new(common: MgmReplyCommon) -> Self {
                match common.switch_state {
                    SwitchStateBinary::Off => Self {
                        common,
                        raw: MgmLis3RawValues {
                            x: ALL_ONES_SENSOR_VAL,
                            y: ALL_ONES_SENSOR_VAL,
                            z: ALL_ONES_SENSOR_VAL,
                        },
                    },
                    SwitchStateBinary::On => {
                        let mut raw_reply: [u8; 7] = [0; 7];
                        let raw_x: i16 = (common.sensor_values.x
                            / (GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS))
                            .round() as i16;
                        let raw_y: i16 = (common.sensor_values.y
                            / (GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS))
                            .round() as i16;
                        let raw_z: i16 = (common.sensor_values.z
                            / (GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS))
                            .round() as i16;
                        // The first byte is a dummy byte.
                        raw_reply[1..3].copy_from_slice(&raw_x.to_be_bytes());
                        raw_reply[3..5].copy_from_slice(&raw_y.to_be_bytes());
                        raw_reply[5..7].copy_from_slice(&raw_z.to_be_bytes());
                        Self {
                            common,
                            raw: MgmLis3RawValues {
                                x: raw_x,
                                y: raw_y,
                                z: raw_z,
                            },
                        }
                    }
                }
            }
        }
        impl SerializableSimMsgPayload<SimReply> for MgmLis3MdlReply {
            const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
        }
        impl MgmReplyProvider for MgmLis3MdlReply {
            fn create_mgm_reply(common: MgmReplyCommon) -> SimReply {
                SimReply::new(&Self::new(common))
            }
        }
    }
    // Simple model using i16 values.
    #[derive(Default, Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
@ -262,7 +401,7 @@ pub mod acs {
    }
    impl SerializableSimMsgPayload<SimRequest> for MgtRequest {
-        const TARGET: SimTarget = SimTarget::Mgt;
+        const TARGET: SimComponent = SimComponent::Mgt;
    }
    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
@ -279,78 +418,12 @@ pub mod acs {
    }
    impl SerializableSimMsgPayload<SimReply> for MgtReply {
-        const TARGET: SimTarget = SimTarget::Mgm;
+        const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
    }
 }
 pub mod udp {
-    use std::{
+    pub const SIM_CTRL_PORT: u16 = 7303;
        net::{SocketAddr, UdpSocket},
        time::Duration,
    };
    use thiserror::Error;
    use crate::{SimReply, SimRequest};
    #[derive(Error, Debug)]
    pub enum ReceptionError {
        #[error("IO error: {0}")]
        Io(#[from] std::io::Error),
        #[error("Serde JSON error: {0}")]
        SerdeJson(#[from] serde_json::Error),
    }
    pub struct SimUdpClient {
        socket: UdpSocket,
        pub reply_buf: [u8; 4096],
    }
    impl SimUdpClient {
        pub fn new(
            server_addr: &SocketAddr,
            non_blocking: bool,
            read_timeot_ms: Option<u64>,
        ) -> std::io::Result<Self> {
            let socket = UdpSocket::bind("127.0.0.1:0")?;
            socket.set_nonblocking(non_blocking)?;
            socket
                .connect(server_addr)
                .expect("could not connect to server addr");
            if let Some(read_timeout) = read_timeot_ms {
                // Set a read timeout so the test does not hang on failures.
                socket.set_read_timeout(Some(Duration::from_millis(read_timeout)))?;
            }
            Ok(Self {
                socket,
                reply_buf: [0; 4096],
            })
        }
        pub fn set_nonblocking(&self, non_blocking: bool) -> std::io::Result<()> {
            self.socket.set_nonblocking(non_blocking)
        }
        pub fn set_read_timeout(&self, read_timeout_ms: u64) -> std::io::Result<()> {
            self.socket
                .set_read_timeout(Some(Duration::from_millis(read_timeout_ms)))
        }
        pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize> {
            self.socket.send(
                &serde_json::to_vec(sim_request).expect("conversion of request to vector failed"),
            )
        }
        pub fn recv_raw(&mut self) -> std::io::Result<usize> {
            self.socket.recv(&mut self.reply_buf)
        }
        pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError> {
            let read_len = self.recv_raw()?;
            Ok(serde_json::from_slice(&self.reply_buf[0..read_len])?)
        }
    }
 }
 #[cfg(test)]
@ -363,7 +436,7 @@ pub mod tests {
    }
    impl SerializableSimMsgPayload<SimRequest> for DummyRequest {
-        const TARGET: SimTarget = SimTarget::SimCtrl;
+        const TARGET: SimComponent = SimComponent::SimCtrl;
    }
    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
@ -372,13 +445,13 @@ pub mod tests {
    }
    impl SerializableSimMsgPayload<SimReply> for DummyReply {
-        const TARGET: SimTarget = SimTarget::SimCtrl;
+        const TARGET: SimComponent = SimComponent::SimCtrl;
    }
    #[test]
    fn test_basic_request() {
        let sim_request = SimRequest::new_with_epoch_time(DummyRequest::Ping);
-        assert_eq!(sim_request.target(), SimTarget::SimCtrl);
+        assert_eq!(sim_request.component(), SimComponent::SimCtrl);
        assert_eq!(sim_request.msg_type(), SimMessageType::Request);
        let dummy_request =
            DummyRequest::from_sim_message(&sim_request).expect("deserialization failed");
@ -387,8 +460,8 @@ pub mod tests {
    #[test]
    fn test_basic_reply() {
-        let sim_reply = SimReply::new(DummyReply::Pong);
+        let sim_reply = SimReply::new(&DummyReply::Pong);
-        assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
+        assert_eq!(sim_reply.component(), SimComponent::SimCtrl);
        assert_eq!(sim_reply.msg_type(), SimMessageType::Reply);
        let dummy_request =
            DummyReply::from_sim_message(&sim_reply).expect("deserialization failed");
--- a/satrs-minisim/src/main.rs
+++ b/satrs-minisim/src/main.rs
@ -1,9 +1,10 @@
 use acs::{MagnetometerModel, MagnetorquerModel};
-use asynchronix::simulation::{Mailbox, SimInit};
+use controller::{ModelAddrWrapper, SimController};
 use asynchronix::time::{MonotonicTime, SystemClock};
 use controller::SimController;
 use eps::PcduModel;
-use satrs_minisim::{SimReply, SimRequest, SIM_CTRL_UDP_PORT};
+use nexosim::simulation::{Mailbox, SimInit};
 use nexosim::time::{MonotonicTime, SystemClock};
 use satrs_minisim::udp::SIM_CTRL_PORT;
 use satrs_minisim::{SimReply, SimRequest};
 use std::sync::mpsc;
 use std::thread;
 use std::time::{Duration, SystemTime};
@ -30,7 +31,8 @@ fn create_sim_controller(
    request_receiver: mpsc::Receiver<SimRequest>,
 ) -> SimController {
    // Instantiate models and their mailboxes.
-    let mgm_model = MagnetometerModel::new(Duration::from_millis(50), reply_sender.clone());
+    let mgm_model =
        MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
    let mgm_mailbox = Mailbox::new();
    let mgm_addr = mgm_mailbox.address();
@ -61,19 +63,20 @@ fn create_sim_controller(
    } else {
        SimInit::new()
    };
-    let simulation = sim_init
+    let addrs = ModelAddrWrapper::new(mgm_addr, pcdu_addr, mgt_addr);
-        .add_model(mgm_model, mgm_mailbox)
+    let (simulation, scheduler) = sim_init
-        .add_model(pcdu_model, pcdu_mailbox)
+        .add_model(mgm_model, mgm_mailbox, "MGM model")
-        .add_model(mgt_model, mgt_mailbox)
+        .add_model(pcdu_model, pcdu_mailbox, "PCDU model")
-        .init(start_time);
+        .add_model(mgt_model, mgt_mailbox, "MGT model")
        .init(start_time)
        .unwrap();
    SimController::new(
        sys_clock,
        request_receiver,
        reply_sender,
        simulation,
-        mgm_addr,
+        scheduler,
-        pcdu_addr,
+        addrs,
        mgt_addr,
    )
 }
@ -112,9 +115,9 @@ fn main() {
    });
    let mut udp_server =
-        SimUdpServer::new(SIM_CTRL_UDP_PORT, request_sender, reply_receiver, 200, None)
+        SimUdpServer::new(SIM_CTRL_PORT, request_sender, reply_receiver, 200, None)
            .expect("could not create UDP request server");
-    log::info!("starting UDP server on port {}", SIM_CTRL_UDP_PORT);
+    log::info!("starting UDP server on port {}", SIM_CTRL_PORT);
    // This thread manages the simulator UDP server.
    let udp_tc_thread = thread::spawn(move || {
        udp_server.run();
--- a/satrs-minisim/src/test_helpers.rs
+++ b/satrs-minisim/src/test_helpers.rs
@ -1,7 +1,10 @@
 use delegate::delegate;
-use std::{sync::mpsc, time::Duration};
+use std::sync::mpsc;
-use asynchronix::time::MonotonicTime;
+use nexosim::{
    simulation::ExecutionError,
    time::{Deadline, MonotonicTime},
 };
 use satrs_minisim::{SimReply, SimRequest};
 use crate::{controller::SimController, create_sim_controller, ThreadingModel};
@ -35,8 +38,8 @@ impl SimTestbench {
            pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime);
        }
        to self.sim_controller.simulation {
-            pub fn step(&mut self);
+            pub fn step(&mut self) -> Result<(), ExecutionError>;
-            pub fn step_by(&mut self, duration: Duration);
+            pub fn step_until(&mut self, duration: impl Deadline) -> Result<(), ExecutionError>;
        }
    }
--- a/satrs-minisim/src/time.rs
+++ b/satrs-minisim/src/time.rs
@ -1,4 +1,4 @@
-use asynchronix::time::MonotonicTime;
+use nexosim::time::MonotonicTime;
 pub fn current_millis(time: MonotonicTime) -> u64 {
    (time.as_secs() as u64 * 1000) + (time.subsec_nanos() as u64 / 1_000_000)
--- a/satrs-minisim/src/udp.rs
+++ b/satrs-minisim/src/udp.rs
@ -150,6 +150,7 @@ impl SimUdpServer {
 mod tests {
    use std::{
        io::ErrorKind,
        net::{SocketAddr, UdpSocket},
        sync::{
            atomic::{AtomicBool, Ordering},
            mpsc, Arc,
@ -159,7 +160,6 @@ mod tests {
    use satrs_minisim::{
        eps::{PcduReply, PcduRequest},
        udp::{ReceptionError, SimUdpClient},
        SimCtrlReply, SimCtrlRequest, SimReply, SimRequest,
    };
@ -171,8 +171,57 @@ mod tests {
    // Wait time to ensure even possibly laggy systems like CI servers can run the tests.
    const SERVER_WAIT_TIME_MS: u64 = 50;
    #[derive(thiserror::Error, Debug)]
    pub enum ReceptionError {
        #[error("IO error: {0}")]
        Io(#[from] std::io::Error),
        #[error("Serde JSON error: {0}")]
        SerdeJson(#[from] serde_json::Error),
    }
    pub struct SimUdpTestClient {
        socket: UdpSocket,
        pub reply_buf: [u8; 4096],
    }
    impl SimUdpTestClient {
        pub fn new(
            server_addr: &SocketAddr,
            non_blocking: bool,
            read_timeot_ms: Option<u64>,
        ) -> std::io::Result<Self> {
            let socket = UdpSocket::bind("127.0.0.1:0")?;
            socket.set_nonblocking(non_blocking)?;
            socket
                .connect(server_addr)
                .expect("could not connect to server addr");
            if let Some(read_timeout) = read_timeot_ms {
                // Set a read timeout so the test does not hang on failures.
                socket.set_read_timeout(Some(Duration::from_millis(read_timeout)))?;
            }
            Ok(Self {
                socket,
                reply_buf: [0; 4096],
            })
        }
        pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize> {
            self.socket.send(
                &serde_json::to_vec(sim_request).expect("conversion of request to vector failed"),
            )
        }
        pub fn recv_raw(&mut self) -> std::io::Result<usize> {
            self.socket.recv(&mut self.reply_buf)
        }
        pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError> {
            let read_len = self.recv_raw()?;
            Ok(serde_json::from_slice(&self.reply_buf[0..read_len])?)
        }
    }
    struct UdpTestbench {
-        client: SimUdpClient,
+        client: SimUdpTestClient,
        stop_signal: Arc<AtomicBool>,
        request_receiver: mpsc::Receiver<SimRequest>,
        reply_sender: mpsc::Sender<SimReply>,
@ -197,7 +246,7 @@ mod tests {
            let server_addr = server.server_addr()?;
            Ok((
                Self {
-                    client: SimUdpClient::new(
+                    client: SimUdpTestClient::new(
                        &server_addr,
                        client_non_blocking,
                        client_read_timeout_ms,
@ -295,7 +344,7 @@ mod tests {
            .send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
            .expect("sending request failed");
-        let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
+        let sim_reply = SimReply::new(&PcduReply::SwitchInfo(get_all_off_switch_map()));
        udp_testbench.send_reply(&sim_reply);
        udp_testbench.check_next_sim_reply(&sim_reply);
@ -320,7 +369,7 @@ mod tests {
            .expect("sending request failed");
        // Send a reply to the server, ensure it gets forwarded to the client.
-        let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
+        let sim_reply = SimReply::new(&PcduReply::SwitchInfo(get_all_off_switch_map()));
        udp_testbench.send_reply(&sim_reply);
        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
@ -339,7 +388,7 @@ mod tests {
        let server_thread = std::thread::spawn(move || udp_server.run());
        // Send a reply to the server. The client is not connected, so it won't get forwarded.
-        let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
+        let sim_reply = SimReply::new(&PcduReply::SwitchInfo(get_all_off_switch_map()));
        udp_testbench.send_reply(&sim_reply);
        std::thread::sleep(Duration::from_millis(10));
@ -366,7 +415,7 @@ mod tests {
        let server_thread = std::thread::spawn(move || udp_server.run());
        // The server only caches up to 3 replies.
-        let sim_reply = SimReply::new(SimCtrlReply::Pong);
+        let sim_reply = SimReply::new(&SimCtrlReply::Pong);
        for _ in 0..4 {
            udp_testbench.send_reply(&sim_reply);
        }
--- a/satrs-shared/CHANGELOG.md
+++ b/satrs-shared/CHANGELOG.md
@ -8,6 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 # [unreleased]
 # [v0.2.1] 2024-11-15
 Increased allowed spacepackets to v0.13
 # [v0.2.0] 2024-11-04
 Semver bump, due to added features in v0.1.4
 # [v0.1.4] 2024-04-24
 ## Added
--- a/satrs-shared/Cargo.toml
+++ b/satrs-shared/Cargo.toml
@ -1,7 +1,7 @@
 [package]
 name = "satrs-shared"
 description = "Components shared by multiple sat-rs crates"
-version = "0.1.4"
+version = "0.2.1"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@ -22,12 +22,13 @@ version = "0.3"
 optional = true
 [dependencies.spacepackets]
-version = ">0.9, <=0.11"
+version = ">0.9, <=0.13"
 default-features = false
 [features]
 serde = ["dep:serde", "spacepackets/serde"]
-spacepackets = ["dep:defmt", "spacepackets/defmt"]
+defmt = ["dep:defmt", "spacepackets/defmt"]
 [package.metadata.docs.rs]
-rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
+all-features = true
 rustdoc-args = ["--generate-link-to-definition"]
--- a/satrs-shared/docs.sh
+++ b/satrs-shared/docs.sh
@ -0,0 +1,3 @@
 #!/bin/sh
 export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
 cargo +nightly doc --all-features --open
--- a/satrs-shared/release-checklist.md
+++ b/satrs-shared/release-checklist.md
@ -0,0 +1,23 @@
 Checklist for new releases
 =======
 # Pre-Release
 1. Make sure any new modules are documented sufficiently enough and check docs by running
   `docs.sh`.
 2. Bump version specifier in `Cargo.toml`.
 3. Update `CHANGELOG.md`: Convert `unreleased` section into version section with date and add new
   `unreleased` section.
 4. Run `cargo test --all-features` or `cargo nextest r --all-features` and `cargo test --doc`.
 5. Run `cargo fmt` and `cargo clippy`. Check `cargo msrv` against MSRV in `Cargo.toml`.
 6. Wait for CI/CD results for EGit and Github. These also check cross-compilation for bare-metal
   targets.
 # Release
 1. `cargo publish`
 # Post-Release
 1. Create a new release on `EGit` with the name `satrs-<version>`.
--- a/satrs-shared/src/lib.rs
+++ b/satrs-shared/src/lib.rs
@ -1,4 +1,4 @@
 //! This crates contains modules shared among other sat-rs framework crates.
 #![no_std]
-#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
+#![cfg_attr(docsrs, feature(doc_auto_cfg))]
 pub mod res_code;
--- a/satrs/CHANGELOG.md
+++ b/satrs/CHANGELOG.md
@ -12,10 +12,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Renamed `StaticPoolConfig::new` to `StaticPoolConfig::new_from_subpool_cfg_tuples`. The new
  `new` implementation expects a type struct instead of tuples.
 - Moved `cfdp` module to [dedicated crate](https://egit.irs.uni-stuttgart.de/rust/cfdp)
 - Moved `seq_count` module to [spacepackets](https://egit.irs.uni-stuttgart.de/rust/spacepackets)
  crate
 ## Added
 - `StaticHeaplessMemoryPool` which can be grown with user-provided static buffers.
 - Scheduling table for systems with a standard runtime
 # [v0.2.1] 2024-05-19
--- a/satrs/Cargo.toml
+++ b/satrs/Cargo.toml
@ -2,7 +2,7 @@
 name = "satrs"
 version = "0.2.1"
 edition = "2021"
-rust-version = "1.71.1"
+rust-version = "1.82.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 description = "A framework to build software for remote systems"
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@ -13,27 +13,25 @@ keywords = ["no-std", "space", "aerospace"]
 categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
 [dependencies]
-delegate = ">0.7, <=0.10"
+delegate = ">0.7, <=0.13"
 paste = "1"
-derive-new = "0.6"
+derive-new = ">=0.6, <=0.7"
 smallvec = "1"
 crc = "3"
 [dependencies.satrs-shared]
-version = ">=0.1.3, <0.2"
+version = ">=0.1.3, <=0.2"
 [dependencies.num_enum]
 version = ">0.5, <=0.7"
 default-features = false
 [dependencies.spacepackets]
-version = "0.11"
+version = "0.13"
 default-features = false
 [dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
+version = "0.3"
 version = "0.2.3"
 branch = "all_features"
 default-features = false
 [dependencies.num-traits]
@ -45,15 +43,15 @@ version = "1"
 optional = true
 [dependencies.hashbrown]
-version = "0.14"
+version = ">=0.14, <=0.15"
 optional = true
 [dependencies.heapless]
-version = "0.7"
+version = "0.8"
 optional = true
 [dependencies.downcast-rs]
-version = "1.2"
+version = "2"
 default-features = false
 optional = true
@ -67,8 +65,8 @@ default-features = false
 optional = true
 [dependencies.thiserror]
-version = "1"
+version = "2"
-optional = true
+default-features = false
 [dependencies.serde]
 version = "1"
@ -81,7 +79,7 @@ features = ["all"]
 optional = true
 [dependencies.mio]
-version = "0.8"
+version = "1"
 features = ["os-poll", "net"]
 optional = true
@ -91,10 +89,10 @@ optional = true
 [dev-dependencies]
 serde = "1"
-zerocopy = "0.7"
+zerocopy = "0.8"
 once_cell = "1"
 serde_json = "1"
-rand = "0.8"
+rand = "0.9"
 tempfile = "3"
 [dev-dependencies.postcard]
@ -106,12 +104,11 @@ std = [
    "downcast-rs/std",
    "alloc",
    "bus",
    "postcard/use-std",
    "crossbeam-channel/std",
    "serde/std",
    "spacepackets/std",
    "num_enum/std",
-    "thiserror",
+    "thiserror/std",
    "socket2",
    "mio"
 ]
@ -127,8 +124,12 @@ crossbeam = ["crossbeam-channel"]
 heapless = ["dep:heapless"]
 defmt = ["dep:defmt", "spacepackets/defmt"]
 test_util = []
 doc-images = []
 [package.metadata.docs.rs]
 all-features = true
-rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
+rustdoc-args = ["--generate-link-to-definition"]
 [[test]]
 name = "event_test"
 path = "tests/pus_events.rs"
 required-features = ["test_util"]
--- a/satrs/docs.sh
+++ b/satrs/docs.sh
@ -0,0 +1,3 @@
 #!/bin/sh
 export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
 cargo +nightly doc --all-features --open
--- a/satrs/release-checklist.md
+++ b/satrs/release-checklist.md
@ -3,8 +3,7 @@ Checklist for new releases
 # Pre-Release
-1. Make sure any new modules are documented sufficiently enough and check docs with
+1. Make sure any new modules are documented sufficiently enough and check docs by running `docs.sh`.
   `cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]' --open`.
 2. Bump version specifier in `Cargo.toml`.
 3. Update `CHANGELOG.md`: Convert `unreleased` section into version section with date and add new
   `unreleased` section.
--- a/satrs/src/cfdp/dest.rs
+++ b/satrs/src/cfdp/dest.rs
--- a/satrs/src/cfdp/filestore.rs
+++ b/satrs/src/cfdp/filestore.rs
@ -1,769 +0,0 @@
 use alloc::string::{String, ToString};
 use core::fmt::Display;
 use crc::{Crc, CRC_32_CKSUM};
 use spacepackets::cfdp::ChecksumType;
 use spacepackets::ByteConversionError;
 #[cfg(feature = "std")]
 use std::error::Error;
 use std::path::Path;
 #[cfg(feature = "std")]
 pub use std_mod::*;
 pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
 #[derive(Debug, Clone)]
 pub enum FilestoreError {
    FileDoesNotExist,
    FileAlreadyExists,
    DirDoesNotExist,
    Permission,
    IsNotFile,
    IsNotDirectory,
    ByteConversion(ByteConversionError),
    Io {
        raw_errno: Option<i32>,
        string: String,
    },
    ChecksumTypeNotImplemented(ChecksumType),
 }
 impl From<ByteConversionError> for FilestoreError {
    fn from(value: ByteConversionError) -> Self {
        Self::ByteConversion(value)
    }
 }
 impl Display for FilestoreError {
    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
        match self {
            FilestoreError::FileDoesNotExist => {
                write!(f, "file does not exist")
            }
            FilestoreError::FileAlreadyExists => {
                write!(f, "file already exists")
            }
            FilestoreError::DirDoesNotExist => {
                write!(f, "directory does not exist")
            }
            FilestoreError::Permission => {
                write!(f, "permission error")
            }
            FilestoreError::IsNotFile => {
                write!(f, "is not a file")
            }
            FilestoreError::IsNotDirectory => {
                write!(f, "is not a directory")
            }
            FilestoreError::ByteConversion(e) => {
                write!(f, "filestore error: {e}")
            }
            FilestoreError::Io { raw_errno, string } => {
                write!(
                    f,
                    "filestore generic IO error with raw errno {:?}: {}",
                    raw_errno, string
                )
            }
            FilestoreError::ChecksumTypeNotImplemented(checksum_type) => {
                write!(f, "checksum {:?} not implemented", checksum_type)
            }
        }
    }
 }
 impl Error for FilestoreError {
    fn source(&self) -> Option<&(dyn Error + 'static)> {
        match self {
            FilestoreError::ByteConversion(e) => Some(e),
            _ => None,
        }
    }
 }
 #[cfg(feature = "std")]
 impl From<std::io::Error> for FilestoreError {
    fn from(value: std::io::Error) -> Self {
        Self::Io {
            raw_errno: value.raw_os_error(),
            string: value.to_string(),
        }
    }
 }
 pub trait VirtualFilestore {
    fn create_file(&self, file_path: &str) -> Result<(), FilestoreError>;
    fn remove_file(&self, file_path: &str) -> Result<(), FilestoreError>;
    /// Truncating a file means deleting all its data so the resulting file is empty.
    /// This can be more efficient than removing and re-creating a file.
    fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError>;
    fn remove_dir(&self, dir_path: &str, all: bool) -> Result<(), FilestoreError>;
    fn create_dir(&self, dir_path: &str) -> Result<(), FilestoreError>;
    fn read_data(
        &self,
        file_path: &str,
        offset: u64,
        read_len: u64,
        buf: &mut [u8],
    ) -> Result<(), FilestoreError>;
    fn write_data(&self, file: &str, offset: u64, buf: &[u8]) -> Result<(), FilestoreError>;
    fn filename_from_full_path(path: &str) -> Option<&str>
    where
        Self: Sized,
    {
        // Convert the path string to a Path
        let path = Path::new(path);
        // Extract the file name using the file_name() method
        path.file_name().and_then(|name| name.to_str())
    }
    fn is_file(&self, path: &str) -> bool;
    fn is_dir(&self, path: &str) -> bool {
        !self.is_file(path)
    }
    fn exists(&self, path: &str) -> bool;
    /// This special function is the CFDP specific abstraction to verify the checksum of a file.
    /// This allows to keep OS specific details like reading the whole file in the most efficient
    /// manner inside the file system abstraction.
    ///
    /// The passed verification buffer argument will be used by the specific implementation as
    /// a buffer to read the file into. It is recommended to use common buffer sizes like
    /// 4096 or 8192 bytes.
    fn checksum_verify(
        &self,
        file_path: &str,
        checksum_type: ChecksumType,
        expected_checksum: u32,
        verification_buf: &mut [u8],
    ) -> Result<bool, FilestoreError>;
 }
 #[cfg(feature = "std")]
 pub mod std_mod {
    use super::*;
    use std::{
        fs::{self, File, OpenOptions},
        io::{BufReader, Read, Seek, SeekFrom, Write},
    };
    #[derive(Default)]
    pub struct NativeFilestore {}
    impl VirtualFilestore for NativeFilestore {
        fn create_file(&self, file_path: &str) -> Result<(), FilestoreError> {
            if self.exists(file_path) {
                return Err(FilestoreError::FileAlreadyExists);
            }
            File::create(file_path)?;
            Ok(())
        }
        fn remove_file(&self, file_path: &str) -> Result<(), FilestoreError> {
            if !self.exists(file_path) {
                return Err(FilestoreError::FileDoesNotExist);
            }
            if !self.is_file(file_path) {
                return Err(FilestoreError::IsNotFile);
            }
            fs::remove_file(file_path)?;
            Ok(())
        }
        fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError> {
            if !self.exists(file_path) {
                return Err(FilestoreError::FileDoesNotExist);
            }
            if !self.is_file(file_path) {
                return Err(FilestoreError::IsNotFile);
            }
            OpenOptions::new()
                .write(true)
                .truncate(true)
                .open(file_path)?;
            Ok(())
        }
        fn create_dir(&self, dir_path: &str) -> Result<(), FilestoreError> {
            fs::create_dir(dir_path).map_err(|e| FilestoreError::Io {
                raw_errno: e.raw_os_error(),
                string: e.to_string(),
            })?;
            Ok(())
        }
        fn remove_dir(&self, dir_path: &str, all: bool) -> Result<(), FilestoreError> {
            if !self.exists(dir_path) {
                return Err(FilestoreError::DirDoesNotExist);
            }
            if !self.is_dir(dir_path) {
                return Err(FilestoreError::IsNotDirectory);
            }
            if !all {
                fs::remove_dir(dir_path)?;
                return Ok(());
            }
            fs::remove_dir_all(dir_path)?;
            Ok(())
        }
        fn read_data(
            &self,
            file_name: &str,
            offset: u64,
            read_len: u64,
            buf: &mut [u8],
        ) -> Result<(), FilestoreError> {
            if buf.len() < read_len as usize {
                return Err(ByteConversionError::ToSliceTooSmall {
                    found: buf.len(),
                    expected: read_len as usize,
                }
                .into());
            }
            if !self.exists(file_name) {
                return Err(FilestoreError::FileDoesNotExist);
            }
            if !self.is_file(file_name) {
                return Err(FilestoreError::IsNotFile);
            }
            let mut file = File::open(file_name)?;
            file.seek(SeekFrom::Start(offset))?;
            file.read_exact(&mut buf[0..read_len as usize])?;
            Ok(())
        }
        fn write_data(&self, file: &str, offset: u64, buf: &[u8]) -> Result<(), FilestoreError> {
            if !self.exists(file) {
                return Err(FilestoreError::FileDoesNotExist);
            }
            if !self.is_file(file) {
                return Err(FilestoreError::IsNotFile);
            }
            let mut file = OpenOptions::new().write(true).open(file)?;
            file.seek(SeekFrom::Start(offset))?;
            file.write_all(buf)?;
            Ok(())
        }
        fn is_file(&self, path: &str) -> bool {
            let path = Path::new(path);
            path.is_file()
        }
        fn exists(&self, path: &str) -> bool {
            let path = Path::new(path);
            if !path.exists() {
                return false;
            }
            true
        }
        fn checksum_verify(
            &self,
            file_path: &str,
            checksum_type: ChecksumType,
            expected_checksum: u32,
            verification_buf: &mut [u8],
        ) -> Result<bool, FilestoreError> {
            match checksum_type {
                ChecksumType::Modular => {
                    if self.calc_modular_checksum(file_path)? == expected_checksum {
                        return Ok(true);
                    }
                    Ok(false)
                }
                ChecksumType::Crc32 => {
                    let mut digest = CRC_32.digest();
                    let file_to_check = File::open(file_path)?;
                    let mut buf_reader = BufReader::new(file_to_check);
                    loop {
                        let bytes_read = buf_reader.read(verification_buf)?;
                        if bytes_read == 0 {
                            break;
                        }
                        digest.update(&verification_buf[0..bytes_read]);
                    }
                    if digest.finalize() == expected_checksum {
                        return Ok(true);
                    }
                    Ok(false)
                }
                ChecksumType::NullChecksum => Ok(true),
                _ => Err(FilestoreError::ChecksumTypeNotImplemented(checksum_type)),
            }
        }
    }
    impl NativeFilestore {
        pub fn calc_modular_checksum(&self, file_path: &str) -> Result<u32, FilestoreError> {
            let mut checksum: u32 = 0;
            let file = File::open(file_path)?;
            let mut buf_reader = BufReader::new(file);
            let mut buffer = [0; 4];
            loop {
                let bytes_read = buf_reader.read(&mut buffer)?;
                if bytes_read == 0 {
                    break;
                }
                // Perform padding directly in the buffer
                (bytes_read..4).for_each(|i| {
                    buffer[i] = 0;
                });
                checksum = checksum.wrapping_add(u32::from_be_bytes(buffer));
            }
            Ok(checksum)
        }
    }
 }
 #[cfg(test)]
 mod tests {
    use std::{fs, path::Path, println};
    use super::*;
    use alloc::format;
    use tempfile::tempdir;
    const EXAMPLE_DATA_CFDP: [u8; 15] = [
        0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E,
    ];
    const NATIVE_FS: NativeFilestore = NativeFilestore {};
    #[test]
    fn test_basic_native_filestore_create() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        let result =
            NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
        assert!(result.is_ok());
        let path = Path::new(&file_path);
        assert!(path.exists());
        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
    }
    #[test]
    fn test_basic_native_fs_file_exists() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .unwrap();
        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
    }
    #[test]
    fn test_basic_native_fs_dir_exists() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let dir_path = tmpdir.path().join("testdir");
        assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
        NATIVE_FS
            .create_dir(dir_path.to_str().expect("getting str for file failed"))
            .unwrap();
        assert!(NATIVE_FS.exists(dir_path.to_str().unwrap()));
        assert!(NATIVE_FS.is_dir(dir_path.as_path().to_str().unwrap()));
    }
    #[test]
    fn test_basic_native_fs_remove_file() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .expect("creating file failed");
        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
        NATIVE_FS
            .remove_file(file_path.to_str().unwrap())
            .expect("removing file failed");
        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
    }
    #[test]
    fn test_basic_native_fs_write() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .unwrap();
        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
        println!("{}", file_path.to_str().unwrap());
        let write_data = "hello world\n";
        NATIVE_FS
            .write_data(file_path.to_str().unwrap(), 0, write_data.as_bytes())
            .expect("writing to file failed");
        let read_back = fs::read_to_string(file_path).expect("reading back data failed");
        assert_eq!(read_back, write_data);
    }
    #[test]
    fn test_basic_native_fs_read() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .unwrap();
        assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
        assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
        println!("{}", file_path.to_str().unwrap());
        let write_data = "hello world\n";
        NATIVE_FS
            .write_data(file_path.to_str().unwrap(), 0, write_data.as_bytes())
            .expect("writing to file failed");
        let read_back = fs::read_to_string(file_path).expect("reading back data failed");
        assert_eq!(read_back, write_data);
    }
    #[test]
    fn test_truncate_file() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .expect("creating file failed");
        fs::write(file_path.clone(), [1, 2, 3, 4]).unwrap();
        assert_eq!(fs::read(file_path.clone()).unwrap(), [1, 2, 3, 4]);
        NATIVE_FS
            .truncate_file(file_path.to_str().unwrap())
            .unwrap();
        assert_eq!(fs::read(file_path.clone()).unwrap(), []);
    }
    #[test]
    fn test_remove_dir() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let dir_path = tmpdir.path().join("testdir");
        assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
        NATIVE_FS
            .create_dir(dir_path.to_str().expect("getting str for file failed"))
            .unwrap();
        assert!(NATIVE_FS.exists(dir_path.to_str().unwrap()));
        NATIVE_FS
            .remove_dir(dir_path.to_str().unwrap(), false)
            .unwrap();
        assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
    }
    #[test]
    fn test_read_file() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .expect("creating file failed");
        fs::write(file_path.clone(), [1, 2, 3, 4]).unwrap();
        let read_buf: &mut [u8] = &mut [0; 4];
        NATIVE_FS
            .read_data(file_path.to_str().unwrap(), 0, 4, read_buf)
            .unwrap();
        assert_eq!([1, 2, 3, 4], read_buf);
        NATIVE_FS
            .write_data(file_path.to_str().unwrap(), 4, &[5, 6, 7, 8])
            .expect("writing to file failed");
        NATIVE_FS
            .read_data(file_path.to_str().unwrap(), 2, 4, read_buf)
            .unwrap();
        assert_eq!([3, 4, 5, 6], read_buf);
    }
    #[test]
    fn test_remove_which_does_not_exist() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        let result = NATIVE_FS.read_data(file_path.to_str().unwrap(), 0, 4, &mut [0; 4]);
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::FileDoesNotExist = error {
            assert_eq!(error.to_string(), "file does not exist");
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_file_already_exists() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        let result =
            NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
        assert!(result.is_ok());
        let result =
            NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::FileAlreadyExists = error {
            assert_eq!(error.to_string(), "file already exists");
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_remove_file_with_dir_api() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .unwrap();
        let result = NATIVE_FS.remove_dir(file_path.to_str().unwrap(), true);
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::IsNotDirectory = error {
            assert_eq!(error.to_string(), "is not a directory");
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_remove_dir_remove_all() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let dir_path = tmpdir.path().join("test");
        NATIVE_FS
            .create_dir(dir_path.to_str().expect("getting str for file failed"))
            .unwrap();
        let file_path = dir_path.as_path().join("test.txt");
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .unwrap();
        let result = NATIVE_FS.remove_dir(dir_path.to_str().unwrap(), true);
        assert!(result.is_ok());
        assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
    }
    #[test]
    fn test_remove_dir_with_file_api() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test");
        NATIVE_FS
            .create_dir(file_path.to_str().expect("getting str for file failed"))
            .unwrap();
        let result = NATIVE_FS.remove_file(file_path.to_str().unwrap());
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::IsNotFile = error {
            assert_eq!(error.to_string(), "is not a file");
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_remove_dir_which_does_not_exist() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test");
        let result = NATIVE_FS.remove_dir(file_path.to_str().unwrap(), true);
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::DirDoesNotExist = error {
            assert_eq!(error.to_string(), "directory does not exist");
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_remove_file_which_does_not_exist() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        let result = NATIVE_FS.remove_file(file_path.to_str().unwrap());
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::FileDoesNotExist = error {
            assert_eq!(error.to_string(), "file does not exist");
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_truncate_file_which_does_not_exist() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        let result = NATIVE_FS.truncate_file(file_path.to_str().unwrap());
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::FileDoesNotExist = error {
            assert_eq!(error.to_string(), "file does not exist");
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_truncate_file_on_directory() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test");
        NATIVE_FS.create_dir(file_path.to_str().unwrap()).unwrap();
        let result = NATIVE_FS.truncate_file(file_path.to_str().unwrap());
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::IsNotFile = error {
            assert_eq!(error.to_string(), "is not a file");
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_byte_conversion_error_when_reading() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .unwrap();
        let result = NATIVE_FS.read_data(file_path.to_str().unwrap(), 0, 2, &mut []);
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::ByteConversion(byte_conv_error) = error {
            if let ByteConversionError::ToSliceTooSmall { found, expected } = byte_conv_error {
                assert_eq!(found, 0);
                assert_eq!(expected, 2);
            } else {
                panic!("unexpected error");
            }
            assert_eq!(
                error.to_string(),
                format!("filestore error: {}", byte_conv_error)
            );
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_read_file_on_dir() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let dir_path = tmpdir.path().join("test");
        NATIVE_FS
            .create_dir(dir_path.to_str().expect("getting str for file failed"))
            .unwrap();
        let result = NATIVE_FS.read_data(dir_path.to_str().unwrap(), 0, 4, &mut [0; 4]);
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::IsNotFile = error {
            assert_eq!(error.to_string(), "is not a file");
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_write_file_non_existing() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        let result = NATIVE_FS.write_data(file_path.to_str().unwrap(), 0, &[]);
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::FileDoesNotExist = error {
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_write_file_on_dir() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test");
        NATIVE_FS.create_dir(file_path.to_str().unwrap()).unwrap();
        let result = NATIVE_FS.write_data(file_path.to_str().unwrap(), 0, &[]);
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::IsNotFile = error {
        } else {
            panic!("unexpected error");
        }
    }
    #[test]
    fn test_filename_extraction() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("test.txt");
        NATIVE_FS
            .create_file(file_path.to_str().expect("getting str for file failed"))
            .unwrap();
        NativeFilestore::filename_from_full_path(file_path.to_str().unwrap());
    }
    #[test]
    fn test_modular_checksum() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("mod-crc.bin");
        fs::write(file_path.as_path(), EXAMPLE_DATA_CFDP).expect("writing test file failed");
        // Kind of re-writing the modular checksum impl here which we are trying to test, but the
        // numbers/correctness were verified manually using calculators, so this is okay.
        let mut checksum: u32 = 0;
        let mut buffer: [u8; 4] = [0; 4];
        for i in 0..3 {
            buffer = EXAMPLE_DATA_CFDP[i * 4..(i + 1) * 4].try_into().unwrap();
            checksum = checksum.wrapping_add(u32::from_be_bytes(buffer));
        }
        buffer[0..3].copy_from_slice(&EXAMPLE_DATA_CFDP[12..15]);
        buffer[3] = 0;
        checksum = checksum.wrapping_add(u32::from_be_bytes(buffer));
        let mut verif_buf: [u8; 32] = [0; 32];
        let result = NATIVE_FS.checksum_verify(
            file_path.to_str().unwrap(),
            ChecksumType::Modular,
            checksum,
            &mut verif_buf,
        );
        assert!(result.is_ok());
    }
    #[test]
    fn test_null_checksum_impl() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("mod-crc.bin");
        // The file to check does not even need to exist, and the verification buffer can be
        // empty: the null checksum is always yields the same result.
        let result = NATIVE_FS.checksum_verify(
            file_path.to_str().unwrap(),
            ChecksumType::NullChecksum,
            0,
            &mut [],
        );
        assert!(result.is_ok());
        assert!(result.unwrap());
    }
    #[test]
    fn test_checksum_not_implemented() {
        let tmpdir = tempdir().expect("creating tmpdir failed");
        let file_path = tmpdir.path().join("mod-crc.bin");
        // The file to check does not even need to exist, and the verification buffer can be
        // empty: the null checksum is always yields the same result.
        let result = NATIVE_FS.checksum_verify(
            file_path.to_str().unwrap(),
            ChecksumType::Crc32Proximity1,
            0,
            &mut [],
        );
        assert!(result.is_err());
        let error = result.unwrap_err();
        if let FilestoreError::ChecksumTypeNotImplemented(cksum_type) = error {
            assert_eq!(
                error.to_string(),
                format!("checksum {:?} not implemented", cksum_type)
            );
        } else {
            panic!("unexpected error");
        }
    }
 }
--- a/satrs/src/cfdp/mod.rs
+++ b/satrs/src/cfdp/mod.rs
@ -1,668 +0,0 @@
 //! This module contains the implementation of the CFDP high level classes as specified in the
 //! CCSDS 727.0-B-5.
 use core::{cell::RefCell, fmt::Debug, hash::Hash};
 use crc::{Crc, CRC_32_CKSUM};
 use hashbrown::HashMap;
 use spacepackets::{
    cfdp::{
        pdu::{FileDirectiveType, PduError, PduHeader},
        ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
    },
    util::{UnsignedByteField, UnsignedEnum},
 };
 #[cfg(feature = "alloc")]
 use alloc::boxed::Box;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 use crate::time::CountdownProvider;
 #[cfg(feature = "std")]
 pub mod dest;
 #[cfg(feature = "alloc")]
 pub mod filestore;
 #[cfg(feature = "std")]
 pub mod source;
 pub mod user;
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum EntityType {
    Sending,
    Receiving,
 }
 pub enum TimerContext {
    CheckLimit {
        local_id: UnsignedByteField,
        remote_id: UnsignedByteField,
        entity_type: EntityType,
    },
    NakActivity {
        expiry_time_seconds: f32,
    },
    PositiveAck {
        expiry_time_seconds: f32,
    },
 }
 /// A generic trait which allows CFDP entities to create check timers which are required to
 /// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
 /// and 4.6.3.3.
 ///
 /// This trait also allows the creation of different check timers depending on context and purpose
 /// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
 /// other factors.
 ///
 /// The countdown timer is used by 3 mechanisms of the CFDP protocol.
 ///
 /// ## 1. Check limit handling
 ///
 /// The first mechanism is the check limit handling for unacknowledged transfers as specified
 /// in 4.6.3.2 and 4.6.3.3 of the CFDP standard.
 /// For this mechanism, the timer has different functionality depending on whether
 /// the using entity is the sending entity or the receiving entity for the unacknowledged
 /// transmission mode.
 ///
 /// For the sending entity, this timer determines the expiry period for declaring a check limit
 /// fault after sending an EOF PDU with requested closure. This allows a timeout of the transfer.
 /// Also see 4.6.3.2 of the CFDP standard.
 ///
 /// For the receiving entity, this timer determines the expiry period for incrementing a check
 /// counter after an EOF PDU is received for an incomplete file transfer. This allows out-of-order
 /// reception of file data PDUs and EOF PDUs. Also see 4.6.3.3 of the CFDP standard.
 ///
 /// ## 2. NAK activity limit
 ///
 /// The timer will be used to perform the NAK activity check as specified in 4.6.4.7 of the CFDP
 /// standard. The expiration period will be provided by the NAK timer expiration limit of the
 /// remote entity configuration.
 ///
 /// ## 3. Positive ACK procedures
 ///
 /// The timer will be used to perform the Positive Acknowledgement Procedures as  specified in
 /// 4.7. 1of the CFDP standard. The expiration period will be provided by the Positive ACK timer
 /// interval of the remote entity configuration.
 #[cfg(feature = "alloc")]
 pub trait CheckTimerCreator {
    fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CountdownProvider>;
 }
 /// Simple implementation of the [CheckTimerCreator] trait assuming a standard runtime.
 /// It also assumes that a second accuracy of the check timer period is sufficient.
 #[cfg(feature = "std")]
 #[derive(Debug)]
 pub struct StdCheckTimer {
    expiry_time_seconds: u64,
    start_time: std::time::Instant,
 }
 #[cfg(feature = "std")]
 impl StdCheckTimer {
    pub fn new(expiry_time_seconds: u64) -> Self {
        Self {
            expiry_time_seconds,
            start_time: std::time::Instant::now(),
        }
    }
 }
 #[cfg(feature = "std")]
 impl CountdownProvider for StdCheckTimer {
    fn has_expired(&self) -> bool {
        let elapsed_time = self.start_time.elapsed();
        if elapsed_time.as_secs() > self.expiry_time_seconds {
            return true;
        }
        false
    }
    fn reset(&mut self) {
        self.start_time = std::time::Instant::now();
    }
 }
 /// This structure models the remote entity configuration information as specified in chapter 8.3
 /// of the CFDP standard.
 /// Some of the fields which were not considered necessary for the Rust implementation
 /// were omitted. Some other fields which are not contained inside the standard but are considered
 /// necessary for the Rust implementation are included.
 ///
 /// ## Notes on Positive Acknowledgment Procedures
 ///
 /// The `positive_ack_timer_interval_seconds` and `positive_ack_timer_expiration_limit` will
 /// be used for positive acknowledgement procedures as specified in CFDP chapter 4.7. The sending
 /// entity will start the timer for any PDUs where an acknowledgment is required (e.g. EOF PDU).
 /// Once the expected ACK response has not been received for that interval, as counter will be
 /// incremented and the timer will be reset. Once the counter exceeds the
 /// `positive_ack_timer_expiration_limit`, a Positive ACK Limit Reached fault will be declared.
 ///
 /// ## Notes on Deferred Lost Segment Procedures
 ///
 /// This procedure will be active if an EOF (No Error) PDU is received in acknowledged mode. After
 /// issuing the NAK sequence which has the whole file scope, a timer will be started. The timer is
 /// reset when missing segments or missing metadata is received. The timer will be deactivated if
 /// all missing data is received. If the timer expires, a new NAK sequence will be issued and a
 /// counter will be incremented, which can lead to a NAK Limit Reached fault being declared.
 ///
 /// ## Fields
 ///
 /// * `entity_id` - The ID of the remote entity.
 /// * `max_packet_len` - This determines of all PDUs generated for that remote entity in addition
 ///    to the `max_file_segment_len` attribute which also determines the size of file data PDUs.
 /// * `max_file_segment_len` The maximum file segment length which determines the maximum size
 ///   of file data PDUs in addition to the `max_packet_len` attribute. If this field is set
 ///   to None, the maximum file segment length will be derived from the maximum packet length.
 ///   If this has some value which is smaller than the segment value derived from
 ///   `max_packet_len`, this value will be picked.
 /// * `closure_requested_by_default` - If the closure requested field is not supplied as part of
 ///    the Put Request, it will be determined from this field in the remote configuration.
 /// * `crc_on_transmission_by_default` - If the CRC option is not supplied as part of the Put
 ///    Request, it will be determined from this field in the remote configuration.
 /// * `default_transmission_mode` - If the transmission mode is not supplied as part of the
 ///   Put Request, it will be determined from this field in the remote configuration.
 /// * `disposition_on_cancellation` - Determines whether an incomplete received file is discard on
 ///   transaction cancellation. Defaults to False.
 /// * `default_crc_type` - Default checksum type used to calculate for all file transmissions to
 ///   this remote entity.
 /// * `check_limit` - This timer determines the expiry period for incrementing a check counter
 ///   after an EOF PDU is received for an incomplete file transfer. This allows out-of-order
 ///   reception of file data PDUs and EOF PDUs. Also see 4.6.3.3 of the CFDP standard. Defaults to
 ///   2, so the check limit timer may expire twice.
 /// * `positive_ack_timer_interval_seconds`- See the notes on the Positive Acknowledgment
 ///    Procedures inside the class documentation. Expected as floating point seconds. Defaults to
 ///    10 seconds.
 /// * `positive_ack_timer_expiration_limit` - See the notes on the Positive Acknowledgment
 ///    Procedures inside the class documentation. Defaults to 2, so the timer may expire twice.
 /// * `immediate_nak_mode` - Specifies whether a NAK sequence should be issued immediately when a
 ///    file data gap or lost metadata is detected in the acknowledged mode. Defaults to True.
 /// * `nak_timer_interval_seconds` -  See the notes on the Deferred Lost Segment Procedure inside
 ///    the class documentation. Expected as floating point seconds. Defaults to 10 seconds.
 /// * `nak_timer_expiration_limit` - See the notes on the Deferred Lost Segment Procedure inside
 ///    the class documentation. Defaults to 2, so the timer may expire two times.
 #[derive(Debug, Copy, Clone)]
 pub struct RemoteEntityConfig {
    pub entity_id: UnsignedByteField,
    pub max_packet_len: usize,
    pub max_file_segment_len: usize,
    pub closure_requested_by_default: bool,
    pub crc_on_transmission_by_default: bool,
    pub default_transmission_mode: TransmissionMode,
    pub default_crc_type: ChecksumType,
    pub positive_ack_timer_interval_seconds: f32,
    pub positive_ack_timer_expiration_limit: u32,
    pub check_limit: u32,
    pub disposition_on_cancellation: bool,
    pub immediate_nak_mode: bool,
    pub nak_timer_interval_seconds: f32,
    pub nak_timer_expiration_limit: u32,
 }
 impl RemoteEntityConfig {
    pub fn new_with_default_values(
        entity_id: UnsignedByteField,
        max_file_segment_len: usize,
        max_packet_len: usize,
        closure_requested_by_default: bool,
        crc_on_transmission_by_default: bool,
        default_transmission_mode: TransmissionMode,
        default_crc_type: ChecksumType,
    ) -> Self {
        Self {
            entity_id,
            max_file_segment_len,
            max_packet_len,
            closure_requested_by_default,
            crc_on_transmission_by_default,
            default_transmission_mode,
            default_crc_type,
            check_limit: 2,
            positive_ack_timer_interval_seconds: 10.0,
            positive_ack_timer_expiration_limit: 2,
            disposition_on_cancellation: false,
            immediate_nak_mode: true,
            nak_timer_interval_seconds: 10.0,
            nak_timer_expiration_limit: 2,
        }
    }
 }
 pub trait RemoteEntityConfigProvider {
    /// Retrieve the remote entity configuration for the given remote ID.
    fn get_remote_config(&self, remote_id: u64) -> Option<&RemoteEntityConfig>;
    fn get_remote_config_mut(&mut self, remote_id: u64) -> Option<&mut RemoteEntityConfig>;
    /// Add a new remote configuration. Return [true] if the configuration was
    /// inserted successfully, and [false] if a configuration already exists.
    fn add_config(&mut self, cfg: &RemoteEntityConfig) -> bool;
    /// Remote a configuration. Returns [true] if the configuration was removed successfully,
    /// and [false] if no configuration exists for the given remote ID.
    fn remove_config(&mut self, remote_id: u64) -> bool;
 }
 #[cfg(feature = "std")]
 #[derive(Default)]
 pub struct StdRemoteEntityConfigProvider {
    remote_cfg_table: HashMap<u64, RemoteEntityConfig>,
 }
 #[cfg(feature = "std")]
 impl RemoteEntityConfigProvider for StdRemoteEntityConfigProvider {
    fn get_remote_config(&self, remote_id: u64) -> Option<&RemoteEntityConfig> {
        self.remote_cfg_table.get(&remote_id)
    }
    fn get_remote_config_mut(&mut self, remote_id: u64) -> Option<&mut RemoteEntityConfig> {
        self.remote_cfg_table.get_mut(&remote_id)
    }
    fn add_config(&mut self, cfg: &RemoteEntityConfig) -> bool {
        self.remote_cfg_table
            .insert(cfg.entity_id.value(), *cfg)
            .is_some()
    }
    fn remove_config(&mut self, remote_id: u64) -> bool {
        self.remote_cfg_table.remove(&remote_id).is_some()
    }
 }
 /// This trait introduces some callbacks which will be called when a particular CFDP fault
 /// handler is called.
 ///
 /// It is passed into the CFDP handlers as part of the [DefaultFaultHandler] and the local entity
 /// configuration and provides a way to specify custom user error handlers. This allows to
 /// implement some CFDP features like fault handler logging, which would not be possible
 /// generically otherwise.
 ///
 /// For each error reported by the [DefaultFaultHandler], the appropriate fault handler callback
 /// will be called depending on the [FaultHandlerCode].
 pub trait UserFaultHandler {
    fn notice_of_suspension_cb(
        &mut self,
        transaction_id: TransactionId,
        cond: ConditionCode,
        progress: u64,
    );
    fn notice_of_cancellation_cb(
        &mut self,
        transaction_id: TransactionId,
        cond: ConditionCode,
        progress: u64,
    );
    fn abandoned_cb(&mut self, transaction_id: TransactionId, cond: ConditionCode, progress: u64);
    fn ignore_cb(&mut self, transaction_id: TransactionId, cond: ConditionCode, progress: u64);
 }
 /// This structure is used to implement the fault handling as specified in chapter 4.8 of the CFDP
 /// standard.
 ///
 /// It does so by mapping each applicable [spacepackets::cfdp::ConditionCode] to a fault handler
 /// which is denoted by the four [spacepackets::cfdp::FaultHandlerCode]s. This code is used
 /// to select the error handling inside the CFDP handler itself in addition to dispatching to a
 /// user-provided callback function provided by the [UserFaultHandler].
 ///
 /// Some note on the provided default settings:
 ///
 /// - Checksum failures will be ignored by default. This is because for unacknowledged transfers,
 ///   cancelling the transfer immediately would interfere with the check limit mechanism specified
 ///   in chapter 4.6.3.3.
 /// - Unsupported checksum types will also be ignored by default. Even if the checksum type is
 ///   not supported the file transfer might still have worked properly.
 ///
 /// For all other faults, the default fault handling operation will be to cancel the transaction.
 /// These defaults can be overriden by using the [Self::set_fault_handler] method.
 /// Please note that in any case, fault handler overrides can be specified by the sending CFDP
 /// entity.
 pub struct DefaultFaultHandler {
    handler_array: [FaultHandlerCode; 10],
    // Could also change the user fault handler trait to have non mutable methods, but that limits
    // flexbility on the user side..
    user_fault_handler: RefCell<Box<dyn UserFaultHandler + Send>>,
 }
 impl DefaultFaultHandler {
    fn condition_code_to_array_index(conditon_code: ConditionCode) -> Option<usize> {
        Some(match conditon_code {
            ConditionCode::PositiveAckLimitReached => 0,
            ConditionCode::KeepAliveLimitReached => 1,
            ConditionCode::InvalidTransmissionMode => 2,
            ConditionCode::FilestoreRejection => 3,
            ConditionCode::FileChecksumFailure => 4,
            ConditionCode::FileSizeError => 5,
            ConditionCode::NakLimitReached => 6,
            ConditionCode::InactivityDetected => 7,
            ConditionCode::CheckLimitReached => 8,
            ConditionCode::UnsupportedChecksumType => 9,
            _ => return None,
        })
    }
    pub fn set_fault_handler(
        &mut self,
        condition_code: ConditionCode,
        fault_handler: FaultHandlerCode,
    ) {
        let array_idx = Self::condition_code_to_array_index(condition_code);
        if array_idx.is_none() {
            return;
        }
        self.handler_array[array_idx.unwrap()] = fault_handler;
    }
    pub fn new(user_fault_handler: Box<dyn UserFaultHandler + Send>) -> Self {
        let mut init_array = [FaultHandlerCode::NoticeOfCancellation; 10];
        init_array
            [Self::condition_code_to_array_index(ConditionCode::FileChecksumFailure).unwrap()] =
            FaultHandlerCode::IgnoreError;
        init_array[Self::condition_code_to_array_index(ConditionCode::UnsupportedChecksumType)
            .unwrap()] = FaultHandlerCode::IgnoreError;
        Self {
            handler_array: init_array,
            user_fault_handler: RefCell::new(user_fault_handler),
        }
    }
    pub fn get_fault_handler(&self, condition_code: ConditionCode) -> FaultHandlerCode {
        let array_idx = Self::condition_code_to_array_index(condition_code);
        if array_idx.is_none() {
            return FaultHandlerCode::IgnoreError;
        }
        self.handler_array[array_idx.unwrap()]
    }
    pub fn report_fault(
        &self,
        transaction_id: TransactionId,
        condition: ConditionCode,
        progress: u64,
    ) -> FaultHandlerCode {
        let array_idx = Self::condition_code_to_array_index(condition);
        if array_idx.is_none() {
            return FaultHandlerCode::IgnoreError;
        }
        let fh_code = self.handler_array[array_idx.unwrap()];
        let mut handler_mut = self.user_fault_handler.borrow_mut();
        match fh_code {
            FaultHandlerCode::NoticeOfCancellation => {
                handler_mut.notice_of_cancellation_cb(transaction_id, condition, progress);
            }
            FaultHandlerCode::NoticeOfSuspension => {
                handler_mut.notice_of_suspension_cb(transaction_id, condition, progress);
            }
            FaultHandlerCode::IgnoreError => {
                handler_mut.ignore_cb(transaction_id, condition, progress);
            }
            FaultHandlerCode::AbandonTransaction => {
                handler_mut.abandoned_cb(transaction_id, condition, progress);
            }
        }
        fh_code
    }
 }
 pub struct IndicationConfig {
    pub eof_sent: bool,
    pub eof_recv: bool,
    pub file_segment_recv: bool,
    pub transaction_finished: bool,
    pub suspended: bool,
    pub resumed: bool,
 }
 impl Default for IndicationConfig {
    fn default() -> Self {
        Self {
            eof_sent: true,
            eof_recv: true,
            file_segment_recv: true,
            transaction_finished: true,
            suspended: true,
            resumed: true,
        }
    }
 }
 pub struct LocalEntityConfig {
    pub id: UnsignedByteField,
    pub indication_cfg: IndicationConfig,
    pub default_fault_handler: DefaultFaultHandler,
 }
 /// The CFDP transaction ID of a CFDP transaction consists of the source entity ID and the sequence
 /// number of that transfer which is also determined by the CFDP source entity.
 #[derive(Debug, Eq, Copy, Clone)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TransactionId {
    source_id: UnsignedByteField,
    seq_num: UnsignedByteField,
 }
 impl TransactionId {
    pub fn new(source_id: UnsignedByteField, seq_num: UnsignedByteField) -> Self {
        Self { source_id, seq_num }
    }
    pub fn source_id(&self) -> &UnsignedByteField {
        &self.source_id
    }
    pub fn seq_num(&self) -> &UnsignedByteField {
        &self.seq_num
    }
 }
 impl Hash for TransactionId {
    fn hash<H: core::hash::Hasher>(&self, state: &mut H) {
        self.source_id.value().hash(state);
        self.seq_num.value().hash(state);
    }
 }
 impl PartialEq for TransactionId {
    fn eq(&self, other: &Self) -> bool {
        self.source_id.value() == other.source_id.value()
            && self.seq_num.value() == other.seq_num.value()
    }
 }
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum TransactionStep {
    Idle = 0,
    TransactionStart = 1,
    ReceivingFileDataPdus = 2,
    ReceivingFileDataPdusWithCheckLimitHandling = 3,
    SendingAckPdu = 4,
    TransferCompletion = 5,
    SendingFinishedPdu = 6,
 }
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum State {
    Idle = 0,
    Busy = 1,
    Suspended = 2,
 }
 pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum PacketTarget {
    SourceEntity,
    DestEntity,
 }
 /// This is a helper struct which contains base information about a particular PDU packet.
 /// This is also necessary information for CFDP packet routing. For example, some packet types
 /// like file data PDUs can only be used by CFDP source entities.
 pub struct PacketInfo<'raw_packet> {
    pdu_type: PduType,
    pdu_directive: Option<FileDirectiveType>,
    target: PacketTarget,
    raw_packet: &'raw_packet [u8],
 }
 impl<'raw> PacketInfo<'raw> {
    pub fn new(raw_packet: &'raw [u8]) -> Result<Self, PduError> {
        let (pdu_header, header_len) = PduHeader::from_bytes(raw_packet)?;
        if pdu_header.pdu_type() == PduType::FileData {
            return Ok(Self {
                pdu_type: pdu_header.pdu_type(),
                pdu_directive: None,
                target: PacketTarget::DestEntity,
                raw_packet,
            });
        }
        if pdu_header.pdu_datafield_len() < 1 {
            return Err(PduError::FormatError);
        }
        // Route depending on PDU type and directive type if applicable. Retrieve directive type
        // from the raw stream for better performance (with sanity and directive code check).
        // The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
        // procedure.
        let directive = FileDirectiveType::try_from(raw_packet[header_len]).map_err(|_| {
            PduError::InvalidDirectiveType {
                found: raw_packet[header_len],
                expected: None,
            }
        })?;
        let packet_target = match directive {
            // Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
            // the source handler
            FileDirectiveType::NakPdu
            | FileDirectiveType::FinishedPdu
            | FileDirectiveType::KeepAlivePdu => PacketTarget::SourceEntity,
            // Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
            // the destination handler
            FileDirectiveType::MetadataPdu
            | FileDirectiveType::EofPdu
            | FileDirectiveType::PromptPdu => PacketTarget::DestEntity,
            // Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
            // extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
            // the source handler, for a Finished PDU, it is passed to the destination handler.
            FileDirectiveType::AckPdu => {
                let acked_directive = FileDirectiveType::try_from(raw_packet[header_len + 1])
                    .map_err(|_| PduError::InvalidDirectiveType {
                        found: raw_packet[header_len],
                        expected: None,
                    })?;
                if acked_directive == FileDirectiveType::EofPdu {
                    PacketTarget::SourceEntity
                } else if acked_directive == FileDirectiveType::FinishedPdu {
                    PacketTarget::DestEntity
                } else {
                    // TODO: Maybe a better error? This might be confusing..
                    return Err(PduError::InvalidDirectiveType {
                        found: raw_packet[header_len + 1],
                        expected: None,
                    });
                }
            }
        };
        Ok(Self {
            pdu_type: pdu_header.pdu_type(),
            pdu_directive: Some(directive),
            target: packet_target,
            raw_packet,
        })
    }
    pub fn pdu_type(&self) -> PduType {
        self.pdu_type
    }
    pub fn pdu_directive(&self) -> Option<FileDirectiveType> {
        self.pdu_directive
    }
    pub fn target(&self) -> PacketTarget {
        self.target
    }
    pub fn raw_packet(&self) -> &[u8] {
        self.raw_packet
    }
 }
 #[cfg(test)]
 mod tests {
    use spacepackets::cfdp::{
        lv::Lv,
        pdu::{
            eof::EofPdu,
            file_data::FileDataPdu,
            metadata::{MetadataGenericParams, MetadataPduCreator},
            CommonPduConfig, FileDirectiveType, PduHeader, WritablePduPacket,
        },
        PduType,
    };
    use crate::cfdp::PacketTarget;
    use super::PacketInfo;
    fn generic_pdu_header() -> PduHeader {
        let pdu_conf = CommonPduConfig::default();
        PduHeader::new_no_file_data(pdu_conf, 0)
    }
    #[test]
    fn test_metadata_pdu_info() {
        let mut buf: [u8; 128] = [0; 128];
        let pdu_header = generic_pdu_header();
        let metadata_params = MetadataGenericParams::default();
        let src_file_name = "hello.txt";
        let dest_file_name = "hello-dest.txt";
        let src_lv = Lv::new_from_str(src_file_name).unwrap();
        let dest_lv = Lv::new_from_str(dest_file_name).unwrap();
        let metadata_pdu =
            MetadataPduCreator::new_no_opts(pdu_header, metadata_params, src_lv, dest_lv);
        metadata_pdu
            .write_to_bytes(&mut buf)
            .expect("writing metadata PDU failed");
        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
        assert_eq!(packet_info.pdu_type(), PduType::FileDirective);
        assert!(packet_info.pdu_directive().is_some());
        assert_eq!(
            packet_info.pdu_directive().unwrap(),
            FileDirectiveType::MetadataPdu
        );
        assert_eq!(packet_info.target(), PacketTarget::DestEntity);
    }
    #[test]
    fn test_filedata_pdu_info() {
        let mut buf: [u8; 128] = [0; 128];
        let pdu_header = generic_pdu_header();
        let file_data_pdu = FileDataPdu::new_no_seg_metadata(pdu_header, 0, &[]);
        file_data_pdu
            .write_to_bytes(&mut buf)
            .expect("writing file data PDU failed");
        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
        assert_eq!(packet_info.pdu_type(), PduType::FileData);
        assert!(packet_info.pdu_directive().is_none());
        assert_eq!(packet_info.target(), PacketTarget::DestEntity);
    }
    #[test]
    fn test_eof_pdu_info() {
        let mut buf: [u8; 128] = [0; 128];
        let pdu_header = generic_pdu_header();
        let eof_pdu = EofPdu::new_no_error(pdu_header, 0, 0);
        eof_pdu
            .write_to_bytes(&mut buf)
            .expect("writing file data PDU failed");
        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
        assert_eq!(packet_info.pdu_type(), PduType::FileDirective);
        assert!(packet_info.pdu_directive().is_some());
        assert_eq!(
            packet_info.pdu_directive().unwrap(),
            FileDirectiveType::EofPdu
        );
    }
 }
--- a/satrs/src/cfdp/source.rs
+++ b/satrs/src/cfdp/source.rs
@ -1,15 +0,0 @@
 #![allow(dead_code)]
 use spacepackets::util::UnsignedByteField;
 pub struct SourceHandler {
    id: UnsignedByteField,
 }
 impl SourceHandler {
    pub fn new(id: impl Into<UnsignedByteField>) -> Self {
        Self { id: id.into() }
    }
 }
 #[cfg(test)]
 mod tests {}
--- a/satrs/src/cfdp/user.rs
+++ b/satrs/src/cfdp/user.rs
@ -1,96 +0,0 @@
 use spacepackets::{
    cfdp::{
        pdu::{
            file_data::SegmentMetadata,
            finished::{DeliveryCode, FileStatus},
        },
        tlv::{msg_to_user::MsgToUserTlv, WritableTlv},
        ConditionCode,
    },
    util::UnsignedByteField,
 };
 use super::TransactionId;
 #[derive(Debug, Copy, Clone)]
 pub struct TransactionFinishedParams {
    pub id: TransactionId,
    pub condition_code: ConditionCode,
    pub delivery_code: DeliveryCode,
    pub file_status: FileStatus,
 }
 #[derive(Debug)]
 pub struct MetadataReceivedParams<'src_file, 'dest_file, 'msgs_to_user> {
    pub id: TransactionId,
    pub source_id: UnsignedByteField,
    pub file_size: u64,
    pub src_file_name: &'src_file str,
    pub dest_file_name: &'dest_file str,
    pub msgs_to_user: &'msgs_to_user [MsgToUserTlv<'msgs_to_user>],
 }
 #[cfg(feature = "alloc")]
 #[derive(Debug)]
 pub struct OwnedMetadataRecvdParams {
    pub id: TransactionId,
    pub source_id: UnsignedByteField,
    pub file_size: u64,
    pub src_file_name: alloc::string::String,
    pub dest_file_name: alloc::string::String,
    pub msgs_to_user: alloc::vec::Vec<alloc::vec::Vec<u8>>,
 }
 #[cfg(feature = "alloc")]
 impl From<MetadataReceivedParams<'_, '_, '_>> for OwnedMetadataRecvdParams {
    fn from(value: MetadataReceivedParams) -> Self {
        Self::from(&value)
    }
 }
 #[cfg(feature = "alloc")]
 impl From<&MetadataReceivedParams<'_, '_, '_>> for OwnedMetadataRecvdParams {
    fn from(value: &MetadataReceivedParams) -> Self {
        Self {
            id: value.id,
            source_id: value.source_id,
            file_size: value.file_size,
            src_file_name: value.src_file_name.into(),
            dest_file_name: value.dest_file_name.into(),
            msgs_to_user: value.msgs_to_user.iter().map(|tlv| tlv.to_vec()).collect(),
        }
    }
 }
 #[derive(Debug)]
 pub struct FileSegmentRecvdParams<'seg_meta> {
    pub id: TransactionId,
    pub offset: u64,
    pub length: usize,
    pub segment_metadata: Option<&'seg_meta SegmentMetadata<'seg_meta>>,
 }
 pub trait CfdpUser {
    fn transaction_indication(&mut self, id: &TransactionId);
    fn eof_sent_indication(&mut self, id: &TransactionId);
    fn transaction_finished_indication(&mut self, finished_params: &TransactionFinishedParams);
    fn metadata_recvd_indication(&mut self, md_recvd_params: &MetadataReceivedParams);
    fn file_segment_recvd_indication(&mut self, segment_recvd_params: &FileSegmentRecvdParams);
    // TODO: The standard does not strictly specify how the report information looks..
    fn report_indication(&mut self, id: &TransactionId);
    fn suspended_indication(&mut self, id: &TransactionId, condition_code: ConditionCode);
    fn resumed_indication(&mut self, id: &TransactionId, progress: u64);
    fn fault_indication(
        &mut self,
        id: &TransactionId,
        condition_code: ConditionCode,
        progress: u64,
    );
    fn abandoned_indication(
        &mut self,
        id: &TransactionId,
        condition_code: ConditionCode,
        progress: u64,
    );
    fn eof_recvd_indication(&mut self, id: &TransactionId);
 }
--- a/satrs/src/dev_mgmt.rs
+++ b/satrs/src/dev_mgmt.rs
@ -0,0 +1,448 @@
 use crate::{
    mode::{ModeAndSubmode, ModeReply, ModeRequest, ModeRequestSender},
    mode_tree::{ModeStoreProvider, ModeStoreVec},
    queue::{GenericSendError, GenericTargetedMessagingError},
    request::{GenericMessage, RequestId},
    ComponentId,
 };
 use core::fmt::Debug;
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct ActiveModeCommandContext {
    pub target_mode: ModeAndSubmode,
    pub active_request_id: RequestId,
 }
 #[derive(Debug, Default, PartialEq, Eq)]
 pub enum DevManagerHelperResult {
    #[default]
    Idle,
    Busy,
    ModeCommandingDone(ActiveModeCommandContext),
 }
 #[derive(Debug)]
 pub enum DevManagerHelperError {
    ChildNotInStore,
 }
 pub trait DevManagerUserHook: Debug {
    fn send_mode_cmd_to_child(
        &self,
        request_id: RequestId,
        target_id: ComponentId,
        mode: ModeAndSubmode,
        forced: bool,
        children_mode_store: &mut ModeStoreVec,
        mode_req_sender: &impl ModeRequestSender,
    ) -> Result<(), GenericTargetedMessagingError>;
    fn send_mode_cmds_to_children(
        &self,
        request_id: RequestId,
        commanded_parent_mode: ModeAndSubmode,
        forced: bool,
        children_mode_store: &mut ModeStoreVec,
        mode_req_sender: &impl ModeRequestSender,
    ) -> Result<(), GenericTargetedMessagingError>;
 }
 #[derive(Debug, Default)]
 pub struct TransparentDevManagerHook {}
 impl DevManagerUserHook for TransparentDevManagerHook {
    fn send_mode_cmds_to_children(
        &self,
        request_id: RequestId,
        commanded_parent_mode: ModeAndSubmode,
        forced: bool,
        children_mode_store: &mut ModeStoreVec,
        mode_req_sender: &impl ModeRequestSender,
    ) -> Result<(), GenericTargetedMessagingError> {
        for child in children_mode_store {
            mode_req_sender.send_mode_request(
                request_id,
                child.id(),
                ModeRequest::SetMode {
                    mode_and_submode: commanded_parent_mode,
                    forced,
                },
            )?;
            child.awaiting_reply = true;
        }
        Ok(())
    }
    fn send_mode_cmd_to_child(
        &self,
        request_id: RequestId,
        target_id: ComponentId,
        mode: ModeAndSubmode,
        forced: bool,
        children_mode_store: &mut ModeStoreVec,
        mode_req_sender: &impl ModeRequestSender,
    ) -> Result<(), GenericTargetedMessagingError> {
        let mut_val = children_mode_store
            .get_mut(target_id)
            .ok_or(GenericSendError::TargetDoesNotExist(target_id))?;
        mut_val.awaiting_reply = true;
        mode_req_sender.send_mode_request(
            request_id,
            target_id,
            ModeRequest::SetMode {
                mode_and_submode: mode,
                forced,
            },
        )?;
        Ok(())
    }
 }
 #[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
 pub enum DevManagerCommandingState {
    #[default]
    Idle,
    AwaitingReplies(ActiveModeCommandContext),
 }
 impl DevManagerCommandingState {
    fn new_active_cmd(mode_and_submode: ModeAndSubmode, active_request_id: RequestId) -> Self {
        DevManagerCommandingState::AwaitingReplies(ActiveModeCommandContext {
            target_mode: mode_and_submode,
            active_request_id,
        })
    }
 }
 /// A generic helper for manager components which manage child components in a mode tree.
 ///
 /// Mode commands are usually forwarded to all children components transparently.
 /// For example, this could be used in an Assembly component which manages multiple redundant
 /// child components. It can also be used inside a manager component which only manages one device.
 #[derive(Debug, Default)]
 pub struct DevManagerCommandingHelper<UserHook: DevManagerUserHook> {
    /// The IDs, modes and reply awaition status of all children are tracked in this data
    /// structure.
    pub children_mode_store: ModeStoreVec,
    pub user_hook: UserHook,
    pub state: DevManagerCommandingState,
 }
 impl<UserHook: DevManagerUserHook> DevManagerCommandingHelper<UserHook> {
    pub fn new(user_hook: UserHook) -> Self {
        Self {
            children_mode_store: Default::default(),
            user_hook,
            state: Default::default(),
        }
    }
    pub fn send_mode_cmd_to_one_child(
        &mut self,
        request_id: RequestId,
        target_id: ComponentId,
        mode_and_submode: ModeAndSubmode,
        forced: bool,
        mode_req_sender: &impl ModeRequestSender,
    ) -> Result<(), GenericTargetedMessagingError> {
        self.state = DevManagerCommandingState::new_active_cmd(mode_and_submode, request_id);
        self.user_hook.send_mode_cmd_to_child(
            request_id,
            target_id,
            mode_and_submode,
            forced,
            &mut self.children_mode_store,
            mode_req_sender,
        )?;
        Ok(())
    }
    pub fn send_mode_cmd_to_all_children(
        &mut self,
        request_id: RequestId,
        mode_and_submode: ModeAndSubmode,
        forced: bool,
        mode_req_sender: &impl ModeRequestSender,
    ) -> Result<(), GenericTargetedMessagingError> {
        self.state = DevManagerCommandingState::new_active_cmd(mode_and_submode, request_id);
        self.user_hook.send_mode_cmds_to_children(
            request_id,
            mode_and_submode,
            forced,
            &mut self.children_mode_store,
            mode_req_sender,
        )?;
        Ok(())
    }
    pub fn target_mode(&self) -> Option<ModeAndSubmode> {
        match self.state {
            DevManagerCommandingState::Idle => None,
            DevManagerCommandingState::AwaitingReplies(context) => Some(context.target_mode),
        }
    }
    pub fn state(&self) -> DevManagerCommandingState {
        self.state
    }
    pub fn send_announce_mode_cmd_to_children(
        &self,
        request_id: RequestId,
        mode_req_sender: &impl ModeRequestSender,
        recursive: bool,
    ) -> Result<(), GenericTargetedMessagingError> {
        let mut request = ModeRequest::AnnounceMode;
        if recursive {
            request = ModeRequest::AnnounceModeRecursive;
        }
        for child in self.children_mode_store.0.iter() {
            mode_req_sender.send_mode_request(request_id, child.id(), request)?;
        }
        Ok(())
    }
    pub fn add_mode_child(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
        self.children_mode_store.add_component(target_id, mode);
    }
    /// Helper method which counts the number of children which have a certain mode.
    pub fn count_number_of_children_with_mode(&self, mode_and_submode: ModeAndSubmode) -> usize {
        let mut children_in_target_mode = 0;
        for child in &self.children_mode_store {
            if child.mode_and_submode() == mode_and_submode {
                children_in_target_mode += 1;
            }
        }
        children_in_target_mode
    }
    pub fn handle_mode_reply(
        &mut self,
        mode_reply: &GenericMessage<ModeReply>,
    ) -> Result<DevManagerHelperResult, DevManagerHelperError> {
        let context = match self.state {
            DevManagerCommandingState::Idle => return Ok(DevManagerHelperResult::Idle),
            DevManagerCommandingState::AwaitingReplies(active_mode_command_context) => {
                Some(active_mode_command_context)
            }
        };
        if !self
            .children_mode_store
            .has_component(mode_reply.sender_id())
        {
            return Err(DevManagerHelperError::ChildNotInStore);
        }
        let mut generic_mode_reply_handler = |mode_and_submode: Option<ModeAndSubmode>| {
            // Tying the reply awaition to the request ID ensures that something like replies
            // belonging to older requests do not interfere with the completion handling of
            // the mode commanding. This is important for forced mode commands.
            let mut handle_awaition = false;
            if let DevManagerCommandingState::AwaitingReplies { .. } = self.state {
                handle_awaition = true;
            }
            let still_awating_replies = self.children_mode_store.mode_reply_handler(
                mode_reply.sender_id(),
                mode_and_submode,
                handle_awaition,
            );
            // It is okay to unwrap: If awaition should be handled, the returned value should
            // always be some valid value.
            if handle_awaition && !still_awating_replies.unwrap() {
                self.state = DevManagerCommandingState::Idle;
                return Ok(DevManagerHelperResult::ModeCommandingDone(context.unwrap()));
            }
            Ok(DevManagerHelperResult::Busy)
        };
        match mode_reply.message {
            ModeReply::ModeInfo(mode_and_submode) | ModeReply::ModeReply(mode_and_submode) => {
                generic_mode_reply_handler(Some(mode_and_submode))
            }
            ModeReply::CantReachMode(_result_u16) => generic_mode_reply_handler(None),
            ModeReply::WrongMode {
                expected: _,
                reached,
            } => generic_mode_reply_handler(Some(reached)),
        }
    }
 }
 #[cfg(test)]
 mod tests {
    use crate::{
        mode::{tests::ModeReqSenderMock, UNKNOWN_MODE},
        request::MessageMetadata,
    };
    use super::*;
    pub enum ExampleId {
        Id1 = 1,
        Id2 = 2,
    }
    pub enum ExampleMode {
        Mode1 = 1,
        Mode2 = 2,
    }
    #[test]
    fn test_basic() {
        let assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
        assert_eq!(assy_helper.state(), DevManagerCommandingState::Idle);
    }
    #[test]
    fn test_mode_announce() {
        let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
        let mode_req_sender = ModeReqSenderMock::default();
        assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
        assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
        assy_helper
            .send_announce_mode_cmd_to_children(1, &mode_req_sender, false)
            .unwrap();
        assert_eq!(mode_req_sender.requests.borrow().len(), 2);
        let mut req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
        assert_eq!(req.target_id, ExampleId::Id1 as u64);
        assert_eq!(req.request_id, 1);
        assert_eq!(req.request, ModeRequest::AnnounceMode);
        req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
        assert_eq!(req.target_id, ExampleId::Id2 as u64);
        assert_eq!(req.request_id, 1);
        assert_eq!(req.request, ModeRequest::AnnounceMode);
    }
    #[test]
    fn test_mode_announce_recursive() {
        let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
        let mode_req_sender = ModeReqSenderMock::default();
        assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
        assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
        assy_helper
            .send_announce_mode_cmd_to_children(1, &mode_req_sender, true)
            .unwrap();
        assert_eq!(mode_req_sender.requests.borrow().len(), 2);
        let mut req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
        assert_eq!(req.target_id, ExampleId::Id1 as u64);
        assert_eq!(req.request_id, 1);
        assert_eq!(req.request, ModeRequest::AnnounceModeRecursive);
        req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
        assert_eq!(req.target_id, ExampleId::Id2 as u64);
        assert_eq!(req.request_id, 1);
        assert_eq!(req.request, ModeRequest::AnnounceModeRecursive);
    }
    #[test]
    fn test_mode_commanding_one_child() {
        let mut dev_mgmt_helper =
            DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
        let mode_req_sender = ModeReqSenderMock::default();
        dev_mgmt_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
        let expected_mode = ModeAndSubmode::new(ExampleMode::Mode1 as u32, 0);
        dev_mgmt_helper
            .send_mode_cmd_to_one_child(
                1,
                ExampleId::Id1 as u64,
                expected_mode,
                false,
                &mode_req_sender,
            )
            .unwrap();
        assert_eq!(mode_req_sender.requests.borrow().len(), 1);
        let req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
        assert_eq!(req.target_id, ExampleId::Id1 as u64);
        assert_eq!(req.request_id, 1);
        assert_eq!(
            req.request,
            ModeRequest::SetMode {
                mode_and_submode: expected_mode,
                forced: false
            }
        );
        matches!(
            dev_mgmt_helper.state(),
            DevManagerCommandingState::AwaitingReplies { .. }
        );
        if let DevManagerCommandingState::AwaitingReplies(ctx) = dev_mgmt_helper.state() {
            assert_eq!(ctx.target_mode, expected_mode);
            assert_eq!(ctx.active_request_id, 1);
        }
        let reply = GenericMessage::new(
            MessageMetadata::new(1, ExampleId::Id1 as u64),
            ModeReply::ModeReply(expected_mode),
        );
        if let DevManagerHelperResult::ModeCommandingDone(ActiveModeCommandContext {
            target_mode,
            active_request_id,
        }) = dev_mgmt_helper.handle_mode_reply(&reply).unwrap()
        {
            assert_eq!(target_mode, expected_mode);
            assert_eq!(active_request_id, 1);
        }
        matches!(dev_mgmt_helper.state(), DevManagerCommandingState::Idle);
    }
    #[test]
    fn test_mode_commanding_multi_child() {
        let mut dev_mgmt_helper =
            DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
        let mode_req_sender = ModeReqSenderMock::default();
        dev_mgmt_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
        dev_mgmt_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
        let expected_mode = ModeAndSubmode::new(ExampleMode::Mode2 as u32, 0);
        dev_mgmt_helper
            .send_mode_cmd_to_all_children(1, expected_mode, false, &mode_req_sender)
            .unwrap();
        assert_eq!(mode_req_sender.requests.borrow().len(), 2);
        let req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
        assert_eq!(req.target_id, ExampleId::Id1 as u64);
        assert_eq!(req.request_id, 1);
        assert_eq!(
            req.request,
            ModeRequest::SetMode {
                mode_and_submode: expected_mode,
                forced: false
            }
        );
        let req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
        assert_eq!(req.target_id, ExampleId::Id2 as u64);
        assert_eq!(req.request_id, 1);
        assert_eq!(
            req.request,
            ModeRequest::SetMode {
                mode_and_submode: expected_mode,
                forced: false
            }
        );
        matches!(
            dev_mgmt_helper.state(),
            DevManagerCommandingState::AwaitingReplies { .. }
        );
        if let DevManagerCommandingState::AwaitingReplies(ctx) = dev_mgmt_helper.state() {
            assert_eq!(ctx.target_mode, expected_mode);
            assert_eq!(ctx.active_request_id, 1);
        }
        let reply = GenericMessage::new(
            MessageMetadata::new(1, ExampleId::Id1 as u64),
            ModeReply::ModeReply(expected_mode),
        );
        assert_eq!(
            dev_mgmt_helper.handle_mode_reply(&reply).unwrap(),
            DevManagerHelperResult::Busy
        );
        let reply = GenericMessage::new(
            MessageMetadata::new(1, ExampleId::Id2 as u64),
            ModeReply::ModeReply(expected_mode),
        );
        if let DevManagerHelperResult::ModeCommandingDone(ActiveModeCommandContext {
            target_mode,
            active_request_id,
        }) = dev_mgmt_helper.handle_mode_reply(&reply).unwrap()
        {
            assert_eq!(target_mode, expected_mode);
            assert_eq!(active_request_id, 1);
        }
        matches!(dev_mgmt_helper.state(), DevManagerCommandingState::Idle);
    }
 }
--- a/satrs/src/executable.rs
+++ b/satrs/src/executable.rs
@ -15,20 +15,24 @@ pub enum OpResult {
    TerminationRequested,
 }
 #[derive(Debug)]
 pub enum ExecutionType {
    Infinite,
    Cycles(u32),
    OneShot,
 }
-pub trait Executable: Send {
+pub trait Executable {
    type Error;
    fn exec_type(&self) -> ExecutionType;
    fn task_name(&self) -> &'static str;
    fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error>;
 }
 pub trait ExecutableWithType: Executable {
    fn exec_type(&self) -> ExecutionType;
 }
 /// This function allows executing one task which implements the [Executable] trait
 ///
 /// # Arguments
@ -39,7 +43,10 @@ pub trait Executable: Send {
 /// * `op_code`: Operation code which is passed to the executable task
 ///    [operation call][Executable::periodic_op]
 /// * `termination`: Optional termination handler which can cancel threads with a broadcast
-pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
+pub fn exec_sched_single<
    T: ExecutableWithType<Error = E> + Send + 'static + ?Sized,
    E: Send + 'static,
 >(
    mut executable: Box<T>,
    task_freq: Option<Duration>,
    op_code: i32,
@ -88,7 +95,10 @@ pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E:
 /// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
 /// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
 /// * `termination`: Optional termination handler which can cancel threads with a broadcast
-pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
+pub fn exec_sched_multi<
    T: ExecutableWithType<Error = E> + Send + 'static + ?Sized,
    E: Send + 'static,
 >(
    task_name: &'static str,
    mut executable_vec: Vec<Box<T>>,
    task_freq: Option<Duration>,
@ -142,7 +152,10 @@ pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: S
 #[cfg(test)]
 mod tests {
-    use super::{exec_sched_multi, exec_sched_single, Executable, ExecutionType, OpResult};
+    use super::{
        exec_sched_multi, exec_sched_single, Executable, ExecutableWithType, ExecutionType,
        OpResult,
    };
    use bus::Bus;
    use std::boxed::Box;
    use std::error::Error;
@ -208,10 +221,6 @@ mod tests {
    impl Executable for OneShotTask {
        type Error = ExampleError;
        fn exec_type(&self) -> ExecutionType {
            ExecutionType::OneShot
        }
        fn task_name(&self) -> &'static str {
            ONE_SHOT_TASK_NAME
        }
@ -229,15 +238,17 @@ mod tests {
        }
    }
    impl ExecutableWithType for OneShotTask {
        fn exec_type(&self) -> ExecutionType {
            ExecutionType::OneShot
        }
    }
    const CYCLE_TASK_NAME: &str = "Fixed Cycles Task";
    impl Executable for FixedCyclesTask {
        type Error = ExampleError;
        fn exec_type(&self) -> ExecutionType {
            ExecutionType::Cycles(self.cycles)
        }
        fn task_name(&self) -> &'static str {
            CYCLE_TASK_NAME
        }
@ -255,15 +266,17 @@ mod tests {
        }
    }
    impl ExecutableWithType for FixedCyclesTask {
        fn exec_type(&self) -> ExecutionType {
            ExecutionType::Cycles(self.cycles)
        }
    }
    const PERIODIC_TASK_NAME: &str = "Periodic Task";
    impl Executable for PeriodicTask {
        type Error = ExampleError;
        fn exec_type(&self) -> ExecutionType {
            ExecutionType::Infinite
        }
        fn task_name(&self) -> &'static str {
            PERIODIC_TASK_NAME
        }
@ -281,6 +294,12 @@ mod tests {
        }
    }
    impl ExecutableWithType for PeriodicTask {
        fn exec_type(&self) -> ExecutionType {
            ExecutionType::Infinite
        }
    }
    #[test]
    fn test_simple_one_shot() {
        let expected_op_code = 42;
@ -423,7 +442,7 @@ mod tests {
        });
        assert_eq!(cycled_task_0.task_name(), CYCLE_TASK_NAME);
        assert_eq!(one_shot_task.task_name(), ONE_SHOT_TASK_NAME);
-        let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
+        let task_vec: Vec<Box<dyn ExecutableWithType<Error = ExampleError> + Send>> =
            vec![one_shot_task, cycled_task_0, cycled_task_1];
        let jh = exec_sched_multi(
            "multi-task-name",
@ -493,7 +512,7 @@ mod tests {
        });
        assert_eq!(periodic_task_0.task_name(), PERIODIC_TASK_NAME);
        assert_eq!(periodic_task_1.task_name(), PERIODIC_TASK_NAME);
-        let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
+        let task_vec: Vec<Box<dyn ExecutableWithType<Error = ExampleError> + Send>> =
            vec![cycled_task, periodic_task_0, periodic_task_1];
        let jh = exec_sched_multi(
            "multi-task-name",
--- a/satrs/src/health.rs
+++ b/satrs/src/health.rs
@ -0,0 +1,39 @@
 use crate::ComponentId;
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum HealthState {
    Healthy = 1,
    Faulty = 2,
    PermanentFaulty = 3,
    ExternalControl = 4,
    NeedsRecovery = 5,
 }
 pub trait HealthTableProvider {
    fn health(&self, id: ComponentId) -> Option<HealthState>;
    fn set_health(&mut self, id: ComponentId, health: HealthState);
 }
 #[cfg(feature = "std")]
 #[derive(Debug, Clone)]
 pub struct HealthTableMapSync(
    std::sync::Arc<std::sync::Mutex<hashbrown::HashMap<ComponentId, HealthState>>>,
 );
 #[cfg(feature = "std")]
 impl HealthTableMapSync {
    pub fn new(health_table: hashbrown::HashMap<ComponentId, HealthState>) -> Self {
        Self(std::sync::Arc::new(std::sync::Mutex::new(health_table)))
    }
 }
 #[cfg(feature = "std")]
 impl HealthTableProvider for HealthTableMapSync {
    fn health(&self, id: ComponentId) -> Option<HealthState> {
        self.0.lock().unwrap().get(&id).copied()
    }
    fn set_health(&mut self, id: ComponentId, health: HealthState) {
        self.0.lock().unwrap().insert(id, health);
    }
 }
--- a/satrs/src/lib.rs
+++ b/satrs/src/lib.rs
@ -1,4 +1,4 @@
-//! # sat-rs: A framework to build on-board software for remote systems
+//! # sat-rs: A library to build on-board software for remote systems
 //!
 //! You can find more information about the sat-rs framework on the
 //! [homepage](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
@ -14,7 +14,7 @@
 //!  - The [pus] module which provides special support for projects using
 //!    the [ECSS PUS C standard](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
 #![no_std]
-#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
+#![cfg_attr(docsrs, feature(doc_auto_cfg))]
 #[cfg(feature = "alloc")]
 extern crate alloc;
 #[cfg(feature = "alloc")]
@ -22,31 +22,34 @@ extern crate downcast_rs;
 #[cfg(any(feature = "std", test))]
 extern crate std;
 pub mod action;
 #[cfg(feature = "alloc")]
-pub mod cfdp;
+pub mod dev_mgmt;
 pub mod encoding;
 pub mod event_man;
 pub mod events;
 #[cfg(feature = "std")]
 pub mod executable;
 pub mod hal;
 pub mod health;
 pub mod hk;
 pub mod mode;
 #[cfg(feature = "std")]
 pub mod mode_tree;
 pub mod params;
 pub mod pool;
 pub mod power;
 pub mod pus;
 pub mod queue;
 pub mod request;
 pub mod res_code;
-pub mod seq_count;
+#[cfg(feature = "alloc")]
 pub mod scheduling;
 #[cfg(feature = "alloc")]
 pub mod subsystem;
 pub mod time;
 pub mod tmtc;
 pub mod action;
 pub mod hk;
 pub mod mode;
 pub mod params;
 pub use spacepackets;
 use spacepackets::PacketId;
--- a/satrs/src/mode.rs
+++ b/satrs/src/mode.rs
@ -12,7 +12,9 @@ pub use std_mod::*;
 use crate::{
    queue::GenericTargetedMessagingError,
-    request::{GenericMessage, MessageMetadata, MessageReceiver, MessageReceiverWithId, RequestId},
+    request::{
        GenericMessage, MessageMetadata, MessageReceiverProvider, MessageReceiverWithId, RequestId,
    },
    ComponentId,
 };
@ -26,6 +28,11 @@ pub struct ModeAndSubmode {
    submode: Submode,
 }
 pub const INVALID_MODE_VAL: Mode = Mode::MAX;
 pub const UNKNOWN_MODE_VAL: Mode = Mode::MAX - 1;
 pub const INVALID_MODE: ModeAndSubmode = ModeAndSubmode::new(INVALID_MODE_VAL, 0);
 pub const UNKNOWN_MODE: ModeAndSubmode = ModeAndSubmode::new(UNKNOWN_MODE_VAL, 0);
 impl ModeAndSubmode {
    pub const RAW_LEN: usize = size_of::<Mode>() + size_of::<Submode>();
@ -111,7 +118,10 @@ impl TargetedModeCommand {
 pub enum ModeRequest {
    /// Mode information. Can be used to notify other components of changed modes.
    ModeInfo(ModeAndSubmode),
-    SetMode(ModeAndSubmode),
+    SetMode {
        mode_and_submode: ModeAndSubmode,
        forced: bool,
    },
    ReadMode,
    AnnounceMode,
    AnnounceModeRecursive,
@ -127,6 +137,8 @@ pub struct TargetedModeRequest {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum ModeReply {
    /// Mode information. Can be used to notify other components of changed modes.
    ModeInfo(ModeAndSubmode),
    /// Reply to a mode request to confirm the commanded mode was reached.
    ModeReply(ModeAndSubmode),
    // Can not reach the commanded mode. Contains a reason as a [ResultU16].
@ -156,7 +168,7 @@ pub trait ModeRequestReceiver {
    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError>;
 }
-impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
+impl<R: MessageReceiverProvider<ModeRequest>> ModeRequestReceiver
    for MessageReceiverWithId<ModeRequest, R>
 {
    fn try_recv_mode_request(
@ -166,15 +178,12 @@ impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
    }
 }
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, thiserror::Error)]
 pub enum ModeError {
-    Messaging(GenericTargetedMessagingError),
+    #[error("Messaging error: {0}")]
-}
+    Messaging(#[from] GenericTargetedMessagingError),
-
+    #[error("busy with other mode request")]
-impl From<GenericTargetedMessagingError> for ModeError {
+    Busy,
    fn from(value: GenericTargetedMessagingError) -> Self {
        Self::Messaging(value)
    }
 }
 pub trait ModeProvider {
@ -196,6 +205,7 @@ pub trait ModeRequestHandler: ModeProvider {
        &mut self,
        requestor: MessageMetadata,
        mode_and_submode: ModeAndSubmode,
        forced: bool,
    ) -> Result<(), Self::Error>;
    fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool);
@ -222,9 +232,10 @@ pub trait ModeRequestHandler: ModeProvider {
        request: GenericMessage<ModeRequest>,
    ) -> Result<(), Self::Error> {
        match request.message {
-            ModeRequest::SetMode(mode_and_submode) => {
+            ModeRequest::SetMode {
-                self.start_transition(request.requestor_info, mode_and_submode)
+                mode_and_submode,
-            }
+                forced,
            } => self.start_transition(request.requestor_info, mode_and_submode, forced),
            ModeRequest::ReadMode => self.send_mode_reply(
                request.requestor_info,
                ModeReply::ModeReply(self.mode_and_submode()),
@ -248,7 +259,9 @@ pub trait ModeReplyReceiver {
    ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError>;
 }
-impl<R: MessageReceiver<ModeReply>> ModeReplyReceiver for MessageReceiverWithId<ModeReply, R> {
+impl<R: MessageReceiverProvider<ModeReply>> ModeReplyReceiver
    for MessageReceiverWithId<ModeReply, R>
 {
    fn try_recv_mode_reply(
        &self,
    ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
@ -270,12 +283,13 @@ pub trait ModeReplySender {
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
    use crate::request::{
-        MessageSender, MessageSenderAndReceiver, MessageSenderMap, RequestAndReplySenderAndReceiver,
+        MessageSenderAndReceiver, MessageSenderMap, MessageSenderProvider,
        MessageSenderStoreProvider, RequestAndReplySenderAndReceiver,
    };
    use super::*;
-    impl<S: MessageSender<ModeReply>> MessageSenderMap<ModeReply, S> {
+    impl<S: MessageSenderProvider<ModeReply>> MessageSenderMap<ModeReply, S> {
        pub fn send_mode_reply(
            &self,
            requestor_info: MessageMetadata,
@ -290,8 +304,13 @@ pub mod alloc_mod {
        }
    }
-    impl<FROM, S: MessageSender<ModeReply>, R: MessageReceiver<FROM>> ModeReplySender
+    impl<
-        for MessageSenderAndReceiver<ModeReply, FROM, S, R>
+            From,
            Sender: MessageSenderProvider<ModeReply>,
            Receiver: MessageReceiverProvider<From>,
            SenderStore: MessageSenderStoreProvider<ModeReply, Sender>,
        > ModeReplySender
        for MessageSenderAndReceiver<ModeReply, From, Sender, Receiver, SenderStore>
    {
        fn local_channel_id(&self) -> ComponentId {
            self.local_channel_id_generic()
@ -302,7 +321,7 @@ pub mod alloc_mod {
            requestor_info: MessageMetadata,
            request: ModeReply,
        ) -> Result<(), GenericTargetedMessagingError> {
-            self.message_sender_map.send_mode_reply(
+            self.message_sender_store.send_message(
                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
                requestor_info.sender_id(),
                request,
@ -310,8 +329,13 @@ pub mod alloc_mod {
        }
    }
-    impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeReply>> ModeReplyReceiver
+    impl<
-        for MessageSenderAndReceiver<TO, ModeReply, S, R>
+            To,
            Sender: MessageSenderProvider<To>,
            Receiver: MessageReceiverProvider<ModeReply>,
            SenderStore: MessageSenderStoreProvider<To, Sender>,
        > ModeReplyReceiver
        for MessageSenderAndReceiver<To, ModeReply, Sender, Receiver, SenderStore>
    {
        fn try_recv_mode_reply(
            &self,
@ -321,26 +345,51 @@ pub mod alloc_mod {
    }
    impl<
-            REQUEST,
+            Request,
-            S0: MessageSender<REQUEST>,
+            ReqSender: MessageSenderProvider<Request>,
-            R0: MessageReceiver<ModeReply>,
+            ReqReceiver: MessageReceiverProvider<Request>,
-            S1: MessageSender<ModeReply>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
-            R1: MessageReceiver<REQUEST>,
+            Reply,
-        > RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+            ReplySender: MessageSenderProvider<Reply>,
            ReplyReceiver: MessageReceiverProvider<Reply>,
            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
        >
        RequestAndReplySenderAndReceiver<
            Request,
            ReqSender,
            ReqReceiver,
            ReqSenderStore,
            Reply,
            ReplySender,
            ReplyReceiver,
            ReplySenderStore,
        >
    {
-        pub fn add_reply_target(&mut self, target_id: ComponentId, reply_sender: S1) {
+        pub fn add_reply_target(&mut self, target_id: ComponentId, reply_sender: ReplySender) {
-            self.reply_sender_map
+            self.reply_sender_store
                .add_message_target(target_id, reply_sender)
        }
    }
    impl<
-            REQUEST,
+            Request,
-            S0: MessageSender<REQUEST>,
+            ReqSender: MessageSenderProvider<Request>,
-            R0: MessageReceiver<ModeReply>,
+            ReqReceiver: MessageReceiverProvider<Request>,
-            S1: MessageSender<ModeReply>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
-            R1: MessageReceiver<REQUEST>,
+            ReplySender: MessageSenderProvider<ModeReply>,
-        > ModeReplySender for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+            ReplyReceiver: MessageReceiverProvider<ModeReply>,
            ReplySenderStore: MessageSenderStoreProvider<ModeReply, ReplySender>,
        > ModeReplySender
        for RequestAndReplySenderAndReceiver<
            Request,
            ReqSender,
            ReqReceiver,
            ReqSenderStore,
            ModeReply,
            ReplySender,
            ReplyReceiver,
            ReplySenderStore,
        >
    {
        fn local_channel_id(&self) -> ComponentId {
            self.local_channel_id_generic()
@ -349,24 +398,35 @@ pub mod alloc_mod {
        fn send_mode_reply(
            &self,
            requestor_info: MessageMetadata,
-            request: ModeReply,
+            reply: ModeReply,
        ) -> Result<(), GenericTargetedMessagingError> {
-            self.reply_sender_map.send_mode_reply(
+            self.reply_sender_store.send_message(
                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
                requestor_info.sender_id(),
-                request,
+                reply,
            )
        }
    }
    impl<
-            REQUEST,
+            Request,
-            S0: MessageSender<REQUEST>,
+            ReqSender: MessageSenderProvider<Request>,
-            R0: MessageReceiver<ModeReply>,
+            ReqReceiver: MessageReceiverProvider<Request>,
-            S1: MessageSender<ModeReply>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
-            R1: MessageReceiver<REQUEST>,
+            ReplySender: MessageSenderProvider<ModeReply>,
            ReplyReceiver: MessageReceiverProvider<ModeReply>,
            ReplySenderStore: MessageSenderStoreProvider<ModeReply, ReplySender>,
        > ModeReplyReceiver
-        for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+        for RequestAndReplySenderAndReceiver<
            Request,
            ReqSender,
            ReqReceiver,
            ReqSenderStore,
            ModeReply,
            ReplySender,
            ReplyReceiver,
            ReplySenderStore,
        >
    {
        fn try_recv_mode_reply(
            &self,
@ -376,11 +436,14 @@ pub mod alloc_mod {
    }
    /// Helper type definition for a mode handler which can handle mode requests.
-    pub type ModeRequestHandlerInterface<S, R> =
+    pub type ModeRequestHandlerInterface<Sender, Receiver, ReplySenderStore> =
-        MessageSenderAndReceiver<ModeReply, ModeRequest, S, R>;
+        MessageSenderAndReceiver<ModeReply, ModeRequest, Sender, Receiver, ReplySenderStore>;
-    impl<S: MessageSender<ModeReply>, R: MessageReceiver<ModeRequest>>
+    impl<
-        ModeRequestHandlerInterface<S, R>
+            Sender: MessageSenderProvider<ModeReply>,
            Receiver: MessageReceiverProvider<ModeRequest>,
            ReplySenderStore: MessageSenderStoreProvider<ModeReply, Sender>,
        > ModeRequestHandlerInterface<Sender, Receiver, ReplySenderStore>
    {
        pub fn try_recv_mode_request(
            &self,
@ -403,9 +466,15 @@ pub mod alloc_mod {
    /// Helper type defintion for a mode handler object which can send mode requests and receive
    /// mode replies.
-    pub type ModeRequestorInterface<S, R> = MessageSenderAndReceiver<ModeRequest, ModeReply, S, R>;
+    pub type ModeRequestorInterface<Sender, Receiver, RequestSenderStore> =
        MessageSenderAndReceiver<ModeRequest, ModeReply, Sender, Receiver, RequestSenderStore>;
-    impl<S: MessageSender<ModeRequest>, R: MessageReceiver<ModeReply>> ModeRequestorInterface<S, R> {
+    impl<
            Sender: MessageSenderProvider<ModeRequest>,
            Receiver: MessageReceiverProvider<ModeReply>,
            RequestSenderStore: MessageSenderStoreProvider<ModeRequest, Sender>,
        > ModeRequestorInterface<Sender, Receiver, RequestSenderStore>
    {
        pub fn try_recv_mode_reply(
            &self,
        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
@ -424,10 +493,25 @@ pub mod alloc_mod {
    /// Helper type defintion for a mode handler object which can both send mode requests and
    /// process mode requests.
-    pub type ModeInterface<S0, R0, S1, R1> =
+    pub type ModeInterface<
-        RequestAndReplySenderAndReceiver<ModeRequest, ModeReply, S0, R0, S1, R1>;
+        ReqSender,
        ReqReceiver,
        ReqSenderStore,
        ReplySender,
        ReplyReceiver,
        ReplySenderStore,
    > = RequestAndReplySenderAndReceiver<
        ModeRequest,
        ReqSender,
        ReqReceiver,
        ReqSenderStore,
        ModeReply,
        ReplySender,
        ReplyReceiver,
        ReplySenderStore,
    >;
-    impl<S: MessageSender<ModeRequest>> MessageSenderMap<ModeRequest, S> {
+    impl<S: MessageSenderProvider<ModeRequest>> MessageSenderMap<ModeRequest, S> {
        pub fn send_mode_request(
            &self,
            requestor_info: MessageMetadata,
@ -442,25 +526,13 @@ pub mod alloc_mod {
        }
    }
-    /*
+    impl<
-    impl<S: MessageSender<ModeRequest>> ModeRequestSender for MessageSenderMapWithId<ModeRequest, S> {
+            To,
-        fn local_channel_id(&self) -> ComponentId {
+            Sender: MessageSenderProvider<To>,
-            self.local_channel_id
+            Receiver: MessageReceiverProvider<ModeRequest>,
-        }
+            SenderStore: MessageSenderStoreProvider<To, Sender>,
-
+        > ModeRequestReceiver
-        fn send_mode_request(
+        for MessageSenderAndReceiver<To, ModeRequest, Sender, Receiver, SenderStore>
            &self,
            request_id: RequestId,
            target_id: ComponentId,
            request: ModeRequest,
        ) -> Result<(), GenericTargetedMessagingError> {
            self.send_message(request_id, target_id, request)
        }
    }
    */
    impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeRequest>> ModeRequestReceiver
        for MessageSenderAndReceiver<TO, ModeRequest, S, R>
    {
        fn try_recv_mode_request(
            &self,
@ -469,8 +541,13 @@ pub mod alloc_mod {
        }
    }
-    impl<FROM, S: MessageSender<ModeRequest>, R: MessageReceiver<FROM>> ModeRequestSender
+    impl<
-        for MessageSenderAndReceiver<ModeRequest, FROM, S, R>
+            From,
            Sender: MessageSenderProvider<ModeRequest>,
            Receiver: MessageReceiverProvider<From>,
            SenderStore: MessageSenderStoreProvider<ModeRequest, Sender>,
        > ModeRequestSender
        for MessageSenderAndReceiver<ModeRequest, From, Sender, Receiver, SenderStore>
    {
        fn local_channel_id(&self) -> ComponentId {
            self.local_channel_id_generic()
@ -482,7 +559,7 @@ pub mod alloc_mod {
            target_id: ComponentId,
            request: ModeRequest,
        ) -> Result<(), GenericTargetedMessagingError> {
-            self.message_sender_map.send_mode_request(
+            self.message_sender_store.send_message(
                MessageMetadata::new(request_id, self.local_channel_id()),
                target_id,
                request,
@ -491,27 +568,50 @@ pub mod alloc_mod {
    }
    impl<
-            REPLY,
+            ReqSender: MessageSenderProvider<ModeRequest>,
-            S0: MessageSender<ModeRequest>,
+            ReqReceiver: MessageReceiverProvider<ModeRequest>,
-            R0: MessageReceiver<REPLY>,
+            ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
-            S1: MessageSender<REPLY>,
+            Reply,
-            R1: MessageReceiver<ModeRequest>,
+            ReplySender: MessageSenderProvider<Reply>,
-        > RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+            ReplyReceiver: MessageReceiverProvider<Reply>,
            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
        >
        RequestAndReplySenderAndReceiver<
            ModeRequest,
            ReqSender,
            ReqReceiver,
            ReqSenderStore,
            Reply,
            ReplySender,
            ReplyReceiver,
            ReplySenderStore,
        >
    {
-        pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S0) {
+        pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: ReqSender) {
-            self.request_sender_map
+            self.request_sender_store
                .add_message_target(target_id, request_sender)
        }
    }
    impl<
-            REPLY,
+            ReqSender: MessageSenderProvider<ModeRequest>,
-            S0: MessageSender<ModeRequest>,
+            ReqReceiver: MessageReceiverProvider<ModeRequest>,
-            R0: MessageReceiver<REPLY>,
+            ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
-            S1: MessageSender<REPLY>,
+            Reply,
-            R1: MessageReceiver<ModeRequest>,
+            ReplySender: MessageSenderProvider<Reply>,
            ReplyReceiver: MessageReceiverProvider<Reply>,
            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
        > ModeRequestSender
-        for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+        for RequestAndReplySenderAndReceiver<
            ModeRequest,
            ReqSender,
            ReqReceiver,
            ReqSenderStore,
            Reply,
            ReplySender,
            ReplyReceiver,
            ReplySenderStore,
        >
    {
        fn local_channel_id(&self) -> ComponentId {
            self.local_channel_id_generic()
@ -523,7 +623,7 @@ pub mod alloc_mod {
            target_id: ComponentId,
            request: ModeRequest,
        ) -> Result<(), GenericTargetedMessagingError> {
-            self.request_sender_map.send_mode_request(
+            self.request_sender_store.send_message(
                MessageMetadata::new(request_id, self.local_channel_id()),
                target_id,
                request,
@ -532,13 +632,24 @@ pub mod alloc_mod {
    }
    impl<
-            REPLY,
+            ReqSender: MessageSenderProvider<ModeRequest>,
-            S0: MessageSender<ModeRequest>,
+            ReqReceiver: MessageReceiverProvider<ModeRequest>,
-            R0: MessageReceiver<REPLY>,
+            ReqSenderStore: MessageSenderStoreProvider<ModeRequest, ReqSender>,
-            S1: MessageSender<REPLY>,
+            Reply,
-            R1: MessageReceiver<ModeRequest>,
+            ReplySender: MessageSenderProvider<Reply>,
            ReplyReceiver: MessageReceiverProvider<Reply>,
            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
        > ModeRequestReceiver
-        for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+        for RequestAndReplySenderAndReceiver<
            ModeRequest,
            ReqSender,
            ReqReceiver,
            ReqSenderStore,
            Reply,
            ReplySender,
            ReplyReceiver,
            ReplySenderStore,
        >
    {
        fn try_recv_mode_request(
            &self,
@ -552,39 +663,97 @@ pub mod alloc_mod {
 pub mod std_mod {
    use std::sync::mpsc;
    use crate::request::{MessageSenderList, OneMessageSender};
    use super::*;
    pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<
        mpsc::Sender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeRequest>>,
        MessageSenderList<ModeReply, mpsc::Sender<GenericMessage<ModeReply>>>,
    >;
    pub type ModeRequestHandlerMpscBounded = ModeRequestHandlerInterface<
        mpsc::SyncSender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeRequest>>,
        MessageSenderList<ModeReply, mpsc::SyncSender<GenericMessage<ModeReply>>>,
    >;
-    pub type ModeRequestorMpsc = ModeRequestorInterface<
+    pub type ModeRequestorOneChildMpsc = ModeRequestorInterface<
        mpsc::Sender<GenericMessage<ModeRequest>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
        OneMessageSender<ModeRequest, mpsc::Sender<GenericMessage<ModeRequest>>>,
    >;
-    pub type ModeRequestorBoundedMpsc = ModeRequestorInterface<
+    pub type ModeRequestorOneChildBoundedMpsc = ModeRequestorInterface<
        mpsc::SyncSender<GenericMessage<ModeRequest>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
        OneMessageSender<ModeRequest, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
    >;
    pub type ModeRequestorChildListMpsc = ModeRequestorInterface<
        mpsc::Sender<GenericMessage<ModeRequest>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
        MessageSenderList<ModeRequest, mpsc::Sender<GenericMessage<ModeRequest>>>,
    >;
    pub type ModeRequestorChildListBoundedMpsc = ModeRequestorInterface<
        mpsc::SyncSender<GenericMessage<ModeRequest>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
        MessageSenderList<ModeRequest, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
    >;
    pub type ModeRequestorAndHandlerMpsc = ModeInterface<
        mpsc::Sender<GenericMessage<ModeRequest>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
        mpsc::Sender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeRequest>>,
        MessageSenderList<ModeRequest, mpsc::Sender<GenericMessage<ModeRequest>>>,
        mpsc::Sender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
        MessageSenderList<ModeReply, mpsc::Sender<GenericMessage<ModeReply>>>,
    >;
    pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
        mpsc::SyncSender<GenericMessage<ModeRequest>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
        mpsc::SyncSender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeRequest>>,
        MessageSenderList<ModeRequest, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
        mpsc::SyncSender<GenericMessage<ModeReply>>,
        mpsc::Receiver<GenericMessage<ModeReply>>,
        MessageSenderList<ModeReply, mpsc::SyncSender<GenericMessage<ModeReply>>>,
    >;
 }
 #[cfg(test)]
-mod tests {}
+pub(crate) mod tests {
    use core::cell::RefCell;
    use std::collections::VecDeque;
    use crate::{request::RequestId, ComponentId};
    use super::*;
    pub struct ModeReqWrapper {
        pub request_id: RequestId,
        pub target_id: ComponentId,
        pub request: ModeRequest,
    }
    #[derive(Default)]
    pub struct ModeReqSenderMock {
        pub requests: RefCell<VecDeque<ModeReqWrapper>>,
    }
    impl ModeRequestSender for ModeReqSenderMock {
        fn local_channel_id(&self) -> crate::ComponentId {
            0
        }
        fn send_mode_request(
            &self,
            request_id: RequestId,
            target_id: ComponentId,
            request: ModeRequest,
        ) -> Result<(), GenericTargetedMessagingError> {
            self.requests.borrow_mut().push_back(ModeReqWrapper {
                request_id,
                target_id,
                request,
            });
            Ok(())
        }
    }
 }
--- a/satrs/src/mode_tree.rs
+++ b/satrs/src/mode_tree.rs
@ -2,10 +2,57 @@ use alloc::vec::Vec;
 use hashbrown::HashMap;
 use crate::{
-    mode::{Mode, ModeAndSubmode, Submode},
+    mode::{Mode, ModeAndSubmode, ModeReply, ModeRequest, Submode},
    request::MessageSenderProvider,
    ComponentId,
 };
 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;
 /// Common trait for node modes which can have mode parents or mode children.
 pub trait ModeNode {
    fn id(&self) -> ComponentId;
 }
 /// Trait which denotes that an object is a parent in a mode tree.
 ///
 /// A mode parent is capable of sending mode requests to child objects and has a unique component
 /// ID.
 pub trait ModeParent: ModeNode {
    type Sender: MessageSenderProvider<ModeRequest>;
    fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender);
 }
 /// Trait which denotes that an object is a child in a mode tree.
 ///
 /// A child is capable of sending mode replies to parent objects and has a unique component ID.
 pub trait ModeChild: ModeNode {
    type Sender: MessageSenderProvider<ModeReply>;
    fn add_mode_parent(&mut self, id: ComponentId, reply_sender: Self::Sender);
 }
 /// Utility method which connects a mode tree parent object to a child object by calling
 /// [ModeParent::add_mode_child] on the [parent][ModeParent] and calling
 /// [ModeChild::add_mode_parent] on the [child][ModeChild].
 ///
 /// # Arguments
 ///
 /// * `parent` - The parent object which implements [ModeParent].
 /// * `request_sender` - Sender object to send mode requests to the child.
 /// * `child` - The child object which implements [ModeChild].
 /// * `reply_sender` - Sender object to send mode replies to the parent.
 pub fn connect_mode_nodes<ReqSender, ReplySender>(
    parent: &mut impl ModeParent<Sender = ReqSender>,
    request_sender: ReqSender,
    child: &mut impl ModeChild<Sender = ReplySender>,
    reply_sender: ReplySender,
 ) {
    parent.add_mode_child(child.id(), request_sender);
    child.add_mode_parent(parent.id(), reply_sender);
 }
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum TableEntryType {
    /// Target table containing information of the expected children modes for  given mode.
@ -15,23 +62,553 @@ pub enum TableEntryType {
    Sequence,
 }
-pub struct ModeTableEntry {
+/// Common fields required for both target and sequence table entries.
 ///
 /// The most important parameters here are the target ID which this entry belongs to, and the mode
 /// and submode the entry either will be commanded to for sequence table entries or which will be
 /// monitored for target table entries.
 #[derive(Debug, Copy, Clone)]
 pub struct ModeTableEntryCommon {
    /// Name of respective table entry.
    pub name: &'static str,
-    /// Target channel ID.
+    /// Target component ID.
-    pub channel_id: ComponentId,
+    pub target_id: ComponentId,
    /// Has a different meaning depending on whether this is a sequence table or a target table.
    ///
    ///  - For sequence tables, this denotes the mode which will be commanded
    ///  - For target tables, this is the mode which the target children should have and which
    ///    might be monitored depending on configuration.
    pub mode_submode: ModeAndSubmode,
    /// This mask allows to specify multiple allowed submodes for a given mode.
    pub allowed_submode_mask: Option<Submode>,
 }
 impl ModeTableEntryCommon {
    pub fn set_allowed_submode_mask(&mut self, mask: Submode) {
        self.allowed_submode_mask = Some(mask);
    }
    pub fn allowed_submode_mask(&self) -> Option<Submode> {
        self.allowed_submode_mask
    }
 }
 /// An entry for the target tables.
 #[derive(Debug)]
 pub struct TargetTableEntry {
    pub common: ModeTableEntryCommon,
    pub monitor_state: bool,
 }
 impl TargetTableEntry {
    pub fn new(
        name: &'static str,
        target_id: ComponentId,
        mode_submode: ModeAndSubmode,
        allowed_submode_mask: Option<Submode>,
    ) -> Self {
        Self {
            common: ModeTableEntryCommon {
                name,
                target_id,
                mode_submode,
                allowed_submode_mask,
            },
            monitor_state: true,
        }
    }
    pub fn new_with_precise_submode(
        name: &'static str,
        target_id: ComponentId,
        mode_submode: ModeAndSubmode,
    ) -> Self {
        Self {
            common: ModeTableEntryCommon {
                name,
                target_id,
                mode_submode,
                allowed_submode_mask: None,
            },
            monitor_state: true,
        }
    }
    delegate::delegate! {
        to self.common {
            pub fn set_allowed_submode_mask(&mut self, mask: Submode);
            pub fn allowed_submode_mask(&self) -> Option<Submode>;
        }
    }
 }
 /// An entry for the sequence tables.
 ///
 /// The [Self::check_success] field specifies that a mode sequence executor should check that the
 /// target mode was actually reached before executing the next sequence.
 #[derive(Debug)]
 pub struct SequenceTableEntry {
    pub common: ModeTableEntryCommon,
    pub check_success: bool,
 }
-pub struct ModeTableMapValue {
+impl SequenceTableEntry {
-    /// Name for a given mode table entry.
+    pub fn new(
-    pub name: &'static str,
+        name: &'static str,
-    pub entries: Vec<ModeTableEntry>,
+        target_id: ComponentId,
        mode_submode: ModeAndSubmode,
        check_success: bool,
    ) -> Self {
        Self {
            common: ModeTableEntryCommon {
                name,
                target_id,
                mode_submode,
                allowed_submode_mask: None,
            },
            check_success,
        }
    }
    delegate::delegate! {
        to self.common {
            pub fn set_allowed_submode_mask(&mut self, mask: Submode);
            pub fn allowed_submode_mask(&self) -> Option<Submode>;
        }
    }
 }
-pub type ModeTable = HashMap<Mode, ModeTableMapValue>;
+#[derive(Debug, thiserror::Error)]
 #[error("target {0} not in mode store")]
 pub struct TargetNotInModeStoreError(pub ComponentId);
 /// Mode store value type.
 #[derive(Debug, Copy, Clone)]
 pub struct ModeStoreValue {
    /// ID of the mode component.
    id: ComponentId,
    /// Current mode and submode of the component.
    pub mode_and_submode: ModeAndSubmode,
    /// State information to track whether a reply should be awaited for the mode component.
    pub awaiting_reply: bool,
 }
 impl ModeStoreValue {
    pub fn new(id: ComponentId, mode_and_submode: ModeAndSubmode) -> Self {
        Self {
            id,
            mode_and_submode,
            awaiting_reply: false,
        }
    }
    pub fn id(&self) -> ComponentId {
        self.id
    }
    pub fn mode_and_submode(&self) -> ModeAndSubmode {
        self.mode_and_submode
    }
 }
 pub trait ModeStoreProvider {
    fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode);
    fn has_component(&self, target_id: ComponentId) -> bool;
    fn get(&self, target_id: ComponentId) -> Option<&ModeStoreValue>;
    fn get_mut(&mut self, target_id: ComponentId) -> Option<&mut ModeStoreValue>;
    /// Generic handler for mode replies received from child components.
    ///
    /// Implementation should clear the awaition flag if the `handle_reply_awaition` argument is
    /// true and returns whether any children are still awaiting replies. If the flag is not set
    fn mode_reply_handler_with_reply_awaition(
        &mut self,
        sender_id: ComponentId,
        reported_mode_and_submode: Option<ModeAndSubmode>,
    ) -> bool {
        self.mode_reply_handler(sender_id, reported_mode_and_submode, true)
            .unwrap_or(false)
    }
    fn mode_reply_handler_without_reply_awaition(
        &mut self,
        sender_id: ComponentId,
        reported_mode_and_submode: Option<ModeAndSubmode>,
    ) {
        self.mode_reply_handler(sender_id, reported_mode_and_submode, false);
    }
    fn mode_reply_handler(
        &mut self,
        sender_id: ComponentId,
        reported_mode_and_submode: Option<ModeAndSubmode>,
        with_reply_awaition: bool,
    ) -> Option<bool>;
 }
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
    use super::*;
    #[derive(Debug)]
    pub struct TargetTablesMapValue {
        /// Name for a given mode table entry.
        pub name: &'static str,
        /// Optional fallback mode if the target mode can not be kept.
        pub fallback_mode: Option<Mode>,
        /// These are the rows of the a target table.
        pub entries: Vec<TargetTableEntry>,
    }
    impl TargetTablesMapValue {
        pub fn new(name: &'static str, fallback_mode: Option<Mode>) -> Self {
            Self {
                name,
                fallback_mode,
                entries: Default::default(),
            }
        }
        pub fn add_entry(&mut self, entry: TargetTableEntry) {
            self.entries.push(entry);
        }
    }
    /// One sequence of a [SequenceTablesMapValue] in a [SequenceModeTables].
    ///
    /// It contains all mode requests which need to be executed for a sequence step and it also
    /// associates a [Self::name] with the sequence.
    #[derive(Debug)]
    pub struct SequenceTableMapTable {
        /// Name for a given mode sequence.
        pub name: &'static str,
        /// These are the rows of the a sequence table.
        pub entries: Vec<SequenceTableEntry>,
    }
    impl SequenceTableMapTable {
        pub fn new(name: &'static str) -> Self {
            Self {
                name,
                entries: Default::default(),
            }
        }
        pub fn add_entry(&mut self, entry: SequenceTableEntry) {
            self.entries.push(entry);
        }
    }
    /// A sequence table entry.
    ///
    /// This is simply a list of [SequenceTableMapTable]s which also associates a [Self::name]
    /// with the sequence. The order of sub-tables in the list also specifies the execution order
    /// in the mode sequence.
    #[derive(Debug)]
    pub struct SequenceTablesMapValue {
        /// Name for a given mode sequence.
        pub name: &'static str,
        /// Each sequence can consists of multiple sequences that are executed consecutively.
        pub entries: Vec<SequenceTableMapTable>,
    }
    impl SequenceTablesMapValue {
        pub fn new(name: &'static str) -> Self {
            Self {
                name,
                entries: Default::default(),
            }
        }
        pub fn add_sequence_table(&mut self, entry: SequenceTableMapTable) {
            self.entries.push(entry);
        }
    }
    #[derive(Debug, Default)]
    pub struct TargetModeTables(pub HashMap<Mode, TargetTablesMapValue>);
    impl TargetModeTables {
        pub fn name(&self, mode: Mode) -> Option<&'static str> {
            self.0.get(&mode).map(|value| value.name)
        }
    }
    impl SequenceModeTables {
        pub fn name(&self, mode: Mode) -> Option<&'static str> {
            self.0.get(&mode).map(|value| value.name)
        }
        pub fn name_of_sequence(&self, mode: Mode, seq_idx: usize) -> Option<&'static str> {
            self.0
                .get(&mode)
                .map(|value| value.entries.get(seq_idx).map(|v| v.name))?
        }
    }
    /// This is the core data structure used to store mode sequence tables.
    ///
    /// A mode sequence table specifies which commands have to be sent in which order
    /// to reach a certain [Mode]. Therefore, it simply maps a [Mode] to a [SequenceTablesMapValue].
    #[derive(Debug, Default)]
    pub struct SequenceModeTables(pub HashMap<Mode, SequenceTablesMapValue>);
    /// Mode store which tracks the [mode information][ModeStoreValue] inside a [Vec]
    #[derive(Debug, Default)]
    pub struct ModeStoreVec(pub alloc::vec::Vec<ModeStoreValue>);
    impl<'a> IntoIterator for &'a ModeStoreVec {
        type Item = &'a ModeStoreValue;
        type IntoIter = std::slice::Iter<'a, ModeStoreValue>;
        fn into_iter(self) -> Self::IntoIter {
            self.0.iter()
        }
    }
    impl<'a> IntoIterator for &'a mut ModeStoreVec {
        type Item = &'a mut ModeStoreValue;
        type IntoIter = std::slice::IterMut<'a, ModeStoreValue>;
        fn into_iter(self) -> Self::IntoIter {
            self.0.iter_mut()
        }
    }
    /// Mode store which tracks the mode information inside a [hashbrown::HashMap]
    #[derive(Debug, Default)]
    pub struct ModeStoreMap(pub hashbrown::HashMap<ComponentId, ModeStoreValue>);
    impl<'a> IntoIterator for &'a ModeStoreMap {
        type Item = (&'a ComponentId, &'a ModeStoreValue);
        type IntoIter = hashbrown::hash_map::Iter<'a, ComponentId, ModeStoreValue>;
        fn into_iter(self) -> Self::IntoIter {
            self.0.iter()
        }
    }
    impl ModeStoreProvider for ModeStoreVec {
        fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
            self.0.push(ModeStoreValue::new(target_id, mode));
        }
        fn has_component(&self, target_id: ComponentId) -> bool {
            self.0.iter().any(|val| val.id == target_id)
        }
        fn get(&self, target_id: ComponentId) -> Option<&ModeStoreValue> {
            self.0.iter().find(|val| val.id == target_id)
        }
        fn get_mut(&mut self, target_id: ComponentId) -> Option<&mut ModeStoreValue> {
            self.0.iter_mut().find(|val| val.id == target_id)
        }
        fn mode_reply_handler(
            &mut self,
            sender_id: ComponentId,
            reported_mode_and_submode: Option<ModeAndSubmode>,
            handle_reply_awaition: bool,
        ) -> Option<bool> {
            let mut still_awating_replies = None;
            if handle_reply_awaition {
                still_awating_replies = Some(false);
            }
            self.0.iter_mut().for_each(|val| {
                if val.id() == sender_id {
                    if let Some(mode_and_submode) = reported_mode_and_submode {
                        val.mode_and_submode = mode_and_submode;
                    }
                    if handle_reply_awaition {
                        val.awaiting_reply = false;
                    }
                }
                if handle_reply_awaition && val.awaiting_reply {
                    still_awating_replies = Some(true);
                }
            });
            still_awating_replies
        }
    }
    impl ModeStoreProvider for ModeStoreMap {
        fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
            self.0
                .insert(target_id, ModeStoreValue::new(target_id, mode));
        }
        fn has_component(&self, target_id: ComponentId) -> bool {
            self.0.contains_key(&target_id)
        }
        fn get(&self, target_id: ComponentId) -> Option<&ModeStoreValue> {
            self.0.get(&target_id)
        }
        fn get_mut(&mut self, target_id: ComponentId) -> Option<&mut ModeStoreValue> {
            self.0.get_mut(&target_id)
        }
        fn mode_reply_handler(
            &mut self,
            sender_id: ComponentId,
            reported_mode_and_submode: Option<ModeAndSubmode>,
            handle_reply_awaition: bool,
        ) -> Option<bool> {
            let mut still_awating_replies = None;
            if handle_reply_awaition {
                still_awating_replies = Some(false);
            }
            for val in self.0.values_mut() {
                if val.id() == sender_id {
                    if let Some(mode_and_submode) = reported_mode_and_submode {
                        val.mode_and_submode = mode_and_submode;
                    }
                    if handle_reply_awaition {
                        val.awaiting_reply = false;
                    }
                }
                if handle_reply_awaition && val.awaiting_reply {
                    still_awating_replies = Some(true);
                }
            }
            still_awating_replies
        }
    }
 }
 #[cfg(test)]
-mod tests {}
+mod tests {
    use super::*;
    fn generic_test(mode_store: &mut impl ModeStoreProvider) {
        mode_store.add_component(1, ModeAndSubmode::new(0, 0));
        mode_store.add_component(2, ModeAndSubmode::new(1, 0));
        assert!(mode_store.has_component(1));
        assert!(mode_store.has_component(2));
        assert_eq!(
            mode_store.get(1).unwrap().mode_and_submode(),
            ModeAndSubmode::new(0, 0)
        );
        assert!(!mode_store.get(1).unwrap().awaiting_reply);
        assert!(!mode_store.get(2).unwrap().awaiting_reply);
        assert_eq!(mode_store.get(1).unwrap().id, 1);
        assert_eq!(mode_store.get(2).unwrap().id, 2);
        assert!(mode_store.get(3).is_none());
        assert!(mode_store.get_mut(3).is_none());
    }
    fn generic_reply_handling_with_reply_awaition(mode_store: &mut impl ModeStoreProvider) {
        mode_store.add_component(1, ModeAndSubmode::new(0, 0));
        mode_store.add_component(2, ModeAndSubmode::new(1, 0));
        mode_store.get_mut(1).unwrap().awaiting_reply = true;
        mode_store.get_mut(2).unwrap().awaiting_reply = true;
        let mut reply_awation_pending =
            mode_store.mode_reply_handler_with_reply_awaition(1, Some(ModeAndSubmode::new(2, 0)));
        assert!(reply_awation_pending);
        reply_awation_pending = mode_store.mode_reply_handler_with_reply_awaition(2, None);
        assert!(!reply_awation_pending);
        assert!(!mode_store.get(1).unwrap().awaiting_reply);
        assert!(!mode_store.get(2).unwrap().awaiting_reply);
        assert_eq!(
            mode_store.get(1).unwrap().mode_and_submode(),
            ModeAndSubmode::new(2, 0)
        );
        assert_eq!(
            mode_store.get(2).unwrap().mode_and_submode(),
            ModeAndSubmode::new(1, 0)
        );
    }
    fn generic_reply_handling_test_no_reply_awaition(mode_store: &mut impl ModeStoreProvider) {
        mode_store.add_component(1, ModeAndSubmode::new(0, 0));
        mode_store.add_component(2, ModeAndSubmode::new(1, 0));
        mode_store.get_mut(1).unwrap().awaiting_reply = true;
        mode_store.get_mut(2).unwrap().awaiting_reply = true;
        mode_store.mode_reply_handler_without_reply_awaition(1, Some(ModeAndSubmode::new(2, 0)));
        mode_store.mode_reply_handler_without_reply_awaition(2, None);
        assert!(mode_store.get(1).unwrap().awaiting_reply);
        assert!(mode_store.get(2).unwrap().awaiting_reply);
        assert_eq!(
            mode_store.get(1).unwrap().mode_and_submode(),
            ModeAndSubmode::new(2, 0)
        );
        assert_eq!(
            mode_store.get(2).unwrap().mode_and_submode(),
            ModeAndSubmode::new(1, 0)
        );
    }
    fn generic_reply_handling_with_reply_awaition_2(mode_store: &mut impl ModeStoreProvider) {
        mode_store.add_component(1, ModeAndSubmode::new(0, 0));
        mode_store.add_component(2, ModeAndSubmode::new(1, 0));
        mode_store.get_mut(1).unwrap().awaiting_reply = true;
        mode_store.get_mut(2).unwrap().awaiting_reply = true;
        let mut reply_awation_pending =
            mode_store.mode_reply_handler(1, Some(ModeAndSubmode::new(2, 0)), true);
        assert!(reply_awation_pending.unwrap());
        reply_awation_pending = mode_store.mode_reply_handler(2, None, true);
        assert!(!reply_awation_pending.unwrap());
        assert!(!mode_store.get(1).unwrap().awaiting_reply);
        assert!(!mode_store.get(2).unwrap().awaiting_reply);
        assert_eq!(
            mode_store.get(1).unwrap().mode_and_submode(),
            ModeAndSubmode::new(2, 0)
        );
        assert_eq!(
            mode_store.get(2).unwrap().mode_and_submode(),
            ModeAndSubmode::new(1, 0)
        );
    }
    #[test]
    fn test_vec_mode_store() {
        let mut mode_store = ModeStoreVec::default();
        generic_test(&mut mode_store);
    }
    #[test]
    fn test_map_mode_store() {
        let mut mode_store = ModeStoreMap::default();
        generic_test(&mut mode_store);
    }
    #[test]
    fn test_generic_reply_handler_vec_with_reply_awaition() {
        let mut mode_store = ModeStoreVec::default();
        generic_reply_handling_with_reply_awaition(&mut mode_store);
    }
    #[test]
    fn test_generic_reply_handler_vec_with_reply_awaition_2() {
        let mut mode_store = ModeStoreVec::default();
        generic_reply_handling_with_reply_awaition_2(&mut mode_store);
    }
    #[test]
    fn test_generic_reply_handler_map_with_reply_awaition() {
        let mut mode_store = ModeStoreMap::default();
        generic_reply_handling_with_reply_awaition(&mut mode_store);
    }
    #[test]
    fn test_generic_reply_handler_map_with_reply_awaition_2() {
        let mut mode_store = ModeStoreMap::default();
        generic_reply_handling_with_reply_awaition_2(&mut mode_store);
    }
    #[test]
    fn test_generic_reply_handler_vec_no_reply_awaition() {
        let mut mode_store = ModeStoreVec::default();
        generic_reply_handling_test_no_reply_awaition(&mut mode_store);
    }
    #[test]
    fn test_generic_reply_handler_map_no_reply_awaition() {
        let mut mode_store = ModeStoreMap::default();
        generic_reply_handling_test_no_reply_awaition(&mut mode_store);
    }
 }
--- a/satrs/src/pool.rs
+++ b/satrs/src/pool.rs
@ -378,27 +378,74 @@ pub struct SubpoolConfig {
 #[cfg(feature = "heapless")]
 pub mod heapless_mod {
    use super::*;
    use core::cell::UnsafeCell;
    use core::sync::atomic::{AtomicBool, Ordering};
    #[derive(Debug, Copy, Clone, PartialEq, Eq)]
    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
    pub struct PoolIsFull;
    #[derive(Debug)]
    pub struct UnsafeCellBufWrapper<T> {
        val: UnsafeCell<T>,
        once: AtomicBool,
    }
    // `Sync` is required because `UnsafeCell` is not `Sync` by default.
    // This is safe as long as access is manually synchronized.
    unsafe impl<T> Sync for UnsafeCellBufWrapper<T> {}
    impl<T: Sync> UnsafeCellBufWrapper<T> {
        /// Creates a new wrapper around an arbitrary value which should be [Sync].
        pub const fn new(v: T) -> Self {
            unsafe { Self::new_unchecked(v) }
        }
    }
    impl<T> UnsafeCellBufWrapper<T> {
        /// Creates a new wrapper around a buffer.
        ///
        /// # Safety
        ///
        /// Currently, the [Sync] trait is implemented for all T and ignores the usual [Sync] bound
        /// on T. This API should only be called for declaring byte buffers statically or if T is
        /// known to be [Sync]. You can use [new] to let the compiler do the [Sync] check.
        pub const unsafe fn new_unchecked(v: T) -> Self {
            Self {
                val: UnsafeCell::new(v),
                once: AtomicBool::new(false),
            }
        }
        /// Retrieves a mutable reference to the internal value once.
        ///
        /// All subsequent calls return None.
        pub fn get_mut(&self) -> Option<&mut T> {
            if self.once.load(Ordering::Relaxed) {
                return None;
            }
            // Safety: We ensure that this is only done once with an [AtomicBool].
            let mut_ref = unsafe { &mut *self.val.get() };
            self.once.store(true, Ordering::Relaxed);
            Some(mut_ref)
        }
    }
    /// Helper macro to generate static buffers for the [crate::pool::StaticHeaplessMemoryPool].
    #[macro_export]
    macro_rules! static_subpool {
        ($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr) => {
-            static mut $pool_name: core::mem::MaybeUninit<[u8; $num_blocks * $block_size]> =
+            static $pool_name: $crate::pool::UnsafeCellBufWrapper<[u8; $num_blocks * $block_size]> =
-                core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
+                $crate::pool::UnsafeCellBufWrapper::new([0; $num_blocks * $block_size]);
-            static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
+            static $sizes_list_name: $crate::pool::UnsafeCellBufWrapper<[usize; $num_blocks]> =
-                core::mem::MaybeUninit::new([$crate::pool::STORE_FREE; $num_blocks]);
+                $crate::pool::UnsafeCellBufWrapper::new([$crate::pool::STORE_FREE; $num_blocks]);
        };
        ($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr, $meta_data: meta) => {
            #[$meta_data]
-            static mut $pool_name: core::mem::MaybeUninit<[u8; $num_blocks * $block_size]> =
+            static $pool_name: $crate::pool::UnsafeCellBufWrapper<[u8; $num_blocks * $block_size]> =
-                core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
+                $crate::pool::UnsafeCellBufWrapper::new([0; $num_blocks * $block_size]);
            #[$meta_data]
-            static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
+            static $sizes_list_name: $crate::pool::UnsafeCellBufWrapper<[usize; $num_blocks]> =
-                core::mem::MaybeUninit::new([$crate::pool::STORE_FREE; $num_blocks]);
+                $crate::pool::UnsafeCellBufWrapper::new([$crate::pool::STORE_FREE; $num_blocks]);
        };
    }
@ -435,17 +482,17 @@ pub mod heapless_mod {
    ///
    /// let mut mem_pool: StaticHeaplessMemoryPool<2> = StaticHeaplessMemoryPool::new(true);
    /// mem_pool.grow(
-    ///     unsafe { SUBPOOL_SMALL.assume_init_mut() },
+    ///     SUBPOOL_SMALL.get_mut().unwrap(),
-    ///     unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
+    ///     SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
    ///     SUBPOOL_SMALL_NUM_BLOCKS,
    ///     false
-    /// );
+    /// ).unwrap();
    /// mem_pool.grow(
-    ///     unsafe { SUBPOOL_LARGE.assume_init_mut() },
+    ///     SUBPOOL_LARGE.get_mut().unwrap(),
-    ///     unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
+    ///     SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
    ///     SUBPOOL_LARGE_NUM_BLOCKS,
    ///     false
-    /// );
+    /// ).unwrap();
    ///
    /// let mut read_buf: [u8; 16] = [0; 16];
    /// let mut addr;
@ -522,12 +569,14 @@ pub mod heapless_mod {
            num_blocks: NumBlocks,
            set_sizes_list_to_all_free: bool,
        ) -> Result<(), PoolIsFull> {
-            assert!(
+            assert_eq!(
-                (subpool_memory.len() % num_blocks as usize) == 0,
+                (subpool_memory.len() % num_blocks as usize),
                0,
                "pool slice length must be multiple of number of blocks"
            );
-            assert!(
+            assert_eq!(
-                num_blocks as usize == sizes_list.len(),
+                num_blocks as usize,
                sizes_list.len(),
                "used block size list slice must be of same length as number of blocks"
            );
            let subpool_config = SubpoolConfig {
@ -1584,23 +1633,28 @@ mod tests {
    mod heapless_tests {
        use super::*;
        use crate::static_subpool;
-        use core::mem::MaybeUninit;
+        use std::cell::UnsafeCell;
        use std::sync::Mutex;
        const SUBPOOL_1_BLOCK_SIZE: usize = 4;
        const SUBPOOL_1_NUM_ELEMENTS: u16 = 4;
-        static mut SUBPOOL_1: MaybeUninit<
+
        static SUBPOOL_1: UnsafeCellBufWrapper<
            [u8; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE],
-        > = MaybeUninit::new([0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE]);
+        > = UnsafeCellBufWrapper::new([0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE]);
-        static mut SUBPOOL_1_SIZES: MaybeUninit<[usize; SUBPOOL_1_NUM_ELEMENTS as usize]> =
+
-            MaybeUninit::new([STORE_FREE; SUBPOOL_1_NUM_ELEMENTS as usize]);
+        static SUBPOOL_1_SIZES: Mutex<UnsafeCell<[usize; SUBPOOL_1_NUM_ELEMENTS as usize]>> =
            Mutex::new(UnsafeCell::new(
                [STORE_FREE; SUBPOOL_1_NUM_ELEMENTS as usize],
            ));
        const SUBPOOL_2_NUM_ELEMENTS: u16 = 2;
        const SUBPOOL_2_BLOCK_SIZE: usize = 8;
-        static mut SUBPOOL_2: MaybeUninit<
+        static SUBPOOL_2: UnsafeCellBufWrapper<
            [u8; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE],
-        > = MaybeUninit::new([0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE]);
+        > = UnsafeCellBufWrapper::new([0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE]);
-        static mut SUBPOOL_2_SIZES: MaybeUninit<[usize; SUBPOOL_2_NUM_ELEMENTS as usize]> =
+        static SUBPOOL_2_SIZES: UnsafeCellBufWrapper<[usize; SUBPOOL_2_NUM_ELEMENTS as usize]> =
-            MaybeUninit::new([STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize]);
+            UnsafeCellBufWrapper::new([STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize]);
        const SUBPOOL_3_NUM_ELEMENTS: u16 = 1;
        const SUBPOOL_3_BLOCK_SIZE: usize = 16;
@ -1643,26 +1697,26 @@ mod tests {
                StaticHeaplessMemoryPool::new(false);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_1.assume_init_mut() },
+                    SUBPOOL_1.get_mut().unwrap(),
-                    unsafe { SUBPOOL_1_SIZES.assume_init_mut() },
+                    unsafe { &mut *SUBPOOL_1_SIZES.lock().unwrap().get() },
                    SUBPOOL_1_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_2.assume_init_mut() },
+                    SUBPOOL_2.get_mut().unwrap(),
-                    unsafe { SUBPOOL_2_SIZES.assume_init_mut() },
+                    SUBPOOL_2_SIZES.get_mut().unwrap(),
                    SUBPOOL_2_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
+                    SUBPOOL_3.get_mut().unwrap(),
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3_SIZES.get_mut().unwrap(),
                    SUBPOOL_3_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            heapless_pool
@ -1782,18 +1836,18 @@ mod tests {
                StaticHeaplessMemoryPool::new(true);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_2.assume_init_mut() },
+                    SUBPOOL_2.get_mut().unwrap(),
-                    unsafe { SUBPOOL_2_SIZES.assume_init_mut() },
+                    SUBPOOL_2_SIZES.get_mut().unwrap(),
                    SUBPOOL_2_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_4.assume_init_mut() },
+                    SUBPOOL_4.get_mut().unwrap(),
-                    unsafe { SUBPOOL_4_SIZES.assume_init_mut() },
+                    SUBPOOL_4_SIZES.get_mut().unwrap(),
                    SUBPOOL_4_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            generic_test_spills_to_higher_subpools(&mut heapless_pool);
@ -1805,18 +1859,18 @@ mod tests {
                StaticHeaplessMemoryPool::new(true);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_5.assume_init_mut() },
+                    SUBPOOL_5.get_mut().unwrap(),
-                    unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
+                    SUBPOOL_5_SIZES.get_mut().unwrap(),
                    SUBPOOL_5_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
+                    SUBPOOL_3.get_mut().unwrap(),
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3_SIZES.get_mut().unwrap(),
                    SUBPOOL_3_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            generic_test_spillage_fails_as_well(&mut heapless_pool);
@ -1828,26 +1882,26 @@ mod tests {
                StaticHeaplessMemoryPool::new(true);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_5.assume_init_mut() },
+                    SUBPOOL_5.get_mut().unwrap(),
-                    unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
+                    SUBPOOL_5_SIZES.get_mut().unwrap(),
                    SUBPOOL_5_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_6.assume_init_mut() },
+                    SUBPOOL_6.get_mut().unwrap(),
-                    unsafe { SUBPOOL_6_SIZES.assume_init_mut() },
+                    SUBPOOL_6_SIZES.get_mut().unwrap(),
                    SUBPOOL_6_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
+                    SUBPOOL_3.get_mut().unwrap(),
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3_SIZES.get_mut().unwrap(),
                    SUBPOOL_3_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            generic_test_spillage_works_across_multiple_subpools(&mut heapless_pool);
@ -1859,26 +1913,26 @@ mod tests {
                StaticHeaplessMemoryPool::new(true);
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_5.assume_init_mut() },
+                    SUBPOOL_5.get_mut().unwrap(),
-                    unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
+                    SUBPOOL_5_SIZES.get_mut().unwrap(),
                    SUBPOOL_5_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_6.assume_init_mut() },
+                    SUBPOOL_6.get_mut().unwrap(),
-                    unsafe { SUBPOOL_6_SIZES.assume_init_mut() },
+                    SUBPOOL_6_SIZES.get_mut().unwrap(),
                    SUBPOOL_6_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            assert!(heapless_pool
                .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
+                    SUBPOOL_3.get_mut().unwrap(),
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3_SIZES.get_mut().unwrap(),
                    SUBPOOL_3_NUM_ELEMENTS,
-                    false
+                    true
                )
                .is_ok());
            generic_test_spillage_fails_across_multiple_subpools(&mut heapless_pool);
--- a/satrs/src/power.rs
+++ b/satrs/src/power.rs
@ -1,22 +1,17 @@
 use core::time::Duration;
 use derive_new::new;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 #[cfg(feature = "std")]
 #[allow(unused_imports)]
 pub use std_mod::*;
-/// Generic trait for a device capable of switching itself on or off.
+use crate::request::MessageMetadata;
 pub trait PowerSwitch {
    type Error;
    fn switch_on(&mut self) -> Result<(), Self::Error>;
    fn switch_off(&mut self) -> Result<(), Self::Error>;
    fn is_switch_on(&self) -> bool {
        self.switch_state() == SwitchState::On
    }
    fn switch_state(&self) -> SwitchState;
 }
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum SwitchState {
    Off = 0,
    On = 1,
@ -26,6 +21,7 @@ pub enum SwitchState {
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum SwitchStateBinary {
    Off = 0,
    On = 1,
@ -63,76 +59,254 @@ impl From<SwitchStateBinary> for SwitchState {
 pub type SwitchId = u16;
 /// Generic trait for a device capable of turning on and off switches.
-pub trait PowerSwitcherCommandSender {
+pub trait PowerSwitcherCommandSender<SwitchType: Into<u16>> {
-    type Error;
+    type Error: core::fmt::Debug;
-    fn send_switch_on_cmd(&mut self, switch_id: SwitchId) -> Result<(), Self::Error>;
+    fn send_switch_on_cmd(
-    fn send_switch_off_cmd(&mut self, switch_id: SwitchId) -> Result<(), Self::Error>;
+        &self,
        requestor_info: MessageMetadata,
        switch_id: SwitchType,
    ) -> Result<(), Self::Error>;
    fn send_switch_off_cmd(
        &self,
        requestor_info: MessageMetadata,
        switch_id: SwitchType,
    ) -> Result<(), Self::Error>;
 }
-pub trait PowerSwitchInfo {
+pub trait PowerSwitchInfo<SwitchType> {
-    type Error;
+    type Error: core::fmt::Debug;
    /// Retrieve the switch state
-    fn get_switch_state(&mut self, switch_id: SwitchId) -> Result<SwitchState, Self::Error>;
+    fn switch_state(&self, switch_id: SwitchType) -> Result<SwitchState, Self::Error>;
-    fn get_is_switch_on(&mut self, switch_id: SwitchId) -> Result<bool, Self::Error> {
+    fn is_switch_on(&self, switch_id: SwitchType) -> Result<bool, Self::Error> {
-        Ok(self.get_switch_state(switch_id)? == SwitchState::On)
+        Ok(self.switch_state(switch_id)? == SwitchState::On)
    }
    /// The maximum delay it will take to change a switch.
    ///
    /// This may take into account the time to send a command, wait for it to be executed, and
    /// see the switch changed.
-    fn switch_delay_ms(&self) -> u32;
+    fn switch_delay_ms(&self) -> Duration;
 }
 #[derive(new)]
 pub struct SwitchRequest {
    switch_id: SwitchId,
    target_state: SwitchStateBinary,
 }
 impl SwitchRequest {
    pub fn switch_id(&self) -> SwitchId {
        self.switch_id
    }
    pub fn target_state(&self) -> SwitchStateBinary {
        self.target_state
    }
 }
 #[cfg(feature = "std")]
 pub mod std_mod {
    use std::sync::mpsc;
    use crate::{
        queue::GenericSendError,
        request::{GenericMessage, MessageMetadata},
    };
    use super::*;
    pub type MpscSwitchCmdSender = mpsc::Sender<GenericMessage<SwitchRequest>>;
    pub type MpscSwitchCmdSenderBounded = mpsc::SyncSender<GenericMessage<SwitchRequest>>;
    impl<SwitchType: Into<u16>> PowerSwitcherCommandSender<SwitchType> for MpscSwitchCmdSender {
        type Error = GenericSendError;
        fn send_switch_on_cmd(
            &self,
            requestor_info: MessageMetadata,
            switch_id: SwitchType,
        ) -> Result<(), Self::Error> {
            self.send(GenericMessage::new(
                requestor_info,
                SwitchRequest::new(switch_id.into(), SwitchStateBinary::On),
            ))
            .map_err(|_| GenericSendError::RxDisconnected)
        }
        fn send_switch_off_cmd(
            &self,
            requestor_info: MessageMetadata,
            switch_id: SwitchType,
        ) -> Result<(), Self::Error> {
            self.send(GenericMessage::new(
                requestor_info,
                SwitchRequest::new(switch_id.into(), SwitchStateBinary::Off),
            ))
            .map_err(|_| GenericSendError::RxDisconnected)
        }
    }
    impl<SwitchType: Into<u16>> PowerSwitcherCommandSender<SwitchType> for MpscSwitchCmdSenderBounded {
        type Error = GenericSendError;
        fn send_switch_on_cmd(
            &self,
            requestor_info: MessageMetadata,
            switch_id: SwitchType,
        ) -> Result<(), Self::Error> {
            self.try_send(GenericMessage::new(
                requestor_info,
                SwitchRequest::new(switch_id.into(), SwitchStateBinary::On),
            ))
            .map_err(|e| match e {
                mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
                mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
            })
        }
        fn send_switch_off_cmd(
            &self,
            requestor_info: MessageMetadata,
            switch_id: SwitchType,
        ) -> Result<(), Self::Error> {
            self.try_send(GenericMessage::new(
                requestor_info,
                SwitchRequest::new(switch_id.into(), SwitchStateBinary::Off),
            ))
            .map_err(|e| match e {
                mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
                mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
            })
        }
    }
 }
 #[cfg(test)]
 mod tests {
-    #![allow(dead_code)]
+    // TODO: Add unittests for PowerSwitcherCommandSender impls for mpsc.
    use std::sync::mpsc::{self, TryRecvError};
    use crate::{queue::GenericSendError, request::GenericMessage, ComponentId};
    use super::*;
    use std::boxed::Box;
-    struct Pcdu {
+    const TEST_REQ_ID: u32 = 2;
-        switch_rx: std::sync::mpsc::Receiver<(SwitchId, u16)>,
+    const TEST_SENDER_ID: ComponentId = 5;
    const TEST_SWITCH_ID: u16 = 0x1ff;
    fn common_checks(request: &GenericMessage<SwitchRequest>) {
        assert_eq!(request.requestor_info.sender_id(), TEST_SENDER_ID);
        assert_eq!(request.requestor_info.request_id(), TEST_REQ_ID);
        assert_eq!(request.message.switch_id(), TEST_SWITCH_ID);
    }
-    #[derive(Eq, PartialEq)]
+    #[test]
-    enum DeviceState {
+    fn test_comand_switch_sending_mpsc_regular_on_cmd() {
-        OFF,
+        let (switch_cmd_tx, switch_cmd_rx) = mpsc::channel::<GenericMessage<SwitchRequest>>();
-        SwitchingPower,
+        switch_cmd_tx
-        ON,
+            .send_switch_on_cmd(
-        SETUP,
+                MessageMetadata::new(TEST_REQ_ID, TEST_SENDER_ID),
-        IDLE,
+                TEST_SWITCH_ID,
-    }
+            )
-    struct MyComplexDevice {
+            .expect("sending switch cmd failed");
-        power_switcher: Box<dyn PowerSwitcherCommandSender<Error = ()>>,
+        let request = switch_cmd_rx
-        power_info: Box<dyn PowerSwitchInfo<Error = ()>>,
+            .recv()
-        switch_id: SwitchId,
+            .expect("receiving switch request failed");
-        some_state: u16,
+        common_checks(&request);
-        dev_state: DeviceState,
+        assert_eq!(request.message.target_state(), SwitchStateBinary::On);
        mode: u32,
        submode: u16,
    }
-    impl MyComplexDevice {
+    #[test]
-        pub fn periodic_op(&mut self) {
+    fn test_comand_switch_sending_mpsc_regular_off_cmd() {
-            // .. mode command coming in
+        let (switch_cmd_tx, switch_cmd_rx) = mpsc::channel::<GenericMessage<SwitchRequest>>();
-            let mode = 1;
+        switch_cmd_tx
-            if mode == 1 {
+            .send_switch_off_cmd(
-                if self.dev_state == DeviceState::OFF {
+                MessageMetadata::new(TEST_REQ_ID, TEST_SENDER_ID),
-                    self.power_switcher
+                TEST_SWITCH_ID,
-                        .send_switch_on_cmd(self.switch_id)
+            )
-                        .expect("sending siwthc cmd failed");
+            .expect("sending switch cmd failed");
-                    self.dev_state = DeviceState::SwitchingPower;
+        let request = switch_cmd_rx
            .recv()
            .expect("receiving switch request failed");
        common_checks(&request);
        assert_eq!(request.message.target_state(), SwitchStateBinary::Off);
    }
-                if self.dev_state == DeviceState::SwitchingPower {
+
-                    if self.power_info.get_is_switch_on(0).unwrap() {
+    #[test]
-                        self.dev_state = DeviceState::ON;
+    fn test_comand_switch_sending_mpsc_regular_rx_disconnected() {
-                        self.mode = 1;
+        let (switch_cmd_tx, switch_cmd_rx) = mpsc::channel::<GenericMessage<SwitchRequest>>();
        drop(switch_cmd_rx);
        let result = switch_cmd_tx.send_switch_off_cmd(
            MessageMetadata::new(TEST_REQ_ID, TEST_SENDER_ID),
            TEST_SWITCH_ID,
        );
        assert!(result.is_err());
        matches!(result.unwrap_err(), GenericSendError::RxDisconnected);
    }
    #[test]
    fn test_comand_switch_sending_mpsc_sync_on_cmd() {
        let (switch_cmd_tx, switch_cmd_rx) = mpsc::sync_channel::<GenericMessage<SwitchRequest>>(3);
        switch_cmd_tx
            .send_switch_on_cmd(
                MessageMetadata::new(TEST_REQ_ID, TEST_SENDER_ID),
                TEST_SWITCH_ID,
            )
            .expect("sending switch cmd failed");
        let request = switch_cmd_rx
            .recv()
            .expect("receiving switch request failed");
        common_checks(&request);
        assert_eq!(request.message.target_state(), SwitchStateBinary::On);
    }
    #[test]
    fn test_comand_switch_sending_mpsc_sync_off_cmd() {
        let (switch_cmd_tx, switch_cmd_rx) = mpsc::sync_channel::<GenericMessage<SwitchRequest>>(3);
        switch_cmd_tx
            .send_switch_off_cmd(
                MessageMetadata::new(TEST_REQ_ID, TEST_SENDER_ID),
                TEST_SWITCH_ID,
            )
            .expect("sending switch cmd failed");
        let request = switch_cmd_rx
            .recv()
            .expect("receiving switch request failed");
        common_checks(&request);
        assert_eq!(request.message.target_state(), SwitchStateBinary::Off);
    }
    #[test]
    fn test_comand_switch_sending_mpsc_sync_rx_disconnected() {
        let (switch_cmd_tx, switch_cmd_rx) = mpsc::sync_channel::<GenericMessage<SwitchRequest>>(1);
        drop(switch_cmd_rx);
        let result = switch_cmd_tx.send_switch_off_cmd(
            MessageMetadata::new(TEST_REQ_ID, TEST_SENDER_ID),
            TEST_SWITCH_ID,
        );
        assert!(result.is_err());
        matches!(result.unwrap_err(), GenericSendError::RxDisconnected);
    }
    #[test]
    fn test_comand_switch_sending_mpsc_sync_queue_full() {
        let (switch_cmd_tx, switch_cmd_rx) = mpsc::sync_channel::<GenericMessage<SwitchRequest>>(1);
        let mut result = switch_cmd_tx.send_switch_off_cmd(
            MessageMetadata::new(TEST_REQ_ID, TEST_SENDER_ID),
            TEST_SWITCH_ID,
        );
        assert!(result.is_ok());
        result = switch_cmd_tx.send_switch_off_cmd(
            MessageMetadata::new(TEST_REQ_ID, TEST_SENDER_ID),
            TEST_SWITCH_ID,
        );
        assert!(result.is_err());
        matches!(result.unwrap_err(), GenericSendError::QueueFull(None));
        matches!(switch_cmd_rx.try_recv(), Err(TryRecvError::Empty));
    }
 }
--- a/satrs/src/pus/action.rs
+++ b/satrs/src/pus/action.rs
@ -68,7 +68,8 @@ pub mod alloc_mod {
        action::ActionRequest,
        queue::GenericTargetedMessagingError,
        request::{
-            GenericMessage, MessageReceiver, MessageSender, MessageSenderAndReceiver, RequestId,
+            GenericMessage, MessageReceiverProvider, MessageSenderAndReceiver,
            MessageSenderProvider, MessageSenderStoreProvider, RequestId,
        },
        ComponentId,
    };
@ -76,11 +77,14 @@ pub mod alloc_mod {
    use super::ActionReplyPus;
    /// Helper type definition for a mode handler which can handle mode requests.
-    pub type ActionRequestHandlerInterface<S, R> =
+    pub type ActionRequestHandlerInterface<Sender, Receiver, ReplySenderStore> =
-        MessageSenderAndReceiver<ActionReplyPus, ActionRequest, S, R>;
+        MessageSenderAndReceiver<ActionReplyPus, ActionRequest, Sender, Receiver, ReplySenderStore>;
-    impl<S: MessageSender<ActionReplyPus>, R: MessageReceiver<ActionRequest>>
+    impl<
-        ActionRequestHandlerInterface<S, R>
+            Sender: MessageSenderProvider<ActionReplyPus>,
            Receiver: MessageReceiverProvider<ActionRequest>,
            ReplySender: MessageSenderStoreProvider<ActionReplyPus, Sender>,
        > ActionRequestHandlerInterface<Sender, Receiver, ReplySender>
    {
        pub fn try_recv_action_request(
            &self,
@ -100,11 +104,20 @@ pub mod alloc_mod {
    /// Helper type defintion for a mode handler object which can send mode requests and receive
    /// mode replies.
-    pub type ActionRequestorInterface<S, R> =
+    pub type ActionRequestorInterface<Sender, Receiver, RequestSenderStore> =
-        MessageSenderAndReceiver<ActionRequest, ActionReplyPus, S, R>;
+        MessageSenderAndReceiver<
            ActionRequest,
            ActionReplyPus,
            Sender,
            Receiver,
            RequestSenderStore,
        >;
-    impl<S: MessageSender<ActionRequest>, R: MessageReceiver<ActionReplyPus>>
+    impl<
-        ActionRequestorInterface<S, R>
+            Sender: MessageSenderProvider<ActionRequest>,
            Receiver: MessageReceiverProvider<ActionReplyPus>,
            RequestSenderStore: MessageSenderStoreProvider<ActionRequest, Sender>,
        > ActionRequestorInterface<Sender, Receiver, RequestSenderStore>
    {
        pub fn try_recv_action_reply(
            &self,
@ -132,6 +145,7 @@ pub mod std_mod {
            verification::{self, TcStateToken},
            ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap,
        },
        request::{MessageSenderMap, OneMessageSender},
        ComponentId,
    };
@ -174,22 +188,38 @@ pub mod std_mod {
    }
    pub type DefaultActiveActionRequestMap = DefaultActiveRequestMap<ActivePusActionRequestStd>;
-    pub type ActionRequestHandlerMpsc = ActionRequestHandlerInterface<
+    pub type ActionRequestHandlerOneSenderMpsc = ActionRequestHandlerInterface<
        mpsc::Sender<GenericMessage<ActionReplyPus>>,
        mpsc::Receiver<GenericMessage<ActionRequest>>,
        OneMessageSender<
            GenericMessage<ActionReplyPus>,
            mpsc::Sender<GenericMessage<ActionReplyPus>>,
        >,
    >;
-    pub type ActionRequestHandlerMpscBounded = ActionRequestHandlerInterface<
+    pub type ActionRequestHandlerOneSenderMpscBounded = ActionRequestHandlerInterface<
        mpsc::SyncSender<GenericMessage<ActionReplyPus>>,
        mpsc::Receiver<GenericMessage<ActionRequest>>,
        OneMessageSender<
            GenericMessage<ActionReplyPus>,
            mpsc::SyncSender<GenericMessage<ActionReplyPus>>,
        >,
    >;
-    pub type ActionRequestorMpsc = ActionRequestorInterface<
+    pub type ActionRequestorWithSenderMapMpsc = ActionRequestorInterface<
        mpsc::Sender<GenericMessage<ActionRequest>>,
        mpsc::Receiver<GenericMessage<ActionReplyPus>>,
        MessageSenderMap<
            GenericMessage<ActionRequest>,
            mpsc::Sender<GenericMessage<ActionRequest>>,
        >,
    >;
-    pub type ActionRequestorBoundedMpsc = ActionRequestorInterface<
+    pub type ActionRequestorWithSenderMapBoundedMpsc = ActionRequestorInterface<
        mpsc::SyncSender<GenericMessage<ActionRequest>>,
        mpsc::Receiver<GenericMessage<ActionReplyPus>>,
        MessageSenderMap<
            GenericMessage<ActionRequest>,
            mpsc::SyncSender<GenericMessage<ActionRequest>>,
        >,
    >;
 }
--- a/satrs/src/pus/mod.rs
+++ b/satrs/src/pus/mod.rs
@ -1221,9 +1221,10 @@ pub(crate) fn source_buffer_large_enough(
 #[cfg(any(feature = "test_util", test))]
 pub mod test_util {
    use crate::request::UniqueApidTargetId;
    use spacepackets::ecss::{tc::PusTcCreator, tm::PusTmReader};
    use crate::request::UniqueApidTargetId;
    use super::{
        verification::{self, TcStateAccepted, VerificationToken},
        DirectPusPacketHandlerResult, PusPacketHandlingError,
@ -1232,6 +1233,7 @@ pub mod test_util {
    pub const TEST_APID: u16 = 0x101;
    pub const TEST_UNIQUE_ID_0: u32 = 0x05;
    pub const TEST_UNIQUE_ID_1: u32 = 0x06;
    pub const TEST_COMPONENT_ID_0: UniqueApidTargetId =
        UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0);
    pub const TEST_COMPONENT_ID_1: UniqueApidTargetId =
@ -1268,14 +1270,13 @@ pub mod tests {
    use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator, PusTmReader};
    use spacepackets::ecss::{PusPacket, WritablePusPacket};
    use spacepackets::CcsdsPacket;
    use test_util::{TEST_APID, TEST_COMPONENT_ID_0};
    use crate::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig};
    use crate::pus::verification::{RequestId, VerificationReporter};
    use crate::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool};
    use crate::ComponentId;
    use super::test_util::{TEST_APID, TEST_COMPONENT_ID_0};
    use super::verification::test_util::TestVerificationReporter;
    use super::verification::{
        TcStateAccepted, VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
--- a/satrs/src/pus/mode.rs
+++ b/satrs/src/pus/mode.rs
@ -39,7 +39,7 @@ mod tests {
    use crate::{
        mode::{
            ModeAndSubmode, ModeReply, ModeReplySender, ModeRequest, ModeRequestSender,
-            ModeRequestorAndHandlerMpsc, ModeRequestorMpsc,
+            ModeRequestorAndHandlerMpsc, ModeRequestorOneChildMpsc,
        },
        request::{GenericMessage, MessageMetadata},
    };
@ -52,7 +52,8 @@ mod tests {
    fn test_simple_mode_requestor() {
        let (reply_sender, reply_receiver) = mpsc::channel();
        let (request_sender, request_receiver) = mpsc::channel();
-        let mut mode_requestor = ModeRequestorMpsc::new(TEST_COMPONENT_ID_0, reply_receiver);
+        let mut mode_requestor =
            ModeRequestorOneChildMpsc::new(TEST_COMPONENT_ID_0, reply_receiver);
        mode_requestor.add_message_target(TEST_COMPONENT_ID_1, request_sender);
        // Send a request and verify it arrives at the receiver.
--- a/satrs/src/pus/verification.rs
+++ b/satrs/src/pus/verification.rs
@ -20,7 +20,7 @@
 //!     VerificationReportingProvider, VerificationReporterCfg, VerificationReporter
 //! };
 //! use satrs::tmtc::{SharedStaticMemoryPool, PacketSenderWithSharedPool};
-//! use satrs::seq_count::SeqCountProviderSimple;
+//! use satrs::spacepackets::seq_count::SeqCountProviderSimple;
 //! use satrs::request::UniqueApidTargetId;
 //! use spacepackets::ecss::PusPacket;
 //! use spacepackets::SpHeader;
@ -97,8 +97,8 @@ use spacepackets::ecss::EcssEnumeration;
 use spacepackets::{ByteConversionError, CcsdsPacket, PacketId, PacketSequenceCtrl};
 use spacepackets::{SpHeader, MAX_APID};
 pub use crate::seq_count::SeqCountProviderSimple;
 pub use spacepackets::ecss::verification::*;
 pub use spacepackets::seq_count::SeqCountProviderSimple;
 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;
@ -1702,7 +1702,7 @@ pub mod tests {
    };
    use crate::pus::{ChannelWithId, PusTmVariant};
    use crate::request::MessageMetadata;
-    use crate::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
+    use crate::spacepackets::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProvider};
    use crate::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
    use crate::ComponentId;
    use alloc::format;
--- a/satrs/src/queue.rs
+++ b/satrs/src/queue.rs
@ -1,6 +1,3 @@
 use core::fmt::{Display, Formatter};
 #[cfg(feature = "std")]
 use std::error::Error;
 #[cfg(feature = "std")]
 use std::sync::mpsc;
@ -10,89 +7,31 @@ use crate::ComponentId;
 pub type ChannelId = u32;
 /// Generic error type for sending something via a message queue.
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq, thiserror::Error)]
 pub enum GenericSendError {
    #[error("rx side has disconnected")]
    RxDisconnected,
    #[error("queue with max capacity of {0:?} is full")]
    QueueFull(Option<u32>),
    #[error("target queue with ID {0} does not exist")]
    TargetDoesNotExist(ComponentId),
 }
 impl Display for GenericSendError {
    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
        match self {
            GenericSendError::RxDisconnected => {
                write!(f, "rx side has disconnected")
            }
            GenericSendError::QueueFull(max_cap) => {
                write!(f, "queue with max capacity of {max_cap:?} is full")
            }
            GenericSendError::TargetDoesNotExist(target) => {
                write!(f, "target queue with ID {target} does not exist")
            }
        }
    }
 }
 #[cfg(feature = "std")]
 impl Error for GenericSendError {}
 /// Generic error type for sending something via a message queue.
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq, thiserror::Error)]
 pub enum GenericReceiveError {
    #[error("nothing to receive")]
    Empty,
    #[error("tx side with id {0:?} has disconnected")]
    TxDisconnected(Option<ComponentId>),
 }
-impl Display for GenericReceiveError {
+#[derive(Debug, Clone, thiserror::Error)]
    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
        match self {
            Self::TxDisconnected(channel_id) => {
                write!(f, "tx side with id {channel_id:?} has disconnected")
            }
            Self::Empty => {
                write!(f, "nothing to receive")
            }
        }
    }
 }
 #[cfg(feature = "std")]
 impl Error for GenericReceiveError {}
 #[derive(Debug, Clone)]
 pub enum GenericTargetedMessagingError {
-    Send(GenericSendError),
+    #[error("generic targeted messaging send error: {0}")]
-    Receive(GenericReceiveError),
+    Send(#[from] GenericSendError),
-}
+    #[error("generic targeted messaging receive error: {0}")]
-impl From<GenericSendError> for GenericTargetedMessagingError {
+    Receive(#[from] GenericReceiveError),
    fn from(value: GenericSendError) -> Self {
        Self::Send(value)
    }
 }
 impl From<GenericReceiveError> for GenericTargetedMessagingError {
    fn from(value: GenericReceiveError) -> Self {
        Self::Receive(value)
    }
 }
 impl Display for GenericTargetedMessagingError {
    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
        match self {
            Self::Send(err) => write!(f, "generic targeted messaging error: {}", err),
            Self::Receive(err) => write!(f, "generic targeted messaging error: {}", err),
        }
    }
 }
 #[cfg(feature = "std")]
 impl Error for GenericTargetedMessagingError {
    fn source(&self) -> Option<&(dyn Error + 'static)> {
        match self {
            GenericTargetedMessagingError::Send(send) => Some(send),
            GenericTargetedMessagingError::Receive(receive) => Some(receive),
        }
    }
 }
 #[cfg(feature = "std")]
--- a/satrs/src/request.rs
+++ b/satrs/src/request.rs
@ -140,24 +140,27 @@ impl<Message> GenericMessage<Message> {
 }
 /// Generic trait for objects which can send targeted messages.
-pub trait MessageSender<MSG>: Send {
+pub trait MessageSenderProvider<MSG>: Send {
    fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError>;
 }
 // Generic trait for objects which can receive targeted messages.
-pub trait MessageReceiver<MSG> {
+pub trait MessageReceiverProvider<MSG> {
    fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError>;
 }
-pub struct MessageWithSenderIdReceiver<MSG, R: MessageReceiver<MSG>>(pub R, PhantomData<MSG>);
+pub struct MessageWithSenderIdReceiver<Msg, Receiver: MessageReceiverProvider<Msg>>(
    pub Receiver,
    PhantomData<Msg>,
 );
-impl<MSG, R: MessageReceiver<MSG>> From<R> for MessageWithSenderIdReceiver<MSG, R> {
+impl<MSG, R: MessageReceiverProvider<MSG>> From<R> for MessageWithSenderIdReceiver<MSG, R> {
    fn from(receiver: R) -> Self {
        MessageWithSenderIdReceiver(receiver, PhantomData)
    }
 }
-impl<MSG, R: MessageReceiver<MSG>> MessageWithSenderIdReceiver<MSG, R> {
+impl<MSG, R: MessageReceiverProvider<MSG>> MessageWithSenderIdReceiver<MSG, R> {
    pub fn try_recv_message(
        &self,
    ) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
@ -165,12 +168,12 @@ impl<MSG, R: MessageReceiver<MSG>> MessageWithSenderIdReceiver<MSG, R> {
    }
 }
-pub struct MessageReceiverWithId<MSG, R: MessageReceiver<MSG>> {
+pub struct MessageReceiverWithId<MSG, R: MessageReceiverProvider<MSG>> {
    local_channel_id: ComponentId,
    reply_receiver: MessageWithSenderIdReceiver<MSG, R>,
 }
-impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
+impl<MSG, R: MessageReceiverProvider<MSG>> MessageReceiverWithId<MSG, R> {
    pub fn new(local_channel_id: ComponentId, reply_receiver: R) -> Self {
        Self {
            local_channel_id,
@ -183,7 +186,7 @@ impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
    }
 }
-impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
+impl<MSG, R: MessageReceiverProvider<MSG>> MessageReceiverWithId<MSG, R> {
    pub fn try_recv_message(
        &self,
    ) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
@ -191,34 +194,122 @@ impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
    }
 }
 pub trait MessageSenderStoreProvider<Message, Sender>: Default {
    fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender);
    fn send_message(
        &self,
        requestor_info: MessageMetadata,
        target_channel_id: ComponentId,
        message: Message,
    ) -> Result<(), GenericTargetedMessagingError>;
 }
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
    use crate::queue::GenericSendError;
    use std::convert::From;
    use super::*;
    use hashbrown::HashMap;
-    pub struct MessageSenderMap<MSG, S: MessageSender<MSG>>(
+    pub struct OneMessageSender<Msg, S: MessageSenderProvider<Msg>> {
-        pub HashMap<ComponentId, S>,
+        pub id_and_sender: Option<(ComponentId, S)>,
        pub(crate) phantom: PhantomData<Msg>,
    }
    impl<Msg, S: MessageSenderProvider<Msg>> Default for OneMessageSender<Msg, S> {
        fn default() -> Self {
            Self {
                id_and_sender: Default::default(),
                phantom: Default::default(),
            }
        }
    }
    impl<Msg, Sender: MessageSenderProvider<Msg>> MessageSenderStoreProvider<Msg, Sender>
        for OneMessageSender<Msg, Sender>
    {
        fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender) {
            if self.id_and_sender.is_some() {
                return;
            }
            self.id_and_sender = Some((target_id, message_sender));
        }
        fn send_message(
            &self,
            requestor_info: MessageMetadata,
            target_channel_id: ComponentId,
            message: Msg,
        ) -> Result<(), GenericTargetedMessagingError> {
            if let Some((current_id, sender)) = &self.id_and_sender {
                if *current_id == target_channel_id {
                    sender.send(GenericMessage::new(requestor_info, message))?;
                    return Ok(());
                }
            }
            Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
        }
    }
    pub struct MessageSenderList<MSG, S: MessageSenderProvider<MSG>>(
        pub alloc::vec::Vec<(ComponentId, S)>,
        pub(crate) PhantomData<MSG>,
    );
-    impl<MSG, S: MessageSender<MSG>> Default for MessageSenderMap<MSG, S> {
+    impl<MSG, S: MessageSenderProvider<MSG>> Default for MessageSenderList<MSG, S> {
        fn default() -> Self {
            Self(Default::default(), PhantomData)
        }
    }
-    impl<MSG, S: MessageSender<MSG>> MessageSenderMap<MSG, S> {
+    impl<Msg, Sender: MessageSenderProvider<Msg>> MessageSenderStoreProvider<Msg, Sender>
-        pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
+        for MessageSenderList<Msg, Sender>
-            self.0.insert(target_id, message_sender);
+    {
        fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender) {
            self.0.push((target_id, message_sender));
        }
-        pub fn send_message(
+        fn send_message(
            &self,
            requestor_info: MessageMetadata,
            target_channel_id: ComponentId,
-            message: MSG,
+            message: Msg,
        ) -> Result<(), GenericTargetedMessagingError> {
            for (current_id, sender) in &self.0 {
                if *current_id == target_channel_id {
                    sender.send(GenericMessage::new(requestor_info, message))?;
                    return Ok(());
                }
            }
            Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
        }
    }
    pub struct MessageSenderMap<MSG, S: MessageSenderProvider<MSG>>(
        pub HashMap<ComponentId, S>,
        pub(crate) PhantomData<MSG>,
    );
    impl<MSG, S: MessageSenderProvider<MSG>> Default for MessageSenderMap<MSG, S> {
        fn default() -> Self {
            Self(Default::default(), PhantomData)
        }
    }
    impl<Msg, Sender: MessageSenderProvider<Msg>> MessageSenderStoreProvider<Msg, Sender>
        for MessageSenderMap<Msg, Sender>
    {
        fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender) {
            self.0.insert(target_id, message_sender);
        }
        fn send_message(
            &self,
            requestor_info: MessageMetadata,
            target_channel_id: ComponentId,
            message: Msg,
        ) -> Result<(), GenericTargetedMessagingError> {
            if self.0.contains_key(&target_channel_id) {
                return self
@ -231,25 +322,38 @@ pub mod alloc_mod {
        }
    }
-    pub struct MessageSenderAndReceiver<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>> {
+    pub struct MessageSenderAndReceiver<
        To,
        From,
        Sender: MessageSenderProvider<To>,
        Receiver: MessageReceiverProvider<From>,
        SenderStore: MessageSenderStoreProvider<To, Sender>,
    > {
        pub local_channel_id: ComponentId,
-        pub message_sender_map: MessageSenderMap<TO, S>,
+        pub message_sender_store: SenderStore,
-        pub message_receiver: MessageWithSenderIdReceiver<FROM, R>,
+        pub message_receiver: MessageWithSenderIdReceiver<From, Receiver>,
        pub(crate) phantom: PhantomData<(To, Sender)>,
    }
-    impl<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>>
+    impl<
-        MessageSenderAndReceiver<TO, FROM, S, R>
+            To,
            From,
            Sender: MessageSenderProvider<To>,
            Receiver: MessageReceiverProvider<From>,
            SenderStore: MessageSenderStoreProvider<To, Sender>,
        > MessageSenderAndReceiver<To, From, Sender, Receiver, SenderStore>
    {
-        pub fn new(local_channel_id: ComponentId, message_receiver: R) -> Self {
+        pub fn new(local_channel_id: ComponentId, message_receiver: Receiver) -> Self {
            Self {
                local_channel_id,
-                message_sender_map: Default::default(),
+                message_sender_store: Default::default(),
                message_receiver: MessageWithSenderIdReceiver::from(message_receiver),
                phantom: PhantomData,
            }
        }
-        pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
+        pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: Sender) {
-            self.message_sender_map
+            self.message_sender_store
                .add_message_target(target_id, message_sender)
        }
@ -262,9 +366,9 @@ pub mod alloc_mod {
            &self,
            request_id: RequestId,
            target_id: ComponentId,
-            message: TO,
+            message: To,
        ) -> Result<(), GenericTargetedMessagingError> {
-            self.message_sender_map.send_message(
+            self.message_sender_store.send_message(
                MessageMetadata::new(request_id, self.local_channel_id_generic()),
                target_id,
                message,
@ -274,48 +378,64 @@ pub mod alloc_mod {
        /// Try to receive a message, which can be a reply or a request, depending on the generics.
        pub fn try_recv_message(
            &self,
-        ) -> Result<Option<GenericMessage<FROM>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<From>>, GenericTargetedMessagingError> {
            self.message_receiver.try_recv_message()
        }
    }
    pub struct RequestAndReplySenderAndReceiver<
-        REQUEST,
+        Request,
-        REPLY,
+        ReqSender: MessageSenderProvider<Request>,
-        S0: MessageSender<REQUEST>,
+        ReqReceiver: MessageReceiverProvider<Request>,
-        R0: MessageReceiver<REPLY>,
+        ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
-        S1: MessageSender<REPLY>,
+        Reply,
-        R1: MessageReceiver<REQUEST>,
+        ReplySender: MessageSenderProvider<Reply>,
        ReplyReceiver: MessageReceiverProvider<Reply>,
        ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
    > {
        pub local_channel_id: ComponentId,
        // These 2 are a functional group.
-        pub request_sender_map: MessageSenderMap<REQUEST, S0>,
+        pub request_sender_store: ReqSenderStore,
-        pub reply_receiver: MessageWithSenderIdReceiver<REPLY, R0>,
+        pub reply_receiver: MessageWithSenderIdReceiver<Reply, ReplyReceiver>,
        // These 2 are a functional group.
-        pub request_receiver: MessageWithSenderIdReceiver<REQUEST, R1>,
+        pub request_receiver: MessageWithSenderIdReceiver<Request, ReqReceiver>,
-        pub reply_sender_map: MessageSenderMap<REPLY, S1>,
+        pub reply_sender_store: ReplySenderStore,
        phantom: PhantomData<(ReqSender, ReplySender)>,
    }
    impl<
-            REQUEST,
+            Request,
-            REPLY,
+            ReqSender: MessageSenderProvider<Request>,
-            S0: MessageSender<REQUEST>,
+            ReqReceiver: MessageReceiverProvider<Request>,
-            R0: MessageReceiver<REPLY>,
+            ReqSenderStore: MessageSenderStoreProvider<Request, ReqSender>,
-            S1: MessageSender<REPLY>,
+            Reply,
-            R1: MessageReceiver<REQUEST>,
+            ReplySender: MessageSenderProvider<Reply>,
-        > RequestAndReplySenderAndReceiver<REQUEST, REPLY, S0, R0, S1, R1>
+            ReplyReceiver: MessageReceiverProvider<Reply>,
            ReplySenderStore: MessageSenderStoreProvider<Reply, ReplySender>,
        >
        RequestAndReplySenderAndReceiver<
            Request,
            ReqSender,
            ReqReceiver,
            ReqSenderStore,
            Reply,
            ReplySender,
            ReplyReceiver,
            ReplySenderStore,
        >
    {
        pub fn new(
            local_channel_id: ComponentId,
-            request_receiver: R1,
+            request_receiver: ReqReceiver,
-            reply_receiver: R0,
+            reply_receiver: ReplyReceiver,
        ) -> Self {
            Self {
                local_channel_id,
                request_receiver: request_receiver.into(),
                reply_receiver: reply_receiver.into(),
-                request_sender_map: Default::default(),
+                request_sender_store: Default::default(),
-                reply_sender_map: Default::default(),
+                reply_sender_store: Default::default(),
                phantom: PhantomData,
            }
        }
@ -333,14 +453,14 @@ pub mod std_mod {
    use crate::queue::{GenericReceiveError, GenericSendError};
-    impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
+    impl<MSG: Send> MessageSenderProvider<MSG> for mpsc::Sender<GenericMessage<MSG>> {
        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
            self.send(message)
                .map_err(|_| GenericSendError::RxDisconnected)?;
            Ok(())
        }
    }
-    impl<MSG: Send> MessageSender<MSG> for mpsc::SyncSender<GenericMessage<MSG>> {
+    impl<MSG: Send> MessageSenderProvider<MSG> for mpsc::SyncSender<GenericMessage<MSG>> {
        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
            if let Err(e) = self.try_send(message) {
                return match e {
@ -357,7 +477,7 @@ pub mod std_mod {
    pub type MessageSenderMapMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Sender<MSG>>;
    pub type MessageSenderMapBoundedMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::SyncSender<MSG>>;
-    impl<MSG> MessageReceiver<MSG> for mpsc::Receiver<GenericMessage<MSG>> {
+    impl<MSG> MessageReceiverProvider<MSG> for mpsc::Receiver<GenericMessage<MSG>> {
        fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
            match self.try_recv() {
                Ok(msg) => Ok(Some(msg)),
@ -386,7 +506,7 @@ mod tests {
    use crate::{
        queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
-        request::{MessageMetadata, MessageSenderMap},
+        request::{MessageMetadata, MessageSenderMap, MessageSenderStoreProvider},
    };
    use super::{GenericMessage, MessageReceiverWithId, UniqueApidTargetId};
--- a/satrs/src/scheduling.rs
+++ b/satrs/src/scheduling.rs
@ -0,0 +1,416 @@
 use core::{convert::Infallible, fmt::Debug, time::Duration};
 use std::time::Instant;
 use thiserror::Error;
 use crate::executable::Executable;
 #[cfg(feature = "std")]
 pub use std_mod::*;
 #[derive(Debug, Default)]
 pub struct SchedulingTable {
    execution_frequency: Duration,
    pub table: alloc::vec::Vec<u32>,
 }
 #[derive(Debug, Error)]
 pub enum InvalidSlotError {
    #[error("slot time is larger than the execution frequency")]
    SlotTimeLargerThanFrequency,
    #[error("slot time is smaller than previous slot")]
    SmallerThanPreviousSlot {
        slot_time_ms: u32,
        prev_slot_time_ms: u32,
    },
 }
 impl SchedulingTable {
    pub fn new(execution_frequency: Duration) -> Self {
        Self {
            execution_frequency,
            table: Default::default(),
        }
    }
    pub fn add_slot(&mut self, relative_execution_time_ms: u32) -> Result<(), InvalidSlotError> {
        if relative_execution_time_ms > self.execution_frequency.as_millis() as u32 {
            return Err(InvalidSlotError::SlotTimeLargerThanFrequency);
        }
        if !self.table.is_empty() {
            let prev_slot_ms = *self.table.last().unwrap();
            if relative_execution_time_ms < prev_slot_ms {
                return Err(InvalidSlotError::SmallerThanPreviousSlot {
                    slot_time_ms: relative_execution_time_ms,
                    prev_slot_time_ms: *self.table.last().unwrap(),
                });
            }
        }
        self.table.push(relative_execution_time_ms);
        Ok(())
    }
 }
 #[derive(Debug, Error)]
 pub enum TaskWithSchedulingTableError {
    #[error("scheudlig table error: {0}")]
    InvalidSlot(#[from] InvalidSlotError),
    #[error("task lock error")]
    LockError,
    #[error("task borrow error")]
    BorrowError,
 }
 pub trait DeadlineMissedHandler {
    fn deadline_missed_callback(&mut self, task_name: &'static str, op_code: i32);
 }
 pub trait TaskExecutor {
    fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F);
 }
 #[cfg(feature = "std")]
 pub mod std_mod {
    use core::cell::RefCell;
    use std::{
        rc::Rc,
        sync::{Arc, Mutex},
        vec::Vec,
    };
    use super::*;
    impl TaskExecutor for Arc<Mutex<dyn Executable<Error = Infallible> + Send>> {
        fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F) {
            let mut task = self.lock().unwrap();
            f(&mut *task);
        }
    }
    impl TaskExecutor for Rc<RefCell<dyn Executable<Error = Infallible>>> {
        fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F) {
            let mut task = self.borrow_mut();
            f(&mut *task);
        }
    }
    pub struct TaskWithOpCode<T: TaskExecutor> {
        task: T,
        op_code: i32,
    }
    pub struct TaskWithSchedulingTable<T: TaskExecutor> {
        start_of_slot: Instant,
        end_of_slot: Instant,
        deadline_missed_ms_count: u32,
        table: SchedulingTable,
        tasks: Vec<TaskWithOpCode<T>>,
    }
    impl TaskWithSchedulingTable<Rc<RefCell<dyn Executable<Error = Infallible>>>> {
        /// Add a new task to the scheduling table
        ///
        /// The task needs to be wrapped inside [Rc] and [RefCell]. The task is not sendable and
        /// needs to be created inside the target thread.
        pub fn add_task(
            &mut self,
            relative_execution_time_ms: u32,
            task: Rc<RefCell<dyn Executable<Error = Infallible>>>,
            op_code: i32,
        ) -> Result<(), TaskWithSchedulingTableError> {
            self.table.add_slot(relative_execution_time_ms)?;
            self.tasks.push(TaskWithOpCode { task, op_code });
            Ok(())
        }
    }
    impl TaskWithSchedulingTable<Arc<Mutex<dyn Executable<Error = Infallible> + Send>>> {
        /// Add a new task to the scheduling table
        ///
        /// The task needs to be wrapped inside [Arc] and [Mutex], but the task can be sent to
        /// a different thread.
        pub fn add_task_sendable(
            &mut self,
            relative_execution_time_ms: u32,
            task: Arc<Mutex<dyn Executable<Error = Infallible> + Send>>,
            op_code: i32,
        ) -> Result<(), TaskWithSchedulingTableError> {
            self.table.add_slot(relative_execution_time_ms)?;
            self.tasks.push(TaskWithOpCode { task, op_code });
            Ok(())
        }
    }
    impl<T: TaskExecutor> TaskWithSchedulingTable<T> {
        pub fn new(execution_frequency: Duration) -> Self {
            Self {
                start_of_slot: Instant::now(),
                end_of_slot: Instant::now(),
                deadline_missed_ms_count: 10,
                table: SchedulingTable::new(execution_frequency),
                tasks: Default::default(),
            }
        }
        /// Can be used to set the start of the slot to the current time. This is useful if a custom
        /// runner implementation is used instead of the [Self::run_one_task_cycle] method.
        pub fn init_start_of_slot(&mut self) {
            self.start_of_slot = Instant::now();
        }
        pub fn run_one_task_cycle(
            &mut self,
            deadline_missed_cb: &mut impl DeadlineMissedHandler,
        ) -> Result<(), TaskWithSchedulingTableError> {
            self.end_of_slot = self.start_of_slot + self.table.execution_frequency;
            for (&relative_execution_time_ms, task_with_op_code) in
                self.table.table.iter().zip(self.tasks.iter_mut())
            {
                let scheduled_execution_time = self.start_of_slot
                    + core::time::Duration::from_millis(relative_execution_time_ms as u64);
                let now = Instant::now();
                if now < scheduled_execution_time {
                    std::thread::sleep(scheduled_execution_time - now);
                } else if (now - scheduled_execution_time).as_millis()
                    > self.deadline_missed_ms_count.into()
                {
                    task_with_op_code.task.with_task(|task| {
                        deadline_missed_cb
                            .deadline_missed_callback(task.task_name(), task_with_op_code.op_code);
                    });
                }
                task_with_op_code.task.with_task(|task| {
                    // Unwrapping is okay here because we constrain the tasks to be infallible.
                    task.periodic_op(task_with_op_code.op_code).unwrap();
                });
            }
            let now = Instant::now();
            if now <= self.end_of_slot {
                let diff = self.end_of_slot - now;
                std::thread::sleep(diff);
                self.start_of_slot = self.end_of_slot;
            } else if now > self.end_of_slot + self.table.execution_frequency {
                // We're getting strongly out of sync. Set the new start timt to now.
                self.start_of_slot = now;
            }
            Ok(())
        }
    }
 }
 #[cfg(test)]
 mod tests {
    use core::{cell::RefCell, convert::Infallible, time::Duration};
    use std::{
        println,
        rc::Rc,
        sync::{
            mpsc::{self, TryRecvError},
            Arc, Mutex,
        },
        time::Instant,
    };
    use crate::executable::{Executable, OpResult};
    use super::{DeadlineMissedHandler, TaskWithSchedulingTable};
    #[derive(Debug)]
    pub struct CallInfo {
        time: std::time::Instant,
        op_code: i32,
    }
    pub struct Task1 {
        called_queue: mpsc::Sender<CallInfo>,
    }
    impl Executable for Task1 {
        type Error = Infallible;
        fn task_name(&self) -> &'static str {
            "Task1"
        }
        fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error> {
            self.called_queue
                .send(CallInfo {
                    time: Instant::now(),
                    op_code,
                })
                .unwrap();
            Ok(OpResult::Ok)
        }
    }
    pub struct Task2 {
        called_queue: mpsc::Sender<CallInfo>,
    }
    impl Executable for Task2 {
        type Error = Infallible;
        fn task_name(&self) -> &'static str {
            "Task2"
        }
        fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error> {
            self.called_queue
                .send(CallInfo {
                    time: Instant::now(),
                    op_code,
                })
                .unwrap();
            Ok(OpResult::Ok)
        }
    }
    #[derive(Default)]
    pub struct DeadlineMissed {
        call_count: u32,
    }
    impl DeadlineMissedHandler for DeadlineMissed {
        fn deadline_missed_callback(&mut self, task_name: &'static str, _op_code: i32) {
            println!("task name {task_name} missed the deadline");
            self.call_count += 1;
        }
    }
    #[test]
    pub fn basic_test() {
        let (tx_t1, rx_t1) = mpsc::channel();
        let (tx_t2, rx_t2) = mpsc::channel();
        let t1 = Task1 {
            called_queue: tx_t1,
        };
        let t2 = Task2 {
            called_queue: tx_t2,
        };
        let mut deadline_missed_cb = DeadlineMissed::default();
        let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
        let t1_first_slot = Rc::new(RefCell::new(t1));
        let t1_second_slot = t1_first_slot.clone();
        let t2_first_slot = Rc::new(RefCell::new(t2));
        let t2_second_slot = t2_first_slot.clone();
        exec_task.add_task(0, t1_first_slot, 0).unwrap();
        exec_task.add_task(50, t1_second_slot, -1).unwrap();
        exec_task.add_task(100, t2_first_slot, 1).unwrap();
        exec_task.add_task(150, t2_second_slot, 2).unwrap();
        let now = Instant::now();
        exec_task.init_start_of_slot();
        exec_task
            .run_one_task_cycle(&mut deadline_missed_cb)
            .unwrap();
        let mut call_info = rx_t1.try_recv().unwrap();
        assert_eq!(call_info.op_code, 0);
        let diff_call_to_start = call_info.time - now;
        assert!(diff_call_to_start.as_millis() < 30);
        call_info = rx_t1.try_recv().unwrap();
        assert_eq!(call_info.op_code, -1);
        let diff_call_to_start = call_info.time - now;
        assert!(diff_call_to_start.as_millis() < 80);
        assert!(diff_call_to_start.as_millis() >= 50);
        matches!(rx_t1.try_recv().unwrap_err(), TryRecvError::Empty);
        call_info = rx_t2.try_recv().unwrap();
        assert_eq!(call_info.op_code, 1);
        let diff_call_to_start = call_info.time - now;
        assert!(diff_call_to_start.as_millis() < 120);
        assert!(diff_call_to_start.as_millis() >= 100);
        call_info = rx_t2.try_recv().unwrap();
        assert_eq!(call_info.op_code, 2);
        let diff_call_to_start = call_info.time - now;
        assert!(diff_call_to_start.as_millis() < 180);
        assert!(diff_call_to_start.as_millis() >= 150);
        matches!(rx_t2.try_recv().unwrap_err(), TryRecvError::Empty);
        assert_eq!(deadline_missed_cb.call_count, 0);
    }
    #[test]
    pub fn basic_test_with_arc_mutex() {
        let (tx_t1, rx_t1) = mpsc::channel();
        let (tx_t2, rx_t2) = mpsc::channel();
        let t1 = Task1 {
            called_queue: tx_t1,
        };
        let t2 = Task2 {
            called_queue: tx_t2,
        };
        let mut deadline_missed_cb = DeadlineMissed::default();
        let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
        let t1_first_slot = Arc::new(Mutex::new(t1));
        let t1_second_slot = t1_first_slot.clone();
        let t2_first_slot = Arc::new(Mutex::new(t2));
        let t2_second_slot = t2_first_slot.clone();
        exec_task.add_task_sendable(0, t1_first_slot, 0).unwrap();
        exec_task.add_task_sendable(50, t1_second_slot, -1).unwrap();
        exec_task.add_task_sendable(100, t2_first_slot, 1).unwrap();
        exec_task.add_task_sendable(150, t2_second_slot, 2).unwrap();
        let now = Instant::now();
        exec_task.init_start_of_slot();
        exec_task
            .run_one_task_cycle(&mut deadline_missed_cb)
            .unwrap();
        let mut call_info = rx_t1.try_recv().unwrap();
        assert_eq!(call_info.op_code, 0);
        let diff_call_to_start = call_info.time - now;
        assert!(diff_call_to_start.as_millis() < 30);
        call_info = rx_t1.try_recv().unwrap();
        assert_eq!(call_info.op_code, -1);
        let diff_call_to_start = call_info.time - now;
        assert!(diff_call_to_start.as_millis() < 80);
        assert!(diff_call_to_start.as_millis() >= 50);
        matches!(rx_t1.try_recv().unwrap_err(), TryRecvError::Empty);
        call_info = rx_t2.try_recv().unwrap();
        assert_eq!(call_info.op_code, 1);
        let diff_call_to_start = call_info.time - now;
        assert!(diff_call_to_start.as_millis() < 120);
        assert!(diff_call_to_start.as_millis() >= 100);
        call_info = rx_t2.try_recv().unwrap();
        assert_eq!(call_info.op_code, 2);
        let diff_call_to_start = call_info.time - now;
        assert!(diff_call_to_start.as_millis() < 180);
        assert!(diff_call_to_start.as_millis() >= 150);
        matches!(rx_t2.try_recv().unwrap_err(), TryRecvError::Empty);
        assert_eq!(deadline_missed_cb.call_count, 0);
    }
    #[test]
    pub fn basic_test_in_thread() {
        let mut deadline_missed_cb = DeadlineMissed::default();
        std::thread::spawn(move || {
            let (tx_t1, _rx_t1) = mpsc::channel();
            let t1 = Task1 {
                called_queue: tx_t1,
            };
            // Need to construct this in the thread, the task table in not [Send]
            let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
            let t1_wrapper = Rc::new(RefCell::new(t1));
            exec_task.add_task(0, t1_wrapper, 0).unwrap();
            exec_task
                .run_one_task_cycle(&mut deadline_missed_cb)
                .unwrap();
        });
        let mut deadline_missed_cb = DeadlineMissed::default();
        let (tx_t1, _rx_t1) = mpsc::channel();
        let t1 = Task1 {
            called_queue: tx_t1,
        };
        let mut exec_task_sendable = TaskWithSchedulingTable::new(Duration::from_millis(200));
        exec_task_sendable
            .add_task_sendable(0, Arc::new(Mutex::new(t1)), 1)
            .unwrap();
        std::thread::spawn(move || {
            exec_task_sendable
                .run_one_task_cycle(&mut deadline_missed_cb)
                .unwrap();
        });
    }
 }
--- a/satrs/src/seq_count.rs
+++ b/satrs/src/seq_count.rs
@ -1,250 +0,0 @@
 use core::cell::Cell;
 #[cfg(feature = "alloc")]
 use dyn_clone::DynClone;
 use paste::paste;
 use spacepackets::MAX_SEQ_COUNT;
 #[cfg(feature = "std")]
 pub use stdmod::*;
 /// Core trait for objects which can provide a sequence count.
 ///
 /// The core functions are not mutable on purpose to allow easier usage with
 /// static structs when using the interior mutability pattern. This can be achieved by using
 /// [Cell], [core::cell::RefCell] or atomic types.
 pub trait SequenceCountProviderCore<Raw> {
    fn get(&self) -> Raw;
    fn increment(&self);
    fn get_and_increment(&self) -> Raw {
        let val = self.get();
        self.increment();
        val
    }
 }
 /// Extension trait which allows cloning a sequence count provider after it was turned into
 /// a trait object.
 #[cfg(feature = "alloc")]
 pub trait SequenceCountProvider<Raw>: SequenceCountProviderCore<Raw> + DynClone {}
 #[cfg(feature = "alloc")]
 dyn_clone::clone_trait_object!(SequenceCountProvider<u16>);
 #[cfg(feature = "alloc")]
 impl<T, Raw> SequenceCountProvider<Raw> for T where T: SequenceCountProviderCore<Raw> + Clone {}
 #[derive(Clone)]
 pub struct SeqCountProviderSimple<T: Copy> {
    seq_count: Cell<T>,
    max_val: T,
 }
 macro_rules! impl_for_primitives {
    ($($ty: ident,)+) => {
        $(
            paste! {
                impl SeqCountProviderSimple<$ty> {
                    pub fn [<new_custom_max_val_ $ty>](max_val: $ty) -> Self {
                        Self {
                            seq_count: Cell::new(0),
                            max_val,
                        }
                    }
                    pub fn [<new_ $ty>]() -> Self {
                        Self {
                            seq_count: Cell::new(0),
                            max_val: $ty::MAX
                        }
                    }
                }
                impl Default for SeqCountProviderSimple<$ty> {
                    fn default() -> Self {
                        Self::[<new_ $ty>]()
                    }
                }
                impl SequenceCountProviderCore<$ty> for SeqCountProviderSimple<$ty> {
                    fn get(&self) -> $ty {
                        self.seq_count.get()
                    }
                    fn increment(&self) {
                        self.get_and_increment();
                    }
                    fn get_and_increment(&self) -> $ty {
                        let curr_count = self.seq_count.get();
                        if curr_count == self.max_val {
                            self.seq_count.set(0);
                        } else {
                            self.seq_count.set(curr_count + 1);
                        }
                        curr_count
                    }
                }
            }
        )+
    }
 }
 impl_for_primitives!(u8, u16, u32, u64,);
 /// This is a sequence count provider which wraps around at [MAX_SEQ_COUNT].
 #[derive(Clone)]
 pub struct CcsdsSimpleSeqCountProvider {
    provider: SeqCountProviderSimple<u16>,
 }
 impl Default for CcsdsSimpleSeqCountProvider {
    fn default() -> Self {
        Self {
            provider: SeqCountProviderSimple::new_custom_max_val_u16(MAX_SEQ_COUNT),
        }
    }
 }
 impl SequenceCountProviderCore<u16> for CcsdsSimpleSeqCountProvider {
    delegate::delegate! {
        to self.provider {
            fn get(&self) -> u16;
            fn increment(&self);
            fn get_and_increment(&self) -> u16;
        }
    }
 }
 #[cfg(feature = "std")]
 pub mod stdmod {
    use super::*;
    use std::sync::{Arc, Mutex};
    macro_rules! sync_clonable_seq_counter_impl {
         ($($ty: ident,)+) => {
             $(paste! {
                 /// These sequence counters can be shared between threads and can also be
                 /// configured to wrap around at specified maximum values. Please note that
                 /// that the API provided by this class will not panic und [Mutex] lock errors,
                 /// but it will yield 0 for the getter functions.
                 #[derive(Clone, Default)]
                 pub struct [<SeqCountProviderSync $ty:upper>] {
                     seq_count: Arc<Mutex<$ty>>,
                     max_val: $ty
                 }
                 impl [<SeqCountProviderSync $ty:upper>] {
                     pub fn new() -> Self {
                        Self::new_with_max_val($ty::MAX)
                     }
                     pub fn new_with_max_val(max_val: $ty) -> Self {
                         Self {
                             seq_count: Arc::default(),
                             max_val
                         }
                     }
                 }
                 impl SequenceCountProviderCore<$ty> for [<SeqCountProviderSync $ty:upper>] {
                    fn get(&self) -> $ty {
                        match self.seq_count.lock() {
                            Ok(counter) => *counter,
                            Err(_) => 0
                        }
                    }
                    fn increment(&self) {
                        self.get_and_increment();
                    }
                    fn get_and_increment(&self) -> $ty {
                        match self.seq_count.lock() {
                            Ok(mut counter) => {
                                let val = *counter;
                                if val == self.max_val {
                                    *counter = 0;
                                } else {
                                    *counter += 1;
                                }
                                val
                            }
                            Err(_) => 0,
                        }
                    }
                 }
             })+
         }
    }
    sync_clonable_seq_counter_impl!(u8, u16, u32, u64,);
 }
 #[cfg(test)]
 mod tests {
    use crate::seq_count::{
        CcsdsSimpleSeqCountProvider, SeqCountProviderSimple, SeqCountProviderSyncU8,
        SequenceCountProviderCore,
    };
    use spacepackets::MAX_SEQ_COUNT;
    #[test]
    fn test_u8_counter() {
        let u8_counter = SeqCountProviderSimple::<u8>::default();
        assert_eq!(u8_counter.get(), 0);
        assert_eq!(u8_counter.get_and_increment(), 0);
        assert_eq!(u8_counter.get_and_increment(), 1);
        assert_eq!(u8_counter.get(), 2);
    }
    #[test]
    fn test_u8_counter_overflow() {
        let u8_counter = SeqCountProviderSimple::new_u8();
        for _ in 0..256 {
            u8_counter.increment();
        }
        assert_eq!(u8_counter.get(), 0);
    }
    #[test]
    fn test_ccsds_counter() {
        let ccsds_counter = CcsdsSimpleSeqCountProvider::default();
        assert_eq!(ccsds_counter.get(), 0);
        assert_eq!(ccsds_counter.get_and_increment(), 0);
        assert_eq!(ccsds_counter.get_and_increment(), 1);
        assert_eq!(ccsds_counter.get(), 2);
    }
    #[test]
    fn test_ccsds_counter_overflow() {
        let ccsds_counter = CcsdsSimpleSeqCountProvider::default();
        for _ in 0..MAX_SEQ_COUNT + 1 {
            ccsds_counter.increment();
        }
        assert_eq!(ccsds_counter.get(), 0);
    }
    #[test]
    fn test_atomic_ref_counters() {
        let sync_u8_counter = SeqCountProviderSyncU8::new();
        assert_eq!(sync_u8_counter.get(), 0);
        assert_eq!(sync_u8_counter.get_and_increment(), 0);
        assert_eq!(sync_u8_counter.get_and_increment(), 1);
        assert_eq!(sync_u8_counter.get(), 2);
    }
    #[test]
    fn test_atomic_ref_counters_overflow() {
        let sync_u8_counter = SeqCountProviderSyncU8::new();
        for _ in 0..u8::MAX as u16 + 1 {
            sync_u8_counter.increment();
        }
        assert_eq!(sync_u8_counter.get(), 0);
    }
    #[test]
    fn test_atomic_ref_counters_overflow_custom_max_val() {
        let sync_u8_counter = SeqCountProviderSyncU8::new_with_max_val(128);
        for _ in 0..129 {
            sync_u8_counter.increment();
        }
        assert_eq!(sync_u8_counter.get(), 0);
    }
 }
--- a/satrs/src/subsystem.rs
+++ b/satrs/src/subsystem.rs
--- a/satrs/src/tmtc/tm_helper.rs
+++ b/satrs/src/tmtc/tm_helper.rs
@ -17,37 +17,37 @@ impl PusTmWithCdsShortHelper {
    }
    #[cfg(feature = "std")]
-    pub fn create_pus_tm_timestamp_now<'a>(
+    pub fn create_pus_tm_timestamp_now<'data>(
-        &'a mut self,
+        &mut self,
        service: u8,
        subservice: u8,
-        source_data: &'a [u8],
+        source_data: &'data [u8],
        seq_count: u16,
-    ) -> PusTmCreator {
+    ) -> PusTmCreator<'_, 'data> {
        let time_stamp = CdsTime::now_with_u16_days().unwrap();
        time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
        self.create_pus_tm_common(service, subservice, source_data, seq_count)
    }
-    pub fn create_pus_tm_with_stamper<'a>(
+    pub fn create_pus_tm_with_stamper<'data>(
-        &'a mut self,
+        &mut self,
        service: u8,
        subservice: u8,
-        source_data: &'a [u8],
+        source_data: &'data [u8],
        stamper: &CdsTime,
        seq_count: u16,
-    ) -> PusTmCreator {
+    ) -> PusTmCreator<'_, 'data> {
        stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
        self.create_pus_tm_common(service, subservice, source_data, seq_count)
    }
-    fn create_pus_tm_common<'a>(
+    fn create_pus_tm_common<'data>(
-        &'a self,
+        &self,
        service: u8,
        subservice: u8,
-        source_data: &'a [u8],
+        source_data: &'data [u8],
        seq_count: u16,
-    ) -> PusTmCreator {
+    ) -> PusTmCreator<'_, 'data> {
        let reply_header = SpHeader::new_for_unseg_tm(self.apid, seq_count, 0);
        let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
        PusTmCreator::new(reply_header, tc_header, source_data, true)
--- a/satrs/tests/mode_tree.rs
+++ b/satrs/tests/mode_tree.rs
--- a/satrs/tests/pus_events.rs
+++ b/satrs/tests/pus_events.rs
@ -6,7 +6,6 @@ use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
 use satrs::params::U32Pair;
 use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
 use satrs::pus::event_man::{DefaultPusEventReportingMap, EventReporter, PusEventTmCreatorWithMap};
 use satrs::pus::test_util::TEST_COMPONENT_ID_0;
 use satrs::request::UniqueApidTargetId;
 use satrs::tmtc::PacketAsVec;
 use spacepackets::ecss::tm::PusTmReader;
@ -100,10 +99,7 @@ fn test_threaded_usage() {
    // Event sender and TM checker thread
    let jh1 = thread::spawn(move || {
        event_tx
-            .send(EventMessage::new(
+            .send(EventMessage::new(TEST_ID.id(), INFO_EVENT.into()))
                TEST_COMPONENT_ID_0.id(),
                INFO_EVENT.into(),
            ))
            .expect("Sending info event failed");
        loop {
            match event_packet_rx.try_recv() {
@ -130,7 +126,7 @@ fn test_threaded_usage() {
        }
        event_tx
            .send(EventMessage::new_with_params(
-                TEST_COMPONENT_ID_0.id(),
+                TEST_ID.id(),
                LOW_SEV_EVENT,
                &Params::Heapless((2_u32, 3_u32).into()),
            ))
Author	SHA1	Message	Date
Robin Mueller	5699c4212f	Mode Tree Feature Update	2025-02-05 13:57:21 +01:00
Robin Müller	1a1d330814	Merge pull request 'update some outdated dependencies' (#219 ) from update-outdated-deps into main Reviewed-on: #219	2025-01-31 18:37:49 +01:00
Robin Mueller	ef7b5d66fe	update some outdated dependencies	2025-01-31 18:37:12 +01:00
Robin Müller	b3497e0592	Merge pull request 'update embedded examples' (#218 ) from update-embedded-examples into main Reviewed-on: #218	2025-01-31 18:32:41 +01:00
Robin Mueller	73286e36c2	update embedded examples	2025-01-31 18:20:06 +01:00
Robin Müller	ed266a11f6	Merge pull request 'Avoid static muts for static pool buffer declaration' (#215 ) from avoid-static-muts-static-pools into main Reviewed-on: #215	2025-01-31 12:12:57 +01:00
Robin Mueller	af972e174f	macro fix	2025-01-31 12:04:40 +01:00
Robin Mueller	3d12083c16	use full path to helper type	2025-01-31 11:56:38 +01:00
Robin Müller	e8d2c020fa	Merge pull request 'use released nexosim version' (#217 ) from use-released-nexosim into main Reviewed-on: #217	2025-01-31 11:33:56 +01:00
Robin Mueller	69e172b633	avoid static muts for static pools	2025-01-31 11:27:09 +01:00
Robin Mueller	e1dda751bc	use released nexosim version	2025-01-31 11:24:56 +01:00
Robin Müller	b01628d8ef	Merge pull request 'fix minisim tests' (#216 ) from update-minisim into main Reviewed-on: #216	2025-01-31 11:18:03 +01:00
Robin Mueller	31844e4fe2	fix tests	2025-01-31 11:17:39 +01:00
Robin Müller	738872f421	Merge pull request 'update mini simulator' (#214 ) from update-minisim into main Reviewed-on: #214	2025-01-30 18:57:27 +01:00
Robin Mueller	309e39999f	small tweak	2025-01-30 18:56:44 +01:00
Robin Mueller	1c43c3adf9	update mini simulator	2025-01-30 18:55:47 +01:00
Robin Müller	d9e0abffa7	Merge pull request 'clippy and test fix' (#213 ) from clippy-fixes into main Reviewed-on: #213	2025-01-23 17:22:46 +01:00
Robin Mueller	abec9dd448	clippy and test fix	2025-01-23 17:19:26 +01:00
Robin Müller	c18fbb59ad	Merge pull request 're-run formatter' (#212 ) from run-afmt into main Reviewed-on: #212	2025-01-23 17:04:58 +01:00
Robin Mueller	c91ddcd658	re-run formatter	2025-01-23 17:02:16 +01:00
Robin Müller	c5fa1955d7	Merge pull request 'Scheduling Table for std runtimes' (#210 ) from scheduling-table into main Reviewed-on: #210	2024-11-20 17:22:08 +01:00
Robin Mueller	c9708810e6	changelog	2024-11-20 17:21:54 +01:00
Robin Mueller	79d0c2e222	Scheduling Table for std runtimes	2024-11-20 17:20:42 +01:00
Robin Müller	8e87875c0e	Merge pull request 'use released satrs-shared' (#209 ) from use-released-satrs-shared into main Reviewed-on: #209	2024-11-15 12:15:06 +01:00
Robin Mueller	1ac6c02c06	use released satrs-shared	2024-11-15 12:14:33 +01:00
Robin Müller	6e7907522e	Merge pull request 'changelog satrs-shared' (#208 ) from satrs-shared-changelog into main Reviewed-on: #208	2024-11-15 12:08:27 +01:00
Robin Mueller	f747a5efdc	changelog satrs-shared	2024-11-15 12:07:32 +01:00
Robin Müller	6ffd55cec2	Merge pull request 'bump satrs-shared' (#207 ) from satrs-shared-v0.2.1 into main Reviewed-on: #207	2024-11-15 11:59:00 +01:00
Robin Mueller	5e51b3de42	bump satrs-shared	2024-11-15 11:52:48 +01:00
Robin Müller	bd059a2541	Merge pull request 'Bump dependecies' (#206 ) from bump-dependencies into main Reviewed-on: #206	2024-11-15 11:49:19 +01:00
Robin Mueller	1a4d764f25	bump dependencies	2024-11-15 11:37:14 +01:00
Robin Müller	b38c617fae	Merge pull request 'clippy fixes' (#205 ) from small-clippy-fix into main Reviewed-on: #205	2024-11-04 13:55:27 +01:00
Robin Mueller	edcd5491f1	clippy fixes	2024-11-04 13:51:36 +01:00
Robin Müller	b4cb034b73	Merge pull request 'Extract CFDP' (#202 ) from extract-cfdp into main Reviewed-on: #202	2024-11-04 12:19:32 +01:00
Robin Mueller	47c86aea5c	Extracted CFDP components	2024-11-04 12:18:41 +01:00
Robin Müller	c8bba48e76	Merge pull request 'bump spacepackets' (#204 ) from satrs-shared-spacepackets-bump into main Reviewed-on: #204	2024-11-04 12:07:12 +01:00
Robin Mueller	176da4838a	bump spacepackets	2024-11-04 12:06:10 +01:00
Robin Müller	8114195bc6	Merge pull request 'satrs-shared v0.2.0' (#203 ) from bump-satrs-shared into main Reviewed-on: #203	2024-11-04 11:51:20 +01:00
Robin Mueller	1726e34fa7	satrs-shared v0.2.0	2024-11-04 11:50:17 +01:00
Robin Müller	1f2d6c9474	Merge pull request 'another small documentation fix' (#199 ) from another-small-doc-fix into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #199	2024-06-03 16:09:06 +02:00
Robin Mueller	9960930339	another small documentation fix Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-06-03 16:08:38 +02:00
Robin Müller	cb270964a1	Merge pull request 'small README fix' (#198 ) from small-readme-fix into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #198	2024-06-03 16:02:33 +02:00
Robin Mueller	a45e634214	small README fix Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-06-03 15:52:57 +02:00
Robin Müller	9e4132706c	Merge pull request 'update README and book' (#197 ) from readme-and-book-updates into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #197	2024-06-03 15:32:24 +02:00
Robin Mueller	36d889a504	update README and book Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-06-03 15:31:43 +02:00
Robin Müller	97a6510af7	Merge pull request 'Integrate Simulator into Example' (#185 ) from sim-mgm-update into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #185	2024-06-03 15:25:08 +02:00
Robin Mueller	2e5d6a5c41	update example changelog Some checks are pending Rust/sat-rs/pipeline/pr-main Build started... Details	2024-06-03 15:22:27 +02:00
Robin Mueller	29167736db	Integration of the mini simulator into the sat-rs example Some checks are pending Rust/sat-rs/pipeline/pr-main Build started... Details	2024-06-03 15:18:23 +02:00
Robin Müller	a4c433a7be	Merge pull request 'fix sat-rs build by using released asynchronix build' (#196 ) from fix-minisim-deps into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #196	2024-06-02 00:10:19 +02:00
Robin Mueller	472a8ce0f9	fix sat-rs build by using released asynchronix build Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-06-02 00:09:08 +02:00
lkoester	e753319dac	Merge pull request 'Airbus BA ins Readme' (#195 ) from lkoester-patch-1 into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #195 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2024-05-29 10:11:42 +02:00
lkoester	99dddf36f3	Airbus BA ins Readme Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details Passt das in Flight Heritage? Ist ja nie geflogen aber heritage passt schon	2024-05-29 09:50:55 +02:00
`@ -1,2 +1 @@`
	`tmtccmd == 8.0.0rc2`	`.`
	`# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd`