2024-02-26 15:46:48 +01:00
13 changed files with 472 additions and 162 deletions
--- a/satrs-example/src/pus/action.rs
+++ b/satrs-example/src/pus/action.rs
@@ -10,8 +10,9 @@ use satrs::pus::verification::{
 };
 use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusServiceHelper,
-    TmAsVecSenderWithId, TmInSharedPoolSenderWithId,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
 };
 use satrs::request::TargetAndApidId;
 use satrs::spacepackets::ecss::tc::PusTcReader;
@@ -81,8 +82,12 @@ pub fn create_action_service_static(
    tc_pool: SharedStaticMemoryPool,
    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
    action_router: GenericRequestRouter,
-) -> Pus8Wrapper<EcssTcInSharedStoreConverter, VerificationReporterWithSharedPoolMpscBoundedSender>
-{
+) -> Pus8Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
    let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
        TmSenderId::PusAction as ChannelId,
        "PUS_8_TM_SENDER",
@@ -96,8 +101,8 @@ pub fn create_action_service_static(
    );
    let pus_8_handler = PusService8ActionHandler::new(
        PusServiceHelper::new(
-            Box::new(action_srv_receiver),
-            Box::new(action_srv_tm_sender),
+            action_srv_receiver,
+            action_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
@@ -114,7 +119,12 @@ pub fn create_action_service_dynamic(
    verif_reporter: VerificationReporterWithVecMpscSender,
    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
    action_router: GenericRequestRouter,
-) -> Pus8Wrapper<EcssTcInVecConverter, VerificationReporterWithVecMpscSender> {
+) -> Pus8Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
    let action_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusAction as ChannelId,
        "PUS_8_TM_SENDER",
@@ -127,8 +137,8 @@ pub fn create_action_service_dynamic(
    );
    let pus_8_handler = PusService8ActionHandler::new(
        PusServiceHelper::new(
-            Box::new(action_srv_receiver),
-            Box::new(action_srv_tm_sender),
+            action_srv_receiver,
+            action_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
@@ -141,10 +151,14 @@ pub fn create_action_service_dynamic(
 }

 pub struct Pus8Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
    pub(crate) pus_8_handler: PusService8ActionHandler<
+        TcReceiver,
+        TmSender,
        TcInMemConverter,
        VerificationReporter,
        ExampleActionRequestConverter,
@@ -154,9 +168,11 @@ pub struct Pus8Wrapper<
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > Pus8Wrapper<TcInMemConverter, VerificationReporter>
+    > Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
    pub fn handle_next_packet(&mut self) -> bool {
        match self.pus_8_handler.handle_one_tc() {
--- a/satrs-example/src/pus/event.rs
+++ b/satrs-example/src/pus/event.rs
@@ -10,7 +10,8 @@ use satrs::pus::verification::std_mod::{
 use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper, TmAsVecSenderWithId,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
    TmInSharedPoolSenderWithId,
 };
 use satrs::tmtc::tm_helper::SharedTmPool;
@@ -24,8 +25,12 @@ pub fn create_event_service_static(
    tc_pool: SharedStaticMemoryPool,
    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
    event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInSharedStoreConverter, VerificationReporterWithSharedPoolMpscBoundedSender>
-{
+) -> Pus5Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
    let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
        TmSenderId::PusEvent as ChannelId,
        "PUS_5_TM_SENDER",
@@ -39,8 +44,8 @@ pub fn create_event_service_static(
    );
    let pus_5_handler = PusService5EventHandler::new(
        PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
+            event_srv_receiver,
+            event_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
@@ -55,7 +60,12 @@ pub fn create_event_service_dynamic(
    verif_reporter: VerificationReporterWithVecMpscSender,
    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
    event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInVecConverter, VerificationReporterWithVecMpscSender> {
+) -> Pus5Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
    let event_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusEvent as ChannelId,
        "PUS_5_TM_SENDER",
@@ -68,8 +78,8 @@ pub fn create_event_service_dynamic(
    );
    let pus_5_handler = PusService5EventHandler::new(
        PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
+            event_srv_receiver,
+            event_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
@@ -80,16 +90,21 @@ pub fn create_event_service_dynamic(
 }

 pub struct Pus5Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
-    pub pus_5_handler: PusService5EventHandler<TcInMemConverter, VerificationReporter>,
+    pub pus_5_handler:
+        PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > Pus5Wrapper<TcInMemConverter, VerificationReporter>
+    > Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
    pub fn handle_next_packet(&mut self) -> bool {
        match self.pus_5_handler.handle_one_tc() {
--- a/satrs-example/src/pus/hk.rs
+++ b/satrs-example/src/pus/hk.rs
@@ -10,8 +10,9 @@ use satrs::pus::verification::{
 };
 use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusServiceHelper,
-    TmAsVecSenderWithId, TmInSharedPoolSenderWithId,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
 };
 use satrs::request::TargetAndApidId;
 use satrs::spacepackets::ecss::tc::PusTcReader;
@@ -150,8 +151,12 @@ pub fn create_hk_service_static(
    tc_pool: SharedStaticMemoryPool,
    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
    request_router: GenericRequestRouter,
-) -> Pus3Wrapper<EcssTcInSharedStoreConverter, VerificationReporterWithSharedPoolMpscBoundedSender>
-{
+) -> Pus3Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
    let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
        TmSenderId::PusHk as ChannelId,
        "PUS_3_TM_SENDER",
@@ -162,8 +167,8 @@ pub fn create_hk_service_static(
        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
    let pus_3_handler = PusService3HkHandler::new(
        PusServiceHelper::new(
-            Box::new(hk_srv_receiver),
-            Box::new(hk_srv_tm_sender),
+            hk_srv_receiver,
+            hk_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
@@ -180,7 +185,12 @@ pub fn create_hk_service_dynamic(
    verif_reporter: VerificationReporterWithVecMpscSender,
    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
    request_router: GenericRequestRouter,
-) -> Pus3Wrapper<EcssTcInVecConverter, VerificationReporterWithVecMpscSender> {
+) -> Pus3Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
    let hk_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusHk as ChannelId,
        "PUS_3_TM_SENDER",
@@ -190,8 +200,8 @@ pub fn create_hk_service_dynamic(
        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
    let pus_3_handler = PusService3HkHandler::new(
        PusServiceHelper::new(
-            Box::new(hk_srv_receiver),
-            Box::new(hk_srv_tm_sender),
+            hk_srv_receiver,
+            hk_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
@@ -204,10 +214,14 @@ pub fn create_hk_service_dynamic(
 }

 pub struct Pus3Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
    pub(crate) pus_3_handler: PusService3HkHandler<
+        TcReceiver,
+        TmSender,
        TcInMemConverter,
        VerificationReporter,
        ExampleHkRequestConverter,
@@ -217,9 +231,11 @@ pub struct Pus3Wrapper<
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > Pus3Wrapper<TcInMemConverter, VerificationReporter>
+    > Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
    pub fn handle_next_packet(&mut self) -> bool {
        match self.pus_3_handler.handle_one_tc() {
--- a/satrs-example/src/pus/scheduler.rs
+++ b/satrs-example/src/pus/scheduler.rs
@@ -11,7 +11,8 @@ use satrs::pus::verification::std_mod::{
 use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper, TmAsVecSenderWithId,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
    TmInSharedPoolSenderWithId,
 };
 use satrs::tmtc::tm_helper::SharedTmPool;
@@ -55,20 +56,29 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
 }

 pub struct Pus11Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
-    pub pus_11_handler:
-        PusService11SchedHandler<TcInMemConverter, VerificationReporter, PusScheduler>,
+    pub pus_11_handler: PusService11SchedHandler<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        PusScheduler,
+    >,
    pub sched_tc_pool: StaticMemoryPool,
    pub releaser_buf: [u8; 4096],
    pub tc_releaser: Box<dyn TcReleaser + Send>,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > Pus11Wrapper<TcInMemConverter, VerificationReporter>
+    > Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
    pub fn release_tcs(&mut self) {
        let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
@@ -125,8 +135,12 @@ pub fn create_scheduler_service_static(
    tc_releaser: PusTcSourceProviderSharedPool,
    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
    sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInSharedStoreConverter, VerificationReporterWithSharedPoolMpscBoundedSender>
-{
+) -> Pus11Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
    let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
        TmSenderId::PusSched as ChannelId,
        "PUS_11_TM_SENDER",
@@ -142,8 +156,8 @@ pub fn create_scheduler_service_static(
        .expect("Creating PUS Scheduler failed");
    let pus_11_handler = PusService11SchedHandler::new(
        PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
-            Box::new(sched_srv_tm_sender),
+            sched_srv_receiver,
+            sched_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
@@ -164,7 +178,12 @@ pub fn create_scheduler_service_dynamic(
    tc_source_sender: mpsc::Sender<Vec<u8>>,
    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
    sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInVecConverter, VerificationReporterWithVecMpscSender> {
+) -> Pus11Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
    let sched_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusSched as ChannelId,
        "PUS_11_TM_SENDER",
@@ -179,8 +198,8 @@ pub fn create_scheduler_service_dynamic(
        .expect("Creating PUS Scheduler failed");
    let pus_11_handler = PusService11SchedHandler::new(
        PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
-            Box::new(sched_srv_tm_sender),
+            sched_srv_receiver,
+            sched_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
--- a/satrs-example/src/pus/stack.rs
+++ b/satrs-example/src/pus/stack.rs
@@ -1,4 +1,7 @@
-use satrs::pus::{verification::VerificationReportingProvider, EcssTcInMemConverter};
+use satrs::pus::{
+    verification::VerificationReportingProvider, EcssTcInMemConverter, EcssTcReceiverCore,
+    EcssTmSenderCore,
+};

 use super::{
    action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
@@ -6,27 +9,36 @@ use super::{
 };

 pub struct PusStack<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
-    event_srv: Pus5Wrapper<TcInMemConverter, VerificationReporter>,
-    hk_srv: Pus3Wrapper<TcInMemConverter, VerificationReporter>,
-    action_srv: Pus8Wrapper<TcInMemConverter, VerificationReporter>,
-    schedule_srv: Pus11Wrapper<TcInMemConverter, VerificationReporter>,
-    test_srv: Service17CustomWrapper<TcInMemConverter, VerificationReporter>,
+    event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    test_srv: Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > PusStack<TcInMemConverter, VerificationReporter>
+    > PusStack<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
    pub fn new(
-        hk_srv: Pus3Wrapper<TcInMemConverter, VerificationReporter>,
-        event_srv: Pus5Wrapper<TcInMemConverter, VerificationReporter>,
-        action_srv: Pus8Wrapper<TcInMemConverter, VerificationReporter>,
-        schedule_srv: Pus11Wrapper<TcInMemConverter, VerificationReporter>,
-        test_srv: Service17CustomWrapper<TcInMemConverter, VerificationReporter>,
+        hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        test_srv: Service17CustomWrapper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
    ) -> Self {
        Self {
            event_srv,
--- a/satrs-example/src/pus/test.rs
+++ b/satrs-example/src/pus/test.rs
@@ -7,8 +7,10 @@ use satrs::pus::verification::{
    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
 };
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver,
-    PusPacketHandlerResult, PusServiceHelper, TmAsVecSenderWithId, TmInSharedPoolSenderWithId,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
+    EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
 };
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
@@ -28,6 +30,8 @@ pub fn create_test_service_static(
    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
 ) -> Service17CustomWrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
    EcssTcInSharedStoreConverter,
    VerificationReporterWithSharedPoolMpscBoundedSender,
 > {
@@ -43,8 +47,8 @@ pub fn create_test_service_static(
        pus_test_rx,
    );
    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
-        Box::new(test_srv_tm_sender),
+        test_srv_receiver,
+        test_srv_tm_sender,
        PUS_APID,
        verif_reporter.clone(),
        EcssTcInSharedStoreConverter::new(tc_pool, 2048),
@@ -60,7 +64,12 @@ pub fn create_test_service_dynamic(
    verif_reporter: VerificationReporterWithVecMpscSender,
    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInVecConverter, VerificationReporterWithVecMpscSender> {
+) -> Service17CustomWrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
    let test_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusTest as ChannelId,
        "PUS_17_TM_SENDER",
@@ -72,8 +81,8 @@ pub fn create_test_service_dynamic(
        pus_test_rx,
    );
    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
-        Box::new(test_srv_tm_sender),
+        test_srv_receiver,
+        test_srv_tm_sender,
        PUS_APID,
        verif_reporter.clone(),
        EcssTcInVecConverter::default(),
@@ -85,17 +94,22 @@ pub fn create_test_service_dynamic(
 }

 pub struct Service17CustomWrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
-    pub pus17_handler: PusService17TestHandler<TcInMemConverter, VerificationReporter>,
+    pub pus17_handler:
+        PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
    pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > Service17CustomWrapper<TcInMemConverter, VerificationReporter>
+    > Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
    pub fn handle_next_packet(&mut self) -> bool {
        let res = self.pus17_handler.handle_one_tc();
--- a/satrs/src/action.rs
+++ b/satrs/src/action.rs
@@ -40,3 +40,24 @@ impl TargetedActionRequest {
        }
    }
 }
+
+/// A reply to an action request.
+#[non_exhaustive]
+#[derive(Clone, Eq, PartialEq, Debug)]
+pub enum ActionReply {
+    CompletionFailed(ActionId),
+    StepFailed {
+        id: ActionId,
+        step: u32,
+    },
+    Completed(ActionId),
+    #[cfg(feature = "alloc")]
+    CompletedStringId(alloc::string::String),
+    #[cfg(feature = "alloc")]
+    CompletionFailedStringId(alloc::string::String),
+    #[cfg(feature = "alloc")]
+    StepFailedStringId {
+        id: alloc::string::String,
+        step: u32,
+    },
+}
--- a/satrs/src/pus/action.rs
+++ b/satrs/src/pus/action.rs
@@ -62,9 +62,9 @@ pub mod alloc_mod {
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
    use crate::pus::{
-        verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
-        PusServiceHelper,
+        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
+        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
+        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
    };

    use super::*;
@@ -81,6 +81,8 @@ pub mod std_mod {
    /// 3. Route the action request using the provided [PusActionRequestRouter].
    /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler].
    pub struct PusService8ActionHandler<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
        RequestConverter: PusActionToRequestConverter,
@@ -88,13 +90,16 @@ pub mod std_mod {
        RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
        RoutingError = GenericRoutingError,
    > {
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper:
+            PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
        pub request_converter: RequestConverter,
        pub request_router: RequestRouter,
        pub routing_error_handler: RoutingErrorHandler,
    }

    impl<
+            TcReceiver: EcssTcReceiverCore,
+            TmSender: EcssTmSenderCore,
            TcInMemConverter: EcssTcInMemConverter,
            VerificationReporter: VerificationReportingProvider,
            RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
@@ -103,6 +108,8 @@ pub mod std_mod {
            RoutingError: Clone,
        >
        PusService8ActionHandler<
+            TcReceiver,
+            TmSender,
            TcInMemConverter,
            VerificationReporter,
            RequestConverter,
@@ -114,7 +121,12 @@ pub mod std_mod {
        PusPacketHandlingError: From<RoutingError>,
    {
        pub fn new(
-            service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+            service_helper: PusServiceHelper<
+                TcReceiver,
+                TmSender,
+                TcInMemConverter,
+                VerificationReporter,
+            >,
            request_converter: RequestConverter,
            request_router: RequestRouter,
            routing_error_handler: RoutingErrorHandler,
@@ -139,10 +151,7 @@ pub mod std_mod {
                .tc_in_mem_converter
                .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
            let mut partial_error = None;
-            let time_stamp =
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
            let (target_id, action_request) = self.request_converter.convert(
                ecss_tc_and_token.token,
                &tc,
@@ -189,7 +198,8 @@ mod tests {
        verification::{
            tests::TestVerificationReporter, FailParams, RequestId, VerificationReportingProvider,
        },
-        EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError,
+        EcssTcInVecConverter, GenericRoutingError, MpscTcReceiver, PusPacketHandlerResult,
+        PusPacketHandlingError, TmAsVecSenderWithMpsc,
    };

    use super::*;
@@ -259,6 +269,8 @@ mod tests {
    struct Pus8HandlerWithVecTester {
        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
        handler: PusService8ActionHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
            EcssTcInVecConverter,
            TestVerificationReporter,
            TestConverter<8>,
--- a/satrs/src/pus/event_srv.rs
+++ b/satrs/src/pus/event_srv.rs
@@ -7,23 +7,36 @@ use spacepackets::ecss::PusPacket;
 use std::sync::mpsc::Sender;

 use super::verification::VerificationReportingProvider;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+use super::{
+    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore,
+    PusServiceHelper,
+};

 pub struct PusService5EventHandler<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
    event_request_tx: Sender<EventRequestWithToken>,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > PusService5EventHandler<TcInMemConverter, VerificationReporter>
+    > PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
    pub fn new(
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
        event_request_tx: Sender<EventRequestWithToken>,
    ) -> Self {
        Self {
@@ -94,9 +107,7 @@ impl<
            Ok(PusPacketHandlerResult::RequestHandled)
        };
        let mut partial_error = None;
-        let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-            &mut partial_error,
-        );
+        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
        match srv.unwrap() {
            Subservice::TmInfoReport
            | Subservice::TmLowSeverityReport
@@ -141,6 +152,7 @@ mod tests {
    use crate::pus::verification::{
        RequestId, VerificationReporterWithSharedPoolMpscBoundedSender,
    };
+    use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
    use crate::{
        events::EventU32,
        pus::{
@@ -158,6 +170,8 @@ mod tests {
    struct Pus5HandlerWithStoreTester {
        common: PusServiceHandlerWithSharedStoreCommon,
        handler: PusService5EventHandler<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
            EcssTcInSharedStoreConverter,
            VerificationReporterWithSharedPoolMpscBoundedSender,
        >,
--- a/satrs/src/pus/hk.rs
+++ b/satrs/src/pus/hk.rs
@@ -64,9 +64,9 @@ pub mod alloc_mod {
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
    use crate::pus::{
-        verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
-        PusServiceHelper,
+        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
+        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
+        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
    };

    use super::*;
@@ -85,6 +85,8 @@ pub mod std_mod {
    /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler]. The generic error
    ///    type is constrained to the [GenericRoutingError] for the concrete implementation.
    pub struct PusService3HkHandler<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
        RequestConverter: PusHkToRequestConverter,
@@ -92,13 +94,16 @@ pub mod std_mod {
        RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
        RoutingError = GenericRoutingError,
    > {
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper:
+            PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
        pub request_converter: RequestConverter,
        pub request_router: RequestRouter,
        pub routing_error_handler: RoutingErrorHandler,
    }

    impl<
+            TcReceiver: EcssTcReceiverCore,
+            TmSender: EcssTmSenderCore,
            TcInMemConverter: EcssTcInMemConverter,
            VerificationReporter: VerificationReportingProvider,
            RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
@@ -107,6 +112,8 @@ pub mod std_mod {
            RoutingError: Clone,
        >
        PusService3HkHandler<
+            TcReceiver,
+            TmSender,
            TcInMemConverter,
            VerificationReporter,
            RequestConverter,
@@ -118,7 +125,12 @@ pub mod std_mod {
        PusPacketHandlingError: From<RoutingError>,
    {
        pub fn new(
-            service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+            service_helper: PusServiceHelper<
+                TcReceiver,
+                TmSender,
+                TcInMemConverter,
+                VerificationReporter,
+            >,
            request_converter: RequestConverter,
            request_router: RequestRouter,
            routing_error_handler: RoutingErrorHandler,
@@ -142,10 +154,7 @@ pub mod std_mod {
                .tc_in_mem_converter
                .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
            let mut partial_error = None;
-            let time_stamp =
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
            let (target_id, hk_request) = self.request_converter.convert(
                ecss_tc_and_token.token,
                &tc,
@@ -185,6 +194,7 @@ mod tests {
        CcsdsPacket, SequenceFlags, SpHeader,
    };

+    use crate::pus::{MpscTcReceiver, TmAsVecSenderWithMpsc};
    use crate::{
        hk::HkRequest,
        pus::{
@@ -268,6 +278,8 @@ mod tests {
    struct Pus3HandlerWithVecTester {
        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
        handler: PusService3HkHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
            EcssTcInVecConverter,
            TestVerificationReporter,
            TestConverter<3>,
--- a/satrs/src/pus/mod.rs
+++ b/satrs/src/pus/mod.rs
@@ -371,13 +371,11 @@ pub mod std_mod {
    use crate::pool::{PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr};
    use crate::pus::verification::{TcStateAccepted, VerificationToken};
    use crate::pus::{
-        EcssChannel, EcssTcAndToken, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender,
-        EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
-        TryRecvTmtcError,
+        EcssChannel, EcssTcAndToken, EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError,
+        GenericRecvError, GenericSendError, PusTmWrapper, TryRecvTmtcError,
    };
    use crate::tmtc::tm_helper::SharedTmPool;
    use crate::{ChannelId, TargetId};
-    use alloc::boxed::Box;
    use alloc::vec::Vec;
    use spacepackets::ecss::tc::PusTcReader;
    use spacepackets::ecss::tm::PusTmCreator;
@@ -847,34 +845,35 @@ pub mod std_mod {
        }
    }

-    pub struct PusServiceBase<VerificationReporter: VerificationReportingProvider> {
-        pub tc_receiver: Box<dyn EcssTcReceiver>,
-        pub tm_sender: Box<dyn EcssTmSender>,
+    pub struct PusServiceBase<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        VerificationReporter: VerificationReportingProvider,
+    > {
+        pub tc_receiver: TcReceiver,
+        pub tm_sender: TmSender,
        pub tm_apid: u16,
        pub verification_handler: VerificationReporter,
    }
-
-    impl<VerificationReporter: VerificationReportingProvider> PusServiceBase<VerificationReporter> {
-        #[cfg(feature = "std")]
-        pub fn get_current_cds_short_timestamp(
-            partial_error: &mut Option<PartialPusHandlingError>,
-        ) -> [u8; 7] {
-            let mut time_stamp: [u8; 7] = [0; 7];
-            let time_provider =
-                TimeProvider::from_now_with_u16_days().map_err(PartialPusHandlingError::Time);
-            if let Ok(time_provider) = time_provider {
-                // Can't fail, we have a buffer with the exact required size.
-                time_provider.write_to_bytes(&mut time_stamp).unwrap();
-            } else {
-                *partial_error = Some(time_provider.unwrap_err());
-            }
-            time_stamp
-        }
-        #[cfg(feature = "std")]
-        pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
-            let mut dummy = None;
-            Self::get_current_cds_short_timestamp(&mut dummy)
+    #[cfg(feature = "std")]
+    pub fn get_current_cds_short_timestamp(
+        partial_error: &mut Option<PartialPusHandlingError>,
+    ) -> [u8; 7] {
+        let mut time_stamp: [u8; 7] = [0; 7];
+        let time_provider =
+            TimeProvider::from_now_with_u16_days().map_err(PartialPusHandlingError::Time);
+        if let Ok(time_provider) = time_provider {
+            // Can't fail, we have a buffer with the exact required size.
+            time_provider.write_to_bytes(&mut time_stamp).unwrap();
+        } else {
+            *partial_error = Some(time_provider.unwrap_err());
        }
+        time_stamp
+    }
+    #[cfg(feature = "std")]
+    pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
+        let mut dummy = None;
+        get_current_cds_short_timestamp(&mut dummy)
    }

    /// This is a high-level PUS packet handler helper.
@@ -887,21 +886,25 @@ pub mod std_mod {
    /// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
    /// methods to make the generic parts of TC handling easier.
    pub struct PusServiceHelper<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
    > {
-        pub common: PusServiceBase<VerificationReporter>,
+        pub common: PusServiceBase<TcReceiver, TmSender, VerificationReporter>,
        pub tc_in_mem_converter: TcInMemConverter,
    }

    impl<
+            TcReceiver: EcssTcReceiverCore,
+            TmSender: EcssTmSenderCore,
            TcInMemConverter: EcssTcInMemConverter,
            VerificationReporter: VerificationReportingProvider,
-        > PusServiceHelper<TcInMemConverter, VerificationReporter>
+        > PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
    {
        pub fn new(
-            tc_receiver: Box<dyn EcssTcReceiver>,
-            tm_sender: Box<dyn EcssTmSender>,
+            tc_receiver: TcReceiver,
+            tm_sender: TmSender,
            tm_apid: u16,
            verification_handler: VerificationReporter,
            tc_in_mem_converter: TcInMemConverter,
@@ -948,6 +951,34 @@ pub mod std_mod {
            }
        }
    }
+
+    pub type PusServiceHelperDynWithMpsc<TcInMemConverter, VerificationReporter> = PusServiceHelper<
+        MpscTcReceiver,
+        TmAsVecSenderWithMpsc,
+        TcInMemConverter,
+        VerificationReporter,
+    >;
+    pub type PusServiceHelperDynWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
+        PusServiceHelper<
+            MpscTcReceiver,
+            TmAsVecSenderWithBoundedMpsc,
+            TcInMemConverter,
+            VerificationReporter,
+        >;
+    pub type PusServiceHelperStaticWithMpsc<TcInMemConverter, VerificationReporter> =
+        PusServiceHelper<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithMpsc,
+            TcInMemConverter,
+            VerificationReporter,
+        >;
+    pub type PusServiceHelperStaticWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
+        PusServiceHelper<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
+            TcInMemConverter,
+            VerificationReporter,
+        >;
 }

 pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), EcssTmtcError> {
@@ -969,7 +1000,6 @@ pub mod tests {
    use std::sync::mpsc::TryRecvError;
    use std::sync::{mpsc, RwLock};

-    use alloc::boxed::Box;
    use alloc::collections::VecDeque;
    use alloc::vec::Vec;
    use satrs_shared::res_code::ResultU16;
@@ -996,8 +1026,8 @@ pub mod tests {
    use super::{
        EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericRoutingError,
        MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler,
-        PusServiceHelper, TcInMemory, TmAsVecSenderWithId, TmInSharedPoolSenderWithBoundedMpsc,
-        TmInSharedPoolSenderWithId,
+        PusServiceHelper, TcInMemory, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+        TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
    };

    pub const TEST_APID: u16 = 0x101;
@@ -1047,18 +1077,19 @@ pub mod tests {
        verification_handler: VerificationReporterWithSharedPoolMpscBoundedSender,
    }

+    pub type PusServiceHelperStatic = PusServiceHelper<
+        MpscTcReceiver,
+        TmInSharedPoolSenderWithBoundedMpsc,
+        EcssTcInSharedStoreConverter,
+        VerificationReporterWithSharedPoolMpscBoundedSender,
+    >;
+
    impl PusServiceHandlerWithSharedStoreCommon {
        /// This function generates the structure in addition to the PUS service handler
        /// [PusServiceHandler] which might be required for a specific PUS service handler.
        ///
        /// The PUS service handler is instantiated with a [EcssTcInStoreConverter].
-        pub fn new() -> (
-            Self,
-            PusServiceHelper<
-                EcssTcInSharedStoreConverter,
-                VerificationReporterWithSharedPoolMpscBoundedSender,
-            >,
-        ) {
+        pub fn new() -> (Self, PusServiceHelperStatic) {
            let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
            let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
            let tm_pool = StaticMemoryPool::new(pool_cfg);
@@ -1092,8 +1123,8 @@ pub mod tests {
                    verification_handler: verification_handler.clone(),
                },
                PusServiceHelper::new(
-                    Box::new(test_srv_tc_receiver),
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tc_receiver,
+                    test_srv_tm_sender,
                    TEST_APID,
                    verification_handler,
                    in_store_converter,
@@ -1157,12 +1188,15 @@ pub mod tests {
        tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
        pub verification_handler: VerificationReporter,
    }
+    pub type PusServiceHelperDynamic = PusServiceHelper<
+        MpscTcReceiver,
+        TmAsVecSenderWithMpsc,
+        EcssTcInVecConverter,
+        VerificationReporterWithVecMpscSender,
+    >;

    impl PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender> {
-        pub fn new_with_standard_verif_reporter() -> (
-            Self,
-            PusServiceHelper<EcssTcInVecConverter, VerificationReporterWithVecMpscSender>,
-        ) {
+        pub fn new_with_standard_verif_reporter() -> (Self, PusServiceHelperDynamic) {
            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
            let (tm_tx, tm_rx) = mpsc::channel();

@@ -1182,8 +1216,8 @@ pub mod tests {
                    verification_handler: verification_handler.clone(),
                },
                PusServiceHelper::new(
-                    Box::new(test_srv_tc_receiver),
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tc_receiver,
+                    test_srv_tm_sender,
                    TEST_APID,
                    verification_handler,
                    in_store_converter,
@@ -1195,7 +1229,12 @@ pub mod tests {
    impl PusServiceHandlerWithVecCommon<TestVerificationReporter> {
        pub fn new_with_test_verif_sender() -> (
            Self,
-            PusServiceHelper<EcssTcInVecConverter, TestVerificationReporter>,
+            PusServiceHelper<
+                MpscTcReceiver,
+                TmAsVecSenderWithMpsc,
+                EcssTcInVecConverter,
+                TestVerificationReporter,
+            >,
        ) {
            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
            let (tm_tx, tm_rx) = mpsc::channel();
@@ -1213,8 +1252,8 @@ pub mod tests {
                    verification_handler: verification_handler.clone(),
                },
                PusServiceHelper::new(
-                    Box::new(test_srv_tc_receiver),
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tc_receiver,
+                    test_srv_tm_sender,
                    TEST_APID,
                    verification_handler,
                    in_store_converter,
--- a/satrs/src/pus/scheduler_srv.rs
+++ b/satrs/src/pus/scheduler_srv.rs
@@ -1,6 +1,15 @@
 use super::scheduler::PusSchedulerProvider;
-use super::verification::VerificationReportingProvider;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+use super::verification::{
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
+    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
+};
+use super::{
+    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
+    TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithMpsc,
+};
 use crate::pool::PoolProvider;
 use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
 use alloc::string::ToString;
@@ -16,22 +25,39 @@ use spacepackets::time::cds::TimeProvider;
 /// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
 /// telecommands when applicable.
 pub struct PusService11SchedHandler<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
    PusScheduler: PusSchedulerProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
    scheduler: PusScheduler,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
        Scheduler: PusSchedulerProvider,
-    > PusService11SchedHandler<TcInMemConverter, VerificationReporter, Scheduler>
+    >
+    PusService11SchedHandler<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        Scheduler,
+    >
 {
    pub fn new(
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
        scheduler: Scheduler,
    ) -> Self {
        Self {
@@ -70,9 +96,7 @@ impl<
            ));
        }
        let mut partial_error = None;
-        let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-            &mut partial_error,
-        );
+        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
        match standard_subservice.unwrap() {
            scheduling::Subservice::TcEnableScheduling => {
                let start_token = self
@@ -169,6 +193,42 @@ impl<
        Ok(PusPacketHandlerResult::RequestHandled)
    }
 }
+/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+    PusScheduler,
+>;
+/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and bounded MPSC
+/// queues.
+pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithBoundedMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscBoundedSender,
+    PusScheduler,
+>;
+/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscSender,
+    PusScheduler,
+>;
+/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and bounded
+/// mpsc queues.
+pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+    PusScheduler,
+>;

 #[cfg(test)]
 mod tests {
@@ -181,6 +241,7 @@ mod tests {
        verification::{RequestId, TcStateAccepted, VerificationToken},
        EcssTcInSharedStoreConverter,
    };
+    use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
    use alloc::collections::VecDeque;
    use delegate::delegate;
    use spacepackets::ecss::scheduling::Subservice;
@@ -198,6 +259,8 @@ mod tests {
    struct Pus11HandlerWithStoreTester {
        common: PusServiceHandlerWithSharedStoreCommon,
        handler: PusService11SchedHandler<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
            EcssTcInSharedStoreConverter,
            VerificationReporterWithSharedPoolMpscBoundedSender,
            TestScheduler,
--- a/satrs/src/pus/test.rs
+++ b/satrs/src/pus/test.rs
@@ -5,24 +5,45 @@ use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use spacepackets::ecss::PusPacket;
 use spacepackets::SpHeader;

-use super::verification::VerificationReportingProvider;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+use super::verification::{
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
+    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
+};
+use super::{
+    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
+    TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithMpsc,
+};

 /// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
 /// This handler only processes ping requests and generates a ping reply for them accordingly.
 pub struct PusService17TestHandler<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > PusService17TestHandler<TcInMemConverter, VerificationReporter>
+    > PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
-    pub fn new(service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>) -> Self {
+    pub fn new(
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
+    ) -> Self {
        Self { service_helper }
    }

@@ -41,10 +62,7 @@ impl<
        }
        if tc.subservice() == 1 {
            let mut partial_error = None;
-            let time_stamp =
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
            let result = self
                .service_helper
                .common
@@ -98,6 +116,39 @@ impl<
    }
 }

+/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+>;
+/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and bounded MPSC
+/// queues.
+pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithBoundedMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscBoundedSender,
+>;
+/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscSender,
+>;
+/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
+/// mpsc queues.
+pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+>;
+
 #[cfg(test)]
 mod tests {
    use crate::pus::tests::{
@@ -110,8 +161,8 @@ mod tests {
    use crate::pus::verification::RequestId;
    use crate::pus::verification::{TcStateAccepted, VerificationToken};
    use crate::pus::{
-        EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
-        PusPacketHandlingError,
+        EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult,
+        PusPacketHandlingError, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
    };
    use delegate::delegate;
    use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
@@ -124,6 +175,8 @@ mod tests {
    struct Pus17HandlerWithStoreTester {
        common: PusServiceHandlerWithSharedStoreCommon,
        handler: PusService17TestHandler<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
            EcssTcInSharedStoreConverter,
            VerificationReporterWithSharedPoolMpscBoundedSender,
        >,
@@ -164,8 +217,12 @@ mod tests {

    struct Pus17HandlerWithVecTester {
        common: PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender>,
-        handler:
-            PusService17TestHandler<EcssTcInVecConverter, VerificationReporterWithVecMpscSender>,
+        handler: PusService17TestHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
+            EcssTcInVecConverter,
+            VerificationReporterWithVecMpscSender,
+        >,
    }

    impl Pus17HandlerWithVecTester {