.github/workflows/ci.yml

@@ -11,7 +11,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
-      - run: cargo check --release
+      - run: cargo check
+      # Check example with static pool configuration
+      - run: cargo check -p satrs-example --no-default-features
 
   test:
     name: Run Tests
@@ -37,7 +39,7 @@ jobs:
       - uses: dtolnay/rust-toolchain@stable
         with:
           targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
-      - run: cargo check -p satrs --release --target=${{matrix.target}} --no-default-features
+      - run: cargo check -p satrs --target=${{matrix.target}} --no-default-features
 
   fmt:
     name: Check formatting

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

satrs-example/Cargo.toml

@@ -20,6 +20,7 @@ thiserror = "2"
 lazy_static = "1"
 strum = { version = "0.26", features = ["derive"] }
 derive-new = "0.7"
+cfg-if = "1"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
 
@@ -35,8 +36,8 @@ version = "0.1.1"
 path = "../satrs-mib"
 
 [features]
-dyn_tmtc = []
+heap_tmtc = []
-default = ["dyn_tmtc"]
+default = ["heap_tmtc"]
 
 [dev-dependencies]
 env_logger = "0.11"

satrs-example/README.md

@@ -14,7 +14,7 @@ You can run the application using `cargo run`.
 
 # Features
 
-The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
+The example has the `heap_tmtc` feature which is enabled by default. With this feature enabled,
 TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
 stores.
 

satrs-example/src/acs/mgm.rs

@@ -1,7 +1,7 @@
 use derive_new::new;
 use satrs::hk::{HkRequest, HkRequestVariant};
+use satrs::mode_tree::{ModeChild, ModeNode};
 use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
-use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
 use satrs_example::{DeviceMode, TimestampHelper};
 use satrs_minisim::acs::lis3mdl::{
     MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
@@ -15,7 +15,8 @@ use std::sync::{Arc, Mutex};
 use std::time::Duration;
 
 use satrs::mode::{
-    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
+    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
+    ModeRequestHandlerMpscBounded,
 };
 use satrs::pus::{EcssTmSender, PusTmVariant};
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
@@ -24,6 +25,8 @@ 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 crate::spi::SpiInterface;
+use crate::tmtc::sender::TmTcSender;
 
 use serde::{Deserialize, Serialize};
 
@@ -48,11 +51,6 @@ pub enum TransitionState {
     Done,
 }
 
-pub trait SpiInterface {
-    type Error: Debug;
-    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
-}
-
 #[derive(Default)]
 pub struct SpiDummyInterface {
     pub dummy_values: MgmLis3RawValues,
@@ -129,13 +127,6 @@ pub struct MgmData {
     pub z: f32,
 }
 
-pub struct MpscModeLeafInterface {
-    pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
-    pub reply_to_pus_tx: 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],
@@ -166,16 +157,15 @@ impl Default for ModeHelpers {
 #[allow(clippy::too_many_arguments)]
 pub struct MgmHandlerLis3Mdl<
     ComInterface: SpiInterface,
-    TmSender: EcssTmSender,
     SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
 > {
     id: UniqueApidTargetId,
     dev_str: &'static str,
-    mode_interface: MpscModeLeafInterface,
+    mode_node: ModeRequestHandlerMpscBounded,
     composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
+    hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
     switch_helper: SwitchHelper,
-    tm_sender: TmSender,
+    tm_sender: TmTcSender,
     pub com_interface: ComInterface,
     shared_mgm_set: Arc<Mutex<MgmData>>,
     #[new(value = "PusHkHelper::new(id)")]
@@ -190,9 +180,8 @@ pub struct MgmHandlerLis3Mdl<
 
 impl<
         ComInterface: SpiInterface,
-        TmSender: EcssTmSender,
         SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
-    > MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+    > MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
 {
     pub fn periodic_operation(&mut self) {
         self.stamp_helper.update_from_now();
@@ -275,25 +264,28 @@ impl<
     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() {
+            match self.mode_node.try_recv_mode_request() {
-                Ok(msg) => {
+                Ok(opt_msg) => {
-                    let result = self.handle_mode_request(msg);
+                    if let Some(msg) = opt_msg {
-                    // TODO: Trigger event?
+                        let result = self.handle_mode_request(msg);
-                    if result.is_err() {
+                        // TODO: Trigger event?
-                        log::warn!(
+                        if result.is_err() {
-                            "{}: mode request failed with error {:?}",
+                            log::warn!(
-                            self.dev_str,
+                                "{}: mode request failed with error {:?}",
-                            result.err().unwrap()
+                                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;
                     }
                 }
+                Err(e) => match e {
+                    satrs::queue::GenericReceiveError::Empty => break,
+                    satrs::queue::GenericReceiveError::TxDisconnected(e) => {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    }
+                },
             }
         }
     }
@@ -365,9 +357,8 @@ impl<
 
 impl<
         ComInterface: SpiInterface,
-        TmSender: EcssTmSender,
         SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
-    > ModeProvider for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+    > ModeProvider for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
 {
     fn mode_and_submode(&self) -> ModeAndSubmode {
         self.mode_helpers.current
@@ -376,9 +367,8 @@ impl<
 
 impl<
         ComInterface: SpiInterface,
-        TmSender: EcssTmSender,
         SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
-    > ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+    > ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
 {
     type Error = ModeError;
 
@@ -386,6 +376,7 @@ impl<
         &mut self,
         requestor: MessageMetadata,
         mode_and_submode: ModeAndSubmode,
+        _forced: bool,
     ) -> Result<(), satrs::mode::ModeError> {
         log::info!(
             "{}: transitioning to mode {:?}",
@@ -448,10 +439,9 @@ impl<
                 requestor.sender_id()
             );
         }
-        self.mode_interface
+        self.mode_node
-            .reply_to_pus_tx
+            .send_mode_reply(requestor, reply)
-            .send(GenericMessage::new(requestor, reply))
+            .map_err(ModeError::Send)?;
-            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
         Ok(())
     }
 
@@ -464,17 +454,44 @@ impl<
     }
 }
 
+impl<
+        ComInterface: SpiInterface,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeNode for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
+{
+    fn id(&self) -> satrs::ComponentId {
+        self.id.into()
+    }
+}
+
+impl<
+        ComInterface: SpiInterface,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeChild for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
+{
+    type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
+
+    fn add_mode_parent(&mut self, id: satrs::ComponentId, reply_sender: Self::Sender) {
+        self.mode_node.add_message_target(id, reply_sender);
+    }
+}
+
 #[cfg(test)]
 mod tests {
-    use std::sync::{mpsc, Arc};
+    use std::{
+        collections::HashMap,
+        sync::{mpsc, Arc},
+    };
 
     use satrs::{
         mode::{ModeReply, ModeRequest},
+        mode_tree::ModeParent,
         power::SwitchStateBinary,
         request::{GenericMessage, UniqueApidTargetId},
         tmtc::PacketAsVec,
+        ComponentId,
     };
-    use satrs_example::config::components::Apid;
+    use satrs_example::config::components::{Apid, MGM_ASSEMBLY};
     use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;
 
     use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};
@@ -502,49 +519,88 @@ mod tests {
         }
     }
 
+    #[allow(dead_code)]
     pub struct MgmTestbench {
-        pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
+        pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
         pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
         pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
         pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
         pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
         pub tm_rx: mpsc::Receiver<PacketAsVec>,
-        pub handler:
+        pub handler: MgmHandlerLis3Mdl<TestSpiInterface, TestSwitchHelper>,
-            MgmHandlerLis3Mdl<TestSpiInterface, mpsc::Sender<PacketAsVec>, TestSwitchHelper>,
+    }
+
+    #[derive(Default)]
+    pub struct MgmAssemblyMock(
+        pub HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
+    );
+
+    impl ModeNode for MgmAssemblyMock {
+        fn id(&self) -> satrs::ComponentId {
+            PUS_MODE_SERVICE.into()
+        }
+    }
+
+    impl ModeParent for MgmAssemblyMock {
+        type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
+
+        fn add_mode_child(&mut self, id: satrs::ComponentId, request_sender: Self::Sender) {
+            self.0.insert(id, request_sender);
+        }
+    }
+
+    #[derive(Default)]
+    pub struct PusMock {
+        pub request_sender_map: HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
+    }
+
+    impl ModeNode for PusMock {
+        fn id(&self) -> satrs::ComponentId {
+            PUS_MODE_SERVICE.into()
+        }
+    }
+
+    impl ModeParent for PusMock {
+        type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
+
+        fn add_mode_child(&mut self, id: satrs::ComponentId, request_sender: Self::Sender) {
+            self.request_sender_map.insert(id, request_sender);
+        }
     }
 
     impl MgmTestbench {
         pub fn new() -> Self {
-            let (request_tx, request_rx) = mpsc::channel();
+            let (request_tx, request_rx) = mpsc::sync_channel(5);
-            let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::channel();
+            let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::sync_channel(5);
             let (reply_tx_to_parent, reply_rx_to_parent) = mpsc::sync_channel(5);
-            let mode_interface = MpscModeLeafInterface {
+            let id = UniqueApidTargetId::new(Apid::Acs as u16, 1);
-                request_rx,
+            let mode_node = ModeRequestHandlerMpscBounded::new(id.into(), 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 (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);
-            let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
+            let (tm_tx, tm_rx) = mpsc::sync_channel(10);
+            let tm_sender = TmTcSender::Heap(tm_tx);
             let shared_mgm_set = Arc::default();
+            let mut handler = MgmHandlerLis3Mdl::new(
+                id,
+                "TEST_MGM",
+                mode_node,
+                composite_request_rx,
+                hk_reply_tx,
+                TestSwitchHelper::default(),
+                tm_sender,
+                TestSpiInterface::default(),
+                shared_mgm_set,
+            );
+            handler.add_mode_parent(PUS_MODE_SERVICE.into(), reply_tx_to_pus);
+            handler.add_mode_parent(MGM_ASSEMBLY.into(), reply_tx_to_parent);
             Self {
                 mode_request_tx: request_tx,
                 mode_reply_rx_to_pus: reply_rx_to_pus,
                 mode_reply_rx_to_parent: reply_rx_to_parent,
                 composite_request_tx,
+                handler,
                 tm_rx,
                 hk_reply_rx,
-                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,
-                ),
             }
         }
     }
@@ -575,7 +631,10 @@ mod tests {
             .mode_request_tx
             .send(GenericMessage::new(
                 MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
-                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
             ))
             .expect("failed to send mode request");
         testbench.handler.periodic_operation();
@@ -633,7 +692,10 @@ mod tests {
             .mode_request_tx
             .send(GenericMessage::new(
                 MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
-                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
             ))
             .expect("failed to send mode request");
         testbench.handler.periodic_operation();

satrs-example/src/config.rs

@@ -149,11 +149,13 @@ pub mod components {
     #[derive(Copy, Clone, PartialEq, Eq)]
     pub enum AcsId {
         Mgm0 = 0,
+        Assembly = 1,
     }
 
     #[derive(Copy, Clone, PartialEq, Eq)]
     pub enum EpsId {
         Pcdu = 0,
+        Subsystem = 1,
     }
 
     #[derive(Copy, Clone, PartialEq, Eq)]
@@ -176,8 +178,12 @@ pub mod components {
         UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
     pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Sched as u16, 0);
+    pub const MGM_ASSEMBLY: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Assembly as u32);
     pub const MGM_HANDLER_0: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
+    pub const EPS_SUBSYSTEM: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Subsystem as u32);
     pub const PCDU_HANDLER: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Pcdu as u32);
     pub const UDP_SERVER: UniqueApidTargetId =

satrs-example/src/eps/pcdu.rs

@@ -8,15 +8,19 @@ use derive_new::new;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use satrs::{
     hk::{HkRequest, HkRequestVariant},
-    mode::{ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler},
+    mode::{
+        ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
+        ModeRequestHandlerMpscBounded,
+    },
+    mode_tree::{ModeChild, ModeNode},
     power::SwitchRequest,
     pus::{EcssTmSender, PusTmVariant},
-    queue::{GenericSendError, GenericTargetedMessagingError},
+    queue::GenericSendError,
     request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
     spacepackets::ByteConversionError,
 };
 use satrs_example::{
-    config::components::{NO_SENDER, PUS_MODE_SERVICE},
+    config::components::{NO_SENDER, PCDU_HANDLER, PUS_MODE_SERVICE},
     DeviceMode, TimestampHelper,
 };
 use satrs_minisim::{
@@ -28,7 +32,6 @@ use satrs_minisim::{
 use serde::{Deserialize, Serialize};
 
 use crate::{
-    acs::mgm::MpscModeLeafInterface,
     hk::PusHkHelper,
     pus::hk::{HkReply, HkReplyVariant},
     requests::CompositeRequest,
@@ -203,9 +206,9 @@ pub type SharedSwitchSet = Arc<Mutex<SwitchSet>>;
 pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
     id: UniqueApidTargetId,
     dev_str: &'static str,
-    mode_interface: MpscModeLeafInterface,
+    mode_node: ModeRequestHandlerMpscBounded,
     composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
+    hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
     switch_request_rx: mpsc::Receiver<GenericMessage<SwitchRequest>>,
     tm_sender: TmSender,
     pub com_interface: ComInterface,
@@ -324,25 +327,30 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInter
     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() {
+            match self.mode_node.try_recv_mode_request() {
-                Ok(msg) => {
+                Ok(opt_msg) => {
-                    let result = self.handle_mode_request(msg);
+                    if let Some(msg) = opt_msg {
-                    // TODO: Trigger event?
+                        let result = self.handle_mode_request(msg);
-                    if result.is_err() {
+                        // TODO: Trigger event?
-                        log::warn!(
+                        if result.is_err() {
-                            "{}: mode request failed with error {:?}",
+                            log::warn!(
-                            self.dev_str,
+                                "{}: mode request failed with error {:?}",
-                            result.err().unwrap()
+                                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;
                     }
                 }
+                Err(e) => match e {
+                    satrs::queue::GenericReceiveError::Empty => {
+                        break;
+                    }
+                    satrs::queue::GenericReceiveError::TxDisconnected(_) => {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    }
+                },
             }
         }
     }
@@ -412,6 +420,7 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
         &mut self,
         requestor: MessageMetadata,
         mode_and_submode: ModeAndSubmode,
+        _forced: bool,
     ) -> Result<(), satrs::mode::ModeError> {
         log::info!(
             "{}: transitioning to mode {:?}",
@@ -466,10 +475,9 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
                 requestor.sender_id()
             );
         }
-        self.mode_interface
+        self.mode_node
-            .reply_to_pus_tx
+            .send_mode_reply(requestor, reply)
-            .send(GenericMessage::new(requestor, reply))
+            .map_err(|_| GenericSendError::RxDisconnected)?;
-            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
         Ok(())
     }
 
@@ -482,6 +490,24 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
     }
 }
 
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeNode
+    for PcduHandler<ComInterface, TmSender>
+{
+    fn id(&self) -> satrs::ComponentId {
+        PCDU_HANDLER.into()
+    }
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeChild
+    for PcduHandler<ComInterface, TmSender>
+{
+    type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
+
+    fn add_mode_parent(&mut self, id: satrs::ComponentId, reply_sender: Self::Sender) {
+        self.mode_node.add_message_target(id, reply_sender);
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use std::sync::mpsc;
@@ -489,7 +515,7 @@ mod tests {
     use satrs::{
         mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
     };
-    use satrs_example::config::components::{Apid, MGM_HANDLER_0};
+    use satrs_example::config::components::{Apid, EPS_SUBSYSTEM, MGM_HANDLER_0, PCDU_HANDLER};
     use satrs_minisim::eps::SwitchMapBinary;
 
     use super::*;
@@ -530,7 +556,7 @@ mod tests {
     }
 
     pub struct PcduTestbench {
-        pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
+        pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
         pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
         pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
         pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
@@ -542,19 +568,29 @@ mod tests {
 
     impl PcduTestbench {
         pub fn new() -> Self {
-            let (mode_request_tx, mode_request_rx) = mpsc::channel();
+            let (mode_request_tx, mode_request_rx) = mpsc::sync_channel(5);
-            let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::channel();
+            let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::sync_channel(5);
             let (mode_reply_tx_to_parent, mode_reply_rx_to_parent) = mpsc::sync_channel(5);
-            let mode_interface = MpscModeLeafInterface {
+            let mode_node =
-                request_rx: mode_request_rx,
+                ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), 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 (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);
             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()));
+            let mut handler = PcduHandler::new(
+                UniqueApidTargetId::new(Apid::Eps as u16, 0),
+                "TEST_PCDU",
+                mode_node,
+                composite_request_rx,
+                hk_reply_tx,
+                switch_reqest_rx,
+                tm_tx,
+                SerialInterfaceTest::default(),
+                shared_switch_map,
+            );
+            handler.add_mode_parent(EPS_SUBSYSTEM.into(), mode_reply_tx_to_parent);
+            handler.add_mode_parent(PUS_MODE_SERVICE.into(), mode_reply_tx_to_pus);
             Self {
                 mode_request_tx,
                 mode_reply_rx_to_pus,
@@ -563,17 +599,7 @@ mod tests {
                 hk_reply_rx,
                 tm_rx,
                 switch_request_tx,
-                handler: PcduHandler::new(
+                handler,
-                    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,
-                ),
             }
         }
 
@@ -660,7 +686,10 @@ mod tests {
             .mode_request_tx
             .send(GenericMessage::new(
                 MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
-                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+                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();
@@ -692,7 +721,10 @@ mod tests {
             .mode_request_tx
             .send(GenericMessage::new(
                 MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
-                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+                ModeRequest::SetMode {
+                    mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as u32, 0),
+                    forced: false,
+                },
             ))
             .expect("failed to send mode request");
         testbench

satrs-example/src/interface/tcp.rs

@@ -1,19 +1,20 @@
 use std::time::Duration;
 use std::{
     collections::{HashSet, VecDeque},
-    fmt::Debug,
-    marker::PhantomData,
     sync::{Arc, Mutex},
 };
 
 use log::{info, warn};
+use satrs::tmtc::StoreAndSendError;
 use satrs::{
     encoding::ccsds::{SpValidity, SpacePacketValidator},
     hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
     spacepackets::{CcsdsPacket, PacketId},
-    tmtc::{PacketSenderRaw, PacketSource},
+    tmtc::PacketSource,
 };
 
+use crate::tmtc::sender::TmTcSender;
+
 #[derive(Default)]
 pub struct ConnectionFinishedHandler {}
 
@@ -111,31 +112,23 @@ pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
     SendError,
 >;
 
-pub struct TcpTask<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>(
+pub struct TcpTask(pub TcpServer<TmTcSender, StoreAndSendError>);
-    pub TcpServer<TcSender, SendError>,
-    PhantomData<SendError>,
-);
 
-impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
+impl TcpTask {
-    TcpTask<TcSender, SendError>
-{
     pub fn new(
         cfg: ServerConfig,
         tm_source: SyncTcpTmSource,
-        tc_sender: TcSender,
+        tc_sender: TmTcSender,
         valid_ids: HashSet<PacketId>,
     ) -> Result<Self, std::io::Error> {
-        Ok(Self(
+        Ok(Self(TcpSpacepacketsServer::new(
-            TcpSpacepacketsServer::new(
+            cfg,
-                cfg,
+            tm_source,
-                tm_source,
+            tc_sender,
-                tc_sender,
+            SimplePacketValidator { valid_ids },
-                SimplePacketValidator { valid_ids },
+            ConnectionFinishedHandler::default(),
-                ConnectionFinishedHandler::default(),
+            None,
-                None,
+        )?))
-            )?,
-            PhantomData,
-        ))
     }
 
     pub fn periodic_operation(&mut self) {

satrs-example/src/interface/udp.rs

@@ -1,15 +1,16 @@
-use core::fmt::Debug;
 use std::net::{SocketAddr, UdpSocket};
 use std::sync::mpsc;
 
 use log::{info, warn};
 use satrs::pus::HandlingStatus;
-use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
+use satrs::tmtc::{PacketAsVec, PacketInPool, StoreAndSendError};
 use satrs::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
     pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
 };
 
+use crate::tmtc::sender::TmTcSender;
+
 pub trait UdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
 }
@@ -65,21 +66,12 @@ impl UdpTmHandler for DynamicUdpTmHandler {
     }
 }
 
-pub struct UdpTmtcServer<
+pub struct UdpTmtcServer<TmHandler: UdpTmHandler> {
-    TcSender: PacketSenderRaw<Error = SendError>,
+    pub udp_tc_server: UdpTcServer<TmTcSender, StoreAndSendError>,
-    TmHandler: UdpTmHandler,
-    SendError,
-> {
-    pub udp_tc_server: UdpTcServer<TcSender, SendError>,
     pub tm_handler: TmHandler,
 }
 
-impl<
+impl<TmHandler: UdpTmHandler> UdpTmtcServer<TmHandler> {
-        TcSender: PacketSenderRaw<Error = SendError>,
-        TmHandler: UdpTmHandler,
-        SendError: Debug + 'static,
-    > UdpTmtcServer<TcSender, TmHandler, SendError>
-{
     pub fn periodic_operation(&mut self) {
         loop {
             if self.poll_tc_server() == HandlingStatus::Empty {
@@ -115,7 +107,6 @@ impl<
 mod tests {
     use std::net::Ipv4Addr;
     use std::{
-        cell::RefCell,
         collections::VecDeque,
         net::IpAddr,
         sync::{Arc, Mutex},
@@ -126,30 +117,16 @@ mod tests {
             ecss::{tc::PusTcCreator, WritablePusPacket},
             SpHeader,
         },
-        tmtc::PacketSenderRaw,
         ComponentId,
     };
     use satrs_example::config::{components, OBSW_SERVER_ADDR};
 
+    use crate::tmtc::sender::{MockSender, TmTcSender};
+
     use super::*;
 
     const UDP_SERVER_ID: ComponentId = 0x05;
 
-    #[derive(Default, Debug)]
-    pub struct TestSender {
-        tc_vec: RefCell<VecDeque<PacketAsVec>>,
-    }
-
-    impl PacketSenderRaw for TestSender {
-        type Error = ();
-
-        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
-            let mut mut_queue = self.tc_vec.borrow_mut();
-            mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
-            Ok(())
-        }
-    }
-
     #[derive(Default, Debug, Clone)]
     pub struct TestTmHandler {
         addrs_to_send_to: Arc<Mutex<VecDeque<SocketAddr>>>,
@@ -164,8 +141,7 @@ mod tests {
     #[test]
     fn test_basic() {
         let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
-        let test_receiver = TestSender::default();
+        let test_receiver = TmTcSender::Mock(MockSender::default());
-        // let tc_queue = test_receiver.tc_vec.clone();
         let udp_tc_server =
             UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
         let tm_handler = TestTmHandler::default();
@@ -175,7 +151,13 @@ mod tests {
             tm_handler,
         };
         udp_dyn_server.periodic_operation();
-        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
+        let queue = udp_dyn_server
+            .udp_tc_server
+            .tc_sender
+            .get_mock_sender()
+            .unwrap()
+            .0
+            .borrow();
         assert!(queue.is_empty());
         assert!(tm_handler_calls.lock().unwrap().is_empty());
     }
@@ -183,8 +165,7 @@ mod tests {
     #[test]
     fn test_transactions() {
         let sock_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), 0);
-        let test_receiver = TestSender::default();
+        let test_receiver = TmTcSender::Mock(MockSender::default());
-        // let tc_queue = test_receiver.tc_vec.clone();
         let udp_tc_server =
             UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
         let server_addr = udp_tc_server.socket.local_addr().unwrap();
@@ -204,7 +185,13 @@ mod tests {
         client.send_to(&ping_tc, server_addr).unwrap();
         udp_dyn_server.periodic_operation();
         {
-            let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
+            let mut queue = udp_dyn_server
+                .udp_tc_server
+                .tc_sender
+                .get_mock_sender()
+                .unwrap()
+                .0
+                .borrow_mut();
             assert!(!queue.is_empty());
             let packet_with_sender = queue.pop_front().unwrap();
             assert_eq!(packet_with_sender.packet, ping_tc);
@@ -219,7 +206,13 @@ mod tests {
             assert_eq!(received_addr, client_addr);
         }
         udp_dyn_server.periodic_operation();
-        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
+        let queue = udp_dyn_server
+            .udp_tc_server
+            .tc_sender
+            .get_mock_sender()
+            .unwrap()
+            .0
+            .borrow();
         assert!(queue.is_empty());
         drop(queue);
         // Still tries to send to the same client.

satrs-example/src/main.rs

@@ -1,3 +1,72 @@
+use std::{
+    net::{IpAddr, SocketAddr},
+    sync::{mpsc, Arc, Mutex},
+    thread,
+    time::Duration,
+};
+
+use acs::mgm::{MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper};
+use eps::{
+    pcdu::{PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper},
+    PowerSwitchHelper,
+};
+use events::EventHandler;
+use interface::{
+    sim_client_udp::create_sim_client,
+    tcp::{SyncTcpTmSource, TcpTask},
+    udp::UdpTmtcServer,
+};
+use log::info;
+use logger::setup_logger;
+use pus::{
+    action::create_action_service,
+    event::create_event_service,
+    hk::create_hk_service,
+    mode::create_mode_service,
+    scheduler::{create_scheduler_service, TcReleaser},
+    stack::PusStack,
+    test::create_test_service,
+    PusTcDistributor, PusTcMpscRouter,
+};
+use requests::GenericRequestRouter;
+use satrs::{
+    hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
+    mode::{Mode, ModeAndSubmode, ModeRequest, ModeRequestHandlerMpscBounded},
+    mode_tree::connect_mode_nodes,
+    pus::{event_man::EventRequestWithToken, EcssTcInMemConverter, HandlingStatus},
+    request::{GenericMessage, MessageMetadata},
+    spacepackets::time::{cds::CdsTime, TimeWriter},
+};
+use satrs_example::{
+    config::{
+        components::{MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER},
+        pool::create_sched_tc_pool,
+        tasks::{FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS},
+        OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT,
+    },
+    DeviceMode,
+};
+use tmtc::sender::TmTcSender;
+use tmtc::{tc_source::TcSourceTask, tm_sink::TmSink};
+
+cfg_if::cfg_if! {
+    if #[cfg(feature = "heap_tmtc")] {
+        use interface::udp::DynamicUdpTmHandler;
+        use satrs::pus::EcssTcInVecConverter;
+        use tmtc::{tc_source::TcSourceTaskDynamic, tm_sink::TmSinkDynamic};
+    } else {
+        use std::sync::RwLock;
+        use interface::udp::StaticUdpTmHandler;
+        use satrs::pus::EcssTcInSharedPoolConverter;
+        use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
+        use satrs_example::config::pool::create_static_pools;
+        use tmtc::{
+            tc_source::TcSourceTaskStatic,
+            tm_sink::TmSinkStatic,
+        };
+    }
+}
+
 mod acs;
 mod eps;
 mod events;
@@ -6,106 +75,68 @@ mod interface;
 mod logger;
 mod pus;
 mod requests;
+mod spi;
 mod tmtc;
 
-use crate::eps::pcdu::{
+fn main() {
-    PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
+    setup_logger().expect("setting up logging with fern failed");
-};
+    println!("Running OBSW example");
-use crate::eps::PowerSwitchHelper;
-use crate::events::EventHandler;
-use crate::interface::udp::DynamicUdpTmHandler;
-use crate::pus::stack::PusStack;
-use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
-use crate::tmtc::tm_sink::{TmSinkDynamic, TmSinkStatic};
-use log::info;
-use pus::test::create_test_service_dynamic;
-use satrs::hal::std::tcp_server::ServerConfig;
-use satrs::hal::std::udp_server::UdpTcServer;
-use satrs::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_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::{
+    cfg_if::cfg_if! {
-    MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface, SpiSimInterface,
+        if #[cfg(not(feature = "heap_tmtc"))] {
-    SpiSimInterfaceWrapper,
+            let (tm_pool, tc_pool) = create_static_pools();
-};
+            let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
-use crate::interface::sim_client_udp::create_sim_client;
+            let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
-use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
+            let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
-use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
+            let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
-use crate::logger::setup_logger;
+        }
-use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
+    }
-use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
-use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
-use crate::pus::mode::{create_mode_service_dynamic, create_mode_service_static};
-use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
-use crate::pus::test::create_test_service_static;
-use crate::pus::{PusTcDistributor, PusTcMpscRouter};
-use crate::requests::{CompositeRequest, GenericRequestRouter};
-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, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER,
-};
-use std::net::{IpAddr, SocketAddr};
-use std::sync::{mpsc, Mutex};
-use std::sync::{Arc, RwLock};
-use std::thread;
-use std::time::Duration;
 
-#[allow(dead_code)]
-fn static_tmtc_pool_main() {
-    let (tm_pool, tc_pool) = create_static_pools();
-    let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
-    let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
-    let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
-    let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
     let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
     let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
     let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
 
-    let tm_sink_tx_sender =
+    cfg_if::cfg_if! {
-        PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
+        if #[cfg(not(feature = "heap_tmtc"))] {
+            let tm_sender = TmTcSender::Static(
+                PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone())
+            );
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let tm_sender = TmTcSender::Heap(tm_sink_tx.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) =
+    let (mgm_handler_composite_tx, mgm_handler_composite_rx) = mpsc::sync_channel(10);
-        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
+    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) = mpsc::sync_channel(30);
-    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::sync_channel(5);
-        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(30);
+    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) = mpsc::sync_channel(5);
-
-    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();
     request_map
         .composite_router_map
         .insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
-    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.
-    let tc_source = PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
+    cfg_if::cfg_if! {
+        if #[cfg(not(feature = "heap_tmtc"))] {
+            let tc_sender_with_shared_pool =
+                PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
+            let tc_in_mem_converter =
+                EcssTcInMemConverter::Static(EcssTcInSharedPoolConverter::new(shared_tc_pool, 4096));
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let tc_in_mem_converter = EcssTcInMemConverter::Heap(EcssTcInVecConverter::default());
+        }
+    }
 
     // Create event handling components
     // These sender handles are used to send event requests, for example to enable or disable
@@ -117,17 +148,24 @@ fn static_tmtc_pool_main() {
     // in the sat-rs documentation.
     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_test_tx, pus_test_rx) = mpsc::sync_channel(20);
-    let (pus_event_tx, pus_event_rx) = mpsc::channel();
+    let (pus_event_tx, pus_event_rx) = mpsc::sync_channel(10);
-    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
+    let (pus_sched_tx, pus_sched_rx) = mpsc::sync_channel(50);
-    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
+    let (pus_hk_tx, pus_hk_rx) = mpsc::sync_channel(50);
-    let (pus_action_tx, pus_action_rx) = mpsc::channel();
+    let (pus_action_tx, pus_action_rx) = mpsc::sync_channel(50);
-    let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
+    let (pus_mode_tx, pus_mode_rx) = mpsc::sync_channel(50);
 
     let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
-    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
+    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::sync_channel(50);
-    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
+    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(30);
 
+    cfg_if::cfg_if! {
+        if #[cfg(not(feature = "heap_tmtc"))] {
+            let tc_releaser = TcReleaser::Static(tc_sender_with_shared_pool.clone());
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let tc_releaser = TcReleaser::Heap(tc_source_tx.clone());
+        }
+    }
     let pus_router = PusTcMpscRouter {
         test_tc_sender: pus_test_tx,
         event_tc_sender: pus_event_tx,
@@ -136,41 +174,42 @@ fn static_tmtc_pool_main() {
         action_tc_sender: pus_action_tx,
         mode_tc_sender: pus_mode_tx,
     };
-    let pus_test_service = create_test_service_static(
+    let pus_test_service = create_test_service(
-        tm_sink_tx_sender.clone(),
+        tm_sender.clone(),
-        shared_tc_pool.clone(),
+        tc_in_mem_converter.clone(),
         event_tx.clone(),
         pus_test_rx,
     );
-    let pus_scheduler_service = create_scheduler_service_static(
+    let pus_scheduler_service = create_scheduler_service(
-        tm_sink_tx_sender.clone(),
+        tm_sender.clone(),
-        tc_source.clone(),
+        tc_in_mem_converter.clone(),
+        tc_releaser,
         pus_sched_rx,
         create_sched_tc_pool(),
     );
-    let pus_event_service = create_event_service_static(
+    let pus_event_service = create_event_service(
-        tm_sink_tx_sender.clone(),
+        tm_sender.clone(),
-        shared_tc_pool.clone(),
+        tc_in_mem_converter.clone(),
         pus_event_rx,
         event_request_tx,
     );
-    let pus_action_service = create_action_service_static(
+    let pus_action_service = create_action_service(
-        tm_sink_tx_sender.clone(),
+        tm_sender.clone(),
-        shared_tc_pool.clone(),
+        tc_in_mem_converter.clone(),
         pus_action_rx,
         request_map.clone(),
         pus_action_reply_rx,
     );
-    let pus_hk_service = create_hk_service_static(
+    let pus_hk_service = create_hk_service(
-        tm_sink_tx_sender.clone(),
+        tm_sender.clone(),
-        shared_tc_pool.clone(),
+        tc_in_mem_converter.clone(),
         pus_hk_rx,
         request_map.clone(),
         pus_hk_reply_rx,
     );
-    let pus_mode_service = create_mode_service_static(
+    let pus_mode_service = create_mode_service(
-        tm_sink_tx_sender.clone(),
+        tm_sender.clone(),
-        shared_tc_pool.clone(),
+        tc_in_mem_converter.clone(),
         pus_mode_rx,
         request_map,
         pus_mode_reply_rx,
@@ -184,21 +223,36 @@ fn static_tmtc_pool_main() {
         pus_mode_service,
     );
 
-    let mut tmtc_task = TcSourceTaskStatic::new(
+    cfg_if::cfg_if! {
-        shared_tc_pool_wrapper.clone(),
+        if #[cfg(not(feature = "heap_tmtc"))] {
-        tc_source_rx,
+            let mut tmtc_task = TcSourceTask::Static(TcSourceTaskStatic::new(
-        PusTcDistributor::new(tm_sink_tx_sender, pus_router),
+                shared_tc_pool_wrapper.clone(),
-    );
+                tc_source_rx,
+                PusTcDistributor::new(tm_sender.clone(), pus_router),
+            ));
+            let tc_sender = TmTcSender::Static(tc_sender_with_shared_pool);
+            let udp_tm_handler = StaticUdpTmHandler {
+                tm_rx: tm_server_rx,
+                tm_store: shared_tm_pool.clone(),
+            };
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let mut tmtc_task = TcSourceTask::Heap(TcSourceTaskDynamic::new(
+                tc_source_rx,
+                PusTcDistributor::new(tm_sender.clone(), pus_router),
+            ));
+            let tc_sender = TmTcSender::Heap(tc_source_tx.clone());
+            let udp_tm_handler = DynamicUdpTmHandler {
+                tm_rx: tm_server_rx,
+            };
+        }
+    }
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source.clone())
+    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_sender.clone())
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
         udp_tc_server,
-        tm_handler: StaticUdpTmHandler {
+        tm_handler: udp_tm_handler,
-            tm_rx: tm_server_rx,
-            tm_store: shared_tm_pool.clone(),
-        },
     };
 
     let tcp_server_cfg = ServerConfig::new(
@@ -212,32 +266,35 @@ fn static_tmtc_pool_main() {
     let mut tcp_server = TcpTask::new(
         tcp_server_cfg,
         sync_tm_tcp_source.clone(),
-        tc_source.clone(),
+        tc_sender,
         PACKET_ID_VALIDATOR.clone(),
     )
     .expect("tcp server creation failed");
 
-    let mut tm_sink = TmSinkStatic::new(
+    cfg_if::cfg_if! {
-        shared_tm_pool_wrapper,
+        if #[cfg(not(feature = "heap_tmtc"))] {
-        sync_tm_tcp_source,
+            let mut tm_sink = TmSink::Static(TmSinkStatic::new(
-        tm_sink_rx,
+                shared_tm_pool_wrapper,
-        tm_server_tx,
+                sync_tm_tcp_source,
-    );
+                tm_sink_rx,
-
+                tm_server_tx,
-    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
+            ));
-        mpsc::sync_channel(5);
+        } else if #[cfg(feature = "heap_tmtc")] {
+            let mut tm_sink = TmSink::Heap(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 shared_mgm_set = Arc::default();
-    let mgm_mode_leaf_interface = MpscModeLeafInterface {
+    let mgm_mode_node =
-        request_rx: mgm_handler_mode_rx,
+        ModeRequestHandlerMpscBounded::new(MGM_HANDLER_0.into(), mgm_handler_mode_rx);
-        reply_to_pus_tx: pus_mode_reply_tx.clone(),
-        reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
-    };
-
     let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
         sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
         SpiSimInterfaceWrapper::Sim(SpiSimInterface {
@@ -250,22 +307,22 @@ fn static_tmtc_pool_main() {
     let mut mgm_handler = MgmHandlerLis3Mdl::new(
         MGM_HANDLER_0,
         "MGM_0",
-        mgm_mode_leaf_interface,
+        mgm_mode_node,
         mgm_handler_composite_rx,
         pus_hk_reply_tx.clone(),
         switch_helper.clone(),
-        tm_sink_tx.clone(),
+        tm_sender,
         mgm_spi_interface,
         shared_mgm_set,
     );
+    // Connect PUS service to device handler.
+    connect_mode_nodes(
+        &mut pus_stack.mode_srv,
+        mgm_handler_mode_tx,
+        &mut mgm_handler,
+        pus_mode_reply_tx.clone(),
+    );
 
-    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(
@@ -275,11 +332,12 @@ fn static_tmtc_pool_main() {
     } else {
         SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
     };
-
+    let pcdu_mode_node =
+        ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), pcdu_handler_mode_rx);
     let mut pcdu_handler = PcduHandler::new(
         PCDU_HANDLER,
         "PCDU",
-        pcdu_mode_leaf_interface,
+        pcdu_mode_node,
         pcdu_handler_composite_rx,
         pus_hk_reply_tx,
         switch_request_rx,
@@ -287,11 +345,21 @@ fn static_tmtc_pool_main() {
         pcdu_serial_interface,
         shared_switch_set,
     );
+    connect_mode_nodes(
+        &mut pus_stack.mode_srv,
+        pcdu_handler_mode_tx.clone(),
+        &mut pcdu_handler,
+        pus_mode_reply_tx,
+    );
+
     // The PCDU is a critical component which should be in normal mode immediately.
     pcdu_handler_mode_tx
         .send(GenericMessage::new(
             MessageMetadata::new(0, NO_SENDER),
-            ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
+            ModeRequest::SetMode {
+                mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as Mode, 0),
+                forced: false,
+            },
         ))
         .expect("sending initial mode request failed");
 
@@ -357,11 +425,13 @@ fn static_tmtc_pool_main() {
         .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);
+            //
+            // TODO: The fixed timeslot handler exists.. use it.
+            pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::RegularOp);
             thread::sleep(Duration::from_millis(50));
-            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
             thread::sleep(Duration::from_millis(50));
-            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
             thread::sleep(Duration::from_millis(300));
         })
         .unwrap();
@@ -397,322 +467,6 @@ fn static_tmtc_pool_main() {
         .expect("Joining PUS handler thread failed");
 }
 
-#[allow(dead_code)]
-fn dyn_tmtc_pool_main() {
-    let (tc_source_tx, tc_source_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::sync_channel::<GenericMessage<CompositeRequest>>(5);
-    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
-        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
-    let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
-        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
-    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
-        mpsc::sync_channel::<GenericMessage<ModeRequest>>(10);
-
-    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let mut request_map = GenericRequestRouter::default();
-    request_map
-        .composite_router_map
-        .insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
-    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());
-
-    // Create event handling components
-    // These sender handles are used to send event requests, for example to enable or disable
-    // certain events.
-    let (event_tx, event_rx) = mpsc::sync_channel(100);
-    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
-    // The event task is the core handler to perform the event routing and TM handling as specified
-    // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(tm_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();
-    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
-    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
-    let (pus_action_tx, pus_action_rx) = mpsc::channel();
-    let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
-
-    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
-    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
-    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
-
-    let pus_router = PusTcMpscRouter {
-        test_tc_sender: pus_test_tx,
-        event_tc_sender: pus_event_tx,
-        sched_tc_sender: pus_sched_tx,
-        hk_tc_sender: pus_hk_tx,
-        action_tc_sender: pus_action_tx,
-        mode_tc_sender: pus_mode_tx,
-    };
-
-    let pus_test_service =
-        create_test_service_dynamic(tm_sink_tx.clone(), event_tx.clone(), pus_test_rx);
-    let pus_scheduler_service = create_scheduler_service_dynamic(
-        tm_sink_tx.clone(),
-        tc_source_tx.clone(),
-        pus_sched_rx,
-        create_sched_tc_pool(),
-    );
-
-    let pus_event_service =
-        create_event_service_dynamic(tm_sink_tx.clone(), pus_event_rx, event_request_tx);
-    let pus_action_service = create_action_service_dynamic(
-        tm_sink_tx.clone(),
-        pus_action_rx,
-        request_map.clone(),
-        pus_action_reply_rx,
-    );
-    let pus_hk_service = create_hk_service_dynamic(
-        tm_sink_tx.clone(),
-        pus_hk_rx,
-        request_map.clone(),
-        pus_hk_reply_rx,
-    );
-    let pus_mode_service = create_mode_service_dynamic(
-        tm_sink_tx.clone(),
-        pus_mode_rx,
-        request_map,
-        pus_mode_reply_rx,
-    );
-    let mut pus_stack = PusStack::new(
-        pus_test_service,
-        pus_hk_service,
-        pus_event_service,
-        pus_action_service,
-        pus_scheduler_service,
-        pus_mode_service,
-    );
-
-    let mut tmtc_task = TcSourceTaskDynamic::new(
-        tc_source_rx,
-        PusTcDistributor::new(tm_sink_tx.clone(), pus_router),
-    );
-
-    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source_tx.clone())
-        .expect("creating UDP TMTC server failed");
-    let mut udp_tmtc_server = UdpTmtcServer {
-        udp_tc_server,
-        tm_handler: DynamicUdpTmHandler {
-            tm_rx: tm_server_rx,
-        },
-    };
-
-    let tcp_server_cfg = ServerConfig::new(
-        TCP_SERVER.id(),
-        sock_addr,
-        Duration::from_millis(400),
-        4096,
-        8192,
-    );
-    let sync_tm_tcp_source = SyncTcpTmSource::new(200);
-    let mut tcp_server = TcpTask::new(
-        tcp_server_cfg,
-        sync_tm_tcp_source.clone(),
-        tc_source_tx.clone(),
-        PACKET_ID_VALIDATOR.clone(),
-    )
-    .expect("tcp server creation failed");
-
-    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::sync_channel(5);
-    let shared_mgm_set = Arc::default();
-    let mode_leaf_interface = MpscModeLeafInterface {
-        request_rx: mgm_handler_mode_rx,
-        reply_to_pus_tx: pus_mode_reply_tx.clone(),
-        reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
-    };
-
-    let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
-        sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
-        SpiSimInterfaceWrapper::Sim(SpiSimInterface {
-            sim_request_tx: sim_request_tx.clone(),
-            sim_reply_rx: mgm_sim_reply_rx,
-        })
-    } else {
-        SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
-    };
-    let mut mgm_handler = MgmHandlerLis3Mdl::new(
-        MGM_HANDLER_0,
-        "MGM_0",
-        mode_leaf_interface,
-        mgm_handler_composite_rx,
-        pus_hk_reply_tx.clone(),
-        switch_helper.clone(),
-        tm_sink_tx.clone(),
-        mgm_spi_interface,
-        shared_mgm_set,
-    );
-
-    let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
-        mpsc::sync_channel(10);
-    let pcdu_mode_leaf_interface = MpscModeLeafInterface {
-        request_rx: pcdu_handler_mode_rx,
-        reply_to_pus_tx: pus_mode_reply_tx,
-        reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
-    };
-    let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
-        sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
-        SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
-            sim_request_tx.clone(),
-            pcdu_sim_reply_rx,
-        ))
-    } else {
-        SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
-    };
-    let mut pcdu_handler = PcduHandler::new(
-        PCDU_HANDLER,
-        "PCDU",
-        pcdu_mode_leaf_interface,
-        pcdu_handler_composite_rx,
-        pus_hk_reply_tx,
-        switch_request_rx,
-        tm_sink_tx,
-        pcdu_serial_interface,
-        shared_switch_set,
-    );
-    // The PCDU is a critical component which should be in normal mode immediately.
-    pcdu_handler_mode_tx
-        .send(GenericMessage::new(
-            MessageMetadata::new(0, NO_SENDER),
-            ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
-        ))
-        .expect("sending initial mode request failed");
-
-    info!("Starting TMTC and UDP task");
-    let jh_udp_tmtc = thread::Builder::new()
-        .name("sat-rs tmtc-udp".to_string())
-        .spawn(move || {
-            info!("Running UDP server on port {SERVER_PORT}");
-            loop {
-                udp_tmtc_server.periodic_operation();
-                tmtc_task.periodic_operation();
-                thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
-            }
-        })
-        .unwrap();
-
-    info!("Starting TCP task");
-    let jh_tcp = thread::Builder::new()
-        .name("sat-rs tcp".to_string())
-        .spawn(move || {
-            info!("Running TCP server on port {SERVER_PORT}");
-            loop {
-                tcp_server.periodic_operation();
-            }
-        })
-        .unwrap();
-
-    info!("Starting TM funnel task");
-    let jh_tm_funnel = thread::Builder::new()
-        .name("sat-rs tm-sink".to_string())
-        .spawn(move || loop {
-            tm_funnel.operation();
-        })
-        .unwrap();
-
-    let mut opt_jh_sim_client = None;
-    if let Some(mut sim_client) = opt_sim_client {
-        info!("Starting UDP sim client task");
-        opt_jh_sim_client = Some(
-            thread::Builder::new()
-                .name("sat-rs sim adapter".to_string())
-                .spawn(move || loop {
-                    if sim_client.operation() == HandlingStatus::Empty {
-                        std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
-                    }
-                })
-                .unwrap(),
-        );
-    }
-
-    info!("Starting AOCS thread");
-    let jh_aocs = thread::Builder::new()
-        .name("sat-rs aocs".to_string())
-        .spawn(move || loop {
-            mgm_handler.periodic_operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
-        })
-        .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();
-
-    jh_udp_tmtc
-        .join()
-        .expect("Joining UDP TMTC server thread failed");
-    jh_tcp
-        .join()
-        .expect("Joining TCP TMTC server thread failed");
-    jh_tm_funnel
-        .join()
-        .expect("Joining TM Funnel thread failed");
-    if let Some(jh_sim_client) = opt_jh_sim_client {
-        jh_sim_client
-            .join()
-            .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");
-}
-
-fn main() {
-    setup_logger().expect("setting up logging with fern failed");
-    println!("Running OBSW example");
-    #[cfg(not(feature = "dyn_tmtc"))]
-    static_tmtc_pool_main();
-    #[cfg(feature = "dyn_tmtc")]
-    dyn_tmtc_pool_main();
-}
-
 pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
     time_provider
         .update_from_now()

satrs-example/src/pus/action.rs

@@ -1,6 +1,5 @@
 use log::warn;
 use satrs::action::{ActionRequest, ActionRequestVariant};
-use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::action::{
     ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
 };
@@ -10,21 +9,20 @@ use satrs::pus::verification::{
     VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTmSender, EcssTmtcError,
-    EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
+    GenericConversionError, MpscTcReceiver, PusPacketHandlingError, PusReplyHandler,
-    MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler, PusServiceHelper,
+    PusServiceHelper, PusTcToRequestConverter,
-    PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket, PusServiceId};
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_ACTION_SERVICE;
 use satrs_example::config::tmtc_err;
 use std::sync::mpsc;
 use std::time::Duration;
 
 use crate::requests::GenericRequestRouter;
+use crate::tmtc::sender::TmTcSender;
 
 use super::{
     create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
@@ -207,20 +205,20 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
     }
 }
 
-pub fn create_action_service_static(
+pub fn create_action_service(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmTcSender,
-    tc_pool: SharedStaticMemoryPool,
+    tc_in_mem_converter: EcssTcInMemConverter,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
     reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
-) -> ActionServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> ActionServiceWrapper {
     let action_request_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
             PUS_ACTION_SERVICE.id(),
             pus_action_rx,
             tm_sender,
             create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
-            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
+            tc_in_mem_converter,
         ),
         ActionRequestConverter::default(),
         // TODO: Implementation which does not use run-time allocation? Maybe something like
@@ -235,36 +233,9 @@ pub fn create_action_service_static(
     }
 }
 
-pub fn create_action_service_dynamic(
+pub struct ActionServiceWrapper {
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
-    action_router: GenericRequestRouter,
-    reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
-) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    let action_request_handler = PusTargetedRequestService::new(
-        PusServiceHelper::new(
-            PUS_ACTION_SERVICE.id(),
-            pus_action_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        ActionRequestConverter::default(),
-        DefaultActiveActionRequestMap::default(),
-        ActionReplyHandler::default(),
-        action_router,
-        reply_receiver,
-    );
-    ActionServiceWrapper {
-        service: action_request_handler,
-    }
-}
-
-pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
     pub(crate) service: PusTargetedRequestService<
         MpscTcReceiver,
-        TmSender,
-        TcInMemConverter,
         VerificationReporter,
         ActionRequestConverter,
         ActionReplyHandler,
@@ -275,9 +246,7 @@ pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTc
     >,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+impl TargetedPusService for ActionServiceWrapper {
-    for ActionServiceWrapper<TmSender, TcInMemConverter>
-{
     const SERVICE_ID: u8 = PusServiceId::Action as u8;
     const SERVICE_STR: &'static str = "action";
 
@@ -303,9 +272,10 @@ mod tests {
     use satrs::pus::test_util::{
         TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
     };
-    use satrs::pus::verification;
     use satrs::pus::verification::test_util::TestVerificationReporter;
+    use satrs::pus::{verification, EcssTcInVecConverter};
     use satrs::request::MessageMetadata;
+    use satrs::tmtc::PacketAsVec;
     use satrs::ComponentId;
     use satrs::{
         res_code::ResultU16,
@@ -338,7 +308,7 @@ mod tests {
     {
         pub fn new_for_action(owner_id: ComponentId, target_id: ComponentId) -> Self {
             let _ = env_logger::builder().is_test(true).try_init();
-            let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+            let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(5);
             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::sync_channel(10);
@@ -352,9 +322,9 @@ mod tests {
                     PusServiceHelper::new(
                         owner_id,
                         pus_action_rx,
-                        tm_funnel_tx.clone(),
+                        TmTcSender::Heap(tm_funnel_tx.clone()),
                         verif_reporter,
-                        EcssTcInVecConverter::default(),
+                        EcssTcInMemConverter::Heap(EcssTcInVecConverter::default()),
                     ),
                     ActionRequestConverter::default(),
                     DefaultActiveActionRequestMap::default(),

satrs-example/src/pus/event.rs

@@ -1,34 +1,32 @@
 use std::sync::mpsc;
 
 use crate::pus::create_verification_reporter;
-use satrs::pool::SharedStaticMemoryPool;
+use crate::tmtc::sender::TmTcSender;
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::event_srv::PusEventServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, MpscTcReceiver,
-    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    PartialPusHandlingError, PusServiceHelper,
-    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
 use satrs::spacepackets::ecss::PusServiceId;
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
 use super::{DirectPusService, HandlingStatus};
 
-pub fn create_event_service_static(
+pub fn create_event_service(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmTcSender,
-    tc_pool: SharedStaticMemoryPool,
+    tm_in_pool_converter: EcssTcInMemConverter,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> EventServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> EventServiceWrapper {
     let pus_5_handler = PusEventServiceHandler::new(
         PusServiceHelper::new(
             PUS_EVENT_MANAGEMENT.id(),
             pus_event_rx,
             tm_sender,
             create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
-            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
+            tm_in_pool_converter,
         ),
         event_request_tx,
     );
@@ -37,34 +35,16 @@ pub fn create_event_service_static(
     }
 }
 
-pub fn create_event_service_dynamic(
+pub struct EventServiceWrapper {
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    pub handler: PusEventServiceHandler<
-    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
+        MpscTcReceiver,
-    event_request_tx: mpsc::Sender<EventRequestWithToken>,
+        TmTcSender,
-) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+        EcssTcInMemConverter,
-    let pus_5_handler = PusEventServiceHandler::new(
+        VerificationReporter,
-        PusServiceHelper::new(
+    >,
-            PUS_EVENT_MANAGEMENT.id(),
-            pus_event_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        event_request_tx,
-    );
-    EventServiceWrapper {
-        handler: pus_5_handler,
-    }
 }
 
-pub struct EventServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+impl DirectPusService for EventServiceWrapper {
-    pub handler:
-        PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-}
-
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
-    for EventServiceWrapper<TmSender, TcInMemConverter>
-{
     const SERVICE_ID: u8 = PusServiceId::Event as u8;
 
     const SERVICE_STR: &'static str = "events";

satrs-example/src/pus/hk.rs

@@ -1,21 +1,18 @@
 use derive_new::new;
 use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
-use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::{
     FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
     VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
     ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
+    EcssTcInMemConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
-    EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
     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};
 use satrs_example::config::components::PUS_HK_SERVICE;
 use satrs_example::config::{hk_err, tmtc_err};
 use std::sync::mpsc;
@@ -23,6 +20,7 @@ use std::time::Duration;
 
 use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
+use crate::tmtc::sender::TmTcSender;
 
 use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};
 
@@ -242,20 +240,20 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
     }
 }
 
-pub fn create_hk_service_static(
+pub fn create_hk_service(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmTcSender,
-    tc_pool: SharedStaticMemoryPool,
+    tc_in_mem_converter: EcssTcInMemConverter,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
     reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
-) -> HkServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> HkServiceWrapper {
     let pus_3_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
             PUS_HK_SERVICE.id(),
             pus_hk_rx,
             tm_sender,
             create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
-            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+            tc_in_mem_converter,
         ),
         HkRequestConverter::default(),
         DefaultActiveRequestMap::default(),
@@ -268,36 +266,9 @@ pub fn create_hk_service_static(
     }
 }
 
-pub fn create_hk_service_dynamic(
+pub struct HkServiceWrapper {
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_router: GenericRequestRouter,
-    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
-) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    let pus_3_handler = PusTargetedRequestService::new(
-        PusServiceHelper::new(
-            PUS_HK_SERVICE.id(),
-            pus_hk_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        HkRequestConverter::default(),
-        DefaultActiveRequestMap::default(),
-        HkReplyHandler::default(),
-        request_router,
-        reply_receiver,
-    );
-    HkServiceWrapper {
-        service: pus_3_handler,
-    }
-}
-
-pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
     pub(crate) service: PusTargetedRequestService<
         MpscTcReceiver,
-        TmSender,
-        TcInMemConverter,
         VerificationReporter,
         HkRequestConverter,
         HkReplyHandler,
@@ -308,9 +279,7 @@ pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMe
     >,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+impl TargetedPusService for HkServiceWrapper {
-    for HkServiceWrapper<TmSender, TcInMemConverter>
-{
     const SERVICE_ID: u8 = PusServiceId::Housekeeping as u8;
     const SERVICE_STR: &'static str = "housekeeping";
 

satrs-example/src/pus/mod.rs

@@ -1,4 +1,5 @@
 use crate::requests::GenericRequestRouter;
+use crate::tmtc::sender::TmTcSender;
 use log::warn;
 use satrs::pool::PoolAddr;
 use satrs::pus::verification::{
@@ -6,10 +7,10 @@ use satrs::pus::verification::{
     VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
+    ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConversionProvider,
-    EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
+    EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError,
-    HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
+    GenericRoutingError, HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
-    PusTcToRequestConverter, TcInMemory,
+    PusServiceHelper, PusTcToRequestConverter, TcInMemory,
 };
 use satrs::queue::{GenericReceiveError, GenericSendError};
 use satrs::request::{Apid, GenericMessage, MessageMetadata};
@@ -21,7 +22,7 @@ use satrs_example::config::components::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
 use satrs_example::TimestampHelper;
 use std::fmt::Debug;
-use std::sync::mpsc::{self, Sender};
+use std::sync::mpsc;
 
 pub mod action;
 pub mod event;
@@ -40,26 +41,26 @@ pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> Verifi
 
 /// Simple router structure which forwards PUS telecommands to dedicated handlers.
 pub struct PusTcMpscRouter {
-    pub test_tc_sender: Sender<EcssTcAndToken>,
+    pub test_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
-    pub event_tc_sender: Sender<EcssTcAndToken>,
+    pub event_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
-    pub sched_tc_sender: Sender<EcssTcAndToken>,
+    pub sched_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
-    pub hk_tc_sender: Sender<EcssTcAndToken>,
+    pub hk_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
     #[allow(dead_code)]
-    pub action_tc_sender: Sender<EcssTcAndToken>,
+    pub action_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
-    pub mode_tc_sender: Sender<EcssTcAndToken>,
+    pub mode_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
 }
 
-pub struct PusTcDistributor<TmSender: EcssTmSender> {
+pub struct PusTcDistributor {
     #[allow(dead_code)]
     pub id: ComponentId,
-    pub tm_sender: TmSender,
+    pub tm_sender: TmTcSender,
     pub verif_reporter: VerificationReporter,
     pub pus_router: PusTcMpscRouter,
     stamp_helper: TimestampHelper,
 }
 
-impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
+impl PusTcDistributor {
-    pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
+    pub fn new(tm_sender: TmTcSender, pus_router: PusTcMpscRouter) -> Self {
         Self {
             id: PUS_ROUTING_SERVICE.raw(),
             tm_sender,
@@ -268,8 +269,6 @@ pub trait DirectPusService {
 ///  3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
 pub struct PusTargetedRequestService<
     TcReceiver: EcssTcReceiver,
-    TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConverter,
     VerificationReporter: VerificationReportingProvider,
     RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
     ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
@@ -279,7 +278,7 @@ pub struct PusTargetedRequestService<
     ReplyType,
 > {
     pub service_helper:
-        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        PusServiceHelper<TcReceiver, TmTcSender, EcssTcInMemConverter, VerificationReporter>,
     pub request_router: GenericRequestRouter,
     pub request_converter: RequestConverter,
     pub active_request_map: ActiveRequestMap,
@@ -290,8 +289,6 @@ pub struct PusTargetedRequestService<
 
 impl<
         TcReceiver: EcssTcReceiver,
-        TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
         RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
         ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
@@ -302,8 +299,6 @@ impl<
     >
     PusTargetedRequestService<
         TcReceiver,
-        TmSender,
-        TcInMemConverter,
         VerificationReporter,
         RequestConverter,
         ReplyHandler,
@@ -318,8 +313,8 @@ where
     pub fn new(
         service_helper: PusServiceHelper<
             TcReceiver,
-            TmSender,
+            TmTcSender,
-            TcInMemConverter,
+            EcssTcInMemConverter,
             VerificationReporter,
         >,
         request_converter: RequestConverter,
@@ -545,7 +540,7 @@ pub(crate) mod tests {
     use satrs::{
         pus::{
             verification::test_util::TestVerificationReporter, ActivePusRequestStd,
-            ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
+            ActiveRequestMapProvider, MpscTcReceiver,
         },
         request::UniqueApidTargetId,
         spacepackets::{
@@ -766,8 +761,6 @@ pub(crate) mod tests {
     > {
         pub service: PusTargetedRequestService<
             MpscTcReceiver,
-            MpscTmAsVecSender,
-            EcssTcInVecConverter,
             TestVerificationReporter,
             RequestConverter,
             ReplyHandler,

satrs-example/src/pus/mode.rs

@@ -1,15 +1,14 @@
 use derive_new::new;
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+use satrs::mode_tree::{ModeNode, ModeParent};
 use std::sync::mpsc;
 use std::time::Duration;
 
 use crate::requests::GenericRequestRouter;
-use satrs::pool::SharedStaticMemoryPool;
+use crate::tmtc::sender::TmTcSender;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, MpscTcReceiver,
-    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
+    PusPacketHandlingError, PusServiceHelper,
-    PusServiceHelper,
 };
 use satrs::request::GenericMessage;
 use satrs::{
@@ -110,6 +109,7 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                     ),
                 )?;
             }
+            ModeReply::ModeInfo(_mode_and_submode) => (),
         };
         Ok(true)
     }
@@ -190,7 +190,13 @@ 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)),
@@ -202,20 +208,20 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
     }
 }
 
-pub fn create_mode_service_static(
+pub fn create_mode_service(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmTcSender,
-    tc_pool: SharedStaticMemoryPool,
+    tc_in_mem_converter: EcssTcInMemConverter,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     mode_router: GenericRequestRouter,
     reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
-) -> ModeServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> ModeServiceWrapper {
     let mode_request_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
             PUS_MODE_SERVICE.id(),
             pus_action_rx,
             tm_sender,
             create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
-            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+            tc_in_mem_converter,
         ),
         ModeRequestConverter::default(),
         DefaultActiveRequestMap::default(),
@@ -228,36 +234,9 @@ pub fn create_mode_service_static(
     }
 }
 
-pub fn create_mode_service_dynamic(
+pub struct ModeServiceWrapper {
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
-    mode_router: GenericRequestRouter,
-    reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
-) -> ModeServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    let mode_request_handler = PusTargetedRequestService::new(
-        PusServiceHelper::new(
-            PUS_MODE_SERVICE.id(),
-            pus_action_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        ModeRequestConverter::default(),
-        DefaultActiveRequestMap::default(),
-        ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
-        mode_router,
-        reply_receiver,
-    );
-    ModeServiceWrapper {
-        service: mode_request_handler,
-    }
-}
-
-pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
     pub(crate) service: PusTargetedRequestService<
         MpscTcReceiver,
-        TmSender,
-        TcInMemConverter,
         VerificationReporter,
         ModeRequestConverter,
         ModeReplyHandler,
@@ -268,9 +247,24 @@ pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcIn
     >,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+impl ModeNode for ModeServiceWrapper {
-    for ModeServiceWrapper<TmSender, TcInMemConverter>
+    fn id(&self) -> ComponentId {
-{
+        self.service.service_helper.id()
+    }
+}
+
+impl ModeParent for ModeServiceWrapper {
+    type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
+
+    fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
+        self.service
+            .request_router
+            .mode_router_map
+            .insert(id, request_sender);
+    }
+}
+
+impl TargetedPusService for ModeServiceWrapper {
     const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
     const SERVICE_STR: &'static str = "mode";
 
@@ -346,7 +340,13 @@ 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]

satrs-example/src/pus/scheduler.rs

@@ -2,15 +2,15 @@ use std::sync::mpsc;
 use std::time::Duration;
 
 use crate::pus::create_verification_reporter;
+use crate::tmtc::sender::TmTcSender;
 use log::info;
 use satrs::pool::{PoolProvider, StaticMemoryPool};
 use satrs::pus::scheduler::{PusScheduler, TcInfo};
 use satrs::pus::scheduler_srv::PusSchedServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, MpscTcReceiver,
-    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    PartialPusHandlingError, PusServiceHelper,
-    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
 use satrs::spacepackets::ecss::PusServiceId;
 use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
@@ -19,11 +19,11 @@ use satrs_example::config::components::PUS_SCHED_SERVICE;
 
 use super::{DirectPusService, HandlingStatus};
 
-pub trait TcReleaser {
+pub trait TcReleaseProvider {
     fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
 }
 
-impl TcReleaser for PacketSenderWithSharedPool {
+impl TcReleaseProvider for PacketSenderWithSharedPool {
     fn release(
         &mut self,
         sender_id: ComponentId,
@@ -48,7 +48,7 @@ impl TcReleaser for PacketSenderWithSharedPool {
     }
 }
 
-impl TcReleaser for mpsc::Sender<PacketAsVec> {
+impl TcReleaseProvider for mpsc::SyncSender<PacketAsVec> {
     fn release(
         &mut self,
         sender_id: ComponentId,
@@ -65,23 +65,35 @@ impl TcReleaser for mpsc::Sender<PacketAsVec> {
     }
 }
 
-pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+#[allow(dead_code)]
-{
+pub enum TcReleaser {
+    Static(PacketSenderWithSharedPool),
+    Heap(mpsc::SyncSender<PacketAsVec>),
+}
+
+impl TcReleaseProvider for TcReleaser {
+    fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool {
+        match self {
+            TcReleaser::Static(sender) => sender.release(sender_id, enabled, info, tc),
+            TcReleaser::Heap(sender) => sender.release(sender_id, enabled, info, tc),
+        }
+    }
+}
+
+pub struct SchedulingServiceWrapper {
     pub pus_11_handler: PusSchedServiceHandler<
         MpscTcReceiver,
-        TmSender,
+        TmTcSender,
-        TcInMemConverter,
+        EcssTcInMemConverter,
         VerificationReporter,
         PusScheduler,
     >,
     pub sched_tc_pool: StaticMemoryPool,
     pub releaser_buf: [u8; 4096],
-    pub tc_releaser: Box<dyn TcReleaser + Send>,
+    pub tc_releaser: TcReleaser,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+impl DirectPusService for SchedulingServiceWrapper {
-    for SchedulingServiceWrapper<TmSender, TcInMemConverter>
-{
     const SERVICE_ID: u8 = PusServiceId::Verification as u8;
 
     const SERVICE_STR: &'static str = "verification";
@@ -134,9 +146,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusSe
     }
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+impl SchedulingServiceWrapper {
-    SchedulingServiceWrapper<TmSender, TcInMemConverter>
-{
     pub fn release_tcs(&mut self) {
         let id = self.pus_11_handler.service_helper.id();
         let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
@@ -162,12 +172,13 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
     }
 }
 
-pub fn create_scheduler_service_static(
+pub fn create_scheduler_service(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmTcSender,
-    tc_releaser: PacketSenderWithSharedPool,
+    tc_in_mem_converter: EcssTcInMemConverter,
+    tc_releaser: TcReleaser,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> SchedulingServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> SchedulingServiceWrapper {
     let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusSchedServiceHandler::new(
@@ -176,7 +187,7 @@ pub fn create_scheduler_service_static(
             pus_sched_rx,
             tm_sender,
             create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
-            EcssTcInSharedStoreConverter::new(tc_releaser.shared_packet_store().0.clone(), 2048),
+            tc_in_mem_converter,
         ),
         scheduler,
     );
@@ -184,34 +195,6 @@ pub fn create_scheduler_service_static(
         pus_11_handler,
         sched_tc_pool,
         releaser_buf: [0; 4096],
-        tc_releaser: Box::new(tc_releaser),
+        tc_releaser,
-    }
-}
-
-pub fn create_scheduler_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    tc_source_sender: mpsc::Sender<PacketAsVec>,
-    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
-    sched_tc_pool: StaticMemoryPool,
-) -> SchedulingServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    //let sched_srv_receiver =
-    //MpscTcReceiver::new(PUS_SCHED_SERVICE.raw(), "PUS_11_TC_RECV", pus_sched_rx);
-    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
-        .expect("Creating PUS Scheduler failed");
-    let pus_11_handler = PusSchedServiceHandler::new(
-        PusServiceHelper::new(
-            PUS_SCHED_SERVICE.id(),
-            pus_sched_rx,
-            tm_funnel_tx,
-            create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
-            EcssTcInVecConverter::default(),
-        ),
-        scheduler,
-    );
-    SchedulingServiceWrapper {
-        pus_11_handler,
-        sched_tc_pool,
-        releaser_buf: [0; 4096],
-        tc_releaser: Box::new(tc_source_sender),
     }
 }

satrs-example/src/pus/stack.rs

@@ -1,9 +1,6 @@
 use crate::pus::mode::ModeServiceWrapper;
 use derive_new::new;
-use satrs::{
+use satrs::spacepackets::time::{cds, TimeWriter};
-    pus::{EcssTcInMemConverter, EcssTmSender},
-    spacepackets::time::{cds, TimeWriter},
-};
 
 use super::{
     action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
@@ -11,21 +8,17 @@ use super::{
     HandlingStatus, TargetedPusService,
 };
 
-// TODO: For better extensibility, we could create 2 vectors: One for direct PUS services and one
-// for targeted services..
 #[derive(new)]
-pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+pub struct PusStack {
-    test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
+    pub test_srv: TestCustomServiceWrapper,
-    hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
+    pub hk_srv_wrapper: HkServiceWrapper,
-    event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
+    pub event_srv: EventServiceWrapper,
-    action_srv_wrapper: ActionServiceWrapper<TmSender, TcInMemConverter>,
+    pub action_srv_wrapper: ActionServiceWrapper,
-    schedule_srv: SchedulingServiceWrapper<TmSender, TcInMemConverter>,
+    pub schedule_srv: SchedulingServiceWrapper,
-    mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
+    pub mode_srv: ModeServiceWrapper,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+impl PusStack {
-    PusStack<TmSender, TcInMemConverter>
-{
     pub fn periodic_operation(&mut self) {
         // Release all telecommands which reached their release time before calling the service
         // handlers.

satrs-example/src/pus/test.rs

@@ -1,35 +1,34 @@
 use crate::pus::create_verification_reporter;
+use crate::tmtc::sender::TmTcSender;
 use log::info;
 use satrs::event_man::{EventMessage, EventMessageU32};
-use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::test::PusService17TestHandler;
 use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
+use satrs::pus::PartialPusHandlingError;
 use satrs::pus::{
-    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConversionProvider,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusServiceHelper,
+    EcssTcInMemConverter, MpscTcReceiver, PusServiceHelper,
 };
-use satrs::pus::{EcssTcInSharedStoreConverter, PartialPusHandlingError};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
-use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_TEST_SERVICE;
 use satrs_example::config::{tmtc_err, TEST_EVENT};
 use std::sync::mpsc;
 
 use super::{DirectPusService, HandlingStatus};
 
-pub fn create_test_service_static(
+pub fn create_test_service(
-    tm_sender: PacketSenderWithSharedPool,
+    tm_sender: TmTcSender,
-    tc_pool: SharedStaticMemoryPool,
+    tc_in_mem_converter: EcssTcInMemConverter,
     event_sender: mpsc::SyncSender<EventMessageU32>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+) -> TestCustomServiceWrapper {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
         PUS_TEST_SERVICE.id(),
         pus_test_rx,
         tm_sender,
         create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
-        EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+        tc_in_mem_converter,
     ));
     TestCustomServiceWrapper {
         handler: pus17_handler,
@@ -37,34 +36,17 @@ pub fn create_test_service_static(
     }
 }
 
-pub fn create_test_service_dynamic(
+pub struct TestCustomServiceWrapper {
-    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    pub handler: PusService17TestHandler<
-    event_sender: mpsc::SyncSender<EventMessageU32>,
+        MpscTcReceiver,
-    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
+        TmTcSender,
-) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+        EcssTcInMemConverter,
-    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
+        VerificationReporter,
-        PUS_TEST_SERVICE.id(),
+    >,
-        pus_test_rx,
-        tm_funnel_tx,
-        create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
-        EcssTcInVecConverter::default(),
-    ));
-    TestCustomServiceWrapper {
-        handler: pus17_handler,
-        event_tx: event_sender,
-    }
-}
-
-pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-{
-    pub handler:
-        PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
     pub event_tx: mpsc::SyncSender<EventMessageU32>,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+impl DirectPusService for TestCustomServiceWrapper {
-    for TestCustomServiceWrapper<TmSender, TcInMemConverter>
-{
     const SERVICE_ID: u8 = PusServiceId::Test as u8;
 
     const SERVICE_STR: &'static str = "test";

satrs-example/src/spi.rs

@@ -0,0 +1,6 @@
+use core::fmt::Debug;
+
+pub trait SpiInterface {
+    type Error: Debug;
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
+}

satrs-example/src/tmtc/mod.rs

@@ -1,2 +1,3 @@
+pub mod sender;
 pub mod tc_source;
 pub mod tm_sink;

satrs-example/src/tmtc/sender.rs

@@ -0,0 +1,75 @@
+use std::{cell::RefCell, collections::VecDeque, sync::mpsc};
+
+use satrs::{
+    pus::EcssTmSender,
+    queue::GenericSendError,
+    spacepackets::ecss::WritablePusPacket,
+    tmtc::{PacketAsVec, PacketSenderRaw, PacketSenderWithSharedPool, StoreAndSendError},
+    ComponentId,
+};
+
+#[derive(Default, Debug, Clone)]
+pub struct MockSender(pub RefCell<VecDeque<PacketAsVec>>);
+
+#[allow(dead_code)]
+#[derive(Debug, Clone)]
+pub enum TmTcSender {
+    Static(PacketSenderWithSharedPool),
+    Heap(mpsc::SyncSender<PacketAsVec>),
+    Mock(MockSender),
+}
+
+impl TmTcSender {
+    #[allow(dead_code)]
+    pub fn get_mock_sender(&mut self) -> Option<&mut MockSender> {
+        match self {
+            TmTcSender::Mock(sender) => Some(sender),
+            _ => None,
+        }
+    }
+}
+
+impl EcssTmSender for TmTcSender {
+    fn send_tm(
+        &self,
+        sender_id: satrs::ComponentId,
+        tm: satrs::pus::PusTmVariant,
+    ) -> Result<(), satrs::pus::EcssTmtcError> {
+        match self {
+            TmTcSender::Static(sync_sender) => sync_sender.send_tm(sender_id, tm),
+            TmTcSender::Heap(sync_sender) => match tm {
+                satrs::pus::PusTmVariant::InStore(_) => panic!("can not send TM in store"),
+                satrs::pus::PusTmVariant::Direct(pus_tm_creator) => sync_sender
+                    .send(PacketAsVec::new(sender_id, pus_tm_creator.to_vec()?))
+                    .map_err(|_| GenericSendError::RxDisconnected.into()),
+            },
+            TmTcSender::Mock(_) => Ok(()),
+        }
+    }
+}
+
+impl PacketSenderRaw for TmTcSender {
+    type Error = StoreAndSendError;
+
+    fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
+        match self {
+            TmTcSender::Static(packet_sender_with_shared_pool) => {
+                packet_sender_with_shared_pool.send_packet(sender_id, packet)
+            }
+            TmTcSender::Heap(sync_sender) => sync_sender
+                .send_packet(sender_id, packet)
+                .map_err(StoreAndSendError::Send),
+            TmTcSender::Mock(sender) => sender.send_packet(sender_id, packet),
+        }
+    }
+}
+
+impl PacketSenderRaw for MockSender {
+    type Error = StoreAndSendError;
+
+    fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        let mut mut_queue = self.0.borrow_mut();
+        mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
+        Ok(())
+    }
+}

satrs-example/src/tmtc/tc_source.rs

@@ -1,12 +1,10 @@
 use satrs::{
     pool::PoolProvider,
     pus::HandlingStatus,
-    tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool},
+    tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
 };
 use std::sync::mpsc::{self, TryRecvError};
 
-use satrs::pus::MpscTmAsVecSender;
-
 use crate::pus::PusTcDistributor;
 
 // TC source components where static pools are the backing memory of the received telecommands.
@@ -14,14 +12,15 @@ pub struct TcSourceTaskStatic {
     shared_tc_pool: SharedPacketPool,
     tc_receiver: mpsc::Receiver<PacketInPool>,
     tc_buf: [u8; 4096],
-    pus_distributor: PusTcDistributor<PacketSenderWithSharedPool>,
+    pus_distributor: PusTcDistributor,
 }
 
+#[allow(dead_code)]
 impl TcSourceTaskStatic {
     pub fn new(
         shared_tc_pool: SharedPacketPool,
         tc_receiver: mpsc::Receiver<PacketInPool>,
-        pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
+        pus_receiver: PusTcDistributor,
     ) -> Self {
         Self {
             shared_tc_pool,
@@ -67,14 +66,12 @@ impl TcSourceTaskStatic {
 // TC source components where the heap is the backing memory of the received telecommands.
 pub struct TcSourceTaskDynamic {
     pub tc_receiver: mpsc::Receiver<PacketAsVec>,
-    pus_distributor: PusTcDistributor<MpscTmAsVecSender>,
+    pus_distributor: PusTcDistributor,
 }
 
+#[allow(dead_code)]
 impl TcSourceTaskDynamic {
-    pub fn new(
+    pub fn new(tc_receiver: mpsc::Receiver<PacketAsVec>, pus_receiver: PusTcDistributor) -> Self {
-        tc_receiver: mpsc::Receiver<PacketAsVec>,
-        pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
-    ) -> Self {
         Self {
             tc_receiver,
             pus_distributor: pus_receiver,
@@ -105,3 +102,18 @@ impl TcSourceTaskDynamic {
         }
     }
 }
+
+#[allow(dead_code)]
+pub enum TcSourceTask {
+    Static(TcSourceTaskStatic),
+    Heap(TcSourceTaskDynamic),
+}
+
+impl TcSourceTask {
+    pub fn periodic_operation(&mut self) {
+        match self {
+            TcSourceTask::Static(task) => task.periodic_operation(),
+            TcSourceTask::Heap(task) => task.periodic_operation(),
+        }
+    }
+}

satrs-example/src/tmtc/tm_sink.rs

@@ -89,6 +89,7 @@ pub struct TmSinkStatic {
     tm_server_tx: mpsc::SyncSender<PacketInPool>,
 }
 
+#[allow(dead_code)]
 impl TmSinkStatic {
     pub fn new(
         shared_tm_store: SharedPacketPool,
@@ -132,14 +133,15 @@ impl TmSinkStatic {
 pub struct TmSinkDynamic {
     common: TmFunnelCommon,
     tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
-    tm_server_tx: mpsc::Sender<PacketAsVec>,
+    tm_server_tx: mpsc::SyncSender<PacketAsVec>,
 }
 
+#[allow(dead_code)]
 impl TmSinkDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
         tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
-        tm_server_tx: mpsc::Sender<PacketAsVec>,
+        tm_server_tx: mpsc::SyncSender<PacketAsVec>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -162,3 +164,18 @@ impl TmSinkDynamic {
         }
     }
 }
+
+#[allow(dead_code)]
+pub enum TmSink {
+    Static(TmSinkStatic),
+    Heap(TmSinkDynamic),
+}
+
+impl TmSink {
+    pub fn operation(&mut self) {
+        match self {
+            TmSink::Static(static_sink) => static_sink.operation(),
+            TmSink::Heap(dynamic_sink) => dynamic_sink.operation(),
+        }
+    }
+}

satrs/CHANGELOG.md

@@ -20,6 +20,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - `StaticHeaplessMemoryPool` which can be grown with user-provided static buffers.
 - Scheduling table for systems with a standard runtime
+- Mode Tree Feature which allows building a network of mode components which can send mode
+  messages to each other.
+- Added first helper features like the `SubsystemExecutionHelper` and the
+  `SubsystemCommandingHelper` which allows to build subsystem components. Subsystem components
+  are able to execute mode sequences and perform target keeping based on a declarative table
+  format.
+- Added `DevManagerCommandingHelper` which performs some of the boilerplate logik required
+  by Assembly and Device Management components. This includes forwarding mode requests and
+  handling mode replies.
+- First basic health module with `HealthState`s and the `HealthTableProvider` trait. These
+  components are important for any FDIR components which get added in the future.
 
 # [v0.2.1] 2024-05-19
 

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/"

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<(), GenericSendError>;
+
+    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<(), GenericSendError>;
+}
+
+#[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<(), GenericSendError> {
+        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<(), GenericSendError> {
+        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<(), GenericSendError> {
+        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<(), GenericSendError> {
+        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);
+    }
+}

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);
+    }
+}

satrs/src/lib.rs

@@ -22,14 +22,21 @@ extern crate downcast_rs;
 #[cfg(any(feature = "std", test))]
 extern crate std;
 
+pub mod action;
+#[cfg(feature = "alloc")]
+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;
@@ -38,14 +45,11 @@ pub mod request;
 pub mod res_code;
 #[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;

satrs/src/mode.rs

@@ -11,8 +11,10 @@ pub use alloc_mod::*;
 pub use std_mod::*;
 
 use crate::{
-    queue::GenericTargetedMessagingError,
+    queue::{GenericReceiveError, GenericSendError},
-    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].
@@ -147,34 +159,33 @@ pub trait ModeRequestSender {
         request_id: RequestId,
         target_id: ComponentId,
         request: ModeRequest,
-    ) -> Result<(), GenericTargetedMessagingError>;
+    ) -> Result<(), GenericSendError>;
 }
 
 pub trait ModeRequestReceiver {
     fn try_recv_mode_request(
         &self,
-    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError>;
+    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError>;
 }
 
-impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
+impl<R: MessageReceiverProvider<ModeRequest>> ModeRequestReceiver
     for MessageReceiverWithId<ModeRequest, R>
 {
     fn try_recv_mode_request(
         &self,
-    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
         self.try_recv_message()
     }
 }
 
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, thiserror::Error)]
 pub enum ModeError {
-    Messaging(GenericTargetedMessagingError),
+    #[error("Messaging send error: {0}")]
-}
+    Send(#[from] GenericSendError),
-
+    #[error("Messaging receive error: {0}")]
-impl From<GenericTargetedMessagingError> for ModeError {
+    Receive(#[from] GenericReceiveError),
-    fn from(value: GenericTargetedMessagingError) -> Self {
+    #[error("busy with other mode request")]
-        Self::Messaging(value)
+    Busy,
-    }
 }
 
 pub trait ModeProvider {
@@ -196,6 +207,7 @@ 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 +234,10 @@ 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()),
@@ -243,15 +256,16 @@ pub trait ModeRequestHandler: ModeProvider {
 }
 
 pub trait ModeReplyReceiver {
-    fn try_recv_mode_reply(
+    fn try_recv_mode_reply(&self)
-        &self,
+        -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError>;
-    ) -> 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> {
+    ) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
         self.try_recv_message()
     }
 }
@@ -264,24 +278,28 @@ pub trait ModeReplySender {
         &self,
         requestor_info: MessageMetadata,
         reply: ModeReply,
-    ) -> Result<(), GenericTargetedMessagingError>;
+    ) -> Result<(), GenericSendError>;
 }
 
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
-    use crate::request::{
+    use crate::{
-        MessageSender, MessageSenderAndReceiver, MessageSenderMap, RequestAndReplySenderAndReceiver,
+        queue::{GenericReceiveError, GenericSendError},
+        request::{
+            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,
             target_id: ComponentId,
             request: ModeReply,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
             self.send_message(requestor_info, target_id, request)
         }
 
@@ -290,8 +308,13 @@ 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()
@@ -301,8 +324,8 @@ pub mod alloc_mod {
             &self,
             requestor_info: MessageMetadata,
             request: ModeReply,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
-            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,
@@ -310,37 +333,67 @@ 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,
-        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
             self.message_receiver.try_recv_message()
         }
     }
 
     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()
@@ -349,42 +402,56 @@ pub mod alloc_mod {
         fn send_mode_reply(
             &self,
             requestor_info: MessageMetadata,
-            request: ModeReply,
+            reply: ModeReply,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
-            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,
-        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
             self.reply_receiver.try_recv_message()
         }
     }
 
     /// 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,
-        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
             self.try_recv_message()
         }
 
@@ -392,7 +459,7 @@ pub mod alloc_mod {
             &self,
             requestor_info: MessageMetadata,
             reply: ModeReply,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
             self.send_message(
                 requestor_info.request_id(),
                 requestor_info.sender_id(),
@@ -403,12 +470,18 @@ 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> {
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
             self.try_recv_message()
         }
 
@@ -417,23 +490,38 @@ pub mod alloc_mod {
             request_id: RequestId,
             target_id: ComponentId,
             reply: ModeRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
             self.send_message(request_id, target_id, reply)
         }
     }
 
     /// 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,
             target_id: ComponentId,
             request: ModeRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
             self.send_message(requestor_info, target_id, request)
         }
 
@@ -442,35 +530,28 @@ 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,
-        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
             self.message_receiver.try_recv_message()
         }
     }
 
-    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()
@@ -481,8 +562,8 @@ pub mod alloc_mod {
             request_id: RequestId,
             target_id: ComponentId,
             request: ModeRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
-            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 +572,50 @@ 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()
@@ -522,8 +626,8 @@ pub mod alloc_mod {
             request_id: RequestId,
             target_id: ComponentId,
             request: ModeRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
-            self.request_sender_map.send_mode_request(
+            self.request_sender_store.send_message(
                 MessageMetadata::new(request_id, self.local_channel_id()),
                 target_id,
                 request,
@@ -532,17 +636,28 @@ 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,
-        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
             self.request_receiver.try_recv_message()
         }
     }
@@ -552,39 +667,97 @@ 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<(), GenericSendError> {
+            self.requests.borrow_mut().push_back(ModeReqWrapper {
+                request_id,
+                target_id,
+                request,
+            });
+            Ok(())
+        }
+    }
+}

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);
+    }
+}

satrs/src/pool.rs

@@ -775,7 +775,7 @@ mod alloc_mod {
     ///     if the next fitting subpool is full. This is useful to ensure the pool remains useful
     ///     for all data sizes as long as possible. However, an undesirable side-effect might be
     ///     the chocking of larger subpools by underdimensioned smaller subpools.
-    #[derive(Clone)]
+    #[derive(Debug, Clone)]
     pub struct StaticPoolConfig {
         cfg: Vec<SubpoolConfig>,
         spill_to_higher_subpools: bool,
@@ -834,6 +834,7 @@ mod alloc_mod {
     /// [address][PoolAddr] type. Adding any data to the pool will yield a store address.
     /// Modification and read operations are done using a reference to a store address. Deletion
     /// will consume the store address.
+    #[derive(Debug)]
     pub struct StaticMemoryPool {
         pool_cfg: StaticPoolConfig,
         pool: Vec<Vec<u8>>,

satrs/src/pus/action.rs

@@ -66,9 +66,10 @@ impl GenericActionReplyPus {
 pub mod alloc_mod {
     use crate::{
         action::ActionRequest,
-        queue::GenericTargetedMessagingError,
+        queue::{GenericReceiveError, GenericSendError},
         request::{
-            GenericMessage, MessageReceiver, MessageSender, MessageSenderAndReceiver, RequestId,
+            GenericMessage, MessageReceiverProvider, MessageSenderAndReceiver,
+            MessageSenderProvider, MessageSenderStoreProvider, RequestId,
         },
         ComponentId,
     };
@@ -76,15 +77,18 @@ 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,
-        ) -> Result<Option<GenericMessage<ActionRequest>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ActionRequest>>, GenericReceiveError> {
             self.try_recv_message()
         }
 
@@ -93,22 +97,31 @@ pub mod alloc_mod {
             request_id: RequestId,
             target_id: ComponentId,
             reply: ActionReplyPus,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
             self.send_message(request_id, target_id, reply)
         }
     }
 
     /// 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,
-        ) -> Result<Option<GenericMessage<ActionReplyPus>>, GenericTargetedMessagingError> {
+        ) -> Result<Option<GenericMessage<ActionReplyPus>>, GenericReceiveError> {
             self.try_recv_message()
         }
 
@@ -117,7 +130,7 @@ pub mod alloc_mod {
             request_id: RequestId,
             target_id: ComponentId,
             request: ActionRequest,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
             self.send_message(request_id, target_id, request)
         }
     }
@@ -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>>,
+        >,
     >;
 }
 

satrs/src/pus/event_srv.rs

@@ -9,14 +9,14 @@ use std::sync::mpsc::Sender;
 
 use super::verification::VerificationReportingProvider;
 use super::{
-    EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, GenericConversionError,
+    EcssTcInMemConversionProvider, EcssTcReceiver, EcssTmSender, GenericConversionError,
     GenericRoutingError, HandlingStatus, PusServiceHelper,
 };
 
 pub struct PusEventServiceHandler<
     TcReceiver: EcssTcReceiver,
     TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConverter,
+    TcInMemConverter: EcssTcInMemConversionProvider,
     VerificationReporter: VerificationReportingProvider,
 > {
     pub service_helper:
@@ -27,7 +27,7 @@ pub struct PusEventServiceHandler<
 impl<
         TcReceiver: EcssTcReceiver,
         TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
+        TcInMemConverter: EcssTcInMemConversionProvider,
         VerificationReporter: VerificationReportingProvider,
     > PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
@@ -170,7 +170,7 @@ mod tests {
             event_man::EventRequestWithToken,
             tests::PusServiceHandlerWithSharedStoreCommon,
             verification::{TcStateAccepted, VerificationToken},
-            DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, PusPacketHandlingError,
+            DirectPusPacketHandlerResult, EcssTcInSharedPoolConverter, PusPacketHandlingError,
         },
     };
 
@@ -183,7 +183,7 @@ mod tests {
         handler: PusEventServiceHandler<
             MpscTcReceiver,
             PacketSenderWithSharedPool,
-            EcssTcInSharedStoreConverter,
+            EcssTcInSharedPoolConverter,
             VerificationReporter,
         >,
     }

satrs/src/pus/mod.rs

@@ -947,7 +947,7 @@ pub mod std_mod {
         }
     }
 
-    pub trait EcssTcInMemConverter {
+    pub trait EcssTcInMemConversionProvider {
         fn cache(&mut self, possible_packet: &TcInMemory) -> Result<(), PusTcFromMemError>;
 
         fn tc_slice_raw(&self) -> &[u8];
@@ -980,7 +980,7 @@ pub mod std_mod {
         pub pus_tc_raw: Option<Vec<u8>>,
     }
 
-    impl EcssTcInMemConverter for EcssTcInVecConverter {
+    impl EcssTcInMemConversionProvider for EcssTcInVecConverter {
         fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
             self.pus_tc_raw = None;
             match tc_in_memory {
@@ -1011,24 +1011,25 @@ pub mod std_mod {
     /// [SharedStaticMemoryPool] structure. This is useful if run-time allocation for these
     /// packets should be avoided. Please note that this structure is not able to convert TCs which
     /// are stored as a `Vec<u8>`.
-    pub struct EcssTcInSharedStoreConverter {
+    #[derive(Clone)]
+    pub struct EcssTcInSharedPoolConverter {
         sender_id: Option<ComponentId>,
-        shared_tc_store: SharedStaticMemoryPool,
+        shared_tc_pool: SharedStaticMemoryPool,
         pus_buf: Vec<u8>,
     }
 
-    impl EcssTcInSharedStoreConverter {
+    impl EcssTcInSharedPoolConverter {
         pub fn new(shared_tc_store: SharedStaticMemoryPool, max_expected_tc_size: usize) -> Self {
             Self {
                 sender_id: None,
-                shared_tc_store,
+                shared_tc_pool: shared_tc_store,
                 pus_buf: alloc::vec![0; max_expected_tc_size],
             }
         }
 
         pub fn copy_tc_to_buf(&mut self, addr: PoolAddr) -> Result<(), PusTcFromMemError> {
             // Keep locked section as short as possible.
-            let mut tc_pool = self.shared_tc_store.write().map_err(|_| {
+            let mut tc_pool = self.shared_tc_pool.write().map_err(|_| {
                 PusTcFromMemError::EcssTmtc(EcssTmtcError::Store(PoolError::LockError))
             })?;
             let tc_size = tc_pool.len_of_data(&addr).map_err(EcssTmtcError::Store)?;
@@ -1048,7 +1049,7 @@ pub mod std_mod {
         }
     }
 
-    impl EcssTcInMemConverter for EcssTcInSharedStoreConverter {
+    impl EcssTcInMemConversionProvider for EcssTcInSharedPoolConverter {
         fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
             match tc_in_memory {
                 super::TcInMemory::Pool(packet_in_pool) => {
@@ -1071,6 +1072,44 @@ pub mod std_mod {
         }
     }
 
+    // TODO: alloc feature flag?
+    #[derive(Clone)]
+    pub enum EcssTcInMemConverter {
+        Static(EcssTcInSharedPoolConverter),
+        Heap(EcssTcInVecConverter),
+    }
+
+    impl EcssTcInMemConverter {
+        pub fn new_static(static_store_converter: EcssTcInSharedPoolConverter) -> Self {
+            EcssTcInMemConverter::Static(static_store_converter)
+        }
+
+        pub fn new_heap(heap_converter: EcssTcInVecConverter) -> Self {
+            EcssTcInMemConverter::Heap(heap_converter)
+        }
+    }
+
+    impl EcssTcInMemConversionProvider for EcssTcInMemConverter {
+        fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
+            match self {
+                EcssTcInMemConverter::Static(converter) => converter.cache(tc_in_memory),
+                EcssTcInMemConverter::Heap(converter) => converter.cache(tc_in_memory),
+            }
+        }
+        fn tc_slice_raw(&self) -> &[u8] {
+            match self {
+                EcssTcInMemConverter::Static(converter) => converter.tc_slice_raw(),
+                EcssTcInMemConverter::Heap(converter) => converter.tc_slice_raw(),
+            }
+        }
+        fn sender_id(&self) -> Option<ComponentId> {
+            match self {
+                EcssTcInMemConverter::Static(converter) => converter.sender_id(),
+                EcssTcInMemConverter::Heap(converter) => converter.sender_id(),
+            }
+        }
+    }
+
     pub struct PusServiceBase<
         TcReceiver: EcssTcReceiver,
         TmSender: EcssTmSender,
@@ -1094,7 +1133,7 @@ pub mod std_mod {
     pub struct PusServiceHelper<
         TcReceiver: EcssTcReceiver,
         TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
+        TcInMemConverter: EcssTcInMemConversionProvider,
         VerificationReporter: VerificationReportingProvider,
     > {
         pub common: PusServiceBase<TcReceiver, TmSender, VerificationReporter>,
@@ -1104,7 +1143,7 @@ pub mod std_mod {
     impl<
             TcReceiver: EcssTcReceiver,
             TmSender: EcssTmSender,
-            TcInMemConverter: EcssTcInMemConverter,
+            TcInMemConverter: EcssTcInMemConversionProvider,
             VerificationReporter: VerificationReportingProvider,
         > PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
     {
@@ -1221,9 +1260,10 @@ 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 +1272,7 @@ 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 +1309,13 @@ 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,
@@ -1346,7 +1386,7 @@ pub mod tests {
     pub type PusServiceHelperStatic = PusServiceHelper<
         MpscTcReceiver,
         PacketSenderWithSharedPool,
-        EcssTcInSharedStoreConverter,
+        EcssTcInSharedPoolConverter,
         VerificationReporter,
     >;
 
@@ -1373,8 +1413,7 @@ pub mod tests {
                 VerificationReporter::new(TEST_COMPONENT_ID_0.id(), &verif_cfg);
             let test_srv_tm_sender =
                 PacketSenderWithSharedPool::new(tm_tx, shared_tm_pool_wrapper.clone());
-            let in_store_converter =
+            let in_store_converter = EcssTcInSharedPoolConverter::new(shared_tc_pool.clone(), 2048);
-                EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
             (
                 Self {
                     pus_buf: RefCell::new([0; 2048]),

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.

satrs/src/pus/scheduler_srv.rs

@@ -1,7 +1,7 @@
 use super::scheduler::PusSchedulerProvider;
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    DirectPusPacketHandlerResult, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    DirectPusPacketHandlerResult, EcssTcInMemConversionProvider, EcssTcInSharedPoolConverter,
     EcssTcInVecConverter, EcssTcReceiver, EcssTmSender, HandlingStatus, MpscTcReceiver,
     PartialPusHandlingError, PusServiceHelper,
 };
@@ -24,7 +24,7 @@ use std::sync::mpsc;
 pub struct PusSchedServiceHandler<
     TcReceiver: EcssTcReceiver,
     TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConverter,
+    TcInMemConverter: EcssTcInMemConversionProvider,
     VerificationReporter: VerificationReportingProvider,
     PusScheduler: PusSchedulerProvider,
 > {
@@ -36,7 +36,7 @@ pub struct PusSchedServiceHandler<
 impl<
         TcReceiver: EcssTcReceiver,
         TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
+        TcInMemConverter: EcssTcInMemConversionProvider,
         VerificationReporter: VerificationReportingProvider,
         Scheduler: PusSchedulerProvider,
     >
@@ -229,7 +229,7 @@ pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServ
 pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
     PacketSenderWithSharedPool,
-    EcssTcInSharedStoreConverter,
+    EcssTcInSharedPoolConverter,
     VerificationReporter,
     PusScheduler,
 >;
@@ -238,7 +238,7 @@ pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceH
 pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
     PacketSenderWithSharedPool,
-    EcssTcInSharedStoreConverter,
+    EcssTcInSharedPoolConverter,
     VerificationReporter,
     PusScheduler,
 >;
@@ -253,7 +253,7 @@ mod tests {
         scheduler::{self, PusSchedulerProvider, TcInfo},
         tests::PusServiceHandlerWithSharedStoreCommon,
         verification::{RequestId, TcStateAccepted, VerificationToken},
-        EcssTcInSharedStoreConverter,
+        EcssTcInSharedPoolConverter,
     };
     use crate::pus::{DirectPusPacketHandlerResult, MpscTcReceiver, PusPacketHandlingError};
     use crate::tmtc::PacketSenderWithSharedPool;
@@ -276,7 +276,7 @@ mod tests {
         handler: PusSchedServiceHandler<
             MpscTcReceiver,
             PacketSenderWithSharedPool,
-            EcssTcInSharedStoreConverter,
+            EcssTcInSharedPoolConverter,
             VerificationReporter,
             TestScheduler,
         >,

satrs/src/pus/test.rs

@@ -9,8 +9,9 @@ use std::sync::mpsc;
 
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
+    EcssTcInMemConversionProvider, EcssTcInSharedPoolConverter, EcssTcInVecConverter,
-    EcssTmSender, GenericConversionError, HandlingStatus, MpscTcReceiver, PusServiceHelper,
+    EcssTcReceiver, EcssTmSender, GenericConversionError, HandlingStatus, MpscTcReceiver,
+    PusServiceHelper,
 };
 
 /// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
@@ -18,7 +19,7 @@ use super::{
 pub struct PusService17TestHandler<
     TcReceiver: EcssTcReceiver,
     TmSender: EcssTmSender,
-    TcInMemConverter: EcssTcInMemConverter,
+    TcInMemConverter: EcssTcInMemConversionProvider,
     VerificationReporter: VerificationReportingProvider,
 > {
     pub service_helper:
@@ -28,7 +29,7 @@ pub struct PusService17TestHandler<
 impl<
         TcReceiver: EcssTcReceiver,
         TmSender: EcssTmSender,
-        TcInMemConverter: EcssTcInMemConverter,
+        TcInMemConverter: EcssTcInMemConversionProvider,
         VerificationReporter: VerificationReportingProvider,
     > PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
@@ -127,7 +128,7 @@ pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
 pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
     MpscTcReceiver,
     PacketSenderWithSharedPool,
-    EcssTcInSharedStoreConverter,
+    EcssTcInSharedPoolConverter,
     VerificationReporter,
 >;
 
@@ -142,7 +143,7 @@ mod tests {
     };
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
-        DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+        DirectPusPacketHandlerResult, EcssTcInSharedPoolConverter, EcssTcInVecConverter,
         GenericConversionError, HandlingStatus, MpscTcReceiver, MpscTmAsVecSender,
         PartialPusHandlingError, PusPacketHandlingError,
     };
@@ -162,7 +163,7 @@ mod tests {
         handler: PusService17TestHandler<
             MpscTcReceiver,
             PacketSenderWithSharedPool,
-            EcssTcInSharedStoreConverter,
+            EcssTcInSharedPoolConverter,
             VerificationReporter,
         >,
     }

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")]

satrs/src/request.rs

@@ -13,7 +13,10 @@ use spacepackets::{
     ByteConversionError,
 };
 
-use crate::{queue::GenericTargetedMessagingError, ComponentId};
+use crate::{
+    queue::{GenericReceiveError, GenericSendError},
+    ComponentId,
+};
 
 /// Generic request ID type. Requests can be associated with an ID to have a unique identifier
 /// for them. This can be useful for tasks like tracking their progress.
@@ -140,37 +143,38 @@ 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>;
+    fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericSendError>;
 }
 
 // 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>;
+    fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError>;
 }
 
-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(
+    pub fn try_recv_message(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError> {
-        &self,
-    ) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
         self.0.try_recv()
     }
 }
 
-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,
@@ -183,43 +187,129 @@ 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(
+    pub fn try_recv_message(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError> {
-        &self,
-    ) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
         self.reply_receiver.0.try_recv()
     }
 }
 
+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<(), GenericSendError>;
+}
+
 #[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<(), GenericSendError> {
+            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))
+        }
+    }
+
+    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> {
+        ) -> Result<(), GenericSendError> {
+            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))
+        }
+    }
+
+    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<(), GenericSendError> {
             if self.0.contains_key(&target_channel_id) {
                 return self
                     .0
@@ -227,29 +317,42 @@ pub mod alloc_mod {
                     .unwrap()
                     .send(GenericMessage::new(requestor_info, message));
             }
-            Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
+            Err(GenericSendError::TargetDoesNotExist(target_channel_id))
         }
     }
 
-    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 +365,9 @@ pub mod alloc_mod {
             &self,
             request_id: RequestId,
             target_id: ComponentId,
-            message: TO,
+            message: To,
-        ) -> Result<(), GenericTargetedMessagingError> {
+        ) -> Result<(), GenericSendError> {
-            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 +377,64 @@ 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>>, GenericReceiveError> {
             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,
             }
         }
 
@@ -333,21 +452,19 @@ 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> {
+        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericSendError> {
             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> {
+        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericSendError> {
             if let Err(e) = self.try_send(message) {
                 return match e {
-                    mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None).into()),
+                    mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None)),
-                    mpsc::TrySendError::Disconnected(_) => {
+                    mpsc::TrySendError::Disconnected(_) => Err(GenericSendError::RxDisconnected),
-                        Err(GenericSendError::RxDisconnected.into())
-                    }
                 };
             }
             Ok(())
@@ -357,14 +474,14 @@ 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> {
+        fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError> {
             match self.try_recv() {
                 Ok(msg) => Ok(Some(msg)),
                 Err(e) => match e {
                     mpsc::TryRecvError::Empty => Ok(None),
                     mpsc::TryRecvError::Disconnected => {
-                        Err(GenericReceiveError::TxDisconnected(None).into())
+                        Err(GenericReceiveError::TxDisconnected(None))
                     }
                 },
             }
@@ -385,8 +502,8 @@ mod tests {
     };
 
     use crate::{
-        queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
+        queue::{GenericReceiveError, GenericSendError},
-        request::{MessageMetadata, MessageSenderMap},
+        request::{MessageMetadata, MessageSenderMap, MessageSenderStoreProvider},
     };
 
     use super::{GenericMessage, MessageReceiverWithId, UniqueApidTargetId};
@@ -478,9 +595,7 @@ mod tests {
         let reply = receiver.try_recv_message();
         assert!(reply.is_err());
         let error = reply.unwrap_err();
-        if let GenericTargetedMessagingError::Receive(GenericReceiveError::TxDisconnected(None)) =
+        if let GenericReceiveError::TxDisconnected(None) = error {
-            error
-        {
         } else {
             panic!("unexpected error type");
         }
@@ -529,9 +644,7 @@ mod tests {
         );
         assert!(result.is_err());
         let error = result.unwrap_err();
-        if let GenericTargetedMessagingError::Send(GenericSendError::TargetDoesNotExist(target)) =
+        if let GenericSendError::TargetDoesNotExist(target) = error {
-            error
-        {
             assert_eq!(target, TEST_CHANNEL_ID_2);
         } else {
             panic!("Unexpected error type");
@@ -556,7 +669,7 @@ mod tests {
         );
         assert!(result.is_err());
         let error = result.unwrap_err();
-        if let GenericTargetedMessagingError::Send(GenericSendError::QueueFull(capacity)) = error {
+        if let GenericSendError::QueueFull(capacity) = error {
             assert!(capacity.is_none());
         } else {
             panic!("Unexpected error type {}", error);
@@ -576,7 +689,7 @@ mod tests {
         );
         assert!(result.is_err());
         let error = result.unwrap_err();
-        if let GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected) = error {
+        if let GenericSendError::RxDisconnected = error {
         } else {
             panic!("Unexpected error type {}", error);
         }

satrs/src/scheduling.rs

@@ -154,7 +154,7 @@ pub mod std_mod {
         }
 
         /// 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::start] method.
+        /// 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();
         }

satrs/src/tmtc/mod.rs

@@ -14,6 +14,7 @@ use crate::{
 };
 #[cfg(feature = "std")]
 pub use alloc_mod::*;
+use core::fmt::Debug;
 #[cfg(feature = "alloc")]
 use downcast_rs::{impl_downcast, Downcast};
 use spacepackets::{
@@ -170,7 +171,7 @@ where
 }
 
 /// Helper trait for any generic (static) store which allows storing raw or CCSDS packets.
-pub trait CcsdsPacketPool {
+pub trait CcsdsPacketPool: Debug {
     fn add_ccsds_tc(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<PoolAddr, PoolError> {
         self.add_raw_tc(tc_raw)
     }
@@ -190,7 +191,7 @@ pub trait PusTmPool {
 }
 
 /// Generic trait for any sender component able to send packets stored inside a pool structure.
-pub trait PacketInPoolSender: Send {
+pub trait PacketInPoolSender: Debug + Send {
     fn send_packet(
         &self,
         sender_id: ComponentId,
@@ -235,7 +236,7 @@ pub mod std_mod {
 
     /// Newtype wrapper around the [SharedStaticMemoryPool] to enable extension helper traits on
     /// top of the regular shared memory pool API.
-    #[derive(Clone)]
+    #[derive(Debug, Clone)]
     pub struct SharedPacketPool(pub SharedStaticMemoryPool);
 
     impl SharedPacketPool {
@@ -287,7 +288,6 @@ pub mod std_mod {
         }
     }
 
-    #[cfg(feature = "std")]
     impl PacketSenderRaw for mpsc::Sender<PacketAsVec> {
         type Error = GenericSendError;
 
@@ -297,7 +297,6 @@ pub mod std_mod {
         }
     }
 
-    #[cfg(feature = "std")]
     impl PacketSenderRaw for mpsc::SyncSender<PacketAsVec> {
         type Error = GenericSendError;
 
@@ -362,7 +361,7 @@ pub mod std_mod {
 
     /// This is the primary structure used to send packets stored in a dedicated memory pool
     /// structure.
-    #[derive(Clone)]
+    #[derive(Debug, Clone)]
     pub struct PacketSenderWithSharedPool<
         Sender: PacketInPoolSender = mpsc::SyncSender<PacketInPool>,
         PacketPool: CcsdsPacketPool = SharedPacketPool,

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()),
             ))