Merge pull request #223 from qitechgmbh/fix/222

Only Process IO of `EthercatDevice`s If They are Used by a Machine

control-core/src/machines/new.rs

@@ -2,7 +2,9 @@ use crate::serial::SerialDevice;
 
 use super::identification::DeviceIdentificationIdentified;
 use anyhow::Error;
-use ethercat_hal::{devices::EthercatDevice, helpers::ethercrab_types::EthercrabSubDevicePreoperational};
+use ethercat_hal::{
+    devices::EthercatDevice, helpers::ethercrab_types::EthercrabSubDevicePreoperational,
+};
 use ethercrab::{SubDevice, SubDeviceRef};
 use smol::lock::RwLock;
 use std::sync::Arc;

ethercat-hal-derive/src/lib.rs

@@ -254,6 +254,18 @@ pub fn ethercat_device_derive(input: TokenStream) -> TokenStream {
                 self
             }
         }
+
+        impl crate::devices::EthercatDeviceUsed for #name {
+            #[doc="Implemented by the ethercat_hal_derive::EthercatDevice derive macro"]
+            fn is_used(&self) -> bool {
+                self.is_used
+            }
+
+            #[doc="Implemented by the ethercat_hal_derive::EthercatDevice derive macro"]
+            fn set_used(&mut self, used: bool) {
+                self.is_used = used;
+            }
+        }
     };
 
     TokenStream::from(expanded)

ethercat-hal/src/devices/ek1100.rs

@@ -3,13 +3,15 @@ use ethercat_hal_derive::EthercatDevice;
 
 /// EK1100 bus coupler
 #[derive(Clone, EthercatDevice)]
-pub struct EK1100 {}
+pub struct EK1100 {
+    is_used: bool,
+}
 
 impl EthercatDeviceProcessing for EK1100 {}
 
 impl NewEthercatDevice for EK1100 {
     fn new() -> Self {
-        Self {}
+        Self { is_used: false }
     }
 }
 
@@ -19,12 +21,6 @@ impl std::fmt::Debug for EK1100 {
     }
 }
 
-impl EK1100 {
-    pub fn new() -> Self {
-        Self {}
-    }
-}
-
 pub const EK1100_VENDOR_ID: u32 = 0x2;
 pub const EK1100_PRODUCT_ID: u32 = 0x044c2c52;
 pub const EK1100_REVISION_A: u32 = 0x00120000;

ethercat-hal/src/devices/el1002.rs

@@ -9,6 +9,7 @@ use ethercat_hal_derive::{EthercatDevice, TxPdo};
 #[derive(Clone, EthercatDevice)]
 pub struct EL1002 {
     pub txpdo: EL1002TxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL1002 {}
@@ -23,6 +24,7 @@ impl NewEthercatDevice for EL1002 {
     fn new() -> Self {
         Self {
             txpdo: EL1002TxPdo::default(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el1008.rs

@@ -1,7 +1,7 @@
 use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
+use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use crate::io::digital_input::{DigitalInputDevice, DigitalInputInput, DigitalInputState};
 use crate::pdo::{PredefinedPdoAssignment, TxPdo, basic::BoolPdoObject};
-use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use ethercat_hal_derive::{EthercatDevice, TxPdo};
 
 /// EL1008 8-channel digital input device
@@ -10,6 +10,7 @@ use ethercat_hal_derive::{EthercatDevice, TxPdo};
 #[derive(Clone, EthercatDevice)]
 pub struct EL1008 {
     pub txpdo: EL1008TxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL1008 {}
@@ -24,6 +25,7 @@ impl NewEthercatDevice for EL1008 {
     fn new() -> Self {
         Self {
             txpdo: EL1008TxPdo::default(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el2002.rs

@@ -10,6 +10,7 @@ use ethercat_hal_derive::{EthercatDevice, RxPdo};
 #[derive(EthercatDevice)]
 pub struct EL2002 {
     pub rxpdo: EL2002RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL2002 {}
@@ -24,6 +25,7 @@ impl NewEthercatDevice for EL2002 {
     fn new() -> Self {
         Self {
             rxpdo: EL2002RxPdo::default(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el2004.rs

@@ -8,6 +8,7 @@ use ethercat_hal_derive::{EthercatDevice, RxPdo};
 #[derive(EthercatDevice)]
 pub struct EL2004 {
     pub rxpdo: EL2004RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL2004 {}
@@ -22,6 +23,7 @@ impl NewEthercatDevice for EL2004 {
     fn new() -> Self {
         Self {
             rxpdo: EL2004RxPdo::default(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el2008.rs

@@ -1,7 +1,7 @@
 use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
+use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use crate::io::digital_output::{DigitalOutputDevice, DigitalOutputOutput, DigitalOutputState};
 use crate::pdo::{RxPdo, basic::BoolPdoObject};
-use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use ethercat_hal_derive::{EthercatDevice, RxPdo};
 
 /// EL2008 8-channel digital output device
@@ -10,6 +10,7 @@ use ethercat_hal_derive::{EthercatDevice, RxPdo};
 #[derive(EthercatDevice)]
 pub struct EL2008 {
     pub rxpdo: EL2008RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL2008 {}
@@ -24,6 +25,7 @@ impl NewEthercatDevice for EL2008 {
     fn new() -> Self {
         Self {
             rxpdo: EL2008RxPdo::default(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el2024.rs

@@ -1,6 +1,6 @@
+use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use crate::io::digital_output::{DigitalOutputDevice, DigitalOutputOutput, DigitalOutputState};
 use crate::pdo::{RxPdo, basic::BoolPdoObject};
-use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use ethercat_hal_derive::{EthercatDevice, RxPdo};
 
 use super::{EthercatDeviceProcessing, NewEthercatDevice};
@@ -11,6 +11,7 @@ use super::{EthercatDeviceProcessing, NewEthercatDevice};
 #[derive(EthercatDevice)]
 pub struct EL2024 {
     pub rxpdo: EL2024RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL2024 {}
@@ -25,6 +26,7 @@ impl NewEthercatDevice for EL2024 {
     fn new() -> Self {
         Self {
             rxpdo: EL2024RxPdo::default(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el2521.rs

@@ -1,15 +1,15 @@
 use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
 use crate::{
     coe::{ConfigurableDevice, Configuration},
+    helpers::ethercrab_types::EthercrabSubDevicePreoperational,
     io::pulse_train_output::{
         PulseTrainOutputDevice, PulseTrainOutputInput, PulseTrainOutputOutput,
         PulseTrainOutputState,
     },
     pdo::{
-        el252x::{EncControl, EncStatus, PtoControl, PtoStatus, PtoTarget},
         PredefinedPdoAssignment, RxPdo, TxPdo,
+        el252x::{EncControl, EncStatus, PtoControl, PtoStatus, PtoTarget},
     },
-    helpers::ethercrab_types::EthercrabSubDevicePreoperational,
 };
 use anyhow::Ok;
 use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
@@ -20,6 +20,7 @@ pub struct EL2521 {
     pub configuration: EL2521Configuration,
     pub txpdo: EL2521TxPdo,
     pub rxpdo: EL2521RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL2521 {}
@@ -40,6 +41,7 @@ impl NewEthercatDevice for EL2521 {
             configuration: configuration,
             txpdo,
             rxpdo,
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el2522.rs

@@ -1,6 +1,7 @@
 use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
 use crate::{
     coe::{ConfigurableDevice, Configuration},
+    helpers::ethercrab_types::EthercrabSubDevicePreoperational,
     io::pulse_train_output::{
         PulseTrainOutputDevice, PulseTrainOutputInput, PulseTrainOutputOutput,
         PulseTrainOutputState,
@@ -9,7 +10,6 @@ use crate::{
         PredefinedPdoAssignment, RxPdo, TxPdo,
         el252x::{EncControl, EncStatus, PtoControl, PtoStatus, PtoTarget},
     },
-    helpers::ethercrab_types::EthercrabSubDevicePreoperational,
 };
 use anyhow::Ok;
 use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
@@ -20,6 +20,7 @@ pub struct EL2522 {
     pub configuration: EL2522Configuration,
     pub txpdo: EL2522TxPdo,
     pub rxpdo: EL2522RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL2522 {}
@@ -40,6 +41,7 @@ impl NewEthercatDevice for EL2522 {
             configuration: configuration,
             txpdo,
             rxpdo,
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el2634.rs

@@ -1,6 +1,6 @@
+use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use crate::io::digital_output::{DigitalOutputDevice, DigitalOutputOutput, DigitalOutputState};
 use crate::pdo::{RxPdo, basic::BoolPdoObject};
-use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use ethercat_hal_derive::{EthercatDevice, RxPdo};
 
 use super::{EthercatDeviceProcessing, NewEthercatDevice};
@@ -11,6 +11,7 @@ use super::{EthercatDeviceProcessing, NewEthercatDevice};
 #[derive(EthercatDevice)]
 pub struct EL2634 {
     pub rxpdo: EL2634RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL2634 {}
@@ -25,6 +26,7 @@ impl NewEthercatDevice for EL2634 {
     fn new() -> Self {
         Self {
             rxpdo: EL2634RxPdo::default(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el2809.rs

@@ -1,6 +1,6 @@
+use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use crate::io::digital_output::{DigitalOutputDevice, DigitalOutputOutput, DigitalOutputState};
 use crate::pdo::{RxPdo, basic::BoolPdoObject};
-use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use ethercat_hal_derive::{EthercatDevice, RxPdo};
 
 use super::{EthercatDeviceProcessing, NewEthercatDevice};
@@ -11,6 +11,7 @@ use super::{EthercatDeviceProcessing, NewEthercatDevice};
 #[derive(EthercatDevice)]
 pub struct EL2809 {
     pub rxpdo: EL2809RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL2809 {}
@@ -25,6 +26,7 @@ impl NewEthercatDevice for EL2809 {
     fn new() -> Self {
         Self {
             rxpdo: EL2809RxPdo::default(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el3001.rs

@@ -20,6 +20,7 @@ use uom::si::{electric_potential::volt, f64::ElectricPotential};
 pub struct EL3001 {
     pub txpdo: EL3001TxPdo,
     pub configuration: EL3001Configuration,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL3001 {}
@@ -42,6 +43,7 @@ impl NewEthercatDevice for EL3001 {
         Self {
             txpdo: configuration.pdo_assignment.txpdo_assignment(),
             configuration,
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el3021.rs

@@ -32,6 +32,7 @@ pub struct EL3021 {
     pub configuration: EL3021Configuration,
     pub txpdo: EL3021TxPdo,
     pub rxpdo: EL3021RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL3021 {}
@@ -64,6 +65,7 @@ impl NewEthercatDevice for EL3021 {
             configuration: configuration.clone(),
             txpdo: configuration.pdo_assignment.txpdo_assignment(),
             rxpdo: configuration.pdo_assignment.rxpdo_assignment(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el3024.rs

@@ -5,16 +5,16 @@ use crate::pdo::RxPdo;
 use crate::pdo::TxPdo;
 use crate::{
     coe::{ConfigurableDevice, Configuration},
+    helpers::signing_converter_u16::U16SigningConverter,
     pdo::{
         PredefinedPdoAssignment,
         analog_input::{AiCompact, AiStandard},
     },
     shared_config::el30xx::{EL30XXChannelConfiguration, EL30XXPresentation},
-    helpers::signing_converter_u16::U16SigningConverter,
 };
 use crate::{
-    io::analog_input::{AnalogInputDevice, AnalogInputInput, AnalogInputState},
     helpers::ethercrab_types::EthercrabSubDevicePreoperational,
+    io::analog_input::{AnalogInputDevice, AnalogInputInput, AnalogInputState},
 };
 use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
 use uom::si::electric_current::milliampere;
@@ -38,6 +38,7 @@ pub struct EL3024 {
     pub configuration: EL3024Configuration,
     pub txpdo: EL3024TxPdo,
     pub rxpdo: EL3024RxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL3024 {}
@@ -73,6 +74,7 @@ impl NewEthercatDevice for EL3024 {
             configuration: configuration.clone(),
             txpdo: configuration.pdo_assignment.txpdo_assignment(),
             rxpdo: configuration.pdo_assignment.rxpdo_assignment(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el3204.rs

@@ -14,6 +14,7 @@ use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple}
 #[derive(EthercatDevice)]
 pub struct EL3204 {
     pub txpdo: EL3204TxPdo,
+    is_used: bool,
 }
 
 impl EthercatDeviceProcessing for EL3204 {}
@@ -28,6 +29,7 @@ impl NewEthercatDevice for EL3204 {
     fn new() -> Self {
         Self {
             txpdo: EL3204TxPdo::default(),
+            is_used: false,
         }
     }
 }

ethercat-hal/src/devices/el6021.rs

@@ -1,8 +1,8 @@
 use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
 use crate::coe::{ConfigurableDevice, Configuration};
+use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use crate::io::serial_interface::{SerialEncoding, SerialInterfaceDevice};
 use crate::pdo::{PredefinedPdoAssignment, RxPdo, RxPdoObject, TxPdo, TxPdoObject};
-use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
 use anyhow::{Error, anyhow};
 use bitvec::field::BitField;
 use bitvec::order::Lsb0;
@@ -369,6 +369,7 @@ pub struct EL6021 {
     pub configuration: EL6021Configuration,
     pub txpdo: EL6021TxPdo,
     pub rxpdo: EL6021RxPdo,
+    is_used: bool,
     pub output_ts: u64,
     pub input_ts: u64,
     pub has_messages_last_toggle: bool,
@@ -404,6 +405,7 @@ impl NewEthercatDevice for EL6021 {
             configuration: configuration.clone(),
             txpdo: configuration.pdo_assignment.txpdo_assignment(),
             rxpdo: configuration.pdo_assignment.rxpdo_assignment(),
+            is_used: false,
             output_ts: 0,
             input_ts: 0,
             has_messages_last_toggle: false,

ethercat-hal/src/devices/el7031/mod.rs

@@ -25,6 +25,7 @@ use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple}
 pub struct EL7031 {
     pub txpdo: EL7031TxPdo,
     pub rxpdo: EL7031RxPdo,
+    is_used: bool,
     pub configuration: EL7031Configuration,
     pub counter_wrapper: CounterWrapperU16U128,
 }
@@ -100,6 +101,7 @@ impl NewEthercatDevice for EL7031 {
         Self {
             txpdo: configuration.pdo_assignment.txpdo_assignment(),
             rxpdo: configuration.pdo_assignment.rxpdo_assignment(),
+            is_used: false,
             configuration,
             counter_wrapper: CounterWrapperU16U128::new(),
         }

ethercat-hal/src/devices/el7031_0030/mod.rs

@@ -31,6 +31,7 @@ use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple}
 pub struct EL7031_0030 {
     pub txpdo: EL7031_0030TxPdo,
     pub rxpdo: EL7031_0030RxPdo,
+    is_used: bool,
     pub configuration: EL7031_0030Configuration,
     pub counter_wrapper: CounterWrapperU16U128,
 }
@@ -106,6 +107,7 @@ impl NewEthercatDevice for EL7031_0030 {
         Self {
             txpdo: configuration.pdo_assignment.txpdo_assignment(),
             rxpdo: configuration.pdo_assignment.rxpdo_assignment(),
+            is_used: false,
             configuration,
             counter_wrapper: CounterWrapperU16U128::new(),
         }

ethercat-hal/src/devices/el7041_0052/mod.rs

@@ -23,6 +23,7 @@ pub mod pdo;
 pub struct EL7041_0052 {
     pub txpdo: pdo::EL7041_0052TxPdo,
     pub rxpdo: pdo::EL7041_0052RxPdo,
+    is_used: bool,
     pub configuration: EL7041_0052Configuration,
 
     // encoder wrapping
@@ -35,6 +36,7 @@ impl NewEthercatDevice for EL7041_0052 {
         EL7041_0052 {
             txpdo: configuration.pdo_assignment.txpdo_assignment(),
             rxpdo: configuration.pdo_assignment.rxpdo_assignment(),
+            is_used: false,
             configuration,
             counter_wrapper: CounterWrapperU16U128::new(),
         }

ethercat-hal/src/devices/mod.rs

@@ -52,7 +52,13 @@ use std::{any::Any, fmt::Debug, sync::Arc};
 /// provides interface to read and write the PDO data
 pub trait EthercatDevice
 where
-    Self: NewEthercatDevice + EthercatDeviceProcessing + Any + Send + Sync + Debug,
+    Self: NewEthercatDevice
+        + EthercatDeviceProcessing
+        + EthercatDeviceUsed
+        + Any
+        + Send
+        + Sync
+        + Debug,
 {
     /// Input data from the last cycle
     /// `ts` is the timestamp when the input data was sent by the device
@@ -134,6 +140,15 @@ pub trait NewEthercatDevice {
         Self: Sized;
 }
 
+/// A trait to ensure a divice can ony be used once
+pub trait EthercatDeviceUsed {
+    /// Returns true if the device is used
+    fn is_used(&self) -> bool;
+
+    /// Sets the device as used
+    fn set_used(&mut self, used: bool);
+}
+
 /// Casts a `dyn Device` to a specific device type
 pub async fn downcast_device<T: EthercatDevice>(
     device: Arc<RwLock<dyn EthercatDevice>>,

server/src/loop.rs

@@ -65,6 +65,12 @@ pub async fn loop_once<'maindevice>(app_state: Arc<AppState>) -> Result<(), anyh
             // get device
             let mut device = ethercat_setup.devices[i].1.as_ref().write().await;
 
+            // check if the device is used
+            if !device.is_used() {
+                // if the device is not used, we skip it
+                continue;
+            }
+
             // put inputs into device
             device.input_checked(input_bits).or_else(|e| {
                 Err(anyhow::anyhow!(
@@ -121,6 +127,12 @@ pub async fn loop_once<'maindevice>(app_state: Arc<AppState>) -> Result<(), anyh
             // get device
             let mut device = ethercat_setup.devices[i].1.as_ref().write().await;
 
+            // check if the device is used
+            if !device.is_used() {
+                // if the device is not used, we skip it
+                continue;
+            }
+
             // pre process outputs
             device.output_pre_process().or_else(|e| {
                 Err(anyhow::anyhow!(

server/src/machines/extruder1/new.rs

@@ -23,8 +23,8 @@ use control_core::{
 use ethercat_hal::{
     coe::ConfigurableDevice,
     devices::{
-        downcast_device,
-        ek1100::EK1100_IDENTITY_A,
+        EthercatDeviceUsed, downcast_device,
+        ek1100::{EK1100, EK1100_IDENTITY_A},
         el1002::{EL1002, EL1002_IDENTITY_A},
         el2004::{EL2004, EL2004_IDENTITY_A, EL2004Port},
         el3021::{EL3021, EL3021_IDENTITY_A, EL3021Port},
@@ -92,8 +92,14 @@ impl MachineNewTrait for ExtruderV2 {
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
                 let subdevice_identity = subdevice.identity();
-                match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EK1100_IDENTITY_A => (),
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
+                    EK1100_IDENTITY_A => {
+                        let ethercat_device = get_ethercat_device_by_index(
+                            &hardware.ethercat_devices,
+                            subdevice_index,
+                        )?;
+                        downcast_device::<EK1100>(ethercat_device).await?
+                    }
                     _ => {
                         return Err(anyhow::anyhow!(
                             "[{}::MachineNewTrait/Winder2::new] Device with role 0 is not an EK1100",
@@ -101,7 +107,12 @@ impl MachineNewTrait for ExtruderV2 {
                         ));
                     }
                 };
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
+                }
             }
+
             // What is its use ?
             let _el1002 = {
                 let device_identification =
@@ -119,7 +130,7 @@ impl MachineNewTrait for ExtruderV2 {
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
                 let subdevice_identity = subdevice.identity();
-                match subdevice_identity_to_tuple(&subdevice_identity) {
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
                     EL1002_IDENTITY_A => {
                         let ethercat_device = get_ethercat_device_by_index(
                             &hardware.ethercat_devices,
@@ -133,7 +144,12 @@ impl MachineNewTrait for ExtruderV2 {
                             module_path!()
                         ));
                     }
+                };
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
                 }
+                device
             };
 
             let el6021 = {
@@ -152,7 +168,7 @@ impl MachineNewTrait for ExtruderV2 {
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
                 let subdevice_identity = subdevice.identity();
-                let el6021 = match subdevice_identity_to_tuple(&subdevice_identity) {
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
                     EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C => {
                         let ethercat_device = get_ethercat_device_by_index(
                             &hardware.ethercat_devices,
@@ -167,12 +183,16 @@ impl MachineNewTrait for ExtruderV2 {
                         ));
                     }
                 };
-                el6021
+                device
                     .write()
                     .await
                     .write_config(&subdevice, &EL6021Configuration::default())
                     .await?;
-                el6021
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
+                }
+                device
             };
 
             let el2004 = {
@@ -191,7 +211,7 @@ impl MachineNewTrait for ExtruderV2 {
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
                 let subdevice_identity = subdevice.identity();
-                match subdevice_identity_to_tuple(&subdevice_identity) {
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
                     EL2004_IDENTITY_A => {
                         let ethercat_device = get_ethercat_device_by_index(
                             &hardware.ethercat_devices,
@@ -205,7 +225,12 @@ impl MachineNewTrait for ExtruderV2 {
                             module_path!()
                         ));
                     }
+                };
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
                 }
+                device
             };
 
             let el3021 = {
@@ -224,7 +249,7 @@ impl MachineNewTrait for ExtruderV2 {
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
                 let subdevice_identity = subdevice.identity();
-                match subdevice_identity_to_tuple(&subdevice_identity) {
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
                     EL3021_IDENTITY_A => {
                         let ethercat_device = get_ethercat_device_by_index(
                             &hardware.ethercat_devices,
@@ -238,7 +263,12 @@ impl MachineNewTrait for ExtruderV2 {
                             module_path!()
                         ));
                     }
+                };
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
                 }
+                device
             };
 
             let el3204 = {
@@ -257,7 +287,7 @@ impl MachineNewTrait for ExtruderV2 {
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
                 let subdevice_identity = subdevice.identity();
-                match subdevice_identity_to_tuple(&subdevice_identity) {
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
                     EL3204_IDENTITY_A | EL3204_IDENTITY_B => {
                         let ethercat_device = get_ethercat_device_by_index(
                             &hardware.ethercat_devices,
@@ -271,7 +301,12 @@ impl MachineNewTrait for ExtruderV2 {
                             module_path!()
                         ));
                     }
+                };
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
                 }
+                device
             };
 
             let t1 = TemperatureInput::new(el3204.clone(), EL3204Port::T1);

server/src/machines/winder2/new.rs

@@ -22,6 +22,7 @@ use control_core::machines::new::{
 };
 use control_core::uom_extensions::velocity::meter_per_minute;
 use ethercat_hal::coe::ConfigurableDevice;
+use ethercat_hal::devices::ek1100::EK1100;
 use ethercat_hal::devices::el2002::{EL2002, EL2002Port};
 use ethercat_hal::devices::el7031::coe::EL7031Configuration;
 use ethercat_hal::devices::el7031::pdo::EL7031PredefinedPdoAssignment;
@@ -35,7 +36,7 @@ use ethercat_hal::devices::el7031_0030::{
 };
 use ethercat_hal::devices::el7041_0052::coe::EL7041_0052Configuration;
 use ethercat_hal::devices::el7041_0052::{EL7041_0052, EL7041_0052_IDENTITY_A, EL7041_0052Port};
-use ethercat_hal::devices::{downcast_device, subdevice_identity_to_tuple};
+use ethercat_hal::devices::{EthercatDeviceUsed, downcast_device, subdevice_identity_to_tuple};
 use ethercat_hal::devices::{ek1100::EK1100_IDENTITY_A, el2002::EL2002_IDENTITY_A};
 use ethercat_hal::io::analog_input::AnalogInput;
 use ethercat_hal::io::digital_input::DigitalInput;
@@ -98,8 +99,14 @@ impl MachineNewTrait for Winder2 {
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
                 let subdevice_identity = subdevice.identity();
-                match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EK1100_IDENTITY_A => (),
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
+                    EK1100_IDENTITY_A => {
+                        let ethercat_device = get_ethercat_device_by_index(
+                            &hardware.ethercat_devices,
+                            subdevice_index,
+                        )?;
+                        downcast_device::<EK1100>(ethercat_device).await?
+                    }
                     _ => {
                         return Err(anyhow::anyhow!(
                             "[{}::MachineNewTrait/Winder2::new] Device with role 0 is not an EK1100",
@@ -107,6 +114,10 @@ impl MachineNewTrait for Winder2 {
                         ));
                     }
                 };
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
+                }
             }
 
             // Role 1
@@ -128,7 +139,7 @@ impl MachineNewTrait for Winder2 {
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
                 let subdevice_identity = subdevice.identity();
-                match subdevice_identity_to_tuple(&subdevice_identity) {
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
                     EL2002_IDENTITY_A => {
                         let ethercat_device = get_ethercat_device_by_index(
                             &hardware.ethercat_devices,
@@ -140,7 +151,12 @@ impl MachineNewTrait for Winder2 {
                         "[{}::MachineNewTrait/Winder2::new] Device with role 1 is not an EL2002",
                         module_path!()
                     ))?,
+                };
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
                 }
+                device
             };
 
             // Role 2
@@ -165,7 +181,7 @@ impl MachineNewTrait for Winder2 {
                 )?;
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice_identity = subdevice.identity();
-                let el7041 = match subdevice_identity_to_tuple(&subdevice_identity) {
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
                     EL7041_0052_IDENTITY_A => {
                         let ethercat_device = get_ethercat_device_by_index(
                             &hardware.ethercat_devices,
@@ -178,7 +194,7 @@ impl MachineNewTrait for Winder2 {
                         module_path!()
                     ))?,
                 };
-                let el7041_config = EL7041_0052Configuration {
+                let config = EL7041_0052Configuration {
                     stm_features: shared_config::el70x1::StmFeatures {
                         operation_mode: EL70x1OperationMode::DirectVelocity,
                         ..Default::default()
@@ -189,12 +205,16 @@ impl MachineNewTrait for Winder2 {
                     },
                     ..Default::default()
                 };
-                el7041
+                device
                     .write()
                     .await
-                    .write_config(&subdevice, &el7041_config)
+                    .write_config(&subdevice, &config)
                     .await?;
-                (el7041, el7041_config)
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
+                }
+                (device, config)
             };
 
             // Role 3
@@ -219,7 +239,7 @@ impl MachineNewTrait for Winder2 {
                 )?;
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice_identity = subdevice.identity();
-                let el7031 = match subdevice_identity_to_tuple(&subdevice_identity) {
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
                     EL7031_IDENTITY_A | EL7031_IDENTITY_B => {
                         let ethercat_device = get_ethercat_device_by_index(
                             &hardware.ethercat_devices,
@@ -232,7 +252,7 @@ impl MachineNewTrait for Winder2 {
                         module_path!()
                     ))?,
                 };
-                let el7031_config = EL7031Configuration {
+                let config = EL7031Configuration {
                     stm_features: shared_config::el70x1::StmFeatures {
                         operation_mode: EL70x1OperationMode::DirectVelocity,
                         // Max Speed of 1000 steps/s
@@ -248,12 +268,16 @@ impl MachineNewTrait for Winder2 {
                     pdo_assignment: EL7031PredefinedPdoAssignment::VelocityControlCompact,
                     ..Default::default()
                 };
-                el7031
+                device
                     .write()
                     .await
-                    .write_config(&subdevice, &el7031_config)
+                    .write_config(&subdevice, &config)
                     .await?;
-                (el7031, el7031_config)
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
+                }
+                (device, config)
             };
 
             // Role 4
@@ -278,7 +302,7 @@ impl MachineNewTrait for Winder2 {
                 )?;
                 let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
                 let subdevice_identity = subdevice.identity();
-                let el7031_0030 = match subdevice_identity_to_tuple(&subdevice_identity) {
+                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
                     EL7031_0030_IDENTITY_A => {
                         let ethercat_device = get_ethercat_device_by_index(
                             &hardware.ethercat_devices,
@@ -291,7 +315,7 @@ impl MachineNewTrait for Winder2 {
                         module_path!()
                     ))?,
                 };
-                let el7031_0030_config = EL7031_0030Configuration {
+                let config = EL7031_0030Configuration {
                     stm_features: el7031_0030::coe::StmFeatures {
                         operation_mode: EL70x1OperationMode::DirectVelocity,
                         // Max Speed of 1000 steps/s
@@ -306,12 +330,16 @@ impl MachineNewTrait for Winder2 {
                     pdo_assignment: EL7031_0030PredefinedPdoAssignment::VelocityControlCompact,
                     ..Default::default()
                 };
-                el7031_0030
+                device
                     .write()
                     .await
-                    .write_config(&subdevice, &el7031_0030_config)
+                    .write_config(&subdevice, &config)
                     .await?;
-                (el7031_0030, el7031_0030_config)
+                {
+                    let mut device_guard = device.write().await;
+                    device_guard.set_used(true);
+                }
+                (device, config)
             };
 
             let mode = Winder2Mode::Standby;