fixed loading forever when no state change

Add rustdoc
Merge pull request #446 from qitechgmbh/fix/61
2025-09-03 18:53:48 +02:00 · 2025-09-03 17:25:18 +02:00 · 2025-09-03 16:44:09 +02:00 · 2025-09-03 16:42:57 +02:00 · 2025-09-03 16:31:34 +02:00 · 2025-09-03 16:28:42 +02:00
280 changed files with 75040 additions and 2468 deletions
@@ -0,0 +1,3 @@
+.png filter=lfs diff=lfs merge=lfs -text
+.jpg filter=lfs diff=lfs merge=lfs -text
+.jpeg filter=lfs diff=lfs merge=lfs -text
@@ -0,0 +1,29 @@
+This is a machine control software project.
+
+## Repository structure
+
+### Frontend
+
+`/electron`: Frontend code for the control software built with React and Electron.
+
+### Backend
+
+`/server`: Implements machine setup & loop. Exposes a REST & Socket.io API for the electron frontend.
+`/ethercat-hal`: Hardware abstraction layer for Beckhoff (and possibly other EtherCat) devices and protocols.
+`/ethercat-hal-derive`: Macros for ethercat-hal
+`/control-core`: Generic logic for the server.
+
+### HMI Panel Operating System
+
+`/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
+
+### Other
+
+/docs: Documentation for the project.
+
+## Key Guidelines
+
+1. Follow Rust & Typescript best practices and idiomatic patterns
+2. Maintain existing code structure and organization
+3. Write unit tests for new functionality where applicable.
+4. Document public APIs and complex logic in code. Suggest changes to the `docs/` folder when appropriate
@@ -1,16 +1,19 @@
-# To get started with Dependabot version updates, you'll need to specify which
-# package ecosystems to update and where the package manifests are located.
-# Please see the documentation for all configuration options:
-# https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file
-
 version: 2
 updates:
-  - package-ecosystem: "npm" # See documentation for possible values
-    directory: "/electron" # Location of package manifests
+  - package-ecosystem: "npm"
+    directory: "/electron"
    schedule:
-      interval: "weekly"
+      interval: "monthly"
+    ignore:
+    - dependency-name: "*"
+      update-types:
+        - "version-update:semver-minor"

-  - package-ecosystem: "cargo" # See documentation for possible values
-    directory: "/" # Location of package manifests
+  - package-ecosystem: "cargo"
+    directory: "/"
    schedule:
-      interval: "weekly"
+      interval: "monthly"
+    ignore:
+      - dependency-name: "*"
+        update-types:
+          - "version-update:semver-minor"
@@ -36,6 +36,9 @@ jobs:
      - name: Install
        run: npm i

+      - name: Build
+        run: tsc
+
      - name: Format
        run: npm run format

@@ -45,5 +48,5 @@ jobs:
      - name: Test
        run: npm run test

-      - name: Build
+      - name: Package
        run: npm run package
@@ -21,6 +21,8 @@ jobs:
      - uses: actions/checkout@v4
      - name: Set Rust version
        run: rustup override set ${{ env.RUST_VERSION }}
+      - name: Install Formatter
+        run: rustup component add rustfmt
      - name: Cache Rust dependencies
        uses: actions/cache@v3
        with:
@@ -35,7 +37,12 @@ jobs:
            ${{ runner.os }}-${{ env.RUST_VERSION }}-cargo-

      - name: Build
+        env:
+          RUSTFLAGS: "-D warnings"
        run: cargo build --verbose

+      - name: Format
+        run: cargo fmt --check --verbose
+
      - name: Run tests
        run: cargo test --verbose
@@ -0,0 +1,49 @@
+# Canonical identities on the left, aliases on the right.
+# Format options:
+#   Canon Name <canon@example.com> <alias@example.com>
+#   Canon Name <canon@example.com> Alias Name <alias@example.com>
+
+# Icedsoda -> Philipp
+Philipp <29167146+1cedsoda@users.noreply.github.com> <29167146+1cedsoda@users.noreply.github.com>
+
+# kraemr / Robin Krämer -> Robin
+Robin <93094049+kraemr@users.noreply.github.com> <93094049+kraemr@users.noreply.github.com>
+Robin <93094049+kraemr@users.noreply.github.com> Robin Krämer <93094049+kraemr@users.noreply.github.com>
+
+# Oshgnacknak -> Josh
+Josh <osh@oshgnacknak.de> <osh@oshgnacknak.de>
+
+# Milan
+Milan <61654753+MilanVDB@users.noreply.github.com>
+
+# dependabot stays as bot
+Dependabot <49699333+dependabot[bot]@users.noreply.github.com> <49699333+dependabot[bot]@users.noreply.github.com>
+
+# Medformatik / Florian -> Florian
+Florian <dev@fwcr.de> <dev@fwcr.de>
+Florian <dev@fwcr.de> Medformatik <dev@fwcr.de>
+
+# Anatomik5 -> Alisher (merge noreply + gmail under Alisher)
+Alisher <115714693+Anatomik5@users.noreply.github.com> <115714693+Anatomik5@users.noreply.github.com>
+Alisher <115714693+Anatomik5@users.noreply.github.com> Anatomik5 <darmenovalisher@gmail.com>
+Alisher <115714693+Anatomik5@users.noreply.github.com> Darmenov Alisher <115714693+Anatomik5@users.noreply.github.com>
+
+# snacj -> Melvin
+Melvin <0xsnacj@proton.me> <0xsnacj@proton.me>
+Melvin <0xsnacj@proton.me> snacj <bbmelvin@gmx.de>
+Melvin <0xsnacj@proton.me> Melvin Spieß <0xsnacj@proton.me>
+
+# Janhegerq -> Jan
+Jan <219994445+Janhegerq@users.noreply.github.com> <219994445+Janhegerq@users.noreply.github.com>
+Jan <219994445+Janhegerq@users.noreply.github.com> <19994445+Janhegerq@users.noreply.github.com>
+
+# Christian / TheBest6337 -> christian
+Christian <christian.zschoegner@outlook.de> <christian.zschoegner@outlook.de>
+Christian <christian.zschoegner@outlook.de> TheBest6337 <christian.zschoegner@outlook.de>
+Christian <christian.zschoegner@outlook.de> Christian <80114847+TheBest6337@users.noreply.github.com>
+
+# nixos-install.sh
+nixos-install.sh <nixos-install.sh@localhost> <nixos-install.sh@localhost>
+
+# copilot-swe-agent bot
+Copilot <198982749+Copilot@users.noreply.github.com> <198982749+Copilot@users.noreply.github.com>
@@ -1,3 +1,60 @@
+# `2.6.0`
+_03.09.2025_
+
+## Extruder V2
+- [#658](https://github.com/qitechgmbh/control/pull/658) Added manual
+- [#639](https://github.com/qitechgmbh/control/pull/639) Swapped order of screw speed regulation buttons
+
+
+## Laser V1
+- [#642](https://github.com/qitechgmbh/control/pull/642) Improved stability of laser connection
+
+## General
+- [#657](https://github.com/qitechgmbh/control/pull/657) Time frame for graphs is now remembered
+- [#641](https://github.com/qitechgmbh/control/pull/641) Removed duplicate scrollbar from manuals
+
+# `2.5.0`
+_27.08.2025_
+
+## Extruder V2
+- [#595](https://github.com/qitechgmbh/control/pull/600) Simplified power graphs
+- [#593](https://github.com/qitechgmbh/control/pull/599) Added identifiers for temperature sensors in temperature graph
+
+## Winder V2
+- [#598](https://github.com/qitechgmbh/control/pull/601) Images now load properly in the manual
+
+## General
+- [#540](https://github.com/qitechgmbh/control/pull/592) Improved readability of the presets
+- [#591](https://github.com/qitechgmbh/control/pull/626) Significantly improved user interface performance and stability
+
+# `2.4.0`
+_14.08.2025_
+
+## Winder V2 
+- [#550](https://github.com/qitechgmbh/control/pull/551) Can now reset wound distance while winding
+  
+## General
+- [#568](https://github.com/qitechgmbh/control/pull/569),[#572](https://github.com/qitechgmbh/control/pull/572), [#574](https://github.com/qitechgmbh/control/pull/587) Improved EtherCAT performance 
+- [#588](https://github.com/qitechgmbh/control/pull/589) Improved frontend performance
+
+# `2.3.0`
+_06.08.2025_
+
+## Extruder V2
+- [#520](https://github.com/qitechgmbh/control/pull/523) added warning message incase inverter is overloaded
+- [#501](https://github.com/qitechgmbh/control/pull/508) raised pressure limit of pressured PID mode for extruder
+- [#519](https://github.com/qitechgmbh/control/pull/549) added total power consumption monitor and graphs for voltage,current and wattage of the motor
+
+## Winder V2 
+- [#64](https://github.com/qitechgmbh/control/pull/504) added winder handbook
+
+## Laser V1
+- [#497](https://github.com/qitechgmbh/control/pull/498) improved diameter visualisation
+
+## General
+- [#62](https://github.com/qitechgmbh/control/pull/514),[#524](https://github.com/qitechgmbh/control/pull/528) added machine presets to load configurations
+- [#526](https://github.com/qitechgmbh/control/pull/541) added import and export of presets
+
 # `2.2.0`

 _15.07.2025_
@@ -99,9 +99,9 @@ dependencies = [

 [[package]]
 name = "anyhow"
-version = "1.0.98"
+version = "1.0.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e16d2d3311acee920a9eb8d33b8cbc1787ce4a264e85f964c2404b969bdcd487"
+checksum = "b0674a1ddeecb70197781e945de4b3b8ffb61fa939a5597bcf48503737663100"

 [[package]]
 name = "approx"
@@ -256,7 +256,7 @@ checksum = "e539d3fca749fcee5236ab05e93a52867dd549cc157c8cb7f99595f3cedffdb5"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -273,7 +273,7 @@ checksum = "99e1aca718ea7b89985790c94aad72d77533063fe00bc497bb79a7c2dae6a661"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -345,7 +345,7 @@ checksum = "604fde5e028fea851ce1d8570bbdc034bec850d157f7569d10f347d06808c05c"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -539,7 +539,7 @@ dependencies = [
 "heck 0.5.0",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -581,6 +581,7 @@ dependencies = [
 "approx",
 "axum",
 "bitvec",
+ "control_core_derive",
 "core_affinity",
 "crc",
 "erased-serde",
@@ -599,6 +600,15 @@ dependencies = [
 "uom",
 ]

+[[package]]
+name = "control_core_derive"
+version = "0.1.0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.105",
+]
+
 [[package]]
 name = "core-foundation"
 version = "0.10.0"
@@ -728,7 +738,7 @@ dependencies = [
 "deluxe-macros",
 "once_cell",
 "proc-macro2",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -741,7 +751,7 @@ dependencies = [
 "proc-macro2",
 "quote",
 "strsim 0.10.0",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -756,7 +766,7 @@ dependencies = [
 "proc-macro-crate",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -767,7 +777,7 @@ checksum = "30542c1ad912e0e3d22a1935c290e12e8a29d704a420177a31faad4a601a0800"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -804,7 +814,7 @@ checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1019,7 +1029,7 @@ dependencies = [
 "deluxe",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1071,7 +1081,7 @@ dependencies = [
 "criterion",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1200,7 +1210,7 @@ checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1736,9 +1746,9 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"

 [[package]]
 name = "libc"
-version = "0.2.172"
+version = "0.2.175"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d750af042f7ef4f724306de029d18836c26c1765a54a6a3f094cbd23a7267ffa"
+checksum = "6a82ae493e598baaea5209805c49bbf2ea7de956d50d7da0da1164f9c6d28543"

 [[package]]
 name = "libloading"
@@ -1815,11 +1825,11 @@ dependencies = [

 [[package]]
 name = "matchers"
-version = "0.1.0"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8263075bb86c5a1b1427b5ae862e8889656f126e9f77c484496e8b47cf5c5558"
+checksum = "d1525a2a28c7f4fa0fc98bb91ae755d1e2d1505079e05539e35bc876b5d65ae9"
 dependencies = [
- "regex-automata 0.1.10",
+ "regex-automata",
 ]

 [[package]]
@@ -1943,12 +1953,11 @@ checksum = "43794a0ace135be66a25d3ae77d41b91615fb68ae937f904090203e81f755b65"

 [[package]]
 name = "nu-ansi-term"
-version = "0.46.0"
+version = "0.50.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77a8165726e8236064dbb45459242600304b42a5ea24ee2948e18e023bf7ba84"
+checksum = "d4a28e057d01f97e61255210fcff094d74ed0466038633e95017f5beb68e4399"
 dependencies = [
- "overload",
- "winapi",
+ "windows-sys 0.52.0",
 ]

 [[package]]
@@ -2076,12 +2085,6 @@ dependencies = [
 "thiserror",
 ]

-[[package]]
-name = "overload"
-version = "0.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
-
 [[package]]
 name = "parking"
 version = "2.2.1"
@@ -2175,7 +2178,7 @@ dependencies = [
 "pest_meta",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2206,7 +2209,7 @@ checksum = "6e918e4ff8c4549eb882f14b3a4bc8c8bc93de829416eacf579f1207a8fbf861"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2342,7 +2345,7 @@ dependencies = [
 "itertools",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2374,9 +2377,9 @@ checksum = "dc33ff2d4973d518d823d61aa239014831e521c75da58e3df4840d3f47749d09"

 [[package]]
 name = "rand"
-version = "0.9.1"
+version = "0.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fbfd9d094a40bf3ae768db9361049ace4c0e04a4fd6b359518bd7b73a73dd97"
+checksum = "6db2770f06117d490610c7488547d543617b21bfa07796d7a12f6f1bd53850d1"
 dependencies = [
 "rand_chacha",
 "rand_core",
@@ -2412,23 +2415,14 @@ dependencies = [

 [[package]]
 name = "regex"
-version = "1.11.1"
+version = "1.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b544ef1b4eac5dc2db33ea63606ae9ffcfac26c1416a2806ae0bf5f56b201191"
+checksum = "23d7fd106d8c02486a8d64e778353d1cffe08ce79ac2e82f540c86d0facf6912"
 dependencies = [
 "aho-corasick",
 "memchr",
- "regex-automata 0.4.9",
- "regex-syntax 0.8.5",
-]
-
-[[package]]
-name = "regex-automata"
-version = "0.1.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
-dependencies = [
- "regex-syntax 0.6.29",
+ "regex-automata",
+ "regex-syntax",
 ]

 [[package]]
@@ -2439,15 +2433,9 @@ checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
 dependencies = [
 "aho-corasick",
 "memchr",
- "regex-syntax 0.8.5",
+ "regex-syntax",
 ]

-[[package]]
-name = "regex-syntax"
-version = "0.6.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
-
 [[package]]
 name = "regex-syntax"
 version = "0.8.5"
@@ -2582,7 +2570,7 @@ checksum = "22f968c5ea23d555e670b449c1c5e7b2fc399fdaec1d304a17cd48e288abc107"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2602,14 +2590,14 @@ checksum = "5b0276cf7f2c73365f7157c8123c21cd9a50fbbd844757af28ca1f5925fc2a00"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
 name = "serde_json"
-version = "1.0.140"
+version = "1.0.143"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20068b6e96dc6c9bd23e01df8827e6c7e1f2fddd43c21810382803c136b99373"
+checksum = "d401abef1d108fbd9cbaebc3e46611f4b1021f714a0597a71f41ee463f5f4a5a"
 dependencies = [
 "itoa",
 "memchr",
@@ -2683,9 +2671,9 @@ dependencies = [

 [[package]]
 name = "serialport"
-version = "4.7.1"
+version = "4.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2daa7abb9b965493e3c8f4184c6f46435484ff2538a332b886788cf6768b927b"
+checksum = "2acaf3f973e8616d7ceac415f53fc60e190b2a686fbcf8d27d0256c741c5007b"
 dependencies = [
 "bitflags 2.9.0",
 "cfg-if",
@@ -2709,6 +2697,7 @@ dependencies = [
 "axum",
 "bitvec",
 "control_core",
+ "control_core_derive",
 "crc",
 "dhat",
 "ethercat_hal",
@@ -2723,7 +2712,6 @@ dependencies = [
 "regex",
 "serde",
 "serde_json",
- "serial",
 "serialport",
 "smol",
 "socketioxide",
@@ -2856,9 +2844,9 @@ dependencies = [

 [[package]]
 name = "socketioxide"
-version = "0.17.1"
+version = "0.17.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85fe8a90fd0cdac0bcb7b3c40c1084f5658f8737c62dfb277f5620cf78f3849a"
+checksum = "476190583b592f1e3d55584269600f2d3c4f18af36adad03c41c27e82dcb6bd5"
 dependencies = [
 "bytes",
 "engineioxide",
@@ -2963,9 +2951,9 @@ dependencies = [

 [[package]]
 name = "syn"
-version = "2.0.101"
+version = "2.0.105"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ce2b7fc941b3a24138a0a7cf8e858bfc6a992e7978a068a5c760deb0ed43caf"
+checksum = "7bc3fcb250e53458e712715cf74285c1f889686520d79294a9ef3bd7aa1fc619"
 dependencies = [
 "proc-macro2",
 "quote",
@@ -2989,7 +2977,7 @@ checksum = "728a70f3dbaf5bab7f0c4b1ac8d7ae5ea60a4b5549c8a5914361c99147a709d2"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3034,7 +3022,7 @@ checksum = "7f7cf42b4507d8ea322120659672cf1b9dbb93f8f2d4ecfd6e51350ff5b17a1d"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3045,16 +3033,16 @@ checksum = "3bf63baf9f5039dadc247375c29eb13706706cfde997d0330d05aa63a77d8820"

 [[package]]
 name = "thread-priority"
-version = "1.2.0"
+version = "2.1.0"
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-checksum = "cfe075d7053dae61ac5413a34ea7d4913b6e6207844fd726bdd858b37ff72bf5"
+checksum = "cd4ef372b29fbcc6cb0cef97bcbf3ffa9da90e02eb23dbf14db48ce30d11d2d5"
 dependencies = [
 "bitflags 2.9.0",
 "cfg-if",
 "libc",
 "log",
 "rustversion",
- "winapi",
+ "windows",
 ]

 [[package]]
@@ -3129,9 +3117,9 @@ dependencies = [

 [[package]]
 name = "tokio"
-version = "1.45.0"
+version = "1.45.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2513ca694ef9ede0fb23fe71a4ee4107cb102b9dc1930f6d0fd77aae068ae165"
+checksum = "75ef51a33ef1da925cea3e4eb122833cb377c61439ca401b770f54902b806779"
 dependencies = [
 "backtrace",
 "bytes",
@@ -3151,7 +3139,7 @@ checksum = "6e06d43f1345a3bcd39f6a56dbb7dcab2ba47e68e8ac134855e7e2bdbaf8cab8"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3313,7 +3301,7 @@ checksum = "395ae124c09f9e6918a2310af6038fba074bcf474ac352496d5910dd59a2226d"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3378,15 +3366,15 @@ dependencies = [

 [[package]]
 name = "tracing-subscriber"
-version = "0.3.19"
+version = "0.3.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e8189decb5ac0fa7bc8b96b7cb9b2701d60d48805aca84a238004d665fcc4008"
+checksum = "2054a14f5307d601f88daf0553e1cbf472acc4f2c51afab632431cdcd72124d5"
 dependencies = [
 "chrono",
 "matchers",
 "nu-ansi-term",
 "once_cell",
- "regex",
+ "regex-automata",
 "sharded-slab",
 "smallvec",
 "thread_local",
@@ -3570,7 +3558,7 @@ dependencies = [
 "log",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "wasm-bindgen-shared",
 ]

@@ -3605,7 +3593,7 @@ checksum = "8ae87ea40c9f689fc23f209965b6fb8a99ad69aeeb0231408be24920604395de"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "wasm-bindgen-backend",
 "wasm-bindgen-shared",
 ]
@@ -3670,6 +3658,28 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"

+[[package]]
+name = "windows"
+version = "0.61.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9babd3a767a4c1aef6900409f85f5d53ce2544ccdfaa86dad48c91782c6d6893"
+dependencies = [
+ "windows-collections",
+ "windows-core",
+ "windows-future",
+ "windows-link",
+ "windows-numerics",
+]
+
+[[package]]
+name = "windows-collections"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3beeceb5e5cfd9eb1d76b381630e82c4241ccd0d27f1a39ed41b2760b255c5e8"
+dependencies = [
+ "windows-core",
+]
+
 [[package]]
 name = "windows-core"
 version = "0.61.2"
@@ -3683,6 +3693,17 @@ dependencies = [
 "windows-strings 0.4.2",
 ]

+[[package]]
+name = "windows-future"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fc6a41e98427b19fe4b73c550f060b59fa592d7d686537eebf9385621bfbad8e"
+dependencies = [
+ "windows-core",
+ "windows-link",
+ "windows-threading",
+]
+
 [[package]]
 name = "windows-implement"
 version = "0.60.0"
@@ -3691,7 +3712,7 @@ checksum = "a47fddd13af08290e67f4acabf4b459f647552718f683a7b415d290ac744a836"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3702,14 +3723,24 @@ checksum = "bd9211b69f8dcdfa817bfd14bf1c97c9188afa36f4750130fcdf3f400eca9fa8"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
 name = "windows-link"
-version = "0.1.1"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76840935b766e1b0a05c0066835fb9ec80071d4c09a16f6bd5f7e655e3c14c38"
+checksum = "5e6ad25900d524eaabdbbb96d20b4311e1e7ae1699af4fb28c17ae66c80d798a"
+
+[[package]]
+name = "windows-numerics"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9150af68066c4c5c07ddc0ce30421554771e528bde427614c61038bc2c92c2b1"
+dependencies = [
+ "windows-core",
+ "windows-link",
+]

 [[package]]
 name = "windows-registry"
@@ -3812,6 +3843,15 @@ dependencies = [
 "windows_x86_64_msvc 0.53.0",
 ]

+[[package]]
+name = "windows-threading"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b66463ad2e0ea3bbf808b7f1d371311c80e115c0b71d60efc142cafbcfb057a6"
+dependencies = [
+ "windows-link",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.52.6"
@@ -3991,7 +4031,7 @@ checksum = "38da3c9736e16c5d3c8c597a9aaa5d1fa565d0532ae05e27c24aa62fb32c0ab6"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "synstructure",
 ]

@@ -4012,7 +4052,7 @@ checksum = "28a6e20d751156648aa063f3800b706ee209a32c0b4d9f24be3d980b01be55ef"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -4032,7 +4072,7 @@ checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "synstructure",
 ]

@@ -4066,5 +4106,5 @@ checksum = "5b96237efa0c878c64bd89c436f661be4e46b2f3eff1ebb976f7ef2321d2f58f"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]
@@ -4,7 +4,7 @@ members = [
    "ethercat-hal",
    "ethercat-hal-derive",
    "control-core",
-    "ethercat-eeprom-dump",
+    "ethercat-eeprom-dump", "control-core-derive",
 ]
 exclude = []
 resolver = "2"
@@ -4,6 +4,9 @@

 QiTech Control is an industrial control panel software for the next generation of QiTech recycling machines built on top of Beckhoff Automation hardware.

+[![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)
+*Click here to watch a video demo of our software.*
+
 # Repo Structure

 Frontend
@@ -41,6 +44,8 @@ We could combine the code of the frontend and backend using [Doxius](https://dio

 # Dev Setup

+[Developer Documentation](./docs/developer-docs/)
+
 ## Backend

 - Rust stable 1.86^ toolchain (install via [rustup](https://rustup.rs/))
@@ -66,7 +71,6 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
 | Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Not Yet     |                                 |
 | Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Not Yet     | -                               |

-
 # More Docs

 - [x] [Architecture & Data Flow](./docs/architecture-overview.md)
@@ -90,8 +94,9 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
    - Write Device Identification

 - Server
-  - [X] [Threading](./docs/control-loop.md)
-  - [X] [Logging](./docs/logging.md)
+
+  - [x] [Threading](./docs/control-loop.md)
+  - [x] [Logging](./docs/logging.md)
  - [ ] Control Loop Setup
    - Control Loop Thread
      - [ ] realtime
@@ -1,13 +1,31 @@
 #!/bin/bash

-if [ $1 == "release" ]; then
+set -e
+
+FEATURE=""
+
+# Check if "mock-machine" was passed as an argument
+if [[ "$1" == "mock-machine" ]]; then
+    echo "Building Debug Code with mock-machine feature"
+    FEATURE="--features mock-machine"
+fi
+
+if [[ "$1" == "release" ]]; then
    echo "building Release Code"
    cargo build --release
 else
-    echo "building Debug Code"
-    cargo build
+    echo "Building Debug Code"
+    cargo build $FEATURE
 fi
-# set cap for server executable
-sudo setcap cap_net_raw=eip ./target/debug/server
+
+# Only setcap if not building with mock-machine
+if [ "$1" != "mock-machine" ]; then
+    echo "Setting capabilities for server executable"
+    sudo setcap 'cap_net_raw,cap_sys_nice=eip' ./target/debug/server
+
+    echo "Setting permissions for serial ports"
+    sudo chown "root:$USER" /dev/ttyUSB*
+fi
+
 # run
 ./target/debug/server
@@ -0,0 +1,12 @@
+[package]
+name = "control_core_derive"
+version = "0.1.0"
+edition = "2024"
+
+[lib]
+proc-macro = true
+
+[dependencies]
+proc-macro2 = "1.0"
+quote = "1.0"
+syn = { version = "2.0", features = ["full"] }
@@ -0,0 +1,31 @@
+use proc_macro::TokenStream;
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use syn::{DeriveInput, Error};
+
+#[proc_macro_derive(BuildEvent)]
+pub fn build_event_derive(item: TokenStream) -> TokenStream {
+    build_event_derive2(item.into()).unwrap().into()
+}
+
+fn build_event_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
+    // Parse the input tokens into a syntax tree
+    let ast: DeriveInput = syn::parse2(item)?;
+
+    let ident = &ast.ident;
+    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
+
+    // Generate the BuildEvent impl
+    let expanded = quote! {
+        impl #impl_generics control_core::socketio::event::BuildEvent for #ident #ty_generics #where_clause {
+            #[doc = "Implemented by the BuildEvent derive macro"]
+            fn build(&self) -> control_core::socketio::event::Event<Self> {
+
+                control_core::socketio::event::Event::new(stringify!(#ident), self.clone())
+
+            }
+        }
+    };
+
+    Ok(expanded)
+}
@@ -4,16 +4,16 @@ version = "0.1.0"
 edition = "2024"

 [dependencies]
-anyhow = "1.0.98"
+anyhow = "1.0.99"
 axum = "0.8.4"
 ethercat_hal = { path = "../ethercat-hal" }
 ethercrab = "0.6"
 interfaces = "0.0.9"
 serde = "1.0.219"
-serde_json = "1.0.140"
-serialport = "4.7.1"
+serde_json =  "1.0.143"
+serialport = "4.7.3"
 smol = "2.0.2"
-socketioxide = "0.17.1"
+socketioxide = "0.17.2"
 uom = "0.36.0"
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
@@ -21,9 +21,11 @@ serial = "0.4.0"
 tracing = "0.1.41"
 erased-serde = "0.4.6"
 core_affinity = "0.8.3"
+control_core_derive = { version = "0.1.0", path = "../control-core-derive" }
+

 [target.'cfg(unix)'.dependencies]
-libc = "0.2.172"
+libc = "0.2.175"

 [dev-dependencies]
 approx = "0.5.1"
@@ -44,10 +44,10 @@ impl AccelerationSpeedController {
    /// No speed limits are applied.
    pub fn new_simple(max_acceleration: f64, initial_speed: f64) -> Self {
        Self::new(
-            None,                    // min_speed
-            None,                    // max_speed
-            -max_acceleration,       // min_acceleration (deceleration)
-            max_acceleration,        // max_acceleration
+            None,              // min_speed
+            None,              // max_speed
+            -max_acceleration, // min_acceleration (deceleration)
+            max_acceleration,  // max_acceleration
            initial_speed,
        )
    }
@@ -37,12 +37,15 @@ impl AngularAccelerationSpeedController {
    /// Creates a new angular acceleration speed controller with simplified parameters.
    /// Sets min_acceleration to -max_acceleration for symmetric behavior.
    /// No speed limits are applied.
-    pub fn new_simple(max_acceleration: AngularAcceleration, initial_speed: AngularVelocity) -> Self {
+    pub fn new_simple(
+        max_acceleration: AngularAcceleration,
+        initial_speed: AngularVelocity,
+    ) -> Self {
        Self::new(
-            None,                    // min_speed
-            None,                    // max_speed
-            -max_acceleration,       // min_acceleration (deceleration)
-            max_acceleration,        // max_acceleration
+            None,              // min_speed
+            None,              // max_speed
+            -max_acceleration, // min_acceleration (deceleration)
+            max_acceleration,  // max_acceleration
            initial_speed,
        )
    }
@@ -38,10 +38,10 @@ impl LinearAccelerationLimitingController {
    /// No speed limits are applied.
    pub fn new_simple(acceleration: Acceleration, initial_speed: Velocity) -> Self {
        Self::new(
-            None,           // min_speed
-            None,           // max_speed
-            acceleration,   // acceleration
-            -acceleration,  // deceleration (negative for deceleration)
+            None,          // min_speed
+            None,          // max_speed
+            acceleration,  // acceleration
+            -acceleration, // deceleration (negative for deceleration)
            initial_speed,
        )
    }
@@ -0,0 +1,279 @@
+//! # Circular Converter
+//!
+//! This module provides the `CircularConverter` which handles transformations between
+//! linear and angular measurements for circular motion systems.
+//!
+//! ## Usage
+//!
+//! The `CircularConverter` is designed to work alongside other converters:
+//! - Use `AngularStepConverter` for angular-to-step conversions
+//! - Use `LinearStepConverter` for complete linear-to-step conversions (uses `CircularConverter` internally)
+//! - Use `CircularConverter` directly when you need linear-to-angular conversions without steps
+//!
+//! ## Examples
+//!
+//! ```rust
+//! use control_core::converters::circular_converter::CircularConverter;
+//! use uom::si::{f64::{Length, Velocity}, length::meter, velocity::meter_per_second};
+//!
+//! let converter = CircularConverter::from_radius(Length::new::<meter>(0.1));
+//! let velocity = Velocity::new::<meter_per_second>(1.0);
+//! let angular_velocity = converter.linear_to_angular_velocity(velocity);
+//! ```
+
+use uom::si::{
+    acceleration::meter_per_second_squared,
+    angle::radian,
+    angular_acceleration::radian_per_second_squared,
+    angular_velocity::radian_per_second,
+    f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
+    length::meter,
+    velocity::meter_per_second,
+};
+
+/// A converter that handles transformations between linear and angular measurements
+/// for circular motion. This includes conversions for position, velocity, acceleration,
+/// and higher-order derivatives based on a circle's geometric properties.
+#[derive(Debug, Clone)]
+pub struct CircularConverter {
+    radius: Length,
+    circumference: Length,
+    diameter: Length,
+}
+
+impl CircularConverter {
+    /// Create a new converter from radius
+    pub fn from_radius(radius: Length) -> Self {
+        let diameter = radius * 2.0;
+        let circumference =
+            Length::new::<meter>(2.0 * std::f64::consts::PI * radius.get::<meter>());
+        Self {
+            radius,
+            diameter,
+            circumference,
+        }
+    }
+
+    /// Create a new converter from diameter
+    pub fn from_diameter(diameter: Length) -> Self {
+        let radius = diameter / 2.0;
+        Self::from_radius(radius)
+    }
+
+    /// Create a new converter from circumference
+    pub fn from_circumference(circumference: Length) -> Self {
+        let radius =
+            Length::new::<meter>(circumference.get::<meter>() / (2.0 * std::f64::consts::PI));
+        Self::from_radius(radius)
+    }
+
+    /// Get the radius
+    pub fn radius(&self) -> Length {
+        self.radius
+    }
+
+    /// Get the diameter
+    pub fn diameter(&self) -> Length {
+        self.diameter
+    }
+
+    /// Get the circumference
+    pub fn circumference(&self) -> Length {
+        self.circumference
+    }
+
+    // Linear to Angular Position Conversions
+
+    /// Convert linear distance to angular position
+    /// Formula: angle = distance / radius
+    pub fn linear_to_angular_position(&self, distance: Length) -> Angle {
+        let angle_rad = distance.get::<meter>() / self.radius.get::<meter>();
+        Angle::new::<radian>(angle_rad)
+    }
+
+    /// Convert angular position to linear distance
+    /// Formula: distance = angle * radius
+    pub fn angular_to_linear_position(&self, angle: Angle) -> Length {
+        let distance = angle.get::<radian>() * self.radius.get::<meter>();
+        Length::new::<meter>(distance)
+    }
+
+    // Linear to Angular Velocity Conversions
+
+    /// Convert linear velocity to angular velocity
+    /// Formula: angular_velocity = linear_velocity / radius
+    pub fn linear_to_angular_velocity(&self, velocity: Velocity) -> AngularVelocity {
+        let angular_velocity_rad_per_s =
+            velocity.get::<meter_per_second>() / self.radius.get::<meter>();
+        AngularVelocity::new::<radian_per_second>(angular_velocity_rad_per_s)
+    }
+
+    /// Convert angular velocity to linear velocity
+    /// Formula: linear_velocity = angular_velocity * radius
+    pub fn angular_to_linear_velocity(&self, angular_velocity: AngularVelocity) -> Velocity {
+        let velocity = angular_velocity.get::<radian_per_second>() * self.radius.get::<meter>();
+        Velocity::new::<meter_per_second>(velocity)
+    }
+
+    // Linear to Angular Acceleration Conversions
+
+    /// Convert linear acceleration to angular acceleration
+    /// Formula: angular_acceleration = linear_acceleration / radius
+    pub fn linear_to_angular_acceleration(
+        &self,
+        acceleration: Acceleration,
+    ) -> AngularAcceleration {
+        let angular_acceleration_rad_per_s2 =
+            acceleration.get::<meter_per_second_squared>() / self.radius.get::<meter>();
+        AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2)
+    }
+
+    /// Convert angular acceleration to linear acceleration
+    /// Formula: linear_acceleration = angular_acceleration * radius
+    pub fn angular_to_linear_acceleration(
+        &self,
+        angular_acceleration: AngularAcceleration,
+    ) -> Acceleration {
+        let acceleration =
+            angular_acceleration.get::<radian_per_second_squared>() * self.radius.get::<meter>();
+        Acceleration::new::<meter_per_second_squared>(acceleration)
+    }
+
+    // Jerk Conversions (using f64 for now since UOM may not have jerk units)
+
+    /// Convert linear jerk to angular jerk
+    /// Formula: angular_jerk = linear_jerk / radius
+    /// Units: rad/s³ = (m/s³) / m
+    pub fn linear_to_angular_jerk(&self, linear_jerk: f64) -> f64 {
+        linear_jerk / self.radius.get::<meter>()
+    }
+
+    /// Convert angular jerk to linear jerk
+    /// Formula: linear_jerk = angular_jerk * radius
+    /// Units: m/s³ = (rad/s³) * m
+    pub fn angular_to_linear_jerk(&self, angular_jerk: f64) -> f64 {
+        angular_jerk * self.radius.get::<meter>()
+    }
+
+    // Arc Length Calculations
+
+    /// Calculate arc length from angle
+    /// Formula: arc_length = angle * radius
+    pub fn angle_to_arc_length(&self, angle: Angle) -> Length {
+        self.angular_to_linear_position(angle)
+    }
+
+    /// Calculate angle from arc length
+    /// Formula: angle = arc_length / radius
+    pub fn arc_length_to_angle(&self, arc_length: Length) -> Angle {
+        self.linear_to_angular_position(arc_length)
+    }
+
+    // Circumference-based calculations
+
+    /// Convert linear distance to number of revolutions
+    /// Formula: revolutions = distance / circumference
+    pub fn linear_distance_to_revolutions(&self, distance: Length) -> f64 {
+        distance.get::<meter>() / self.circumference.get::<meter>()
+    }
+
+    /// Convert number of revolutions to linear distance
+    /// Formula: distance = revolutions * circumference
+    pub fn revolutions_to_linear_distance(&self, revolutions: f64) -> Length {
+        Length::new::<meter>(revolutions * self.circumference.get::<meter>())
+    }
+
+    /// Convert linear velocity to revolutions per second
+    /// Formula: rps = velocity / circumference
+    pub fn linear_velocity_to_rps(&self, velocity: Velocity) -> f64 {
+        velocity.get::<meter_per_second>() / self.circumference.get::<meter>()
+    }
+
+    /// Convert revolutions per second to linear velocity
+    /// Formula: velocity = rps * circumference
+    pub fn rps_to_linear_velocity(&self, rps: f64) -> Velocity {
+        Velocity::new::<meter_per_second>(rps * self.circumference.get::<meter>())
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use uom::si::length::centimeter;
+
+    #[test]
+    fn test_constructors() {
+        let radius = Length::new::<centimeter>(5.0);
+        let diameter = Length::new::<centimeter>(10.0);
+        let circumference = Length::new::<centimeter>(2.0 * std::f64::consts::PI * 5.0);
+
+        let converter1 = CircularConverter::from_radius(radius);
+        let converter2 = CircularConverter::from_diameter(diameter);
+        let converter3 = CircularConverter::from_circumference(circumference);
+
+        // All should have approximately the same values
+        assert!((converter1.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
+        assert!((converter2.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
+        assert!((converter3.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
+
+        assert!((converter1.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
+        assert!((converter2.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
+        assert!((converter3.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
+    }
+
+    #[test]
+    fn test_position_conversions() {
+        let converter = CircularConverter::from_radius(Length::new::<meter>(1.0));
+
+        // Test linear to angular
+        let distance = Length::new::<meter>(std::f64::consts::PI);
+        let angle = converter.linear_to_angular_position(distance);
+        assert!((angle.get::<radian>() - std::f64::consts::PI).abs() < 1e-10);
+
+        // Test angular to linear
+        let angle = Angle::new::<radian>(std::f64::consts::PI / 2.0);
+        let distance = converter.angular_to_linear_position(angle);
+        assert!((distance.get::<meter>() - std::f64::consts::PI / 2.0).abs() < 1e-10);
+    }
+
+    #[test]
+    fn test_velocity_conversions() {
+        let converter = CircularConverter::from_radius(Length::new::<meter>(0.5));
+
+        // Test linear to angular
+        let velocity = Velocity::new::<meter_per_second>(1.0);
+        let angular_velocity = converter.linear_to_angular_velocity(velocity);
+        assert!((angular_velocity.get::<radian_per_second>() - 2.0).abs() < 1e-10);
+
+        // Test angular to linear
+        let angular_velocity = AngularVelocity::new::<radian_per_second>(4.0);
+        let velocity = converter.angular_to_linear_velocity(angular_velocity);
+        assert!((velocity.get::<meter_per_second>() - 2.0).abs() < 1e-10);
+    }
+
+    #[test]
+    fn test_revolution_conversions() {
+        let converter = CircularConverter::from_radius(Length::new::<meter>(1.0));
+
+        // One full revolution should equal circumference
+        let revolutions = 1.0;
+        let distance = converter.revolutions_to_linear_distance(revolutions);
+        assert!((distance.get::<meter>() - converter.circumference().get::<meter>()).abs() < 1e-10);
+
+        // Converting back should give 1 revolution
+        let calculated_revolutions = converter.linear_distance_to_revolutions(distance);
+        assert!((calculated_revolutions - 1.0).abs() < 1e-10);
+    }
+
+    #[test]
+    fn test_jerk_conversions() {
+        let converter = CircularConverter::from_radius(Length::new::<meter>(2.0));
+
+        let linear_jerk = 4.0; // m/s³
+        let angular_jerk = converter.linear_to_angular_jerk(linear_jerk);
+        assert!((angular_jerk - 2.0).abs() < 1e-10); // 4.0 / 2.0 = 2.0 rad/s³
+
+        let calculated_linear_jerk = converter.angular_to_linear_jerk(angular_jerk);
+        assert!((calculated_linear_jerk - linear_jerk).abs() < 1e-10);
+    }
+}
@@ -1,14 +1,11 @@
 use uom::si::{
-    acceleration::meter_per_second_squared,
    angle::revolution,
-    angular_acceleration::radian_per_second_squared,
    angular_velocity::revolution_per_second,
    f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
-    length::meter,
-    velocity::meter_per_second,
 };

 use super::angular_step_converter::AngularStepConverter;
+use super::circular_converter::CircularConverter;

 /// Converts between linear measurements and motor steps
 ///
@@ -18,53 +15,48 @@ use super::angular_step_converter::AngularStepConverter;
 #[derive(Debug, Clone)]
 pub struct LinearStepConverter {
    angular_step_converter: AngularStepConverter,
-    radius: Length,
-    circumference: Length,
+    circular_converter: CircularConverter,
 }

 // Constructor and basic getters
 impl LinearStepConverter {
    /// Create a new converter from radius and steps per revolution
    pub fn from_radius(steps_per_revolution: i16, radius: Length) -> Self {
-        let circumference =
-            Length::new::<meter>(2.0 * std::f64::consts::PI * radius.get::<meter>());
        Self {
            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            radius,
-            circumference,
+            circular_converter: CircularConverter::from_radius(radius),
        }
    }

    /// Create a new converter from diameter and steps per revolution
    pub fn from_diameter(steps_per_revolution: i16, diameter: Length) -> Self {
-        let radius = diameter / 2.0;
-        Self::from_radius(steps_per_revolution, radius)
+        Self {
+            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
+            circular_converter: CircularConverter::from_diameter(diameter),
+        }
    }

    /// Create a new converter from circumference and steps per revolution
    pub fn from_circumference(steps_per_revolution: i16, circumference: Length) -> Self {
-        let radius =
-            Length::new::<meter>(circumference.get::<meter>() / (2.0 * std::f64::consts::PI));
        Self {
            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            radius,
-            circumference,
+            circular_converter: CircularConverter::from_circumference(circumference),
        }
    }

    /// Get the radius used by the converter
    pub fn radius(&self) -> Length {
-        self.radius
+        self.circular_converter.radius()
    }

    /// Get the diameter of the system
    pub fn diameter(&self) -> Length {
-        self.radius * 2.0
+        self.circular_converter.diameter()
    }

    /// Get the circumference of the system
    pub fn circumference(&self) -> Length {
-        self.circumference
+        self.circular_converter.circumference()
    }

    /// Get the steps per revolution
@@ -79,8 +71,10 @@ impl LinearStepConverter {
    ///
    /// Formula: steps = (distance / circumference) * steps_per_revolution
    pub fn distance_to_steps(&self, distance: Length) -> f64 {
-        // Convert distance to angle: angle = distance/circumference (in revolutions)
-        let revolutions = distance.get::<meter>() / self.circumference.get::<meter>();
+        // Convert distance to revolutions using CircularConverter
+        let revolutions = self
+            .circular_converter
+            .linear_distance_to_revolutions(distance);
        let angle = Angle::new::<revolution>(revolutions);

        // Convert angle to steps
@@ -94,21 +88,19 @@ impl LinearStepConverter {
        // Convert steps to angle
        let angle = self.angular_step_converter.steps_to_angle(steps);

-        // Convert angle to distance: distance = angle * circumference
+        // Convert angle to distance using CircularConverter
        let revolutions = angle.get::<revolution>();
-        let distance = revolutions * self.circumference.get::<meter>();
-
-        Length::new::<meter>(distance)
+        self.circular_converter
+            .revolutions_to_linear_distance(revolutions)
    }

    /// Convert linear velocity to steps/second
    ///
    /// Formula: steps/second = (velocity / circumference) * steps_per_revolution
    pub fn velocity_to_steps(&self, velocity: Velocity) -> f64 {
-        // Convert linear velocity to angular velocity: ω = v/circumference (in rev/s)
-        let linear_velocity = velocity.get::<meter_per_second>();
-        let angular_velocity_rps = linear_velocity / self.circumference.get::<meter>();
-        let angular_velocity = AngularVelocity::new::<revolution_per_second>(angular_velocity_rps);
+        // Convert linear velocity to revolutions per second using CircularConverter
+        let rps = self.circular_converter.linear_velocity_to_rps(velocity);
+        let angular_velocity = AngularVelocity::new::<revolution_per_second>(rps);

        // Convert angular velocity to steps/second
        self.angular_step_converter
@@ -124,23 +116,19 @@ impl LinearStepConverter {
            .angular_step_converter
            .steps_to_angular_velocity(steps_per_second);

-        // Convert angular velocity to linear velocity: v = ω * circumference
-        let angular_velocity_rps = angular_velocity.get::<revolution_per_second>();
-        let linear_velocity = angular_velocity_rps * self.circumference.get::<meter>();
-
-        Velocity::new::<meter_per_second>(linear_velocity)
+        // Convert angular velocity to linear velocity using CircularConverter
+        let rps = angular_velocity.get::<revolution_per_second>();
+        self.circular_converter.rps_to_linear_velocity(rps)
    }

    /// Convert linear acceleration to steps/second²
    ///
    /// Formula: steps/second² = (acceleration / radius) * (steps_per_revolution / (2π))
    pub fn acceleration_to_steps(&self, acceleration: Acceleration) -> f64 {
-        // Convert linear acceleration to angular acceleration: α = a/r
-        let linear_acceleration = acceleration.get::<meter_per_second_squared>();
-        // Calculate angular acceleration in radians per second squared
-        let angular_acceleration_rad_per_s2 = linear_acceleration / self.radius.get::<meter>();
-        let angular_acceleration =
-            AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2);
+        // Convert linear acceleration to angular acceleration using CircularConverter
+        let angular_acceleration = self
+            .circular_converter
+            .linear_to_angular_acceleration(acceleration);

        // Convert angular acceleration to steps/second²
        self.angular_step_converter
@@ -156,12 +144,9 @@ impl LinearStepConverter {
            .angular_step_converter
            .steps_to_angular_acceleration(steps_per_second_squared);

-        // Convert angular acceleration to linear acceleration: a = α * r
-        let angular_acceleration_rad_per_s2 =
-            angular_acceleration.get::<radian_per_second_squared>();
-        let linear_acceleration = angular_acceleration_rad_per_s2 * self.radius.get::<meter>();
-
-        Acceleration::new::<meter_per_second_squared>(linear_acceleration)
+        // Convert angular acceleration to linear acceleration using CircularConverter
+        self.circular_converter
+            .angular_to_linear_acceleration(angular_acceleration)
    }
 }

@@ -171,7 +156,9 @@ impl LinearStepConverter {
    ///
    /// Formula: angle (in revolutions) = distance / circumference
    pub fn distance_to_angle(&self, distance: Length) -> Angle {
-        let revolutions = distance.get::<meter>() / self.circumference.get::<meter>();
+        let revolutions = self
+            .circular_converter
+            .linear_distance_to_revolutions(distance);
        Angle::new::<revolution>(revolutions)
    }

@@ -180,26 +167,24 @@ impl LinearStepConverter {
    /// Formula: distance = angle (in revolutions) * circumference
    pub fn angle_to_distance(&self, angle: Angle) -> Length {
        let revolutions = angle.get::<revolution>();
-        let distance = revolutions * self.circumference.get::<meter>();
-        Length::new::<meter>(distance)
+        self.circular_converter
+            .revolutions_to_linear_distance(revolutions)
    }

    /// Convert linear velocity to angular velocity
    ///
    /// Formula: angular velocity (in rev/s) = velocity / circumference
    pub fn velocity_to_angular_velocity(&self, velocity: Velocity) -> AngularVelocity {
-        let linear_velocity = velocity.get::<meter_per_second>();
-        let angular_velocity_rps = linear_velocity / self.circumference.get::<meter>();
-        AngularVelocity::new::<revolution_per_second>(angular_velocity_rps)
+        let rps = self.circular_converter.linear_velocity_to_rps(velocity);
+        AngularVelocity::new::<revolution_per_second>(rps)
    }

    /// Convert angular velocity to linear velocity
    ///
    /// Formula: velocity = angular velocity (in rev/s) * circumference
    pub fn angular_velocity_to_velocity(&self, angular_velocity: AngularVelocity) -> Velocity {
-        let angular_velocity_rps = angular_velocity.get::<revolution_per_second>();
-        let linear_velocity = angular_velocity_rps * self.circumference.get::<meter>();
-        Velocity::new::<meter_per_second>(linear_velocity)
+        let rps = angular_velocity.get::<revolution_per_second>();
+        self.circular_converter.rps_to_linear_velocity(rps)
    }

    /// Convert linear acceleration to angular acceleration
@@ -209,9 +194,8 @@ impl LinearStepConverter {
        &self,
        acceleration: Acceleration,
    ) -> AngularAcceleration {
-        let linear_acceleration = acceleration.get::<meter_per_second_squared>();
-        let angular_acceleration_rad_per_s2 = linear_acceleration / self.radius.get::<meter>();
-        AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2)
+        self.circular_converter
+            .linear_to_angular_acceleration(acceleration)
    }

    /// Convert angular acceleration to linear acceleration
@@ -221,10 +205,8 @@ impl LinearStepConverter {
        &self,
        angular_acceleration: AngularAcceleration,
    ) -> Acceleration {
-        let angular_acceleration_rad_per_s2 =
-            angular_acceleration.get::<radian_per_second_squared>();
-        let linear_acceleration = angular_acceleration_rad_per_s2 * self.radius.get::<meter>();
-        Acceleration::new::<meter_per_second_squared>(linear_acceleration)
+        self.circular_converter
+            .angular_to_linear_acceleration(angular_acceleration)
    }
 }

@@ -269,6 +251,10 @@ mod tests {
    use super::*;
    use approx::assert_relative_eq;
    use std::f64::EPSILON;
+    use uom::si::{
+        acceleration::meter_per_second_squared, angular_acceleration::radian_per_second_squared,
+        length::meter, velocity::meter_per_second,
+    };

    #[test]
    fn test_new() {
@@ -1,5 +1,5 @@
 pub mod angle_converter;
 pub mod angular_step_converter;
+pub mod circular_converter;
 pub mod linear_step_converter;
 pub mod motor_converter;
-pub mod transmission_converter;
@@ -1,22 +0,0 @@
-use uom::si::f64::AngularVelocity;
-
-#[derive(Debug, Clone)]
-pub struct TransmissionConverter {
-    pub transmission_ratio: f64,
-}
-
-impl TransmissionConverter {
-    pub fn new() -> Self {
-        Self {
-            transmission_ratio: 34.0,
-        }
-    }
-
-    pub fn calculate_screw_output_rpm(&self, rpm: AngularVelocity) -> AngularVelocity {
-        rpm / self.transmission_ratio
-    }
-
-    pub fn calculate_screw_input_rpm(&self, screw_rpm: AngularVelocity) -> AngularVelocity {
-        screw_rpm * self.transmission_ratio
-    }
-}
@@ -4,8 +4,10 @@ use ethercat_hal::devices::ek1100::EK1100_IDENTITY_A;
 use ethercat_hal::devices::el1002::EL1002_IDENTITY_A;
 use ethercat_hal::devices::el1008::EL1008_IDENTITY_A;
 use ethercat_hal::devices::el2002::EL2002_IDENTITY_A;
+use ethercat_hal::devices::el2002::EL2002_IDENTITY_B;
 use ethercat_hal::devices::el2004::EL2004_IDENTITY_A;
 use ethercat_hal::devices::el2008::EL2008_IDENTITY_A;
+use ethercat_hal::devices::el2008::EL2008_IDENTITY_B;
 use ethercat_hal::devices::el2521::{
    EL2521_IDENTITY_0000_A, EL2521_IDENTITY_0000_B, EL2521_IDENTITY_0024_A,
 };
@@ -13,8 +15,10 @@ use ethercat_hal::devices::el2522::EL2522_IDENTITY_A;
 use ethercat_hal::devices::el3001::EL3001_IDENTITY_A;
 use ethercat_hal::devices::el3021::EL3021_IDENTITY_A;
 use ethercat_hal::devices::el3024::EL3024_IDENTITY_A;
+use ethercat_hal::devices::el3062_0030::EL3062_0030_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_B;
+use ethercat_hal::devices::el4002::EL4002_IDENTITY_A;
 use ethercat_hal::devices::el6021::{
    EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D,
 };
@@ -228,17 +232,19 @@ pub fn get_identification_addresses<'maindevice>(
        EK1100_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL1002_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL1008_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL2002_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL2002_IDENTITY_A | EL2002_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL2004_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
-        EL2008_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL2008_IDENTITY_A | EL2008_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL2521_IDENTITY_0000_A | EL2521_IDENTITY_0000_B | EL2521_IDENTITY_0024_A => {
            MachineIdentificationAddresses::default()
        }
        EL2522_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3021_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3062_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL4002_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL7031_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
@@ -0,0 +1,360 @@
+use serde::Serialize;
+use serde::ser::{
+    SerializeMap, SerializeSeq, SerializeStruct, SerializeStructVariant, SerializeTuple,
+    SerializeTupleStruct, SerializeTupleVariant, Serializer,
+};
+use std::error::Error;
+use std::fmt::Display;
+use std::hash::{DefaultHasher, Hasher};
+
+#[derive(Debug)]
+pub struct HashSerializerError {}
+
+impl std::fmt::Display for HashSerializerError {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        f.write_str(&format!("{:?}", self))
+        // f.debug_struct("HashSerialiyerError")
+        // .finish()
+    }
+}
+
+impl Error for HashSerializerError {}
+
+impl serde::ser::Error for HashSerializerError {
+    fn custom<T>(_msg: T) -> Self
+    where
+        T: Display,
+    {
+        HashSerializerError {}
+    }
+}
+
+pub struct HashSerializer<'a, H: Hasher>(&'a mut H);
+impl<'a, H: Hasher> SerializeSeq for HashSerializer<'a, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_element<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<'a, H: Hasher> SerializeTuple for HashSerializer<'a, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_element<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<'a, H: Hasher> SerializeTupleStruct for HashSerializer<'a, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_field<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<'a, H: Hasher> SerializeTupleVariant for HashSerializer<'a, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_field<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<'a, H: Hasher> SerializeMap for HashSerializer<'a, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_key<T>(&mut self, key: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        key.serialize(HashSerializer(self.0))
+    }
+
+    fn serialize_value<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<'a, H: Hasher> SerializeStruct for HashSerializer<'a, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_field<T>(&mut self, key: &'static str, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        // Optional: hash the field name to avoid collisions
+        self.0.write(key.as_bytes());
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<'a, H: Hasher> SerializeStructVariant for HashSerializer<'a, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_field<T>(&mut self, key: &'static str, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        self.0.write(key.as_bytes());
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<'a, H: Hasher> Serializer for HashSerializer<'a, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+    type SerializeSeq = Self;
+    type SerializeTuple = Self;
+    type SerializeTupleStruct = Self;
+    type SerializeTupleVariant = Self;
+    type SerializeMap = Self;
+    type SerializeStruct = Self;
+    type SerializeStructVariant = Self;
+
+    fn serialize_bool(self, v: bool) -> Result<(), Self::Error> {
+        self.0.write_u8(v as u8);
+        Ok(())
+    }
+
+    fn serialize_i8(self, v: i8) -> Result<(), Self::Error> {
+        self.0.write_i8(v);
+        Ok(())
+    }
+
+    fn serialize_i16(self, v: i16) -> Result<(), Self::Error> {
+        self.0.write_i16(v);
+        Ok(())
+    }
+
+    fn serialize_i32(self, v: i32) -> Result<(), Self::Error> {
+        self.0.write_i32(v);
+        Ok(())
+    }
+
+    fn serialize_i64(self, v: i64) -> Result<(), Self::Error> {
+        self.0.write_i64(v);
+        Ok(())
+    }
+
+    fn serialize_u8(self, v: u8) -> Result<(), Self::Error> {
+        self.0.write_u8(v);
+        Ok(())
+    }
+
+    fn serialize_u16(self, v: u16) -> Result<(), Self::Error> {
+        self.0.write_u16(v);
+        Ok(())
+    }
+
+    fn serialize_u32(self, v: u32) -> Result<(), Self::Error> {
+        self.0.write_u32(v);
+        Ok(())
+    }
+
+    fn serialize_u64(self, v: u64) -> Result<(), Self::Error> {
+        self.0.write_u64(v);
+        Ok(())
+    }
+
+    fn serialize_f32(self, v: f32) -> Result<(), Self::Error> {
+        self.0.write_u32(v.to_bits());
+        Ok(())
+    }
+
+    fn serialize_f64(self, v: f64) -> Result<(), Self::Error> {
+        self.0.write_u64(v.to_bits());
+        Ok(())
+    }
+
+    fn serialize_char(self, v: char) -> Result<(), Self::Error> {
+        let mut buf = [0; 4];
+        self.0.write(v.encode_utf8(&mut buf).as_bytes());
+        Ok(())
+    }
+
+    fn serialize_str(self, v: &str) -> Result<(), Self::Error> {
+        self.0.write(v.as_bytes());
+        Ok(())
+    }
+
+    fn serialize_bytes(self, v: &[u8]) -> Result<(), Self::Error> {
+        self.0.write(v);
+        Ok(())
+    }
+
+    fn serialize_none(self) -> Result<(), Self::Error> {
+        self.0.write_u8(0); // type tag for None
+        Ok(())
+    }
+
+    fn serialize_some<T: ?Sized + Serialize>(self, value: &T) -> Result<(), Self::Error> {
+        self.0.write_u8(1); // type tag for Some
+        value.serialize(self)
+    }
+
+    fn serialize_unit(self) -> Result<(), Self::Error> {
+        self.0.write_u8(0);
+        Ok(())
+    }
+
+    fn serialize_unit_struct(self, _name: &'static str) -> Result<(), Self::Error> {
+        self.serialize_unit()
+    }
+
+    fn serialize_unit_variant(
+        self,
+        _name: &'static str,
+        variant_index: u32,
+        _variant: &'static str,
+    ) -> Result<(), Self::Error> {
+        self.0.write_u32(variant_index);
+        Ok(())
+    }
+
+    fn serialize_newtype_struct<T: ?Sized + Serialize>(
+        self,
+        _name: &'static str,
+        value: &T,
+    ) -> Result<(), Self::Error> {
+        value.serialize(self)
+    }
+
+    fn serialize_newtype_variant<T: ?Sized + Serialize>(
+        self,
+        _name: &'static str,
+        variant_index: u32,
+        _variant: &'static str,
+        value: &T,
+    ) -> Result<(), Self::Error> {
+        self.0.write_u32(variant_index);
+        value.serialize(self)
+    }
+
+    // For sequences, tuples, maps, structs, just return self for now
+    fn serialize_seq(self, _len: Option<usize>) -> Result<Self::SerializeSeq, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_tuple(self, _len: usize) -> Result<Self::SerializeTuple, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_tuple_struct(
+        self,
+        _name: &'static str,
+        _len: usize,
+    ) -> Result<Self::SerializeTupleStruct, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_tuple_variant(
+        self,
+        _name: &'static str,
+        variant_index: u32,
+        _variant: &'static str,
+        _len: usize,
+    ) -> Result<Self::SerializeTupleVariant, Self::Error> {
+        self.0.write_u32(variant_index);
+        Ok(self)
+    }
+    fn serialize_map(self, _len: Option<usize>) -> Result<Self::SerializeMap, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_struct(
+        self,
+        _name: &'static str,
+        _len: usize,
+    ) -> Result<Self::SerializeStruct, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_struct_variant(
+        self,
+        _name: &'static str,
+        variant_index: u32,
+        _variant: &'static str,
+        _len: usize,
+    ) -> Result<Self::SerializeStructVariant, Self::Error> {
+        self.0.write_u32(variant_index);
+        Ok(self)
+    }
+}
+
+// A helper that uses Serialize to feed into a Hasher without allocating a buffer:
+pub fn hash_with_serde_model<T: Serialize, H: Hasher>(value: T, hasher: H) -> u64 {
+    let mut h = hasher;
+    let ser = HashSerializer(&mut h);
+    value.serialize(ser).expect("serialize to hasher failed");
+    h.finish()
+}
+
+/// if hash of a and b are different this function returns true
+/// a and b need to impl Serialize
+pub fn check_hash_different<T: Serialize>(a: T, b: T) -> bool {
+    // Yes DefaultHasher has to be defined multiple times
+    // If you use one for both the results will never match even if they are the same value
+    let hasher = DefaultHasher::new();
+    let hash = hash_with_serde_model(a, hasher);
+    let hasher = DefaultHasher::new();
+    let hash_old = hash_with_serde_model(b, hasher);
+    return hash != hash_old;
+}
+
+#[test]
+fn test_same_values() {
+    let a = 10;
+    let b = 10;
+    assert_eq!(
+        check_hash_different(a, b),
+        false,
+        "Hashes should be equal for identical values"
+    );
+}
@@ -1,4 +1,5 @@
 pub mod compare_lists;
+pub mod hasher_serializer;
 pub mod hashing;
 pub mod interpolation;
 pub mod loop_trottle;
@@ -56,7 +56,7 @@ impl DivideByCount for u64 {
 /// let mut window = MovingTimeWindow::new(Duration::from_secs(10), 100);
 /// window.update(1.5, Instant::now());
 /// window.update(2.5, Instant::now());
-/// 
+///
 /// let average = window.average();
 /// println!("Average: {}", average);
 /// ```
@@ -8,6 +8,7 @@ pub mod realtime;
 pub mod rest;
 pub mod serial;
 pub mod socketio;
+pub mod transmission;
 pub mod uom_extensions;

 #[macro_use]
@@ -12,7 +12,10 @@ use crate::{
    serial::SerialDevice,
    socketio::event::GenericEvent,
 };
-use std::{collections::HashMap, sync::Arc};
+use std::{
+    collections::HashMap,
+    sync::{Arc, Weak},
+};

 use super::{
    Machine,
@@ -23,9 +26,9 @@ use super::{
 #[derive(Debug)]
 pub struct MachineManager {
    pub ethercat_machines:
-        HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
    pub serial_machines:
-        HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
 }

 impl MachineManager {
@@ -42,6 +45,7 @@ impl MachineManager {
        machine_registry: &MachineRegistry,
        hardware: &MachineNewHardwareEthercat,
        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+        machine_manager: Weak<RwLock<MachineManager>>,
    ) {
        // empty ethercat machines
        self.ethercat_machines.clear();
@@ -69,6 +73,7 @@ impl MachineManager {
                device_group,
                hardware: &machine_new_hardware,
                socket_queue_tx: socket_queue_tx.clone(),
+                machine_manager: machine_manager.clone(),
            });

            // insert the machine into the ethercat machines map
@@ -82,7 +87,7 @@ impl MachineManager {
    pub fn get(
        &self,
        machine_identification: &MachineIdentificationUnique,
-    ) -> Option<&Result<Box<Mutex<dyn Machine>>, anyhow::Error>> {
+    ) -> Option<&Result<Arc<Mutex<dyn Machine>>, anyhow::Error>> {
        self.ethercat_machines
            .get(machine_identification)
            .or_else(|| self.serial_machines.get(machine_identification))
@@ -94,6 +99,7 @@ impl MachineManager {
        device: Arc<RwLock<dyn SerialDevice>>,
        machine_registry: &MachineRegistry,
        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+        machine_manager: Weak<RwLock<MachineManager>>,
    ) {
        let hardware = MachineNewHardwareSerial { device };

@@ -107,6 +113,7 @@ impl MachineManager {
            device_group: &vec![device_identification_identified.clone()],
            hardware: &MachineNewHardware::Serial(&hardware),
            socket_queue_tx,
+            machine_manager: machine_manager.clone(),
        });

        tracing::info!("Adding serial machine {:?}", new_machine);
@@ -137,6 +144,48 @@ impl MachineManager {
                .machine_identification_unique,
        );
    }
+
+    pub fn get_machine_weak(
+        &self,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<Weak<Mutex<dyn Machine>>> {
+        let machine = self.ethercat_machines.get(machine_identification);
+        let machine = match machine {
+            Some(machine) => machine,
+            None => {
+                return None;
+            }
+        };
+        let machine = match machine {
+            Ok(machine) => machine,
+            Err(_) => {
+                return None;
+            }
+        };
+        let machine_weak = Arc::downgrade(machine);
+        return Some(machine_weak);
+    }
+
+    pub fn get_serial_weak(
+        &self,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<Weak<Mutex<dyn Machine>>> {
+        let machine = self.serial_machines.get(machine_identification);
+        let machine = match machine {
+            Some(machine) => machine,
+            None => {
+                return None;
+            }
+        };
+        let machine = match machine {
+            Ok(machine) => machine,
+            Err(_) => {
+                return None;
+            }
+        };
+        let machine_weak = Arc::downgrade(machine);
+        return Some(machine_weak);
+    }
 }

 /// Groups devices by machine identification
@@ -1,4 +1,4 @@
-use std::collections::HashMap;
+use std::{collections::HashMap, sync::Arc};

 use smol::lock::Mutex;

@@ -9,14 +9,14 @@ pub enum MachineManagerIter<'a> {
        iter: std::collections::hash_map::Iter<
            'a,
            MachineIdentificationUnique,
-            Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+            Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
        >,
    },
    SerialMachines {
        iter: std::collections::hash_map::Iter<
            'a,
            MachineIdentificationUnique,
-            Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+            Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
        >,
    },
    Done,
@@ -25,13 +25,13 @@ pub enum MachineManagerIter<'a> {
 pub struct MachineManagerIterator<'a> {
    iter: MachineManagerIter<'a>,
    serial_machines:
-        &'a HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+        &'a HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
 }

 impl<'a> Iterator for MachineManagerIterator<'a> {
    type Item = (
        &'a MachineIdentificationUnique,
-        &'a Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+        &'a Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
    );

    fn next(&mut self) -> Option<Self::Item> {
@@ -1,8 +1,14 @@
-use crate::machines::new::MachineAct;
+use anyhow::anyhow;
 use api::MachineApi;
 use new::MachineNewTrait;
+use serde::Serialize;
+use smol::lock::Mutex;
 use std::any::Any;
 use std::fmt::Debug;
+use std::sync::{Arc, Weak};
+
+use crate::machines::identification::MachineIdentificationUnique;
+use crate::machines::new::MachineAct;
 pub mod api;
 pub mod identification;
 pub mod manager;
@@ -10,4 +16,65 @@ pub mod manager_iter;
 pub mod new;
 pub mod registry;

-pub trait Machine: MachineNewTrait + MachineApi + MachineAct + Any + Send + Sync + Debug {}
+pub trait Machine: MachineAct + MachineNewTrait + MachineApi + Any + Debug + Send {
+    fn as_any(&self) -> &dyn Any;
+}
+/// Casts a `dyn Machine` to a specific machine type
+pub async fn downcast_machine<T: Machine>(
+    machine: Arc<Mutex<dyn Machine>>,
+) -> Result<Arc<Mutex<T>>, anyhow::Error> {
+    // Acquire a read lock on the RwLock
+    let read_lock = machine.lock().await;
+
+    // Check if the inner type can be downcasted to T
+    if read_lock.as_any().is::<T>() {
+        // Clone the Arc and return it as the desired type
+        let cloned_machine = Arc::clone(&machine);
+        // Transmute the Arc to the desired type
+        unsafe {
+            Ok(Arc::from_raw(
+                Arc::into_raw(cloned_machine) as *const Mutex<T>
+            ))
+        }
+    } else {
+        Err(anyhow!(
+            "[{}::downcast_machine] Downcast failed",
+            module_path!()
+        ))
+    }
+}
+
+/// Trait to get strong count to see if Weak has reference
+pub trait GetStrongCount {
+    fn get_strong_count(&self) -> usize;
+}
+
+impl<T> GetStrongCount for Weak<Mutex<T>> {
+    fn get_strong_count(&self) -> usize {
+        self.strong_count()
+    }
+}
+
+#[derive(Debug)]
+pub struct ConnectedMachine<T: GetStrongCount> {
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub machine: T,
+}
+
+#[derive(Serialize, Debug, Clone, PartialEq)]
+pub struct ConnectedMachineData {
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub is_available: bool,
+}
+
+impl<T> From<&ConnectedMachine<T>> for ConnectedMachineData
+where
+    T: GetStrongCount,
+{
+    fn from(value: &ConnectedMachine<T>) -> Self {
+        Self {
+            machine_identification_unique: value.machine_identification_unique.clone(),
+            is_available: value.machine.get_strong_count() != 0,
+        }
+    }
+}
@@ -1,4 +1,4 @@
-use crate::serial::SerialDevice;
+use crate::{machines::manager::MachineManager, serial::SerialDevice};

 use super::identification::DeviceIdentificationIdentified;
 use anyhow::Error;
@@ -8,7 +8,11 @@ use ethercat_hal::{
 use ethercrab::{SubDevice, SubDeviceRef};
 use smol::{channel::Sender, lock::RwLock};
 use socketioxide::extract::SocketRef;
-use std::{pin::Pin, sync::Arc, time::Instant};
+use std::{
+    pin::Pin,
+    sync::{Arc, Weak},
+    time::Instant,
+};

 use crate::socketio::event::GenericEvent;

@@ -47,6 +51,7 @@ pub struct MachineNewParams<
        'machine_new_hardware_serial,
    >,
    pub socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+    pub machine_manager: Weak<RwLock<MachineManager>>,
 }

 pub enum MachineNewHardware<
@@ -1,10 +1,10 @@
 use super::{Machine, identification::MachineIdentification, new::MachineNewParams};
 use anyhow::Error;
 use smol::lock::Mutex;
-use std::{any::TypeId, collections::HashMap};
+use std::{any::TypeId, collections::HashMap, sync::Arc};

 pub type MachineNewClosure =
-    Box<dyn Fn(&MachineNewParams) -> Result<Box<Mutex<dyn Machine>>, Error> + Send + Sync>;
+    Box<dyn Fn(&MachineNewParams) -> Result<Arc<Mutex<dyn Machine>>, Error> + Send + Sync>;

 pub struct MachineRegistry {
    type_map: HashMap<TypeId, (MachineIdentification, MachineNewClosure)>,
@@ -27,7 +27,7 @@ impl MachineRegistry {
                machine_identficiation,
                // create a machine construction closure
                Box::new(|machine_new_params| {
-                    Ok(Box::new(Mutex::new(T::new(machine_new_params)?)))
+                    Ok(Arc::new(Mutex::new(T::new(machine_new_params)?)))
                }),
            ),
        );
@@ -36,7 +36,7 @@ impl MachineRegistry {
    pub fn new_machine(
        &self,
        machine_new_params: &MachineNewParams,
-    ) -> Result<Box<Mutex<dyn Machine>>, anyhow::Error> {
+    ) -> Result<Arc<Mutex<dyn Machine>>, anyhow::Error> {
        // get machiine identification
        let device_identification =
            &machine_new_params
@@ -2,10 +2,10 @@ pub mod modbus_serial_interface;

 use anyhow::Error;
 use crc::{CRC_16_MODBUS, Crc};
-use serial;
+use serialport::SerialPort;
 use std::time::Duration;
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]

+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum ParityType {
    Even,
    Odd,
@@ -143,9 +143,7 @@ impl From<ModbusRequest> for Vec<u8> {
 /// # Returns
 /// A `Result` containing an `Option` with the raw Modbus response as a `Vec<u8>` if successful,
 /// or `None` if the response is invalid or an error occurs.
-pub fn receive_data_modbus(
-    port: &mut dyn serial::SerialPort,
-) -> Result<Option<Vec<u8>>, anyhow::Error> {
+pub fn receive_data_modbus(port: &mut dyn SerialPort) -> Result<Option<Vec<u8>>, anyhow::Error> {
    let mut buf: [u8; 256] = [0; 256];
    let data_length = port.read(&mut buf)?;
    if data_length == 0 {
@@ -160,7 +160,7 @@ pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
    Ok(())
 }

-pub fn set_core_affinity_first_core(core_id: usize) -> Result<(), anyhow::Error> {
+pub fn set_core_affinity(core_id: usize) -> Result<(), anyhow::Error> {
    let cores = core_affinity::get_core_ids().unwrap_or_default();
    let core = cores.get(core_id);
    if let Some(core) = core {
@@ -1,9 +1,11 @@
 use std::{any::Any, sync::Arc};

-use smol::lock::RwLock;
+use smol::{channel::Sender, lock::RwLock};
 use std::fmt::Debug;

-use crate::machines::identification::DeviceIdentification;
+use crate::{
+    machines::identification::DeviceIdentification, serial::serial_detection::SerialDeviceRemoval,
+};

 pub mod panic;
 pub mod registry;
@@ -25,7 +27,7 @@ pub trait SerialDeviceThread {

 pub struct SerialDeviceNewParams {
    pub path: String,
-    pub device_thread_panic_tx: smol::channel::Sender<(String, anyhow::Error)>,
+    pub device_thread_panic_tx: Sender<SerialDeviceRemoval<String>>,
 }

 #[derive(PartialEq, Clone, Debug)]
@@ -1,11 +1,13 @@
 use smol::channel::Sender;

+use crate::serial::serial_detection::SerialDeviceRemoval;
+
 /// Device-level panic handler for individual device crashes
 /// Sends device identifier and error information for cleanup
 /// Used by serial devices and other individual components that need to be removed on panic
 pub fn send_serial_device_panic<T>(
    device_identifier: T,
-    thread_panic_tx: Sender<(T, anyhow::Error)>,
+    thread_panic_tx: Sender<SerialDeviceRemoval<T>>,
 ) where
    T: Send + Sync + Clone + 'static,
 {
@@ -16,7 +18,6 @@ pub fn send_serial_device_panic<T>(
        }
    }

-    let device_id_clone = device_identifier.clone();
    std::panic::set_hook(Box::new(move |panic_info| {
        let thread_name = std::thread::current()
            .name()
@@ -39,8 +40,8 @@ pub fn send_serial_device_panic<T>(
        // Send device panic info through channel
        smol::block_on(async {
            let _ = thread_panic_tx
-                .send((
-                    device_id_clone.clone(),
+                .send(SerialDeviceRemoval::Error(
+                    device_identifier.clone(),
                    anyhow::anyhow!("{}", panic_message),
                ))
                .await;
@@ -21,6 +21,11 @@ use super::{
    SerialDevice, SerialDeviceIdentification, SerialDeviceNewParams, registry::SerialDeviceRegistry,
 };

+pub enum SerialDeviceRemoval<T> {
+    Disconnect(T),
+    Error(T, anyhow::Error),
+}
+
 pub struct SerialDetection<'serialdeviceregistry> {
    pub serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry,
    pub ports: HashMap<
@@ -31,14 +36,13 @@ pub struct SerialDetection<'serialdeviceregistry> {
            Arc<RwLock<dyn SerialDevice>>,
        ),
    >,
-    pub device_removal_signal_rx: Receiver<(String, anyhow::Error)>,
-    pub device_removal_signal_tx: Sender<(String, anyhow::Error)>,
+    pub device_removal_signal_rx: Receiver<SerialDeviceRemoval<String>>,
+    pub device_removal_signal_tx: Sender<SerialDeviceRemoval<String>>,
 }

 impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {
    pub fn new(serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry) -> Self {
-        let (device_removal_signal_tx, device_removal_signal_rx) =
-            unbounded::<(String, anyhow::Error)>();
+        let (device_removal_signal_tx, device_removal_signal_rx) = unbounded();
        SerialDetection {
            serial_device_registry,
            ports: HashMap::new(),
@@ -158,18 +162,36 @@ impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {

    pub async fn check_remove_signals(&mut self) -> Vec<DeviceIdentification> {
        let mut removed_signals: Vec<DeviceIdentification> = Vec::new();
-        match self.device_removal_signal_rx.try_recv() {
-            Ok((path, error)) => {
-                // remove the device when the tuple positon 1 equals signal
-                if let Some(info) = self.ports.get(&path.clone()) {
-                    removed_signals.push(info.1.clone());
-                };
-                self.ports.remove(&path);

-                tracing::trace!("Removed device: {:?}: {}", path, error);
-            }
-            Err(_) => {}
+        let mut add_removal_signal = |path: &String| {
+            if let Some(info) = self.ports.get(path) {
+                removed_signals.push(info.1.clone());
+            };
+            self.ports.remove(path);
+        };
+
+        if self.device_removal_signal_rx.is_empty() {
+            return removed_signals;
        }
+
+        let removal = self
+            .device_removal_signal_rx
+            .recv()
+            .await
+            .expect("Failed to receive removal signals");
+
+        match removal {
+            SerialDeviceRemoval::Disconnect(path) => {
+                add_removal_signal(&path);
+                tracing::trace!("Removed serial device after disconnect: {:?}", path);
+            }
+
+            SerialDeviceRemoval::Error(path, error) => {
+                add_removal_signal(&path);
+                tracing::error!("Removed erroring serial device: {:?}: {}", path, error);
+            }
+        }
+
        removed_signals
    }
 }
@@ -21,6 +21,10 @@ impl std::fmt::Debug for GenericEvent {
    }
 }

+pub trait BuildEvent: Serialize + Send + Sync + Clone {
+    fn build(&self) -> Event<Self>;
+}
+
 #[derive(Debug, Clone, Serialize)]
 pub struct Event<T>
 where
@@ -0,0 +1,27 @@
+use crate::transmission::Transmission;
+
+#[derive(Debug, Clone)]
+pub struct FixedTransmission {
+    ratio: f64,
+}
+
+impl Transmission for FixedTransmission {
+    fn get_ratio(&self) -> f64 {
+        self.ratio
+    }
+}
+
+impl FixedTransmission {
+    /// Creates a new FixedTransmission with the specified ratio.
+    ///
+    /// # Arguments
+    ///
+    /// * `ratio` - The transmission ratio (output over input).
+    ///
+    /// # Returns
+    ///
+    /// A new instance of FixedTransmission.
+    pub fn new(ratio: f64) -> Self {
+        Self { ratio }
+    }
+}
@@ -0,0 +1,95 @@
+use uom::si::{
+    angle::radian,
+    angular_velocity::radian_per_second,
+    f64::{Angle, AngularVelocity, Length, Velocity},
+    length::meter,
+    velocity::meter_per_second,
+};
+
+pub mod fixed;
+
+/// A trait representing a mechanical transmission system that converts input to output
+/// with a specific gear ratio.
+///
+/// This trait provides methods for working with transmission ratios and converting
+/// between input and output values based on the transmission's gear ratio.
+pub trait Transmission {
+    /// Returns the transmission ratio of this transmission system.
+    ///
+    /// The ratio represents the relationship between input and output speeds/torques.
+    /// A ratio greater than 1.0 indicates speed reduction (torque multiplication),
+    /// while a ratio less than 1.0 indicates speed increase (torque reduction).
+    ///
+    /// # Returns
+    ///
+    /// The transmission ratio as a floating-point number.
+    fn get_ratio(&self) -> f64;
+
+    /// Converts an input value to the corresponding output value using the transmission ratio.
+    ///
+    /// This method multiplies the input by the transmission ratio to calculate the output.
+    /// Typically used for converting input speed to output speed in a transmission system.
+    ///
+    /// # Arguments
+    ///
+    /// * `input` - The input value to be converted
+    ///
+    /// # Returns
+    ///
+    /// The output value after applying the transmission ratio.
+    fn calculate_output(&self, input: f64) -> f64 {
+        input * self.get_ratio()
+    }
+
+    /// Converts an output value to the corresponding input value using the transmission ratio.
+    ///
+    /// This method divides the output by the transmission ratio to calculate the required input.
+    /// Typically used for determining what input is needed to achieve a desired output.
+    ///
+    /// # Arguments
+    ///
+    /// * `output` - The output value to be converted back to input
+    ///
+    /// # Returns
+    ///
+    /// The input value required to produce the given output.
+    fn calculate_input(&self, output: f64) -> f64 {
+        output / self.get_ratio()
+    }
+
+    fn calculate_angular_output(&self, input: Angle) -> Angle {
+        Angle::new::<radian>(self.calculate_output(input.get::<radian>()))
+    }
+
+    fn calculate_angular_input(&self, output: Angle) -> Angle {
+        Angle::new::<radian>(self.calculate_input(output.get::<radian>()))
+    }
+
+    fn calculate_angular_velocity_output(&self, input: AngularVelocity) -> AngularVelocity {
+        AngularVelocity::new::<radian_per_second>(
+            self.calculate_output(input.get::<radian_per_second>()),
+        )
+    }
+
+    fn calculate_angular_velocity_input(&self, output: AngularVelocity) -> AngularVelocity {
+        AngularVelocity::new::<radian_per_second>(
+            self.calculate_input(output.get::<radian_per_second>()),
+        )
+    }
+
+    fn calculate_linear_output(&self, input: Length) -> Length {
+        Length::new::<meter>(self.calculate_output(input.get::<meter>()))
+    }
+
+    fn calculate_linear_input(&self, output: Length) -> Length {
+        Length::new::<meter>(self.calculate_input(output.get::<meter>()))
+    }
+
+    fn calculate_linear_velocity_output(&self, input: Velocity) -> Velocity {
+        Velocity::new::<meter_per_second>(self.calculate_output(input.get::<meter_per_second>()))
+    }
+
+    fn calculate_linear_velocity_input(&self, output: Velocity) -> Velocity {
+        Velocity::new::<meter_per_second>(self.calculate_input(output.get::<meter_per_second>()))
+    }
+}
@@ -0,0 +1,94 @@
+# Code Style
+
+# General Code styling
+
+Try to adhere to the rust style guide:
+https://doc.rust-lang.org/nightly/style-guide/
+
+# Beckhoff terminals and Machines
+
+For Beckhoff terminals you should first implement the basic functionality, then an Interpreter of the device/data is built on top.
+A good example of how to do this is by looking at the following code:
+el3021.rs , AnalogInputDevice
+
+El3021 implements a so called AnalogInputDevice, which acts like an interface.
+This allows us to use AnalogInputDevice instead of having to always specify which device should be used.
+In Essence any Device that implements AnalogInputDevice can be used.
+
+AnalogInputDevice is then used for creating an AnalogInput, which is plug and play for machines.
+
+Then a further layer of Abstraction is used on top,
+where the data is interpreted and incorporated into a sort of control loop for certain functions, for example:
+
+```rust
+// ScrewSpeedController controlls the speed (frequency) and direction of the motor
+// AnalogInput is used to collect measurements from the pressure sensor.
+// screw_speed_controller.rs
+#[derive(Debug)]
+pub struct ScrewSpeedController {
+    pub pid: ClampingTimeagnosticPidController,
+    pub target_pressure: Pressure,
+    pub target_rpm: AngularVelocity,
+    pub inverter: MitsubishiCS80,
+    pressure_sensor: AnalogInput,
+    last_update: Instant,
+    uses_rpm: bool,
+    forward_rotation: bool,
+    transmission_converter: TransmissionConverter,
+    frequency: Frequency,
+    maximum_frequency: Frequency,
+    minimum_frequency: Frequency,
+    motor_on: bool,
+    nozzle_pressure_limit: Pressure,
+    nozzle_pressure_limit_enabled: bool,
+}
+
+// Under the hood for ExtruderV2 a El3021 is used:
+// (from new.rs of extruder)
+let pressure_sensor = AnalogInput::new(el3021, EL3021Port::AI1);
+
+// But the extruder does not directly use the AnalogInput, instead the logic is decoupled in the screw_speed_controller:
+let mut extruder: ExtruderV2 = Self {
+    namespace: ExtruderV2Namespace::new(params.socket_queue_tx.clone()),
+    last_measurement_emit: Instant::now(),
+    mode: ExtruderV2Mode::Standby,
+    temperature_controller_front: temperature_controller_front,
+    temperature_controller_middle: temperature_controller_middle,
+    temperature_controller_back: temperature_controller_back,
+    temperature_controller_nozzle: temperature_controller_nozzle,
+    screw_speed_controller: screw_speed_controller,
+    emitted_default_state: false,
+};
+
+// Then in act.rs
+// The extruder simply calls the update function of the screw_speed_controller,
+// which contains "all" of the logic needed to properly drive the motor
+self.screw_speed_controller.update(now_ts, true);
+
+
+```
+
+This is desired behaviour for all implemented devices, the machines should stay as modular as possible.
+
+# Representing physical Units (Volt,Ampere,Hz,RPM etc)
+
+To represent physical units like voltage ampere etc... we use uom (units of measurement), which acts as a wrapper for units and supplies all conversions between certain units.
+For example:
+
+```rust
+// Lets say a device measures voltage, you just got the raw value
+let volts : ElectricPotential = ElectricPotential::new::<volt>(raw_value_here);
+// Then you can do this to get milli_volts
+// In api responses we always use the RAW float value (64bit):
+let milli_volts : f64 = volts.get::<millivolt>();
+```
+
+# General Advice
+
+- Try to avoid duplicate code (DRY principle)
+- Try to avoid lifetimes if at all possible
+- Avoid excessive abstractions
+- Avoid async code unless it is required
+- Avoid taking Ownership of values, instead borrow the value
+- When implementing a Trait for a struct, do it in the same file as the struct definition
+- Split up large impl blocks into smaller impl blocks
@@ -0,0 +1,84 @@
+# Environment Setup
+
+Working on this repository requires you to use cargo and npm. In the following document the installation process will be shown
+
+## Ubuntu/Debian Installation
+
+```bash
+    # Just press enter when prompted
+    curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+    apt install npm
+    apt install nodejs
+    # assuming you dont have git already, Git setup not included in here
+    apt install git
+    git clone git@github.com:qitechgmbh/control.git
+    cd control
+    cd electron
+    npm install
+```
+
+# Running Backend and Frontend Linux
+
+## Backend
+
+To Compile backend code and run it on Linux:
+
+```bash
+./cargo_run_linux.sh
+```
+
+The script sets capabilities on the compiled binary like raw socket access.
+Here it is required that you are connected to atleast one machine that is communicated with over ethercat or usb/serial.
+The Most minimal working setup would be to connect over ethernet to an ek1100 beckhoff terminal.
+
+## Mock-Machine
+
+The Mock-Machine can be used to test code that does not require an actual machine connection.
+Like Frontend Code for example.
+
+Mock machines can be used if the compile feature mock-machine is enabled.
+
+```bash
+# in root git folder
+./cargo_run_linux.sh mock-machine
+```
+
+## Frontend
+
+To run the Frontend Code:
+
+```bash
+# need to be in the electron folder and an additional terminal
+cd electron
+npm run start
+```
+
+# Contributing
+
+Generally you contribute to the codebase by:
+
+1. Opening or Choosing an existing issue (Bug,Feature,Task etc)
+2. Work on it locally
+3. Commit your changes locally
+4. Before pushing changes, if there were changes on the master branch, rebase your branch like so:
+
+```bash
+git fetch
+git rebase origin/master
+```
+
+5. Push changes
+
+```bash
+# IF you needed to rebase
+git push --force-with-lease
+# ELSE you just push
+git push
+```
+
+6. Open a Pull Request on Github and link the issue by writing fix #issue_number, after the pull request is merged into master the branch is closed automatically
+7. Request a Review and hope for the best :)
+
+# Recommended Editor Setup
+
+We recommend you to use an Editor with rust-analyzer support like VSCode to speed up development and detect errors before compiling.
@@ -0,0 +1,166 @@
+# Presets
+
+To allow the user to save the current configuration of a machine, they can create a preset in the presets page. Presets are presited in electron's local storage.
+
+Presets are all handled by the `PresetsPage`. To use the `PresetsPage` for a single machine, one must implement the following.
+
+Create a zod schema for the data, the presets contain.
+ ```tsx
+const mock1PresetDataSchema = z
+  .object({
+    frequency1: z.number(),
+    frequency2: z.number(),
+    frequency3: z.number(),
+  })
+  .partial();
+
+type Mock1 = typeof mock1PresetDataSchema;
+```
+Here, intensionally, `Mock1` is the schema type itself. It can be used as a type argument everything that uses presets.
+
+Next, create a map containing all schema versions currently supported (the new schema, to be precise).
+```tsx
+const schemas = new Map([[1, mock1PresetDataSchema]]);
+```
+New, the schema will be used to parse version `1`. To create new versions, see migrations below.
+
+One also needs to define a table, how the preset data should be shown to the user.
+```tsx
+const previewEntries: PresetPreviewEntries<Mock1> = [
+  {
+    name: "Frequency 1",
+    unit: "mHz",
+    renderValue: (data: PresetData<Mock1>) => data?.frequency1?.toFixed(3),
+  },
+  {
+    name: "Frequency 2",
+    unit: "mHz",
+    renderValue: (data: PresetData<Mock1>) => data?.frequency2?.toFixed(3),
+  },
+  {
+    name: "Frequency 3",
+    unit: "mHz",
+    renderValue: (data: PresetData<Mock1>) => data?.frequency3?.toFixed(3),
+  },
+];
+```
+`renderValue` gets the data itself and renders the corresponding part of it. Returning undefined will automatically be rendered as the value is not set, showing "N/A".
+
+Create a function for the new react component and use the appropreate machine.
+```tsx
+export function Mock1PresetsPage() {
+  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
+    useMock1();
+  // ...
+}
+```
+
+Here, two more functions need to be created.     const toPresetData = (s: typeof state): PresetData<Mock1> => ({
+    frequency1: s?.frequency1 ?? defaultState?.frequency1,
+    frequency2: s?.frequency2 ?? defaultState?.frequency2,
+    frequency3: s?.frequency3 ?? defaultState?.frequency3,The first takes in a preset and applies it on the machine. If data is missing, use the default defined by the backend.
+```tsx
+export function Mock1PresetsPage() {
+  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
+    useMock1();
+
+  const applyPreset = (preset: Preset<Mock1>) => {
+    const frequency1 = preset.data?.frequency1 ?? 100;
+    const frequency2 = preset.data?.frequency2 ?? 200;
+    const frequency3 = preset.data?.frequency3 ?? 500;
+
+    setFrequency1(frequency1);
+    setFrequency2(frequency2);
+    setFrequency3(frequency3);
+  };
+  // ...
+}
+```
+The later does the opposite, it turns a machine state, comming from the backend, into the preset data
+```tsx
+export function Mock1PresetsPage() {
+  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
+    useMock1();
+  // ...
+    const toPresetData = (s: typeof state): PresetData<Mock1> => ({
+    frequency1: s?.frequency1 ?? defaultState?.frequency1,
+    frequency2: s?.frequency2 ?? defaultState?.frequency2,
+    frequency3: s?.frequency3 ?? defaultState?.frequency3,
+  });
+  // ...
+}
+```
+
+Having all this, we can simple pass it to the `PresetsPage`
+```tsx
+export function Mock1PresetsPage() {
+  // ...
+  return (
+    <PresetsPage
+      machine_identification={mock1.machine_identification}
+      currentState={toPresetData(state)}
+      schemas={schemas}
+      schemaVersion={1}
+      applyPreset={applyPreset}
+      previewEntries={previewEntries}
+      defaultState={toPresetData(defaultState)}
+    />
+  );
+}
+```
+Also mind the machine identification, that has to match the machine we are using and the schema versionen. Here we pass `1`, as we also used `1` in the schemas map.
+
+## Migrations
+
+Migrations are handled by the `PresetsPage`, however, one still has to define what to migrate.
+To do so, first create the new schema.
+```tsx
+const fancyNewMock1PresetDataSchema = z
+  .object({
+    frequency1_now_with_ai: z.number(),
+    frequency2: z.number(),
+    frequency3: z.number(),
+    frequency4: z.number(),
+  })
+  .partial();
+
+type Mock1 = typeof fancyNewMock1PresetDataSchema;
+```
+and then, also create a migration that uses the new schema, but can handle the old format.
+```tsx
+const mock1PresetDataSchemaMigration: PresetSchema = z.preprocess(
+  (obj: any): PresetData<Mock1> => ({
+    frequency1_now_with_ai: obj?.frequency1, // Here, a field have been renamed
+    frequency2: obj?.frequency2,
+    frequency3: obj?.frequency3,
+    frequency4: 666.0, // A new field is added. Initialize it with default the value 
+  }),
+  fancyNewMock1PresetDataSchema,
+);
+```
+Usings zods preprocessing step,
+we can first transform the data as needed and then validate using the new schema accordingly.
+
+We have to register both schemas in our schema map.
+```tsx
+const schemas = new Map<number, Mock1>([
+  [1, mock1PresetDataSchemaMigration as Mock1],
+  [2, fancyNewMock1PresetDataSchema],
+]);
+```
+Mind the cast, which is ok, because `mock1PresetDataSchemaMigration` parses `fancyNewMock1PresetDataSchema` by construction.
+
+Lastly, simply change the schema version being passed to the `PresetsPage`.
+```diff
+@@ -62,7 +77,7 @@ export function Mock1PresetsPage() {
+       machine_identification={mock1.machine_identification}
+       currentState={toPresetData(state)}
+       schemas={schemas}
+-      schemaVersion={1}
+      schemaVersion={2}
+       applyPreset={applyPreset}
+       previewEntries={previewEntries}
+       defaultState={toPresetData(defaultState)}
+```
+Make sure, that all (exsiting and new migrations) return a schema version 2 conform format.
+Of corse, one can chain migrations of needed - just the end result must be complient.
@@ -0,0 +1,27 @@
+# Testing Ram and Cpu (Hardware)
+
+There were instability problems on one of the hmi panel pc's related to ram.
+
+To test Ram and Cpu for stability problems we use memtest86.
+
+You can download it here: https://www.memtest86.com/download.htm
+Then in the unzipped folder you have to flash the .img file to a USB drive with atleast 2GB of space.
+We already have USB-Sticks flashed with memtest though.
+
+1. When starting up the Pc mash Del (Entf in german) on an external keyboard and enter the bios
+
+2. Select the Memtest86 usb stick in the Bios
+
+3. Save changes and exit
+
+4. Now memtest boots up, just let it do its thing from here
+
+It works if the screen looks something like this:
+
+![](../assets/Memtest86_v83p.png)
+
+Simply let it do one Pass ~20 minutes and shutdown and unplug usb stick afterwards
+
+If it freezes completely -> unstable
+
+If it shows errors the ram should be swapped out and the test repeated
@@ -0,0 +1,13 @@
+# Electrical Diagrams
+
+This directory contains electrical wiring diagrams for various machines and systems supported by the control system.
+
+## Available Diagrams
+
+### Extruder
+- **Location**: [`extruder/`](extruder/)
+- **File**: [QiTech Pro Extruder Electrical Diagram 2025.pdf](extruder/QiTech_Pro_Extruder_Electrical_Diagram_2025.pdf)
+
+### Winder
+- **Location**: [`winder/`](winder/)
+- **File**: [QiTech Pro Winder Electrical Diagram.pdf](winder/QiTech_Pro_Winder_Electrical_Diagram.pdf)
@@ -3,6 +3,6 @@
  "trailingComma": "all",
  "tabWidth": 2,
  "semi": true,
-  "endOfLine": "auto",
+  "endOfLine": "lf",
  "plugins": ["prettier-plugin-tailwindcss"]
 }
@@ -11,6 +11,7 @@
    "make": "electron-forge make",
    "publish": "electron-forge publish",
    "lint": "eslint .",
+    "lint:write": "eslint . --fix",
    "format": "prettier --check .",
    "format:write": "prettier --write .",
    "test": "vitest run",
@@ -23,14 +24,14 @@
  "devDependencies": {
    "@electron-forge/cli": "^7.6.1",
    "@electron-forge/maker-deb": "^7.8.0",
-    "@electron-forge/maker-rpm": "^7.6.1",
+    "@electron-forge/maker-rpm": "^7.8.3",
    "@electron-forge/maker-squirrel": "^7.6.1",
    "@electron-forge/maker-zip": "^7.6.1",
    "@electron-forge/plugin-auto-unpack-natives": "^7.6.1",
    "@electron-forge/plugin-fuses": "^7.8.0",
    "@electron-forge/plugin-vite": "^7.6.1",
    "@electron-forge/shared-types": "^7.4.0",
-    "@electron/fuses": "^1.8.0",
+    "@electron/fuses": "^2.0.0",
    "@eslint/compat": "^1.2.6",
    "@eslint/js": "^9.18.0",
    "@playwright/test": "^1.50.1",
@@ -40,21 +41,21 @@
    "@testing-library/user-event": "^14.6.1",
    "@types/electron-squirrel-startup": "^1.0.2",
    "@types/eslint-config-prettier": "^6.11.3",
-    "@types/node": "^22.13.4",
+    "@types/node": "^24.2.1",
    "@types/react": "^19.0.10",
    "@types/react-dom": "^19.0.4",
-    "electron": "36.4.0",
+    "electron": "^37.2.6",
    "electron-playwright-helpers": "^1.7.1",
    "eslint": "^9.20.1",
    "eslint-config-prettier": "^10.1.2",
-    "eslint-plugin-prettier": "^5.2.3",
+    "eslint-plugin-prettier": "^5.5.4",
    "eslint-plugin-react": "^7.37.4",
    "eslint-plugin-react-compiler": "^19.0.0-beta-714736e-20250131",
    "globals": "^16.2.0",
    "jsdom": "^26.0.0",
    "postcss": "^8.5.2",
-    "prettier": "^3.5.1",
-    "prettier-plugin-tailwindcss": "^0.6.11",
+    "prettier": "^3.6.2",
+    "prettier-plugin-tailwindcss": "^0.6.14",
    "tailwindcss": "^4.1.4",
    "ts-node": "^10.9.2",
    "typescript": "^5.7.3",
@@ -72,13 +73,13 @@
    "@radix-ui/react-label": "^2.1.2",
    "@radix-ui/react-navigation-menu": "^1.2.5",
    "@radix-ui/react-popover": "^1.1.7",
-    "@radix-ui/react-select": "^2.1.6",
+    "@radix-ui/react-select": "^2.2.6",
    "@radix-ui/react-separator": "^1.1.3",
    "@radix-ui/react-slider": "^1.2.3",
    "@radix-ui/react-slot": "^1.1.2",
    "@radix-ui/react-toggle": "^1.1.1",
    "@radix-ui/react-toggle-group": "^1.1.2",
-    "@tanstack/react-query": "^5.66.7",
+    "@tanstack/react-query": "^5.84.2",
    "@tanstack/react-router": "^1.105.0",
    "@tanstack/react-table": "^8.21.2",
    "@tanstack/router-devtools": "^1.105.0",
@@ -98,6 +99,7 @@
    "react-hook-form": "^7.57.0",
    "react-i18next": "^15.4.1",
    "react-markdown": "^10.1.0",
+    "rehype-raw": "^7.0.0",
    "remark-gfm": "^4.0.1",
    "socket.io-client": "^4.8.1",
    "socket.io-msgpack-parser": "^3.0.2",