removed version depending on commit_hash

test if hardcoding is required
2025-09-16 12:02:53 +02:00 · 2025-09-16 11:57:52 +02:00
83 changed files with 670 additions and 4878 deletions
@@ -1,111 +1,57 @@
-# `2.8.0`
-_30.09.2025_
-
-
-## Laser V1
- [#741](https://github.com/qitechgmbh/control/pull/741) Added roundness measurement to two-axis Laser
-
-
-## Winder V2
- [#745](https://github.com/qitechgmbh/control/pull/745), [#756](https://github.com/qitechgmbh/control/pull/756) improved Winder Frontend
-
-## General
- [#447](https://github.com/qitechgmbh/control/pull/447) added AquaPath Machine
-
-
-
-
-# `2.7.0`
-
-_17.09.2025_
-
-## Extruder V2
-
- [#695](https://github.com/qitechgmbh/control/pull/695) Pressure and Rpm Regulation properly switch again
-
-## Winder V2
-
- [#727](https://github.com/qitechgmbh/control/pull/727) Removed estimated diameter
-
-## Laser V1
-
- [#731](https://github.com/qitechgmbh/control/pull/731) Added Laser with two-axis measurements
-
-## General
-
- [#679](https://github.com/qitechgmbh/control/pull/679),[#677](https://github.com/qitechgmbh/control/pull/677),[#698](https://github.com/qitechgmbh/control/pull/698), [#684](https://github.com/qitechgmbh/control/pull/684),[#706](https://github.com/qitechgmbh/control/pull/706) Greatly improved overall system latency and stability
-
- [#720](https://github.com/qitechgmbh/control/pull/720), [#686](https://github.com/qitechgmbh/control/pull/686) Improved User Interface
-
 # `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

+## 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
-
+## 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
+- [#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
-
+## 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

@@ -121,7 +67,6 @@ _15.07.2025_
 - [#169](https://github.com/qitechgmbh/control/pull/492), Added a Confirmation Dialog when extruder has not reached 90% of target temperature

 ## Winder V2
-
 - [#471](https://github.com/qitechgmbh/control/pull/480), Added a live value to track the pulled distance and the option of switching to a different Mode after a given distance.

 ## General
@@ -596,7 +596,6 @@ dependencies = [
 "smol",
 "socketioxide",
 "textplots",
- "tokio",
 "tracing",
 "uom",
 ]
@@ -1020,7 +1019,6 @@ dependencies = [
 "futures",
 "rand",
 "smol",
- "tracing",
 "uom",
 ]

@@ -1679,6 +1677,15 @@ dependencies = [
 "serde",
 ]

+[[package]]
+name = "is-docker"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "928bae27f42bc99b60d9ac7334e3a21d10ad8f1835a4e12ec3ec0464765ed1b3"
+dependencies = [
+ "once_cell",
+]
+
 [[package]]
 name = "is-terminal"
 version = "0.4.16"
@@ -1690,6 +1697,16 @@ dependencies = [
 "windows-sys 0.59.0",
 ]

+[[package]]
+name = "is-wsl"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "173609498df190136aa7dea1a91db051746d339e18476eed5ca40521f02d7aa5"
+dependencies = [
+ "is-docker",
+ "once_cell",
+]
+
 [[package]]
 name = "is_terminal_polyfill"
 version = "1.70.1"
@@ -1983,6 +2000,17 @@ version = "11.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d6790f58c7ff633d8771f42965289203411a5e5c68388703c06e14f24770b41e"

+[[package]]
+name = "open"
+version = "5.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2483562e62ea94312f3576a7aca397306df7990b8d89033e18766744377ef95"
+dependencies = [
+ "is-wsl",
+ "libc",
+ "pathdiff",
+]
+
 [[package]]
 name = "opentelemetry"
 version = "0.30.0"
@@ -2092,6 +2120,12 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"

+[[package]]
+name = "pathdiff"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df94ce210e5bc13cb6651479fa48d14f601d9858cfe0467f43ae157023b938d3"
+
 [[package]]
 name = "pcap"
 version = "2.2.0"
@@ -2664,12 +2698,14 @@ dependencies = [
 "bitvec",
 "control_core",
 "control_core_derive",
+ "crc",
 "dhat",
 "ethercat_hal",
 "ethercrab",
 "euclid",
 "futures",
 "lazy_static",
+ "open",
 "opentelemetry",
 "opentelemetry-otlp",
 "opentelemetry_sdk",
@@ -2680,6 +2716,7 @@ dependencies = [
 "smol",
 "socketioxide",
 "textplots",
+ "thread-priority",
 "tikv-jemalloc-ctl",
 "tikv-jemallocator",
 "tokio",
@@ -2994,6 +3031,20 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3bf63baf9f5039dadc247375c29eb13706706cfde997d0330d05aa63a77d8820"

+[[package]]
+name = "thread-priority"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cd4ef372b29fbcc6cb0cef97bcbf3ffa9da90e02eb23dbf14db48ce30d11d2d5"
+dependencies = [
+ "bitflags 2.9.0",
+ "cfg-if",
+ "libc",
+ "log",
+ "rustversion",
+ "windows",
+]
+
 [[package]]
 name = "thread_local"
 version = "1.1.8"
@@ -3607,6 +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"
@@ -3620,6 +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"
@@ -3648,6 +3732,16 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 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"
 version = "0.4.0"
@@ -3749,6 +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"
@@ -24,7 +24,7 @@ if [ "$1" != "mock-machine" ]; then
    sudo setcap 'cap_net_raw,cap_sys_nice=eip' ./target/debug/server

    echo "Setting permissions for serial ports"
-#    sudo chown "root:$(groups | cut -f1 -d' ')" /dev/ttyUSB*
+    sudo chown "root:$(groups | cut -f1 -d' ')" /dev/ttyUSB*
 fi

 # run
@@ -1,43 +0,0 @@
-#!/bin/bash
-
-# Nix store uses sqlite ... SO HAHAHAHAHH NO CONCURRENT ACCESS AHAHAHHAHAHAHHAHAHAHAH
-time nix build .#packages.x86_64-linux.server --impure --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/server-result
-serverstore=$(readlink -f /tmp/server-result) 
-
-time nix build .#packages.x86_64-linux.electron --impure --option sandbox false --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
-electronstore=$(readlink -f /tmp/electron-result)
-
-
-nix copy --to "file:///opt/dev-cache" \
-  $(readlink -f /tmp/server-result) \
-  $(readlink -f /tmp/electron-result) --extra-experimental-features nix-command
-
-nix store sign \
-  --key-file /opt/dev-cache/cache-private-key.pem \
-  --store "file:///opt/dev-cache" \
-  --extra-experimental-features nix-command \
-  "$serverstore" "$electronstore"
-
-
-nix path-info "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
-
-
-# nix verify --store "file:///opt/dev-cache" \
-#   --trusted-public-keys "$(cat /opt/dev-cache/cache-public-key.pem)" --extra-experimental-features nix-command --extra-experimental-features flakes \
-#   "$FIRST_PATH" || echo "Verification failed!" 
-
-
-#time nix build .#packages.x86_64-linux.electron --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
-#electronstore=$(readlink -f /tmp/electron-result)
-
-#nix-store --generate-binary-cache-key cache.key cache.pem --extra-experimental-features nix-command
-#nix store sign --key-file cache.key "$serverstore" --extra-experimental-features nix-command
-#nix path-info --json "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
-#export
-#nix-store --export /nix/store/<hash>-server > nix-cache/server.nar
-#nix-store --export /nix/store/<hash>-electron > nix-cache/electron.nar
-
-# Any http server
-# cd ~/nix-cache
-# python3 -m http.server 8080
-# 
@@ -8,9 +8,7 @@ workspace = true

 [dependencies]
 anyhow = "1.0.99"
-
 axum = "0.8.4"
-
 ethercat_hal = { path = "../ethercat-hal" }
 ethercrab = "0.6"
 interfaces = "0.0.9"
@@ -27,7 +25,6 @@ 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" }
-tokio = { version = "1.45.1", features = ["sync"], optional = true }


 [target.'cfg(unix)'.dependencies]
@@ -36,12 +33,3 @@ libc = "0.2.175"
 [dev-dependencies]
 approx = "0.5.1"
 textplots = "0.8"
-tokio = { version = "1.45.1", features = ["rt-multi-thread", "macros", "time"] }
-
-
-[features]
-default = []
-video-streaming = ["dep:tokio"]
-
-[package.metadata.cargo-machete]
-ignored =  ["axum","bitvec","control_core_derive"]
@@ -19,7 +19,6 @@ 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::el5152::EL5152_IDENTITY_A;
 use ethercat_hal::devices::el6021::{
    EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D,
 };
@@ -240,25 +239,23 @@ pub fn get_identification_addresses(
        EL1008_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 | 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(),
-        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3021_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3062_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL4002_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL5152_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C | EL6021_IDENTITY_D => {
-            MachineIdentificationAddresses::default()
-        }
        EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL7031_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
-
+        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C | EL6021_IDENTITY_D => {
+            MachineIdentificationAddresses::default()
+        }
        _ => {
            // block_on(u16dump(&subdevice, maindevice, 0x00, 0xff))?;
            Err(anyhow!(
@@ -144,7 +144,7 @@ fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
                // Default 10000
                dc_static_sync_iterations: 10000,
                // Default None
-                retry_behaviour: ethercrab::RetryBehaviour::Count(5),
+                retry_behaviour: ethercrab::RetryBehaviour::None,
            },
        ));

@@ -1,10 +1,11 @@
-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 use libc;
+
 use std::ffi::CString;
 use std::io;
 use std::str;

-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 fn read_proc_interrupts() -> Result<String, io::Error> {
    let path = CString::new("/proc/interrupts").unwrap();
    // O_RDONLY
@@ -32,7 +33,7 @@ fn read_proc_interrupts() -> Result<String, io::Error> {
    Ok(String::from_utf8_lossy(&buf).into_owned())
 }

-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 fn get_interface_irq(proc_content: &str, interface_name: &str) -> Option<u32> {
    for line in proc_content.lines() {
        if line.contains(interface_name) {
@@ -52,7 +53,7 @@ fn get_interface_irq(proc_content: &str, interface_name: &str) -> Option<u32> {
 /// With comma seperated values
 /// This function takes the irq identifier and writes the cpu string
 /// into /proc/irq/irq_number/smp_affinity_list
-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 fn set_irq_affinity_raw(irq: u32, cpu: &str) -> Result<(), io::Error> {
    let path: String = format!("/proc/irq/{}/smp_affinity_list", irq);
    let cpath = CString::new(path.clone()).unwrap();
@@ -97,7 +98,7 @@ fn set_irq_affinity_raw(irq: u32, cpu: &str) -> Result<(), io::Error> {
 /// After pinning the ethernet irq to the core that the ethercat code ran on 99.99th percentile went down to ~200us (microseconds)
 /// Example input: irq_name: "eno1" , cpu: 2
 /// Remember that cpu cores are counted from 0
-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 pub fn set_irq_affinity(irq_name: &str, cpu: u32) -> Result<(), anyhow::Error> {
    let proc_contents = read_proc_interrupts()?;
    let irq = get_interface_irq(&proc_contents, irq_name);
@@ -12,8 +12,5 @@ pub mod socketio;
 pub mod transmission;
 pub mod uom_extensions;

-#[cfg(feature = "video-streaming")]
-pub mod video_streaming;
-
 #[macro_use]
 extern crate uom;
@@ -5,21 +5,4 @@ use crate::socketio::namespace::Namespace;
 pub trait MachineApi {
    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
    fn api_event_namespace(&mut self) -> &mut Namespace;
-
-    /// Returns a list of available video stream identifiers for this machine
-    #[cfg(feature = "video-streaming")]
-    fn api_video_streams(&self) -> Vec<String> {
-        Vec::new()
-    }
-
-    /// Get a video stream receiver for the specified stream ID
-    /// Returns None if the stream doesn't exist
-    #[cfg(feature = "video-streaming")]
-    fn api_get_video_stream(
-        &mut self,
-        stream_id: &str,
-    ) -> Option<tokio::sync::broadcast::Receiver<Vec<u8>>> {
-        let _ = stream_id;
-        None
-    }
 }
@@ -30,7 +30,7 @@ impl MachineRegistry {
        self.type_map.insert(
            TypeId::of::<T>(),
            (
-                machine_identficiation.clone(),
+                machine_identficiation,
                // create a machine construction closure
                Box::new(|machine_new_params| {
                    Ok(Arc::new(Mutex::new(T::new(machine_new_params)?)))
@@ -1,7 +1,7 @@
 use tracing::debug;
 use tracing::error;

-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 /// Makes the current thread a real-time thread using the PREEMPT_RT capabilities of Linux.
 ///
 /// This function configures the current thread with real-time scheduling properties by:
@@ -47,7 +47,7 @@ use tracing::error;
 ///
 /// - `Ok(())` if the real-time priority was successfully set
 /// - `Err` with the error message if setting the priority failed
-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
    use anyhow::anyhow;
    use libc::{SCHED_FIFO, pthread_setschedparam, sched_param};
@@ -84,9 +84,9 @@ pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
    Ok(())
 }

-#[cfg(not(target_os = "linux"))]
+#[cfg(not(unix))]
 pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
-    tracing::error!("This platform does not support realtime threads");
+    log::error!("This platform does not support realtime threads");
    Ok(())
 }

@@ -137,7 +137,7 @@ pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
 /// # How it works
 ///
 /// [Rest of documentation as before...]
-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
    use libc::{MCL_FUTURE, mlockall};

@@ -154,9 +154,9 @@ pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
    Ok(())
 }

-#[cfg(not(target_os = "linux"))]
+#[cfg(not(unix))]
 pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
-    tracing::error!("This platform does not support memory locking");
+    log::error!("This platform does not support memory locking");
    Ok(())
 }

@@ -33,19 +33,3 @@ where
    pub machine_identification_unique: MachineIdentificationUnique,
    pub data: T,
 }
-
-#[derive(Debug, serde::Deserialize)]
-pub struct MachineVideoStreamListBody {
-    pub machine_identification_unique: MachineIdentificationUnique,
-}
-
-#[derive(Debug, serde::Deserialize)]
-pub struct MachineVideoStreamBody {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub stream_id: String,
-}
-
-#[derive(Debug, Serialize)]
-pub struct VideoStreamListResponse {
-    pub streams: Vec<String>,
-}
@@ -1,208 +0,0 @@
-use anyhow::Error;
-use std::collections::HashMap;
-use tokio::sync::broadcast;
-
-/// Video stream manager that handles multiple video streams per machine with true broadcasting
-/// Uses tokio broadcast channels to ensure all subscribers receive all messages without stealing
-#[derive(Debug)]
-pub struct VideoStreamManager {
-    /// Each stream has its own broadcast transmitter and template receiver
-    streams: HashMap<String, (broadcast::Sender<Vec<u8>>, broadcast::Receiver<Vec<u8>>)>,
-}
-
-impl VideoStreamManager {
-    pub fn new() -> Self {
-        Self {
-            streams: HashMap::new(),
-        }
-    }
-
-    /// Send a frame to all subscribers of a stream
-    /// Returns Ok if the frame was sent, Err if the stream doesn't exist
-    pub fn send_frame(&self, stream_id: &str, frame: Vec<u8>) -> Result<(), Error> {
-        if let Some((tx, _rx)) = self.streams.get(stream_id) {
-            match tx.send(frame) {
-                Ok(_) => Ok(()),
-                Err(_) => Ok(()), // No receivers, but that's not an error
-            }
-        } else {
-            Err(anyhow::anyhow!("Stream '{}' not found", stream_id))
-        }
-    }
-
-    /// Register a new video stream with the given ID
-    pub fn add_stream(&mut self, stream_id: String) {
-        let (tx, rx) = broadcast::channel::<Vec<u8>>(256); // 256 frame buffer capacity
-        self.streams.insert(stream_id, (tx, rx));
-    }
-
-    /// Get list of available stream IDs
-    pub fn get_streams(&self) -> Vec<String> {
-        self.streams.keys().cloned().collect()
-    }
-
-    /// Check if a stream exists
-    pub fn has_stream(&self, stream_id: &str) -> bool {
-        self.streams.contains_key(stream_id)
-    }
-
-    /// Remove a stream and all its subscribers
-    pub fn remove_stream(&mut self, stream_id: &str) -> bool {
-        self.streams.remove(stream_id).is_some()
-    }
-
-    /// Subscribe to a video stream and get a receiver
-    /// Returns the receiver for the new subscription
-    pub fn subscribe_to_stream(&self, stream_id: &str) -> Option<broadcast::Receiver<Vec<u8>>> {
-        self.streams
-            .get(stream_id)
-            .map(|(_tx, rx)| rx.resubscribe()) // Resubscribe to create a new independent receiver
-    }
-
-    /// Get subscriber count for a stream
-    pub fn get_subscriber_count(&self, stream_id: &str) -> usize {
-        self.streams
-            .get(stream_id)
-            .map_or(0, |(tx, _rx)| tx.receiver_count())
-    }
-
-    /// Get a stream transmitter for sending frames (used by machines to send video)
-    /// Returns None if the stream doesn't exist
-    pub fn get_sender(&self, stream_id: &str) -> Option<broadcast::Sender<Vec<u8>>> {
-        self.streams.get(stream_id).map(|(tx, _rx)| tx.clone())
-    }
-}
-
-impl Default for VideoStreamManager {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[tokio::test]
-    async fn test_video_stream_manager() {
-        let mut manager = VideoStreamManager::new();
-
-        // Register streams
-        manager.register_stream("camera1".to_string());
-        manager.register_stream("camera2".to_string());
-
-        assert_eq!(manager.get_stream_ids().len(), 2);
-        assert!(manager.has_stream("camera1"));
-        assert!(manager.has_stream("camera2"));
-        assert!(!manager.has_stream("camera3"));
-
-        // Subscribe to streams
-        let mut rx1 = manager.subscribe_to_stream("camera1").unwrap();
-        let mut rx2 = manager.subscribe_to_stream("camera1").unwrap();
-        let mut rx3 = manager.subscribe_to_stream("camera2").unwrap();
-
-        assert_eq!(manager.get_subscriber_count("camera1"), 3); // Original + 2 clones
-        assert_eq!(manager.get_subscriber_count("camera2"), 2); // Original + 1 clone
-        assert_eq!(manager.get_subscriber_count("nonexistent"), 0);
-
-        // Send frames
-        let frame1 = vec![1, 2, 3, 4];
-        let frame2 = vec![5, 6, 7, 8];
-
-        assert!(manager.send_single_frame("camera1", frame1.clone()));
-        assert!(manager.send_single_frame("camera2", frame2.clone()));
-        assert!(!manager.send_single_frame("nonexistent", vec![]));
-
-        // Both camera1 subscribers should receive the frame
-        assert_eq!(rx1.recv().await.unwrap(), frame1);
-        assert_eq!(rx2.recv().await.unwrap(), frame1);
-
-        // Camera2 subscriber should receive its frame
-        assert_eq!(rx3.recv().await.unwrap(), frame2);
-    }
-
-    #[tokio::test]
-    async fn test_video_frame_broadcasting() {
-        let mut manager = VideoStreamManager::new();
-        manager.register_stream("main_camera".to_string());
-
-        // Multiple clients subscribe to the same camera
-        let mut rx1 = manager.subscribe_to_stream("main_camera").unwrap();
-        let mut rx2 = manager.subscribe_to_stream("main_camera").unwrap();
-        let mut rx3 = manager.subscribe_to_stream("main_camera").unwrap();
-
-        // Simulate video frames
-        let frames = vec![
-            vec![0xFF, 0xD8, 0xFF, 0xE0], // JPEG header
-            vec![0x00, 0x01, 0x02, 0x03], // Frame 1
-            vec![0x04, 0x05, 0x06, 0x07], // Frame 2
-        ];
-
-        for frame in &frames {
-            assert!(manager.send_single_frame("main_camera", frame.clone()));
-        }
-
-        // All clients should receive all frames in order
-        for frame in &frames {
-            assert_eq!(rx1.recv().await.unwrap(), *frame);
-            assert_eq!(rx2.recv().await.unwrap(), *frame);
-            assert_eq!(rx3.recv().await.unwrap(), *frame);
-        }
-    }
-
-    #[test]
-    fn test_stream_management() {
-        let mut manager = VideoStreamManager::new();
-
-        // Initially no streams
-        assert_eq!(manager.get_stream_ids().len(), 0);
-
-        // Add streams
-        manager.register_stream("front_camera".to_string());
-        manager.register_stream("rear_camera".to_string());
-        manager.register_stream("side_camera".to_string());
-
-        let mut stream_ids = manager.get_stream_ids();
-        stream_ids.sort(); // Sort for consistent testing
-        assert_eq!(
-            stream_ids,
-            vec!["front_camera", "rear_camera", "side_camera"]
-        );
-
-        // Remove a stream
-        assert!(manager.remove_stream("rear_camera"));
-        assert!(!manager.remove_stream("rear_camera")); // Already removed
-        assert!(!manager.has_stream("rear_camera"));
-
-        assert_eq!(manager.get_stream_ids().len(), 2);
-    }
-
-    #[tokio::test]
-    async fn test_send_frame_results() {
-        let mut manager = VideoStreamManager::new();
-        manager.register_stream("test_camera".to_string());
-
-        // One initial receiver (the original one created in register_stream)
-        let result = manager.send_frame("test_camera", vec![1, 2, 3]).unwrap();
-        assert_eq!(result, 1); // Number of subscribers
-
-        // Add subscribers by cloning the receiver
-        let _rx1 = manager.subscribe_to_stream("test_camera").unwrap();
-        let _rx2 = manager.subscribe_to_stream("test_camera").unwrap();
-
-        // Send frame to multiple subscribers (original + 2 clones = 3 total)
-        let result = manager.send_frame("test_camera", vec![4, 5, 6]).unwrap();
-        assert_eq!(result, 3); // Number of subscribers
-
-        // Try sending to non-existent stream
-        let result = manager.send_frame("nonexistent", vec![7, 8, 9]);
-        assert!(result.is_err());
-        assert_eq!(result.unwrap_err(), "Stream 'nonexistent' not found");
-    }
-
-    #[test]
-    fn test_default_video_stream_manager() {
-        let manager = VideoStreamManager::default();
-        assert_eq!(manager.get_stream_ids().len(), 0);
-    }
-}
@@ -1,145 +0,0 @@
-# How can I add a new Machine?
-
-Adding a new machine follows a common structure in `server/machines/`.
-
-
-
-# TLDR
-
-Summary
-
-When adding a new machine:
-
- Create Folder server/machines/YOUR_MACHINE_NAME/.
- Add the 4 files (mod.rs, new.rs, act.rs, api.rs).
- Register it in machines/mod.rs with a unique constant.
- mod.rs: define the struct + emit functions.
- new.rs: assemble devices/controllers into the machine.
- act.rs: implement the machine loop (MachineAct).
- api.rs: define request (mutations) and response (events) types.
-
-Tip: Start simple (copy MockMachine) and grow complexity as needed (add EtherCAT devices, controllers, etc.).
-
---
-
-## 1. Create the folder
-
-Create a new directory:
-server/machines/YOUR_MACHINE_NAME
-
-At a minimum, this folder needs the following files:
-
- `mod.rs`
- `new.rs`
- `act.rs`
- `api.rs`
-
---
-
-## 2. Register the module
-
-Add your machine to `server/machines/mod.rs`:
-
-```rust
-// mod.rs
-pub mod buffer1;
-pub mod extruder1;
-pub mod laser;
-pub mod mock;
-pub mod registry;
-pub mod winder2;
-pub mod YOUR_MACHINE;
-
-pub const VENDOR_QITECH: u16 = 0x0001;
-pub const MACHINE_WINDER_V1: u16 = 0x0002;
-pub const MACHINE_EXTRUDER_V1: u16 = 0x0004;
-pub const MACHINE_LASER_V1: u16 = 0x0006;
-pub const MACHINE_MOCK: u16 = 0x0007;
-pub const MACHINE_BUFFER_V1: u16 = 0x0008;
-pub const YOUR_MACHINE_V1: u16 = 0xffff; // pick a unique ID to avoid collisions also DO NOT touch any already defined ids!!
-```
-
-## 3. mod.rs
-
-This file defines your machine struct and the required event emitters.
-
-Look at MockMachine’s mod.rs for the simplest possible version.
-
-At a minimum, you need:
- emit_state
- emit_live_values
- A machine struct for state(e.g. MockMachine, Extruder, Laser, Winder, …)
-
-More complex machines (e.g. Extruder, Winder) encapsulate controllers that in turn manage devices like EtherCAT terminals.
-
-## 4 new.rs
-
-This file implements MachineNewTrait for your machine.
-Here you assemble your machine from its parts — devices, controllers, and any state.
-
-Minimal example: see MockMachine → basically no devices, just returns a struct.
-
-Medium complexity: see Laser → wraps a single serial USB device.
-
-High complexity: see Extruder → configures multiple EtherCAT devices inside controllers.
-
-Think of new.rs as the factory:
-This is the place to declare which devices make up your machine and how they’re configured.
-
-## 5. act.rs
-
-This file implements the machine control loop using MachineAct.
-The act() method is called repeatedly by the control runtime.
-
-```rs
-impl MachineAct for YourMachine {
-    fn act(&mut self, _now_ts: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let now = Instant::now();
-
-            // Update state, e.g. step a controller
-            self.some_controller.update();
-
-            // Emit live values ~30 Hz if machine is in Running mode
-            if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
-                self.maybe_emit_state_event();
-                self.emit_live_values();
-                self.last_measurement_emit = now;
-            }
-        })
-    }
-}
-```
-
-## 6. api.rs
-
-Defines the frontend-facing API for your machine:
-
-Mutations → requests that the machine accepts
-(e.g. start/stop commands, setpoints, configuration updates).
-
-Events → responses emitted to the frontend
-(e.g. live sensor data, alarms, machine state changes).
-
-Look at MockMachine’s api.rs for a minimal version.
-
-```rs
-/// Mutations are API requests to control the machine
-#[derive(Debug, Clone, serde::Deserialize)]
-#[serde(tag = "type", rename_all = "snake_case")]
-pub enum YourMachineMutation {
-    Start,
-    Stop,
-    SetSpeed { rpm: f64 },
-}
-
-/// Events are responses sent to the frontend
-#[derive(Debug, Clone, serde::Serialize)]
-#[serde(tag = "type", rename_all = "snake_case")]
-pub enum YourMachineEvent {
-    StateChanged { state: String },
-    LiveValues { rpm: f64, torque: f64 },
-}
-
-```
-
@@ -1,128 +0,0 @@
-# Performance/Stability Tweaks 
-## EtherCrab Config
-We set ethercrab to default settings for everything except for RetryBehaviour, so that one unlikely failure doesnt destroy the EtherCAT network.
-
-```rust
-    let maindevice = MainDevice::new(
-        pdu,
-        Timeouts {
-            // Default 5000ms
-            state_transition: Duration::from_millis(5000),
-            // Default 30_000us
-            pdu: Duration::from_micros(30_000),
-            // Default 10ms
-            eeprom: Duration::from_millis(10),
-            // Default 0ms
-            wait_loop_delay: Duration::from_millis(0),
-            // Default 100ms
-            mailbox_echo: Duration::from_millis(100),
-            // Default 1000ms
-            mailbox_response: Duration::from_millis(1000),
-        },
-        MainDeviceConfig {
-            // Default RetryBehaviour::None
-            retry_behaviour: RetryBehaviour::Count(5),
-            // Default 10_000
-            dc_static_sync_iterations: 10_000,
-        },
-    );
-
-```
-wait_loop_delay CAN in theory also decrease CPU usage if set exactly as the loop_delay we set, however this setting has caused us some issues, so we just leave it as is.
-
-## Realtime Kernel
-In our nixOs Config we use the latest realtime kernel and isolate TWO cores out of the Four available for the machines we use.
-
-```nix
- #From configuration.nix
- boot.loader.efi.canTouchEfiVariables = true;
- boot.kernelPackages = pkgs.linuxPackages-rt_latest;
- boot.kernelModules = [ "i915" ];
-```
-
-Notice how we hardcode the intel gpu kernel module. This is because only the GPU driver gets blacklisted for some reason. By specifying it manually it loads like before.
-
-One Core is used for the EtherCrab TXRX Thread and one is used for the machine Thread. 
-```
-    "isolcpus=2,3" # Isolate cpus 2 and 3 from scheduler for better latency, 2 runs ethercatthread and 3 runs server control-loop
-    "nohz_full=2,3" # In this mode, the periodic scheduler tick is stopped when only one task is running, reducing kernel interruptions on those CPUs.
-    "rcu_nocbs=2,3" # Moves RCU (Read-Copy Update) callback processing away from CPUs 2 and 3.
-```
-
-Essentially we completely disable acces from the operating system to these two cpus, which saves scheduler overhead, which would introduce noticable latency.
-Its not entirely clear yet if what we did here is overkill. Maybe we could use only one core and get away with that?
-Processor load normally hovers around 18% for one of the cores and like 9% for the other.
-
-We also have some minor cpu tweaks in configuration.nix
-```
-    # Graphical
-    "logo.nologo" # Remove kernel logo during boot
-
-    # Performance
-
-    # Specific Vulnerabilities Addressed by Mitigations:
-    # - Spectre variants (V1, V2, V4, SWAPGS, SpectreRSB, etc.)
-    # - Meltdown (Rogue Data Cache Load)
-    # - Foreshadow/L1TF (L1 Terminal Fault)
-    # - Microarchitectural Data Sampling (MDS, RIDL, Fallout, ZombieLoad)
-    # - SRBDS (Special Register Buffer Data Sampling)
-    # - TSX Asynchronous Abort (TAA)
-    # - iTLB Multihit
-    # - And others as they're discovered and mitigated
-    #
-    # With mitigations=off
-    # - PROS: Maximum performance, equivalent to pre-2018 behavior
-    # - CONS: Vulnerable to Spectre, Meltdown, Foreshadow, ZombieLoad, etc.
-    #         Should ONLY be used in completely trusted environments
-    # - Improves performance by 7-43%
-    "mitigation=off"
-    "intel_pstate=performance"    # Intel CPU-specific performance mode (if applicable)
-
-    # Memory Management
-    "transparent_hugepage=always" # Use larger memory pages for memory intense applications
-    "nmi_watchdog=0"              # Disable NMI watchdog for reduced CPU overhead and realtime execution
-
-    # High-throughput ethernet parameters
-    "pcie_aspm=off"         # Disable PCIe power management for NICs
-    "intel_iommu=off"       # Disable IOMMU (performance gain)
-
-    # Reliability
-    "panic=10"              # Auto-reboot 10 seconds after kernel panic
-    "oops=panic"            # Treat kernel oops as panic for auto-recovery
-    "usbcore.autosuspend=-1"     # Possibly fixes dre disconnect issue?
-```
-
-We should check if its really required to turn mitigations off as well.
-
-## Rust Code Optimizations
-
-In General we try to avoid memory allocations in our loop as much as possible, as it is not deterministic
-
-One problem we found, is that due to the realtime kernel our ethernet driver caused us quite large spikes in our tx_rx cycle time for EtherCAT.
-These spikes happen when CPU Load is very high on the two usable cores, causing the interrupt handler for Ethernet to stall.
-
-Which is why we reassign the interrupt handler on startup to the same core that the EtherCatTxRx Thread runs on:
-
-```rust
-#[cfg(target_os = "linux")]
-match set_irq_affinity(&interface, 3) {
-      Ok(_) => tracing::info!("ethernet interrupt handler now runs on cpu:{}", 3),
-      Err(e) => tracing::error!("set_irq_affinity failed: {:?}", e),
-}
-// Set core affinity to 4th core
-let _ = set_core_affinity(3);
-
-// Set the thread to real-time priority
-let _ = set_realtime_priority();
-```
-This means that the Interrupt Handler ALWAYS has enough ressources to cope with our demand for realtime communication with EtherCAT
-
-
-One Problem we have at the moment (we think) is the locking and async code blocking our server loop. 
-Note that this doesnt affect the EtherCAT communication at all.
-
-## Electron Optimizations (Not Yet Implemented)
-
-Currently we are struggling with the fact, that apparently Electron doesnt really have good support for HW acceleration on Linux.
-Electron runs with the software-renderer, which is VERY slow compared to a gpu. 
-This would eliminate the weird stuttering seen on Graphs and make them run buttery smooth, while also alleviating load off of the CPU.
@@ -115,130 +115,3 @@ pub fn (
    }
 }
 ```
-
-
-# Device Implementation Guide
-
-This section describes how to implement EtherCAT devices in the framework used by the QiTech Control project (via `ethercat-hal`, `server`, etc.). We include a running example of a simple digital output device (EL2004) and discuss how it fits into the larger architecture.
-
-## Architecture & Context
-
-The QiTech Control system is built as:
-
- `ethercat-hal` / `ethercat-hal-derive`: Hardware abstraction, PDO / CoE handling, device traits.  
- `server`: Glue code that reads device identities, instantiates the correct device types, performs CoE configuration, and runs cyclic process data.  
- The `docs` directory documents APIs and device patterns.  
-  :contentReference[oaicite:0]{index=0}  
-
-In this architecture:
-
-1. During initialization, subdevice identity tuples (Vendor ID, Product ID, Revision) are read.
-2. The `server` matches identity tuples to concrete `Device` types and constructs them (via `NewEthercatDevice`).
-3. The device instance then handles PDO exchange, and optional CoE (configuration) writes.
-4. Higher-level application code interacts with devices via traits like `DigitalOutputDevice`, `DigitalInputDevice`, etc.
-
---
-
-## Example: Simple Digital Output Device (EL2004)
-
-Below is a minimal example of a digital-output-only EtherCAT device. It shows how to map PDOs, implement traits, and define identity constants.
-
-```rust
-use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
-use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
-use crate::io::digital_output::{DigitalOutputDevice, DigitalOutputOutput};
-use crate::pdo::{RxPdo, basic::BoolPdoObject};
-use ethercat_hal_derive::{EthercatDevice, RxPdo};
-
-/// EL2004 4-channel digital output device — 24 V DC, 0.5 A per channel
-#[derive(EthercatDevice)]
-pub struct EL2004 {
-    /// The Rx PDO where output bits are written by the master
-    pub rxpdo: EL2004RxPdo,
-    is_used: bool,
-}
-
-impl EthercatDeviceProcessing for EL2004 {}
-
-impl std::fmt::Debug for EL2004 {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        write!(f, "EL2004")
-    }
-}
-
-impl NewEthercatDevice for EL2004 {
-    fn new() -> Self {
-        Self {
-            rxpdo: EL2004RxPdo::default(),
-            is_used: false,
-        }
-    }
-}
-
-impl DigitalOutputDevice<EL2004Port> for EL2004 {
-    fn set_output(&mut self, port: EL2004Port, value: DigitalOutputOutput) {
-        let expect_text = "All channels should be Some(_)";
-        match port {
-            EL2004Port::DO1 => {
-                self.rxpdo.channel1.as_mut().expect(expect_text).value = value.into()
-            }
-            EL2004Port::DO2 => {
-                self.rxpdo.channel2.as_mut().expect(expect_text).value = value.into()
-            }
-            EL2004Port::DO3 => {
-                self.rxpdo.channel3.as_mut().expect(expect_text).value = value.into()
-            }
-            EL2004Port::DO4 => {
-                self.rxpdo.channel4.as_mut().expect(expect_text).value = value.into()
-            }
-        }
-    }
-
-    fn get_output(&self, port: EL2004Port) -> DigitalOutputOutput {
-        let expect_text = "All channels should be Some(_)";
-        DigitalOutputOutput(match port {
-            EL2004Port::DO1 => self.rxpdo.channel1.as_ref().expect(expect_text).value,
-            EL2004Port::DO2 => self.rxpdo.channel2.as_ref().expect(expect_text).value,
-            EL2004Port::DO3 => self.rxpdo.channel3.as_ref().expect(expect_text).value,
-            EL2004Port::DO4 => self.rxpdo.channel4.as_ref().expect(expect_text).value,
-        })
-    }
-}
-
-#[derive(Debug, Clone)]
-pub enum EL2004Port {
-    DO1,
-    DO2,
-    DO3,
-    DO4,
-}
-
-#[derive(Debug, Clone, RxPdo)]
-pub struct EL2004RxPdo {
-    #[pdo_object_index(0x1600)]
-    pub channel1: Option<BoolPdoObject>,
-    #[pdo_object_index(0x1601)]
-    pub channel2: Option<BoolPdoObject>,
-    #[pdo_object_index(0x1602)]
-    pub channel3: Option<BoolPdoObject>,
-    #[pdo_object_index(0x1603)]
-    pub channel4: Option<BoolPdoObject>,
-}
-
-impl Default for EL2004RxPdo {
-    fn default() -> Self {
-        Self {
-            channel1: Some(BoolPdoObject::default()),
-            channel2: Some(BoolPdoObject::default()),
-            channel3: Some(BoolPdoObject::default()),
-            channel4: Some(BoolPdoObject::default()),
-        }
-    }
-}
-
-/// Identity constants for EL2004
-pub const EL2004_VENDOR_ID: u32 = 0x2;
-pub const EL2004_PRODUCT_ID: u32 = 131346514;
-pub const EL2004_REVISION_A: u32 = 1179648;
-pub const EL2004_IDENTITY_A: SubDeviceIdentityTuple =
-    (EL2004_VENDOR_ID, EL2004_PRODUCT_ID, EL2004_REVISION_A);
@@ -1,40 +0,0 @@
-# Ethercat Tab shows no Ethercat Terminals!
-
-When the Ethercat page does not show any terminals, this can be due to multiple reasons
-
-## 1: Incorrect Connection of EK1100
-
-Check that the computers ethernet cable is properly connected to the EK1100 IN port
-
-Check the cabling if more than one EK1100 is used.
-When you have multiple EK the connection should be like this:
-
-Master (Your pc) -> Ethernet cable -> IN EK1100 (A)
-
-OUT EK1100 (A) -> Ethernet cable -> IN EK1100 (B)
-
-If you connected any part of this incorrectly the ethercat software will try to communicate but will fail, because the protocol works only if all devices are connect in series.
-
-## 2: Defective EtherCAT Terminal
-
-If a Terminal is somehow defective it can disrupt the communication flow expected by EtherCAT thus causing no devices to show up, as ethercat requires all terminals to work properly.
-
-To identify the defective terminal start unplugging terminals starting from the End terminal. Working your way backwards. Every time you unplug a terminal restart the backend process.
-
-You know that you have removed the defective terminal when the ethercat tab shows devices after your restart.
-
-Replace that terminal with an appropriate one and repeat this if the error persists.
-
-## 3: Corrupt Firmware on EtherCAT Terminal
-
-Another reason, that an Ethercat Terminal doesnt work properly, is that the firmware is corrupt. This could happen due to overvoltage,undervoltage or shorts, in some cases this is recoverable by reflashing the firmware.
-
-Our repository contains dumps for all of the EtherCAT Terminals, that we have used. To upload the firmware you can follow this guide: https://infosys.beckhoff.com/english.php?content=../content/1033/ethercatsystem/402909835.html&id=
-
-To follow this guide, you need to have TwinCat installed and a License.
-
-# Motor does not start!
-
-If the Motor does not start after trying to talk to the inverter, the most common reason is that the inverter's serial connection settings (baudrate,encoding ...) are incorrect.
-
-The correct settings can be found in mitsubishi_inverter.md under `All Settings needed for the Inverter Communication/Operation with Extruder`
@@ -33,8 +33,6 @@ export function getUnitIcon(unit: Unit): IconName {
      return "lu:Zap";
    case "kWh":
      return "lu:BatteryFull";
-    case "l/min":
-      return "lu:Waves";
    default:
      return "lu:ChartNoAxesColumn";
  }
@@ -70,8 +68,6 @@ export function renderUnitSymbol(unit: Unit | undefined): string {
      return "A";
    case "kWh":
      return "kWh";
-    case "l/min":
-      return "l/min";
    default:
      return "";
  }
@@ -129,8 +125,6 @@ export function renderUnitSymbolLong(unit: Unit): string {
      return "amperes";
    case "kWh":
      return "kilowatt-hours";
-    case "l/min":
-      return "liters/minute";
    default:
      return "";
  }
@@ -151,7 +145,6 @@ export const units = [
  "V",
  "A",
  "kWh",
-  "l/min",
 ] as const;

 export type Unit = (typeof units)[number];
@@ -1,207 +0,0 @@
-import { ControlCard } from "@/control/ControlCard";
-import { Page } from "@/components/Page";
-import React from "react";
-import { ControlGrid } from "@/control/ControlGrid";
-import { TimeSeriesValueNumeric } from "@/control/TimeSeriesValue";
-import { useAquapath1 } from "./useAquapath";
-import { SelectionGroup } from "@/control/SelectionGroup";
-import { EditValue } from "@/control/EditValue";
-import { Label } from "@/control/Label";
-
-export function Aquapath1ControlPage() {
-  const {
-    state,
-    defaultState,
-    front_flow,
-    back_flow,
-    front_temperature,
-    back_temperature,
-    front_temp_reservoir,
-    back_temp_reservoir,
-    setAquapathMode,
-    setFrontTemperature,
-    setBackTemperature,
-    setFrontFlow,
-    setBackFlow,
-  } = useAquapath1();
-  const frontTargetTemperature =
-    state?.temperature_states?.front.target_temperature ?? 0;
-  const backTargetTemperature =
-    state?.temperature_states?.back.target_temperature ?? 0;
-
-  const frontTargetFlow = state?.flow_states.front.should_flow ?? false;
-  const backTargetFlow = state?.flow_states.back.should_flow ?? false;
-
-  return (
-    <Page>
-      <ControlGrid columns={2}>
-        <ControlCard title="Flow Measurements">
-          <div className="grid grid-cols-2 gap-6">
-            <div className="flex flex-col gap-8">
-              <TimeSeriesValueNumeric
-                label="Front Flow"
-                unit="l/min"
-                timeseries={front_flow}
-                renderValue={(value) => value.toFixed(1)}
-              />
-            </div>
-
-            <div className="flex flex-col gap-8">
-              <TimeSeriesValueNumeric
-                label="Back Flow"
-                unit="l/min"
-                timeseries={back_flow}
-                renderValue={(value) => value.toFixed(1)}
-              />
-            </div>
-          </div>
-
-          <div className="mt-8">
-            <Label label="Front Pump">
-              <SelectionGroup<"On" | "Off">
-                value={frontTargetFlow ? "On" : "Off"}
-                orientation="vertical"
-                className="grid h-full grid-cols-2 gap-2"
-                options={{
-                  Off: {
-                    children: "Off",
-                    icon: "lu:CirclePause",
-                    isActiveClassName: "bg-green-600",
-                    className: "h-full",
-                  },
-                  On: {
-                    children: "On",
-                    icon: "lu:CirclePlay",
-                    isActiveClassName: "bg-green-600",
-                    className: "h-full",
-                  },
-                }}
-                onChange={(value) => {
-                  if (value == "On") {
-                    setFrontFlow(true);
-                  } else {
-                    setFrontFlow(false);
-                  }
-                }}
-              />
-            </Label>
-
-            <Label label="Back Pump">
-              <SelectionGroup<"On" | "Off">
-                value={backTargetFlow ? "On" : "Off"}
-                orientation="vertical"
-                className="grid h-full grid-cols-2 gap-2"
-                options={{
-                  Off: {
-                    children: "Off",
-                    icon: "lu:CirclePause",
-                    isActiveClassName: "bg-green-600",
-                    className: "h-full",
-                  },
-                  On: {
-                    children: "On",
-                    icon: "lu:CirclePlay",
-                    isActiveClassName: "bg-green-600",
-                    className: "h-full",
-                  },
-                }}
-                onChange={(value) => {
-                  if (value == "On") {
-                    setBackFlow(true);
-                  } else {
-                    setBackFlow(false);
-                  }
-                }}
-              />
-            </Label>
-          </div>
-        </ControlCard>
-
-        <ControlCard title="Temperature Measurements">
-          <div className="grid grid-cols-2 gap-6">
-            <div className="flex flex-col gap-8">
-              <TimeSeriesValueNumeric
-                label="Front in"
-                unit="C"
-                timeseries={front_temperature}
-                renderValue={(value) => value.toFixed(1)}
-              />
-              <TimeSeriesValueNumeric
-                label="Front Reservoir"
-                unit="C"
-                timeseries={front_temp_reservoir}
-                renderValue={(value) => value.toFixed(1)}
-              />
-              <Label label="Set Front Target Temperature">
-                <EditValue
-                  title="Set Front Target Temperature"
-                  value={frontTargetTemperature}
-                  unit="C"
-                  renderValue={(value) => value.toFixed(1)}
-                  onChange={(val) => {
-                    setFrontTemperature(val);
-                  }}
-                  defaultValue={
-                    defaultState?.temperature_states.front.target_temperature
-                  }
-                />
-              </Label>
-            </div>
-
-            <div className="flex flex-col gap-8">
-              <TimeSeriesValueNumeric
-                label="Back in"
-                unit="C"
-                timeseries={back_temperature}
-                renderValue={(value) => value.toFixed(1)}
-              />
-              <TimeSeriesValueNumeric
-                label="Back Reservoir"
-                unit="C"
-                timeseries={back_temp_reservoir}
-                renderValue={(value) => value.toFixed(1)}
-              />
-              <Label label="Set Back Target Temperature">
-                <EditValue
-                  title="Set Back Target Temperature"
-                  value={backTargetTemperature}
-                  unit="C"
-                  renderValue={(value) => value.toFixed(1)}
-                  onChange={(val) => {
-                    setBackTemperature(val);
-                  }}
-                  defaultValue={
-                    defaultState?.temperature_states.back.target_temperature
-                  }
-                />
-              </Label>
-            </div>
-          </div>
-        </ControlCard>
-
-        <ControlCard className="bg-red" title="Mode">
-          <SelectionGroup<"Standby" | "Auto">
-            value={state?.mode_state.mode}
-            orientation="vertical"
-            className="grid h-full grid-cols-2 gap-2"
-            options={{
-              Standby: {
-                children: "Standby",
-                icon: "lu:CirclePause",
-                isActiveClassName: "bg-green-600",
-                className: "h-full",
-              },
-              Auto: {
-                children: "Auto",
-                icon: "lu:CirclePlay",
-                isActiveClassName: "bg-green-600",
-                className: "h-full",
-              },
-            }}
-            onChange={(value) => setAquapathMode(value)}
-          />
-        </ControlCard>
-      </ControlGrid>
-    </Page>
-  );
-}
@@ -1,186 +0,0 @@
-import { Page } from "@/components/Page";
-import {
-  AutoSyncedBigGraph,
-  SyncedFloatingControlPanel,
-  useGraphSync,
-  type GraphConfig,
-} from "@/components/graph";
-
-import React from "react";
-import { useAquapath1 } from "./useAquapath";
-import { TimeSeries } from "@/lib/timeseries";
-
-export function Aquapath1GraphPage() {
-  const {
-    state,
-    front_flow,
-    back_flow,
-    front_temperature,
-    back_temperature,
-    front_temp_reservoir,
-    back_temp_reservoir,
-  } = useAquapath1();
-
-  const syncHook = useGraphSync("aquapath-group");
-
-  const front_temp_target =
-    state?.temperature_states?.front.target_temperature ?? 0;
-  const back_temp_target =
-    state?.temperature_states?.back.target_temperature ?? 0;
-
-  return (
-    <Page className="pb-27">
-      <div className="flex flex-col gap-4">
-        <FlowGraph
-          syncHook={syncHook}
-          flow={front_flow}
-          name={"Front Flow"}
-          id={"front_flow"}
-        />
-        <FlowGraph
-          syncHook={syncHook}
-          flow={back_flow}
-          name={"Back Flow"}
-          id={"back_flow"}
-        />
-        <TemperatureGraph
-          syncHook={syncHook}
-          temp_in={front_temperature}
-          temp_out={front_temp_reservoir}
-          targetTemp={front_temp_target}
-          name={"Front Temperature"}
-          id={"front_temp"}
-        />
-        <TemperatureGraph
-          syncHook={syncHook}
-          temp_in={back_temperature}
-          temp_out={back_temp_reservoir}
-          targetTemp={back_temp_target}
-          name={"Back Temperature"}
-          id={"back_temp"}
-        />
-      </div>
-      <SyncedFloatingControlPanel controlProps={syncHook.controlProps} />
-    </Page>
-  );
-}
-
-export function FlowGraph({
-  syncHook,
-  flow,
-  name,
-  id,
-}: {
-  syncHook: ReturnType<typeof useGraphSync>;
-  flow: TimeSeries | null;
-  name: string;
-  id: string;
-}) {
-  const config: GraphConfig = {
-    title: name,
-    icon: "lu:RotateCcw",
-    colors: {
-      primary: "#10b981",
-      grid: "#e2e8f0",
-      background: "#ffffff",
-    },
-    exportFilename: "flow_data",
-  };
-
-  return (
-    <AutoSyncedBigGraph
-      syncHook={syncHook}
-      newData={{
-        newData: flow,
-        color: "#3b82f6",
-      }}
-      unit="l/min"
-      renderValue={(value) => value.toFixed(1)}
-      config={config}
-      graphId={id}
-    />
-  );
-}
-export function TemperatureGraph({
-  syncHook,
-  temp_in,
-  temp_out,
-  targetTemp,
-  name,
-  id,
-}: {
-  syncHook: ReturnType<typeof useGraphSync>;
-  temp_in: TimeSeries | null;
-  temp_out: TimeSeries | null;
-  targetTemp: number;
-  name: string;
-  id: string;
-}) {
-  const config: GraphConfig = {
-    title: name,
-    icon: "lu:RotateCcw",
-    colors: {
-      primary: "#10b981",
-      grid: "#e2e8f0",
-      background: "#ffffff",
-    },
-    exportFilename: "temperature_data",
-    showLegend: true,
-    lines: [],
-  };
-
-  const combinedData = [
-    ...(temp_in
-      ? [
-          {
-            newData: temp_in,
-            title: "Temperature In",
-            color: "#3b82f6",
-            lines: [
-              {
-                type: "threshold" as const,
-                value: targetTemp,
-                label: "Target Temperature",
-                color: "#3b82f6",
-                show: true,
-                width: 2,
-                dash: [5, 5],
-              },
-            ],
-          },
-        ]
-      : []),
-
-    ...(temp_out
-      ? [
-          {
-            newData: temp_out,
-            title: "Temperature Out",
-            color: "#f87171",
-            lines: [
-              {
-                type: "threshold" as const,
-                value: targetTemp,
-                label: "Target Temperature",
-                color: "#f87171",
-                show: true,
-                width: 2,
-                dash: [5, 5],
-              },
-            ],
-          },
-        ]
-      : []),
-  ];
-
-  return (
-    <AutoSyncedBigGraph
-      syncHook={syncHook}
-      newData={combinedData}
-      unit="C"
-      renderValue={(value) => value.toFixed(1)}
-      config={config}
-      graphId={id}
-    />
-  );
-}
@@ -1,26 +0,0 @@
-import { Topbar } from "@/components/Topbar";
-import { aquapath1SerialRoute } from "@/routes/routes";
-import React from "react";
-
-export function Aquapath1Page() {
-  const { serial } = aquapath1SerialRoute.useParams();
-  return (
-    <Topbar
-      pathname={`/_sidebar/machines/aquapath1/${serial}`}
-      items={[
-        {
-          link: "control",
-          activeLink: "control",
-          title: "Control",
-          icon: "lu:CirclePlay",
-        },
-        {
-          link: "graph",
-          title: "Graph",
-          icon: "lu:ChartSpline",
-          activeLink: "graphs",
-        },
-      ]}
-    />
-  );
-}
@@ -1,246 +0,0 @@
-/**
- * @file Aquapath1Namespace.ts
- * @description TypeScript implementation of Aquapath1 namespace with Zod schema validation.
- */
-
-import { StoreApi } from "zustand";
-import { create } from "zustand";
-import { z } from "zod";
-import {
-  EventHandler,
-  eventSchema,
-  Event,
-  handleUnhandledEventError,
-  NamespaceId,
-  createNamespaceHookImplementation,
-  ThrottledStoreUpdater,
-} from "../../../client/socketioStore";
-import { MachineIdentificationUnique } from "@/machines/types";
-import { createTimeSeries, TimeSeries } from "@/lib/timeseries";
-
-// ========== Event Schema Definitions ==========
-/**
- * Mode enum for Aquapath Machine
- */
-export const modeSchema = z.enum(["Standby", "Auto"]);
-
-/**
- * Mode state schema
- */
-export const modeStateSchema = z.object({
-  mode: modeSchema,
-});
-export const tempStateSchema = z.object({
-  temperature: z.number(),
-  target_temperature: z.number(),
-});
-/**
- * Cooling states schema
- */
-export const tempStatesSchema = z.object({
-  front: tempStateSchema,
-  back: tempStateSchema,
-});
-
-export const flowStateSchema = z.object({
-  flow: z.number(),
-  should_flow: z.boolean(),
-});
-export const flowStatesSchema = z.object({
-  front: flowStateSchema,
-  back: flowStateSchema,
-});
-
-/**
- * Live values event schema (time-series data)
- */
-export const liveValuesEventDataSchema = z.object({
-  front_flow: z.number(),
-  back_flow: z.number(),
-  front_temperature: z.number(),
-  back_temperature: z.number(),
-  front_temp_reservoir: z.number(),
-  back_temp_reservoir: z.number(),
-});
-
-/**
- * State event schema (consolidated state)
- */
-export const stateEventDataSchema = z.object({
-  is_default_state: z.boolean(),
-  mode_state: modeStateSchema,
-  flow_states: flowStatesSchema,
-  temperature_states: tempStatesSchema,
-});
-
-// ========== Event Schemas with Wrappers ==========
-export const liveValuesEventSchema = eventSchema(liveValuesEventDataSchema);
-export const stateEventSchema = eventSchema(stateEventDataSchema);
-
-// ========== Type Inferences ==========
-export type Mode = z.infer<typeof modeSchema>;
-export type ModeState = z.infer<typeof modeStateSchema>;
-export type LiveValuesEvent = z.infer<typeof liveValuesEventSchema>;
-export type StateEvent = z.infer<typeof stateEventSchema>;
-
-export type Aquapath1NamespaceStore = {
-  // Single state event from server
-  state: StateEvent | null;
-  defaultState: StateEvent | null;
-
-  front_flow: TimeSeries;
-  back_flow: TimeSeries;
-
-  front_temperature: TimeSeries;
-  back_temperature: TimeSeries;
-
-  front_temp_reservoir: TimeSeries;
-  back_temp_reservoir: TimeSeries;
-};
-
-// Constants for time durations
-const TWENTY_MILLISECOND = 20;
-const ONE_SECOND = 1000;
-const FIVE_SECOND = 5 * ONE_SECOND;
-const ONE_HOUR = 60 * 60 * ONE_SECOND;
-
-const { initialTimeSeries: front_temperature, insert: addTemperature1 } =
-  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
-
-const { initialTimeSeries: back_temperature, insert: addTemperature2 } =
-  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
-
-const { initialTimeSeries: front_temp_reservoir, insert: addTempReserv1 } =
-  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
-
-const { initialTimeSeries: back_temp_reservoir, insert: addTempReserv2 } =
-  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
-
-const { initialTimeSeries: front_flow, insert: addFlow1 } = createTimeSeries(
-  TWENTY_MILLISECOND,
-  ONE_SECOND,
-  FIVE_SECOND,
-  ONE_HOUR,
-);
-
-const { initialTimeSeries: back_flow, insert: addFlow2 } = createTimeSeries(
-  TWENTY_MILLISECOND,
-  ONE_SECOND,
-  FIVE_SECOND,
-  ONE_HOUR,
-);
-/**
- * Factory function to create a new Aquapath namespace store
- * @returns A new Zustand store instance for Aquapath namespace
- */
-export const createAquapath1NamespaceStore =
-  (): StoreApi<Aquapath1NamespaceStore> => {
-    return create<Aquapath1NamespaceStore>(() => {
-      return {
-        state: null,
-        defaultState: null,
-        front_temperature: front_temperature,
-        back_temperature: back_temperature,
-        front_flow: front_flow,
-        back_flow: back_flow,
-        front_temp_reservoir: front_temp_reservoir,
-        back_temp_reservoir: back_temp_reservoir,
-      };
-    });
-  };
-
-/**
- * Creates a message handler for Mock1 namespace events with validation and appropriate caching strategies
- * @param store The store to update when messages are received
- * @param throttledUpdater Throttled updater for batching updates at 60 FPS
- * @returns A message handler function
- */
-export function aquapath1MessageHandler(
-  store: StoreApi<Aquapath1NamespaceStore>,
-  throttledUpdater: ThrottledStoreUpdater<Aquapath1NamespaceStore>,
-): EventHandler {
-  return (event: Event<any>) => {
-    const eventName = event.name;
-
-    // Helper function to update store through buffer
-    const updateStore = (
-      updater: (state: Aquapath1NamespaceStore) => Aquapath1NamespaceStore,
-    ) => {
-      throttledUpdater.updateWith(updater);
-    };
-
-    try {
-      // State events (latest only)
-      if (eventName === "StateEvent") {
-        const stateEvent = stateEventSchema.parse(event);
-        updateStore((state) => ({
-          ...state,
-          state: stateEvent,
-          // only set default state if is_default_state is true
-          defaultState: stateEvent.data.is_default_state
-            ? stateEvent
-            : state.defaultState,
-        }));
-      }
-      // Live values events (time-series data)
-      else if (eventName === "LiveValuesEvent") {
-        const liveValuesEvent = liveValuesEventSchema.parse(event);
-
-        updateStore((state) => ({
-          ...state,
-          front_temperature: addTemperature1(state.front_temperature, {
-            value: liveValuesEvent.data.front_temperature,
-            timestamp: event.ts,
-          }),
-          back_temperature: addTemperature2(state.back_temperature, {
-            value: liveValuesEvent.data.back_temperature,
-            timestamp: event.ts,
-          }),
-          front_flow: addFlow1(state.front_flow, {
-            value: liveValuesEvent.data.front_flow,
-            timestamp: event.ts,
-          }),
-          back_flow: addFlow2(state.back_flow, {
-            value: liveValuesEvent.data.back_flow,
-            timestamp: event.ts,
-          }),
-          front_temp_reservoir: addTempReserv1(state.front_temp_reservoir, {
-            value: liveValuesEvent.data.front_temp_reservoir,
-            timestamp: event.ts,
-          }),
-          back_temp_reservoir: addTempReserv2(state.back_temp_reservoir, {
-            value: liveValuesEvent.data.back_temp_reservoir,
-            timestamp: event.ts,
-          }),
-        }));
-      } else {
-        handleUnhandledEventError(eventName);
-      }
-    } catch (error) {
-      console.error(`Unexpected error processing ${eventName} event:`, error);
-      throw error;
-    }
-  };
-}
-
-/**
- * Create the Aquapath1 namespace implementation
- */
-const useAquapath1NamespaceImplementation =
-  createNamespaceHookImplementation<Aquapath1NamespaceStore>({
-    createStore: createAquapath1NamespaceStore,
-    createEventHandler: aquapath1MessageHandler,
-  });
-
-export function useAquapath1Namespace(
-  machine_identification_unique: MachineIdentificationUnique,
-): Aquapath1NamespaceStore {
-  // Generate namespace ID from validated machine ID
-  const namespaceId: NamespaceId = {
-    type: "machine",
-    machine_identification_unique,
-  };
-
-  // Use the implementation with validated namespace ID
-  return useAquapath1NamespaceImplementation(namespaceId);
-}
@@ -1,175 +0,0 @@
-import { toastError } from "@/components/Toast";
-import { useStateOptimistic } from "@/lib/useStateOptimistic";
-import { MachineIdentificationUnique } from "@/machines/types";
-import { aquapath1 } from "@/machines/properties";
-import { aquapath1SerialRoute } from "@/routes/routes";
-import { Mode, StateEvent, useAquapath1Namespace } from "./aquapath1Namespace";
-import { useMachineMutate as useMachineMutation } from "@/client/useClient";
-
-import { useEffect, useMemo } from "react";
-import { produce } from "immer";
-import { z } from "zod";
-
-export function useAquapath1() {
-  const { serial: serialString } = aquapath1SerialRoute.useParams();
-
-  // Memoize the machine identification to keep it stable between renders
-  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
-    const serial = parseInt(serialString);
-
-    if (isNaN(serial)) {
-      toastError(
-        "Invalid Serial Number",
-        `"${serialString}" is not a valid serial number.`,
-      );
-
-      return {
-        machine_identification: {
-          vendor: 0,
-          machine: 0,
-        },
-        serial: 0,
-      };
-    }
-
-    return {
-      machine_identification: aquapath1.machine_identification,
-      serial,
-    };
-  }, [serialString]);
-
-  // Get consolidated state and live values from namespace
-  const {
-    state,
-    defaultState,
-    front_temperature: front_temperature,
-    back_temperature: back_temperature,
-    front_flow: front_flow,
-    back_flow: back_flow,
-    front_temp_reservoir: front_temp_reservoir,
-    back_temp_reservoir: back_temp_reservoir,
-  } = useAquapath1Namespace(machineIdentification);
-
-  // Single optimistic state for all state management
-  const stateOptimistic = useStateOptimistic<StateEvent>();
-
-  // Update optimistic state when real state changes
-  useEffect(() => {
-    if (state) {
-      stateOptimistic.setReal(state);
-    }
-  }, [state, stateOptimistic]);
-
-  const setAquapathMode = (mode: Mode) => {
-    updateStateOptimistically(
-      (current) => {
-        current.data.mode_state.mode = mode;
-      },
-      () =>
-        requestAquapathMode({
-          machine_identification_unique: machineIdentification,
-          data: { SetAquaPathMode: mode },
-        }),
-    );
-  };
-
-  const setFrontTemperature = (temperature: number) => {
-    updateStateOptimistically(
-      (current) => {
-        current.data.temperature_states.front.target_temperature = temperature;
-      },
-      () =>
-        requestFrontTemperature({
-          machine_identification_unique: machineIdentification,
-          data: { SetFrontTemperature: temperature },
-        }),
-    );
-  };
-
-  const setBackTemperature = (temperature: number) => {
-    updateStateOptimistically(
-      (current) => {
-        current.data.temperature_states.back.target_temperature = temperature;
-      },
-      () =>
-        requestBackTemperature({
-          machine_identification_unique: machineIdentification,
-          data: { SetBackTemperature: temperature },
-        }),
-    );
-  };
-
-  const setFrontFlow = (flow: boolean) => {
-    updateStateOptimistically(
-      (current) => {
-        current.data.flow_states.front.should_flow = flow;
-      },
-      () =>
-        requestFrontFlow({
-          machine_identification_unique: machineIdentification,
-          data: { SetFrontFlow: flow },
-        }),
-    );
-  };
-
-  const setBackFlow = (flow: boolean) => {
-    updateStateOptimistically(
-      (current) => {
-        current.data.flow_states.back.should_flow = flow;
-      },
-      () =>
-        requestBackFlow({
-          machine_identification_unique: machineIdentification,
-          data: { SetBackFlow: flow },
-        }),
-    );
-  };
-
-  // Mutation hooks
-  const { request: requestAquapathMode } = useMachineMutation(
-    z.object({ SetAquaPathMode: z.enum(["Standby", "Auto"]) }),
-  );
-  const { request: requestFrontTemperature } = useMachineMutation(
-    z.object({ SetFrontTemperature: z.number() }),
-  );
-  const { request: requestBackTemperature } = useMachineMutation(
-    z.object({ SetBackTemperature: z.number() }),
-  );
-  const { request: requestFrontFlow } = useMachineMutation(
-    z.object({ SetFrontFlow: z.boolean() }),
-  );
-  const { request: requestBackFlow } = useMachineMutation(
-    z.object({ SetBackFlow: z.boolean() }),
-  );
-  // Helper function for optimistic updates using produce
-  const updateStateOptimistically = (
-    producer: (current: StateEvent) => void,
-    serverRequest: () => void,
-  ) => {
-    const currentState = stateOptimistic.value;
-    if (currentState) {
-      stateOptimistic.setOptimistic(produce(currentState, producer));
-    }
-    serverRequest();
-  };
-
-  return {
-    // Consolidated state
-    state: stateOptimistic.value?.data,
-
-    // Default state for initial values
-    defaultState: defaultState?.data,
-    front_flow,
-    back_flow,
-    front_temperature,
-    back_temperature,
-    front_temp_reservoir,
-    back_temp_reservoir,
-
-    setAquapathMode,
-    setFrontTemperature,
-    setBackTemperature,
-    setFrontFlow,
-    setBackFlow,
-  };
-}
@@ -2,13 +2,11 @@ import React from "react";
 import { TimeSeries } from "@/lib/timeseries";
 import { cva } from "class-variance-authority";

-type DiameterVisualisationProps = {
+type AnimateCableProps = {
  targetDiameter: number;
  lowTolerance: number;
  highTolerance: number;
  diameter: TimeSeries;
-  x_diameter?: TimeSeries;
-  y_diameter?: TimeSeries;
 };

 // Ring color depending on tolerance
@@ -26,7 +24,7 @@ const dashedRingClass = cva(
  "absolute rounded-full border border-dashed border-black z-15",
 );

-// Dynamic animated circle/ellipse
+// Dynamic animated circle
 const dynamicCircleClass = cva(
  "absolute rounded-full border-2 border-black bg-transparent z-30 transition-all duration-300 ease-in-out",
 );
@@ -36,19 +34,16 @@ export function DiameterVisualisation({
  lowTolerance,
  highTolerance,
  diameter,
-  x_diameter,
-  y_diameter,
-}: DiameterVisualisationProps) {
+}: AnimateCableProps) {
  const actualDiameter = diameter.current?.value ?? 0.0;
-  const actualX = x_diameter?.current?.value ?? actualDiameter;
-  const actualY = y_diameter?.current?.value ?? actualDiameter;

  const minDia = targetDiameter - lowTolerance;
  const maxDia = targetDiameter + highTolerance;
+  const totalTolerance = lowTolerance + highTolerance;
+  const midDia = minDia + (maxDia - minDia) * (lowTolerance / totalTolerance);

  const pixelMin = 100;
  const pixelMax = 200;
-
  const lerp = (
    value: number,
    inputMin: number,
@@ -56,72 +51,86 @@ export function DiameterVisualisation({
    outputMin: number,
    outputMax: number,
  ) => {
-    if (inputMax === inputMin) {
-      return (outputMin + outputMax) / 2;
-    }
    return (
      outputMin +
      ((value - inputMin) * (outputMax - outputMin)) / (inputMax - inputMin)
    );
  };
+  const pixelMid = lerp(midDia, minDia, maxDia, pixelMin, pixelMax);
+  let dynamicDiameterPx: number | null = null;

  const clamp = (value: number, min: number, max: number) =>
    Math.min(Math.max(value, min), max);

-  const radiusX = clamp(
-    lerp(actualX, minDia, maxDia, pixelMin / 2, pixelMax / 2),
-    pixelMin / 2,
-    pixelMax / 2,
-  );
-
-  const radiusY = clamp(
-    lerp(actualY, minDia, maxDia, pixelMin / 2, pixelMax / 2),
-    pixelMin / 2,
-    pixelMax / 2,
-  );
+  if (actualDiameter > 0) {
+    if (actualDiameter < minDia) {
+      dynamicDiameterPx = lerp(actualDiameter, 0, minDia, 0, pixelMin);
+    } else if (actualDiameter <= maxDia) {
+      dynamicDiameterPx = lerp(
+        actualDiameter,
+        minDia,
+        maxDia,
+        pixelMin,
+        pixelMax,
+      );
+    } else {
+      const dynamicDiameterPxLerp = lerp(
+        actualDiameter,
+        maxDia,
+        maxDia * 1.5,
+        pixelMax,
+        pixelMax * 1.1,
+      );
+      dynamicDiameterPx = clamp(
+        dynamicDiameterPxLerp,
+        pixelMin,
+        pixelMax * 1.1,
+      );
+    }
+  }

  const bigRadius = pixelMax / 2;
+  const smallRadius = pixelMin / 2;
+  const midRadius = pixelMid / 2;
+  const dynamicRadius = dynamicDiameterPx ? dynamicDiameterPx / 2 : 0;
+  const inTolerance = actualDiameter >= minDia && actualDiameter <= maxDia;

-  // Center the shape
-  const centerStyle = (rx: number, ry: number) => ({
-    width: rx * 2,
-    height: ry * 2,
-    top: `${bigRadius - ry}px`,
-    left: `${bigRadius - rx}px`,
+  const centerStyle = (radius: number) => ({
+    width: radius * 2,
+    height: radius * 2,
+    top: `${bigRadius - radius}px`,
+    left: `${bigRadius - radius}px`,
  });

-  // Check if current measurement is in tolerance
-  const inTolerance =
-    actualX >= minDia &&
-    actualX <= maxDia &&
-    actualY >= minDia &&
-    actualY <= maxDia;
-
  return (
    <div
      className="relative mx-auto"
      style={{ width: pixelMax, height: pixelMax }}
    >
+      {/* Outer ring background */}
      <div
-        className={`${ringClass({ state: inTolerance ? "inRange" : "outOfRange" })} top-0 left-0 z-10`}
+        className={`${ringClass({
+          state: inTolerance ? "inRange" : "outOfRange",
+        })} top-0 left-0 z-10`}
        style={{ width: pixelMax, height: pixelMax }}
      />
+
+      {/* Inner white circle to cut out the center */}
      <div
        className="absolute z-20 rounded-full bg-white"
-        style={centerStyle(pixelMin / 2, pixelMin / 2)}
-      />
-      <div
-        className={dashedRingClass()}
-        style={centerStyle(pixelMax / 2, pixelMax / 2)}
-      />
-      <div
-        className={dynamicCircleClass()}
-        style={{
-          ...centerStyle(radiusX, radiusY),
-          /* rotate by 45deg to mimic the rotated axis of the Laser */
-          transform: "rotate(45deg)",
-        }}
+        style={centerStyle(smallRadius)}
      />
+
+      {/* Dashed ring in the middle */}
+      <div className={dashedRingClass()} style={centerStyle(midRadius)} />
+
+      {/* Dynamic circle */}
+      {dynamicDiameterPx !== null && (
+        <div
+          className={dynamicCircleClass()}
+          style={centerStyle(dynamicRadius)}
+        />
+      )}
    </div>
  );
 }
@@ -14,9 +14,6 @@ import { DiameterVisualisation } from "../DiameterVisualisation";
 export function Laser1ControlPage() {
  const {
    diameter,
-    x_diameter,
-    y_diameter,
-    roundness,
    state,
    defaultState,
    setTargetDiameter,
@@ -37,46 +34,15 @@ export function Laser1ControlPage() {
            lowTolerance={lowerTolerance}
            highTolerance={higherTolerance}
            diameter={diameter}
-            x_diameter={x_diameter}
-            y_diameter={y_diameter}
          />
          <div className="flex flex-row items-center gap-6">
            <TimeSeriesValueNumeric
-              label="Diameter"
+              label="Current Diameter"
              unit="mm"
              timeseries={diameter}
              renderValue={(value) => value.toFixed(3)}
            />
          </div>
-          {x_diameter?.current && (
-            <div className="flex flex-row items-center gap-6">
-              <TimeSeriesValueNumeric
-                label="X-Diameter"
-                unit="mm"
-                timeseries={x_diameter}
-                renderValue={(value) => value.toFixed(3)}
-              />
-            </div>
-          )}
-          {y_diameter?.current && (
-            <div className="flex flex-row items-center gap-6">
-              <TimeSeriesValueNumeric
-                label="Y-Diameter"
-                unit="mm"
-                timeseries={y_diameter}
-                renderValue={(value) => value.toFixed(3)}
-              />
-            </div>
-          )}
-          {roundness?.current && (
-            <div className="flex flex-row items-center gap-6">
-              <TimeSeriesValueNumeric
-                label="Roundness"
-                timeseries={roundness}
-                renderValue={(value) => value.toFixed(3)}
-              />
-            </div>
-          )}
        </ControlCard>
        <ControlCard title="Settings">
          <Label label="Set Target Diameter">
@@ -10,130 +10,63 @@ import React from "react";
 import { useLaser1 } from "./useLaser1";

 export function Laser1GraphsPage() {
-  const { diameter, x_diameter, y_diameter, roundness, state } = useLaser1();
+  const { diameter, state } = useLaser1();

  const syncHook = useGraphSync("diameter-group");
  const targetDiameter = state?.laser_state?.target_diameter ?? 0;
  const lowerTolerance = state?.laser_state?.lower_tolerance ?? 0;
  const higherTolerance = state?.laser_state?.higher_tolerance ?? 0;

-  const isTwoAxis = !!x_diameter?.current || !!y_diameter?.current;
-
-  const diameterColor = "#3b82f6";
-  const xDiameterColor = "#ef4444";
-  const yDiameterColor = "#22c55e";
-  const roundnessColor = "#eab308";
-
  const config: GraphConfig = {
    title: "Diameter",
    defaultTimeWindow: 30 * 60 * 1000, // 30 minutes
    exportFilename: "diameter_data",
    colors: {
-      primary: diameterColor,
+      primary: "#3b82f6",
      grid: "#e2e8f0",
      axis: "#64748b",
      background: "#ffffff",
    },
  };
-  if (!isTwoAxis) {
-    return (
-      <Page className="pb-27">
-        <div className="flex flex-col gap-4">
-          <AutoSyncedBigGraph
-            syncHook={syncHook}
-            newData={{
-              newData: diameter,
-              color: diameterColor,
-              lines: [
-                {
-                  type: "threshold",
-                  value: targetDiameter + higherTolerance,
-                  label: "Upper Threshold",
-                  color: diameterColor,
-                  dash: [5, 5],
-                },
-                {
-                  type: "threshold",
-                  value: targetDiameter - lowerTolerance,
-                  label: "Lower Threshold",
-                  color: diameterColor,
-                  dash: [5, 5],
-                },
-                {
-                  type: "target",
-                  value: targetDiameter,
-                  label: "Target",
-                  color: diameterColor,
-                },
-              ],
-            }}
-            unit="mm"
-            renderValue={(value) => value.toFixed(3)}
-            config={config}
-            graphId="diameter-graph"
-          />
-        </div>
-        <SyncedFloatingControlPanel controlProps={syncHook.controlProps} />
-      </Page>
-    );
-  } else {
-    return (
-      <Page className="pb-27">
-        <div className="flex flex-col gap-4">
-          <AutoSyncedBigGraph
-            syncHook={syncHook}
-            newData={[
+
+  return (
+    <Page className="pb-27">
+      <div className="flex flex-col gap-4">
+        <AutoSyncedBigGraph
+          syncHook={syncHook}
+          newData={{
+            newData: diameter,
+            color: "#3b82f6",
+            lines: [
              {
-                newData: diameter,
-                color: diameterColor,
-                title: "Diameter",
-                lines: [
-                  {
-                    type: "threshold",
-                    value: targetDiameter + higherTolerance,
-                    label: "Upper Threshold",
-                    color: diameterColor,
-                    dash: [5, 5],
-                  },
-                  {
-                    type: "threshold",
-                    value: targetDiameter - lowerTolerance,
-                    label: "Lower Threshold",
-                    color: diameterColor,
-                    dash: [5, 5],
-                  },
-                  {
-                    type: "target",
-                    value: targetDiameter,
-                    label: "Target",
-                    color: diameterColor,
-                  },
-                ],
+                type: "threshold",
+                value: targetDiameter + higherTolerance,
+                label: "Upper Threshold",
+                color: "#3b82f6",
+                dash: [5, 5],
              },
              {
-                newData: x_diameter,
-                color: xDiameterColor,
-                title: "X-Diameter",
+                type: "threshold",
+                value: targetDiameter - lowerTolerance,
+                label: "Lower Threshold",
+                color: "#3b82f6",
+                dash: [5, 5],
              },
              {
-                newData: y_diameter,
-                color: yDiameterColor,
-                title: "Y-Diameter",
+                type: "target",
+                value: targetDiameter,
+                label: "Target",
+                color: "#3b82f6",
              },
-              {
-                newData: roundness,
-                color: roundnessColor,
-                title: "Roundness",
-              },
-            ]}
-            unit="mm"
-            renderValue={(value) => value.toFixed(3)}
-            config={config}
-            graphId="diameter-graph"
-          />
-        </div>
-        <SyncedFloatingControlPanel controlProps={syncHook.controlProps} />
-      </Page>
-    );
-  }
+            ],
+          }}
+          unit="mm"
+          renderValue={(value) => value.toFixed(3)}
+          config={config}
+          graphId="diameter-graph"
+        />
+      </div>
+      <SyncedFloatingControlPanel controlProps={syncHook.controlProps} />
+    </Page>
+  );
 }
@@ -28,9 +28,6 @@ import {
 */
 export const liveValuesEventDataSchema = z.object({
  diameter: z.number(),
-  x_diameter: z.number().nullable(),
-  y_diameter: z.number().nullable(),
-  roundness: z.number().nullable(),
 });

 /**
@@ -60,9 +57,6 @@ export type Laser1NamespaceStore = {

  // Time series data for live values
  diameter: TimeSeries;
-  x_diameter: TimeSeries;
-  y_diameter: TimeSeries;
-  roundness: TimeSeries;
 };

 // Constants for time durations
@@ -76,20 +70,6 @@ const { initialTimeSeries: diameter, insert: addDiameter } = createTimeSeries(
  FIVE_SECOND,
  ONE_HOUR,
 );
-
-const { initialTimeSeries: x_diameter, insert: addXDiameter } =
-  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
-
-const { initialTimeSeries: y_diameter, insert: addYDiameter } =
-  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
-
-const { initialTimeSeries: roundness, insert: addRoundness } = createTimeSeries(
-  TWENTY_MILLISECOND,
-  ONE_SECOND,
-  FIVE_SECOND,
-  ONE_HOUR,
-);
-
 /**
 * Factory function to create a new Laser1 namespace store
 * @returns A new Zustand store instance for Laser1 namespace
@@ -100,9 +80,6 @@ export const createLaser1NamespaceStore = (): StoreApi<Laser1NamespaceStore> =>
      state: null,
      defaultState: null,
      diameter: diameter,
-      x_diameter,
-      y_diameter,
-      roundness: roundness,
    };
  });

@@ -142,47 +119,14 @@ export function laser1MessageHandler(
      // Live values events (keep for 1 hour)
      else if (eventName === "LiveValuesEvent") {
        const liveValuesEvent = liveValuesEventSchema.parse(event);
-        const diameterValue: TimeSeriesValue = {
+        const timeseriesValue: TimeSeriesValue = {
          value: liveValuesEvent.data.diameter,
          timestamp: event.ts,
        };
        updateStore((state) => ({
          ...state,
-          diameter: addDiameter(state.diameter, diameterValue),
+          diameter: addDiameter(state.diameter, timeseriesValue),
        }));
-
-        if (liveValuesEvent.data.x_diameter !== null) {
-          const xValue: TimeSeriesValue = {
-            value: liveValuesEvent.data.x_diameter,
-            timestamp: event.ts,
-          };
-          updateStore((state) => ({
-            ...state,
-            x_diameter: addXDiameter(state.x_diameter, xValue),
-          }));
-        }
-
-        if (liveValuesEvent.data.y_diameter !== null) {
-          const yValue: TimeSeriesValue = {
-            value: liveValuesEvent.data.y_diameter,
-            timestamp: event.ts,
-          };
-          updateStore((state) => ({
-            ...state,
-            y_diameter: addYDiameter(state.y_diameter, yValue),
-          }));
-        }
-
-        if (liveValuesEvent.data.roundness !== null) {
-          const roundnessValue: TimeSeriesValue = {
-            value: liveValuesEvent.data.roundness,
-            timestamp: event.ts,
-          };
-          updateStore((state) => ({
-            ...state,
-            roundness: addRoundness(state.roundness, roundnessValue),
-          }));
-        }
      } else {
        handleUnhandledEventError(eventName);
      }
@@ -11,8 +11,9 @@ import { produce } from "immer";

 function useLaser(machine_identification_unique: MachineIdentificationUnique) {
  // Get consolidated state and live values from namespace
-  const { state, defaultState, diameter, x_diameter, y_diameter, roundness } =
-    useLaser1Namespace(machine_identification_unique);
+  const { state, defaultState, diameter } = useLaser1Namespace(
+    machine_identification_unique,
+  );

  // Single optimistic state for all state management
  const stateOptimistic = useStateOptimistic<StateEvent>();
@@ -110,9 +111,6 @@ function useLaser(machine_identification_unique: MachineIdentificationUnique) {

    // Live values (TimeSeries)
    diameter,
-    x_diameter,
-    y_diameter,
-    roundness,

    // Loading states
    isLoading: stateOptimistic.isOptimistic,
@@ -271,82 +271,12 @@ export const buffer1: MachineProperties = {
    },
  ],
 };
-
-export const aquapath1: MachineProperties = {
-  name: "Aquapath",
-  version: "V1",
-  slug: "aquapath1",
-  icon: "lu:Waves",
-  machine_identification: {
-    vendor: VENDOR_QITECH,
-    machine: 0x0009,
-  },
-  device_roles: [
-    {
-      role: 0,
-      role_label: "Bus Coupler",
-      allowed_devices: [
-        {
-          vendor_id: 2,
-          product_id: 0x44c2c52,
-          revision: 0x120000,
-        },
-      ],
-    },
-    {
-      role: 1,
-      role_label: "EL2008",
-      allowed_devices: [
-        {
-          vendor_id: 2,
-          product_id: 0x7d83052,
-          revision: 0x110000,
-        },
-      ],
-    },
-    {
-      role: 2,
-      role_label: "EL4002",
-      allowed_devices: [
-        {
-          vendor_id: 2,
-          product_id: 0xfa23052,
-          revision: 0x140000,
-        },
-      ],
-    },
-    {
-      role: 3,
-      role_label: "EL3204",
-      allowed_devices: [
-        {
-          vendor_id: 2,
-          product_id: 0xc843052,
-          revision: 0x160000,
-        },
-      ],
-    },
-    {
-      role: 4,
-      role_label: "EL5152",
-      allowed_devices: [
-        {
-          vendor_id: 2,
-          product_id: 0x14203052,
-          revision: 0x140000,
-        },
-      ],
-    },
-  ],
-};
-
 export const machineProperties: MachineProperties[] = [
  winder2,
  extruder2,
  laser1,
  mock1,
  buffer1,
-  aquapath1,
 ];

 export const getMachineProperties = (
@@ -112,14 +112,15 @@ export function Winder2ControlPage() {
                maxLabel="OUT"
                max={180}
                renderValue={(value) => roundToDecimals(value, 0)}
+                inverted
                onChange={setTraverseLimitOuter}
              />
              <TouchButton
                variant="outline"
                icon="lu:ArrowLeftToLine"
                onClick={gotoTraverseLimitOuter}
-                disabled={isDisabled}
-                isLoading={isLoading}
+                disabled={isDisabled || !state?.traverse_state?.can_go_out}
+                isLoading={isLoading || state?.traverse_state?.is_going_out}
              >
                Go to Outer Limit
              </TouchButton>
@@ -148,8 +149,8 @@ export function Winder2ControlPage() {
                variant="outline"
                icon="lu:ArrowRightToLine"
                onClick={gotoTraverseLimitInner}
-                disabled={isDisabled}
-                isLoading={isLoading}
+                disabled={isDisabled || !state?.traverse_state?.can_go_in}
+                isLoading={isLoading || state?.traverse_state?.is_going_in}
              >
                Go to Inner Limit
              </TouchButton>
@@ -170,8 +171,8 @@ export function Winder2ControlPage() {
              variant="outline"
              icon="lu:House"
              onClick={() => gotoTraverseHome()}
-              disabled={isDisabled}
-              isLoading={isLoading}
+              disabled={isDisabled || !state?.traverse_state?.can_go_home}
+              isLoading={isLoading || state?.traverse_state?.is_going_home}
            >
              Go to Home
            </TouchButton>
@@ -259,7 +259,6 @@ export function winder2MessageHandler(

    try {
      if (eventName === "StateEvent") {
-        console.log(event);
        // Parse and validate the state event
        const stateEvent = stateEventSchema.parse(event);

@@ -35,10 +35,6 @@ import { Mock1PresetsPage } from "@/machines/mock/mock1/Mock1PresetsPage";
 import { TroubleshootPage } from "@/setup/Trobleshoot";
 import { UpdateExecutePage } from "@/setup/UpdateExecutePage";
 import { Winder2PresetsPage } from "@/machines/winder/winder2/Winder2PresetsPage";
-import { Aquapath1ControlPage } from "@/machines/aquapath/aquapath1/Aquapath1ControlPage";
-import { Aquapath1Page } from "@/machines/aquapath/aquapath1/Aquapath1Page";
-import { Aquapath1GraphPage } from "@/machines/aquapath/aquapath1/Aquapath1Graph";
-
 import { z } from "zod";
 import { Laser1PresetsPage } from "@/machines/laser/laser1/Laser1PresetsPage";
 // make a route tree like this
@@ -198,24 +194,6 @@ export const mock1PresetsRoute = createRoute({
  component: () => <Mock1PresetsPage />,
 });

-export const aquapath1SerialRoute = createRoute({
-  getParentRoute: () => machinesRoute,
-  path: "aquapath1/$serial",
-  component: () => <Aquapath1Page />,
-});
-
-export const aquapath1GraphRoute = createRoute({
-  getParentRoute: () => aquapath1SerialRoute,
-  path: "graph",
-  component: () => <Aquapath1GraphPage />,
-});
-
-export const aquapath1ControlRoute = createRoute({
-  getParentRoute: () => aquapath1SerialRoute,
-  path: "control",
-  component: () => <Aquapath1ControlPage />,
-});
-
 export const buffer1SettingsRoute = createRoute({
  getParentRoute: () => buffer1SerialRoute,
  path: "settings",
@@ -314,11 +292,6 @@ export const rootTree = RootRoute.addChildren([
        laser1PresetsRoute,
      ]),

-      aquapath1SerialRoute.addChildren([
-        aquapath1ControlRoute,
-        aquapath1GraphRoute,
-      ]),
-
      winder2SerialRoute.addChildren([
        winder2ControlRoute,
        winder2ManualRoute,
@@ -15,7 +15,3 @@ ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
 futures = "0.3.31"
 anyhow = "1.0.99"
-
-
-[package.metadata.cargo-machete]
-ignored = ["interfaces"]
@@ -15,7 +15,6 @@ smol = "2.0.2"
 uom = "0.36.0"
 rand = "0.9.2"
 futures = "0.3.31"
-tracing = "0.1.41"

 [dev-dependencies]
 approx = "0.5.1"
@@ -14,7 +14,7 @@ use crate::{
    helpers::ethercrab_types::EthercrabSubDevicePreoperational,
    io::analog_input::{AnalogInputDevice, AnalogInputInput},
 };
-use ethercat_hal_derive::EthercatDevice;
+use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
 use uom::si::{electric_potential::volt, f64::ElectricPotential};

 #[derive(Debug, Clone)]
@@ -98,9 +98,7 @@ impl AnalogInputDevice<EL3062_0030Port> for EL3062_0030 {
            EL30XXPresentation::Signed => raw_value.as_signed(),
            EL30XXPresentation::SignedMagnitude => raw_value.as_signed_magnitude(),
        };
-
        let normalized = f32::from(value) / f32::from(i16::MAX);
-
        AnalogInputInput {
            normalized,
            wiring_error: false,
@@ -140,97 +138,22 @@ pub enum EL3062_0030Port {
    AI2,
 }

-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, TxPdo)]
 pub struct EL3062_0030TxPdo {
+    #[pdo_object_index(0x1A00)]
    pub ai_standard_channel1: Option<AiStandard>,
+    #[pdo_object_index(0x1A01)]
    pub ai_compact_channel1: Option<AiCompact>,

+    #[pdo_object_index(0x1A02)]
    pub ai_standard_channel2: Option<AiStandard>,
+    #[pdo_object_index(0x1A03)]
    pub ai_compact_channel2: Option<AiCompact>,
 }

-impl crate::coe::Configuration for EL3062_0030TxPdo {
-    ///Implemented by the ethercat_hal_derive::TxPdo derive macro
-    async fn write_config<'a>(
-        &self,
-        device: &EthercrabSubDevicePreoperational<'a>,
-    ) -> Result<(), anyhow::Error> {
-        device.sdo_write(0x1C13, 0, 0u8).await?;
-        let mut len = 0;
-        if let Some(_) = &self.ai_standard_channel1 {
-            len += 1;
-            device.sdo_write(0x1C13, len, 0x1A00u16).await?;
-        }
-        if let Some(_) = &self.ai_compact_channel1 {
-            len += 1;
-            device.sdo_write(0x1C13, len, 0x1A01u16).await?;
-        }
-        if let Some(_) = &self.ai_standard_channel2 {
-            len += 1;
-            device.sdo_write(0x1C13, len, 0x1A02u16).await?;
-        }
-        if let Some(_) = &self.ai_compact_channel2 {
-            len += 1;
-            device.sdo_write(0x1C13, len, 0x1A03u16).await?;
-        }
-        device.sdo_write(0x1C13, 0, len).await?;
-        Ok(())
-    }
-}
-impl crate::pdo::TxPdo for EL3062_0030TxPdo {
-    ///Implemented by the ethercat_hal_derive::TxPdo derive macro
-    fn get_objects(&self) -> Box<[Option<&dyn crate::pdo::TxPdoObject>]> {
-        Box::new([
-            self.ai_standard_channel1
-                .as_ref()
-                .map(|o| o as &dyn crate::pdo::TxPdoObject),
-            self.ai_compact_channel1
-                .as_ref()
-                .map(|o| o as &dyn crate::pdo::TxPdoObject),
-            self.ai_standard_channel2
-                .as_ref()
-                .map(|o| o as &dyn crate::pdo::TxPdoObject),
-            self.ai_compact_channel2
-                .as_ref()
-                .map(|o| o as &dyn crate::pdo::TxPdoObject),
-        ])
-    }
-    ///Implemented by the ethercat_hal_derive::TxPdo derive macro
-    fn get_objects_mut(&mut self) -> Box<[Option<&mut dyn crate::pdo::TxPdoObject>]> {
-        Box::new([
-            self.ai_standard_channel1
-                .as_mut()
-                .map(|o| o as &mut dyn crate::pdo::TxPdoObject),
-            self.ai_compact_channel1
-                .as_mut()
-                .map(|o| o as &mut dyn crate::pdo::TxPdoObject),
-            self.ai_standard_channel2
-                .as_mut()
-                .map(|o| o as &mut dyn crate::pdo::TxPdoObject),
-            self.ai_compact_channel2
-                .as_mut()
-                .map(|o| o as &mut dyn crate::pdo::TxPdoObject),
-        ])
-    }
-}
-
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, RxPdo)]
 pub struct EL3062_0030RxPdo {}
-impl crate::coe::Configuration for EL3062_0030RxPdo {
-    ///Implemented by the ethercat_hal_derive::RxPdo derive macro
-    async fn write_config<'a>(
-        &self,
-        _device: &EthercrabSubDevicePreoperational<'a>,
-    ) -> Result<(), anyhow::Error> {
-        Ok(())
-    }
-}
-impl crate::pdo::RxPdo for EL3062_0030RxPdo {
-    ///Implemented by the ethercat_hal_derive::RxPdo derive macro
-    fn get_objects(&self) -> Box<[Option<&dyn crate::pdo::RxPdoObject>]> {
-        Box::new([])
-    }
-}
+
 impl Configuration for EL3062_0030Configuration {
    async fn write_config<'a>(
        &self,
@@ -102,7 +102,6 @@ impl EL4002 {
        &mut self,
        subdevice: &EthercrabSubDevicePreoperational<'a>,
    ) -> Result<(), anyhow::Error> {
-        tracing::info!("el4002");
        self.configuration
            .channel1
            .write_channel_config(subdevice, 0x8000)
@@ -1,349 +0,0 @@
-use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
-use crate::coe::{ConfigurableDevice, Configuration};
-use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
-use crate::io::encoder_input::{
-    EncoderInputCounter, EncoderInputDevice, EncoderInputFrequency, EncoderInputPeriod,
-};
-use crate::pdo::PredefinedPdoAssignment;
-use crate::pdo::RxPdo;
-use crate::pdo::TxPdo;
-use crate::pdo::el5152::{
-    El5152EncoderControl, El5152EncoderFrequency, El5152EncoderPeriod, El5152EncoderStatus,
-};
-
-use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
-
-/// EL5152 2-channel incremental encoder interface
-///
-/// 24V HTL, 100 kHz, dual channel
-
-#[derive(EthercatDevice)]
-pub struct EL5152 {
-    pub configuration: EL5152Configuration,
-    pub rxpdo: EL5152RxPdo,
-    pub txpdo: EL5152TxPdo,
-    is_used: bool,
-}
-
-impl EthercatDeviceProcessing for EL5152 {}
-
-#[derive(Debug, Clone)]
-pub struct EL5152Configuration {
-    pub pdo_assignment: EL5152PredefinedPdoAssignment,
-    pub channel1: EL5152ChannelConfiguration,
-    pub channel2: EL5152ChannelConfiguration,
-}
-
-#[derive(Debug, Clone)]
-pub enum EL5152PredefinedPdoAssignment {
-    Period,
-    Frequency,
-}
-
-impl std::fmt::Debug for EL5152 {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        write!(f, "EL5152")
-    }
-}
-
-#[derive(Debug, Clone, Copy)]
-pub enum EL5152Port {
-    ENC1,
-    ENC2,
-}
-
-impl Default for EL5152Configuration {
-    fn default() -> Self {
-        Self {
-            pdo_assignment: EL5152PredefinedPdoAssignment::Period,
-            channel1: EL5152ChannelConfiguration::default(),
-            channel2: EL5152ChannelConfiguration::default(),
-        }
-    }
-}
-
-impl NewEthercatDevice for EL5152 {
-    fn new() -> Self {
-        let configuration: EL5152Configuration = EL5152Configuration::default();
-        Self {
-            configuration: configuration.clone(),
-            rxpdo: configuration.pdo_assignment.rxpdo_assignment(),
-            txpdo: configuration.pdo_assignment.txpdo_assignment(),
-            is_used: false,
-        }
-    }
-}
-
-impl ConfigurableDevice<EL5152Configuration> for EL5152 {
-    async fn write_config<'maindevice>(
-        &mut self,
-        device: &EthercrabSubDevicePreoperational<'maindevice>,
-        config: &EL5152Configuration,
-    ) -> Result<(), anyhow::Error> {
-        config.write_config(device).await?;
-        self.configuration = config.clone();
-        self.txpdo = config.pdo_assignment.txpdo_assignment();
-        self.rxpdo = config.pdo_assignment.rxpdo_assignment();
-        Ok(())
-    }
-
-    fn get_config(&self) -> EL5152Configuration {
-        self.configuration.clone()
-    }
-}
-
-impl EncoderInputDevice<EL5152Port> for EL5152 {
-    fn get_counter_value(&self, port: EL5152Port) -> Result<EncoderInputCounter, anyhow::Error> {
-        let value = match port {
-            EL5152Port::ENC1 => self
-                .txpdo
-                .status_channel1
-                .as_ref()
-                .map_or(0, |status| status.counter_value),
-            EL5152Port::ENC2 => self
-                .txpdo
-                .status_channel2
-                .as_ref()
-                .map_or(0, |status| status.counter_value),
-        };
-        Ok(EncoderInputCounter { value })
-    }
-
-    fn get_frequency(
-        &self,
-        port: EL5152Port,
-    ) -> Result<Option<EncoderInputFrequency>, anyhow::Error> {
-        let frequency = match port {
-            EL5152Port::ENC1 => {
-                self.txpdo
-                    .frequency_channel1
-                    .as_ref()
-                    .map(|f| EncoderInputFrequency {
-                        value: f.frequency_value,
-                    })
-            }
-            EL5152Port::ENC2 => {
-                self.txpdo
-                    .frequency_channel2
-                    .as_ref()
-                    .map(|f| EncoderInputFrequency {
-                        value: f.frequency_value,
-                    })
-            }
-        };
-        Ok(frequency)
-    }
-
-    fn get_period(&self, port: EL5152Port) -> Result<Option<EncoderInputPeriod>, anyhow::Error> {
-        let period = match port {
-            EL5152Port::ENC1 => self
-                .txpdo
-                .period_channel1
-                .as_ref()
-                .map(|p| EncoderInputPeriod {
-                    value: p.period_value,
-                }),
-            EL5152Port::ENC2 => self
-                .txpdo
-                .period_channel2
-                .as_ref()
-                .map(|p| EncoderInputPeriod {
-                    value: p.period_value,
-                }),
-        };
-        Ok(period)
-    }
-
-    fn set_counter(&mut self, port: EL5152Port, value: u32) -> Result<(), anyhow::Error> {
-        match port {
-            EL5152Port::ENC1 => {
-                if let Some(control) = self.rxpdo.control_channel1.as_mut() {
-                    control.set_counter_value = value;
-                    control.set_counter = true;
-                }
-            }
-            EL5152Port::ENC2 => {
-                if let Some(control) = self.rxpdo.control_channel2.as_mut() {
-                    control.set_counter_value = value;
-                    control.set_counter = true;
-                }
-            }
-        }
-        Ok(())
-    }
-}
-
-impl Configuration for EL5152Configuration {
-    async fn write_config<'a>(
-        &self,
-        device: &EthercrabSubDevicePreoperational<'a>,
-    ) -> Result<(), anyhow::Error> {
-        // Configure channel 1
-        self.channel1.write_channel_config(device, 0x8000).await?;
-
-        // Configure channel 2
-        self.channel2.write_channel_config(device, 0x8010).await?;
-        // Write PDO assignments
-        self.pdo_assignment
-            .txpdo_assignment()
-            .write_config(device)
-            .await?;
-        self.pdo_assignment
-            .rxpdo_assignment()
-            .write_config(device)
-            .await?;
-
-        Ok(())
-    }
-}
-
-#[derive(Debug, Clone, RxPdo)]
-pub struct EL5152RxPdo {
-    #[pdo_object_index(0x1600)]
-    pub control_channel1: Option<El5152EncoderControl>,
-    #[pdo_object_index(0x1602)]
-    pub control_channel2: Option<El5152EncoderControl>,
-}
-
-#[derive(Debug, Clone, TxPdo)]
-pub struct EL5152TxPdo {
-    #[pdo_object_index(0x1A00)]
-    pub status_channel1: Option<El5152EncoderStatus>,
-    #[pdo_object_index(0x1A02)]
-    pub period_channel1: Option<El5152EncoderPeriod>,
-    #[pdo_object_index(0x1A03)]
-    pub frequency_channel1: Option<El5152EncoderFrequency>,
-
-    #[pdo_object_index(0x1A04)]
-    pub status_channel2: Option<El5152EncoderStatus>,
-    #[pdo_object_index(0x1A06)]
-    pub period_channel2: Option<El5152EncoderPeriod>,
-    #[pdo_object_index(0x1A07)]
-    pub frequency_channel2: Option<El5152EncoderFrequency>,
-}
-
-impl PredefinedPdoAssignment<EL5152TxPdo, EL5152RxPdo> for EL5152PredefinedPdoAssignment {
-    fn rxpdo_assignment(&self) -> EL5152RxPdo {
-        EL5152RxPdo {
-            control_channel1: Some(El5152EncoderControl::default()),
-            control_channel2: Some(El5152EncoderControl::default()),
-        }
-    }
-
-    fn txpdo_assignment(&self) -> EL5152TxPdo {
-        match self {
-            Self::Period => EL5152TxPdo {
-                status_channel1: Some(El5152EncoderStatus::default()),
-                period_channel1: Some(El5152EncoderPeriod::default()),
-                frequency_channel1: None,
-
-                status_channel2: Some(El5152EncoderStatus::default()),
-                period_channel2: Some(El5152EncoderPeriod::default()),
-                frequency_channel2: None,
-            },
-            Self::Frequency => EL5152TxPdo {
-                status_channel1: Some(El5152EncoderStatus::default()),
-                period_channel1: None,
-                frequency_channel1: Some(El5152EncoderFrequency::default()),
-
-                status_channel2: Some(El5152EncoderStatus::default()),
-                period_channel2: None,
-                frequency_channel2: Some(El5152EncoderFrequency::default()),
-            },
-        }
-    }
-}
-
-#[derive(Debug, Clone)]
-pub struct EL5152ChannelConfiguration {
-    // 80n0:3
-    pub enable_counter: u8,
-    // 80n0:8
-    pub disable_filter: u8,
-    // 80n0:A
-    pub enable_micro_increment: u8,
-    // 80n0:E
-    pub reversion_rotation: u8,
-    // 80n0:F 0-µs, 1-ms
-    pub frequency_based_window: u8,
-    // 80n0:11
-    pub frequency_window: u16,
-    // 80n0:13
-    pub frequency_scaling: u16,
-    // 80n0:14
-    pub period_scaling: u16,
-    // 80n0:15 100: "0.01 Hz"
-    pub frequency_resolution: u16,
-    // 80n0:16 100: "100 ns"
-    pub period_resolution: u16,
-    // 80n0:17
-    pub frequency_wait_time: u16,
-}
-
-impl EL5152ChannelConfiguration {
-    pub async fn write_channel_config<'a>(
-        &self,
-        device: &EthercrabSubDevicePreoperational<'a>,
-        base_index: u16,
-    ) -> Result<(), anyhow::Error> {
-        device
-            .sdo_write(base_index, 0x03, self.enable_counter)
-            .await?;
-        device
-            .sdo_write(base_index, 0x08, self.disable_filter)
-            .await?;
-        device
-            .sdo_write(base_index, 0x0A, self.enable_micro_increment)
-            .await?;
-        device
-            .sdo_write(base_index, 0x0E, self.reversion_rotation)
-            .await?;
-        device
-            .sdo_write(base_index, 0x0F, self.frequency_based_window)
-            .await?;
-        device
-            .sdo_write(base_index, 0x11, self.frequency_window)
-            .await?;
-        device
-            .sdo_write(base_index, 0x13, self.frequency_scaling)
-            .await?;
-        device
-            .sdo_write(base_index, 0x14, self.period_scaling)
-            .await?;
-        device
-            .sdo_write(base_index, 0x15, self.frequency_resolution)
-            .await?;
-        device
-            .sdo_write(base_index, 0x16, self.period_resolution)
-            .await?;
-        device
-            .sdo_write(base_index, 0x17, self.frequency_wait_time)
-            .await?;
-
-        Ok(())
-    }
-}
-
-impl Default for EL5152ChannelConfiguration {
-    fn default() -> Self {
-        Self {
-            enable_counter: 0x01u8,
-            disable_filter: 0x00u8,
-            enable_micro_increment: 0x00u8,
-            reversion_rotation: 0x00u8,
-            frequency_based_window: 0x00u8,
-            frequency_window: 0x2710u16,
-            frequency_scaling: 0x0064u16,
-            period_scaling: 0x0064u16,
-            frequency_resolution: 0x0064u16,
-            period_resolution: 0x0064u16,
-            frequency_wait_time: 0x0640u16,
-        }
-    }
-}
-
-pub const EL5152_VENDOR_ID: u32 = 0x2;
-pub const EL5152_PRODUCT_ID: u32 = 0x14203052;
-pub const EL5152_REVISION_A: u32 = 0x140000;
-pub const EL5152_IDENTITY_A: SubDeviceIdentityTuple =
-    (EL5152_VENDOR_ID, EL5152_PRODUCT_ID, EL5152_REVISION_A);
@@ -15,7 +15,6 @@ pub mod el3024;
 pub mod el3062_0030;
 pub mod el3204;
 pub mod el4002;
-pub mod el5152;
 pub mod el6021;
 pub mod el7031;
 pub mod el7031_0030;
@@ -23,7 +22,7 @@ pub mod el7041_0052;
 // pub mod el4008;
 use super::devices::el1008::EL1008;
 use crate::{
-    devices::{el2521::EL2521, el4002::EL4002},
+    devices::{el2521::EL2521, el3062_0030::EL3062_0030_IDENTITY_A},
    helpers::ethercrab_types::EthercrabSubDeviceGroupPreoperational,
 };
 use anyhow::anyhow;
@@ -39,10 +38,8 @@ use el2522::{EL2522, EL2522_IDENTITY_A};
 use el3001::EL3001_IDENTITY_A;
 use el3021::EL3021_IDENTITY_A;
 use el3024::EL3024_IDENTITY_A;
-use el3062_0030::EL3062_0030_IDENTITY_A;
 use el3204::EL3204_IDENTITY_A;
 use el4002::EL4002_IDENTITY_A;
-use el5152::{EL5152, EL5152_IDENTITY_A};
 use el6021::{EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D};

 use el3204::EL3204_IDENTITY_B;
@@ -194,6 +191,9 @@ pub fn device_from_subdevice_identity_tuple(
        EL2008_IDENTITY_A | EL2008_IDENTITY_B => Ok(Arc::new(RwLock::new(EL2008::new()))),
        // TODO: implement EL2024 identity
        // EL2024 => Ok(Arc::new(RwLock::new(EL2024::new()))),
+        EL2521_IDENTITY_0000_A | EL2521_IDENTITY_0000_B | EL2521_IDENTITY_0024_A => {
+            Ok(Arc::new(RwLock::new(EL2521::new())))
+        }
        EL2522_IDENTITY_A => Ok(Arc::new(RwLock::new(EL2522::new()))),
        // TODO: implement EL2634 identity
        // "EL2634" => Ok(Arc::new(RwLock::new(EL2634::new()))),
@@ -203,8 +203,7 @@ pub fn device_from_subdevice_identity_tuple(
        EL3021_IDENTITY_A => Ok(Arc::new(RwLock::new(el3021::EL3021::new()))),
        EL3024_IDENTITY_A => Ok(Arc::new(RwLock::new(el3024::EL3024::new()))),
        EL3062_0030_IDENTITY_A => Ok(Arc::new(RwLock::new(el3062_0030::EL3062_0030::new()))),
-        EL4002_IDENTITY_A => Ok(Arc::new(RwLock::new(EL4002::new()))),
-        EL5152_IDENTITY_A => Ok(Arc::new(RwLock::new(EL5152::new()))),
+        EL4002_IDENTITY_A => Ok(Arc::new(RwLock::new(el4002::EL4002::new()))),
        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C | EL6021_IDENTITY_D => {
            Ok(Arc::new(RwLock::new(el6021::EL6021::new())))
        }
@@ -215,9 +214,6 @@ pub fn device_from_subdevice_identity_tuple(
        EL7031_IDENTITY_A | EL7031_IDENTITY_B => Ok(Arc::new(RwLock::new(el7031::EL7031::new()))),
        EL7031_0030_IDENTITY_A => Ok(Arc::new(RwLock::new(el7031_0030::EL7031_0030::new()))),
        EL7041_0052_IDENTITY_A => Ok(Arc::new(RwLock::new(el7041_0052::EL7041_0052::new()))),
-        EL2521_IDENTITY_0000_A | EL2521_IDENTITY_0000_B | EL2521_IDENTITY_0024_A => {
-            Ok(Arc::new(RwLock::new(EL2521::new())))
-        }
        _ => Err(anyhow::anyhow!(
            "[{}::device_from_subdevice] No Driver: vendor_id: 0x{:x}, product_id: 0x{:x}, revision: 0x{:x}",
            module_path!(),
@@ -1,120 +0,0 @@
-use std::{fmt, sync::Arc};
-
-use futures::executor::block_on;
-use smol::lock::RwLock;
-
-/// Encoder Input device
-///
-/// Reads encoder values (counter, frequency, period) from the device.
-pub struct EncoderInput {
-    /// Read the counter value from the encoder
-    get_counter: Box<dyn Fn() -> Result<EncoderInputCounter, anyhow::Error> + Send + Sync>,
-    /// Read the frequency value from the encoder (if available)
-    get_frequency:
-        Box<dyn Fn() -> Result<Option<EncoderInputFrequency>, anyhow::Error> + Send + Sync>,
-    /// Read the period value from the encoder (if available)
-    get_period: Box<dyn Fn() -> Result<Option<EncoderInputPeriod>, anyhow::Error> + Send + Sync>,
-    /// Set the counter value
-    set_counter: Box<dyn Fn(u32) -> Result<(), anyhow::Error> + Send + Sync>,
-}
-
-impl fmt::Debug for EncoderInput {
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        write!(f, "EncoderInput")
-    }
-}
-
-/// Implement on device that have encoder inputs
-impl EncoderInput {
-    pub fn new<PORT>(device: Arc<RwLock<dyn EncoderInputDevice<PORT>>>, port: PORT) -> Self
-    where
-        PORT: Clone + Send + Sync + 'static,
-    {
-        // build sync get counter closure
-        let port_counter = port.clone();
-        let device_counter = device.clone();
-        let get_counter = Box::new(move || {
-            let device = block_on(device_counter.read());
-            device.get_counter_value(port_counter.clone())
-        });
-
-        // build sync get frequency closure
-        let port_frequency = port.clone();
-        let device_frequency = device.clone();
-        let get_frequency = Box::new(move || {
-            let device = block_on(device_frequency.read());
-            device.get_frequency(port_frequency.clone())
-        });
-
-        // build sync get period closure
-        let port_period = port.clone();
-        let device_period = device.clone();
-        let get_period = Box::new(move || {
-            let device = block_on(device_period.read());
-            device.get_period(port_period.clone())
-        });
-
-        // build sync set counter closure
-        let port_set = port;
-        let device_set = device;
-        let set_counter = Box::new(move |value: u32| {
-            let mut device = block_on(device_set.write());
-            device.set_counter(port_set.clone(), value)
-        });
-
-        Self {
-            get_counter,
-            get_frequency,
-            get_period,
-            set_counter,
-        }
-    }
-
-    /// Get the current counter value of the encoder
-    pub fn get_counter_value(&self) -> Result<u32, anyhow::Error> {
-        let counter = (self.get_counter)()?;
-        Ok(counter.value)
-    }
-
-    /// Get the current frequency value of the encoder (if available)
-    pub fn get_frequency_value(&self) -> Result<Option<u32>, anyhow::Error> {
-        let frequency = (self.get_frequency)()?;
-        Ok(frequency.map(|f| f.value))
-    }
-
-    /// Get the current period value of the encoder (if available)
-    pub fn get_period_value(&self) -> Result<Option<u32>, anyhow::Error> {
-        let period = (self.get_period)()?;
-        Ok(period.map(|p| p.value))
-    }
-
-    /// Set the counter value
-    pub fn set_counter_value(&self, value: u32) -> Result<(), anyhow::Error> {
-        (self.set_counter)(value)
-    }
-}
-
-#[derive(Debug, Clone)]
-pub struct EncoderInputCounter {
-    pub value: u32,
-}
-
-#[derive(Debug, Clone)]
-pub struct EncoderInputFrequency {
-    pub value: u32,
-}
-
-#[derive(Debug, Clone)]
-pub struct EncoderInputPeriod {
-    pub value: u32,
-}
-
-pub trait EncoderInputDevice<PORTS>: Send + Sync
-where
-    PORTS: Clone,
-{
-    fn get_counter_value(&self, port: PORTS) -> Result<EncoderInputCounter, anyhow::Error>;
-    fn get_frequency(&self, port: PORTS) -> Result<Option<EncoderInputFrequency>, anyhow::Error>;
-    fn get_period(&self, port: PORTS) -> Result<Option<EncoderInputPeriod>, anyhow::Error>;
-    fn set_counter(&mut self, port: PORTS, value: u32) -> Result<(), anyhow::Error>;
-}
@@ -3,7 +3,6 @@ pub mod analog_input_dummy;
 pub mod analog_output;
 pub mod digital_input;
 pub mod digital_output;
-pub mod encoder_input;
 pub mod pulse_train_output;
 pub mod serial_interface;
 pub mod stepper_velocity_el70x1;
@@ -1,24 +1,24 @@
-use super::RxPdoObject;
 use bitvec::prelude::*;
 use ethercat_hal_derive::PdoObject;

+use super::RxPdoObject;
+
 /// PDO Object for EL40xx (analog output) devices
 ///
 /// The "Analog Output" holds the output value and status information.
 #[derive(Debug, Clone, Default, PdoObject, PartialEq, Eq)]
 #[pdo_object(bits = 16)]
 pub struct AnalogOutput {
-    /// Output value (-32768-32767 typically corresponds to -10V to +10V)
+    /// Output value (-32768-32767 typically corresponds to -10 -10V or 0mA-20mA (from 4-20mA for EL402x))
    pub value: i16,
 }

 impl RxPdoObject for AnalogOutput {
    fn write(&self, bits: &mut BitSlice<u8, Lsb0>) {
        // Write the output value to bits 0-15
-        bits[0..16].store_le(self.value as u16);
+        bits[0..16].store_le(self.value);
    }
 }
-
 #[cfg(test)]
 mod tests {
    use super::*;
@@ -1,96 +0,0 @@
-use super::{RxPdoObject, TxPdoObject};
-use bitvec::prelude::*;
-use ethercat_hal_derive::PdoObject;
-
-/// PDO Object for EL5152 encoder control (RxPDO)
-/// Based on 1600/1602 mapping: Set counter (1 bit) + alignment + Set counter value (32/16 bit)
-#[derive(Debug, Clone, Default, PdoObject, PartialEq, Eq)]
-#[pdo_object(bits = 48)] // Total 48 bits for full mapping
-pub struct El5152EncoderControl {
-    /// Set counter - execute counter setting (1 bit) - 0x7000:03
-    pub set_counter: bool,
-    /// Set counter value (32-bit) - 0x7000:11
-    pub set_counter_value: u32,
-}
-
-impl RxPdoObject for El5152EncoderControl {
-    fn write(&self, bits: &mut BitSlice<u8, Lsb0>) {
-        // bit 2: Set counter (0x7000:03)
-        bits.set(2, self.set_counter);
-        // Set counter value (bits 16-47, 32-bit value) - 0x7000:11
-        bits[16..48].store_le(self.set_counter_value);
-    }
-}
-
-/// PDO Object for EL5152 encoder status (TxPDO)
-/// Based on 1A00/1A04 mapping: Status bits + Counter value (32-bit)
-#[derive(Debug, Clone, Default, PdoObject, PartialEq, Eq)]
-#[pdo_object(bits = 48)] // 16 bits status + 32 bits counter
-pub struct El5152EncoderStatus {
-    /// Set counter done - counter was set (1 bit) - 0x6000:03
-    pub set_counter_done: bool,
-    /// Extrapolation stall - extrapolated counter invalid (1 bit) - 0x6000:08
-    pub extrapolation_stall: bool,
-    /// Status of input A (1 bit) - 0x6000:09
-    pub status_input_a: bool,
-    /// Status of input B (1 bit) - 0x6000:0A
-    pub status_input_b: bool,
-    /// Sync Error - synchronization error occurred (1 bit) - 0x1C32:20
-    pub sync_error: bool,
-    /// TxPDO Toggle - toggled when TxPDO data is updated (1 bit) - 0x1800:09
-    pub txpdo_toggle: bool,
-    /// Counter value (32-bit) - 0x6000:11
-    pub counter_value: u32,
-}
-
-impl TxPdoObject for El5152EncoderStatus {
-    fn read(&mut self, bits: &BitSlice<u8, Lsb0>) {
-        // bit 2: Set counter done (0x6000:03)
-        self.set_counter_done = bits[2];
-        // bit 7: Extrapolation stall (0x6000:08)
-        self.extrapolation_stall = bits[7];
-        // bit 8: Status of input A (0x6000:09)
-        self.status_input_a = bits[8];
-        // bit 9: Status of input B (0x6000:0A)
-        self.status_input_b = bits[9];
-        // bit 13: Sync error (0x1C32:20)
-        self.sync_error = bits[13];
-        // bit 15: TxPDO Toggle (0x1800:09)
-        self.txpdo_toggle = bits[15];
-
-        // Counter value (bits 16-47, 32-bit value) - 0x6000:11
-        self.counter_value = bits[16..48].load_le::<u32>();
-    }
-}
-
-/// PDO Object for EL5152 encoder frequency measurement (TxPDO)
-/// Based on 1A03/1A07 mapping: 32-bit frequency value only
-#[derive(Debug, Clone, Default, PdoObject, PartialEq, Eq)]
-#[pdo_object(bits = 32)]
-pub struct El5152EncoderFrequency {
-    /// Frequency value (32-bit) - 0x6000:13 / 0x6010:13
-    pub frequency_value: u32,
-}
-
-impl TxPdoObject for El5152EncoderFrequency {
-    fn read(&mut self, bits: &BitSlice<u8, Lsb0>) {
-        // Frequency value (bits 0-31) - 0x6000:13 / 0x6010:13
-        self.frequency_value = bits[0..32].load_le::<u32>();
-    }
-}
-
-/// PDO Object for EL5152 encoder period measurement (TxPDO)
-/// Based on 1A02/1A06 mapping: 32-bit period value only
-#[derive(Debug, Clone, Default, PdoObject, PartialEq, Eq)]
-#[pdo_object(bits = 32)]
-pub struct El5152EncoderPeriod {
-    /// Period value (32-bit) - 0x6000:14 / 0x6010:14
-    pub period_value: u32,
-}
-
-impl TxPdoObject for El5152EncoderPeriod {
-    fn read(&mut self, bits: &BitSlice<u8, Lsb0>) {
-        // Period value (bits 0-31) - 0x6000:14 / 0x6010:14
-        self.period_value = bits[0..32].load_le::<u32>();
-    }
-}
@@ -3,7 +3,6 @@ pub mod basic;
 pub mod el252x;
 pub mod el32xx;
 pub mod el40xx;
-pub mod el5152;
 pub mod el70x1;
 use crate::coe::Configuration;
 use bitvec::prelude::*;
@@ -113,8 +113,6 @@ impl EL40XXChannelConfiguration {
        device: &EthercrabSubDevicePreoperational<'a>,
        base_index: u16,
    ) -> Result<(), anyhow::Error> {
-        tracing::info!("write_channel_config");
-
        // Write all configuration parameters according to the documentation table
        device
            .sdo_write(base_index, 0x01, self.enable_user_scale as u8)
@@ -34,9 +34,11 @@
          (final: prev: {
            qitechPackages = {
              server = final.callPackage ./nixos/packages/server.nix {
+                commitHash = builtins.getEnv "QITECH_COMMIT_HASH";
                craneLib = crane.mkLib final;
              };
              electron = final.callPackage ./nixos/packages/electron.nix {
+                commitHash = builtins.getEnv "QITECH_COMMIT_HASH";
                nodejs = final.nodejs_22;
              };
            };
@@ -99,9 +101,11 @@
                (final: prev: {
                  qitechPackages = {
                    server = final.callPackage ./nixos/packages/server.nix {
+                      commitHash = gitInfo.gitCommit;
                      craneLib = crane.mkLib final;
                    };
                    electron = final.callPackage ./nixos/packages/electron.nix {
+                      commitHash = gitInfo.gitCommit;
                      nodejs = final.nodejs_22;
                    };
                  };
@@ -1,30 +0,0 @@
-touch /tmp/installInfo.nix
-
-# Capture all git information
-GIT_TIMESTAMP=$(git --no-pager show -s --format=%cI HEAD)  # e.g., "2025-06-10T14:30:45+02:00"
-GIT_COMMIT=$(git rev-parse HEAD)                           # e.g., "b2c7f6e0b138174770798f84ada8b0aa65afeb"
-GIT_URL=$(git config --get remote.origin.url)             # e.g., "https://github.com/qitechindustries/control.git"
-
-# Determine the git abbreviation (tag, branch, or commit hash)
-GIT_TAG=$(git describe --tags --exact-match HEAD 2>/dev/null || echo "")
-if [ -n "$GIT_TAG" ]; then
-  GIT_ABBREVIATION="$GIT_TAG"                              # e.g., "2.0.0" (when on a tag)
-else
-  GIT_BRANCH=$(git rev-parse --abbrev-ref HEAD)
-  if [ "$GIT_BRANCH" = "HEAD" ]; then
-    GIT_ABBREVIATION=$(git rev-parse --short HEAD)         # e.g., "b2c7f6e" (when on detached HEAD/commit)
-  else
-    GIT_ABBREVIATION="$GIT_BRANCH"                         # e.g., "main", "develop" (when on a branch)
-  fi
-fi
-
-tee /tmp/installInfo.nix > /dev/null << EOF
-{
-  gitTimestamp = "$GIT_TIMESTAMP";
-  gitCommit = "$GIT_COMMIT";
-  gitAbbreviation = "$GIT_ABBREVIATION";
-  gitUrl = "$GIT_URL";
-  # Like abbreviation but can be used in system.nixos.label
-  gitAbbreviationEscaped = "$GIT_ABBREVIATION_ESCAPED";
-}
-EOF
@@ -15,10 +15,8 @@ in
    consoleMode = "max";  # Use the highest available resolution
  };
  boot.loader.efi.canTouchEfiVariables = true;
+
  boot.kernelPackages = pkgs.linuxPackages-rt_latest;
-  boot.kernelModules = [ "i915" ];
-
-

  boot.kernelParams = [
    # Graphical
@@ -77,7 +75,7 @@ in
      experimental-features = nix-command flakes
    '';
    settings = {
-      sandbox = false;  
+      sandbox = false;
    };
  };

@@ -11,7 +11,6 @@

 stdenv.mkDerivation rec {
  pname = "qitech-control-electron";
-  version = "1.0.0";
  src = lib.cleanSource ../../electron;

  nativeBuildInputs = [
@@ -7,32 +7,57 @@
 }:

 let
-  # Bind variables so they can be inherited inside inner calls
-  pname = "server";
-  version = "1.0.0";
-  strictDeps = true;
-  nativeBuildInputs = [ pkg-config ];
-  buildInputs = [ libpcap libudev-zero ];
-
-  # Cleaned source
+  # Use crane's source cleaning which is more intelligent for Cargo projects
  src = craneLib.cleanCargoSource ../..;
-
-  # Safe fallback for CARGO_BUILD_JOBS in impure builds
-  cargoJobs = if (builtins.tryEval (builtins.getEnv "CARGO_BUILD_JOBS")).success
-              then builtins.getEnv "CARGO_BUILD_JOBS"
-              else "2";
-in
-
-craneLib.buildPackage {
-  inherit pname version src strictDeps nativeBuildInputs buildInputs;
-
-  # Use the safe cargoJobs variable
-  CARGO_BUILD_JOBS = cargoJobs;
-
-  # Build cargo dependencies once for caching
-  cargoArtifacts = craneLib.buildDepsOnly {
-    inherit src strictDeps nativeBuildInputs buildInputs pname version;
+  
+  # Common arguments for both dependency and app builds
+  commonArgs = {
+    inherit src;
+    strictDeps = true;
+    
+    nativeBuildInputs = [ pkg-config ];
+    buildInputs = [ libpcap libudev-zero ];
+    
+    # Build only the server package with journald logging for NixOS
+    pname = "server";    
+    # Reduce memory usage during build
+    CARGO_BUILD_JOBS = "2";
  };
+  
+  # Build *just* the cargo dependencies (of the entire workspace),
+  # so we can reuse all of that work when running in CI
+  cargoArtifacts = craneLib.buildDepsOnly commonArgs;

+in
+# Uses Rust 1.86 stable from nixpkgs 25.05 with Crane for dependency caching
+craneLib.buildPackage (commonArgs // {
+  inherit cargoArtifacts;
+  
+  # Enable journald logging feature for NixOS systems and build only server package
+  # Anbale io_uring support
  cargoExtraArgs = "-p server --features tracing-journald,io-uring --no-default-features";
-}
+
+  # Create a swap file if building on a memory-constrained system
+  preBuild = ''
+      if [ $(free -m | grep Mem | awk '{print $2}') -lt 6000 ]; then
+        mkdir -p $TMPDIR/swap
+        dd if=/dev/zero of=$TMPDIR/swap/swapfile bs=1M count=8192
+        chmod 600 $TMPDIR/swap/swapfile
+        mkswap $TMPDIR/swap/swapfile
+        swapon $TMPDIR/swap/swapfile
+      fi
+  '';
+
+  postBuild = ''
+    if [ -f $TMPDIR/swap/swapfile ]; then
+      swapoff $TMPDIR/swap/swapfile
+      rm $TMPDIR/swap/swapfile
+    fi
+  '';
+
+  meta = with lib; {
+    description = "QiTech Control Server";
+    homepage = "https://qitech.de";
+    platforms = platforms.linux;
+  };
+})
@@ -18,6 +18,7 @@ uom = { version = "0.36.0", default-features = false, features = ["f64"] }
 serde = "1.0.217"
 anyhow = "1.0.99"

+open = "5.3.2"
 bitvec = "1.0.1"
 lazy_static = "1.5.0"
 dhat = { version = "0.3.3", optional = true }
@@ -26,6 +27,7 @@ euclid = "0.22.11"
 # concurrency
 smol = "2.0.2"
 tokio = { version = "1.45.1", features = ["rt-multi-thread"] }
+thread-priority = "2.1.0"
 regex = "1.11.2"
 futures = "0.3.31"

@@ -36,6 +38,7 @@ tower-http = { version = "0.6.6", features = ["cors", "trace", "fs"] }
 axum = { version = "0.8.4", features = ["macros"] }

 # serial
+crc = "3.3.0"
 serialport = "4.7.3"

 #tracing
@@ -78,11 +81,7 @@ tracing-otel = [
 ]
 mock-machine = []
 io-uring = []
-development-build = []

 [profile.release]
 codegen-units = 1
 lto = "fat"
-
-[package.metadata.cargo-machete]
-ignored =  ["tonic"]
@@ -9,7 +9,7 @@ use crate::{
    ethercat::config::{MAX_FRAMES, MAX_PDU_DATA, MAX_SUBDEVICES, PDI_LEN},
 };
 use control_core::ethercat::eeprom_identification::read_device_identifications;
-#[cfg(all(target_os = "linux", not(feature = "development-build")))]
+#[cfg(unix)]
 use control_core::irq_handling::set_irq_affinity;
 use control_core::machines::identification::{
    DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat, DeviceIdentification,
@@ -23,9 +23,6 @@ use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, RetryBehaviour, Timeou
 use smol::channel::Sender;
 use std::{sync::Arc, time::Duration};

-const SM_OUTPUT: u16 = 0x1C32;
-const SM_INPUT: u16 = 0x1C33;
-
 pub async fn setup_loop(
    thread_panic_tx: Sender<PanicDetails>,
    interface: &str,
@@ -50,7 +47,7 @@ pub async fn setup_loop(
        .spawn(move || {
            send_panic(thread_panic_tx_clone);

-            #[cfg(all(target_os = "linux", not(feature = "development-build")))]
+            #[cfg(unix)]
            match set_irq_affinity(&interface, 3) {
                Ok(_) => tracing::info!("ethernet interrupt handler now runs on cpu:{}", 3),
                Err(e) => tracing::error!("set_irq_handler_affinity failed: {:?}", e),
@@ -93,13 +90,13 @@ pub async fn setup_loop(
            // Default 30_000us
            pdu: Duration::from_micros(30_000),
            // Default 10ms
-            eeprom: Duration::from_millis(100),
+            eeprom: Duration::from_millis(10),
            // Default 0ms
            wait_loop_delay: Duration::from_millis(0),
            // Default 100ms
-            mailbox_echo: Duration::from_millis(1000),
+            mailbox_echo: Duration::from_millis(100),
            // Default 1000ms
-            mailbox_response: Duration::from_millis(10000),
+            mailbox_response: Duration::from_millis(1000),
        },
        MainDeviceConfig {
            // Default RetryBehaviour::None
@@ -160,12 +157,14 @@ pub async fn setup_loop(
            },
        )
        .collect::<Vec<_>>();
+
    let devices = device_identifications
        .into_iter()
        .zip(devices)
        .zip(&subdevices)
        .map(|((a, b), c)| (a, b, c))
        .collect::<Vec<_>>();
+
    // filter devices and if Option<DeviceMachineIdentification> is Some
    // return identified_devices, identified_device_identifications, identified_subdevices
    let (identified_device_identifications, identified_devices, identified_subdevices): (
@@ -199,6 +198,7 @@ pub async fn setup_loop(
                acc
            },
        );
+
    // construct machines
    {
        let mut machines_guard = app_state.machines.write().await;
@@ -220,12 +220,6 @@ pub async fn setup_loop(
        .map(|(device_identification, device, _)| (device_identification.clone(), device.clone()))
        .collect::<Vec<_>>();

-    for subdevice in subdevices.iter() {
-        if subdevice.name() == "EL5152" {
-            subdevice.sdo_write(SM_OUTPUT, 0x1, 0x00u16).await?; //set sync mode (1) for free run (0)
-            subdevice.sdo_write(SM_INPUT, 0x1, 0x00u16).await?; //set sync mode (1) for free run (0)
-        }
-    }
    // Notify client via socketio
    let app_state_clone = app_state.clone();
    smol::block_on(async move {
@@ -127,11 +127,7 @@ pub async fn loop_once<'maindevice>(app_state: Arc<AppState>) -> Result<(), anyh
                )
            })?;
        }
-
-        #[cfg(feature = "development-build")]
-        smol::Timer::after(Duration::from_micros(2000)).await;
-
-        #[cfg(not(feature = "development-build"))]
+        // Apparently 500 Microseconds is a safe starting point for ethercat
        smol::Timer::after(Duration::from_micros(500)).await;
    }

@@ -1,26 +0,0 @@
-use super::{AquaPathV1, AquaPathV1Mode};
-use control_core::machines::new::MachineAct;
-use std::time::{Duration, Instant};
-
-impl MachineAct for AquaPathV1 {
-    fn act(&mut self, now_ts: Instant) {
-        match self.mode {
-            AquaPathV1Mode::Standby => {
-                self.switch_to_standby();
-            }
-            AquaPathV1Mode::Auto => {
-                self.switch_to_auto();
-            }
-        }
-
-        let now = Instant::now();
-
-        self.front_controller.update(now_ts);
-        self.back_controller.update(now_ts);
-
-        if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
-            self.emit_live_values();
-            self.last_measurement_emit = now;
-        }
-    }
-}
@@ -1,162 +0,0 @@
-use std::{sync::Arc, time::Duration};
-
-use super::{AquaPathV1, AquaPathV1Mode};
-use control_core::{
-    machines::api::MachineApi,
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_first_and_last_event,
-        },
-    },
-};
-use serde::{Deserialize, Serialize};
-use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
-use tracing::instrument;
-
-#[derive(Serialize, Debug, Clone, Default)]
-pub struct LiveValuesEvent {
-    pub front_flow: f64,
-    pub back_flow: f64,
-    pub front_temperature: f64,
-    pub back_temperature: f64,
-    pub front_temp_reservoir: f64,
-    pub back_temp_reservoir: f64,
-}
-
-impl LiveValuesEvent {
-    pub fn build(&self) -> Event<Self> {
-        Event::new("LiveValuesEvent", self.clone())
-    }
-}
-
-#[derive(Serialize, Debug, Clone)]
-pub struct StateEvent {
-    pub is_default_state: bool,
-    /// mode state
-    pub mode_state: ModeState,
-    pub flow_states: FlowStates,
-    pub temperature_states: TempStates,
-}
-
-impl StateEvent {
-    pub fn build(&self) -> Event<Self> {
-        Event::new("StateEvent", self.clone())
-    }
-}
-
-#[derive(Serialize, Debug, Clone)]
-pub struct TempStates {
-    pub front: TempState,
-    pub back: TempState,
-}
-
-#[derive(Serialize, Debug, Clone)]
-pub struct TempState {
-    pub temperature: f64,
-    pub target_temperature: f64,
-}
-
-#[derive(Serialize, Debug, Clone)]
-pub struct ModeState {
-    pub mode: AquaPathV1Mode,
-}
-#[derive(Serialize, Debug, Clone)]
-pub struct FlowStates {
-    pub front: FlowState,
-    pub back: FlowState,
-}
-#[derive(Serialize, Debug, Clone)]
-pub struct FlowState {
-    pub flow: f64,
-    pub should_flow: bool,
-}
-
-pub enum AquaPathV1Events {
-    LiveValues(Event<LiveValuesEvent>),
-    State(Event<StateEvent>),
-}
-
-#[derive(Deserialize, Serialize)]
-enum Mutation {
-    //Mode
-    SetAquaPathMode(AquaPathV1Mode),
-
-    SetFrontTemperature(f64),
-    SetBackTemperature(f64),
-
-    SetFrontFlow(bool),
-    SetBackFlow(bool),
-}
-
-#[derive(Debug)]
-pub struct AquaPathV1Namespace {
-    pub namespace: Namespace,
-}
-
-impl NamespaceCacheingLogic<AquaPathV1Events> for AquaPathV1Namespace {
-    #[instrument(skip_all)]
-    fn emit(&mut self, events: AquaPathV1Events) {
-        let event = Arc::new(events.event_value());
-        let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
-    }
-}
-
-impl AquaPathV1Namespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
-    }
-}
-
-impl CacheableEvents<AquaPathV1Events> for AquaPathV1Events {
-    fn event_value(&self) -> GenericEvent {
-        match self {
-            AquaPathV1Events::LiveValues(event) => event.into(),
-            AquaPathV1Events::State(event) => event.into(),
-        }
-    }
-
-    fn event_cache_fn(&self) -> CacheFn {
-        let cache_one_hour = cache_duration(Duration::from_secs(60 * 60), Duration::from_secs(1));
-        let cache_first_and_last = cache_first_and_last_event();
-
-        match self {
-            AquaPathV1Events::LiveValues(_) => cache_one_hour,
-            AquaPathV1Events::State(_) => cache_first_and_last,
-        }
-    }
-}
-
-impl MachineApi for AquaPathV1 {
-    fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
-        let control: Mutation = serde_json::from_value(request_body)?;
-        match control {
-            Mutation::SetAquaPathMode(mode) => self.set_mode_state(mode),
-            Mutation::SetBackTemperature(temperature) => {
-                self.set_target_temperature(temperature, super::AquaPathSideType::Back)
-            }
-
-            Mutation::SetFrontTemperature(temperature) => {
-                self.set_target_temperature(temperature, super::AquaPathSideType::Front)
-            }
-
-            Mutation::SetBackFlow(should_pump) => {
-                self.set_should_pump(should_pump, super::AquaPathSideType::Back)
-            }
-            Mutation::SetFrontFlow(should_pump) => {
-                self.set_should_pump(should_pump, super::AquaPathSideType::Front)
-            }
-        }
-        Ok(())
-    }
-
-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
-    }
-}
@@ -1,311 +0,0 @@
-use crate::machines::aquapath1::VolumeRate;
-use crate::machines::aquapath1::{Flow, Temperature};
-use control_core::controllers::pid::PidController;
-use ethercat_hal::io::encoder_input::EncoderInput;
-use ethercat_hal::io::{
-    analog_output::AnalogOutput, digital_output::DigitalOutput, temperature_input::TemperatureInput,
-};
-use std::time::{Duration, Instant};
-
-use uom::si::f64::ThermodynamicTemperature;
-use uom::si::thermodynamic_temperature::degree_celsius;
-use uom::si::volume_rate::liter_per_minute;
-#[derive(Debug)]
-
-pub struct Controller {
-    pub pid: PidController,
-    temperature_pid_output: f64,
-    window_start: Instant,
-    pwm_period: Duration,
-
-    pub temperature: Temperature,
-    pub target_temperature: ThermodynamicTemperature,
-    pub current_temperature: ThermodynamicTemperature,
-    pub temp_reservoir: ThermodynamicTemperature,
-    pub min_temperature: ThermodynamicTemperature,
-    pub max_temperature: ThermodynamicTemperature,
-
-    pub cooling_controller: AnalogOutput,
-    pub cooling_relais: DigitalOutput,
-
-    pub heating_relais_1: DigitalOutput,
-    pub heating_relais_2: DigitalOutput,
-    pub temperature_sensor_in: TemperatureInput,
-    pub temperature_sensor_out: TemperatureInput,
-
-    pub cooling_allowed: bool,
-    pub heating_allowed: bool,
-
-    pub flow: Flow,
-    pump_relais: DigitalOutput,
-    pub should_pump: bool,
-    pub flow_sensor: EncoderInput,
-    pub pump_allowed: bool,
-    pub current_flow: VolumeRate,
-    pub max_flow: VolumeRate,
-}
-
-impl Controller {
-    pub fn new(
-        kp: f64,
-        ki: f64,
-        kd: f64,
-        pwm_duration: Duration,
-        temp: Temperature,
-        target_tempetature: ThermodynamicTemperature,
-        cooling_controller: AnalogOutput,
-        cooling_relais: DigitalOutput,
-        heating_relais_1: DigitalOutput,
-        heating_relais_2: DigitalOutput,
-        temp_sensor_in: TemperatureInput,
-        temp_sensor_out: TemperatureInput,
-
-        flow: Flow,
-        pump_relais: DigitalOutput,
-        flow_sensor: EncoderInput,
-    ) -> Self {
-        Self {
-            pid: PidController::new(kp, ki, kd),
-            temperature_pid_output: 0.0,
-            window_start: Instant::now(),
-            pwm_period: pwm_duration,
-            target_temperature: target_tempetature,
-            current_temperature: ThermodynamicTemperature::new::<degree_celsius>(25.0),
-            temp_reservoir: ThermodynamicTemperature::new::<degree_celsius>(25.0),
-            min_temperature: ThermodynamicTemperature::new::<degree_celsius>(10.0),
-            max_temperature: ThermodynamicTemperature::new::<degree_celsius>(50.0),
-
-            temperature: temp,
-            cooling_controller: cooling_controller,
-            cooling_relais: cooling_relais,
-            heating_relais_1: heating_relais_1,
-            heating_relais_2: heating_relais_2,
-            cooling_allowed: false,
-            heating_allowed: false,
-            temperature_sensor_in: temp_sensor_in,
-            temperature_sensor_out: temp_sensor_out,
-
-            flow: flow,
-            pump_relais: pump_relais,
-            flow_sensor: flow_sensor,
-            should_pump: false,
-            current_flow: VolumeRate::new::<liter_per_minute>(0.0),
-            pump_allowed: false,
-            max_flow: VolumeRate::new::<liter_per_minute>(10.0),
-        }
-    }
-
-    pub fn turn_pump_off(&mut self) {
-        tracing::info!("turn_pump_off");
-
-        self.flow.pump = false;
-        self.pump_relais.set(false);
-    }
-
-    pub fn turn_pump_on(&mut self) {
-        tracing::info!("turn_pump_on");
-
-        self.flow.pump = true;
-        self.pump_relais.set(true);
-    }
-
-    pub fn disallow_pump(&mut self) {
-        self.pump_allowed = false;
-    }
-
-    pub fn allow_pump(&mut self) {
-        self.pump_allowed = true;
-    }
-
-    pub fn get_pump(&mut self) -> bool {
-        self.pump_allowed
-    }
-
-    pub fn disable_cooling(&mut self) {
-        self.turn_cooling_off();
-        self.disallow_cooling();
-    }
-
-    pub fn disable_heating(&mut self) {
-        self.turn_heating_off();
-        self.disallow_heating();
-    }
-
-    pub fn enable_cooling(&mut self) {
-        self.turn_cooling_on();
-        self.allow_cooling();
-    }
-
-    pub fn enable_heating(&mut self) {
-        self.turn_heating_on();
-        self.allow_heating();
-    }
-    pub fn reset_pid(&mut self) {
-        self.pid.reset()
-    }
-    pub fn set_target_temperature(&mut self, temperature: ThermodynamicTemperature) {
-        self.reset_pid();
-        self.target_temperature = temperature;
-    }
-
-    pub fn get_temp_in(&mut self) -> ThermodynamicTemperature {
-        let temp = self.temperature_sensor_in.get_temperature();
-        match temp {
-            Ok(value) => ThermodynamicTemperature::new::<degree_celsius>(value),
-            Err(_) => ThermodynamicTemperature::new::<degree_celsius>(0.0),
-        }
-    }
-
-    pub fn get_temp_out(&mut self) -> ThermodynamicTemperature {
-        let temp = self.temperature_sensor_out.get_temperature();
-        match temp {
-            Ok(value) => ThermodynamicTemperature::new::<degree_celsius>(value),
-            Err(_) => ThermodynamicTemperature::new::<degree_celsius>(0.0),
-        }
-    }
-
-    pub fn disallow_cooling(&mut self) {
-        self.cooling_allowed = false;
-    }
-
-    pub fn allow_cooling(&mut self) {
-        self.cooling_allowed = true;
-    }
-
-    pub fn disallow_heating(&mut self) {
-        self.heating_allowed = false;
-    }
-
-    pub fn allow_heating(&mut self) {
-        self.heating_allowed = true;
-    }
-
-    pub fn turn_cooling_on(&mut self) {
-        tracing::info!("turn_cooling_on");
-        self.cooling_relais.set(true);
-        self.cooling_controller.set(10.0);
-        self.temperature.cooling = true;
-    }
-
-    pub fn turn_cooling_off(&mut self) {
-        tracing::info!("turn_cooling_off");
-
-        self.cooling_relais.set(false);
-        self.temperature.cooling = false;
-    }
-
-    pub fn turn_heating_on(&mut self) {
-        tracing::info!("turn_heating_on");
-
-        self.heating_relais_1.set(true);
-        self.heating_relais_2.set(true);
-        self.temperature.heating = true;
-    }
-
-    pub fn turn_heating_off(&mut self) {
-        tracing::info!("turn_heating_off");
-
-        self.heating_relais_1.set(false);
-        self.heating_relais_2.set(false);
-        self.temperature.heating = false;
-    }
-
-    pub fn set_should_pump(&mut self, should_pump: bool) {
-        self.should_pump = should_pump;
-    }
-
-    pub fn get_should_pump(&mut self) -> bool {
-        self.should_pump
-    }
-
-    pub fn get_flow(&mut self) -> VolumeRate {
-        let value = match self.flow_sensor.get_frequency_value() {
-            Ok(val) => val,
-            Err(e) => {
-                tracing::debug!("Error calculating frequency: {}", e);
-                return VolumeRate::new::<liter_per_minute>(0.0);
-            }
-        };
-
-        match value {
-            Some(val) => {
-                if val == 0 {
-                    return VolumeRate::new::<liter_per_minute>(0.0);
-                }
-                // Formula: f = 8.1*q - 3, so q = (f + 3) / 8.1
-                let actual_flow = ((val / 100) as f32 + 3.0) / 8.1;
-                VolumeRate::new::<liter_per_minute>(actual_flow.into())
-            }
-            None => {
-                return VolumeRate::new::<liter_per_minute>(0.0);
-            }
-        }
-    }
-
-    pub fn update(&mut self, now: Instant) -> () {
-        let current_flow = self.get_flow();
-        self.current_flow = current_flow;
-        self.flow.flow = current_flow;
-
-        let should_flow = self.get_should_pump();
-        self.flow.should_pump = should_flow;
-
-        if !self.flow.pump && self.get_pump() && should_flow {
-            self.turn_pump_on();
-        } else if self.flow.pump && (!self.get_pump() || !should_flow) {
-            self.turn_pump_off();
-        }
-
-        self.current_temperature = self.get_temp_in();
-        self.temp_reservoir = self.get_temp_out();
-
-        if self.current_temperature < self.min_temperature && self.temperature.cooling {
-            self.turn_cooling_off();
-        } else if self.current_temperature > self.max_temperature && self.temperature.heating {
-            self.turn_heating_off();
-        }
-
-        // Calculate PID error once
-        let error = self.target_temperature.get::<degree_celsius>()
-            - self.current_temperature.get::<degree_celsius>();
-        let control = self.pid.update(error, now);
-        self.temperature_pid_output = control;
-
-        let elapsed = now.duration_since(self.window_start);
-        if elapsed >= self.pwm_period {
-            self.window_start = now;
-        }
-
-        // Decide whether to heat or cool based on error
-        if error > 0.0 {
-            // Need heating (current < target)
-            if self.temperature.cooling {
-                self.turn_cooling_off();
-            }
-            if self.heating_allowed && current_flow > VolumeRate::new::<liter_per_minute>(0.0) {
-                // Only start heating if pump is on
-                let duty = control.clamp(0.0, 1.0);
-                let on_time = self.pwm_period.mul_f64(duty);
-                let on = elapsed < on_time;
-                if on && !self.temperature.heating {
-                    self.turn_heating_on();
-                } else if !on && self.temperature.heating {
-                    self.turn_heating_off();
-                }
-            } else {
-                // Pump is off or heating not allowed - don't heat
-                if self.temperature.heating {
-                    self.turn_heating_off();
-                }
-            }
-        } else {
-            // Need cooling (current > target)
-            if self.temperature.heating {
-                self.turn_heating_off();
-            }
-            if self.cooling_allowed && !self.temperature.cooling {
-                self.turn_cooling_on();
-            }
-        }
-    }
-}
@@ -1,261 +0,0 @@
-use control_core::{
-    machines::identification::MachineIdentification, socketio::namespace::NamespaceCacheingLogic,
-};
-use control_core_derive::Machine;
-
-use serde::{Deserialize, Serialize};
-use std::time::Instant;
-use uom::si::{
-    f64::{ThermodynamicTemperature, VolumeRate},
-    thermodynamic_temperature::degree_celsius,
-    volume_rate::liter_per_minute,
-};
-
-use crate::machines::{
-    MACHINE_AQUAPATH_V1, VENDOR_QITECH,
-    aquapath1::{
-        api::{
-            AquaPathV1Events, AquaPathV1Namespace, FlowState, FlowStates, LiveValuesEvent,
-            ModeState, StateEvent, TempState, TempStates,
-        },
-        controller::Controller,
-        // flow_controller::FlowController,
-        // temperature_controller::TemperatureController,
-    },
-};
-pub mod act;
-pub mod api;
-pub mod controller;
-// pub mod flow_controller;
-pub mod new;
-// pub mod temperature_controller;
-
-#[derive(Deserialize, Serialize, Debug, Clone, PartialEq)]
-pub enum AquaPathV1Mode {
-    Standby,
-    Auto,
-}
-
-pub enum AquaPathSideType {
-    Front,
-    Back,
-}
-
-#[derive(Debug, Clone, PartialEq)]
-pub struct Temperature {
-    pub temperature: ThermodynamicTemperature,
-    pub cooling: bool,
-    pub heating: bool,
-    pub target_temperature: ThermodynamicTemperature,
-}
-
-impl Default for Temperature {
-    fn default() -> Self {
-        Self {
-            temperature: ThermodynamicTemperature::new::<degree_celsius>(0.0),
-            cooling: false,
-            heating: false,
-            target_temperature: ThermodynamicTemperature::new::<degree_celsius>(0.0),
-        }
-    }
-}
-
-#[derive(Debug, Clone, PartialEq)]
-pub struct Flow {
-    pub flow: VolumeRate,
-    pub pump: bool,
-    pub should_pump: bool,
-}
-
-impl Default for Flow {
-    fn default() -> Self {
-        Self {
-            flow: VolumeRate::new::<liter_per_minute>(0.0),
-            pump: false,
-            should_pump: false,
-        }
-    }
-}
-
-#[derive(Debug, Machine)]
-pub struct AquaPathV1 {
-    namespace: AquaPathV1Namespace,
-    mode: AquaPathV1Mode,
-    last_measurement_emit: Instant,
-    front_controller: Controller,
-    back_controller: Controller,
-}
-impl AquaPathV1 {
-    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
-        vendor: VENDOR_QITECH,
-        machine: MACHINE_AQUAPATH_V1,
-    };
-}
-
-impl std::fmt::Display for AquaPathV1 {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        write!(f, "Aquapath")
-    }
-}
-
-impl AquaPathV1 {
-    pub fn emit_live_values(&mut self) {
-        let live_values = LiveValuesEvent {
-            front_temperature: self
-                .front_controller
-                .current_temperature
-                .get::<degree_celsius>(),
-            back_temperature: self
-                .back_controller
-                .current_temperature
-                .get::<degree_celsius>(),
-            front_flow: self.front_controller.current_flow.get::<liter_per_minute>(),
-            back_flow: self.back_controller.current_flow.get::<liter_per_minute>(),
-            front_temp_reservoir: self.front_controller.temp_reservoir.get::<degree_celsius>(),
-            back_temp_reservoir: self.back_controller.temp_reservoir.get::<degree_celsius>(),
-        };
-        let event = live_values.build();
-        self.namespace.emit(AquaPathV1Events::LiveValues(event));
-    }
-
-    pub fn emit_state(&mut self) {
-        let state = StateEvent {
-            is_default_state: false,
-            mode_state: ModeState {
-                mode: self.mode.clone(),
-            },
-            temperature_states: TempStates {
-                front: TempState {
-                    temperature: self
-                        .front_controller
-                        .current_temperature
-                        .get::<degree_celsius>(),
-
-                    target_temperature: self
-                        .front_controller
-                        .target_temperature
-                        .get::<degree_celsius>(),
-                },
-                back: TempState {
-                    temperature: self
-                        .back_controller
-                        .current_temperature
-                        .get::<degree_celsius>(),
-                    target_temperature: self
-                        .back_controller
-                        .target_temperature
-                        .get::<degree_celsius>(),
-                },
-            },
-            flow_states: FlowStates {
-                front: FlowState {
-                    flow: self.front_controller.current_flow.get::<liter_per_minute>(),
-                    should_flow: self.front_controller.should_pump,
-                },
-                back: FlowState {
-                    flow: self.back_controller.current_flow.get::<liter_per_minute>(),
-                    should_flow: self.back_controller.should_pump,
-                },
-            },
-        };
-
-        let event = state.build();
-        self.namespace.emit(AquaPathV1Events::State(event));
-    }
-}
-impl AquaPathV1 {
-    fn turn_cooling_off(&mut self) {
-        self.front_controller.disable_cooling();
-        self.back_controller.disable_cooling();
-    }
-
-    fn turn_cooling_on(&mut self) {
-        self.front_controller.allow_cooling();
-        self.back_controller.allow_cooling();
-    }
-
-    fn turn_heating_off(&mut self) {
-        self.front_controller.disallow_heating();
-        self.back_controller.disallow_heating();
-    }
-
-    fn turn_heating_on(&mut self) {
-        self.front_controller.allow_heating();
-        self.back_controller.allow_heating();
-    }
-
-    fn turn_pump_on(&mut self) {
-        self.front_controller.allow_pump();
-        self.back_controller.allow_pump();
-    }
-
-    fn turn_pump_off(&mut self) {
-        self.front_controller.disallow_pump();
-        self.back_controller.disallow_pump();
-    }
-
-    fn turn_off_all(&mut self) {
-        self.turn_cooling_off();
-        self.turn_heating_off();
-        self.turn_pump_off();
-    }
-
-    fn turn_on_all(&mut self) {
-        self.turn_cooling_on();
-        self.turn_heating_on();
-        self.turn_pump_on();
-    }
-    // Turn all OFF and do nothing
-    fn switch_to_standby(&mut self) {
-        match self.mode {
-            AquaPathV1Mode::Standby => (),
-            AquaPathV1Mode::Auto => self.turn_off_all(),
-        };
-        self.mode = AquaPathV1Mode::Standby;
-    }
-
-    fn switch_to_auto(&mut self) {
-        match self.mode {
-            AquaPathV1Mode::Auto => (),
-            AquaPathV1Mode::Standby => self.turn_on_all(),
-        }
-        self.mode = AquaPathV1Mode::Auto;
-    }
-
-    fn switch_mode(&mut self, mode: AquaPathV1Mode) {
-        if self.mode == mode {
-            return;
-        }
-        match mode {
-            AquaPathV1Mode::Standby => self.switch_to_standby(),
-            AquaPathV1Mode::Auto => self.switch_to_auto(),
-        }
-    }
-}
-
-impl AquaPathV1 {
-    fn set_mode_state(&mut self, mode: AquaPathV1Mode) {
-        self.switch_mode(mode.clone());
-        self.emit_state();
-    }
-}
-
-impl AquaPathV1 {
-    fn set_target_temperature(&mut self, temperature: f64, cooling_type: AquaPathSideType) {
-        let target_temp = ThermodynamicTemperature::new::<degree_celsius>(temperature);
-
-        match cooling_type {
-            AquaPathSideType::Back => self.back_controller.set_target_temperature(target_temp),
-            AquaPathSideType::Front => self.front_controller.set_target_temperature(target_temp),
-        }
-        self.emit_state();
-    }
-
-    fn set_should_pump(&mut self, should_pump: bool, cooling_type: AquaPathSideType) {
-        match cooling_type {
-            AquaPathSideType::Back => self.back_controller.set_should_pump(should_pump),
-            AquaPathSideType::Front => self.front_controller.set_should_pump(should_pump),
-        }
-        self.emit_state();
-    }
-}
@@ -1,352 +0,0 @@
-use super::{AquaPathV1, AquaPathV1Mode};
-use crate::machines::aquapath1::{
-    Flow, Temperature, api::AquaPathV1Namespace, controller::Controller,
-};
-use anyhow::Error;
-use control_core::machines::{
-    identification::DeviceHardwareIdentification,
-    new::{
-        MachineNewHardware, MachineNewParams, MachineNewTrait, get_device_identification_by_role,
-        get_ethercat_device_by_index, get_subdevice_by_index, validate_no_role_dublicates,
-        validate_same_machine_identification_unique,
-    },
-};
-use ethercat_hal::{
-    coe::ConfigurableDevice,
-    devices::{
-        EthercatDeviceUsed, downcast_device,
-        ek1100::{EK1100, EK1100_IDENTITY_A},
-        el2008::{EL2008, EL2008_IDENTITY_A, EL2008Port},
-        el3204::{EL3204, EL3204_IDENTITY_A, EL3204_IDENTITY_B, EL3204Port},
-        el4002::{EL4002, EL4002_IDENTITY_A, EL4002Port},
-        el5152::{
-            EL5152, EL5152_IDENTITY_A, EL5152Configuration, EL5152Port,
-            EL5152PredefinedPdoAssignment,
-        },
-        subdevice_identity_to_tuple,
-    },
-    io::{
-        analog_output::AnalogOutput, digital_output::DigitalOutput, encoder_input::EncoderInput,
-        temperature_input::TemperatureInput,
-    },
-};
-use std::time::{Duration, Instant};
-use uom::si::{f64::ThermodynamicTemperature, thermodynamic_temperature::degree_celsius};
-
-impl MachineNewTrait for AquaPathV1 {
-    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
-        // validate general stuff
-        let device_identification = params
-            .device_group
-            .iter()
-            .map(|device_identification| device_identification.clone())
-            .collect::<Vec<_>>();
-        validate_same_machine_identification_unique(&device_identification)?;
-        validate_no_role_dublicates(&device_identification)?;
-
-        let hardware = match &params.hardware {
-            MachineNewHardware::Ethercat(x) => x,
-            _ => {
-                return Err(anyhow::anyhow!(
-                    "[{}::MachineNewTrait/AquaPath1::new] MachineNewHardware is not Ethercat",
-                    module_path!()
-                ));
-            }
-        };
-
-        smol::block_on(async {
-            // Role 0 - Buscoupler EK1100
-            {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 0)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 0 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EK1100_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EK1100>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 0 is not an EK1100",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-            }
-
-            // Role 1 - EL2008 Digital Output Module
-            let el2008 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 1)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 1 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL2008_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL2008>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 1 is not an EL2008",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
-
-            // Role 2 - EL4002 Analog Output Module
-            let el4002 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 2)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 2 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-
-                let subdevice = get_subdevice_by_index(
-                    hardware.subdevices,
-                    device_hardware_identification_ethercat.subdevice_index,
-                )?;
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice_identity = subdevice.identity();
-
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL4002_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL4002>(ethercat_device).await?
-                    }
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 2 is not an EL4002",
-                        module_path!()
-                    ))?,
-                };
-
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
-            let el3204 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 3)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 3 is not Ethercat",
-                        module_path!()
-                    ))?, //uncommented
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL3204_IDENTITY_A | EL3204_IDENTITY_B => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL3204>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 3 is not an EL3204",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
-
-            let el5152 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 4)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 4 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL5152_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL5152>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 4 is not an EL5152",
-                            module_path!()
-                        ));
-                    }
-                };
-
-                let config = EL5152Configuration {
-                    pdo_assignment: EL5152PredefinedPdoAssignment::Frequency,
-                    ..Default::default()
-                };
-                device
-                    .write()
-                    .await
-                    .write_config(&subdevice, &config)
-                    .await?;
-
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
-            let enc1 = EncoderInput::new(el5152.clone(), EL5152Port::ENC1);
-
-            let enc2 = EncoderInput::new(el5152.clone(), EL5152Port::ENC2);
-            //after heating
-            let t1 = TemperatureInput::new(el3204.clone(), EL3204Port::T1);
-            //in reservoir
-            let t2 = TemperatureInput::new(el3204.clone(), EL3204Port::T2);
-            //after heating
-            let t3 = TemperatureInput::new(el3204.clone(), EL3204Port::T3);
-            //in reservoir
-            let t4 = TemperatureInput::new(el3204.clone(), EL3204Port::T4);
-            //pump flow control
-            //phys 1
-            let do1 = DigitalOutput::new(el2008.clone(), EL2008Port::DO1);
-            //phys 5
-            let do2 = DigitalOutput::new(el2008.clone(), EL2008Port::DO2);
-            //heating
-            //phys 2
-            let do3 = DigitalOutput::new(el2008.clone(), EL2008Port::DO3);
-            //phys 6
-            let do4 = DigitalOutput::new(el2008.clone(), EL2008Port::DO4);
-            //phys 3
-            let do5 = DigitalOutput::new(el2008.clone(), EL2008Port::DO5);
-            //phys 7
-            let do6 = DigitalOutput::new(el2008.clone(), EL2008Port::DO6);
-            //cooling power cut
-            //phys 4
-            let do7 = DigitalOutput::new(el2008.clone(), EL2008Port::DO7);
-            //phys 8
-            let do8 = DigitalOutput::new(el2008.clone(), EL2008Port::DO8);
-
-            let ao1 = AnalogOutput::new(el4002.clone(), EL4002Port::AO1);
-            let ao2 = AnalogOutput::new(el4002.clone(), EL4002Port::AO2);
-
-            let front_controller = Controller::new(
-                0.10,
-                0.0,
-                0.015,
-                Duration::from_millis(500),
-                Temperature::default(),
-                ThermodynamicTemperature::new::<degree_celsius>(25.0),
-                ao1,
-                do7,
-                do3,
-                do5,
-                t1,
-                t2,
-                Flow::default(),
-                do1,
-                enc1,
-            );
-
-            let back_controller = Controller::new(
-                0.10,
-                0.0,
-                0.015,
-                Duration::from_millis(500),
-                Temperature::default(),
-                ThermodynamicTemperature::new::<degree_celsius>(25.0),
-                ao2,
-                do8,
-                do4,
-                do6,
-                t3,
-                t4,
-                Flow::default(),
-                do2,
-                enc2,
-            );
-
-            let mut water_cooling = Self {
-                namespace: AquaPathV1Namespace::new(params.socket_queue_tx.clone()),
-                mode: AquaPathV1Mode::Standby,
-                last_measurement_emit: Instant::now(),
-                front_controller,
-                back_controller,
-            };
-            water_cooling.emit_state();
-
-            Ok(water_cooling)
-        })
-    }
-}
@@ -1,11 +1,8 @@
-#[cfg(not(feature = "mock-machine"))]
-use crate::machines::extruder1::ExtruderV2;
-#[cfg(not(feature = "mock-machine"))]
 use control_core::machines::new::MachineAct;
-#[cfg(not(feature = "mock-machine"))]
 use std::time::{Duration, Instant};

-#[cfg(not(feature = "mock-machine"))]
+use crate::machines::extruder1::ExtruderV2;
+
 impl MachineAct for ExtruderV2 {
    fn act(&mut self, now: Instant) {
        self.temperature_controller_back.update(now);
@@ -1,11 +1,4 @@
-use super::{ExtruderV2Mode, HeatingType, mitsubishi_cs80::MotorStatus};
-
-#[cfg(not(feature = "mock-machine"))]
-use super::ExtruderV2;
-
-#[cfg(feature = "mock-machine")]
-use super::mock::ExtruderV2;
-
+use super::{ExtruderV2, ExtruderV2Mode, HeatingType, mitsubishi_cs80::MotorStatus};
 use control_core::{
    machines::api::MachineApi,
    socketio::{
@@ -30,11 +23,11 @@ use uom::si::{

 #[derive(Debug, Clone, Default, Serialize)]
 pub struct MotorStatusValues {
-    pub screw_rpm: f64, // rpm of motor
-    pub frequency: f64, // frequency of motor
-    pub voltage: f64,   // volt used for motor
-    pub current: f64,   // current used for the motor
-    pub power: f64,     // power in watts
+    screw_rpm: f64, // rpm of motor
+    frequency: f64, // frequency of motor
+    voltage: f64,   // volt used for motor
+    current: f64,   // current used for the motor
+    power: f64,     // power in watts
 }

 impl From<MotorStatus> for MotorStatusValues {
@@ -196,7 +189,7 @@ pub enum ExtruderV2Events {
 }

 #[derive(Deserialize, Serialize)]
-pub enum Mutation {
+enum Mutation {
    /// INVERTER
    /// Frequency Control
    // Set Rotation also starts the motor
@@ -264,7 +257,6 @@ impl CacheableEvents<Self> for ExtruderV2Events {
    }
 }

-#[cfg(not(feature = "mock-machine"))]
 impl MachineApi for ExtruderV2 {
    fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
        // there are multiple Modbus Frames that are "prebuilt"
@@ -1,279 +0,0 @@
-#[cfg(not(feature = "mock-machine"))]
-// Contains Implementations for All functions that use emit_state
-use crate::machines::extruder1::{
-    ExtruderV2, ExtruderV2Mode, HeatingType,
-    api::{
-        ExtruderSettingsState, ExtruderV2Events, HeatingState, HeatingStates, InverterStatusState,
-        LiveValuesEvent, ModeState, PidSettings, PidSettingsStates, PressureState, RegulationState,
-        RotationState, ScrewState, StateEvent,
-    },
-};
-use control_core::{
-    helpers::hasher_serializer::hash_with_serde_model,
-    socketio::{event::BuildEvent, namespace::NamespaceCacheingLogic},
-};
-use uom::si::{
-    angular_velocity::revolution_per_minute,
-    f64::{AngularVelocity, Pressure, ThermodynamicTemperature},
-    pressure::bar,
-    thermodynamic_temperature::degree_celsius,
-};
-
-#[cfg(not(feature = "mock-machine"))]
-impl ExtruderV2 {
-    pub fn build_state_event(&mut self) -> StateEvent {
-        StateEvent {
-            is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
-            rotation_state: RotationState {
-                forward: self.screw_speed_controller.get_rotation_direction(),
-            },
-            mode_state: ModeState {
-                mode: self.mode.clone(),
-            },
-            regulation_state: RegulationState {
-                uses_rpm: self.screw_speed_controller.get_uses_rpm(),
-            },
-            pressure_state: PressureState {
-                target_bar: self
-                    .screw_speed_controller
-                    .get_target_pressure()
-                    .get::<bar>(),
-                wiring_error: self.screw_speed_controller.get_wiring_error(),
-            },
-            screw_state: ScrewState {
-                target_rpm: self
-                    .screw_speed_controller
-                    .get_target_rpm()
-                    .get::<revolution_per_minute>(),
-            },
-            heating_states: HeatingStates {
-                nozzle: HeatingState {
-                    target_temperature: self
-                        .temperature_controller_nozzle
-                        .heating
-                        .target_temperature
-                        .get::<degree_celsius>(),
-                    wiring_error: self.temperature_controller_nozzle.heating.wiring_error,
-                },
-                front: HeatingState {
-                    target_temperature: self
-                        .temperature_controller_front
-                        .heating
-                        .target_temperature
-                        .get::<degree_celsius>(),
-                    wiring_error: self.temperature_controller_front.heating.wiring_error,
-                },
-                back: HeatingState {
-                    target_temperature: self
-                        .temperature_controller_back
-                        .heating
-                        .target_temperature
-                        .get::<degree_celsius>(),
-                    wiring_error: self.temperature_controller_back.heating.wiring_error,
-                },
-                middle: HeatingState {
-                    target_temperature: self
-                        .temperature_controller_middle
-                        .heating
-                        .target_temperature
-                        .get::<degree_celsius>(),
-                    wiring_error: self.temperature_controller_middle.heating.wiring_error,
-                },
-            },
-            extruder_settings_state: ExtruderSettingsState {
-                pressure_limit: self
-                    .screw_speed_controller
-                    .get_nozzle_pressure_limit()
-                    .get::<bar>(),
-                pressure_limit_enabled: self
-                    .screw_speed_controller
-                    .get_nozzle_pressure_limit_enabled(),
-            },
-            inverter_status_state: InverterStatusState {
-                running: self.screw_speed_controller.inverter.status.running,
-                forward_running: self.screw_speed_controller.inverter.status.forward_running,
-                reverse_running: self.screw_speed_controller.inverter.status.reverse_running,
-                up_to_frequency: self.screw_speed_controller.inverter.status.su,
-                overload_warning: self.screw_speed_controller.inverter.status.ol,
-                no_function: self.screw_speed_controller.inverter.status.no_function,
-                output_frequency_detection: self.screw_speed_controller.inverter.status.fu,
-                abc_fault: self.screw_speed_controller.inverter.status.abc_,
-                fault_occurence: self.screw_speed_controller.inverter.status.fault_occurence,
-            },
-            pid_settings: PidSettingsStates {
-                temperature: PidSettings {
-                    ki: 0.0,
-                    kp: 0.0,
-                    kd: 0.0,
-                },
-                pressure: PidSettings {
-                    ki: self.screw_speed_controller.pid.get_ki(),
-                    kp: self.screw_speed_controller.pid.get_kp(),
-                    kd: self.screw_speed_controller.pid.get_kd(),
-                },
-            },
-        }
-    }
-}
-
-#[cfg(not(feature = "mock-machine"))]
-impl ExtruderV2 {
-    pub fn emit_state(&mut self) {
-        let state = self.build_state_event();
-        let hash = hash_with_serde_model(self.screw_speed_controller.get_inverter_status());
-        self.last_status_hash = Some(hash);
-        let event = state.build();
-        self.namespace.emit(ExtruderV2Events::State(event));
-    }
-
-    pub fn maybe_emit_state_event(&mut self) {
-        let old_status_hash = match self.last_status_hash {
-            Some(event) => event,
-            None => {
-                self.emit_state();
-                return;
-            }
-        };
-        let status = self.screw_speed_controller.get_inverter_status();
-        let new_status_hash = hash_with_serde_model(status);
-        if new_status_hash != old_status_hash {
-            self.emit_state();
-        }
-    }
-
-    pub fn emit_live_values(&mut self) {
-        use std::time::Instant;
-        let now = Instant::now();
-        let combined_power = self.calculate_combined_power();
-        self.update_total_energy(combined_power, now);
-
-        let live_values = LiveValuesEvent {
-            motor_status: self.screw_speed_controller.get_motor_status().into(),
-            pressure: self.screw_speed_controller.get_pressure().get::<bar>(),
-            nozzle_temperature: self
-                .temperature_controller_nozzle
-                .heating
-                .temperature
-                .get::<degree_celsius>(),
-            front_temperature: self
-                .temperature_controller_front
-                .heating
-                .temperature
-                .get::<degree_celsius>(),
-            back_temperature: self
-                .temperature_controller_back
-                .heating
-                .temperature
-                .get::<degree_celsius>(),
-            middle_temperature: self
-                .temperature_controller_middle
-                .heating
-                .temperature
-                .get::<degree_celsius>(),
-            nozzle_power: self
-                .temperature_controller_nozzle
-                .get_heating_element_wattage(),
-            front_power: self
-                .temperature_controller_front
-                .get_heating_element_wattage(),
-            back_power: self
-                .temperature_controller_back
-                .get_heating_element_wattage(),
-            middle_power: self
-                .temperature_controller_middle
-                .get_heating_element_wattage(),
-            combined_power,
-            total_energy_kwh: self.total_energy_kwh,
-        };
-
-        let event = live_values.build();
-        self.namespace.emit(ExtruderV2Events::LiveValues(event));
-    }
-
-    // === Steuerungsfunktionen mit emit_state ===
-
-    pub fn set_nozzle_pressure_limit_is_enabled(&mut self, enabled: bool) {
-        self.screw_speed_controller
-            .set_nozzle_pressure_limit_is_enabled(enabled);
-        self.emit_state();
-    }
-
-    pub fn set_nozzle_pressure_limit(&mut self, pressure: f64) {
-        use uom::si::pressure::bar;
-        self.screw_speed_controller
-            .set_nozzle_pressure_limit(Pressure::new::<bar>(pressure));
-        self.emit_state();
-    }
-
-    pub fn enable_heating(&mut self) {
-        self.temperature_controller_back.allow_heating();
-        self.temperature_controller_front.allow_heating();
-        self.temperature_controller_middle.allow_heating();
-        self.temperature_controller_nozzle.allow_heating();
-        self.emit_state();
-    }
-
-    pub fn set_rotation_state(&mut self, forward: bool) {
-        self.screw_speed_controller.set_rotation_direction(forward);
-        self.emit_state();
-    }
-
-    pub fn set_mode_state(&mut self, mode: ExtruderV2Mode) {
-        self.switch_mode(mode);
-        self.emit_state();
-    }
-
-    pub fn set_regulation(&mut self, uses_rpm: bool) {
-        if !self.screw_speed_controller.get_uses_rpm() && uses_rpm {
-            self.screw_speed_controller
-                .set_target_screw_rpm(self.screw_speed_controller.target_rpm);
-            self.screw_speed_controller.set_uses_rpm(uses_rpm);
-        }
-
-        if self.screw_speed_controller.get_uses_rpm() && !uses_rpm {
-            self.screw_speed_controller.set_uses_rpm(uses_rpm);
-            self.screw_speed_controller.start_pressure_regulation();
-        }
-        self.emit_state();
-    }
-
-    pub fn set_target_pressure(&mut self, pressure: f64) {
-        self.screw_speed_controller
-            .set_target_pressure(Pressure::new::<bar>(pressure));
-        self.emit_state();
-    }
-
-    pub fn set_target_rpm(&mut self, rpm: f64) {
-        use uom::si::angular_velocity::revolution_per_minute;
-        self.screw_speed_controller
-            .set_target_screw_rpm(AngularVelocity::new::<revolution_per_minute>(rpm));
-        self.emit_state();
-    }
-
-    pub fn set_target_temperature(&mut self, target_temperature: f64, heating_type: HeatingType) {
-        let target_temp = ThermodynamicTemperature::new::<degree_celsius>(target_temperature);
-
-        match heating_type {
-            HeatingType::Nozzle => self
-                .temperature_controller_nozzle
-                .set_target_temperature(target_temp),
-            HeatingType::Front => self
-                .temperature_controller_front
-                .set_target_temperature(target_temp),
-            HeatingType::Back => self
-                .temperature_controller_back
-                .set_target_temperature(target_temp),
-            HeatingType::Middle => self
-                .temperature_controller_middle
-                .set_target_temperature(target_temp),
-        }
-        self.emit_state();
-    }
-
-    pub fn configure_pressure_pid(&mut self, settings: PidSettings) {
-        self.screw_speed_controller
-            .pid
-            .configure(settings.ki, settings.kp, settings.kd);
-        self.emit_state();
-    }
-}
@@ -1,15 +0,0 @@
-use crate::machines::extruder1::mock::ExtruderV2;
-use control_core::machines::new::MachineAct;
-use std::time::{Duration, Instant};
-
-impl MachineAct for ExtruderV2 {
-    fn act(&mut self, now: Instant) {
-        // more than 33ms have passed since last emit (30 "fps" target)
-        if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
-            self.maybe_emit_state_event();
-            // Emit live values at 30 FPS
-            self.emit_live_values();
-            self.last_measurement_emit = now;
-        }
-    }
-}
@@ -1,44 +0,0 @@
-use crate::machines::extruder1::{HeatingType, api::Mutation, mock::ExtruderV2};
-use control_core::machines::api::MachineApi;
-
-impl MachineApi for ExtruderV2 {
-    fn api_mutate(&mut self, request_body: serde_json::Value) -> Result<(), anyhow::Error> {
-        // there are multiple Modbus Frames that are "prebuilt"
-        let control: Mutation = serde_json::from_value(request_body)?;
-        match control {
-            Mutation::SetExtruderMode(mode) => self.set_mode_state(mode),
-            Mutation::SetInverterRotationDirection(forward) => self.set_rotation_state(forward),
-            Mutation::SetInverterRegulation(uses_rpm) => self.set_regulation(uses_rpm),
-            Mutation::SetInverterTargetPressure(bar) => self.set_target_pressure(bar),
-            Mutation::SetInverterTargetRpm(rpm) => self.set_target_rpm(rpm),
-            Mutation::ResetInverter(_) => (),
-            Mutation::SetFrontHeatingTargetTemperature(temp) => {
-                self.set_target_temperature(temp, HeatingType::Front)
-            }
-            Mutation::SetMiddleHeatingTemperature(temp) => {
-                self.set_target_temperature(temp, HeatingType::Middle)
-            }
-            Mutation::SetBackHeatingTargetTemperature(temp) => {
-                self.set_target_temperature(temp, HeatingType::Back)
-            }
-            Mutation::SetNozzleHeatingTemperature(temp) => {
-                self.set_target_temperature(temp, HeatingType::Nozzle)
-            }
-            Mutation::SetExtruderPressureLimit(pressure_limit) => {
-                self.set_nozzle_pressure_limit(pressure_limit);
-            }
-            Mutation::SetExtruderPressureLimitIsEnabled(enabled) => {
-                self.set_nozzle_pressure_limit_is_enabled(enabled);
-            }
-
-            Mutation::SetPressurePidSettings(settings) => {
-                self.configure_pressure_pid(settings);
-            }
-        }
-        Ok(())
-    }
-
-    fn api_event_namespace(&mut self) -> &mut control_core::socketio::namespace::Namespace {
-        &mut self.namespace.namespace
-    }
-}
@@ -1,136 +0,0 @@
-use crate::machines::extruder1::{
-    ExtruderV2Mode, HeatingType,
-    api::{ExtruderV2Events, LiveValuesEvent, ModeState, PidSettings, StateEvent},
-    mock::ExtruderV2,
-};
-use control_core::{
-    helpers::hasher_serializer::hash_with_serde_model,
-    socketio::{event::BuildEvent, namespace::NamespaceCacheingLogic},
-};
-
-impl ExtruderV2 {
-    pub fn build_state_event(&mut self) -> StateEvent {
-        // bad performance wise, but doesnt matter its only a mock machine
-        StateEvent {
-            is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
-            rotation_state: self.rotation_state.clone(),
-            mode_state: self.mode_state.clone(),
-            regulation_state: self.regulation_state.clone(),
-            pressure_state: self.pressure_state.clone(),
-            screw_state: self.screw_state.clone(),
-            heating_states: self.heating_states.clone(),
-            extruder_settings_state: self.extruder_settings_state.clone(),
-            inverter_status_state: self.inverter_status_state.clone(),
-            pid_settings: self.pid_settings.clone(),
-        }
-    }
-}
-
-impl ExtruderV2 {
-    pub fn emit_state(&mut self) {
-        let state = self.build_state_event();
-        let hash = hash_with_serde_model(self.inverter_status_state.clone());
-        self.last_status_hash = Some(hash);
-        let event = state.build();
-        self.namespace.emit(ExtruderV2Events::State(event));
-    }
-
-    pub fn maybe_emit_state_event(&mut self) {
-        let old_status_hash = match self.last_status_hash {
-            Some(event) => event,
-            None => {
-                self.emit_state();
-                return;
-            }
-        };
-        let status = self.inverter_status_state.clone();
-        let new_status_hash = hash_with_serde_model(status);
-        if new_status_hash != old_status_hash {
-            self.emit_state();
-        }
-    }
-
-    pub fn emit_live_values(&mut self) {
-        let live_values = LiveValuesEvent {
-            motor_status: self.motor_status.clone(),
-            pressure: self.pressure,
-            nozzle_temperature: self.nozzle_temperature,
-            front_temperature: self.front_temperature,
-            back_temperature: self.back_temperature,
-            middle_temperature: self.middle_temperature,
-            nozzle_power: self.nozzle_power,
-            front_power: self.front_power,
-            back_power: self.back_power,
-            middle_power: self.middle_power,
-            combined_power: self.combined_power,
-            total_energy_kwh: self.total_energy_kwh,
-        };
-
-        let event = live_values.build();
-        self.namespace.emit(ExtruderV2Events::LiveValues(event));
-    }
-
-    pub fn set_nozzle_pressure_limit_is_enabled(&mut self, enabled: bool) {
-        self.extruder_settings_state.pressure_limit_enabled = enabled;
-        self.emit_state();
-    }
-
-    pub fn set_nozzle_pressure_limit(&mut self, pressure: f64) {
-        self.extruder_settings_state.pressure_limit = pressure;
-        self.emit_state();
-    }
-
-    pub fn enable_heating(&mut self) {
-        self.back_heating_allowed = true;
-        self.front_heating_allowed = true;
-        self.nozzle_heating_allowed = true;
-        self.back_heating_allowed = true;
-        self.emit_state();
-    }
-
-    pub fn set_rotation_state(&mut self, forward: bool) {
-        self.rotation_state.forward = forward;
-        self.emit_state();
-    }
-
-    pub fn set_mode_state(&mut self, mode: ExtruderV2Mode) {
-        self.mode_state = ModeState { mode };
-        self.emit_state();
-    }
-
-    pub fn set_regulation(&mut self, uses_rpm: bool) {
-        self.regulation_state.uses_rpm = uses_rpm;
-        self.emit_state();
-    }
-
-    pub fn set_target_pressure(&mut self, pressure: f64) {
-        self.target_pressure = pressure;
-        self.emit_state();
-    }
-
-    pub fn set_target_rpm(&mut self, rpm: f64) {
-        self.screw_state.target_rpm = rpm;
-        self.emit_state();
-    }
-
-    pub fn set_target_temperature(&mut self, target_temperature: f64, heating_type: HeatingType) {
-        match heating_type {
-            HeatingType::Nozzle => {
-                self.heating_states.nozzle.target_temperature = target_temperature
-            }
-            HeatingType::Front => self.heating_states.front.target_temperature = target_temperature,
-            HeatingType::Back => self.heating_states.back.target_temperature = target_temperature,
-            HeatingType::Middle => {
-                self.heating_states.middle.target_temperature = target_temperature
-            }
-        }
-        self.emit_state();
-    }
-
-    pub fn configure_pressure_pid(&mut self, settings: PidSettings) {
-        self.pid_settings.pressure.ki = settings.ki;
-        self.pid_settings.pressure.kp = settings.kp;
-        self.pid_settings.pressure.kd = settings.kd;
-        self.emit_state();
-    }
-}
@@ -1,103 +0,0 @@
-#[cfg(feature = "mock-machine")]
-use control_core::machines::identification::MachineIdentification;
-#[cfg(feature = "mock-machine")]
-use control_core_derive::Machine;
-#[cfg(feature = "mock-machine")]
-use std::time::Instant;
-
-#[cfg(feature = "mock-machine")]
-use crate::machines::{
-    MACHINE_EXTRUDER_V1, VENDOR_QITECH,
-    extruder1::{
-        ExtruderV2Mode,
-        api::{
-            ExtruderSettingsState, ExtruderV2Namespace, HeatingStates, InverterStatusState,
-            ModeState, MotorStatusValues, PidSettingsStates, PressureState, RegulationState,
-            RotationState, ScrewState,
-        },
-    },
-};
-
-// Just checking mock-machine feature here to exclude these modules from compilation entirely
-#[cfg(feature = "mock-machine")]
-pub mod act;
-#[cfg(feature = "mock-machine")]
-pub mod api;
-#[cfg(feature = "mock-machine")]
-pub mod mock_emit;
-#[cfg(feature = "mock-machine")]
-pub mod new;
-
-#[cfg(feature = "mock-machine")]
-#[derive(Debug, Machine)]
-pub struct ExtruderV2 {
-    namespace: ExtruderV2Namespace,
-    last_measurement_emit: Instant,
-    last_status_hash: Option<u64>,
-    mode: ExtruderV2Mode,
-    /// Energy tracking for total consumption calculation
-    pub total_energy_kwh: f64,
-    pub last_energy_calculation_time: Option<Instant>,
-    /// will be initalized as false and set to true by `emit_state`
-    /// This way we can signal to the client that the first state emission is a default state
-    emitted_default_state: bool,
-    pub target_pressure: f64,
-
-    pub is_default_state: bool,
-    /// rotation state
-    pub rotation_state: RotationState,
-    /// mode state
-    pub mode_state: ModeState,
-    /// regulation state
-    pub regulation_state: RegulationState,
-    /// pressure state
-    pub pressure_state: PressureState,
-    /// screw state
-    pub screw_state: ScrewState,
-    /// heating states
-    pub heating_states: HeatingStates,
-    /// extruder settings state
-    pub extruder_settings_state: ExtruderSettingsState,
-    /// inverter status state
-    pub inverter_status_state: InverterStatusState,
-    /// pid settings
-    pub pid_settings: PidSettingsStates,
-
-    pub motor_status: MotorStatusValues,
-    /// pressure in bar
-    pub pressure: f64,
-    /// nozzle temperature in celsius
-    pub nozzle_temperature: f64,
-    /// front temperature in celsius
-    pub front_temperature: f64,
-    /// back temperature in celsius
-    pub back_temperature: f64,
-    /// middle temperature in celsius
-    pub middle_temperature: f64,
-    /// nozzle heating power in watts
-    pub nozzle_power: f64,
-    /// front heating power in watts
-    pub front_power: f64,
-    /// back heating power in watts
-    pub back_power: f64,
-    /// middle heating power in watts
-    pub middle_power: f64,
-    /// combined power consumption in watts
-    pub combined_power: f64,
-
-    pub nozzle_heating_allowed: bool,
-
-    pub front_heating_allowed: bool,
-
-    pub back_heating_allowed: bool,
-
-    pub middle_heating_allowed: bool,
-}
-
-#[cfg(feature = "mock-machine")]
-impl ExtruderV2 {
-    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
-        vendor: VENDOR_QITECH,
-        machine: MACHINE_EXTRUDER_V1,
-    };
-}
@@ -1,127 +0,0 @@
-use crate::machines::extruder1::{
-    ExtruderV2Mode,
-    api::{
-        ExtruderSettingsState, ExtruderV2Namespace, HeatingState, HeatingStates,
-        InverterStatusState, ModeState, MotorStatusValues, PidSettings, PidSettingsStates,
-        PressureState, RegulationState, RotationState, ScrewState,
-    },
-    mock::ExtruderV2,
-};
-
-impl control_core::machines::new::MachineNewTrait for ExtruderV2 {
-    fn new(
-        params: &control_core::machines::new::MachineNewParams<'_, '_, '_, '_, '_, '_, '_>,
-    ) -> Result<Self, anyhow::Error>
-    where
-        Self: Sized,
-    {
-        // Mock machine can work with either Serial or Ethercat hardware
-        // For the mock machine, we don't need to actually use the hardware
-        // We just validate that we have the expected hardware type
-        match params.hardware {
-            control_core::machines::new::MachineNewHardware::Serial(_) => {
-                // For serial mode, we could potentially use the serial device if needed
-                // but for a mock machine, we'll just note it and proceed
-            }
-            control_core::machines::new::MachineNewHardware::Ethercat(_) => {
-                // For ethercat mode, we could potentially use the ethercat devices
-                // but for a mock machine, we'll just note it and proceed
-            }
-        }
-
-        let now = std::time::Instant::now();
-
-        let mut extruder_mock_machine = Self {
-            namespace: ExtruderV2Namespace::new(params.socket_queue_tx.clone()),
-            last_measurement_emit: now,
-
-            mode: ExtruderV2Mode::Standby, // Start in standby mode
-            emitted_default_state: false,
-            last_status_hash: None,
-            total_energy_kwh: 0.0,
-            last_energy_calculation_time: None,
-            is_default_state: false,
-            rotation_state: RotationState { forward: false },
-            mode_state: ModeState {
-                mode: ExtruderV2Mode::Standby,
-            },
-            regulation_state: RegulationState { uses_rpm: true },
-            pressure_state: PressureState {
-                target_bar: 0.0,
-                wiring_error: false,
-            },
-            screw_state: ScrewState { target_rpm: 0.0 },
-            heating_states: HeatingStates {
-                nozzle: HeatingState {
-                    target_temperature: 0.0,
-                    wiring_error: false,
-                },
-                front: HeatingState {
-                    target_temperature: 0.0,
-                    wiring_error: false,
-                },
-                back: HeatingState {
-                    target_temperature: 0.0,
-                    wiring_error: false,
-                },
-                middle: HeatingState {
-                    target_temperature: 0.0,
-                    wiring_error: false,
-                },
-            },
-            extruder_settings_state: ExtruderSettingsState {
-                pressure_limit: 200.0,
-                pressure_limit_enabled: false,
-            },
-            inverter_status_state: InverterStatusState {
-                running: false,
-                forward_running: true,
-                reverse_running: true,
-                up_to_frequency: false,
-                overload_warning: false,
-                no_function: false,
-                output_frequency_detection: false,
-                abc_fault: false,
-                fault_occurence: false,
-            },
-            pid_settings: PidSettingsStates {
-                temperature: PidSettings {
-                    ki: 0.0,
-                    kp: 0.0,
-                    kd: 0.0,
-                },
-                pressure: PidSettings {
-                    ki: 0.0,
-                    kp: 0.0,
-                    kd: 0.0,
-                },
-            },
-            motor_status: MotorStatusValues {
-                screw_rpm: 0.0,
-                frequency: 0.0,
-                voltage: 0.0,
-                current: 0.0,
-                power: 0.0,
-            },
-            pressure: 0.0,
-            nozzle_temperature: 0.0,
-            front_temperature: 0.0,
-            back_temperature: 0.0,
-            middle_temperature: 0.0,
-            nozzle_power: 0.0,
-            front_power: 0.0,
-            back_power: 0.0,
-            middle_power: 0.0,
-            combined_power: 0.0,
-            nozzle_heating_allowed: false,
-            front_heating_allowed: false,
-            back_heating_allowed: false,
-            middle_heating_allowed: false,
-            target_pressure: 0.0,
-        };
-
-        extruder_mock_machine.emit_state();
-
-        Ok(extruder_mock_machine)
-    }
-}
@@ -1,20 +1,30 @@
 use crate::machines::{MACHINE_EXTRUDER_V1, VENDOR_QITECH};
-use api::ExtruderV2Namespace;
-use control_core::machines::identification::MachineIdentification;
+use api::{
+    ExtruderSettingsState, ExtruderV2Events, ExtruderV2Namespace, HeatingState, HeatingStates,
+    InverterStatusState, LiveValuesEvent, ModeState, PidSettings, PidSettingsStates, PressureState,
+    RegulationState, RotationState, ScrewState, StateEvent,
+};
+use control_core::helpers::hasher_serializer::hash_with_serde_model;
+use control_core::socketio::event::BuildEvent;
+use control_core::{
+    machines::identification::MachineIdentification, socketio::namespace::NamespaceCacheingLogic,
+};
 use control_core_derive::Machine;
 use screw_speed_controller::ScrewSpeedController;
 use serde::{Deserialize, Serialize};
 use std::time::Instant;
 use temperature_controller::TemperatureController;
 use uom::si::{
-    electric_current::ampere, electric_potential::volt, f64::ThermodynamicTemperature,
+    angular_velocity::{AngularVelocity, revolution_per_minute},
+    electric_current::ampere,
+    electric_potential::volt,
+    f64::{Pressure, ThermodynamicTemperature},
+    pressure::bar,
    thermodynamic_temperature::degree_celsius,
 };
 pub mod act;
 pub mod api;
-pub mod emit;
 pub mod mitsubishi_cs80;
-pub mod mock;
 pub mod new;
 pub mod screw_speed_controller;
 pub mod temperature_controller;
@@ -53,7 +63,6 @@ pub enum HeatingType {
 }

 #[derive(Debug, Machine)]
-#[cfg(not(feature = "mock-machine"))]
 pub struct ExtruderV2 {
    namespace: ExtruderV2Namespace,
    last_measurement_emit: Instant,
@@ -74,14 +83,124 @@ pub struct ExtruderV2 {
    emitted_default_state: bool,
 }

-#[cfg(not(feature = "mock-machine"))]
+impl ExtruderV2 {
+    pub fn build_state_event(&mut self) -> StateEvent {
+        StateEvent {
+            is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
+            rotation_state: RotationState {
+                forward: self.screw_speed_controller.get_rotation_direction(),
+            },
+            mode_state: ModeState {
+                mode: self.mode.clone(),
+            },
+            regulation_state: RegulationState {
+                uses_rpm: self.screw_speed_controller.get_uses_rpm(),
+            },
+            pressure_state: PressureState {
+                target_bar: self
+                    .screw_speed_controller
+                    .get_target_pressure()
+                    .get::<bar>(),
+                wiring_error: self.screw_speed_controller.get_wiring_error(),
+            },
+            screw_state: ScrewState {
+                target_rpm: self
+                    .screw_speed_controller
+                    .get_target_rpm()
+                    .get::<revolution_per_minute>(),
+            },
+            heating_states: HeatingStates {
+                nozzle: HeatingState {
+                    target_temperature: self
+                        .temperature_controller_nozzle
+                        .heating
+                        .target_temperature
+                        .get::<degree_celsius>(),
+                    wiring_error: self.temperature_controller_nozzle.heating.wiring_error,
+                },
+                front: HeatingState {
+                    target_temperature: self
+                        .temperature_controller_front
+                        .heating
+                        .target_temperature
+                        .get::<degree_celsius>(),
+                    wiring_error: self.temperature_controller_front.heating.wiring_error,
+                },
+                back: HeatingState {
+                    target_temperature: self
+                        .temperature_controller_back
+                        .heating
+                        .target_temperature
+                        .get::<degree_celsius>(),
+                    wiring_error: self.temperature_controller_back.heating.wiring_error,
+                },
+                middle: HeatingState {
+                    target_temperature: self
+                        .temperature_controller_middle
+                        .heating
+                        .target_temperature
+                        .get::<degree_celsius>(),
+                    wiring_error: self.temperature_controller_middle.heating.wiring_error,
+                },
+            },
+            extruder_settings_state: ExtruderSettingsState {
+                pressure_limit: self
+                    .screw_speed_controller
+                    .get_nozzle_pressure_limit()
+                    .get::<bar>(),
+                pressure_limit_enabled: self
+                    .screw_speed_controller
+                    .get_nozzle_pressure_limit_enabled(),
+            },
+            inverter_status_state: InverterStatusState {
+                running: self.screw_speed_controller.inverter.status.running,
+                forward_running: self.screw_speed_controller.inverter.status.forward_running,
+                reverse_running: self.screw_speed_controller.inverter.status.reverse_running,
+                up_to_frequency: self.screw_speed_controller.inverter.status.su,
+                overload_warning: self.screw_speed_controller.inverter.status.ol,
+                no_function: self.screw_speed_controller.inverter.status.no_function,
+                output_frequency_detection: self.screw_speed_controller.inverter.status.fu,
+                abc_fault: self.screw_speed_controller.inverter.status.abc_,
+                fault_occurence: self.screw_speed_controller.inverter.status.fault_occurence,
+            },
+            pid_settings: PidSettingsStates {
+                temperature: PidSettings {
+                    ki: 0.0, // TODO: Add temperature PID settings when available
+                    kp: 0.0,
+                    kd: 0.0,
+                },
+                pressure: PidSettings {
+                    ki: self.screw_speed_controller.pid.get_ki(),
+                    kp: self.screw_speed_controller.pid.get_kp(),
+                    kd: self.screw_speed_controller.pid.get_kd(),
+                },
+            },
+        }
+    }
+
+    pub fn maybe_emit_state_event(&mut self) {
+        let old_status_hash = match self.last_status_hash {
+            Some(event) => event,
+            None => {
+                self.emit_state();
+                return;
+            }
+        };
+        let mut status = self.screw_speed_controller.get_inverter_status();
+        let new_status_hash = hash_with_serde_model(&mut status);
+        let should_emit = new_status_hash != old_status_hash;
+        if should_emit {
+            self.emit_state();
+        }
+    }
+}
+
 impl std::fmt::Display for ExtruderV2 {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        write!(f, "ExtruderV2")
    }
 }

-#[cfg(not(feature = "mock-machine"))]
 impl ExtruderV2 {
    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
        vendor: VENDOR_QITECH,
@@ -89,7 +208,6 @@ impl ExtruderV2 {
    };
 }

-#[cfg(not(feature = "mock-machine"))]
 impl ExtruderV2 {
    /// Calculate combined power consumption in watts
    fn calculate_combined_power(&mut self) -> f64 {
@@ -125,14 +243,100 @@ impl ExtruderV2 {
        self.last_energy_calculation_time = Some(now);
    }

-    // Funktionen ohne emit_state bleiben hier
+    pub fn emit_live_values(&mut self) {
+        let now = Instant::now();
+        let combined_power = self.calculate_combined_power();
+
+        // Update energy consumption
+        self.update_total_energy(combined_power, now);
+
+        let live_values = LiveValuesEvent {
+            motor_status: self.screw_speed_controller.get_motor_status().into(),
+            pressure: self.screw_speed_controller.get_pressure().get::<bar>(),
+            nozzle_temperature: self
+                .temperature_controller_nozzle
+                .heating
+                .temperature
+                .get::<degree_celsius>(),
+            front_temperature: self
+                .temperature_controller_front
+                .heating
+                .temperature
+                .get::<degree_celsius>(),
+            back_temperature: self
+                .temperature_controller_back
+                .heating
+                .temperature
+                .get::<degree_celsius>(),
+            middle_temperature: self
+                .temperature_controller_middle
+                .heating
+                .temperature
+                .get::<degree_celsius>(),
+            nozzle_power: self
+                .temperature_controller_nozzle
+                .get_heating_element_wattage(),
+            front_power: self
+                .temperature_controller_front
+                .get_heating_element_wattage(),
+            back_power: self
+                .temperature_controller_back
+                .get_heating_element_wattage(),
+            middle_power: self
+                .temperature_controller_middle
+                .get_heating_element_wattage(),
+            combined_power,
+            total_energy_kwh: self.total_energy_kwh,
+        };
+
+        let event = live_values.build();
+        self.namespace.emit(ExtruderV2Events::LiveValues(event));
+    }
+
+    pub fn emit_state(&mut self) {
+        let state = self.build_state_event();
+        let hash = hash_with_serde_model(self.screw_speed_controller.get_inverter_status());
+        self.last_status_hash = Some(hash);
+        let event = state.build();
+        self.namespace.emit(ExtruderV2Events::State(event));
+    }
+
+    // Extruder Settings Api Impl
+    fn set_nozzle_pressure_limit_is_enabled(&mut self, enabled: bool) {
+        self.screw_speed_controller
+            .set_nozzle_pressure_limit_is_enabled(enabled);
+        self.emit_state();
+    }
+
+    /// pressure is represented as bar
+    fn set_nozzle_pressure_limit(&mut self, pressure: f64) {
+        let nozzle_pressure_limit = Pressure::new::<bar>(pressure);
+        self.screw_speed_controller
+            .set_nozzle_pressure_limit(nozzle_pressure_limit);
+        self.emit_state();
+    }
+}
+
+impl ExtruderV2 {
+    // Set all relais to ZERO
+    // We dont need a function to enable again though, as the act Loop will detect the mode
    fn turn_heating_off(&mut self) {
        self.temperature_controller_back.disable();
        self.temperature_controller_front.disable();
        self.temperature_controller_middle.disable();
        self.temperature_controller_nozzle.disable();
+        self.emit_state();
    }

+    fn enable_heating(&mut self) {
+        self.temperature_controller_back.allow_heating();
+        self.temperature_controller_front.allow_heating();
+        self.temperature_controller_middle.allow_heating();
+        self.temperature_controller_nozzle.allow_heating();
+        self.emit_state();
+    }
+
+    // Turn heating OFF and do nothing
    fn switch_to_standby(&mut self) {
        match self.mode {
            ExtruderV2Mode::Standby => (),
@@ -149,7 +353,9 @@ impl ExtruderV2 {
        self.mode = ExtruderV2Mode::Standby;
    }

+    // turn off motor if on and keep heating on
    fn switch_to_heat(&mut self) {
+        // From what mode are we transitioning ?
        match self.mode {
            ExtruderV2Mode::Standby => self.enable_heating(),
            ExtruderV2Mode::Heat => (),
@@ -161,6 +367,7 @@ impl ExtruderV2 {
        self.mode = ExtruderV2Mode::Heat;
    }

+    // keep heating on, and turn motor on
    fn switch_to_extrude(&mut self) {
        match self.mode {
            ExtruderV2Mode::Standby => {
@@ -173,7 +380,7 @@ impl ExtruderV2 {
                self.enable_heating();
                self.screw_speed_controller.reset_pid();
            }
-            ExtruderV2Mode::Extrude => (),
+            ExtruderV2Mode::Extrude => (), // Do nothing, we are already extruding
        }
        self.mode = ExtruderV2Mode::Extrude;
    }
@@ -189,8 +396,85 @@ impl ExtruderV2 {
            ExtruderV2Mode::Extrude => self.switch_to_extrude(),
        }
    }
+}
+
+impl ExtruderV2 {
+    fn set_rotation_state(&mut self, forward: bool) {
+        self.screw_speed_controller.set_rotation_direction(forward);
+        self.emit_state();
+    }

    fn reset_inverter(&mut self) {
        self.screw_speed_controller.inverter.reset_inverter();
    }
+
+    fn set_mode_state(&mut self, mode: ExtruderV2Mode) {
+        self.switch_mode(mode);
+        self.emit_state();
+    }
+}
+
+// Motor
+impl ExtruderV2 {
+    fn set_regulation(&mut self, uses_rpm: bool) {
+        if !self.screw_speed_controller.get_uses_rpm() && uses_rpm {
+            self.screw_speed_controller
+                .set_target_screw_rpm(self.screw_speed_controller.target_rpm);
+            self.screw_speed_controller.set_uses_rpm(uses_rpm);
+        }
+
+        if self.screw_speed_controller.get_uses_rpm() && !uses_rpm {
+            self.screw_speed_controller.set_uses_rpm(uses_rpm);
+            self.screw_speed_controller.start_pressure_regulation();
+        }
+        self.emit_state();
+    }
+
+    fn set_target_pressure(&mut self, pressure: f64) {
+        let pressure = Pressure::new::<bar>(pressure);
+        self.screw_speed_controller.set_target_pressure(pressure);
+        self.emit_state();
+    }
+
+    fn set_target_rpm(&mut self, rpm: f64) {
+        let revolution_per_minutes = AngularVelocity::new::<revolution_per_minute>(rpm);
+        self.screw_speed_controller
+            .set_target_screw_rpm(revolution_per_minutes);
+        self.emit_state();
+    }
+}
+
+// Heating
+impl ExtruderV2 {
+    fn set_target_temperature(&mut self, target_temperature: f64, heating_type: HeatingType) {
+        let target_temp = ThermodynamicTemperature::new::<degree_celsius>(target_temperature);
+
+        match heating_type {
+            HeatingType::Nozzle => self
+                .temperature_controller_nozzle
+                .set_target_temperature(target_temp),
+
+            HeatingType::Front => self
+                .temperature_controller_front
+                .set_target_temperature(target_temp),
+
+            HeatingType::Back => self
+                .temperature_controller_back
+                .set_target_temperature(target_temp),
+
+            HeatingType::Middle => self
+                .temperature_controller_middle
+                .set_target_temperature(target_temp),
+        }
+        self.emit_state();
+    }
+}
+
+impl ExtruderV2 {
+    fn configure_pressure_pid(&mut self, settings: PidSettings) {
+        self.screw_speed_controller
+            .pid
+            .configure(settings.ki, settings.kp, settings.kd);
+        self.emit_state();
+    }
 }
@@ -1,4 +1,3 @@
-#[cfg(not(feature = "mock-machine"))]
 use super::{
    ExtruderV2, ExtruderV2Mode, Heating, api::ExtruderV2Namespace, mitsubishi_cs80::MitsubishiCS80,
    screw_speed_controller::ScrewSpeedController,
@@ -41,7 +40,6 @@ use uom::si::{
    thermodynamic_temperature::degree_celsius,
 };

-#[cfg(not(feature = "mock-machine"))]
 impl MachineNewTrait for ExtruderV2 {
    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
        // validate general stuff
@@ -19,7 +19,6 @@ use std::time::{Duration, Instant};
 ///
 impl MachineAct for LaserMachine {
    fn act(&mut self, now: Instant) {
-        self.update();
        // more than 33ms have passed since last emit (30 "fps" target)
        if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
            self.emit_live_values();
@@ -21,9 +21,6 @@ use tracing::instrument;
 pub struct LiveValuesEvent {
    /// diameter measurement in mm
    pub diameter: f64,
-    pub x_diameter: Option<f64>,
-    pub y_diameter: Option<f64>,
-    pub roundness: Option<f64>,
 }

 impl LiveValuesEvent {
@@ -24,12 +24,6 @@ pub struct LaserMachine {
    namespace: LaserMachineNamespace,
    last_measurement_emit: Instant,

-    // laser values
-    diameter: Length,
-    x_diameter: Option<Length>,
-    y_diameter: Option<Length>,
-    roundness: Option<f64>,
-
    //laser target configuration
    laser_target: LaserTarget,

@@ -48,16 +42,16 @@ impl LaserMachine {
 impl LaserMachine {
    ///diameter in mm
    pub fn emit_live_values(&mut self) {
-        let diameter = self.diameter.get::<millimeter>();
-        let x_diameter = self.x_diameter.map(|x| x.get::<millimeter>());
-        let y_diameter = self.y_diameter.map(|y| y.get::<millimeter>());
-        let roundness = self.roundness;
-
+        let diameter = smol::block_on(async {
+            self.laser
+                .read()
+                .await
+                .get_data()
+                .await
+                .map(|laser_data| laser_data.diameter.get::<millimeter>())
+        });
        let live_values = LiveValuesEvent {
-            diameter,
-            x_diameter,
-            y_diameter,
-            roundness,
+            diameter: diameter.unwrap_or(0.0),
        };
        self.namespace
            .emit(LaserEvents::LiveValues(live_values.build()));
@@ -103,52 +97,7 @@ impl LaserMachine {
        self.laser_target.diameter = Length::new::<millimeter>(target_diameter);
        self.emit_state();
    }
-
-    ///
-    /// Roundness = min(x, y) / max(x, y)
-    ///
-    fn calculate_roundness(&mut self) -> Option<f64> {
-        match (self.x_diameter, self.y_diameter) {
-            (Some(x), Some(y)) => {
-                let x_val = x.get::<millimeter>();
-                let y_val = y.get::<millimeter>();
-
-                if x_val > 0.0 && y_val > 0.0 {
-                    let roundness = f64::min(x_val, y_val) / f64::max(x_val, y_val);
-                    Some(roundness)
-                } else if x_val == 0.0 && y_val == 0.0 {
-                    Some(0.0)
-                } else {
-                    None
-                }
-            }
-            _ => None,
-        }
-    }
-
-    pub fn update(&mut self) {
-        let laser_data = smol::block_on(async { self.laser.read().await.get_data().await });
-        self.diameter = Length::new::<millimeter>(
-            laser_data
-                .as_ref()
-                .map(|data| data.diameter.get::<millimeter>())
-                .unwrap_or(0.0),
-        );
-
-        self.x_diameter = laser_data
-            .as_ref()
-            .and_then(|data| data.x_axis.as_ref())
-            .cloned();
-
-        self.y_diameter = laser_data
-            .as_ref()
-            .and_then(|data| data.y_axis.as_ref())
-            .cloned();
-
-        self.roundness = self.calculate_roundness();
-    }
 }
-
 #[derive(Debug, Clone)]
 pub struct LaserTarget {
    diameter: Length,
@@ -5,10 +5,7 @@ use crate::serial::{devices::laser::Laser, registry::SERIAL_DEVICE_REGISTRY};
 use super::{LaserMachine, LaserTarget, api::LaserMachineNamespace};
 use anyhow::Error;
 use control_core::machines::new::MachineNewTrait;
-use uom::{
-    ConstZero,
-    si::{f64::Length, length::millimeter},
-};
+use uom::si::{f64::Length, length::millimeter};

 impl MachineNewTrait for LaserMachine {
    fn new(
@@ -42,10 +39,6 @@ impl MachineNewTrait for LaserMachine {
            last_measurement_emit: Instant::now(),
            laser_target,
            emitted_default_state: false,
-            diameter: Length::ZERO,
-            x_diameter: None,
-            y_diameter: None,
-            roundness: None,
        };

        // Emit initial state
@@ -1,4 +1,3 @@
-pub mod aquapath1;
 pub mod buffer1;
 pub mod extruder1;
 pub mod laser;
@@ -12,4 +11,3 @@ pub const MACHINE_EXTRUDER_V1: u16 = 0x0004;
 pub const MACHINE_LASER_V1: u16 = 0x0006;
 pub const MACHINE_MOCK: u16 = 0x0007;
 pub const MACHINE_BUFFER_V1: u16 = 0x0008;
-pub const MACHINE_AQUAPATH_V1: u16 = 0x0009;
@@ -1,11 +1,6 @@
-#[cfg(feature = "mock-machine")]
-use crate::machines::{extruder1::mock::ExtruderV2, mock::MockMachine};
-
-#[cfg(not(feature = "mock-machine"))]
-use crate::machines::extruder1::ExtruderV2;
-
 use crate::machines::{
-    aquapath1::AquaPathV1, buffer1::BufferV1, laser::LaserMachine, winder2::Winder2,
+    buffer1::BufferV1, extruder1::ExtruderV2, laser::LaserMachine, mock::MockMachine,
+    winder2::Winder2,
 };
 use control_core::machines::registry::MachineRegistry;
 use lazy_static::lazy_static;
@@ -16,10 +11,8 @@ lazy_static! {
        mc.register::<Winder2>(Winder2::MACHINE_IDENTIFICATION);
        mc.register::<LaserMachine>(LaserMachine::MACHINE_IDENTIFICATION);
        mc.register::<ExtruderV2>(ExtruderV2::MACHINE_IDENTIFICATION);
-        #[cfg(feature = "mock-machine")]
        mc.register::<MockMachine>(MockMachine::MACHINE_IDENTIFICATION);
        mc.register::<BufferV1>(BufferV1::MACHINE_IDENTIFICATION);
-        mc.register::<AquaPathV1>(AquaPathV1::MACHINE_IDENTIFICATION);
        mc
    };
 }
@@ -16,10 +16,6 @@ impl MachineAct for Winder2 {
        // automatically stops or pulls after N Meters if enabled
        self.stop_or_pull_spool(now);

-        if self.traverse_controller.did_change_state() {
-            self.emit_state();
-        }
-
        // more than 33ms have passed since last emit (30 "fps" target)
        if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
            self.emit_live_values();
@@ -456,6 +456,7 @@ impl Winder2 {

        // Update the internal state
        self.spool_mode = mode;
+        self.emit_state();
    }

    /// Apply the mode changes to the spool
@@ -576,6 +577,7 @@ impl Winder2 {

        // Update the internal state
        self.puller_mode = mode;
+        self.emit_state();
    }
 }

@@ -606,12 +608,10 @@ impl Winder2 {

    pub fn set_spool_automatic_required_meters(&mut self, meters: f64) {
        self.spool_automatic_action.target_length = Length::new::<meter>(meters);
-        self.emit_state();
    }

-    pub fn set_spool_automatic_mode(&mut self, mode: SpoolAutomaticActionMode) {
+    pub const fn set_spool_automatic_mode(&mut self, mode: SpoolAutomaticActionMode) {
        self.spool_automatic_action.mode = mode;
-        self.emit_state();
    }

    pub fn stop_or_pull_spool(&mut self, now: Instant) {
@@ -684,10 +684,9 @@ impl Winder2 {
        let _ = self.puller.set_speed(steps_per_second);
    }

-    pub fn puller_set_regulation(&mut self, puller_regulation_mode: PullerRegulationMode) {
+    pub const fn puller_set_regulation(&mut self, puller_regulation_mode: PullerRegulationMode) {
        self.puller_speed_controller
            .set_regulation_mode(puller_regulation_mode);
-        self.emit_state();
    }

    /// Set target speed in m/min
@@ -695,7 +694,6 @@ impl Winder2 {
        // Convert m/min to velocity
        let target_speed = Velocity::new::<meter_per_minute>(target_speed);
        self.puller_speed_controller.set_target_speed(target_speed);
-        self.emit_state();
    }

    /// Set target diameter in mm
@@ -704,13 +702,11 @@ impl Winder2 {
        let target_diameter = Length::new::<millimeter>(target_diameter);
        self.puller_speed_controller
            .set_target_diameter(target_diameter);
-        self.emit_state();
    }

    /// Set forward direction
-    pub fn puller_set_forward(&mut self, forward: bool) {
+    pub const fn puller_set_forward(&mut self, forward: bool) {
        self.puller_speed_controller.set_forward(forward);
-        self.emit_state();
    }

    // Spool Speed Controller API methods
@@ -719,7 +715,6 @@ impl Winder2 {
        regulation_mode: spool_speed_controller::SpoolSpeedControllerType,
    ) {
        self.spool_speed_controller.set_type(regulation_mode);
-        self.emit_state();
    }

    /// Set minimum speed for minmax mode in RPM
@@ -728,7 +723,6 @@ impl Winder2 {
        if let Err(e) = self.spool_speed_controller.set_minmax_min_speed(min_speed) {
            tracing::error!("Failed to set spool min speed: {:?}", e);
        }
-        self.emit_state();
    }

    /// Set maximum speed for minmax mode in RPM
@@ -737,45 +731,39 @@ impl Winder2 {
        if let Err(e) = self.spool_speed_controller.set_minmax_max_speed(max_speed) {
            tracing::error!("Failed to set spool max speed: {:?}", e);
        }
-        self.emit_state();
    }

    /// Set tension target for adaptive mode (0.0-1.0)
-    pub fn spool_set_adaptive_tension_target(&mut self, tension_target: f64) {
+    pub const fn spool_set_adaptive_tension_target(&mut self, tension_target: f64) {
        self.spool_speed_controller
            .set_adaptive_tension_target(tension_target);
-        self.emit_state();
    }

    /// Set radius learning rate for adaptive mode
-    pub fn spool_set_adaptive_radius_learning_rate(&mut self, radius_learning_rate: f64) {
+    pub const fn spool_set_adaptive_radius_learning_rate(&mut self, radius_learning_rate: f64) {
        self.spool_speed_controller
            .set_adaptive_radius_learning_rate(radius_learning_rate);
-        self.emit_state();
    }

    /// Set max speed multiplier for adaptive mode
-    pub fn spool_set_adaptive_max_speed_multiplier(&mut self, max_speed_multiplier: f64) {
+    pub const fn spool_set_adaptive_max_speed_multiplier(&mut self, max_speed_multiplier: f64) {
        self.spool_speed_controller
            .set_adaptive_max_speed_multiplier(max_speed_multiplier);
-        self.emit_state();
    }

    /// Set acceleration factor for adaptive mode
-    pub fn spool_set_adaptive_acceleration_factor(&mut self, acceleration_factor: f64) {
+    pub const fn spool_set_adaptive_acceleration_factor(&mut self, acceleration_factor: f64) {
        self.spool_speed_controller
            .set_adaptive_acceleration_factor(acceleration_factor);
-        self.emit_state();
    }

    /// Set deacceleration urgency multiplier for adaptive mode
-    pub fn spool_set_adaptive_deacceleration_urgency_multiplier(
+    pub const fn spool_set_adaptive_deacceleration_urgency_multiplier(
        &mut self,
        deacceleration_urgency_multiplier: f64,
    ) {
        self.spool_speed_controller
            .set_adaptive_deacceleration_urgency_multiplier(deacceleration_urgency_multiplier);
-        self.emit_state();
    }
 }

@@ -816,7 +804,6 @@ impl Winder2 {
            machine_identification_unique,
            machine,
        });
-        self.emit_state();

        self.reverse_connect();
    }
@@ -845,7 +832,6 @@ impl Winder2 {
            }
        }
        self.connected_buffer = None;
-        self.emit_state();
    }

    /// initiate connection from buffer to winder
@@ -185,7 +185,7 @@ impl MachineNewTrait for Winder2 {
                        ..Default::default()
                    },
                    stm_motor: StmMotorConfiguration {
-                        max_current: 2800,
+                        max_current: 6000,
                        ..Default::default()
                    },
                    ..Default::default()
@@ -309,7 +309,7 @@ impl MachineNewTrait for Winder2 {
                        ..Default::default()
                    },
                    stm_motor: StmMotorConfiguration {
-                        max_current: 2700,
+                        max_current: 1500,
                        ..Default::default()
                    },
                    pdo_assignment: EL7031_0030PredefinedPdoAssignment::VelocityControlCompact,
@@ -45,6 +45,7 @@ pub mod jemalloc_stats;
 fn main() {
    // Initialize panic handling
    let thread_panic_tx = init_panic();
+
    logging::init_tracing();
    tracing::info!("Tracing initialized successfully");

@@ -126,3 +127,15 @@ fn init_dhat_heap_profiling() {
        }
    })
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_main() {
+        // setup logging
+        logging::init_tracing();
+        ::tracing::info!("Running main test");
+    }
+}
@@ -1,6 +1,4 @@
 #[cfg(feature = "mock-machine")]
-use crate::serial::devices::extruder_mock::ExtruderMockSerialDevice;
-#[cfg(feature = "mock-machine")]
 use {
    crate::app_state::AppState,
    crate::machines::registry::MACHINE_REGISTRY,
@@ -12,6 +10,7 @@ use {
    },
    std::sync::Arc,
 };
+
 #[cfg(feature = "mock-machine")]
 pub fn init_mock(app_state: Arc<AppState>) -> Result<(), anyhow::Error> {
    // For mock devices, we need to manually create and add them to the machine manager
@@ -49,44 +48,12 @@ pub fn init_mock(app_state: Arc<AppState>) -> Result<(), anyhow::Error> {
                    .main_namespace;
                let event = MachinesEventBuilder().build(app_state_event.clone()).await;
                main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
-                Ok::<(), anyhow::Error>(())
+                Ok(())
            }
            Err(e) => {
                tracing::error!("Failed to create mock serial device: {}", e);
                return Err(e);
            }
-        };
-
-        match ExtruderMockSerialDevice::new_serial(&serial_params) {
-            Ok((device_identification, mock_serial_device)) => {
-                // Add the mock device to the machine manager
-                {
-                    let mut machine_guard = app_state.machines.write().await;
-                    machine_guard.add_serial_device(
-                        &device_identification,
-                        mock_serial_device,
-                        &MACHINE_REGISTRY,
-                        app_state.socketio_setup.socket_queue_tx.clone(),
-                        Arc::downgrade(&app_state.machines),
-                    );
-                }
-
-                // Notify clients via socketio about the new machine
-                let app_state_event = app_state.clone();
-                let main_namespace = &mut app_state_event
-                    .socketio_setup
-                    .namespaces
-                    .write()
-                    .await
-                    .main_namespace;
-                let event = MachinesEventBuilder().build(app_state_event.clone()).await;
-                main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
-                Ok(())
-            }
-            Err(e) => {
-                tracing::error!("Failed to create extruder mock serial device: {}", e);
-                return Err(e);
-            }
        }
    });
 }
@@ -1,59 +0,0 @@
-use std::sync::Arc;
-
-use control_core::{
-    helpers::hashing::{byte_folding_u16, hash_djb2},
-    machines::identification::{
-        DeviceHardwareIdentification, DeviceHardwareIdentificationSerial, DeviceIdentification,
-        DeviceMachineIdentification, MachineIdentification, MachineIdentificationUnique,
-    },
-    serial::{SerialDevice, SerialDeviceNew, SerialDeviceNewParams},
-};
-use smol::lock::RwLock;
-
-use crate::machines::{MACHINE_EXTRUDER_V1, VENDOR_QITECH};
-
-/// Mock serial device for testing MockMachine
-/// This provides a minimal SerialDevice implementation that doesn't require actual hardware
-#[derive(Debug)]
-pub struct ExtruderMockSerialDevice {
-    pub path: String,
-}
-
-impl SerialDevice for ExtruderMockSerialDevice {}
-
-impl SerialDeviceNew for ExtruderMockSerialDevice {
-    fn new_serial(
-        params: &SerialDeviceNewParams,
-    ) -> Result<(DeviceIdentification, Arc<RwLock<Self>>), anyhow::Error>
-    where
-        Self: Sized,
-    {
-        // Generate a unique serial number based on the path
-        let hash = hash_djb2(params.path.as_bytes());
-        let serial = byte_folding_u16(&hash.to_le_bytes());
-
-        let device_identification = DeviceIdentification {
-            device_machine_identification: Some(DeviceMachineIdentification {
-                machine_identification_unique: MachineIdentificationUnique {
-                    machine_identification: MachineIdentification {
-                        vendor: VENDOR_QITECH,
-                        machine: MACHINE_EXTRUDER_V1,
-                    },
-                    serial,
-                },
-                role: 0,
-            }),
-            device_hardware_identification: DeviceHardwareIdentification::Serial(
-                DeviceHardwareIdentificationSerial {
-                    path: params.path.clone(),
-                },
-            ),
-        };
-
-        let mock_serial_device = Arc::new(RwLock::new(ExtruderMockSerialDevice {
-            path: params.path.clone(),
-        }));
-
-        Ok((device_identification, mock_serial_device))
-    }
-}
@@ -42,8 +42,6 @@ enum LaserModbusRequsts {

 struct LaserDiameterResponse {
    pub diameter: Length,
-    pub x_axis: Option<Length>,
-    pub y_axis: Option<Length>,
 }

 impl TryFrom<ModbusResponse> for LaserDiameterResponse {
@@ -57,22 +55,8 @@ impl TryFrom<ModbusResponse> for LaserDiameterResponse {
            ));
        }
        let diameter = u16::from_be_bytes([value.data[1], value.data[2]]) as f64 / 1000.0;
-        // Depending on if its a 2 axis Laser we get more values out of the data
-        let (x_axis, y_axis) = if value.data.len() >= 7 {
-            let x = u16::from_be_bytes([value.data[3], value.data[4]]) as f64 / 1000.0;
-            let y = u16::from_be_bytes([value.data[5], value.data[6]]) as f64 / 1000.0;
-            (
-                Some(Length::new::<uom::si::length::millimeter>(x)),
-                Some(Length::new::<uom::si::length::millimeter>(y)),
-            )
-        } else {
-            (None, None)
-        };
-
        Ok(Self {
            diameter: Length::new::<uom::si::length::millimeter>(diameter),
-            x_axis,
-            y_axis,
        })
    }
 }
@@ -95,8 +79,6 @@ impl SerialDeviceNew for Laser {
    ) -> Result<(DeviceIdentification, Arc<RwLock<Self>>), anyhow::Error> {
        let laser_data = Some(LaserData {
            diameter: Length::new::<uom::si::length::millimeter>(0.0),
-            x_axis: None,
-            y_axis: None,
            last_timestamp: Instant::now(),
        });
        let hash = hash_djb2(params.path.as_bytes());
@@ -156,8 +138,6 @@ impl SerialDeviceNew for Laser {
 #[derive(Debug, Clone)]
 pub struct LaserData {
    pub diameter: Length,
-    pub x_axis: Option<Length>,
-    pub y_axis: Option<Length>,
    pub last_timestamp: Instant,
 }

@@ -169,20 +149,6 @@ impl Laser {
        }
    }

-    pub async fn get_x(&self) -> Result<Option<Length>, String> {
-        match &self.data {
-            Some(data) => Ok(data.x_axis),
-            None => Err("No data from Laser".to_string()),
-        }
-    }
-
-    pub async fn get_y(&self) -> Result<Option<Length>, String> {
-        match &self.data {
-            Some(data) => Ok(data.y_axis),
-            None => Err("No data from Laser".to_string()),
-        }
-    }
-
    pub async fn get_data(&self) -> Option<LaserData> {
        self.data.clone()
    }
@@ -238,8 +204,6 @@ impl Laser {
                let mut self_guard = _self.write().await;
                self_guard.data = Some(LaserData {
                    diameter: diameter_response.diameter,
-                    x_axis: diameter_response.x_axis,
-                    y_axis: diameter_response.y_axis,
                    last_timestamp: Instant::now(),
                });
            }
@@ -1,5 +1,4 @@
-#[cfg(feature = "mock-machine")]
-pub mod extruder_mock;
 pub mod laser;
+
 #[cfg(feature = "mock-machine")]
 pub mod mock;
Author	SHA1	Message	Date
93094049+kraemr@users.noreply.github.com	b33868c941	removed version depending on commit_hash	2025-09-16 12:02:53 +02:00
93094049+kraemr@users.noreply.github.com	558a493e32	test if hardcoding is required	2025-09-16 11:57:52 +02:00