updated Changelog

Increased Winder Step Size

CHANGELOG.md

@@ -1,3 +1,14 @@
+# `2.9.0`
+_06.10.2025_
+
+## Winder V2
+- [#778](https://github.com/qitechgmbh/control/pull/778) Increased Winder Traverse Step size limit
+
+## General
+- [#725](https://github.com/qitechgmbh/control/pull/725) Improved troubleshooting and update page
+- [#625](https://github.com/qitechgmbh/control/pull/625) Improved stability of Machine-Connections
+
+
 # `2.8.0`
 _30.09.2025_
 

README.md

@@ -64,12 +64,12 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
 | Machine Type | Version | Release Date | Description                 | Change to Previous Version                             | Vendor ID                  | Machine ID | Implemented | Docs                            |
 | ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
 | Winder       | V1      | ???          | Winding Filaments & Similar | -                                                      | 1 (Qitech Industries GmbH) | 1          | Reserved    | -                               |
-| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | In Progress | [](./docs/machines/winder-1.md) |
+| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | Yes         | [](./docs/machines/winder-1.md) |
 | Extruder     | V1      | ???          | Single Screw Extruder       | -                                                      | 1 (Qitech Industries GmbH) | 3          | Reserved    | -                               |
-| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Not Yet     |                                 |
-| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | Not Yet     |                                 |
-| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Not Yet     |                                 |
-| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Not Yet     | -                               |
+| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Yes         |                                 |
+| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | In Progress     |                                 |
+| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Yes         |                                 |
+| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Yes         | -                               |
 
 # More Docs
 

control-core-derive/src/lib.rs

@@ -40,10 +40,15 @@ fn machine_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
     let ast: DeriveInput = syn::parse2(item)?;
 
     let ident = &ast.ident;
+
     let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
 
     let expanded = quote! {
-        impl #impl_generics control_core::machines::Machine for #ident #ty_generics #where_clause {}
+        impl #impl_generics control_core::machines::Machine for #ident #ty_generics #where_clause {
+            fn get_machine_identification_unique(&self) -> control_core::machines::identification::MachineIdentificationUnique {
+                self.machine_identification_unique.clone()
+            }
+        }
 
         impl #impl_generics control_core::machines::AnyGetters for #ident #ty_generics #where_clause {
             fn as_any(&self) -> &dyn std::any::Any {

control-core/src/downcast.rs

@@ -0,0 +1,36 @@
+use anyhow::anyhow;
+use smol::lock::Mutex;
+use std::any::Any;
+use std::sync::Arc;
+
+pub trait Downcast<T> {
+    fn downcast(&self) -> Result<T, anyhow::Error>;
+}
+
+pub trait DowncastRef<T> {
+    fn downcast_ref(&self) -> Result<&T, anyhow::Error>;
+}
+
+impl<T: 'static, U: Any + 'static> Downcast<Arc<Mutex<T>>> for Arc<Mutex<U>> {
+    fn downcast(&self) -> Result<Arc<Mutex<T>>, anyhow::Error> {
+        // Acquire a read lock on the RwLock
+        let lock = self.lock_blocking();
+
+        // Check if the inner type can be downcasted to T
+        let any: &dyn Any = &*lock;
+
+        if any.is::<T>() {
+            // Clone the Arc and return it as the desired type
+            let cloned: Arc<Mutex<dyn Any>> = self.clone();
+
+            // Transmute the Arc to the desired type
+            unsafe {
+                let arc = Arc::from_raw(Arc::into_raw(cloned) as *const Mutex<T>);
+
+                Ok(arc)
+            }
+        } else {
+            Err(anyhow!("[{}::downcast] Downcast failed", module_path!()))
+        }
+    }
+}

control-core/src/lib.rs

@@ -1,5 +1,6 @@
 pub mod controllers;
 pub mod converters;
+pub mod downcast;
 pub mod ethercat;
 pub mod helpers;
 pub mod irq_handling;

control-core/src/machines/api.rs

@@ -1,10 +1,12 @@
 use serde_json::Value;
+use smol::lock::Mutex;
+use std::sync::Arc;
 
 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;
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>>;
 
     /// Returns a list of available video stream identifiers for this machine
     #[cfg(feature = "video-streaming")]

control-core/src/machines/connection.rs

@@ -0,0 +1,208 @@
+use crate::downcast::Downcast;
+use crate::machines::identification::MachineIdentificationUnique;
+use crate::machines::manager::MachineManager;
+use crate::socketio::{event::GenericEvent, namespace::Namespace};
+use serde::Serialize;
+use smol::block_on;
+use smol::lock::RwLock;
+use std::sync::Arc;
+use std::sync::Weak;
+
+use super::Machine;
+use anyhow::anyhow;
+use smol::{channel::Sender, lock::Mutex};
+use socketioxide::extract::SocketRef;
+
+#[derive(Debug)]
+pub enum MachineConnection<M: Machine + ?Sized>
+where
+    Self: Sized,
+{
+    Error(anyhow::Error),
+    Disconnected,
+    Connected(Arc<Mutex<M>>),
+}
+
+#[derive(Debug)]
+pub struct MachineSlot<M: Machine + ?Sized>
+where
+    Self: Sized,
+{
+    pub machine_connection: MachineConnection<M>,
+    pub namespace: Arc<Mutex<Namespace>>,
+}
+
+pub type MachineConnectionGeneric = MachineConnection<dyn Machine>;
+
+pub type MachineSlotGeneric = MachineSlot<dyn Machine>;
+
+impl<M: Machine> Clone for MachineConnection<M> {
+    fn clone(&self) -> Self {
+        match self {
+            Self::Connected(m) => Self::Connected(m.clone()),
+            Self::Error(e) => Self::Error(anyhow!(e.to_string())),
+            Self::Disconnected => Self::Disconnected,
+        }
+    }
+}
+
+impl<M: Machine + ?Sized> MachineConnection<M> {
+    pub fn to_error(&self) -> Option<anyhow::Error> {
+        match self {
+            MachineConnection::Error(err) => Some(anyhow!(err.to_string())),
+            Self::Disconnected => Some(anyhow!("Machine is disconnected")),
+            _ => None,
+        }
+    }
+
+    pub fn to_machine(&self) -> Option<Arc<Mutex<M>>> {
+        match self {
+            Self::Connected(machine) => Some(machine.clone()),
+            _ => None,
+        }
+    }
+}
+
+impl<M: Machine + ?Sized> MachineSlot<M> {
+    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
+        let namespace = Namespace::new(socket_queue_tx);
+        Self {
+            machine_connection: MachineConnection::Disconnected,
+            namespace: Arc::new(Mutex::new(namespace)),
+        }
+    }
+
+    pub const fn is_connected(&self) -> bool {
+        matches!(self.machine_connection, MachineConnection::Connected(_))
+    }
+}
+
+pub trait CrossConnectableMachine<
+    F: CrossConnectableMachine<F, T>,
+    T: CrossConnectableMachine<T, F>,
+>: Machine
+{
+    fn get_cross_connection(&mut self) -> &mut MachineCrossConnection<F, T>;
+}
+
+#[derive(Debug)]
+pub struct MachineCrossConnection<
+    F: CrossConnectableMachine<F, T>,
+    T: CrossConnectableMachine<T, F>,
+> {
+    machine_manager: Weak<RwLock<MachineManager>>,
+    machine_identification_unique: MachineIdentificationUnique,
+    connected_machine: Weak<Mutex<MachineSlot<T>>>,
+    _make_compiler_happy: std::marker::PhantomData<F>, // This marks tells the typechecker, that we
+                                                       // need F in our type arguemnts. We are ok with
+                                                       // it being used only in a fake field. Without
+                                                       // F being fixed, we would not be anble to implement
+                                                       // reverse connecting and disconnecting properly,
+                                                       // as the type on the other side would decay
+                                                       // to an unknown type. See also https://github.com/qitechgmbh/control/pull/625#discussion_r2379566315
+}
+
+#[derive(Serialize, Debug, Clone)]
+pub struct MachineCrossConnectionState {
+    /// Connected Machine
+    pub machine_identification_unique: Option<MachineIdentificationUnique>,
+    pub is_available: bool,
+}
+
+impl<F: CrossConnectableMachine<F, T>, T: CrossConnectableMachine<T, F>>
+    MachineCrossConnection<F, T>
+{
+    pub fn new(
+        manager: Weak<RwLock<MachineManager>>,
+        machine_identification_unique: &MachineIdentificationUnique,
+    ) -> Self {
+        Self {
+            machine_manager: manager,
+            connected_machine: Weak::new(),
+            machine_identification_unique: machine_identification_unique.clone(),
+            _make_compiler_happy: std::marker::PhantomData,
+        }
+    }
+
+    pub fn set_connected_machine(
+        &mut self,
+        machine_identification_unique: &MachineIdentificationUnique,
+    ) {
+        if let Some(machine_manager) = self.machine_manager.upgrade() {
+            let machine_manager = block_on(machine_manager.read());
+
+            let slot: Arc<Mutex<MachineSlotGeneric>> =
+                match machine_manager.get(&machine_identification_unique) {
+                    Some(c) => c,
+                    None => return,
+                };
+
+            let slot: Arc<Mutex<MachineSlot<T>>> = match Downcast::downcast(&slot) {
+                Ok(s) => s,
+                Err(_) => return,
+            };
+
+            self.connected_machine = Arc::downgrade(&slot);
+        } else {
+            panic!("The machine manager has died, cannot do anything at this point");
+        }
+    }
+
+    pub fn reverse_connect(&self) {
+        if let Some(slot) = self.connected_machine.upgrade() {
+            let slot = &mut slot.lock_blocking();
+
+            if let MachineConnection::Connected(machine) = &slot.machine_connection {
+                let mut machine = machine.lock_blocking();
+                let cross_connection = machine.get_cross_connection();
+
+                if !cross_connection.is_connected() {
+                    cross_connection.set_connected_machine(&self.machine_identification_unique);
+                }
+            };
+        }
+    }
+
+    pub fn disconnect(&mut self) {
+        self.connected_machine = Weak::new();
+    }
+
+    pub fn reverse_disconnect(&mut self) {
+        if let Some(slot) = self.connected_machine.upgrade() {
+            let slot = slot.lock_blocking();
+
+            if let MachineConnection::Connected(machine) = &slot.machine_connection {
+                let mut machine = machine.lock_blocking();
+                let cross_connection = machine.get_cross_connection();
+                cross_connection.disconnect();
+            };
+        }
+    }
+
+    pub fn is_connected(&self) -> bool {
+        let arc = self.connected_machine.upgrade();
+        arc.is_some()
+    }
+
+    pub fn to_state(&self) -> MachineCrossConnectionState {
+        if let Some(slot) = self.connected_machine.upgrade() {
+            let connection = &slot.lock_blocking().machine_connection;
+
+            if let MachineConnection::Connected(machine) = connection {
+                let machine = machine.lock_blocking();
+
+                return MachineCrossConnectionState {
+                    machine_identification_unique: Some(
+                        machine.get_machine_identification_unique(),
+                    ),
+                    is_available: true,
+                };
+            }
+        }
+
+        MachineCrossConnectionState {
+            machine_identification_unique: None,
+            is_available: false,
+        }
+    }
+}

control-core/src/machines/manager.rs

@@ -1,3 +1,9 @@
+use super::{
+    Machine,
+    identification::{DeviceIdentification, DeviceIdentificationIdentified},
+    new::MachineNewHardwareSerial,
+    registry::MachineRegistry,
+};
 use smol::{
     channel::Sender,
     lock::{Mutex, RwLock},
@@ -6,6 +12,9 @@ use socketioxide::extract::SocketRef;
 
 use crate::{
     machines::{
+        connection::{
+            MachineConnection, MachineConnectionGeneric, MachineSlot, MachineSlotGeneric,
+        },
         identification::MachineIdentificationUnique,
         new::{MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams},
     },
@@ -17,18 +26,10 @@ use std::{
     sync::{Arc, Weak},
 };
 
-use super::{
-    Machine,
-    identification::{DeviceIdentification, DeviceIdentificationIdentified},
-    new::MachineNewHardwareSerial,
-    registry::MachineRegistry,
-};
 #[derive(Debug)]
 pub struct MachineManager {
-    pub ethercat_machines:
-        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
-    pub serial_machines:
-        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
+    pub ethercat_machines: HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
+    pub serial_machines: HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
 }
 
 impl Default for MachineManager {
@@ -53,9 +54,6 @@ impl MachineManager {
         socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
         machine_manager: Weak<RwLock<Self>>,
     ) {
-        // empty ethercat machines
-        self.ethercat_machines.clear();
-
         // group devices by machine device identification
         let device_grouping_result = group_devices_by_identification(device_identifications);
 
@@ -69,10 +67,18 @@ impl MachineManager {
         // iterate over all identified device groups but ignore unaffected machines
         for device_group in device_grouping_result.device_groups.iter() {
             // get the machine identification
-            let machine_identification = match device_group.first() {
-                Some(device_identification) => &device_identification.device_machine_identification,
-                None => continue, // Skip this group if empty
-            };
+            let machine_identification_unique: MachineIdentificationUnique =
+                match device_group.first() {
+                    Some(device_identification) => device_identification
+                        .device_machine_identification
+                        .machine_identification_unique
+                        .clone(),
+                    None => continue, // Skip this group if empty
+                };
+
+            let slot =
+                self.get_or_create_slot(socket_queue_tx.clone(), machine_identification_unique);
+            let mut slot = slot.lock_blocking();
 
             // create the machine
             let new_machine = machine_registry.new_machine(&MachineNewParams {
@@ -80,23 +86,40 @@ impl MachineManager {
                 hardware: &machine_new_hardware,
                 socket_queue_tx: socket_queue_tx.clone(),
                 machine_manager: machine_manager.clone(),
+                namespace: slot.namespace.clone(),
             });
 
-            // insert the machine into the ethercat machines map
-            self.ethercat_machines.insert(
-                machine_identification.machine_identification_unique.clone(),
-                new_machine,
-            );
+            slot.machine_connection = match new_machine {
+                Err(err) => MachineConnectionGeneric::Error(err),
+                Ok(machine) => MachineConnectionGeneric::Connected(machine),
+            };
         }
     }
 
+    fn get_or_create_slot(
+        &mut self,
+        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+        machine_identification: MachineIdentificationUnique,
+    ) -> Arc<Mutex<MachineSlotGeneric>> {
+        if let Some(slot) = self.get(&machine_identification) {
+            return slot;
+        }
+
+        let slot = Arc::new(Mutex::new(MachineSlot::new(socket_queue_tx)));
+        self.ethercat_machines
+            .insert(machine_identification, slot.clone());
+
+        return slot;
+    }
+
     pub fn get(
         &self,
         machine_identification: &MachineIdentificationUnique,
-    ) -> Option<&Result<Arc<Mutex<dyn Machine>>, anyhow::Error>> {
+    ) -> Option<Arc<Mutex<MachineSlotGeneric>>> {
         self.ethercat_machines
             .get(machine_identification)
             .or_else(|| self.serial_machines.get(machine_identification))
+            .map(|x| x.clone())
     }
 
     pub fn add_serial_device(
@@ -115,21 +138,28 @@ impl MachineManager {
                 .try_into()
                 .expect("Serial devices always have machine identification");
 
+        let machine_identification: MachineIdentificationUnique = device_identification_identified
+            .device_machine_identification
+            .machine_identification_unique
+            .clone();
+
+        let slot = self.get_or_create_slot(socket_queue_tx.clone(), machine_identification);
+        let mut slot = slot.lock_blocking();
+
         let new_machine = machine_registry.new_machine(&MachineNewParams {
             device_group: &vec![device_identification_identified.clone()],
             hardware: &MachineNewHardware::Serial(&hardware),
             socket_queue_tx,
-            machine_manager,
+            machine_manager: machine_manager.clone(),
+            namespace: slot.namespace.clone(),
         });
 
-        tracing::info!("Adding serial machine {:?}", new_machine);
+        slot.machine_connection = match new_machine {
+            Err(err) => MachineConnectionGeneric::Error(err),
+            Ok(machine) => MachineConnectionGeneric::Connected(machine),
+        };
 
-        self.serial_machines.insert(
-            device_identification_identified
-                .device_machine_identification
-                .machine_identification_unique,
-            new_machine,
-        );
+        tracing::info!("Adding serial machine {:?}", slot);
     }
 
     pub fn remove_serial_device(&mut self, device_identification: &DeviceIdentification) {
@@ -144,53 +174,45 @@ impl MachineManager {
             device_identification_identified
         );
 
-        self.serial_machines.remove(
-            &device_identification_identified
-                .device_machine_identification
-                .machine_identification_unique,
-        );
+        let machine_identification_unique = &device_identification_identified
+            .device_machine_identification
+            .machine_identification_unique;
+
+        if let Some(slot) = self.serial_machines.get(machine_identification_unique) {
+            let mut slot = slot.lock_blocking();
+            slot.machine_connection = MachineConnection::Disconnected;
+        }
     }
 
-    pub fn get_machine_weak(
+    pub fn get_ethercat_weak(
         &self,
         machine_identification: &MachineIdentificationUnique,
     ) -> Option<Weak<Mutex<dyn Machine>>> {
-        let machine = self.ethercat_machines.get(machine_identification);
-        let machine = match machine {
-            Some(machine) => machine,
-            None => {
-                return None;
-            }
-        };
-        let machine = match machine {
-            Ok(machine) => machine,
-            Err(_) => {
-                return None;
-            }
-        };
-        let machine_weak = Arc::downgrade(machine);
-        Some(machine_weak)
+        self.get_weak(&self.ethercat_machines, machine_identification)
     }
 
     pub fn get_serial_weak(
         &self,
         machine_identification: &MachineIdentificationUnique,
     ) -> Option<Weak<Mutex<dyn Machine>>> {
-        let machine = self.serial_machines.get(machine_identification);
-        let machine = match machine {
-            Some(machine) => machine,
-            None => {
-                return None;
+        self.get_weak(&self.serial_machines, machine_identification)
+    }
+
+    fn get_weak(
+        &self,
+        machines: &HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<Weak<Mutex<dyn Machine>>> {
+        let slot = machines.get(machine_identification).clone();
+
+        return slot.and_then(|slot| {
+            let connection = &slot.lock_blocking().machine_connection;
+            match connection {
+                MachineConnectionGeneric::Error(_) => None,
+                MachineConnectionGeneric::Disconnected => None,
+                MachineConnectionGeneric::Connected(machine) => Some(Arc::downgrade(&machine)),
             }
-        };
-        let machine = match machine {
-            Ok(machine) => machine,
-            Err(_) => {
-                return None;
-            }
-        };
-        let machine_weak = Arc::downgrade(machine);
-        Some(machine_weak)
+        });
     }
 }
 

control-core/src/machines/manager_iter.rs

@@ -1,22 +1,25 @@
-use std::{collections::HashMap, sync::Arc};
+use std::collections::HashMap;
+use std::sync::Arc;
 
 use smol::lock::Mutex;
 
-use super::{Machine, identification::MachineIdentificationUnique, manager::MachineManager};
+use crate::machines::connection::MachineSlotGeneric;
+
+use super::{identification::MachineIdentificationUnique, manager::MachineManager};
 
 pub enum MachineManagerIter<'a> {
     EthercatMachines {
         iter: std::collections::hash_map::Iter<
             'a,
             MachineIdentificationUnique,
-            Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
+            Arc<Mutex<MachineSlotGeneric>>,
         >,
     },
     SerialMachines {
         iter: std::collections::hash_map::Iter<
             'a,
             MachineIdentificationUnique,
-            Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
+            Arc<Mutex<MachineSlotGeneric>>,
         >,
     },
     Done,
@@ -24,14 +27,13 @@ pub enum MachineManagerIter<'a> {
 
 pub struct MachineManagerIterator<'a> {
     iter: MachineManagerIter<'a>,
-    serial_machines:
-        &'a HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
+    serial_machines: &'a HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
 }
 
 impl<'a> Iterator for MachineManagerIterator<'a> {
     type Item = (
         &'a MachineIdentificationUnique,
-        &'a Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
+        &'a Arc<Mutex<MachineSlotGeneric>>,
     );
 
     fn next(&mut self) -> Option<Self::Item> {
@@ -71,7 +73,7 @@ impl<'a> Iterator for MachineManagerIterator<'a> {
 
 impl MachineManager {
     // Returns an iterator over all machines (both ethercat and serial)
-    pub fn iter(&'_ self) -> MachineManagerIterator<'_> {
+    pub fn iter(&self) -> MachineManagerIterator<'_> {
         MachineManagerIterator {
             iter: MachineManagerIter::EthercatMachines {
                 iter: self.ethercat_machines.iter(),

control-core/src/machines/mod.rs

@@ -1,83 +1,23 @@
-use anyhow::anyhow;
-use api::MachineApi;
 use new::MachineNewTrait;
-use serde::Serialize;
-use smol::lock::Mutex;
 use std::any::Any;
 use std::fmt::Debug;
-use std::sync::{Arc, Weak};
 
-use crate::machines::identification::MachineIdentificationUnique;
-use crate::machines::new::MachineAct;
+use crate::machines::{
+    api::MachineApi, identification::MachineIdentificationUnique, new::MachineAct,
+};
 pub mod api;
+pub mod connection;
 pub mod identification;
 pub mod manager;
 pub mod manager_iter;
 pub mod new;
 pub mod registry;
 
-pub trait Machine: MachineAct + MachineNewTrait + MachineApi + AnyGetters + Debug + Send {}
+pub trait Machine: MachineAct + MachineNewTrait + MachineApi + Any + Debug + Send + Sync {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique;
+}
+
 pub trait AnyGetters: Any {
     fn as_any(&self) -> &dyn Any;
     fn as_any_mut(&mut self) -> &mut dyn Any;
 }
-
-/// Casts a `dyn Machine` to a specific machine type
-pub async fn downcast_machine<T: Machine>(
-    machine: Arc<Mutex<dyn Machine>>,
-) -> Result<Arc<Mutex<T>>, anyhow::Error> {
-    // Acquire a read lock on the RwLock
-    let read_lock = machine.lock().await;
-
-    // Check if the inner type can be downcasted to T
-    if read_lock.as_any().is::<T>() {
-        // Clone the Arc and return it as the desired type
-        let cloned_machine = Arc::clone(&machine);
-        // Transmute the Arc to the desired type
-        unsafe {
-            Ok(Arc::from_raw(
-                Arc::into_raw(cloned_machine) as *const Mutex<T>
-            ))
-        }
-    } else {
-        Err(anyhow!(
-            "[{}::downcast_machine] Downcast failed",
-            module_path!()
-        ))
-    }
-}
-
-/// Trait to get strong count to see if Weak has reference
-pub trait GetStrongCount {
-    fn get_strong_count(&self) -> usize;
-}
-
-impl<T> GetStrongCount for Weak<Mutex<T>> {
-    fn get_strong_count(&self) -> usize {
-        self.strong_count()
-    }
-}
-
-#[derive(Debug)]
-pub struct ConnectedMachine<T: GetStrongCount> {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub machine: T,
-}
-
-#[derive(Serialize, Debug, Clone, PartialEq, Eq)]
-pub struct ConnectedMachineData {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub is_available: bool,
-}
-
-impl<T> From<&ConnectedMachine<T>> for ConnectedMachineData
-where
-    T: GetStrongCount,
-{
-    fn from(value: &ConnectedMachine<T>) -> Self {
-        Self {
-            machine_identification_unique: value.machine_identification_unique.clone(),
-            is_available: value.machine.get_strong_count() != 0,
-        }
-    }
-}

control-core/src/machines/new.rs

@@ -1,4 +1,8 @@
-use crate::{machines::manager::MachineManager, serial::SerialDevice};
+use crate::{
+    machines::{identification::MachineIdentificationUnique, manager::MachineManager},
+    serial::SerialDevice,
+    socketio::namespace::Namespace,
+};
 
 use super::identification::DeviceIdentificationIdentified;
 use anyhow::Error;
@@ -6,7 +10,10 @@ use ethercat_hal::{
     devices::EthercatDevice, helpers::ethercrab_types::EthercrabSubDevicePreoperational,
 };
 use ethercrab::{SubDevice, SubDeviceRef};
-use smol::{channel::Sender, lock::RwLock};
+use smol::{
+    channel::Sender,
+    lock::{Mutex, RwLock},
+};
 use socketioxide::extract::SocketRef;
 use std::{
     sync::{Arc, Weak},
@@ -49,6 +56,19 @@ pub struct MachineNewParams<
     >,
     pub socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
     pub machine_manager: Weak<RwLock<MachineManager>>,
+
+    pub namespace: Arc<Mutex<Namespace>>,
+}
+
+impl MachineNewParams<'_, '_, '_, '_, '_, '_, '_> {
+    pub fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.device_group
+            .first()
+            .expect("device group must have at least one device")
+            .device_machine_identification
+            .machine_identification_unique
+            .clone()
+    }
 }
 
 pub enum MachineNewHardware<

electron/src/machines/winder/winder2/Winder2Settings.tsx

@@ -44,7 +44,7 @@ export function Winder2SettingPage() {
               unit="mm"
               step={0.05}
               min={0.1}
-              max={10}
+              max={75}
               defaultValue={defaultState?.traverse_state?.step_size}
               renderValue={(value) => roundToDecimals(value, 2)}
               onChange={(value) => setTraverseStepSize(value)}

server/src/app_state.rs

@@ -1,6 +1,7 @@
 use crate::ethercat::config::{MAX_SUBDEVICES, PDI_LEN};
 use crate::performance_metrics::EthercatPerformanceMetrics;
 use crate::serial::registry::SERIAL_DEVICE_REGISTRY;
+use crate::socketio::main_namespace::machines_event::MachineObj;
 use crate::socketio::namespaces::Namespaces;
 use control_core::machines::Machine;
 use control_core::machines::identification::{DeviceIdentification, MachineIdentificationUnique};
@@ -90,4 +91,22 @@ impl AppState {
             performance_metrics: Arc::new(RwLock::new(EthercatPerformanceMetrics::new())),
         }
     }
+
+    pub fn get_machine_objs(&self) -> Vec<MachineObj> {
+        let machines = self.machines.read_blocking();
+        machines
+            .iter()
+            .map(|machine| {
+                let error = {
+                    let slot = machine.1.lock_blocking();
+                    slot.machine_connection.to_error().map(|e| e.to_string())
+                };
+
+                MachineObj {
+                    machine_identification_unique: machine.0.clone(),
+                    error,
+                }
+            })
+            .collect()
+    }
 }

server/src/ethercat/setup.rs

@@ -235,7 +235,7 @@ pub async fn setup_loop(
             .write()
             .await
             .main_namespace;
-        let event = MachinesEventBuilder().build(app_state_clone.clone()).await;
+        let event = MachinesEventBuilder().build(app_state_clone.clone());
         main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
     });
 

server/src/loop.rs

@@ -1,6 +1,7 @@
 use crate::app_state::AppState;
 use crate::panic::{PanicDetails, send_panic};
 use bitvec::prelude::*;
+use control_core::machines::connection::MachineConnection;
 use control_core::realtime::{set_core_affinity, set_realtime_priority};
 use smol::channel::Sender;
 use std::sync::Arc;
@@ -144,7 +145,8 @@ pub async fn loop_once<'maindevice>(app_state: Arc<AppState>) -> Result<(), anyh
         let now = std::time::Instant::now();
 
         for machine in machine_guard.iter() {
-            if let Ok(machine) = machine.1 {
+            let connection = &machine.1.lock_blocking().machine_connection;
+            if let MachineConnection::Connected(machine) = connection {
                 // if the machine is currenlty locked (likely processing API call)
                 // we skip the machine
                 if let Some(mut machine_guard) = machine.try_lock() {

server/src/machines/aquapath1/api.rs

@@ -13,8 +13,7 @@ use control_core::{
 };
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use tracing::instrument;
 
 #[derive(Serialize, Debug, Clone, Default)]
@@ -94,7 +93,7 @@ enum Mutation {
 
 #[derive(Debug)]
 pub struct AquaPathV1Namespace {
-    pub namespace: Namespace,
+    pub namespace: Arc<Mutex<Namespace>>,
 }
 
 impl NamespaceCacheingLogic<AquaPathV1Events> for AquaPathV1Namespace {
@@ -102,15 +101,9 @@ impl NamespaceCacheingLogic<AquaPathV1Events> for AquaPathV1Namespace {
     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),
-        }
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
     }
 }
 
@@ -156,7 +149,7 @@ impl MachineApi for AquaPathV1 {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
     }
 }

server/src/machines/aquapath1/mod.rs

@@ -1,8 +1,9 @@
 use control_core::{
-    machines::identification::MachineIdentification, socketio::namespace::NamespaceCacheingLogic,
+    machines::identification::{MachineIdentification, MachineIdentificationUnique},
+    socketio::namespace::NamespaceCacheingLogic,
 };
-use control_core_derive::Machine;
 
+use control_core_derive::Machine;
 use serde::{Deserialize, Serialize};
 use std::time::Instant;
 use uom::si::{
@@ -79,12 +80,14 @@ impl Default for Flow {
 
 #[derive(Debug, Machine)]
 pub struct AquaPathV1 {
+    machine_identification_unique: MachineIdentificationUnique,
     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,

server/src/machines/aquapath1/new.rs

@@ -338,7 +338,10 @@ impl MachineNewTrait for AquaPathV1 {
             );
 
             let mut water_cooling = Self {
-                namespace: AquaPathV1Namespace::new(params.socket_queue_tx.clone()),
+                machine_identification_unique: params.get_machine_identification_unique(),
+                namespace: AquaPathV1Namespace {
+                    namespace: params.namespace.clone(),
+                },
                 mode: AquaPathV1Mode::Standby,
                 last_measurement_emit: Instant::now(),
                 front_controller,

server/src/machines/buffer1/act.rs

@@ -2,6 +2,7 @@ use std::time::{Duration, Instant};
 
 use super::BufferV1;
 use control_core::machines::new::MachineAct;
+
 impl MachineAct for BufferV1 {
     fn act(&mut self, now: Instant) {
         // if last measurement is older than 1 second, emit a new measurement

server/src/machines/buffer1/api.rs

@@ -2,7 +2,10 @@ use std::{sync::Arc, time::Duration};
 
 use super::{BufferV1, BufferV1Mode};
 use control_core::{
-    machines::{api::MachineApi, identification::MachineIdentificationUnique},
+    machines::{
+        api::MachineApi, connection::MachineCrossConnectionState,
+        identification::MachineIdentificationUnique,
+    },
     socketio::{
         event::{Event, GenericEvent},
         namespace::{
@@ -13,8 +16,7 @@ use control_core::{
 };
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use tracing::instrument;
 
 #[derive(Serialize, Debug, Clone, Default)]
@@ -31,7 +33,7 @@ pub struct StateEvent {
     /// mode state
     pub mode_state: ModeState,
     /// connected machine state
-    pub connected_machine_state: ConnectedMachineState,
+    pub connected_machine_state: MachineCrossConnectionState,
 }
 
 impl StateEvent {
@@ -78,7 +80,7 @@ enum Mutation {
 
 #[derive(Debug)]
 pub struct Buffer1Namespace {
-    pub namespace: Namespace,
+    pub namespace: Arc<Mutex<Namespace>>,
 }
 
 impl NamespaceCacheingLogic<BufferV1Events> for Buffer1Namespace {
@@ -86,15 +88,9 @@ impl NamespaceCacheingLogic<BufferV1Events> for Buffer1Namespace {
     fn emit(&mut self, events: BufferV1Events) {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
-    }
-}
 
-impl Buffer1Namespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
     }
 }
 
@@ -132,7 +128,7 @@ impl MachineApi for BufferV1 {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
     }
 }

server/src/machines/buffer1/mod.rs

@@ -5,26 +5,20 @@ pub mod new;
 
 use api::{Buffer1Namespace, BufferV1Events, LiveValuesEvent, ModeState, StateEvent};
 use buffer_tower_controller::BufferTowerController;
+use control_core::machines::connection::{CrossConnectableMachine, MachineCrossConnection};
 use control_core::{
     machines::{
-        ConnectedMachine, ConnectedMachineData, downcast_machine,
         identification::{MachineIdentification, MachineIdentificationUnique},
         manager::MachineManager,
     },
     socketio::namespace::NamespaceCacheingLogic,
 };
 use control_core_derive::Machine;
-use futures::executor::block_on;
 use serde::{Deserialize, Serialize};
-use smol::lock::{Mutex, RwLock};
-use std::{
-    sync::{Arc, Weak},
-    time::Instant,
-};
+use smol::lock::RwLock;
+use std::{sync::Weak, time::Instant};
 
-use crate::machines::{
-    MACHINE_BUFFER_V1, VENDOR_QITECH, buffer1::api::ConnectedMachineState, winder2::Winder2,
-};
+use crate::machines::{MACHINE_BUFFER_V1, VENDOR_QITECH, winder2::Winder2};
 
 #[derive(Debug, Machine)]
 pub struct BufferV1 {
@@ -40,12 +34,18 @@ pub struct BufferV1 {
     pub machine_identification_unique: MachineIdentificationUnique,
 
     // connected machines
-    pub connected_winder: Option<ConnectedMachine<Weak<Mutex<Winder2>>>>,
+    pub connected_winder: MachineCrossConnection<BufferV1, Winder2>,
 
     // mode
     mode: BufferV1Mode,
 }
 
+impl CrossConnectableMachine<BufferV1, Winder2> for BufferV1 {
+    fn get_cross_connection(&mut self) -> &mut MachineCrossConnection<BufferV1, Winder2> {
+        &mut self.connected_winder
+    }
+}
+
 impl std::fmt::Display for BufferV1 {
     fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
         write!(f, "BufferV1")
@@ -57,9 +57,6 @@ impl BufferV1 {
         vendor: VENDOR_QITECH,
         machine: MACHINE_BUFFER_V1,
     };
-}
-
-impl BufferV1 {
     pub fn emit_live_values(&mut self) {
         let live_values = LiveValuesEvent {};
 
@@ -72,28 +69,13 @@ impl BufferV1 {
             mode_state: ModeState {
                 mode: self.mode.clone(),
             },
-            connected_machine_state: ConnectedMachineState {
-                machine_identification_unique: self.connected_winder.as_ref().map(
-                    |connected_machine| {
-                        ConnectedMachineData::from(connected_machine).machine_identification_unique
-                    },
-                ),
-                is_available: self
-                    .connected_winder
-                    .as_ref()
-                    .map(|connected_machine| {
-                        ConnectedMachineData::from(connected_machine).is_available
-                    })
-                    .unwrap_or(false),
-            },
+            connected_machine_state: self.connected_winder.to_state(),
         };
 
         let event = state.build();
         self.namespace.emit(BufferV1Events::State(event));
     }
-}
 
-impl BufferV1 {
     // To be implemented
     fn fill_buffer(&mut self) {
         todo!();
@@ -146,17 +128,13 @@ impl BufferV1 {
             BufferV1Mode::EmptyingBuffer => self.switch_to_emptying(),
         }
     }
-}
 
-impl BufferV1 {
     fn set_mode_state(&mut self, mode: BufferV1Mode) {
         self.switch_mode(mode);
         self.emit_state();
     }
-}
 
-/// Connecting/Disconnecting machine
-impl BufferV1 {
+    /// Connecting/Disconnecting machine
     /// set connected winder
     pub fn set_connected_winder(
         &mut self,
@@ -168,34 +146,13 @@ impl BufferV1 {
         ) {
             return;
         }
-        let machine_manager_arc = match self.machine_manager.upgrade() {
-            Some(machine_manager_arc) => machine_manager_arc,
-            None => return,
-        };
-        let machine_manager_guard = block_on(machine_manager_arc.read());
-        let winder2_weak = machine_manager_guard.get_machine_weak(&machine_identification_unique);
-        let winder2_weak = match winder2_weak {
-            Some(winder2_weak) => winder2_weak,
-            None => return,
-        };
-        let winder2_strong = match winder2_weak.upgrade() {
-            Some(winder2_strong) => winder2_strong,
-            None => return,
-        };
 
-        let winder2: Arc<Mutex<Winder2>> = block_on(downcast_machine::<Winder2>(winder2_strong))
-            .expect("failed downcasting machine");
-
-        let machine = Arc::downgrade(&winder2);
-
-        self.connected_winder = Some(ConnectedMachine {
-            machine_identification_unique,
-            machine,
-        });
+        self.connected_winder
+            .set_connected_machine(&machine_identification_unique);
 
         self.emit_state();
 
-        self.reverse_connect();
+        self.connected_winder.reverse_connect();
     }
 
     /// disconnect winder
@@ -209,36 +166,9 @@ impl BufferV1 {
         ) {
             return;
         }
-        if let Some(connected) = &self.connected_winder {
-            if let Some(winder2_arc) = connected.machine.upgrade() {
-                let future = async move {
-                    let mut winder2 = winder2_arc.lock().await;
-                    if winder2.connected_buffer.is_some() {
-                        winder2.connected_buffer = None;
-                        winder2.emit_state();
-                    }
-                };
-                smol::spawn(future).detach();
-            }
-        }
-        self.connected_winder = None;
-        self.emit_state();
-    }
 
-    /// initiate connection from winder to buffer
-    pub fn reverse_connect(&mut self) {
-        let machine_identification_unique = self.machine_identification_unique.clone();
-        if let Some(connected) = &self.connected_winder {
-            if let Some(winder2_arc) = connected.machine.upgrade() {
-                let future = async move {
-                    let mut winder2 = winder2_arc.lock().await;
-                    if winder2.connected_buffer.is_none() {
-                        winder2.set_connected_buffer(machine_identification_unique);
-                    }
-                };
-                smol::spawn(future).detach();
-            }
-        }
+        self.connected_winder.disconnect();
+        self.emit_state();
     }
 }
 

server/src/machines/buffer1/new.rs

@@ -1,6 +1,7 @@
 use std::time::Instant;
 
 use anyhow::Error;
+use control_core::machines::connection::MachineCrossConnection;
 use control_core::machines::new::{
     MachineNewHardware, MachineNewParams, MachineNewTrait, validate_no_role_dublicates,
     validate_same_machine_identification_unique,
@@ -28,7 +29,9 @@ use crate::machines::get_ethercat_device;
 use super::{BufferV1, api::Buffer1Namespace};
 
 impl MachineNewTrait for BufferV1 {
-    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
+    fn new<'maindevice>(
+        params: &MachineNewParams<'maindevice, '_, '_, '_, '_, '_, '_>,
+    ) -> Result<Self, Error> {
         // validate general stuff
         let device_identification = params.device_group.to_vec();
         validate_same_machine_identification_unique(&device_identification)?;
@@ -124,23 +127,22 @@ impl MachineNewTrait for BufferV1 {
                 EL7041_0052Port::STM1,
             ));
 
-            let machine_id = params
-                .device_group
-                .first()
-                .expect("device group must have at least one device")
-                .device_machine_identification
-                .machine_identification_unique
-                .clone();
+            let machine_identification_unique = params.get_machine_identification_unique();
 
             // create buffer instance
-            let mut buffer: Self = Self {
-                namespace: Buffer1Namespace::new(params.socket_queue_tx.clone()),
+            let mut buffer: BufferV1 = Self {
+                namespace: Buffer1Namespace {
+                    namespace: params.namespace.clone(),
+                },
                 last_measurement_emit: Instant::now(),
                 mode: BufferV1Mode::Standby,
                 buffer_tower_controller,
                 machine_manager: params.machine_manager.clone(),
-                machine_identification_unique: machine_id,
-                connected_winder: None,
+                machine_identification_unique: machine_identification_unique.clone(),
+                connected_winder: MachineCrossConnection::new(
+                    params.machine_manager.clone(),
+                    &machine_identification_unique,
+                ),
             };
             buffer.emit_state();
             Ok(buffer)

server/src/machines/extruder1/api.rs

@@ -1,26 +1,25 @@
-use super::{ExtruderV2Mode, HeatingType, mitsubishi_cs80::MotorStatus};
+use super::{ExtruderV2Mode, mitsubishi_cs80::MotorStatus};
 
 #[cfg(not(feature = "mock-machine"))]
 use super::ExtruderV2;
 
-#[cfg(feature = "mock-machine")]
-use super::mock::ExtruderV2;
+#[cfg(not(feature = "mock-machine"))]
+use crate::machines::extruder1::HeatingType;
 
-use control_core::{
-    machines::api::MachineApi,
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_first_and_last_event,
-        },
+#[cfg(not(feature = "mock-machine"))]
+use control_core::machines::api::MachineApi;
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
+        cache_first_and_last_event,
     },
 };
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
+#[cfg(not(feature = "mock-machine"))]
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use std::{sync::Arc, time::Duration};
 use tracing::instrument;
 use uom::si::{
@@ -225,7 +224,7 @@ pub enum Mutation {
 
 #[derive(Debug)]
 pub struct ExtruderV2Namespace {
-    pub namespace: Namespace,
+    pub namespace: Arc<Mutex<Namespace>>,
 }
 
 impl NamespaceCacheingLogic<ExtruderV2Events> for ExtruderV2Namespace {
@@ -233,15 +232,9 @@ impl NamespaceCacheingLogic<ExtruderV2Events> for ExtruderV2Namespace {
     fn emit(&mut self, events: ExtruderV2Events) {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
-    }
-}
 
-impl ExtruderV2Namespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
     }
 }
 
@@ -303,7 +296,7 @@ impl MachineApi for ExtruderV2 {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
     }
 }

server/src/machines/extruder1/emit.rs

@@ -8,16 +8,21 @@ use crate::machines::extruder1::{
         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"))]
+use control_core::helpers::hasher_serializer::hash_with_serde_model;
+#[cfg(not(feature = "mock-machine"))]
+use control_core::socketio::event::BuildEvent;
+#[cfg(not(feature = "mock-machine"))]
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::{angular_velocity::revolution_per_minute, thermodynamic_temperature::degree_celsius};
+
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::angular_velocity::AngularVelocity;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::pressure::{Pressure, bar};
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::thermodynamic_temperature::ThermodynamicTemperature;
 
 #[cfg(not(feature = "mock-machine"))]
 impl ExtruderV2 {
@@ -199,7 +204,6 @@ impl ExtruderV2 {
     }
 
     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();
@@ -244,7 +248,6 @@ impl ExtruderV2 {
     }
 
     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();

server/src/machines/extruder1/mock/api.rs

@@ -1,5 +1,8 @@
 use crate::machines::extruder1::{HeatingType, api::Mutation, mock::ExtruderV2};
 use control_core::machines::api::MachineApi;
+use control_core::socketio::namespace::Namespace;
+use smol::lock::Mutex;
+use std::sync::Arc;
 
 impl MachineApi for ExtruderV2 {
     fn api_mutate(&mut self, request_body: serde_json::Value) -> Result<(), anyhow::Error> {
@@ -38,7 +41,7 @@ impl MachineApi for ExtruderV2 {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> &mut control_core::socketio::namespace::Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
     }
 }

server/src/machines/extruder1/mock/mod.rs

@@ -1,6 +1,8 @@
 #[cfg(feature = "mock-machine")]
 use control_core::machines::identification::MachineIdentification;
 #[cfg(feature = "mock-machine")]
+use control_core::machines::identification::MachineIdentificationUnique;
+#[cfg(feature = "mock-machine")]
 use control_core_derive::Machine;
 #[cfg(feature = "mock-machine")]
 use std::time::Instant;
@@ -31,6 +33,7 @@ pub mod new;
 #[cfg(feature = "mock-machine")]
 #[derive(Debug, Machine)]
 pub struct ExtruderV2 {
+    machine_identification_unique: MachineIdentificationUnique,
     namespace: ExtruderV2Namespace,
     last_measurement_emit: Instant,
     last_status_hash: Option<u64>,

server/src/machines/extruder1/mock/new.rs

@@ -32,7 +32,10 @@ impl control_core::machines::new::MachineNewTrait for ExtruderV2 {
         let now = std::time::Instant::now();
 
         let mut extruder_mock_machine = Self {
-            namespace: ExtruderV2Namespace::new(params.socket_queue_tx.clone()),
+            machine_identification_unique: params.get_machine_identification_unique(),
+            namespace: ExtruderV2Namespace {
+                namespace: params.namespace.clone(),
+            },
             last_measurement_emit: now,
 
             mode: ExtruderV2Mode::Standby, // Start in standby mode

server/src/machines/extruder1/mod.rs

@@ -1,15 +1,26 @@
-use crate::machines::{MACHINE_EXTRUDER_V1, VENDOR_QITECH};
-use api::ExtruderV2Namespace;
-use control_core::machines::identification::MachineIdentification;
-use control_core_derive::Machine;
-use screw_speed_controller::ScrewSpeedController;
-use serde::{Deserialize, Serialize};
+#[cfg(not(feature = "mock-machine"))]
 use std::time::Instant;
-use temperature_controller::TemperatureController;
-use uom::si::{
-    electric_current::ampere, electric_potential::volt, f64::ThermodynamicTemperature,
-    thermodynamic_temperature::degree_celsius,
+
+#[cfg(not(feature = "mock-machine"))]
+use control_core::machines::identification::{MachineIdentification, MachineIdentificationUnique};
+#[cfg(not(feature = "mock-machine"))]
+use control_core_derive::Machine;
+use serde::{Deserialize, Serialize};
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::electric_current::ampere;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::electric_potential::volt;
+use uom::si::{f64::ThermodynamicTemperature, thermodynamic_temperature::degree_celsius};
+
+#[cfg(not(feature = "mock-machine"))]
+use crate::machines::{
+    MACHINE_EXTRUDER_V1, VENDOR_QITECH,
+    extruder1::{
+        api::ExtruderV2Namespace, screw_speed_controller::ScrewSpeedController,
+        temperature_controller::TemperatureController,
+    },
 };
+
 pub mod act;
 pub mod api;
 pub mod emit;
@@ -52,9 +63,10 @@ pub enum HeatingType {
     Middle,
 }
 
-#[derive(Debug, Machine)]
 #[cfg(not(feature = "mock-machine"))]
+#[derive(Debug, Machine)]
 pub struct ExtruderV2 {
+    machine_identification_unique: MachineIdentificationUnique,
     namespace: ExtruderV2Namespace,
     last_measurement_emit: Instant,
     last_status_hash: Option<u64>,
@@ -126,6 +138,9 @@ impl ExtruderV2 {
     }
 
     // Funktionen ohne emit_state bleiben hier
+
+    // 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();

server/src/machines/extruder1/new.rs

@@ -1,47 +1,71 @@
 #[cfg(not(feature = "mock-machine"))]
-use super::{
-    ExtruderV2, ExtruderV2Mode, Heating, api::ExtruderV2Namespace, mitsubishi_cs80::MitsubishiCS80,
-    screw_speed_controller::ScrewSpeedController,
-};
-use crate::machines::{
-    extruder1::temperature_controller::TemperatureController, get_ethercat_device,
-};
+use crate::machines::get_ethercat_device;
+#[cfg(not(feature = "mock-machine"))]
 use anyhow::Error;
+#[cfg(not(feature = "mock-machine"))]
+use control_core::machines::new::MachineNewHardware;
+#[cfg(not(feature = "mock-machine"))]
+use control_core::machines::new::{MachineNewParams, MachineNewTrait};
+#[cfg(not(feature = "mock-machine"))]
 use control_core::machines::new::{
-    MachineNewHardware, MachineNewParams, MachineNewTrait, validate_no_role_dublicates,
-    validate_same_machine_identification_unique,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
 };
+#[cfg(not(feature = "mock-machine"))]
+use ethercat_hal::coe::ConfigurableDevice;
+#[cfg(not(feature = "mock-machine"))]
+use ethercat_hal::devices::{
+    EthercatDeviceUsed,
+    ek1100::EK1100,
+    ek1100::EK1100_IDENTITY_A,
+    el1002::EL1002,
+    el1002::EL1002_IDENTITY_A,
+    el6021::EL6021,
+    el6021::EL6021Configuration,
+    el6021::EL6021Port,
+    el6021::{EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D},
+};
+#[cfg(not(feature = "mock-machine"))]
+use std::time::Duration;
+#[cfg(not(feature = "mock-machine"))]
+use std::time::Instant;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::angular_velocity::AngularVelocity;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::angular_velocity::revolution_per_minute;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::pressure::Pressure;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::pressure::bar;
+
+#[cfg(not(feature = "mock-machine"))]
 use ethercat_hal::{
-    coe::ConfigurableDevice,
     devices::{
-        EthercatDeviceUsed,
-        ek1100::{EK1100, EK1100_IDENTITY_A},
-        el1002::{EL1002, EL1002_IDENTITY_A},
         el2004::{EL2004, EL2004_IDENTITY_A, EL2004Port},
         el3021::{EL3021, EL3021_IDENTITY_A, EL3021Port},
         el3204::{EL3204, EL3204_IDENTITY_A, EL3204_IDENTITY_B, EL3204Port},
-        el6021::{
-            self, EL6021, EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C,
-            EL6021_IDENTITY_D, EL6021Configuration,
-        },
     },
     io::{
         analog_input::AnalogInput, digital_output::DigitalOutput,
         serial_interface::SerialInterface, temperature_input::TemperatureInput,
     },
 };
-use std::time::{Duration, Instant};
-use uom::si::{
-    angular_velocity::revolution_per_minute,
-    f64::{AngularVelocity, Pressure, ThermodynamicTemperature},
-    pressure::bar,
-    thermodynamic_temperature::degree_celsius,
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::thermodynamic_temperature::{ThermodynamicTemperature, degree_celsius};
+
+#[cfg(not(feature = "mock-machine"))]
+use crate::machines::extruder1::temperature_controller::TemperatureController;
+
+#[cfg(not(feature = "mock-machine"))]
+use super::{
+    ExtruderV2, ExtruderV2Mode, Heating, api::ExtruderV2Namespace, mitsubishi_cs80::MitsubishiCS80,
+    screw_speed_controller::ScrewSpeedController,
 };
 
 #[cfg(not(feature = "mock-machine"))]
 impl MachineNewTrait for ExtruderV2 {
     fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
         // validate general stuff
+
         let device_identification = params.device_group.to_vec();
 
         validate_same_machine_identification_unique(&device_identification)?;
@@ -189,8 +213,7 @@ impl MachineNewTrait for ExtruderV2 {
                 0.95,
             );
 
-            let inverter =
-                MitsubishiCS80::new(SerialInterface::new(el6021, el6021::EL6021Port::SI1));
+            let inverter = MitsubishiCS80::new(SerialInterface::new(el6021, EL6021Port::SI1));
 
             let target_pressure = Pressure::new::<bar>(0.0);
             let target_rpm = AngularVelocity::new::<revolution_per_minute>(0.0);
@@ -198,8 +221,11 @@ impl MachineNewTrait for ExtruderV2 {
             let screw_speed_controller =
                 ScrewSpeedController::new(inverter, target_pressure, target_rpm, pressure_sensor);
 
-            let mut extruder: Self = Self {
-                namespace: ExtruderV2Namespace::new(params.socket_queue_tx.clone()),
+            let mut extruder: ExtruderV2 = Self {
+                machine_identification_unique: params.get_machine_identification_unique(),
+                namespace: ExtruderV2Namespace {
+                    namespace: params.namespace.clone(),
+                },
                 last_measurement_emit: Instant::now(),
                 mode: ExtruderV2Mode::Standby,
                 total_energy_kwh: 0.0,

server/src/machines/laser/api.rs

@@ -12,8 +12,7 @@ use control_core::{
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use std::{sync::Arc, time::Duration};
 use tracing::instrument;
 
@@ -62,15 +61,7 @@ pub enum LaserEvents {
 
 #[derive(Debug)]
 pub struct LaserMachineNamespace {
-    pub namespace: Namespace,
-}
-
-impl LaserMachineNamespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
-    }
+    pub namespace: Arc<Mutex<Namespace>>,
 }
 
 impl CacheableEvents<Self> for LaserEvents {
@@ -107,7 +98,9 @@ impl NamespaceCacheingLogic<LaserEvents> for LaserMachineNamespace {
     fn emit(&mut self, events: LaserEvents) {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
+
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
     }
 }
 
@@ -128,7 +121,7 @@ impl MachineApi for LaserMachine {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
     }
 }

server/src/machines/laser/mod.rs

@@ -4,7 +4,8 @@ use crate::{
 };
 use api::{LaserEvents, LaserMachineNamespace, LaserState, LiveValuesEvent, StateEvent};
 use control_core::{
-    machines::identification::MachineIdentification, socketio::namespace::NamespaceCacheingLogic,
+    machines::identification::{MachineIdentification, MachineIdentificationUnique},
+    socketio::namespace::NamespaceCacheingLogic,
 };
 use control_core_derive::Machine;
 use smol::lock::RwLock;
@@ -17,6 +18,8 @@ pub mod new;
 
 #[derive(Debug, Machine)]
 pub struct LaserMachine {
+    machine_identification_unique: MachineIdentificationUnique,
+
     // drivers
     laser: Arc<RwLock<Laser>>,
 
@@ -43,9 +46,7 @@ impl LaserMachine {
         vendor: VENDOR_QITECH,
         machine: MACHINE_LASER_V1,
     };
-}
 
-impl LaserMachine {
     ///diameter in mm
     pub fn emit_live_values(&mut self) {
         let diameter = self.diameter.get::<millimeter>();

server/src/machines/laser/new.rs

@@ -4,11 +4,9 @@ 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 control_core::machines::new::{MachineNewHardware, MachineNewTrait};
+use uom::ConstZero;
+use uom::si::{f64::Length, length::millimeter};
 
 impl MachineNewTrait for LaserMachine {
     fn new(
@@ -18,7 +16,7 @@ impl MachineNewTrait for LaserMachine {
         Self: Sized,
     {
         let hardware_serial = match params.hardware {
-            control_core::machines::new::MachineNewHardware::Serial(serial) => *serial,
+            MachineNewHardware::Serial(serial) => *serial,
             _ => return Err(Error::msg("Invalid hardware type for LaserMachine")),
         };
 
@@ -37,8 +35,11 @@ impl MachineNewTrait for LaserMachine {
             diameter: Length::new::<millimeter>(1.75),
         };
         let mut laser_machine = Self {
+            machine_identification_unique: params.get_machine_identification_unique(),
             laser,
-            namespace: LaserMachineNamespace::new(params.socket_queue_tx.clone()),
+            namespace: LaserMachineNamespace {
+                namespace: params.namespace.clone(),
+            },
             last_measurement_emit: Instant::now(),
             laser_target,
             emitted_default_state: false,

server/src/machines/mock/api.rs

@@ -12,8 +12,7 @@ use control_core::{
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use std::{sync::Arc, time::Duration};
 use tracing::instrument;
 
@@ -61,15 +60,7 @@ pub enum MockEvents {
 
 #[derive(Debug)]
 pub struct MockMachineNamespace {
-    pub namespace: Namespace,
-}
-
-impl MockMachineNamespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
-    }
+    pub namespace: Arc<Mutex<Namespace>>,
 }
 
 impl CacheableEvents<Self> for MockEvents {
@@ -106,7 +97,9 @@ impl NamespaceCacheingLogic<MockEvents> for MockMachineNamespace {
     fn emit(&mut self, events: MockEvents) {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
+
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
     }
 }
 
@@ -130,7 +123,7 @@ impl MachineApi for MockMachine {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
     }
 }

server/src/machines/mock/mod.rs

@@ -1,5 +1,6 @@
 use crate::machines::{MACHINE_MOCK, VENDOR_QITECH};
 use api::{LiveValuesEvent, MockEvents, MockMachineNamespace, Mode, ModeState, StateEvent};
+use control_core::machines::identification::MachineIdentificationUnique;
 use control_core::socketio::event::BuildEvent;
 use control_core::{
     machines::identification::MachineIdentification, socketio::namespace::NamespaceCacheingLogic,
@@ -19,6 +20,8 @@ pub mod new;
 
 #[derive(Debug, Machine)]
 pub struct MockMachine {
+    machine_identification_unique: MachineIdentificationUnique,
+
     // socketio
     namespace: MockMachineNamespace,
     last_measurement_emit: Instant,
@@ -40,12 +43,10 @@ pub struct MockMachine {
 
 impl MockMachine {
     pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
-        vendor: VENDOR_QITECH,
         machine: MACHINE_MOCK,
+        vendor: VENDOR_QITECH,
     };
-}
 
-impl MockMachine {
     /// Emit live values data event with the current sine wave amplitude
     pub fn emit_live_values(&mut self) {
         let now = Instant::now();

server/src/machines/mock/new.rs

@@ -5,12 +5,12 @@ use super::{
     api::{MockMachineNamespace, Mode},
 };
 use anyhow::Error;
-use control_core::machines::new::{MachineNewHardware, MachineNewTrait};
+use control_core::machines::new::{MachineNewHardware, MachineNewParams, MachineNewTrait};
 use uom::si::{f64::Frequency, frequency::hertz};
 
 impl MachineNewTrait for MockMachine {
-    fn new(
-        params: &control_core::machines::new::MachineNewParams<'_, '_, '_, '_, '_, '_, '_>,
+    fn new<'maindevice, 'subdevices>(
+        params: &MachineNewParams<'maindevice, 'subdevices, '_, '_, '_, '_, '_>,
     ) -> Result<Self, Error>
     where
         Self: Sized,
@@ -32,7 +32,10 @@ impl MachineNewTrait for MockMachine {
         let now = Instant::now();
 
         let mut mock_machine = Self {
-            namespace: MockMachineNamespace::new(params.socket_queue_tx.clone()),
+            machine_identification_unique: params.get_machine_identification_unique(),
+            namespace: MockMachineNamespace {
+                namespace: params.namespace.clone(),
+            },
             last_measurement_emit: now,
             t_0: now, // Initialize start time to current time
             frequency1: Frequency::new::<hertz>(0.1), // Default frequency1 of 100 mHz

server/src/machines/winder2/api.rs

@@ -1,6 +1,9 @@
 use super::{Winder2, Winder2Mode, puller_speed_controller::PullerRegulationMode};
 use control_core::{
-    machines::{api::MachineApi, identification::MachineIdentificationUnique},
+    machines::{
+        api::MachineApi, connection::MachineCrossConnectionState,
+        identification::MachineIdentificationUnique,
+    },
     socketio::{
         event::{Event, GenericEvent},
         namespace::{
@@ -13,8 +16,7 @@ use control_core::{
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use std::{
     sync::Arc,
     time::{Duration, Instant},
@@ -141,7 +143,7 @@ pub struct StateEvent {
     /// spool speed controller state
     pub spool_speed_controller_state: SpoolSpeedControllerState,
     /// connected machine state
-    pub connected_machine_state: ConnectedMachineState,
+    pub connected_machine_state: MachineCrossConnectionState,
 }
 
 #[derive(Serialize, Debug, Clone)]
@@ -237,13 +239,6 @@ pub struct SpoolSpeedControllerState {
     pub adaptive_deacceleration_urgency_multiplier: f64,
 }
 
-#[derive(Serialize, Debug, Clone)]
-pub struct ConnectedMachineState {
-    /// Connected Machine
-    pub machine_identification_unique: Option<MachineIdentificationUnique>,
-    pub is_available: bool,
-}
-
 pub enum Winder2Events {
     LiveValues(Event<LiveValuesEvent>),
     State(Event<StateEvent>),
@@ -251,7 +246,7 @@ pub enum Winder2Events {
 
 #[derive(Debug)]
 pub struct Winder2Namespace {
-    pub namespace: Namespace,
+    pub namespace: Arc<Mutex<Namespace>>,
 }
 
 impl NamespaceCacheingLogic<Winder2Events> for Winder2Namespace {
@@ -259,15 +254,9 @@ impl NamespaceCacheingLogic<Winder2Events> for Winder2Namespace {
     fn emit(&mut self, events: Winder2Events) {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
-    }
-}
 
-impl Winder2Namespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
     }
 }
 
@@ -341,7 +330,7 @@ impl MachineApi for Winder2 {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
     }
 }

server/src/machines/winder2/mod.rs

@@ -9,6 +9,9 @@ pub mod puller_speed_controller;
 pub mod spool_speed_controller;
 pub mod tension_arm;
 pub mod traverse_controller;
+
+use std::{fmt::Debug, sync::Weak, time::Instant};
+
 use api::{
     LiveValuesEvent, ModeState, PullerState, SpoolAutomaticActionMode, SpoolAutomaticActionState,
     SpoolSpeedControllerState, StateEvent, TensionArmState, TraverseState, Winder2Events,
@@ -18,7 +21,7 @@ use control_core::socketio::event::BuildEvent;
 use control_core::{
     converters::angular_step_converter::AngularStepConverter,
     machines::{
-        ConnectedMachine, ConnectedMachineData, downcast_machine,
+        connection::{CrossConnectableMachine, MachineCrossConnection},
         identification::{MachineIdentification, MachineIdentificationUnique},
         manager::MachineManager,
     },
@@ -30,15 +33,9 @@ use ethercat_hal::io::{
     digital_input::DigitalInput, digital_output::DigitalOutput,
     stepper_velocity_el70x1::StepperVelocityEL70x1,
 };
-use futures::executor::block_on;
 use puller_speed_controller::{PullerRegulationMode, PullerSpeedController};
-use smol::lock::{Mutex, RwLock};
+use smol::lock::RwLock;
 use spool_speed_controller::SpoolSpeedController;
-use std::{
-    fmt::Debug,
-    sync::{Arc, Weak},
-    time::Instant,
-};
 use tension_arm::TensionArm;
 use traverse_controller::TraverseController;
 use uom::{
@@ -52,9 +49,7 @@ use uom::{
     },
 };
 
-use crate::machines::{
-    MACHINE_WINDER_V1, VENDOR_QITECH, buffer1::BufferV1, winder2::api::ConnectedMachineState,
-};
+use crate::machines::{MACHINE_WINDER_V1, VENDOR_QITECH, buffer1::BufferV1};
 
 #[derive(Debug)]
 pub struct SpoolAutomaticAction {
@@ -86,7 +81,7 @@ pub struct Winder2 {
     pub machine_identification_unique: MachineIdentificationUnique,
 
     // connected machines
-    pub connected_buffer: Option<ConnectedMachine<Weak<Mutex<BufferV1>>>>,
+    pub connected_buffer: MachineCrossConnection<Winder2, BufferV1>,
 
     // mode
     pub mode: Winder2Mode,
@@ -109,15 +104,19 @@ pub struct Winder2 {
     emitted_default_state: bool,
 }
 
+impl CrossConnectableMachine<Winder2, BufferV1> for Winder2 {
+    fn get_cross_connection(&mut self) -> &mut MachineCrossConnection<Winder2, BufferV1> {
+        &mut self.connected_buffer
+    }
+}
+
 impl Winder2 {
     pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
         vendor: VENDOR_QITECH,
         machine: MACHINE_WINDER_V1,
     };
-}
 
-/// Implement Traverse
-impl Winder2 {
+    /// Implement Traverse
     fn set_laser(&mut self, value: bool) {
         self.laser.set(value);
         self.emit_state();
@@ -311,20 +310,7 @@ impl Winder2 {
                 spool_required_meters: self.spool_automatic_action.target_length.get::<meter>(),
                 spool_automatic_action_mode: self.spool_automatic_action.mode.clone(),
             },
-            connected_machine_state: ConnectedMachineState {
-                machine_identification_unique: self.connected_buffer.as_ref().map(
-                    |connected_machine| {
-                        ConnectedMachineData::from(connected_machine).machine_identification_unique
-                    },
-                ),
-                is_available: self
-                    .connected_buffer
-                    .as_ref()
-                    .map(|connected_machine| {
-                        ConnectedMachineData::from(connected_machine).is_available
-                    })
-                    .unwrap_or(false),
-            },
+            connected_machine_state: self.connected_buffer.to_state(),
         }
     }
 
@@ -385,12 +371,8 @@ impl Winder2 {
             && !self.traverse_controller.is_traversing()
             && self.mode != Winder2Mode::Wind
     }
-}
 
-impl Winder2 {}
-
-/// Implement Mode
-impl Winder2 {
+    /// Implement Mode
     fn set_mode(&mut self, mode: &Winder2Mode) {
         let should_update = *mode != Winder2Mode::Wind || self.can_wind();
 
@@ -577,20 +559,16 @@ impl Winder2 {
         // Update the internal state
         self.puller_mode = mode;
     }
-}
 
-/// Implement Tension Arm
-impl Winder2 {
+    /// Implement Tension Arm
     fn tension_arm_zero(&mut self) {
         self.tension_arm.zero();
         self.emit_live_values(); // For angle update
         // For state update
         self.emit_state();
     }
-}
 
-/// Implement Spool
-impl Winder2 {
+    /// Implement Spool
     /// called by `act`
     pub fn sync_spool_speed(&mut self, t: Instant) {
         let angular_velocity = self.spool_speed_controller.update_speed(
@@ -670,10 +648,8 @@ impl Winder2 {
         self.spool_automatic_action.progress += meters_pulled_this_interval;
         self.spool_automatic_action.progress_last_check = now;
     }
-}
 
-/// Implement Puller
-impl Winder2 {
+    /// Implement Puller
     /// called by `act`
     pub fn sync_puller_speed(&mut self, t: Instant) {
         let angular_velocity = self.puller_speed_controller.calc_angular_velocity(t);
@@ -777,10 +753,8 @@ impl Winder2 {
             .set_adaptive_deacceleration_urgency_multiplier(deacceleration_urgency_multiplier);
         self.emit_state();
     }
-}
 
-/// implement machine connection
-impl Winder2 {
+    /// implement machine connection
     /// set connected buffer
     pub fn set_connected_buffer(
         &mut self,
@@ -792,33 +766,12 @@ impl Winder2 {
         ) {
             return;
         }
-        let machine_manager_arc = match self.machine_manager.upgrade() {
-            Some(machine_manager_arc) => machine_manager_arc,
-            None => return,
-        };
-        let machine_manager_guard = block_on(machine_manager_arc.read());
-        let buffer_weak = machine_manager_guard.get_machine_weak(&machine_identification_unique);
-        let buffer_weak = match buffer_weak {
-            Some(buffer_weak) => buffer_weak,
-            None => return,
-        };
-        let buffer_strong = match buffer_weak.upgrade() {
-            Some(buffer_strong) => buffer_strong,
-            None => return,
-        };
 
-        let buffer: Arc<Mutex<BufferV1>> = block_on(downcast_machine::<BufferV1>(buffer_strong))
-            .expect("failed downcasting machine");
+        self.connected_buffer
+            .set_connected_machine(&machine_identification_unique);
+        self.connected_buffer.reverse_connect();
 
-        let machine = Arc::downgrade(&buffer);
-
-        self.connected_buffer = Some(ConnectedMachine {
-            machine_identification_unique,
-            machine,
-        });
         self.emit_state();
-
-        self.reverse_connect();
     }
 
     /// disconnect buffer
@@ -832,36 +785,11 @@ impl Winder2 {
         ) {
             return;
         }
-        if let Some(connected) = &self.connected_buffer {
-            if let Some(buffer_arc) = connected.machine.upgrade() {
-                let future = async move {
-                    let mut buffer = buffer_arc.lock().await;
-                    if buffer.connected_winder.is_some() {
-                        buffer.connected_winder = None;
-                        buffer.emit_state();
-                    }
-                };
-                smol::spawn(future).detach();
-            }
-        }
-        self.connected_buffer = None;
-        self.emit_state();
-    }
 
-    /// initiate connection from buffer to winder
-    pub fn reverse_connect(&mut self) {
-        let machine_identification_unique = self.machine_identification_unique.clone();
-        if let Some(connected) = &self.connected_buffer {
-            if let Some(buffer_arc) = connected.machine.upgrade() {
-                let future = async move {
-                    let mut buffer = buffer_arc.lock().await;
-                    if buffer.connected_winder.is_none() {
-                        buffer.set_connected_winder(machine_identification_unique);
-                    }
-                };
-                smol::spawn(future).detach();
-            }
-        }
+        self.connected_buffer.reverse_disconnect();
+        self.connected_buffer.disconnect();
+
+        self.emit_state();
     }
 }
 

server/src/machines/winder2/new.rs

@@ -10,6 +10,7 @@ use crate::machines::winder2::traverse_controller::TraverseController;
 use anyhow::Error;
 use control_core::converters::angular_step_converter::AngularStepConverter;
 use control_core::converters::linear_step_converter::LinearStepConverter;
+use control_core::machines::connection::MachineCrossConnection;
 use control_core::machines::new::{
     MachineNewHardware, MachineNewParams, MachineNewTrait, validate_no_role_dublicates,
     validate_same_machine_identification_unique,
@@ -197,7 +198,9 @@ impl MachineNewTrait for Winder2 {
                     EL7031_0030AnalogInputPort::AI1,
                 )),
                 laser: DigitalOutput::new(el2002, EL2002Port::DO1),
-                namespace: Winder2Namespace::new(params.socket_queue_tx.clone()),
+                namespace: Winder2Namespace {
+                    namespace: params.namespace.clone(),
+                },
                 mode: mode.clone(),
                 spool_step_converter: AngularStepConverter::new(200),
                 spool_speed_controller: SpoolSpeedController::new(),
@@ -227,7 +230,10 @@ impl MachineNewTrait for Winder2 {
                 },
                 machine_manager: params.machine_manager.clone(),
                 machine_identification_unique: machine_id,
-                connected_buffer: None,
+                connected_buffer: MachineCrossConnection::new(
+                    params.machine_manager.clone(),
+                    &params.get_machine_identification_unique(),
+                ),
             };
 
             // initalize events

server/src/main.rs

@@ -14,7 +14,6 @@ use app_state::AppState;
 use mock::init::init_mock;
 use std::{sync::Arc, time::Duration};
 
-use ethercat::init::init_ethercat;
 use r#loop::init_loop;
 use rest::init::init_api;
 #[cfg(not(feature = "mock-machine"))]
@@ -23,6 +22,8 @@ use serial::init::init_serial;
 #[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
 use jemalloc_stats::init_jemalloc_stats;
 
+#[cfg(not(feature = "mock-machine"))]
+use crate::ethercat::init::init_ethercat;
 use crate::panic::init_panic;
 use crate::socketio::queue::init_socketio_queue;
 

server/src/mock/init.rs

@@ -25,7 +25,7 @@ pub fn init_mock(app_state: Arc<AppState>) -> Result<(), anyhow::Error> {
         };
 
         // Create the mock serial device
-        match MockSerialDevice::new_serial(&serial_params) {
+        let _ = match MockSerialDevice::new_serial(&serial_params) {
             Ok((device_identification, mock_serial_device)) => {
                 // Add the mock device to the machine manager
                 {
@@ -47,7 +47,7 @@ pub fn init_mock(app_state: Arc<AppState>) -> Result<(), anyhow::Error> {
                     .write()
                     .await
                     .main_namespace;
-                let event = MachinesEventBuilder().build(app_state_event.clone()).await;
+                let event = MachinesEventBuilder().build(app_state_event.clone());
                 main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
                 Ok::<(), anyhow::Error>(())
             }
@@ -79,7 +79,7 @@ pub fn init_mock(app_state: Arc<AppState>) -> Result<(), anyhow::Error> {
                     .write()
                     .await
                     .main_namespace;
-                let event = MachinesEventBuilder().build(app_state_event.clone()).await;
+                let event = MachinesEventBuilder().build(app_state_event.clone());
                 main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
                 Ok(())
             }

server/src/rest/handlers/machine_mutation.rs

@@ -3,7 +3,10 @@ use crate::{
     rest::util::{ResponseUtil, ResponseUtilError},
 };
 use axum::{Json, body::Body, extract::State, http::Response};
-use control_core::rest::mutation::{MachineMutationBody, MutationResponse};
+use control_core::{
+    machines::connection::MachineConnection,
+    rest::mutation::{MachineMutationBody, MutationResponse},
+};
 use serde_json::Value;
 use std::sync::Arc;
 
@@ -27,7 +30,7 @@ async fn _post_machine_mutate(
     let machines_guard = app_state.machines.read().await;
 
     // find machine with given identification in hashmap
-    let machine = machines_guard
+    let slot = machines_guard
         .get(&body.machine_identification_unique)
         .ok_or(anyhow::anyhow!(
             "[{}::_post_machine_mutate] Machine not found {:?}",
@@ -35,14 +38,21 @@ async fn _post_machine_mutate(
             body.machine_identification_unique,
         ))?;
 
-    // check machine for error
-    let machine = match machine {
-        Ok(m) => m,
-        Err(e) => {
+    // check machine for valid connection
+    let connection = &slot.lock_blocking().machine_connection;
+    let machine = match connection {
+        MachineConnection::Connected(m) => m,
+        MachineConnection::Error(error) => {
             return Err(anyhow::anyhow!(
                 "[{}::_post_machine_mutate] Machine has error: {}",
                 module_path!(),
-                e
+                error
+            ));
+        }
+        MachineConnection::Disconnected => {
+            return Err(anyhow::anyhow!(
+                "[{}::_post_machine_mutate] Machine is disconnected",
+                module_path!()
             ));
         }
     };

server/src/serial/init.rs

@@ -68,8 +68,7 @@ pub fn init_serial(
                                     .write()
                                     .await
                                     .main_namespace;
-                                let event =
-                                    MachinesEventBuilder().build(app_state_event.clone()).await;
+                                let event = MachinesEventBuilder().build(app_state_event.clone());
                                 main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
                             });
                         }

server/src/socketio/main_namespace/machines_event.rs

@@ -20,20 +20,8 @@ pub struct MachinesEventBuilder();
 impl MachinesEventBuilder {
     const NAME: &'static str = "MachinesEvent";
 
-    pub async fn build(&self, app_state: Arc<AppState>) -> Event<MachinesEvent> {
-        let mut machine_objs: Vec<_> = vec![];
-        // add machines
-        let machines_guard = app_state.machines.read().await;
-        for machine in machines_guard.iter() {
-            machine_objs.push(MachineObj {
-                machine_identification_unique: machine.0.clone(),
-                error: match machine.1 {
-                    Ok(_) => None,
-                    Err(e) => Some(e.to_string()),
-                },
-            });
-        }
-
+    pub fn build(&self, app_state: Arc<AppState>) -> Event<MachinesEvent> {
+        let machine_objs = app_state.get_machine_objs();
         Event::new(
             Self::NAME,
             MachinesEvent {

server/src/socketio/namespaces.rs

@@ -1,7 +1,8 @@
 use std::sync::Arc;
 
-use control_core::socketio::{
-    event::GenericEvent, namespace::Namespace, namespace_id::NamespaceId,
+use control_core::{
+    machines::connection::MachineConnection,
+    socketio::{event::GenericEvent, namespace::Namespace, namespace_id::NamespaceId},
 };
 use smol::channel::Sender;
 use socketioxide::extract::SocketRef;
@@ -34,8 +35,8 @@ impl Namespaces {
                 let machines_guard = app_state.machines.read().await;
 
                 // get machine
-                let machine = match machines_guard.get(&machine_identification_unique) {
-                    Some(machine) => machine,
+                let slot = match machines_guard.get(&machine_identification_unique) {
+                    Some(slot) => slot,
                     None => {
                         callback(Err(anyhow::anyhow!(
                             "[{}::Namespaces::appply_mut] Machine {:?} not found",
@@ -45,24 +46,32 @@ impl Namespaces {
                         return;
                     }
                 };
+                let slot = slot.lock_blocking();
 
                 // check if machine has error
-                let machine = match machine {
-                    Ok(machine) => machine,
-                    Err(err) => {
+                let machine = match &slot.machine_connection {
+                    MachineConnection::Error(error) => {
                         callback(Err(anyhow::anyhow!(
                             "[{}::Namespaces::appply_mut] Machine {:?} has error: {}",
                             module_path!(),
                             machine_identification_unique,
-                            err
+                            error
                         )));
                         return;
                     }
+                    MachineConnection::Disconnected => {
+                        callback(Err(anyhow::anyhow!(
+                            "[{}::Namespaces::appply_mut] Machine {:?} has disconnected",
+                            module_path!(),
+                            machine_identification_unique
+                        )));
+                        return;
+                    }
+                    MachineConnection::Connected(mutex) => mutex,
                 };
-
                 let mut machine_guard = machine.lock().await;
                 let namespace = machine_guard.api_event_namespace();
-                callback(Ok(namespace));
+                callback(Ok(&mut namespace.lock_blocking()));
             }
         }
     }