removed unnecessary variable from shared_state and fixed serial hotplug

backend works flawlessly now

added machine_connection and a main_thread actor

added back write_machine_device_ident

error handling for machines restored

correctly handles machine connections/disconnections now

removed unused deps

Cargo.toml

@@ -4,8 +4,10 @@ members = [
     "ethercat-hal",
     "ethercat-hal-derive",
     "control-core",
-    "ethercat-eeprom-dump",
+    "machines",
+    #"ethercat-eeprom-dump",
     "control-core-derive",
+    "units",
 ]
 exclude = []
 resolver = "2"

control-core/Cargo.toml

@@ -12,17 +12,15 @@ anyhow = "1.0.100"
 axum = "0.8.6"
 
 ethercat_hal = { path = "../ethercat-hal" }
+units = { path = "../units" }
 ethercrab = "0.6"
 interfaces = "0.0.9"
 serde = "1.0.219"
-serde_json = "1.0.143"
 serialport = "4.7.3"
 smol = "2.0.2"
 socketioxide = "0.17.2"
-uom = { version = "0.36.0", default-features = false, features = ["f64"] }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
-serial = "0.4.0"
 tracing = "0.1.41"
 erased-serde = "0.4.8"
 core_affinity = "0.8.3"

control-core/src/controllers/first_degree_motion/angular_acceleration_speed_controller.rs

@@ -1,6 +1,6 @@
 use std::time::Instant;
 
-use uom::si::{
+use units::{
     angular_acceleration::radian_per_second_squared,
     angular_velocity::radian_per_second,
     f64::{AngularAcceleration, AngularVelocity},

control-core/src/controllers/first_degree_motion/linear_acceleration_speed_controller.rs

@@ -1,6 +1,6 @@
 use std::time::Instant;
 
-use uom::si::{
+use units::{
     acceleration::meter_per_second_squared,
     f64::{Acceleration, Velocity},
     velocity::meter_per_second,

control-core/src/controllers/second_degree_motion/angular_acceleration_position_controller.rs

@@ -1,6 +1,6 @@
 use std::time::Instant;
 
-use uom::si::{
+use units::{
     angle::radian,
     angular_acceleration::radian_per_second_squared,
     angular_velocity::radian_per_second,
@@ -199,8 +199,8 @@ impl AngularAccelerationPositionController {
     /// # Example
     /// ```ignore
     /// use control_core::controllers::second_degree_motion::angular_acceleration_position_controller::AngularAccelerationPositionController;
-    /// use uom::si::f64::Angle;
-    /// use uom::si::angle::degree;
+    /// use units::f64::Angle;
+    /// use units::angle::degree;
     ///
     /// let mut controller = AngularAccelerationPositionController::new_simple(
     ///     Some(Angle::new::<degree>(180.0)),

control-core/src/controllers/second_degree_motion/angular_jerk_speed_controller.rs

@@ -1,6 +1,6 @@
 use std::time::Instant;
 
-use uom::si::{
+use units::{
     angular_acceleration::radian_per_second_squared,
     angular_jerk::radian_per_second_cubed,
     angular_velocity::radian_per_second,
@@ -23,7 +23,7 @@ use super::jerk_speed_controller::JerkSpeedController;
 ///
 /// # Example
 /// ```ignore
-/// use uom::si::{
+/// use units::{
 ///     angular_velocity::revolution_per_minute,
 ///     angular_acceleration::revolution_per_minute_per_second,
 ///     angular_jerk::revolution_per_minute_per_second_squared,
@@ -65,7 +65,7 @@ impl AngularJerkSpeedController {
     ///
     /// # Example
     /// ```ignore
-    /// use uom::si::{
+    /// use units::{
     ///     angular_velocity::revolution_per_minute,
     ///     angular_acceleration::revolution_per_minute_per_second,
     ///     angular_jerk::revolution_per_minute_per_second_squared,
@@ -127,7 +127,7 @@ impl AngularJerkSpeedController {
     ///
     /// # Example
     /// ```ignore
-    /// use uom::si::{
+    /// use units::{
     ///     angular_velocity::revolution_per_minute,
     ///     angular_acceleration::revolution_per_minute_per_second,
     ///     angular_jerk::revolution_per_minute_per_second_squared,
@@ -185,7 +185,7 @@ impl AngularJerkSpeedController {
     /// # Example
     /// ```ignore
     /// use std::time::Instant;
-    /// use uom::si::{angular_velocity::revolution_per_minute, f64::AngularVelocity};
+    /// use units::{angular_velocity::revolution_per_minute, f64::AngularVelocity};
     ///
     /// let mut controller = AngularJerkSpeedController::new_simple(/* ... */);
     /// let target = AngularVelocity::new::<revolution_per_minute>(1500.0);

control-core/src/controllers/second_degree_motion/linear_acceleration_position_controller.rs

@@ -1,6 +1,6 @@
 use std::time::Instant;
 
-use uom::si::{
+use units::{
     acceleration::meter_per_second_squared,
     f64::{Acceleration, Length, Velocity},
     length::meter,
@@ -22,8 +22,8 @@ use super::acceleration_position_controller::{
 ///
 /// # Example
 /// ```ignore
-/// use uom::si::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
-/// use uom::si::f64::{Length, Velocity, Acceleration};
+/// use units::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
+/// use units::f64::{Length, Velocity, Acceleration};
 ///
 /// let position_limit = Length::new::<meter>(10.0);
 /// let max_speed = Velocity::new::<meter_per_second>(2.0);
@@ -101,8 +101,8 @@ impl LinearAccelerationPositionController {
     ///
     /// # Example
     /// ```ignore
-    /// use uom::si::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
-    /// use uom::si::f64::{Length, Velocity, Acceleration};
+    /// use units::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
+    /// use units::f64::{Length, Velocity, Acceleration};
     ///
     /// let position_limit = Length::new::<meter>(5.0);  // Creates [-5.0, +5.0] meter range
     /// let max_speed = Velocity::new::<meter_per_second>(1.0);  // Creates [-1.0, +1.0] m/s range
@@ -150,7 +150,7 @@ impl LinearAccelerationPositionController {
     /// # Example
     /// ```ignore
     /// use std::time::Instant;
-    /// use uom::si::{length::meter, f64::Length};
+    /// use units::{length::meter, f64::Length};
     ///
     /// let mut controller = LinearAccelerationPositionController::new_simple(
     ///     Some(Length::new::<meter>(10.0)),
@@ -375,7 +375,7 @@ impl LinearAccelerationPositionController {
     ///
     /// # Example
     /// ```ignore
-    /// use uom::si::{length::meter, velocity::meter_per_second, f64::{Length, Velocity}};
+    /// use units::{length::meter, velocity::meter_per_second, f64::{Length, Velocity}};
     ///
     /// let new_position = Length::new::<meter>(0.0);
     ///

control-core/src/controllers/second_degree_motion/linear_jerk_speed_controller.rs

@@ -1,6 +1,6 @@
 use std::time::Instant;
 
-use uom::si::{
+use units::{
     acceleration::meter_per_second_squared,
     f64::{Acceleration, Jerk, Velocity},
     jerk::meter_per_second_cubed,
@@ -23,7 +23,7 @@ use super::jerk_speed_controller::JerkSpeedController;
 ///
 /// # Example
 /// ```ignore
-/// use uom::si::{
+/// use units::{
 ///     velocity::meter_per_second,
 ///     acceleration::meter_per_second_squared,
 ///     jerk::meter_per_second_cubed,
@@ -65,7 +65,7 @@ impl LinearJerkSpeedController {
     ///
     /// # Example
     /// ```ignore
-    /// use uom::si::{
+    /// use units::{
     ///     velocity::meter_per_second,
     ///     acceleration::meter_per_second_squared,
     ///     jerk::meter_per_second_cubed,
@@ -127,7 +127,7 @@ impl LinearJerkSpeedController {
     ///
     /// # Example
     /// ```ignore
-    /// use uom::si::{
+    /// use units::{
     ///     velocity::meter_per_second,
     ///     acceleration::meter_per_second_squared,
     ///     jerk::meter_per_second_cubed,

control-core/src/converters/angle_converter.rs

@@ -1,4 +1,4 @@
-use uom::si::{angle::radian, f64::Angle};
+use units::{angle::radian, f64::Angle};
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct AngleConverter {

control-core/src/converters/angular_step_converter.rs

@@ -1,4 +1,4 @@
-use uom::si::{
+use units::{
     angle::revolution,
     angular_acceleration::radian_per_second_squared,
     angular_velocity::revolution_per_second,
@@ -90,7 +90,7 @@ mod tests {
     use super::*;
     use approx::assert_relative_eq;
     use std::f64::EPSILON;
-    use uom::si::{
+    use units::{
         angle::degree, angular_acceleration::degree_per_second_squared,
         angular_velocity::degree_per_second,
     };

control-core/src/converters/circular_converter.rs

@@ -14,14 +14,14 @@
 //!
 //! ```rust
 //! use control_core::converters::circular_converter::CircularConverter;
-//! use uom::si::{f64::{Length, Velocity}, length::meter, velocity::meter_per_second};
+//! use units::{f64::{Length, Velocity}, length::meter, velocity::meter_per_second};
 //!
 //! let converter = CircularConverter::from_radius(Length::new::<meter>(0.1));
 //! let velocity = Velocity::new::<meter_per_second>(1.0);
 //! let angular_velocity = converter.linear_to_angular_velocity(velocity);
 //! ```
 
-use uom::si::{
+use units::{
     acceleration::meter_per_second_squared,
     angle::radian,
     angular_acceleration::radian_per_second_squared,
@@ -199,7 +199,7 @@ impl CircularConverter {
 #[cfg(test)]
 mod tests {
     use super::*;
-    use uom::si::length::centimeter;
+    use units::length::centimeter;
 
     #[test]
     fn test_constructors() {

control-core/src/converters/linear_step_converter.rs

@@ -1,4 +1,4 @@
-use uom::si::{
+use units::{
     angle::revolution,
     angular_velocity::revolution_per_second,
     f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
@@ -251,7 +251,7 @@ mod tests {
     use super::*;
     use approx::assert_relative_eq;
     use std::f64::EPSILON;
-    use uom::si::{
+    use units::{
         acceleration::meter_per_second_squared, angular_acceleration::radian_per_second_squared,
         length::meter, velocity::meter_per_second,
     };

control-core/src/ethercat/interface_discovery.rs

@@ -1,10 +1,9 @@
-use std::{process::Command, sync::Arc, time::Duration};
-
 use ethercrab::{
     MainDevice, MainDeviceConfig, PduStorage, Timeouts,
     std::{ethercat_now, tx_rx_task},
 };
 use interfaces::Interface;
+use std::{process::Command, sync::Arc, time::Duration};
 
 // Constants for EtherCAT configuration
 const IFACE_DISCOVERY_MAX_SUBDEVICES: usize = 16; // Must be power of 2 > 1
@@ -92,9 +91,6 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
     let mut interface: Option<&str> = None;
 
     for i in 0..interfaces.len() {
-        // Avoid NetworkManager hangups
-        set_interface_managed(&interfaces[i].name, false);
-
         match test_interface(&interfaces[i].name) {
             Ok(_) => {
                 // if interface found with ethercat Exit early, we expect only one interface with ethercat
@@ -107,7 +103,7 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
 
     for i in 0..interfaces.len() {
         if interface.is_some() && interface.unwrap() == &interfaces[i].name {
-            continue;
+            set_interface_managed(&interfaces[i].name, false);
         } else {
             set_interface_managed(&interfaces[i].name, true);
         }

control-core/src/ethercat/mod.rs

@@ -1,2 +1 @@
-pub mod eeprom_identification;
 pub mod interface_discovery;

control-core/src/lib.rs

@@ -4,17 +4,11 @@ pub mod downcast;
 pub mod ethercat;
 pub mod helpers;
 pub mod irq_handling;
-pub mod machines;
 pub mod modbus;
 pub mod realtime;
-pub mod rest;
 pub mod serial;
 pub mod socketio;
 pub mod transmission;
-pub mod uom_extensions;
 
 #[cfg(feature = "video-streaming")]
 pub mod video_streaming;
-
-#[macro_use]
-extern crate uom;

control-core/src/machines/api.rs

@@ -1,27 +0,0 @@
-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) -> Arc<Mutex<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
-    }
-}

control-core/src/machines/connection.rs

@@ -1,208 +0,0 @@
-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, Default)]
-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/identification.rs

@@ -1,113 +0,0 @@
-use std::fmt::Display;
-
-use serde::Deserialize;
-use serde::Serialize;
-
-/// Identifies a spacifi machine
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
-pub struct MachineIdentificationUnique {
-    pub machine_identification: MachineIdentification,
-    pub serial: u16,
-}
-
-impl MachineIdentificationUnique {
-    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
-        self.machine_identification.is_valid() && self.serial != 0
-    }
-}
-
-impl Display for MachineIdentificationUnique {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        write!(
-            f,
-            "{}/{}/{}",
-            self.machine_identification.vendor, self.machine_identification.machine, self.serial
-        )
-    }
-}
-
-/// Identifies a machine
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
-pub struct MachineIdentification {
-    pub vendor: u16,
-    pub machine: u16,
-}
-
-impl MachineIdentification {
-    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
-        self.vendor != 0 && self.machine != 0
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceMachineIdentification {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub role: u16,
-}
-
-impl DeviceMachineIdentification {
-    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
-        self.machine_identification_unique.is_valid()
-            && self
-                .machine_identification_unique
-                .machine_identification
-                .machine
-                != 0
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceIdentification {
-    pub device_machine_identification: Option<DeviceMachineIdentification>,
-    pub device_hardware_identification: DeviceHardwareIdentification,
-}
-
-impl From<DeviceIdentificationIdentified> for DeviceIdentification {
-    fn from(value: DeviceIdentificationIdentified) -> Self {
-        Self {
-            device_machine_identification: Some(value.device_machine_identification),
-            device_hardware_identification: value.device_hardware_identification,
-        }
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceIdentificationIdentified {
-    pub device_machine_identification: DeviceMachineIdentification,
-    pub device_hardware_identification: DeviceHardwareIdentification,
-}
-
-impl TryFrom<DeviceIdentification> for DeviceIdentificationIdentified {
-    type Error = anyhow::Error;
-
-    fn try_from(value: DeviceIdentification) -> Result<Self, Self::Error> {
-        let device_machine_identification =
-            value.device_machine_identification.ok_or(anyhow::anyhow!(
-                "[{}::DeviceIdentificationIdentified::try_from] No device machine identification",
-                module_path!()
-            ))?;
-
-        Ok(Self {
-            device_machine_identification,
-            device_hardware_identification: value.device_hardware_identification,
-        })
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub enum DeviceHardwareIdentification {
-    Ethercat(DeviceHardwareIdentificationEthercat),
-    Serial(DeviceHardwareIdentificationSerial),
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceHardwareIdentificationEthercat {
-    pub subdevice_index: usize,
-}
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceHardwareIdentificationSerial {
-    pub path: String,
-}

control-core/src/machines/manager.rs

@@ -1,297 +0,0 @@
-use super::{
-    Machine,
-    identification::{DeviceIdentification, DeviceIdentificationIdentified},
-    new::MachineNewHardwareSerial,
-    registry::MachineRegistry,
-};
-use smol::{
-    channel::Sender,
-    lock::{Mutex, RwLock},
-};
-use socketioxide::extract::SocketRef;
-
-use crate::{
-    machines::{
-        connection::{
-            MachineConnection, MachineConnectionGeneric, MachineSlot, MachineSlotGeneric,
-        },
-        identification::MachineIdentificationUnique,
-        new::{MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams},
-    },
-    serial::SerialDevice,
-    socketio::event::GenericEvent,
-};
-use std::{
-    collections::HashMap,
-    sync::{Arc, Weak},
-};
-
-#[derive(Debug)]
-pub struct MachineManager {
-    pub ethercat_machines: HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
-    pub serial_machines: HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
-}
-
-impl Default for MachineManager {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
-impl MachineManager {
-    pub fn new() -> Self {
-        Self {
-            ethercat_machines: HashMap::new(),
-            serial_machines: HashMap::new(),
-        }
-    }
-
-    pub fn set_ethercat_devices<const MAX_SUBDEVICES: usize, const MAX_PDI: usize>(
-        &mut self,
-        device_identifications: &Vec<DeviceIdentification>,
-        machine_registry: &MachineRegistry,
-        hardware: &MachineNewHardwareEthercat,
-        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
-        machine_manager: Weak<RwLock<Self>>,
-    ) {
-        // group devices by machine device identification
-        let device_grouping_result = group_devices_by_identification(device_identifications);
-
-        tracing::info!(
-            "Device Groups {}",
-            device_grouping_result.device_groups.len()
-        );
-
-        let machine_new_hardware = MachineNewHardware::Ethercat(hardware);
-
-        // 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_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 {
-                device_group,
-                hardware: &machine_new_hardware,
-                socket_queue_tx: socket_queue_tx.clone(),
-                machine_manager: machine_manager.clone(),
-                namespace: slot.namespace.clone(),
-            });
-
-            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<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(
-        &mut self,
-        device_identification: &DeviceIdentification,
-        device: Arc<RwLock<dyn SerialDevice>>,
-        machine_registry: &MachineRegistry,
-        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
-        machine_manager: Weak<RwLock<Self>>,
-    ) {
-        let hardware = MachineNewHardwareSerial { device };
-
-        let device_identification_identified: DeviceIdentificationIdentified =
-            device_identification
-                .clone()
-                .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.clone(),
-            namespace: slot.namespace.clone(),
-        });
-
-        slot.machine_connection = match new_machine {
-            Err(err) => MachineConnectionGeneric::Error(err),
-            Ok(machine) => MachineConnectionGeneric::Connected(machine),
-        };
-
-        tracing::info!("Adding serial machine {:?}", slot);
-    }
-
-    pub fn remove_serial_device(&mut self, device_identification: &DeviceIdentification) {
-        let device_identification_identified: DeviceIdentificationIdentified =
-            device_identification
-                .clone()
-                .try_into()
-                .expect("Serial devices always have machine identification");
-
-        tracing::info!(
-            "Removing serial machine {:?}",
-            device_identification_identified
-        );
-
-        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_ethercat_weak(
-        &self,
-        machine_identification: &MachineIdentificationUnique,
-    ) -> Option<Weak<Mutex<dyn Machine>>> {
-        self.get_weak(&self.ethercat_machines, machine_identification)
-    }
-
-    pub fn get_serial_weak(
-        &self,
-        machine_identification: &MachineIdentificationUnique,
-    ) -> Option<Weak<Mutex<dyn Machine>>> {
-        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)),
-            }
-        });
-    }
-}
-
-/// Groups devices by machine identification
-///
-/// Returns a DeviceGroupingResult containing:
-/// - device_groups: a vector of devices grouped by machine identification
-/// - unidentified_devices: a vector of devices that could not be identified
-pub fn group_devices_by_identification(
-    device_identifications: &Vec<DeviceIdentification>,
-) -> DeviceGroupingResult {
-    let mut device_groups: Vec<Vec<DeviceIdentificationIdentified>> = Vec::new();
-    let mut unidentified_devices: Vec<DeviceIdentification> = Vec::new();
-
-    for device_identification in device_identifications {
-        // if vendor or serial or machine is 0, it is not a valid machine device
-        if let Some(device_machine_identification) =
-            device_identification.device_machine_identification.as_ref()
-        {
-            if !device_machine_identification.is_valid() {
-                unidentified_devices.push(device_identification.clone());
-
-                continue;
-            }
-        } else {
-            unidentified_devices.push(device_identification.clone());
-            continue;
-        }
-
-        // scan over all deice groups
-        // get the first DeviceMachineIdentification
-        // compare and append to the group
-        let mut found = false;
-        for check_group in device_groups.iter_mut() {
-            // get first device in group
-            let first_device = check_group.first().expect("group to not be empty");
-            let first_device_machine_identification = &first_device
-                .device_machine_identification
-                .machine_identification_unique;
-
-            // chek if it has machine identification
-            if let Some(device_machine_identification) =
-                device_identification.device_machine_identification.as_ref()
-            {
-                // compare with the current device
-                if first_device_machine_identification
-                    == &device_machine_identification.machine_identification_unique
-                {
-                    let device_identification_identified = device_identification
-                        .clone()
-                        .try_into()
-                        .expect("should have Some(DeviceMachineIdentification)");
-                    check_group.push(device_identification_identified);
-                    found = true;
-                    break;
-                }
-            }
-        }
-
-        if !found {
-            let device_identification_identified = device_identification
-                .clone()
-                .try_into()
-                .expect("should have Some(DeviceMachineIdentification)");
-            device_groups.push(vec![device_identification_identified]);
-        }
-    }
-
-    DeviceGroupingResult {
-        device_groups,
-        unidentified_devices,
-    }
-}
-
-/// Structure to hold the result of grouping devices by identification
-#[derive(Debug)]
-pub struct DeviceGroupingResult {
-    /// Devices grouped by machine identification
-    pub device_groups: Vec<Vec<DeviceIdentificationIdentified>>,
-    /// Devices that could not be identified
-    pub unidentified_devices: Vec<DeviceIdentification>,
-}

control-core/src/machines/manager_iter.rs

@@ -1,84 +0,0 @@
-use std::collections::HashMap;
-use std::sync::Arc;
-
-use smol::lock::Mutex;
-
-use crate::machines::connection::MachineSlotGeneric;
-
-use super::{identification::MachineIdentificationUnique, manager::MachineManager};
-
-pub enum MachineManagerIter<'a> {
-    EthercatMachines {
-        iter: std::collections::hash_map::Iter<
-            'a,
-            MachineIdentificationUnique,
-            Arc<Mutex<MachineSlotGeneric>>,
-        >,
-    },
-    SerialMachines {
-        iter: std::collections::hash_map::Iter<
-            'a,
-            MachineIdentificationUnique,
-            Arc<Mutex<MachineSlotGeneric>>,
-        >,
-    },
-    Done,
-}
-
-pub struct MachineManagerIterator<'a> {
-    iter: MachineManagerIter<'a>,
-    serial_machines: &'a HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
-}
-
-impl<'a> Iterator for MachineManagerIterator<'a> {
-    type Item = (
-        &'a MachineIdentificationUnique,
-        &'a Arc<Mutex<MachineSlotGeneric>>,
-    );
-
-    fn next(&mut self) -> Option<Self::Item> {
-        loop {
-            match &mut self.iter {
-                MachineManagerIter::EthercatMachines { iter } => {
-                    // Try to get the next item from ethercat_machines
-                    if let Some(item) = iter.next() {
-                        return Some(item);
-                    } else {
-                        // If ethercat_machines is exhausted, move to serial_machines
-                        self.iter = MachineManagerIter::SerialMachines {
-                            iter: self.serial_machines.iter(),
-                        };
-                        // Continue to the next iteration of the loop
-                        continue;
-                    }
-                }
-                MachineManagerIter::SerialMachines { iter } => {
-                    // Return the next item from serial_machines or None if exhausted
-                    if let Some(item) = iter.next() {
-                        return Some(item);
-                    } else {
-                        // If serial_machines is also exhausted, we're done
-                        self.iter = MachineManagerIter::Done;
-                        return None;
-                    }
-                }
-                MachineManagerIter::Done => {
-                    // We've exhausted both collections
-                    return None;
-                }
-            }
-        }
-    }
-}
-
-impl MachineManager {
-    // Returns an iterator over all machines (both ethercat and serial)
-    pub fn iter(&self) -> MachineManagerIterator<'_> {
-        MachineManagerIterator {
-            iter: MachineManagerIter::EthercatMachines {
-                iter: self.ethercat_machines.iter(),
-            },
-            serial_machines: &self.serial_machines,
-        }
-    }
-}

control-core/src/machines/mod.rs

@@ -1,23 +0,0 @@
-use new::MachineNewTrait;
-use std::any::Any;
-use std::fmt::Debug;
-
-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 + 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;
-}

control-core/src/machines/new.rs

@@ -1,279 +0,0 @@
-use crate::{
-    machines::{identification::MachineIdentificationUnique, manager::MachineManager},
-    serial::SerialDevice,
-    socketio::namespace::Namespace,
-};
-
-use super::identification::DeviceIdentificationIdentified;
-use anyhow::Error;
-use ethercat_hal::{
-    devices::EthercatDevice, helpers::ethercrab_types::EthercrabSubDevicePreoperational,
-};
-use ethercrab::{SubDevice, SubDeviceRef};
-use smol::{
-    channel::Sender,
-    lock::{Mutex, RwLock},
-};
-use socketioxide::extract::SocketRef;
-use std::{
-    sync::{Arc, Weak},
-    time::Instant,
-};
-
-use crate::socketio::event::GenericEvent;
-
-pub trait MachineNewTrait {
-    fn new(params: &MachineNewParams<'_, '_, '_, '_, '_, '_, '_>) -> Result<Self, Error>
-    where
-        Self: Sized;
-}
-
-pub trait MachineAct {
-    fn act(&mut self, now: Instant);
-}
-
-pub struct MachineNewParams<
-    'maindevice,
-    'subdevices,
-    'device_identifications_identified,
-    'ethercat_devices,
-    'machine_new_hardware_etehrcat,
-    'machine_new_hardware_serial,
-    'machine_new_hardware,
-> where
-    'maindevice: 'machine_new_hardware,
-    'subdevices: 'machine_new_hardware,
-    'ethercat_devices: 'machine_new_hardware,
-    'machine_new_hardware_etehrcat: 'machine_new_hardware,
-{
-    pub device_group: &'device_identifications_identified Vec<DeviceIdentificationIdentified>,
-    pub hardware: &'machine_new_hardware MachineNewHardware<
-        'maindevice,
-        'subdevices,
-        'ethercat_devices,
-        'machine_new_hardware_etehrcat,
-        'machine_new_hardware_serial,
-    >,
-    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<
-    'maindevice,
-    'subdevices,
-    'ethercat_devices,
-    'machine_new_hardware_etehrcat,
-    'machine_new_hardware_serial,
-> where
-    'maindevice: 'machine_new_hardware_etehrcat,
-    'subdevices: 'machine_new_hardware_etehrcat,
-    'ethercat_devices: 'machine_new_hardware_etehrcat,
-{
-    Ethercat(
-        &'machine_new_hardware_etehrcat MachineNewHardwareEthercat<
-            'maindevice,
-            'subdevices,
-            'ethercat_devices,
-        >,
-    ),
-    Serial(&'machine_new_hardware_serial MachineNewHardwareSerial),
-}
-
-pub struct MachineNewHardwareEthercat<'maindevice, 'subdevices, 'ethercat_devices> {
-    pub subdevices:
-        &'subdevices Vec<&'subdevices SubDeviceRef<'maindevice, &'subdevices SubDevice>>,
-    pub ethercat_devices: &'ethercat_devices Vec<Arc<RwLock<dyn EthercatDevice>>>,
-}
-
-pub struct MachineNewHardwareSerial {
-    pub device: Arc<RwLock<dyn SerialDevice>>,
-}
-
-// validates that all devices in the group have the same machine identification
-pub fn validate_same_machine_identification_unique(
-    identified_device_group: &Vec<DeviceIdentificationIdentified>,
-) -> Result<(), Error> {
-    let machine_identification_unique = &identified_device_group
-        .first()
-        .ok_or_else(|| {
-            anyhow::anyhow!(
-                "[{}::validate_same_machine_identification] No devices in group",
-                module_path!()
-            )
-        })?
-        .device_machine_identification
-        .machine_identification_unique;
-    for device in identified_device_group.iter() {
-        if device
-            .device_machine_identification
-            .machine_identification_unique
-            != *machine_identification_unique
-        {
-            return Err(anyhow::anyhow!(
-                "[{}::validate_same_machine_identification] Different machine identifications",
-                module_path!()
-            ));
-        }
-    }
-    Ok(())
-}
-
-/// validates that every role is unique
-pub fn validate_no_role_dublicates(
-    identified_device_group: &Vec<DeviceIdentificationIdentified>,
-) -> Result<(), Error> {
-    let mut roles = vec![];
-    for device in identified_device_group.iter() {
-        if roles.contains(&device.device_machine_identification.role) {
-            return Err(anyhow::anyhow!(
-                "[{}::validate_no_role_dublicates] Role dublicate",
-                module_path!(),
-            ));
-        }
-        roles.push(device.device_machine_identification.role);
-    }
-    Ok(())
-}
-
-// Inside control_core::machines::new module:
-pub fn get_device_identification_by_role(
-    identified_device_group: &Vec<DeviceIdentificationIdentified>,
-    role: u16,
-) -> Result<&DeviceIdentificationIdentified, Error> {
-    for device in identified_device_group.iter() {
-        if device.device_machine_identification.role == role {
-            return Ok(device);
-        }
-    }
-    Err(anyhow::anyhow!(
-        "[{}::get_device_identification_by_role] Role {} not found",
-        module_path!(),
-        role
-    ))
-}
-
-pub fn get_device_by_index<'maindevice>(
-    devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
-    subdevice_index: usize,
-) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
-    Ok(devices
-        .get(subdevice_index)
-        .ok_or(anyhow::anyhow!(
-            "[{}::get_device_by_index] Index {} out of bounds for devices",
-            module_path!(),
-            subdevice_index
-        ))?
-        .clone())
-}
-
-pub fn get_subdevice_by_index<'subdevices, 'maindevice>(
-    subdevices: &'subdevices Vec<&EthercrabSubDevicePreoperational<'maindevice>>,
-    subdevice_index: usize,
-) -> Result<&'subdevices EthercrabSubDevicePreoperational<'maindevice>, Error> {
-    Ok(subdevices.get(subdevice_index).ok_or(anyhow::anyhow!(
-        "Index {} out of bounds for subdevices",
-        subdevice_index
-    ))?)
-}
-
-pub fn get_ethercat_device_by_index<'maindevice>(
-    ethercat_devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
-    subdevice_index: usize,
-) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
-    Ok(ethercat_devices
-        .get(subdevice_index)
-        .ok_or(anyhow::anyhow!(
-            "[{}::get_ethercat_device_by_index] Index {} out of bounds for ethercat devices",
-            module_path!(),
-            subdevice_index
-        ))?
-        .clone())
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::machines::identification::{
-        DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat,
-        DeviceMachineIdentification, MachineIdentification, MachineIdentificationUnique,
-    };
-
-    pub use super::*;
-
-    #[test]
-    fn test_get_device_identification_by_role() {
-        let device_identifications = vec![
-            // role 0
-            DeviceIdentificationIdentified {
-                device_machine_identification: DeviceMachineIdentification {
-                    machine_identification_unique: MachineIdentificationUnique {
-                        machine_identification: MachineIdentification {
-                            vendor: 1,
-                            machine: 1,
-                        },
-                        serial: 1,
-                    },
-                    role: 0,
-                },
-                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
-                    DeviceHardwareIdentificationEthercat { subdevice_index: 0 },
-                ),
-            },
-            // role 1
-            DeviceIdentificationIdentified {
-                device_machine_identification: DeviceMachineIdentification {
-                    machine_identification_unique: MachineIdentificationUnique {
-                        machine_identification: MachineIdentification {
-                            vendor: 2,
-                            machine: 2,
-                        },
-                        serial: 2,
-                    },
-                    role: 2,
-                },
-                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
-                    DeviceHardwareIdentificationEthercat { subdevice_index: 1 },
-                ),
-            },
-            // role 2
-            DeviceIdentificationIdentified {
-                device_machine_identification: DeviceMachineIdentification {
-                    machine_identification_unique: MachineIdentificationUnique {
-                        machine_identification: MachineIdentification {
-                            vendor: 3,
-                            machine: 3,
-                        },
-                        serial: 3,
-                    },
-                    role: 1,
-                },
-                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
-                    DeviceHardwareIdentificationEthercat { subdevice_index: 2 },
-                ),
-            },
-        ];
-
-        // search for role 0
-        let result = get_device_identification_by_role(&device_identifications, 0);
-        assert_eq!(result.unwrap().device_machine_identification.role, 0,);
-
-        // search for role 1
-        let result = get_device_identification_by_role(&device_identifications, 1);
-        assert_eq!(result.unwrap().device_machine_identification.role, 1,);
-        // search for role 2
-        let result = get_device_identification_by_role(&device_identifications, 2);
-        assert_eq!(result.unwrap().device_machine_identification.role, 2,);
-    }
-}

control-core/src/rest/mod.rs

@@ -1 +0,0 @@
-pub mod mutation;

control-core/src/serial/mod.rs

@@ -1,11 +1,10 @@
-use std::{any::Any, sync::Arc};
+/*use std::{any::Any, sync::Arc};
 
 use smol::lock::RwLock;
 use std::fmt::Debug;
 
 use crate::machines::identification::DeviceIdentification;
 
-pub mod registry;
 pub mod serial_detection;
 
 pub trait SerialDevice: Any + Send + Sync + SerialDeviceNew + Debug {}
@@ -31,3 +30,4 @@ pub struct SerialDeviceIdentification {
     pub vendor_id: u16,
     pub product_id: u16,
 }
+*/

control-core/src/socketio/mod.rs

@@ -1,3 +1,2 @@
 pub mod event;
 pub mod namespace;
-pub mod namespace_id;

control-core/src/socketio/namespace.rs

@@ -4,7 +4,7 @@ use socketioxide::extract::SocketRef;
 use std::{collections::HashMap, sync::Arc, time::Duration};
 use tracing::instrument;
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct Namespace {
     pub sockets: Vec<SocketRef>,
     pub events: HashMap<String, Vec<Arc<GenericEvent>>>,
@@ -167,7 +167,7 @@ impl Namespace {
 
 impl Drop for Namespace {
     fn drop(&mut self) {
-        self.disconnect_all();
+        //self.disconnect_all();
     }
 }
 

control-core/src/transmission/mod.rs

@@ -1,4 +1,4 @@
-use uom::si::{
+use units::{
     angle::radian,
     angular_velocity::radian_per_second,
     f64::{Angle, AngularVelocity, Length, Velocity},

control-core/src/uom_extensions/acceleration.rs

@@ -1,7 +0,0 @@
-unit! {
-    system: uom::si;
-    quantity: uom::si::acceleration;
-
-    @meter_per_minute_per_second: 0.016_666_666_666_666_67; "m/min/s", "meters per minute per second",
-        "meters per minute per second";
-}

control-core/src/uom_extensions/angular_acceleration.rs

@@ -1,7 +0,0 @@
-unit! {
-    system: uom::si;
-    quantity: uom::si::angular_acceleration;
-
-    @revolution_per_minute_per_second: 0.104_719_755_119_659_77; "rev/min/s", "revolutions per minute per second",
-        "revolutions per minute per second";
-}

control-core/src/uom_extensions/angular_jerk.rs

@@ -1,7 +0,0 @@
-unit! {
-    system: uom::si;
-    quantity: uom::si::angular_jerk;
-
-    @revolution_per_minute_per_second_squared: 0.104_719_755_119_659_77; "rev/min/s²", "revolution per minute per second squared",
-        "revolution per minute per second squared";
-}

control-core/src/uom_extensions/jerk.rs

@@ -1,7 +0,0 @@
-unit! {
-    system: uom::si;
-    quantity: uom::si::jerk;
-
-    @meter_per_minute_per_second_squared: 0.016_666_666_666_666_666_67; "m/min/s²", "meters per minute per second squared",
-        "meters per minute per second squared";
-}

control-core/src/uom_extensions/mod.rs

@@ -1,5 +0,0 @@
-pub mod acceleration;
-pub mod angular_acceleration;
-pub mod angular_jerk;
-pub mod jerk;
-pub mod velocity;

control-core/src/uom_extensions/velocity.rs

@@ -1,7 +0,0 @@
-unit! {
-    system: uom::si;
-    quantity: uom::si::velocity;
-
-    @meter_per_minute: 0.016_666_666_666_666_67; "m/min", "meters per minute",
-        "meters per minute";
-}

docs/machines/laser-DRE.md

@@ -0,0 +1,69 @@
+# Laser DRE Device Documentation
+
+## Overview
+The **Laser DRE** is a precision measurement device designed for real-time diameter measurement of rotating objects. It communicates over a **USB Serial interface** using the **Modbus RTU** protocol.
+
+Key features include:
+
+- High-speed diameter measurement
+- Dual-axis capability
+- USB Serial communication
+- Modbus RTU protocol support
+
+---
+
+## Technical Specifications
+
+- **Communication Interface:** USB Serial
+- **Protocol:** Modbus RTU
+- **Axes:** 2-axis measurement
+- **Polling Rate:** Every 16 ms
+- **Measurement Rate:** 320 measurements per second (manufacturer specification)
+- **Measurement Type:** Diameter measurement | X/Y Axis width
+
+---
+
+## Operation
+
+### Polling
+The device **polls the diameter every 16 milliseconds**, ensuring near real-time data acquisition for precise monitoring.
+
+### Measurement
+According to the manufacturer, the Laser DRE can measure the diameter **320 times per second**, providing high-resolution data for process control and analysis.
+
+### Axes
+The device is capable of measuring across **two axes**, allowing for comprehensive profiling of the object’s diameter and shape.
+
+---
+
+## Communication Protocol
+
+The device uses **Modbus RTU** over the USB Serial connection. Key points for communication:
+
+- **Master/Slave Model:** The Laser DRE acts as a Modbus slave device.
+- **Function Codes:** Supports standard Modbus RTU function codes for reading measurements.
+- **Data Format:** Diameter measurements are transmitted in the format specified by the manufacturer (consult the device manual for exact register addresses and scaling).
+
+---
+
+## Settings
+
+The device includes a small display that allows changing several operational settings:
+
+- **Unit:**
+  The laser can operate in **millimeters (mm)** or **inches (in)**.
+  Our software uses **millimeters**.
+
+- **Alarm:**
+  The laser can emit an audible alarm if the measured diameter is out of tolerance.
+  ⚠️ **Note:** The tolerance settings on the laser may differ from the tolerance configured in our software.
+
+- **Communication:**
+  Several communication parameters can be configured:
+  - **Set UART:** Configure **parity (8N1)** and **baud rate (38400)**.
+  - **Set Protocol:** Choose the communication protocol. *(We use **Modbus RTU**.)*
+  - **Set Slave Address:** The slave address of our laser is **1**.
+
+- **Calibration:**
+  The laser can be calibrated using **4 mm** and **8 mm** reference rods.
+

electron/package-lock.json

@@ -8,7 +8,7 @@
       "name": "qitech-control-electron",
       "version": "1.0.0",
       "dependencies": {
-        "@hookform/resolvers": "^4.1.2",
+        "@hookform/resolvers": "^5.2.2",
         "@icons-pack/react-simple-icons": "^11.2.0",
         "@jub3i/tree-kill": "^0.0.15",
         "@radix-ui/react-collapsible": "^1.1.12",
@@ -64,10 +64,10 @@
         "@electron-forge/maker-squirrel": "^7.6.1",
         "@electron-forge/maker-zip": "^7.6.1",
         "@electron-forge/plugin-auto-unpack-natives": "^7.6.1",
-        "@electron-forge/plugin-fuses": "^7.8.0",
+        "@electron-forge/plugin-fuses": "^7.10.2",
         "@electron-forge/plugin-vite": "^7.6.1",
         "@electron-forge/shared-types": "^7.4.0",
-        "@electron/fuses": "^2.0.0",
+        "@electron/fuses": "^1.8.0",
         "@eslint/compat": "^1.2.6",
         "@eslint/js": "^9.18.0",
         "@playwright/test": "^1.56.1",
@@ -175,6 +175,7 @@
       "version": "7.28.0",
       "resolved": "https://registry.npmjs.org/@babel/core/-/core-7.28.0.tgz",
       "integrity": "sha512-UlLAnTPrFdNGoFtbSXwcGFQBtQZJCNjaN6hQNP3UPvuNXT1i82N26KL3dZeIpNalWywr9IuQuncaAfUaS1g6sQ==",
+      "peer": true,
       "dependencies": {
         "@ampproject/remapping": "^2.2.0",
         "@babel/code-frame": "^7.27.1",
@@ -638,6 +639,7 @@
           "url": "https://opencollective.com/csstools"
         }
       ],
+      "peer": true,
       "engines": {
         "node": ">=18"
       },
@@ -660,6 +662,7 @@
           "url": "https://opencollective.com/csstools"
         }
       ],
+      "peer": true,
       "engines": {
         "node": ">=18"
       }
@@ -926,19 +929,62 @@
       }
     },
     "node_modules/@electron-forge/plugin-fuses": {
-      "version": "7.8.2",
-      "resolved": "https://registry.npmjs.org/@electron-forge/plugin-fuses/-/plugin-fuses-7.8.2.tgz",
-      "integrity": "sha512-BrN26y8xRuz43aJasktLvze2rh9XIxN6m4FR5NJvXbdcS0vUQvLSOgRm9koV5YL0/zr99OS5FXLiw04U+kKy1g==",
+      "version": "7.10.2",
+      "resolved": "https://registry.npmjs.org/@electron-forge/plugin-fuses/-/plugin-fuses-7.10.2.tgz",
+      "integrity": "sha512-X8FaBL5pVvKCTBNaa9EjbH6vuaeIU7UcPSmP9501XF4zcKPCfTbQKz49LTMl7gd5YzUm82IlqRjte12LLpcSDQ==",
       "dev": true,
+      "license": "MIT",
       "dependencies": {
-        "@electron-forge/plugin-base": "7.8.2",
-        "@electron-forge/shared-types": "7.8.2"
+        "@electron-forge/plugin-base": "7.10.2",
+        "@electron-forge/shared-types": "7.10.2"
       },
       "engines": {
         "node": ">= 16.4.0"
       },
       "peerDependencies": {
-        "@electron/fuses": ">=1.0.0"
+        "@electron/fuses": "^1.0.0"
+      }
+    },
+    "node_modules/@electron-forge/plugin-fuses/node_modules/@electron-forge/plugin-base": {
+      "version": "7.10.2",
+      "resolved": "https://registry.npmjs.org/@electron-forge/plugin-base/-/plugin-base-7.10.2.tgz",
+      "integrity": "sha512-+4YLmkLZxvS6JFXYNI4dHt8Il8iIvwk2o6lCJGwNysOUq2KOZ3Wu1He4Ko8HhKcO1VWbFvslbh57oQn963Aryw==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@electron-forge/shared-types": "7.10.2"
+      },
+      "engines": {
+        "node": ">= 16.4.0"
+      }
+    },
+    "node_modules/@electron-forge/plugin-fuses/node_modules/@electron-forge/shared-types": {
+      "version": "7.10.2",
+      "resolved": "https://registry.npmjs.org/@electron-forge/shared-types/-/shared-types-7.10.2.tgz",
+      "integrity": "sha512-e2pd9RsdbKwsNf6UtKoolmJGy92Nc0/XO4SI91doV8cM954hM2XSYz3VHoqXebMFAF1JDfXoEUt6UCRbEDgMgw==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@electron-forge/tracer": "7.10.2",
+        "@electron/packager": "^18.3.5",
+        "@electron/rebuild": "^3.7.0",
+        "listr2": "^7.0.2"
+      },
+      "engines": {
+        "node": ">= 16.4.0"
+      }
+    },
+    "node_modules/@electron-forge/plugin-fuses/node_modules/@electron-forge/tracer": {
+      "version": "7.10.2",
+      "resolved": "https://registry.npmjs.org/@electron-forge/tracer/-/tracer-7.10.2.tgz",
+      "integrity": "sha512-jhLLQbttfZViSOYn/3SJc8HML+jNZAytPVJwgGGd3coUiFysWJ2Xald99iqOiouPAhIigBfNPxQb/q/EbcDu4g==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "chrome-trace-event": "^1.0.3"
+      },
+      "engines": {
+        "node": ">= 14.17.5"
       }
     },
     "node_modules/@electron-forge/plugin-vite": {
@@ -1097,16 +1143,35 @@
       }
     },
     "node_modules/@electron/fuses": {
-      "version": "2.0.0",
-      "resolved": "https://registry.npmjs.org/@electron/fuses/-/fuses-2.0.0.tgz",
-      "integrity": "sha512-lyb1zK3YHeWUjaz7yiK0GnxSPduwASKMyiDbCtbn3spP6EEt+UWtktggWehG0icFrXAk3GwvcJ4nCrJO0N9IhQ==",
+      "version": "1.8.0",
+      "resolved": "https://registry.npmjs.org/@electron/fuses/-/fuses-1.8.0.tgz",
+      "integrity": "sha512-zx0EIq78WlY/lBb1uXlziZmDZI4ubcCXIMJ4uGjXzZW0nS19TjSPeXPAjzzTmKQlJUZm0SbmZhPKP7tuQ1SsEw==",
       "dev": true,
       "license": "MIT",
+      "peer": true,
+      "dependencies": {
+        "chalk": "^4.1.1",
+        "fs-extra": "^9.0.1",
+        "minimist": "^1.2.5"
+      },
       "bin": {
         "electron-fuses": "dist/bin.js"
+      }
+    },
+    "node_modules/@electron/fuses/node_modules/fs-extra": {
+      "version": "9.1.0",
+      "resolved": "https://registry.npmjs.org/fs-extra/-/fs-extra-9.1.0.tgz",
+      "integrity": "sha512-hcg3ZmepS30/7BSFqRvoo3DOMQu7IjqxO5nCDt+zM9XWjb33Wg7ziNT+Qvqbuc3+gWpzO02JubVyk2G4Zvo1OQ==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "at-least-node": "^1.0.0",
+        "graceful-fs": "^4.2.0",
+        "jsonfile": "^6.0.1",
+        "universalify": "^2.0.0"
       },
       "engines": {
-        "node": ">=22.12.0"
+        "node": ">=10"
       }
     },
     "node_modules/@electron/get": {
@@ -2045,14 +2110,15 @@
       "dev": true
     },
     "node_modules/@hookform/resolvers": {
-      "version": "4.1.3",
-      "resolved": "https://registry.npmjs.org/@hookform/resolvers/-/resolvers-4.1.3.tgz",
-      "integrity": "sha512-Jsv6UOWYTrEFJ/01ZrnwVXs7KDvP8XIo115i++5PWvNkNvkrsTfGiLS6w+eJ57CYtUtDQalUWovCZDHFJ8u1VQ==",
+      "version": "5.2.2",
+      "resolved": "https://registry.npmjs.org/@hookform/resolvers/-/resolvers-5.2.2.tgz",
+      "integrity": "sha512-A/IxlMLShx3KjV/HeTcTfaMxdwy690+L/ZADoeaTltLx+CVuzkeVIPuybK3jrRfw7YZnmdKsVVHAlEPIAEUNlA==",
+      "license": "MIT",
       "dependencies": {
         "@standard-schema/utils": "^0.3.0"
       },
       "peerDependencies": {
-        "react-hook-form": "^7.0.0"
+        "react-hook-form": "^7.55.0"
       }
     },
     "node_modules/@humanfs/core": {
@@ -4029,6 +4095,7 @@
       "resolved": "https://registry.npmjs.org/@tanstack/react-router/-/react-router-1.130.17.tgz",
       "integrity": "sha512-F1tyMEbX7PJclnA25hAFXhLKq4jqeODvvaogsd0/NX02Kmz3QoT9GV+rgpv2TxamU6RwjRgihSH06Dn5hM6SOw==",
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "@tanstack/history": "1.130.12",
         "@tanstack/react-store": "^0.7.0",
@@ -4110,6 +4177,7 @@
       "resolved": "https://registry.npmjs.org/@tanstack/router-core/-/router-core-1.130.17.tgz",
       "integrity": "sha512-0AH4s/52X2shYLifr9hR+6R6NpGsBp1M3LyjBTZm6Jlkud+nOhkkRxKxYS7l+JErRlffdxVHxMdoTnKcQ+duiQ==",
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "@tanstack/history": "1.130.12",
         "@tanstack/store": "^0.7.0",
@@ -4343,8 +4411,7 @@
       "version": "5.0.4",
       "resolved": "https://registry.npmjs.org/@types/aria-query/-/aria-query-5.0.4.tgz",
       "integrity": "sha512-rfT93uj5s0PRL7EzccGMs3brplhcrghnDoV26NqKhCAS1hVo+WdNsPvE/yb6ilfr5hi2MEk6d5EWJTKdxg8jVw==",
-      "dev": true,
-      "peer": true
+      "dev": true
     },
     "node_modules/@types/babel__core": {
       "version": "7.20.5",
@@ -4501,6 +4568,7 @@
       "integrity": "sha512-DRh5K+ka5eJic8CjH7td8QpYEV6Zo10gfRkjHCO3weqZHWDtAaSTFtl4+VMqOJ4N5jcuhZ9/l+yy8rVgw7BQeQ==",
       "devOptional": true,
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "undici-types": "~7.10.0"
       }
@@ -4517,6 +4585,7 @@
       "resolved": "https://registry.npmjs.org/@types/react/-/react-19.1.16.tgz",
       "integrity": "sha512-WBM/nDbEZmDUORKnh5i1bTnAz6vTohUf9b8esSMu+b24+srbaxa04UbJgWx78CVfNXA20sNu0odEIluZDFdCog==",
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "csstype": "^3.0.2"
       }
@@ -4526,6 +4595,7 @@
       "resolved": "https://registry.npmjs.org/@types/react-dom/-/react-dom-19.1.7.tgz",
       "integrity": "sha512-i5ZzwYpqjmrKenzkoLM2Ibzt6mAsM7pxB6BCIouEVVmgiqaMj1TjaK7hnA36hbW5aZv20kx7Lw6hWzPWg0Rurw==",
       "devOptional": true,
+      "peer": true,
       "peerDependencies": {
         "@types/react": "^19.0.0"
       }
@@ -4608,6 +4678,7 @@
       "resolved": "https://registry.npmjs.org/@typescript-eslint/parser/-/parser-8.38.0.tgz",
       "integrity": "sha512-Zhy8HCvBUEfBECzIl1PKqF4p11+d0aUJS1GeUiuqK9WmOug8YCmC4h4bjyBvMyAMI9sbRczmrYL5lKg/YMbrcQ==",
       "dev": true,
+      "peer": true,
       "dependencies": {
         "@typescript-eslint/scope-manager": "8.38.0",
         "@typescript-eslint/types": "8.38.0",
@@ -4962,6 +5033,7 @@
       "resolved": "https://registry.npmjs.org/acorn/-/acorn-8.15.0.tgz",
       "integrity": "sha512-NZyJarBfL7nWwIq+FDL6Zp/yHEhePMNnnJ0y3qfieCrmNvYct8uvtiV41UvlSe6apAfk0fY1FbWx+NwfmpvtTg==",
       "dev": true,
+      "peer": true,
       "bin": {
         "acorn": "bin/acorn"
       },
@@ -5409,6 +5481,7 @@
           "url": "https://github.com/sponsors/ai"
         }
       ],
+      "peer": true,
       "dependencies": {
         "caniuse-lite": "^1.0.30001726",
         "electron-to-chromium": "^1.5.173",
@@ -6101,7 +6174,8 @@
     "node_modules/csstype": {
       "version": "3.1.3",
       "resolved": "https://registry.npmjs.org/csstype/-/csstype-3.1.3.tgz",
-      "integrity": "sha512-M1uQkMl8rQK/szD0LNhtqxIPLpimGm8sOBwU7lLnCpSbTyY3yeU1Vc7l4KT5zT4s/yOxHH5O7tIuuLOCnLADRw=="
+      "integrity": "sha512-M1uQkMl8rQK/szD0LNhtqxIPLpimGm8sOBwU7lLnCpSbTyY3yeU1Vc7l4KT5zT4s/yOxHH5O7tIuuLOCnLADRw==",
+      "peer": true
     },
     "node_modules/data-urls": {
       "version": "5.0.0",
@@ -6374,8 +6448,7 @@
       "version": "0.5.16",
       "resolved": "https://registry.npmjs.org/dom-accessibility-api/-/dom-accessibility-api-0.5.16.tgz",
       "integrity": "sha512-X7BJ2yElsnOJ30pZF4uIIDfBEVgF4XEBxL9Bxhy6dnrm5hkzqmsWHGTiHqRiITNhMyFLyAiWndIJP7Z1NTteDg==",
-      "dev": true,
-      "peer": true
+      "dev": true
     },
     "node_modules/dom-helpers": {
       "version": "5.2.1",
@@ -7375,6 +7448,7 @@
       "resolved": "https://registry.npmjs.org/eslint/-/eslint-9.32.0.tgz",
       "integrity": "sha512-LSehfdpgMeWcTZkWZVIJl+tkZ2nuSkyyB9C27MZqFWXuph7DvaowgcTvKqxvpLW1JZIk8PN7hFY3Rj9LQ7m7lg==",
       "dev": true,
+      "peer": true,
       "dependencies": {
         "@eslint-community/eslint-utils": "^4.2.0",
         "@eslint-community/regexpp": "^4.12.1",
@@ -7435,6 +7509,7 @@
       "resolved": "https://registry.npmjs.org/eslint-config-prettier/-/eslint-config-prettier-10.1.8.tgz",
       "integrity": "sha512-82GZUjRS0p/jganf6q1rEO25VSoHH0hKPCTrgillPjdI/3bgBhAE1QzHrHTizjpRvy6pGAvKjDJtk2pF9NDq8w==",
       "dev": true,
+      "peer": true,
       "bin": {
         "eslint-config-prettier": "bin/cli.js"
       },
@@ -8741,6 +8816,7 @@
           "url": "https://www.i18next.com/how-to/faq#i18next-is-awesome.-how-can-i-support-the-project"
         }
       ],
+      "peer": true,
       "dependencies": {
         "@babel/runtime": "^7.27.6"
       },
@@ -8803,6 +8879,7 @@
       "version": "10.1.1",
       "resolved": "https://registry.npmjs.org/immer/-/immer-10.1.1.tgz",
       "integrity": "sha512-s2MPrmjovJcoMaHtx6K11Ra7oD05NT97w1IC5zpMkT6Atjr7H8LjaDd81iIxUYpMKSRRNMJE703M1Fhr/TctHw==",
+      "peer": true,
       "funding": {
         "type": "opencollective",
         "url": "https://opencollective.com/immer"
@@ -9477,6 +9554,7 @@
       "resolved": "https://registry.npmjs.org/jsdom/-/jsdom-26.1.0.tgz",
       "integrity": "sha512-Cvc9WUhxSMEo4McES3P7oK3QaXldCfNWp7pl2NNeiIFlCoLr3kfq9kb1fxftiwk1FLV7CvpvDfonxtzUDeSOPg==",
       "dev": true,
+      "peer": true,
       "dependencies": {
         "cssstyle": "^4.2.1",
         "data-urls": "^5.0.0",
@@ -10042,7 +10120,6 @@
       "resolved": "https://registry.npmjs.org/lz-string/-/lz-string-1.5.0.tgz",
       "integrity": "sha512-h5bgJWpxJNswbU7qCrV0tIKQCaS3blPDrqKWx+QxzuzL1zGUzij9XCWLrSLsJPu5t+eWA/ycetzYAO5IOMcWAQ==",
       "dev": true,
-      "peer": true,
       "bin": {
         "lz-string": "bin/bin.js"
       }
@@ -11987,6 +12064,7 @@
       "resolved": "https://registry.npmjs.org/prettier/-/prettier-3.6.2.tgz",
       "integrity": "sha512-I7AIg5boAr5R0FFtJ6rCfD+LFsWHp81dolrFD8S79U9tb8Az2nGrJncnMSnys+bpQJfRUzqs9hnA81OAA3hCuQ==",
       "dev": true,
+      "peer": true,
       "bin": {
         "prettier": "bin/prettier.cjs"
       },
@@ -12100,7 +12178,6 @@
       "resolved": "https://registry.npmjs.org/pretty-format/-/pretty-format-27.5.1.tgz",
       "integrity": "sha512-Qb1gy5OrP5+zDf2Bvnzdl3jsTf1qXVMazbvCoKhtKqVs4/YK4ozX4gKQJJVyNe+cajNPn0KoC0MC3FUmaHWEmQ==",
       "dev": true,
-      "peer": true,
       "dependencies": {
         "ansi-regex": "^5.0.1",
         "ansi-styles": "^5.0.0",
@@ -12115,7 +12192,6 @@
       "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-5.2.0.tgz",
       "integrity": "sha512-Cxwpt2SfTzTtXcfOlzGEee8O+c+MmUgGrNiBcXnuWxuFJHe6a5Hz7qwhwe5OgaSYI0IJvkLqWX1ASG+cJOkEiA==",
       "dev": true,
-      "peer": true,
       "engines": {
         "node": ">=10"
       },
@@ -12244,6 +12320,7 @@
       "version": "19.1.1",
       "resolved": "https://registry.npmjs.org/react/-/react-19.1.1.tgz",
       "integrity": "sha512-w8nqGImo45dmMIfljjMwOGtbmC/mk4CMYhWIicdSflH91J9TyCyczcPFXJzrZ/ZXcgGRFeP6BU0BEJTw6tZdfQ==",
+      "peer": true,
       "engines": {
         "node": ">=0.10.0"
       }
@@ -12252,6 +12329,7 @@
       "version": "19.1.1",
       "resolved": "https://registry.npmjs.org/react-dom/-/react-dom-19.1.1.tgz",
       "integrity": "sha512-Dlq/5LAZgF0Gaz6yiqZCf6VCcZs1ghAJyrsu84Q/GT0gV+mCxbfmKNoGRKBYMJ8IEdGPqu49YWXD02GCknEDkw==",
+      "peer": true,
       "dependencies": {
         "scheduler": "^0.26.0"
       },
@@ -12263,6 +12341,7 @@
       "version": "7.62.0",
       "resolved": "https://registry.npmjs.org/react-hook-form/-/react-hook-form-7.62.0.tgz",
       "integrity": "sha512-7KWFejc98xqG/F4bAxpL41NB3o1nnvQO1RWZT3TqRZYL8RryQETGfEdVnJN2fy1crCiBLLjkRBVK05j24FxJGA==",
+      "peer": true,
       "engines": {
         "node": ">=18.0.0"
       },
@@ -12303,8 +12382,7 @@
       "version": "17.0.2",
       "resolved": "https://registry.npmjs.org/react-is/-/react-is-17.0.2.tgz",
       "integrity": "sha512-w2GsyukL62IJnlaff/nRegPQR94C/XXamvMWmSHRJ4y7Ts/4ocGRmTHvOs8PSE6pB3dWOrD/nueuU5sduBsQ4w==",
-      "dev": true,
-      "peer": true
+      "dev": true
     },
     "node_modules/react-lifecycles-compat": {
       "version": "3.0.4",
@@ -13055,6 +13133,7 @@
       "version": "1.3.2",
       "resolved": "https://registry.npmjs.org/seroval/-/seroval-1.3.2.tgz",
       "integrity": "sha512-RbcPH1n5cfwKrru7v7+zrZvjLurgHhGyso3HTyGtRivGWgYjbOmGuivCQaORNELjNONoK35nj28EoWul9sb1zQ==",
+      "peer": true,
       "engines": {
         "node": ">=10"
       }
@@ -13844,7 +13923,8 @@
     "node_modules/tailwindcss": {
       "version": "4.1.11",
       "resolved": "https://registry.npmjs.org/tailwindcss/-/tailwindcss-4.1.11.tgz",
-      "integrity": "sha512-2E9TBm6MDD/xKYe+dvJZAmg3yxIEDNRc0jwlNyDg/4Fil2QcSLjFKGVff0lAf1jjeaArlG/M75Ey/EYr/OJtBA=="
+      "integrity": "sha512-2E9TBm6MDD/xKYe+dvJZAmg3yxIEDNRc0jwlNyDg/4Fil2QcSLjFKGVff0lAf1jjeaArlG/M75Ey/EYr/OJtBA==",
+      "peer": true
     },
     "node_modules/tailwindcss-animate": {
       "version": "1.0.7",
@@ -13946,7 +14026,8 @@
     "node_modules/tiny-invariant": {
       "version": "1.3.3",
       "resolved": "https://registry.npmjs.org/tiny-invariant/-/tiny-invariant-1.3.3.tgz",
-      "integrity": "sha512-+FbBPE1o9QAYvviau/qC5SE3caw21q3xkvWKBtja5vgqOWIHHJ3ioaq1VPfn/Szqctz2bU/oYeKd9/z5BL+PVg=="
+      "integrity": "sha512-+FbBPE1o9QAYvviau/qC5SE3caw21q3xkvWKBtja5vgqOWIHHJ3ioaq1VPfn/Szqctz2bU/oYeKd9/z5BL+PVg==",
+      "peer": true
     },
     "node_modules/tiny-warning": {
       "version": "1.0.3",
@@ -13997,6 +14078,7 @@
       "version": "4.0.3",
       "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-4.0.3.tgz",
       "integrity": "sha512-5gTmgEY/sqK6gFXLIsQNH19lWb4ebPDLA4SdLP7dsWkIXHWlG66oPuVvXSGFPppYZz8ZDZq0dYYrbHfBCVUb1Q==",
+      "peer": true,
       "engines": {
         "node": ">=12"
       },
@@ -14308,6 +14390,7 @@
       "resolved": "https://registry.npmjs.org/typescript/-/typescript-5.8.3.tgz",
       "integrity": "sha512-p1diW6TqL9L07nNxvRMM7hMMw4c5XOo/1ibL4aAIGmSAt9slTE1Xgw5KWuof2uTOvCg9BY7ZRi+GaF+7sfgPeQ==",
       "devOptional": true,
+      "peer": true,
       "bin": {
         "tsc": "bin/tsc",
         "tsserver": "bin/tsserver"
@@ -14669,6 +14752,7 @@
       "resolved": "https://registry.npmjs.org/vite/-/vite-6.4.1.tgz",
       "integrity": "sha512-+Oxm7q9hDoLMyJOYfUYBuHQo+dkAloi33apOPP56pzj+vsdJDzr+j1NISE5pyaAuKL4A3UD34qd0lx5+kfKp2g==",
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "esbuild": "^0.25.0",
         "fdir": "^6.4.4",
@@ -14790,6 +14874,7 @@
       "version": "4.0.3",
       "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-4.0.3.tgz",
       "integrity": "sha512-5gTmgEY/sqK6gFXLIsQNH19lWb4ebPDLA4SdLP7dsWkIXHWlG66oPuVvXSGFPppYZz8ZDZq0dYYrbHfBCVUb1Q==",
+      "peer": true,
       "engines": {
         "node": ">=12"
       },
@@ -15333,6 +15418,7 @@
       "version": "3.25.76",
       "resolved": "https://registry.npmjs.org/zod/-/zod-3.25.76.tgz",
       "integrity": "sha512-gzUt/qt81nXsFGKIFcC3YnfEAx5NkunCfnDlvuBSSFS02bcXu4Lmea0AFIUwbLWxWPx3d9p8S5QoaujKcNQxcQ==",
+      "peer": true,
       "funding": {
         "url": "https://github.com/sponsors/colinhacks"
       }

electron/package.json

@@ -28,10 +28,10 @@
     "@electron-forge/maker-squirrel": "^7.6.1",
     "@electron-forge/maker-zip": "^7.6.1",
     "@electron-forge/plugin-auto-unpack-natives": "^7.6.1",
-    "@electron-forge/plugin-fuses": "^7.8.0",
+    "@electron-forge/plugin-fuses": "^7.10.2",
     "@electron-forge/plugin-vite": "^7.6.1",
     "@electron-forge/shared-types": "^7.4.0",
-    "@electron/fuses": "^2.0.0",
+    "@electron/fuses": "^1.8.0",
     "@eslint/compat": "^1.2.6",
     "@eslint/js": "^9.18.0",
     "@playwright/test": "^1.56.1",
@@ -65,7 +65,7 @@
     "vitest": "^3.0.6"
   },
   "dependencies": {
-    "@hookform/resolvers": "^4.1.2",
+    "@hookform/resolvers": "^5.2.2",
     "@icons-pack/react-simple-icons": "^11.2.0",
     "@jub3i/tree-kill": "^0.0.15",
     "@radix-ui/react-collapsible": "^1.1.12",

electron/src/client/mainNamespace.ts

@@ -145,8 +145,17 @@ export function mainMessageHandler(
   };
 }
 
+// Create the store instance once and export it
+export const mainNamespaceStore: StoreApi<MainNamespaceStore> =
+  createMainNamespaceStore();
+
+// Message handler stays the same
+export const mainMessageHandlerInstance: EventHandler =
+  mainMessageHandler(mainNamespaceStore);
+
+// Hook that uses the exported store
 const mainRoomImplementation = createNamespaceHookImplementation({
-  createStore: createMainNamespaceStore,
+  createStore: () => mainNamespaceStore, // use the exported store
   createEventHandler: mainMessageHandler,
 });
 

electron/src/client/socketioStore.ts

@@ -8,6 +8,8 @@ import { z } from "zod";
 import { toastError, toastZodError } from "@/components/Toast";
 import { MachineIdentificationUnique } from "@/machines/types";
 import { FPS_30 } from "@/lib/constants";
+import { mainNamespaceStore, createMainNamespaceStore } from "./mainNamespace";
+import { softReloadMainNamespaceStore } from "./softReload";
 
 /**
  * Simple buffer-based store updater to limit React re-renders to ~30 FPS
@@ -307,25 +309,12 @@ const useSocketioStore = create<SocketioStore>()((set, get) => ({
       console.log(`Connected to ${namespace_path}`);
 
       // reset the store
-      resetStore(set);
+      //      resetStore(set);
     });
     socket.on("disconnect", (reason) => {
       socket.disconnect();
-      console.warn(`Disconnected from ${namespace_path}, reason: ${reason}`);
-
-      // reset the store
-      resetStore(set);
-
-      // Attempt to reconnect after a short delay for any disconnect reason
-      console.log(
-        `Disconnected from ${namespace_path}, attempting reconnect in 1s...`,
-      );
-      setTimeout(() => {
-        if (get().hasNamespace(namespaceId) && !socket.connected) {
-          console.log(`Reconnecting to ${namespace_path}...`);
-          socket.connect();
-        }
-      }, 1000);
+      // Its hacky but i do not care, electron + react is annoying ...
+      window.location.reload();
     });
 
     socket.on("event", (event: unknown) => {
@@ -334,11 +323,9 @@ const useSocketioStore = create<SocketioStore>()((set, get) => ({
       if (!event_parsed.success) {
         toastZodError(event_parsed.error, "Invalid event");
         return;
-      }
-      // handle the event
+      } // handle the event
       get().namespaces[namespace_path].handler(event_parsed.data);
     });
-
     // store the namespace initally
     set(
       produce((state: SocketioStore) => {
@@ -356,8 +343,26 @@ const useSocketioStore = create<SocketioStore>()((set, get) => ({
       }),
     );
 
-    // finally connect
-    socket.connect();
+    if (namespace_path !== "/main") {
+      const intervalId = setInterval(() => {
+        const mainState = mainNamespaceStore.getState();
+        const machineExists =
+          namespaceId.type === "machine" &&
+          mainState.machines?.data?.machines.some(
+            (m) =>
+              m.machine_identification_unique.serial ===
+              namespaceId.machine_identification_unique.serial,
+          );
+        //console.log(machineExists);
+        socket.connect();
+        if (machineExists && !socket.connected) {
+          socket.connect();
+          clearInterval(intervalId); // stop polling
+        }
+      }, 500);
+    } else {
+      socket.connect();
+    }
   },
   incrementNamespace: (namespaceId: NamespaceId) => {
     const namespace_path = serializeNamespaceId(namespaceId);

electron/src/client/softReload.ts

@@ -0,0 +1,17 @@
+import { mainNamespaceStore, mainMessageHandler } from "./mainNamespace";
+
+// Soft reset function
+export function softReloadMainNamespaceStore() {
+  // 1️⃣ Reset the store to initial state
+  mainNamespaceStore.setState({
+    ethercatDevices: null,
+    machines: null,
+    ethercatInterfaceDiscovery: null,
+  });
+
+  // 2️⃣ Re-attach the message handler if needed
+  // This ensures future socket events still update the store
+  mainMessageHandler(mainNamespaceStore);
+
+  console.log("MainNamespaceStore soft reloaded");
+}

electron/src/components/UpdateProgressBar.tsx

@@ -0,0 +1,137 @@
+import React from "react";
+import { Icon } from "./Icon";
+import { cn } from "@/lib/utils";
+import type { UpdateStep } from "@/stores/updateStore";
+
+interface UpdateProgressBarProps {
+  steps: UpdateStep[];
+  overallProgress: number;
+  className?: string;
+}
+
+export function UpdateProgressBar({
+  steps,
+  overallProgress,
+  className,
+}: UpdateProgressBarProps) {
+  return (
+    <div className={cn("space-y-4", className)}>
+      {/* Overall Progress Bar */}
+      <div className="space-y-2">
+        <div className="flex items-center justify-between">
+          <span className="text-sm font-medium">Overall Progress</span>
+          <span className="text-sm font-semibold tabular-nums">
+            {overallProgress}%
+          </span>
+        </div>
+        <div className="relative h-2.5 w-full overflow-hidden rounded-full bg-gray-200 dark:bg-gray-800">
+          <div
+            className="h-full rounded-full bg-gray-900 transition-all duration-500 ease-out dark:bg-gray-100"
+            style={{ width: `${overallProgress}%` }}
+          />
+        </div>
+      </div>
+
+      {/* Steps List */}
+      <div className="space-y-2">
+        {steps.map((step) => (
+          <div
+            key={step.id}
+            className={cn(
+              "flex items-center gap-3 rounded border px-3 py-2.5 transition-all duration-200",
+              step.status === "in-progress" &&
+                "border-gray-400 bg-gray-50 dark:border-gray-600 dark:bg-gray-900",
+              step.status === "completed" &&
+                "border-gray-300 bg-white dark:border-gray-700 dark:bg-gray-950",
+              step.status === "error" &&
+                "border-red-300 bg-red-50 dark:border-red-800 dark:bg-red-950/30",
+              step.status === "pending" &&
+                "border-gray-200 bg-white dark:border-gray-800 dark:bg-gray-950",
+            )}
+          >
+            {/* Status Icon */}
+            <div className="flex-shrink-0">
+              {step.status === "pending" && (
+                <div className="size-5 rounded-full border-2 border-gray-300 dark:border-gray-700" />
+              )}
+              {step.status === "in-progress" && (
+                <Icon
+                  name="lu:Loader"
+                  className="size-5 animate-spin text-gray-600 dark:text-gray-400"
+                />
+              )}
+              {step.status === "completed" && (
+                <div className="flex size-5 items-center justify-center rounded-full bg-gray-700 dark:bg-gray-300">
+                  <Icon
+                    name="lu:Check"
+                    className="size-3 text-white dark:text-gray-900"
+                  />
+                </div>
+              )}
+              {step.status === "error" && (
+                <div className="flex size-5 items-center justify-center rounded-full bg-red-600 dark:bg-red-500">
+                  <Icon name="lu:X" className="size-3 text-white" />
+                </div>
+              )}
+            </div>
+
+            {/* Step Content */}
+            <div className="min-w-0 flex-1">
+              <div className="flex items-center justify-between gap-2">
+                <div className="flex items-center gap-2">
+                  <span
+                    className={cn(
+                      "text-sm",
+                      step.status === "completed" &&
+                        "text-gray-600 dark:text-gray-400",
+                      step.status === "error" &&
+                        "font-medium text-red-700 dark:text-red-400",
+                      step.status === "in-progress" &&
+                        "font-medium text-gray-900 dark:text-gray-100",
+                      step.status === "pending" &&
+                        "text-gray-500 dark:text-gray-500",
+                    )}
+                  >
+                    {step.label}
+                  </span>
+                  {/* Subsector Badge - minimal inline display */}
+                  <span
+                    className={cn("text-xs text-gray-400 dark:text-gray-600")}
+                  >
+                    (
+                    {step.id === "rust-build"
+                      ? "rust & electron"
+                      : step.subsector}
+                    )
+                  </span>
+                </div>
+                {/* Progress percentage for in-progress steps */}
+                {step.status === "in-progress" &&
+                  step.progress !== undefined &&
+                  step.progress > 0 && (
+                    <span className="text-xs font-medium text-gray-600 tabular-nums dark:text-gray-400">
+                      {Math.round(step.progress)}%
+                    </span>
+                  )}
+              </div>
+
+              {/* Progress bar for steps with detailed tracking */}
+              {step.status === "in-progress" &&
+                step.progress !== undefined &&
+                step.progress > 0 && (
+                  <div className="mt-2">
+                    <div className="h-1.5 w-full overflow-hidden rounded-full bg-gray-200 dark:bg-gray-700">
+                      <div
+                        className="h-full rounded-full bg-gray-700 transition-all duration-500 dark:bg-gray-300"
+                        style={{ width: `${step.progress}%` }}
+                      />
+                    </div>
+                  </div>
+                )}
+            </div>
+          </div>
+        ))}
+      </div>
+    </div>
+  );
+}

electron/src/control/EditValue.tsx

@@ -109,7 +109,7 @@ export function EditValue({
   type FormSchema = z.infer<typeof formSchema>;
 
   const form = useForm<FormSchema>({
-    resolver: zodResolver<FormSchema>(formSchema),
+    resolver: zodResolver(formSchema),
     values: { value: value ?? defaultOrZero },
     defaultValues: { value: defaultValue },
     mode: "all",

electron/src/helpers/ipc/update/update-channels.ts

@@ -2,3 +2,4 @@ export const UPDATE_EXECUTE = "update:execute";
 export const UPDATE_LOG = "update:log";
 export const UPDATE_END = "update:end";
 export const UPDATE_CANCEL = "update:cancel";
+export const UPDATE_STEP = "update:step";

electron/src/helpers/ipc/update/update-context.ts

@@ -3,6 +3,7 @@ import {
   UPDATE_END,
   UPDATE_EXECUTE,
   UPDATE_LOG,
+  UPDATE_STEP,
 } from "./update-channels";
 
 type UpdateExecuteInvokeParams = {
@@ -16,11 +17,20 @@ type UpdateExecuteInvokeParams = {
   };
 };
 
+type UpdateStepParams = {
+  stepId: string;
+  status: "pending" | "in-progress" | "completed" | "error";
+  progress?: number;
+};
+
 export function exposeUpdateContext() {
   const { contextBridge, ipcRenderer } = window.require("electron");
 
   let currentLogListener: ((event: any, log: string) => void) | null = null;
   let currentEndListener: ((event: any, params: any) => void) | null = null;
+  let currentStepListener:
+    | ((event: any, params: UpdateStepParams) => void)
+    | null = null;
 
   contextBridge.exposeInMainWorld("update", {
     execute: (params: UpdateExecuteInvokeParams) =>
@@ -52,5 +62,17 @@ export function exposeUpdateContext() {
 
       ipcRenderer.on(UPDATE_END, currentEndListener);
     },
+
+    onStep: (callback: (params: UpdateStepParams) => void) => {
+      if (currentStepListener) {
+        ipcRenderer.removeListener(UPDATE_STEP, currentStepListener);
+      }
+
+      currentStepListener = (_event, params) => {
+        callback(params);
+      };
+
+      ipcRenderer.on(UPDATE_STEP, currentStepListener);
+    },
   });
 }

electron/src/helpers/ipc/update/update-listeners.ts

@@ -4,6 +4,7 @@ import {
   UPDATE_END,
   UPDATE_EXECUTE,
   UPDATE_LOG,
+  UPDATE_STEP,
 } from "./update-channels";
 import { spawn, ChildProcess } from "child_process";
 import tkill from "@jub3i/tree-kill";
@@ -116,6 +117,13 @@ async function update(
           commit,
         });
 
+        // Reset Rust build progress tracking
+        rustBuildProgress = {
+          totalDerivations: 0,
+          builtDerivations: 0,
+          maxPercent: 0,
+        };
+
         const qitechControlEnv = process.env.QITECH_CONTROL_ENV;
         const homeDir =
           qitechControlEnv === "control-os" ? "/home/qitech" : process.env.HOME;
@@ -129,6 +137,8 @@ async function update(
 
         // 1. first make sure the clone path is empty by deleting it if it containsa .git folder
         const repoDir = `${homeDir}/${githubRepoName}`;
+
+        // Clear repo (not tracked in progress UI)
         const clearResult = await clearRepoDirectory(
           `${homeDir}/${githubRepoName}`,
           event,
@@ -139,6 +149,10 @@ async function update(
         }
 
         // 2. clone the repository
+        event.sender.send(UPDATE_STEP, {
+          stepId: "clone-repo",
+          status: "in-progress",
+        });
         const cloneResult = await cloneRepository(
           {
             githubRepoOwner,
@@ -151,11 +165,19 @@ async function update(
           event,
         );
         if (!cloneResult.success) {
+          event.sender.send(UPDATE_STEP, {
+            stepId: "clone-repo",
+            status: "error",
+          });
           event.sender.send(UPDATE_LOG, cloneResult.error);
           return;
         }
+        event.sender.send(UPDATE_STEP, {
+          stepId: "clone-repo",
+          status: "completed",
+        });
 
-        // 3. make the nixos-install.sh script executable
+        // 3. make the nixos-install.sh script executable (not tracked in progress UI)
         const chmodResult = await runCommand(
           "chmod",
           ["+x", "nixos-install.sh"],
@@ -168,17 +190,35 @@ async function update(
         }
 
         // 4. run the nixos-install.sh script
-        const installResult = await runCommand(
+        // This script will handle rust-build, electron-build, and system-install
+        // Start with rust-build (cargo builds)
+        event.sender.send(UPDATE_STEP, {
+          stepId: "rust-build",
+          status: "in-progress",
+        });
+
+        const installResult = await runCommandWithStepTracking(
           "./nixos-install.sh",
           [],
           repoDir,
           event,
         );
+
         if (!installResult.success) {
+          // Mark current and remaining steps as error
+          event.sender.send(UPDATE_STEP, {
+            stepId: "rust-build",
+            status: "error",
+          });
+          event.sender.send(UPDATE_STEP, {
+            stepId: "system-install",
+            status: "error",
+          });
           event.sender.send(UPDATE_LOG, installResult.error);
           return;
         }
 
+        // Success - steps are already marked as completed by runCommandWithStepTracking
         resolve();
       } catch (error: any) {
         reject(error);
@@ -244,7 +284,7 @@ async function cloneRepository(
     : `https://github.com/${githubRepoOwner}/${githubRepoName}.git`;
 
   // Determine clone arguments based on whether tag, branch, or commit is specified
-  const cloneArgs = ["clone", repoUrl];
+  const cloneArgs = ["clone", "--progress", repoUrl];
 
   if (tag) {
     // Clone a specific tag
@@ -333,6 +373,11 @@ async function runCommand(
       const log = data.toString();
       console.error(log);
       event.sender.send(UPDATE_LOG, log);
+
+      // Git outputs progress to stderr
+      if (cmd === "git" && args.includes("--progress")) {
+        parseGitProgress(log, event);
+      }
     });
 
     // Handle process completion
@@ -386,6 +431,249 @@ async function runCommand(
   }
 }
 
+// Parse Git clone progress
+function parseGitProgress(
+  log: string,
+  event: Electron.IpcMainInvokeEvent,
+): void {
+  // Git progress format: "Receiving objects: 45% (234/520)"
+  // or "Resolving deltas: 100% (150/150)"
+  const receivingMatch = log.match(/Receiving objects:\s*(\d+)%/);
+  const resolvingMatch = log.match(/Resolving deltas:\s*(\d+)%/);
+
+  if (receivingMatch) {
+    const percent = parseInt(receivingMatch[1], 10);
+    event.sender.send(UPDATE_STEP, {
+      stepId: "clone-repo",
+      status: "in-progress",
+      progress: Math.floor(percent * 0.8), // Receiving is 80% of clone
+    });
+  } else if (resolvingMatch) {
+    const percent = parseInt(resolvingMatch[1], 10);
+    event.sender.send(UPDATE_STEP, {
+      stepId: "clone-repo",
+      status: "in-progress",
+      progress: Math.floor(80 + percent * 0.2), // Resolving is last 20%
+    });
+  }
+}
+
+// Track Rust build progress
+let rustBuildProgress = {
+  totalDerivations: 0,
+  builtDerivations: 0,
+  maxPercent: 0, // Track max to prevent backward movement
+};
+
+// Parse Rust build output for progress
+function parseRustBuildOutput(
+  log: string,
+  event: Electron.IpcMainInvokeEvent,
+): void {
+  // Track derivations to build
+  const derivationsMatch = log.match(/these (\d+) derivations? will be built/i);
+  if (derivationsMatch) {
+    rustBuildProgress.totalDerivations = parseInt(derivationsMatch[1], 10);
+    rustBuildProgress.builtDerivations = 0;
+    rustBuildProgress.maxPercent = 0;
+    event.sender.send(UPDATE_STEP, {
+      stepId: "rust-build",
+      status: "in-progress",
+      progress: 0,
+    });
+    return;
+  }
+
+  // Track building packages
+  if (
+    log.includes("building '/nix/store/") ||
+    log.includes("building /nix/store/")
+  ) {
+    rustBuildProgress.builtDerivations++;
+
+    // Check if this is the server-deps package (one of the last builds)
+    const isServerDeps = log.includes("-server-deps");
+
+    let percent = 15;
+    if (isServerDeps) {
+      // server-deps indicates we're at 85%
+      percent = 85;
+    } else if (rustBuildProgress.totalDerivations > 0) {
+      const derivationProgress =
+        rustBuildProgress.builtDerivations / rustBuildProgress.totalDerivations;
+      percent = 15 + Math.floor(derivationProgress * 70); // Map to 15-85%
+    }
+
+    // Only move forward
+    percent = Math.max(percent, rustBuildProgress.maxPercent);
+    rustBuildProgress.maxPercent = percent;
+
+    event.sender.send(UPDATE_STEP, {
+      stepId: "rust-build",
+      status: "in-progress",
+      progress: percent,
+    });
+  }
+
+  // Track installing phase - go up to 90%
+  if (log.includes("installing") || log.includes("Installing")) {
+    const percent = Math.max(90, rustBuildProgress.maxPercent);
+    rustBuildProgress.maxPercent = percent;
+    event.sender.send(UPDATE_STEP, {
+      stepId: "rust-build",
+      status: "in-progress",
+      progress: percent,
+    });
+  }
+}
+
+// Enhanced version of runCommand that tracks build steps based on log output
+async function runCommandWithStepTracking(
+  cmd: string,
+  args: string[],
+  workingDir: string,
+  event: Electron.IpcMainInvokeEvent,
+): Promise<{ success: boolean; error?: string }> {
+  try {
+    const completeCommand = `${cmd} ${args.join(" ")}`;
+    const workingDirText = terminalGray(workingDir);
+    event.sender.send(
+      UPDATE_LOG,
+      `🚀 ${workingDirText} ${terminalColor("blue", completeCommand)}`,
+    );
+
+    const childProcess = spawn(cmd, args, {
+      cwd: workingDir,
+    });
+
+    // Store reference to current process for cancellation
+    currentUpdateProcess = childProcess;
+
+    // Track which steps have been marked as in-progress
+    // Note: rust-build is already marked as in-progress before calling this function
+    let systemInstallStarted = false;
+
+    // Function to process log output and update steps
+    const processLogForSteps = (log: string) => {
+      const logLower = log.toLowerCase();
+
+      // Parse Rust build progress
+      parseRustBuildOutput(log, event);
+
+      // Check for system install indicators
+      // System install happens after Rust build completes (at ~90%)
+      // Look for bootloader/activation messages that indicate final system installation
+      if (
+        !systemInstallStarted &&
+        rustBuildProgress.maxPercent >= 90 &&
+        (logLower.includes("updating grub") ||
+          logLower.includes("installing bootloader") ||
+          logLower.includes("updating bootloader") ||
+          logLower.includes("activating the configuration") ||
+          logLower.includes("building the system configuration") ||
+          logLower.includes("these 0 derivations"))
+      ) {
+        console.log("🟢 Detected system install start:", log.substring(0, 100));
+        // Mark rust as complete, start system install
+        event.sender.send(UPDATE_STEP, {
+          stepId: "rust-build",
+          status: "completed",
+        });
+        event.sender.send(UPDATE_STEP, {
+          stepId: "system-install",
+          status: "in-progress",
+        });
+        systemInstallStarted = true;
+      }
+    };
+
+    // Stream stdout logs back to renderer
+    childProcess.stdout.on("data", (data) => {
+      const log = data.toString();
+      console.log(log);
+      event.sender.send(UPDATE_LOG, log);
+      processLogForSteps(log);
+    });
+
+    // Stream stderr logs back to renderer
+    childProcess.stderr.on("data", (data) => {
+      const log = data.toString();
+      console.error(log);
+      event.sender.send(UPDATE_LOG, log);
+      processLogForSteps(log);
+    });
+
+    // Handle process completion
+    return new Promise((resolve, reject) => {
+      childProcess.on("close", (code, signal) => {
+        // Clear process reference when completed
+        if (currentUpdateProcess === childProcess) {
+          currentUpdateProcess = null;
+        }
+
+        if (signal === "SIGTERM" || signal === "SIGKILL") {
+          event.sender.send(UPDATE_LOG, terminalInfo("Command was cancelled"));
+          reject({
+            success: false,
+            error: "Command was cancelled",
+          });
+        } else if (code === 0) {
+          // Mark all remaining steps as completed on success
+          if (!systemInstallStarted) {
+            event.sender.send(UPDATE_STEP, {
+              stepId: "rust-build",
+              status: "completed",
+            });
+            event.sender.send(UPDATE_STEP, {
+              stepId: "system-install",
+              status: "completed",
+            });
+          } else {
+            event.sender.send(UPDATE_STEP, {
+              stepId: "system-install",
+              status: "completed",
+            });
+          }
+
+          event.sender.send(
+            UPDATE_LOG,
+            terminalSuccess("Command completed successfully"),
+          );
+          resolve({ success: true, error: undefined });
+        } else {
+          event.sender.send(
+            UPDATE_LOG,
+            terminalError(`Command failed with code ${code}`),
+          );
+          reject({
+            success: false,
+            error: terminalError(code?.toString() ?? "NO_CODE"),
+          });
+        }
+      });
+
+      childProcess.on("error", (err) => {
+        // Clear process reference on error
+        if (currentUpdateProcess === childProcess) {
+          currentUpdateProcess = null;
+        }
+
+        event.sender.send(
+          UPDATE_LOG,
+          terminalError(`Command error: ${err.message}`),
+        );
+        reject({
+          success: false,
+          error: terminalError(err.message),
+        });
+      });
+    });
+  } catch (error: any) {
+    event.sender.send(UPDATE_LOG, terminalError(`Error: ${error.toString()}`));
+    return { success: false, error: error.toString() };
+  }
+}
+
 function terminalColor(
   color: "blue" | "green" | "red" | "cyan" | "gray",
   text: string,

electron/src/helpers/update_helpers.ts

@@ -2,6 +2,13 @@ import type { UpdateInfo } from "@/stores/updateStore";
 import { useUpdateStore } from "@/stores/updateStore";
 
 let currentLogListener: ((line: string) => void) | null = null;
+let currentStepListener:
+  | ((params: {
+      stepId: string;
+      status: "pending" | "in-progress" | "completed" | "error";
+      progress?: number;
+    }) => void)
+  | null = null;
 
 export async function updateExecute(
   source: UpdateInfo,
@@ -14,15 +21,32 @@ export async function updateExecute(
       currentLogListener = null;
     }
 
+    if (currentStepListener) {
+      window.update.onStep(() => {}); // clear previous
+      currentStepListener = null;
+    }
+
     currentLogListener = onLog;
     window.update.onLog(currentLogListener);
 
+    // Set up step listener
+    currentStepListener = (params) => {
+      const { setStepStatus, setStepProgress } = useUpdateStore.getState();
+      setStepStatus(params.stepId, params.status);
+      if (params.progress !== undefined) {
+        setStepProgress(params.stepId, params.progress);
+      }
+    };
+    window.update.onStep(currentStepListener);
+
     window.update.execute(source);
 
     window.update.onEnd((params) => {
       window.update.onLog(() => {}); // remove listener
       window.update.onEnd(() => {});
+      window.update.onStep(() => {}); // remove step listener
       currentLogListener = null;
+      currentStepListener = null;
       resolve(params);
     });
   });
@@ -55,6 +79,7 @@ export async function updateCancel(): Promise<{
   const result = await window.update.cancel();
   window.update.onLog(() => {}); // remove listener
   window.update.onEnd(() => {}); // remove listener
+  window.update.onStep(() => {}); // remove step listener
   return result;
 }
 

electron/src/machines/buffer/buffer1/buffer1Namespace.ts

@@ -62,7 +62,6 @@ export const connectedMachineStateSchema = z.object({
 /**
  * Consolidated state event schema (state changes only)
  */
-
 export const stateEventDataSchema = z.object({
   mode_state: modeStateSchema,
   connected_machine_state: connectedMachineStateSchema,

electron/src/machines/extruder/extruder2/Extruder2Settings.tsx

@@ -239,6 +239,50 @@ export function Extruder2SettingsPage() {
                 />
               </Label>
             </ControlCard>
+            <ControlCard title="Temperature PID Settings (Nozzle) ">
+              <Label label="Kp">
+                <EditValue
+                  value={state?.pid_settings.temperature.nozzle.kp}
+                  defaultValue={
+                    defaultState?.pid_settings.temperature.nozzle.kp
+                  }
+                  min={0}
+                  max={100}
+                  step={0.001}
+                  renderValue={(v) => roundToDecimals(v, 3)}
+                  onChange={(v) => setTemperaturePidValue("nozzle", "kp", v)}
+                  title="Temperature PID KP"
+                />
+              </Label>
+              <Label label="Ki">
+                <EditValue
+                  value={state?.pid_settings.temperature.nozzle.ki}
+                  defaultValue={
+                    defaultState?.pid_settings.temperature.nozzle.ki
+                  }
+                  min={0}
+                  max={100}
+                  step={0.001}
+                  renderValue={(v) => roundToDecimals(v, 3)}
+                  onChange={(v) => setTemperaturePidValue("nozzle", "ki", v)}
+                  title="Temperature PID KI"
+                />
+              </Label>
+              <Label label="Kd">
+                <EditValue
+                  value={state?.pid_settings.temperature.nozzle.kd}
+                  defaultValue={
+                    defaultState?.pid_settings.temperature.nozzle.kd
+                  }
+                  min={0}
+                  max={100}
+                  step={0.001}
+                  renderValue={(v) => roundToDecimals(v, 3)}
+                  onChange={(v) => setTemperaturePidValue("nozzle", "kd", v)}
+                  title="Temperature PID KD"
+                />
+              </Label>
+            </ControlCard>
           </ControlGrid>
         </>
       )}

electron/src/machines/extruder/extruder2/extruder2Namespace.ts

@@ -149,6 +149,12 @@ export const pidSettingsSchema = z.object({
       kd: z.number(),
       zone: z.string(),
     }),
+    nozzle: z.object({
+      ki: z.number(),
+      kp: z.number(),
+      kd: z.number(),
+      zone: z.string(),
+    }),
   }),
   pressure: z.object({
     ki: z.number(),

electron/src/machines/extruder/extruder2/useExtruder.ts

@@ -294,7 +294,7 @@ export function useExtruder2() {
   };
 
   const setTemperaturePidValue = (
-    zone: "front" | "middle" | "back",
+    zone: "front" | "middle" | "back" | "nozzle",
     key: "kp" | "ki" | "kd",
     value: number,
   ) => {

electron/src/setup/UpdateExecutePage.tsx

@@ -3,6 +3,7 @@ import { Page } from "@/components/Page";
 import { SectionTitle } from "@/components/SectionTitle";
 import { Terminal } from "@/components/Terminal";
 import { TouchButton } from "@/components/touch/TouchButton";
+import { UpdateProgressBar } from "@/components/UpdateProgressBar";
 import { updateExecute, updateCancelWithStore } from "@/helpers/update_helpers";
 import { useUpdateStore } from "@/stores/updateStore";
 import { useSearch } from "@tanstack/react-router";
@@ -18,12 +19,15 @@ export function UpdateExecutePage() {
     isUpdating,
     terminalLines,
     currentUpdateInfo,
+    steps,
+    overallProgress,
     setUpdateInfo,
     startUpdate,
     stopUpdate,
     addTerminalLine,
     clearTerminalLines,
     resetUpdateState,
+    initializeSteps,
   } = useUpdateStore();
 
   // Set update info from search params when component mounts or search changes
@@ -50,6 +54,7 @@ export function UpdateExecutePage() {
       commit: search.commit,
     };
 
+    initializeSteps();
     startUpdate();
     // Perhaps we just need to clear the logs ?
     const res = await updateExecute(updateInfo, addTerminalLine);
@@ -138,6 +143,15 @@ export function UpdateExecutePage() {
         </Alert>
       )}
 
+      {/* Progress Bar */}
+      {isUpdating && (
+        <UpdateProgressBar
+          steps={steps}
+          overallProgress={overallProgress}
+          className="mb-4"
+        />
+      )}
+
       <Terminal
         lines={terminalLines}
         className="h-160"

electron/src/stores/updateStore.ts

@@ -10,10 +10,21 @@ export type UpdateInfo = {
   commit?: string;
 };
 
+export type UpdateStep = {
+  id: string;
+  label: string;
+  status: "pending" | "in-progress" | "completed" | "error";
+  subsector: "nixos" | "rust" | "electron" | "general";
+  progress?: number; // 0-100 for steps with detailed progress tracking
+};
+
 export type UpdateState = {
   isUpdating: boolean;
   terminalLines: string[];
   currentUpdateInfo: UpdateInfo | null;
+  steps: UpdateStep[];
+  currentStepIndex: number;
+  overallProgress: number; // 0-100
 };
 
 export type UpdateActions = {
@@ -23,14 +34,80 @@ export type UpdateActions = {
   addTerminalLine: (line: string) => void;
   clearTerminalLines: () => void;
   resetUpdateState: () => void;
+  setStepStatus: (stepId: string, status: UpdateStep["status"]) => void;
+  setStepProgress: (stepId: string, progress: number) => void;
+  initializeSteps: () => void;
+  updateProgress: (progress: number) => void;
 };
 
 export type UpdateStore = UpdateState & UpdateActions;
 
+const defaultSteps: UpdateStep[] = [
+  {
+    id: "clone-repo",
+    label: "Clone repository",
+    status: "pending",
+    subsector: "general",
+    progress: 0,
+  },
+  {
+    id: "rust-build",
+    label: "Build system packages",
+    status: "pending",
+    subsector: "rust",
+    progress: 0,
+  },
+  {
+    id: "system-install",
+    label: "Install system update",
+    status: "pending",
+    subsector: "nixos",
+    progress: 0,
+  },
+];
+
+// Helper function to calculate overall progress based on step weights and individual progress
+const calculateOverallProgress = (steps: UpdateStep[]): number => {
+  // Define weights for each step (should sum to 100)
+  const stepWeights: Record<string, number> = {
+    "clone-repo": 10, // 10% for cloning
+    "rust-build": 80, // 80% for building (goes up to 90% internally)
+    "system-install": 10, // 10% for system installation
+  };
+
+  let totalProgress = 0;
+
+  steps.forEach((step) => {
+    const weight = stepWeights[step.id] || 0;
+
+    if (step.status === "completed") {
+      // Completed steps contribute their full weight
+      totalProgress += weight;
+    } else if (step.status === "in-progress") {
+      // In-progress steps: use progress value or 0 if not yet set
+      const stepProgress = step.progress ?? 0;
+
+      if (step.id === "rust-build") {
+        // Rust build progress is 0-90%, map it to 0-100% of its weight
+        totalProgress += (stepProgress / 90) * weight;
+      } else {
+        // Other steps: progress is 0-100%
+        totalProgress += (stepProgress / 100) * weight;
+      }
+    }
+    // Pending and error steps contribute 0
+  });
+
+  return Math.round(Math.min(100, Math.max(0, totalProgress)));
+};
+
 const initialState: UpdateState = {
   isUpdating: false,
   terminalLines: [],
   currentUpdateInfo: null,
+  steps: defaultSteps,
+  currentStepIndex: 0,
+  overallProgress: 0,
 };
 
 export const useUpdateStore = create<UpdateStore>((set) => ({
@@ -105,6 +182,63 @@ export const useUpdateStore = create<UpdateStore>((set) => ({
         state.isUpdating = false;
         state.terminalLines = [];
         state.currentUpdateInfo = null;
+        state.steps = defaultSteps.map((step) => ({ ...step }));
+        state.currentStepIndex = 0;
+        state.overallProgress = 0;
+      }),
+    ),
+
+  initializeSteps: () =>
+    set(
+      produce((state: UpdateState) => {
+        state.steps = defaultSteps.map((step) => ({ ...step }));
+        state.currentStepIndex = 0;
+        state.overallProgress = 0;
+      }),
+    ),
+
+  setStepStatus: (stepId: string, status: UpdateStep["status"]) =>
+    set(
+      produce((state: UpdateState) => {
+        const stepIndex = state.steps.findIndex((s) => s.id === stepId);
+        if (stepIndex !== -1) {
+          state.steps[stepIndex].status = status;
+
+          // Update current step index and ensure progress is initialized
+          if (status === "in-progress") {
+            state.currentStepIndex = stepIndex;
+            // Initialize progress to 0 if not already set
+            if (state.steps[stepIndex].progress === undefined) {
+              state.steps[stepIndex].progress = 0;
+            }
+          }
+
+          // Calculate overall progress based on step weights and progress
+          state.overallProgress = calculateOverallProgress(state.steps);
+        }
+      }),
+    ),
+
+  setStepProgress: (stepId: string, progress: number) =>
+    set(
+      produce((state: UpdateState) => {
+        const stepIndex = state.steps.findIndex((s) => s.id === stepId);
+        if (stepIndex !== -1) {
+          state.steps[stepIndex].progress = Math.min(
+            100,
+            Math.max(0, progress),
+          );
+
+          // Recalculate overall progress when step progress changes
+          state.overallProgress = calculateOverallProgress(state.steps);
+        }
+      }),
+    ),
+
+  updateProgress: (progress: number) =>
+    set(
+      produce((state: UpdateState) => {
+        state.overallProgress = Math.min(100, Math.max(0, progress));
       }),
     ),
 }));

electron/src/types.d.ts

@@ -46,6 +46,13 @@ interface UpdateContext {
   onEnd: (
     callback: (params: { success: boolean; error?: string }) => void,
   ) => void;
+  onStep: (
+    callback: (params: {
+      stepId: string;
+      status: "pending" | "in-progress" | "completed" | "error";
+      progress?: number;
+    }) => void,
+  ) => void;
 }
 
 interface TroubleshootContext {

ethercat-hal/Cargo.toml

@@ -10,9 +10,9 @@ workspace = true
 anyhow = "1.0.100"
 ethercrab = "0.6"
 ethercat_hal_derive = { version = "0.1.0", path = "../ethercat-hal-derive" }
+units = { path = "../units" }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 smol = "2.0.2"
-uom = { version = "0.36.0", default-features = false, features = ["f64","si"] }
 rand = "0.9.2"
 futures = "0.3.31"
 tracing = "0.1.41"

ethercat-hal/src/devices/el3001.rs

@@ -14,7 +14,7 @@ use crate::{
     io::analog_input::{AnalogInputDevice, AnalogInputInput},
 };
 use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
-use uom::si::{electric_potential::volt, f64::ElectricPotential};
+use units::{electric_potential::volt, f64::ElectricPotential};
 
 #[derive(EthercatDevice)]
 pub struct EL3001 {

ethercat-hal/src/devices/el3021.rs

@@ -17,8 +17,8 @@ use crate::{
     io::analog_input::{AnalogInputDevice, AnalogInputInput},
 };
 use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
-use uom::si::electric_current::milliampere;
-use uom::si::f64::ElectricCurrent;
+use units::electric_current::milliampere;
+use units::f64::ElectricCurrent;
 
 #[derive(Debug, Clone)]
 pub struct EL3021Configuration {

ethercat-hal/src/devices/el3024.rs

@@ -17,8 +17,8 @@ use crate::{
     io::analog_input::{AnalogInputDevice, AnalogInputInput},
 };
 use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
-use uom::si::electric_current::milliampere;
-use uom::si::f64::ElectricCurrent;
+use units::electric_current::milliampere;
+use units::f64::ElectricCurrent;
 
 #[derive(Debug, Clone)]
 pub struct EL3024Configuration {

ethercat-hal/src/devices/el3062_0030.rs

@@ -15,7 +15,7 @@ use crate::{
     io::analog_input::{AnalogInputDevice, AnalogInputInput},
 };
 use ethercat_hal_derive::EthercatDevice;
-use uom::si::{electric_potential::volt, f64::ElectricPotential};
+use units::{electric_potential::volt, f64::ElectricPotential};
 
 #[derive(Debug, Clone)]
 pub struct EL3062_0030Configuration {

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

@@ -5,7 +5,7 @@ use anyhow::anyhow;
 use coe::EL7031_0030Configuration;
 use ethercat_hal_derive::EthercatDevice;
 use pdo::{EL7031_0030RxPdo, EL7031_0030TxPdo};
-use uom::si::{electric_potential::volt, f64::ElectricPotential};
+use units::{electric_potential::volt, f64::ElectricPotential};
 
 use crate::{
     helpers::{

ethercat-hal/src/io/analog_input/physical.rs

@@ -1,4 +1,4 @@
-use uom::si::f64::{ElectricCurrent, ElectricPotential};
+use units::f64::{ElectricCurrent, ElectricPotential};
 
 #[derive(Debug, Clone)]
 pub enum AnalogInputValue {
@@ -77,9 +77,9 @@ mod tests {
 
     use super::*;
     use approx::assert_relative_eq;
-    use uom::si::electric_current::milliampere;
-    use uom::si::electric_potential::volt;
-    use uom::si::f64::{ElectricCurrent, ElectricPotential};
+    use units::electric_current::milliampere;
+    use units::electric_potential::volt;
+    use units::f64::{ElectricCurrent, ElectricPotential};
 
     #[test]
     fn test_analog_input_getter_voltage() {

ethercat-hal/src/io/analog_input_dummy.rs

@@ -57,7 +57,7 @@ impl AnalogInputDummy {
 
 #[cfg(test)]
 mod tests {
-    use uom::si::{electric_potential::volt, f64::ElectricPotential};
+    use units::{electric_potential::volt, f64::ElectricPotential};
 
     use super::*;
 

machines/Cargo.toml

@@ -0,0 +1,50 @@
+[package]
+name = "machines"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+ethercrab = "0.6"
+ethercat_hal = { path = "../ethercat-hal" }
+control_core = { path = "../control-core" }
+control_core_derive = { path = "../control-core-derive" }
+units = { path = "../units" }
+
+serde = "1.0.217"
+anyhow = "1.0.100"
+
+bitvec = "1.0.1"
+lazy_static = "1.5.0"
+euclid = "0.22.11"
+
+# concurrency
+smol = "2.0.2"
+futures = "0.3.31"
+
+# web
+serde_json = "1.0.143"
+socketioxide = { version = "0.17.2", features = ["msgpack"] }
+
+# serial
+serialport = "4.7.3"
+
+#tracing
+tracing = { version = "0.1.41", features = ["attributes"] }
+tonic = { version = "0.13.1", optional = true }
+
+[dev-dependencies]
+approx = "0.5.1"
+textplots = "0.8.7"
+
+[features]
+default = ["tracing-fmt"]
+never_type = []
+tracing-fmt = []
+mock-machine = []
+memory-locking = []
+io-uring = []
+development-build = []
+
+
+[package.metadata.cargo-machete]
+ignored =  ["tonic"]

machines/src/aquapath1/act.rs

@@ -0,0 +1,59 @@
+use super::{AquaPathV1, AquaPathV1Mode};
+use crate::{MachineAct, MachineMessage};
+use std::time::{Duration, Instant};
+
+impl MachineAct for AquaPathV1 {
+    fn act(&mut self, now_ts: Instant) {
+        let msg = self.api_receiver.try_recv();
+        match msg {
+            Ok(msg) => {
+                let _res = self.act_machine_message(msg);
+            }
+            Err(_) => (),
+        };
+
+        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;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) =>
+            /*Doesnt connec to any Machine do nothing*/
+            {
+                ()
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) =>
+            /*Doesnt connec to any Machine do nothing*/
+            {
+                ()
+            }
+        }
+    }
+}

machines/src/aquapath1/api.rs

@@ -1,19 +1,16 @@
-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 crate::{MachineApi, MachineMessage};
+use control_core::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::lock::Mutex;
+use smol::channel::Sender;
+use std::{sync::Arc, time::Duration};
 use tracing::instrument;
 
 #[derive(Serialize, Debug, Clone, Default)]
@@ -91,9 +88,9 @@ enum Mutation {
     SetBackFlow(bool),
 }
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct AquaPathV1Namespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl NamespaceCacheingLogic<AquaPathV1Events> for AquaPathV1Namespace {
@@ -101,9 +98,10 @@ 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();
-
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
@@ -127,6 +125,10 @@ impl CacheableEvents<AquaPathV1Events> for AquaPathV1Events {
 }
 
 impl MachineApi for AquaPathV1 {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
     fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
         let control: Mutation = serde_json::from_value(request_body)?;
         match control {
@@ -149,7 +151,7 @@ impl MachineApi for AquaPathV1 {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
 }

machines/src/aquapath1/controller.rs

@@ -1,15 +1,14 @@
-use crate::machines::aquapath1::VolumeRate;
-use crate::machines::aquapath1::{Flow, Temperature};
+use crate::aquapath1::VolumeRate;
+use crate::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;
+use units::f64::ThermodynamicTemperature;
+use units::thermodynamic_temperature::degree_celsius;
+use units::volume_rate::liter_per_minute;
 #[derive(Debug)]
 
 pub struct Controller {

machines/src/aquapath1/mod.rs

@@ -1,18 +1,11 @@
-use control_core::{
-    machines::identification::{MachineIdentification, MachineIdentificationUnique},
-    socketio::namespace::NamespaceCacheingLogic,
-};
-
-use control_core_derive::Machine;
+use control_core::socketio::namespace::NamespaceCacheingLogic;
 use serde::{Deserialize, Serialize};
 use std::time::Instant;
-use uom::si::{
-    f64::{ThermodynamicTemperature, VolumeRate},
-    thermodynamic_temperature::degree_celsius,
-    volume_rate::liter_per_minute,
-};
+use units::f64::*;
+use units::{thermodynamic_temperature::degree_celsius, volume_rate::liter_per_minute};
 
-use crate::machines::{
+use crate::{AsyncThreadMessage, Machine, MachineMessage};
+use crate::{
     MACHINE_AQUAPATH_V1, VENDOR_QITECH,
     aquapath1::{
         api::{
@@ -20,10 +13,13 @@ use crate::machines::{
             ModeState, StateEvent, TempState, TempStates,
         },
         controller::Controller,
-        // flow_controller::FlowController,
-        // temperature_controller::TemperatureController,
     },
+    machine_identification::MachineIdentification,
 };
+
+use smol::channel::{Receiver, Sender};
+
+use super::machine_identification::MachineIdentificationUnique;
 pub mod act;
 pub mod api;
 pub mod controller;
@@ -50,6 +46,16 @@ pub struct Temperature {
     pub target_temperature: ThermodynamicTemperature,
 }
 
+impl Machine for AquaPathV1 {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
 impl Default for Temperature {
     fn default() -> Self {
         Self {
@@ -78,14 +84,17 @@ impl Default for Flow {
     }
 }
 
-#[derive(Debug, Machine)]
+#[derive(Debug)]
 pub struct AquaPathV1 {
+    api_receiver: Receiver<MachineMessage>,
+    api_sender: Sender<MachineMessage>,
     machine_identification_unique: MachineIdentificationUnique,
     namespace: AquaPathV1Namespace,
     mode: AquaPathV1Mode,
     last_measurement_emit: Instant,
     front_controller: Controller,
     back_controller: Controller,
+    main_sender: Option<Sender<AsyncThreadMessage>>,
 }
 
 impl AquaPathV1 {

machines/src/aquapath1/new.rs

@@ -1,13 +1,13 @@
-use super::{AquaPathV1, AquaPathV1Mode};
-use crate::machines::{
-    aquapath1::{Flow, Temperature, api::AquaPathV1Namespace, controller::Controller},
-    get_ethercat_device,
+use crate::{
+    MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
+    get_subdevice_by_index, validate_no_role_dublicates,
+    validate_same_machine_identification_unique,
+};
+
+use super::{
+    AquaPathV1, AquaPathV1Mode, Flow, Temperature, api::AquaPathV1Namespace, controller::Controller,
 };
 use anyhow::Error;
-use control_core::machines::new::{
-    MachineNewHardware, MachineNewParams, MachineNewTrait, get_subdevice_by_index,
-    validate_no_role_dublicates, validate_same_machine_identification_unique,
-};
 use ethercat_hal::{
     coe::ConfigurableDevice,
     devices::{
@@ -26,7 +26,7 @@ use ethercat_hal::{
     },
 };
 use std::time::{Duration, Instant};
-use uom::si::{f64::ThermodynamicTemperature, thermodynamic_temperature::degree_celsius};
+use units::thermodynamic_temperature::{ThermodynamicTemperature, degree_celsius};
 
 impl MachineNewTrait for AquaPathV1 {
     fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
@@ -160,8 +160,11 @@ impl MachineNewTrait for AquaPathV1 {
                 do2,
                 enc2,
             );
-
+            let (sender, receiver) = smol::channel::unbounded();
             let mut water_cooling = Self {
+                main_sender: params.main_thread_channel.clone(),
+                api_receiver: receiver,
+                api_sender: sender,
                 machine_identification_unique: params.get_machine_identification_unique(),
                 namespace: AquaPathV1Namespace {
                     namespace: params.namespace.clone(),

machines/src/buffer1/act.rs

@@ -0,0 +1,47 @@
+use super::BufferV1;
+use crate::{MachineAct, MachineMessage};
+use std::time::{Duration, Instant};
+
+impl MachineAct for BufferV1 {
+    fn act(&mut self, now: Instant) {
+        let msg = self.api_receiver.try_recv();
+        match msg {
+            Ok(msg) => {
+                let _res = self.act_machine_message(msg);
+            }
+            Err(_) => (),
+        };
+        // if last measurement is older than 1 second, emit a new measurement
+        if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+            // Emit live values at 30 FPS
+            self.emit_live_values();
+
+            self.last_measurement_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) =>
+            /*Doesnt connec to any Macine do nothing*/
+            {
+                ()
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) =>
+            /*Doesnt connec to any Machine do nothing*/
+            {
+                ()
+            }
+        }
+    }
+}

machines/src/buffer1/api.rs

@@ -1,22 +1,18 @@
 use std::{sync::Arc, time::Duration};
 
+use crate::{MachineApi, MachineMessage, machine_identification::MachineIdentificationUnique};
+
 use super::{BufferV1, BufferV1Mode};
-use control_core::{
-    machines::{
-        api::MachineApi, connection::MachineCrossConnectionState,
-        identification::MachineIdentificationUnique,
-    },
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_one_event,
-        },
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
+        cache_one_event,
     },
 };
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::lock::Mutex;
+use smol::channel::Sender;
 use tracing::instrument;
 
 #[derive(Serialize, Debug, Clone, Default)]
@@ -31,9 +27,7 @@ impl LiveValuesEvent {
 #[derive(Serialize, Debug, Clone)]
 pub struct StateEvent {
     /// mode state
-    pub mode_state: ModeState,
-    /// connected machine state
-    pub connected_machine_state: MachineCrossConnectionState,
+    pub mode_state: ModeState, // connected machine state
 }
 
 impl StateEvent {
@@ -80,7 +74,7 @@ enum Mutation {
 
 #[derive(Debug)]
 pub struct Buffer1Namespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl NamespaceCacheingLogic<BufferV1Events> for Buffer1Namespace {
@@ -89,8 +83,10 @@ impl NamespaceCacheingLogic<BufferV1Events> for Buffer1Namespace {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
 
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
@@ -114,21 +110,21 @@ impl CacheableEvents<Self> for BufferV1Events {
 }
 
 impl MachineApi for BufferV1 {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
     fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
         let mutation: Mutation = serde_json::from_value(request_body)?;
         match mutation {
             Mutation::SetBufferMode(mode) => self.set_mode_state(mode),
-            Mutation::SetConnectedMachine(machine_identification_unique) => {
-                self.set_connected_winder(machine_identification_unique);
-            }
-            Mutation::DisconnectMachine(machine_identification_unique) => {
-                self.disconnect_winder(machine_identification_unique);
-            }
+            Mutation::SetConnectedMachine(_machine_identification_unique) => {}
+            Mutation::DisconnectMachine(_machine_identification_unique) => {}
         }
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
 }

machines/src/buffer1/mod.rs

@@ -3,46 +3,37 @@ pub mod api;
 pub mod buffer_tower_controller;
 pub mod new;
 
+use super::machine_identification::{MachineIdentification, MachineIdentificationUnique};
+use crate::{AsyncThreadMessage, Machine, MachineMessage};
 #[cfg(not(feature = "mock-machine"))]
-use crate::machines::{MACHINE_BUFFER_V1, VENDOR_QITECH, winder2::Winder2};
+use crate::{MACHINE_BUFFER_V1, VENDOR_QITECH};
 use api::{Buffer1Namespace, BufferV1Events, LiveValuesEvent, ModeState, StateEvent};
 use buffer_tower_controller::BufferTowerController;
-use control_core::machines::connection::{CrossConnectableMachine, MachineCrossConnection};
-use control_core::{
-    machines::{
-        identification::{MachineIdentification, MachineIdentificationUnique},
-        manager::MachineManager,
-    },
-    socketio::namespace::NamespaceCacheingLogic,
-};
-use control_core_derive::Machine;
+use control_core::socketio::namespace::NamespaceCacheingLogic;
 use serde::{Deserialize, Serialize};
-use smol::lock::RwLock;
-use std::{sync::Weak, time::Instant};
+use smol::channel::{Receiver, Sender};
+use std::time::Instant;
 
-#[derive(Debug, Machine)]
+#[derive(Debug)]
 pub struct BufferV1 {
-    // controllers
-    pub buffer_tower_controller: BufferTowerController,
+    api_receiver: Receiver<MachineMessage>,
+    api_sender: Sender<MachineMessage>,
 
-    // socketio
+    pub buffer_tower_controller: BufferTowerController,
     namespace: Buffer1Namespace,
     last_measurement_emit: Instant,
-
-    // machine connection
-    pub machine_manager: Weak<RwLock<MachineManager>>,
     pub machine_identification_unique: MachineIdentificationUnique,
-
-    // connected machines
-    pub connected_winder: MachineCrossConnection<BufferV1, Winder2>,
-
-    // mode
     mode: BufferV1Mode,
+    main_sender: Option<Sender<AsyncThreadMessage>>,
 }
 
-impl CrossConnectableMachine<BufferV1, Winder2> for BufferV1 {
-    fn get_cross_connection(&mut self) -> &mut MachineCrossConnection<BufferV1, Winder2> {
-        &mut self.connected_winder
+impl Machine for BufferV1 {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
     }
 }
 
@@ -63,13 +54,12 @@ impl BufferV1 {
         let event = live_values.build();
         self.namespace.emit(BufferV1Events::LiveValues(event));
     }
-
     pub fn emit_state(&mut self) {
         let state = StateEvent {
             mode_state: ModeState {
                 mode: self.mode.clone(),
             },
-            connected_machine_state: self.connected_winder.to_state(),
+            // connected_machine_state: self.connected_winder.to_state(),
         };
 
         let event = state.build();
@@ -133,43 +123,6 @@ impl BufferV1 {
         self.switch_mode(mode);
         self.emit_state();
     }
-
-    /// Connecting/Disconnecting machine
-    /// set connected winder
-    pub fn set_connected_winder(
-        &mut self,
-        machine_identification_unique: MachineIdentificationUnique,
-    ) {
-        if !matches!(
-            machine_identification_unique.machine_identification,
-            Winder2::MACHINE_IDENTIFICATION
-        ) {
-            return;
-        }
-
-        self.connected_winder
-            .set_connected_machine(&machine_identification_unique);
-
-        self.emit_state();
-
-        self.connected_winder.reverse_connect();
-    }
-
-    /// disconnect winder
-    pub fn disconnect_winder(
-        &mut self,
-        machine_identification_unique: MachineIdentificationUnique,
-    ) {
-        if !matches!(
-            machine_identification_unique.machine_identification,
-            Winder2::MACHINE_IDENTIFICATION
-        ) {
-            return;
-        }
-
-        self.connected_winder.disconnect();
-        self.emit_state();
-    }
 }
 
 #[derive(Deserialize, Serialize, Debug, Clone, PartialEq, Eq)]

machines/src/buffer1/new.rs

@@ -1,11 +1,6 @@
 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,
-};
 use ethercat_hal::{
     coe::ConfigurableDevice,
     devices::el7031_0030::coe::EL7031_0030Configuration,
@@ -22,9 +17,11 @@ use ethercat_hal::{
     shared_config::el70x1::{EL70x1OperationMode, StmMotorConfiguration},
 };
 
-use crate::machines::buffer1::BufferV1Mode;
-use crate::machines::buffer1::buffer_tower_controller::BufferTowerController;
-use crate::machines::get_ethercat_device;
+use crate::{
+    MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams, MachineNewTrait,
+    buffer1::BufferV1Mode, get_ethercat_device, validate_same_machine_identification_unique,
+};
+use crate::{buffer1::buffer_tower_controller::BufferTowerController, validate_no_role_dublicates};
 
 use super::{BufferV1, api::Buffer1Namespace};
 
@@ -37,16 +34,15 @@ impl MachineNewTrait for BufferV1 {
         validate_same_machine_identification_unique(&device_identification)?;
         validate_no_role_dublicates(&device_identification)?;
 
-        let hardware: &&control_core::machines::new::MachineNewHardwareEthercat<'_, '_, '_> =
-            match &params.hardware {
-                MachineNewHardware::Ethercat(x) => x,
-                _ => {
-                    return Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/Buffer::new] MachineNewHardware is not Ethercat",
-                        module_path!()
-                    ));
-                }
-            };
+        let hardware: &&MachineNewHardwareEthercat<'_, '_, '_> = match &params.hardware {
+            MachineNewHardware::Ethercat(x) => x,
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::MachineNewTrait/Buffer::new] MachineNewHardware is not Ethercat",
+                    module_path!()
+                ));
+            }
+        };
 
         smol::block_on(async {
             // Role 0 - Buscoupler EK1100
@@ -128,21 +124,20 @@ impl MachineNewTrait for BufferV1 {
             ));
 
             let machine_identification_unique = params.get_machine_identification_unique();
+            let (sender, receiver) = smol::channel::unbounded();
 
             // create buffer instance
             let mut buffer: BufferV1 = Self {
+                main_sender: params.main_thread_channel.clone(),
+                api_receiver: receiver,
+                api_sender: sender,
                 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_identification_unique.clone(),
-                connected_winder: MachineCrossConnection::new(
-                    params.machine_manager.clone(),
-                    &machine_identification_unique,
-                ),
             };
             buffer.emit_state();
             Ok(buffer)

machines/src/extruder1/act.rs

@@ -1,13 +1,21 @@
 #[cfg(not(feature = "mock-machine"))]
-use crate::machines::extruder1::ExtruderV2;
+use crate::extruder1::ExtruderV2;
 #[cfg(not(feature = "mock-machine"))]
-use control_core::machines::new::MachineAct;
+use crate::{MachineAct, MachineMessage};
 #[cfg(not(feature = "mock-machine"))]
 use std::time::{Duration, Instant};
 
 #[cfg(not(feature = "mock-machine"))]
 impl MachineAct for ExtruderV2 {
     fn act(&mut self, now: Instant) {
+        let msg = self.api_receiver.try_recv();
+        match msg {
+            Ok(msg) => {
+                let _res = self.act_machine_message(msg);
+            }
+            Err(_) => (),
+        };
+
         self.temperature_controller_back.update(now);
         self.temperature_controller_nozzle.update(now);
         self.temperature_controller_front.update(now);
@@ -39,4 +47,26 @@ impl MachineAct for ExtruderV2 {
             self.last_measurement_emit = now;
         }
     }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+                tracing::info!("extruder1 received subscribe");
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) => (),
+            MachineMessage::DisconnectMachine(_machine_connection) =>
+            /*Doesnt connec to any Machine do nothing*/
+            {
+                ()
+            }
+        }
+    }
 }

machines/src/extruder1/api.rs

@@ -4,10 +4,10 @@ use super::{ExtruderV2Mode, mitsubishi_cs80::MotorStatus};
 use super::ExtruderV2;
 
 #[cfg(not(feature = "mock-machine"))]
-use crate::machines::extruder1::HeatingType;
+use crate::{MachineMessage, extruder1::HeatingType};
 
 #[cfg(not(feature = "mock-machine"))]
-use control_core::machines::api::MachineApi;
+use crate::MachineApi;
 use control_core::socketio::{
     event::{Event, GenericEvent},
     namespace::{
@@ -19,13 +19,14 @@ use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 #[cfg(not(feature = "mock-machine"))]
 use serde_json::Value;
-use smol::lock::Mutex;
+#[cfg(not(feature = "mock-machine"))]
+use smol::channel::Sender;
 use std::{sync::Arc, time::Duration};
 use tracing::instrument;
-use uom::si::{
-    angular_velocity::revolution_per_minute, electric_current::ampere, electric_potential::volt,
-    frequency::hertz,
-};
+use units::angular_velocity::revolution_per_minute;
+use units::electric_current::ampere;
+use units::electric_potential::volt;
+use units::frequency::hertz;
 
 #[derive(Debug, Clone, Default, Serialize)]
 pub struct MotorStatusValues {
@@ -188,6 +189,7 @@ pub struct TemperaturePidStates {
     pub front: TemperaturePid,
     pub middle: TemperaturePid,
     pub back: TemperaturePid,
+    pub nozzle: TemperaturePid,
 }
 
 #[derive(Deserialize, Serialize, Debug, Clone, PartialEq)]
@@ -240,7 +242,7 @@ pub enum Mutation {
 
 #[derive(Debug)]
 pub struct ExtruderV2Namespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl NamespaceCacheingLogic<ExtruderV2Events> for ExtruderV2Namespace {
@@ -249,8 +251,10 @@ impl NamespaceCacheingLogic<ExtruderV2Events> for ExtruderV2Namespace {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
 
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
@@ -275,6 +279,10 @@ impl CacheableEvents<Self> for ExtruderV2Events {
 
 #[cfg(not(feature = "mock-machine"))]
 impl MachineApi for ExtruderV2 {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
     fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
         // there are multiple Modbus Frames that are "prebuilt"
         let control: Mutation = serde_json::from_value(request_body)?;
@@ -316,7 +324,7 @@ impl MachineApi for ExtruderV2 {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
 }

machines/src/extruder1/emit.rs

@@ -1,6 +1,6 @@
 #[cfg(not(feature = "mock-machine"))]
 // Contains Implementations for All functions that use emit_state
-use crate::machines::extruder1::{
+use crate::extruder1::{
     ExtruderV2, ExtruderV2Mode, HeatingType,
     api::{
         ExtruderSettingsState, ExtruderV2Events, HeatingState, HeatingStates, InverterStatusState,
@@ -15,19 +15,18 @@ 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};
-
+use units::angular_velocity::AngularVelocity;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::angular_velocity::AngularVelocity;
+use units::pressure::{Pressure, bar};
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::pressure::{Pressure, bar};
+use units::thermodynamic_temperature::ThermodynamicTemperature;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::thermodynamic_temperature::ThermodynamicTemperature;
+use units::{angular_velocity::revolution_per_minute, thermodynamic_temperature::degree_celsius};
 
 #[cfg(not(feature = "mock-machine"))]
 impl ExtruderV2 {
     pub fn build_state_event(&mut self) -> StateEvent {
-        use crate::machines::extruder1::api::{TemperaturePid, TemperaturePidStates};
+        use crate::extruder1::api::{TemperaturePid, TemperaturePidStates};
 
         StateEvent {
             is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
@@ -127,6 +126,12 @@ impl ExtruderV2 {
                         kd: self.temperature_controller_back.pid.get_kd(),
                         zone: String::from("back"),
                     },
+                    nozzle: TemperaturePid {
+                        ki: self.temperature_controller_nozzle.pid.get_ki(),
+                        kp: self.temperature_controller_nozzle.pid.get_kp(),
+                        kd: self.temperature_controller_nozzle.pid.get_kd(),
+                        zone: String::from("nozzle"),
+                    },
                 },
                 pressure: PidSettings {
                     ki: self.screw_speed_controller.pid.get_ki(),
@@ -320,6 +325,13 @@ impl ExtruderV2 {
                     settings.kd,
                 );
             }
+            "nozzle" => {
+                self.temperature_controller_nozzle.pid.configure(
+                    settings.ki,
+                    settings.kp,
+                    settings.kd,
+                );
+            }
             _ => tracing::warn!("Unknown zone: {}", settings.zone),
         }
         self.emit_state();

machines/src/extruder1/mitsubishi_cs80/mod.rs

@@ -6,12 +6,10 @@ use control_core::modbus::{
 use ethercat_hal::io::serial_interface::SerialInterface;
 use serde::Serialize;
 use std::time::{Duration, Instant};
-use uom::si::{
-    electric_current::centiampere,
-    electric_potential::centivolt,
-    f64::{AngularVelocity, ElectricCurrent, ElectricPotential, Frequency},
-    frequency::centihertz,
-};
+use units::electric_current::centiampere;
+use units::electric_potential::centivolt;
+use units::f64::*;
+use units::frequency::centihertz;
 
 /// Specifies all System environment Variables
 /// Register addresses are calculated as follows: Register-value 40002 -> address: 40002-40001 -> actual address in request:0x1

machines/src/extruder1/mock/mock_emit.rs

@@ -151,6 +151,11 @@ impl ExtruderV2 {
                 self.pid_settings.temperature.back.kp = settings.kp;
                 self.pid_settings.temperature.back.kd = settings.kd;
             }
+            "nozzle" => {
+                self.pid_settings.temperature.nozzle.ki = settings.ki;
+                self.pid_settings.temperature.nozzle.kp = settings.kp;
+                self.pid_settings.temperature.nozzle.kd = settings.kd;
+            }
             _ => tracing::warn!("Unknown zone: {}", settings.zone),
         }
         self.emit_state();

machines/src/extruder1/mock/new.rs

@@ -91,23 +91,29 @@ impl control_core::machines::new::MachineNewTrait for ExtruderV2 {
             pid_settings: PidSettingsStates {
                 temperature: TemperaturePidStates {
                     front: TemperaturePid {
-                        ki: 0.0,
-                        kp: 0.0,
-                        kd: 0.0,
+                        ki: 0.1,
+                        kp: 0.1,
+                        kd: 0.1,
                         zone: String::from("front"),
                     },
                     middle: TemperaturePid {
-                        ki: 0.0,
-                        kp: 0.0,
-                        kd: 0.0,
+                        ki: 0.1,
+                        kp: 0.1,
+                        kd: 0.1,
                         zone: String::from("middle"),
                     },
                     back: TemperaturePid {
-                        ki: 0.0,
-                        kp: 0.0,
-                        kd: 0.0,
+                        ki: 0.1,
+                        kp: 0.1,
+                        kd: 0.1,
                         zone: String::from("back"),
                     },
+                    nozzle: TemperaturePid {
+                        ki: 0.1,
+                        kp: 0.1,
+                        kd: 0.1,
+                        zone: String::from("nozzle"),
+                    },
                 },
                 pressure: PidSettings {
                     ki: 0.0,

machines/src/extruder1/mod.rs

@@ -2,23 +2,25 @@
 use std::time::Instant;
 
 #[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};
+use smol::channel::Receiver;
+use smol::channel::Sender;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::electric_current::ampere;
+use units::electric_current::ampere;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::electric_potential::volt;
-use uom::si::{f64::ThermodynamicTemperature, thermodynamic_temperature::degree_celsius};
+use units::electric_potential::volt;
+use units::f64::*;
+use units::thermodynamic_temperature::degree_celsius;
 
+use crate::{AsyncThreadMessage, Machine};
 #[cfg(not(feature = "mock-machine"))]
-use crate::machines::{
-    MACHINE_EXTRUDER_V1, VENDOR_QITECH,
+use crate::{
+    MACHINE_EXTRUDER_V1, MachineMessage, VENDOR_QITECH,
     extruder1::{
         api::ExtruderV2Namespace, screw_speed_controller::ScrewSpeedController,
         temperature_controller::TemperatureController,
     },
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
 };
 
 pub mod act;
@@ -64,13 +66,19 @@ pub enum HeatingType {
 }
 
 #[cfg(not(feature = "mock-machine"))]
-#[derive(Debug, Machine)]
+#[derive(Debug)]
 pub struct ExtruderV2 {
+    api_receiver: Receiver<MachineMessage>,
+    api_sender: Sender<MachineMessage>,
+    main_sender: Option<Sender<AsyncThreadMessage>>,
+
     machine_identification_unique: MachineIdentificationUnique,
     namespace: ExtruderV2Namespace,
+
     last_measurement_emit: Instant,
     last_status_hash: Option<u64>,
     mode: ExtruderV2Mode,
+
     screw_speed_controller: ScrewSpeedController,
     temperature_controller_front: TemperatureController,
     temperature_controller_middle: TemperatureController,
@@ -86,6 +94,16 @@ pub struct ExtruderV2 {
     emitted_default_state: bool,
 }
 
+impl Machine for ExtruderV2 {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
 #[cfg(not(feature = "mock-machine"))]
 impl std::fmt::Display for ExtruderV2 {
     fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {

machines/src/extruder1/new.rs

@@ -1,15 +1,9 @@
 #[cfg(not(feature = "mock-machine"))]
-use crate::machines::get_ethercat_device;
+use crate::{MachineNewParams, MachineNewTrait, 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::{
-    validate_no_role_dublicates, validate_same_machine_identification_unique,
-};
+
 #[cfg(not(feature = "mock-machine"))]
 use ethercat_hal::coe::ConfigurableDevice;
 #[cfg(not(feature = "mock-machine"))]
@@ -29,13 +23,13 @@ use std::time::Duration;
 #[cfg(not(feature = "mock-machine"))]
 use std::time::Instant;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::angular_velocity::AngularVelocity;
+use units::angular_velocity::AngularVelocity;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::angular_velocity::revolution_per_minute;
+use units::angular_velocity::revolution_per_minute;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::pressure::Pressure;
+use units::pressure::Pressure;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::pressure::bar;
+use units::pressure::bar;
 
 #[cfg(not(feature = "mock-machine"))]
 use ethercat_hal::{
@@ -50,10 +44,10 @@ use ethercat_hal::{
     },
 };
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::thermodynamic_temperature::{ThermodynamicTemperature, degree_celsius};
+use units::thermodynamic_temperature::{ThermodynamicTemperature, degree_celsius};
 
 #[cfg(not(feature = "mock-machine"))]
-use crate::machines::extruder1::temperature_controller::TemperatureController;
+use crate::extruder1::temperature_controller::TemperatureController;
 
 #[cfg(not(feature = "mock-machine"))]
 use super::{
@@ -66,21 +60,25 @@ impl MachineNewTrait for ExtruderV2 {
     fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
         // validate general stuff
 
+        use crate::{
+            MachineNewHardware, MachineNewHardwareEthercat, validate_no_role_dublicates,
+            validate_same_machine_identification_unique,
+        };
+
         let device_identification = params.device_group.to_vec();
 
         validate_same_machine_identification_unique(&device_identification)?;
         validate_no_role_dublicates(&device_identification)?;
 
-        let hardware: &&control_core::machines::new::MachineNewHardwareEthercat<'_, '_, '_> =
-            match &params.hardware {
-                MachineNewHardware::Ethercat(x) => x,
-                _ => {
-                    return Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/Extruder2::new] MachineNewHardware is not Ethercat",
-                        module_path!()
-                    ));
-                }
-            };
+        let hardware: &&MachineNewHardwareEthercat<'_, '_, '_> = match &params.hardware {
+            MachineNewHardware::Ethercat(x) => x,
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::MachineNewTrait/Extruder2::new] MachineNewHardware is not Ethercat",
+                    module_path!()
+                ));
+            }
+        };
 
         // using block_on because making this funciton async creates a lifetime issue
         // if its async the compiler thinks &subdevices is persisted in the future which might never execute
@@ -218,8 +216,12 @@ impl MachineNewTrait for ExtruderV2 {
 
             let screw_speed_controller =
                 ScrewSpeedController::new(inverter, target_pressure, target_rpm, pressure_sensor);
+            let (sender, receiver) = smol::channel::unbounded();
 
             let mut extruder: ExtruderV2 = Self {
+                main_sender: params.main_thread_channel.clone(),
+                api_receiver: receiver,
+                api_sender: sender,
                 machine_identification_unique: params.get_machine_identification_unique(),
                 namespace: ExtruderV2Namespace {
                     namespace: params.namespace.clone(),

machines/src/extruder1/screw_speed_controller.rs

@@ -7,15 +7,13 @@ use control_core::{
 };
 use ethercat_hal::io::analog_input::AnalogInput;
 use futures::executor::block_on;
-use uom::si::{
-    angular_velocity::revolution_per_minute,
-    electric_current::milliampere,
-    f64::{AngularVelocity, ElectricCurrent, Frequency, Pressure},
-    frequency::{cycle_per_minute, hertz},
-    pressure::bar,
-};
+use units::angular_velocity::revolution_per_minute;
+use units::electric_current::milliampere;
+use units::f64::*;
+use units::frequency::{cycle_per_minute, hertz};
+use units::pressure::bar;
 
-use crate::machines::extruder1::mitsubishi_cs80::MitsubishiCS80Status;
+use crate::extruder1::mitsubishi_cs80::MitsubishiCS80Status;
 
 use super::mitsubishi_cs80::{MitsubishiCS80, MotorStatus};
 

machines/src/extruder1/temperature_controller.rs

@@ -2,7 +2,8 @@ use super::Heating;
 use control_core::controllers::pid::PidController;
 use ethercat_hal::io::{digital_output::DigitalOutput, temperature_input::TemperatureInput};
 use std::time::{Duration, Instant};
-use uom::si::{f64::ThermodynamicTemperature, thermodynamic_temperature::degree_celsius};
+use units::f64::*;
+use units::thermodynamic_temperature::degree_celsius;
 
 #[derive(Debug)]
 

machines/src/laser/act.rs

@@ -0,0 +1,62 @@
+use super::LaserMachine;
+use crate::MachineAct;
+use crate::MachineMessage;
+use std::time::{Duration, Instant};
+
+/// Implements the `MachineAct` trait for the `LaserMachine`.
+///
+/// # Parameters
+/// - `_now_ts`: The current timestamp of type `Instant`.
+///
+/// # Returns
+/// A pinned `Future` that resolves to `()` and is `Send`-safe. The future encapsulates the asynchronous behavior of the `act` method.
+///
+/// # Description
+/// This method is called to perform periodic actions for the `LaserMachine`. Specifically:
+/// - It checks if the time elapsed since the last measurement emission exceeds 20 milliseconds.
+/// - If the condition is met, it asynchronously emits live values at 60 FPS.
+///
+/// The method ensures that the diameter value is updated approximately 60 times per second.
+///
+impl MachineAct for LaserMachine {
+    fn act(&mut self, now: Instant) {
+        let msg = self.api_receiver.try_recv();
+        match msg {
+            Ok(msg) => {
+                let _res = self.act_machine_message(msg);
+            }
+            Err(_) => (),
+        };
+        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();
+            self.last_measurement_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) =>
+            /*Doesnt connec to any Macine do nothing*/
+            {
+                ()
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) =>
+            /*Doesnt connec to any Machine do nothing*/
+            {
+                ()
+            }
+        }
+    }
+}

machines/src/laser/api.rs

@@ -1,18 +1,16 @@
+use crate::{MachineApi, MachineMessage};
+
 use super::LaserMachine;
-use control_core::{
-    machines::api::MachineApi,
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_first_and_last_event,
-        },
+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};
 use serde_json::Value;
-use smol::lock::Mutex;
 use std::{sync::Arc, time::Duration};
 use tracing::instrument;
 
@@ -61,7 +59,7 @@ pub enum LaserEvents {
 
 #[derive(Debug)]
 pub struct LaserMachineNamespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl CacheableEvents<Self> for LaserEvents {
@@ -99,8 +97,10 @@ impl NamespaceCacheingLogic<LaserEvents> for LaserMachineNamespace {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
 
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
@@ -121,7 +121,11 @@ impl MachineApi for LaserMachine {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
+
+    fn api_get_sender(&self) -> smol::channel::Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
 }

machines/src/laser/mod.rs

@@ -1,24 +1,31 @@
+use crate::serial::devices::laser::Laser;
 use crate::{
-    machines::{MACHINE_LASER_V1, VENDOR_QITECH},
-    serial::devices::laser::Laser,
+    MACHINE_LASER_V1, VENDOR_QITECH,
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
 };
+use crate::{Machine, MachineMessage};
 use api::{LaserEvents, LaserMachineNamespace, LaserState, LiveValuesEvent, StateEvent};
-use control_core::{
-    machines::identification::{MachineIdentification, MachineIdentificationUnique},
-    socketio::namespace::NamespaceCacheingLogic,
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+use smol::{
+    channel::{Receiver, Sender},
+    lock::RwLock,
 };
-use control_core_derive::Machine;
-use smol::lock::RwLock;
+
+use crate::AsyncThreadMessage;
 use std::{sync::Arc, time::Instant};
-use uom::si::{f64::Length, length::millimeter};
+use units::f64::*;
+use units::length::millimeter;
 
 pub mod act;
 pub mod api;
 pub mod new;
 
-#[derive(Debug, Machine)]
+#[derive(Debug)]
 pub struct LaserMachine {
+    api_receiver: Receiver<MachineMessage>,
+    api_sender: Sender<MachineMessage>,
     machine_identification_unique: MachineIdentificationUnique,
+    main_sender: Option<Sender<AsyncThreadMessage>>,
 
     // drivers
     laser: Arc<RwLock<Laser>>,
@@ -41,6 +48,16 @@ pub struct LaserMachine {
     emitted_default_state: bool,
 }
 
+impl Machine for LaserMachine {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
 impl LaserMachine {
     pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
         vendor: VENDOR_QITECH,

machines/src/laser/new.rs

@@ -1,17 +1,15 @@
 use std::time::Instant;
 
 use crate::serial::{devices::laser::Laser, registry::SERIAL_DEVICE_REGISTRY};
+use crate::{MachineNewHardware, MachineNewTrait};
 
 use super::{LaserMachine, LaserTarget, api::LaserMachineNamespace};
 use anyhow::Error;
-use control_core::machines::new::{MachineNewHardware, MachineNewTrait};
-use uom::ConstZero;
-use uom::si::{f64::Length, length::millimeter};
+use units::ConstZero;
+use units::length::{Length, millimeter};
 
 impl MachineNewTrait for LaserMachine {
-    fn new(
-        params: &control_core::machines::new::MachineNewParams<'_, '_, '_, '_, '_, '_, '_>,
-    ) -> Result<Self, Error>
+    fn new(params: &crate::MachineNewParams<'_, '_, '_, '_, '_, '_, '_>) -> Result<Self, Error>
     where
         Self: Sized,
     {
@@ -34,7 +32,12 @@ impl MachineNewTrait for LaserMachine {
             lower_tolerance: Length::new::<millimeter>(0.05),
             diameter: Length::new::<millimeter>(1.75),
         };
-        let mut laser_machine = Self {
+        let (sender, receiver) = smol::channel::unbounded();
+
+        let laser_machine = Self {
+            main_sender: params.main_thread_channel.clone(),
+            api_receiver: receiver,
+            api_sender: sender,
             machine_identification_unique: params.get_machine_identification_unique(),
             laser,
             namespace: LaserMachineNamespace {
@@ -49,9 +52,6 @@ impl MachineNewTrait for LaserMachine {
             roundness: None,
         };
 
-        // Emit initial state
-        laser_machine.emit_state();
-
         Ok(laser_machine)
     }
 }

machines/src/lib.rs

@@ -0,0 +1,400 @@
+use anyhow::Error;
+use control_core::socketio::event::GenericEvent;
+use control_core::socketio::namespace::Namespace;
+use ethercat_hal::devices::{
+    EthercatDevice, SubDeviceIdentityTuple, downcast_device, subdevice_identity_to_tuple,
+};
+use ethercat_hal::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
+use ethercrab::{SubDevice, SubDeviceRef};
+use machine_identification::{
+    DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat, DeviceIdentification,
+    DeviceIdentificationIdentified, MachineIdentificationUnique,
+};
+use serde::Serialize;
+use smol::channel::Sender;
+use socketioxide::extract::SocketRef;
+use std::fmt::Debug;
+use std::{any::Any, sync::Arc, time::Instant};
+pub mod aquapath1;
+#[cfg(not(feature = "mock-machine"))]
+pub mod buffer1;
+pub mod extruder1;
+pub mod laser;
+pub mod machine_identification;
+pub mod mock;
+pub mod registry;
+pub mod serial;
+pub mod winder2;
+
+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_AQUAPATH_V1: u16 = 0x0009;
+#[cfg(not(feature = "mock-machine"))]
+pub const MACHINE_BUFFER_V1: u16 = 0x0008;
+
+use serde_json::Value;
+use smol::lock::RwLock;
+
+#[derive(Serialize, Debug, Clone)]
+pub struct MachineCrossConnectionState {
+    machine_identification_unique: Option<MachineIdentificationUnique>,
+    is_available: bool,
+}
+
+pub struct CrossConnection {
+    pub src: MachineIdentificationUnique,
+    pub dest: MachineIdentificationUnique,
+}
+
+pub enum AsyncThreadMessage {
+    NoMsg,
+    ConnectOneWayRequest(CrossConnection),
+    DisconnectMachines(CrossConnection),
+}
+
+pub struct MachineNewParams<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+> where
+    'maindevice: 'machine_new_hardware,
+    'subdevices: 'machine_new_hardware,
+    'ethercat_devices: 'machine_new_hardware,
+    'machine_new_hardware_etehrcat: 'machine_new_hardware,
+{
+    pub device_group: &'device_identifications_identified Vec<DeviceIdentificationIdentified>,
+    pub hardware: &'machine_new_hardware MachineNewHardware<
+        'maindevice,
+        'subdevices,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+    >,
+    pub socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+    pub main_thread_channel: Option<Sender<AsyncThreadMessage>>,
+    pub namespace: Option<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<
+    'maindevice,
+    'subdevices,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+> where
+    'maindevice: 'machine_new_hardware_etehrcat,
+    'subdevices: 'machine_new_hardware_etehrcat,
+    'ethercat_devices: 'machine_new_hardware_etehrcat,
+{
+    Ethercat(
+        &'machine_new_hardware_etehrcat MachineNewHardwareEthercat<
+            'maindevice,
+            'subdevices,
+            'ethercat_devices,
+        >,
+    ),
+    Serial(&'machine_new_hardware_serial MachineNewHardwareSerial),
+}
+
+pub struct MachineNewHardwareEthercat<'maindevice, 'subdevices, 'ethercat_devices> {
+    pub subdevices:
+        &'subdevices Vec<&'subdevices SubDeviceRef<'maindevice, &'subdevices SubDevice>>,
+    pub ethercat_devices: &'ethercat_devices Vec<Arc<RwLock<dyn EthercatDevice>>>,
+}
+
+pub trait SerialDevice: Any + Send + Sync + SerialDeviceNew + Debug {}
+
+pub trait SerialDeviceNew {
+    fn new_serial(
+        params: &SerialDeviceNewParams,
+    ) -> Result<(DeviceIdentification, Arc<RwLock<Self>>), anyhow::Error>
+    where
+        Self: Sized;
+}
+
+pub trait SerialDeviceThread {
+    fn start_thread() -> Result<(), anyhow::Error>;
+}
+
+pub struct SerialDeviceNewParams {
+    pub path: String,
+}
+
+#[derive(PartialEq, Eq, Clone, Debug, Hash)]
+pub struct SerialDeviceIdentification {
+    pub vendor_id: u16,
+    pub product_id: u16,
+}
+
+pub struct MachineNewHardwareSerial {
+    pub device: Arc<RwLock<dyn SerialDevice>>,
+}
+
+// validates that all devices in the group have the same machine identification
+pub fn validate_same_machine_identification_unique(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let machine_identification_unique = &identified_device_group
+        .first()
+        .ok_or_else(|| {
+            anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] No devices in group",
+                module_path!()
+            )
+        })?
+        .device_machine_identification
+        .machine_identification_unique;
+    for device in identified_device_group.iter() {
+        if device
+            .device_machine_identification
+            .machine_identification_unique
+            != *machine_identification_unique
+        {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] Different machine identifications",
+                module_path!()
+            ));
+        }
+    }
+    Ok(())
+}
+
+/// validates that every role is unique
+pub fn validate_no_role_dublicates(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let mut roles = vec![];
+    for device in identified_device_group.iter() {
+        if roles.contains(&device.device_machine_identification.role) {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_no_role_dublicates] Role dublicate",
+                module_path!(),
+            ));
+        }
+        roles.push(device.device_machine_identification.role);
+    }
+    Ok(())
+}
+
+// Inside control_core::machines::new module:
+pub fn get_device_identification_by_role(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+    role: u16,
+) -> Result<&DeviceIdentificationIdentified, Error> {
+    for device in identified_device_group.iter() {
+        if device.device_machine_identification.role == role {
+            return Ok(device);
+        }
+    }
+    Err(anyhow::anyhow!(
+        "[{}::get_device_identification_by_role] Role {} not found",
+        module_path!(),
+        role
+    ))
+}
+
+pub fn get_device_by_index<'maindevice>(
+    devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_device_by_index] Index {} out of bounds for devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+pub fn get_subdevice_by_index<'subdevices, 'maindevice>(
+    subdevices: &'subdevices Vec<&EthercrabSubDevicePreoperational<'maindevice>>,
+    subdevice_index: usize,
+) -> Result<&'subdevices EthercrabSubDevicePreoperational<'maindevice>, Error> {
+    Ok(subdevices.get(subdevice_index).ok_or(anyhow::anyhow!(
+        "Index {} out of bounds for subdevices",
+        subdevice_index
+    ))?)
+}
+
+pub fn get_ethercat_device_by_index<'maindevice>(
+    ethercat_devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(ethercat_devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_ethercat_device_by_index] Index {} out of bounds for ethercat devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+pub trait MachineNewTrait {
+    fn new(params: &MachineNewParams<'_, '_, '_, '_, '_, '_, '_>) -> Result<Self, anyhow::Error>
+    where
+        Self: Sized;
+}
+
+#[derive(Debug)]
+pub struct MachineConnection {
+    pub ident: MachineIdentificationUnique,
+    pub connection: Sender<MachineMessage>,
+}
+
+pub trait MachineAct {
+    fn act_machine_message(&mut self, msg: MachineMessage);
+    fn act(&mut self, now: Instant);
+}
+
+// generic MachineMessage allows us to implement actions
+// to manage or mutate machines with simple messages sent to the Recv Channel of the given Machine,
+// which the machine itself will handle to avoid locking
+// This also allows for simplified "CrossConnections"
+#[derive(Debug)]
+pub enum MachineMessage {
+    SubscribeNamespace(Namespace),
+    UnsubscribeNamespace,
+    HttpApiJsonRequest(serde_json::Value),
+    ConnectToMachine(MachineConnection),
+    DisconnectMachine(MachineConnection),
+}
+
+pub trait MachineApi {
+    fn api_get_sender(&self) -> Sender<MachineMessage>;
+    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
+    fn api_event_namespace(&mut self) -> Option<Namespace>;
+}
+
+pub trait Machine: MachineAct + MachineNewTrait + MachineApi + Any + Debug + Send + Sync {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique;
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>>;
+}
+
+pub trait AnyGetters: Any {
+    fn as_any(&self) -> &dyn Any;
+    fn as_any_mut(&mut self) -> &mut dyn Any;
+}
+
+async fn get_device_ident<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+>(
+    params: &MachineNewParams<
+        'maindevice,
+        'subdevices,
+        'device_identifications_identified,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+        'machine_new_hardware,
+    >,
+    role: u16,
+) -> Result<DeviceHardwareIdentificationEthercat, anyhow::Error> {
+    let device_identification = get_device_identification_by_role(params.device_group, role)?;
+    let device_hardware_identification_ethercat =
+        match &device_identification.device_hardware_identification {
+            DeviceHardwareIdentification::Ethercat(device_hardware_identification_ethercat) => {
+                device_hardware_identification_ethercat
+            }
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::MachineNewTrait/ExtruderV2::new] Device with role {} is not Ethercat",
+                    module_path!(),
+                    role
+                ));
+            }
+        };
+    return Ok(device_hardware_identification_ethercat.clone());
+}
+
+async fn get_ethercat_device<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+    T,
+>(
+    hardware: &&MachineNewHardwareEthercat<'maindevice, 'subdevices, 'ethercat_devices>,
+    params: &MachineNewParams<
+        'maindevice,
+        'subdevices,
+        'device_identifications_identified,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+        'machine_new_hardware,
+    >,
+    role: u16,
+    expected_identities: Vec<SubDeviceIdentityTuple>,
+) -> Result<
+    (
+        Arc<RwLock<T>>,
+        &'subdevices SubDeviceRef<'subdevices, &'subdevices SubDevice>,
+    ),
+    anyhow::Error,
+>
+where
+    T: 'static + Send + Sync + EthercatDevice,
+{
+    let device_hardware_identification_ethercat = get_device_ident(params, role).await?;
+    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 actual_identity = subdevice_identity_to_tuple(&subdevice_identity);
+
+    let mut matched_any_identity = false;
+    for identity in expected_identities.clone() {
+        if actual_identity == identity {
+            matched_any_identity = true;
+        }
+    }
+
+    if !matched_any_identity {
+        return Err(anyhow::anyhow!(
+            "[{}::MachineNewTrait/ExtruderV2::new] Device identity mismatch: expected {:?}",
+            module_path!(),
+            expected_identities
+        ));
+    }
+
+    let ethercat_device =
+        get_ethercat_device_by_index(&hardware.ethercat_devices, subdevice_index)?;
+    let device = downcast_device::<T>(ethercat_device).await?;
+
+    {
+        let mut device_guard = device.write().await;
+        device_guard.set_used(true);
+    }
+
+    Ok((device, subdevice))
+}

machines/src/machine_identification.rs

@@ -1,3 +1,117 @@
+use std::fmt::Display;
+
+use serde::Deserialize;
+use serde::Serialize;
+
+/// Identifies a spacifi machine
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
+pub struct MachineIdentificationUnique {
+    pub machine_identification: MachineIdentification,
+    pub serial: u16,
+}
+
+impl MachineIdentificationUnique {
+    /// Check if values are non-zero
+    pub const fn is_valid(&self) -> bool {
+        self.machine_identification.is_valid() && self.serial != 0
+    }
+}
+
+impl Display for MachineIdentificationUnique {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(
+            f,
+            "{}/{}/{}",
+            self.machine_identification.vendor, self.machine_identification.machine, self.serial
+        )
+    }
+}
+
+/// Identifies a machine
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
+pub struct MachineIdentification {
+    pub vendor: u16,
+    pub machine: u16,
+}
+
+impl MachineIdentification {
+    /// Check if values are non-zero
+    pub const fn is_valid(&self) -> bool {
+        self.vendor != 0 && self.machine != 0
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+pub struct DeviceMachineIdentification {
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub role: u16,
+}
+
+impl DeviceMachineIdentification {
+    /// Check if values are non-zero
+    pub const fn is_valid(&self) -> bool {
+        self.machine_identification_unique.is_valid()
+            && self
+                .machine_identification_unique
+                .machine_identification
+                .machine
+                != 0
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+pub struct DeviceIdentification {
+    pub device_machine_identification: Option<DeviceMachineIdentification>,
+    pub device_hardware_identification: DeviceHardwareIdentification,
+}
+
+impl From<DeviceIdentificationIdentified> for DeviceIdentification {
+    fn from(value: DeviceIdentificationIdentified) -> Self {
+        Self {
+            device_machine_identification: Some(value.device_machine_identification),
+            device_hardware_identification: value.device_hardware_identification,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+pub struct DeviceIdentificationIdentified {
+    pub device_machine_identification: DeviceMachineIdentification,
+    pub device_hardware_identification: DeviceHardwareIdentification,
+}
+
+impl TryFrom<DeviceIdentification> for DeviceIdentificationIdentified {
+    type Error = anyhow::Error;
+
+    fn try_from(value: DeviceIdentification) -> Result<Self, Self::Error> {
+        let device_machine_identification =
+            value.device_machine_identification.ok_or(anyhow::anyhow!(
+                "[{}::DeviceIdentificationIdentified::try_from] No device machine identification",
+                module_path!()
+            ))?;
+
+        Ok(Self {
+            device_machine_identification,
+            device_hardware_identification: value.device_hardware_identification,
+        })
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+pub enum DeviceHardwareIdentification {
+    Ethercat(DeviceHardwareIdentificationEthercat),
+    Serial(DeviceHardwareIdentificationSerial),
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+pub struct DeviceHardwareIdentificationEthercat {
+    pub subdevice_index: usize,
+}
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+pub struct DeviceHardwareIdentificationSerial {
+    pub path: String,
+}
+
 use anyhow::Error;
 use anyhow::anyhow;
 use ethercat_hal::devices::ek1100::EK1100_IDENTITY_A;
@@ -33,10 +147,6 @@ use ethercat_hal::helpers::ethercrab_types::{
 use ethercrab::MainDevice;
 use ethercrab::SubDeviceIdentity;
 
-use crate::machines::identification::DeviceMachineIdentification;
-use crate::machines::identification::MachineIdentification;
-use crate::machines::identification::MachineIdentificationUnique;
-
 #[derive(Debug)]
 pub struct MachineIdentificationAddresses {
     pub vendor_word: u16,

machines/src/mock/act.rs

@@ -1,6 +1,5 @@
-use control_core::machines::new::MachineAct;
-
 use super::MockMachine;
+use crate::{MachineAct, MachineMessage};
 use std::time::{Duration, Instant};
 
 /// Implements the `MachineAct` trait for the `MockMachine`.
@@ -21,6 +20,13 @@ use std::time::{Duration, Instant};
 ///
 impl MachineAct for MockMachine {
     fn act(&mut self, now: Instant) {
+        let msg = self.api_receiver.try_recv();
+        match msg {
+            Ok(msg) => {
+                let _res = self.act_machine_message(msg);
+            }
+            Err(_) => (),
+        };
         // Only emit live values if machine is in Running mode
         // The live values are updated approximately 30 times per second
         if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
@@ -28,4 +34,29 @@ impl MachineAct for MockMachine {
             self.last_measurement_emit = now;
         }
     }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) =>
+            /*Doesnt connec to any Macine do nothing*/
+            {
+                ()
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) =>
+            /*Doesnt connec to any Machine do nothing*/
+            {
+                ()
+            }
+        }
+    }
 }

machines/src/mock/api.rs

@@ -1,18 +1,17 @@
+use crate::{MachineApi, MachineMessage};
+
 use super::MockMachine;
-use control_core::{
-    machines::api::MachineApi,
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_first_and_last_event,
-        },
+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};
 use serde_json::Value;
-use smol::lock::Mutex;
+use smol::channel::Sender;
 use std::{sync::Arc, time::Duration};
 use tracing::instrument;
 
@@ -60,7 +59,7 @@ pub enum MockEvents {
 
 #[derive(Debug)]
 pub struct MockMachineNamespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl CacheableEvents<Self> for MockEvents {
@@ -98,12 +97,18 @@ impl NamespaceCacheingLogic<MockEvents> for MockMachineNamespace {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
 
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
 impl MachineApi for MockMachine {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
     fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
         let mutation: Mutation = serde_json::from_value(request_body)?;
         match mutation {
@@ -123,7 +128,7 @@ impl MachineApi for MockMachine {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
 }

machines/src/mock/mod.rs

@@ -1,26 +1,25 @@
-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,
+use crate::AsyncThreadMessage;
+use crate::{
+    MACHINE_MOCK, Machine, MachineMessage, VENDOR_QITECH,
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
 };
-use control_core_derive::Machine;
-
+use api::{LiveValuesEvent, MockEvents, MockMachineNamespace, Mode, ModeState, StateEvent};
+use control_core::socketio::event::BuildEvent;
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+use smol::channel::{Receiver, Sender};
 use std::time::Instant;
 use tracing::info;
-use uom::si::{
-    f64::Frequency,
-    frequency::{hertz, millihertz},
-};
+use units::f64::*;
+use units::frequency::{hertz, millihertz};
 
 pub mod act;
 pub mod api;
 pub mod new;
 
-#[derive(Debug, Machine)]
+#[derive(Debug)]
 pub struct MockMachine {
     machine_identification_unique: MachineIdentificationUnique,
+    main_sender: Option<Sender<AsyncThreadMessage>>,
 
     // socketio
     namespace: MockMachineNamespace,
@@ -39,6 +38,18 @@ pub struct MockMachine {
     /// Will be initialized 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,
+    api_sender: Sender<MachineMessage>,
+    api_receiver: Receiver<MachineMessage>,
+}
+
+impl Machine for MockMachine {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
 }
 
 impl MockMachine {

machines/src/mock/new.rs

@@ -4,9 +4,10 @@ use super::{
     MockMachine,
     api::{MockMachineNamespace, Mode},
 };
+use crate::{MachineNewHardware, MachineNewParams, MachineNewTrait};
 use anyhow::Error;
-use control_core::machines::new::{MachineNewHardware, MachineNewParams, MachineNewTrait};
-use uom::si::{f64::Frequency, frequency::hertz};
+use units::f64::Frequency;
+use units::frequency::hertz;
 
 impl MachineNewTrait for MockMachine {
     fn new<'maindevice, 'subdevices>(
@@ -30,8 +31,11 @@ impl MachineNewTrait for MockMachine {
         }
 
         let now = Instant::now();
-
+        let (sender, receiver) = smol::channel::unbounded();
         let mut mock_machine = Self {
+            main_sender: params.main_thread_channel.clone(),
+            api_receiver: receiver,
+            api_sender: sender,
             machine_identification_unique: params.get_machine_identification_unique(),
             namespace: MockMachineNamespace {
                 namespace: params.namespace.clone(),

machines/src/registry.rs

@@ -1,10 +1,20 @@
-use super::{Machine, identification::MachineIdentification, new::MachineNewParams};
+#[cfg(feature = "mock-machine")]
+use crate::machines::{extruder1::mock::ExtruderV2, mock::MockMachine, winder2::mock::Winder2};
+
+use crate::{Machine, MachineNewParams, machine_identification::MachineIdentification};
+#[cfg(not(feature = "mock-machine"))]
+use crate::{
+    aquapath1::AquaPathV1, buffer1::BufferV1, extruder1::ExtruderV2, laser::LaserMachine,
+    winder2::Winder2,
+};
+
+use lazy_static::lazy_static;
+
 use anyhow::Error;
-use smol::lock::Mutex;
-use std::{any::TypeId, collections::HashMap, sync::Arc};
+use std::{any::TypeId, collections::HashMap};
 
 pub type MachineNewClosure =
-    Box<dyn Fn(&MachineNewParams) -> Result<Arc<Mutex<dyn Machine>>, Error> + Send + Sync>;
+    Box<dyn Fn(&MachineNewParams) -> Result<Box<dyn Machine>, Error> + Send + Sync>;
 
 pub struct MachineRegistry {
     type_map: HashMap<TypeId, (MachineIdentification, MachineNewClosure)>,
@@ -32,9 +42,7 @@ impl MachineRegistry {
             (
                 machine_identficiation.clone(),
                 // create a machine construction closure
-                Box::new(|machine_new_params| {
-                    Ok(Arc::new(Mutex::new(T::new(machine_new_params)?)))
-                }),
+                Box::new(|machine_new_params| Ok(Box::new(T::new(machine_new_params)?))),
             ),
         );
     }
@@ -42,7 +50,7 @@ impl MachineRegistry {
     pub fn new_machine(
         &self,
         machine_new_params: &MachineNewParams,
-    ) -> Result<Arc<Mutex<dyn Machine>>, anyhow::Error> {
+    ) -> Result<Box<dyn Machine>, anyhow::Error> {
         // get machiine identification
         let device_identification =
             &machine_new_params
@@ -72,3 +80,24 @@ impl MachineRegistry {
         (machine_new_closure)(machine_new_params)
     }
 }
+
+lazy_static! {
+    pub static ref MACHINE_REGISTRY: MachineRegistry = {
+        let mut mc = MachineRegistry::new();
+        mc.register::<Winder2>(Winder2::MACHINE_IDENTIFICATION);
+        mc.register::<ExtruderV2>(ExtruderV2::MACHINE_IDENTIFICATION);
+
+        #[cfg(feature = "mock-machine")]
+        mc.register::<MockMachine>(MockMachine::MACHINE_IDENTIFICATION);
+
+        #[cfg(not(feature = "mock-machine"))]
+        mc.register::<LaserMachine>(LaserMachine::MACHINE_IDENTIFICATION);
+
+        #[cfg(not(feature = "mock-machine"))]
+        mc.register::<BufferV1>(BufferV1::MACHINE_IDENTIFICATION);
+
+        #[cfg(not(feature = "mock-machine"))]
+        mc.register::<AquaPathV1>(AquaPathV1::MACHINE_IDENTIFICATION);
+        mc
+    };
+}

machines/src/serial/devices/laser/mod.rs

@@ -1,28 +1,27 @@
+use anyhow::anyhow;
+use control_core::helpers::hashing::{byte_folding_u16, hash_djb2};
+use control_core::helpers::retry::retry_n_times;
+use control_core::modbus::ModbusResponse;
+use control_core::modbus::{self, ModbusRequest};
+use serialport::SerialPort;
+use serialport::{ClearBuffer, DataBits, FlowControl, Parity, StopBits};
+use smol::lock::RwLock;
 use std::{
     io::Write,
     sync::Arc,
     thread,
     time::{Duration, Instant},
 };
+use units::f64::Length;
 
-use crate::machines::{MACHINE_LASER_V1, VENDOR_QITECH};
-use anyhow::anyhow;
-use control_core::{
-    helpers::{
-        hashing::{byte_folding_u16, hash_djb2},
-        retry::retry_n_times,
-    },
-    machines::identification::{
-        DeviceHardwareIdentification, DeviceHardwareIdentificationSerial, DeviceIdentification,
-        DeviceMachineIdentification, MachineIdentification, MachineIdentificationUnique,
-    },
-    modbus::{self, ModbusRequest, ModbusResponse},
-    serial::{SerialDevice, SerialDeviceNew, SerialDeviceNewParams},
+use crate::machine_identification::{
+    DeviceHardwareIdentification, DeviceHardwareIdentificationSerial, DeviceIdentification,
+    DeviceMachineIdentification, MachineIdentification, MachineIdentificationUnique,
 };
-use serialport::SerialPort;
-use serialport::{ClearBuffer, DataBits, FlowControl, Parity, StopBits};
-use smol::lock::RwLock;
-use uom::si::f64::Length;
+use crate::{
+    MACHINE_LASER_V1, SerialDevice, SerialDeviceNew, SerialDeviceNewParams, VENDOR_QITECH,
+};
+use units::length::millimeter;
 
 /// The struct of Laser Device
 #[derive(Debug)]
@@ -59,15 +58,15 @@ impl TryFrom<ModbusResponse> for LaserDiameterResponse {
             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)),
+                Some(Length::new::<millimeter>(x)),
+                Some(Length::new::<millimeter>(y)),
             )
         } else {
             (None, None)
         };
 
         Ok(Self {
-            diameter: Length::new::<uom::si::length::millimeter>(diameter),
+            diameter: Length::new::<millimeter>(diameter),
             x_axis,
             y_axis,
         })
@@ -80,7 +79,10 @@ impl From<LaserModbusRequsts> for modbus::ModbusRequest {
             LaserModbusRequsts::ReadDiameter => Self {
                 slave_id: 1,
                 function_code: modbus::ModbusFunctionCode::ReadInputRegister,
-                data: vec![(0 >> 8) as u8, (0 & 0xFF) as u8],
+                data: vec![
+                    0x00, 0x0E, // Start register = 0x000E
+                    0x00, 0x03, // Read 3 registers (AvgDiameter, X, Y)
+                ],
             },
         }
     }
@@ -91,7 +93,7 @@ impl SerialDeviceNew for Laser {
         params: &SerialDeviceNewParams,
     ) -> Result<(DeviceIdentification, Arc<RwLock<Self>>), anyhow::Error> {
         let laser_data = Some(LaserData {
-            diameter: Length::new::<uom::si::length::millimeter>(0.0),
+            diameter: Length::new::<millimeter>(0.0),
             x_axis: None,
             y_axis: None,
             last_timestamp: Instant::now(),