fixed ethercat setup timeouts and retry

Merge pull request #756 from qitechgmbh/fix-winder-regression
fixed winder regression due to refactor
2025-09-29 17:18:49 +02:00 · 2025-09-29 17:10:33 +02:00 · 2025-09-29 17:01:04 +02:00 · 2025-09-29 15:42:32 +02:00 · 2025-09-29 15:39:25 +02:00 · 2025-09-29 15:33:25 +02:00
201 changed files with 6385 additions and 2218 deletions
@@ -1,5 +1,6 @@
 {
    "typescript.inlayHints.enumMemberValues.enabled": false,
-     "git.detectSubmodules": true,
-     "git.detectSubmodulesLimit": 10,
+    "git.detectSubmodules": true,
+    "git.detectSubmodulesLimit": 10,
+    "rust-analyzer.check.command": "clippy",
 }
@@ -1,57 +1,94 @@
+# `2.7.0`
+
+_17.09.2025_
+
+## Extruder V2
+
+- [#695](https://github.com/qitechgmbh/control/pull/695) Pressure and Rpm Regulation properly switch again
+
+## Winder V2
+
+- [#727](https://github.com/qitechgmbh/control/pull/727) Removed estimated diameter
+
+## Laser V1/V2
+
+- [#731](https://github.com/qitechgmbh/control/pull/731) Added LaserV2 with two-axis measurements
+
+## General
+
+- [#679](https://github.com/qitechgmbh/control/pull/679),[#677](https://github.com/qitechgmbh/control/pull/677),[#698](https://github.com/qitechgmbh/control/pull/698), [#684](https://github.com/qitechgmbh/control/pull/684),[#706](https://github.com/qitechgmbh/control/pull/706) Greatly improved overall system latency and stability
+
+- [#720](https://github.com/qitechgmbh/control/pull/720), [#686](https://github.com/qitechgmbh/control/pull/686) Improved User Interface
+
 # `2.6.0`
+
 _03.09.2025_

 ## Extruder V2
+
 - [#658](https://github.com/qitechgmbh/control/pull/658) Added manual
 - [#639](https://github.com/qitechgmbh/control/pull/639) Swapped order of screw speed regulation buttons

-
 ## Laser V1
+
 - [#642](https://github.com/qitechgmbh/control/pull/642) Improved stability of laser connection

 ## General
+
 - [#657](https://github.com/qitechgmbh/control/pull/657) Time frame for graphs is now remembered
 - [#641](https://github.com/qitechgmbh/control/pull/641) Removed duplicate scrollbar from manuals

 # `2.5.0`
+
 _27.08.2025_

 ## Extruder V2
+
 - [#595](https://github.com/qitechgmbh/control/pull/600) Simplified power graphs
 - [#593](https://github.com/qitechgmbh/control/pull/599) Added identifiers for temperature sensors in temperature graph

 ## Winder V2
+
 - [#598](https://github.com/qitechgmbh/control/pull/601) Images now load properly in the manual

 ## General
+
 - [#540](https://github.com/qitechgmbh/control/pull/592) Improved readability of the presets
 - [#591](https://github.com/qitechgmbh/control/pull/626) Significantly improved user interface performance and stability

 # `2.4.0`
+
 _14.08.2025_

-## Winder V2 
+## Winder V2
+
 - [#550](https://github.com/qitechgmbh/control/pull/551) Can now reset wound distance while winding
-  
+
 ## General
- [#568](https://github.com/qitechgmbh/control/pull/569),[#572](https://github.com/qitechgmbh/control/pull/572), [#574](https://github.com/qitechgmbh/control/pull/587) Improved EtherCAT performance 
+
+- [#568](https://github.com/qitechgmbh/control/pull/569),[#572](https://github.com/qitechgmbh/control/pull/572), [#574](https://github.com/qitechgmbh/control/pull/587) Improved EtherCAT performance
 - [#588](https://github.com/qitechgmbh/control/pull/589) Improved frontend performance

 # `2.3.0`
+
 _06.08.2025_

 ## Extruder V2
+
 - [#520](https://github.com/qitechgmbh/control/pull/523) added warning message incase inverter is overloaded
 - [#501](https://github.com/qitechgmbh/control/pull/508) raised pressure limit of pressured PID mode for extruder
 - [#519](https://github.com/qitechgmbh/control/pull/549) added total power consumption monitor and graphs for voltage,current and wattage of the motor

-## Winder V2 
+## Winder V2
+
 - [#64](https://github.com/qitechgmbh/control/pull/504) added winder handbook

 ## Laser V1
+
 - [#497](https://github.com/qitechgmbh/control/pull/498) improved diameter visualisation

 ## General
+
 - [#62](https://github.com/qitechgmbh/control/pull/514),[#524](https://github.com/qitechgmbh/control/pull/528) added machine presets to load configurations
 - [#526](https://github.com/qitechgmbh/control/pull/541) added import and export of presets

@@ -67,6 +104,7 @@ _15.07.2025_
 - [#169](https://github.com/qitechgmbh/control/pull/492), Added a Confirmation Dialog when extruder has not reached 90% of target temperature

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

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

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

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

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

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

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

-[[package]]
-name = "thread-priority"
-version = "2.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd4ef372b29fbcc6cb0cef97bcbf3ffa9da90e02eb23dbf14db48ce30d11d2d5"
-dependencies = [
- "bitflags 2.9.0",
- "cfg-if",
- "libc",
- "log",
- "rustversion",
- "windows",
-]
-
 [[package]]
 name = "thread_local"
 version = "1.1.8"
@@ -3658,28 +3607,6 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"

-[[package]]
-name = "windows"
-version = "0.61.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9babd3a767a4c1aef6900409f85f5d53ce2544ccdfaa86dad48c91782c6d6893"
-dependencies = [
- "windows-collections",
- "windows-core",
- "windows-future",
- "windows-link",
- "windows-numerics",
-]
-
-[[package]]
-name = "windows-collections"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3beeceb5e5cfd9eb1d76b381630e82c4241ccd0d27f1a39ed41b2760b255c5e8"
-dependencies = [
- "windows-core",
-]
-
 [[package]]
 name = "windows-core"
 version = "0.61.2"
@@ -3693,17 +3620,6 @@ dependencies = [
 "windows-strings 0.4.2",
 ]

-[[package]]
-name = "windows-future"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc6a41e98427b19fe4b73c550f060b59fa592d7d686537eebf9385621bfbad8e"
-dependencies = [
- "windows-core",
- "windows-link",
- "windows-threading",
-]
-
 [[package]]
 name = "windows-implement"
 version = "0.60.0"
@@ -3732,16 +3648,6 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5e6ad25900d524eaabdbbb96d20b4311e1e7ae1699af4fb28c17ae66c80d798a"

-[[package]]
-name = "windows-numerics"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9150af68066c4c5c07ddc0ce30421554771e528bde427614c61038bc2c92c2b1"
-dependencies = [
- "windows-core",
- "windows-link",
-]
-
 [[package]]
 name = "windows-registry"
 version = "0.4.0"
@@ -3843,15 +3749,6 @@ dependencies = [
 "windows_x86_64_msvc 0.53.0",
 ]

-[[package]]
-name = "windows-threading"
-version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b66463ad2e0ea3bbf808b7f1d371311c80e115c0b71d60efc142cafbcfb057a6"
-dependencies = [
- "windows-link",
-]
-
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.52.6"
@@ -4,7 +4,24 @@ members = [
    "ethercat-hal",
    "ethercat-hal-derive",
    "control-core",
-    "ethercat-eeprom-dump", "control-core-derive",
+    "ethercat-eeprom-dump",
+    "control-core-derive",
 ]
 exclude = []
 resolver = "2"
+
+[workspace.lints.clippy]
+# Individual lints (priority 0)
+
+# don't lint poissbilities for let chains because they were introduces after Rust 1.86
+collapsible_if = "allow"
+
+# Lint groups (priority -1)
+correctness = { level = "warn", priority = -1 }
+suspicious = { level = "warn", priority = -1 }
+complexity = { level = "warn", priority = -1 }
+perf = { level = "warn", priority = -1 }
+style = { level = "warn", priority = -1 }
+pendantic = { level = "warn", priority = -1 }
+cargo = { level = "warn", priority = -1 }
+nursery = { level = "warn", priority = -1 }
@@ -24,7 +24,7 @@ if [ "$1" != "mock-machine" ]; then
    sudo setcap 'cap_net_raw,cap_sys_nice=eip' ./target/debug/server

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

 # run
@@ -0,0 +1,43 @@
+#!/bin/bash
+
+# Nix store uses sqlite ... SO HAHAHAHAHH NO CONCURRENT ACCESS AHAHAHHAHAHAHHAHAHAHAH
+time nix build .#packages.x86_64-linux.server --impure --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/server-result
+serverstore=$(readlink -f /tmp/server-result) 
+
+time nix build .#packages.x86_64-linux.electron --impure --option sandbox false --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
+electronstore=$(readlink -f /tmp/electron-result)
+
+
+nix copy --to "file:///opt/dev-cache" \
+  $(readlink -f /tmp/server-result) \
+  $(readlink -f /tmp/electron-result) --extra-experimental-features nix-command
+
+nix store sign \
+  --key-file /opt/dev-cache/cache-private-key.pem \
+  --store "file:///opt/dev-cache" \
+  --extra-experimental-features nix-command \
+  "$serverstore" "$electronstore"
+
+
+nix path-info "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
+
+
+# nix verify --store "file:///opt/dev-cache" \
+#   --trusted-public-keys "$(cat /opt/dev-cache/cache-public-key.pem)" --extra-experimental-features nix-command --extra-experimental-features flakes \
+#   "$FIRST_PATH" || echo "Verification failed!" 
+
+
+#time nix build .#packages.x86_64-linux.electron --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
+#electronstore=$(readlink -f /tmp/electron-result)
+
+#nix-store --generate-binary-cache-key cache.key cache.pem --extra-experimental-features nix-command
+#nix store sign --key-file cache.key "$serverstore" --extra-experimental-features nix-command
+#nix path-info --json "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
+#export
+#nix-store --export /nix/store/<hash>-server > nix-cache/server.nar
+#nix-store --export /nix/store/<hash>-electron > nix-cache/electron.nar
+
+# Any http server
+# cd ~/nix-cache
+# python3 -m http.server 8080
+# 
@@ -3,10 +3,13 @@ name = "control_core_derive"
 version = "0.1.0"
 edition = "2024"

+[lints]
+workspace = true
+
 [lib]
 proc-macro = true

 [dependencies]
 proc-macro2 = "1.0"
 quote = "1.0"
-syn = { version = "2.0", features = ["full"] }
+syn = { version = "2.0", features = ["full"] }
@@ -29,3 +29,32 @@ fn build_event_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {

    Ok(expanded)
 }
+
+#[proc_macro_derive(Machine)]
+pub fn machine_derive(item: TokenStream) -> TokenStream {
+    machine_derive2(item.into()).unwrap().into()
+}
+
+fn machine_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
+    // Parse the input tokens into a syntax tree
+    let ast: DeriveInput = syn::parse2(item)?;
+
+    let ident = &ast.ident;
+    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
+
+    let expanded = quote! {
+        impl #impl_generics control_core::machines::Machine for #ident #ty_generics #where_clause {}
+
+        impl #impl_generics control_core::machines::AnyGetters for #ident #ty_generics #where_clause {
+            fn as_any(&self) -> &dyn std::any::Any {
+                self
+            }
+
+            fn as_any_mut(&mut self) -> &mut dyn std::any::Any {
+                self
+            }
+        }
+    };
+
+    Ok(expanded)
+}
@@ -3,14 +3,19 @@ name = "control_core"
 version = "0.1.0"
 edition = "2024"

+[lints]
+workspace = true
+
 [dependencies]
 anyhow = "1.0.99"
+
 axum = "0.8.4"
+
 ethercat_hal = { path = "../ethercat-hal" }
 ethercrab = "0.6"
 interfaces = "0.0.9"
 serde = "1.0.219"
-serde_json =  "1.0.143"
+serde_json = "1.0.143"
 serialport = "4.7.3"
 smol = "2.0.2"
 socketioxide = "0.17.2"
@@ -22,6 +27,7 @@ tracing = "0.1.41"
 erased-serde = "0.4.6"
 core_affinity = "0.8.3"
 control_core_derive = { version = "0.1.0", path = "../control-core-derive" }
+tokio = { version = "1.45.1", features = ["sync"], optional = true }


 [target.'cfg(unix)'.dependencies]
@@ -30,3 +36,12 @@ libc = "0.2.175"
 [dev-dependencies]
 approx = "0.5.1"
 textplots = "0.8"
+tokio = { version = "1.45.1", features = ["rt-multi-thread", "macros", "time"] }
+
+
+[features]
+default = []
+video-streaming = ["dep:tokio"]
+
+[package.metadata.cargo-machete]
+ignored =  ["axum","bitvec","control_core_derive"]
@@ -33,7 +33,7 @@ pub struct ClampingTimeagnosticPidController {
 }

 impl ClampingTimeagnosticPidController {
-    pub fn new(
+    pub const fn new(
        kp: f64,
        ki: f64,
        kd: f64,
@@ -65,7 +65,7 @@ impl ClampingTimeagnosticPidController {
        }
    }

-    pub fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
+    pub const fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
        Self {
            kp,
            ki,
@@ -85,26 +85,26 @@ impl ClampingTimeagnosticPidController {
        }
    }

-    pub fn get_kp(&self) -> f64 {
+    pub const fn get_kp(&self) -> f64 {
        self.kp
    }

-    pub fn get_ki(&self) -> f64 {
+    pub const fn get_ki(&self) -> f64 {
        self.ki
    }

-    pub fn get_kd(&self) -> f64 {
+    pub const fn get_kd(&self) -> f64 {
        self.kd
    }

-    pub fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
+    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
        self.reset();
        self.kp = kp;
        self.ki = ki;
        self.kd = kd;
    }

-    pub fn optional_clamp(value: f64, min: Option<f64>, max: Option<f64>) -> f64 {
+    pub const fn optional_clamp(value: f64, min: Option<f64>, max: Option<f64>) -> f64 {
        match (min, max) {
            (Some(min), Some(max)) => value.clamp(min, max),
            (Some(min), None) => value.max(min),
@@ -114,7 +114,7 @@ impl ClampingTimeagnosticPidController {
    }

    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        let signal = match self.last {
+        match self.last {
            // First update
            None => {
                // Calculate error
@@ -122,15 +122,10 @@ impl ClampingTimeagnosticPidController {

                // Calculate signal
                let signal = self.kp * ep;
-                let clamped_signal = ClampingTimeagnosticPidController::optional_clamp(
-                    signal,
-                    self.min_signal,
-                    self.max_signal,
-                );
+                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);

                // Set values
-                self.ep =
-                    ClampingTimeagnosticPidController::optional_clamp(ep, self.min_ep, self.max_ep);
+                self.ep = Self::optional_clamp(ep, self.min_ep, self.max_ep);
                self.ei = 0.0;
                self.ed = 0.0;
                self.last = Some(t);
@@ -143,23 +138,11 @@ impl ClampingTimeagnosticPidController {
                let dt = t.duration_since(last).as_secs_f64();

                // Calculate errors
-                let ep = ClampingTimeagnosticPidController::optional_clamp(
-                    error,
-                    self.min_ep,
-                    self.max_ep,
-                );
+                let ep = Self::optional_clamp(error, self.min_ep, self.max_ep);

-                let ei = ClampingTimeagnosticPidController::optional_clamp(
-                    self.ei + ep * dt,
-                    self.min_ei,
-                    self.max_ei,
-                );
+                let ei = Self::optional_clamp(ep.mul_add(dt, self.ei), self.min_ei, self.max_ei);

-                let ed = ClampingTimeagnosticPidController::optional_clamp(
-                    (ep - self.ep) / dt,
-                    self.min_ed,
-                    self.max_ed,
-                );
+                let ed = Self::optional_clamp((ep - self.ep) / dt, self.min_ed, self.max_ed);

                // Make factors timeagnostic
                let kp = self.kp * dt;
@@ -167,12 +150,8 @@ impl ClampingTimeagnosticPidController {
                let kd = self.kd * dt;

                // Calculate signal
-                let signal = kp * ep + ki * ei + kd * ed;
-                let clamped_signal = ClampingTimeagnosticPidController::optional_clamp(
-                    signal,
-                    self.min_signal,
-                    self.max_signal,
-                );
+                let signal = kd.mul_add(ed, kp.mul_add(ep, ki * ei));
+                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);

                // Set values
                self.ep = ep;
@@ -182,12 +161,10 @@ impl ClampingTimeagnosticPidController {

                clamped_signal
            }
-        };
-
-        signal
+        }
    }

-    pub fn reset(&mut self) {
+    pub const fn reset(&mut self) {
        self.ep = 0.0;
        self.ei = 0.0;
        self.ed = 0.0;
@@ -22,7 +22,7 @@ pub struct AccelerationSpeedController {
 }

 impl AccelerationSpeedController {
-    pub fn new(
+    pub const fn new(
        min_speed: Option<f64>,
        max_speed: Option<f64>,
        min_acceleration: f64,
@@ -98,16 +98,16 @@ impl AccelerationSpeedController {
        new_speed
    }

-    pub fn reset(&mut self, initial_speed: f64) {
+    pub const fn reset(&mut self, initial_speed: f64) {
        self.last_speed = initial_speed;
        self.last_t = None; // Reset the last update time
    }

-    pub fn set_max_acceleration(&mut self, acceleration: f64) {
+    pub const fn set_max_acceleration(&mut self, acceleration: f64) {
        self.max_acceleration = acceleration;
    }

-    fn apply_speed_limits(&self, speed: f64) -> f64 {
+    const fn apply_speed_limits(&self, speed: f64) -> f64 {
        let mut limited_speed = speed;

        if let Some(min) = self.min_speed {
@@ -121,23 +121,23 @@ impl AccelerationSpeedController {
        limited_speed
    }

-    pub fn get_min_speed(&self) -> Option<f64> {
+    pub const fn get_min_speed(&self) -> Option<f64> {
        self.min_speed
    }

-    pub fn get_max_speed(&self) -> Option<f64> {
+    pub const fn get_max_speed(&self) -> Option<f64> {
        self.max_speed
    }

-    pub fn set_min_speed(&mut self, min_speed: Option<f64>) {
+    pub const fn set_min_speed(&mut self, min_speed: Option<f64>) {
        self.min_speed = min_speed;
    }

-    pub fn set_max_speed(&mut self, max_speed: Option<f64>) {
+    pub const fn set_max_speed(&mut self, max_speed: Option<f64>) {
        self.max_speed = max_speed;
    }

-    pub fn set_min_acceleration(&mut self, deceleration: f64) {
+    pub const fn set_min_acceleration(&mut self, deceleration: f64) {
        self.min_acceleration = deceleration;
    }
 }
@@ -53,7 +53,7 @@ impl AngularAccelerationSpeedController {
    pub fn update(&mut self, target_speed: AngularVelocity, t: Instant) -> AngularVelocity {
        let target_speed = target_speed.get::<radian_per_second>();
        let new_speed = self.controller.update(target_speed, t);
-        return AngularVelocity::new::<radian_per_second>(new_speed);
+        AngularVelocity::new::<radian_per_second>(new_speed)
    }

    pub fn reset(&mut self, initial_speed: AngularVelocity) {
@@ -73,13 +73,13 @@ impl AngularAccelerationSpeedController {
    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_min_speed()
-            .map(|s| AngularVelocity::new::<radian_per_second>(s))
+            .map(AngularVelocity::new::<radian_per_second>)
    }

    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_max_speed()
-            .map(|s| AngularVelocity::new::<radian_per_second>(s))
+            .map(AngularVelocity::new::<radian_per_second>)
    }

    pub fn set_min_speed(&mut self, min_speed: Option<AngularVelocity>) {
@@ -48,7 +48,7 @@ impl LinearAccelerationLimitingController {
    pub fn update(&mut self, target_speed: Velocity, t: Instant) -> Velocity {
        let target_speed = target_speed.get::<meter_per_second>();
        let new_speed = self.controller.update(target_speed, t);
-        return Velocity::new::<meter_per_second>(new_speed);
+        Velocity::new::<meter_per_second>(new_speed)
    }
    pub fn reset(&mut self, initial_speed: Velocity) {
        let initial_speed = initial_speed.get::<meter_per_second>();
@@ -65,12 +65,12 @@ impl LinearAccelerationLimitingController {
    pub fn get_min_speed(&self) -> Option<Velocity> {
        self.controller
            .get_min_speed()
-            .map(|s| Velocity::new::<meter_per_second>(s))
+            .map(Velocity::new::<meter_per_second>)
    }
    pub fn get_max_speed(&self) -> Option<Velocity> {
        self.controller
            .get_max_speed()
-            .map(|s| Velocity::new::<meter_per_second>(s))
+            .map(Velocity::new::<meter_per_second>)
    }
    pub fn set_min_speed(&mut self, min_speed: Option<Velocity>) {
        self.controller
@@ -21,7 +21,7 @@ pub struct PidController {
 }

 impl PidController {
-    pub fn new(kp: f64, ki: f64, kd: f64) -> Self {
+    pub const fn new(kp: f64, ki: f64, kd: f64) -> Self {
        Self {
            kp,
            ki,
@@ -33,27 +33,27 @@ impl PidController {
        }
    }

-    pub fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
+    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
        self.reset();
        self.kp = kp;
        self.ki = ki;
        self.kd = kd;
    }

-    pub fn get_kp(&self) -> f64 {
+    pub const fn get_kp(&self) -> f64 {
        self.kp
    }

-    pub fn get_ki(&self) -> f64 {
+    pub const fn get_ki(&self) -> f64 {
        self.ki
    }

-    pub fn get_kd(&self) -> f64 {
+    pub const fn get_kd(&self) -> f64 {
        self.kd
    }

    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        let signal = match self.last {
+        match self.last {
            // First update
            None => {
                // Calculate error
@@ -78,11 +78,11 @@ impl PidController {

                // Calculate errors
                let ep = error;
-                let ei = self.ei + ep * dt;
+                let ei = ep.mul_add(dt, self.ei);
                let ed = (ep - self.ep) / dt;

                // Calculate signal
-                let signal = self.kp * ep + self.ki * ei + self.kd * ed;
+                let signal = self.kd.mul_add(ed, self.kp.mul_add(ep, self.ki * ei));

                // Set values
                self.ep = ep;
@@ -92,12 +92,10 @@ impl PidController {

                signal
            }
-        };
-
-        signal
+        }
    }

-    pub fn reset(&mut self) {
+    pub const fn reset(&mut self) {
        self.ep = 0.0;
        self.ei = 0.0;
        self.ed = 0.0;
@@ -3,7 +3,7 @@ use std::fmt;
 // Remove the anyhow::Ok import as it conflicts with std::result::Ok

 /// Errors that can occur when creating or using the motion controller
-#[derive(Debug, Clone, PartialEq)]
+#[derive(Debug, Clone, PartialEq, Eq)]
 pub enum MotionControllerError {
    InvalidSpeedLimits,
    InvalidAccelerationLimits,
@@ -14,25 +14,25 @@ pub enum MotionControllerError {
 impl fmt::Display for MotionControllerError {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
-            MotionControllerError::InvalidSpeedLimits => {
+            Self::InvalidSpeedLimits => {
                write!(
                    f,
                    "Invalid speed limits: min_speed must be ≤ 0 and max_speed must be ≥ 0"
                )
            }
-            MotionControllerError::InvalidAccelerationLimits => {
+            Self::InvalidAccelerationLimits => {
                write!(
                    f,
                    "Invalid acceleration limits: min_acceleration must be < 0 and max_acceleration must be > 0"
                )
            }
-            MotionControllerError::InvalidPositionLimits => {
+            Self::InvalidPositionLimits => {
                write!(
                    f,
                    "Invalid position limits: min_position must be ≤ max_position"
                )
            }
-            MotionControllerError::ZeroDeceleration => {
+            Self::ZeroDeceleration => {
                write!(
                    f,
                    "Zero deceleration rate: cannot plan motion without deceleration capability"
@@ -148,7 +148,7 @@ struct MotionConstants {
 }

 /// Represents the current phase of motion
-#[derive(Debug, Clone, Copy, PartialEq)]
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum MotionPhase {
    Idle,
    IncreasingSpeed,
@@ -170,7 +170,7 @@ pub struct ControllerBuilder {

 impl ControllerBuilder {
    /// Create a new builder
-    pub fn new() -> Self {
+    pub const fn new() -> Self {
        Self {
            min_speed: None,
            max_speed: None,
@@ -184,28 +184,36 @@ impl ControllerBuilder {
    }

    /// Set speed limits (min_speed ≤ 0, max_speed ≥ 0)
-    pub fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
+    pub const fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
        self.min_speed = Some(min_speed);
        self.max_speed = Some(max_speed);
        self
    }

    /// Set acceleration limits (min_acceleration < 0, max_acceleration > 0)
-    pub fn acceleration_limits(mut self, min_acceleration: f64, max_acceleration: f64) -> Self {
+    pub const fn acceleration_limits(
+        mut self,
+        min_acceleration: f64,
+        max_acceleration: f64,
+    ) -> Self {
        self.min_acceleration = Some(min_acceleration);
        self.max_acceleration = Some(max_acceleration);
        self
    }

    /// Set position limits (optional)
-    pub fn position_limits(mut self, min_position: Option<f64>, max_position: Option<f64>) -> Self {
+    pub const fn position_limits(
+        mut self,
+        min_position: Option<f64>,
+        max_position: Option<f64>,
+    ) -> Self {
        self.min_position = min_position;
        self.max_position = max_position;
        self
    }

    /// Set tolerances for position and speed comparisons
-    pub fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
+    pub const fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
        self.position_tolerance = position_tolerance;
        self.speed_tolerance = speed_tolerance;
        self
@@ -322,7 +330,7 @@ impl AccelerationPositionController {

        let motion_constants = Self::calculate_motion_constants(&config);

-        Ok(AccelerationPositionController {
+        Ok(Self {
            config,
            current_position: 0.0,
            current_speed: 0.0,
@@ -366,19 +374,19 @@ impl AccelerationPositionController {
        }

        Self::new(
-            -speed,               // min_speed
-            speed,                // max_speed
-            -acceleration,        // min_acceleration
-            acceleration,         // max_acceleration
-            position.map(|p| -p), // min_position
-            position.map(|p| p),  // max_position
-            1e-6,                 // position_tolerance (default)
-            1e-6,                 // speed_tolerance (default)
+            -speed,                     // min_speed
+            speed,                      // max_speed
+            -acceleration,              // min_acceleration
+            acceleration,               // max_acceleration
+            position.map(|p| -p.abs()), // min_position
+            position.map(|p| p.abs()),  // max_position
+            1e-6,                       // position_tolerance (default)
+            1e-6,                       // speed_tolerance (default)
        )
    }

    /// Create a new builder for the controller
-    pub fn builder() -> ControllerBuilder {
+    pub const fn builder() -> ControllerBuilder {
        ControllerBuilder::new()
    }

@@ -564,8 +572,10 @@ impl AccelerationPositionController {

        // Calculate distance needed to reach cruise speed from current speed
        let speed_change_distance = if current_speed_in_direction < cruise_speed.abs() {
-            (cruise_speed.abs().powi(2) - current_speed_in_direction.max(0.0).powi(2))
-                / (2.0 * acceleration_rate)
+            current_speed_in_direction.max(0.0).mul_add(
+                -current_speed_in_direction.max(0.0),
+                cruise_speed.abs().powi(2),
+            ) / (2.0 * acceleration_rate)
        } else {
            0.0
        };
@@ -579,8 +589,10 @@ impl AccelerationPositionController {
            // Using corrected kinematic equation: v_peak² = v_current² + 2*a*d_total*a_accel*a_decel/(a_accel + a_decel)
            let accel_decel_factor =
                (acceleration_rate * deceleration_rate) / (acceleration_rate + deceleration_rate);
-            let discriminant = current_speed_in_direction.max(0.0).powi(2)
-                + 2.0 * abs_position_change * accel_decel_factor;
+            let discriminant = current_speed_in_direction.max(0.0).mul_add(
+                current_speed_in_direction.max(0.0),
+                2.0 * abs_position_change * accel_decel_factor,
+            );

            if discriminant >= 0.0 {
                self.peak_speed = discriminant.sqrt() * cruise_speed.signum();
@@ -634,7 +646,7 @@ impl AccelerationPositionController {
                self.current_acceleration = self.config.max_acceleration * self.direction as f64;

                // Update speed
-                let new_speed = self.current_speed + self.current_acceleration * dt;
+                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);

                // Check if we've reached peak speed
                if (self.direction > 0 && new_speed >= self.peak_speed)
@@ -665,7 +677,7 @@ impl AccelerationPositionController {
                self.current_acceleration = self.config.min_acceleration * self.direction as f64;

                // Update speed
-                let new_speed = self.current_speed + self.current_acceleration * dt;
+                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);

                // Check if we've reached zero speed or target
                if (self.current_speed > 0.0 && new_speed <= 0.0)
@@ -689,7 +701,7 @@ impl AccelerationPositionController {
        }

        // Update position based on current speed
-        let new_position = self.current_position + self.current_speed * dt;
+        let new_position = self.current_speed.mul_add(dt, self.current_position);

        // Check position limits and handle violations
        let mut position_limited = false;
@@ -742,7 +754,7 @@ impl AccelerationPositionController {
    ///
    /// Returns the current position of the controlled object.
    /// This value is updated with each call to `update()`.
-    pub fn get_position(&self) -> f64 {
+    pub const fn get_position(&self) -> f64 {
        self.current_position
    }

@@ -751,7 +763,7 @@ impl AccelerationPositionController {
    /// Returns the current speed (velocity) of the controlled object.
    /// Positive values indicate motion towards increasing position,
    /// negative values indicate motion towards decreasing position.
-    pub fn get_speed(&self) -> f64 {
+    pub const fn get_speed(&self) -> f64 {
        self.current_speed
    }

@@ -759,32 +771,32 @@ impl AccelerationPositionController {
    ///
    /// Returns the current acceleration of the controlled object.
    /// Positive values indicate increasing speed, negative values indicate decreasing speed.
-    pub fn get_acceleration(&self) -> f64 {
+    pub const fn get_acceleration(&self) -> f64 {
        self.current_acceleration
    }

    /// Get the target position
-    pub fn get_target_position(&self) -> f64 {
+    pub const fn get_target_position(&self) -> f64 {
        self.target_position
    }

    /// Get the current motion phase
-    pub fn get_motion_phase(&self) -> MotionPhase {
+    pub const fn get_motion_phase(&self) -> MotionPhase {
        self.motion_phase
    }

    /// Get the direction of motion
-    pub fn get_direction(&self) -> i8 {
+    pub const fn get_direction(&self) -> i8 {
        self.direction
    }

    /// Get the calculated peak speed for current motion
-    pub fn get_peak_speed(&self) -> f64 {
+    pub const fn get_peak_speed(&self) -> f64 {
        self.peak_speed
    }

    /// Get the position at which deceleration will begin
-    pub fn get_deceleration_position(&self) -> f64 {
+    pub const fn get_deceleration_position(&self) -> f64 {
        self.deceleration_position
    }

@@ -837,7 +849,7 @@ impl AccelerationPositionController {
    }

    /// Force the controller to stop at current position
-    pub fn emergency_stop(&mut self) {
+    pub const fn emergency_stop(&mut self) {
        self.target_position = self.current_position;
        self.current_speed = 0.0;
        self.current_acceleration = 0.0;
@@ -1006,32 +1018,32 @@ impl AccelerationPositionController {
    }

    /// Get the minimum speed limit
-    pub fn get_min_speed(&self) -> f64 {
+    pub const fn get_min_speed(&self) -> f64 {
        self.config.min_speed
    }

    /// Get the maximum speed limit
-    pub fn get_max_speed(&self) -> f64 {
+    pub const fn get_max_speed(&self) -> f64 {
        self.config.max_speed
    }

    /// Get the minimum acceleration limit
-    pub fn get_min_acceleration(&self) -> f64 {
+    pub const fn get_min_acceleration(&self) -> f64 {
        self.config.min_acceleration
    }

    /// Get the maximum acceleration limit
-    pub fn get_max_acceleration(&self) -> f64 {
+    pub const fn get_max_acceleration(&self) -> f64 {
        self.config.max_acceleration
    }

    /// Get the minimum position limit
-    pub fn get_min_position(&self) -> Option<f64> {
+    pub const fn get_min_position(&self) -> Option<f64> {
        self.config.min_position
    }

    /// Get the maximum position limit
-    pub fn get_max_position(&self) -> Option<f64> {
+    pub const fn get_max_position(&self) -> Option<f64> {
        self.config.max_position
    }

@@ -1068,17 +1080,17 @@ impl AccelerationPositionController {
    }

    /// Get the position tolerance
-    pub fn get_position_tolerance(&self) -> f64 {
+    pub const fn get_position_tolerance(&self) -> f64 {
        self.config.position_tolerance
    }

    /// Get the speed tolerance
-    pub fn get_speed_tolerance(&self) -> f64 {
+    pub const fn get_speed_tolerance(&self) -> f64 {
        self.config.speed_tolerance
    }

    /// Set tolerances for position and speed comparisons
-    pub fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
+    pub const fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
        self.config.position_tolerance = position_tolerance;
        self.config.speed_tolerance = speed_tolerance;
    }
@@ -102,16 +102,12 @@ impl AngularAccelerationPositionController {

    /// Get the minimum angle position limit
    pub fn get_min_position(&self) -> Option<Angle> {
-        self.controller
-            .get_min_position()
-            .map(|angle| Angle::new::<radian>(angle))
+        self.controller.get_min_position().map(Angle::new::<radian>)
    }

    /// Get the maximum angle position limit
    pub fn get_max_position(&self) -> Option<Angle> {
-        self.controller
-            .get_max_position()
-            .map(|angle| Angle::new::<radian>(angle))
+        self.controller.get_max_position().map(Angle::new::<radian>)
    }

    /// Set the minimum angle position limit
@@ -236,7 +236,7 @@ impl AngularJerkSpeedController {
    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_min_speed()
-            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
+            .map(AngularVelocity::new::<radian_per_second>)
    }

    /// Get the maximum angular velocity limit
@@ -248,7 +248,7 @@ impl AngularJerkSpeedController {
    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_max_speed()
-            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
+            .map(AngularVelocity::new::<radian_per_second>)
    }

    /// Set the minimum angular velocity limit
@@ -88,7 +88,7 @@ impl JerkSpeedController {
        )
        .expect("Failed to create AccelerationPositionController");

-        JerkSpeedController { base_controller }
+        Self { base_controller }
    }

    /// Create a new speed controller with simple symmetric limits
@@ -183,7 +183,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current speed as a floating-point value
-    pub fn get_speed(&self) -> f64 {
+    pub const fn get_speed(&self) -> f64 {
        self.base_controller.get_position()
    }

@@ -193,7 +193,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current acceleration as a floating-point value
-    pub fn get_acceleration(&self) -> f64 {
+    pub const fn get_acceleration(&self) -> f64 {
        self.base_controller.get_speed()
    }

@@ -203,7 +203,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current jerk as a floating-point value
-    pub fn get_jerk(&self) -> f64 {
+    pub const fn get_jerk(&self) -> f64 {
        self.base_controller.get_acceleration()
    }

@@ -213,7 +213,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Target speed as a floating-point value
-    pub fn get_target_speed(&self) -> f64 {
+    pub const fn get_target_speed(&self) -> f64 {
        self.base_controller.get_target_position()
    }

@@ -223,7 +223,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Minimum speed limit as an Option<f64>, None if no limit is set
-    pub fn get_min_speed(&self) -> Option<f64> {
+    pub const fn get_min_speed(&self) -> Option<f64> {
        self.base_controller.get_min_position()
    }

@@ -233,7 +233,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Maximum speed limit as an Option<f64>, None if no limit is set
-    pub fn get_max_speed(&self) -> Option<f64> {
+    pub const fn get_max_speed(&self) -> Option<f64> {
        self.base_controller.get_max_position()
    }

@@ -205,9 +205,7 @@ impl LinearAccelerationPositionController {
    /// # Returns
    /// Minimum position limit as an Option<Length>, None if no limit is set
    pub fn get_min_position(&self) -> Option<Length> {
-        self.controller
-            .get_min_position()
-            .map(|length| Length::new::<meter>(length))
+        self.controller.get_min_position().map(Length::new::<meter>)
    }

    /// Get the maximum position limit
@@ -217,9 +215,7 @@ impl LinearAccelerationPositionController {
    /// # Returns  
    /// Maximum position limit as an Option<Length>, None if no limit is set
    pub fn get_max_position(&self) -> Option<Length> {
-        self.controller
-            .get_max_position()
-            .map(|length| Length::new::<meter>(length))
+        self.controller.get_max_position().map(Length::new::<meter>)
    }

    /// Set the minimum position limit
@@ -195,14 +195,14 @@ impl LinearJerkSpeedController {
    pub fn get_min_speed(&self) -> Option<Velocity> {
        self.controller
            .get_min_speed()
-            .map(|speed| Velocity::new::<meter_per_second>(speed))
+            .map(Velocity::new::<meter_per_second>)
    }

    /// Get the maximum velocity limit
    pub fn get_max_speed(&self) -> Option<Velocity> {
        self.controller
            .get_max_speed()
-            .map(|speed| Velocity::new::<meter_per_second>(speed))
+            .map(Velocity::new::<meter_per_second>)
    }

    /// Set the minimum velocity limit
@@ -1,8 +1,6 @@
-use std::f32::consts::PI;
-
 use uom::si::angle::radian;

-#[derive(Debug, Clone, Copy, PartialEq)]
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct AngleConverter {
    pub flip_x: bool, // true to flip X-axis (mirror horizontally)
    pub flip_y: bool, // true to flip Y-axis (mirror vertically)
@@ -11,7 +9,7 @@ pub struct AngleConverter {

 impl AngleConverter {
    /// Create a custom coordinate system
-    pub fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
+    pub const fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
        Self {
            flip_x,
            flip_y,
@@ -20,47 +18,47 @@ impl AngleConverter {
    }

    /// Standard mathematical coordinate system (CCW positive, 0° at positive X)
-    pub fn mathematical() -> Self {
+    pub const fn mathematical() -> Self {
        Self::new(false, false, false)
    }

    /// Screen/graphics coordinate system (CW positive, 0° at positive X, Y-flipped)
-    pub fn screen() -> Self {
+    pub const fn screen() -> Self {
        Self::new(false, true, false)
    }

    /// System where 0° points up, clockwise positive
-    pub fn y_up_cw() -> Self {
+    pub const fn y_up_cw() -> Self {
        Self::new(false, false, true)
    }

    /// System where 0° points down, counter-clockwise positive
-    pub fn y_down_ccw() -> Self {
+    pub const fn y_down_ccw() -> Self {
        Self::new(false, true, true)
    }

    /// System where 0° points left, clockwise positive
-    pub fn x_left_cw() -> Self {
+    pub const fn x_left_cw() -> Self {
        Self::new(true, false, false)
    }

    /// System where 0° points right, counter-clockwise positive (same as mathematical)
-    pub fn x_right_ccw() -> Self {
+    pub const fn x_right_ccw() -> Self {
        Self::mathematical()
    }

    /// System where 0° points up, counter-clockwise positive
-    pub fn y_up_ccw() -> Self {
+    pub const fn y_up_ccw() -> Self {
        Self::new(false, false, false)
    }

    /// System where 0° points down, clockwise positive
-    pub fn y_down_cw() -> Self {
+    pub const fn y_down_cw() -> Self {
        Self::new(false, true, false)
    }

    /// System where 0° points left, counter-clockwise positive
-    pub fn x_left_ccw() -> Self {
+    pub const fn x_left_ccw() -> Self {
        Self::new(true, false, true)
    }

@@ -75,7 +73,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
+            (true, true) => result += 180.0,          // Both flips: 180° rotation
        }

        // Handle rotation direction
@@ -102,7 +100,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
+            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
        }

        self.normalize_angle(result)
@@ -110,16 +108,16 @@ impl AngleConverter {

    /// Convert angle in radians from mathematical system to this system (f32)
    pub fn radians_encode(&self, math_angle_radians: f32) -> f32 {
-        let degrees = math_angle_radians * 180.0 / PI;
+        let degrees = math_angle_radians.to_degrees();
        let converted_degrees = self.degrees_encode(degrees);
-        converted_degrees * PI / 180.0
+        converted_degrees.to_radians()
    }

    /// Convert angle in radians from this system to mathematical system (f32)
    pub fn radians_decode(&self, system_angle_radians: f32) -> f32 {
-        let degrees = system_angle_radians * 180.0 / PI;
+        let degrees = system_angle_radians.to_degrees();
        let converted_degrees = self.degrees_decode(degrees);
-        converted_degrees * PI / 180.0
+        converted_degrees.to_radians()
    }

    /// Convert angle from mathematical system to this system (f64)
@@ -133,7 +131,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
+            (true, true) => result += 180.0,          // Both flips: 180° rotation
        }

        // Handle rotation direction
@@ -160,7 +158,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
+            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
        }

        self.normalize_angle_f64(result)
@@ -168,16 +166,16 @@ impl AngleConverter {

    /// Convert angle in radians from mathematical system to this system (f64)
    pub fn radians_encode_f64(&self, math_angle_radians: f64) -> f64 {
-        let degrees = math_angle_radians * 180.0 / std::f64::consts::PI;
+        let degrees = math_angle_radians.to_degrees();
        let converted_degrees = self.degrees_encode_f64(degrees);
-        converted_degrees * std::f64::consts::PI / 180.0
+        converted_degrees.to_radians()
    }

    /// Convert angle in radians from this system to mathematical system (f64)
    pub fn radians_decode_f64(&self, system_angle_radians: f64) -> f64 {
-        let degrees = system_angle_radians * 180.0 / std::f64::consts::PI;
+        let degrees = system_angle_radians.to_degrees();
        let converted_degrees = self.degrees_decode_f64(degrees);
-        converted_degrees * std::f64::consts::PI / 180.0
+        converted_degrees.to_radians()
    }

    /// Normalize angle to [0, 360) range (f32)
@@ -205,7 +203,7 @@ pub struct AngleConverterUom {
 }

 impl AngleConverterUom {
-    pub fn new(angle_converter: AngleConverter) -> Self {
+    pub const fn new(angle_converter: AngleConverter) -> Self {
        Self { angle_converter }
    }

@@ -238,6 +236,8 @@ impl AngleConverterUom {

 #[cfg(test)]
 mod tests {
+    use std::f32::consts::PI;
+
    use super::*;

    #[test]
@@ -18,7 +18,7 @@ pub struct AngularStepConverter {

 impl AngularStepConverter {
    /// Create a new converter with the specified steps per revolution
-    pub fn new(steps_per_revolution: i16) -> Self {
+    pub const fn new(steps_per_revolution: i16) -> Self {
        Self {
            steps_per_revolution,
        }
@@ -60,7 +60,7 @@ impl LinearStepConverter {
    }

    /// Get the steps per revolution
-    pub fn steps_per_revolution(&self) -> i16 {
+    pub const fn steps_per_revolution(&self) -> i16 {
        self.angular_step_converter.steps_per_revolution
    }
 }
@@ -19,6 +19,7 @@ use ethercat_hal::devices::el3062_0030::EL3062_0030_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_B;
 use ethercat_hal::devices::el4002::EL4002_IDENTITY_A;
+use ethercat_hal::devices::el5152::EL5152_IDENTITY_A;
 use ethercat_hal::devices::el6021::{
    EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D,
 };
@@ -45,7 +46,12 @@ pub struct MachineIdentificationAddresses {
 }

 impl MachineIdentificationAddresses {
-    pub fn new(vendor_word: u16, serial_word: u16, machine_word: u16, device_word: u16) -> Self {
+    pub const fn new(
+        vendor_word: u16,
+        serial_word: u16,
+        machine_word: u16,
+        device_word: u16,
+    ) -> Self {
        Self {
            vendor_word,
            serial_word,
@@ -75,7 +81,7 @@ pub async fn read_device_identifications<'maindevice>(
 ) -> Vec<Result<DeviceMachineIdentification, Error>> {
    let mut result = Vec::new();
    for subdevice in subdevices.iter() {
-        let identification = machine_device_identification(&subdevice, maindevice).await;
+        let identification = machine_device_identification(subdevice, maindevice).await;
        result.push(identification);
    }
    result
@@ -222,11 +228,11 @@ pub async fn write_machine_device_identification<'maindevice, const MAX_PDI: usi

 /// Returns the EEPROM addresses for the machine device identification
 /// based on the subdevice's identity
-pub fn get_identification_addresses<'maindevice>(
+pub fn get_identification_addresses(
    subdevice_identity: &SubDeviceIdentity,
    subdevice_name: &str,
 ) -> Result<MachineIdentificationAddresses, Error> {
-    let identity_tuple = subdevice_identity_to_tuple(&subdevice_identity);
+    let identity_tuple = subdevice_identity_to_tuple(subdevice_identity);

    Ok(match identity_tuple {
        EK1100_IDENTITY_A => MachineIdentificationAddresses::default(),
@@ -234,23 +240,25 @@ pub fn get_identification_addresses<'maindevice>(
        EL1008_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL2002_IDENTITY_A | EL2002_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL2004_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL2008_IDENTITY_A | EL2008_IDENTITY_B => MachineIdentificationAddresses::default(),
-        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL2521_IDENTITY_0000_A | EL2521_IDENTITY_0000_B | EL2521_IDENTITY_0024_A => {
            MachineIdentificationAddresses::default()
        }
        EL2522_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3021_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3062_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL4002_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
-        EL7031_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL5152_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C | EL6021_IDENTITY_D => {
            MachineIdentificationAddresses::default()
        }
+        EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
+        EL7031_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
+
        _ => {
            // block_on(u16dump(&subdevice, maindevice, 0x00, 0xff))?;
            Err(anyhow!(
@@ -276,8 +284,8 @@ async fn u16dump<'maindevice>(
        words.push(subdevice.eeprom_read(maindevice, word).await?);
    }

-    print!(
-        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}\n",
+    println!(
+        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}",
        subdevice.name(),
        start_byte / 2,
        end_byte / 2
@@ -292,7 +300,7 @@ fn u16print(start_byte: u16, end_byte: u16, data: Vec<u16>) {
    let table_start_word = start_byte & 0xfff0;
    let table_end_word = (end_byte & 0xfff0_u16) + 0x10_u16;

-    let rows = table_end_word - table_start_word >> 4;
+    let rows = (table_end_word - table_start_word) >> 4;

    for row in 0..rows {
        print!("0x{:04x} | ", (table_start_word + row * 0x10) / 2);
@@ -309,7 +317,7 @@ fn u16print(start_byte: u16, end_byte: u16, data: Vec<u16>) {
                }
            }
        }
-        print!("\n");
+        println!();
    }
 }

@@ -42,7 +42,7 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {

    // Get eligible interfaces
    let mut interfaces = Interface::get_all()
-        .or_else(|e| Err(anyhow::anyhow!("Failed to get network interfaces: {}", e)))?
+        .map_err(|e| anyhow::anyhow!("Failed to get network interfaces: {}", e))?
        .into_iter()
        .filter(|iface| {
            iface.is_up()
@@ -90,10 +90,7 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
    // Wait for all tasks to complete and collect successful results
    let successful_interfaces: Vec<String> = tasks
        .into_iter()
-        .filter_map(|task| match task.join().expect("Should join thread") {
-            Some(name) => Some(name),
-            None => None,
-        })
+        .filter_map(|task| task.join().expect("Should join thread"))
        .collect();

    // Return the first successful interface (they're sorted by name)
@@ -147,7 +144,7 @@ fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
                // Default 10000
                dc_static_sync_iterations: 10000,
                // Default None
-                retry_behaviour: ethercrab::RetryBehaviour::None,
+                retry_behaviour: ethercrab::RetryBehaviour::Count(5),
            },
        ));

@@ -25,12 +25,12 @@ impl serde::ser::Error for HashSerializerError {
    where
        T: Display,
    {
-        HashSerializerError {}
+        Self {}
    }
 }

 pub struct HashSerializer<'a, H: Hasher>(&'a mut H);
-impl<'a, H: Hasher> SerializeSeq for HashSerializer<'a, H> {
+impl<H: Hasher> SerializeSeq for HashSerializer<'_, H> {
    type Ok = ();
    type Error = HashSerializerError;

@@ -46,7 +46,7 @@ impl<'a, H: Hasher> SerializeSeq for HashSerializer<'a, H> {
    }
 }

-impl<'a, H: Hasher> SerializeTuple for HashSerializer<'a, H> {
+impl<H: Hasher> SerializeTuple for HashSerializer<'_, H> {
    type Ok = ();
    type Error = HashSerializerError;

@@ -62,7 +62,7 @@ impl<'a, H: Hasher> SerializeTuple for HashSerializer<'a, H> {
    }
 }

-impl<'a, H: Hasher> SerializeTupleStruct for HashSerializer<'a, H> {
+impl<H: Hasher> SerializeTupleStruct for HashSerializer<'_, H> {
    type Ok = ();
    type Error = HashSerializerError;

@@ -78,7 +78,7 @@ impl<'a, H: Hasher> SerializeTupleStruct for HashSerializer<'a, H> {
    }
 }

-impl<'a, H: Hasher> SerializeTupleVariant for HashSerializer<'a, H> {
+impl<H: Hasher> SerializeTupleVariant for HashSerializer<'_, H> {
    type Ok = ();
    type Error = HashSerializerError;

@@ -94,7 +94,7 @@ impl<'a, H: Hasher> SerializeTupleVariant for HashSerializer<'a, H> {
    }
 }

-impl<'a, H: Hasher> SerializeMap for HashSerializer<'a, H> {
+impl<H: Hasher> SerializeMap for HashSerializer<'_, H> {
    type Ok = ();
    type Error = HashSerializerError;

@@ -117,7 +117,7 @@ impl<'a, H: Hasher> SerializeMap for HashSerializer<'a, H> {
    }
 }

-impl<'a, H: Hasher> SerializeStruct for HashSerializer<'a, H> {
+impl<H: Hasher> SerializeStruct for HashSerializer<'_, H> {
    type Ok = ();
    type Error = HashSerializerError;

@@ -135,7 +135,7 @@ impl<'a, H: Hasher> SerializeStruct for HashSerializer<'a, H> {
    }
 }

-impl<'a, H: Hasher> SerializeStructVariant for HashSerializer<'a, H> {
+impl<H: Hasher> SerializeStructVariant for HashSerializer<'_, H> {
    type Ok = ();
    type Error = HashSerializerError;

@@ -152,7 +152,7 @@ impl<'a, H: Hasher> SerializeStructVariant for HashSerializer<'a, H> {
    }
 }

-impl<'a, H: Hasher> Serializer for HashSerializer<'a, H> {
+impl<H: Hasher> Serializer for HashSerializer<'_, H> {
    type Ok = ();
    type Error = HashSerializerError;
    type SerializeSeq = Self;
@@ -329,32 +329,9 @@ impl<'a, H: Hasher> Serializer for HashSerializer<'a, H> {
 }

 // A helper that uses Serialize to feed into a Hasher without allocating a buffer:
-pub fn hash_with_serde_model<T: Serialize, H: Hasher>(value: T, hasher: H) -> u64 {
-    let mut h = hasher;
+pub fn hash_with_serde_model<T: Serialize>(value: T) -> u64 {
+    let mut h = DefaultHasher::new();
    let ser = HashSerializer(&mut h);
    value.serialize(ser).expect("serialize to hasher failed");
    h.finish()
 }
-
-/// if hash of a and b are different this function returns true
-/// a and b need to impl Serialize
-pub fn check_hash_different<T: Serialize>(a: T, b: T) -> bool {
-    // Yes DefaultHasher has to be defined multiple times
-    // If you use one for both the results will never match even if they are the same value
-    let hasher = DefaultHasher::new();
-    let hash = hash_with_serde_model(a, hasher);
-    let hasher = DefaultHasher::new();
-    let hash_old = hash_with_serde_model(b, hasher);
-    return hash != hash_old;
-}
-
-#[test]
-fn test_same_values() {
-    let a = 10;
-    let b = 10;
-    assert_eq!(
-        check_hash_different(a, b),
-        false,
-        "Hashes should be equal for identical values"
-    );
-}
@@ -63,11 +63,11 @@ pub fn scale<T>(normalized_value: f64, new_min: T, new_max: T) -> T
 where
    T: Into<f64> + From<f64>,
 {
-    let normalized_value: f64 = normalized_value.into();
+    let normalized_value: f64 = normalized_value;
    let new_min: f64 = new_min.into();
    let new_max: f64 = new_max.into();

-    let result = normalized_value * (new_max - new_min) + new_min;
+    let result = normalized_value.mul_add(new_max - new_min, new_min);
    T::from(result)
 }

@@ -128,11 +128,11 @@ where
    // If we are under X we scale linearly from 0 to y
    // If we are over X we scale linearly from y to 1
    if value_f64 < x_f64 {
-        return normalize(value_f64, 0.0, x_f64) * y_f64;
+        normalize(value_f64, 0.0, x_f64) * y_f64
    } else if value_f64 > x_f64 {
-        return normalize(value_f64, x_f64, 1.0) * (1.0 - y_f64) + y_f64;
+        normalize(value_f64, x_f64, 1.0).mul_add(1.0 - y_f64, y_f64)
    } else {
-        return y_f64;
+        y_f64
    }
 }

@@ -273,7 +273,7 @@ pub fn interpolate_exponential(normalized_value: f64, steepness: f64) -> f64 {
        return normalized_value;
    }
    let numerator = steepness.exp().powf(normalized_value) - 1.0;
-    let denominator = steepness.exp() - 1.0;
+    let denominator = steepness.exp_m1();

    clip(numerator / denominator)
 }
@@ -414,7 +414,7 @@ pub fn interpolate_inflected_exponential(x: f64, steepness: f64) -> f64 {

        // Use standard exponential interpolation
        let result = interpolate_exponential(x_norm, steepness);
-        0.5 + 0.5 * result
+        0.5f64.mul_add(result, 0.5)
    }
 }

@@ -11,56 +11,40 @@ pub trait DivideByCount {

 impl DivideByCount for f64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as f64)
+        self / (count as Self)
    }
 }

 impl DivideByCount for f32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as f32)
+        self / (count as Self)
    }
 }

 impl DivideByCount for i32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as i32)
+        self / (count as Self)
    }
 }

 impl DivideByCount for i64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as i64)
+        self / (count as Self)
    }
 }

 impl DivideByCount for u32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as u32)
+        self / (count as Self)
    }
 }

 impl DivideByCount for u64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as u64)
+        self / (count as Self)
    }
 }

-/// A generic moving time window that works with numeric types.
-///
-/// # Examples
-///
-/// ```rust
-/// use std::time::{Duration, Instant};
-/// use control_core::helpers::moving_time_window::MovingTimeWindow;
-///
-/// let mut window = MovingTimeWindow::new(Duration::from_secs(10), 100);
-/// window.update(1.5, Instant::now());
-/// window.update(2.5, Instant::now());
-///
-/// let average = window.average();
-/// println!("Average: {}", average);
-/// ```
-
 // Type aliases for common use cases
 pub type F64Window = MovingTimeWindow<f64>;
 pub type F32Window = MovingTimeWindow<f32>;
@@ -194,15 +178,14 @@ where
            .samples
            .iter()
            .map(|(v, _)| *v)
-            .fold(None, |acc, val| match acc {
-                None => Some(val),
-                Some(current_max) => {
+            .fold(None, |acc, val| {
+                acc.map_or(Some(val), |current_max| {
                    if val > current_max {
                        Some(val)
                    } else {
                        Some(current_max)
                    }
-                }
+                })
            })
            .unwrap_or_default();

@@ -229,15 +212,14 @@ where
            .samples
            .iter()
            .map(|(v, _)| *v)
-            .fold(None, |acc, val| match acc {
-                None => Some(val),
-                Some(current_min) => {
+            .fold(None, |acc, val| {
+                acc.map_or(Some(val), |current_min| {
                    if val < current_min {
                        Some(val)
                    } else {
                        Some(current_min)
                    }
-                }
+                })
            })
            .unwrap_or_default();

@@ -0,0 +1,113 @@
+#[cfg(target_os = "linux")]
+use libc;
+use std::ffi::CString;
+use std::io;
+use std::str;
+
+#[cfg(target_os = "linux")]
+fn read_proc_interrupts() -> Result<String, io::Error> {
+    let path = CString::new("/proc/interrupts").unwrap();
+    // O_RDONLY
+    let fd = unsafe { libc::open(path.as_ptr(), libc::O_RDONLY) };
+    if fd < 0 {
+        return Err(io::Error::from_raw_os_error(-fd));
+    }
+
+    let mut buf: Vec<u8> = Vec::new();
+    let mut chunk = [0u8; 8192];
+
+    loop {
+        let n = unsafe { libc::read(fd, chunk.as_mut_ptr() as *mut _, chunk.len()) };
+        if n < 0 {
+            let e = io::Error::from_raw_os_error(-n as i32);
+            unsafe { libc::close(fd) };
+            return Err(e);
+        } else if n == 0 {
+            break;
+        } else {
+            buf.extend_from_slice(&chunk[..n as usize]);
+        }
+    }
+    unsafe { libc::close(fd) };
+    Ok(String::from_utf8_lossy(&buf).into_owned())
+}
+
+#[cfg(target_os = "linux")]
+fn get_interface_irq(proc_content: &str, interface_name: &str) -> Option<u32> {
+    for line in proc_content.lines() {
+        if line.contains(interface_name) {
+            if let Some(colon_pos) = line.find(':') {
+                let head = &line[..colon_pos].trim();
+                // try parse head as integer IRQ number
+                if let Ok(irq) = head.parse::<u32>() {
+                    return Some(irq);
+                }
+            }
+        }
+    }
+    None
+}
+
+/// Since kernel 3.0 it’s possible to use the /proc/irq/<IRQ-NUMBER>/smp_affinity_list
+/// With comma seperated values
+/// This function takes the irq identifier and writes the cpu string
+/// into /proc/irq/irq_number/smp_affinity_list
+#[cfg(target_os = "linux")]
+fn set_irq_affinity_raw(irq: u32, cpu: &str) -> Result<(), io::Error> {
+    let path: String = format!("/proc/irq/{}/smp_affinity_list", irq);
+    let cpath = CString::new(path.clone()).unwrap();
+    // We want to completely overwrite the smp affinities, so that we guarentee execution on the specified cores
+    let file_descriptor = unsafe { libc::open(cpath.as_ptr(), libc::O_WRONLY) };
+
+    if file_descriptor < 0 {
+        tracing::info!("Permission denied to write: {}", path);
+        return Err(io::Error::new(
+            io::ErrorKind::PermissionDenied,
+            format!("failed to open {}: errno {}", path, -file_descriptor),
+        ));
+    }
+    // convert to "raw bytes"
+    // cpu needs to be a string because we need the raw ascii code 48 = '0' and so on as bytes
+    let bytes = cpu.as_bytes();
+    let mut bytes_written_total = 0usize;
+
+    while bytes_written_total < bytes.len() {
+        let to_write = &bytes[bytes_written_total..];
+        let bytes_written = unsafe {
+            libc::write(
+                file_descriptor,
+                to_write.as_ptr() as *const _,
+                to_write.len(),
+            )
+        };
+        if bytes_written < 0 {
+            let e = io::Error::from_raw_os_error(-bytes_written as i32);
+            unsafe { libc::close(file_descriptor) };
+            return Err(e);
+        }
+        bytes_written_total += bytes_written as usize;
+    }
+    unsafe { libc::close(file_descriptor) };
+    Ok(())
+}
+
+/// This is used to make sure that a given irq handler runs on the expected cpu
+/// On Realtime systems this is the make or break fix for certain usecases like ethercrab
+/// On our machines the 99.99th percentile of cycle times was very bad ~5-11 ms while ethercat is supposed to be in the microseconds
+/// After pinning the ethernet irq to the core that the ethercat code ran on 99.99th percentile went down to ~200us (microseconds)
+/// Example input: irq_name: "eno1" , cpu: 2
+/// Remember that cpu cores are counted from 0
+#[cfg(target_os = "linux")]
+pub fn set_irq_affinity(irq_name: &str, cpu: u32) -> Result<(), anyhow::Error> {
+    let proc_contents = read_proc_interrupts()?;
+    let irq = get_interface_irq(&proc_contents, irq_name);
+    if irq.is_none() {
+        return Err(anyhow::anyhow!("Couldnt find irq number!"));
+    }
+    let res = set_irq_affinity_raw(irq.unwrap(), &cpu.to_string());
+    if res.is_err() {
+        return Err(anyhow::anyhow!("Couldnt write affinity list!"));
+    } else {
+        return Ok(());
+    }
+}
@@ -2,6 +2,7 @@ pub mod controllers;
 pub mod converters;
 pub mod ethercat;
 pub mod helpers;
+pub mod irq_handling;
 pub mod machines;
 pub mod modbus;
 pub mod realtime;
@@ -11,5 +12,8 @@ pub mod socketio;
 pub mod transmission;
 pub mod uom_extensions;

+#[cfg(feature = "video-streaming")]
+pub mod video_streaming;
+
 #[macro_use]
 extern crate uom;
@@ -5,4 +5,21 @@ use crate::socketio::namespace::Namespace;
 pub trait MachineApi {
    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
    fn api_event_namespace(&mut self) -> &mut Namespace;
+
+    /// Returns a list of available video stream identifiers for this machine
+    #[cfg(feature = "video-streaming")]
+    fn api_video_streams(&self) -> Vec<String> {
+        Vec::new()
+    }
+
+    /// Get a video stream receiver for the specified stream ID
+    /// Returns None if the stream doesn't exist
+    #[cfg(feature = "video-streaming")]
+    fn api_get_video_stream(
+        &mut self,
+        stream_id: &str,
+    ) -> Option<tokio::sync::broadcast::Receiver<Vec<u8>>> {
+        let _ = stream_id;
+        None
+    }
 }
@@ -12,7 +12,7 @@ pub struct MachineIdentificationUnique {

 impl MachineIdentificationUnique {
    /// Check if values are non-zero
-    pub fn is_valid(&self) -> bool {
+    pub const fn is_valid(&self) -> bool {
        self.machine_identification.is_valid() && self.serial != 0
    }
 }
@@ -36,12 +36,12 @@ pub struct MachineIdentification {

 impl MachineIdentification {
    /// Check if values are non-zero
-    pub fn is_valid(&self) -> bool {
+    pub const fn is_valid(&self) -> bool {
        self.vendor != 0 && self.machine != 0
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceMachineIdentification {
    pub machine_identification_unique: MachineIdentificationUnique,
    pub role: u16,
@@ -49,7 +49,7 @@ pub struct DeviceMachineIdentification {

 impl DeviceMachineIdentification {
    /// Check if values are non-zero
-    pub fn is_valid(&self) -> bool {
+    pub const fn is_valid(&self) -> bool {
        self.machine_identification_unique.is_valid()
            && self
                .machine_identification_unique
@@ -59,7 +59,7 @@ impl DeviceMachineIdentification {
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceIdentification {
    pub device_machine_identification: Option<DeviceMachineIdentification>,
    pub device_hardware_identification: DeviceHardwareIdentification,
@@ -67,14 +67,14 @@ pub struct DeviceIdentification {

 impl From<DeviceIdentificationIdentified> for DeviceIdentification {
    fn from(value: DeviceIdentificationIdentified) -> Self {
-        DeviceIdentification {
+        Self {
            device_machine_identification: Some(value.device_machine_identification),
            device_hardware_identification: value.device_hardware_identification,
        }
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceIdentificationIdentified {
    pub device_machine_identification: DeviceMachineIdentification,
    pub device_hardware_identification: DeviceHardwareIdentification,
@@ -90,24 +90,24 @@ impl TryFrom<DeviceIdentification> for DeviceIdentificationIdentified {
                module_path!()
            ))?;

-        Ok(DeviceIdentificationIdentified {
+        Ok(Self {
            device_machine_identification,
            device_hardware_identification: value.device_hardware_identification,
        })
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub enum DeviceHardwareIdentification {
    Ethercat(DeviceHardwareIdentificationEthercat),
    Serial(DeviceHardwareIdentificationSerial),
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceHardwareIdentificationEthercat {
    pub subdevice_index: usize,
 }
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceHardwareIdentificationSerial {
    pub path: String,
 }
@@ -31,6 +31,12 @@ pub struct MachineManager {
        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
 }

+impl Default for MachineManager {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
 impl MachineManager {
    pub fn new() -> Self {
        Self {
@@ -45,7 +51,7 @@ impl MachineManager {
        machine_registry: &MachineRegistry,
        hardware: &MachineNewHardwareEthercat,
        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
-        machine_manager: Weak<RwLock<MachineManager>>,
+        machine_manager: Weak<RwLock<Self>>,
    ) {
        // empty ethercat machines
        self.ethercat_machines.clear();
@@ -99,7 +105,7 @@ impl MachineManager {
        device: Arc<RwLock<dyn SerialDevice>>,
        machine_registry: &MachineRegistry,
        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
-        machine_manager: Weak<RwLock<MachineManager>>,
+        machine_manager: Weak<RwLock<Self>>,
    ) {
        let hardware = MachineNewHardwareSerial { device };

@@ -113,7 +119,7 @@ impl MachineManager {
            device_group: &vec![device_identification_identified.clone()],
            hardware: &MachineNewHardware::Serial(&hardware),
            socket_queue_tx,
-            machine_manager: machine_manager.clone(),
+            machine_manager,
        });

        tracing::info!("Adding serial machine {:?}", new_machine);
@@ -163,7 +169,7 @@ impl MachineManager {
            }
        };
        let machine_weak = Arc::downgrade(machine);
-        return Some(machine_weak);
+        Some(machine_weak)
    }

    pub fn get_serial_weak(
@@ -184,7 +190,7 @@ impl MachineManager {
            }
        };
        let machine_weak = Arc::downgrade(machine);
-        return Some(machine_weak);
+        Some(machine_weak)
    }
 }

@@ -16,9 +16,12 @@ pub mod manager_iter;
 pub mod new;
 pub mod registry;

-pub trait Machine: MachineAct + MachineNewTrait + MachineApi + Any + Debug + Send {
+pub trait Machine: MachineAct + MachineNewTrait + MachineApi + AnyGetters + Debug + Send {}
+pub trait AnyGetters: Any {
    fn as_any(&self) -> &dyn Any;
+    fn as_any_mut(&mut self) -> &mut dyn Any;
 }
+
 /// Casts a `dyn Machine` to a specific machine type
 pub async fn downcast_machine<T: Machine>(
    machine: Arc<Mutex<dyn Machine>>,
@@ -61,7 +64,7 @@ pub struct ConnectedMachine<T: GetStrongCount> {
    pub machine: T,
 }

-#[derive(Serialize, Debug, Clone, PartialEq)]
+#[derive(Serialize, Debug, Clone, PartialEq, Eq)]
 pub struct ConnectedMachineData {
    pub machine_identification_unique: MachineIdentificationUnique,
    pub is_available: bool,
@@ -16,9 +16,7 @@ use std::{
 use crate::socketio::event::GenericEvent;

 pub trait MachineNewTrait {
-    fn new<'maindevice, 'subdevices>(
-        params: &MachineNewParams<'maindevice, 'subdevices, '_, '_, '_, '_, '_>,
-    ) -> Result<Self, Error>
+    fn new(params: &MachineNewParams<'_, '_, '_, '_, '_, '_, '_>) -> Result<Self, Error>
    where
        Self: Sized;
 }
@@ -10,6 +10,12 @@ pub struct MachineRegistry {
    type_map: HashMap<TypeId, (MachineIdentification, MachineNewClosure)>,
 }

+impl Default for MachineRegistry {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
 impl MachineRegistry {
    pub fn new() -> Self {
        Self {
@@ -24,7 +30,7 @@ impl MachineRegistry {
        self.type_map.insert(
            TypeId::of::<T>(),
            (
-                machine_identficiation,
+                machine_identficiation.clone(),
                // create a machine construction closure
                Box::new(|machine_new_params| {
                    Ok(Arc::new(Mutex::new(T::new(machine_new_params)?)))
@@ -62,17 +62,17 @@ impl From<ModbusExceptionCode> for u8 {
 impl From<u8> for ModbusExceptionCode {
    fn from(value: u8) -> Self {
        match value {
-            0 => ModbusExceptionCode::None,
-            1 => ModbusExceptionCode::IllegalFunction,
-            2 => ModbusExceptionCode::IllegalDataAddress,
-            3 => ModbusExceptionCode::IllegalDataValue,
-            4 => ModbusExceptionCode::SlaveDeviceFailure,
-            5 => ModbusExceptionCode::Acknowledge,
-            6 => ModbusExceptionCode::SlaveDeviceBusy,
-            8 => ModbusExceptionCode::MemoryParityError,
-            10 => ModbusExceptionCode::GatewayPathUnavailable,
-            11 => ModbusExceptionCode::GatewayTargetDeviceFailedToRespond,
-            other => ModbusExceptionCode::Unknown(other),
+            0 => Self::None,
+            1 => Self::IllegalFunction,
+            2 => Self::IllegalDataAddress,
+            3 => Self::IllegalDataValue,
+            4 => Self::SlaveDeviceFailure,
+            5 => Self::Acknowledge,
+            6 => Self::SlaveDeviceBusy,
+            8 => Self::MemoryParityError,
+            10 => Self::GatewayPathUnavailable,
+            11 => Self::GatewayTargetDeviceFailedToRespond,
+            other => Self::Unknown(other),
        }
    }
 }
@@ -97,10 +97,10 @@ impl TryFrom<u8> for ModbusFunctionCode {

    fn try_from(value: u8) -> Result<Self, Self::Error> {
        match value {
-            0x03 => Ok(ModbusFunctionCode::ReadHoldingRegister),
-            0x04 => Ok(ModbusFunctionCode::ReadInputRegister),
-            0x06 => Ok(ModbusFunctionCode::PresetHoldingRegister),
-            0x08 => Ok(ModbusFunctionCode::DiagnoseFunction),
+            0x03 => Ok(Self::ReadHoldingRegister),
+            0x04 => Ok(Self::ReadInputRegister),
+            0x06 => Ok(Self::PresetHoldingRegister),
+            0x08 => Ok(Self::DiagnoseFunction),
            _ => Err(anyhow::anyhow!("Error: Modbus Function Code doesnt exist!")),
        }
    }
@@ -119,7 +119,7 @@ impl From<ModbusFunctionCode> for u8 {

 impl From<ModbusRequest> for Vec<u8> {
    fn from(request: ModbusRequest) -> Self {
-        let mut buffer = Vec::new();
+        let mut buffer = Self::new();

        buffer.push(request.slave_id);
        buffer.push(request.function_code.into()); // convert functioncode into u8 and push it
@@ -132,7 +132,7 @@ impl From<ModbusRequest> for Vec<u8> {
        // convert u16 value to le_bytes and add it to the end of the frame
        buffer.extend_from_slice(&result_crc.to_le_bytes());

-        return buffer;
+        buffer
    }
 }
 /// Reads data from a Modbus device via a serial port.
@@ -153,7 +153,7 @@ pub fn receive_data_modbus(port: &mut dyn SerialPort) -> Result<Option<Vec<u8>>,
 }

 /// Computes Modbus CRC-16 using `crc` crate.
-pub fn modbus_crc16(data: &[u8]) -> u16 {
+pub const fn modbus_crc16(data: &[u8]) -> u16 {
    let modbus: Crc<u16> = Crc::<u16>::new(&CRC_16_MODBUS);
    modbus.checksum(data)
 }
@@ -204,23 +204,17 @@ fn extract_crc(raw_data: &Vec<u8>) -> Result<u16, Error> {
 }
 impl TryFrom<Vec<u8>> for ModbusResponse {
    type Error = anyhow::Error;
-    fn try_from(value: Vec<u8>) -> Result<ModbusResponse, Error> {
-        let crc = match extract_crc(&value) {
-            Ok(crc_value) => crc_value,
-            Err(err) => return Err(err),
-        };
+    fn try_from(value: Vec<u8>) -> Result<Self, Error> {
+        let crc = extract_crc(&value)?;

        let function_code_res = ModbusFunctionCode::try_from(value[1]);
-        let function_code = match function_code_res {
-            Ok(code) => code,
-            Err(err) => return Err(err),
-        };
+        let function_code = function_code_res?;

-        Ok(ModbusResponse {
+        Ok(Self {
            slave_id: value[0],
-            function_code: function_code,
+            function_code,
            data: value[2..value.len() - 2].to_vec(), // get data without the crc
-            crc: crc,
+            crc,
        })
    }
 }
@@ -232,23 +226,23 @@ impl TryFrom<Vec<u8>> for ModbusResponse {
 /// machine_operation_delay_nano: Delay for the given operation in nanoseconds as specified by the slaves datasheet (example: mitsubishi csfr84 has 12ms for read write in RAM)
 /// baudrate: bits per second
 /// message_size: size of original message in bytes
-pub fn calculate_modbus_rtu_timeout(
+pub const fn calculate_modbus_rtu_timeout(
    bits: u8,
    machine_operation_delay_nano: Duration,
    baudrate: u32,
    message_size: usize,
 ) -> Duration {
    let nanoseconds_per_bit: u64 = (1000000 / baudrate) as u64;
-    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit as u64;
+    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit;

    let transmission_timeout: u64 = nanoseconds_per_byte * message_size as u64;
-    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10 as u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1
+    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10_u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1

    let mut full_timeout: u64 = transmission_timeout;
    full_timeout += machine_operation_delay_nano.as_nanos() as u64;
    full_timeout += silent_time;

-    return Duration::from_nanos(full_timeout);
+    Duration::from_nanos(full_timeout)
 }

 #[cfg(test)]
@@ -66,7 +66,7 @@ impl ModbusSerialInterface {
        }
    }

-    pub fn is_initialized(&self) -> bool {
+    pub const fn is_initialized(&self) -> bool {
        !matches!(self.state, State::Uninitialized)
    }

@@ -199,7 +199,7 @@ impl ModbusSerialInterface {
        Some(Duration::from_nanos(total_timeout))
    }

-    pub fn get_response(&self) -> Option<&ModbusResponse> {
+    pub const fn get_response(&self) -> Option<&ModbusResponse> {
        self.response.as_ref()
    }

@@ -1,7 +1,7 @@
 use tracing::debug;
 use tracing::error;

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

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

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

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

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

@@ -11,13 +11,13 @@ pub struct MutationResponse {
 }

 impl MutationResponse {
-    pub fn success() -> Self {
+    pub const fn success() -> Self {
        Self {
            success: true,
            error: None,
        }
    }
-    pub fn error(error: String) -> Self {
+    pub const fn error(error: String) -> Self {
        Self {
            success: false,
            error: Some(error),
@@ -33,3 +33,19 @@ where
    pub machine_identification_unique: MachineIdentificationUnique,
    pub data: T,
 }
+
+#[derive(Debug, serde::Deserialize)]
+pub struct MachineVideoStreamListBody {
+    pub machine_identification_unique: MachineIdentificationUnique,
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct MachineVideoStreamBody {
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub stream_id: String,
+}
+
+#[derive(Debug, Serialize)]
+pub struct VideoStreamListResponse {
+    pub streams: Vec<String>,
+}
@@ -30,7 +30,7 @@ pub struct SerialDeviceNewParams {
    pub device_thread_panic_tx: Sender<SerialDeviceRemoval<String>>,
 }

-#[derive(PartialEq, Clone, Debug)]
+#[derive(PartialEq, Eq, Clone, Debug)]
 pub struct SerialDeviceIdentification {
    pub vendor_id: u16,
    pub product_id: u16,
@@ -20,6 +20,12 @@ pub struct SerialDeviceRegistry {
    pub type_map: HashMap<TypeId, (SerialDeviceIdentification, SerialDeviceNewClosure)>,
 }

+impl Default for SerialDeviceRegistry {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
 impl SerialDeviceRegistry {
    pub fn new() -> Self {
        Self {
@@ -82,15 +82,12 @@ impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {
        let mut usb_ports: Vec<(String, UsbPortInfo)> = Vec::new();

        for port in port_list {
-            match &port.port_type {
-                SerialPortType::UsbPort(usb_info) => {
-                    usb_ports.push((port.port_name.to_string(), usb_info.clone()));
-                }
-                _ => {}
+            if let SerialPortType::UsbPort(usb_info) = &port.port_type {
+                usb_ports.push((port.port_name.to_string(), usb_info.clone()));
            };
        }

-        return usb_ports;
+        usb_ports
    }

    pub async fn check_ports(&mut self) -> CheckPortsResult {
@@ -30,7 +30,7 @@ impl Namespace {
    #[instrument(skip_all)]
    pub fn subscribe(&mut self, socket: SocketRef) {
        // add the socket to the list
-        self.sockets.push(socket.clone());
+        self.sockets.push(socket);
    }

    /// Removes a socket from the namespace.
@@ -81,7 +81,7 @@ impl Namespace {
        for (_event_name, events) in event_groups {
            for event in events {
                // Send to global queue instead of per-socket queue
-                self.send_to_queue(&socket, &event, "reemit");
+                self.send_to_queue(&socket, event, "reemit");
            }
        }
    }
@@ -97,13 +97,10 @@ impl Namespace {
    fn cache(
        &mut self,
        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>,
+        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
    ) {
-        let mut cached_events_for_key = self
-            .events
-            .entry(event.name.clone())
-            .or_insert_with(Vec::new);
-        buffer_fn(&mut cached_events_for_key, &event);
+        let cached_events_for_key = self.events.entry(event.name.clone()).or_default();
+        buffer_fn(cached_events_for_key, &event);
    }

    /// Emits an event to all sockets in the namespace and caches it.
@@ -117,10 +114,10 @@ impl Namespace {
    pub fn emit(
        &mut self,
        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>,
+        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
    ) {
        // cache the event
-        self.cache(event.clone(), &buffer_fn);
+        self.cache(event.clone(), buffer_fn);

        // emit the event - inlined from emit function
        // Send to global queue for each socket in the namespace
@@ -191,7 +188,7 @@ pub trait CacheableEvents<Events> {
    fn event_cache_fn(&self) -> CacheFn;
 }

-pub type CacheFn = Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>;
+pub type CacheFn = Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>;

 /// [`BufferFn`] that stores the last n events
 pub fn cache_n_events(n: usize) -> CacheFn {
@@ -223,7 +220,6 @@ pub fn cache_first_and_last_event() -> CacheFn {
        if events.len() == 2 {
            events.remove(1);
            events.push(event.clone());
-            return;
        }
    })
 }
@@ -17,8 +17,8 @@ impl Serialize for NamespaceId {
        S: Serializer,
    {
        match self {
-            NamespaceId::Main => serializer.serialize_str("/main"),
-            NamespaceId::Machine(id) => {
+            Self::Main => serializer.serialize_str("/main"),
+            Self::Machine(id) => {
                let path = format!(
                    "/machine/{}/{}/{}",
                    id.machine_identification.vendor, id.machine_identification.machine, id.serial
@@ -36,7 +36,7 @@ impl<'de> Deserialize<'de> for NamespaceId {
    {
        struct NamespaceIdVisitor;

-        impl<'de> Visitor<'de> for NamespaceIdVisitor {
+        impl Visitor<'_> for NamespaceIdVisitor {
            type Value = NamespaceId;

            fn expecting(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
@@ -85,7 +85,7 @@ impl FromStr for NamespaceId {

    fn from_str(s: &str) -> Result<Self, Self::Err> {
        if s == "/main" {
-            return Ok(NamespaceId::Main);
+            return Ok(Self::Main);
        }

        if let Some(machine_path) = s.strip_prefix("/machine/") {
@@ -101,7 +101,7 @@ impl FromStr for NamespaceId {
                    .parse::<u16>()
                    .map_err(|_| "Invalid serial id".to_string())?;

-                return Ok(NamespaceId::Machine(MachineIdentificationUnique {
+                return Ok(Self::Machine(MachineIdentificationUnique {
                    machine_identification: MachineIdentification { vendor, machine },
                    serial,
                }));
@@ -116,8 +116,8 @@ impl FromStr for NamespaceId {
 impl fmt::Display for NamespaceId {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
-            NamespaceId::Main => write!(f, "/main"),
-            NamespaceId::Machine(id) => {
+            Self::Main => write!(f, "/main"),
+            Self::Machine(id) => {
                write!(
                    f,
                    "/machine/{}/{}/{}",
@@ -21,7 +21,7 @@ impl FixedTransmission {
    /// # Returns
    ///
    /// A new instance of FixedTransmission.
-    pub fn new(ratio: f64) -> Self {
+    pub const fn new(ratio: f64) -> Self {
        Self { ratio }
    }
 }
@@ -0,0 +1,208 @@
+use anyhow::Error;
+use std::collections::HashMap;
+use tokio::sync::broadcast;
+
+/// Video stream manager that handles multiple video streams per machine with true broadcasting
+/// Uses tokio broadcast channels to ensure all subscribers receive all messages without stealing
+#[derive(Debug)]
+pub struct VideoStreamManager {
+    /// Each stream has its own broadcast transmitter and template receiver
+    streams: HashMap<String, (broadcast::Sender<Vec<u8>>, broadcast::Receiver<Vec<u8>>)>,
+}
+
+impl VideoStreamManager {
+    pub fn new() -> Self {
+        Self {
+            streams: HashMap::new(),
+        }
+    }
+
+    /// Send a frame to all subscribers of a stream
+    /// Returns Ok if the frame was sent, Err if the stream doesn't exist
+    pub fn send_frame(&self, stream_id: &str, frame: Vec<u8>) -> Result<(), Error> {
+        if let Some((tx, _rx)) = self.streams.get(stream_id) {
+            match tx.send(frame) {
+                Ok(_) => Ok(()),
+                Err(_) => Ok(()), // No receivers, but that's not an error
+            }
+        } else {
+            Err(anyhow::anyhow!("Stream '{}' not found", stream_id))
+        }
+    }
+
+    /// Register a new video stream with the given ID
+    pub fn add_stream(&mut self, stream_id: String) {
+        let (tx, rx) = broadcast::channel::<Vec<u8>>(256); // 256 frame buffer capacity
+        self.streams.insert(stream_id, (tx, rx));
+    }
+
+    /// Get list of available stream IDs
+    pub fn get_streams(&self) -> Vec<String> {
+        self.streams.keys().cloned().collect()
+    }
+
+    /// Check if a stream exists
+    pub fn has_stream(&self, stream_id: &str) -> bool {
+        self.streams.contains_key(stream_id)
+    }
+
+    /// Remove a stream and all its subscribers
+    pub fn remove_stream(&mut self, stream_id: &str) -> bool {
+        self.streams.remove(stream_id).is_some()
+    }
+
+    /// Subscribe to a video stream and get a receiver
+    /// Returns the receiver for the new subscription
+    pub fn subscribe_to_stream(&self, stream_id: &str) -> Option<broadcast::Receiver<Vec<u8>>> {
+        self.streams
+            .get(stream_id)
+            .map(|(_tx, rx)| rx.resubscribe()) // Resubscribe to create a new independent receiver
+    }
+
+    /// Get subscriber count for a stream
+    pub fn get_subscriber_count(&self, stream_id: &str) -> usize {
+        self.streams
+            .get(stream_id)
+            .map_or(0, |(tx, _rx)| tx.receiver_count())
+    }
+
+    /// Get a stream transmitter for sending frames (used by machines to send video)
+    /// Returns None if the stream doesn't exist
+    pub fn get_sender(&self, stream_id: &str) -> Option<broadcast::Sender<Vec<u8>>> {
+        self.streams.get(stream_id).map(|(tx, _rx)| tx.clone())
+    }
+}
+
+impl Default for VideoStreamManager {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[tokio::test]
+    async fn test_video_stream_manager() {
+        let mut manager = VideoStreamManager::new();
+
+        // Register streams
+        manager.register_stream("camera1".to_string());
+        manager.register_stream("camera2".to_string());
+
+        assert_eq!(manager.get_stream_ids().len(), 2);
+        assert!(manager.has_stream("camera1"));
+        assert!(manager.has_stream("camera2"));
+        assert!(!manager.has_stream("camera3"));
+
+        // Subscribe to streams
+        let mut rx1 = manager.subscribe_to_stream("camera1").unwrap();
+        let mut rx2 = manager.subscribe_to_stream("camera1").unwrap();
+        let mut rx3 = manager.subscribe_to_stream("camera2").unwrap();
+
+        assert_eq!(manager.get_subscriber_count("camera1"), 3); // Original + 2 clones
+        assert_eq!(manager.get_subscriber_count("camera2"), 2); // Original + 1 clone
+        assert_eq!(manager.get_subscriber_count("nonexistent"), 0);
+
+        // Send frames
+        let frame1 = vec![1, 2, 3, 4];
+        let frame2 = vec![5, 6, 7, 8];
+
+        assert!(manager.send_single_frame("camera1", frame1.clone()));
+        assert!(manager.send_single_frame("camera2", frame2.clone()));
+        assert!(!manager.send_single_frame("nonexistent", vec![]));
+
+        // Both camera1 subscribers should receive the frame
+        assert_eq!(rx1.recv().await.unwrap(), frame1);
+        assert_eq!(rx2.recv().await.unwrap(), frame1);
+
+        // Camera2 subscriber should receive its frame
+        assert_eq!(rx3.recv().await.unwrap(), frame2);
+    }
+
+    #[tokio::test]
+    async fn test_video_frame_broadcasting() {
+        let mut manager = VideoStreamManager::new();
+        manager.register_stream("main_camera".to_string());
+
+        // Multiple clients subscribe to the same camera
+        let mut rx1 = manager.subscribe_to_stream("main_camera").unwrap();
+        let mut rx2 = manager.subscribe_to_stream("main_camera").unwrap();
+        let mut rx3 = manager.subscribe_to_stream("main_camera").unwrap();
+
+        // Simulate video frames
+        let frames = vec![
+            vec![0xFF, 0xD8, 0xFF, 0xE0], // JPEG header
+            vec![0x00, 0x01, 0x02, 0x03], // Frame 1
+            vec![0x04, 0x05, 0x06, 0x07], // Frame 2
+        ];
+
+        for frame in &frames {
+            assert!(manager.send_single_frame("main_camera", frame.clone()));
+        }
+
+        // All clients should receive all frames in order
+        for frame in &frames {
+            assert_eq!(rx1.recv().await.unwrap(), *frame);
+            assert_eq!(rx2.recv().await.unwrap(), *frame);
+            assert_eq!(rx3.recv().await.unwrap(), *frame);
+        }
+    }
+
+    #[test]
+    fn test_stream_management() {
+        let mut manager = VideoStreamManager::new();
+
+        // Initially no streams
+        assert_eq!(manager.get_stream_ids().len(), 0);
+
+        // Add streams
+        manager.register_stream("front_camera".to_string());
+        manager.register_stream("rear_camera".to_string());
+        manager.register_stream("side_camera".to_string());
+
+        let mut stream_ids = manager.get_stream_ids();
+        stream_ids.sort(); // Sort for consistent testing
+        assert_eq!(
+            stream_ids,
+            vec!["front_camera", "rear_camera", "side_camera"]
+        );
+
+        // Remove a stream
+        assert!(manager.remove_stream("rear_camera"));
+        assert!(!manager.remove_stream("rear_camera")); // Already removed
+        assert!(!manager.has_stream("rear_camera"));
+
+        assert_eq!(manager.get_stream_ids().len(), 2);
+    }
+
+    #[tokio::test]
+    async fn test_send_frame_results() {
+        let mut manager = VideoStreamManager::new();
+        manager.register_stream("test_camera".to_string());
+
+        // One initial receiver (the original one created in register_stream)
+        let result = manager.send_frame("test_camera", vec![1, 2, 3]).unwrap();
+        assert_eq!(result, 1); // Number of subscribers
+
+        // Add subscribers by cloning the receiver
+        let _rx1 = manager.subscribe_to_stream("test_camera").unwrap();
+        let _rx2 = manager.subscribe_to_stream("test_camera").unwrap();
+
+        // Send frame to multiple subscribers (original + 2 clones = 3 total)
+        let result = manager.send_frame("test_camera", vec![4, 5, 6]).unwrap();
+        assert_eq!(result, 3); // Number of subscribers
+
+        // Try sending to non-existent stream
+        let result = manager.send_frame("nonexistent", vec![7, 8, 9]);
+        assert!(result.is_err());
+        assert_eq!(result.unwrap_err(), "Stream 'nonexistent' not found");
+    }
+
+    #[test]
+    fn test_default_video_stream_manager() {
+        let manager = VideoStreamManager::default();
+        assert_eq!(manager.get_stream_ids().len(), 0);
+    }
+}
@@ -0,0 +1,145 @@
+# How can I add a new Machine?
+
+Adding a new machine follows a common structure in `server/machines/`.
+
+
+
+# TLDR
+
+Summary
+
+When adding a new machine:
+
+- Create Folder server/machines/YOUR_MACHINE_NAME/.
+- Add the 4 files (mod.rs, new.rs, act.rs, api.rs).
+- Register it in machines/mod.rs with a unique constant.
+- mod.rs: define the struct + emit functions.
+- new.rs: assemble devices/controllers into the machine.
+- act.rs: implement the machine loop (MachineAct).
+- api.rs: define request (mutations) and response (events) types.
+
+Tip: Start simple (copy MockMachine) and grow complexity as needed (add EtherCAT devices, controllers, etc.).
+
+---
+
+## 1. Create the folder
+
+Create a new directory:
+server/machines/YOUR_MACHINE_NAME
+
+At a minimum, this folder needs the following files:
+
+- `mod.rs`
+- `new.rs`
+- `act.rs`
+- `api.rs`
+
+---
+
+## 2. Register the module
+
+Add your machine to `server/machines/mod.rs`:
+
+```rust
+// mod.rs
+pub mod buffer1;
+pub mod extruder1;
+pub mod laser;
+pub mod mock;
+pub mod registry;
+pub mod winder2;
+pub mod YOUR_MACHINE;
+
+pub const VENDOR_QITECH: u16 = 0x0001;
+pub const MACHINE_WINDER_V1: u16 = 0x0002;
+pub const MACHINE_EXTRUDER_V1: u16 = 0x0004;
+pub const MACHINE_LASER_V1: u16 = 0x0006;
+pub const MACHINE_MOCK: u16 = 0x0007;
+pub const MACHINE_BUFFER_V1: u16 = 0x0008;
+pub const YOUR_MACHINE_V1: u16 = 0xffff; // pick a unique ID to avoid collisions also DO NOT touch any already defined ids!!
+```
+
+## 3. mod.rs
+
+This file defines your machine struct and the required event emitters.
+
+Look at MockMachine’s mod.rs for the simplest possible version.
+
+At a minimum, you need:
+- emit_state
+- emit_live_values
+- A machine struct for state(e.g. MockMachine, Extruder, Laser, Winder, …)
+
+More complex machines (e.g. Extruder, Winder) encapsulate controllers that in turn manage devices like EtherCAT terminals.
+
+## 4 new.rs
+
+This file implements MachineNewTrait for your machine.
+Here you assemble your machine from its parts — devices, controllers, and any state.
+
+Minimal example: see MockMachine → basically no devices, just returns a struct.
+
+Medium complexity: see Laser → wraps a single serial USB device.
+
+High complexity: see Extruder → configures multiple EtherCAT devices inside controllers.
+
+Think of new.rs as the factory:
+This is the place to declare which devices make up your machine and how they’re configured.
+
+## 5. act.rs
+
+This file implements the machine control loop using MachineAct.
+The act() method is called repeatedly by the control runtime.
+
+```rs
+impl MachineAct for YourMachine {
+    fn act(&mut self, _now_ts: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let now = Instant::now();
+
+            // Update state, e.g. step a controller
+            self.some_controller.update();
+
+            // Emit live values ~30 Hz if machine is in Running mode
+            if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+                self.maybe_emit_state_event();
+                self.emit_live_values();
+                self.last_measurement_emit = now;
+            }
+        })
+    }
+}
+```
+
+## 6. api.rs
+
+Defines the frontend-facing API for your machine:
+
+Mutations → requests that the machine accepts
+(e.g. start/stop commands, setpoints, configuration updates).
+
+Events → responses emitted to the frontend
+(e.g. live sensor data, alarms, machine state changes).
+
+Look at MockMachine’s api.rs for a minimal version.
+
+```rs
+/// Mutations are API requests to control the machine
+#[derive(Debug, Clone, serde::Deserialize)]
+#[serde(tag = "type", rename_all = "snake_case")]
+pub enum YourMachineMutation {
+    Start,
+    Stop,
+    SetSpeed { rpm: f64 },
+}
+
+/// Events are responses sent to the frontend
+#[derive(Debug, Clone, serde::Serialize)]
+#[serde(tag = "type", rename_all = "snake_case")]
+pub enum YourMachineEvent {
+    StateChanged { state: String },
+    LiveValues { rpm: f64, torque: f64 },
+}
+
+```
+
@@ -0,0 +1,128 @@
+# Performance/Stability Tweaks 
+## EtherCrab Config
+We set ethercrab to default settings for everything except for RetryBehaviour, so that one unlikely failure doesnt destroy the EtherCAT network.
+
+```rust
+    let maindevice = MainDevice::new(
+        pdu,
+        Timeouts {
+            // Default 5000ms
+            state_transition: Duration::from_millis(5000),
+            // Default 30_000us
+            pdu: Duration::from_micros(30_000),
+            // Default 10ms
+            eeprom: Duration::from_millis(10),
+            // Default 0ms
+            wait_loop_delay: Duration::from_millis(0),
+            // Default 100ms
+            mailbox_echo: Duration::from_millis(100),
+            // Default 1000ms
+            mailbox_response: Duration::from_millis(1000),
+        },
+        MainDeviceConfig {
+            // Default RetryBehaviour::None
+            retry_behaviour: RetryBehaviour::Count(5),
+            // Default 10_000
+            dc_static_sync_iterations: 10_000,
+        },
+    );
+
+```
+wait_loop_delay CAN in theory also decrease CPU usage if set exactly as the loop_delay we set, however this setting has caused us some issues, so we just leave it as is.
+
+## Realtime Kernel
+In our nixOs Config we use the latest realtime kernel and isolate TWO cores out of the Four available for the machines we use.
+
+```nix
+ #From configuration.nix
+ boot.loader.efi.canTouchEfiVariables = true;
+ boot.kernelPackages = pkgs.linuxPackages-rt_latest;
+ boot.kernelModules = [ "i915" ];
+```
+
+Notice how we hardcode the intel gpu kernel module. This is because only the GPU driver gets blacklisted for some reason. By specifying it manually it loads like before.
+
+One Core is used for the EtherCrab TXRX Thread and one is used for the machine Thread. 
+```
+    "isolcpus=2,3" # Isolate cpus 2 and 3 from scheduler for better latency, 2 runs ethercatthread and 3 runs server control-loop
+    "nohz_full=2,3" # In this mode, the periodic scheduler tick is stopped when only one task is running, reducing kernel interruptions on those CPUs.
+    "rcu_nocbs=2,3" # Moves RCU (Read-Copy Update) callback processing away from CPUs 2 and 3.
+```
+
+Essentially we completely disable acces from the operating system to these two cpus, which saves scheduler overhead, which would introduce noticable latency.
+Its not entirely clear yet if what we did here is overkill. Maybe we could use only one core and get away with that?
+Processor load normally hovers around 18% for one of the cores and like 9% for the other.
+
+We also have some minor cpu tweaks in configuration.nix
+```
+    # Graphical
+    "logo.nologo" # Remove kernel logo during boot
+
+    # Performance
+
+    # Specific Vulnerabilities Addressed by Mitigations:
+    # - Spectre variants (V1, V2, V4, SWAPGS, SpectreRSB, etc.)
+    # - Meltdown (Rogue Data Cache Load)
+    # - Foreshadow/L1TF (L1 Terminal Fault)
+    # - Microarchitectural Data Sampling (MDS, RIDL, Fallout, ZombieLoad)
+    # - SRBDS (Special Register Buffer Data Sampling)
+    # - TSX Asynchronous Abort (TAA)
+    # - iTLB Multihit
+    # - And others as they're discovered and mitigated
+    #
+    # With mitigations=off
+    # - PROS: Maximum performance, equivalent to pre-2018 behavior
+    # - CONS: Vulnerable to Spectre, Meltdown, Foreshadow, ZombieLoad, etc.
+    #         Should ONLY be used in completely trusted environments
+    # - Improves performance by 7-43%
+    "mitigation=off"
+    "intel_pstate=performance"    # Intel CPU-specific performance mode (if applicable)
+
+    # Memory Management
+    "transparent_hugepage=always" # Use larger memory pages for memory intense applications
+    "nmi_watchdog=0"              # Disable NMI watchdog for reduced CPU overhead and realtime execution
+
+    # High-throughput ethernet parameters
+    "pcie_aspm=off"         # Disable PCIe power management for NICs
+    "intel_iommu=off"       # Disable IOMMU (performance gain)
+
+    # Reliability
+    "panic=10"              # Auto-reboot 10 seconds after kernel panic
+    "oops=panic"            # Treat kernel oops as panic for auto-recovery
+    "usbcore.autosuspend=-1"     # Possibly fixes dre disconnect issue?
+```
+
+We should check if its really required to turn mitigations off as well.
+
+## Rust Code Optimizations
+
+In General we try to avoid memory allocations in our loop as much as possible, as it is not deterministic
+
+One problem we found, is that due to the realtime kernel our ethernet driver caused us quite large spikes in our tx_rx cycle time for EtherCAT.
+These spikes happen when CPU Load is very high on the two usable cores, causing the interrupt handler for Ethernet to stall.
+
+Which is why we reassign the interrupt handler on startup to the same core that the EtherCatTxRx Thread runs on:
+
+```rust
+#[cfg(target_os = "linux")]
+match set_irq_affinity(&interface, 3) {
+      Ok(_) => tracing::info!("ethernet interrupt handler now runs on cpu:{}", 3),
+      Err(e) => tracing::error!("set_irq_affinity failed: {:?}", e),
+}
+// Set core affinity to 4th core
+let _ = set_core_affinity(3);
+
+// Set the thread to real-time priority
+let _ = set_realtime_priority();
+```
+This means that the Interrupt Handler ALWAYS has enough ressources to cope with our demand for realtime communication with EtherCAT
+
+
+One Problem we have at the moment (we think) is the locking and async code blocking our server loop. 
+Note that this doesnt affect the EtherCAT communication at all.
+
+## Electron Optimizations (Not Yet Implemented)
+
+Currently we are struggling with the fact, that apparently Electron doesnt really have good support for HW acceleration on Linux.
+Electron runs with the software-renderer, which is VERY slow compared to a gpu. 
+This would eliminate the weird stuttering seen on Graphs and make them run buttery smooth, while also alleviating load off of the CPU.
@@ -115,3 +115,130 @@ pub fn (
    }
 }
 ```
+
+
+# Device Implementation Guide
+
+This section describes how to implement EtherCAT devices in the framework used by the QiTech Control project (via `ethercat-hal`, `server`, etc.). We include a running example of a simple digital output device (EL2004) and discuss how it fits into the larger architecture.
+
+## Architecture & Context
+
+The QiTech Control system is built as:
+
+- `ethercat-hal` / `ethercat-hal-derive`: Hardware abstraction, PDO / CoE handling, device traits.  
+- `server`: Glue code that reads device identities, instantiates the correct device types, performs CoE configuration, and runs cyclic process data.  
+- The `docs` directory documents APIs and device patterns.  
+  :contentReference[oaicite:0]{index=0}  
+
+In this architecture:
+
+1. During initialization, subdevice identity tuples (Vendor ID, Product ID, Revision) are read.
+2. The `server` matches identity tuples to concrete `Device` types and constructs them (via `NewEthercatDevice`).
+3. The device instance then handles PDO exchange, and optional CoE (configuration) writes.
+4. Higher-level application code interacts with devices via traits like `DigitalOutputDevice`, `DigitalInputDevice`, etc.
+
+---
+
+## Example: Simple Digital Output Device (EL2004)
+
+Below is a minimal example of a digital-output-only EtherCAT device. It shows how to map PDOs, implement traits, and define identity constants.
+
+```rust
+use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
+use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
+use crate::io::digital_output::{DigitalOutputDevice, DigitalOutputOutput};
+use crate::pdo::{RxPdo, basic::BoolPdoObject};
+use ethercat_hal_derive::{EthercatDevice, RxPdo};
+
+/// EL2004 4-channel digital output device — 24 V DC, 0.5 A per channel
+#[derive(EthercatDevice)]
+pub struct EL2004 {
+    /// The Rx PDO where output bits are written by the master
+    pub rxpdo: EL2004RxPdo,
+    is_used: bool,
+}
+
+impl EthercatDeviceProcessing for EL2004 {}
+
+impl std::fmt::Debug for EL2004 {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "EL2004")
+    }
+}
+
+impl NewEthercatDevice for EL2004 {
+    fn new() -> Self {
+        Self {
+            rxpdo: EL2004RxPdo::default(),
+            is_used: false,
+        }
+    }
+}
+
+impl DigitalOutputDevice<EL2004Port> for EL2004 {
+    fn set_output(&mut self, port: EL2004Port, value: DigitalOutputOutput) {
+        let expect_text = "All channels should be Some(_)";
+        match port {
+            EL2004Port::DO1 => {
+                self.rxpdo.channel1.as_mut().expect(expect_text).value = value.into()
+            }
+            EL2004Port::DO2 => {
+                self.rxpdo.channel2.as_mut().expect(expect_text).value = value.into()
+            }
+            EL2004Port::DO3 => {
+                self.rxpdo.channel3.as_mut().expect(expect_text).value = value.into()
+            }
+            EL2004Port::DO4 => {
+                self.rxpdo.channel4.as_mut().expect(expect_text).value = value.into()
+            }
+        }
+    }
+
+    fn get_output(&self, port: EL2004Port) -> DigitalOutputOutput {
+        let expect_text = "All channels should be Some(_)";
+        DigitalOutputOutput(match port {
+            EL2004Port::DO1 => self.rxpdo.channel1.as_ref().expect(expect_text).value,
+            EL2004Port::DO2 => self.rxpdo.channel2.as_ref().expect(expect_text).value,
+            EL2004Port::DO3 => self.rxpdo.channel3.as_ref().expect(expect_text).value,
+            EL2004Port::DO4 => self.rxpdo.channel4.as_ref().expect(expect_text).value,
+        })
+    }
+}
+
+#[derive(Debug, Clone)]
+pub enum EL2004Port {
+    DO1,
+    DO2,
+    DO3,
+    DO4,
+}
+
+#[derive(Debug, Clone, RxPdo)]
+pub struct EL2004RxPdo {
+    #[pdo_object_index(0x1600)]
+    pub channel1: Option<BoolPdoObject>,
+    #[pdo_object_index(0x1601)]
+    pub channel2: Option<BoolPdoObject>,
+    #[pdo_object_index(0x1602)]
+    pub channel3: Option<BoolPdoObject>,
+    #[pdo_object_index(0x1603)]
+    pub channel4: Option<BoolPdoObject>,
+}
+
+impl Default for EL2004RxPdo {
+    fn default() -> Self {
+        Self {
+            channel1: Some(BoolPdoObject::default()),
+            channel2: Some(BoolPdoObject::default()),
+            channel3: Some(BoolPdoObject::default()),
+            channel4: Some(BoolPdoObject::default()),
+        }
+    }
+}
+
+/// Identity constants for EL2004
+pub const EL2004_VENDOR_ID: u32 = 0x2;
+pub const EL2004_PRODUCT_ID: u32 = 131346514;
+pub const EL2004_REVISION_A: u32 = 1179648;
+pub const EL2004_IDENTITY_A: SubDeviceIdentityTuple =
+    (EL2004_VENDOR_ID, EL2004_PRODUCT_ID, EL2004_REVISION_A);
@@ -0,0 +1,40 @@
+# Ethercat Tab shows no Ethercat Terminals!
+
+When the Ethercat page does not show any terminals, this can be due to multiple reasons
+
+## 1: Incorrect Connection of EK1100
+
+Check that the computers ethernet cable is properly connected to the EK1100 IN port
+
+Check the cabling if more than one EK1100 is used.
+When you have multiple EK the connection should be like this:
+
+Master (Your pc) -> Ethernet cable -> IN EK1100 (A)
+
+OUT EK1100 (A) -> Ethernet cable -> IN EK1100 (B)
+
+If you connected any part of this incorrectly the ethercat software will try to communicate but will fail, because the protocol works only if all devices are connect in series.
+
+## 2: Defective EtherCAT Terminal
+
+If a Terminal is somehow defective it can disrupt the communication flow expected by EtherCAT thus causing no devices to show up, as ethercat requires all terminals to work properly.
+
+To identify the defective terminal start unplugging terminals starting from the End terminal. Working your way backwards. Every time you unplug a terminal restart the backend process.
+
+You know that you have removed the defective terminal when the ethercat tab shows devices after your restart.
+
+Replace that terminal with an appropriate one and repeat this if the error persists.
+
+## 3: Corrupt Firmware on EtherCAT Terminal
+
+Another reason, that an Ethercat Terminal doesnt work properly, is that the firmware is corrupt. This could happen due to overvoltage,undervoltage or shorts, in some cases this is recoverable by reflashing the firmware.
+
+Our repository contains dumps for all of the EtherCAT Terminals, that we have used. To upload the firmware you can follow this guide: https://infosys.beckhoff.com/english.php?content=../content/1033/ethercatsystem/402909835.html&id=
+
+To follow this guide, you need to have TwinCat installed and a License.
+
+# Motor does not start!
+
+If the Motor does not start after trying to talk to the inverter, the most common reason is that the inverter's serial connection settings (baudrate,encoding ...) are incorrect.
+
+The correct settings can be found in mitsubishi_inverter.md under `All Settings needed for the Inverter Communication/Operation with Extruder`
@@ -95,7 +95,7 @@
        "ts-node": "^10.9.2",
        "typescript": "^5.7.3",
        "typescript-eslint": "^8.24.1",
-        "vite": "^6.2.6",
+        "vite": "^6.3.6",
        "vitest": "^3.0.6"
      }
    },
@@ -14552,9 +14552,10 @@
      }
    },
    "node_modules/vite": {
-      "version": "6.3.5",
-      "resolved": "https://registry.npmjs.org/vite/-/vite-6.3.5.tgz",
-      "integrity": "sha512-cZn6NDFE7wdTpINgs++ZJ4N49W2vRp8LCKrn3Ob1kYNtOo21vfDoaV5GzBfLU4MovSAB8uNRm4jgzVQZ+mBzPQ==",
+      "version": "6.3.6",
+      "resolved": "https://registry.npmjs.org/vite/-/vite-6.3.6.tgz",
+      "integrity": "sha512-0msEVHJEScQbhkbVTb/4iHZdJ6SXp/AvxL2sjwYQFfBqleHtnCqv1J3sa9zbWz/6kW1m9Tfzn92vW+kZ1WV6QA==",
+      "license": "MIT",
      "dependencies": {
        "esbuild": "^0.25.0",
        "fdir": "^6.4.4",
@@ -60,7 +60,7 @@
    "ts-node": "^10.9.2",
    "typescript": "^5.7.3",
    "typescript-eslint": "^8.24.1",
-    "vite": "^6.2.6",
+    "vite": "^6.3.6",
    "vitest": "^3.0.6"
  },
  "dependencies": {
@@ -31,6 +31,10 @@ export function getUnitIcon(unit: Unit): IconName {
      return "lu:Zap";
    case "A":
      return "lu:Zap";
+    case "kWh":
+      return "lu:BatteryFull";
+    case "l/min":
+      return "lu:Waves";
    default:
      return "lu:ChartNoAxesColumn";
  }
@@ -64,6 +68,10 @@ export function renderUnitSymbol(unit: Unit | undefined): string {
      return "V";
    case "A":
      return "A";
+    case "kWh":
+      return "kWh";
+    case "l/min":
+      return "l/min";
    default:
      return "";
  }
@@ -119,6 +127,10 @@ export function renderUnitSymbolLong(unit: Unit): string {
      return "volts";
    case "A":
      return "amperes";
+    case "kWh":
+      return "kilowatt-hours";
+    case "l/min":
+      return "liters/minute";
    default:
      return "";
  }
@@ -138,6 +150,8 @@ export const units = [
  "W",
  "V",
  "A",
+  "kWh",
+  "l/min",
 ] as const;

 export type Unit = (typeof units)[number];
@@ -145,7 +145,7 @@ async function deleteNixOSGeneration(generationId: string): Promise<{
    const process = spawn("sudo", [
      "sh",
      "-c",
-      `nix-env --delete-generations ${generationId} -p /nix/var/nix/profiles/system && /nix/var/nix/profiles/system/bin/switch-to-configuration boot`,
+      `nix-env --delete-generations ${generationId} -p /nix/var/nix/profiles/system && nix store gc && /nix/var/nix/profiles/system/bin/switch-to-configuration boot`,
    ]);

    let stderr = "";
@@ -0,0 +1,207 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { TimeSeriesValueNumeric } from "@/control/TimeSeriesValue";
+import { useAquapath1 } from "./useAquapath";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { EditValue } from "@/control/EditValue";
+import { Label } from "@/control/Label";
+
+export function Aquapath1ControlPage() {
+  const {
+    state,
+    defaultState,
+    front_flow,
+    back_flow,
+    front_temperature,
+    back_temperature,
+    front_temp_reservoir,
+    back_temp_reservoir,
+    setAquapathMode,
+    setFrontTemperature,
+    setBackTemperature,
+    setFrontFlow,
+    setBackFlow,
+  } = useAquapath1();
+  const frontTargetTemperature =
+    state?.temperature_states?.front.target_temperature ?? 0;
+  const backTargetTemperature =
+    state?.temperature_states?.back.target_temperature ?? 0;
+
+  const frontTargetFlow = state?.flow_states.front.should_flow ?? false;
+  const backTargetFlow = state?.flow_states.back.should_flow ?? false;
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        <ControlCard title="Flow Measurements">
+          <div className="grid grid-cols-2 gap-6">
+            <div className="flex flex-col gap-8">
+              <TimeSeriesValueNumeric
+                label="Front Flow"
+                unit="l/min"
+                timeseries={front_flow}
+                renderValue={(value) => value.toFixed(1)}
+              />
+            </div>
+
+            <div className="flex flex-col gap-8">
+              <TimeSeriesValueNumeric
+                label="Back Flow"
+                unit="l/min"
+                timeseries={back_flow}
+                renderValue={(value) => value.toFixed(1)}
+              />
+            </div>
+          </div>
+
+          <div className="mt-8">
+            <Label label="Front Pump">
+              <SelectionGroup<"On" | "Off">
+                value={frontTargetFlow ? "On" : "Off"}
+                orientation="vertical"
+                className="grid h-full grid-cols-2 gap-2"
+                options={{
+                  Off: {
+                    children: "Off",
+                    icon: "lu:CirclePause",
+                    isActiveClassName: "bg-green-600",
+                    className: "h-full",
+                  },
+                  On: {
+                    children: "On",
+                    icon: "lu:CirclePlay",
+                    isActiveClassName: "bg-green-600",
+                    className: "h-full",
+                  },
+                }}
+                onChange={(value) => {
+                  if (value == "On") {
+                    setFrontFlow(true);
+                  } else {
+                    setFrontFlow(false);
+                  }
+                }}
+              />
+            </Label>
+
+            <Label label="Back Pump">
+              <SelectionGroup<"On" | "Off">
+                value={backTargetFlow ? "On" : "Off"}
+                orientation="vertical"
+                className="grid h-full grid-cols-2 gap-2"
+                options={{
+                  Off: {
+                    children: "Off",
+                    icon: "lu:CirclePause",
+                    isActiveClassName: "bg-green-600",
+                    className: "h-full",
+                  },
+                  On: {
+                    children: "On",
+                    icon: "lu:CirclePlay",
+                    isActiveClassName: "bg-green-600",
+                    className: "h-full",
+                  },
+                }}
+                onChange={(value) => {
+                  if (value == "On") {
+                    setBackFlow(true);
+                  } else {
+                    setBackFlow(false);
+                  }
+                }}
+              />
+            </Label>
+          </div>
+        </ControlCard>
+
+        <ControlCard title="Temperature Measurements">
+          <div className="grid grid-cols-2 gap-6">
+            <div className="flex flex-col gap-8">
+              <TimeSeriesValueNumeric
+                label="Front in"
+                unit="C"
+                timeseries={front_temperature}
+                renderValue={(value) => value.toFixed(1)}
+              />
+              <TimeSeriesValueNumeric
+                label="Front Reservoir"
+                unit="C"
+                timeseries={front_temp_reservoir}
+                renderValue={(value) => value.toFixed(1)}
+              />
+              <Label label="Set Front Target Temperature">
+                <EditValue
+                  title="Set Front Target Temperature"
+                  value={frontTargetTemperature}
+                  unit="C"
+                  renderValue={(value) => value.toFixed(1)}
+                  onChange={(val) => {
+                    setFrontTemperature(val);
+                  }}
+                  defaultValue={
+                    defaultState?.temperature_states.front.target_temperature
+                  }
+                />
+              </Label>
+            </div>
+
+            <div className="flex flex-col gap-8">
+              <TimeSeriesValueNumeric
+                label="Back in"
+                unit="C"
+                timeseries={back_temperature}
+                renderValue={(value) => value.toFixed(1)}
+              />
+              <TimeSeriesValueNumeric
+                label="Back Reservoir"
+                unit="C"
+                timeseries={back_temp_reservoir}
+                renderValue={(value) => value.toFixed(1)}
+              />
+              <Label label="Set Back Target Temperature">
+                <EditValue
+                  title="Set Back Target Temperature"
+                  value={backTargetTemperature}
+                  unit="C"
+                  renderValue={(value) => value.toFixed(1)}
+                  onChange={(val) => {
+                    setBackTemperature(val);
+                  }}
+                  defaultValue={
+                    defaultState?.temperature_states.back.target_temperature
+                  }
+                />
+              </Label>
+            </div>
+          </div>
+        </ControlCard>
+
+        <ControlCard className="bg-red" title="Mode">
+          <SelectionGroup<"Standby" | "Auto">
+            value={state?.mode_state.mode}
+            orientation="vertical"
+            className="grid h-full grid-cols-2 gap-2"
+            options={{
+              Standby: {
+                children: "Standby",
+                icon: "lu:CirclePause",
+                isActiveClassName: "bg-green-600",
+                className: "h-full",
+              },
+              Auto: {
+                children: "Auto",
+                icon: "lu:CirclePlay",
+                isActiveClassName: "bg-green-600",
+                className: "h-full",
+              },
+            }}
+            onChange={(value) => setAquapathMode(value)}
+          />
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}
@@ -0,0 +1,186 @@
+import { Page } from "@/components/Page";
+import {
+  AutoSyncedBigGraph,
+  SyncedFloatingControlPanel,
+  useGraphSync,
+  type GraphConfig,
+} from "@/components/graph";
+
+import React from "react";
+import { useAquapath1 } from "./useAquapath";
+import { TimeSeries } from "@/lib/timeseries";
+
+export function Aquapath1GraphPage() {
+  const {
+    state,
+    front_flow,
+    back_flow,
+    front_temperature,
+    back_temperature,
+    front_temp_reservoir,
+    back_temp_reservoir,
+  } = useAquapath1();
+
+  const syncHook = useGraphSync("aquapath-group");
+
+  const front_temp_target =
+    state?.temperature_states?.front.target_temperature ?? 0;
+  const back_temp_target =
+    state?.temperature_states?.back.target_temperature ?? 0;
+
+  return (
+    <Page className="pb-27">
+      <div className="flex flex-col gap-4">
+        <FlowGraph
+          syncHook={syncHook}
+          flow={front_flow}
+          name={"Front Flow"}
+          id={"front_flow"}
+        />
+        <FlowGraph
+          syncHook={syncHook}
+          flow={back_flow}
+          name={"Back Flow"}
+          id={"back_flow"}
+        />
+        <TemperatureGraph
+          syncHook={syncHook}
+          temp_in={front_temperature}
+          temp_out={front_temp_reservoir}
+          targetTemp={front_temp_target}
+          name={"Front Temperature"}
+          id={"front_temp"}
+        />
+        <TemperatureGraph
+          syncHook={syncHook}
+          temp_in={back_temperature}
+          temp_out={back_temp_reservoir}
+          targetTemp={back_temp_target}
+          name={"Back Temperature"}
+          id={"back_temp"}
+        />
+      </div>
+      <SyncedFloatingControlPanel controlProps={syncHook.controlProps} />
+    </Page>
+  );
+}
+
+export function FlowGraph({
+  syncHook,
+  flow,
+  name,
+  id,
+}: {
+  syncHook: ReturnType<typeof useGraphSync>;
+  flow: TimeSeries | null;
+  name: string;
+  id: string;
+}) {
+  const config: GraphConfig = {
+    title: name,
+    icon: "lu:RotateCcw",
+    colors: {
+      primary: "#10b981",
+      grid: "#e2e8f0",
+      background: "#ffffff",
+    },
+    exportFilename: "flow_data",
+  };
+
+  return (
+    <AutoSyncedBigGraph
+      syncHook={syncHook}
+      newData={{
+        newData: flow,
+        color: "#3b82f6",
+      }}
+      unit="l/min"
+      renderValue={(value) => value.toFixed(1)}
+      config={config}
+      graphId={id}
+    />
+  );
+}
+export function TemperatureGraph({
+  syncHook,
+  temp_in,
+  temp_out,
+  targetTemp,
+  name,
+  id,
+}: {
+  syncHook: ReturnType<typeof useGraphSync>;
+  temp_in: TimeSeries | null;
+  temp_out: TimeSeries | null;
+  targetTemp: number;
+  name: string;
+  id: string;
+}) {
+  const config: GraphConfig = {
+    title: name,
+    icon: "lu:RotateCcw",
+    colors: {
+      primary: "#10b981",
+      grid: "#e2e8f0",
+      background: "#ffffff",
+    },
+    exportFilename: "temperature_data",
+    showLegend: true,
+    lines: [],
+  };
+
+  const combinedData = [
+    ...(temp_in
+      ? [
+          {
+            newData: temp_in,
+            title: "Temperature In",
+            color: "#3b82f6",
+            lines: [
+              {
+                type: "threshold" as const,
+                value: targetTemp,
+                label: "Target Temperature",
+                color: "#3b82f6",
+                show: true,
+                width: 2,
+                dash: [5, 5],
+              },
+            ],
+          },
+        ]
+      : []),
+
+    ...(temp_out
+      ? [
+          {
+            newData: temp_out,
+            title: "Temperature Out",
+            color: "#f87171",
+            lines: [
+              {
+                type: "threshold" as const,
+                value: targetTemp,
+                label: "Target Temperature",
+                color: "#f87171",
+                show: true,
+                width: 2,
+                dash: [5, 5],
+              },
+            ],
+          },
+        ]
+      : []),
+  ];
+
+  return (
+    <AutoSyncedBigGraph
+      syncHook={syncHook}
+      newData={combinedData}
+      unit="C"
+      renderValue={(value) => value.toFixed(1)}
+      config={config}
+      graphId={id}
+    />
+  );
+}
@@ -0,0 +1,26 @@
+import { Topbar } from "@/components/Topbar";
+import { aquapath1SerialRoute } from "@/routes/routes";
+import React from "react";
+
+export function Aquapath1Page() {
+  const { serial } = aquapath1SerialRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/aquapath1/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+        {
+          link: "graph",
+          title: "Graph",
+          icon: "lu:ChartSpline",
+          activeLink: "graphs",
+        },
+      ]}
+    />
+  );
+}
@@ -0,0 +1,246 @@
+/**
+ * @file Aquapath1Namespace.ts
+ * @description TypeScript implementation of Aquapath1 namespace with Zod schema validation.
+ */
+
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "../../../client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+import { createTimeSeries, TimeSeries } from "@/lib/timeseries";
+
+// ========== Event Schema Definitions ==========
+/**
+ * Mode enum for Aquapath Machine
+ */
+export const modeSchema = z.enum(["Standby", "Auto"]);
+
+/**
+ * Mode state schema
+ */
+export const modeStateSchema = z.object({
+  mode: modeSchema,
+});
+export const tempStateSchema = z.object({
+  temperature: z.number(),
+  target_temperature: z.number(),
+});
+/**
+ * Cooling states schema
+ */
+export const tempStatesSchema = z.object({
+  front: tempStateSchema,
+  back: tempStateSchema,
+});
+
+export const flowStateSchema = z.object({
+  flow: z.number(),
+  should_flow: z.boolean(),
+});
+export const flowStatesSchema = z.object({
+  front: flowStateSchema,
+  back: flowStateSchema,
+});
+
+/**
+ * Live values event schema (time-series data)
+ */
+export const liveValuesEventDataSchema = z.object({
+  front_flow: z.number(),
+  back_flow: z.number(),
+  front_temperature: z.number(),
+  back_temperature: z.number(),
+  front_temp_reservoir: z.number(),
+  back_temp_reservoir: z.number(),
+});
+
+/**
+ * State event schema (consolidated state)
+ */
+export const stateEventDataSchema = z.object({
+  is_default_state: z.boolean(),
+  mode_state: modeStateSchema,
+  flow_states: flowStatesSchema,
+  temperature_states: tempStatesSchema,
+});
+
+// ========== Event Schemas with Wrappers ==========
+export const liveValuesEventSchema = eventSchema(liveValuesEventDataSchema);
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+// ========== Type Inferences ==========
+export type Mode = z.infer<typeof modeSchema>;
+export type ModeState = z.infer<typeof modeStateSchema>;
+export type LiveValuesEvent = z.infer<typeof liveValuesEventSchema>;
+export type StateEvent = z.infer<typeof stateEventSchema>;
+
+export type Aquapath1NamespaceStore = {
+  // Single state event from server
+  state: StateEvent | null;
+  defaultState: StateEvent | null;
+
+  front_flow: TimeSeries;
+  back_flow: TimeSeries;
+
+  front_temperature: TimeSeries;
+  back_temperature: TimeSeries;
+
+  front_temp_reservoir: TimeSeries;
+  back_temp_reservoir: TimeSeries;
+};
+
+// Constants for time durations
+const TWENTY_MILLISECOND = 20;
+const ONE_SECOND = 1000;
+const FIVE_SECOND = 5 * ONE_SECOND;
+const ONE_HOUR = 60 * 60 * ONE_SECOND;
+
+const { initialTimeSeries: front_temperature, insert: addTemperature1 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+
+const { initialTimeSeries: back_temperature, insert: addTemperature2 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+
+const { initialTimeSeries: front_temp_reservoir, insert: addTempReserv1 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+
+const { initialTimeSeries: back_temp_reservoir, insert: addTempReserv2 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+
+const { initialTimeSeries: front_flow, insert: addFlow1 } = createTimeSeries(
+  TWENTY_MILLISECOND,
+  ONE_SECOND,
+  FIVE_SECOND,
+  ONE_HOUR,
+);
+
+const { initialTimeSeries: back_flow, insert: addFlow2 } = createTimeSeries(
+  TWENTY_MILLISECOND,
+  ONE_SECOND,
+  FIVE_SECOND,
+  ONE_HOUR,
+);
+/**
+ * Factory function to create a new Aquapath namespace store
+ * @returns A new Zustand store instance for Aquapath namespace
+ */
+export const createAquapath1NamespaceStore =
+  (): StoreApi<Aquapath1NamespaceStore> => {
+    return create<Aquapath1NamespaceStore>(() => {
+      return {
+        state: null,
+        defaultState: null,
+        front_temperature: front_temperature,
+        back_temperature: back_temperature,
+        front_flow: front_flow,
+        back_flow: back_flow,
+        front_temp_reservoir: front_temp_reservoir,
+        back_temp_reservoir: back_temp_reservoir,
+      };
+    });
+  };
+
+/**
+ * Creates a message handler for Mock1 namespace events with validation and appropriate caching strategies
+ * @param store The store to update when messages are received
+ * @param throttledUpdater Throttled updater for batching updates at 60 FPS
+ * @returns A message handler function
+ */
+export function aquapath1MessageHandler(
+  store: StoreApi<Aquapath1NamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<Aquapath1NamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const eventName = event.name;
+
+    // Helper function to update store through buffer
+    const updateStore = (
+      updater: (state: Aquapath1NamespaceStore) => Aquapath1NamespaceStore,
+    ) => {
+      throttledUpdater.updateWith(updater);
+    };
+
+    try {
+      // State events (latest only)
+      if (eventName === "StateEvent") {
+        const stateEvent = stateEventSchema.parse(event);
+        updateStore((state) => ({
+          ...state,
+          state: stateEvent,
+          // only set default state if is_default_state is true
+          defaultState: stateEvent.data.is_default_state
+            ? stateEvent
+            : state.defaultState,
+        }));
+      }
+      // Live values events (time-series data)
+      else if (eventName === "LiveValuesEvent") {
+        const liveValuesEvent = liveValuesEventSchema.parse(event);
+
+        updateStore((state) => ({
+          ...state,
+          front_temperature: addTemperature1(state.front_temperature, {
+            value: liveValuesEvent.data.front_temperature,
+            timestamp: event.ts,
+          }),
+          back_temperature: addTemperature2(state.back_temperature, {
+            value: liveValuesEvent.data.back_temperature,
+            timestamp: event.ts,
+          }),
+          front_flow: addFlow1(state.front_flow, {
+            value: liveValuesEvent.data.front_flow,
+            timestamp: event.ts,
+          }),
+          back_flow: addFlow2(state.back_flow, {
+            value: liveValuesEvent.data.back_flow,
+            timestamp: event.ts,
+          }),
+          front_temp_reservoir: addTempReserv1(state.front_temp_reservoir, {
+            value: liveValuesEvent.data.front_temp_reservoir,
+            timestamp: event.ts,
+          }),
+          back_temp_reservoir: addTempReserv2(state.back_temp_reservoir, {
+            value: liveValuesEvent.data.back_temp_reservoir,
+            timestamp: event.ts,
+          }),
+        }));
+      } else {
+        handleUnhandledEventError(eventName);
+      }
+    } catch (error) {
+      console.error(`Unexpected error processing ${eventName} event:`, error);
+      throw error;
+    }
+  };
+}
+
+/**
+ * Create the Aquapath1 namespace implementation
+ */
+const useAquapath1NamespaceImplementation =
+  createNamespaceHookImplementation<Aquapath1NamespaceStore>({
+    createStore: createAquapath1NamespaceStore,
+    createEventHandler: aquapath1MessageHandler,
+  });
+
+export function useAquapath1Namespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): Aquapath1NamespaceStore {
+  // Generate namespace ID from validated machine ID
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+
+  // Use the implementation with validated namespace ID
+  return useAquapath1NamespaceImplementation(namespaceId);
+}
@@ -0,0 +1,175 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { MachineIdentificationUnique } from "@/machines/types";
+import { aquapath1 } from "@/machines/properties";
+import { aquapath1SerialRoute } from "@/routes/routes";
+import { Mode, StateEvent, useAquapath1Namespace } from "./aquapath1Namespace";
+import { useMachineMutate as useMachineMutation } from "@/client/useClient";
+
+import { useEffect, useMemo } from "react";
+import { produce } from "immer";
+import { z } from "zod";
+
+export function useAquapath1() {
+  const { serial: serialString } = aquapath1SerialRoute.useParams();
+
+  // Memoize the machine identification to keep it stable between renders
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+
+      return {
+        machine_identification: {
+          vendor: 0,
+          machine: 0,
+        },
+        serial: 0,
+      };
+    }
+
+    return {
+      machine_identification: aquapath1.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Get consolidated state and live values from namespace
+  const {
+    state,
+    defaultState,
+    front_temperature: front_temperature,
+    back_temperature: back_temperature,
+    front_flow: front_flow,
+    back_flow: back_flow,
+    front_temp_reservoir: front_temp_reservoir,
+    back_temp_reservoir: back_temp_reservoir,
+  } = useAquapath1Namespace(machineIdentification);
+
+  // Single optimistic state for all state management
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  // Update optimistic state when real state changes
+  useEffect(() => {
+    if (state) {
+      stateOptimistic.setReal(state);
+    }
+  }, [state, stateOptimistic]);
+
+  const setAquapathMode = (mode: Mode) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.mode_state.mode = mode;
+      },
+      () =>
+        requestAquapathMode({
+          machine_identification_unique: machineIdentification,
+          data: { SetAquaPathMode: mode },
+        }),
+    );
+  };
+
+  const setFrontTemperature = (temperature: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.temperature_states.front.target_temperature = temperature;
+      },
+      () =>
+        requestFrontTemperature({
+          machine_identification_unique: machineIdentification,
+          data: { SetFrontTemperature: temperature },
+        }),
+    );
+  };
+
+  const setBackTemperature = (temperature: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.temperature_states.back.target_temperature = temperature;
+      },
+      () =>
+        requestBackTemperature({
+          machine_identification_unique: machineIdentification,
+          data: { SetBackTemperature: temperature },
+        }),
+    );
+  };
+
+  const setFrontFlow = (flow: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.flow_states.front.should_flow = flow;
+      },
+      () =>
+        requestFrontFlow({
+          machine_identification_unique: machineIdentification,
+          data: { SetFrontFlow: flow },
+        }),
+    );
+  };
+
+  const setBackFlow = (flow: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.flow_states.back.should_flow = flow;
+      },
+      () =>
+        requestBackFlow({
+          machine_identification_unique: machineIdentification,
+          data: { SetBackFlow: flow },
+        }),
+    );
+  };
+
+  // Mutation hooks
+  const { request: requestAquapathMode } = useMachineMutation(
+    z.object({ SetAquaPathMode: z.enum(["Standby", "Auto"]) }),
+  );
+  const { request: requestFrontTemperature } = useMachineMutation(
+    z.object({ SetFrontTemperature: z.number() }),
+  );
+  const { request: requestBackTemperature } = useMachineMutation(
+    z.object({ SetBackTemperature: z.number() }),
+  );
+  const { request: requestFrontFlow } = useMachineMutation(
+    z.object({ SetFrontFlow: z.boolean() }),
+  );
+  const { request: requestBackFlow } = useMachineMutation(
+    z.object({ SetBackFlow: z.boolean() }),
+  );
+  // Helper function for optimistic updates using produce
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState) {
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    }
+    serverRequest();
+  };
+
+  return {
+    // Consolidated state
+    state: stateOptimistic.value?.data,
+
+    // Default state for initial values
+    defaultState: defaultState?.data,
+    front_flow,
+    back_flow,
+    front_temperature,
+    back_temperature,
+    front_temp_reservoir,
+    back_temp_reservoir,
+
+    setAquapathMode,
+    setFrontTemperature,
+    setBackTemperature,
+    setFrontFlow,
+    setBackFlow,
+  };
+}
@@ -30,6 +30,8 @@ export function Extruder2ControlPage() {

    motorScrewRpm,
    motorPower,
+    motorCurrent,
+    totalEnergyKWh,
    combinedPower,

    setExtruderMode,
@@ -140,7 +142,6 @@ export function Extruder2ControlPage() {
              onChange={setInverterRegulation}
              disabled={isDisabled}
              loading={isLoading}
-              reverse
            />
          </Label>
          <div className="flex flex-row flex-wrap gap-4">
@@ -225,13 +226,31 @@ export function Extruder2ControlPage() {
          />
        </ControlCard>

-        <ControlCard className="bg-blue" title="Total Power Consumption">
+        <ControlCard className="bg-blue" title="Power Consumption">
          <TimeSeriesValueNumeric
-            label=""
+            label="Total Power"
            unit="W"
-            renderValue={(value) => roundToDecimals(value, 1)}
+            renderValue={(value) => roundToDecimals(value, 0)}
            timeseries={combinedPower}
          />
+          <TimeSeriesValueNumeric
+            label="Motor Power"
+            unit="W"
+            renderValue={(value) => roundToDecimals(value, 0)}
+            timeseries={motorPower}
+          />
+          <TimeSeriesValueNumeric
+            label="Motor Current"
+            unit="A"
+            renderValue={(value) => roundToDecimals(value, 1)}
+            timeseries={motorCurrent}
+          />
+          <TimeSeriesValueNumeric
+            label="Total Energy Consumption"
+            unit="kWh"
+            renderValue={(value) => roundToDecimals(value, 3)}
+            timeseries={totalEnergyKWh}
+          />
        </ControlCard>
      </ControlGrid>
    </Page>
@@ -43,6 +43,8 @@ export const liveValuesEventDataSchema = z.object({
  front_power: z.number(),
  back_power: z.number(),
  middle_power: z.number(),
+  combined_power: z.number(),
+  total_energy_kwh: z.number(),
 });

 /**
@@ -195,8 +197,9 @@ export type Extruder2NamespaceStore = {
  middlePower: TimeSeries;
  backPower: TimeSeries;

-  // Combined power consumption
+  // Combined power consumption and energy
  combinedPower: TimeSeries;
+  totalEnergyKWh: TimeSeries;
 };

 // Constants for time durations
@@ -205,13 +208,6 @@ const ONE_SECOND = 1000;
 const FIVE_SECOND = 5 * ONE_SECOND;
 const ONE_HOUR = 60 * 60 * ONE_SECOND;

-const { initialTimeSeries: screwRpm, insert: addScrewRpm } = createTimeSeries(
-  TWENTY_MILLISECOND,
-  ONE_SECOND,
-  FIVE_SECOND,
-  ONE_HOUR,
-);
-
 const { initialTimeSeries: pressure, insert: addPressure } = createTimeSeries(
  TWENTY_MILLISECOND,
  ONE_SECOND,
@@ -250,6 +246,9 @@ const { initialTimeSeries: backPower, insert: addBackPower } = createTimeSeries(
 const { initialTimeSeries: combinedPower, insert: addCombinedPower } =
  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);

+const { initialTimeSeries: totalEnergyKWh, insert: addTotalEnergyKWh } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+
 const { initialTimeSeries: motorCurrent, insert: addMotorCurrent } =
  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);

@@ -346,12 +345,11 @@ export function extruder2MessageHandler(
            timestamp,
          }),
          combinedPower: addCombinedPower(state.combinedPower, {
-            value:
-              liveValuesEvent.data.motor_status.power +
-              liveValuesEvent.data.nozzle_power +
-              liveValuesEvent.data.front_power +
-              liveValuesEvent.data.middle_power +
-              liveValuesEvent.data.back_power,
+            value: liveValuesEvent.data.combined_power,
+            timestamp,
+          }),
+          totalEnergyKWh: addTotalEnergyKWh(state.totalEnergyKWh, {
+            value: liveValuesEvent.data.total_energy_kwh,
            timestamp,
          }),
        }));
@@ -387,6 +385,7 @@ export const createExtruder2NamespaceStore =
        backPower,
        middlePower,
        combinedPower,
+        totalEnergyKWh,
      };
    });

@@ -56,6 +56,7 @@ export function useExtruder2() {
    middlePower,
    backPower,
    combinedPower,
+    totalEnergyKWh,
  } = useExtruder2Namespace(machineIdentification);

  // Single optimistic state for all state management
@@ -382,6 +383,7 @@ export function useExtruder2() {
    middlePower,
    backPower,
    combinedPower,
+    totalEnergyKWh,

    // Loading states
    isLoading: stateOptimistic.isOptimistic,
@@ -2,11 +2,13 @@ import React from "react";
 import { TimeSeries } from "@/lib/timeseries";
 import { cva } from "class-variance-authority";

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 export const getMachineProperties = (
@@ -36,7 +36,6 @@ export function Winder2ControlPage() {
    tensionArmAngle,
    zeroTensionArmAngle,
    spoolRpm,
-    spoolDiameter,
    setMode,
    pullerSpeed,
    spoolProgress,
@@ -80,12 +79,6 @@ export function Winder2ControlPage() {
            timeseries={spoolRpm}
            renderValue={(value) => roundToDecimals(value, 0)}
          />
-          <TimeSeriesValueNumeric
-            label="Estimated Diameter"
-            unit="cm"
-            timeseries={spoolDiameter}
-            renderValue={(value) => roundToDecimals(value, 1)}
-          />
        </ControlCard>

        <ControlCard className="bg-red" height={2} title="Traverse">
@@ -119,15 +112,14 @@ export function Winder2ControlPage() {
                maxLabel="OUT"
                max={180}
                renderValue={(value) => roundToDecimals(value, 0)}
-                inverted
                onChange={setTraverseLimitOuter}
              />
              <TouchButton
                variant="outline"
                icon="lu:ArrowLeftToLine"
                onClick={gotoTraverseLimitOuter}
-                disabled={isDisabled || !state?.traverse_state?.can_go_out}
-                isLoading={isLoading || state?.traverse_state?.is_going_out}
+                disabled={isDisabled}
+                isLoading={isLoading}
              >
                Go to Outer Limit
              </TouchButton>
@@ -156,8 +148,8 @@ export function Winder2ControlPage() {
                variant="outline"
                icon="lu:ArrowRightToLine"
                onClick={gotoTraverseLimitInner}
-                disabled={isDisabled || !state?.traverse_state?.can_go_in}
-                isLoading={isLoading || state?.traverse_state?.is_going_in}
+                disabled={isDisabled}
+                isLoading={isLoading}
              >
                Go to Inner Limit
              </TouchButton>
@@ -178,8 +170,8 @@ export function Winder2ControlPage() {
              variant="outline"
              icon="lu:House"
              onClick={() => gotoTraverseHome()}
-              disabled={isDisabled || !state?.traverse_state?.can_go_home}
-              isLoading={isLoading || state?.traverse_state?.is_going_home}
+              disabled={isDisabled}
+              isLoading={isLoading}
            >
              Go to Home
            </TouchButton>
@@ -16,7 +16,6 @@ export function Winder2GraphsPage() {
  const {
    state,
    spoolRpm,
-    spoolDiameter,
    traversePosition,
    tensionArmAngle,
    pullerSpeed,
@@ -60,13 +59,6 @@ export function Winder2GraphsPage() {
            renderValue={(value) => roundToDecimals(value, 1)}
          />

-          <SpoolDiameterGraph
-            syncHook={syncHook}
-            newData={spoolDiameter}
-            unit="cm"
-            renderValue={(value) => roundToDecimals(value, 1)}
-          />
-
          <SpoolProgressGraph
            syncHook={syncHook}
            newData={spoolProgress}
@@ -296,37 +288,3 @@ export function PullerSpeedGraph({
    />
  );
 }
-
-export function SpoolDiameterGraph({
-  syncHook,
-  newData,
-  unit,
-  renderValue,
-}: {
-  syncHook: ReturnType<typeof useGraphSync>;
-  newData: TimeSeries | null;
-  unit?: Unit;
-  renderValue?: (value: number) => string;
-}) {
-  const config: GraphConfig = {
-    title: "Estimated Spool Diameter",
-    icon: "lu:Circle",
-    colors: {
-      primary: "#ec4899",
-      grid: "#e2e8f0",
-      background: "#ffffff",
-    },
-    exportFilename: "spool_diameter_data",
-  };
-
-  return (
-    <AutoSyncedBigGraph
-      syncHook={syncHook}
-      newData={{ newData }}
-      unit={unit}
-      renderValue={renderValue}
-      config={config}
-      graphId="spool-diameter"
-    />
-  );
-}
@@ -61,7 +61,6 @@ export function useWinder2() {
    traversePosition,
    pullerSpeed,
    spoolRpm,
-    spoolDiameter,
    tensionArmAngle,
    spoolProgress,
  } = useWinder2Namespace(machineIdentification);
@@ -69,7 +68,7 @@ export function useWinder2() {
  // Single optimistic state for all state management
  const stateOptimistic = useStateOptimistic<StateEvent>();

-  // Update optimistic state to real when real state changes
+  // Update optimistic state when real state changes
  useEffect(() => {
    if (state) {
      stateOptimistic.setReal(state);
@@ -597,7 +596,6 @@ export function useWinder2() {
    traversePosition,
    pullerSpeed,
    spoolRpm,
-    spoolDiameter,
    tensionArmAngle,
    spoolProgress,

@@ -22,7 +22,6 @@ import {
  TimeSeries,
  TimeSeriesValue,
 } from "@/lib/timeseries";
-import { connected } from "process";

 // ========== Event Schema Definitions ==========

@@ -33,7 +32,6 @@ export const liveValuesEventDataSchema = z.object({
  traverse_position: z.number().nullable(),
  puller_speed: z.number(),
  spool_rpm: z.number(),
-  spool_diameter: z.number(),
  tension_arm_angle: z.number(),
  spool_progress: z.number(),
 });
@@ -190,7 +188,6 @@ export type Winder2NamespaceStore = {
  traversePosition: TimeSeries;
  pullerSpeed: TimeSeries;
  spoolRpm: TimeSeries;
-  spoolDiameter: TimeSeries;
  tensionArmAngle: TimeSeries;
  spoolProgress: TimeSeries;
 };
@@ -213,8 +210,6 @@ const { initialTimeSeries: spoolRpm, insert: addSpoolRpm } = createTimeSeries(
  FIVE_SECOND,
  ONE_HOUR,
 );
-const { initialTimeSeries: spoolDiameter, insert: addSpoolDiameter } =
-  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
 const { initialTimeSeries: tensionArmAngle, insert: addTensionArmAngle } =
  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);

@@ -234,7 +229,6 @@ export const createWinder2NamespaceStore =
        traversePosition,
        pullerSpeed,
        spoolRpm,
-        spoolDiameter,
        tensionArmAngle,
        spoolProgress,
      };
@@ -265,6 +259,7 @@ export function winder2MessageHandler(

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

@@ -285,7 +280,6 @@ export function winder2MessageHandler(
          traverse_position,
          puller_speed,
          spool_rpm,
-          spool_diameter,
          tension_arm_angle,
          spool_progress,
        } = liveValuesEvent.data;
@@ -333,16 +327,6 @@ export function winder2MessageHandler(
          };
          newState.spoolRpm = addSpoolRpm(state.spoolRpm, spoolRpmValue);

-          // Add spool diameter
-          const spoolDiameterValue: TimeSeriesValue = {
-            value: spool_diameter,
-            timestamp,
-          };
-          newState.spoolDiameter = addSpoolDiameter(
-            state.spoolDiameter,
-            spoolDiameterValue,
-          );
-
          // Add tension arm angle
          const tensionArmAngleValue: TimeSeriesValue = {
            value: tension_arm_angle,
@@ -35,6 +35,10 @@ import { Mock1PresetsPage } from "@/machines/mock/mock1/Mock1PresetsPage";
 import { TroubleshootPage } from "@/setup/Trobleshoot";
 import { UpdateExecutePage } from "@/setup/UpdateExecutePage";
 import { Winder2PresetsPage } from "@/machines/winder/winder2/Winder2PresetsPage";
+import { Aquapath1ControlPage } from "@/machines/aquapath/aquapath1/Aquapath1ControlPage";
+import { Aquapath1Page } from "@/machines/aquapath/aquapath1/Aquapath1Page";
+import { Aquapath1GraphPage } from "@/machines/aquapath/aquapath1/Aquapath1Graph";
+
 import { z } from "zod";
 import { Laser1PresetsPage } from "@/machines/laser/laser1/Laser1PresetsPage";
 // make a route tree like this
@@ -194,6 +198,24 @@ export const mock1PresetsRoute = createRoute({
  component: () => <Mock1PresetsPage />,
 });

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

+      aquapath1SerialRoute.addChildren([
+        aquapath1ControlRoute,
+        aquapath1GraphRoute,
+      ]),
+
      winder2SerialRoute.addChildren([
        winder2ControlRoute,
        winder2ManualRoute,
@@ -3,6 +3,9 @@ name = "ethercat-eeprom-dump"
 version = "0.1.0"
 edition = "2024"

+[lints]
+workspace = true
+
 [dependencies]
 clap = { version = "4.5.40", features = ["derive"] }
 ethercrab = "0.6.0"
@@ -12,3 +15,7 @@ ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
 futures = "0.3.31"
 anyhow = "1.0.99"
+
+
+[package.metadata.cargo-machete]
+ignored = ["interfaces"]
@@ -34,7 +34,7 @@ pub fn ls(
        let driver = device_from_subdevice_identity(&identity);
        let identification_adresses = get_identification_addresses(&identity, device.name());
        let identification = match identification_adresses {
-            Ok(_) => block_on(machine_device_identification(&device, &maindevice)),
+            Ok(_) => block_on(machine_device_identification(&device, maindevice)),
            Err(_) => Err(anyhow!("")),
        };

@@ -122,7 +122,7 @@ pub fn ls(
    print_markdown_table(&table, true);

    // Put group into op state
-    match block_on(group.into_op(&maindevice)) {
+    match block_on(group.into_op(maindevice)) {
        Ok(_) => println!("Successfully put group into OP state"),
        Err(e) => println!("Failed to put group into OP state: {}", e),
    }
@@ -1,7 +1,7 @@
 use std::sync::Arc;

 use dump::dump_eeprom;
-use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, Timeouts, std::ethercat_now};
+use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, std::ethercat_now};
 use futures::executor::block_on;
 use read::read_eeprom;
 use restore::restore_eeoprom;
@@ -36,21 +36,19 @@ async fn main() {
    // Setup Maindevice
    let maindevice = Arc::new(MainDevice::new(
        pdu_loop,
-        Timeouts {
-            ..Default::default()
-        },
+        Default::default(),
        MainDeviceConfig::default(),
    ));

    // Setup TX/RX task
    #[cfg(not(target_os = "windows"))]
-    tokio::spawn(ethercrab::std::tx_rx_task(&interface, tx, rx).expect("spawn TX/RX task"));
+    tokio::spawn(ethercrab::std::tx_rx_task(interface, tx, rx).expect("spawn TX/RX task"));

    // Init ethercat
    let group = maindevice
        .init_single_group::<MAX_SUBDEVICES, PDI_LEN>(ethercat_now)
        .await
-        .expect(format!("Failed to initalize group").as_str());
+        .unwrap_or_else(|_| panic!("{}", "Failed to initalize group".to_string()));

    match matches.subcommand() {
        Some(("ls", _)) => ls::ls(group, &maindevice),
@@ -52,7 +52,7 @@ pub fn print_markdown_table(table: &Vec<Vec<String>>, header_line: bool) {
        if row_idx == 0 && header_line && table.len() > 1 {
            print!("|");
            for (i, width) in col_widths.iter().enumerate() {
-                print!("{}:{}", "", "-".repeat(*width + 1));
+                print!(":{}", "-".repeat(*width + 1));
                if i < max_cols - 1 {
                    print!("|");
                }
@@ -107,7 +107,13 @@ pub fn print_buffer(buffer: &[u8]) {
        // Add ASCII representation
        let ascii: String = chunk
            .iter()
-            .map(|&b| if b >= 32 && b <= 126 { b as char } else { '.' })
+            .map(|&b| {
+                if (32..=126).contains(&b) {
+                    b as char
+                } else {
+                    '.'
+                }
+            })
            .collect();
        row.push(ascii);

@@ -139,7 +139,7 @@ fn extract_string_sections(bytes: &[u8]) -> Vec<String> {
    let mut in_string = false;

    for &byte in bytes {
-        if byte >= 32 && byte < 127 {
+        if (32..127).contains(&byte) {
            // Printable ASCII character
            current_string.push(byte);
            in_string = true;
@@ -184,7 +184,7 @@ fn extract_string_sections(bytes: &[u8]) -> Vec<String> {
        if s.len() > 30 {
            // Try to split at common separators
            let parts: Vec<&str> = s
-                .split(|c| c == '!' || c == '(' || c == ')' || c == '.' || c == ',')
+                .split(['!', '(', ')', '.', ','])
                .map(|p| p.trim())
                .filter(|p| !p.is_empty() && p.len() >= MIN_STRING_LENGTH)
                .collect();
@@ -215,7 +215,7 @@ impl std::fmt::Display for EepromData {
        let device_name = if let Some(repo) = &self.extended_information.string_repository {
            repo.strings
                .iter()
-                .find(|s| s.contains("EL") && s.chars().any(|c| c.is_digit(10)))
+                .find(|s| s.contains("EL") && s.chars().any(|c| c.is_ascii_digit()))
                .cloned()
                .unwrap_or_else(|| "Unknown Device".to_string())
        } else {
@@ -732,11 +732,11 @@ impl From<&[u8]> for EepromData {
        };

        // Construct the final EEPROM data object with bounds checking
-        EepromData {
+        Self {
            device_machine_identification: device_info,
            identity,
            esc_configuration: EscConfiguratoin {
-                pdi_control: if words.len() > 0x0 { words[0x0] } else { 0 },
+                pdi_control: if !words.is_empty() { words[0x0] } else { 0 },
                pdi_configuration: if words.len() > 0x1 { words[0x1] } else { 0 },
                sync_impulse_length: if words.len() > 0x2 { words[0x2] } else { 0 },
                pdi_configuration2: if words.len() > 0x3 { words[0x3] } else { 0 },
@@ -788,7 +788,7 @@ pub async fn read_eeprom(file: &str) -> Result<(), Box<dyn std::error::Error>> {
 }

 /// turn &[u16, u16] little endian into u32
-pub fn u32_from_u16(start_word: u16, end_word: u16) -> u32 {
+pub const fn u32_from_u16(start_word: u16, end_word: u16) -> u32 {
    let start_bytes = start_word.to_le_bytes();
    let end_bytes = end_word.to_le_bytes();
    u32::from_le_bytes([start_bytes[0], start_bytes[1], end_bytes[0], end_bytes[1]])
@@ -3,6 +3,9 @@ name = "ethercat_hal_derive"
 version = "0.1.0"
 edition = "2024"

+[lints]
+workspace = true
+
 [lib]
 proc-macro = true

@@ -3,6 +3,9 @@ name = "ethercat_hal"
 version = "0.1.0"
 edition = "2024"

+[lints]
+workspace = true
+
 [dependencies]
 anyhow = "1.0.99"
 ethercrab = "0.6"
@@ -12,6 +15,7 @@ smol = "2.0.2"
 uom = "0.36.0"
 rand = "0.9.2"
 futures = "0.3.31"
+tracing = "0.1.41"

 [dev-dependencies]
 approx = "0.5.1"
@@ -40,9 +40,9 @@ where
    ///     }
    /// }
    /// ```
-    fn write_config<'maindevice>(
+    fn write_config(
        &mut self,
-        device: &EthercrabSubDevicePreoperational<'maindevice>,
+        device: &EthercrabSubDevicePreoperational<'_>,
        config: &C,
    ) -> impl Future<Output = Result<(), anyhow::Error>> + Send;

@@ -52,10 +52,10 @@ pub enum EL1002Port {
 }

 impl EL1002Port {
-    pub fn to_bit_index(&self) -> usize {
+    pub const fn to_bit_index(&self) -> usize {
        match self {
-            EL1002Port::DI1 => 0,
-            EL1002Port::DI2 => 1,
+            Self::DI1 => 0,
+            Self::DI2 => 1,
        }
    }
 }
@@ -85,14 +85,14 @@ pub enum EL1002PredefinedPdoAssignment {
 impl PredefinedPdoAssignment<EL1002TxPdo, ()> for EL1002PredefinedPdoAssignment {
    fn txpdo_assignment(&self) -> EL1002TxPdo {
        match self {
-            EL1002PredefinedPdoAssignment::All => EL1002TxPdo {
+            Self::All => EL1002TxPdo {
                channel1: Some(BoolPdoObject::default()),
                channel2: Some(BoolPdoObject::default()),
            },
        }
    }

-    fn rxpdo_assignment(&self) -> () {
+    fn rxpdo_assignment(&self) {
        unreachable!()
    }
 }
@@ -65,16 +65,16 @@ pub enum EL1008Port {
 }

 impl EL1008Port {
-    pub fn to_bit_index(&self) -> usize {
+    pub const fn to_bit_index(&self) -> usize {
        match self {
-            EL1008Port::DI1 => 0,
-            EL1008Port::DI2 => 1,
-            EL1008Port::DI3 => 2,
-            EL1008Port::DI4 => 3,
-            EL1008Port::DI5 => 4,
-            EL1008Port::DI6 => 5,
-            EL1008Port::DI7 => 6,
-            EL1008Port::DI8 => 7,
+            Self::DI1 => 0,
+            Self::DI2 => 1,
+            Self::DI3 => 2,
+            Self::DI4 => 3,
+            Self::DI5 => 4,
+            Self::DI6 => 5,
+            Self::DI7 => 6,
+            Self::DI8 => 7,
        }
    }
 }
@@ -122,7 +122,7 @@ pub enum EL1008PredefinedPdoAssignment {
 impl PredefinedPdoAssignment<EL1008TxPdo, ()> for EL1008PredefinedPdoAssignment {
    fn txpdo_assignment(&self) -> EL1008TxPdo {
        match self {
-            EL1008PredefinedPdoAssignment::All => EL1008TxPdo {
+            Self::All => EL1008TxPdo {
                channel1: Some(BoolPdoObject::default()),
                channel2: Some(BoolPdoObject::default()),
                channel3: Some(BoolPdoObject::default()),
@@ -135,7 +135,7 @@ impl PredefinedPdoAssignment<EL1008TxPdo, ()> for EL1008PredefinedPdoAssignment
        }
    }

-    fn rxpdo_assignment(&self) -> () {
+    fn rxpdo_assignment(&self) {
        unreachable!()
    }
 }
@@ -35,10 +35,10 @@ impl DigitalOutputDevice<EL2002Port> for EL2002 {
        let expect_text = "All channels should be Some(_)";
        match port {
            EL2002Port::DO1 => {
-                self.rxpdo.channel1.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel1.as_mut().expect(expect_text).value = value.into()
            }
            EL2002Port::DO2 => {
-                self.rxpdo.channel2.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel2.as_mut().expect(expect_text).value = value.into()
            }
        }
    }
@@ -46,8 +46,8 @@ impl DigitalOutputDevice<EL2002Port> for EL2002 {
    fn get_output(&self, port: EL2002Port) -> DigitalOutputOutput {
        let expect_text = "All channels should be Some(_)";
        DigitalOutputOutput(match port {
-            EL2002Port::DO1 => self.rxpdo.channel1.as_ref().expect(&expect_text).value,
-            EL2002Port::DO2 => self.rxpdo.channel2.as_ref().expect(&expect_text).value,
+            EL2002Port::DO1 => self.rxpdo.channel1.as_ref().expect(expect_text).value,
+            EL2002Port::DO2 => self.rxpdo.channel2.as_ref().expect(expect_text).value,
        })
    }
 }
@@ -33,16 +33,16 @@ impl DigitalOutputDevice<EL2004Port> for EL2004 {
        let expect_text = "All channels should be Some(_)";
        match port {
            EL2004Port::DO1 => {
-                self.rxpdo.channel1.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel1.as_mut().expect(expect_text).value = value.into()
            }
            EL2004Port::DO2 => {
-                self.rxpdo.channel2.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel2.as_mut().expect(expect_text).value = value.into()
            }
            EL2004Port::DO3 => {
-                self.rxpdo.channel3.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel3.as_mut().expect(expect_text).value = value.into()
            }
            EL2004Port::DO4 => {
-                self.rxpdo.channel4.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel4.as_mut().expect(expect_text).value = value.into()
            }
        }
    }
@@ -50,10 +50,10 @@ impl DigitalOutputDevice<EL2004Port> for EL2004 {
    fn get_output(&self, port: EL2004Port) -> DigitalOutputOutput {
        let expect_text = "All channels should be Some(_)";
        DigitalOutputOutput(match port {
-            EL2004Port::DO1 => self.rxpdo.channel1.as_ref().expect(&expect_text).value,
-            EL2004Port::DO2 => self.rxpdo.channel2.as_ref().expect(&expect_text).value,
-            EL2004Port::DO3 => self.rxpdo.channel3.as_ref().expect(&expect_text).value,
-            EL2004Port::DO4 => self.rxpdo.channel4.as_ref().expect(&expect_text).value,
+            EL2004Port::DO1 => self.rxpdo.channel1.as_ref().expect(expect_text).value,
+            EL2004Port::DO2 => self.rxpdo.channel2.as_ref().expect(expect_text).value,
+            EL2004Port::DO3 => self.rxpdo.channel3.as_ref().expect(expect_text).value,
+            EL2004Port::DO4 => self.rxpdo.channel4.as_ref().expect(expect_text).value,
        })
    }
 }
@@ -35,28 +35,28 @@ impl DigitalOutputDevice<EL2008Port> for EL2008 {
        let expect_text = "All channels should be Some(_)";
        match port {
            EL2008Port::DO1 => {
-                self.rxpdo.channel1.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel1.as_mut().expect(expect_text).value = value.into()
            }
            EL2008Port::DO2 => {
-                self.rxpdo.channel2.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel2.as_mut().expect(expect_text).value = value.into()
            }
            EL2008Port::DO3 => {
-                self.rxpdo.channel3.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel3.as_mut().expect(expect_text).value = value.into()
            }
            EL2008Port::DO4 => {
-                self.rxpdo.channel4.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel4.as_mut().expect(expect_text).value = value.into()
            }
            EL2008Port::DO5 => {
-                self.rxpdo.channel5.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel5.as_mut().expect(expect_text).value = value.into()
            }
            EL2008Port::DO6 => {
-                self.rxpdo.channel6.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel6.as_mut().expect(expect_text).value = value.into()
            }
            EL2008Port::DO7 => {
-                self.rxpdo.channel7.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel7.as_mut().expect(expect_text).value = value.into()
            }
            EL2008Port::DO8 => {
-                self.rxpdo.channel8.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel8.as_mut().expect(expect_text).value = value.into()
            }
        }
    }
@@ -64,14 +64,14 @@ impl DigitalOutputDevice<EL2008Port> for EL2008 {
    fn get_output(&self, port: EL2008Port) -> DigitalOutputOutput {
        let expect_text = "All channels should be Some(_)";
        DigitalOutputOutput(match port {
-            EL2008Port::DO1 => self.rxpdo.channel1.as_ref().expect(&expect_text).value,
-            EL2008Port::DO2 => self.rxpdo.channel2.as_ref().expect(&expect_text).value,
-            EL2008Port::DO3 => self.rxpdo.channel3.as_ref().expect(&expect_text).value,
-            EL2008Port::DO4 => self.rxpdo.channel4.as_ref().expect(&expect_text).value,
-            EL2008Port::DO5 => self.rxpdo.channel5.as_ref().expect(&expect_text).value,
-            EL2008Port::DO6 => self.rxpdo.channel6.as_ref().expect(&expect_text).value,
-            EL2008Port::DO7 => self.rxpdo.channel7.as_ref().expect(&expect_text).value,
-            EL2008Port::DO8 => self.rxpdo.channel8.as_ref().expect(&expect_text).value,
+            EL2008Port::DO1 => self.rxpdo.channel1.as_ref().expect(expect_text).value,
+            EL2008Port::DO2 => self.rxpdo.channel2.as_ref().expect(expect_text).value,
+            EL2008Port::DO3 => self.rxpdo.channel3.as_ref().expect(expect_text).value,
+            EL2008Port::DO4 => self.rxpdo.channel4.as_ref().expect(expect_text).value,
+            EL2008Port::DO5 => self.rxpdo.channel5.as_ref().expect(expect_text).value,
+            EL2008Port::DO6 => self.rxpdo.channel6.as_ref().expect(expect_text).value,
+            EL2008Port::DO7 => self.rxpdo.channel7.as_ref().expect(expect_text).value,
+            EL2008Port::DO8 => self.rxpdo.channel8.as_ref().expect(expect_text).value,
        })
    }
 }
@@ -36,16 +36,16 @@ impl DigitalOutputDevice<EL2024Port> for EL2024 {
        let expect_text = "All channels should be Some(_)";
        match port {
            EL2024Port::DO1 => {
-                self.rxpdo.channel1.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel1.as_mut().expect(expect_text).value = value.into()
            }
            EL2024Port::DO2 => {
-                self.rxpdo.channel2.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel2.as_mut().expect(expect_text).value = value.into()
            }
            EL2024Port::DO3 => {
-                self.rxpdo.channel3.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel3.as_mut().expect(expect_text).value = value.into()
            }
            EL2024Port::DO4 => {
-                self.rxpdo.channel4.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel4.as_mut().expect(expect_text).value = value.into()
            }
        }
    }
@@ -53,10 +53,10 @@ impl DigitalOutputDevice<EL2024Port> for EL2024 {
    fn get_output(&self, port: EL2024Port) -> DigitalOutputOutput {
        let expect_text = "All channels should be Some(_)";
        DigitalOutputOutput(match port {
-            EL2024Port::DO1 => self.rxpdo.channel1.as_ref().expect(&expect_text).value,
-            EL2024Port::DO2 => self.rxpdo.channel2.as_ref().expect(&expect_text).value,
-            EL2024Port::DO3 => self.rxpdo.channel3.as_ref().expect(&expect_text).value,
-            EL2024Port::DO4 => self.rxpdo.channel4.as_ref().expect(&expect_text).value,
+            EL2024Port::DO1 => self.rxpdo.channel1.as_ref().expect(expect_text).value,
+            EL2024Port::DO2 => self.rxpdo.channel2.as_ref().expect(expect_text).value,
+            EL2024Port::DO3 => self.rxpdo.channel3.as_ref().expect(expect_text).value,
+            EL2024Port::DO4 => self.rxpdo.channel4.as_ref().expect(expect_text).value,
        })
    }
 }
@@ -37,7 +37,7 @@ impl NewEthercatDevice for EL2521 {
        let txpdo = configuration.pdo_assignment.txpdo_assignment();
        let rxpdo = configuration.pdo_assignment.rxpdo_assignment();
        Self {
-            configuration: configuration,
+            configuration,
            txpdo,
            rxpdo,
            is_used: false,
@@ -354,7 +354,7 @@ pub enum EL2521PredefinedPdoAssignment {
 impl PredefinedPdoAssignment<EL2521TxPdo, EL2521RxPdo> for EL2521PredefinedPdoAssignment {
    fn txpdo_assignment(&self) -> EL2521TxPdo {
        match self {
-            EL2521PredefinedPdoAssignment::EnhancedOperatingMode32Bit => EL2521TxPdo {
+            Self::EnhancedOperatingMode32Bit => EL2521TxPdo {
                pto_status: Some(PtoStatus::default()),
                enc_status: Some(EncStatus::default()),
            },
@@ -363,7 +363,7 @@ impl PredefinedPdoAssignment<EL2521TxPdo, EL2521RxPdo> for EL2521PredefinedPdoAs

    fn rxpdo_assignment(&self) -> EL2521RxPdo {
        match self {
-            EL2521PredefinedPdoAssignment::EnhancedOperatingMode32Bit => EL2521RxPdo {
+            Self::EnhancedOperatingMode32Bit => EL2521RxPdo {
                pto_control: Some(PtoControl::default()),
                pto_target: Some(PtoTarget::default()),
                enc_control: Some(EncControl::default()),
@@ -37,7 +37,7 @@ impl NewEthercatDevice for EL2522 {
        let txpdo = configuration.pdo_assignment.txpdo_assignment();
        let rxpdo = configuration.pdo_assignment.rxpdo_assignment();
        Self {
-            configuration: configuration,
+            configuration,
            txpdo,
            rxpdo,
            is_used: false,
@@ -104,7 +104,7 @@ impl PulseTrainOutputDevice<EL2522Port> for EL2522 {
 }

 impl EL2522 {
-    fn get_txpdo(&self, port: EL2522Port) -> (&PtoStatus, &EncStatus) {
+    const fn get_txpdo(&self, port: EL2522Port) -> (&PtoStatus, &EncStatus) {
        match port {
            EL2522Port::PTO1 => (
                self.txpdo.pto_status_channel1.as_ref().unwrap(),
@@ -117,7 +117,7 @@ impl EL2522 {
        }
    }

-    fn get_rxpdo(&self, port: EL2522Port) -> (&PtoControl, &PtoTarget, &EncControl) {
+    const fn get_rxpdo(&self, port: EL2522Port) -> (&PtoControl, &PtoTarget, &EncControl) {
        match port {
            EL2522Port::PTO1 => (
                self.rxpdo.pto_control_channel1.as_ref().unwrap(),
@@ -131,7 +131,7 @@ impl EL2522 {
            ),
        }
    }
-    fn get_rxpdo_mut(
+    const fn get_rxpdo_mut(
        &mut self,
        port: EL2522Port,
    ) -> (&mut PtoControl, &mut PtoTarget, &mut EncControl) {
@@ -478,7 +478,7 @@ pub enum EL2522PredefinedPdoAssignment {
 impl PredefinedPdoAssignment<EL2522TxPdo, EL2522RxPdo> for EL2522PredefinedPdoAssignment {
    fn txpdo_assignment(&self) -> EL2522TxPdo {
        match self {
-            EL2522PredefinedPdoAssignment::Standart32Bit => EL2522TxPdo {
+            Self::Standart32Bit => EL2522TxPdo {
                pto_status_channel1: Some(PtoStatus::default()),
                pto_status_channel2: Some(PtoStatus::default()),
                enc_status_channel1: Some(EncStatus::default()),
@@ -489,7 +489,7 @@ impl PredefinedPdoAssignment<EL2522TxPdo, EL2522RxPdo> for EL2522PredefinedPdoAs

    fn rxpdo_assignment(&self) -> EL2522RxPdo {
        match self {
-            EL2522PredefinedPdoAssignment::Standart32Bit => EL2522RxPdo {
+            Self::Standart32Bit => EL2522RxPdo {
                pto_control_channel1: Some(PtoControl::default()),
                pto_target_channel1: Some(PtoTarget::default()),
                enc_control_channel1: Some(EncControl::default()),
@@ -35,28 +35,20 @@ impl DigitalOutputDevice<EL2634Port> for EL2634 {
    fn set_output(&mut self, port: EL2634Port, value: DigitalOutputOutput) {
        let expect_text = "All channels should be Some(_)";
        match port {
-            EL2634Port::R1 => {
-                self.rxpdo.channel1.as_mut().expect(&expect_text).value = value.into()
-            }
-            EL2634Port::R2 => {
-                self.rxpdo.channel2.as_mut().expect(&expect_text).value = value.into()
-            }
-            EL2634Port::R3 => {
-                self.rxpdo.channel3.as_mut().expect(&expect_text).value = value.into()
-            }
-            EL2634Port::R4 => {
-                self.rxpdo.channel4.as_mut().expect(&expect_text).value = value.into()
-            }
+            EL2634Port::R1 => self.rxpdo.channel1.as_mut().expect(expect_text).value = value.into(),
+            EL2634Port::R2 => self.rxpdo.channel2.as_mut().expect(expect_text).value = value.into(),
+            EL2634Port::R3 => self.rxpdo.channel3.as_mut().expect(expect_text).value = value.into(),
+            EL2634Port::R4 => self.rxpdo.channel4.as_mut().expect(expect_text).value = value.into(),
        }
    }

    fn get_output(&self, port: EL2634Port) -> DigitalOutputOutput {
        let expect_text = "All channels should be Some(_)";
        DigitalOutputOutput(match port {
-            EL2634Port::R1 => self.rxpdo.channel1.as_ref().expect(&expect_text).value,
-            EL2634Port::R2 => self.rxpdo.channel2.as_ref().expect(&expect_text).value,
-            EL2634Port::R3 => self.rxpdo.channel3.as_ref().expect(&expect_text).value,
-            EL2634Port::R4 => self.rxpdo.channel4.as_ref().expect(&expect_text).value,
+            EL2634Port::R1 => self.rxpdo.channel1.as_ref().expect(expect_text).value,
+            EL2634Port::R2 => self.rxpdo.channel2.as_ref().expect(expect_text).value,
+            EL2634Port::R3 => self.rxpdo.channel3.as_ref().expect(expect_text).value,
+            EL2634Port::R4 => self.rxpdo.channel4.as_ref().expect(expect_text).value,
        })
    }
 }
@@ -36,52 +36,52 @@ impl DigitalOutputDevice<EL2809Port> for EL2809 {
        let expect_text = "All channels should be Some(_)";
        match port {
            EL2809Port::DO1 => {
-                self.rxpdo.channel1.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel1.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO2 => {
-                self.rxpdo.channel2.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel2.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO3 => {
-                self.rxpdo.channel3.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel3.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO4 => {
-                self.rxpdo.channel4.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel4.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO5 => {
-                self.rxpdo.channel5.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel5.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO6 => {
-                self.rxpdo.channel6.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel6.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO7 => {
-                self.rxpdo.channel7.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel7.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO8 => {
-                self.rxpdo.channel8.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel8.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO9 => {
-                self.rxpdo.channel9.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel9.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO10 => {
-                self.rxpdo.channel10.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel10.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO11 => {
-                self.rxpdo.channel11.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel11.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO12 => {
-                self.rxpdo.channel12.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel12.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO13 => {
-                self.rxpdo.channel13.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel13.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO14 => {
-                self.rxpdo.channel14.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel14.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO15 => {
-                self.rxpdo.channel15.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel15.as_mut().expect(expect_text).value = value.into()
            }
            EL2809Port::DO16 => {
-                self.rxpdo.channel16.as_mut().expect(&expect_text).value = value.into()
+                self.rxpdo.channel16.as_mut().expect(expect_text).value = value.into()
            }
        }
    }
@@ -89,22 +89,22 @@ impl DigitalOutputDevice<EL2809Port> for EL2809 {
    fn get_output(&self, port: EL2809Port) -> DigitalOutputOutput {
        let expect_text = "All channels should be Some(_)";
        DigitalOutputOutput(match port {
-            EL2809Port::DO1 => self.rxpdo.channel1.as_ref().expect(&expect_text).value,
-            EL2809Port::DO2 => self.rxpdo.channel2.as_ref().expect(&expect_text).value,
-            EL2809Port::DO3 => self.rxpdo.channel3.as_ref().expect(&expect_text).value,
-            EL2809Port::DO4 => self.rxpdo.channel4.as_ref().expect(&expect_text).value,
-            EL2809Port::DO5 => self.rxpdo.channel5.as_ref().expect(&expect_text).value,
-            EL2809Port::DO6 => self.rxpdo.channel6.as_ref().expect(&expect_text).value,
-            EL2809Port::DO7 => self.rxpdo.channel7.as_ref().expect(&expect_text).value,
-            EL2809Port::DO8 => self.rxpdo.channel8.as_ref().expect(&expect_text).value,
-            EL2809Port::DO9 => self.rxpdo.channel9.as_ref().expect(&expect_text).value,
-            EL2809Port::DO10 => self.rxpdo.channel10.as_ref().expect(&expect_text).value,
-            EL2809Port::DO11 => self.rxpdo.channel11.as_ref().expect(&expect_text).value,
-            EL2809Port::DO12 => self.rxpdo.channel12.as_ref().expect(&expect_text).value,
-            EL2809Port::DO13 => self.rxpdo.channel13.as_ref().expect(&expect_text).value,
-            EL2809Port::DO14 => self.rxpdo.channel14.as_ref().expect(&expect_text).value,
-            EL2809Port::DO15 => self.rxpdo.channel15.as_ref().expect(&expect_text).value,
-            EL2809Port::DO16 => self.rxpdo.channel16.as_ref().expect(&expect_text).value,
+            EL2809Port::DO1 => self.rxpdo.channel1.as_ref().expect(expect_text).value,
+            EL2809Port::DO2 => self.rxpdo.channel2.as_ref().expect(expect_text).value,
+            EL2809Port::DO3 => self.rxpdo.channel3.as_ref().expect(expect_text).value,
+            EL2809Port::DO4 => self.rxpdo.channel4.as_ref().expect(expect_text).value,
+            EL2809Port::DO5 => self.rxpdo.channel5.as_ref().expect(expect_text).value,
+            EL2809Port::DO6 => self.rxpdo.channel6.as_ref().expect(expect_text).value,
+            EL2809Port::DO7 => self.rxpdo.channel7.as_ref().expect(expect_text).value,
+            EL2809Port::DO8 => self.rxpdo.channel8.as_ref().expect(expect_text).value,
+            EL2809Port::DO9 => self.rxpdo.channel9.as_ref().expect(expect_text).value,
+            EL2809Port::DO10 => self.rxpdo.channel10.as_ref().expect(expect_text).value,
+            EL2809Port::DO11 => self.rxpdo.channel11.as_ref().expect(expect_text).value,
+            EL2809Port::DO12 => self.rxpdo.channel12.as_ref().expect(expect_text).value,
+            EL2809Port::DO13 => self.rxpdo.channel13.as_ref().expect(expect_text).value,
+            EL2809Port::DO14 => self.rxpdo.channel14.as_ref().expect(expect_text).value,
+            EL2809Port::DO15 => self.rxpdo.channel15.as_ref().expect(expect_text).value,
+            EL2809Port::DO16 => self.rxpdo.channel16.as_ref().expect(expect_text).value,
        })
    }
 }
@@ -155,11 +155,11 @@ pub enum EL3001PredefinedPdoAssignment {
 impl PredefinedPdoAssignment<EL3001TxPdo, EL3001RxPdo> for EL3001PredefinedPdoAssignment {
    fn txpdo_assignment(&self) -> EL3001TxPdo {
        match self {
-            EL3001PredefinedPdoAssignment::Standard => EL3001TxPdo {
+            Self::Standard => EL3001TxPdo {
                ai_standard: Some(AiStandard::default()),
                ai_compact: None,
            },
-            EL3001PredefinedPdoAssignment::Compact => EL3001TxPdo {
+            Self::Compact => EL3001TxPdo {
                ai_standard: None,
                ai_compact: Some(AiCompact::default()),
            },
@@ -168,8 +168,8 @@ impl PredefinedPdoAssignment<EL3001TxPdo, EL3001RxPdo> for EL3001PredefinedPdoAs

    fn rxpdo_assignment(&self) -> EL3001RxPdo {
        match self {
-            EL3001PredefinedPdoAssignment::Standard => EL3001RxPdo {},
-            EL3001PredefinedPdoAssignment::Compact => EL3001RxPdo {},
+            Self::Standard => EL3001RxPdo {},
+            Self::Compact => EL3001RxPdo {},
        }
    }
 }
@@ -175,11 +175,11 @@ pub enum EL3021PredefinedPdoAssignment {
 impl PredefinedPdoAssignment<EL3021TxPdo, EL3021RxPdo> for EL3021PredefinedPdoAssignment {
    fn txpdo_assignment(&self) -> EL3021TxPdo {
        match self {
-            EL3021PredefinedPdoAssignment::Standard => EL3021TxPdo {
+            Self::Standard => EL3021TxPdo {
                ai_standard_channel1: Some(AiStandard::default()),
                ai_compact_channel1: None,
            },
-            EL3021PredefinedPdoAssignment::Compact => EL3021TxPdo {
+            Self::Compact => EL3021TxPdo {
                ai_standard_channel1: None,
                ai_compact_channel1: Some(AiCompact::default()),
            },
@@ -188,8 +188,8 @@ impl PredefinedPdoAssignment<EL3021TxPdo, EL3021RxPdo> for EL3021PredefinedPdoAs

    fn rxpdo_assignment(&self) -> EL3021RxPdo {
        match self {
-            EL3021PredefinedPdoAssignment::Standard => EL3021RxPdo {},
-            EL3021PredefinedPdoAssignment::Compact => EL3021RxPdo {},
+            Self::Standard => EL3021RxPdo {},
+            Self::Compact => EL3021RxPdo {},
        }
    }
 }
@@ -246,7 +246,7 @@ pub enum EL3024PredefinedPdoAssignment {
 impl PredefinedPdoAssignment<EL3024TxPdo, EL3024RxPdo> for EL3024PredefinedPdoAssignment {
    fn txpdo_assignment(&self) -> EL3024TxPdo {
        match self {
-            EL3024PredefinedPdoAssignment::Standard => EL3024TxPdo {
+            Self::Standard => EL3024TxPdo {
                ai_standard_channel1: Some(AiStandard::default()),
                ai_compact_channel1: None,
                ai_standard_channel2: Some(AiStandard::default()),
@@ -256,7 +256,7 @@ impl PredefinedPdoAssignment<EL3024TxPdo, EL3024RxPdo> for EL3024PredefinedPdoAs
                ai_standard_channel4: Some(AiStandard::default()),
                ai_compact_channel4: None,
            },
-            EL3024PredefinedPdoAssignment::Compact => EL3024TxPdo {
+            Self::Compact => EL3024TxPdo {
                ai_standard_channel1: None,
                ai_compact_channel1: Some(AiCompact::default()),
                ai_standard_channel2: None,
@@ -271,8 +271,8 @@ impl PredefinedPdoAssignment<EL3024TxPdo, EL3024RxPdo> for EL3024PredefinedPdoAs

    fn rxpdo_assignment(&self) -> EL3024RxPdo {
        match self {
-            EL3024PredefinedPdoAssignment::Standard => EL3024RxPdo {},
-            EL3024PredefinedPdoAssignment::Compact => EL3024RxPdo {},
+            Self::Standard => EL3024RxPdo {},
+            Self::Compact => EL3024RxPdo {},
        }
    }
 }
@@ -14,7 +14,7 @@ use crate::{
    helpers::ethercrab_types::EthercrabSubDevicePreoperational,
    io::analog_input::{AnalogInputDevice, AnalogInputInput},
 };
-use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
+use ethercat_hal_derive::EthercatDevice;
 use uom::si::{electric_potential::volt, f64::ElectricPotential};

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

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

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

-#[derive(Debug, Clone, RxPdo)]
-pub struct EL3062_0030RxPdo {}
+impl crate::coe::Configuration for EL3062_0030TxPdo {
+    ///Implemented by the ethercat_hal_derive::TxPdo derive macro
+    async fn write_config<'a>(
+        &self,
+        device: &EthercrabSubDevicePreoperational<'a>,
+    ) -> Result<(), anyhow::Error> {
+        device.sdo_write(0x1C13, 0, 0u8).await?;
+        let mut len = 0;
+        if let Some(_) = &self.ai_standard_channel1 {
+            len += 1;
+            device.sdo_write(0x1C13, len, 0x1A00u16).await?;
+        }
+        if let Some(_) = &self.ai_compact_channel1 {
+            len += 1;
+            device.sdo_write(0x1C13, len, 0x1A01u16).await?;
+        }
+        if let Some(_) = &self.ai_standard_channel2 {
+            len += 1;
+            device.sdo_write(0x1C13, len, 0x1A02u16).await?;
+        }
+        if let Some(_) = &self.ai_compact_channel2 {
+            len += 1;
+            device.sdo_write(0x1C13, len, 0x1A03u16).await?;
+        }
+        device.sdo_write(0x1C13, 0, len).await?;
+        Ok(())
+    }
+}
+impl crate::pdo::TxPdo for EL3062_0030TxPdo {
+    ///Implemented by the ethercat_hal_derive::TxPdo derive macro
+    fn get_objects(&self) -> Box<[Option<&dyn crate::pdo::TxPdoObject>]> {
+        Box::new([
+            self.ai_standard_channel1
+                .as_ref()
+                .map(|o| o as &dyn crate::pdo::TxPdoObject),
+            self.ai_compact_channel1
+                .as_ref()
+                .map(|o| o as &dyn crate::pdo::TxPdoObject),
+            self.ai_standard_channel2
+                .as_ref()
+                .map(|o| o as &dyn crate::pdo::TxPdoObject),
+            self.ai_compact_channel2
+                .as_ref()
+                .map(|o| o as &dyn crate::pdo::TxPdoObject),
+        ])
+    }
+    ///Implemented by the ethercat_hal_derive::TxPdo derive macro
+    fn get_objects_mut(&mut self) -> Box<[Option<&mut dyn crate::pdo::TxPdoObject>]> {
+        Box::new([
+            self.ai_standard_channel1
+                .as_mut()
+                .map(|o| o as &mut dyn crate::pdo::TxPdoObject),
+            self.ai_compact_channel1
+                .as_mut()
+                .map(|o| o as &mut dyn crate::pdo::TxPdoObject),
+            self.ai_standard_channel2
+                .as_mut()
+                .map(|o| o as &mut dyn crate::pdo::TxPdoObject),
+            self.ai_compact_channel2
+                .as_mut()
+                .map(|o| o as &mut dyn crate::pdo::TxPdoObject),
+        ])
+    }
+}

+#[derive(Debug, Clone)]
+pub struct EL3062_0030RxPdo {}
+impl crate::coe::Configuration for EL3062_0030RxPdo {
+    ///Implemented by the ethercat_hal_derive::RxPdo derive macro
+    async fn write_config<'a>(
+        &self,
+        _device: &EthercrabSubDevicePreoperational<'a>,
+    ) -> Result<(), anyhow::Error> {
+        Ok(())
+    }
+}
+impl crate::pdo::RxPdo for EL3062_0030RxPdo {
+    ///Implemented by the ethercat_hal_derive::RxPdo derive macro
+    fn get_objects(&self) -> Box<[Option<&dyn crate::pdo::RxPdoObject>]> {
+        Box::new([])
+    }
+}
 impl Configuration for EL3062_0030Configuration {
    async fn write_config<'a>(
        &self,
@@ -185,13 +262,13 @@ impl PredefinedPdoAssignment<EL3062_0030TxPdo, EL3062_0030RxPdo>
 {
    fn txpdo_assignment(&self) -> EL3062_0030TxPdo {
        match self {
-            EL3062_0030PredefinedPdoAssignment::Standard => EL3062_0030TxPdo {
+            Self::Standard => EL3062_0030TxPdo {
                ai_standard_channel1: Some(AiStandard::default()),
                ai_compact_channel1: None,
                ai_standard_channel2: Some(AiStandard::default()),
                ai_compact_channel2: None,
            },
-            EL3062_0030PredefinedPdoAssignment::Compact => EL3062_0030TxPdo {
+            Self::Compact => EL3062_0030TxPdo {
                ai_standard_channel1: None,
                ai_compact_channel1: Some(AiCompact::default()),
                ai_standard_channel2: None,
@@ -202,8 +279,8 @@ impl PredefinedPdoAssignment<EL3062_0030TxPdo, EL3062_0030RxPdo>

    fn rxpdo_assignment(&self) -> EL3062_0030RxPdo {
        match self {
-            EL3062_0030PredefinedPdoAssignment::Standard => EL3062_0030RxPdo {},
-            EL3062_0030PredefinedPdoAssignment::Compact => EL3062_0030RxPdo {},
+            Self::Standard => EL3062_0030RxPdo {},
+            Self::Compact => EL3062_0030RxPdo {},
        }
    }
 }
@@ -38,10 +38,10 @@ impl TemperatureInputDevice<EL3204Port> for EL3204 {
    fn get_input(&self, port: EL3204Port) -> TemperatureInputInput {
        let expect_text = "All channels should be Some(_)";
        let channel = match port {
-            EL3204Port::T1 => self.txpdo.channel1.as_ref().expect(&expect_text),
-            EL3204Port::T2 => self.txpdo.channel2.as_ref().expect(&expect_text),
-            EL3204Port::T3 => self.txpdo.channel3.as_ref().expect(&expect_text),
-            EL3204Port::T4 => self.txpdo.channel4.as_ref().expect(&expect_text),
+            EL3204Port::T1 => self.txpdo.channel1.as_ref().expect(expect_text),
+            EL3204Port::T2 => self.txpdo.channel2.as_ref().expect(expect_text),
+            EL3204Port::T3 => self.txpdo.channel3.as_ref().expect(expect_text),
+            EL3204Port::T4 => self.txpdo.channel4.as_ref().expect(expect_text),
        };
        TemperatureInputInput {
            temperature: channel.temperature,
@@ -65,12 +65,12 @@ pub enum EL3204Port {
 }

 impl EL3204Port {
-    pub fn to_byte_offset(&self) -> usize {
+    pub const fn to_byte_offset(&self) -> usize {
        match self {
-            EL3204Port::T1 => 0,
-            EL3204Port::T2 => 4,
-            EL3204Port::T3 => 8,
-            EL3204Port::T4 => 12,
+            Self::T1 => 0,
+            Self::T2 => 4,
+            Self::T3 => 8,
+            Self::T4 => 12,
        }
    }
 }
@@ -102,6 +102,7 @@ impl EL4002 {
        &mut self,
        subdevice: &EthercrabSubDevicePreoperational<'a>,
    ) -> Result<(), anyhow::Error> {
+        tracing::info!("el4002");
        self.configuration
            .channel1
            .write_channel_config(subdevice, 0x8000)
@@ -139,7 +140,7 @@ pub struct EL4002TxPdo {}
 impl PredefinedPdoAssignment<EL4002TxPdo, EL4002RxPdo> for EL4002PredefinedPdoAssignment {
    fn rxpdo_assignment(&self) -> EL4002RxPdo {
        match self {
-            EL4002PredefinedPdoAssignment::Standard => EL4002RxPdo {
+            Self::Standard => EL4002RxPdo {
                ao_channel1: Some(AnalogOutput::default()),
                ao_channel2: Some(AnalogOutput::default()),
            },
@@ -0,0 +1,349 @@
+use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
+use crate::coe::{ConfigurableDevice, Configuration};
+use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
+use crate::io::encoder_input::{
+    EncoderInputCounter, EncoderInputDevice, EncoderInputFrequency, EncoderInputPeriod,
+};
+use crate::pdo::PredefinedPdoAssignment;
+use crate::pdo::RxPdo;
+use crate::pdo::TxPdo;
+use crate::pdo::el5152::{
+    El5152EncoderControl, El5152EncoderFrequency, El5152EncoderPeriod, El5152EncoderStatus,
+};
+
+use ethercat_hal_derive::{EthercatDevice, RxPdo, TxPdo};
+
+/// EL5152 2-channel incremental encoder interface
+///
+/// 24V HTL, 100 kHz, dual channel
+
+#[derive(EthercatDevice)]
+pub struct EL5152 {
+    pub configuration: EL5152Configuration,
+    pub rxpdo: EL5152RxPdo,
+    pub txpdo: EL5152TxPdo,
+    is_used: bool,
+}
+
+impl EthercatDeviceProcessing for EL5152 {}
+
+#[derive(Debug, Clone)]
+pub struct EL5152Configuration {
+    pub pdo_assignment: EL5152PredefinedPdoAssignment,
+    pub channel1: EL5152ChannelConfiguration,
+    pub channel2: EL5152ChannelConfiguration,
+}
+
+#[derive(Debug, Clone)]
+pub enum EL5152PredefinedPdoAssignment {
+    Period,
+    Frequency,
+}
+
+impl std::fmt::Debug for EL5152 {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "EL5152")
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+pub enum EL5152Port {
+    ENC1,
+    ENC2,
+}
+
+impl Default for EL5152Configuration {
+    fn default() -> Self {
+        Self {
+            pdo_assignment: EL5152PredefinedPdoAssignment::Period,
+            channel1: EL5152ChannelConfiguration::default(),
+            channel2: EL5152ChannelConfiguration::default(),
+        }
+    }
+}
+
+impl NewEthercatDevice for EL5152 {
+    fn new() -> Self {
+        let configuration: EL5152Configuration = EL5152Configuration::default();
+        Self {
+            configuration: configuration.clone(),
+            rxpdo: configuration.pdo_assignment.rxpdo_assignment(),
+            txpdo: configuration.pdo_assignment.txpdo_assignment(),
+            is_used: false,
+        }
+    }
+}
+
+impl ConfigurableDevice<EL5152Configuration> for EL5152 {
+    async fn write_config<'maindevice>(
+        &mut self,
+        device: &EthercrabSubDevicePreoperational<'maindevice>,
+        config: &EL5152Configuration,
+    ) -> Result<(), anyhow::Error> {
+        config.write_config(device).await?;
+        self.configuration = config.clone();
+        self.txpdo = config.pdo_assignment.txpdo_assignment();
+        self.rxpdo = config.pdo_assignment.rxpdo_assignment();
+        Ok(())
+    }
+
+    fn get_config(&self) -> EL5152Configuration {
+        self.configuration.clone()
+    }
+}
+
+impl EncoderInputDevice<EL5152Port> for EL5152 {
+    fn get_counter_value(&self, port: EL5152Port) -> Result<EncoderInputCounter, anyhow::Error> {
+        let value = match port {
+            EL5152Port::ENC1 => self
+                .txpdo
+                .status_channel1
+                .as_ref()
+                .map_or(0, |status| status.counter_value),
+            EL5152Port::ENC2 => self
+                .txpdo
+                .status_channel2
+                .as_ref()
+                .map_or(0, |status| status.counter_value),
+        };
+        Ok(EncoderInputCounter { value })
+    }
+
+    fn get_frequency(
+        &self,
+        port: EL5152Port,
+    ) -> Result<Option<EncoderInputFrequency>, anyhow::Error> {
+        let frequency = match port {
+            EL5152Port::ENC1 => {
+                self.txpdo
+                    .frequency_channel1
+                    .as_ref()
+                    .map(|f| EncoderInputFrequency {
+                        value: f.frequency_value,
+                    })
+            }
+            EL5152Port::ENC2 => {
+                self.txpdo
+                    .frequency_channel2
+                    .as_ref()
+                    .map(|f| EncoderInputFrequency {
+                        value: f.frequency_value,
+                    })
+            }
+        };
+        Ok(frequency)
+    }
+
+    fn get_period(&self, port: EL5152Port) -> Result<Option<EncoderInputPeriod>, anyhow::Error> {
+        let period = match port {
+            EL5152Port::ENC1 => self
+                .txpdo
+                .period_channel1
+                .as_ref()
+                .map(|p| EncoderInputPeriod {
+                    value: p.period_value,
+                }),
+            EL5152Port::ENC2 => self
+                .txpdo
+                .period_channel2
+                .as_ref()
+                .map(|p| EncoderInputPeriod {
+                    value: p.period_value,
+                }),
+        };
+        Ok(period)
+    }
+
+    fn set_counter(&mut self, port: EL5152Port, value: u32) -> Result<(), anyhow::Error> {
+        match port {
+            EL5152Port::ENC1 => {
+                if let Some(control) = self.rxpdo.control_channel1.as_mut() {
+                    control.set_counter_value = value;
+                    control.set_counter = true;
+                }
+            }
+            EL5152Port::ENC2 => {
+                if let Some(control) = self.rxpdo.control_channel2.as_mut() {
+                    control.set_counter_value = value;
+                    control.set_counter = true;
+                }
+            }
+        }
+        Ok(())
+    }
+}
+
+impl Configuration for EL5152Configuration {
+    async fn write_config<'a>(
+        &self,
+        device: &EthercrabSubDevicePreoperational<'a>,
+    ) -> Result<(), anyhow::Error> {
+        // Configure channel 1
+        self.channel1.write_channel_config(device, 0x8000).await?;
+
+        // Configure channel 2
+        self.channel2.write_channel_config(device, 0x8010).await?;
+        // Write PDO assignments
+        self.pdo_assignment
+            .txpdo_assignment()
+            .write_config(device)
+            .await?;
+        self.pdo_assignment
+            .rxpdo_assignment()
+            .write_config(device)
+            .await?;
+
+        Ok(())
+    }
+}
+
+#[derive(Debug, Clone, RxPdo)]
+pub struct EL5152RxPdo {
+    #[pdo_object_index(0x1600)]
+    pub control_channel1: Option<El5152EncoderControl>,
+    #[pdo_object_index(0x1602)]
+    pub control_channel2: Option<El5152EncoderControl>,
+}
+
+#[derive(Debug, Clone, TxPdo)]
+pub struct EL5152TxPdo {
+    #[pdo_object_index(0x1A00)]
+    pub status_channel1: Option<El5152EncoderStatus>,
+    #[pdo_object_index(0x1A02)]
+    pub period_channel1: Option<El5152EncoderPeriod>,
+    #[pdo_object_index(0x1A03)]
+    pub frequency_channel1: Option<El5152EncoderFrequency>,
+
+    #[pdo_object_index(0x1A04)]
+    pub status_channel2: Option<El5152EncoderStatus>,
+    #[pdo_object_index(0x1A06)]
+    pub period_channel2: Option<El5152EncoderPeriod>,
+    #[pdo_object_index(0x1A07)]
+    pub frequency_channel2: Option<El5152EncoderFrequency>,
+}
+
+impl PredefinedPdoAssignment<EL5152TxPdo, EL5152RxPdo> for EL5152PredefinedPdoAssignment {
+    fn rxpdo_assignment(&self) -> EL5152RxPdo {
+        EL5152RxPdo {
+            control_channel1: Some(El5152EncoderControl::default()),
+            control_channel2: Some(El5152EncoderControl::default()),
+        }
+    }
+
+    fn txpdo_assignment(&self) -> EL5152TxPdo {
+        match self {
+            Self::Period => EL5152TxPdo {
+                status_channel1: Some(El5152EncoderStatus::default()),
+                period_channel1: Some(El5152EncoderPeriod::default()),
+                frequency_channel1: None,
+
+                status_channel2: Some(El5152EncoderStatus::default()),
+                period_channel2: Some(El5152EncoderPeriod::default()),
+                frequency_channel2: None,
+            },
+            Self::Frequency => EL5152TxPdo {
+                status_channel1: Some(El5152EncoderStatus::default()),
+                period_channel1: None,
+                frequency_channel1: Some(El5152EncoderFrequency::default()),
+
+                status_channel2: Some(El5152EncoderStatus::default()),
+                period_channel2: None,
+                frequency_channel2: Some(El5152EncoderFrequency::default()),
+            },
+        }
+    }
+}
+
+#[derive(Debug, Clone)]
+pub struct EL5152ChannelConfiguration {
+    // 80n0:3
+    pub enable_counter: u8,
+    // 80n0:8
+    pub disable_filter: u8,
+    // 80n0:A
+    pub enable_micro_increment: u8,
+    // 80n0:E
+    pub reversion_rotation: u8,
+    // 80n0:F 0-µs, 1-ms
+    pub frequency_based_window: u8,
+    // 80n0:11
+    pub frequency_window: u16,
+    // 80n0:13
+    pub frequency_scaling: u16,
+    // 80n0:14
+    pub period_scaling: u16,
+    // 80n0:15 100: "0.01 Hz"
+    pub frequency_resolution: u16,
+    // 80n0:16 100: "100 ns"
+    pub period_resolution: u16,
+    // 80n0:17
+    pub frequency_wait_time: u16,
+}
+
+impl EL5152ChannelConfiguration {
+    pub async fn write_channel_config<'a>(
+        &self,
+        device: &EthercrabSubDevicePreoperational<'a>,
+        base_index: u16,
+    ) -> Result<(), anyhow::Error> {
+        device
+            .sdo_write(base_index, 0x03, self.enable_counter)
+            .await?;
+        device
+            .sdo_write(base_index, 0x08, self.disable_filter)
+            .await?;
+        device
+            .sdo_write(base_index, 0x0A, self.enable_micro_increment)
+            .await?;
+        device
+            .sdo_write(base_index, 0x0E, self.reversion_rotation)
+            .await?;
+        device
+            .sdo_write(base_index, 0x0F, self.frequency_based_window)
+            .await?;
+        device
+            .sdo_write(base_index, 0x11, self.frequency_window)
+            .await?;
+        device
+            .sdo_write(base_index, 0x13, self.frequency_scaling)
+            .await?;
+        device
+            .sdo_write(base_index, 0x14, self.period_scaling)
+            .await?;
+        device
+            .sdo_write(base_index, 0x15, self.frequency_resolution)
+            .await?;
+        device
+            .sdo_write(base_index, 0x16, self.period_resolution)
+            .await?;
+        device
+            .sdo_write(base_index, 0x17, self.frequency_wait_time)
+            .await?;
+
+        Ok(())
+    }
+}
+
+impl Default for EL5152ChannelConfiguration {
+    fn default() -> Self {
+        Self {
+            enable_counter: 0x01u8,
+            disable_filter: 0x00u8,
+            enable_micro_increment: 0x00u8,
+            reversion_rotation: 0x00u8,
+            frequency_based_window: 0x00u8,
+            frequency_window: 0x2710u16,
+            frequency_scaling: 0x0064u16,
+            period_scaling: 0x0064u16,
+            frequency_resolution: 0x0064u16,
+            period_resolution: 0x0064u16,
+            frequency_wait_time: 0x0640u16,
+        }
+    }
+}
+
+pub const EL5152_VENDOR_ID: u32 = 0x2;
+pub const EL5152_PRODUCT_ID: u32 = 0x14203052;
+pub const EL5152_REVISION_A: u32 = 0x140000;
+pub const EL5152_IDENTITY_A: SubDeviceIdentityTuple =
+    (EL5152_VENDOR_ID, EL5152_PRODUCT_ID, EL5152_REVISION_A);
Author	SHA1	Message	Date
kraemr	3c07b94e3a	fixed ethercat setup timeouts and retry	2025-09-29 17:18:49 +02:00
Robin Krämer	3b63b55859	Merge pull request #756 from qitechgmbh/fix-winder-regression fixed winder regression due to refactor	2025-09-29 17:10:33 +02:00
kraemr	f87982c465	fixed winder regression due to refactor	2025-09-29 17:01:04 +02:00
Robin Krämer	b03cedb55c	Merge pull request #447 from qitechgmbh/fix/438 Implementation AquaPath	2025-09-29 15:42:32 +02:00
kraemr	f5934efa6c	restored mock-machine functionality	2025-09-29 15:39:25 +02:00
kraemr	186619cd48	fixed compilation error	2025-09-29 15:33:25 +02:00
Darmenov Alisher	583d4c1a4d	resolved comment	2025-09-29 15:33:25 +02:00
Anatomik5	63bee54948	AquapathV1	2025-09-29 15:33:25 +02:00
Robin Krämer	1523d64ed7	Merge pull request #749 from qitechgmbh/738-add-mock-machines 738 add mock machines	2025-09-29 11:32:39 +02:00
kraemr	48fdde61dc	further improved readability by moving feature flags to mod.rs	2025-09-29 11:30:54 +02:00
kraemr	7bc700ac5f	when selecting mock-machine feature extruder now appears as well	2025-09-29 11:30:54 +02:00
93094049+kraemr@users.noreply.github.com	bdd6147f92	rewrote extruder and winder, also added mock-machine for extruder	2025-09-29 11:30:54 +02:00
93094049+kraemr@users.noreply.github.com	f7f65bdaaa	refactored all emit functions out of mod.rs for clarity for extruder	2025-09-29 11:30:54 +02:00
Robin Krämer	232b0782ca	Merge pull request #754 from qitechgmbh/748-add-feature-flag-or-env-var-for-setting-loop-timeout 748 add feature flag or env var for setting loop timeout	2025-09-29 11:30:19 +02:00
kraemr	c3c36a26b6	also added development-build flag to irq affinity code	2025-09-25 17:11:18 +02:00
kraemr	7f22bdfbf2	added feature development-build to set timeout	2025-09-25 17:06:42 +02:00
Robin Krämer	ff4c579f7b	Merge pull request #673 from qitechgmbh/632-add-documentation-for-creating-a-new-machine added documentation for adding a machine	2025-09-25 15:33:41 +02:00
93094049+kraemr@users.noreply.github.com	9683882775	added documentation for adding a machine	2025-09-25 15:32:33 +02:00
Robin Krämer	893e01532d	Merge pull request #753 from qitechgmbh/633-update-documentation-for-adding-new-devices updated devices documentation by adding an example and explaining the architecture	2025-09-25 14:53:17 +02:00
kraemr	713f78fa4e	updated devices documentation by adding an example and explaining how devices fit into the architecture	2025-09-25 14:50:32 +02:00
Robin Krämer	f444347fb9	Merge pull request #752 from qitechgmbh/751-document-performancestability-tweaks-made added performance and stabillity documentation	2025-09-25 11:37:04 +02:00
kraemr	ea03c0f755	added performance and stabillity documentation	2025-09-25 11:31:53 +02:00
Robin Krämer	e283a0f164	Merge pull request #745 from qitechgmbh/744-windermode-switch-from-modewind-to-modepull-or-modehold-disables-the-wind-button fixed emit state after state change	2025-09-23 15:41:28 +02:00
snacj	6820206d78	fixed emit state after state change	2025-09-23 15:38:47 +02:00
Robin Krämer	5069ee425c	Merge pull request #742 from qitechgmbh/681-remove-unused-or-redundant-crates removed unused crates	2025-09-23 13:37:48 +02:00
kraemr	f93f342508	added ignores for cargo machete	2025-09-23 13:17:29 +02:00
kraemr	c6d3563101	removed unused crates	2025-09-23 12:56:24 +02:00
Robin Krämer	f2f893c917	Merge pull request #741 from qitechgmbh/739-add-roundness-value-to-laser-graph-and-control-page Added Roundness Value to 2 Axis Laser	2025-09-22 14:27:30 +02:00
Robin KrämerandCopilot	bbbca4085d	Update server/src/machines/laser/mod.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>	2025-09-22 14:24:42 +02:00
Robin KrämerandCopilot	4fdf461520	Update server/src/machines/laser/mod.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>	2025-09-22 14:23:37 +02:00
snacj	dcfc6728ba	Made Roundness unitless	2025-09-22 14:10:25 +02:00
snacj	2673a92f50	Added Roundness Value to 2 Axis Laser	2025-09-22 13:39:59 +02:00
Robin Krämer	4d72185ba9	Merge pull request #675 from qitechgmbh/512-add-troubleshooting-documentation 512 add troubleshooting documentation	2025-09-18 19:44:43 +02:00
93094049+kraemr@users.noreply.github.com	ade4f5cd2b	updated troubleshooting.md	2025-09-18 19:41:15 +02:00
93094049+kraemr@users.noreply.github.com	cf1ebf2b3d	added troubleshooting.md	2025-09-18 19:41:15 +02:00
Robin Krämer	6b5cb7d87e	Merge pull request #737 from qitechgmbh/fix_state_handling Fix state handling	2025-09-17 18:26:01 +02:00
93094049+kraemr@users.noreply.github.com	4894bbc231	fixed all state issues	2025-09-17 18:20:31 +02:00
Robin Krämer	721c5a99ee	Merge pull request #736 from qitechgmbh/less_amps_spool_test Less amps spool test	2025-09-17 17:28:23 +02:00
93094049+kraemr@users.noreply.github.com	36fccc80cb	set puller amps to 2.7A	2025-09-17 17:21:15 +02:00
93094049+kraemr@users.noreply.github.com	e14fe86306	testing with less current	2025-09-17 17:21:15 +02:00
Robin Krämer	95c9f99961	Merge pull request #735 from qitechgmbh/fix_compiler_flags Fix compiler flags	2025-09-17 12:53:50 +02:00
93094049+kraemr@users.noreply.github.com	546189b9c8	removed log::error	2025-09-17 12:47:46 +02:00
93094049+kraemr@users.noreply.github.com	dfbc2a65c0	hopefully all compiler flags now work as expected	2025-09-17 12:47:46 +02:00
Robin Krämer	2038d79e18	Merge pull request #734 from qitechgmbh/changelog-v2.7.0 updated Changelog for 2.7.0	2025-09-17 11:47:54 +02:00
93094049+kraemr@users.noreply.github.com	188caf397b	updated Changelog for 2.7.0	2025-09-17 11:44:22 +02:00
Robin Krämer	13138b1d7d	Merge pull request #726 from qitechgmbh/video-streaming Add video streaming api	2025-09-16 18:25:34 +02:00
Icedsoda	5466efd8c3	add video streaming api	2025-09-16 18:23:36 +02:00
Robin Krämer	61f0dc92d1	Merge pull request #733 from qitechgmbh/685-use-nixos-cache-server-for-private-packages 685 use nixos cache server for private packages	2025-09-16 17:49:32 +02:00
93094049+kraemr@users.noreply.github.com	073c174203	removed unnecessary comment	2025-09-16 17:44:03 +02:00
93094049+kraemr@users.noreply.github.com	1d0f7231e5	added substituter fixed nix config actually fixed config now test removed git hash as version nix sucks removed gitcommitHash from overlays added fake version fixed compile script test fixed script updated ip test test 2 uppdated script and fixed config to check for caching test fixed config test test extra-subs changed to trusted-public-keys test test removed substituter removed print statements	2025-09-16 17:44:03 +02:00
93094049+kraemr@users.noreply.github.com	9401c81581	added scripts to compile our nix packages	2025-09-16 17:44:03 +02:00
Robin Krämer	936e54f3e2	Merge pull request #731 from qitechgmbh/666-implement-laserv2 666 implement laserv2	2025-09-16 16:54:29 +02:00
snacj	0c02fc1ce0	Added Comment do explain 45deg rotation	2025-09-16 16:52:12 +02:00
snacj	c723f1df00	Fixed Graphs to work with 2axis and 1 axis	2025-09-16 16:52:12 +02:00
snacj	c65a3f7fb1	Renamed Values and changed to one Graph	2025-09-16 16:52:12 +02:00
snacj	a0c59f9bb6	Added Const for graph color.	2025-09-16 16:52:12 +02:00
snacj	069dcd65bb	Removed tracing::info!	2025-09-16 16:52:12 +02:00
snacj	5331d39c1d	Changed Visual of Diameter to use x and y values	2025-09-16 16:52:12 +02:00
snacj	2c928e6158	Implemented 2-Axis Laser	2025-09-16 16:52:12 +02:00
snacj	3ae17479cb	Adjusted Frontend to work with 2-Axis Laser.	2025-09-16 16:52:12 +02:00
93094049+kraemr@users.noreply.github.com	b3589755f5	fixed winder events	2025-09-16 16:41:38 +02:00
Robin Krämer	e7f97ff4d4	Merge pull request #729 from qitechgmbh/728-set_irq_handler_affinity-doesnt-work-on-macos fixed target_os flags for set_irq_affinity	2025-09-16 15:37:40 +02:00
93094049+kraemr@users.noreply.github.com	7b4a3b52b3	fixed target_os flags for set_irq_affinity	2025-09-16 15:30:16 +02:00
Robin Krämer	310fd99730	Merge pull request #711 from qitechgmbh/694-over-time-nixos-generations-takes-up-all-diskspace-even-when-deleted added collect-garbage on each delete	2025-09-15 19:38:31 +02:00
93094049+kraemr@users.noreply.github.com	26473f5596	collect-garbage does not exist, replaced with nix store gc	2025-09-15 19:36:46 +02:00
93094049+kraemr@users.noreply.github.com	ead8a02b6a	added collect-garbage on each delete	2025-09-15 19:36:46 +02:00
Robin Krämer	b2ca9cf792	Merge pull request #712 from qitechgmbh/708-refactor-nix-config-so-that-no-dynamic-installinfonix-is-created Read git information during build instead of addign new commit via installInfo.nix	2025-09-15 18:29:19 +02:00
nixos-install.sh	301c254446	Pass git info into gitInfo.nix via env vars	2025-09-15 17:57:43 +02:00
Robin Krämer	769091d271	Merge pull request #720 from qitechgmbh/714-pressing-the-same-button-twice-triggers-isloading 714 pressing the same button twice triggers isloading	2025-09-15 16:55:05 +02:00
93094049+kraemr@users.noreply.github.com	1bc7907ba0	all machines now use old emit_state again, but extruder uses custom maybe_emit_state_hash fixed compile error after merge conflict	2025-09-15 16:49:47 +02:00
93094049+kraemr@users.noreply.github.com	8260c606dc	removed maybe_emit_state from every machine except extruder	2025-09-15 16:48:09 +02:00
Christian	c0b7e563c5	Merge pull request #713 from qitechgmbh/596-extend-total-power-output-tile-2 596 extend total power output tile	2025-09-15 16:10:45 +02:00
Melvin Spieß	9062e15712	Merge pull request #727 from qitechgmbh/722-remove-estimated-diameter-value 722 remove estimated diameter value	2025-09-15 15:34:57 +02:00
snacj	134da6fad3	fixed formatting	2025-09-15 15:25:31 +02:00
snacj	4cec6ef711	Changed Radius to Factor	2025-09-15 15:13:09 +02:00
snacj	36d64c85fb	Removed Estimated Diameter Value	2025-09-15 15:06:30 +02:00
Robin Krämer	8e00019023	Merge pull request #721 from qitechgmbh/as-any-mut Add `Machin::as_any_mut`	2025-09-15 13:44:51 +02:00
Icedsoda	575d4d2d26	Add `Machin::as_any_mut`	2025-09-15 13:26:47 +02:00
Robin Krämer	19e9ebc20f	Merge pull request #719 from qitechgmbh/718-ethercat-timeout-on-setup set wait_loop_delay to zero	2025-09-15 09:34:00 +02:00
93094049+kraemr@users.noreply.github.com	dd4476b786	set wait_loop_delay to zero	2025-09-15 09:32:20 +02:00
Christian	fc283a64a7	Merge branch 'master' into 596-extend-total-power-output-tile-2	2025-09-13 17:05:56 +02:00
Robin Krämer	b6dc1d35c6	Merge pull request #710 from qitechgmbh/707-make-adaptive-mode-for-winder-default changed MinMax to Adaptive by default	2025-09-11 15:27:20 +02:00
93094049+kraemr@users.noreply.github.com	4f542510d6	changed MinMax to Adaptive by default	2025-09-11 15:23:08 +02:00
Oshgnacknak	0ca334decc	Disable hardening in nix develop shell (#705 ) Hardening causes jmalloc to fail at compilation	2025-09-11 12:57:34 +02:00
Robin Krämer	239a926301	Merge pull request #706 from qitechgmbh/703-fix-permissions-for-set_irq_affinity 703 fix permissions for set irq affinity	2025-09-11 11:01:27 +02:00
93094049+kraemr@users.noreply.github.com	9f4c7fbedd	fixed permissions	2025-09-11 10:59:21 +02:00
93094049+kraemr@users.noreply.github.com	6a9de48bb7	added extra logging	2025-09-11 10:59:21 +02:00
93094049+kraemr@users.noreply.github.com	d9fc22399a	added DAC_OVERRIDE CAP	2025-09-11 10:59:21 +02:00
Robin Krämer	f41b0dc0c2	Merge pull request #697 from qitechgmbh/dependabot/npm_and_yarn/electron/vite-6.3.6 Bump vite from 6.3.5 to 6.3.6 in /electron	2025-09-10 15:58:37 +02:00
dependabot[bot]	14233c0aa1	Bump vite from 6.3.5 to 6.3.6 in /electron Bumps [vite](https://github.com/vitejs/vite/tree/HEAD/packages/vite) from 6.3.5 to 6.3.6. - [Release notes](https://github.com/vitejs/vite/releases) - [Changelog](https://github.com/vitejs/vite/blob/v6.3.6/packages/vite/CHANGELOG.md) - [Commits](https://github.com/vitejs/vite/commits/v6.3.6/packages/vite) --- updated-dependencies: - dependency-name: vite dependency-version: 6.3.6 dependency-type: direct:development ... Signed-off-by: dependabot[bot] <support@github.com>	2025-09-10 13:48:41 +00:00
Robin Krämer	58e56c4226	Merge pull request #702 from qitechgmbh/701-fix-optimistic-state-handling 701 fix optimistic state handling	2025-09-10 15:01:24 +02:00
93094049+kraemr@users.noreply.github.com	8ee184475e	only return state not optimisticstate	2025-09-10 14:56:05 +02:00
93094049+kraemr@users.noreply.github.com	be9c5b1be5	fixed optimistic state handling	2025-09-10 14:55:08 +02:00
Robin Krämer	8411f8f2b9	Merge pull request #698 from qitechgmbh/696-pin-ethernet-interrupt-handler-to-the-same-core-as-ethercrab-task 696 pin ethernet interrupt handler to the same core as ethercrab task	2025-09-10 14:19:59 +02:00
93094049+kraemr@users.noreply.github.com	5441a7a126	changed lint, renamed irq_handling funcs, refactor	2025-09-10 14:08:32 +02:00
93094049+kraemr@users.noreply.github.com	b2425de273	fixed non unix compilation	2025-09-10 13:55:59 +02:00
93094049+kraemr@users.noreply.github.com	82d5e73129	removed unused import	2025-09-10 13:45:58 +02:00
93094049+kraemr@users.noreply.github.com	31189ebdef	refactored irq_handling into own file	2025-09-10 13:45:58 +02:00
93094049+kraemr@users.noreply.github.com	ee1720fa95	added code to set irq handler affinity	2025-09-10 13:45:58 +02:00
Robin Krämer	72dc0634f3	Merge pull request #693 from qitechgmbh/clippy-fix Use Cargo Clippy	2025-09-10 13:43:51 +02:00
Icedsoda	13f5125daa	`cargo clippy --fix`	2025-09-10 12:14:19 +02:00
Icedsoda	2b6904b145	configure clippy	2025-09-10 12:14:19 +02:00
Robin Krämer	f776a4ba19	Merge pull request #695 from qitechgmbh/688-pressure-and-rpm-are-switched reverse prop doesnt make sense on Extruder2ControlPage Regulation	2025-09-09 16:54:29 +02:00
93094049+kraemr@users.noreply.github.com	a7c8cb218f	reverse prop doesnt make sense on Extruder2ControlPage Regulation	2025-09-09 16:49:31 +02:00
Christian	df0f86ce7e	feat(extruder): Add total energy consumption tracking and related metrics	2025-08-28 16:55:26 +02:00