Merge pull request #793 from qitechgmbh/790-refactor-aquapath-newrs-to-match-others

790 refactor aquapath newrs to match others

CHANGELOG.md

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

Cargo.lock

@@ -2689,8 +2689,6 @@ dependencies = [
  "smol",
  "socketioxide",
  "textplots",
- "tikv-jemalloc-ctl",
- "tikv-jemallocator",
  "tokio",
  "tonic",
  "tower-http",
@@ -3013,37 +3011,6 @@ dependencies = [
  "once_cell",
 ]
 
-[[package]]
-name = "tikv-jemalloc-ctl"
-version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f21f216790c8df74ce3ab25b534e0718da5a1916719771d3fec23315c99e468b"
-dependencies = [
- "libc",
- "paste",
- "tikv-jemalloc-sys",
-]
-
-[[package]]
-name = "tikv-jemalloc-sys"
-version = "0.6.0+5.3.0-1-ge13ca993e8ccb9ba9847cc330696e02839f328f7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd3c60906412afa9c2b5b5a48ca6a5abe5736aec9eb48ad05037a677e52e4e2d"
-dependencies = [
- "cc",
- "libc",
-]
-
-[[package]]
-name = "tikv-jemallocator"
-version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4cec5ff18518d81584f477e9bfdf957f5bb0979b0bac3af4ca30b5b3ae2d2865"
-dependencies = [
- "libc",
- "tikv-jemalloc-sys",
-]
-
 [[package]]
 name = "timerfd"
 version = "1.6.0"

README.md

@@ -32,7 +32,7 @@ Other
 
 ## Backend
 
-To interface with Beckhoff and other EtherCAT devices we need an EtherCAY master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
+To interface with Beckhoff and other EtherCAT devices we need an EtherCAT master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
 
 [SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.
 

control-core/Cargo.toml

@@ -19,7 +19,7 @@ serde_json = "1.0.143"
 serialport = "4.7.3"
 smol = "2.0.2"
 socketioxide = "0.17.2"
-uom = "0.36.0"
+uom = { version = "0.36.0", default-features = false, features = ["f64"] }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
 serial = "0.4.0"

control-core/src/converters/angle_converter.rs

@@ -1,4 +1,4 @@
-use uom::si::angle::radian;
+use uom::si::{angle::radian, f64::Angle};
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct AngleConverter {
@@ -63,7 +63,7 @@ impl AngleConverter {
     }
 
     /// Convert angle from mathematical system to this system (f32)
-    pub fn degrees_encode(&self, math_angle_degrees: f32) -> f32 {
+    pub fn degrees_encode(&self, math_angle_degrees: f64) -> f64 {
         let normalized_input = self.normalize_angle(math_angle_degrees);
 
         let mut result = normalized_input;
@@ -85,7 +85,7 @@ impl AngleConverter {
     }
 
     /// Convert angle from this system to mathematical system (f32)
-    pub fn degrees_decode(&self, system_angle_degrees: f32) -> f32 {
+    pub fn degrees_decode(&self, system_angle_degrees: f64) -> f64 {
         let normalized_input = self.normalize_angle(system_angle_degrees);
 
         let mut result = normalized_input;
@@ -107,14 +107,14 @@ impl AngleConverter {
     }
 
     /// Convert angle in radians from mathematical system to this system (f32)
-    pub fn radians_encode(&self, math_angle_radians: f32) -> f32 {
+    pub fn radians_encode(&self, math_angle_radians: f64) -> f64 {
         let degrees = math_angle_radians.to_degrees();
         let converted_degrees = self.degrees_encode(degrees);
         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 {
+    pub fn radians_decode(&self, system_angle_radians: f64) -> f64 {
         let degrees = system_angle_radians.to_degrees();
         let converted_degrees = self.degrees_decode(degrees);
         converted_degrees.to_radians()
@@ -179,7 +179,7 @@ impl AngleConverter {
     }
 
     /// Normalize angle to [0, 360) range (f32)
-    fn normalize_angle(&self, angle: f32) -> f32 {
+    fn normalize_angle(&self, angle: f64) -> f64 {
         let mut normalized = angle % 360.0;
         if normalized < 0.0 {
             normalized += 360.0;
@@ -207,30 +207,12 @@ impl AngleConverterUom {
         Self { angle_converter }
     }
 
-    pub fn encode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
-        uom::si::f32::Angle::new::<radian>(
-            self.angle_converter.radians_encode(angle.get::<radian>()),
-        )
+    pub fn encode(&self, angle: Angle) -> Angle {
+        Angle::new::<radian>(self.angle_converter.radians_encode(angle.get::<radian>()))
     }
 
-    pub fn decode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
-        uom::si::f32::Angle::new::<radian>(
-            self.angle_converter.radians_decode(angle.get::<radian>()),
-        )
-    }
-
-    pub fn encode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
-        uom::si::f64::Angle::new::<radian>(
-            self.angle_converter
-                .radians_encode_f64(angle.get::<radian>()),
-        )
-    }
-
-    pub fn decode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
-        uom::si::f64::Angle::new::<radian>(
-            self.angle_converter
-                .radians_decode_f64(angle.get::<radian>()),
-        )
+    pub fn decode(&self, angle: Angle) -> Angle {
+        Angle::new::<radian>(self.angle_converter.radians_decode(angle.get::<radian>()))
     }
 }
 
@@ -297,8 +279,8 @@ mod tests {
         let converter = AngleConverter::screen();
 
         // Test radians_encode
-        let result = converter.radians_encode(PI / 2.0); // 90° in radians
-        let expected = 270.0 * PI / 180.0; // 270° in radians
+        let result = converter.radians_encode(PI as f64 / 2.0) as f64; // 90° in radians
+        let expected: f64 = 270.0f64 * PI as f64 / 180.0f64; // 270° in radians
         assert!((result - expected).abs() < 1e-6);
     }
 
@@ -306,10 +288,10 @@ mod tests {
     fn test_roundtrip_conversion() {
         let converter = AngleConverter::new(true, false, true); // X-flip + CW
 
-        let original = 75.0_f32;
+        let original = 75.0_f64;
         let converted = converter.degrees_encode(original);
         let roundtrip = converter.degrees_decode(converted);
 
-        assert!((original - roundtrip).abs() < 1e-6);
+        assert!((original - roundtrip as f64).abs() < 1e-6);
     }
 }

electron/src/components/MarkdownWithToc.tsx

@@ -58,15 +58,10 @@ export function MarkdownWithToc({
           className={`sticky ${stickyTop}`}
           style={{ maxHeight: "calc(100vh - 6rem)" }}
         >
-          {/* Hide scrollbar for the TOC container across browsers */}
-          <style>{`
-            [data-toc-scroll-container] { -ms-overflow-style: none; scrollbar-width: none; }
-            [data-toc-scroll-container]::-webkit-scrollbar { display: none; }
-          `}</style>
+          {/* Table of Contents with hidden scrollbar */}
           <div
-            className="overflow-y-auto"
+            className="scrollbar-hidden overflow-y-auto"
             style={{ maxHeight: "calc(100vh - 8rem)" }}
-            data-toc-scroll-container
           >
             <MarkdownToc
               markdownContent={markdownContent}

electron/src/components/Terminal.tsx

@@ -199,7 +199,7 @@ export function Terminal({
       </div>
 
       {/* Virtualized List */}
-      <div className="flex-grow bg-black text-white">
+      <div className="flex-grow overflow-y-auto bg-neutral-900 p-4 text-neutral-300">
         <AutoSizer>
           {({ width, height }) => (
             <List

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

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

electron/src/styles/global.css

@@ -177,3 +177,107 @@
     @apply bg-background text-foreground;
   }
 }
+
+/* macOS-style scrollbars */
+@layer base {
+  /* WebKit browsers (Safari, Chrome, newer Edge) */
+  ::-webkit-scrollbar {
+    width: 8px;
+    height: 16px;
+  }
+
+  ::-webkit-scrollbar-track {
+    background: transparent;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background: rgba(0, 0, 0, 0.2);
+    border-radius: 10px;
+    border: 2px solid transparent;
+    background-clip: content-box;
+    transition: background-color 0.2s ease;
+  }
+
+  ::-webkit-scrollbar-thumb:hover {
+    background: rgba(0, 0, 0, 0.4);
+    background-clip: content-box;
+  }
+
+  ::-webkit-scrollbar-thumb:active {
+    background: rgba(0, 0, 0, 0.6);
+    background-clip: content-box;
+  }
+
+  ::-webkit-scrollbar-corner {
+    background: transparent;
+  }
+
+  /* Dark mode adjustments */
+  .dark ::-webkit-scrollbar-thumb {
+    background: rgba(255, 255, 255, 0.2);
+    background-clip: content-box;
+  }
+
+  .dark ::-webkit-scrollbar-thumb:hover {
+    background: rgba(255, 255, 255, 0.4);
+    background-clip: content-box;
+  }
+
+  .dark ::-webkit-scrollbar-thumb:active {
+    background: rgba(255, 255, 255, 0.6);
+    background-clip: content-box;
+  }
+
+  /* Firefox */
+  html,
+  body {
+    scrollbar-width: thin;
+    scrollbar-color: rgba(0, 0, 0, 0.2) transparent;
+  }
+
+  .dark html,
+  .dark body {
+    scrollbar-color: rgba(255, 255, 255, 0.2) transparent;
+  }
+
+  /* Auto-hide behavior for overlay scrollbars */
+  @media (pointer: fine) {
+    ::-webkit-scrollbar {
+      width: 4px;
+      height: 4px;
+    }
+
+    ::-webkit-scrollbar:hover {
+      width: 8px;
+      height: 8px;
+    }
+
+    /* Container hover shows scrollbars */
+    .scrollbar-visible:hover::-webkit-scrollbar {
+      width: 8px;
+      height: 8px;
+    }
+  }
+
+  /* Utility classes for scrollbar customization */
+  .scrollbar-hidden {
+    -ms-overflow-style: none;
+    scrollbar-width: none;
+  }
+
+  .scrollbar-hidden::-webkit-scrollbar {
+    display: none;
+  }
+
+  .scrollbar-always-visible::-webkit-scrollbar {
+    width: 8px !important;
+    height: 8px !important;
+  }
+
+  @media (pointer: fine) {
+    .scrollbar-always-visible::-webkit-scrollbar {
+      width: 8px !important;
+      height: 8px !important;
+    }
+  }
+}

ethercat-hal/Cargo.toml

@@ -12,7 +12,7 @@ ethercrab = "0.6"
 ethercat_hal_derive = { version = "0.1.0", path = "../ethercat-hal-derive" }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 smol = "2.0.2"
-uom = "0.36.0"
+uom = { version = "0.36.0", default-features = false, features = ["f64","si"] }
 rand = "0.9.2"
 futures = "0.3.31"
 tracing = "0.1.41"

nixos/modules/qitech.nix

@@ -78,18 +78,20 @@ serviceConfig = {
   Restart = "always";
   RestartSec = "10s";
 
-  # Capabilities (unchanged, as you wanted)
-  CapabilityBoundingSet = "CAP_NET_RAW CAP_NET_ADMIN CAP_SYS_NICE CAP_DAC_OVERRIDE";
-  AmbientCapabilities     = "CAP_NET_RAW CAP_NET_ADMIN CAP_SYS_NICE CAP_DAC_OVERRIDE";
+  # Capabilities
+  CapabilityBoundingSet = "CAP_NET_RAW CAP_IPC_LOCK CAP_NET_ADMIN CAP_SYS_NICE CAP_DAC_OVERRIDE";
+  AmbientCapabilities     = "CAP_NET_RAW CAP_IPC_LOCK CAP_NET_ADMIN CAP_SYS_NICE CAP_DAC_OVERRIDE";
 
   # Hardening options
   NoNewPrivileges = true;
   ProtectSystem = "strict";
+
   # Open only /proc/irq explicitly
   ReadWritePaths = [ "/proc/irq" ];
   ProtectHome = true;
   PrivateTmp = true;
   PrivateDevices = false;
+
   # Must disable this to allow /proc/irq writes
   ProtectKernelTunables = false;
   ProtectControlGroups = true;

server/Cargo.toml

@@ -55,9 +55,9 @@ opentelemetry-otlp = { version = "0.30.0", features = [
 ], optional = true }
 tonic = { version = "0.13.1", optional = true }
 
-[target.'cfg(not(target_env = "msvc"))'.dependencies]
-tikv-jemallocator = { version = "0.6", features = ["profiling", "stats"] }
-tikv-jemalloc-ctl = "0.6"
+#[target.'cfg(not(target_env = "msvc"))'.dependencies]
+#tikv-jemallocator = { version = "0.6", features = ["profiling", "stats"] }
+#tikv-jemalloc-ctl = "0.6"
 
 [dev-dependencies]
 approx = "0.5.1"

server/src/jemalloc_stats.rs

@@ -1,64 +0,0 @@
-use std::{thread::sleep, time::Duration};
-
-pub fn init_jemalloc_stats() {
-    std::thread::Builder::new()
-        .name("jemalloc-stats".to_string())
-        .spawn(|| {
-            let mut last_allocated = 0usize;
-            let mut last_time = std::time::Instant::now();
-
-            loop {
-                smol::block_on(async {
-                    sleep(Duration::from_secs(10));
-                    // Advance epoch and get allocated bytes
-                    let _ = tikv_jemalloc_ctl::epoch::advance();
-
-                    if let Ok(allocated_bytes) =
-                        unsafe { tikv_jemalloc_ctl::raw::read::<usize>(b"stats.allocated\0") }
-                    {
-                        let current_time = std::time::Instant::now();
-                        let time_diff = current_time.duration_since(last_time).as_secs_f64();
-
-                        let change = allocated_bytes as i64 - last_allocated as i64;
-                        let change_per_sec = if time_diff > 0.0 {
-                            (change as f64 / time_diff) as i64
-                        } else {
-                            0
-                        };
-
-                        let change_str = if change_per_sec >= 0 {
-                            format!("+{} KB/s", format_bytes(change_per_sec))
-                        } else {
-                            format!("-{} KB/s", format_bytes(-change_per_sec))
-                        };
-
-                        let formatted = format_bytes(allocated_bytes as i64);
-
-                        tracing::debug!("Memory: {} KB ({})", formatted, change_str);
-                        last_allocated = allocated_bytes;
-                        last_time = current_time;
-                    }
-                });
-            }
-        })
-        .expect("Failed to spawn jemalloc-stats thread");
-}
-
-fn format_bytes(bytes: i64) -> String {
-    let kb = bytes / 1024;
-    format!("{}", kb)
-        .chars()
-        .rev()
-        .enumerate()
-        .map(|(i, c)| {
-            if i > 0 && i % 3 == 0 {
-                format!("_{}", c)
-            } else {
-                c.to_string()
-            }
-        })
-        .collect::<String>()
-        .chars()
-        .rev()
-        .collect::<String>()
-}

server/src/machines/aquapath1/new.rs

@@ -1,20 +1,16 @@
 use super::{AquaPathV1, AquaPathV1Mode};
-use crate::machines::aquapath1::{
-    Flow, Temperature, api::AquaPathV1Namespace, controller::Controller,
+use crate::machines::{
+    aquapath1::{Flow, Temperature, api::AquaPathV1Namespace, controller::Controller},
+    get_ethercat_device,
 };
 use anyhow::Error;
-use control_core::machines::{
-    identification::DeviceHardwareIdentification,
-    new::{
-        MachineNewHardware, MachineNewParams, MachineNewTrait, get_device_identification_by_role,
-        get_ethercat_device_by_index, get_subdevice_by_index, validate_no_role_dublicates,
-        validate_same_machine_identification_unique,
-    },
+use control_core::machines::new::{
+    MachineNewHardware, MachineNewParams, MachineNewTrait, get_subdevice_by_index,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
 };
 use ethercat_hal::{
     coe::ConfigurableDevice,
     devices::{
-        EthercatDeviceUsed, downcast_device,
         ek1100::{EK1100, EK1100_IDENTITY_A},
         el2008::{EL2008, EL2008_IDENTITY_A, EL2008Port},
         el3204::{EL3204, EL3204_IDENTITY_A, EL3204_IDENTITY_B, EL3204Port},
@@ -23,7 +19,6 @@ use ethercat_hal::{
             EL5152, EL5152_IDENTITY_A, EL5152Configuration, EL5152Port,
             EL5152PredefinedPdoAssignment,
         },
-        subdevice_identity_to_tuple,
     },
     io::{
         analog_output::AnalogOutput, digital_output::DigitalOutput, encoder_input::EncoderInput,
@@ -56,217 +51,46 @@ impl MachineNewTrait for AquaPathV1 {
 
         smol::block_on(async {
             // Role 0 - Buscoupler EK1100
-            {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 0)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 0 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EK1100_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EK1100>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 0 is not an EK1100",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-            }
+            let _ek1100 =
+                get_ethercat_device::<EK1100>(hardware, params, 0, [EK1100_IDENTITY_A].to_vec());
 
             // Role 1 - EL2008 Digital Output Module
-            let el2008 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 1)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 1 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL2008_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL2008>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 1 is not an EL2008",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
+            let el2008 =
+                get_ethercat_device::<EL2008>(hardware, params, 1, [EL2008_IDENTITY_A].to_vec())
+                    .await?
+                    .0;
 
             // Role 2 - EL4002 Analog Output Module
-            let el4002 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 2)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 2 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
+            let el4002 =
+                get_ethercat_device::<EL4002>(hardware, params, 2, [EL4002_IDENTITY_A].to_vec())
+                    .await?
+                    .0;
 
-                let subdevice = get_subdevice_by_index(
-                    hardware.subdevices,
-                    device_hardware_identification_ethercat.subdevice_index,
-                )?;
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice_identity = subdevice.identity();
+            let el3204 = get_ethercat_device::<EL3204>(
+                hardware,
+                params,
+                3,
+                [EL3204_IDENTITY_A, EL3204_IDENTITY_B].to_vec(),
+            )
+            .await?
+            .0;
 
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL4002_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL4002>(ethercat_device).await?
-                    }
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 2 is not an EL4002",
-                        module_path!()
-                    ))?,
-                };
+            let el5152 =
+                get_ethercat_device::<EL5152>(hardware, params, 4, [EL5152_IDENTITY_A].to_vec())
+                    .await?
+                    .0;
 
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
-            let el3204 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 3)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 3 is not Ethercat",
-                        module_path!()
-                    ))?, //uncommented
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL3204_IDENTITY_A | EL3204_IDENTITY_B => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL3204>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 3 is not an EL3204",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
+            let config = EL5152Configuration {
+                pdo_assignment: EL5152PredefinedPdoAssignment::Frequency,
+                ..Default::default()
             };
+            let subdevice = get_subdevice_by_index(hardware.subdevices, 4)?;
+            el5152
+                .write()
+                .await
+                .write_config(&subdevice, &config)
+                .await?;
 
-            let el5152 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 4)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 4 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL5152_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL5152>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 4 is not an EL5152",
-                            module_path!()
-                        ));
-                    }
-                };
-
-                let config = EL5152Configuration {
-                    pdo_assignment: EL5152PredefinedPdoAssignment::Frequency,
-                    ..Default::default()
-                };
-                device
-                    .write()
-                    .await
-                    .write_config(&subdevice, &config)
-                    .await?;
-
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
             let enc1 = EncoderInput::new(el5152.clone(), EL5152Port::ENC1);
 
             let enc2 = EncoderInput::new(el5152.clone(), EL5152Port::ENC2);

server/src/machines/extruder1/new.rs

@@ -86,9 +86,7 @@ impl MachineNewTrait for ExtruderV2 {
         // if its async the compiler thinks &subdevices is persisted in the future which might never execute
         // so we can't drop subdevices unless this machine is dropped, which is bad
         smol::block_on(async {
-            // Role 0
-            // Buscoupler
-            // EK1100
+            // Role 0 - Buscoupler EK1100
             let _ek1100 =
                 get_ethercat_device::<EK1100>(hardware, params, 0, [EK1100_IDENTITY_A].to_vec());
 

server/src/machines/winder2/emit.rs

@@ -0,0 +1,502 @@
+use std::time::Instant;
+
+use crate::machines::buffer1::BufferV1;
+
+use super::puller_speed_controller::PullerRegulationMode;
+use super::{TraverseMode, Winder2, Winder2Mode, api, spool_speed_controller};
+use api::{
+    LiveValuesEvent, ModeState, PullerState, SpoolAutomaticActionMode, SpoolAutomaticActionState,
+    SpoolSpeedControllerState, StateEvent, TensionArmState, TraverseState, Winder2Events,
+};
+use control_core::socketio::event::BuildEvent;
+use control_core::{
+    machines::identification::MachineIdentificationUnique,
+    socketio::namespace::NamespaceCacheingLogic, uom_extensions::velocity::meter_per_minute,
+};
+
+use uom::si::{
+    angle::degree,
+    angular_velocity::revolution_per_minute,
+    f64::{Length, Velocity},
+    length::{meter, millimeter},
+};
+
+impl Winder2 {
+    /// Implement Spool
+    /// called by `act`
+    pub fn sync_spool_speed(&mut self, t: Instant) {
+        let angular_velocity = self.spool_speed_controller.update_speed(
+            t,
+            &self.tension_arm,
+            &self.puller_speed_controller,
+        );
+        let steps_per_second = self
+            .spool_step_converter
+            .angular_velocity_to_steps(angular_velocity);
+        let _ = self.spool.set_speed(steps_per_second);
+    }
+
+    pub fn stop_or_pull_spool(&mut self, now: Instant) {
+        if matches!(
+            self.spool_automatic_action.mode,
+            SpoolAutomaticActionMode::NoAction
+        ) {
+            self.calculate_spool_auto_progress_(now);
+            return;
+        }
+
+        match self.mode {
+            Winder2Mode::Pull => self.calculate_spool_auto_progress_(now),
+            Winder2Mode::Wind => self.calculate_spool_auto_progress_(now),
+            _ => {
+                self.spool_automatic_action.progress_last_check = now;
+                return;
+            }
+        }
+
+        if self.spool_automatic_action.progress >= self.spool_automatic_action.target_length {
+            match self.spool_automatic_action.mode {
+                SpoolAutomaticActionMode::NoAction => (),
+                SpoolAutomaticActionMode::Pull => {
+                    self.stop_or_pull_spool_reset(now);
+                    self.set_mode(&Winder2Mode::Pull);
+                }
+                SpoolAutomaticActionMode::Hold => {
+                    self.stop_or_pull_spool_reset(now);
+                    self.set_mode(&Winder2Mode::Hold);
+                }
+            }
+        }
+    }
+    /// Implement Mode
+    pub fn set_mode(&mut self, mode: &Winder2Mode) {
+        let should_update = *mode != Winder2Mode::Wind || self.can_wind();
+
+        if should_update {
+            // all transitions are allowed
+            self.mode = mode.clone();
+
+            // Apply the mode changes to the spool and puller
+            self.set_spool_mode(mode);
+            self.set_puller_mode(mode);
+            self.set_traverse_mode(mode);
+        }
+        self.emit_state();
+    }
+
+    /// Implement Traverse
+    pub fn set_laser(&mut self, value: bool) {
+        self.laser.set(value);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_limit_inner(&mut self, limit: f64) {
+        let new_inner = Length::new::<millimeter>(limit);
+        let current_outer = self.traverse_controller.get_limit_outer();
+
+        // Validate the new inner limit against current outer limit
+        if !Self::validate_traverse_limits(new_inner, current_outer) {
+            // Don't update if validation fails - keep the current value
+            return;
+        }
+        self.traverse_controller.set_limit_inner(new_inner);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_limit_outer(&mut self, limit: f64) {
+        let new_outer = Length::new::<millimeter>(limit);
+        let current_inner = self.traverse_controller.get_limit_inner();
+
+        // Validate the new outer limit against current inner limit
+        if !Self::validate_traverse_limits(current_inner, new_outer) {
+            // Don't update if validation fails - keep the current value
+            return;
+        }
+
+        self.traverse_controller.set_limit_outer(new_outer);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_step_size(&mut self, step_size: f64) {
+        let step_size = Length::new::<millimeter>(step_size);
+        self.traverse_controller.set_step_size(step_size);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_padding(&mut self, padding: f64) {
+        let padding = Length::new::<millimeter>(padding);
+        self.traverse_controller.set_padding(padding);
+        self.emit_state();
+    }
+
+    pub fn traverse_goto_limit_inner(&mut self) {
+        if self.can_go_in() {
+            self.traverse_controller.goto_limit_inner();
+        }
+        self.emit_state();
+    }
+
+    pub fn traverse_goto_limit_outer(&mut self) {
+        if self.can_go_out() {
+            self.traverse_controller.goto_limit_outer();
+        }
+        self.emit_state();
+    }
+
+    pub fn traverse_goto_home(&mut self) {
+        if self.can_go_home() {
+            self.traverse_controller.goto_home();
+        }
+        self.emit_state();
+    }
+
+    pub fn emit_live_values(&mut self) {
+        let angle_deg = self.tension_arm.get_angle().get::<degree>();
+
+        // Wrap [270;<360] to [-90; 0]
+        // This is done to reduce flicker in the graphs around the zero point
+        let angle_deg = if angle_deg >= 270.0 {
+            angle_deg - 360.0
+        } else {
+            angle_deg
+        };
+
+        // Calculate puller speed from current motor steps
+        let steps_per_second = self.puller.get_speed();
+        let angular_velocity = self
+            .puller_speed_controller
+            .converter
+            .steps_to_angular_velocity(steps_per_second as f64);
+        let puller_speed = self
+            .puller_speed_controller
+            .angular_velocity_to_speed(angular_velocity);
+
+        // Calculate spool RPM from current motor steps
+        let spool_rpm = self
+            .spool_step_converter
+            .steps_to_angular_velocity(self.spool.get_speed() as f64)
+            .get::<revolution_per_minute>();
+
+        let live_values = LiveValuesEvent {
+            traverse_position: self
+                .traverse_controller
+                .get_current_position()
+                .map(|x| x.get::<millimeter>()),
+            puller_speed: puller_speed.get::<meter_per_minute>(),
+            spool_rpm,
+            tension_arm_angle: angle_deg,
+            spool_progress: self.spool_automatic_action.progress.get::<meter>(),
+        };
+
+        let event = live_values.build();
+        self.namespace.emit(Winder2Events::LiveValues(event));
+    }
+
+    pub fn build_state_event(&mut self) -> StateEvent {
+        StateEvent {
+            is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
+            traverse_state: TraverseState {
+                limit_inner: self
+                    .traverse_controller
+                    .get_limit_inner()
+                    .get::<millimeter>(),
+                limit_outer: self
+                    .traverse_controller
+                    .get_limit_outer()
+                    .get::<millimeter>(),
+                position_in: self
+                    .traverse_controller
+                    .get_limit_inner()
+                    .get::<millimeter>(),
+                position_out: self
+                    .traverse_controller
+                    .get_limit_outer()
+                    .get::<millimeter>(),
+                is_going_in: self.traverse_controller.is_going_in(),
+                is_going_out: self.traverse_controller.is_going_out(),
+                is_homed: self.traverse_controller.is_homed(),
+                is_going_home: self.traverse_controller.is_going_home(),
+                is_traversing: self.traverse_controller.is_traversing(),
+                laserpointer: self.laser.get(),
+                step_size: self.traverse_controller.get_step_size().get::<millimeter>(),
+                padding: self.traverse_controller.get_padding().get::<millimeter>(),
+                can_go_in: self.can_go_in(),
+                can_go_out: self.can_go_out(),
+                can_go_home: self.can_go_home(),
+            },
+            puller_state: PullerState {
+                regulation: self.puller_speed_controller.regulation_mode.clone(),
+                target_speed: self
+                    .puller_speed_controller
+                    .target_speed
+                    .get::<meter_per_minute>(),
+                target_diameter: self
+                    .puller_speed_controller
+                    .target_diameter
+                    .get::<millimeter>(),
+                forward: self.puller_speed_controller.forward,
+            },
+            mode_state: ModeState {
+                mode: self.mode.clone().into(),
+                can_wind: self.can_wind(),
+            },
+            tension_arm_state: TensionArmState {
+                zeroed: self.tension_arm.zeroed,
+            },
+            spool_speed_controller_state: SpoolSpeedControllerState {
+                regulation_mode: self.spool_speed_controller.get_type().clone(),
+                minmax_min_speed: self
+                    .spool_speed_controller
+                    .get_minmax_min_speed()
+                    .get::<revolution_per_minute>(),
+                minmax_max_speed: self
+                    .spool_speed_controller
+                    .get_minmax_max_speed()
+                    .get::<revolution_per_minute>(),
+                adaptive_tension_target: self.spool_speed_controller.get_adaptive_tension_target(),
+                adaptive_radius_learning_rate: self
+                    .spool_speed_controller
+                    .get_adaptive_radius_learning_rate(),
+                adaptive_max_speed_multiplier: self
+                    .spool_speed_controller
+                    .get_adaptive_max_speed_multiplier(),
+                adaptive_acceleration_factor: self
+                    .spool_speed_controller
+                    .get_adaptive_acceleration_factor(),
+                adaptive_deacceleration_urgency_multiplier: self
+                    .spool_speed_controller
+                    .get_adaptive_deacceleration_urgency_multiplier(),
+            },
+            spool_automatic_action_state: SpoolAutomaticActionState {
+                spool_required_meters: self.spool_automatic_action.target_length.get::<meter>(),
+                spool_automatic_action_mode: self.spool_automatic_action.mode.clone(),
+            },
+            connected_machine_state: self.connected_buffer.to_state(),
+        }
+    }
+
+    pub fn emit_state(&mut self) {
+        let state_event = self.build_state_event();
+        let event = state_event.build();
+        self.namespace.emit(Winder2Events::State(event));
+    }
+
+    /// Apply the mode changes to the spool
+    ///
+    /// It contains a transition matrix for atomic changes.
+    /// It will set [`Self::spool_mode`]
+    fn set_traverse_mode(&mut self, mode: &Winder2Mode) {
+        // Convert to `Winder2Mode` to `TraverseMode`
+        let mode: TraverseMode = mode.clone().into();
+
+        // If coming out of standby
+        if self.traverse_mode == TraverseMode::Standby && mode != TraverseMode::Standby {
+            self.traverse.set_enabled(true);
+            self.traverse_controller.set_enabled(true);
+        }
+
+        // If going into standby
+        if mode == TraverseMode::Standby && self.traverse_mode != TraverseMode::Standby {
+            // If we are going into standby, we need to stop the traverse
+            self.traverse.set_enabled(false);
+            self.traverse_controller.set_enabled(false);
+        }
+
+        // Transition matrix
+        match self.traverse_mode {
+            TraverseMode::Standby => match mode {
+                TraverseMode::Standby => {}
+                TraverseMode::Hold => {
+                    // From [`TraverseMode::Standby`] to [`TraverseMode::Hold`]
+                    self.traverse.set_enabled(true);
+                    self.traverse_controller.set_enabled(true);
+                    self.traverse_controller.goto_home();
+                }
+                TraverseMode::Traverse => {
+                    // From [`TraverseMode::Standby`] to [`TraverseMode::Wind`]
+                    self.traverse.set_enabled(true);
+                    self.traverse_controller.set_enabled(true);
+                    self.traverse_controller.start_traversing();
+                }
+            },
+            TraverseMode::Hold => match mode {
+                TraverseMode::Standby => {
+                    // From [`TraverseMode::Hold`] to [`TraverseMode::Standby`]
+                    self.traverse.set_enabled(false);
+                    self.traverse_controller.set_enabled(false);
+                }
+                TraverseMode::Hold => {}
+                TraverseMode::Traverse => {
+                    // From [`TraverseMode::Hold`] to [`TraverseMode::Wind`]
+                    self.traverse_controller.start_traversing();
+                }
+            },
+            TraverseMode::Traverse => match mode {
+                TraverseMode::Standby => {
+                    // From [`TraverseMode::Wind`] to [`TraverseMode::Standby`]
+                    self.traverse.set_enabled(false);
+                    self.traverse_controller.set_enabled(false);
+                }
+                TraverseMode::Hold => {
+                    // From [`TraverseMode::Wind`] to [`TraverseMode::Hold`]
+                    self.traverse_controller.goto_home();
+                }
+                TraverseMode::Traverse => {}
+            },
+        }
+
+        // Update the internal state
+        self.traverse_mode = mode;
+        self.emit_state();
+    }
+
+    /// Implement Tension Arm
+    pub fn tension_arm_zero(&mut self) {
+        self.tension_arm.zero();
+        self.emit_live_values(); // For angle update
+        // For state update
+        self.emit_state();
+    }
+
+    pub fn set_spool_automatic_required_meters(&mut self, meters: f64) {
+        self.spool_automatic_action.target_length = Length::new::<meter>(meters);
+        self.emit_state();
+    }
+
+    pub fn set_spool_automatic_mode(&mut self, mode: SpoolAutomaticActionMode) {
+        self.spool_automatic_action.mode = mode;
+        self.emit_state();
+    }
+
+    pub fn puller_set_regulation(&mut self, puller_regulation_mode: PullerRegulationMode) {
+        self.puller_speed_controller
+            .set_regulation_mode(puller_regulation_mode);
+        self.emit_state();
+    }
+
+    /// Set target speed in m/min
+    pub fn puller_set_target_speed(&mut self, target_speed: f64) {
+        // Convert m/min to velocity
+        let target_speed = Velocity::new::<meter_per_minute>(target_speed);
+        self.puller_speed_controller.set_target_speed(target_speed);
+        self.emit_state();
+    }
+
+    /// Set target diameter in mm
+    pub fn puller_set_target_diameter(&mut self, target_diameter: f64) {
+        // Convert m/min to velocity
+        let target_diameter = Length::new::<millimeter>(target_diameter);
+        self.puller_speed_controller
+            .set_target_diameter(target_diameter);
+        self.emit_state();
+    }
+
+    /// Set forward direction
+    pub fn puller_set_forward(&mut self, forward: bool) {
+        self.puller_speed_controller.set_forward(forward);
+        self.emit_state();
+    }
+
+    // Spool Speed Controller API methods
+    pub fn spool_set_regulation_mode(
+        &mut self,
+        regulation_mode: spool_speed_controller::SpoolSpeedControllerType,
+    ) {
+        self.spool_speed_controller.set_type(regulation_mode);
+        self.emit_state();
+    }
+
+    /// Set minimum speed for minmax mode in RPM
+    pub fn spool_set_minmax_min_speed(&mut self, min_speed_rpm: f64) {
+        let min_speed = uom::si::f64::AngularVelocity::new::<revolution_per_minute>(min_speed_rpm);
+        if let Err(e) = self.spool_speed_controller.set_minmax_min_speed(min_speed) {
+            tracing::error!("Failed to set spool min speed: {:?}", e);
+        }
+        self.emit_state();
+    }
+
+    /// Set maximum speed for minmax mode in RPM
+    pub fn spool_set_minmax_max_speed(&mut self, max_speed_rpm: f64) {
+        let max_speed = uom::si::f64::AngularVelocity::new::<revolution_per_minute>(max_speed_rpm);
+        if let Err(e) = self.spool_speed_controller.set_minmax_max_speed(max_speed) {
+            tracing::error!("Failed to set spool max speed: {:?}", e);
+        }
+        self.emit_state();
+    }
+
+    /// Set tension target for adaptive mode (0.0-1.0)
+    pub fn spool_set_adaptive_tension_target(&mut self, tension_target: f64) {
+        self.spool_speed_controller
+            .set_adaptive_tension_target(tension_target);
+        self.emit_state();
+    }
+
+    /// Set radius learning rate for adaptive mode
+    pub fn spool_set_adaptive_radius_learning_rate(&mut self, radius_learning_rate: f64) {
+        self.spool_speed_controller
+            .set_adaptive_radius_learning_rate(radius_learning_rate);
+        self.emit_state();
+    }
+
+    /// Set max speed multiplier for adaptive mode
+    pub fn spool_set_adaptive_max_speed_multiplier(&mut self, max_speed_multiplier: f64) {
+        self.spool_speed_controller
+            .set_adaptive_max_speed_multiplier(max_speed_multiplier);
+        self.emit_state();
+    }
+
+    /// Set acceleration factor for adaptive mode
+    pub fn spool_set_adaptive_acceleration_factor(&mut self, acceleration_factor: f64) {
+        self.spool_speed_controller
+            .set_adaptive_acceleration_factor(acceleration_factor);
+        self.emit_state();
+    }
+
+    /// Set deacceleration urgency multiplier for adaptive mode
+    pub fn spool_set_adaptive_deacceleration_urgency_multiplier(
+        &mut self,
+        deacceleration_urgency_multiplier: f64,
+    ) {
+        self.spool_speed_controller
+            .set_adaptive_deacceleration_urgency_multiplier(deacceleration_urgency_multiplier);
+        self.emit_state();
+    }
+
+    /// implement machine connection
+    /// set connected buffer
+    pub fn set_connected_buffer(
+        &mut self,
+        machine_identification_unique: MachineIdentificationUnique,
+    ) {
+        if !matches!(
+            machine_identification_unique.machine_identification,
+            BufferV1::MACHINE_IDENTIFICATION
+        ) {
+            return;
+        }
+
+        self.connected_buffer
+            .set_connected_machine(&machine_identification_unique);
+        self.connected_buffer.reverse_connect();
+
+        self.emit_state();
+    }
+
+    /// disconnect buffer
+    pub fn disconnect_buffer(
+        &mut self,
+        machine_identification_unique: MachineIdentificationUnique,
+    ) {
+        if !matches!(
+            machine_identification_unique.machine_identification,
+            BufferV1::MACHINE_IDENTIFICATION
+        ) {
+            return;
+        }
+
+        self.connected_buffer.reverse_disconnect();
+        self.connected_buffer.disconnect();
+
+        self.emit_state();
+    }
+}

server/src/machines/winder2/filament_tension.rs

@@ -77,7 +77,7 @@ impl FilamentTensionCalculator {
     pub fn calc_filament_length(&self, tension_arm_angle: Angle) -> Length {
         let tension_arm_angle_rad = self
             .angle_converter
-            .decode_f64(tension_arm_angle)
+            .decode(tension_arm_angle)
             .get::<radian>();
 
         // Calculate tension arm tip position (flipped Y-axis: 0° = down, 90° = left)

server/src/machines/winder2/mod.rs

@@ -2,6 +2,7 @@ pub mod act;
 pub mod adaptive_spool_speed_controller;
 pub mod api;
 pub mod clamp_revolution;
+pub mod emit;
 pub mod filament_tension;
 pub mod minmax_spool_speed_controller;
 pub mod new;
@@ -12,12 +13,7 @@ pub mod traverse_controller;
 
 use std::{fmt::Debug, sync::Weak, time::Instant};
 
-use api::{
-    LiveValuesEvent, ModeState, PullerState, SpoolAutomaticActionMode, SpoolAutomaticActionState,
-    SpoolSpeedControllerState, StateEvent, TensionArmState, TraverseState, Winder2Events,
-    Winder2Namespace,
-};
-use control_core::socketio::event::BuildEvent;
+use api::{SpoolAutomaticActionMode, Winder2Namespace};
 use control_core::{
     converters::angular_step_converter::AngularStepConverter,
     machines::{
@@ -25,15 +21,13 @@ use control_core::{
         identification::{MachineIdentification, MachineIdentificationUnique},
         manager::MachineManager,
     },
-    socketio::namespace::NamespaceCacheingLogic,
-    uom_extensions::velocity::meter_per_minute,
 };
 use control_core_derive::Machine;
 use ethercat_hal::io::{
     digital_input::DigitalInput, digital_output::DigitalOutput,
     stepper_velocity_el70x1::StepperVelocityEL70x1,
 };
-use puller_speed_controller::{PullerRegulationMode, PullerSpeedController};
+use puller_speed_controller::PullerSpeedController;
 use smol::lock::RwLock;
 use spool_speed_controller::SpoolSpeedController;
 use tension_arm::TensionArm;
@@ -41,9 +35,7 @@ use traverse_controller::TraverseController;
 use uom::{
     ConstZero,
     si::{
-        angle::degree,
-        angular_velocity::revolution_per_minute,
-        f64::{Length, Velocity},
+        f64::Length,
         length::{meter, millimeter},
         velocity::meter_per_second,
     },
@@ -116,12 +108,6 @@ impl Winder2 {
         machine: MACHINE_WINDER_V1,
     };
 
-    /// Implement Traverse
-    fn set_laser(&mut self, value: bool) {
-        self.laser.set(value);
-        self.emit_state();
-    }
-
     /// Validates that traverse limits maintain proper constraints:
     /// - Inner limit must be smaller than outer limit
     /// - At least 0.9mm difference between inner and outer limits
@@ -129,197 +115,6 @@ impl Winder2 {
         outer > inner + Length::new::<millimeter>(0.9)
     }
 
-    pub fn traverse_set_limit_inner(&mut self, limit: f64) {
-        let new_inner = Length::new::<millimeter>(limit);
-        let current_outer = self.traverse_controller.get_limit_outer();
-
-        // Validate the new inner limit against current outer limit
-        if !Self::validate_traverse_limits(new_inner, current_outer) {
-            // Don't update if validation fails - keep the current value
-            return;
-        }
-        self.traverse_controller.set_limit_inner(new_inner);
-        self.emit_state();
-    }
-
-    pub fn traverse_set_limit_outer(&mut self, limit: f64) {
-        let new_outer = Length::new::<millimeter>(limit);
-        let current_inner = self.traverse_controller.get_limit_inner();
-
-        // Validate the new outer limit against current inner limit
-        if !Self::validate_traverse_limits(current_inner, new_outer) {
-            // Don't update if validation fails - keep the current value
-            return;
-        }
-
-        self.traverse_controller.set_limit_outer(new_outer);
-        self.emit_state();
-    }
-
-    pub fn traverse_set_step_size(&mut self, step_size: f64) {
-        let step_size = Length::new::<millimeter>(step_size);
-        self.traverse_controller.set_step_size(step_size);
-        self.emit_state();
-    }
-
-    pub fn traverse_set_padding(&mut self, padding: f64) {
-        let padding = Length::new::<millimeter>(padding);
-        self.traverse_controller.set_padding(padding);
-        self.emit_state();
-    }
-
-    pub fn traverse_goto_limit_inner(&mut self) {
-        if self.can_go_in() {
-            self.traverse_controller.goto_limit_inner();
-        }
-        self.emit_state();
-    }
-
-    pub fn traverse_goto_limit_outer(&mut self) {
-        if self.can_go_out() {
-            self.traverse_controller.goto_limit_outer();
-        }
-        self.emit_state();
-    }
-
-    pub fn traverse_goto_home(&mut self) {
-        if self.can_go_home() {
-            self.traverse_controller.goto_home();
-        }
-        self.emit_state();
-    }
-
-    pub fn emit_live_values(&mut self) {
-        let angle_deg = self.tension_arm.get_angle().get::<degree>();
-
-        // Wrap [270;<360] to [-90; 0]
-        // This is done to reduce flicker in the graphs around the zero point
-        let angle_deg = if angle_deg >= 270.0 {
-            angle_deg - 360.0
-        } else {
-            angle_deg
-        };
-
-        // Calculate puller speed from current motor steps
-        let steps_per_second = self.puller.get_speed();
-        let angular_velocity = self
-            .puller_speed_controller
-            .converter
-            .steps_to_angular_velocity(steps_per_second as f64);
-        let puller_speed = self
-            .puller_speed_controller
-            .angular_velocity_to_speed(angular_velocity);
-
-        // Calculate spool RPM from current motor steps
-        let spool_rpm = self
-            .spool_step_converter
-            .steps_to_angular_velocity(self.spool.get_speed() as f64)
-            .get::<revolution_per_minute>();
-
-        let live_values = LiveValuesEvent {
-            traverse_position: self
-                .traverse_controller
-                .get_current_position()
-                .map(|x| x.get::<millimeter>()),
-            puller_speed: puller_speed.get::<meter_per_minute>(),
-            spool_rpm,
-            tension_arm_angle: angle_deg,
-            spool_progress: self.spool_automatic_action.progress.get::<meter>(),
-        };
-
-        let event = live_values.build();
-        self.namespace.emit(Winder2Events::LiveValues(event));
-    }
-
-    pub fn build_state_event(&mut self) -> StateEvent {
-        StateEvent {
-            is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
-            traverse_state: TraverseState {
-                limit_inner: self
-                    .traverse_controller
-                    .get_limit_inner()
-                    .get::<millimeter>(),
-                limit_outer: self
-                    .traverse_controller
-                    .get_limit_outer()
-                    .get::<millimeter>(),
-                position_in: self
-                    .traverse_controller
-                    .get_limit_inner()
-                    .get::<millimeter>(),
-                position_out: self
-                    .traverse_controller
-                    .get_limit_outer()
-                    .get::<millimeter>(),
-                is_going_in: self.traverse_controller.is_going_in(),
-                is_going_out: self.traverse_controller.is_going_out(),
-                is_homed: self.traverse_controller.is_homed(),
-                is_going_home: self.traverse_controller.is_going_home(),
-                is_traversing: self.traverse_controller.is_traversing(),
-                laserpointer: self.laser.get(),
-                step_size: self.traverse_controller.get_step_size().get::<millimeter>(),
-                padding: self.traverse_controller.get_padding().get::<millimeter>(),
-                can_go_in: self.can_go_in(),
-                can_go_out: self.can_go_out(),
-                can_go_home: self.can_go_home(),
-            },
-            puller_state: PullerState {
-                regulation: self.puller_speed_controller.regulation_mode.clone(),
-                target_speed: self
-                    .puller_speed_controller
-                    .target_speed
-                    .get::<meter_per_minute>(),
-                target_diameter: self
-                    .puller_speed_controller
-                    .target_diameter
-                    .get::<millimeter>(),
-                forward: self.puller_speed_controller.forward,
-            },
-            mode_state: ModeState {
-                mode: self.mode.clone().into(),
-                can_wind: self.can_wind(),
-            },
-            tension_arm_state: TensionArmState {
-                zeroed: self.tension_arm.zeroed,
-            },
-            spool_speed_controller_state: SpoolSpeedControllerState {
-                regulation_mode: self.spool_speed_controller.get_type().clone(),
-                minmax_min_speed: self
-                    .spool_speed_controller
-                    .get_minmax_min_speed()
-                    .get::<revolution_per_minute>(),
-                minmax_max_speed: self
-                    .spool_speed_controller
-                    .get_minmax_max_speed()
-                    .get::<revolution_per_minute>(),
-                adaptive_tension_target: self.spool_speed_controller.get_adaptive_tension_target(),
-                adaptive_radius_learning_rate: self
-                    .spool_speed_controller
-                    .get_adaptive_radius_learning_rate(),
-                adaptive_max_speed_multiplier: self
-                    .spool_speed_controller
-                    .get_adaptive_max_speed_multiplier(),
-                adaptive_acceleration_factor: self
-                    .spool_speed_controller
-                    .get_adaptive_acceleration_factor(),
-                adaptive_deacceleration_urgency_multiplier: self
-                    .spool_speed_controller
-                    .get_adaptive_deacceleration_urgency_multiplier(),
-            },
-            spool_automatic_action_state: SpoolAutomaticActionState {
-                spool_required_meters: self.spool_automatic_action.target_length.get::<meter>(),
-                spool_automatic_action_mode: self.spool_automatic_action.mode.clone(),
-            },
-            connected_machine_state: self.connected_buffer.to_state(),
-        }
-    }
-
-    pub fn emit_state(&mut self) {
-        let state_event = self.build_state_event();
-        let event = state_event.build();
-        self.namespace.emit(Winder2Events::State(event));
-    }
-
     pub fn sync_traverse_speed(&mut self) {
         self.traverse_controller.update_speed(
             &mut self.traverse,
@@ -372,22 +167,6 @@ impl Winder2 {
             && self.mode != Winder2Mode::Wind
     }
 
-    /// Implement Mode
-    fn set_mode(&mut self, mode: &Winder2Mode) {
-        let should_update = *mode != Winder2Mode::Wind || self.can_wind();
-
-        if should_update {
-            // all transitions are allowed
-            self.mode = mode.clone();
-
-            // Apply the mode changes to the spool and puller
-            self.set_spool_mode(mode);
-            self.set_puller_mode(mode);
-            self.set_traverse_mode(mode);
-        }
-        self.emit_state();
-    }
-
     /// Apply the mode changes to the spool
     ///
     /// It contains a transition matrix for atomic changes.
@@ -440,75 +219,6 @@ impl Winder2 {
         self.spool_mode = mode;
     }
 
-    /// Apply the mode changes to the spool
-    ///
-    /// It contains a transition matrix for atomic changes.
-    /// It will set [`Self::spool_mode`]
-    fn set_traverse_mode(&mut self, mode: &Winder2Mode) {
-        // Convert to `Winder2Mode` to `TraverseMode`
-        let mode: TraverseMode = mode.clone().into();
-
-        // If coming out of standby
-        if self.traverse_mode == TraverseMode::Standby && mode != TraverseMode::Standby {
-            self.traverse.set_enabled(true);
-            self.traverse_controller.set_enabled(true);
-        }
-
-        // If going into standby
-        if mode == TraverseMode::Standby && self.traverse_mode != TraverseMode::Standby {
-            // If we are going into standby, we need to stop the traverse
-            self.traverse.set_enabled(false);
-            self.traverse_controller.set_enabled(false);
-        }
-
-        // Transition matrix
-        match self.traverse_mode {
-            TraverseMode::Standby => match mode {
-                TraverseMode::Standby => {}
-                TraverseMode::Hold => {
-                    // From [`TraverseMode::Standby`] to [`TraverseMode::Hold`]
-                    self.traverse.set_enabled(true);
-                    self.traverse_controller.set_enabled(true);
-                    self.traverse_controller.goto_home();
-                }
-                TraverseMode::Traverse => {
-                    // From [`TraverseMode::Standby`] to [`TraverseMode::Wind`]
-                    self.traverse.set_enabled(true);
-                    self.traverse_controller.set_enabled(true);
-                    self.traverse_controller.start_traversing();
-                }
-            },
-            TraverseMode::Hold => match mode {
-                TraverseMode::Standby => {
-                    // From [`TraverseMode::Hold`] to [`TraverseMode::Standby`]
-                    self.traverse.set_enabled(false);
-                    self.traverse_controller.set_enabled(false);
-                }
-                TraverseMode::Hold => {}
-                TraverseMode::Traverse => {
-                    // From [`TraverseMode::Hold`] to [`TraverseMode::Wind`]
-                    self.traverse_controller.start_traversing();
-                }
-            },
-            TraverseMode::Traverse => match mode {
-                TraverseMode::Standby => {
-                    // From [`TraverseMode::Wind`] to [`TraverseMode::Standby`]
-                    self.traverse.set_enabled(false);
-                    self.traverse_controller.set_enabled(false);
-                }
-                TraverseMode::Hold => {
-                    // From [`TraverseMode::Wind`] to [`TraverseMode::Hold`]
-                    self.traverse_controller.goto_home();
-                }
-                TraverseMode::Traverse => {}
-            },
-        }
-
-        // Update the internal state
-        self.traverse_mode = mode;
-        self.emit_state();
-    }
-
     /// Apply the mode changes to the puller
     ///
     /// It contains a transition matrix for atomic changes.
@@ -560,71 +270,6 @@ impl Winder2 {
         self.puller_mode = mode;
     }
 
-    /// Implement Tension Arm
-    fn tension_arm_zero(&mut self) {
-        self.tension_arm.zero();
-        self.emit_live_values(); // For angle update
-        // For state update
-        self.emit_state();
-    }
-
-    /// Implement Spool
-    /// called by `act`
-    pub fn sync_spool_speed(&mut self, t: Instant) {
-        let angular_velocity = self.spool_speed_controller.update_speed(
-            t,
-            &self.tension_arm,
-            &self.puller_speed_controller,
-        );
-        let steps_per_second = self
-            .spool_step_converter
-            .angular_velocity_to_steps(angular_velocity);
-        let _ = self.spool.set_speed(steps_per_second);
-    }
-
-    pub fn set_spool_automatic_required_meters(&mut self, meters: f64) {
-        self.spool_automatic_action.target_length = Length::new::<meter>(meters);
-        self.emit_state();
-    }
-
-    pub fn set_spool_automatic_mode(&mut self, mode: SpoolAutomaticActionMode) {
-        self.spool_automatic_action.mode = mode;
-        self.emit_state();
-    }
-
-    pub fn stop_or_pull_spool(&mut self, now: Instant) {
-        if matches!(
-            self.spool_automatic_action.mode,
-            SpoolAutomaticActionMode::NoAction
-        ) {
-            self.calculate_spool_auto_progress_(now);
-            return;
-        }
-
-        match self.mode {
-            Winder2Mode::Pull => self.calculate_spool_auto_progress_(now),
-            Winder2Mode::Wind => self.calculate_spool_auto_progress_(now),
-            _ => {
-                self.spool_automatic_action.progress_last_check = now;
-                return;
-            }
-        }
-
-        if self.spool_automatic_action.progress >= self.spool_automatic_action.target_length {
-            match self.spool_automatic_action.mode {
-                SpoolAutomaticActionMode::NoAction => (),
-                SpoolAutomaticActionMode::Pull => {
-                    self.stop_or_pull_spool_reset(now);
-                    self.set_mode(&Winder2Mode::Pull);
-                }
-                SpoolAutomaticActionMode::Hold => {
-                    self.stop_or_pull_spool_reset(now);
-                    self.set_mode(&Winder2Mode::Hold);
-                }
-            }
-        }
-    }
-
     pub const fn stop_or_pull_spool_reset(&mut self, now: Instant) {
         self.spool_automatic_action.progress = Length::ZERO;
         self.spool_automatic_action.progress_last_check = now;
@@ -659,138 +304,6 @@ impl Winder2 {
             .angular_velocity_to_steps(angular_velocity);
         let _ = self.puller.set_speed(steps_per_second);
     }
-
-    pub fn puller_set_regulation(&mut self, puller_regulation_mode: PullerRegulationMode) {
-        self.puller_speed_controller
-            .set_regulation_mode(puller_regulation_mode);
-        self.emit_state();
-    }
-
-    /// Set target speed in m/min
-    pub fn puller_set_target_speed(&mut self, target_speed: f64) {
-        // Convert m/min to velocity
-        let target_speed = Velocity::new::<meter_per_minute>(target_speed);
-        self.puller_speed_controller.set_target_speed(target_speed);
-        self.emit_state();
-    }
-
-    /// Set target diameter in mm
-    pub fn puller_set_target_diameter(&mut self, target_diameter: f64) {
-        // Convert m/min to velocity
-        let target_diameter = Length::new::<millimeter>(target_diameter);
-        self.puller_speed_controller
-            .set_target_diameter(target_diameter);
-        self.emit_state();
-    }
-
-    /// Set forward direction
-    pub fn puller_set_forward(&mut self, forward: bool) {
-        self.puller_speed_controller.set_forward(forward);
-        self.emit_state();
-    }
-
-    // Spool Speed Controller API methods
-    pub fn spool_set_regulation_mode(
-        &mut self,
-        regulation_mode: spool_speed_controller::SpoolSpeedControllerType,
-    ) {
-        self.spool_speed_controller.set_type(regulation_mode);
-        self.emit_state();
-    }
-
-    /// Set minimum speed for minmax mode in RPM
-    pub fn spool_set_minmax_min_speed(&mut self, min_speed_rpm: f64) {
-        let min_speed = uom::si::f64::AngularVelocity::new::<revolution_per_minute>(min_speed_rpm);
-        if let Err(e) = self.spool_speed_controller.set_minmax_min_speed(min_speed) {
-            tracing::error!("Failed to set spool min speed: {:?}", e);
-        }
-        self.emit_state();
-    }
-
-    /// Set maximum speed for minmax mode in RPM
-    pub fn spool_set_minmax_max_speed(&mut self, max_speed_rpm: f64) {
-        let max_speed = uom::si::f64::AngularVelocity::new::<revolution_per_minute>(max_speed_rpm);
-        if let Err(e) = self.spool_speed_controller.set_minmax_max_speed(max_speed) {
-            tracing::error!("Failed to set spool max speed: {:?}", e);
-        }
-        self.emit_state();
-    }
-
-    /// Set tension target for adaptive mode (0.0-1.0)
-    pub fn spool_set_adaptive_tension_target(&mut self, tension_target: f64) {
-        self.spool_speed_controller
-            .set_adaptive_tension_target(tension_target);
-        self.emit_state();
-    }
-
-    /// Set radius learning rate for adaptive mode
-    pub fn spool_set_adaptive_radius_learning_rate(&mut self, radius_learning_rate: f64) {
-        self.spool_speed_controller
-            .set_adaptive_radius_learning_rate(radius_learning_rate);
-        self.emit_state();
-    }
-
-    /// Set max speed multiplier for adaptive mode
-    pub fn spool_set_adaptive_max_speed_multiplier(&mut self, max_speed_multiplier: f64) {
-        self.spool_speed_controller
-            .set_adaptive_max_speed_multiplier(max_speed_multiplier);
-        self.emit_state();
-    }
-
-    /// Set acceleration factor for adaptive mode
-    pub fn spool_set_adaptive_acceleration_factor(&mut self, acceleration_factor: f64) {
-        self.spool_speed_controller
-            .set_adaptive_acceleration_factor(acceleration_factor);
-        self.emit_state();
-    }
-
-    /// Set deacceleration urgency multiplier for adaptive mode
-    pub fn spool_set_adaptive_deacceleration_urgency_multiplier(
-        &mut self,
-        deacceleration_urgency_multiplier: f64,
-    ) {
-        self.spool_speed_controller
-            .set_adaptive_deacceleration_urgency_multiplier(deacceleration_urgency_multiplier);
-        self.emit_state();
-    }
-
-    /// implement machine connection
-    /// set connected buffer
-    pub fn set_connected_buffer(
-        &mut self,
-        machine_identification_unique: MachineIdentificationUnique,
-    ) {
-        if !matches!(
-            machine_identification_unique.machine_identification,
-            BufferV1::MACHINE_IDENTIFICATION
-        ) {
-            return;
-        }
-
-        self.connected_buffer
-            .set_connected_machine(&machine_identification_unique);
-        self.connected_buffer.reverse_connect();
-
-        self.emit_state();
-    }
-
-    /// disconnect buffer
-    pub fn disconnect_buffer(
-        &mut self,
-        machine_identification_unique: MachineIdentificationUnique,
-    ) {
-        if !matches!(
-            machine_identification_unique.machine_identification,
-            BufferV1::MACHINE_IDENTIFICATION
-        ) {
-            return;
-        }
-
-        self.connected_buffer.reverse_disconnect();
-        self.connected_buffer.disconnect();
-
-        self.emit_state();
-    }
 }
 
 #[derive(Debug, Clone, PartialEq, Eq)]

server/src/main.rs

@@ -1,29 +1,16 @@
-#[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-use tikv_jemallocator::Jemalloc;
-
-#[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-#[global_allocator]
-static GLOBAL: Jemalloc = Jemalloc;
-
 #[cfg(feature = "dhat-heap")]
 #[global_allocator]
 static ALLOC: dhat::Alloc = dhat::Alloc;
 
 use app_state::AppState;
+use r#loop::init_loop;
 #[cfg(feature = "mock-machine")]
 use mock::init::init_mock;
-use std::{sync::Arc, time::Duration};
-
-use r#loop::init_loop;
 use rest::init::init_api;
 #[cfg(not(feature = "mock-machine"))]
 use serial::init::init_serial;
+use std::sync::Arc;
 
-#[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-use jemalloc_stats::init_jemalloc_stats;
-
-#[cfg(not(feature = "mock-machine"))]
-use crate::ethercat::init::init_ethercat;
 use crate::panic::init_panic;
 use crate::socketio::queue::init_socketio_queue;
 
@@ -40,25 +27,18 @@ pub mod rest;
 pub mod serial;
 pub mod socketio;
 
-#[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-pub mod jemalloc_stats;
+use crate::ethercat::init::init_ethercat;
 
 fn main() {
     // Initialize panic handling
     let thread_panic_tx = init_panic();
     logging::init_tracing();
     tracing::info!("Tracing initialized successfully");
-
-    // lock memory (not working thus commented out)
-    // if let Err(e) = lock_memory() {
-    //     tracing::error!("[{}::main] Failed to lock memory: {:?}", module_path!(), e);
-    // } else {
-    //     tracing::info!("[{}::main] Memory locked successfully", module_path!());
-    // }
-
-    #[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-    init_jemalloc_stats();
-
+    if let Err(e) = control_core::realtime::lock_memory() {
+        tracing::error!("[{}::main] Failed to lock memory: {:?}", module_path!(), e);
+    } else {
+        tracing::info!("[{}::main] Memory locked successfully", module_path!());
+    }
     let app_state = Arc::new(AppState::new());
 
     // Spawn init thread
@@ -97,7 +77,8 @@ fn main() {
     // Keep the main thread alive indefinitely
     // The program should only exit via panic handling or external signals
     loop {
-        std::thread::sleep(Duration::from_secs(u64::MAX));
+        // better way to "sleep", uses basically
+        std::thread::park();
     }
 }