removed unused imports

Fix async yield timeout

Cargo.toml

@@ -4,8 +4,11 @@ members = [
     "ethercat-hal",
     "ethercat-hal-derive",
     "control-core",
-    "ethercat-eeprom-dump",
+    "machines",
+    #"ethercat-eeprom-dump",
     "control-core-derive",
+    "units",
+    "utils",
 ]
 exclude = []
 resolver = "2"

control-core/Cargo.toml

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

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

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

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

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

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

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

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

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

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

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

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

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

control-core/src/converters/angle_converter.rs

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

control-core/src/converters/angular_step_converter.rs

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

control-core/src/converters/circular_converter.rs

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

control-core/src/converters/linear_step_converter.rs

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

control-core/src/ethercat/interface_discovery.rs

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

control-core/src/ethercat/mod.rs

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

control-core/src/lib.rs

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

control-core/src/machines/api.rs

@@ -1,27 +0,0 @@
-use serde_json::Value;
-use smol::lock::Mutex;
-use std::sync::Arc;
-
-use crate::socketio::namespace::Namespace;
-
-pub trait MachineApi {
-    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>>;
-
-    /// Returns a list of available video stream identifiers for this machine
-    #[cfg(feature = "video-streaming")]
-    fn api_video_streams(&self) -> Vec<String> {
-        Vec::new()
-    }
-
-    /// Get a video stream receiver for the specified stream ID
-    /// Returns None if the stream doesn't exist
-    #[cfg(feature = "video-streaming")]
-    fn api_get_video_stream(
-        &mut self,
-        stream_id: &str,
-    ) -> Option<tokio::sync::broadcast::Receiver<Vec<u8>>> {
-        let _ = stream_id;
-        None
-    }
-}

control-core/src/machines/connection.rs

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

control-core/src/machines/identification.rs

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

control-core/src/machines/manager.rs

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

control-core/src/machines/manager_iter.rs

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

control-core/src/machines/mod.rs

@@ -1,23 +0,0 @@
-use new::MachineNewTrait;
-use std::any::Any;
-use std::fmt::Debug;
-
-use crate::machines::{
-    api::MachineApi, identification::MachineIdentificationUnique, new::MachineAct,
-};
-pub mod api;
-pub mod connection;
-pub mod identification;
-pub mod manager;
-pub mod manager_iter;
-pub mod new;
-pub mod registry;
-
-pub trait Machine: MachineAct + MachineNewTrait + MachineApi + Any + Debug + Send + Sync {
-    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique;
-}
-
-pub trait AnyGetters: Any {
-    fn as_any(&self) -> &dyn Any;
-    fn as_any_mut(&mut self) -> &mut dyn Any;
-}

control-core/src/machines/new.rs

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

control-core/src/rest/mod.rs

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

control-core/src/serial/mod.rs

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

control-core/src/socketio/mod.rs

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

control-core/src/socketio/namespace.rs

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

control-core/src/transmission/mod.rs

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

control-core/src/uom_extensions/acceleration.rs

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

control-core/src/uom_extensions/angular_acceleration.rs

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

control-core/src/uom_extensions/angular_jerk.rs

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

control-core/src/uom_extensions/jerk.rs

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

control-core/src/uom_extensions/mod.rs

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

control-core/src/uom_extensions/velocity.rs

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

electron/src/client/mainNamespace.ts

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

electron/src/client/socketioStore.ts

@@ -8,6 +8,8 @@ import { z } from "zod";
 import { toastError, toastZodError } from "@/components/Toast";
 import { MachineIdentificationUnique } from "@/machines/types";
 import { FPS_30 } from "@/lib/constants";
+import { mainNamespaceStore, createMainNamespaceStore } from "./mainNamespace";
+import { softReloadMainNamespaceStore } from "./softReload";
 
 /**
  * Simple buffer-based store updater to limit React re-renders to ~30 FPS
@@ -305,27 +307,13 @@ const useSocketioStore = create<SocketioStore>()((set, get) => ({
     // add handlers
     socket.on("connect", () => {
       console.log(`Connected to ${namespace_path}`);
-
-      // reset the store
       resetStore(set);
     });
     socket.on("disconnect", (reason) => {
       socket.disconnect();
-      console.warn(`Disconnected from ${namespace_path}, reason: ${reason}`);
-
-      // reset the store
       resetStore(set);
-
-      // Attempt to reconnect after a short delay for any disconnect reason
-      console.log(
-        `Disconnected from ${namespace_path}, attempting reconnect in 1s...`,
-      );
-      setTimeout(() => {
-        if (get().hasNamespace(namespaceId) && !socket.connected) {
-          console.log(`Reconnecting to ${namespace_path}...`);
-          socket.connect();
-        }
-      }, 1000);
+      // Its hacky but i do not care, electron + react is annoying ...
+      window.location.reload();
     });
 
     socket.on("event", (event: unknown) => {
@@ -334,11 +322,9 @@ const useSocketioStore = create<SocketioStore>()((set, get) => ({
       if (!event_parsed.success) {
         toastZodError(event_parsed.error, "Invalid event");
         return;
-      }
-      // handle the event
+      } // handle the event
       get().namespaces[namespace_path].handler(event_parsed.data);
     });
-
     // store the namespace initally
     set(
       produce((state: SocketioStore) => {
@@ -356,8 +342,25 @@ const useSocketioStore = create<SocketioStore>()((set, get) => ({
       }),
     );
 
-    // finally connect
-    socket.connect();
+    if (namespace_path !== "/main") {
+      const intervalId = setInterval(() => {
+        const mainState = mainNamespaceStore.getState();
+        const machineExists =
+          namespaceId.type === "machine" &&
+          mainState.machines?.data?.machines.some(
+            (m) =>
+              m.machine_identification_unique.serial ===
+              namespaceId.machine_identification_unique.serial,
+          );
+        //console.log(machineExists);
+        if (machineExists && !socket.connected) {
+          socket.connect();
+          clearInterval(intervalId); // stop polling
+        }
+      }, 500);
+    } else {
+      socket.connect();
+    }
   },
   incrementNamespace: (namespaceId: NamespaceId) => {
     const namespace_path = serializeNamespaceId(namespaceId);

electron/src/client/softReload.ts

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

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

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

ethercat-hal/Cargo.toml

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

ethercat-hal/src/devices/el3001.rs

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

ethercat-hal/src/devices/el3021.rs

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

ethercat-hal/src/devices/el3024.rs

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

ethercat-hal/src/devices/el3062_0030.rs

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

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

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

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

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

ethercat-hal/src/io/analog_input_dummy.rs

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

machines/Cargo.toml

@@ -0,0 +1,53 @@
+[package]
+name = "machines"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+ethercrab = "0.6"
+ethercat_hal = { path = "../ethercat-hal" }
+control_core = { path = "../control-core" }
+control_core_derive = { path = "../control-core-derive" }
+units = { path = "../units" }
+
+serde = "1.0.217"
+anyhow = "1.0.100"
+
+bitvec = "1.0.1"
+lazy_static = "1.5.0"
+euclid = "0.22.11"
+
+# concurrency
+smol = "2.0.2"
+futures = "0.3.31"
+
+# web
+serde_json = "1.0.143"
+socketioxide = { version = "0.17.2", features = ["msgpack"] }
+
+# serial
+serialport = "4.7.3"
+
+#tracing
+tracing = { version = "0.1.41", features = ["attributes"] }
+tonic = { version = "0.13.1", optional = true }
+
+[dev-dependencies]
+approx = "0.5.1"
+textplots = "0.8.7"
+
+[features]
+default = ["tracing-fmt"]
+never_type = []
+tracing-fmt = []
+mock-machine = []
+memory-locking = []
+io-uring = []
+development-build = []
+
+
+
+
+
+[package.metadata.cargo-machete]
+ignored =  ["tonic"]

machines/src/aquapath1/act.rs

@@ -0,0 +1,59 @@
+use super::{AquaPathV1, AquaPathV1Mode};
+use crate::{MachineAct, MachineMessage};
+use std::time::{Duration, Instant};
+
+impl MachineAct for AquaPathV1 {
+    fn act(&mut self, now_ts: Instant) {
+        let msg = self.api_receiver.try_recv();
+        match msg {
+            Ok(msg) => {
+                let _res = self.act_machine_message(msg);
+            }
+            Err(_) => (),
+        };
+
+        match self.mode {
+            AquaPathV1Mode::Standby => {
+                self.switch_to_standby();
+            }
+            AquaPathV1Mode::Auto => {
+                self.switch_to_auto();
+            }
+        }
+
+        let now = Instant::now();
+
+        self.front_controller.update(now_ts);
+        self.back_controller.update(now_ts);
+
+        if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+            self.emit_live_values();
+            self.last_measurement_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) =>
+            /*Doesnt connec to any Machine do nothing*/
+            {
+                ()
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) =>
+            /*Doesnt connec to any Machine do nothing*/
+            {
+                ()
+            }
+        }
+    }
+}

machines/src/aquapath1/api.rs

@@ -1,19 +1,15 @@
-use std::{sync::Arc, time::Duration};
-
 use super::{AquaPathV1, AquaPathV1Mode};
-use control_core::{
-    machines::api::MachineApi,
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_first_and_last_event,
-        },
+use crate::{MachineApi, MachineMessage};
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
     },
 };
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::lock::Mutex;
+use smol::channel::Sender;
+use std::sync::Arc;
 use tracing::instrument;
 
 #[derive(Serialize, Debug, Clone, Default)]
@@ -91,9 +87,9 @@ enum Mutation {
     SetBackFlow(bool),
 }
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct AquaPathV1Namespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl NamespaceCacheingLogic<AquaPathV1Events> for AquaPathV1Namespace {
@@ -101,9 +97,10 @@ impl NamespaceCacheingLogic<AquaPathV1Events> for AquaPathV1Namespace {
     fn emit(&mut self, events: AquaPathV1Events) {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
-
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
@@ -116,17 +113,20 @@ impl CacheableEvents<AquaPathV1Events> for AquaPathV1Events {
     }
 
     fn event_cache_fn(&self) -> CacheFn {
-        let cache_one_hour = cache_duration(Duration::from_secs(60 * 60), Duration::from_secs(1));
         let cache_first_and_last = cache_first_and_last_event();
 
         match self {
-            AquaPathV1Events::LiveValues(_) => cache_one_hour,
+            AquaPathV1Events::LiveValues(_) => cache_first_and_last,
             AquaPathV1Events::State(_) => cache_first_and_last,
         }
     }
 }
 
 impl MachineApi for AquaPathV1 {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
     fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
         let control: Mutation = serde_json::from_value(request_body)?;
         match control {
@@ -149,7 +149,7 @@ impl MachineApi for AquaPathV1 {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
 }

machines/src/aquapath1/controller.rs

@@ -1,15 +1,14 @@
-use crate::machines::aquapath1::VolumeRate;
-use crate::machines::aquapath1::{Flow, Temperature};
+use crate::aquapath1::VolumeRate;
+use crate::aquapath1::{Flow, Temperature};
 use control_core::controllers::pid::PidController;
 use ethercat_hal::io::encoder_input::EncoderInput;
 use ethercat_hal::io::{
     analog_output::AnalogOutput, digital_output::DigitalOutput, temperature_input::TemperatureInput,
 };
 use std::time::{Duration, Instant};
-
-use uom::si::f64::ThermodynamicTemperature;
-use uom::si::thermodynamic_temperature::degree_celsius;
-use uom::si::volume_rate::liter_per_minute;
+use units::f64::ThermodynamicTemperature;
+use units::thermodynamic_temperature::degree_celsius;
+use units::volume_rate::liter_per_minute;
 #[derive(Debug)]
 
 pub struct Controller {

machines/src/aquapath1/mod.rs

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

machines/src/aquapath1/new.rs

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

machines/src/buffer1/act.rs

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

machines/src/buffer1/api.rs

@@ -1,22 +1,13 @@
-use std::{sync::Arc, time::Duration};
-
 use super::{BufferV1, BufferV1Mode};
-use control_core::{
-    machines::{
-        api::MachineApi, connection::MachineCrossConnectionState,
-        identification::MachineIdentificationUnique,
-    },
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_one_event,
-        },
-    },
+use crate::{MachineApi, MachineMessage, machine_identification::MachineIdentificationUnique};
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_one_event},
 };
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::lock::Mutex;
+use smol::channel::Sender;
+use std::sync::Arc;
 use tracing::instrument;
 
 #[derive(Serialize, Debug, Clone, Default)]
@@ -31,9 +22,7 @@ impl LiveValuesEvent {
 #[derive(Serialize, Debug, Clone)]
 pub struct StateEvent {
     /// mode state
-    pub mode_state: ModeState,
-    /// connected machine state
-    pub connected_machine_state: MachineCrossConnectionState,
+    pub mode_state: ModeState, // connected machine state
 }
 
 impl StateEvent {
@@ -80,7 +69,7 @@ enum Mutation {
 
 #[derive(Debug)]
 pub struct Buffer1Namespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl NamespaceCacheingLogic<BufferV1Events> for Buffer1Namespace {
@@ -89,8 +78,10 @@ impl NamespaceCacheingLogic<BufferV1Events> for Buffer1Namespace {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
 
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
@@ -103,32 +94,31 @@ impl CacheableEvents<Self> for BufferV1Events {
     }
 
     fn event_cache_fn(&self) -> CacheFn {
-        let cache_one_hour = cache_duration(Duration::from_secs(60 * 60), Duration::from_secs(1));
         let cache_one = cache_one_event();
 
         match self {
-            Self::LiveValues(_) => cache_one_hour,
+            Self::LiveValues(_) => cache_one,
             Self::State(_) => cache_one,
         }
     }
 }
 
 impl MachineApi for BufferV1 {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
     fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
         let mutation: Mutation = serde_json::from_value(request_body)?;
         match mutation {
             Mutation::SetBufferMode(mode) => self.set_mode_state(mode),
-            Mutation::SetConnectedMachine(machine_identification_unique) => {
-                self.set_connected_winder(machine_identification_unique);
-            }
-            Mutation::DisconnectMachine(machine_identification_unique) => {
-                self.disconnect_winder(machine_identification_unique);
-            }
+            Mutation::SetConnectedMachine(_machine_identification_unique) => {}
+            Mutation::DisconnectMachine(_machine_identification_unique) => {}
         }
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
 }

machines/src/buffer1/mod.rs

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

machines/src/buffer1/new.rs

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

machines/src/extruder1/act.rs

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

machines/src/extruder1/api.rs

@@ -4,28 +4,28 @@ use super::{ExtruderV2Mode, mitsubishi_cs80::MotorStatus};
 use super::ExtruderV2;
 
 #[cfg(not(feature = "mock-machine"))]
-use crate::machines::extruder1::HeatingType;
+use crate::{MachineMessage, extruder1::HeatingType};
 
 #[cfg(not(feature = "mock-machine"))]
-use control_core::machines::api::MachineApi;
+use crate::MachineApi;
 use control_core::socketio::{
     event::{Event, GenericEvent},
     namespace::{
-        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-        cache_first_and_last_event,
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
     },
 };
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 #[cfg(not(feature = "mock-machine"))]
 use serde_json::Value;
-use smol::lock::Mutex;
-use std::{sync::Arc, time::Duration};
+#[cfg(not(feature = "mock-machine"))]
+use smol::channel::Sender;
+use std::sync::Arc;
 use tracing::instrument;
-use uom::si::{
-    angular_velocity::revolution_per_minute, electric_current::ampere, electric_potential::volt,
-    frequency::hertz,
-};
+use units::angular_velocity::revolution_per_minute;
+use units::electric_current::ampere;
+use units::electric_potential::volt;
+use units::frequency::hertz;
 
 #[derive(Debug, Clone, Default, Serialize)]
 pub struct MotorStatusValues {
@@ -241,7 +241,7 @@ pub enum Mutation {
 
 #[derive(Debug)]
 pub struct ExtruderV2Namespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl NamespaceCacheingLogic<ExtruderV2Events> for ExtruderV2Namespace {
@@ -250,8 +250,10 @@ impl NamespaceCacheingLogic<ExtruderV2Events> for ExtruderV2Namespace {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
 
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
@@ -264,11 +266,9 @@ impl CacheableEvents<Self> for ExtruderV2Events {
     }
 
     fn event_cache_fn(&self) -> CacheFn {
-        let cache_one_hour = cache_duration(Duration::from_secs(60 * 60), Duration::from_secs(1));
         let cache_first_and_last = cache_first_and_last_event();
-
         match self {
-            Self::LiveValues(_) => cache_one_hour,
+            Self::LiveValues(_) => cache_first_and_last,
             Self::State(_) => cache_first_and_last,
         }
     }
@@ -276,6 +276,10 @@ impl CacheableEvents<Self> for ExtruderV2Events {
 
 #[cfg(not(feature = "mock-machine"))]
 impl MachineApi for ExtruderV2 {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
     fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
         // there are multiple Modbus Frames that are "prebuilt"
         let control: Mutation = serde_json::from_value(request_body)?;
@@ -317,7 +321,7 @@ impl MachineApi for ExtruderV2 {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
 }

machines/src/extruder1/emit.rs

@@ -1,6 +1,6 @@
 #[cfg(not(feature = "mock-machine"))]
 // Contains Implementations for All functions that use emit_state
-use crate::machines::extruder1::{
+use crate::extruder1::{
     ExtruderV2, ExtruderV2Mode, HeatingType,
     api::{
         ExtruderSettingsState, ExtruderV2Events, HeatingState, HeatingStates, InverterStatusState,
@@ -15,19 +15,18 @@ use control_core::socketio::event::BuildEvent;
 #[cfg(not(feature = "mock-machine"))]
 use control_core::socketio::namespace::NamespaceCacheingLogic;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::{angular_velocity::revolution_per_minute, thermodynamic_temperature::degree_celsius};
-
+use units::angular_velocity::AngularVelocity;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::angular_velocity::AngularVelocity;
+use units::pressure::{Pressure, bar};
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::pressure::{Pressure, bar};
+use units::thermodynamic_temperature::ThermodynamicTemperature;
 #[cfg(not(feature = "mock-machine"))]
-use uom::si::thermodynamic_temperature::ThermodynamicTemperature;
+use units::{angular_velocity::revolution_per_minute, thermodynamic_temperature::degree_celsius};
 
 #[cfg(not(feature = "mock-machine"))]
 impl ExtruderV2 {
     pub fn build_state_event(&mut self) -> StateEvent {
-        use crate::machines::extruder1::api::{TemperaturePid, TemperaturePidStates};
+        use crate::extruder1::api::{TemperaturePid, TemperaturePidStates};
 
         StateEvent {
             is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),

machines/src/extruder1/mitsubishi_cs80/mod.rs

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

machines/src/extruder1/mod.rs

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

machines/src/extruder1/new.rs

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

machines/src/extruder1/screw_speed_controller.rs

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

machines/src/extruder1/temperature_controller.rs

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

machines/src/laser/act.rs

@@ -0,0 +1,71 @@
+use super::LaserMachine;
+use crate::MachineAct;
+use crate::MachineMessage;
+use std::time::{Duration, Instant};
+
+/// Implements the `MachineAct` trait for the `LaserMachine`.
+///
+/// # Parameters
+/// - `_now_ts`: The current timestamp of type `Instant`.
+///
+/// # Returns
+/// A pinned `Future` that resolves to `()` and is `Send`-safe. The future encapsulates the asynchronous behavior of the `act` method.
+///
+/// # Description
+/// This method is called to perform periodic actions for the `LaserMachine`. Specifically:
+/// - It checks if the time elapsed since the last measurement emission exceeds 20 milliseconds.
+/// - If the condition is met, it asynchronously emits live values at 60 FPS.
+///
+/// The method ensures that the diameter value is updated approximately 60 times per second.
+///
+impl MachineAct for LaserMachine {
+    fn act(&mut self, now: Instant) {
+        let msg = self.api_receiver.try_recv();
+        match msg {
+            Ok(msg) => {
+                let _res = self.act_machine_message(msg);
+            }
+            Err(_) => (),
+        };
+        self.update();
+
+        // more than 33ms have passed since last emit (30 "fps" target)
+        if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+            self.emit_live_values();
+            self.last_measurement_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        tracing::info!("{:?}", msg);
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => match &mut self.namespace.namespace {
+                Some(namespace) => {
+                    tracing::info!("UnsubscribeNamespace");
+                    namespace.socket_queue_tx.close();
+                    namespace.sockets.clear();
+                    namespace.events.clear();
+                }
+                None => todo!(),
+            },
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) =>
+            /*Doesnt connec to any Macine do nothing*/
+            {
+                ()
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) =>
+            /*Doesnt connec to any Machine do nothing*/
+            {
+                ()
+            }
+        }
+    }
+}

machines/src/laser/api.rs

@@ -1,19 +1,16 @@
+use crate::{MachineApi, MachineMessage};
+
 use super::LaserMachine;
-use control_core::{
-    machines::api::MachineApi,
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_first_and_last_event,
-        },
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
     },
 };
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::lock::Mutex;
-use std::{sync::Arc, time::Duration};
+use std::sync::Arc;
 use tracing::instrument;
 
 #[derive(Serialize, Debug, Clone, Default)]
@@ -61,7 +58,7 @@ pub enum LaserEvents {
 
 #[derive(Debug)]
 pub struct LaserMachineNamespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl CacheableEvents<Self> for LaserEvents {
@@ -73,11 +70,10 @@ impl CacheableEvents<Self> for LaserEvents {
     }
 
     fn event_cache_fn(&self) -> CacheFn {
-        let cache_one_hour = cache_duration(Duration::from_secs(60 * 60), Duration::from_secs(1));
         let cache_first_and_last = cache_first_and_last_event();
 
         match self {
-            Self::LiveValues(_) => cache_one_hour,
+            Self::LiveValues(_) => cache_first_and_last,
             Self::State(_) => cache_first_and_last,
         }
     }
@@ -99,8 +95,10 @@ impl NamespaceCacheingLogic<LaserEvents> for LaserMachineNamespace {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
 
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
@@ -121,7 +119,11 @@ impl MachineApi for LaserMachine {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
+
+    fn api_get_sender(&self) -> smol::channel::Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
 }

machines/src/laser/mod.rs

@@ -1,24 +1,32 @@
+use crate::serial::devices::laser::Laser;
 use crate::{
-    machines::{MACHINE_LASER_V1, VENDOR_QITECH},
-    serial::devices::laser::Laser,
+    MACHINE_LASER_V1, VENDOR_QITECH,
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
 };
+use crate::{Machine, MachineMessage};
 use api::{LaserEvents, LaserMachineNamespace, LaserState, LiveValuesEvent, StateEvent};
-use control_core::{
-    machines::identification::{MachineIdentification, MachineIdentificationUnique},
-    socketio::namespace::NamespaceCacheingLogic,
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+use smol::{
+    channel::{Receiver, Sender},
+    lock::RwLock,
 };
-use control_core_derive::Machine;
-use smol::lock::RwLock;
+use socketioxide::extract::SocketRef;
+
+use crate::AsyncThreadMessage;
 use std::{sync::Arc, time::Instant};
-use uom::si::{f64::Length, length::millimeter};
+use units::f64::*;
+use units::length::millimeter;
 
 pub mod act;
 pub mod api;
 pub mod new;
 
-#[derive(Debug, Machine)]
+#[derive(Debug)]
 pub struct LaserMachine {
+    api_receiver: Receiver<MachineMessage>,
+    api_sender: Sender<MachineMessage>,
     machine_identification_unique: MachineIdentificationUnique,
+    main_sender: Option<Sender<AsyncThreadMessage>>,
 
     // drivers
     laser: Arc<RwLock<Laser>>,
@@ -41,6 +49,42 @@ pub struct LaserMachine {
     emitted_default_state: bool,
 }
 
+impl Machine for LaserMachine {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
+impl LaserMachineNamespace {
+    pub async fn disconnect_all(&self) {
+        for socket in self.connected_sockets().await {
+            let _ = socket.disconnect();
+        }
+    }
+
+    async fn connected_sockets(&self) -> Vec<SocketRef> {
+        if self.namespace.is_none() {
+            return vec![];
+        }
+        let sockets = self.namespace.clone().unwrap().sockets.clone();
+        sockets
+    }
+}
+
+impl Drop for LaserMachine {
+    fn drop(&mut self) {
+        tracing::info!(
+            "[LaserMachine::{:?}] Dropping machine and disconnecting clients...",
+            self.machine_identification_unique
+        );
+        smol::block_on(self.namespace.disconnect_all());
+    }
+}
+
 impl LaserMachine {
     pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
         vendor: VENDOR_QITECH,
@@ -60,6 +104,7 @@ impl LaserMachine {
             y_diameter,
             roundness,
         };
+
         self.namespace
             .emit(LaserEvents::LiveValues(live_values.build()));
     }

machines/src/laser/new.rs

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

machines/src/lib.rs

@@ -0,0 +1,400 @@
+use anyhow::Error;
+use control_core::socketio::event::GenericEvent;
+use control_core::socketio::namespace::Namespace;
+use ethercat_hal::devices::{
+    EthercatDevice, SubDeviceIdentityTuple, downcast_device, subdevice_identity_to_tuple,
+};
+use ethercat_hal::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
+use ethercrab::{SubDevice, SubDeviceRef};
+use machine_identification::{
+    DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat, DeviceIdentification,
+    DeviceIdentificationIdentified, MachineIdentificationUnique,
+};
+use serde::Serialize;
+use smol::channel::Sender;
+use socketioxide::extract::SocketRef;
+use std::fmt::Debug;
+use std::{any::Any, sync::Arc, time::Instant};
+pub mod aquapath1;
+#[cfg(not(feature = "mock-machine"))]
+pub mod buffer1;
+pub mod extruder1;
+pub mod laser;
+pub mod machine_identification;
+pub mod mock;
+pub mod registry;
+pub mod serial;
+pub mod winder2;
+
+pub const VENDOR_QITECH: u16 = 0x0001;
+pub const MACHINE_WINDER_V1: u16 = 0x0002;
+pub const MACHINE_EXTRUDER_V1: u16 = 0x0004;
+pub const MACHINE_LASER_V1: u16 = 0x0006;
+pub const MACHINE_MOCK: u16 = 0x0007;
+pub const MACHINE_AQUAPATH_V1: u16 = 0x0009;
+#[cfg(not(feature = "mock-machine"))]
+pub const MACHINE_BUFFER_V1: u16 = 0x0008;
+
+use serde_json::Value;
+use smol::lock::RwLock;
+
+#[derive(Serialize, Debug, Clone)]
+pub struct MachineCrossConnectionState {
+    machine_identification_unique: Option<MachineIdentificationUnique>,
+    is_available: bool,
+}
+
+pub struct CrossConnection {
+    pub src: MachineIdentificationUnique,
+    pub dest: MachineIdentificationUnique,
+}
+
+pub enum AsyncThreadMessage {
+    NoMsg,
+    ConnectOneWayRequest(CrossConnection),
+    DisconnectMachines(CrossConnection),
+}
+
+pub struct MachineNewParams<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+> where
+    'maindevice: 'machine_new_hardware,
+    'subdevices: 'machine_new_hardware,
+    'ethercat_devices: 'machine_new_hardware,
+    'machine_new_hardware_etehrcat: 'machine_new_hardware,
+{
+    pub device_group: &'device_identifications_identified Vec<DeviceIdentificationIdentified>,
+    pub hardware: &'machine_new_hardware MachineNewHardware<
+        'maindevice,
+        'subdevices,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+    >,
+    pub socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+    pub main_thread_channel: Option<Sender<AsyncThreadMessage>>,
+    pub namespace: Option<Namespace>,
+}
+
+impl MachineNewParams<'_, '_, '_, '_, '_, '_, '_> {
+    pub fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.device_group
+            .first()
+            .expect("device group must have at least one device")
+            .device_machine_identification
+            .machine_identification_unique
+            .clone()
+    }
+}
+
+pub enum MachineNewHardware<
+    'maindevice,
+    'subdevices,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+> where
+    'maindevice: 'machine_new_hardware_etehrcat,
+    'subdevices: 'machine_new_hardware_etehrcat,
+    'ethercat_devices: 'machine_new_hardware_etehrcat,
+{
+    Ethercat(
+        &'machine_new_hardware_etehrcat MachineNewHardwareEthercat<
+            'maindevice,
+            'subdevices,
+            'ethercat_devices,
+        >,
+    ),
+    Serial(&'machine_new_hardware_serial MachineNewHardwareSerial),
+}
+
+pub struct MachineNewHardwareEthercat<'maindevice, 'subdevices, 'ethercat_devices> {
+    pub subdevices:
+        &'subdevices Vec<&'subdevices SubDeviceRef<'maindevice, &'subdevices SubDevice>>,
+    pub ethercat_devices: &'ethercat_devices Vec<Arc<RwLock<dyn EthercatDevice>>>,
+}
+
+pub trait SerialDevice: Any + Send + Sync + SerialDeviceNew + Debug {}
+
+pub trait SerialDeviceNew {
+    fn new_serial(
+        params: &SerialDeviceNewParams,
+    ) -> Result<(DeviceIdentification, Arc<RwLock<Self>>), anyhow::Error>
+    where
+        Self: Sized;
+}
+
+pub trait SerialDeviceThread {
+    fn start_thread() -> Result<(), anyhow::Error>;
+}
+
+pub struct SerialDeviceNewParams {
+    pub path: String,
+}
+
+#[derive(PartialEq, Eq, Clone, Debug, Hash)]
+pub struct SerialDeviceIdentification {
+    pub vendor_id: u16,
+    pub product_id: u16,
+}
+
+pub struct MachineNewHardwareSerial {
+    pub device: Arc<RwLock<dyn SerialDevice>>,
+}
+
+// validates that all devices in the group have the same machine identification
+pub fn validate_same_machine_identification_unique(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let machine_identification_unique = &identified_device_group
+        .first()
+        .ok_or_else(|| {
+            anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] No devices in group",
+                module_path!()
+            )
+        })?
+        .device_machine_identification
+        .machine_identification_unique;
+    for device in identified_device_group.iter() {
+        if device
+            .device_machine_identification
+            .machine_identification_unique
+            != *machine_identification_unique
+        {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] Different machine identifications",
+                module_path!()
+            ));
+        }
+    }
+    Ok(())
+}
+
+/// validates that every role is unique
+pub fn validate_no_role_dublicates(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let mut roles = vec![];
+    for device in identified_device_group.iter() {
+        if roles.contains(&device.device_machine_identification.role) {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_no_role_dublicates] Role dublicate",
+                module_path!(),
+            ));
+        }
+        roles.push(device.device_machine_identification.role);
+    }
+    Ok(())
+}
+
+// Inside control_core::machines::new module:
+pub fn get_device_identification_by_role(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+    role: u16,
+) -> Result<&DeviceIdentificationIdentified, Error> {
+    for device in identified_device_group.iter() {
+        if device.device_machine_identification.role == role {
+            return Ok(device);
+        }
+    }
+    Err(anyhow::anyhow!(
+        "[{}::get_device_identification_by_role] Role {} not found",
+        module_path!(),
+        role
+    ))
+}
+
+pub fn get_device_by_index<'maindevice>(
+    devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_device_by_index] Index {} out of bounds for devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+pub fn get_subdevice_by_index<'subdevices, 'maindevice>(
+    subdevices: &'subdevices Vec<&EthercrabSubDevicePreoperational<'maindevice>>,
+    subdevice_index: usize,
+) -> Result<&'subdevices EthercrabSubDevicePreoperational<'maindevice>, Error> {
+    Ok(subdevices.get(subdevice_index).ok_or(anyhow::anyhow!(
+        "Index {} out of bounds for subdevices",
+        subdevice_index
+    ))?)
+}
+
+pub fn get_ethercat_device_by_index<'maindevice>(
+    ethercat_devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(ethercat_devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_ethercat_device_by_index] Index {} out of bounds for ethercat devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+pub trait MachineNewTrait {
+    fn new(params: &MachineNewParams<'_, '_, '_, '_, '_, '_, '_>) -> Result<Self, anyhow::Error>
+    where
+        Self: Sized;
+}
+
+#[derive(Debug)]
+pub struct MachineConnection {
+    pub ident: MachineIdentificationUnique,
+    pub connection: Sender<MachineMessage>,
+}
+
+pub trait MachineAct {
+    fn act_machine_message(&mut self, msg: MachineMessage);
+    fn act(&mut self, now: Instant);
+}
+
+// generic MachineMessage allows us to implement actions
+// to manage or mutate machines with simple messages sent to the Recv Channel of the given Machine,
+// which the machine itself will handle to avoid locking
+// This also allows for simplified "CrossConnections"
+#[derive(Debug)]
+pub enum MachineMessage {
+    SubscribeNamespace(Namespace),
+    UnsubscribeNamespace,
+    HttpApiJsonRequest(serde_json::Value),
+    ConnectToMachine(MachineConnection),
+    DisconnectMachine(MachineConnection),
+}
+
+pub trait MachineApi {
+    fn api_get_sender(&self) -> Sender<MachineMessage>;
+    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
+    fn api_event_namespace(&mut self) -> Option<Namespace>;
+}
+
+pub trait Machine: MachineAct + MachineNewTrait + MachineApi + Any + Debug + Send + Sync {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique;
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>>;
+}
+
+pub trait AnyGetters: Any {
+    fn as_any(&self) -> &dyn Any;
+    fn as_any_mut(&mut self) -> &mut dyn Any;
+}
+
+async fn get_device_ident<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+>(
+    params: &MachineNewParams<
+        'maindevice,
+        'subdevices,
+        'device_identifications_identified,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+        'machine_new_hardware,
+    >,
+    role: u16,
+) -> Result<DeviceHardwareIdentificationEthercat, anyhow::Error> {
+    let device_identification = get_device_identification_by_role(params.device_group, role)?;
+    let device_hardware_identification_ethercat =
+        match &device_identification.device_hardware_identification {
+            DeviceHardwareIdentification::Ethercat(device_hardware_identification_ethercat) => {
+                device_hardware_identification_ethercat
+            }
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::MachineNewTrait/ExtruderV2::new] Device with role {} is not Ethercat",
+                    module_path!(),
+                    role
+                ));
+            }
+        };
+    return Ok(device_hardware_identification_ethercat.clone());
+}
+
+async fn get_ethercat_device<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+    T,
+>(
+    hardware: &&MachineNewHardwareEthercat<'maindevice, 'subdevices, 'ethercat_devices>,
+    params: &MachineNewParams<
+        'maindevice,
+        'subdevices,
+        'device_identifications_identified,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+        'machine_new_hardware,
+    >,
+    role: u16,
+    expected_identities: Vec<SubDeviceIdentityTuple>,
+) -> Result<
+    (
+        Arc<RwLock<T>>,
+        &'subdevices SubDeviceRef<'subdevices, &'subdevices SubDevice>,
+    ),
+    anyhow::Error,
+>
+where
+    T: 'static + Send + Sync + EthercatDevice,
+{
+    let device_hardware_identification_ethercat = get_device_ident(params, role).await?;
+    let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
+
+    let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
+    let subdevice_identity = subdevice.identity();
+
+    let actual_identity = subdevice_identity_to_tuple(&subdevice_identity);
+
+    let mut matched_any_identity = false;
+    for identity in expected_identities.clone() {
+        if actual_identity == identity {
+            matched_any_identity = true;
+        }
+    }
+
+    if !matched_any_identity {
+        return Err(anyhow::anyhow!(
+            "[{}::MachineNewTrait/ExtruderV2::new] Device identity mismatch: expected {:?}",
+            module_path!(),
+            expected_identities
+        ));
+    }
+
+    let ethercat_device =
+        get_ethercat_device_by_index(&hardware.ethercat_devices, subdevice_index)?;
+    let device = downcast_device::<T>(ethercat_device).await?;
+
+    {
+        let mut device_guard = device.write().await;
+        device_guard.set_used(true);
+    }
+
+    Ok((device, subdevice))
+}

machines/src/machine_identification.rs

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

machines/src/mock/act.rs

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

machines/src/mock/api.rs

@@ -1,19 +1,17 @@
+use crate::{MachineApi, MachineMessage};
+
 use super::MockMachine;
-use control_core::{
-    machines::api::MachineApi,
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_first_and_last_event,
-        },
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
     },
 };
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::lock::Mutex;
-use std::{sync::Arc, time::Duration};
+use smol::channel::Sender;
+use std::sync::Arc;
 use tracing::instrument;
 
 #[derive(Serialize, Deserialize, Debug, Clone, PartialEq, Eq)]
@@ -60,7 +58,7 @@ pub enum MockEvents {
 
 #[derive(Debug)]
 pub struct MockMachineNamespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl CacheableEvents<Self> for MockEvents {
@@ -72,11 +70,10 @@ impl CacheableEvents<Self> for MockEvents {
     }
 
     fn event_cache_fn(&self) -> CacheFn {
-        let cache_one_hour = cache_duration(Duration::from_secs(60 * 60), Duration::from_secs(1));
         let cache_first_and_last = cache_first_and_last_event();
 
         match self {
-            Self::LiveValues(_) => cache_one_hour,
+            Self::LiveValues(_) => cache_first_and_last,
             Self::State(_) => cache_first_and_last,
         }
     }
@@ -98,12 +95,18 @@ impl NamespaceCacheingLogic<MockEvents> for MockMachineNamespace {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
 
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
 impl MachineApi for MockMachine {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
     fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
         let mutation: Mutation = serde_json::from_value(request_body)?;
         match mutation {
@@ -123,7 +126,7 @@ impl MachineApi for MockMachine {
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
 }

machines/src/mock/mod.rs

@@ -1,26 +1,25 @@
-use crate::machines::{MACHINE_MOCK, VENDOR_QITECH};
-use api::{LiveValuesEvent, MockEvents, MockMachineNamespace, Mode, ModeState, StateEvent};
-use control_core::machines::identification::MachineIdentificationUnique;
-use control_core::socketio::event::BuildEvent;
-use control_core::{
-    machines::identification::MachineIdentification, socketio::namespace::NamespaceCacheingLogic,
+use crate::AsyncThreadMessage;
+use crate::{
+    MACHINE_MOCK, Machine, MachineMessage, VENDOR_QITECH,
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
 };
-use control_core_derive::Machine;
-
+use api::{LiveValuesEvent, MockEvents, MockMachineNamespace, Mode, ModeState, StateEvent};
+use control_core::socketio::event::BuildEvent;
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+use smol::channel::{Receiver, Sender};
 use std::time::Instant;
 use tracing::info;
-use uom::si::{
-    f64::Frequency,
-    frequency::{hertz, millihertz},
-};
+use units::f64::*;
+use units::frequency::{hertz, millihertz};
 
 pub mod act;
 pub mod api;
 pub mod new;
 
-#[derive(Debug, Machine)]
+#[derive(Debug)]
 pub struct MockMachine {
     machine_identification_unique: MachineIdentificationUnique,
+    main_sender: Option<Sender<AsyncThreadMessage>>,
 
     // socketio
     namespace: MockMachineNamespace,
@@ -39,6 +38,18 @@ pub struct MockMachine {
     /// Will be initialized as false and set to true by emit_state
     /// This way we can signal to the client that the first state emission is a default state
     emitted_default_state: bool,
+    api_sender: Sender<MachineMessage>,
+    api_receiver: Receiver<MachineMessage>,
+}
+
+impl Machine for MockMachine {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
 }
 
 impl MockMachine {

machines/src/mock/new.rs

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

machines/src/registry.rs

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

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

@@ -1,34 +1,35 @@
+use anyhow::anyhow;
+use control_core::helpers::hashing::{byte_folding_u16, hash_djb2};
+use control_core::helpers::retry::retry_n_times;
+use control_core::modbus::ModbusResponse;
+use control_core::modbus::{self, ModbusRequest};
+use serialport::SerialPort;
+use serialport::{ClearBuffer, DataBits, FlowControl, Parity, StopBits};
+use smol::lock::RwLock;
+use std::sync::atomic::{AtomicBool, Ordering};
 use std::{
     io::Write,
     sync::Arc,
     thread,
     time::{Duration, Instant},
 };
+use units::f64::Length;
 
-use crate::machines::{MACHINE_LASER_V1, VENDOR_QITECH};
-use anyhow::anyhow;
-use control_core::{
-    helpers::{
-        hashing::{byte_folding_u16, hash_djb2},
-        retry::retry_n_times,
-    },
-    machines::identification::{
-        DeviceHardwareIdentification, DeviceHardwareIdentificationSerial, DeviceIdentification,
-        DeviceMachineIdentification, MachineIdentification, MachineIdentificationUnique,
-    },
-    modbus::{self, ModbusRequest, ModbusResponse},
-    serial::{SerialDevice, SerialDeviceNew, SerialDeviceNewParams},
+use crate::machine_identification::{
+    DeviceHardwareIdentification, DeviceHardwareIdentificationSerial, DeviceIdentification,
+    DeviceMachineIdentification, MachineIdentification, MachineIdentificationUnique,
 };
-use serialport::SerialPort;
-use serialport::{ClearBuffer, DataBits, FlowControl, Parity, StopBits};
-use smol::lock::RwLock;
-use uom::si::f64::Length;
+use crate::{
+    MACHINE_LASER_V1, SerialDevice, SerialDeviceNew, SerialDeviceNewParams, VENDOR_QITECH,
+};
+use units::length::millimeter;
 
 /// The struct of Laser Device
 #[derive(Debug)]
 pub struct Laser {
     pub data: Option<LaserData>,
     pub path: String,
+    pub shutdown_flag: Arc<AtomicBool>,
 }
 
 impl SerialDevice for Laser {}
@@ -59,15 +60,15 @@ impl TryFrom<ModbusResponse> for LaserDiameterResponse {
             let x = u16::from_be_bytes([value.data[3], value.data[4]]) as f64 / 1000.0;
             let y = u16::from_be_bytes([value.data[5], value.data[6]]) as f64 / 1000.0;
             (
-                Some(Length::new::<uom::si::length::millimeter>(x)),
-                Some(Length::new::<uom::si::length::millimeter>(y)),
+                Some(Length::new::<millimeter>(x)),
+                Some(Length::new::<millimeter>(y)),
             )
         } else {
             (None, None)
         };
 
         Ok(Self {
-            diameter: Length::new::<uom::si::length::millimeter>(diameter),
+            diameter: Length::new::<millimeter>(diameter),
             x_axis,
             y_axis,
         })
@@ -94,7 +95,7 @@ impl SerialDeviceNew for Laser {
         params: &SerialDeviceNewParams,
     ) -> Result<(DeviceIdentification, Arc<RwLock<Self>>), anyhow::Error> {
         let laser_data = Some(LaserData {
-            diameter: Length::new::<uom::si::length::millimeter>(0.0),
+            diameter: Length::new::<millimeter>(0.0),
             x_axis: None,
             y_axis: None,
             last_timestamp: Instant::now(),
@@ -119,15 +120,17 @@ impl SerialDeviceNew for Laser {
             ),
         };
 
+        let shutdown_flag: Arc<AtomicBool> = AtomicBool::new(false).into();
         // Create a new Laser instance
         let _self = Arc::new(RwLock::new(Self {
             data: laser_data,
             path: params.path.clone(),
+            shutdown_flag: shutdown_flag.clone(),
         }));
-
         //// Spawn the device thread
         let _self_clone = _self.clone();
-        thread::Builder::new()
+
+        let _ = thread::Builder::new()
             .name("laser".to_owned())
             .spawn(move || {
                 smol::block_on(async {
@@ -139,6 +142,14 @@ impl SerialDeviceNew for Laser {
     }
 }
 
+impl Drop for Laser {
+    fn drop(&mut self) {
+        // Signal shutdown
+        self.shutdown_flag.store(true, Ordering::SeqCst);
+        println!("Laser struct dropped, thread stopped");
+    }
+}
+
 #[derive(Debug, Clone)]
 pub struct LaserData {
     pub diameter: Length,
@@ -197,7 +208,7 @@ impl Laser {
 
         port.clear(ClearBuffer::All).ok();
 
-        loop {
+        while !_self.read().await.shutdown_flag.load(Ordering::SeqCst) {
             // send diameter request
             let response = retry_n_times(10, || {
                 if let Err(e) = port.write_all(&request_buffer) {
@@ -211,7 +222,6 @@ impl Laser {
                     38400,
                     8,
                 ));
-
                 modbus::receive_data_modbus(&mut *port)?
                     .map(ModbusResponse::try_from)
                     .transpose()
@@ -230,5 +240,6 @@ impl Laser {
                 });
             }
         }
+        Ok(())
     }
 }

machines/src/serial/init.rs

@@ -1,26 +1,84 @@
-use control_core::{
-    machines::identification::MachineIdentificationUnique,
-    serial::{
-        SerialDeviceIdentification, SerialDeviceNew, SerialDeviceNewParams,
-        serial_detection::SerialDetection,
-    },
-    socketio::namespace::NamespaceCacheingLogic,
-};
 use serialport::UsbPortInfo;
 use smol::Task;
-use std::{collections::HashMap, sync::Arc, time::Duration};
+use std::{collections::HashMap, time::Duration};
+/*
+*@author: Alisher Darmenov
+*@company: QiTech
+*@created: 20.04.2025
+*
+*@description: This module is responsible for usb detection and validation, specially made with serialport to avoid complexity and size of tokio_serial
+*/
+use crate::SerialDeviceIdentification;
+use serialport::{SerialPortInfo, SerialPortType};
+/// Handles scanning and caching of connected USB serial devices.
+pub struct SerialDetection {}
 
-use crate::{
-    app_state::AppState,
-    machines::{laser::LaserMachine, registry::MACHINE_REGISTRY},
-    socketio::main_namespace::{MainNamespaceEvents, machines_event::MachinesEventBuilder},
-};
+impl SerialDetection {
+    /// Returns all serial ports on the system (minus macOS "cu" noise).
+    fn get_ports() -> Vec<SerialPortInfo> {
+        match serialport::available_ports() {
+            Ok(ports) => ports
+                .into_iter()
+                .filter(|port| !port.port_name.contains("cu"))
+                .collect(),
+            Err(_) => Vec::new(),
+        }
+    }
 
-use super::devices::laser::Laser;
+    /// Extracts only USB serial devices from the port list.
+    fn extract_usb_serial_devices(port_list: Vec<SerialPortInfo>) -> HashMap<String, UsbPortInfo> {
+        let mut map = HashMap::new();
+
+        for port in port_list {
+            if let SerialPortType::UsbPort(usb_info) = port.port_type {
+                map.insert(port.port_name, usb_info);
+            }
+        }
+        map
+    }
+
+    /// Scans for connected USB serial devices and updates the internal map.
+    /// Returns a clone of the map for quick access.
+    pub fn detect_devices() -> HashMap<String, UsbPortInfo> {
+        let ports = Self::get_ports();
+        let usb_devices = Self::extract_usb_serial_devices(ports);
+        usb_devices
+    }
+
+    pub fn device_port_exists(device_path: &str) -> bool {
+        let ports = Self::get_ports();
+        return ports.iter().any(|p| p.port_name == device_path);
+    }
+
+    pub fn device_id_exists(sdevid: SerialDeviceIdentification) -> bool {
+        let ports = Self::get_ports();
+        for port in ports {
+            if let SerialPortType::UsbPort(usb_info) = port.port_type {
+                if usb_info.vid == sdevid.vendor_id && usb_info.pid == sdevid.product_id {
+                    return true;
+                }
+            }
+        }
+        return false;
+    }
+
+    pub fn get_path_by_id(
+        sdevid: SerialDeviceIdentification,
+        map: HashMap<String, UsbPortInfo>,
+    ) -> Option<String> {
+        for (port, usbport) in map.iter() {
+            if usbport.vid == sdevid.vendor_id && usbport.pid == sdevid.product_id {
+                return Some(port.clone());
+            }
+        }
+        return None;
+    }
+}
 
 // Async function that runs until at least one serial device is found.
 pub async fn find_serial() -> Option<HashMap<String, UsbPortInfo>> {
     smol::Timer::after(Duration::from_secs(1)).await;
+
     let devices = SerialDetection::detect_devices();
     if !devices.is_empty() {
         return Some(devices);
@@ -34,11 +92,10 @@ pub fn start_serial_discovery() -> Task<Option<HashMap<String, UsbPortInfo>>> {
     smol::spawn(find_serial())
 }
 
-// This function handles a disconnection and or reconnection of Laser
-// You can easily rewrite it when we have more serialdevices
-// TODO: Add A static list of known SeriadeviceIdents
+/*
+
 pub async fn handle_serial_device_hotplug(
-    app_state: Arc<AppState>,
+    app_state: Arc<SharedState>,
     map: Option<HashMap<String, UsbPortInfo>>,
 ) {
     let laser_ident = SerialDeviceIdentification {
@@ -137,3 +194,6 @@ pub async fn handle_serial_device_hotplug(
         };
     }
 }
+
+
+*/

machines/src/serial/registry.rs

@@ -1,8 +1,14 @@
-use super::SerialDeviceNewParams;
+use lazy_static::lazy_static;
+
 use crate::{
-    machines::identification::DeviceIdentification,
-    serial::{SerialDevice, SerialDeviceIdentification},
+    SerialDevice, SerialDeviceIdentification, machine_identification::DeviceIdentification,
+    serial::devices::laser::Laser,
 };
+
+#[cfg(feature = "mock-machine")]
+use crate::serial::devices::mock::MockSerialDevice;
+
+use crate::SerialDeviceNewParams;
 use anyhow::{Error, Result};
 use smol::lock::RwLock;
 use std::{any::TypeId, collections::HashMap, sync::Arc};
@@ -94,3 +100,22 @@ impl SerialDeviceRegistry {
         }
     }
 }
+
+lazy_static! {
+    pub static ref SERIAL_DEVICE_REGISTRY: SerialDeviceRegistry = {
+        let mut sdr = SerialDeviceRegistry::new();
+        sdr.register::<Laser>(SerialDeviceIdentification {
+            vendor_id: 0x0403,
+            product_id: 0x6001,
+        });
+
+        // Register MockSerialDevice when mock-machine feature is enabled
+        #[cfg(feature = "mock-machine")]
+        sdr.register::<MockSerialDevice>(SerialDeviceIdentification {
+            vendor_id: 0x0001, // VENDOR_QITECH
+            product_id: 0x0007, // MACHINE_MOCK
+        });
+
+        sdr
+    };
+}

machines/src/winder2/act.rs

@@ -0,0 +1,66 @@
+#[cfg(not(feature = "mock-machine"))]
+use super::Winder2;
+#[cfg(not(feature = "mock-machine"))]
+use crate::{MachineAct, MachineMessage};
+#[cfg(not(feature = "mock-machine"))]
+use std::time::{Duration, Instant};
+#[cfg(not(feature = "mock-machine"))]
+
+impl MachineAct for Winder2 {
+    fn act(&mut self, now: Instant) {
+        let machine_message = self.api_receiver.try_recv();
+        match machine_message {
+            Ok(machine_message) => self.act_machine_message(machine_message),
+            Err(_e) => (),
+        };
+        // sync the spool speed
+        self.sync_spool_speed(now);
+
+        // sync the puller speed
+        self.sync_puller_speed(now);
+
+        // sync the traverse speed
+        self.sync_traverse_speed();
+
+        // automatically stops or pulls after N Meters if enabled
+        self.stop_or_pull_spool(now);
+
+        if self.traverse_controller.did_change_state() {
+            self.emit_state();
+        }
+
+        // more than 33ms have passed since last emit (30 "fps" target)
+        if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+            self.emit_live_values();
+            self.last_measurement_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(machine_connection) => {
+                if self.connected_machines.len() >= self.max_connected_machines {
+                    tracing::debug!(
+                        "Refusing to add Machine Connection {:?}, since self.connected_machines would be over the limit of {:?}",
+                        machine_connection,
+                        self.max_connected_machines
+                    );
+                    return;
+                }
+                self.connected_machines.push(machine_connection);
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) => {
+                self.connected_machines.clear();
+            }
+        }
+    }
+}

machines/src/winder2/adaptive_spool_speed_controller.rs

@@ -1,4 +1,4 @@
-use crate::machines::winder2::{
+use crate::winder2::{
     clamp_revolution::clamp_revolution_uom, filament_tension::FilamentTensionCalculator,
     puller_speed_controller::PullerSpeedController,
 };
@@ -10,17 +10,13 @@ use control_core::{
 };
 use core::f64;
 use std::time::Instant;
-use uom::{
-    ConstZero,
-    si::{
-        angle::degree,
-        angular_acceleration::radian_per_second_squared,
-        angular_velocity::{radian_per_second, revolution_per_minute},
-        f64::{Angle, AngularAcceleration, AngularVelocity, Length},
-        length::{centimeter, meter},
-        velocity::meter_per_second,
-    },
-};
+use units::ConstZero;
+use units::angle::degree;
+use units::angular_acceleration::radian_per_second_squared;
+use units::angular_velocity::{radian_per_second, revolution_per_minute};
+use units::f64::*;
+use units::length::{centimeter, meter};
+use units::velocity::meter_per_second;
 
 /// Adaptive spool speed controller that automatically adjusts to maintain optimal filament tension.
 ///

machines/src/winder2/api.rs

@@ -28,17 +28,11 @@ mod winder2_imports {
 mod winder2_imports {
     pub use super::super::puller_speed_controller::{GearRatio, PullerRegulationMode};
     pub use super::super::{Winder2, Winder2Mode};
-    pub use control_core::{
-        machines::{
-            api::MachineApi, connection::MachineCrossConnectionState,
-            identification::MachineIdentificationUnique,
-        },
-        socketio::{
-            event::{Event, GenericEvent},
-            namespace::{
-                CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-                cache_first_and_last_event,
-            },
+    pub use control_core::socketio::{
+        event::{Event, GenericEvent},
+        namespace::{
+            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
+            cache_first_and_last_event,
         },
     };
 
@@ -53,8 +47,14 @@ mod winder2_imports {
     pub use tracing::instrument;
 }
 
+#[cfg(not(feature = "mock-machine"))]
+use smol::channel::Sender;
 pub use winder2_imports::*;
 
+#[cfg(not(feature = "mock-machine"))]
+use crate::{MachineApi, MachineMessage};
+use crate::{MachineCrossConnectionState, machine_identification::MachineIdentificationUnique};
+
 #[derive(Serialize, Deserialize, Debug, Clone, Default)]
 pub enum Mode {
     #[default]
@@ -177,7 +177,7 @@ pub struct StateEvent {
     pub tension_arm_state: TensionArmState,
     /// spool speed controller state
     pub spool_speed_controller_state: SpoolSpeedControllerState,
-    /// connected machine state
+    /// Is a Machine Connected?
     pub connected_machine_state: MachineCrossConnectionState,
 }
 
@@ -286,7 +286,7 @@ pub enum Winder2Events {
 
 #[derive(Debug)]
 pub struct Winder2Namespace {
-    pub namespace: Arc<Mutex<Namespace>>,
+    pub namespace: Option<Namespace>,
 }
 
 impl NamespaceCacheingLogic<Winder2Events> for Winder2Namespace {
@@ -294,9 +294,10 @@ impl NamespaceCacheingLogic<Winder2Events> for Winder2Namespace {
     fn emit(&mut self, events: Winder2Events) {
         let event = Arc::new(events.event_value());
         let buffer_fn = events.event_cache_fn();
-
-        let mut namespace = self.namespace.lock_blocking();
-        namespace.emit(event, &buffer_fn);
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
     }
 }
 
@@ -309,11 +310,9 @@ impl CacheableEvents<Self> for Winder2Events {
     }
 
     fn event_cache_fn(&self) -> CacheFn {
-        let cache_one_hour = cache_duration(Duration::from_secs(60 * 60), Duration::from_secs(1));
         let cache_first_and_last = cache_first_and_last_event();
-
         match self {
-            Self::LiveValues(_) => cache_one_hour,
+            Self::LiveValues(_) => cache_first_and_last,
             Self::State(_) => cache_first_and_last,
         }
     }
@@ -321,7 +320,13 @@ impl CacheableEvents<Self> for Winder2Events {
 
 #[cfg(not(feature = "mock-machine"))]
 impl MachineApi for Winder2 {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
     fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
+        use crate::Machine;
+
         let mutation: Mutation = serde_json::from_value(request_body)?;
         match mutation {
             Mutation::EnableTraverseLaserpointer(enable) => self.set_laser(enable),
@@ -364,16 +369,37 @@ impl MachineApi for Winder2 {
             Mutation::ResetSpoolProgress => self.stop_or_pull_spool_reset(Instant::now()),
             Mutation::ZeroTensionArmAngle => self.tension_arm_zero(),
             Mutation::SetConnectedMachine(machine_identification_unique) => {
-                self.set_connected_buffer(machine_identification_unique)
+                let main_sender = match &self.main_sender {
+                    Some(sender) => sender,
+                    None => {
+                        return Err(anyhow::anyhow!(
+                            "Machine cannot connect to others! {:?}",
+                            self.get_machine_identification_unique()
+                        ));
+                    }
+                };
+                main_sender.try_send(crate::AsyncThreadMessage::ConnectOneWayRequest(
+                    crate::CrossConnection {
+                        src: self.get_machine_identification_unique(),
+                        dest: machine_identification_unique,
+                    },
+                ))?;
+                self.emit_state();
             }
-            Mutation::DisconnectMachine(machine_identification_unique) => {
-                self.disconnect_buffer(machine_identification_unique)
+            Mutation::DisconnectMachine(_machine_identification_unique) => {
+                self.connected_machines.clear();
+                /*let main_sender = match &self.main_sender {
+                    Some(sender) => sender,
+                    None => return Err(anyhow::anyhow!("[DisconnectMachine] Machine cannot connect to others! {:?}", self.machine_identification_unique)),
+                };*/
+                //main_sender.try_send(crate::AsyncThreadMessage::ConnectOneWayRequest(crate::CrossConnection { src: self.get_machine_identification_unique(), dest: machine_identification_unique }))?;
+                self.emit_state();
             }
         }
         Ok(())
     }
 
-    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
         self.namespace.namespace.clone()
     }
 }

machines/src/winder2/clamp_revolution.rs

@@ -1,4 +1,7 @@
-use uom::si::{angle::revolution, f64::Angle};
+use units::angle::revolution;
+use units::f64::*;
+
+// Comments are just a little excessive here ...
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum Clamping {
@@ -24,7 +27,7 @@ pub enum Clamping {
 /// # Examples
 ///
 /// ```ignore
-/// use uom::si::{angle::revolution, f64::Angle};
+/// units::angle::{revolution, Angle};
 ///
 /// let value = Angle::new::<revolution>(0.15);
 /// let min = Angle::new::<revolution>(0.1);

machines/src/winder2/emit.rs

@@ -1,26 +1,22 @@
 #[cfg(not(feature = "mock-machine"))]
 mod winder2_imports {
     pub use super::super::puller_speed_controller::PullerRegulationMode;
-
     pub use super::super::{TraverseMode, Winder2, Winder2Mode, api, spool_speed_controller};
-    pub use crate::machines::buffer1::BufferV1;
-
+    pub use crate::buffer1::BufferV1;
     pub use api::{
         LiveValuesEvent, ModeState, PullerState, SpoolAutomaticActionMode,
         SpoolAutomaticActionState, SpoolSpeedControllerState, StateEvent, TensionArmState,
         TraverseState, Winder2Events,
     };
     pub use control_core::socketio::event::BuildEvent;
-    pub use control_core::{
-        machines::identification::MachineIdentificationUnique,
-        socketio::namespace::NamespaceCacheingLogic, uom_extensions::velocity::meter_per_minute,
-    };
+    pub use control_core::socketio::namespace::NamespaceCacheingLogic;
     pub use std::time::Instant;
-    pub use uom::si::{
+    pub use units::{
         angle::degree,
         angular_velocity::revolution_per_minute,
-        f64::{Length, Velocity},
+        f64::*,
         length::{meter, millimeter},
+        velocity::meter_per_minute,
     };
 }
 
@@ -212,6 +208,18 @@ impl Winder2 {
     }
 
     pub fn build_state_event(&mut self) -> StateEvent {
+        use crate::MachineCrossConnectionState;
+
+        let connected_machine = self.connected_machines.get(0);
+        let ident = match connected_machine {
+            Some(machine) => Some(machine.ident.clone()),
+            None => None,
+        };
+        let cross_conn = MachineCrossConnectionState {
+            machine_identification_unique: ident,
+            is_available: connected_machine.is_some(),
+        };
+
         StateEvent {
             is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
             traverse_state: TraverseState {
@@ -292,7 +300,7 @@ impl Winder2 {
                 spool_required_meters: self.spool_automatic_action.target_length.get::<meter>(),
                 spool_automatic_action_mode: self.spool_automatic_action.mode.clone(),
             },
-            connected_machine_state: self.connected_buffer.to_state(),
+            connected_machine_state: cross_conn,
         }
     }
 
@@ -435,7 +443,7 @@ impl Winder2 {
 
     /// 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);
+        let min_speed = 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);
         }
@@ -444,7 +452,7 @@ impl Winder2 {
 
     /// 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);
+        let max_speed = 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);
         }
@@ -494,42 +502,4 @@ impl Winder2 {
         self.spool_speed_controller.set_forward(forward);
         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();
-    }
 }

machines/src/winder2/filament_tension.rs

@@ -1,14 +1,10 @@
 use control_core::converters::angle_converter::{AngleConverter, AngleConverterUom};
 use euclid::Point2D;
-use uom::{
-    ConstZero,
-    si::{
-        angle::radian,
-        f64::{Angle, Length},
-        length::centimeter,
-        ratio::ratio,
-    },
-};
+use units::ConstZero;
+use units::angle::radian;
+use units::f64::*;
+use units::length::centimeter;
+use units::ratio::ratio;
 
 /// The "tension" of the filament is not linear regarding the angle of the tension arm since it moves in an angular motion.
 ///
@@ -148,7 +144,8 @@ impl FilamentTensionCalculator {
 #[cfg(test)]
 mod tests {
     use textplots::{Chart, Plot, Shape};
-    use uom::si::angle::degree;
+
+    use units::angle::degree;
 
     use super::*;
 

machines/src/winder2/minmax_spool_speed_controller.rs

@@ -1,4 +1,4 @@
-use crate::machines::winder2::{
+use crate::winder2::{
     clamp_revolution::clamp_revolution_uom, filament_tension::FilamentTensionCalculator,
     puller_speed_controller::PullerSpeedController,
 };
@@ -13,20 +13,16 @@ use control_core::{
         interpolation::{interpolate_exponential, scale},
         moving_time_window::MovingTimeWindow,
     },
-    uom_extensions::angular_acceleration::revolution_per_minute_per_second,
 };
 use std::time::Instant;
-use uom::{
-    ConstZero,
-    si::{
-        angle::degree,
-        angular_acceleration::radian_per_second_squared,
-        angular_velocity::{radian_per_second, revolution_per_minute, revolution_per_second},
-        f64::{Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
-        length::meter,
-        velocity::meter_per_second,
-    },
-};
+
+use units::ConstZero;
+use units::angle::degree;
+use units::angular_acceleration::{radian_per_second_squared, revolution_per_minute_per_second};
+use units::angular_velocity::{radian_per_second, revolution_per_minute, revolution_per_second};
+use units::f64::*;
+use units::length::meter;
+use units::velocity::meter_per_second;
 
 #[derive(Debug)]
 pub struct MinMaxSpoolSpeedController {