fixed discov

CHANGELOG.md

@@ -1,19 +1,3 @@
-# `2.12.0`
-_17.11.2025_
-
-## General
-- [#847](https://github.com/qitechgmbh/control/pull/847) Improved discovery and initialization 
-- [#859](https://github.com/qitechgmbh/control/pull/859) Improved update speed
-- [#897](https://github.com/qitechgmbh/control/pull/897), [#899](https://github.com/qitechgmbh/control/pull/899), [#852](https://github.com/qitechgmbh/control/pull/852)  Improved system stability
-- [#817](https://github.com/qitechgmbh/control/pull/817) Added an update bar
-
-## Laser
-- [#857](https://github.com/qitechgmbh/control/pull/857) Fixed potential issues with 2 Axis Laser
-
-## Extruder V2
-- [#881](https://github.com/qitechgmbh/control/pull/881) Extended Temperature PID Configuration
-
-
 # `2.11.0`
 _21.10.2025_
 

Cargo.toml

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

README.md

@@ -152,55 +152,3 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
 - [x] [Ethercat Basics](./docs/ethercat-basics.md)
 
 - [x] [NixOS Operating System](./docs/nixos/README.md)
-
-
-## Minimal Example 
-
-# Hello EtherCAT - LED Control on the EL2004
-
-1. Introduction
-2. Requirements
-3. Wiring / Hardware Setup
-4. Software Overview
-5. Step-by-Step Implementation
-6. Final Code Listing
-7. Expected Behavior
-
----
-
-## 1. Introduction
-
-The EL2004 LED Toggle Example is a minimal demonstration showing how to control digital outputs on a Beckhoff EL2004 EtherCAT terminal using the existing QiTech machine framework. It is designed as the simplest possible working example of hardware interaction: turning an LED on and off.
-
----
-
-## 2. Requirements
-
-### Hardware
-- Beckhoff EL2004 EtherCAT Terminal (Digital Output, 4 channels)
-- Beckhoff EK1100 EtherCAT Coupler
-- Power supply for EK1100 and EL2004 module (AC/DC Adapter with 24V Output )
-- Connecting wires
-- A PC connected to the EtherCAT network
-
-### Software
-- Rust toolchain (for building backend machine code)
-- Node.js and npm/yarn (for frontend control interface)
-- The project repository cloned locally
-- Access to EtherCAT drivers and any required HAL bindings (available in the QITech control repository)
-
----
-
-## 3. Wiring / Hardware Setup
-
-### Schematic
-<img width="1123" height="859" alt="Screenshot 2025-12-03 at 16 12 26" src="https://github.com/user-attachments/assets/a04278d9-7f6a-442d-9ea7-7ace9ac44872" />
-
-
-### Needed Hardware Overview
-
-<img width="813" height="1079" alt="Screenshot 2025-12-03 at 16 12 42" src="https://github.com/user-attachments/assets/af34a581-a668-4c6b-9d7f-062355813b6a" />
-
-
-Figure 1: Beckhoff EK1100 Bus Coupler — the device circles in red is a simple 24V Power Source
-

control-core/Cargo.toml

@@ -12,15 +12,17 @@ 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 units::{
+use uom::si::{
     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 units::{
+use uom::si::{
     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 units::{
+use uom::si::{
     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 units::f64::Angle;
-    /// use units::angle::degree;
+    /// use uom::si::f64::Angle;
+    /// use uom::si::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 units::{
+use uom::si::{
     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 units::{
+/// use uom::si::{
 ///     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 units::{
+    /// use uom::si::{
     ///     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 units::{
+    /// use uom::si::{
     ///     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 units::{angular_velocity::revolution_per_minute, f64::AngularVelocity};
+    /// use uom::si::{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 units::{
+use uom::si::{
     acceleration::meter_per_second_squared,
     f64::{Acceleration, Length, Velocity},
     length::meter,
@@ -22,8 +22,8 @@ use super::acceleration_position_controller::{
 ///
 /// # Example
 /// ```ignore
-/// use units::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
-/// use units::f64::{Length, Velocity, Acceleration};
+/// use uom::si::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
+/// use uom::si::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 units::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
-    /// use units::f64::{Length, Velocity, Acceleration};
+    /// use uom::si::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
+    /// use uom::si::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 units::{length::meter, f64::Length};
+    /// use uom::si::{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 units::{length::meter, velocity::meter_per_second, f64::{Length, Velocity}};
+    /// use uom::si::{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 units::{
+use uom::si::{
     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 units::{
+/// use uom::si::{
 ///     velocity::meter_per_second,
 ///     acceleration::meter_per_second_squared,
 ///     jerk::meter_per_second_cubed,
@@ -65,7 +65,7 @@ impl LinearJerkSpeedController {
     ///
     /// # Example
     /// ```ignore
-    /// use units::{
+    /// use uom::si::{
     ///     velocity::meter_per_second,
     ///     acceleration::meter_per_second_squared,
     ///     jerk::meter_per_second_cubed,
@@ -127,7 +127,7 @@ impl LinearJerkSpeedController {
     ///
     /// # Example
     /// ```ignore
-    /// use units::{
+    /// use uom::si::{
     ///     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 units::{angle::radian, f64::Angle};
+use uom::si::{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 units::{
+use uom::si::{
     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 units::{
+    use uom::si::{
         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 units::{f64::{Length, Velocity}, length::meter, velocity::meter_per_second};
+//! use uom::si::{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 units::{
+use uom::si::{
     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 units::length::centimeter;
+    use uom::si::length::centimeter;
 
     #[test]
     fn test_constructors() {

control-core/src/converters/linear_step_converter.rs

@@ -1,4 +1,4 @@
-use units::{
+use uom::si::{
     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 units::{
+    use uom::si::{
         acceleration::meter_per_second_squared, angular_acceleration::radian_per_second_squared,
         length::meter, velocity::meter_per_second,
     };

control-core/src/ethercat/eeprom_identification.rs

@@ -1,117 +1,3 @@
-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;
@@ -147,6 +33,10 @@ 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,

control-core/src/ethercat/interface_discovery.rs

@@ -1,9 +1,10 @@
+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
@@ -104,6 +105,7 @@ 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 {
             set_interface_managed(&interfaces[i].name, false);
+            continue;
         } else {
             set_interface_managed(&interfaces[i].name, true);
         }

control-core/src/ethercat/mod.rs

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

control-core/src/lib.rs

@@ -4,11 +4,17 @@ 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

@@ -0,0 +1,27 @@
+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

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

@@ -0,0 +1,113 @@
+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

@@ -0,0 +1,297 @@
+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

@@ -0,0 +1,84 @@
+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

@@ -0,0 +1,23 @@
+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

@@ -0,0 +1,279 @@
+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/machines/registry.rs

@@ -1,20 +1,10 @@
-#[cfg(feature = "mock-machine")]
-use crate::{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 super::{Machine, identification::MachineIdentification, new::MachineNewParams};
 use anyhow::Error;
-use std::{any::TypeId, collections::HashMap};
+use smol::lock::Mutex;
+use std::{any::TypeId, collections::HashMap, sync::Arc};
 
 pub type MachineNewClosure =
-    Box<dyn Fn(&MachineNewParams) -> Result<Box<dyn Machine>, Error> + Send + Sync>;
+    Box<dyn Fn(&MachineNewParams) -> Result<Arc<Mutex<dyn Machine>>, Error> + Send + Sync>;
 
 pub struct MachineRegistry {
     type_map: HashMap<TypeId, (MachineIdentification, MachineNewClosure)>,
@@ -42,7 +32,9 @@ impl MachineRegistry {
             (
                 machine_identficiation.clone(),
                 // create a machine construction closure
-                Box::new(|machine_new_params| Ok(Box::new(T::new(machine_new_params)?))),
+                Box::new(|machine_new_params| {
+                    Ok(Arc::new(Mutex::new(T::new(machine_new_params)?)))
+                }),
             ),
         );
     }
@@ -50,7 +42,7 @@ impl MachineRegistry {
     pub fn new_machine(
         &self,
         machine_new_params: &MachineNewParams,
-    ) -> Result<Box<dyn Machine>, anyhow::Error> {
+    ) -> Result<Arc<Mutex<dyn Machine>>, anyhow::Error> {
         // get machiine identification
         let device_identification =
             &machine_new_params
@@ -80,24 +72,3 @@ 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
-    };
-}

control-core/src/rest/mod.rs

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

control-core/src/rest/mutation.rs

@@ -2,7 +2,7 @@ use std::fmt::Debug;
 
 use serde::Serialize;
 
-use machines::machine_identification::MachineIdentificationUnique;
+use crate::machines::identification::MachineIdentificationUnique;
 
 #[derive(Debug, Serialize, Clone)]
 pub struct MutationResponse {

control-core/src/serial/mod.rs

@@ -1,10 +1,11 @@
-/*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 {}
@@ -30,4 +31,3 @@ pub struct SerialDeviceIdentification {
     pub vendor_id: u16,
     pub product_id: u16,
 }
-*/

control-core/src/serial/registry.rs

@@ -1,14 +1,8 @@
-use lazy_static::lazy_static;
-
+use super::SerialDeviceNewParams;
 use crate::{
-    SerialDevice, SerialDeviceIdentification, machine_identification::DeviceIdentification,
-    serial::devices::laser::Laser,
+    machines::identification::DeviceIdentification,
+    serial::{SerialDevice, SerialDeviceIdentification},
 };
-
-#[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};
@@ -100,22 +94,3 @@ 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
-    };
-}

control-core/src/socketio/mod.rs

@@ -1,2 +1,3 @@
 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, Clone)]
+#[derive(Debug)]
 pub struct Namespace {
     pub sockets: Vec<SocketRef>,
     pub events: HashMap<String, Vec<Arc<GenericEvent>>>,
@@ -76,7 +76,7 @@ impl Namespace {
 
         // Sort by event count (ascending - lowest count first)
         event_groups.sort_by(|a, b| a.1.len().cmp(&b.1.len()));
-
+        tracing::info!("reemit: {:?}", self.events);
         // Emit events in order of lowest count first
         for (_event_name, events) in event_groups {
             for event in events {
@@ -167,7 +167,7 @@ impl Namespace {
 
 impl Drop for Namespace {
     fn drop(&mut self) {
-        //self.disconnect_all();
+        self.disconnect_all();
     }
 }
 

control-core/src/socketio/namespace_id.rs

@@ -3,7 +3,7 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
 use std::fmt;
 use std::str::FromStr;
 
-use machines::machine_identification::{MachineIdentification, MachineIdentificationUnique};
+use crate::machines::identification::{MachineIdentification, MachineIdentificationUnique};
 
 #[derive(Debug, PartialEq, Eq, Hash, Clone)]
 pub enum NamespaceId {

control-core/src/transmission/mod.rs

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

control-core/src/uom_extensions/acceleration.rs

@@ -0,0 +1,7 @@
+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

@@ -0,0 +1,7 @@
+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

@@ -0,0 +1,7 @@
+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

@@ -0,0 +1,7 @@
+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

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

control-core/src/uom_extensions/velocity.rs

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

docs/machines/laser-DRE.md

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

electron/package-lock.json

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

electron/package.json

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

electron/src/assets/markdown/extruder/manual.md

@@ -720,7 +720,3 @@ The following persons must not work on the machine:
 ![QiTech Pro Extruder Electrical Diagram 2025 - Sheet 8](images/manuals/extruder/QiTech_Pro_Extruder_Electrical_Diagram_2025_8-008.png)
 
 ![QiTech Pro Extruder Electrical Diagram 2025 - Sheet 9](images/manuals/extruder/QiTech_Pro_Extruder_Electrical_Diagram_2025_9-009.png)
-
-## Mechanical Diagrams
-
-![QiTech Pro Extruder Nozzle 2025](images/manuals/extruder/Nozzle.png)

electron/src/client/mainNamespace.ts

@@ -145,17 +145,8 @@ 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: () => mainNamespaceStore, // use the exported store
+  createStore: createMainNamespaceStore,
   createEventHandler: mainMessageHandler,
 });
 

electron/src/client/socketioStore.ts

@@ -8,8 +8,6 @@ import { z } from "zod";
 import { toastError, toastZodError } from "@/components/Toast";
 import { MachineIdentificationUnique } from "@/machines/types";
 import { FPS_30 } from "@/lib/constants";
-import { mainNamespaceStore, createMainNamespaceStore } from "./mainNamespace";
-import { softReloadMainNamespaceStore } from "./softReload";
 
 /**
  * Simple buffer-based store updater to limit React re-renders to ~30 FPS
@@ -307,13 +305,27 @@ 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);
-      // Its hacky but i do not care, electron + react is annoying ...
-      window.location.reload();
+
+      // 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);
     });
 
     socket.on("event", (event: unknown) => {
@@ -322,9 +334,11 @@ 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) => {
@@ -342,25 +356,8 @@ const useSocketioStore = create<SocketioStore>()((set, get) => ({
       }),
     );
 
-    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();
-    }
+    // finally connect
+    socket.connect();
   },
   incrementNamespace: (namespaceId: NamespaceId) => {
     const namespace_path = serializeNamespaceId(namespaceId);

electron/src/client/softReload.ts

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

electron/src/components/UpdateProgressBar.tsx

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

electron/src/control/EditValue.tsx

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

electron/src/control/MinMaxValue.tsx

@@ -1,173 +0,0 @@
-import { Icon, IconName } from "@/components/Icon";
-import React, { useState, useMemo } from "react";
-import {
-  getUnitIcon,
-  renderValueToReactNode,
-  renderUnitSymbol,
-  Unit,
-} from "./units";
-import { Label } from "./Label";
-import { TimeSeries, TimeSeriesValue } from "@/lib/timeseries";
-
-type TimeframeOption = {
-  label: string;
-  value: number; // in milliseconds
-};
-
-export const TIMEFRAME_OPTIONS: TimeframeOption[] = [
-  { label: "1 min", value: 1 * 60 * 1000 },
-  { label: "5 min", value: 5 * 60 * 1000 },
-  { label: "10 min", value: 10 * 60 * 1000 },
-  { label: "30 min", value: 30 * 60 * 1000 },
-  { label: "1 hour", value: 60 * 60 * 1000 },
-];
-
-type Props = {
-  label: string;
-  unit?: Unit;
-  timeseries: TimeSeries;
-  icon?: IconName;
-  renderValue?: (value: number) => string;
-  defaultTimeframe?: number; // in milliseconds, defaults to 5 minutes
-  /** Optional externally-controlled timeframe (ms). When provided, component becomes controlled. */
-  timeframe?: number;
-  /** Optional callback when timeframe is changed via this component's selector */
-  onTimeframeChange?: (t: number) => void;
-  /** When true, hide the built-in timeframe selector (useful when sharing a selector outside) */
-  hideSelector?: boolean;
-};
-
-export function MinMaxValue({
-  unit,
-  timeseries,
-  icon,
-  label,
-  renderValue,
-  defaultTimeframe = 5 * 60 * 1000, // 5 minutes default
-  timeframe,
-  onTimeframeChange,
-  hideSelector = false,
-}: Props) {
-  const [internalTimeframe, setInternalTimeframe] = useState(defaultTimeframe);
-  const selectedTimeframe = timeframe ?? internalTimeframe;
-
-  // Calculate min/max from the timeseries using the selected timeframe
-  const { min, max, hasData } = useMemo(() => {
-    // Use short series for timeframes <= 5 seconds, otherwise use long series
-    // Short series typically has ~5 second retention with high resolution
-    // Long series typically has ~1 hour retention with lower resolution
-    const series =
-      selectedTimeframe <= 5000 ? timeseries.short : timeseries.long;
-
-    // Manually calculate min/max to exclude zero values (which might be invalid readings)
-    const cutoffTime = series.lastTimestamp - selectedTimeframe;
-    let min = Number.POSITIVE_INFINITY;
-    let max = Number.NEGATIVE_INFINITY;
-    let hasValidData = false;
-    let dataCount = 0;
-
-    const { values: raw, index, size, validCount } = series;
-
-    const startIdx = validCount < size ? 0 : index;
-
-    for (let i = 0; i < validCount; i++) {
-      const idx = (startIdx + i) % size;
-      const val = raw[idx];
-
-      if (
-        val &&
-        val.timestamp > 0 &&
-        val.timestamp >= cutoffTime &&
-        val.value > 0
-      ) {
-        hasValidData = true;
-        dataCount++;
-        if (val.value < min) min = val.value;
-        if (val.value > max) max = val.value;
-      }
-    }
-
-    if (!hasValidData) {
-      return { min: 0, max: 0, hasData: false };
-    }
-
-    return { min, max, hasData: true };
-  }, [
-    timeseries.short,
-    timeseries.long,
-    timeseries.current,
-    selectedTimeframe,
-  ]);
-
-  return (
-    <div className="flex w-full flex-col gap-3">
-      <Label label={label}>
-        <div className="flex flex-row items-center gap-6">
-          {/* Min Value */}
-          <div className="flex flex-row items-center gap-2">
-            <Icon
-              name={icon ?? (unit ? getUnitIcon(unit) : undefined)}
-              className="size-5 text-blue-500"
-            />
-            <div className="flex flex-col">
-              <span className="text-xs text-gray-500">Min</span>
-              <div className="flex flex-row items-center gap-1">
-                <span className="font-mono text-xl font-bold">
-                  {hasData
-                    ? renderValueToReactNode(min, unit, renderValue)
-                    : "-"}
-                </span>
-                {hasData && (
-                  <span className="text-sm">{renderUnitSymbol(unit)}</span>
-                )}
-              </div>
-            </div>
-          </div>
-
-          {/* Max Value */}
-          <div className="flex flex-row items-center gap-2">
-            <Icon
-              name={icon ?? (unit ? getUnitIcon(unit) : undefined)}
-              className="size-5 text-red-500"
-            />
-            <div className="flex flex-col">
-              <span className="text-xs text-gray-500">Max</span>
-              <div className="flex flex-row items-center gap-1">
-                <span className="font-mono text-xl font-bold">
-                  {hasData
-                    ? renderValueToReactNode(max, unit, renderValue)
-                    : "-"}
-                </span>
-                {hasData && (
-                  <span className="text-sm">{renderUnitSymbol(unit)}</span>
-                )}
-              </div>
-            </div>
-          </div>
-        </div>
-      </Label>
-
-      {/* Timeframe Selector (hidden when sharing selector externally) */}
-      {!hideSelector && (
-        <div className="flex flex-row flex-wrap gap-2">
-          {TIMEFRAME_OPTIONS.map((option) => (
-            <button
-              key={option.value}
-              onClick={() => {
-                if (onTimeframeChange) onTimeframeChange(option.value);
-                else setInternalTimeframe(option.value);
-              }}
-              className={`rounded-md px-3 py-1 text-sm transition-colors ${
-                selectedTimeframe === option.value
-                  ? "bg-blue-500 text-white"
-                  : "bg-gray-200 text-gray-700 hover:bg-gray-300"
-              }`}
-            >
-              {option.label}
-            </button>
-          ))}
-        </div>
-      )}
-    </div>
-  );
-}

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

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

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

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

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

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

electron/src/helpers/update_helpers.ts

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

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

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

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

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

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

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

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

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

electron/src/machines/laser/laser1/Laser1ControlPage.tsx

@@ -3,7 +3,6 @@ import { Page } from "@/components/Page";
 import React from "react";
 import { ControlGrid } from "@/control/ControlGrid";
 import { TimeSeriesValueNumeric } from "@/control/TimeSeriesValue";
-import { MinMaxValue, TIMEFRAME_OPTIONS } from "@/control/MinMaxValue";
 
 import { EditValue } from "@/control/EditValue";
 import { Label } from "@/control/Label";
@@ -29,12 +28,6 @@ export function Laser1ControlPage() {
   const targetDiameter = state?.laser_state?.target_diameter ?? 0;
   const lowerTolerance = state?.laser_state?.lower_tolerance ?? 0;
   const higherTolerance = state?.laser_state?.higher_tolerance ?? 0;
-
-  // Detect if this is a 2-axis laser
-  const isTwoAxis = !!x_diameter?.current || !!y_diameter?.current;
-  // Shared timeframe state (default 5 minutes)
-  const [timeframe, setTimeframe] = React.useState<number>(5 * 60 * 1000);
-
   return (
     <Page>
       <ControlGrid columns={2}>
@@ -84,57 +77,6 @@ export function Laser1ControlPage() {
               />
             </div>
           )}
-          <div className="mt-4 border-t pt-4">
-            {isTwoAxis ? (
-              // For 2-axis lasers: show diameter and roundness min/max side by side
-              <div className="grid grid-cols-2 gap-4">
-                <MinMaxValue
-                  label="Diameter Range"
-                  unit="mm"
-                  timeseries={diameter}
-                  renderValue={(value) => value.toFixed(3)}
-                  timeframe={timeframe}
-                  hideSelector
-                />
-                {roundness?.current && (
-                  <MinMaxValue
-                    label="Roundness Range"
-                    timeseries={roundness}
-                    renderValue={(value) => value.toFixed(3)}
-                    timeframe={timeframe}
-                    hideSelector
-                  />
-                )}
-              </div>
-            ) : (
-              // For single-axis lasers: show only diameter min/max with shared selector
-              <MinMaxValue
-                label="Diameter Range"
-                unit="mm"
-                timeseries={diameter}
-                renderValue={(value) => value.toFixed(3)}
-                timeframe={timeframe}
-                hideSelector
-              />
-            )}
-
-            {/* Shared timeframe selector for diameter/roundness */}
-            <div className="mt-3 flex flex-row flex-wrap gap-2">
-              {TIMEFRAME_OPTIONS.map((option) => (
-                <button
-                  key={option.value}
-                  onClick={() => setTimeframe(option.value)}
-                  className={`rounded-md px-3 py-1 text-sm transition-colors ${
-                    timeframe === option.value
-                      ? "bg-blue-500 text-white"
-                      : "bg-gray-200 text-gray-700 hover:bg-gray-300"
-                  }`}
-                >
-                  {option.label}
-                </button>
-              ))}
-            </div>
-          </div>
         </ControlCard>
         <ControlCard title="Settings">
           <Label label="Set Target Diameter">

electron/src/setup/UpdateExecutePage.tsx

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

electron/src/stores/updateStore.ts

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

electron/src/types.d.ts

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

ethercat-eeprom-dump/Cargo.toml

@@ -10,10 +10,10 @@ workspace = true
 clap = { version = "4.5.40", features = ["derive"] }
 ethercrab = "0.6.0"
 interfaces = "0.0.9"
-smol = "2.0.2"
 tokio = { version = "1.45.1", features = ["macros", "rt-multi-thread"] }
 ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
+futures = "0.3.31"
 anyhow = "1.0.100"
 
 

ethercat-eeprom-dump/src/ls.rs

@@ -7,7 +7,7 @@ use ethercat_hal::{
     helpers::ethercrab_types::EthercrabSubDeviceGroupPreoperational,
 };
 use ethercrab::MainDevice;
-use smol;
+use futures::executor::block_on;
 
 use crate::{MAX_SUBDEVICES, PDI_LEN, print::print_markdown_table};
 
@@ -34,7 +34,7 @@ pub fn ls(
         let driver = device_from_subdevice_identity(&identity);
         let identification_adresses = get_identification_addresses(&identity, device.name());
         let identification = match identification_adresses {
-            Ok(_) => smol::block_on(machine_device_identification(&device, maindevice)),
+            Ok(_) => block_on(machine_device_identification(&device, maindevice)),
             Err(_) => Err(anyhow!("")),
         };
 
@@ -122,7 +122,7 @@ pub fn ls(
     print_markdown_table(&table, true);
 
     // Put group into op state
-    match smol::block_on(group.into_op(maindevice)) {
+    match block_on(group.into_op(maindevice)) {
         Ok(_) => println!("Successfully put group into OP state"),
         Err(e) => println!("Failed to put group into OP state: {}", e),
     }

ethercat-eeprom-dump/src/main.rs

@@ -2,18 +2,18 @@ use std::sync::Arc;
 
 use dump::dump_eeprom;
 use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, std::ethercat_now};
+use futures::executor::block_on;
 use read::read_eeprom;
 use restore::restore_eeoprom;
-use smol;
 
 /// Maximum number of SubDevices that can be stored. This must be a power of 2 greater than 1.
 const MAX_SUBDEVICES: usize = 16;
 /// Maximum PDU data payload size - set this to the max PDI size or higher.
-const MAX_PDU_DATA: usize = PduStorage::element_size(1024);
+const MAX_PDU_DATA: usize = PduStorage::element_size(256);
 /// Maximum number of EtherCAT frames that can be in flight at any one time.
 const MAX_FRAMES: usize = 16;
 /// Maximum total PDI length.
-const PDI_LEN: usize = 1024;
+const PDI_LEN: usize = 256;
 
 static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
 
@@ -57,7 +57,7 @@ async fn main() {
                 .get_one::<usize>("SUBDEVICE")
                 .expect("subdevice index is required");
             let file = sub_matches.get_one::<String>("file");
-            let result = smol::block_on(dump_eeprom(&group, &maindevice, *subdevice_index, file));
+            let result = block_on(dump_eeprom(&group, &maindevice, *subdevice_index, file));
             if let Err(e) = result {
                 eprintln!("Error reading EEPROM: {}", e);
             }
@@ -69,8 +69,7 @@ async fn main() {
             let file = sub_matches
                 .get_one::<String>("file")
                 .expect("file is required");
-            let result =
-                smol::block_on(restore_eeoprom(&group, &maindevice, *subdevice_index, file));
+            let result = block_on(restore_eeoprom(&group, &maindevice, *subdevice_index, file));
             if let Err(e) = result {
                 eprintln!("Error writing EEPROM: {}", e);
             }
@@ -79,7 +78,7 @@ async fn main() {
             let file = sub_matches
                 .get_one::<String>("file")
                 .expect("file is required");
-            let result = smol::block_on(read_eeprom(file));
+            let result = block_on(read_eeprom(file));
             if let Err(e) = result {
                 eprintln!("Error parsing EEPROM: {}", e);
             }

ethercat-hal/Cargo.toml

@@ -10,10 +10,11 @@ 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"
 
 [dev-dependencies]

ethercat-hal/src/debugging/diagnosis_history.rs

@@ -1,229 +0,0 @@
-use ethercrab::{SubDevice, SubDeviceRef};
-use std::fmt;
-
-const DIAGNOSIS_HISTORY_INDEX: u16 = 0x10f3;
-const NEWEST_MESSAGE: u8 = 02;
-const NEW_MESSAGE_AVAILABLE: u8 = 04;
-const DIAG_MESSAGE_LENGTH: usize = 26;
-
-pub struct SubdeviceDiagnosisEntry {
-    pub diag_code: u32,
-    pub flags: u16,
-    pub text_id: u16,
-    pub timestamp: u64,
-    pub data_type_p1: u16,
-    pub p1: u8,
-    pub flags_p2: u16,
-    pub p2: [u8; 5],
-}
-
-impl fmt::Display for SubdeviceDiagnosisEntry {
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        write!(
-            f,
-            "SubdeviceDiagnosisEntry {{ diag_code: {}, flags: {}, text_id: {}, timestamp: {}, data_type_p1: {}, p1: {}, flags_p2: {}, p2: {:?} }}",
-            self.diag_code,
-            self.flags,
-            self.text_id,
-            self.timestamp,
-            self.data_type_p1,
-            self.p1,
-            self.flags_p2,
-            self.p2
-        )
-    }
-}
-
-impl SubdeviceDiagnosisEntry {
-    pub fn to_pretty_string(&self) -> String {
-        // Decode message type
-        let msg_type = match self.flags {
-            0x0000 => "Info",
-            0x0001 => "Warning",
-            0x0002 => "Error",
-            _ => "Unknown",
-        };
-
-        // Decode data type of P1
-        let p1_type = match self.data_type_p1 {
-            0x0005 => "UINT8",
-            _ => "Unknown",
-        };
-
-        // Decode data type of P2
-        let p2_type = match self.flags_p2 {
-            0x0005 => "BYTE[5]",
-            _ => "Unknown",
-        };
-
-        // Format P2 bytes as hex list
-        let p2_hex: Vec<String> = self.p2.iter().map(|b| format!("0x{:02X}", b)).collect();
-
-        format!(
-            "Diagnosis Entry:\n\
-             ├─ diag_code:     0x{:08X}\n\
-             ├─ message type:  {} (0x{:04X})\n\
-             ├─ text_id:       {}{}\n\
-             ├─ timestamp:     {} (64-bit)\n\
-             ├─ P1 type:       {} (0x{:04X})\n\
-             ├─ P1 value:      {}\n\
-             ├─ P2 type:       {} (0x{:04X})\n\
-             └─ P2 data:       [{}]",
-            self.diag_code,
-            msg_type,
-            self.flags,
-            self.text_id,
-            if self.text_id == 0 { " (no text)" } else { "" },
-            self.timestamp,
-            // P1
-            p1_type,
-            self.data_type_p1,
-            self.p1,
-            // P2
-            p2_type,
-            self.flags_p2,
-            p2_hex.join(", ")
-        )
-    }
-}
-
-/*
-    Could be tested with this:
-        00 E8 00 A0 02 00 00 00 5F FB D5 A5 A6 0B 00 00 05 00 11 05 10 08 2A 00 2A 00
-*/
-
-pub fn convert_raw_diagnosis_bytes(
-    message: [u8; DIAG_MESSAGE_LENGTH],
-) -> Result<SubdeviceDiagnosisEntry, anyhow::Error> {
-    let diag_code_bytes = [message[0], message[1], message[2], message[3]];
-    let diag_code = u32::from_le_bytes(diag_code_bytes);
-
-    let flags_code_bytes = [message[4], message[5]];
-    let flags = u16::from_le_bytes(flags_code_bytes);
-
-    let text_id_bytes = [message[6], message[7]];
-    let text_id = u16::from_le_bytes(text_id_bytes);
-
-    let timestamp_bytes = [
-        message[8],
-        message[9],
-        message[10],
-        message[11],
-        message[12],
-        message[13],
-        message[14],
-        message[15],
-    ];
-    let timestamp = u64::from_le_bytes(timestamp_bytes);
-
-    let data_type_p1_bytes = [message[16], message[17]];
-    let data_type_p1 = u16::from_le_bytes(data_type_p1_bytes);
-
-    // TODO: Find the Constants
-    // 0x0005 Apparently Means p1 variable is u8
-    // For now we only handle u8
-    let p1 = match data_type_p1 {
-        0x0005 => message[18],
-        _ => 0,
-    };
-
-    if p1 == 0 {
-        return Err(anyhow::anyhow!(
-            "convert_raw_diagnosis_bytes: Datatype_p1 is unknown {:?}",
-            data_type_p1
-        ));
-    }
-
-    // flags_p2 is packed, whatever thats supposed to mean
-    let flags_p2_bytes = [message[19], message[20]];
-    let flags_p2 = u16::from_le_bytes(flags_p2_bytes);
-
-    let p2 = [
-        message[21],
-        message[22],
-        message[23],
-        message[24],
-        message[25],
-    ];
-    return Ok(SubdeviceDiagnosisEntry {
-        diag_code,
-        flags,
-        text_id,
-        timestamp,
-        data_type_p1,
-        p1,
-        flags_p2,
-        p2,
-    });
-}
-
-/// Expects the SubdeviceRef to be the Coupler or any other device with a diag history index
-pub async fn get_most_recent_diagnosis_message(
-    device: &SubDeviceRef<'_, &SubDevice>,
-) -> Option<String> {
-    let new_message_available = device
-        .sdo_read::<bool>(DIAGNOSIS_HISTORY_INDEX, NEW_MESSAGE_AVAILABLE)
-        .await;
-    let new_message_available = match new_message_available {
-        Ok(m) => m,
-        Err(e) => {
-            tracing::error!(
-                "get_most_recent_diagnosis_message: Failed to read new_message_available {:?}",
-                e
-            );
-            return None;
-        }
-    };
-
-    if !new_message_available {
-        tracing::info!("get_most_recent_diagnosis_message: No Diagnosis Messages found");
-        // No messages available
-        return None;
-    }
-
-    let newest_message_index = device
-        .sdo_read::<u8>(DIAGNOSIS_HISTORY_INDEX, NEWEST_MESSAGE)
-        .await;
-    let newest_message_index = match newest_message_index {
-        Ok(m) => m,
-        Err(e) => {
-            tracing::error!(
-                "get_most_recent_diagnosis_message: Failed to read newest_message_index {:?}",
-                e
-            );
-            return None;
-        }
-    };
-
-    tracing::info!(
-        "get_most_recent_diagnosis_message: Reading newest message at index: {}",
-        newest_message_index
-    );
-    let res = device
-        .sdo_read::<[u8; DIAG_MESSAGE_LENGTH]>(DIAGNOSIS_HISTORY_INDEX, newest_message_index)
-        .await;
-    let message: [u8; DIAG_MESSAGE_LENGTH] = match res {
-        Ok(res) => res,
-        Err(_) => {
-            tracing::error!("get_most_recent_diagnosis_message: Failed to read Diagnosis Message");
-            return None;
-        }
-    };
-    let message = convert_raw_diagnosis_bytes(message);
-    let message = match message {
-        Ok(msg) => msg,
-        Err(e) => {
-            tracing::error!(
-                "get_most_recent_diagnosis_message: Failed to convert Diagnosis Message bytes to struct {:?}",
-                e
-            );
-            return None;
-        }
-    };
-
-    tracing::info!(
-        "get_most_recent_diagnosis_message: {}",
-        message.to_pretty_string()
-    );
-    return Some(message.to_pretty_string());
-}

ethercat-hal/src/debugging/mod.rs

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

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 units::{electric_potential::volt, f64::ElectricPotential};
+use uom::si::{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 units::electric_current::milliampere;
-use units::f64::ElectricCurrent;
+use uom::si::electric_current::milliampere;
+use uom::si::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 units::electric_current::milliampere;
-use units::f64::ElectricCurrent;
+use uom::si::electric_current::milliampere;
+use uom::si::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 units::{electric_potential::volt, f64::ElectricPotential};
+use uom::si::{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 units::{electric_potential::volt, f64::ElectricPotential};
+use uom::si::{electric_potential::volt, f64::ElectricPotential};
 
 use crate::{
     helpers::{

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

@@ -1,6 +1,7 @@
 use std::fmt;
 use std::sync::Arc;
 
+use futures::executor::block_on;
 use physical::{AnalogInputRange, AnalogInputValue};
 use smol::lock::RwLock;
 
@@ -39,7 +40,7 @@ impl AnalogInput {
         let get_input = Box::new(move || -> AnalogInputInput {
             let device2 = Arc::clone(&device);
             let port_clone = port.clone();
-            smol::block_on(async move {
+            block_on(async move {
                 let device = device2.read().await;
                 device.get_input(port_clone)
             })

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

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

ethercat-hal/src/io/digital_input.rs

@@ -1,5 +1,6 @@
 use std::{fmt, sync::Arc};
 
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Digital Input (DI) device
@@ -26,7 +27,7 @@ impl DigitalInput {
         let port2 = port;
         let device2 = device.clone();
         let get_input = Box::new(move || {
-            let device = smol::block_on(device2.read());
+            let device = block_on(device2.read());
             device.get_input(port2.clone())
         });
 

ethercat-hal/src/io/digital_output.rs

@@ -1,5 +1,6 @@
 use std::{fmt, sync::Arc};
 
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Digital Output (DO) device
@@ -28,7 +29,7 @@ impl DigitalOutput {
         let port1 = port.clone();
         let device1 = device.clone();
         let set_output = Box::new(move |value: DigitalOutputOutput| {
-            let mut device = smol::block_on(device1.write());
+            let mut device = block_on(device1.write());
             device.set_output(port1.clone(), value);
         });
 
@@ -36,7 +37,7 @@ impl DigitalOutput {
         let port2 = port;
         let device2 = device.clone();
         let get_output = Box::new(move || -> DigitalOutputOutput {
-            let device = smol::block_on(device2.read());
+            let device = block_on(device2.read());
             device.get_output(port2.clone())
         });
 

ethercat-hal/src/io/encoder_input.rs

@@ -1,5 +1,6 @@
 use std::{fmt, sync::Arc};
 
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Encoder Input device
@@ -33,7 +34,7 @@ impl EncoderInput {
         let port_counter = port.clone();
         let device_counter = device.clone();
         let get_counter = Box::new(move || {
-            let device = smol::block_on(device_counter.read());
+            let device = block_on(device_counter.read());
             device.get_counter_value(port_counter.clone())
         });
 
@@ -41,7 +42,7 @@ impl EncoderInput {
         let port_frequency = port.clone();
         let device_frequency = device.clone();
         let get_frequency = Box::new(move || {
-            let device = smol::block_on(device_frequency.read());
+            let device = block_on(device_frequency.read());
             device.get_frequency(port_frequency.clone())
         });
 
@@ -49,7 +50,7 @@ impl EncoderInput {
         let port_period = port.clone();
         let device_period = device.clone();
         let get_period = Box::new(move || {
-            let device = smol::block_on(device_period.read());
+            let device = block_on(device_period.read());
             device.get_period(port_period.clone())
         });
 
@@ -57,7 +58,7 @@ impl EncoderInput {
         let port_set = port;
         let device_set = device;
         let set_counter = Box::new(move |value: u32| {
-            let mut device = smol::block_on(device_set.write());
+            let mut device = block_on(device_set.write());
             device.set_counter(port_set.clone(), value)
         });
 

ethercat-hal/src/io/pulse_train_output.rs

@@ -1,5 +1,6 @@
 use std::{fmt, sync::Arc};
 
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Pulse Train Output (PTO) device
@@ -28,21 +29,21 @@ impl<'device> PulseTrainOutput {
         // build sync write closure
         let device1 = device.clone();
         let set_output = Box::new(move |value: PulseTrainOutputOutput| {
-            let mut device = smol::block_on(device1.write());
+            let mut device = block_on(device1.write());
             device.set_output(port, value);
         });
 
         // build sync get closure
         let device2 = device.clone();
         let get_output = Box::new(move || -> PulseTrainOutputOutput {
-            let device = smol::block_on(device2.read());
+            let device = block_on(device2.read());
             device.get_output(port)
         });
 
         // build sync get closure
         let device2 = device;
         let get_input = Box::new(move || -> PulseTrainOutputInput {
-            let device = smol::block_on(device2.read());
+            let device = block_on(device2.read());
             device.get_input(port)
         });
 

ethercat-hal/src/io/stepper_velocity_el70x1.rs

@@ -2,6 +2,7 @@ use std::{fmt, sync::Arc};
 
 use crate::helpers::el70xx_velocity_converter::EL70x1VelocityConverter;
 use anyhow::Error;
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Pulse Train Output (PTO) device
@@ -46,7 +47,7 @@ impl<'device> StepperVelocityEL70x1 {
         // build sync get closure
         let device2 = device.clone();
         let get_input = Box::new(move || -> Result<StepperVelocityEL70x1Input, Error> {
-            smol::block_on(async {
+            block_on(async {
                 let device = device2.read().await;
                 device.get_input(port)
             })
@@ -54,7 +55,7 @@ impl<'device> StepperVelocityEL70x1 {
 
         let device3 = device.clone();
         let get_output = Box::new(move || -> Result<StepperVelocityEL70x1Output, Error> {
-            smol::block_on(async {
+            block_on(async {
                 let device = device3.read().await;
                 device.get_output(port)
             })
@@ -64,7 +65,7 @@ impl<'device> StepperVelocityEL70x1 {
         let device3 = device;
         let get_speed_range = Box::new(
             move || -> Result<crate::shared_config::el70x1::EL70x1SpeedRange, Error> {
-                smol::block_on(async {
+                block_on(async {
                     let device = device3.read().await;
                     Ok(device.get_speed_range(port))
                 })

ethercat-hal/src/io/temperature_input.rs

@@ -1,3 +1,4 @@
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 use crate::pdo::basic::Limit;
@@ -28,9 +29,10 @@ impl TemperatureInput {
         let get_input = Box::new(move || {
             let device2 = device2.clone();
             let port_clone = port2.clone();
-
-            let device = device2.read_blocking();
-            device.get_input(port_clone)
+            block_on(async move {
+                let device = device2.read().await;
+                device.get_input(port_clone)
+            })
         });
         Self { get_input }
     }

ethercat-hal/src/lib.rs

@@ -1,5 +1,4 @@
 pub mod coe;
-pub mod debugging;
 pub mod devices;
 pub mod helpers;
 pub mod io;

machines/Cargo.toml

@@ -1,52 +0,0 @@
-[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"
-
-# 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

@@ -1,59 +0,0 @@
-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/buffer1/act.rs

@@ -1,47 +0,0 @@
-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/extruder1/mock/act.rs

@@ -1,45 +0,0 @@
-use super::ExtruderV2;
-use crate::MachineAct;
-use crate::MachineMessage;
-use std::time::{Duration, Instant};
-
-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(_) => (),
-        };
-        // 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.maybe_emit_state_event();
-            // Emit live values at 30 FPS
-            self.emit_live_values();
-            self.last_measurement_emit = now;
-        }
-    }
-
-    fn act_machine_message(&mut self, msg: crate::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/laser/act.rs

@@ -1,71 +0,0 @@
-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/lib.rs

@@ -1,400 +0,0 @@
-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/winder2/act.rs

@@ -1,66 +0,0 @@
-#[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/mock/act.rs

@@ -1,43 +0,0 @@
-use super::Winder2;
-use crate::MachineAct;
-use crate::MachineMessage;
-use std::time::{Duration, Instant};
-
-impl MachineAct for Winder2 {
-    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(_) => (),
-        };
-        // 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: crate::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*/
-            {
-                ()
-            }
-        }
-    }
-}

server/Cargo.toml

@@ -12,18 +12,22 @@ workspace = true
 ethercrab = "0.6"
 ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
+control_core_derive = { path = "../control-core-derive" }
 
-units = { path = "../units" }
-machines = { path = "../machines"}
+uom = { version = "0.36.0", default-features = false, features = ["f64"] }
 serde = "1.0.217"
 anyhow = "1.0.100"
 
 bitvec = "1.0.1"
+lazy_static = "1.5.0"
+dhat = { version = "0.3.3", optional = true }
+euclid = "0.22.11"
 
 # concurrency
 smol = "2.0.2"
 tokio = { version = "1.45.1", features = ["rt-multi-thread"] }
 regex = "1.11.3"
+futures = "0.3.31"
 
 # web
 serde_json = "1.0.143"
@@ -37,16 +41,19 @@ serialport = "4.7.3"
 #tracing
 tracing = { version = "0.1.41", features = ["attributes"] }
 tracing-journald = { version = "0.3.1", optional = true }
+tracing-futures = "0.2.5"
 tracing-subscriber = { version = "0.3.20", features = [
     "env-filter",
     "chrono",
     "registry",
 ] }
-utils = { version = "0.1.0", path="../utils" }
-spin_sleep = "1.3.3"
-dhat = { version = "0.3.3", optional = true }
-ctrlc = { version = "3.3", optional = true }
-
+tracing-opentelemetry = { version = "0.31.0", optional = true }
+opentelemetry = { version = "0.30.0", optional = true }
+opentelemetry_sdk = { version = "0.30.0", optional = true }
+opentelemetry-otlp = { version = "0.30.0", features = [
+    "grpc-tonic",
+], optional = true }
+tonic = { version = "0.13.1", optional = true }
 
 [dev-dependencies]
 approx = "0.5.1"
@@ -55,17 +62,24 @@ textplots = "0.8.7"
 [features]
 default = ["tracing-fmt"]
 never_type = []
+dhat-heap = ["dep:dhat"]
 tracing-fmt = []
 tracing-journald = ["dep:tracing-journald"]
+tracing-otel = [
+    "dep:tracing-opentelemetry",
+    "dep:opentelemetry_sdk",
+    "dep:opentelemetry",
+    "dep:opentelemetry-otlp",
+    "dep:tonic",
+]
 mock-machine = []
 memory-locking = []
 io-uring = []
-development-build = ["ctrlc"]
-heap-profile = ["dhat"]
-
-
-
+development-build = []
 
 [profile.release]
 codegen-units = 1
 lto = "fat"
+
+[package.metadata.cargo-machete]
+ignored =  ["tonic"]

server/serial_detecton_loop.drawio

@@ -0,0 +1,158 @@
+<mxfile host="65bd71144e">
+    <diagram id="gGUUZ6BF0hv9_rCV74nS" name="Page-1">
+        <mxGraphModel dx="1120" dy="694" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="850" pageHeight="1100" math="0" shadow="0">
+            <root>
+                <mxCell id="0"/>
+                <mxCell id="1" parent="0"/>
+                <mxCell id="85" value="" style="swimlane;startSize=0;swimlaneFillColor=default;" vertex="1" parent="1">
+                    <mxGeometry x="60" y="170" width="770" height="610" as="geometry"/>
+                </mxCell>
+                <mxCell id="82" style="edgeStyle=none;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;" parent="1" source="81" target="5" edge="1">
+                    <mxGeometry relative="1" as="geometry">
+                        <mxPoint x="520" y="600" as="targetPoint"/>
+                        <Array as="points">
+                            <mxPoint x="800" y="240"/>
+                            <mxPoint x="800" y="730"/>
+                        </Array>
+                    </mxGeometry>
+                </mxCell>
+                <mxCell id="83" style="edgeStyle=none;html=1;entryX=0.136;entryY=0.96;entryDx=0;entryDy=0;entryPerimeter=0;" parent="1" source="69" target="81" edge="1">
+                    <mxGeometry relative="1" as="geometry"/>
+                </mxCell>
+                <mxCell id="75" style="edgeStyle=none;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" parent="1" source="29" target="72" edge="1">
+                    <mxGeometry relative="1" as="geometry"/>
+                </mxCell>
+                <mxCell id="3" value="Serial Device Detection" style="swimlane;horizontal=0;whiteSpace=wrap;html=1;swimlaneFillColor=#FFFFFF;" parent="1" vertex="1">
+                    <mxGeometry x="90" y="320" width="410" height="450" as="geometry"/>
+                </mxCell>
+                <mxCell id="7" style="edgeStyle=none;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" parent="3" source="5" target="6" edge="1">
+                    <mxGeometry relative="1" as="geometry"/>
+                </mxCell>
+                <mxCell id="20" value="Step 1" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="7" vertex="1" connectable="0">
+                    <mxGeometry x="-0.2303" relative="1" as="geometry">
+                        <mxPoint as="offset"/>
+                    </mxGeometry>
+                </mxCell>
+                <mxCell id="5" value="Detect all connected devices" style="rounded=0;whiteSpace=wrap;html=1;" parent="3" vertex="1">
+                    <mxGeometry x="50" y="380" width="120" height="60" as="geometry"/>
+                </mxCell>
+                <mxCell id="18" style="edgeStyle=none;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" parent="3" source="6" target="12" edge="1">
+                    <mxGeometry relative="1" as="geometry"/>
+                </mxCell>
+                <mxCell id="21" value="Step 2" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="18" vertex="1" connectable="0">
+                    <mxGeometry x="-0.0304" relative="1" as="geometry">
+                        <mxPoint as="offset"/>
+                    </mxGeometry>
+                </mxCell>
+                <mxCell id="25" style="edgeStyle=none;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" parent="3" source="6" target="70" edge="1">
+                    <mxGeometry relative="1" as="geometry">
+                        <mxPoint x="259.9999999999998" y="320" as="targetPoint"/>
+                    </mxGeometry>
+                </mxCell>
+                <mxCell id="26" value="Step 4 update" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="25" vertex="1" connectable="0">
+                    <mxGeometry x="-0.2714" y="-2" relative="1" as="geometry">
+                        <mxPoint x="14" y="8" as="offset"/>
+                    </mxGeometry>
+                </mxCell>
+                <mxCell id="6" value="Extract all USB Devices" style="rounded=0;whiteSpace=wrap;html=1;" parent="3" vertex="1">
+                    <mxGeometry x="50" y="290" width="120" height="60" as="geometry"/>
+                </mxCell>
+                <mxCell id="19" style="edgeStyle=none;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" parent="3" source="70" target="12" edge="1">
+                    <mxGeometry relative="1" as="geometry">
+                        <mxPoint x="200" y="270" as="targetPoint"/>
+                        <mxPoint x="319.9999999999998" y="350" as="sourcePoint"/>
+                    </mxGeometry>
+                </mxCell>
+                <mxCell id="22" value="Step 2" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="19" vertex="1" connectable="0">
+                    <mxGeometry x="0.2571" y="3" relative="1" as="geometry">
+                        <mxPoint as="offset"/>
+                    </mxGeometry>
+                </mxCell>
+                <mxCell id="16" style="edgeStyle=none;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" parent="3" source="12" target="13" edge="1">
+                    <mxGeometry relative="1" as="geometry"/>
+                </mxCell>
+                <mxCell id="23" value="Step 3" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="16" vertex="1" connectable="0">
+                    <mxGeometry x="-0.089" y="-3" relative="1" as="geometry">
+                        <mxPoint as="offset"/>
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server/src/README.md

@@ -0,0 +1,11 @@
+# Server Structure
+
+- `/server`: Is Backend part that makes connection between Beckhoff and Electron. Implements machine logic.
+
+## EtherCAT
+
+- `/ethercat`: Implements logic of EtherCAT
+
+## Serial
+
+- `/serial`: Implements logic of Serial, starting from serial device detection ending with serial device registration as machine

server/src/app_state.rs

@@ -1,22 +1,19 @@
 use crate::ethercat::config::{MAX_SUBDEVICES, PDI_LEN};
-use crate::rest::handlers::write_machine_device_identification::MachineDeviceInfoRequest;
-use crate::socketio::main_namespace::MainNamespaceEvents;
-use crate::socketio::main_namespace::machines_event::{MachineObj, MachinesEventBuilder};
+use crate::performance_metrics::EthercatPerformanceMetrics;
+use crate::serial::registry::SERIAL_DEVICE_REGISTRY;
+use crate::socketio::main_namespace::machines_event::MachineObj;
 use crate::socketio::namespaces::Namespaces;
+use control_core::machines::Machine;
+use control_core::machines::identification::{DeviceIdentification, MachineIdentificationUnique};
+use control_core::machines::manager::MachineManager;
 use control_core::socketio::event::GenericEvent;
 use ethercat_hal::devices::EthercatDevice;
-use ethercrab::SubDeviceRef;
 use ethercrab::{MainDevice, SubDeviceGroup, subdevice_group::Op};
-use machines::machine_identification::{DeviceIdentification, MachineIdentificationUnique};
-use machines::serial::registry::SERIAL_DEVICE_REGISTRY;
-use machines::{Machine, MachineMessage};
-use serde::{Deserialize, Serialize};
 use smol::channel::{Receiver, Sender};
-use smol::lock::{Mutex, RwLock};
+use smol::lock::RwLock;
 use socketioxide::SocketIo;
 use socketioxide::extract::SocketRef;
-use std::collections::{HashMap, HashSet};
-use std::fmt;
+use std::collections::HashMap;
 use std::sync::Arc;
 
 pub struct SocketioSetup {
@@ -30,68 +27,16 @@ pub struct SerialSetup {
     pub serial_registry: &'static SERIAL_DEVICE_REGISTRY,
 }
 
-/*
-Maybe better name needed ...
-Essentially isntead of changing machines with locks, we send messages to our "HOT" thread wehere the machines are executed.
-In there the Machines are built, destroyed, inspected etcetera.
-
-Only Machines requiring RT capabilities (Mostly EtherCat machines) should be added
-*/
-pub enum HotThreadMessage {
-    NoMsg,
-    AddMachines(Vec<Box<dyn Machine>>),
-    AddEtherCatSetup(EthercatSetup),
-    WriteMachineDeviceInfo(MachineDeviceInfoRequest),
-    DeleteMachine(MachineIdentificationUnique),
-}
-
-use crate::AsyncThreadMessage;
-
-/*
-    Instead of locking, etc only capture metadata on setup
-*/
-#[derive(Debug, Serialize, Deserialize, Clone)]
-pub struct EtherCatDeviceMetaData {
-    pub configured_address: u16,
-    pub name: String,
-    pub vendor_id: u32,
-    pub product_id: u32,
-    pub revision: u32,
-    pub device_identification: DeviceIdentification,
-}
-
-impl EtherCatDeviceMetaData {
-    pub fn from_subdevice(
-        subdevice: &SubDeviceRef<'_, &ethercrab::SubDevice>,
-        device_identification: DeviceIdentification,
-    ) -> Self {
-        Self {
-            name: subdevice.name().to_string(),
-            configured_address: subdevice.configured_address(),
-            product_id: subdevice.identity().product_id,
-            revision: subdevice.identity().revision,
-            vendor_id: subdevice.identity().vendor_id,
-            device_identification,
-        }
-    }
-}
-
-pub struct SharedState {
+pub struct AppState {
     pub socketio_setup: SocketioSetup,
-    pub api_machines: Mutex<HashMap<MachineIdentificationUnique, Sender<MachineMessage>>>,
-    pub current_machines_meta: Mutex<Vec<MachineObj>>,
-    pub rt_machine_creation_channel: Sender<HotThreadMessage>,
-    pub main_channel: Sender<AsyncThreadMessage>,
-    pub ethercat_meta_data: RwLock<Vec<EtherCatDeviceMetaData>>,
+    pub ethercat_setup: Arc<RwLock<Option<EthercatSetup>>>,
+    pub serial_setup: Arc<RwLock<SerialSetup>>,
+    pub machines: Arc<RwLock<MachineManager>>,
+    pub performance_metrics: Arc<RwLock<EthercatPerformanceMetrics>>,
 }
 
-impl fmt::Debug for EthercatSetup {
-    fn fmt(&self, _f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        Ok(())
-    }
-}
-
-use control_core::socketio::namespace::NamespaceCacheingLogic;
+pub type Machines =
+    HashMap<MachineIdentificationUnique, Result<Arc<RwLock<dyn Machine>>, anyhow::Error>>;
 
 pub struct EthercatSetup {
     /// All Ethercat devices
@@ -121,58 +66,46 @@ impl EthercatSetup {
     }
 }
 
-impl SharedState {
-    pub async fn send_machines_event(&self) {
-        let event = MachinesEventBuilder().build(self.current_machines_meta.lock().await.clone());
-        let main_namespace = &mut self.socketio_setup.namespaces.write().await.main_namespace;
-        main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
+impl Default for AppState {
+    fn default() -> Self {
+        Self::new()
     }
+}
 
-    /// Removes a machine by its unique identifier
-    pub async fn remove_machine(&self, machine_id: &MachineIdentificationUnique) {
-        let mut current_machines = self.current_machines_meta.lock().await;
-        // Retain only machines that do not match the given ID
-        current_machines.retain(|m| &m.machine_identification_unique != machine_id);
-        tracing::info!(
-            "remove_machine {:?} {:?}",
-            self.current_machines_meta,
-            self.api_machines
-        );
-    }
-
-    pub async fn add_machines_if_not_exists(&self, machines: Vec<MachineObj>) {
-        let mut current_machines = self.current_machines_meta.lock().await;
-        tracing::info!("add_machines_if_not_exists: {:?}", current_machines);
-        // Track existing machine identifiers for quick lookup
-        let existing_ids: HashSet<_> = current_machines
-            .iter()
-            .map(|m| m.machine_identification_unique.clone())
-            .collect();
-
-        for machine in machines {
-            if !existing_ids.contains(&machine.machine_identification_unique) {
-                current_machines.push(machine);
-            }
-        }
-    }
-
-    pub fn new(
-        sender: Sender<HotThreadMessage>,
-        main_async_channel: Sender<AsyncThreadMessage>,
-    ) -> Self {
+impl AppState {
+    pub fn new() -> Self {
         let (socket_queue_tx, socket_queue_rx) = smol::channel::unbounded();
         Self {
-            current_machines_meta: vec![].into(),
-            ethercat_meta_data: vec![].into(),
             socketio_setup: SocketioSetup {
                 socketio: RwLock::new(None),
                 namespaces: RwLock::new(Namespaces::new(socket_queue_tx.clone())),
                 socket_queue_tx,
                 socket_queue_rx,
             },
-            api_machines: Mutex::new(HashMap::new()),
-            rt_machine_creation_channel: sender,
-            main_channel: main_async_channel,
+            ethercat_setup: Arc::new(RwLock::new(None)),
+            serial_setup: Arc::new(RwLock::new(SerialSetup {
+                serial_registry: &SERIAL_DEVICE_REGISTRY,
+            })),
+            machines: Arc::new(RwLock::new(MachineManager::new())),
+            performance_metrics: Arc::new(RwLock::new(EthercatPerformanceMetrics::new())),
         }
     }
+
+    pub fn get_machine_objs(&self) -> Vec<MachineObj> {
+        let machines = self.machines.read_blocking();
+        machines
+            .iter()
+            .map(|machine| {
+                let error = {
+                    let slot = machine.1.lock_blocking();
+                    slot.machine_connection.to_error().map(|e| e.to_string())
+                };
+
+                MachineObj {
+                    machine_identification_unique: machine.0.clone(),
+                    error,
+                }
+            })
+            .collect()
+    }
 }