fixed xdg autostart (#1180)

* updated docs

* updated docs

* Clarify Basic Auth instructions and curl examples

Updated instructions for Basic Auth to clarify the use of the credentials.sh script and added authentication details to example curl requests.

* Update curl example to include -k option

Added note about ignoring self-signed certificate error in curl.

* Update Caddy root certificate instructions for NixOS

Clarified instructions for locating and trusting the Caddy root certificate on NixOS.

* updated api docs

* updated docs

.gitattributes

@@ -1,3 +0,0 @@
-.png filter=lfs diff=lfs merge=lfs -text
-.jpg filter=lfs diff=lfs merge=lfs -text
-.jpeg filter=lfs diff=lfs merge=lfs -text

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,40 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: 'BUG: '
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Navigate to '...'
+2. Select/Press '....'
+3. Execute operation '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots/Photos**
+If applicable, add screenshots from the HMI display or photos of the machine screen to help explain your problem.
+
+**Machine Information (please complete the following):**
+ - Machine Type: [Winder2, Laser, Aquapath...]
+ - Control Software Version: [e.g. 2.4.1]
+ - Settings: [e.g. Different Gear Ratios, PID Settings, …]
+
+**Device Information (if issue occurs on external device):**
+ - Device Type: [e.g. Tablet, PLC, Remote Control Panel]
+ - OS: [e.g. Windows 10, Linux, etc.]
+ - Connection Type: [e.g. Ethernet, USB]
+
+**Error Messages/Codes**
+If applicable, provide exact error codes or messages displayed or found in the troubleshooting terminal.
+
+**Additional context**
+Add any other context about the problem here (e.g., recent software updates, environmental factors).

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,33 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: 'Feat: '
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. During operation, I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions, workarounds, or features you've considered.
+
+**Use Case/Application:**
+ - Machine Type(s): [e.g. All machines, Winder, Aquapath, ...]
+ - Frequency of Use: [e.g. Daily, During setup, Occasionally]
+
+**Expected Benefits:**
+ - Efficiency Improvement: [e.g. Reduces setup time by X minutes, Eliminates manual steps]
+ - Safety Enhancement: [e.g. Prevents operator error, Adds safety checks]
+ - Production Impact: [e.g. Increases throughput, Reduces downtime, Improves quality]
+ - User Experience: [e.g. Simplifies workflow, Reduces training time]
+
+**Mockups/Sketches**
+If applicable, add sketches, mockups, or photos showing how the feature would appear on the HMI display or integrate with the machine.
+
+**Additional context**
+Add any other context, industry standards, or examples from other control systems about the feature request here.

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,14 @@
+## What does this PR do / add / change?
+
+<!-- Describe the purpose of this PR. What problem does it solve or what feature does it add? -->
+
+## Screenshots
+
+<!-- Include screenshots for any UI changes. Remove this section if not applicable. -->
+
+## Checklist before opening the pr
+
+- [ ] Tested locally
+- [ ] Tested on the machine (if hardware interaction is involved)
+- [ ] No format errors (`cargo fmt` / `npm run format`)
+- [ ] No build errors (`cargo build` / `npm run build`)

.github/workflows/electron.yml

@@ -3,50 +3,76 @@ name: Electron
 on:
   push:
     branches:
-      - "**"
+      - master
   pull_request:
     branches:
-      - "*"
+      - master
+
+permissions:
+  contents: read
+
+defaults:
+  run:
+    working-directory: electron
 
 jobs:
-  build-electron:
+  build:
     runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: electron
 
     steps:
-      - name: Setup Node.js
+      - &checkout
+        name: Checkout
+        uses: actions/checkout@v4
+
+      - &setup-node
+        name: Setup Node.js
         uses: actions/setup-node@v4
         with:
-          node-version: "18" # or '20' for latest LTS
+          node-version: 20
+          cache: "npm"
+          cache-dependency-path: |
+            electron/package-lock.json
 
-      - uses: actions/checkout@v4
+      - &install
+        name: Install dependencies
+        run: npm ci
 
-      - name: Cache NPM dependencies
-        uses: actions/cache@v3
-        with:
-          path: |
-            ~/.npm
-            node_modules/
-          key: ${{ runner.os }}-npm-${{ hashFiles('**/package-lock.json') }}
-          restore-keys: |
-            ${{ runner.os }}-npm-
-
-      - name: Install
-        run: npm i
-
-      - name: Build
+      - name: Compile
         run: tsc
 
-      - name: Format
-        run: npm run format
+      - name: Build
+        run: npm run build
 
-      - name: Lint
-        run: npm run lint
+  test:
+    runs-on: ubuntu-latest
+    needs: build
+
+    steps:
+      - *checkout
+      - *setup-node
+      - *install
 
       - name: Test
         run: npm run test
 
-      - name: Package
-        run: npm run package
+  format:
+    runs-on: ubuntu-latest
+
+    steps:
+      - *checkout
+      - *setup-node
+      - *install
+
+      - name: Format
+        run: npm run format
+
+  lint:
+    runs-on: ubuntu-latest
+
+    steps:
+      - *checkout
+      - *setup-node
+      - *install
+
+      - name: Lint
+        run: npm run lint

.github/workflows/issue-status-check.yml

@@ -0,0 +1,213 @@
+name: Stale Assigned Issue Check
+
+on:
+  schedule:
+    # Run every Sunday at 9:00 AM UTC
+    - cron: '0 9 * * 0'
+  workflow_dispatch: # Allow manual triggering for testing
+
+jobs:
+  check-stale-issues:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      issues: write
+      pull-requests: read
+    
+    steps:
+      - name: Check assigned issues for status updates
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const ONE_WEEK_MS = 7 * 24 * 60 * 60 * 1000;
+            const now = new Date();
+            
+            // Helper function to check rate limits
+            async function checkRateLimit() {
+              try {
+                const { data: rateLimit } = await github.rest.rateLimit.get();
+                const remaining = rateLimit.resources.core.remaining;
+                const reset = new Date(rateLimit.resources.core.reset * 1000);
+                console.log(`Rate limit: ${remaining} requests remaining (resets at ${reset.toISOString()})`);
+                return remaining > 10; // Stop if fewer than 10 requests remaining
+              } catch (error) {
+                console.log(`Could not check rate limit: ${error.message}`);
+                return true; // Continue on error
+              }
+            }
+            
+            // Get all open issues
+            const issues = await github.paginate(github.rest.issues.listForRepo, {
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              state: 'open',
+              per_page: 100
+            });
+            
+            console.log(`Found ${issues.length} open issues`);
+            
+            // Helper function to check if issue has linked PRs using GraphQL
+            async function hasLinkedPRs(issueNumber) {
+              try {
+                const query = `
+                  query($owner: String!, $repo: String!, $issueNumber: Int!) {
+                    repository(owner: $owner, name: $repo) {
+                      issue(number: $issueNumber) {
+                        timelineItems(first: 100, itemTypes: CONNECTED_EVENT) {
+                          nodes {
+                            ... on ConnectedEvent {
+                              subject {
+                                ... on PullRequest {
+                                  number
+                                  state
+                                }
+                              }
+                            }
+                          }
+                        }
+                      }
+                    }
+                  }
+                `;
+                
+                const result = await github.graphql(query, {
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  issueNumber: issueNumber
+                });
+                
+                const linkedPRs = result.repository.issue.timelineItems.nodes
+                  .filter(node => node.subject && node.subject.state === 'OPEN')
+                  .map(node => node.subject.number);
+                
+                return linkedPRs.length > 0;
+              } catch (error) {
+                console.log(`Could not check linked PRs for issue #${issueNumber}: ${error.message}`);
+                return false; // Assume no linked PRs on error to avoid false positives
+              }
+            }
+            
+            let processedCount = 0;
+            let commentedCount = 0;
+            let errorCount = 0;
+            
+            for (const issue of issues) {
+              try {
+                // Check rate limit periodically
+                if (processedCount % 10 === 0 && !(await checkRateLimit())) {
+                  console.log('Rate limit nearly exhausted, stopping to avoid hitting limit');
+                  break;
+                }
+                
+                // Skip pull requests (they appear in issues list too)
+                if (issue.pull_request) {
+                  continue;
+                }
+                
+                // Skip if not assigned
+                if (!issue.assignees || issue.assignees.length === 0) {
+                  console.log(`Issue #${issue.number}: Not assigned, skipping`);
+                  continue;
+                }
+                
+                console.log(`Checking issue #${issue.number}: ${issue.title}`);
+                processedCount++;
+                
+                // Check if issue has linked PRs
+                const hasOpenLinkedPR = await hasLinkedPRs(issue.number);
+                
+                if (hasOpenLinkedPR) {
+                  console.log(`Issue #${issue.number}: Has linked open PR, skipping`);
+                  continue;
+                }
+                
+                // Get all comments on the issue
+                let comments = [];
+                try {
+                  comments = await github.paginate(github.rest.issues.listComments, {
+                    owner: context.repo.owner,
+                    repo: context.repo.repo,
+                    issue_number: issue.number,
+                    per_page: 100
+                  });
+                } catch (commentError) {
+                  console.error(`Issue #${issue.number}: Could not fetch comments - ${commentError.message}`);
+                  errorCount++;
+                  continue;
+                }
+                
+                // Find the most recent comment or update
+                let lastActivity = new Date(issue.created_at);
+                
+                if (issue.updated_at) {
+                  lastActivity = new Date(issue.updated_at);
+                }
+                
+                if (comments.length > 0) {
+                  const lastComment = comments[comments.length - 1];
+                  const lastCommentDate = new Date(lastComment.created_at);
+                  if (lastCommentDate > lastActivity) {
+                    lastActivity = lastCommentDate;
+                  }
+                }
+                
+                // Check if last activity was more than a week ago
+                const daysSinceActivity = Math.floor((now - lastActivity) / (1000 * 60 * 60 * 24));
+                
+                if (daysSinceActivity >= 7) {
+                  console.log(`Issue #${issue.number}: No activity for ${daysSinceActivity} days`);
+                  
+                  // Check if we already posted a status request in the last 7 days
+                  const recentComments = comments.filter(comment => {
+                    const commentDate = new Date(comment.created_at);
+                    return (now - commentDate) < ONE_WEEK_MS;
+                  });
+                  
+                  const alreadyAsked = recentComments.some(comment => 
+                    comment.user.type === 'Bot' && 
+                    comment.body.includes('status update')
+                  );
+                  
+                  if (alreadyAsked) {
+                    console.log(`Issue #${issue.number}: Already requested status this week, skipping`);
+                    continue;
+                  }
+                  
+                  // Post a status request comment
+                  try {
+                    const assigneeNames = issue.assignees.map(a => `@${a.login}`).join(', ');
+                    await github.rest.issues.createComment({
+                      owner: context.repo.owner,
+                      repo: context.repo.repo,
+                      issue_number: issue.number,
+                      body: `Hi ${assigneeNames}! 👋\n\n` +
+                            `This issue has been assigned to you for ${daysSinceActivity} days with no recent activity or linked pull requests.\n\n` +
+                            `Could you please provide a status update? If you're:\n` +
+                            `- ✅ Working on it: Let us know your progress\n` +
+                            `- 🔄 Need help: Tag someone or describe what's blocking you\n` +
+                            `- 🚫 No longer working on it: Let us know so we can reassign\n\n` +
+                            `Thank you!`
+                    });
+                    
+                    console.log(`Issue #${issue.number}: Posted status request comment`);
+                    commentedCount++;
+                  } catch (commentError) {
+                    console.error(`Issue #${issue.number}: Could not post comment - ${commentError.message}`);
+                    errorCount++;
+                    // Continue to next issue
+                  }
+                } else {
+                  console.log(`Issue #${issue.number}: Activity ${daysSinceActivity} days ago, still fresh`);
+                }
+              } catch (error) {
+                console.error(`Issue #${issue.number}: Error processing - ${error.message}`);
+                errorCount++;
+                // Continue to next issue instead of failing the entire workflow
+                continue;
+              }
+            }
+            
+            console.log(`\nStale issue check complete!`);
+            console.log(`Processed: ${processedCount} issues`);
+            console.log(`Commented on: ${commentedCount} issues`);
+            console.log(`Errors: ${errorCount}`);

.github/workflows/nix.yml

@@ -0,0 +1,99 @@
+name: Nix CI
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+permissions:
+  contents: read
+
+env:
+  NIX_PATH: nixpkgs=channel:nixos-25.05
+
+jobs:
+  electron:
+    runs-on: ubuntu-latest
+
+    steps:
+      - &checkout
+        name: Check out repository
+        uses: actions/checkout@v4
+
+      - &nix-install
+        uses: nixbuild/nix-quick-install-action@v34
+        with:
+          nix_conf: |
+            keep-env-derivations = true
+            keep-outputs = true
+
+      - uses: nix-community/cache-nix-action@v6
+        with:
+          primary-key: nix-electron-${{ runner.os }}-${{ hashFiles('**/*.nix', '**/flake.lock', './electron/package-lock.json') }}
+          restore-prefixes-first-match: nix-${{ runner.os }}-
+          purge: true
+          purge-prefixes: nix-electron-${{ runner.os }}-
+
+      - name: Build Electron in Nix
+        run: nix build ".#packages.x86_64-linux.electron"
+
+  rust:
+    runs-on: ubuntu-latest
+
+    steps:
+      - *checkout
+      - *nix-install
+
+      - uses: nix-community/cache-nix-action@v6
+        with:
+          primary-key: nix-server-${{ runner.os }}-${{ hashFiles('**/*.nix', '**/flake.lock', './Cargo.lock') }}
+          restore-prefixes-first-match: nix-${{ runner.os }}-
+          purge: true
+          purge-prefixes: nix-server-${{ runner.os }}-
+
+      - name: Build Server in Nix
+        run: nix build ".#packages.x86_64-linux.server"
+
+  build:
+    runs-on: ubuntu-latest
+    needs: [electron, rust]
+
+    steps:
+      - *checkout
+      - *nix-install
+
+      - name: Use both Electron and Server Nix Store
+        uses: nix-community/cache-nix-action@v6
+        with:
+          primary-key: nix-${{ runner.os }}-${{ hashFiles('**/*.nix', '**/flake.lock', './Cargo.lock', './electron/package-lock.json') }}
+
+          # if no hit on the primary key, merge individual caches
+          restore-prefixes-all-matches: |
+            nix-electron-${{ runner.os }}-
+            nix-server-${{ runner.os }}-
+
+      - name: Build Flake and System Configuration
+        run: nix build ".#nixosConfigurations.nixos.config.system.build.toplevel" --impure
+
+  format:
+    runs-on: ubuntu-latest
+
+    steps:
+      - *checkout
+      - *nix-install
+
+      - name: Format
+        run: nix run 'nixpkgs#nixfmt-classic' $(find . nixos -name '*.nix')
+
+  check:
+    runs-on: ubuntu-latest
+
+    steps:
+      - *checkout
+      - *nix-install
+
+      - name: Build Flake and Configuration.nix
+        run: nix flake check "." --impure

.github/workflows/rust.yml

@@ -3,27 +3,41 @@ name: Rust
 on:
   push:
     branches:
-      - "**"
+      - master
   pull_request:
-    branches: "*"
+    branches:
+      - master
 
 env:
   CARGO_TERM_COLOR: always
   RUST_VERSION: "1.86"
 
+permissions:
+  contents: read
+
 jobs:
   build:
     runs-on: ubuntu-latest
 
     steps:
-      - name: Install libudev development package
+      - &udev-install
+        name: Install libudev development package
         run: sudo apt-get update && sudo apt-get install -y libudev-dev
-      - uses: actions/checkout@v4
-      - name: Set Rust version
-        run: rustup override set ${{ env.RUST_VERSION }}
-      - name: Install Formatter
-        run: rustup component add rustfmt
-      - name: Cache Rust dependencies
+
+      - &checkout
+        uses: actions/checkout@v4
+
+      - &setup-rust
+        name: Install Rust toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: ${{ env.RUST_VERSION }}
+          profile: minimal
+          override: true
+          components: rustfmt
+
+      - &cargo-cache
+        name: Cache Rust dependencies
         uses: actions/cache@v3
         with:
           path: |
@@ -41,8 +55,36 @@ jobs:
           RUSTFLAGS: "-D warnings"
         run: cargo build --verbose
 
+  format:
+    runs-on: ubuntu-latest
+
+    steps:
+      - *checkout
+      - *setup-rust
+
       - name: Format
         run: cargo fmt --check --verbose
 
+  test:
+    runs-on: ubuntu-latest
+
+    steps:
+      - *udev-install
+      - *checkout
+      - *setup-rust
+      - *cargo-cache
+
       - name: Run tests
         run: cargo test --verbose
+
+  mock:
+    runs-on: ubuntu-latest
+
+    steps:
+      - *udev-install
+      - *checkout
+      - *setup-rust
+      - *cargo-cache
+
+      - name: Mock Machine
+        run: cargo build --features "development-build,mock-machine"

.github/workflows/update-npm-hash.yml

@@ -0,0 +1,80 @@
+name: Update npm deps hash
+
+on:
+  pull_request:
+    paths:
+      - 'electron/package-lock.json'
+      - 'electron/package.json'
+  workflow_dispatch:
+
+env:
+  NIX_PATH: nixpkgs=channel:nixos-25.05
+
+permissions:
+  contents: write
+  pull-requests: write
+  actions: write
+
+jobs:
+  update-hash:
+    runs-on: ubuntu-latest
+    if: github.event.pull_request.head.repo.full_name == github.repository
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.head_ref }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Install Nix
+        uses: nixbuild/nix-quick-install-action@v34
+        with:
+          nix_conf: |
+            keep-env-derivations = true
+            keep-outputs = true
+
+      - name: Calculate new npm deps hash
+        id: calc-hash
+        run: |
+          # Calculate the hash using nix run with nixpkgs
+          NEW_HASH=$(nix run 'nixpkgs#prefetch-npm-deps' electron/package-lock.json)
+          echo "hash=$NEW_HASH" >> $GITHUB_OUTPUT
+          echo "Calculated hash: $NEW_HASH"
+
+      - name: Update npmDepsHash in electron.nix
+        run: |
+          NEW_HASH="${{ steps.calc-hash.outputs.hash }}"
+          sed -i "s|npmDepsHash = \".*\";|npmDepsHash = \"$NEW_HASH\";|" nixos/packages/electron.nix
+          
+      - name: Check if hash changed
+        id: check-changes
+        run: |
+          if git diff --quiet nixos/packages/electron.nix; then
+            echo "changed=false" >> $GITHUB_OUTPUT
+            echo "No changes needed - hash is already correct"
+          else
+            echo "changed=true" >> $GITHUB_OUTPUT
+            echo "Hash updated in electron.nix"
+          fi
+
+      - name: Commit and push if changed
+        if: steps.check-changes.outputs.changed == 'true'
+        run: |
+          git config --local user.email "github-actions[bot]@users.noreply.github.com"
+          git config --local user.name "github-actions[bot]"
+          git add nixos/packages/electron.nix
+          git commit -m "chore: update npmDepsHash to ${{ steps.calc-hash.outputs.hash }}"
+          git push
+
+      - name: Comment on PR
+        if: steps.check-changes.outputs.changed == 'true'
+        uses: actions/github-script@v7
+        with:
+          script: |
+            github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: 'Automatically updated `npmDepsHash` to `${{ steps.calc-hash.outputs.hash }}`\n\n**Next step:** Trigger the checks by pushing an empty commit:\n```bash\ngit commit --allow-empty -m "trigger ci" && git push\n```'
+            })

.gitignore

@@ -1,5 +1,11 @@
 target/
 dist/
 .DS_Store
-Cargo.lock
 dhat-heap.json
+build.sh
+shell.nix
+node_modules/
+runtime_metrics.csv
+compile_metrics.csv
+.idea/
+electron/dist-electron/

CHANGELOG.md

@@ -1,57 +1,207 @@
-# `2.6.0`
-_03.09.2025_
+# `2.14.1`
+_26.01.2026_
+
+## Laser
+-[#1079](https://github.com/qitechgmbh/control/pull/1079) Fixed Overflowing of buffer for Graphs causing crashes
+
+# `2.14.0`
+_22.01.2026_
+
+## General 
+- [#1040](https://github.com/qitechgmbh/control/pull/1040) Added API for reading Machine Data
+
+# `2.13.0`
+_07.01.2026_
+
+## General
+- [#925](https://github.com/qitechgmbh/control/pull/925) Switch to Setup when selected machine is disconnected
+- [#937](https://github.com/qitechgmbh/control/pull/937) Added minimal Support for WAGO 
+- [#945](https://github.com/qitechgmbh/control/pull/945) Improvements for On-Screen Keyboard usage in Ethercat Setup Page
+
+## Extruder V3
+- [#930](https://github.com/qitechgmbh/control/pull/930) Added Extruder V3
+
+## Laser
+- [#924](https://github.com/qitechgmbh/control/pull/924) Roundness is now displayed as a percentage
+- [#885](https://github.com/qitechgmbh/control/pull/885) Added Min and Max Diameter
+- [#849](https://github.com/qitechgmbh/control/pull/849) Added a Warning if Filament is out of Spec
+
+## Aquapath
+- [#976](https://github.com/qitechgmbh/control/pull/976) Improved Stability
+
+
+# `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
-- [#658](https://github.com/qitechgmbh/control/pull/658) Added manual
-- [#639](https://github.com/qitechgmbh/control/pull/639) Swapped order of screw speed regulation buttons
+- [#881](https://github.com/qitechgmbh/control/pull/881) Extended Temperature PID Configuration
+
+
+# `2.11.0`
+_21.10.2025_
+
+## General 
+- [#829](https://github.com/qitechgmbh/control/pull/829), [#834](https://github.com/qitechgmbh/control/pull/834), Improved overall system stability
+
+## Winder V2 
+- [#840](https://github.com/qitechgmbh/control/pull/840) Added XL Winder option
+- [#827](https://github.com/qitechgmbh/control/pull/827) Spool can now be run in reverse
+
+## Extruder V2
+- [#826](https://github.com/qitechgmbh/control/pull/826) Fine grained Temperature-PID configuration now possible
+
+
+# `2.10.0`
+_16.10.2025_
+
+## Winder V2
+- [#776](https://github.com/qitechgmbh/control/pull/776) Added explanation for padding in winder manual
+- [#804](https://github.com/qitechgmbh/control/pull/804) Added gearbox conversion
+
+## General 
+- [#717](https://github.com/qitechgmbh/control/pull/717) Show from option for graphs added
+- [#805](https://github.com/qitechgmbh/control/pull/805) Graphs run better now
+
+
+
+# `2.9.1`
+_10.10.2025_
+
+## Winder V2
+- [#796](https://github.com/qitechgmbh/control/pull/796) Winding in adaptive mode, while puller is in reverse mode is now possible
+
+## General
+- [#780](https://github.com/qitechgmbh/control/pull/780) Updates are faster now
+- [#746](https://github.com/qitechgmbh/control/pull/746) Improved scrollbar styling for manuals
+
+# `2.9.0`
+_06.10.2025_
+
+## Winder V2
+- [#778](https://github.com/qitechgmbh/control/pull/778) Increased Winder Traverse Step size limit
+
+## General
+- [#725](https://github.com/qitechgmbh/control/pull/725) Improved troubleshooting and update page
+- [#625](https://github.com/qitechgmbh/control/pull/625) Improved stability of Machine-Connections
+
+
+# `2.8.0`
+_30.09.2025_
 
 
 ## Laser V1
+- [#741](https://github.com/qitechgmbh/control/pull/741) Added roundness measurement to two-axis Laser
+
+
+## Winder V2
+- [#745](https://github.com/qitechgmbh/control/pull/745), [#756](https://github.com/qitechgmbh/control/pull/756) improved Winder Frontend
+
+## General
+- [#447](https://github.com/qitechgmbh/control/pull/447) added AquaPath Machine
+
+
+
+
+# `2.7.0`
+
+_17.09.2025_
+
+## Extruder V2
+
+- [#695](https://github.com/qitechgmbh/control/pull/695) Pressure and Rpm Regulation properly switch again
+
+## Winder V2
+
+- [#727](https://github.com/qitechgmbh/control/pull/727) Removed estimated diameter
+
+## Laser V1
+
+- [#731](https://github.com/qitechgmbh/control/pull/731) Added Laser with two-axis measurements
+
+## General
+
+- [#679](https://github.com/qitechgmbh/control/pull/679),[#677](https://github.com/qitechgmbh/control/pull/677),[#698](https://github.com/qitechgmbh/control/pull/698), [#684](https://github.com/qitechgmbh/control/pull/684),[#706](https://github.com/qitechgmbh/control/pull/706) Greatly improved overall system latency and stability
+
+- [#720](https://github.com/qitechgmbh/control/pull/720), [#686](https://github.com/qitechgmbh/control/pull/686) Improved User Interface
+
+# `2.6.0`
+
+_03.09.2025_
+
+## Extruder V2
+
+- [#658](https://github.com/qitechgmbh/control/pull/658) Added manual
+- [#639](https://github.com/qitechgmbh/control/pull/639) Swapped order of screw speed regulation buttons
+
+## Laser V1
+
 - [#642](https://github.com/qitechgmbh/control/pull/642) Improved stability of laser connection
 
 ## General
+
 - [#657](https://github.com/qitechgmbh/control/pull/657) Time frame for graphs is now remembered
 - [#641](https://github.com/qitechgmbh/control/pull/641) Removed duplicate scrollbar from manuals
 
 # `2.5.0`
+
 _27.08.2025_
 
 ## Extruder V2
+
 - [#595](https://github.com/qitechgmbh/control/pull/600) Simplified power graphs
 - [#593](https://github.com/qitechgmbh/control/pull/599) Added identifiers for temperature sensors in temperature graph
 
 ## Winder V2
+
 - [#598](https://github.com/qitechgmbh/control/pull/601) Images now load properly in the manual
 
 ## General
+
 - [#540](https://github.com/qitechgmbh/control/pull/592) Improved readability of the presets
 - [#591](https://github.com/qitechgmbh/control/pull/626) Significantly improved user interface performance and stability
 
 # `2.4.0`
+
 _14.08.2025_
 
-## Winder V2 
+## Winder V2
+
 - [#550](https://github.com/qitechgmbh/control/pull/551) Can now reset wound distance while winding
-  
+
 ## General
-- [#568](https://github.com/qitechgmbh/control/pull/569),[#572](https://github.com/qitechgmbh/control/pull/572), [#574](https://github.com/qitechgmbh/control/pull/587) Improved EtherCAT performance 
+
+- [#568](https://github.com/qitechgmbh/control/pull/569),[#572](https://github.com/qitechgmbh/control/pull/572), [#574](https://github.com/qitechgmbh/control/pull/587) Improved EtherCAT performance
 - [#588](https://github.com/qitechgmbh/control/pull/589) Improved frontend performance
 
 # `2.3.0`
+
 _06.08.2025_
 
 ## Extruder V2
+
 - [#520](https://github.com/qitechgmbh/control/pull/523) added warning message incase inverter is overloaded
 - [#501](https://github.com/qitechgmbh/control/pull/508) raised pressure limit of pressured PID mode for extruder
 - [#519](https://github.com/qitechgmbh/control/pull/549) added total power consumption monitor and graphs for voltage,current and wattage of the motor
 
-## Winder V2 
+## Winder V2
+
 - [#64](https://github.com/qitechgmbh/control/pull/504) added winder handbook
 
 ## Laser V1
+
 - [#497](https://github.com/qitechgmbh/control/pull/498) improved diameter visualisation
 
 ## General
+
 - [#62](https://github.com/qitechgmbh/control/pull/514),[#524](https://github.com/qitechgmbh/control/pull/528) added machine presets to load configurations
 - [#526](https://github.com/qitechgmbh/control/pull/541) added import and export of presets
 
@@ -67,6 +217,7 @@ _15.07.2025_
 - [#169](https://github.com/qitechgmbh/control/pull/492), Added a Confirmation Dialog when extruder has not reached 90% of target temperature
 
 ## Winder V2
+
 - [#471](https://github.com/qitechgmbh/control/pull/480), Added a live value to track the pulled distance and the option of switching to a different Mode after a given distance.
 
 ## General

Cargo.toml

@@ -4,8 +4,11 @@ members = [
     "ethercat-hal",
     "ethercat-hal-derive",
     "control-core",
-    "ethercat-eeprom-dump",
+    "machines",
+    #"ethercat-eeprom-dump",
     "control-core-derive",
+    "units",
+    "utils",
 ]
 exclude = []
 resolver = "2"
@@ -17,6 +20,7 @@ resolver = "2"
 collapsible_if = "allow"
 
 # Lint groups (priority -1)
+correctness = { level = "warn", priority = -1 }
 suspicious = { level = "warn", priority = -1 }
 complexity = { level = "warn", priority = -1 }
 perf = { level = "warn", priority = -1 }

README.md

@@ -2,150 +2,76 @@
 
 # QiTech Control
 
-QiTech Control is an industrial control panel software for the next generation of QiTech recycling machines built on top of Beckhoff Automation hardware.
+QiTech Control is an open-source framework designed to bring modern software development practices to certified industrial hardware.
 
-[![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)
-*Click here to watch a video demo of our software.*
+It frees developers from proprietary, license-heavy PLC ecosystems and rigid "point-and-click" workflows that are no longer adequate for today's complex automation challenges.
 
-# Repo Structure
+QiTech Control combines the modularity and reliability of standard EtherCAT terminals (e.g., WAGO, Beckhoff) with the power of a modern Rust & React stack.
 
-Frontend
+## Documentation
 
-- `/electron`: Frontend code for the control software built with React and Electron.
+**[View Full Documentation Wiki](https://github.com/qitechgmbh/control/wiki)**
 
-Backend
+- [Getting Started](https://github.com/qitechgmbh/control/wiki/Getting-Started)
+- [Architecture Overview](https://github.com/qitechgmbh/control/wiki/Architecture-Overview)
+- [EtherCAT Basics](https://github.com/qitechgmbh/control/wiki/Ethercat-Basics)
+- [Device Examples](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)
+- [REST API Reference](https://github.com/qitechgmbh/control/wiki/Rest-Api)
 
-- `/server`: Glue between Beckhoff and Electron. Implements machine logic.
-- `/ethercat-hal`: Hardware abstraction layer for Beckhoff (and possibly other EtherCat) devices and protocols.
-- `/ethercat-hal-derive`: Macros for `ethercat-hal`
-- `/control-core`: Core control logic for the server.
+## Videos
 
-Operating System
+| Software Demo | Full Explainer |
+|---------------|----------------|
+| [![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)<br/>*Watch a demo of the control software in action* | [![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM)<br/>*Watch a complete overview of QiTech Control* |
 
-- `/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
+## Repository Structure
 
-Other
+- **`/electron`** - React + Electron frontend
+- **`/server`** - Rust backend implementing machine logic
+- **`/ethercat-hal`** - Hardware abstraction layer for EtherCAT devices
+- **`/control-core`** - Core control logic
+- **`/nixos`** - Custom Linux OS with realtime kernel
 
-- `/docs`: Documentation for the project.
+## Technology Stack
 
-# Technology Choices
+**Backend:** Rust with [Ethercrab](https://github.com/ethercrab-rs/ethercrab) for EtherCAT, [SocketIO](https://socket.io/) for real-time communication, [axum](https://docs.rs/axum/latest/axum/) for REST API
 
-## Backend
+**Frontend:** [Electron](https://www.electronjs.org/) + [React](https://react.dev/) with [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) styling
 
-To interface with Beckhoff and other EtherCAT devices we need an EtherCAY master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
 
-[SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.
+## Hardware Examples
 
-We use [Smol](https://github.com/smol-rs/smol) for EtherCAT IO in the control loop for it's performance and [Tokio](https://tokio.rs/) for server IO because of it's ecosystem and maturity.
+QiTech Control supports a wide range of EtherCAT hardware from WAGO and Beckhoff. We provide complete step-by-step tutorials with wiring diagrams and software configuration for many common modules.
 
-## Frontend
+**[View all hardware examples and tutorials on the wiki](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)**
 
-We could combine the code of the frontend and backend using [Doxius](https://dioxuslabs.com/) but it lacks good Linux support. We chose [Electron](https://www.electronjs.org/) with [React](https://react.dev/) for it's maturity and ecosystem. For the UI we use [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) for styling. For routing we use [TanStack Router](https://tanstack.com/router/v1).
+Quick links to popular examples:
+- [EL2004 - LED Control](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El2004) (simplest setup for beginners)
+- [EL3021 - Analog Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El3021)
+- [EL7031 - Stepper Motor Control](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El7031-Motor)
+- [WAGO 750-402 - Digital Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-Wago750-402)
+- [WAGO 750-455 - Analog Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-Wago-750-455)
 
-# Dev Setup
+## QiTech Machines
 
-[Developer Documentation](./docs/developer-docs/)
+QiTech Control powers 10+ production machines for filament extrusion, winding, measurement, and material processing.
 
-## Backend
+**[View complete machine catalog on the wiki](https://github.com/qitechgmbh/control/wiki/QiTech-Machines)**
 
-- Rust stable 1.86^ toolchain (install via [rustup](https://rustup.rs/))
-- `rust-analyzer` extension for VSCode
-- Set your interface in `server/src/ethercat/init.rs` like `en10`
-- Connect a Beckhoff EK1100 to your interface
-- run `cd server && cargo run` to start the server (localhost:3001)
 
-## Frontend
+## Contributing
 
-- nodejs and npm installed
-- run `cd electron && npm i && npm run start` to start the frontend
+This is an open-source project. Contributions are welcome! Please see the [wiki](https://github.com/qitechgmbh/control/wiki) for development guidelines.
 
-# Machines
 
-| Machine Type | Version | Release Date | Description                 | Change to Previous Version                             | Vendor ID                  | Machine ID | Implemented | Docs                            |
-| ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
-| Winder       | V1      | ???          | Winding Filaments & Similar | -                                                      | 1 (Qitech Industries GmbH) | 1          | Reserved    | -                               |
-| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | In Progress | [](./docs/machines/winder-1.md) |
-| Extruder     | V1      | ???          | Single Screw Extruder       | -                                                      | 1 (Qitech Industries GmbH) | 3          | Reserved    | -                               |
-| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Not Yet     |                                 |
-| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | Not Yet     |                                 |
-| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Not Yet     |                                 |
-| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Not Yet     | -                               |
 
-# More Docs
+## Additional Videos
 
-- [x] [Architecture & Data Flow](./docs/architecture-overview.md)
+| Episode Highlights |  |
+|--------------------|--------------------|
+| [![](https://img.youtube.com/vi/U2wNN6sF4to/maxresdefault.jpg)](https://www.youtube.com/watch?v=U2wNN6sF4to&t=163s)<br/>**Day in the Software Team**<br/>*Behind the scenes with Robin and how the team ships control software.* | [![](https://img.youtube.com/vi/R5WGAY3WRWA/maxresdefault.jpg)](https://www.youtube.com/watch?v=R5WGAY3WRWA&t=1s)<br/>**Software Stack Day**<br/>*A fast tour through the tools, stack, and daily workflow.* |
+| [![](https://img.youtube.com/vi/xyaHwxXguw4/maxresdefault.jpg)](https://www.youtube.com/watch?v=xyaHwxXguw4&t=32s)<br/>**First Client**<br/>*A milestone week building the first real client project.* | [![](https://img.youtube.com/vi/moI7z2PVdF4/maxresdefault.jpg)](https://www.youtube.com/watch?v=moI7z2PVdF4)<br/>**Steelworks Week**<br/>*A deep-dive week on a demanding steelworks order.* |
 
-  - [x] Example Winder V2
+## License
 
-- [ ] Electron
-
-  - Folder Structure
-  - Routing with TanStack Router
-  - Design with Tailwind & Shadcn
-  - ...
-
-- [ ] Interfacing with Electron/Server
-
-  - [ ] SocketIO
-    - Machine Namespace
-    - Main Namespace
-  - [ ] REST
-    - Machine Mutations
-    - Write Device Identification
-
-- Server
-
-  - [x] [Threading](./docs/control-loop.md)
-  - [x] [Logging](./docs/logging.md)
-  - [ ] Control Loop Setup
-    - Control Loop Thread
-      - [ ] realtime
-    - Maindevice
-    - Group
-    - Extracting Device Identifications
-    - Identifying Groups
-    - Validating Machines
-    - Run Control Loop
-  - [x] [Control Loop](./docs/control-loop.md)
-  - [x] [Machine/Device Identification](./docs/identification.md)
-  - [ ] Machines
-    - When to create a new Machine?
-      - Versioning
-      - Code sharing
-    - Creating/Validating a Machine
-      - Validation
-      - Configuration
-  - [ ] Machine Implementation Guide
-    - Link: How to create a Device
-    - Link: How to create an Actor
-    - Link: How to create a Machine
-      - API (SocketIO + REST)
-      - Creation/Validation Logic
-        - Optional/Mandatory Devices
-        - Validate Devices
-      - Business Logic
-    - Link: How to create Machine Abstraction (Like Traverse/Puller/...)
-    - Forward `act` in winder.
-
-- [ ] Control Core
-
-  - [x] [Actors](./docs/actors.md)
-  - [ ] SocketIO
-    - Namespaces & Caching
-    - Joining leaving namespaces
-    - NamespaceId
-    - Caching
-      - Serverside Caching
-      - Clientside Caching
-  - [ ] REST
-
-- [x] Ethercat HAL
-
-  - [x] [Devices](./docs/devices.md)
-  - [x] [Configuration (CoE)](./docs/coe.md)
-  - [x] [IO](./docs/io.md)
-  - [x] [PDO](./docs/pdo.md)
-
-- [x] [Ethercat Basics](./docs/ethercat-basics.md)
-
-- [x] [NixOS Operating System](./docs/nixos/README.md)
+See [LICENSE](LICENSE) file for details.

cargo_run_linux.sh

@@ -15,16 +15,18 @@ if [[ "$1" == "release" ]]; then
     cargo build --release
 else
     echo "Building Debug Code"
-    cargo build $FEATURE
+    cargo build $FEATURE --features development-build
 fi
 
 # Only setcap if not building with mock-machine
 if [ "$1" != "mock-machine" ]; then
     echo "Setting capabilities for server executable"
-    sudo setcap 'cap_net_raw,cap_sys_nice=eip' ./target/debug/server
+    sudo setcap 'cap_dac_override,cap_net_raw,cap_sys_nice,cap_ipc_lock=eip' ./target/debug/server
 
-    echo "Setting permissions for serial ports"
-    sudo chown "root:$USER" /dev/ttyUSB*
+    if compgen -G "/dev/ttyUSB*" > /dev/null; then
+      echo "Setting permissions for serial ports"
+      sudo chown "root:$(groups | cut -f1 -d' ')" /dev/ttyUSB*
+    fi
 fi
 
 # run

compile_metrics.sh

@@ -0,0 +1,67 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+BUILD_DIR="${BUILD_DIR:-target}"
+CSV_FILE="${CSV_FILE:-compile_metrics.csv}"
+DEFAULT_PKG="server"
+
+if [ "$#" -eq 0 ]; then
+  set -- cargo build
+fi
+
+if [ "${1:-}" = "cargo" ] && [ "${2:-}" = "build" ]; then
+  cargo clean
+  BUILD_CMD=(cargo rustc -p "$DEFAULT_PKG")
+  shift 2
+  BUILD_CMD+=("$@")
+  BUILD_CMD+=(-- --emit=llvm-ir -C debuginfo=0)
+else
+  BUILD_CMD=("$@")
+fi
+
+compile_start_ns=$(date +%s%N)
+"${BUILD_CMD[@]}"
+compile_end_ns=$(date +%s%N)
+compile_ms=$(( (compile_end_ns - compile_start_ns) / 1000000 ))
+
+if [ -d "$BUILD_DIR" ]; then
+  llvm_ir_lines=$(
+    find "$BUILD_DIR" -type f -name '*.ll' -print0 \
+      | xargs -0 cat \
+      | wc -l
+  )
+else
+  llvm_ir_lines=0
+fi
+
+bin_path=""
+
+if [ -n "${BINARY_PATH:-}" ] && [ -f "$BINARY_PATH" ]; then
+  bin_path="$BINARY_PATH"
+elif [ -f "./target/release/server" ]; then
+  bin_path="./target/release/server"
+elif [ -f "./target/debug/server" ]; then
+  bin_path="./target/debug/server"
+elif [ -f "./server/target/release/server" ]; then
+  bin_path="./server/target/release/server"
+elif [ -f "./server/target/debug/server" ]; then
+  bin_path="./server/target/debug/server"
+fi
+
+if [ -n "$bin_path" ]; then
+  binary_size_bytes=$(stat -c '%s' "$bin_path")
+else
+  binary_size_bytes=0
+fi
+
+finished_timestamp_ms=$(($(date +%s%N) / 1000000))
+finished_datetime=$(date -Iseconds)
+
+if [ ! -f "$CSV_FILE" ]; then
+  echo "datetime,finished_timestamp_ms,compile_ms,llvm_ir_lines,binary_size_bytes" > "$CSV_FILE"
+fi
+
+echo "${finished_datetime},${finished_timestamp_ms},${compile_ms},${llvm_ir_lines},${binary_size_bytes}" \
+  >> "$CSV_FILE"
+
+echo "Metrics recorded in $CSV_FILE"

compile_nix_pkgs.sh

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

control-core-derive/src/lib.rs

@@ -29,3 +29,37 @@ fn build_event_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
 
     Ok(expanded)
 }
+
+#[proc_macro_derive(Machine)]
+pub fn machine_derive(item: TokenStream) -> TokenStream {
+    machine_derive2(item.into()).unwrap().into()
+}
+
+fn machine_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
+    // Parse the input tokens into a syntax tree
+    let ast: DeriveInput = syn::parse2(item)?;
+
+    let ident = &ast.ident;
+
+    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
+
+    let expanded = quote! {
+        impl #impl_generics control_core::machines::Machine for #ident #ty_generics #where_clause {
+            fn get_machine_identification_unique(&self) -> control_core::machines::identification::MachineIdentificationUnique {
+                self.machine_identification_unique.clone()
+            }
+        }
+
+        impl #impl_generics control_core::machines::AnyGetters for #ident #ty_generics #where_clause {
+            fn as_any(&self) -> &dyn std::any::Any {
+                self
+            }
+
+            fn as_any_mut(&mut self) -> &mut dyn std::any::Any {
+                self
+            }
+        }
+    };
+
+    Ok(expanded)
+}

control-core/Cargo.toml

@@ -7,29 +7,39 @@ edition = "2024"
 workspace = true
 
 [dependencies]
-anyhow = "1.0.99"
-axum = "0.8.4"
+anyhow = "1.0.100"
+
+axum = "0.8.8"
+
 ethercat_hal = { path = "../ethercat-hal" }
-ethercrab = "0.6"
+units = { path = "../units" }
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 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 = "0.36.0"
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
-serial = "0.4.0"
-tracing = "0.1.41"
-erased-serde = "0.4.6"
+tracing = "0.1.44"
+erased-serde = "0.4.8"
 core_affinity = "0.8.3"
 control_core_derive = { version = "0.1.0", path = "../control-core-derive" }
+tokio = { version = "1.45.1", features = ["sync"], optional = true }
 
 
 [target.'cfg(unix)'.dependencies]
-libc = "0.2.175"
+libc = "0.2.176"
 
 [dev-dependencies]
 approx = "0.5.1"
 textplots = "0.8"
+tokio = { version = "1.45.1", features = ["rt-multi-thread", "macros", "time"] }
+
+
+[features]
+default = []
+video-streaming = ["dep:tokio"]
+
+[package.metadata.cargo-machete]
+ignored =  ["axum","bitvec","control_core_derive"]

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

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

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

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

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

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

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

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

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

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

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

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

control-core/src/converters/angle_converter.rs

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

control-core/src/converters/angular_step_converter.rs

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

control-core/src/converters/circular_converter.rs

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

control-core/src/converters/linear_step_converter.rs

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

control-core/src/downcast.rs

@@ -0,0 +1,36 @@
+use anyhow::anyhow;
+use smol::lock::Mutex;
+use std::any::Any;
+use std::sync::Arc;
+
+pub trait Downcast<T> {
+    fn downcast(&self) -> Result<T, anyhow::Error>;
+}
+
+pub trait DowncastRef<T> {
+    fn downcast_ref(&self) -> Result<&T, anyhow::Error>;
+}
+
+impl<T: 'static, U: Any + 'static> Downcast<Arc<Mutex<T>>> for Arc<Mutex<U>> {
+    fn downcast(&self) -> Result<Arc<Mutex<T>>, anyhow::Error> {
+        // Acquire a read lock on the RwLock
+        let lock = self.lock_blocking();
+
+        // Check if the inner type can be downcasted to T
+        let any: &dyn Any = &*lock;
+
+        if any.is::<T>() {
+            // Clone the Arc and return it as the desired type
+            let cloned: Arc<Mutex<dyn Any>> = self.clone();
+
+            // Transmute the Arc to the desired type
+            unsafe {
+                let arc = Arc::from_raw(Arc::into_raw(cloned) as *const Mutex<T>);
+
+                Ok(arc)
+            }
+        } else {
+            Err(anyhow!("[{}::downcast] Downcast failed", module_path!()))
+        }
+    }
+}

control-core/src/ethercat/interface_discovery.rs

@@ -1,10 +1,9 @@
-use std::{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
@@ -12,14 +11,46 @@ const IFACE_DISCOVERY_MAX_PDU_DATA: usize = PduStorage::element_size(1100);
 const IFACE_DISCOVERY_MAX_FRAMES: usize = 16;
 const IFACE_DISCOVERY_MAX_PDI_LEN: usize = 128;
 
-/// Finds an ethernet interface that is suitable for EtherCAT communication.
-///
-/// ```ignore
-/// match discover_ethercat_interface().await {
-///     Ok(interface) => println!("Found working interface: {}", interface),
-///     Err(_) => println!("No working interface found"),
-/// }
-/// ```
+/// Sets a network interface to unmanaged by NetworkManager.
+/// Returns true if the command succeeded.
+pub fn set_interface_managed(interface: &str, managed: bool) -> bool {
+    let managed_str = match managed {
+        true => "yes",
+        false => "no",
+    };
+    tracing::info!(
+        "set_interface_managed for {} managed was set to: {}",
+        interface,
+        managed_str
+    );
+    let status = Command::new("nmcli")
+        .args(["dev", "set", interface, "managed", managed_str])
+        .status();
+
+    matches!(status, Ok(s) if s.success())
+}
+
+/// Returns true if the given network interface is Ethernet.
+/// Prevents testing wlan,loopback and other non ethernet devices
+fn is_ethernet(interface: &str) -> std::io::Result<bool> {
+    #[cfg(target_os = "linux")]
+    {
+        let base_path = format!("/sys/class/net/{}", interface);
+        let type_path = std::path::Path::new(&base_path).join("type");
+        let iface_type = std::fs::read_to_string(&type_path)?.trim().to_string();
+        // 1 means Ethernet
+        let reports_as_ethernet = iface_type == "1";
+        // Double-check that it's not a wireless interface
+        let uevent_path = std::path::Path::new(&base_path).join("uevent");
+        let uevent = std::fs::read_to_string(&uevent_path).unwrap_or_default();
+        // If "DEVTYPE=wlan" appears, it's lying
+        let actually_wifi = uevent.contains("DEVTYPE=wlan");
+        return Ok(reports_as_ethernet && !actually_wifi);
+    }
+    #[cfg(not(target_os = "linux"))]
+    return Ok(true);
+}
+
 pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
     tracing::info!("Discovering EtherCAT interface...");
 
@@ -37,7 +68,6 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
         } else {
             tracing::debug!("Suppressed panic in interface test: {}", panic_info);
         }
-        // Don't call the default hook, which would print the backtrace
     }));
 
     // Get eligible interfaces
@@ -48,6 +78,7 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
             iface.is_up()
                 && iface.is_running()
                 && !iface.is_loopback()
+                && is_ethernet(&iface.name).unwrap_or(false)
                 && !iface.name.starts_with("bridge")
                 && !iface.name.starts_with("utun")   // Exclude tunnel interfaces
                 && !iface.name.starts_with("awdl")   // Exclude Apple Wireless Direct Link
@@ -56,57 +87,39 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
         })
         .collect::<Vec<_>>();
 
-    // Sort interfaces by name
     interfaces.sort_by(|a, b| a.name.cmp(&b.name));
+    let mut interface: Option<&str> = None;
 
-    // Try all interfaces concurrently
-    let tasks = interfaces
-        .iter()
-        .map(|iface| {
-            let name = iface.name.clone();
-            std::thread::Builder::new()
-                .name(format!("ethercat-test-{}", name))
-                .spawn(move || {
-                    std::panic::catch_unwind(|| {
-                        smol::block_on(async {
-                            match test_interface(&name) {
-                                Ok(_) => {
-                                    tracing::info!("Found working EtherCAT interface: {}", name);
-                                    Some(name.clone())
-                                }
-                                Err(_) => {
-                                    tracing::debug!("Interface {} failed", name);
-                                    None
-                                }
-                            }
-                        })
-                    })
-                    .unwrap_or(None)
-                })
-                .expect("Failed to spawn thread")
-        })
-        .collect::<Vec<_>>();
+    for i in 0..interfaces.len() {
+        match test_interface(&interfaces[i].name) {
+            Ok(_) => {
+                // if interface found with ethercat Exit early, we expect only one interface with ethercat
+                interface = Some(&interfaces[i].name);
+                break;
+            }
+            Err(_) => (),
+        }
+    }
 
-    // Wait for all tasks to complete and collect successful results
-    let successful_interfaces: Vec<String> = tasks
-        .into_iter()
-        .filter_map(|task| task.join().expect("Should join thread"))
-        .collect();
-
-    // Return the first successful interface (they're sorted by name)
-    let result = successful_interfaces.into_iter().next();
+    for i in 0..interfaces.len() {
+        if interface.is_some() && interface.unwrap() == &interfaces[i].name {
+            set_interface_managed(&interfaces[i].name, false);
+        } else {
+            set_interface_managed(&interfaces[i].name, true);
+        }
+    }
 
     // Restore the default panic hook
     std::panic::set_hook(default_hook);
 
-    match result {
-        Some(name) => Ok(name),
-        None => Err(anyhow::anyhow!("No suitable EtherCAT interface found")),
+    match interface {
+        Some(interface) => return Ok(interface.to_string()),
+        None => return Err(anyhow::anyhow!("No suitable EtherCAT interface found")),
     }
 }
 
 fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
-    tracing::trace!("Testing interface: {}", interface);
+    tracing::info!("Testing interface: {}", interface);
 
     let pdu_storage = Box::leak(Box::new(PduStorage::<
         IFACE_DISCOVERY_MAX_FRAMES,
@@ -144,7 +157,7 @@ fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
                 // Default 10000
                 dc_static_sync_iterations: 10000,
                 // Default None
-                retry_behaviour: ethercrab::RetryBehaviour::None,
+                retry_behaviour: ethercrab::RetryBehaviour::Count(3),
             },
         ));
 

control-core/src/ethercat/mod.rs

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

control-core/src/ethernet/mod.rs

@@ -0,0 +1,65 @@
+use std::process::Command;
+
+use anyhow::Result;
+use interfaces::Interface;
+
+pub mod modbus_tcp_discovery;
+
+/// Returns true if the given network interface is Ethernet.
+/// Prevents testing wlan,loopback and other non ethernet devices
+fn is_ethernet(interface: &str) -> std::io::Result<bool> {
+    #[cfg(target_os = "linux")]
+    {
+        let base_path = format!("/sys/class/net/{}", interface);
+        let type_path = std::path::Path::new(&base_path).join("type");
+        let iface_type = std::fs::read_to_string(&type_path)?.trim().to_string();
+        // 1 means Ethernet
+        let reports_as_ethernet = iface_type == "1";
+        // Double-check that it's not a wireless interface
+        let uevent_path = std::path::Path::new(&base_path).join("uevent");
+        let uevent = std::fs::read_to_string(&uevent_path).unwrap_or_default();
+        // If "DEVTYPE=wlan" appears, it's lying
+        let actually_wifi = uevent.contains("DEVTYPE=wlan");
+        Ok(reports_as_ethernet && !actually_wifi)
+    }
+    #[cfg(not(target_os = "linux"))]
+    return Ok(true);
+}
+
+pub fn get_interfaces() -> Result<Vec<Interface>> {
+    let vec = Interface::get_all()
+        .map_err(|e| anyhow::anyhow!("Failed to get network interfaces: {}", e))?
+        .into_iter()
+        .filter(|iface| {
+            iface.is_up()
+                && iface.is_running()
+                && !iface.is_loopback()
+                && is_ethernet(&iface.name).unwrap_or(false)
+                && !iface.name.starts_with("bridge")
+                && !iface.name.starts_with("utun")   // Exclude tunnel interfaces
+                && !iface.name.starts_with("awdl")   // Exclude Apple Wireless Direct Link
+                && !iface.name.starts_with("anpi")   // Exclude Apple Network Privacy Interface
+                && !iface.name.starts_with("llw") // Exclude Apple low-latency WLAN
+        })
+        .collect::<Vec<_>>();
+    Ok(vec)
+}
+
+/// Sets a network interface to unmanaged by NetworkManager.
+/// Returns true if the command succeeded.
+pub fn set_interface_managed(interface: &str, managed: bool) -> bool {
+    let managed_str = match managed {
+        true => "yes",
+        false => "no",
+    };
+    tracing::info!(
+        "set_interface_managed for {} managed was set to: {}",
+        interface,
+        managed_str
+    );
+    let status = Command::new("nmcli")
+        .args(["dev", "set", interface, "managed", managed_str])
+        .status();
+
+    matches!(status, Ok(s) if s.success())
+}

control-core/src/ethernet/modbus_tcp_discovery.rs

@@ -0,0 +1,78 @@
+use crate::ethernet::get_interfaces;
+use crate::{futures::FutureIteratorExt, modbus::tcp::ModbusTcpDevice};
+use anyhow::{Result, bail};
+use interfaces::Interface;
+use std::cmp::min;
+use std::net::{IpAddr, Ipv4Addr, SocketAddr};
+
+pub struct ModbusTcpProbe {
+    pub addr: SocketAddr,
+    pub serial: u16,
+}
+
+pub async fn probe_modbus_tcp() -> Vec<ModbusTcpProbe> {
+    let interfaces = match get_interfaces() {
+        Ok(x) => x,
+        Err(_) => return vec![],
+    };
+
+    interfaces
+        .into_iter()
+        .map(probe_modbus_tcp_addresses)
+        .join_all()
+        .await
+        .into_iter()
+        .flatten()
+        .collect()
+}
+
+async fn probe_modbus_tcp_addresses(interface: Interface) -> Vec<ModbusTcpProbe> {
+    let out: Vec<ModbusTcpProbe> = interface
+        .addresses
+        .iter()
+        .filter_map(|addr| {
+            let a = addr.addr.map(|a| a.ip());
+            let m = addr.mask.map(|a| a.ip());
+
+            match (a, m) {
+                (Some(IpAddr::V4(addr)), Some(IpAddr::V4(mask))) => Some((addr, mask)),
+                _ => None,
+            }
+        })
+        .flat_map(|(addr, mask)| {
+            let a = u32::from(addr);
+            let m = u32::from(mask);
+            let network = a & m;
+
+            let prefix = min(24, m.count_ones()); // mask → prefix length
+            let size = 1u32 << (32 - prefix); // number of addresses
+
+            (0..size).map(move |i| SocketAddr::new(Ipv4Addr::from(network + i).into(), 502))
+        })
+        .map(|addr| smol::spawn(ping_modbus_device(addr)))
+        .join_all()
+        .await
+        .into_iter()
+        .filter_map(|x| x.ok())
+        .collect();
+
+    out
+}
+
+async fn ping_modbus_device(addr: SocketAddr) -> Result<ModbusTcpProbe> {
+    let mut device = ModbusTcpDevice::new(addr).await?;
+
+    let module_number1 = device.get_u32(0x2).await?;
+    let module_number2 = device.get_u32(0x4).await?;
+
+    if module_number1 != 0x2787_2144 || module_number2 != 0x0000_0000 {
+        bail!("Unknown modbus tcp device!");
+    }
+
+    let serial = device.get_u32(0x000A).await?;
+
+    Ok(ModbusTcpProbe {
+        addr,
+        serial: serial as u16,
+    })
+}

control-core/src/futures.rs

@@ -0,0 +1,26 @@
+use core::future::Future;
+
+// Extension trait for iterators of futures
+pub trait FutureIteratorExt<F>: Iterator<Item = F> + Sized
+where
+    F: Future,
+{
+    /// Await all futures and return their outputs
+    fn join_all(self) -> impl Future<Output = Vec<F::Output>>;
+}
+
+impl<I, F> FutureIteratorExt<F> for I
+where
+    I: Iterator<Item = F> + Sized,
+    F: Future,
+{
+    async fn join_all(self) -> Vec<F::Output> {
+        let mut out = Vec::new();
+
+        for fut in self {
+            out.push(fut.await);
+        }
+
+        out
+    }
+}

control-core/src/helpers/hasher_serializer.rs

@@ -329,32 +329,9 @@ impl<H: Hasher> Serializer for HashSerializer<'_, H> {
 }
 
 // A helper that uses Serialize to feed into a Hasher without allocating a buffer:
-pub fn hash_with_serde_model<T: Serialize, H: Hasher>(value: T, hasher: H) -> u64 {
-    let mut h = hasher;
+pub fn hash_with_serde_model<T: Serialize>(value: T) -> u64 {
+    let mut h = DefaultHasher::new();
     let ser = HashSerializer(&mut h);
     value.serialize(ser).expect("serialize to hasher failed");
     h.finish()
 }
-
-/// if hash of a and b are different this function returns true
-/// a and b need to impl Serialize
-pub fn check_hash_different<T: Serialize>(a: T, b: T) -> bool {
-    // Yes DefaultHasher has to be defined multiple times
-    // If you use one for both the results will never match even if they are the same value
-    let hasher = DefaultHasher::new();
-    let hash = hash_with_serde_model(a, hasher);
-    let hasher = DefaultHasher::new();
-    let hash_old = hash_with_serde_model(b, hasher);
-    hash != hash_old
-}
-
-#[test]
-fn test_same_values() {
-    let a = 10;
-    let b = 10;
-    assert_eq!(
-        check_hash_different(a, b),
-        false,
-        "Hashes should be equal for identical values"
-    );
-}

control-core/src/helpers/moving_time_window.rs

@@ -45,22 +45,6 @@ impl DivideByCount for u64 {
     }
 }
 
-/// A generic moving time window that works with numeric types.
-///
-/// # Examples
-///
-/// ```rust
-/// use std::time::{Duration, Instant};
-/// use control_core::helpers::moving_time_window::MovingTimeWindow;
-///
-/// let mut window = MovingTimeWindow::new(Duration::from_secs(10), 100);
-/// window.update(1.5, Instant::now());
-/// window.update(2.5, Instant::now());
-///
-/// let average = window.average();
-/// println!("Average: {}", average);
-/// ```
-
 // Type aliases for common use cases
 pub type F64Window = MovingTimeWindow<f64>;
 pub type F32Window = MovingTimeWindow<f32>;
@@ -194,15 +178,14 @@ where
             .samples
             .iter()
             .map(|(v, _)| *v)
-            .fold(None, |acc, val| match acc {
-                None => Some(val),
-                Some(current_max) => {
+            .fold(None, |acc, val| {
+                acc.map_or(Some(val), |current_max| {
                     if val > current_max {
                         Some(val)
                     } else {
                         Some(current_max)
                     }
-                }
+                })
             })
             .unwrap_or_default();
 
@@ -229,15 +212,14 @@ where
             .samples
             .iter()
             .map(|(v, _)| *v)
-            .fold(None, |acc, val| match acc {
-                None => Some(val),
-                Some(current_min) => {
+            .fold(None, |acc, val| {
+                acc.map_or(Some(val), |current_min| {
                     if val < current_min {
                         Some(val)
                     } else {
                         Some(current_min)
                     }
-                }
+                })
             })
             .unwrap_or_default();
 

control-core/src/irq_handling.rs

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

control-core/src/lib.rs

@@ -1,15 +1,16 @@
 pub mod controllers;
 pub mod converters;
+pub mod downcast;
 pub mod ethercat;
+pub mod ethernet;
+pub mod futures;
 pub mod helpers;
-pub mod machines;
+pub mod irq_handling;
 pub mod modbus;
 pub mod realtime;
-pub mod rest;
 pub mod serial;
 pub mod socketio;
 pub mod transmission;
-pub mod uom_extensions;
 
-#[macro_use]
-extern crate uom;
+#[cfg(feature = "video-streaming")]
+pub mod video_streaming;

control-core/src/machines/api.rs

@@ -1,8 +0,0 @@
-use serde_json::Value;
-
-use crate::socketio::namespace::Namespace;
-
-pub trait MachineApi {
-    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
-    fn api_event_namespace(&mut self) -> &mut Namespace;
-}

control-core/src/machines/identification.rs

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

control-core/src/machines/manager.rs

@@ -1,275 +0,0 @@
-use smol::{
-    channel::Sender,
-    lock::{Mutex, RwLock},
-};
-use socketioxide::extract::SocketRef;
-
-use crate::{
-    machines::{
-        identification::MachineIdentificationUnique,
-        new::{MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams},
-    },
-    serial::SerialDevice,
-    socketio::event::GenericEvent,
-};
-use std::{
-    collections::HashMap,
-    sync::{Arc, Weak},
-};
-
-use super::{
-    Machine,
-    identification::{DeviceIdentification, DeviceIdentificationIdentified},
-    new::MachineNewHardwareSerial,
-    registry::MachineRegistry,
-};
-#[derive(Debug)]
-pub struct MachineManager {
-    pub ethercat_machines:
-        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
-    pub serial_machines:
-        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
-}
-
-impl Default for MachineManager {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
-impl MachineManager {
-    pub fn new() -> Self {
-        Self {
-            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>>,
-    ) {
-        // empty ethercat machines
-        self.ethercat_machines.clear();
-
-        // 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 = match device_group.first() {
-                Some(device_identification) => &device_identification.device_machine_identification,
-                None => continue, // Skip this group if empty
-            };
-
-            // 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(),
-            });
-
-            // insert the machine into the ethercat machines map
-            self.ethercat_machines.insert(
-                machine_identification.machine_identification_unique.clone(),
-                new_machine,
-            );
-        }
-    }
-
-    pub fn get(
-        &self,
-        machine_identification: &MachineIdentificationUnique,
-    ) -> Option<&Result<Arc<Mutex<dyn Machine>>, anyhow::Error>> {
-        self.ethercat_machines
-            .get(machine_identification)
-            .or_else(|| self.serial_machines.get(machine_identification))
-    }
-
-    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 new_machine = machine_registry.new_machine(&MachineNewParams {
-            device_group: &vec![device_identification_identified.clone()],
-            hardware: &MachineNewHardware::Serial(&hardware),
-            socket_queue_tx,
-            machine_manager,
-        });
-
-        tracing::info!("Adding serial machine {:?}", new_machine);
-
-        self.serial_machines.insert(
-            device_identification_identified
-                .device_machine_identification
-                .machine_identification_unique,
-            new_machine,
-        );
-    }
-
-    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
-        );
-
-        self.serial_machines.remove(
-            &device_identification_identified
-                .device_machine_identification
-                .machine_identification_unique,
-        );
-    }
-
-    pub fn get_machine_weak(
-        &self,
-        machine_identification: &MachineIdentificationUnique,
-    ) -> Option<Weak<Mutex<dyn Machine>>> {
-        let machine = self.ethercat_machines.get(machine_identification);
-        let machine = match machine {
-            Some(machine) => machine,
-            None => {
-                return None;
-            }
-        };
-        let machine = match machine {
-            Ok(machine) => machine,
-            Err(_) => {
-                return None;
-            }
-        };
-        let machine_weak = Arc::downgrade(machine);
-        Some(machine_weak)
-    }
-
-    pub fn get_serial_weak(
-        &self,
-        machine_identification: &MachineIdentificationUnique,
-    ) -> Option<Weak<Mutex<dyn Machine>>> {
-        let machine = self.serial_machines.get(machine_identification);
-        let machine = match machine {
-            Some(machine) => machine,
-            None => {
-                return None;
-            }
-        };
-        let machine = match machine {
-            Ok(machine) => machine,
-            Err(_) => {
-                return None;
-            }
-        };
-        let machine_weak = Arc::downgrade(machine);
-        Some(machine_weak)
-    }
-}
-
-/// Groups devices by machine identification
-///
-/// Returns a DeviceGroupingResult containing:
-/// - device_groups: a vector of devices grouped by machine identification
-/// - unidentified_devices: a vector of devices that could not be identified
-pub fn group_devices_by_identification(
-    device_identifications: &Vec<DeviceIdentification>,
-) -> DeviceGroupingResult {
-    let mut device_groups: Vec<Vec<DeviceIdentificationIdentified>> = Vec::new();
-    let mut unidentified_devices: Vec<DeviceIdentification> = Vec::new();
-
-    for device_identification in device_identifications {
-        // if vendor or serial or machine is 0, it is not a valid machine device
-        if let Some(device_machine_identification) =
-            device_identification.device_machine_identification.as_ref()
-        {
-            if !device_machine_identification.is_valid() {
-                unidentified_devices.push(device_identification.clone());
-
-                continue;
-            }
-        } else {
-            unidentified_devices.push(device_identification.clone());
-            continue;
-        }
-
-        // scan over all deice groups
-        // get the first DeviceMachineIdentification
-        // compare and append to the group
-        let mut found = false;
-        for check_group in device_groups.iter_mut() {
-            // get first device in group
-            let first_device = check_group.first().expect("group to not be empty");
-            let first_device_machine_identification = &first_device
-                .device_machine_identification
-                .machine_identification_unique;
-
-            // chek if it has machine identification
-            if let Some(device_machine_identification) =
-                device_identification.device_machine_identification.as_ref()
-            {
-                // compare with the current device
-                if first_device_machine_identification
-                    == &device_machine_identification.machine_identification_unique
-                {
-                    let device_identification_identified = device_identification
-                        .clone()
-                        .try_into()
-                        .expect("should have Some(DeviceMachineIdentification)");
-                    check_group.push(device_identification_identified);
-                    found = true;
-                    break;
-                }
-            }
-        }
-
-        if !found {
-            let device_identification_identified = device_identification
-                .clone()
-                .try_into()
-                .expect("should have Some(DeviceMachineIdentification)");
-            device_groups.push(vec![device_identification_identified]);
-        }
-    }
-
-    DeviceGroupingResult {
-        device_groups,
-        unidentified_devices,
-    }
-}
-
-/// Structure to hold the result of grouping devices by identification
-#[derive(Debug)]
-pub struct DeviceGroupingResult {
-    /// Devices grouped by machine identification
-    pub device_groups: Vec<Vec<DeviceIdentificationIdentified>>,
-    /// Devices that could not be identified
-    pub unidentified_devices: Vec<DeviceIdentification>,
-}

control-core/src/machines/manager_iter.rs

@@ -1,82 +0,0 @@
-use std::{collections::HashMap, sync::Arc};
-
-use smol::lock::Mutex;
-
-use super::{Machine, identification::MachineIdentificationUnique, manager::MachineManager};
-
-pub enum MachineManagerIter<'a> {
-    EthercatMachines {
-        iter: std::collections::hash_map::Iter<
-            'a,
-            MachineIdentificationUnique,
-            Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
-        >,
-    },
-    SerialMachines {
-        iter: std::collections::hash_map::Iter<
-            'a,
-            MachineIdentificationUnique,
-            Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
-        >,
-    },
-    Done,
-}
-
-pub struct MachineManagerIterator<'a> {
-    iter: MachineManagerIter<'a>,
-    serial_machines:
-        &'a HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
-}
-
-impl<'a> Iterator for MachineManagerIterator<'a> {
-    type Item = (
-        &'a MachineIdentificationUnique,
-        &'a Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
-    );
-
-    fn next(&mut self) -> Option<Self::Item> {
-        loop {
-            match &mut self.iter {
-                MachineManagerIter::EthercatMachines { iter } => {
-                    // Try to get the next item from ethercat_machines
-                    if let Some(item) = iter.next() {
-                        return Some(item);
-                    } else {
-                        // If ethercat_machines is exhausted, move to serial_machines
-                        self.iter = MachineManagerIter::SerialMachines {
-                            iter: self.serial_machines.iter(),
-                        };
-                        // Continue to the next iteration of the loop
-                        continue;
-                    }
-                }
-                MachineManagerIter::SerialMachines { iter } => {
-                    // Return the next item from serial_machines or None if exhausted
-                    if let Some(item) = iter.next() {
-                        return Some(item);
-                    } else {
-                        // If serial_machines is also exhausted, we're done
-                        self.iter = MachineManagerIter::Done;
-                        return None;
-                    }
-                }
-                MachineManagerIter::Done => {
-                    // We've exhausted both collections
-                    return None;
-                }
-            }
-        }
-    }
-}
-
-impl MachineManager {
-    // Returns an iterator over all machines (both ethercat and serial)
-    pub fn iter(&'_ self) -> MachineManagerIterator<'_> {
-        MachineManagerIterator {
-            iter: MachineManagerIter::EthercatMachines {
-                iter: self.ethercat_machines.iter(),
-            },
-            serial_machines: &self.serial_machines,
-        }
-    }
-}

control-core/src/machines/mod.rs

@@ -1,80 +0,0 @@
-use anyhow::anyhow;
-use api::MachineApi;
-use new::MachineNewTrait;
-use serde::Serialize;
-use smol::lock::Mutex;
-use std::any::Any;
-use std::fmt::Debug;
-use std::sync::{Arc, Weak};
-
-use crate::machines::identification::MachineIdentificationUnique;
-use crate::machines::new::MachineAct;
-pub mod api;
-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 {
-    fn as_any(&self) -> &dyn Any;
-}
-/// Casts a `dyn Machine` to a specific machine type
-pub async fn downcast_machine<T: Machine>(
-    machine: Arc<Mutex<dyn Machine>>,
-) -> Result<Arc<Mutex<T>>, anyhow::Error> {
-    // Acquire a read lock on the RwLock
-    let read_lock = machine.lock().await;
-
-    // Check if the inner type can be downcasted to T
-    if read_lock.as_any().is::<T>() {
-        // Clone the Arc and return it as the desired type
-        let cloned_machine = Arc::clone(&machine);
-        // Transmute the Arc to the desired type
-        unsafe {
-            Ok(Arc::from_raw(
-                Arc::into_raw(cloned_machine) as *const Mutex<T>
-            ))
-        }
-    } else {
-        Err(anyhow!(
-            "[{}::downcast_machine] Downcast failed",
-            module_path!()
-        ))
-    }
-}
-
-/// Trait to get strong count to see if Weak has reference
-pub trait GetStrongCount {
-    fn get_strong_count(&self) -> usize;
-}
-
-impl<T> GetStrongCount for Weak<Mutex<T>> {
-    fn get_strong_count(&self) -> usize {
-        self.strong_count()
-    }
-}
-
-#[derive(Debug)]
-pub struct ConnectedMachine<T: GetStrongCount> {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub machine: T,
-}
-
-#[derive(Serialize, Debug, Clone, PartialEq, Eq)]
-pub struct ConnectedMachineData {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub is_available: bool,
-}
-
-impl<T> From<&ConnectedMachine<T>> for ConnectedMachineData
-where
-    T: GetStrongCount,
-{
-    fn from(value: &ConnectedMachine<T>) -> Self {
-        Self {
-            machine_identification_unique: value.machine_identification_unique.clone(),
-            is_available: value.machine.get_strong_count() != 0,
-        }
-    }
-}

control-core/src/machines/new.rs

@@ -1,259 +0,0 @@
-use crate::{machines::manager::MachineManager, serial::SerialDevice};
-
-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::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 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

@@ -1,74 +0,0 @@
-use super::{Machine, identification::MachineIdentification, new::MachineNewParams};
-use anyhow::Error;
-use smol::lock::Mutex;
-use std::{any::TypeId, collections::HashMap, sync::Arc};
-
-pub type MachineNewClosure =
-    Box<dyn Fn(&MachineNewParams) -> Result<Arc<Mutex<dyn Machine>>, Error> + Send + Sync>;
-
-pub struct MachineRegistry {
-    type_map: HashMap<TypeId, (MachineIdentification, MachineNewClosure)>,
-}
-
-impl Default for MachineRegistry {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
-impl MachineRegistry {
-    pub fn new() -> Self {
-        Self {
-            type_map: HashMap::new(),
-        }
-    }
-
-    pub fn register<T: Machine + 'static>(
-        &mut self,
-        machine_identficiation: MachineIdentification,
-    ) {
-        self.type_map.insert(
-            TypeId::of::<T>(),
-            (
-                machine_identficiation,
-                // create a machine construction closure
-                Box::new(|machine_new_params| {
-                    Ok(Arc::new(Mutex::new(T::new(machine_new_params)?)))
-                }),
-            ),
-        );
-    }
-
-    pub fn new_machine(
-        &self,
-        machine_new_params: &MachineNewParams,
-    ) -> Result<Arc<Mutex<dyn Machine>>, anyhow::Error> {
-        // get machiine identification
-        let device_identification =
-            &machine_new_params
-                .device_group
-                .first()
-                .ok_or(anyhow::anyhow!(
-                    "[{}::MachineConstructor::new_machine] No device in group",
-                    module_path!()
-                ))?;
-
-        // find machine new function by comparing MachineIdentification
-        let (_, machine_new_closure) = self
-            .type_map
-            .values()
-            .find(|(mi, _)| {
-                mi == &device_identification
-                    .device_machine_identification
-                    .machine_identification_unique
-                    .machine_identification
-            })
-            .ok_or(anyhow::anyhow!(
-                "[{}::MachineConstructor::new_machine] Machine not found",
-                module_path!()
-            ))?;
-
-        // call machine new function by reference
-        (machine_new_closure)(machine_new_params)
-    }
-}

control-core/src/modbus/mod.rs

@@ -1,4 +1,5 @@
 pub mod modbus_serial_interface;
+pub mod tcp;
 
 use anyhow::Error;
 use crc::{CRC_16_MODBUS, Crc};

control-core/src/modbus/tcp.rs

@@ -0,0 +1,263 @@
+use std::fmt::Debug;
+use std::io::ErrorKind;
+use std::net::SocketAddr;
+use std::time::Duration;
+
+use anyhow::Context;
+use anyhow::Result;
+use anyhow::bail;
+use smol::Timer;
+use smol::future::FutureExt;
+use smol::io;
+use smol::io::AsyncReadExt;
+use smol::io::AsyncWriteExt;
+use smol::net::TcpStream;
+
+const PROTOCOL_ID: u16 = 0;
+const UNIT_ID: u8 = 0;
+const READ_HOLDING_FUNCTION_CODE: u8 = 3;
+const WRITE_HOLDING_FUNCTION_CODE: u8 = 16;
+const READ_HOLDING_LENGTH: u16 = 6; // Unit ID 00 + Func Code 03 + Start Address XXXX + Quantity XXXX = 6 bytes
+const WRITE_HOLDING_LENGTH_WITHOUT_DATA: u16 = 7; // Unit ID 00 + Func Code 16 + Start Address XXXX + Quantity XXXX + Num Data Bytes XX = 7 bytes
+
+struct Packet {
+    buf: Vec<u8>,
+}
+
+impl Packet {
+    pub const fn new() -> Self {
+        Self { buf: Vec::new() }
+    }
+
+    pub fn add_u8(&mut self, x: u8) {
+        self.buf.push(x);
+    }
+
+    pub fn add_u16(&mut self, x: u16) {
+        let buf = x.to_be_bytes();
+        self.buf.push(buf[0]);
+        self.buf.push(buf[1]);
+    }
+
+    pub fn as_bytes(&self) -> &[u8] {
+        &self.buf
+    }
+}
+
+pub struct ModbusTcpDevice {
+    stream: TcpStream,
+    transactions: u16,
+}
+
+impl Debug for ModbusTcpDevice {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        match self.stream.peer_addr() {
+            Ok(addr) => write!(f, "ModbusTcpDevice({:?})", addr),
+            Err(_) => std::fmt::Result::Err(std::fmt::Error),
+        }
+    }
+}
+
+impl ModbusTcpDevice {
+    pub async fn new(addr: SocketAddr) -> Result<Self> {
+        let timeout = async {
+            Timer::after(Duration::from_millis(10)).await;
+            Err(io::Error::from(ErrorKind::TimedOut))
+        };
+
+        let stream = TcpStream::connect(addr)
+            .or(timeout)
+            .await
+            .context("Could not connect to modbus device!")?;
+
+        Ok(Self {
+            stream,
+            transactions: 0,
+        })
+    }
+
+    async fn read_and_check_responce_header(&mut self, func_code: u8) -> Result<()> {
+        if self.read_u16().await? != self.transactions {
+            bail!("Modbus device sent unexpected transaction id!");
+        }
+
+        if self.read_u16().await? != PROTOCOL_ID {
+            bail!("Modbus device sent unexpected protocol id!");
+        }
+
+        let length = self.read_u16().await?;
+        if length < 2 {
+            bail!("Modbus device will send too few bytes to understand the response!");
+        }
+
+        if self.read_u8().await? != UNIT_ID {
+            bail!("Modbus device sent unexpected unit id!");
+        }
+
+        let func_code_res = self.read_u8().await?;
+        if func_code != func_code_res {
+            let error_code = self.read_u8().await?;
+            bail!(
+                "Modbus device sent unexpected function code 0x{:x}! It probably encountered an error. Error code: 0x{:x}",
+                func_code_res,
+                error_code
+            );
+        }
+
+        Ok(())
+    }
+
+    async fn send_read_holding_request(&mut self, addr: u16, count: u16) -> Result<u16> {
+        let mut packet = Packet::new();
+
+        self.transactions += 1;
+        packet.add_u16(self.transactions);
+        packet.add_u16(PROTOCOL_ID);
+        packet.add_u16(READ_HOLDING_LENGTH);
+
+        packet.add_u8(UNIT_ID);
+        packet.add_u8(READ_HOLDING_FUNCTION_CODE);
+
+        packet.add_u16(addr);
+        packet.add_u16(count);
+
+        self.send(packet).await?;
+        self.read_and_check_responce_header(READ_HOLDING_FUNCTION_CODE)
+            .await?;
+
+        let num_data_bytes = self.read_u8().await? as u16;
+        if count * 2 != num_data_bytes {
+            bail!(
+                "Modbus device wants to send only a portion of the requested range - UNIMPLEMENTED!"
+            );
+        }
+
+        Ok(num_data_bytes)
+    }
+
+    pub async fn get_holding_registers(&mut self, addr: u16, count: u16) -> Result<Vec<u16>> {
+        self.send_read_holding_request(addr, count).await?;
+
+        let mut res: Vec<u16> = Vec::new();
+        while res.len() < count as usize {
+            res.push(self.read_u16().await?);
+        }
+
+        Ok(res)
+    }
+
+    pub async fn set_holding_registers(&mut self, addr: u16, values: &[u16]) -> Result<()> {
+        let count = values.len();
+        let num_bytes = count * 2;
+        assert!(
+            count <= 128,
+            "Cannot send that many bytes to modbus device in one go! Trying to send {} bytes of data.",
+            num_bytes
+        );
+
+        let mut packet = Packet::new();
+
+        self.transactions += 1;
+        packet.add_u16(self.transactions);
+        packet.add_u16(PROTOCOL_ID);
+        packet.add_u16(WRITE_HOLDING_LENGTH_WITHOUT_DATA + num_bytes as u16);
+
+        packet.add_u8(UNIT_ID);
+        packet.add_u8(WRITE_HOLDING_FUNCTION_CODE);
+
+        packet.add_u16(addr);
+        packet.add_u16(count as u16);
+
+        packet.add_u8(num_bytes as u8);
+
+        for value in values {
+            packet.add_u16(value.to_owned());
+        }
+
+        self.send(packet).await?;
+        self.read_and_check_responce_header(WRITE_HOLDING_FUNCTION_CODE)
+            .await?;
+
+        if self.read_u16().await? != addr {
+            bail!("Modbus device wrote to wrong register address!");
+        }
+
+        if self.read_u16().await? != count as u16 {
+            bail!("Modbus device wrote wrong number of registers!");
+        }
+
+        Ok(())
+    }
+
+    pub async fn get_string<const N: usize>(&mut self, addr: u16) -> Result<String> {
+        assert!(N % 2 == 0, "Strings are always of even length!");
+        assert!(N <= 256, "Cannot read long strings in a single swoop!");
+        let count = N / 2;
+
+        self.send_read_holding_request(addr, count as u16).await?;
+        let buf = self.read_bytes::<N>().await?;
+
+        let s = String::from_utf8_lossy(&buf);
+        let s = match s.split_once('\0') {
+            None => s.to_string(),
+            Some((l, _)) => l.to_string(),
+        };
+
+        Ok(s)
+    }
+
+    pub async fn set_string<const N: usize>(&mut self, _addr: u16, s: &str) -> Result<()> {
+        assert!(s.len() <= N, "String is too long to fit!");
+
+        todo!()
+    }
+
+    pub async fn get_u16(&mut self, addr: u16) -> Result<u16> {
+        let length = self.send_read_holding_request(addr, 1).await?;
+        assert_eq!(
+            length, 2,
+            "Expected modbus device to send exactly 2 bytes of data!"
+        );
+
+        self.read_u16().await
+    }
+
+    pub async fn get_u32(&mut self, addr: u16) -> Result<u32> {
+        let length = self.send_read_holding_request(addr, 2).await?;
+        assert_eq!(
+            length, 4,
+            "Expected modbus device to send exactly 4 bytes of data!"
+        );
+
+        let buf = self.read_bytes::<4>().await?;
+        Ok(u32::from_be_bytes(buf))
+    }
+
+    // We have to send the request in a single packet,
+    // otherwise the device may fail to respond correctly.
+    async fn send(&mut self, packet: Packet) -> Result<()> {
+        self.stream
+            .write_all(packet.as_bytes())
+            .await
+            .context("Could write to modbus device!")
+    }
+
+    async fn read_u8(&mut self) -> Result<u8> {
+        let buf = self.read_bytes::<1>().await?;
+        Ok(u8::from_be_bytes(buf))
+    }
+
+    async fn read_u16(&mut self) -> Result<u16> {
+        let buf = self.read_bytes::<2>().await?;
+        Ok(u16::from_be_bytes(buf))
+    }
+
+    async fn read_bytes<const N: usize>(&mut self) -> Result<[u8; N]> {
+        let mut buf = [0; N];
+        self.stream
+            .read_exact(&mut buf)
+            .await
+            .context("Could not read from modbus device!")?;
+        Ok(buf)
+    }
+}

control-core/src/realtime.rs

@@ -1,7 +1,7 @@
 use tracing::debug;
 use tracing::error;
 
-#[cfg(unix)]
+#[cfg(target_os = "linux")]
 /// Makes the current thread a real-time thread using the PREEMPT_RT capabilities of Linux.
 ///
 /// This function configures the current thread with real-time scheduling properties by:
@@ -47,7 +47,7 @@ use tracing::error;
 ///
 /// - `Ok(())` if the real-time priority was successfully set
 /// - `Err` with the error message if setting the priority failed
-#[cfg(unix)]
+#[cfg(target_os = "linux")]
 pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
     use anyhow::anyhow;
     use libc::{SCHED_FIFO, pthread_setschedparam, sched_param};
@@ -84,9 +84,9 @@ pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
     Ok(())
 }
 
-#[cfg(not(unix))]
+#[cfg(not(target_os = "linux"))]
 pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
-    log::error!("This platform does not support realtime threads");
+    tracing::error!("This platform does not support realtime threads");
     Ok(())
 }
 
@@ -137,7 +137,7 @@ pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
 /// # How it works
 ///
 /// [Rest of documentation as before...]
-#[cfg(unix)]
+#[cfg(target_os = "linux")]
 pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
     use libc::{MCL_FUTURE, mlockall};
 
@@ -154,9 +154,9 @@ pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
     Ok(())
 }
 
-#[cfg(not(unix))]
+#[cfg(not(target_os = "linux"))]
 pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
-    log::error!("This platform does not support memory locking");
+    tracing::error!("This platform does not support memory locking");
     Ok(())
 }
 

control-core/src/rest/mod.rs

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

control-core/src/serial/mod.rs

@@ -1,14 +1,10 @@
-use std::{any::Any, sync::Arc};
+/*use std::{any::Any, sync::Arc};
 
-use smol::{channel::Sender, lock::RwLock};
+use smol::lock::RwLock;
 use std::fmt::Debug;
 
-use crate::{
-    machines::identification::DeviceIdentification, serial::serial_detection::SerialDeviceRemoval,
-};
+use crate::machines::identification::DeviceIdentification;
 
-pub mod panic;
-pub mod registry;
 pub mod serial_detection;
 
 pub trait SerialDevice: Any + Send + Sync + SerialDeviceNew + Debug {}
@@ -27,11 +23,11 @@ pub trait SerialDeviceThread {
 
 pub struct SerialDeviceNewParams {
     pub path: String,
-    pub device_thread_panic_tx: Sender<SerialDeviceRemoval<String>>,
 }
 
-#[derive(PartialEq, Eq, Clone, Debug)]
+#[derive(PartialEq, Eq, Clone, Debug, Hash)]
 pub struct SerialDeviceIdentification {
     pub vendor_id: u16,
     pub product_id: u16,
 }
+*/

control-core/src/serial/panic.rs

@@ -1,53 +0,0 @@
-use smol::channel::Sender;
-
-use crate::serial::serial_detection::SerialDeviceRemoval;
-
-/// Device-level panic handler for individual device crashes
-/// Sends device identifier and error information for cleanup
-/// Used by serial devices and other individual components that need to be removed on panic
-pub fn send_serial_device_panic<T>(
-    device_identifier: T,
-    thread_panic_tx: Sender<SerialDeviceRemoval<T>>,
-) where
-    T: Send + Sync + Clone + 'static,
-{
-    // Ensure backtrace is enabled for panics
-    if std::env::var("RUST_BACKTRACE").is_err() {
-        unsafe {
-            std::env::set_var("RUST_BACKTRACE", "full");
-        }
-    }
-
-    std::panic::set_hook(Box::new(move |panic_info| {
-        let thread_name = std::thread::current()
-            .name()
-            .unwrap_or("unnamed")
-            .to_string();
-        let location = panic_info.location().map_or("unknown".to_string(), |loc| {
-            format!("{}:{}:{}", loc.file(), loc.line(), loc.column())
-        });
-        let message = panic_info
-            .payload()
-            .downcast_ref::<&str>()
-            .unwrap_or(&"Box<dyn Any>")
-            .to_string();
-
-        let panic_message = format!(
-            "Device panicked in thread '{}' at {}: {}",
-            thread_name, location, message
-        );
-
-        // Send device panic info through channel
-        smol::block_on(async {
-            let _ = thread_panic_tx
-                .send(SerialDeviceRemoval::Error(
-                    device_identifier.clone(),
-                    anyhow::anyhow!("{}", panic_message),
-                ))
-                .await;
-        });
-
-        // Note: We don't call old_hook to avoid duplicate logging
-        // All logging is handled in the main thread when receiving panic details
-    }));
-}

control-core/src/serial/serial_detection.rs

@@ -7,194 +7,70 @@
 */
 
 use serialport::{SerialPortInfo, SerialPortType, UsbPortInfo};
-use smol::{
-    channel::{Receiver, Sender, unbounded},
-    lock::RwLock,
-};
-use std::{collections::HashMap, sync::Arc};
+use std::collections::HashMap;
 
-use crate::{
-    helpers::compare_lists::compare_lists, machines::identification::DeviceIdentification,
-};
+use super::SerialDeviceIdentification;
+/// Handles scanning and caching of connected USB serial devices.
+pub struct SerialDetection {}
 
-use super::{
-    SerialDevice, SerialDeviceIdentification, SerialDeviceNewParams, registry::SerialDeviceRegistry,
-};
-
-pub enum SerialDeviceRemoval<T> {
-    Disconnect(T),
-    Error(T, anyhow::Error),
-}
-
-pub struct SerialDetection<'serialdeviceregistry> {
-    pub serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry,
-    pub ports: HashMap<
-        String,
-        (
-            UsbPortInfo,
-            DeviceIdentification,
-            Arc<RwLock<dyn SerialDevice>>,
-        ),
-    >,
-    pub device_removal_signal_rx: Receiver<SerialDeviceRemoval<String>>,
-    pub device_removal_signal_tx: Sender<SerialDeviceRemoval<String>>,
-}
-
-impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {
-    pub fn new(serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry) -> Self {
-        let (device_removal_signal_tx, device_removal_signal_rx) = unbounded();
-        SerialDetection {
-            serial_device_registry,
-            ports: HashMap::new(),
-            device_removal_signal_rx,
-            device_removal_signal_tx,
+impl SerialDetection {
+    /// Returns all serial ports on the system (minus macOS "cu" noise).
+    fn get_ports() -> Vec<SerialPortInfo> {
+        match serialport::available_ports() {
+            Ok(ports) => ports
+                .into_iter()
+                .filter(|port| !port.port_name.contains("cu"))
+                .collect(),
+            Err(_) => Vec::new(),
         }
     }
 
-    /*
-     *@return: Option::None if there are no available ports on device
-     *@return: Option::Some(Vec) with all available ports
-     *
-     *@description: detects all available ports and returns them as list
-     */
-    fn get_ports() -> Vec<SerialPortInfo> {
-        let all = match serialport::available_ports() {
-            Ok(ports) => ports,
-            Err(_) => return Vec::new(),
-        };
-
-        // exclude ports that contai "cu" in their name
-        all.into_iter()
-            .filter(|port| !port.port_name.contains("cu"))
-            .collect::<Vec<_>>()
-    }
-
-    /* @param: port_list -> list of available ports
-     *
-     * @return: Vec<(String, UsbPortInfo)> -> list of ports with their names and usb information
-     *
-     * @description: This function extracts the USB serial devices from the given list of ports.
-     */
-    fn extract_usb_serial_devices(
-        &self,
-        port_list: Vec<SerialPortInfo>,
-    ) -> Vec<(String, UsbPortInfo)> {
-        let mut usb_ports: Vec<(String, UsbPortInfo)> = Vec::new();
+    /// Extracts only USB serial devices from the port list.
+    fn extract_usb_serial_devices(port_list: Vec<SerialPortInfo>) -> HashMap<String, UsbPortInfo> {
+        let mut map = HashMap::new();
 
         for port in port_list {
-            if let SerialPortType::UsbPort(usb_info) = &port.port_type {
-                usb_ports.push((port.port_name.to_string(), usb_info.clone()));
-            };
+            if let SerialPortType::UsbPort(usb_info) = port.port_type {
+                map.insert(port.port_name, usb_info);
+            }
         }
-
-        usb_ports
+        map
     }
 
-    pub async fn check_ports(&mut self) -> CheckPortsResult {
-        // get available ports
+    /// Scans for connected USB serial devices and updates the internal map.
+    /// Returns a clone of the map for quick access.
+    pub fn detect_devices() -> HashMap<String, UsbPortInfo> {
         let ports = Self::get_ports();
-
-        // extract all ports that are usb ports
-        let usb_ports = self.extract_usb_serial_devices(ports);
-
-        let last_usb_ports = self
-            .ports
-            .iter()
-            .map(|last_usb_port| (last_usb_port.0.clone(), last_usb_port.1.0.clone()))
-            .collect::<Vec<_>>();
-
-        let usb_ports_diff = compare_lists(&last_usb_ports, &usb_ports);
-
-        let mut result = CheckPortsResult {
-            added: Vec::new(),
-            removed: Vec::new(),
-        };
-
-        // reamove ports
-        for removed in usb_ports_diff.removed {
-            if let Some((_, device_identification, _)) = self.ports.remove(&removed.0) {
-                result.removed.push(device_identification);
-            }
-
-            tracing::trace!("Removed port: {}", removed.0);
-        }
-
-        // add new ports
-        for added in usb_ports_diff.added {
-            // add the port to the list
-            let serial_device_identification = SerialDeviceIdentification {
-                vendor_id: added.1.vid,
-                product_id: added.1.pid,
-            };
-
-            let device_result = self.serial_device_registry.new_serial_device(
-                &SerialDeviceNewParams {
-                    path: added.0.clone(),
-                    device_thread_panic_tx: self.device_removal_signal_tx.clone(),
-                },
-                &serial_device_identification,
-            );
-
-            // only if created device driver sucessfully
-            if let Ok((device_identification, device)) = device_result {
-                // add the device to the ports list
-                self.ports.insert(
-                    added.0.clone(),
-                    (
-                        added.1.clone(),
-                        device_identification.clone(),
-                        device.clone(),
-                    ),
-                );
-
-                // add to result list
-                result.added.push((device_identification, device.clone()));
-
-                tracing::trace!("Added port: {}", added.0);
-            }
-        }
-
-        result
+        let usb_devices = Self::extract_usb_serial_devices(ports);
+        usb_devices
     }
 
-    pub async fn check_remove_signals(&mut self) -> Vec<DeviceIdentification> {
-        let mut removed_signals: Vec<DeviceIdentification> = Vec::new();
+    pub fn device_port_exists(device_path: &str) -> bool {
+        let ports = Self::get_ports();
+        return ports.iter().any(|p| p.port_name == device_path);
+    }
 
-        let mut add_removal_signal = |path: &String| {
-            if let Some(info) = self.ports.get(path) {
-                removed_signals.push(info.1.clone());
-            };
-            self.ports.remove(path);
-        };
-
-        if self.device_removal_signal_rx.is_empty() {
-            return removed_signals;
-        }
-
-        let removal = self
-            .device_removal_signal_rx
-            .recv()
-            .await
-            .expect("Failed to receive removal signals");
-
-        match removal {
-            SerialDeviceRemoval::Disconnect(path) => {
-                add_removal_signal(&path);
-                tracing::trace!("Removed serial device after disconnect: {:?}", path);
-            }
-
-            SerialDeviceRemoval::Error(path, error) => {
-                add_removal_signal(&path);
-                tracing::error!("Removed erroring serial device: {:?}: {}", path, error);
+    pub fn device_id_exists(sdevid: SerialDeviceIdentification) -> bool {
+        let ports = Self::get_ports();
+        for port in ports {
+            if let SerialPortType::UsbPort(usb_info) = port.port_type {
+                if usb_info.vid == sdevid.vendor_id && usb_info.pid == sdevid.product_id {
+                    return true;
+                }
             }
         }
+        return false;
+    }
 
-        removed_signals
+    pub fn get_path_by_id(
+        sdevid: SerialDeviceIdentification,
+        map: HashMap<String, UsbPortInfo>,
+    ) -> Option<String> {
+        for (port, usbport) in map.iter() {
+            if usbport.vid == sdevid.vendor_id && usbport.pid == sdevid.product_id {
+                return Some(port.clone());
+            }
+        }
+        return None;
     }
 }
-
-#[derive(Debug)]
-pub struct CheckPortsResult {
-    pub added: Vec<(DeviceIdentification, Arc<RwLock<dyn SerialDevice>>)>,
-    pub removed: Vec<DeviceIdentification>,
-}

control-core/src/socketio/mod.rs

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

control-core/src/socketio/namespace.rs

@@ -4,7 +4,7 @@ use socketioxide::extract::SocketRef;
 use std::{collections::HashMap, sync::Arc, time::Duration};
 use tracing::instrument;
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct Namespace {
     pub sockets: Vec<SocketRef>,
     pub events: HashMap<String, Vec<Arc<GenericEvent>>>,
@@ -118,7 +118,6 @@ impl Namespace {
     ) {
         // cache the event
         self.cache(event.clone(), buffer_fn);
-
         // emit the event - inlined from emit function
         // Send to global queue for each socket in the namespace
         for socket in self.sockets.clone() {
@@ -168,7 +167,7 @@ impl Namespace {
 
 impl Drop for Namespace {
     fn drop(&mut self) {
-        self.disconnect_all();
+        //self.disconnect_all();
     }
 }
 

control-core/src/transmission/mod.rs

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

control-core/src/uom_extensions/acceleration.rs

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

control-core/src/uom_extensions/angular_acceleration.rs

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

control-core/src/uom_extensions/angular_jerk.rs

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

control-core/src/uom_extensions/jerk.rs

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

control-core/src/uom_extensions/mod.rs

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

control-core/src/uom_extensions/velocity.rs

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

control-core/src/video_streaming/mod.rs

@@ -0,0 +1,208 @@
+use anyhow::Error;
+use std::collections::HashMap;
+use tokio::sync::broadcast;
+
+/// Video stream manager that handles multiple video streams per machine with true broadcasting
+/// Uses tokio broadcast channels to ensure all subscribers receive all messages without stealing
+#[derive(Debug)]
+pub struct VideoStreamManager {
+    /// Each stream has its own broadcast transmitter and template receiver
+    streams: HashMap<String, (broadcast::Sender<Vec<u8>>, broadcast::Receiver<Vec<u8>>)>,
+}
+
+impl VideoStreamManager {
+    pub fn new() -> Self {
+        Self {
+            streams: HashMap::new(),
+        }
+    }
+
+    /// Send a frame to all subscribers of a stream
+    /// Returns Ok if the frame was sent, Err if the stream doesn't exist
+    pub fn send_frame(&self, stream_id: &str, frame: Vec<u8>) -> Result<(), Error> {
+        if let Some((tx, _rx)) = self.streams.get(stream_id) {
+            match tx.send(frame) {
+                Ok(_) => Ok(()),
+                Err(_) => Ok(()), // No receivers, but that's not an error
+            }
+        } else {
+            Err(anyhow::anyhow!("Stream '{}' not found", stream_id))
+        }
+    }
+
+    /// Register a new video stream with the given ID
+    pub fn add_stream(&mut self, stream_id: String) {
+        let (tx, rx) = broadcast::channel::<Vec<u8>>(256); // 256 frame buffer capacity
+        self.streams.insert(stream_id, (tx, rx));
+    }
+
+    /// Get list of available stream IDs
+    pub fn get_streams(&self) -> Vec<String> {
+        self.streams.keys().cloned().collect()
+    }
+
+    /// Check if a stream exists
+    pub fn has_stream(&self, stream_id: &str) -> bool {
+        self.streams.contains_key(stream_id)
+    }
+
+    /// Remove a stream and all its subscribers
+    pub fn remove_stream(&mut self, stream_id: &str) -> bool {
+        self.streams.remove(stream_id).is_some()
+    }
+
+    /// Subscribe to a video stream and get a receiver
+    /// Returns the receiver for the new subscription
+    pub fn subscribe_to_stream(&self, stream_id: &str) -> Option<broadcast::Receiver<Vec<u8>>> {
+        self.streams
+            .get(stream_id)
+            .map(|(_tx, rx)| rx.resubscribe()) // Resubscribe to create a new independent receiver
+    }
+
+    /// Get subscriber count for a stream
+    pub fn get_subscriber_count(&self, stream_id: &str) -> usize {
+        self.streams
+            .get(stream_id)
+            .map_or(0, |(tx, _rx)| tx.receiver_count())
+    }
+
+    /// Get a stream transmitter for sending frames (used by machines to send video)
+    /// Returns None if the stream doesn't exist
+    pub fn get_sender(&self, stream_id: &str) -> Option<broadcast::Sender<Vec<u8>>> {
+        self.streams.get(stream_id).map(|(tx, _rx)| tx.clone())
+    }
+}
+
+impl Default for VideoStreamManager {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[tokio::test]
+    async fn test_video_stream_manager() {
+        let mut manager = VideoStreamManager::new();
+
+        // Register streams
+        manager.register_stream("camera1".to_string());
+        manager.register_stream("camera2".to_string());
+
+        assert_eq!(manager.get_stream_ids().len(), 2);
+        assert!(manager.has_stream("camera1"));
+        assert!(manager.has_stream("camera2"));
+        assert!(!manager.has_stream("camera3"));
+
+        // Subscribe to streams
+        let mut rx1 = manager.subscribe_to_stream("camera1").unwrap();
+        let mut rx2 = manager.subscribe_to_stream("camera1").unwrap();
+        let mut rx3 = manager.subscribe_to_stream("camera2").unwrap();
+
+        assert_eq!(manager.get_subscriber_count("camera1"), 3); // Original + 2 clones
+        assert_eq!(manager.get_subscriber_count("camera2"), 2); // Original + 1 clone
+        assert_eq!(manager.get_subscriber_count("nonexistent"), 0);
+
+        // Send frames
+        let frame1 = vec![1, 2, 3, 4];
+        let frame2 = vec![5, 6, 7, 8];
+
+        assert!(manager.send_single_frame("camera1", frame1.clone()));
+        assert!(manager.send_single_frame("camera2", frame2.clone()));
+        assert!(!manager.send_single_frame("nonexistent", vec![]));
+
+        // Both camera1 subscribers should receive the frame
+        assert_eq!(rx1.recv().await.unwrap(), frame1);
+        assert_eq!(rx2.recv().await.unwrap(), frame1);
+
+        // Camera2 subscriber should receive its frame
+        assert_eq!(rx3.recv().await.unwrap(), frame2);
+    }
+
+    #[tokio::test]
+    async fn test_video_frame_broadcasting() {
+        let mut manager = VideoStreamManager::new();
+        manager.register_stream("main_camera".to_string());
+
+        // Multiple clients subscribe to the same camera
+        let mut rx1 = manager.subscribe_to_stream("main_camera").unwrap();
+        let mut rx2 = manager.subscribe_to_stream("main_camera").unwrap();
+        let mut rx3 = manager.subscribe_to_stream("main_camera").unwrap();
+
+        // Simulate video frames
+        let frames = vec![
+            vec![0xFF, 0xD8, 0xFF, 0xE0], // JPEG header
+            vec![0x00, 0x01, 0x02, 0x03], // Frame 1
+            vec![0x04, 0x05, 0x06, 0x07], // Frame 2
+        ];
+
+        for frame in &frames {
+            assert!(manager.send_single_frame("main_camera", frame.clone()));
+        }
+
+        // All clients should receive all frames in order
+        for frame in &frames {
+            assert_eq!(rx1.recv().await.unwrap(), *frame);
+            assert_eq!(rx2.recv().await.unwrap(), *frame);
+            assert_eq!(rx3.recv().await.unwrap(), *frame);
+        }
+    }
+
+    #[test]
+    fn test_stream_management() {
+        let mut manager = VideoStreamManager::new();
+
+        // Initially no streams
+        assert_eq!(manager.get_stream_ids().len(), 0);
+
+        // Add streams
+        manager.register_stream("front_camera".to_string());
+        manager.register_stream("rear_camera".to_string());
+        manager.register_stream("side_camera".to_string());
+
+        let mut stream_ids = manager.get_stream_ids();
+        stream_ids.sort(); // Sort for consistent testing
+        assert_eq!(
+            stream_ids,
+            vec!["front_camera", "rear_camera", "side_camera"]
+        );
+
+        // Remove a stream
+        assert!(manager.remove_stream("rear_camera"));
+        assert!(!manager.remove_stream("rear_camera")); // Already removed
+        assert!(!manager.has_stream("rear_camera"));
+
+        assert_eq!(manager.get_stream_ids().len(), 2);
+    }
+
+    #[tokio::test]
+    async fn test_send_frame_results() {
+        let mut manager = VideoStreamManager::new();
+        manager.register_stream("test_camera".to_string());
+
+        // One initial receiver (the original one created in register_stream)
+        let result = manager.send_frame("test_camera", vec![1, 2, 3]).unwrap();
+        assert_eq!(result, 1); // Number of subscribers
+
+        // Add subscribers by cloning the receiver
+        let _rx1 = manager.subscribe_to_stream("test_camera").unwrap();
+        let _rx2 = manager.subscribe_to_stream("test_camera").unwrap();
+
+        // Send frame to multiple subscribers (original + 2 clones = 3 total)
+        let result = manager.send_frame("test_camera", vec![4, 5, 6]).unwrap();
+        assert_eq!(result, 3); // Number of subscribers
+
+        // Try sending to non-existent stream
+        let result = manager.send_frame("nonexistent", vec![7, 8, 9]);
+        assert!(result.is_err());
+        assert_eq!(result.unwrap_err(), "Stream 'nonexistent' not found");
+    }
+
+    #[test]
+    fn test_default_video_stream_manager() {
+        let manager = VideoStreamManager::default();
+        assert_eq!(manager.get_stream_ids().len(), 0);
+    }
+}

credentials.sh

@@ -0,0 +1,24 @@
+#!/bin/sh
+
+# Generate 18 random alphanumeric characters base64 encode It
+password=$(head -c 18 /dev/urandom | base64)
+
+echo "Basic Authentication; user=machine password=$password"
+echo $password > /tmp/machine_password
+
+caddy_hash=$(caddy hash-password --plaintext $password)
+
+echo "(machine_basic_auth) {
+    basic_auth {
+        machine $caddy_hash
+    }
+}" | sudo tee /var/lib/caddy/auth_snippet.conf
+
+# Transfer ownership to caddy user
+sudo chown caddy:caddy /var/lib/caddy/auth_snippet.conf
+
+# Tigther permissions (Only readable by root or caddy user)
+sudo chmod 600 /var/lib/caddy/auth_snippet.conf
+
+sudo systemctl restart caddy.service
+