glitch fix attempt

Refactor issue status check workflow to identify stale assigned issues and request updates

Refactor linked pull request check to use search API for improved reliability

Add comprehensive error handling and rate limit monitoring

.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}`);

README.md

@@ -22,7 +22,7 @@ QiTech Control combines the modularity and reliability of standard EtherCAT term
 
 | Software Demo | Full Explainer |
 |---------------|----------------|
-| [![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)<br/>*Click to watch a demo of the control software in action* | [![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM)<br/>*Click to watch a complete overview of QiTech Control* |
+| [![](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* |
 
 ## Repository Structure
 
@@ -63,6 +63,15 @@ QiTech Control powers 10+ production machines for filament extrusion, winding, m
 
 This is an open-source project. Contributions are welcome! Please see the [wiki](https://github.com/qitechgmbh/control/wiki) for development guidelines.
 
+
+
+## Additional Videos
+
+| 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.* |
+
 ## License
 
 See [LICENSE](LICENSE) file for details.

electron/src/components/graph/animation.ts

@@ -5,8 +5,23 @@ import {
   AnimationRefs,
   AnimationState,
   BigGraphProps,
+  GraphLine,
   SeriesData,
 } from "./types";
+import { alignTargetSeriesToTimestamps } from "@/lib/timeseries";
+
+function hasHistoricalDashedTargets(
+  lines?: Array<Partial<GraphLine> & { show?: boolean; value: number }>,
+): boolean {
+  return (
+    lines?.some(
+      (line) =>
+        line.show !== false &&
+        !!line.targetSeries &&
+        (line.dash?.length ?? 0) > 0,
+    ) ?? false
+  );
+}
 
 export function useAnimationRefs(): AnimationRefs {
   const animationFrameRef = useRef<number | null>(null);
@@ -24,12 +39,14 @@ export function useAnimationRefs(): AnimationRefs {
     values: number[];
   }>({ timestamps: [], values: [] });
   const realPointsCountRef = useRef(0);
+  const targetLineCacheRef = useRef<Map<number, number[]>>(new Map());
 
   return {
     animationFrame: animationFrameRef,
     animationState: animationStateRef,
     lastRenderedData: lastRenderedDataRef,
     realPointsCount: realPointsCountRef,
+    targetLineCache: targetLineCacheRef,
   };
 }
 
@@ -50,8 +67,12 @@ export function buildUPlotData(
   values: number[],
   realPointsCount: number | undefined,
   realPointsCountRef: React.RefObject<number>,
-  config: { lines?: Array<{ show?: boolean; value: number }> },
+  config: {
+    lines?: Array<Partial<GraphLine> & { show?: boolean; value: number }>;
+  },
   allSeriesData?: number[][],
+  targetLineCache?: React.RefObject<Map<number, number[]>>,
+  freezeTargetTail: boolean = false,
 ): uPlot.AlignedData {
   const uData: uPlot.AlignedData = [timestamps];
 
@@ -70,9 +91,55 @@ export function buildUPlotData(
   }
 
   // Add config lines
+  let lineIndex = 0;
   config.lines?.forEach((line) => {
     if (line.show !== false) {
-      uData.push(timestamps.map(() => line.value));
+      let lineData: number[];
+
+      if (line.targetSeries && targetLineCache) {
+        // Target line with history - use cache to prevent wiggle
+        const cached = targetLineCache.current.get(lineIndex);
+
+        if (cached && cached.length <= timestamps.length) {
+          // Reuse cached data for existing points, extend with current value
+          const extension = timestamps.length - cached.length;
+          if (extension > 0) {
+            const stableTailValue = cached[cached.length - 1] ?? line.value;
+            lineData = [
+              ...cached,
+              ...new Array(extension).fill(
+                freezeTargetTail ? stableTailValue : line.value,
+              ),
+            ];
+          } else {
+            lineData = [...cached];
+          }
+          if (!freezeTargetTail) {
+            targetLineCache.current.set(lineIndex, lineData);
+          }
+        } else {
+          // Full recalculation (first time or chart was rebuilt)
+          lineData = alignTargetSeriesToTimestamps(
+            line.targetSeries,
+            timestamps,
+            line.value,
+          );
+          targetLineCache.current.set(lineIndex, lineData);
+        }
+      } else if (line.targetSeries) {
+        // targetSeries but no cache available - full calculation
+        lineData = alignTargetSeriesToTimestamps(
+          line.targetSeries,
+          timestamps,
+          line.value,
+        );
+      } else {
+        // Constant value line (original behavior)
+        lineData = timestamps.map(() => line.value);
+      }
+
+      uData.push(lineData);
+      lineIndex++;
     }
   });
 
@@ -88,8 +155,10 @@ export function animateNewPoint(
   viewMode: string,
   selectedTimeWindow: number | "all",
   startTimeRef: React.RefObject<number | null>,
-  config: { lines?: Array<{ show?: boolean; value: number }> },
-  updateYAxisScale: (xMin?: number, xMax?: number) => void, // Updated signature
+  config: {
+    lines?: Array<Partial<GraphLine> & { show?: boolean; value: number }>;
+  },
+  updateYAxisScale: (xMin?: number, xMax?: number) => void,
   getAllSeriesData?: () => number[][],
 ): void {
   if (targetData.timestamps.length <= currentData.timestamps.length) {
@@ -123,6 +192,8 @@ export function animateNewPoint(
     targetIndex: newIndex,
   };
 
+  const freezeTargetTail = hasHistoricalDashedTargets(config.lines);
+
   const animate = (currentTime: number) => {
     if (
       !uplotRef.current ||
@@ -173,6 +244,8 @@ export function animateNewPoint(
       refs.realPointsCount,
       config,
       allSeriesData,
+      refs.targetLineCache,
+      freezeTargetTail,
     );
 
     uplotRef.current.setData(animatedUData);

electron/src/components/graph/createChart.ts

@@ -1,5 +1,9 @@
 import uPlot from "uplot";
-import { seriesToUPlotData, TimeSeries } from "@/lib/timeseries";
+import {
+  seriesToUPlotData,
+  TimeSeries,
+  alignTargetSeriesToTimestamps,
+} from "@/lib/timeseries";
 import {
   createEventHandlers,
   attachEventHandlers,
@@ -8,6 +12,13 @@ import {
 import { BigGraphProps, CreateChartParams } from "./types";
 import { normalizeDataSeries } from "./animation";
 
+type CustomDashedTargetLine = {
+  dataIndex: number;
+  dash: number[];
+  color: string;
+  width: number;
+};
+
 export function createChart({
   containerRef,
   uplotRef,
@@ -56,11 +67,28 @@ export function createChart({
     uPlotData.push(values as any);
   });
 
-  // Add config lines data
+  // Add config lines data and populate target line cache
+  animationRefs.targetLineCache.current.clear();
+  let lineIndex = 0;
   config.lines?.forEach((line) => {
     if (line.show !== false) {
-      const lineData = new Array(timestamps.length).fill(line.value);
+      let lineData: number[];
+      if (line.targetSeries) {
+        // Use historical target values aligned with data timestamps
+        lineData = alignTargetSeriesToTimestamps(
+          line.targetSeries,
+          timestamps,
+          line.value,
+        );
+        // Cache the computed target line data so subsequent updates
+        // can extend it instead of recalculating (prevents wiggle)
+        animationRefs.targetLineCache.current.set(lineIndex, [...lineData]);
+      } else {
+        // Use constant value (original behavior)
+        lineData = new Array(timestamps.length).fill(line.value);
+      }
       uPlotData.push(lineData as any);
+      lineIndex++;
     }
   });
 
@@ -142,6 +170,7 @@ export function createChart({
 
   // Build series configuration for ALL series (but control visibility)
   const seriesConfig: uPlot.Series[] = [{ label: "Time" }];
+  const customDashedTargetLines: CustomDashedTargetLine[] = [];
 
   // Add ALL data series with visibility control
   const defaultColors = ["#3b82f6", "#ef4444", "#10b981", "#f59e0b", "#8b5cf6"];
@@ -167,16 +196,35 @@ export function createChart({
   });
 
   // Add config lines
+  let visibleLineIndex = 0;
+  const firstConfigLineDataIndex = 1 + allOriginalSeries.length;
   config.lines?.forEach((line) => {
     if (line.show !== false) {
+      const dash =
+        line.dash ?? (line.type === "threshold" ? [5, 5] : undefined);
+      const lineDataIndex = firstConfigLineDataIndex + visibleLineIndex;
+      const isHistoricalDashedTarget = !!line.targetSeries && !!dash?.length;
+
+      if (isHistoricalDashedTarget) {
+        customDashedTargetLines.push({
+          dataIndex: lineDataIndex,
+          dash: dash!,
+          color: line.color,
+          width: line.width ?? 1,
+        });
+      }
+
       seriesConfig.push({
         label: line.label,
-        stroke: line.color,
+        // Historical dashed targets are custom rendered in draw hook to avoid
+        // canvas dash shimmer during smooth live updates.
+        stroke: isHistoricalDashedTarget ? "rgba(0,0,0,0)" : line.color,
         width: line.width ?? 1,
-        dash: line.dash ?? (line.type === "threshold" ? [5, 5] : undefined),
+        dash: isHistoricalDashedTarget ? undefined : dash,
         show: true,
         points: { show: false },
       });
+      visibleLineIndex++;
     }
   });
 
@@ -306,6 +354,83 @@ export function createChart({
             }
           },
         ],
+        draw: [
+          (u) => {
+            if (customDashedTargetLines.length === 0) return;
+            const xData = u.data[0] as number[] | undefined;
+            if (!xData || xData.length === 0) return;
+
+            const xMin = u.scales.x?.min;
+            const xMax = u.scales.x?.max;
+            if (xMin === undefined || xMax === undefined) return;
+
+            const pxPerX = u.bbox.width / Math.max(xMax - xMin, 1e-9);
+            const ctx = u.ctx;
+            const left = u.bbox.left;
+            const top = u.bbox.top;
+            const right = left + u.bbox.width;
+            const bottom = top + u.bbox.height;
+
+            ctx.save();
+            ctx.beginPath();
+            ctx.rect(left, top, u.bbox.width, u.bbox.height);
+            ctx.clip();
+            ctx.lineCap = "butt";
+
+            customDashedTargetLines.forEach(
+              ({ dataIndex, dash, color, width }) => {
+                const yData = u.data[dataIndex] as
+                  | Array<number | null>
+                  | undefined;
+                if (!yData || yData.length === 0) return;
+
+                const dashPeriod = dash.reduce((acc, curr) => acc + curr, 0);
+                ctx.setLineDash(dash);
+                // Anchor dash phase to world-X so dashes remain stable while axis slides.
+                ctx.lineDashOffset =
+                  dashPeriod > 0 ? -((xMin * pxPerX) % dashPeriod) : 0;
+                ctx.strokeStyle = color;
+                ctx.lineWidth = width;
+                ctx.beginPath();
+
+                let started = false;
+                let prevX = 0;
+                let prevY = 0;
+
+                for (let i = 0; i < xData.length; i++) {
+                  const value = yData[i];
+                  if (value === null || value === undefined) continue;
+
+                  const x = u.valToPos(xData[i], "x", true);
+                  const y = u.valToPos(value, "y", true);
+                  if (x < left || x > right || y < top || y > bottom) continue;
+
+                  if (!started) {
+                    ctx.moveTo(x, y);
+                    started = true;
+                    prevX = x;
+                    prevY = y;
+                    continue;
+                  }
+
+                  if (x !== prevX) {
+                    ctx.lineTo(x, prevY);
+                  }
+                  if (y !== prevY) {
+                    ctx.lineTo(x, y);
+                  }
+                  prevX = x;
+                  prevY = y;
+                }
+
+                if (started) {
+                  ctx.stroke();
+                }
+              },
+            );
+            ctx.restore();
+          },
+        ],
       },
       scales: {
         x: {

electron/src/components/graph/liveMode.ts

@@ -14,6 +14,17 @@ import {
   AnimationRefs,
 } from "./types";
 
+function hasHistoricalDashedTargets(config: GraphConfig): boolean {
+  return (
+    config.lines?.some(
+      (line) =>
+        line.show !== false &&
+        !!line.targetSeries &&
+        (line.dash?.length ?? 0) > 0,
+    ) ?? false
+  );
+}
+
 // Retrieve all series data as an array of number arrays
 function getAllSeriesData(data: BigGraphProps["newData"]): number[][] {
   const normalized = normalizeDataSeries(data);
@@ -77,10 +88,16 @@ export function useLiveMode({
       return;
 
     try {
+      const hasDashedHistoricalTargets = hasHistoricalDashedTargets(config);
       const [timestamps, values] = seriesToUPlotData(primaryData.long);
       const cur = primaryData.current;
-      const liveTimestamps = [...timestamps, cur.timestamp];
-      const liveValues = [...values, cur.value];
+      const lastHistoricalTimestamp =
+        timestamps[timestamps.length - 1] ?? cur.timestamp;
+      const shouldAppendCurrent = cur.timestamp > lastHistoricalTimestamp;
+      const liveTimestamps = shouldAppendCurrent
+        ? [...timestamps, cur.timestamp]
+        : timestamps;
+      const liveValues = shouldAppendCurrent ? [...values, cur.value] : values;
 
       const allSeriesValues = getAllSeriesData(newData);
       const normalized = normalizeDataSeries(newData);
@@ -96,7 +113,9 @@ export function useLiveMode({
                 (seriesValues.length > 0
                   ? seriesValues[seriesValues.length - 1]
                   : 0);
-              return [...seriesValues, currentValue];
+              return shouldAppendCurrent
+                ? [...seriesValues, currentValue]
+                : seriesValues;
             })
           : [];
 
@@ -107,6 +126,8 @@ export function useLiveMode({
         animationRefs.realPointsCount,
         config,
         additionalSeriesValues,
+        animationRefs.targetLineCache,
+        hasDashedHistoricalTargets,
       );
 
       uplotRef.current.setData(liveData);
@@ -283,6 +304,7 @@ export function useLiveMode({
             animationRefs.realPointsCount,
             config,
             additionalSeriesValues,
+            animationRefs.targetLineCache,
           );
 
           uplotRef.current.setData(uData);

electron/src/components/graph/types.ts

@@ -26,7 +26,10 @@ export type PropGraphSync = {
 // Configuration types for additional lines
 export type GraphLine = {
   type: "threshold" | "target";
+  /** Current value (used as fallback and for Y-axis scaling) */
   value: number;
+  /** Optional TimeSeries for historical target values. When provided, the line shows the target history over time instead of a constant horizontal line */
+  targetSeries?: TimeSeries;
   color: string;
   label?: string;
   width?: number;
@@ -158,6 +161,7 @@ export interface AnimationRefs {
     values: number[];
   }>;
   realPointsCount: React.RefObject<number>;
+  targetLineCache: React.RefObject<Map<number, number[]>>;
 }
 
 export interface HandlerRefs {

electron/src/components/graph/useBigGraphEffects.ts

@@ -4,7 +4,11 @@ import uPlot from "uplot";
 import { seriesToUPlotData } from "@/lib/timeseries";
 import { BigGraphProps, SeriesData, AnimationRefs, HandlerRefs } from "./types";
 import { GraphExportData } from "./excelExport";
-import { getPrimarySeries, stopAnimations } from "./animation";
+import {
+  getPrimarySeries,
+  stopAnimations,
+  normalizeDataSeries,
+} from "./animation";
 import { createChart } from "./createChart";
 import { LiveModeHandlers } from "./liveMode";
 import { HistoricalModeHandlers } from "./historicalMode";
@@ -106,6 +110,10 @@ export function useBigGraphEffects({
   handleTimeWindowChangeInternal,
 }: UseBigGraphEffectsProps) {
   const [isChartCreated, setIsChartCreated] = useState(false);
+  const setChartCreatedState = (created: boolean) => {
+    setIsChartCreated(created);
+    chartCreatedRef.current = created;
+  };
 
   // Track the last synchronized state for comparison
   const lastSyncStateRef = useRef({
@@ -239,18 +247,25 @@ export function useBigGraphEffects({
     updateYAxisScale,
   ]);
 
-  // Create and initialize the chart when data becomes available
+  // Compute stable structural keys for chart creation.
+  // These only change when series count or visible line count changes,
+  // NOT on every data update (which would destroy/recreate the chart every ~1s).
+  const seriesWithDataCount = normalizeDataSeries(newData).filter(
+    (s) => s.newData !== null,
+  ).length;
+  const visibleLineCount =
+    config.lines?.filter((l) => l.show !== false)?.length ?? 0;
+
+  // Create and initialize the chart when data becomes available or structure changes
   useEffect(() => {
     if (!containerRef.current || !primarySeries?.newData?.long) {
-      setIsChartCreated(false);
-      chartCreatedRef.current = false;
+      setChartCreatedState(false);
       return;
     }
 
     const [timestamps] = seriesToUPlotData(primarySeries.newData.long);
     if (timestamps.length === 0) {
-      setIsChartCreated(false);
-      chartCreatedRef.current = false;
+      setChartCreatedState(false);
       return;
     }
 
@@ -280,8 +295,7 @@ export function useBigGraphEffects({
       showFromTimestamp,
     });
 
-    setIsChartCreated(true);
-    chartCreatedRef.current = true;
+    setChartCreatedState(true);
 
     if (isLiveMode) {
       lastProcessedCountRef.current = timestamps.length;
@@ -292,10 +306,9 @@ export function useBigGraphEffects({
       uplotRef.current?.destroy();
       uplotRef.current = null;
       stopAnimations(animationRefs);
-      setIsChartCreated(false);
-      chartCreatedRef.current = false;
+      setChartCreatedState(false);
     };
-  }, [primarySeries?.newData?.long, containerRef.current]);
+  }, [seriesWithDataCount, visibleLineCount, containerRef.current]);
 
   // Process new historical data in live mode
   useEffect(() => {

electron/src/lib/timeseries.ts

@@ -304,3 +304,56 @@ export function resetSeries(series: Series): void {
   series.lastTimestamp = 0;
   series.validCount = 0;
 }
+
+/**
+ * Aligns target series values with a given set of timestamps.
+ * For each timestamp in dataTimestamps, finds the most recent target value
+ * that was set before or at that timestamp (step function interpolation).
+ *
+ * @param targetSeries - The TimeSeries containing historical target values
+ * @param dataTimestamps - Array of timestamps to align the target values to
+ * @param fallbackValue - Value to use when no target was set before a timestamp
+ * @returns Array of values aligned with dataTimestamps
+ */
+export function alignTargetSeriesToTimestamps(
+  targetSeries: TimeSeries,
+  dataTimestamps: number[],
+  fallbackValue: number,
+): number[] {
+  if (dataTimestamps.length === 0) {
+    return [];
+  }
+
+  // Extract target series data in chronological order
+  const [targetTimestamps, targetValues] = extractDataFromSeries(
+    targetSeries.long,
+  );
+
+  if (targetTimestamps.length === 0) {
+    // No target history, use fallback for all timestamps
+    return new Array(dataTimestamps.length).fill(fallbackValue);
+  }
+
+  const result: number[] = [];
+  let targetIndex = 0;
+
+  for (const dataTs of dataTimestamps) {
+    // Find the most recent target value at or before this timestamp
+    // Advance targetIndex while the next target timestamp is still <= dataTs
+    while (
+      targetIndex < targetTimestamps.length - 1 &&
+      targetTimestamps[targetIndex + 1] <= dataTs
+    ) {
+      targetIndex++;
+    }
+
+    // If the current target timestamp is > dataTs, we haven't reached the first target yet
+    if (targetTimestamps[targetIndex] > dataTs) {
+      result.push(fallbackValue);
+    } else {
+      result.push(targetValues[targetIndex]);
+    }
+  }
+
+  return result;
+}

electron/src/machines/aquapath/aquapath1/Aquapath1Page.tsx

@@ -18,7 +18,7 @@ export function Aquapath1Page() {
           link: "graph",
           title: "Graph",
           icon: "lu:ChartSpline",
-          activeLink: "graphs",
+          activeLink: "graph",
         },
         {
           link: "settings",

electron/src/machines/extruder/extruder2/Extruder2Graph.tsx

@@ -24,6 +24,13 @@ export function Extruder2GraphsPage() {
     motorCurrent,
     motorPower,
     combinedPower,
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
   } = useExtruder2();
 
   const syncHook = useGraphSync("extruder-graphs");
@@ -49,6 +56,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.nozzle.target_temperature,
+                      targetSeries: targetNozzleTemperature,
                       color: "#ef4444",
                       show: true,
                     },
@@ -69,6 +77,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.front.target_temperature,
+                      targetSeries: targetFrontTemperature,
                       color: "#f59e0b",
                       show: true,
                     },
@@ -89,6 +98,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.middle.target_temperature,
+                      targetSeries: targetMiddleTemperature,
                       color: "#8b5cf6",
                       show: true,
                     },
@@ -109,6 +119,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.back.target_temperature,
+                      targetSeries: targetBackTemperature,
                       color: "#3b82f6",
                       show: true,
                     },
@@ -253,6 +264,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.pressure_state.target_bar,
+                      targetSeries: targetPressure,
                       color: "#3b82f6",
                       show: true,
                     },
@@ -306,6 +318,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.screw_state.target_rpm,
+                      targetSeries: targetScrewRpm,
                       color: "#8b5cf6",
                       show: true,
                     },

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

@@ -221,6 +221,14 @@ export type Extruder2NamespaceStore = {
   // Combined power consumption and energy
   combinedPower: TimeSeries;
   totalEnergyKWh: TimeSeries;
+
+  // Target value history (for graph target lines)
+  targetPressure: TimeSeries;
+  targetScrewRpm: TimeSeries;
+  targetNozzleTemperature: TimeSeries;
+  targetFrontTemperature: TimeSeries;
+  targetMiddleTemperature: TimeSeries;
+  targetBackTemperature: TimeSeries;
 };
 
 const { initialTimeSeries: pressure, insert: addPressure } = createTimeSeries();
@@ -253,6 +261,28 @@ const { initialTimeSeries: motorScrewRpm, insert: addMotorScrewRpm } =
 const { initialTimeSeries: motorPower, insert: addMotorPower } =
   createTimeSeries();
 
+// Target value time series (for historical target lines on graphs)
+const { initialTimeSeries: targetPressure, insert: addTargetPressure } =
+  createTimeSeries();
+const { initialTimeSeries: targetScrewRpm, insert: addTargetScrewRpm } =
+  createTimeSeries();
+const {
+  initialTimeSeries: targetNozzleTemperature,
+  insert: addTargetNozzleTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetFrontTemperature,
+  insert: addTargetFrontTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetMiddleTemperature,
+  insert: addTargetMiddleTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetBackTemperature,
+  insert: addTargetBackTemperature,
+} = createTimeSeries();
+
 export function extruder2MessageHandler(
   store: StoreApi<Extruder2NamespaceStore>,
   throttledUpdater: ThrottledStoreUpdater<Extruder2NamespaceStore>,
@@ -271,6 +301,7 @@ export function extruder2MessageHandler(
       if (eventName === "StateEvent") {
         console.log(event);
         const stateEvent = stateEventSchema.parse(event);
+        const timestamp = event.ts;
         updateStore((state) => ({
           ...state,
           state: stateEvent,
@@ -278,6 +309,43 @@ export function extruder2MessageHandler(
           defaultState: stateEvent.data.is_default_state
             ? stateEvent
             : state.defaultState,
+          // Update target value history
+          targetPressure: addTargetPressure(state.targetPressure, {
+            value: stateEvent.data.pressure_state.target_bar,
+            timestamp,
+          }),
+          targetScrewRpm: addTargetScrewRpm(state.targetScrewRpm, {
+            value: stateEvent.data.screw_state.target_rpm,
+            timestamp,
+          }),
+          targetNozzleTemperature: addTargetNozzleTemperature(
+            state.targetNozzleTemperature,
+            {
+              value: stateEvent.data.heating_states.nozzle.target_temperature,
+              timestamp,
+            },
+          ),
+          targetFrontTemperature: addTargetFrontTemperature(
+            state.targetFrontTemperature,
+            {
+              value: stateEvent.data.heating_states.front.target_temperature,
+              timestamp,
+            },
+          ),
+          targetMiddleTemperature: addTargetMiddleTemperature(
+            state.targetMiddleTemperature,
+            {
+              value: stateEvent.data.heating_states.middle.target_temperature,
+              timestamp,
+            },
+          ),
+          targetBackTemperature: addTargetBackTemperature(
+            state.targetBackTemperature,
+            {
+              value: stateEvent.data.heating_states.back.target_temperature,
+              timestamp,
+            },
+          ),
         }));
       } else if (eventName === "LiveValuesEvent") {
         const liveValuesEvent = liveValuesEventSchema.parse(event);
@@ -378,6 +446,14 @@ export const createExtruder2NamespaceStore =
         middlePower,
         combinedPower,
         totalEnergyKWh,
+
+        // Target value history
+        targetPressure,
+        targetScrewRpm,
+        targetNozzleTemperature,
+        targetFrontTemperature,
+        targetMiddleTemperature,
+        targetBackTemperature,
       };
     });
 

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

@@ -57,6 +57,14 @@ export function useExtruder2() {
     backPower,
     combinedPower,
     totalEnergyKWh,
+
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
   } = useExtruder2Namespace(machineIdentification);
 
   // Single optimistic state for all state management
@@ -423,6 +431,14 @@ export function useExtruder2() {
     combinedPower,
     totalEnergyKWh,
 
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
+
     // Loading states
     isLoading: stateOptimistic.isOptimistic,
     isDisabled: !stateOptimistic.isInitialized,

electron/src/machines/extruder/extruder3/Extruder3Graph.tsx

@@ -24,6 +24,13 @@ export function Extruder3GraphsPage() {
     motorCurrent,
     motorPower,
     combinedPower,
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
   } = useExtruder3();
 
   const syncHook = useGraphSync("extruder-graphs");
@@ -49,6 +56,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.nozzle.target_temperature,
+                      targetSeries: targetNozzleTemperature,
                       color: "#ef4444",
                       show: true,
                     },
@@ -69,6 +77,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.front.target_temperature,
+                      targetSeries: targetFrontTemperature,
                       color: "#f59e0b",
                       show: true,
                     },
@@ -89,6 +98,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.middle.target_temperature,
+                      targetSeries: targetMiddleTemperature,
                       color: "#8b5cf6",
                       show: true,
                     },
@@ -109,6 +119,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.back.target_temperature,
+                      targetSeries: targetBackTemperature,
                       color: "#3b82f6",
                       show: true,
                     },
@@ -253,6 +264,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.pressure_state.target_bar,
+                      targetSeries: targetPressure,
                       color: "#3b82f6",
                       show: true,
                     },
@@ -306,6 +318,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.screw_state.target_rpm,
+                      targetSeries: targetScrewRpm,
                       color: "#8b5cf6",
                       show: true,
                     },

electron/src/machines/extruder/extruder3/extruder3Namespace.ts

@@ -221,6 +221,14 @@ export type Extruder3NamespaceStore = {
   // Combined power consumption and energy
   combinedPower: TimeSeries;
   totalEnergyKWh: TimeSeries;
+
+  // Target value history (for graph target lines)
+  targetPressure: TimeSeries;
+  targetScrewRpm: TimeSeries;
+  targetNozzleTemperature: TimeSeries;
+  targetFrontTemperature: TimeSeries;
+  targetMiddleTemperature: TimeSeries;
+  targetBackTemperature: TimeSeries;
 };
 
 const { initialTimeSeries: pressure, insert: addPressure } = createTimeSeries();
@@ -253,6 +261,28 @@ const { initialTimeSeries: motorScrewRpm, insert: addMotorScrewRpm } =
 const { initialTimeSeries: motorPower, insert: addMotorPower } =
   createTimeSeries();
 
+// Target value time series (for historical target lines on graphs)
+const { initialTimeSeries: targetPressure, insert: addTargetPressure } =
+  createTimeSeries();
+const { initialTimeSeries: targetScrewRpm, insert: addTargetScrewRpm } =
+  createTimeSeries();
+const {
+  initialTimeSeries: targetNozzleTemperature,
+  insert: addTargetNozzleTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetFrontTemperature,
+  insert: addTargetFrontTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetMiddleTemperature,
+  insert: addTargetMiddleTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetBackTemperature,
+  insert: addTargetBackTemperature,
+} = createTimeSeries();
+
 export function extruder3MessageHandler(
   store: StoreApi<Extruder3NamespaceStore>,
   throttledUpdater: ThrottledStoreUpdater<Extruder3NamespaceStore>,
@@ -271,6 +301,7 @@ export function extruder3MessageHandler(
       if (eventName === "StateEvent") {
         console.log(event);
         const stateEvent = stateEventSchema.parse(event);
+        const timestamp = event.ts;
         updateStore((state) => ({
           ...state,
           state: stateEvent,
@@ -278,6 +309,43 @@ export function extruder3MessageHandler(
           defaultState: stateEvent.data.is_default_state
             ? stateEvent
             : state.defaultState,
+          // Update target value history
+          targetPressure: addTargetPressure(state.targetPressure, {
+            value: stateEvent.data.pressure_state.target_bar,
+            timestamp,
+          }),
+          targetScrewRpm: addTargetScrewRpm(state.targetScrewRpm, {
+            value: stateEvent.data.screw_state.target_rpm,
+            timestamp,
+          }),
+          targetNozzleTemperature: addTargetNozzleTemperature(
+            state.targetNozzleTemperature,
+            {
+              value: stateEvent.data.heating_states.nozzle.target_temperature,
+              timestamp,
+            },
+          ),
+          targetFrontTemperature: addTargetFrontTemperature(
+            state.targetFrontTemperature,
+            {
+              value: stateEvent.data.heating_states.front.target_temperature,
+              timestamp,
+            },
+          ),
+          targetMiddleTemperature: addTargetMiddleTemperature(
+            state.targetMiddleTemperature,
+            {
+              value: stateEvent.data.heating_states.middle.target_temperature,
+              timestamp,
+            },
+          ),
+          targetBackTemperature: addTargetBackTemperature(
+            state.targetBackTemperature,
+            {
+              value: stateEvent.data.heating_states.back.target_temperature,
+              timestamp,
+            },
+          ),
         }));
       } else if (eventName === "LiveValuesEvent") {
         const liveValuesEvent = liveValuesEventSchema.parse(event);
@@ -378,6 +446,14 @@ export const createExtruder3NamespaceStore =
         middlePower,
         combinedPower,
         totalEnergyKWh,
+
+        // Target value history
+        targetPressure,
+        targetScrewRpm,
+        targetNozzleTemperature,
+        targetFrontTemperature,
+        targetMiddleTemperature,
+        targetBackTemperature,
       };
     });
 

electron/src/machines/extruder/extruder3/useExtruder.ts

@@ -57,6 +57,14 @@ export function useExtruder3() {
     backPower,
     combinedPower,
     totalEnergyKWh,
+
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
   } = useExtruder3Namespace(machineIdentification);
 
   // Single optimistic state for all state management
@@ -423,6 +431,14 @@ export function useExtruder3() {
     combinedPower,
     totalEnergyKWh,
 
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
+
     // Loading states
     isLoading: stateOptimistic.isOptimistic,
     isDisabled: !stateOptimistic.isInitialized,

electron/src/machines/laser/laser1/Laser1Graph.tsx

@@ -10,10 +10,17 @@ import React from "react";
 import { useLaser1 } from "./useLaser1";
 
 export function Laser1GraphsPage() {
-  const { diameter, x_diameter, y_diameter, roundness, state } = useLaser1();
+  const {
+    diameter,
+    x_diameter,
+    y_diameter,
+    roundness,
+    state,
+    targetDiameter: targetDiameterSeries,
+  } = useLaser1();
 
   const syncHook = useGraphSync("diameter-roundness-group");
-  const targetDiameter = state?.laser_state?.target_diameter ?? 0;
+  const targetDiameterValue = state?.laser_state?.target_diameter ?? 0;
   const lowerTolerance = state?.laser_state?.lower_tolerance ?? 0;
   const higherTolerance = state?.laser_state?.higher_tolerance ?? 0;
 
@@ -71,21 +78,22 @@ export function Laser1GraphsPage() {
         // Tolerance for diameter
         {
           type: "threshold" as const,
-          value: targetDiameter + higherTolerance,
+          value: targetDiameterValue + higherTolerance,
           label: "Upper Tolerance",
           color: diameterColor,
           dash: [5, 5],
         },
         {
           type: "threshold" as const,
-          value: targetDiameter - lowerTolerance,
+          value: targetDiameterValue - lowerTolerance,
           label: "Lower Tolerance",
           color: diameterColor,
           dash: [5, 5],
         },
         {
           type: "target" as const,
-          value: targetDiameter,
+          value: targetDiameterValue,
+          targetSeries: targetDiameterSeries,
           label: "Target",
           color: diameterColor,
         },

electron/src/machines/laser/laser1/laser1Namespace.ts

@@ -64,6 +64,7 @@ export type Laser1NamespaceStore = {
   x_diameter: TimeSeries;
   y_diameter: TimeSeries;
   roundness: TimeSeries;
+  targetDiameter: TimeSeries;
 };
 
 const { initialTimeSeries: diameter, insert: addDiameter } = createTimeSeries();
@@ -73,6 +74,8 @@ const { initialTimeSeries: y_diameter, insert: addYDiameter } =
   createTimeSeries();
 const { initialTimeSeries: roundness, insert: addRoundness } =
   createTimeSeries();
+const { initialTimeSeries: targetDiameter, insert: addTargetDiameter } =
+  createTimeSeries();
 
 /**
  * Factory function to create a new Laser1 namespace store
@@ -87,6 +90,7 @@ export const createLaser1NamespaceStore = (): StoreApi<Laser1NamespaceStore> =>
       x_diameter,
       y_diameter,
       roundness,
+      targetDiameter,
     };
   });
 
@@ -117,6 +121,10 @@ export function laser1MessageHandler(
         updateStore((state) => ({
           ...state,
           state: stateEvent,
+          targetDiameter: addTargetDiameter(state.targetDiameter, {
+            value: stateEvent.data.laser_state.target_diameter,
+            timestamp: event.ts,
+          }),
           // only set default state if is_default_state is true
           defaultState: stateEvent.data.is_default_state
             ? stateEvent

electron/src/machines/laser/laser1/useLaser1.ts

@@ -11,8 +11,15 @@ import { produce } from "immer";
 
 function useLaser(machine_identification_unique: MachineIdentificationUnique) {
   // Get consolidated state and live values from namespace
-  const { state, defaultState, diameter, x_diameter, y_diameter, roundness } =
-    useLaser1Namespace(machine_identification_unique);
+  const {
+    state,
+    defaultState,
+    diameter,
+    x_diameter,
+    y_diameter,
+    roundness,
+    targetDiameter,
+  } = useLaser1Namespace(machine_identification_unique);
 
   // Single optimistic state for all state management
   const stateOptimistic = useStateOptimistic<StateEvent>();
@@ -113,6 +120,7 @@ function useLaser(machine_identification_unique: MachineIdentificationUnique) {
     x_diameter,
     y_diameter,
     roundness,
+    targetDiameter,
 
     // Loading states
     isLoading: stateOptimistic.isOptimistic,

electron/src/machines/properties.ts

@@ -390,6 +390,11 @@ export const aquapath1: MachineProperties = {
           product_id: 0x7d83052,
           revision: 0x110000,
         },
+        {
+          vendor_id: 2,
+          product_id: 0x7d83052,
+          revision: 0x120000,
+        },
       ],
     },
     {
@@ -473,6 +478,30 @@ export const digitalInputTestMachine: MachineProperties = {
   },
   device_roles: [],
 };
+
+export const wago8chDioTestMachine: MachineProperties = {
+  name: "WAGO 8ch DIO Test",
+  version: "V1",
+  slug: "wago8chdiotestmachine",
+  icon: "lu:Disc3",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x0041,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Wago 750-354 Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 0x21,
+          product_id: 0x07500354,
+          revision: 0x2,
+        },
+      ],
+    },
+  ],
+};
 export const wagoPower1: MachineProperties = {
   name: "WAGO Power",
   version: "V1",
@@ -579,6 +608,29 @@ export const TestMotor: MachineProperties = {
   ],
 };
 
+export const wagoDoTestMachine: MachineProperties = {
+  name: "Wago DO Test",
+  version: "V1",
+  slug: "wagodotestmachine",
+  icon: "lu:ToggleRight",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x000e,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Wago 750-354 Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 0x21,
+          product_id: 0x07500354,
+          revision: 0x2,
+        },
+      ],
+    },
+  ],
+};
 export const wagoAiTestMachine: MachineProperties = {
   name: "Wago AI Test",
   version: "V1",
@@ -616,7 +668,9 @@ export const machineProperties: MachineProperties[] = [
   analogInputTestMachine,
   wagoAiTestMachine,
   digitalInputTestMachine,
+  wago8chDioTestMachine,
   ip20TestMachine,
+  wagoDoTestMachine,
   TestMotor,
 ];
 

electron/src/machines/wago8chdiotestmachine/useWago8chDioTestMachine.ts

@@ -0,0 +1,84 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { wago8chDioTestMachineRoute } from "@/routes/routes";
+import { MachineIdentificationUnique } from "@/machines/types";
+import { useMachineMutate } from "@/client/useClient";
+import { produce } from "immer";
+import { useEffect, useMemo } from "react";
+import { wago8chDioTestMachine } from "@/machines/properties";
+import { z } from "zod";
+import {
+  StateEvent,
+  useWago8chDioTestMachineNamespace,
+} from "./wago8chDioTestMachineNameSpace";
+export function useWago8chDioTestMachine() {
+  const { serial: serialString } = wago8chDioTestMachineRoute.useParams();
+
+  // Memoize machine identification
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+
+      return {
+        machine_identification: { vendor: 0, machine: 0 },
+        serial: 0,
+      };
+    }
+
+    return {
+      machine_identification: wago8chDioTestMachine.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Namespace state from backend
+  const { state } = useWago8chDioTestMachineNamespace(machineIdentification);
+
+  // Optimistic state
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) stateOptimistic.setReal(state);
+  }, [state, stateOptimistic]);
+
+  // Generic mutation sender
+  const { request: sendMutation } = useMachineMutate(
+    z.object({
+      action: z.string(),
+      value: z.any(),
+    }),
+  );
+
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest?: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState)
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    serverRequest?.();
+  };
+
+  const setOutputAtIndex = (index: number, value: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.digital_output[index] = value;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetOutput", value: { index, value } },
+        }),
+    );
+  };
+
+  return {
+    state: stateOptimistic.value,
+    setOutputAtIndex: setOutputAtIndex,
+  };
+}

electron/src/machines/wago8chdiotestmachine/wago8chDioTestMachineControlPage.tsx

@@ -0,0 +1,66 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { Label } from "@/control/Label";
+import { useWago8chDioTestMachine } from "./useWago8chDioTestMachine";
+import { Badge } from "@/components/ui/badge";
+
+export function Wago8chDioTestMachineControlRoute() {
+  const { state, setOutputAtIndex } = useWago8chDioTestMachine();
+
+  const safeState = state ?? {
+    digital_input: [false, false, false, false, false, false, false, false],
+    digital_output: [false, false, false, false, false, false, false, false],
+  };
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        {/* Digital Inputs */}
+        <ControlCard title="Digital Inputs">
+          <div className="grid grid-cols-2 gap-4">
+            {safeState.digital_input.map((input, index) => (
+              <Label key={index} label={`Input ${index + 1}`}>
+                <Badge variant={input ? "outline" : "destructive"}>
+                  {input ? "ON" : "OFF"}
+                </Badge>
+              </Label>
+            ))}
+          </div>
+        </ControlCard>
+
+        {/* Digital Outputs */}
+        <ControlCard title="Digital Outputs">
+          <div className="grid grid-cols-2 gap-4">
+            {safeState.digital_output.map((output, index) => (
+              <Label key={index} label={`Output ${index + 1}`}>
+                <SelectionGroup<"On" | "Off">
+                  value={output ? "On" : "Off"}
+                  orientation="vertical"
+                  className="grid h-full grid-cols-2 gap-2"
+                  options={{
+                    Off: {
+                      children: "Off",
+                      icon: "lu:CirclePause",
+                      isActiveClassName: "bg-red-600",
+                      className: "h-full",
+                    },
+                    On: {
+                      children: "On",
+                      icon: "lu:CirclePlay",
+                      isActiveClassName: "bg-green-600",
+                      className: "h-full",
+                    },
+                  }}
+                  onChange={(value) => setOutputAtIndex(index, value === "On")}
+                />
+              </Label>
+            ))}
+          </div>
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/machines/wago8chdiotestmachine/wago8chDioTestMachineNameSpace.ts

@@ -0,0 +1,79 @@
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "@/client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+
+// ========== Event Schema ==========
+
+export const stateEventDataSchema = z.object({
+  digital_input: z.array(z.boolean()).length(8),
+  digital_output: z.array(z.boolean()).length(8),
+});
+
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+export type StateEvent = z.infer<typeof stateEventDataSchema>;
+
+// ========== Store ==========
+export type Wago8chDioTestMachineNamespaceStore = {
+  state: StateEvent | null;
+};
+
+export const createWago8chDioTestMachineNamespaceStore =
+  (): StoreApi<Wago8chDioTestMachineNamespaceStore> =>
+    create<Wago8chDioTestMachineNamespaceStore>(() => ({
+      state: null,
+    }));
+
+// ========== Message Handler ==========
+export function wago8chDioTestMachineMessageHndler(
+  store: StoreApi<Wago8chDioTestMachineNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<Wago8chDioTestMachineNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const updateStore = (
+      updater: (
+        state: Wago8chDioTestMachineNamespaceStore,
+      ) => Wago8chDioTestMachineNamespaceStore,
+    ) => throttledUpdater.updateWith(updater);
+
+    try {
+      if (event.name === "StateEvent") {
+        const parsed = stateEventSchema.parse(event);
+        updateStore(() => ({ state: parsed.data }));
+      } else {
+        handleUnhandledEventError(event.name);
+      }
+    } catch (error) {
+      console.error(`Error processing ${event.name}:`, error);
+      throw error;
+    }
+  };
+}
+
+// ========== Namespace Hook ==========
+const useWago8chDioTestMachineImplementation =
+  createNamespaceHookImplementation<Wago8chDioTestMachineNamespaceStore>({
+    createStore: createWago8chDioTestMachineNamespaceStore,
+    createEventHandler: wago8chDioTestMachineMessageHndler,
+  });
+
+export function useWago8chDioTestMachineNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): Wago8chDioTestMachineNamespaceStore {
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+
+  return useWago8chDioTestMachineImplementation(namespaceId);
+}

electron/src/machines/wago8chdiotestmachine/wago8chDioTestMachinePage.tsx

@@ -0,0 +1,20 @@
+import { Topbar } from "@/components/Topbar";
+import { wago8chDioTestMachineRoute } from "@/routes/routes";
+import React from "react";
+
+export function Wago8chDioTestMachinePage() {
+  const { serial } = wago8chDioTestMachineRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/wago8chdiotestmachine/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+      ]}
+    />
+  );
+}

electron/src/machines/wagodotestmachine/WagoDoTestMachineControlPage.tsx

@@ -0,0 +1,64 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { Label } from "@/control/Label";
+import { useWagoDoTestMachine } from "./useWagoDoTestMachine";
+
+export function WagoDoTestMachineControlPage() {
+  const { state, setLed, setAllLeds } = useWagoDoTestMachine();
+
+  const safeState = state ?? {
+    led_on: Array(8).fill(false),
+  };
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        {/* Digital Output Controls */}
+        <ControlCard title="Digital Outputs (Do1-Do8)">
+          <div className="grid grid-cols-2 gap-6">
+            {safeState.led_on.map((output, index) => (
+              <Label key={index} label={`Do${index + 1}`}>
+                <SelectionGroup<"On" | "Off">
+                  value={output ? "On" : "Off"}
+                  orientation="vertical"
+                  className="flex flex-col gap-3"
+                  options={{
+                    Off: {
+                      children: "Off",
+                      icon: "lu:CirclePause",
+                      isActiveClassName: "bg-red-600",
+                      className: "flex-1",
+                    },
+                    On: {
+                      children: "On",
+                      icon: "lu:CirclePlay",
+                      isActiveClassName: "bg-green-600",
+                      className: "flex-1",
+                    },
+                  }}
+                  onChange={(value) => setLed(index, value === "On")}
+                />
+              </Label>
+            ))}
+          </div>
+        </ControlCard>
+
+        {/* Master Output Control */}
+        <ControlCard title="Master Output Control">
+          <SelectionGroup<"On" | "Off">
+            value={safeState.led_on.every(Boolean) ? "On" : "Off"}
+            orientation="horizontal"
+            options={{
+              Off: { children: "Turn All Off" },
+              On: { children: "Turn All On" },
+            }}
+            onChange={(value) => setAllLeds(value === "On")}
+          />
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/machines/wagodotestmachine/WagoDoTestMachineNamespace.ts

@@ -0,0 +1,78 @@
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "@/client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+
+// ========== Event Schema ==========
+
+export const stateEventDataSchema = z.object({
+  led_on: z.array(z.boolean()).length(8),
+});
+
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+export type StateEvent = z.infer<typeof stateEventDataSchema>;
+
+// ========== Store ==========
+export type WagoDoTestMachineNamespaceStore = {
+  state: StateEvent | null;
+};
+
+export const createWagoDoTestMachineNamespaceStore =
+  (): StoreApi<WagoDoTestMachineNamespaceStore> =>
+    create<WagoDoTestMachineNamespaceStore>(() => ({
+      state: null,
+    }));
+
+// ========== Message Handler ==========
+export function wagoDoTestMachineMessageHandler(
+  store: StoreApi<WagoDoTestMachineNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<WagoDoTestMachineNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const updateStore = (
+      updater: (
+        state: WagoDoTestMachineNamespaceStore,
+      ) => WagoDoTestMachineNamespaceStore,
+    ) => throttledUpdater.updateWith(updater);
+
+    try {
+      if (event.name === "StateEvent") {
+        const parsed = stateEventSchema.parse(event);
+        updateStore(() => ({ state: parsed.data }));
+      } else {
+        handleUnhandledEventError(event.name);
+      }
+    } catch (error) {
+      console.error(`Error processing ${event.name}:`, error);
+      throw error;
+    }
+  };
+}
+
+// ========== Namespace Hook ==========
+const useWagoDoTestMachineNamespaceImplementation =
+  createNamespaceHookImplementation<WagoDoTestMachineNamespaceStore>({
+    createStore: createWagoDoTestMachineNamespaceStore,
+    createEventHandler: wagoDoTestMachineMessageHandler,
+  });
+
+export function useWagoDoTestMachineNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): WagoDoTestMachineNamespaceStore {
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+
+  return useWagoDoTestMachineNamespaceImplementation(namespaceId);
+}

electron/src/machines/wagodotestmachine/WagoDoTestMachinePage.tsx

@@ -0,0 +1,20 @@
+import { Topbar } from "@/components/Topbar";
+import { wagoDoTestMachineSerialRoute } from "@/routes/routes";
+import React from "react";
+
+export function WagoDoTestMachinePage() {
+  const { serial } = wagoDoTestMachineSerialRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/wagodotestmachine/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+      ]}
+    />
+  );
+}

electron/src/machines/wagodotestmachine/useWagoDoTestMachine.ts

@@ -0,0 +1,99 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { wagoDoTestMachineSerialRoute } from "@/routes/routes";
+import { MachineIdentificationUnique } from "@/machines/types";
+import {
+  useWagoDoTestMachineNamespace,
+  StateEvent,
+} from "./WagoDoTestMachineNamespace";
+import { useMachineMutate } from "@/client/useClient";
+import { produce } from "immer";
+import { useEffect, useMemo } from "react";
+import { wagoDoTestMachine } from "@/machines/properties";
+import { z } from "zod";
+
+export function useWagoDoTestMachine() {
+  const { serial: serialString } = wagoDoTestMachineSerialRoute.useParams();
+
+  // Memoize machine identification
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+
+      return {
+        machine_identification: { vendor: 0, machine: 0 },
+        serial: 0,
+      };
+    }
+
+    return {
+      machine_identification: wagoDoTestMachine.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Namespace state from backend
+  const { state } = useWagoDoTestMachineNamespace(machineIdentification);
+
+  // Optimistic state
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) stateOptimistic.setReal(state);
+  }, [state, stateOptimistic]);
+
+  // Generic mutation sender
+  const { request: sendMutation } = useMachineMutate(
+    z.object({
+      action: z.string(),
+      value: z.any(),
+    }),
+  );
+
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest?: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState)
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    serverRequest?.();
+  };
+
+  const setLed = (index: number, on: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.led_on[index] = on;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetLed", value: { index, on } },
+        }),
+    );
+  };
+
+  const setAllLeds = (on: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.led_on = Array(8).fill(on);
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetAllLeds", value: { on } },
+        }),
+    );
+  };
+
+  return {
+    state: stateOptimistic.value,
+    setLed,
+    setAllLeds,
+  };
+}

electron/src/machines/winder/winder2/Winder2Graphs.tsx

@@ -19,6 +19,7 @@ export function Winder2GraphsPage() {
     traversePosition,
     tensionArmAngle,
     pullerSpeed,
+    targetPullerSpeed,
     spoolProgress,
   } = useWinder2();
 
@@ -31,6 +32,7 @@ export function Winder2GraphsPage() {
           <PullerSpeedGraph
             syncHook={syncHook}
             newData={pullerSpeed}
+            targetSeries={targetPullerSpeed}
             targetSpeed={state?.puller_state?.target_speed}
             unit="m/min"
             renderValue={(value) => roundToDecimals(value, 0)}
@@ -243,12 +245,14 @@ export function SpoolProgressGraph({
 export function PullerSpeedGraph({
   syncHook,
   newData,
+  targetSeries,
   targetSpeed,
   unit,
   renderValue,
 }: {
   syncHook: ReturnType<typeof useGraphSync>;
   newData: TimeSeries | null;
+  targetSeries?: TimeSeries;
   targetSpeed?: number;
   unit?: Unit;
   renderValue?: (value: number) => string;
@@ -259,6 +263,7 @@ export function PullerSpeedGraph({
     lines.push({
       type: "target",
       value: targetSpeed,
+      targetSeries,
       label: "Target Speed",
       color: "#06b6d4", // Match series color
     });

electron/src/machines/winder/winder2/useWinder.ts

@@ -62,6 +62,7 @@ export function useWinder2() {
     defaultState,
     traversePosition,
     pullerSpeed,
+    targetPullerSpeed,
     spoolRpm,
     tensionArmAngle,
     spoolProgress,
@@ -638,6 +639,7 @@ export function useWinder2() {
     // Individual live values (TimeSeries)
     traversePosition,
     pullerSpeed,
+    targetPullerSpeed,
     spoolRpm,
     tensionArmAngle,
     spoolProgress,

electron/src/machines/winder/winder2/winder2Namespace.ts

@@ -211,6 +211,7 @@ export type Winder2NamespaceStore = {
   spoolRpm: TimeSeries;
   tensionArmAngle: TimeSeries;
   spoolProgress: TimeSeries;
+  targetPullerSpeed: TimeSeries;
 };
 
 //Store Factory and Message Handler -> no param, so default values
@@ -220,6 +221,8 @@ const { initialTimeSeries: traversePosition, insert: addTraversePosition } =
   createTimeSeries();
 const { initialTimeSeries: pullerSpeed, insert: addPullerSpeed } =
   createTimeSeries();
+const { initialTimeSeries: targetPullerSpeed, insert: addTargetPullerSpeed } =
+  createTimeSeries();
 const { initialTimeSeries: spoolRpm, insert: addSpoolRpm } = createTimeSeries();
 const { initialTimeSeries: tensionArmAngle, insert: addTensionArmAngle } =
   createTimeSeries();
@@ -239,6 +242,7 @@ export const createWinder2NamespaceStore =
         // Time series data for live values
         traversePosition,
         pullerSpeed,
+        targetPullerSpeed,
         spoolRpm,
         tensionArmAngle,
         spoolProgress,
@@ -277,6 +281,10 @@ export function winder2MessageHandler(
         updateStore((state) => ({
           ...state,
           state: stateEvent,
+          targetPullerSpeed: addTargetPullerSpeed(state.targetPullerSpeed, {
+            value: stateEvent.data.puller_state.target_speed,
+            timestamp: event.ts,
+          }),
           // only set default state if is_default_state is true
           defaultState: stateEvent.data.is_default_state
             ? stateEvent

electron/src/routes/routes.tsx

@@ -75,6 +75,10 @@ import { MetricsControlPage } from "@/metrics/MetricsControlPage";
 
 import { WagoPower1Page } from "@/machines/wago_power/wago_power1/WagoPower1Page";
 import { WagoPower1ControlPage } from "@/machines/wago_power/wago_power1/WagoPower1ControlPage";
+import { WagoDoTestMachinePage } from "@/machines/wagodotestmachine/WagoDoTestMachinePage";
+import { WagoDoTestMachineControlPage } from "@/machines/wagodotestmachine/WagoDoTestMachineControlPage";
+import { Wago8chDioTestMachinePage } from "@/machines/wago8chdiotestmachine/wago8chDioTestMachinePage";
+import { Wago8chDioTestMachineControlRoute } from "@/machines/wago8chdiotestmachine/wago8chDioTestMachineControlPage";
 
 // make a route tree like this
 // _mainNavigation/machines/winder2/$serial/control
@@ -89,6 +93,18 @@ export const testMachineSerialRoute = createRoute({
   component: () => <TestMachinePage />,
 });
 
+export const wago8chDioTestMachineRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "wago8chdiotestmachine/$serial",
+  component: () => <Wago8chDioTestMachinePage />,
+});
+
+export const wago8chDioTestMachineControlRoute = createRoute({
+  getParentRoute: () => wago8chDioTestMachineRoute,
+  path: "control",
+  component: () => <Wago8chDioTestMachineControlRoute />,
+});
+
 // Leaf route: control page
 export const testMachineControlRoute = createRoute({
   getParentRoute: () => testMachineSerialRoute,
@@ -383,6 +399,18 @@ export const wagoPower1ControlRoute = createRoute({
   component: () => <WagoPower1ControlPage />,
 });
 
+export const wagoDoTestMachineSerialRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "wagodotestmachine/$serial",
+  component: () => <WagoDoTestMachinePage />,
+});
+
+export const wagoDoTestMachineControlRoute = createRoute({
+  getParentRoute: () => wagoDoTestMachineSerialRoute,
+  path: "control",
+  component: () => <WagoDoTestMachineControlPage />,
+});
+
 export const setupRoute = createRoute({
   getParentRoute: () => sidebarRoute,
   path: "setup",
@@ -491,6 +519,10 @@ export const rootTree = RootRoute.addChildren([
         analogInputTestMachineControlRoute,
       ]),
 
+      wago8chDioTestMachineRoute.addChildren([
+        wago8chDioTestMachineControlRoute,
+      ]),
+
       wagoAiTestMachineSerialRoute.addChildren([wagoAiTestMachineControlRoute]),
 
       digitalInputTestMachineSerialRoute.addChildren([
@@ -541,6 +573,8 @@ export const rootTree = RootRoute.addChildren([
       wagoPower1SerialRoute.addChildren([wagoPower1ControlRoute]),
 
       buffer1SerialRoute.addChildren([buffer1ControlRoute]),
+
+      wagoDoTestMachineSerialRoute.addChildren([wagoDoTestMachineControlRoute]),
     ]),
   ]),
 ]);

ethercat-hal/src/devices/wago_modules/wago_750_1506.rs

@@ -38,27 +38,27 @@ impl From<Wago750_1506OutputPort> for usize {
 
 #[derive(Debug, Clone)]
 pub enum Wago750_1506InputPort {
-    DO1,
-    DO2,
-    DO3,
-    DO4,
-    DO5,
-    DO6,
-    DO7,
-    DO8,
+    DI1,
+    DI2,
+    DI3,
+    DI4,
+    DI5,
+    DI6,
+    DI7,
+    DI8,
 }
 
 impl From<Wago750_1506InputPort> for usize {
     fn from(value: Wago750_1506InputPort) -> Self {
         match value {
-            Wago750_1506InputPort::DO1 => 0,
-            Wago750_1506InputPort::DO2 => 1,
-            Wago750_1506InputPort::DO3 => 2,
-            Wago750_1506InputPort::DO4 => 3,
-            Wago750_1506InputPort::DO5 => 4,
-            Wago750_1506InputPort::DO6 => 5,
-            Wago750_1506InputPort::DO7 => 6,
-            Wago750_1506InputPort::DO8 => 7,
+            Wago750_1506InputPort::DI1 => 0,
+            Wago750_1506InputPort::DI2 => 1,
+            Wago750_1506InputPort::DI3 => 2,
+            Wago750_1506InputPort::DI4 => 3,
+            Wago750_1506InputPort::DI5 => 4,
+            Wago750_1506InputPort::DI6 => 5,
+            Wago750_1506InputPort::DI7 => 6,
+            Wago750_1506InputPort::DI8 => 7,
         }
     }
 }
@@ -91,14 +91,14 @@ impl DigitalInputDevice<Wago750_1506InputPort> for Wago750_1506 {
     fn get_input(&self, port: Wago750_1506InputPort) -> Result<DigitalInputInput, anyhow::Error> {
         Ok(DigitalInputInput {
             value: match port {
-                Wago750_1506InputPort::DO1 => self.tx_pdo.port1,
-                Wago750_1506InputPort::DO2 => self.tx_pdo.port2,
-                Wago750_1506InputPort::DO3 => self.tx_pdo.port3,
-                Wago750_1506InputPort::DO4 => self.tx_pdo.port4,
-                Wago750_1506InputPort::DO5 => self.tx_pdo.port5,
-                Wago750_1506InputPort::DO6 => self.tx_pdo.port6,
-                Wago750_1506InputPort::DO7 => self.tx_pdo.port7,
-                Wago750_1506InputPort::DO8 => self.tx_pdo.port8,
+                Wago750_1506InputPort::DI1 => self.tx_pdo.port1,
+                Wago750_1506InputPort::DI2 => self.tx_pdo.port2,
+                Wago750_1506InputPort::DI3 => self.tx_pdo.port3,
+                Wago750_1506InputPort::DI4 => self.tx_pdo.port4,
+                Wago750_1506InputPort::DI5 => self.tx_pdo.port5,
+                Wago750_1506InputPort::DI6 => self.tx_pdo.port6,
+                Wago750_1506InputPort::DI7 => self.tx_pdo.port7,
+                Wago750_1506InputPort::DI8 => self.tx_pdo.port8,
             },
         })
     }
@@ -189,28 +189,28 @@ impl EthercatDevice for Wago750_1506 {
     ) -> Result<(), anyhow::Error> {
         let base = self.tx_bit_offset;
 
-        let idx1 = base + Into::<usize>::into(Wago750_1506InputPort::DO1);
+        let idx1 = base + Into::<usize>::into(Wago750_1506InputPort::DI1);
         self.tx_pdo.port1 = *input.get(idx1).expect("Bit 1 out of bounds");
 
-        let idx2 = base + Into::<usize>::into(Wago750_1506InputPort::DO2);
+        let idx2 = base + Into::<usize>::into(Wago750_1506InputPort::DI2);
         self.tx_pdo.port2 = *input.get(idx2).expect("Bit 2 out of bounds");
 
-        let idx3 = base + Into::<usize>::into(Wago750_1506InputPort::DO3);
+        let idx3 = base + Into::<usize>::into(Wago750_1506InputPort::DI3);
         self.tx_pdo.port3 = *input.get(idx3).expect("Bit 3 out of bounds");
 
-        let idx4 = base + Into::<usize>::into(Wago750_1506InputPort::DO4);
+        let idx4 = base + Into::<usize>::into(Wago750_1506InputPort::DI4);
         self.tx_pdo.port4 = *input.get(idx4).expect("Bit 4 out of bounds");
 
-        let idx5 = base + Into::<usize>::into(Wago750_1506InputPort::DO5);
+        let idx5 = base + Into::<usize>::into(Wago750_1506InputPort::DI5);
         self.tx_pdo.port5 = *input.get(idx5).expect("Bit 5 out of bounds");
 
-        let idx6 = base + Into::<usize>::into(Wago750_1506InputPort::DO6);
+        let idx6 = base + Into::<usize>::into(Wago750_1506InputPort::DI6);
         self.tx_pdo.port6 = *input.get(idx6).expect("Bit 6 out of bounds");
 
-        let idx7 = base + Into::<usize>::into(Wago750_1506InputPort::DO7);
+        let idx7 = base + Into::<usize>::into(Wago750_1506InputPort::DI7);
         self.tx_pdo.port7 = *input.get(idx7).expect("Bit 7 out of bounds");
 
-        let idx8 = base + Into::<usize>::into(Wago750_1506InputPort::DO8);
+        let idx8 = base + Into::<usize>::into(Wago750_1506InputPort::DI8);
         self.tx_pdo.port8 = *input.get(idx8).expect("Bit 8 out of bounds");
         Ok(())
     }

ethercat-hal/src/helpers/mod.rs

@@ -2,3 +2,74 @@ pub mod counter_wrapper_u16_i128;
 pub mod el70xx_velocity_converter;
 pub mod ethercrab_types;
 pub mod signing_converter_u16;
+
+use ethercrab::{SubDevice, SubDeviceRef};
+// This is the Codeword for disabling EEPROM writes on sdo writes
+const BECKHOFF_EEPROM_LOCK_CODEWORD: u32 = 0x12345678;
+// In this index Codewords can be written for Beckhoff Terminals
+const BECKHOFF_CODEWORD_INDEX: u16 = 0xF008;
+
+// This code locks the eeprom and protects it from writes
+// When the toggle is in effect no writes propagate to the eeprom
+// This is useful if you have a usecase where you very often write into CoE registers, as writes to EEPROM after a long time degrage the EEPROM
+pub async fn set_mut_beckhoff_eeprom_lock_active<'a>(
+    subdevice: &SubDeviceRef<'a, &mut SubDevice>,
+) -> Result<(), anyhow::Error> {
+    let code_word = match subdevice.sdo_read::<u32>(BECKHOFF_CODEWORD_INDEX, 0).await {
+        Ok(code_word) => code_word,
+        // This happens when the subdevice has no mailbox
+        // There is NO check in ethercrab for Mailbox presence, so we just have to pray that it has one and send a request
+        // If there is no Mailbox to write Coe Request to, then there is also no EEPROM meaning we achieved our goal in a sense
+        // This is why it returns OK on an error for sdo_read
+        Err(_) => return Ok(()),
+    };
+
+    let eeprom_lock_toggled = match code_word {
+        BECKHOFF_EEPROM_LOCK_CODEWORD => true,
+        _ => false,
+    };
+
+    if !eeprom_lock_toggled {
+        subdevice
+            .sdo_write(BECKHOFF_CODEWORD_INDEX, 0, BECKHOFF_EEPROM_LOCK_CODEWORD)
+            .await?;
+        tracing::info!(
+            "Activated EEPROM Lock for {} {}",
+            subdevice.name(),
+            subdevice.name()
+        );
+    }
+
+    Ok(())
+}
+
+pub async fn set_beckhoff_eeprom_lock_active<'a>(
+    subdevice: &SubDeviceRef<'a, &SubDevice>,
+) -> Result<(), anyhow::Error> {
+    let code_word = match subdevice.sdo_read::<u32>(BECKHOFF_CODEWORD_INDEX, 0).await {
+        Ok(code_word) => code_word,
+        // This happens when the subdevice has no mailbox
+        // There is NO check in ethercrab for Mailbox presence, so we just have to pray that it has one and send a request
+        // If there is no Mailbox to write Coe Request to, then there is also no EEPROM meaning we achieved our goal in a sense
+        // This is why it returns OK on an error for sdo_read
+        Err(_) => return Ok(()),
+    };
+
+    let eeprom_lock_toggled = match code_word {
+        BECKHOFF_EEPROM_LOCK_CODEWORD => true,
+        _ => false,
+    };
+
+    if !eeprom_lock_toggled {
+        subdevice
+            .sdo_write(BECKHOFF_CODEWORD_INDEX, 0, BECKHOFF_EEPROM_LOCK_CODEWORD)
+            .await?;
+        tracing::info!(
+            "Activated EEPROM Lock for {} {}",
+            subdevice.name(),
+            subdevice.name()
+        );
+    }
+
+    Ok(())
+}

machines/src/lib.rs

@@ -32,7 +32,9 @@ pub mod motor_test_machine;
 pub mod registry;
 pub mod serial;
 pub mod test_machine;
+pub mod wago_8ch_dio_test_machine;
 pub mod wago_ai_test_machine;
+pub mod wago_do_test_machine;
 pub mod wago_power;
 pub mod winder2;
 
@@ -50,9 +52,10 @@ pub const IP20_TEST_MACHINE: u16 = 0x0034;
 pub const ANALOG_INPUT_TEST_MACHINE: u16 = 0x0035;
 pub const WAGO_AI_TEST_MACHINE: u16 = 0x0036;
 pub const DIGITAL_INPUT_TEST_MACHINE: u16 = 0x0040;
+pub const WAGO_8CH_IO_TEST_MACHINE: u16 = 0x0041;
 
 pub const MOTOR_TEST_MACHINE: u16 = 0x0011;
-
+pub const WAGO_DO_TEST_MACHINE: u16 = 0x000E;
 use serde_json::Value;
 use smol::lock::RwLock;
 

machines/src/machine_identification.rs

@@ -63,6 +63,8 @@ impl MachineIdentification {
             x if x == IP20_TEST_MACHINE => "ip20_test_machine".to_string(),
             x if x == ANALOG_INPUT_TEST_MACHINE => "analog_input_test_machine".to_string(),
             x if x == WAGO_AI_TEST_MACHINE => "wago_ai_test_machine".to_string(),
+            x if x == WAGO_DO_TEST_MACHINE => "wago_do_test_machine".to_string(),
+
             _ => unreachable!("Unknown machine id"),
         }
     }
@@ -187,6 +189,7 @@ use crate::MACHINE_WINDER_V1;
 use crate::TEST_MACHINE;
 use crate::VENDOR_QITECH;
 use crate::WAGO_AI_TEST_MACHINE;
+use crate::WAGO_DO_TEST_MACHINE;
 
 #[derive(Debug)]
 pub struct MachineIdentificationAddresses {

machines/src/registry.rs

@@ -1,7 +1,9 @@
 use crate::analog_input_test_machine::AnalogInputTestMachine;
 use crate::digital_input_test_machine::DigitalInputTestMachine;
 use crate::ip20_test_machine::IP20TestMachine;
+use crate::wago_8ch_dio_test_machine::Wago8chDigitalIOTestMachine;
 use crate::wago_ai_test_machine::WagoAiTestMachine;
+use crate::wago_do_test_machine::WagoDOTestMachine;
 #[cfg(feature = "mock-machine")]
 use crate::{
     extruder1::mock::ExtruderV2 as ExtruderV2Mock1, extruder2::mock::ExtruderV2 as ExtruderV2Mock2,
@@ -137,6 +139,11 @@ lazy_static! {
 
         mc.register::<DigitalInputTestMachine>(DigitalInputTestMachine::MACHINE_IDENTIFICATION);
 
+        mc.register::<WagoDOTestMachine>(WagoDOTestMachine::MACHINE_IDENTIFICATION);
+        mc.register::<Wago8chDigitalIOTestMachine>(
+            Wago8chDigitalIOTestMachine::MACHINE_IDENTIFICATION,
+        );
+
         mc
     };
 }

machines/src/wago_8ch_dio_test_machine/act.rs

@@ -0,0 +1,46 @@
+use super::Wago8chDigitalIOTestMachine;
+use crate::{MachineAct, MachineMessage, MachineValues};
+use std::time::{Duration, Instant};
+
+impl MachineAct for Wago8chDigitalIOTestMachine {
+    fn act(&mut self, now: Instant) {
+        if let Ok(msg) = self.api_receiver.try_recv() {
+            self.act_machine_message(msg);
+        }
+
+        if now.duration_since(self.last_state_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+            self.emit_state();
+            self.last_state_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) => {
+                // Does not connect to any Machine; do nothing
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) => {
+                // Does not connect to any Machine; do nothing
+            }
+            MachineMessage::RequestValues(sender) => {
+                sender
+                    .send_blocking(MachineValues {
+                        state: serde_json::to_value(self.get_state())
+                            .expect("Failed to serialize state"),
+                        live_values: serde_json::Value::Null,
+                    })
+                    .expect("Failed to send values");
+                sender.close();
+            }
+        }
+    }
+}

machines/src/wago_8ch_dio_test_machine/api.rs

@@ -0,0 +1,79 @@
+use std::sync::Arc;
+
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
+    },
+};
+use serde::{Deserialize, Serialize};
+
+use crate::{MachineApi, wago_8ch_dio_test_machine::Wago8chDigitalIOTestMachine};
+
+#[derive(Serialize, Debug, Clone)]
+pub struct StateEvent {
+    pub digital_input: [bool; 8],
+    pub digital_output: [bool; 8],
+}
+
+impl StateEvent {
+    pub fn build(&self) -> Event<Self> {
+        Event::new("StateEvent", self.clone())
+    }
+}
+pub enum Wago8chDigitalIOTestMachineEvents {
+    State(Event<StateEvent>),
+}
+
+#[derive(Deserialize)]
+#[serde(tag = "action", content = "value")]
+pub enum Mutation {
+    SetOutput { index: usize, value: bool },
+}
+#[derive(Debug, Clone)]
+pub struct Wago8chDigitalIOTestMachineNamespace {
+    pub namespace: Option<Namespace>,
+}
+
+impl NamespaceCacheingLogic<Wago8chDigitalIOTestMachineEvents>
+    for Wago8chDigitalIOTestMachineNamespace
+{
+    fn emit(&mut self, events: Wago8chDigitalIOTestMachineEvents) {
+        let event = Arc::new(events.event_value());
+        let buffer_fn = events.event_cache_fn();
+        if let Some(ns) = &mut self.namespace {
+            ns.emit(event, &buffer_fn);
+        }
+    }
+}
+
+impl CacheableEvents<Wago8chDigitalIOTestMachineEvents> for Wago8chDigitalIOTestMachineEvents {
+    fn event_value(&self) -> GenericEvent {
+        match self {
+            Wago8chDigitalIOTestMachineEvents::State(event) => event.clone().into(),
+        }
+    }
+
+    fn event_cache_fn(&self) -> CacheFn {
+        cache_first_and_last_event()
+    }
+}
+
+impl MachineApi for Wago8chDigitalIOTestMachine {
+    fn api_get_sender(&self) -> smol::channel::Sender<crate::MachineMessage> {
+        self.api_sender.clone()
+    }
+
+    fn api_mutate(&mut self, value: serde_json::Value) -> Result<(), anyhow::Error> {
+        let mutation: Mutation = serde_json::from_value(value)?;
+        match mutation {
+            Mutation::SetOutput { index, value } => self.set_output(index, value),
+        }
+
+        Ok(())
+    }
+
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
+        self.namespace.namespace.clone()
+    }
+}

machines/src/wago_8ch_dio_test_machine/mod.rs

@@ -0,0 +1,80 @@
+use std::time::Instant;
+
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+use ethercat_hal::io::{digital_input::DigitalInput, digital_output::DigitalOutput};
+use smol::channel::{Receiver, Sender};
+
+use crate::{
+    AsyncThreadMessage, Machine, MachineMessage, VENDOR_QITECH, WAGO_8CH_IO_TEST_MACHINE,
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
+    wago_8ch_dio_test_machine::api::{
+        StateEvent, Wago8chDigitalIOTestMachineEvents, Wago8chDigitalIOTestMachineNamespace,
+    },
+};
+
+pub mod act;
+pub mod api;
+pub mod new;
+
+#[derive(Debug)]
+pub struct Wago8chDigitalIOTestMachine {
+    pub api_receiver: Receiver<MachineMessage>,
+    pub api_sender: Sender<MachineMessage>,
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub main_sender: Option<Sender<AsyncThreadMessage>>,
+    pub namespace: Wago8chDigitalIOTestMachineNamespace,
+    pub last_state_emit: Instant,
+    pub digital_output: [DigitalOutput; 8],
+    pub digital_input: [DigitalInput; 8],
+}
+
+impl Machine for Wago8chDigitalIOTestMachine {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
+impl Wago8chDigitalIOTestMachine {
+    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
+        vendor: VENDOR_QITECH,
+        machine: WAGO_8CH_IO_TEST_MACHINE,
+    };
+
+    pub fn get_state(&self) -> StateEvent {
+        StateEvent {
+            digital_input: (0..8)
+                .map(|i| {
+                    self.digital_input[i]
+                        .get_value()
+                        .expect("digital input value should be available")
+                })
+                .collect::<Vec<_>>()
+                .try_into()
+                .expect("bool vector into array[8] should work"),
+            digital_output: [
+                self.digital_output[0].get(),
+                self.digital_output[1].get(),
+                self.digital_output[2].get(),
+                self.digital_output[3].get(),
+                self.digital_output[4].get(),
+                self.digital_output[5].get(),
+                self.digital_output[6].get(),
+                self.digital_output[7].get(),
+            ],
+        }
+    }
+
+    pub fn emit_state(&mut self) {
+        let event = self.get_state().build();
+        self.namespace
+            .emit(Wago8chDigitalIOTestMachineEvents::State(event));
+    }
+
+    pub fn set_output(&mut self, i: usize, value: bool) {
+        self.digital_output[i].set(value);
+    }
+}

machines/src/wago_8ch_dio_test_machine/new.rs

@@ -0,0 +1,105 @@
+use std::{sync::Arc, time::Instant};
+
+use anyhow::Error;
+use ethercat_hal::{
+    devices::{
+        EthercatDevice, downcast_device,
+        wago_750_354::{WAGO_750_354_IDENTITY_A, Wago750_354},
+        wago_modules::wago_750_1506::{
+            Wago750_1506, Wago750_1506InputPort, Wago750_1506OutputPort,
+        },
+    },
+    io::{digital_input::DigitalInput, digital_output::DigitalOutput},
+};
+use smol::{block_on, lock::RwLock};
+
+use crate::{
+    MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
+    wago_8ch_dio_test_machine::{
+        Wago8chDigitalIOTestMachine, api::Wago8chDigitalIOTestMachineNamespace,
+    },
+};
+
+impl MachineNewTrait for Wago8chDigitalIOTestMachine {
+    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
+        // validate general stuff
+        let device_identification = params
+            .device_group
+            .iter()
+            .map(|device_identification| device_identification.clone())
+            .collect::<Vec<_>>();
+        validate_same_machine_identification_unique(&device_identification)?;
+        validate_no_role_dublicates(&device_identification)?;
+
+        let hardware = match &params.hardware {
+            MachineNewHardware::Ethercat(x) => x,
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::EtherCATMachine/TestMachine::new] MachineNewHardware is not Ethercat",
+                    module_path!()
+                ));
+            }
+        };
+
+        block_on(async {
+            // Example usage of a Wago Coupler and a 750-402 in the first slot, where the Output Port 1,2,3,4 is used
+            let _wago_750_354 = get_ethercat_device::<Wago750_354>(
+                hardware,
+                params,
+                0,
+                [WAGO_750_354_IDENTITY_A].to_vec(),
+            )
+            .await?;
+
+            let modules = Wago750_354::initialize_modules(_wago_750_354.1).await?;
+
+            let mut coupler = _wago_750_354.0.write().await;
+
+            for module in modules {
+                coupler.set_module(module);
+            }
+
+            coupler.init_slot_modules(_wago_750_354.1);
+            let dev = coupler.slot_devices.get(0).unwrap().clone().unwrap();
+            let wago750_1506: Arc<RwLock<Wago750_1506>> =
+                downcast_device::<Wago750_1506>(dev).await?;
+
+            let di1 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI1);
+            let di2 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI2);
+            let di3 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI3);
+            let di4 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI4);
+            let di5 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI5);
+            let di6 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI6);
+            let di7 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI7);
+            let di8 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI8);
+
+            let do1 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO1);
+            let do2 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO2);
+            let do3 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO3);
+            let do4 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO4);
+            let do5 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO5);
+            let do6 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO6);
+            let do7 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO7);
+            let do8 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO8);
+
+            drop(coupler);
+
+            let (sender, receiver) = smol::channel::unbounded();
+            let mut my_test = Self {
+                api_receiver: receiver,
+                api_sender: sender,
+                machine_identification_unique: params.get_machine_identification_unique(),
+                namespace: Wago8chDigitalIOTestMachineNamespace {
+                    namespace: params.namespace.clone(),
+                },
+                last_state_emit: Instant::now(),
+                main_sender: params.main_thread_channel.clone(),
+                digital_output: [do1, do2, do3, do4, do5, do6, do7, do8],
+                digital_input: [di1, di2, di3, di4, di5, di6, di7, di8],
+            };
+            my_test.emit_state();
+            Ok(my_test)
+        })
+    }
+}

machines/src/wago_do_test_machine/act.rs

@@ -0,0 +1,46 @@
+use super::WagoDOTestMachine;
+use crate::{MachineAct, MachineMessage, MachineValues};
+use std::time::{Duration, Instant};
+
+impl MachineAct for WagoDOTestMachine {
+    fn act(&mut self, now: Instant) {
+        if let Ok(msg) = self.api_receiver.try_recv() {
+            self.act_machine_message(msg);
+        }
+
+        if now.duration_since(self.last_state_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+            self.emit_state();
+            self.last_state_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) => {
+                // Does not connect to any Machine; do nothing
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) => {
+                // Does not connect to any Machine; do nothing
+            }
+            MachineMessage::RequestValues(sender) => {
+                sender
+                    .send_blocking(MachineValues {
+                        state: serde_json::to_value(self.get_state())
+                            .expect("Failed to serialize state"),
+                        live_values: serde_json::Value::Null,
+                    })
+                    .expect("Failed to send values");
+                sender.close();
+            }
+        }
+    }
+}

machines/src/wago_do_test_machine/api.rs

@@ -0,0 +1,84 @@
+use super::WagoDOTestMachine;
+use crate::{MachineApi, MachineMessage};
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
+    },
+};
+use serde::{Deserialize, Serialize};
+use serde_json::Value;
+use std::sync::Arc;
+
+#[derive(Serialize, Debug, Clone)]
+pub struct StateEvent {
+    pub led_on: [bool; 8],
+}
+
+impl StateEvent {
+    pub fn build(&self) -> Event<Self> {
+        Event::new("StateEvent", self.clone())
+    }
+}
+
+pub enum WagoDOTestMachineEvents {
+    State(Event<StateEvent>),
+}
+
+#[derive(Deserialize)]
+#[serde(tag = "action", content = "value")]
+pub enum Mutation {
+    SetLed { index: usize, on: bool },
+    SetAllLeds { on: bool },
+}
+
+#[derive(Debug, Clone)]
+pub struct WagoDOTestMachineNamespace {
+    pub namespace: Option<Namespace>,
+}
+
+impl NamespaceCacheingLogic<WagoDOTestMachineEvents> for WagoDOTestMachineNamespace {
+    fn emit(&mut self, events: WagoDOTestMachineEvents) {
+        let event = Arc::new(events.event_value());
+        let buffer_fn = events.event_cache_fn();
+        if let Some(ns) = &mut self.namespace {
+            ns.emit(event, &buffer_fn);
+        }
+    }
+}
+
+impl CacheableEvents<WagoDOTestMachineEvents> for WagoDOTestMachineEvents {
+    fn event_value(&self) -> GenericEvent {
+        match self {
+            WagoDOTestMachineEvents::State(event) => event.clone().into(),
+        }
+    }
+
+    fn event_cache_fn(&self) -> CacheFn {
+        cache_first_and_last_event()
+    }
+}
+
+impl MachineApi for WagoDOTestMachine {
+    fn api_get_sender(&self) -> smol::channel::Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
+    fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
+        let mutation: Mutation = serde_json::from_value(request_body)?;
+        match mutation {
+            Mutation::SetLed { index, on } => self.set_led(index, on),
+            Mutation::SetAllLeds { on } => self.set_all_leds(on),
+        }
+
+        for (led, &on) in self.douts.iter().zip(self.led_on.iter()) {
+            led.set(on);
+        }
+
+        Ok(())
+    }
+
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
+        self.namespace.namespace.clone()
+    }
+}

machines/src/wago_do_test_machine/mod.rs

@@ -0,0 +1,69 @@
+use std::time::Instant;
+
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use smol::channel::{Receiver, Sender};
+
+use crate::{
+    AsyncThreadMessage, Machine, MachineMessage, VENDOR_QITECH, WAGO_DO_TEST_MACHINE,
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
+    wago_do_test_machine::api::{StateEvent, WagoDOTestMachineEvents, WagoDOTestMachineNamespace},
+};
+
+pub mod act;
+pub mod api;
+pub mod new;
+
+#[derive(Debug)]
+pub struct WagoDOTestMachine {
+    pub api_receiver: Receiver<MachineMessage>,
+    pub api_sender: Sender<MachineMessage>,
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub main_sender: Option<Sender<AsyncThreadMessage>>,
+    pub namespace: WagoDOTestMachineNamespace,
+    pub last_state_emit: Instant,
+    pub led_on: [bool; 8],
+    pub douts: [DigitalOutput; 8],
+}
+
+impl Machine for WagoDOTestMachine {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
+impl WagoDOTestMachine {
+    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
+        vendor: VENDOR_QITECH,
+        machine: WAGO_DO_TEST_MACHINE,
+    };
+
+    pub fn get_state(&self) -> StateEvent {
+        StateEvent {
+            led_on: self.led_on,
+        }
+    }
+
+    pub fn emit_state(&mut self) {
+        let event = self.get_state().build();
+        self.namespace.emit(WagoDOTestMachineEvents::State(event));
+    }
+
+    /// Set the state of a specific digital output
+    pub fn set_led(&mut self, index: usize, on: bool) {
+        if index < self.led_on.len() {
+            self.led_on[index] = on;
+            self.emit_state();
+        }
+    }
+
+    /// Set all digital outputs at once
+    pub fn set_all_leds(&mut self, on: bool) {
+        self.led_on = [on; 8];
+        self.emit_state();
+    }
+}

machines/src/wago_do_test_machine/new.rs

@@ -0,0 +1,101 @@
+use crate::wago_do_test_machine::WagoDOTestMachine;
+use crate::wago_do_test_machine::api::WagoDOTestMachineNamespace;
+use smol::block_on;
+use std::time::Instant;
+
+use crate::{
+    MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
+};
+
+use anyhow::Error;
+use ethercat_hal::devices::wago_750_354::{WAGO_750_354_IDENTITY_A, Wago750_354};
+use ethercat_hal::devices::wago_modules::wago_750_530::{Wago750_530, Wago750_530Port};
+use ethercat_hal::devices::{EthercatDevice, downcast_device};
+use ethercat_hal::io::digital_output::DigitalOutput;
+use smol::lock::RwLock;
+use std::sync::Arc;
+
+impl MachineNewTrait for WagoDOTestMachine {
+    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
+        let device_identification = params
+            .device_group
+            .iter()
+            .map(|device_identification| device_identification.clone())
+            .collect::<Vec<_>>();
+        validate_same_machine_identification_unique(&device_identification)?;
+        validate_no_role_dublicates(&device_identification)?;
+
+        let hardware = match &params.hardware {
+            MachineNewHardware::Ethercat(x) => x,
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::MachineNewTrait/WagoDOTestMachine::new] MachineNewHardware is not Ethercat",
+                    module_path!()
+                ));
+            }
+        };
+
+        block_on(async {
+            let _wago_750_354 = get_ethercat_device::<Wago750_354>(
+                hardware,
+                params,
+                0,
+                [WAGO_750_354_IDENTITY_A].to_vec(),
+            )
+            .await?;
+
+            let modules = Wago750_354::initialize_modules(_wago_750_354.1).await?;
+            let mut coupler = _wago_750_354.0.write().await;
+
+            for module in modules {
+                coupler.set_module(module);
+            }
+
+            coupler.init_slot_modules(_wago_750_354.1);
+            let dev = coupler
+                .slot_devices
+                .get(0)
+                .ok_or_else(|| {
+                    anyhow::anyhow!(
+                        "[{}::MachineNewTrait/WagoDOTestMachine::new] Expected Wago 750-530 module in slot 0, but slot 0 is not configured",
+                        module_path!()
+                    )
+                })?
+                .clone()
+                .ok_or_else(|| {
+                    anyhow::anyhow!(
+                        "[{}::MachineNewTrait/WagoDOTestMachine::new] Expected Wago 750-530 module in slot 0, but slot 0 is empty or no device is present",
+                        module_path!()
+                    )
+                })?;
+            let wago750_530: Arc<RwLock<Wago750_530>> = downcast_device::<Wago750_530>(dev).await?;
+
+            let do1 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port1);
+            let do2 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port2);
+            let do3 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port3);
+            let do4 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port4);
+            let do5 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port5);
+            let do6 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port6);
+            let do7 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port7);
+            let do8 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port8);
+            drop(coupler);
+
+            let (sender, receiver) = smol::channel::unbounded();
+            let mut machine = Self {
+                api_receiver: receiver,
+                api_sender: sender,
+                machine_identification_unique: params.get_machine_identification_unique(),
+                namespace: WagoDOTestMachineNamespace {
+                    namespace: params.namespace.clone(),
+                },
+                last_state_emit: Instant::now(),
+                led_on: [false; 8],
+                main_sender: params.main_thread_channel.clone(),
+                douts: [do1, do2, do3, do4, do5, do6, do7, do8],
+            };
+            machine.emit_state();
+            Ok(machine)
+        })
+    }
+}

server/src/ethercat/setup.rs

@@ -12,12 +12,16 @@ use control_core::socketio::namespace::NamespaceCacheingLogic;
 use control_core::{irq_handling::set_irq_affinity, realtime::set_realtime_priority};
 use ethercat_hal::debugging::diagnosis_history::get_most_recent_diagnosis_message;
 use ethercat_hal::devices::devices_from_subdevices;
+
 use ethercat_hal::devices::wago_750_354::{
     WAGO_750_354_PRODUCT_ID, WAGO_750_354_VENDOR_ID, Wago750_354,
 };
+
 use ethercat_hal::devices::wago_modules::ip20_ec_di8_do8::{
     IP20_EC_DI8_DO8_PRODUCT_ID, IP20_EC_DI8_DO8_VENDOR_ID, IP20EcDi8Do8,
 };
+
+use ethercat_hal::helpers::set_mut_beckhoff_eeprom_lock_active;
 use ethercrab::error::Error;
 use ethercrab::subdevice_group::{DcConfiguration, HasDc, PreOpPdi, SafeOp};
 use smol::stream::StreamExt;
@@ -242,11 +246,11 @@ pub async fn setup_loop(
         pdu,
         Timeouts {
             // Default 5000ms
-            state_transition: Duration::from_millis(10000),
+            state_transition: Duration::from_millis(20000),
             // Default 30_000us
             pdu: Duration::from_micros(30_000),
             // Default 10ms
-            eeprom: Duration::from_millis(10),
+            eeprom: Duration::from_millis(100),
             // Default 0ms
             wait_loop_delay: Duration::from_millis(0),
             // Default 100ms
@@ -292,6 +296,11 @@ pub async fn setup_loop(
     };
 
     for mut subdevice in group_preop.iter_mut(&maindevice) {
+        // 0x2 vendor id is Beckhoff
+        if subdevice.identity().vendor_id == 0x2 {
+            let _res = set_mut_beckhoff_eeprom_lock_active(&subdevice).await;
+        }
+
         if subdevice.name() == "EL4002" {
             // Sync mode 01 = SM Synchronous, says it does dc but actually doesnt, thx?
             subdevice