Fixed merge issues

diameter.

.gitattributes

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

.github/ISSUE_TEMPLATE/bug_report.md

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

.github/ISSUE_TEMPLATE/feature_request.md

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

.github/workflows/electron.yml

@@ -3,73 +3,50 @@ name: Electron
 on:
   push:
     branches:
-      - master
+      - "**"
   pull_request:
     branches:
-      - master
-
-defaults:
-  run:
-    working-directory: electron
+      - "*"
 
 jobs:
-  build:
+  build-electron:
     runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: electron
 
     steps:
-      - &checkout
-        name: Checkout
-        uses: actions/checkout@v4
-
-      - &setup-node
-        name: Setup Node.js
+      - name: Setup Node.js
         uses: actions/setup-node@v4
         with:
-          node-version: 20
-          cache: "npm"
-          cache-dependency-path: |
-            electron/package-lock.json
+          node-version: "18" # or '20' for latest LTS
 
-      - &install
-        name: Install dependencies
-        run: npm ci
+      - uses: actions/checkout@v4
 
-      - name: Compile
-        run: tsc
+      - name: Cache NPM dependencies
+        uses: actions/cache@v3
+        with:
+          path: |
+            ~/.npm
+            node_modules/
+          key: ${{ runner.os }}-npm-${{ hashFiles('**/package-lock.json') }}
+          restore-keys: |
+            ${{ runner.os }}-npm-
+
+      - name: Install
+        run: npm i
 
       - name: Build
-        run: npm run build
-
-  test:
-    runs-on: ubuntu-latest
-    needs: build
-
-    steps:
-      - *checkout
-      - *setup-node
-      - *install
-
-      - name: Test
-        run: npm run test
-
-  format:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *setup-node
-      - *install
+        run: tsc
 
       - name: Format
         run: npm run format
 
-  lint:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *setup-node
-      - *install
-
       - name: Lint
         run: npm run lint
+
+      - name: Test
+        run: npm run test
+
+      - name: Package
+        run: npm run package

.github/workflows/nix.yml

@@ -1,96 +0,0 @@
-name: Nix CI
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-
-env:
-  NIX_PATH: nixpkgs=channel:nixos-25.05
-
-jobs:
-  electron:
-    runs-on: ubuntu-latest
-
-    steps:
-      - &checkout
-        name: Check out repository
-        uses: actions/checkout@v4
-
-      - &nix-install
-        uses: nixbuild/nix-quick-install-action@v34
-        with:
-          nix_conf: |
-            keep-env-derivations = true
-            keep-outputs = true
-
-      - uses: nix-community/cache-nix-action@v6
-        with:
-          primary-key: nix-electron-${{ runner.os }}-${{ hashFiles('**/*.nix', '**/flake.lock', './electron/package-lock.json') }}
-          restore-prefixes-first-match: nix-${{ runner.os }}-
-          purge: true
-          purge-prefixes: nix-electron-${{ runner.os }}-
-
-      - name: Build Electron in Nix
-        run: nix build ".#packages.x86_64-linux.electron"
-
-  rust:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *nix-install
-
-      - uses: nix-community/cache-nix-action@v6
-        with:
-          primary-key: nix-server-${{ runner.os }}-${{ hashFiles('**/*.nix', '**/flake.lock', './Cargo.lock') }}
-          restore-prefixes-first-match: nix-${{ runner.os }}-
-          purge: true
-          purge-prefixes: nix-server-${{ runner.os }}-
-
-      - name: Build Server in Nix
-        run: nix build ".#packages.x86_64-linux.server"
-
-  build:
-    runs-on: ubuntu-latest
-    needs: [electron, rust]
-
-    steps:
-      - *checkout
-      - *nix-install
-
-      - name: Use both Electron and Server Nix Store
-        uses: nix-community/cache-nix-action@v6
-        with:
-          primary-key: nix-${{ runner.os }}-${{ hashFiles('**/*.nix', '**/flake.lock', './Cargo.lock', './electron/package-lock.json') }}
-
-          # if no hit on the primary key, merge individual caches
-          restore-prefixes-all-matches: |
-            nix-electron-${{ runner.os }}-
-            nix-server-${{ runner.os }}-
-
-      - name: Build Flake and System Configuration
-        run: nix build ".#nixosConfigurations.nixos.config.system.build.toplevel" --impure
-
-  format:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *nix-install
-
-      - name: Format
-        run: nix run 'nixpkgs#nixfmt-classic' $(find . nixos -name '*.nix')
-
-  check:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *nix-install
-
-      - name: Build Flake and Configuration.nix
-        run: nix flake check "." --impure

.github/workflows/rust.yml

@@ -3,10 +3,9 @@ name: Rust
 on:
   push:
     branches:
-      - master
+      - "**"
   pull_request:
-    branches:
-      - master
+    branches: "*"
 
 env:
   CARGO_TERM_COLOR: always
@@ -17,24 +16,14 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - &udev-install
-        name: Install libudev development package
+      - name: Install libudev development package
         run: sudo apt-get update && sudo apt-get install -y libudev-dev
-
-      - &checkout
-        uses: actions/checkout@v4
-
-      - &setup-rust
-        name: Install Rust toolchain
-        uses: actions-rs/toolchain@v1
-        with:
-          toolchain: ${{ env.RUST_VERSION }}
-          profile: minimal
-          override: true
-          components: rustfmt
-
-      - &cargo-cache
-        name: Cache Rust dependencies
+      - uses: actions/checkout@v4
+      - name: Set Rust version
+        run: rustup override set ${{ env.RUST_VERSION }}
+      - name: Install Formatter
+        run: rustup component add rustfmt
+      - name: Cache Rust dependencies
         uses: actions/cache@v3
         with:
           path: |
@@ -52,36 +41,8 @@ jobs:
           RUSTFLAGS: "-D warnings"
         run: cargo build --verbose
 
-  format:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *setup-rust
-
       - name: Format
         run: cargo fmt --check --verbose
 
-  test:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *udev-install
-      - *checkout
-      - *setup-rust
-      - *cargo-cache
-
       - name: Run tests
         run: cargo test --verbose
-
-  mock:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *udev-install
-      - *checkout
-      - *setup-rust
-      - *cargo-cache
-
-      - name: Mock Machine
-        run: cargo build --features "development-build,mock-machine"

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

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

.gitignore

@@ -4,8 +4,4 @@ dist/
 Cargo.lock
 dhat-heap.json
 build.sh
-shell.nix
-node_modules/
-runtime_metrics.csv
-compile_metrics.csv
-.idea/
+

CHANGELOG.md

@@ -1,51 +1,3 @@
-# `2.14.1`
-_26.01.2026_
-
-## Laser
--[#1079](https://github.com/qitechgmbh/control/pull/1079) Fixed Overflowing of buffer for Graphs causing crashes
-
-# `2.14.0`
-_22.01.2026_
-
-## General 
-- [#1040](https://github.com/qitechgmbh/control/pull/1040) Added API for reading Machine Data
-
-# `2.13.0`
-_07.01.2026_
-
-## General
-- [#925](https://github.com/qitechgmbh/control/pull/925) Switch to Setup when selected machine is disconnected
-- [#937](https://github.com/qitechgmbh/control/pull/937) Added minimal Support for WAGO 
-- [#945](https://github.com/qitechgmbh/control/pull/945) Improvements for On-Screen Keyboard usage in Ethercat Setup Page
-
-## Extruder V3
-- [#930](https://github.com/qitechgmbh/control/pull/930) Added Extruder V3
-
-## Laser
-- [#924](https://github.com/qitechgmbh/control/pull/924) Roundness is now displayed as a percentage
-- [#885](https://github.com/qitechgmbh/control/pull/885) Added Min and Max Diameter
-- [#849](https://github.com/qitechgmbh/control/pull/849) Added a Warning if Filament is out of Spec
-
-## Aquapath
-- [#976](https://github.com/qitechgmbh/control/pull/976) Improved Stability
-
-
-# `2.12.0`
-_17.11.2025_
-
-## General
-- [#847](https://github.com/qitechgmbh/control/pull/847) Improved discovery and initialization 
-- [#859](https://github.com/qitechgmbh/control/pull/859) Improved update speed
-- [#897](https://github.com/qitechgmbh/control/pull/897), [#899](https://github.com/qitechgmbh/control/pull/899), [#852](https://github.com/qitechgmbh/control/pull/852)  Improved system stability
-- [#817](https://github.com/qitechgmbh/control/pull/817) Added an update bar
-
-## Laser
-- [#857](https://github.com/qitechgmbh/control/pull/857) Fixed potential issues with 2 Axis Laser
-
-## Extruder V2
-- [#881](https://github.com/qitechgmbh/control/pull/881) Extended Temperature PID Configuration
-
-
 # `2.11.0`
 _21.10.2025_
 

Cargo.toml

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

README.md

@@ -2,67 +2,153 @@
 
 # QiTech Control
 
-QiTech Control is an open-source framework designed to bring modern software development practices to certified industrial hardware.
+QiTech Control is an industrial control panel software for the next generation of QiTech recycling machines built on top of Beckhoff Automation hardware.
 
-It frees developers from proprietary, license-heavy PLC ecosystems and rigid "point-and-click" workflows that are no longer adequate for today's complex automation challenges.
+[![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)
+*Click here to watch a video demo of our software.*
 
-QiTech Control combines the modularity and reliability of standard EtherCAT terminals (e.g., WAGO, Beckhoff) with the power of a modern Rust & React stack.
+[![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM) 
+*Click here to watch a full explainer Video of our Software.*
 
-## Documentation
+# Repo Structure
 
-**[View Full Documentation Wiki](https://github.com/qitechgmbh/control/wiki)**
+Frontend
 
-- [Getting Started](https://github.com/qitechgmbh/control/wiki/Getting-Started)
-- [Architecture Overview](https://github.com/qitechgmbh/control/wiki/Architecture-Overview)
-- [EtherCAT Basics](https://github.com/qitechgmbh/control/wiki/Ethercat-Basics)
-- [Device Examples](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)
-- [REST API Reference](https://github.com/qitechgmbh/control/wiki/Rest-Api)
+- `/electron`: Frontend code for the control software built with React and Electron.
 
-## Videos
+Backend
 
-| 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* |
+- `/server`: Glue between Beckhoff and Electron. Implements machine logic.
+- `/ethercat-hal`: Hardware abstraction layer for Beckhoff (and possibly other EtherCat) devices and protocols.
+- `/ethercat-hal-derive`: Macros for `ethercat-hal`
+- `/control-core`: Core control logic for the server.
 
-## Repository Structure
+Operating System
 
-- **`/electron`** - React + Electron frontend
-- **`/server`** - Rust backend implementing machine logic
-- **`/ethercat-hal`** - Hardware abstraction layer for EtherCAT devices
-- **`/control-core`** - Core control logic
-- **`/nixos`** - Custom Linux OS with realtime kernel
+- `/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
 
-## Technology Stack
+Other
 
-**Backend:** Rust with [Ethercrab](https://github.com/ethercrab-rs/ethercrab) for EtherCAT, [SocketIO](https://socket.io/) for real-time communication, [axum](https://docs.rs/axum/latest/axum/) for REST API
+- `/docs`: Documentation for the project.
 
-**Frontend:** [Electron](https://www.electronjs.org/) + [React](https://react.dev/) with [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) styling
+# Technology Choices
 
+## Backend
 
-## Hardware Examples
+To interface with Beckhoff and other EtherCAT devices we need an EtherCAT master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
 
-QiTech Control supports a wide range of EtherCAT hardware from WAGO and Beckhoff. We provide complete step-by-step tutorials with wiring diagrams and software configuration for many common modules.
+[SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.
 
-**[View all hardware examples and tutorials on the wiki](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)**
+We use [Smol](https://github.com/smol-rs/smol) for EtherCAT IO in the control loop for it's performance and [Tokio](https://tokio.rs/) for server IO because of it's ecosystem and maturity.
 
-Quick links to popular examples:
-- [EL2004 - LED Control](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El2004) (simplest setup for beginners)
-- [EL3021 - Analog Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El3021)
-- [EL7031 - Stepper Motor Control](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El7031-Motor)
-- [WAGO 750-402 - Digital Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-Wago750-402)
-- [WAGO 750-455 - Analog Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-Wago-750-455)
+## Frontend
 
-## QiTech Machines
+We could combine the code of the frontend and backend using [Doxius](https://dioxuslabs.com/) but it lacks good Linux support. We chose [Electron](https://www.electronjs.org/) with [React](https://react.dev/) for it's maturity and ecosystem. For the UI we use [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) for styling. For routing we use [TanStack Router](https://tanstack.com/router/v1).
 
-QiTech Control powers 10+ production machines for filament extrusion, winding, measurement, and material processing.
+# Dev Setup
 
-**[View complete machine catalog on the wiki](https://github.com/qitechgmbh/control/wiki/QiTech-Machines)**
+[Developer Documentation](./docs/developer-docs/)
 
+## Backend
 
-## Contributing
+- Rust stable 1.86^ toolchain (install via [rustup](https://rustup.rs/))
+- `rust-analyzer` extension for VSCode
+- Set your interface in `server/src/ethercat/init.rs` like `en10`
+- Connect a Beckhoff EK1100 to your interface
+- run `cd server && cargo run` to start the server (localhost:3001)
 
-This is an open-source project. Contributions are welcome! Please see the [wiki](https://github.com/qitechgmbh/control/wiki) for development guidelines.
+## Frontend
 
-## License
+- nodejs and npm installed
+- run `cd electron && npm i && npm run start` to start the frontend
 
-See [LICENSE](LICENSE) file for details.
+# Machines
+
+| Machine Type | Version | Release Date | Description                 | Change to Previous Version                             | Vendor ID                  | Machine ID | Implemented | Docs                            |
+| ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
+| Winder       | V1      | ???          | Winding Filaments & Similar | -                                                      | 1 (Qitech Industries GmbH) | 1          | Reserved    | -                               |
+| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | Yes         | [](./docs/machines/winder-1.md) |
+| Extruder     | V1      | ???          | Single Screw Extruder       | -                                                      | 1 (Qitech Industries GmbH) | 3          | Reserved    | -                               |
+| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Yes         |                                 |
+| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | In Progress     |                                 |
+| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Yes         |                                 |
+| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Yes         | -                               |
+
+# More Docs
+
+- [x] [Architecture & Data Flow](./docs/architecture-overview.md)
+
+  - [x] Example Winder V2
+
+- [ ] Electron
+
+  - Folder Structure
+  - Routing with TanStack Router
+  - Design with Tailwind & Shadcn
+  - ...
+
+- [ ] Interfacing with Electron/Server
+
+  - [ ] SocketIO
+    - Machine Namespace
+    - Main Namespace
+  - [ ] REST
+    - Machine Mutations
+    - Write Device Identification
+
+- Server
+
+  - [x] [Threading](./docs/control-loop.md)
+  - [x] [Logging](./docs/logging.md)
+  - [ ] Control Loop Setup
+    - Control Loop Thread
+      - [ ] realtime
+    - Maindevice
+    - Group
+    - Extracting Device Identifications
+    - Identifying Groups
+    - Validating Machines
+    - Run Control Loop
+  - [x] [Control Loop](./docs/control-loop.md)
+  - [x] [Machine/Device Identification](./docs/identification.md)
+  - [ ] Machines
+    - When to create a new Machine?
+      - Versioning
+      - Code sharing
+    - Creating/Validating a Machine
+      - Validation
+      - Configuration
+  - [ ] Machine Implementation Guide
+    - Link: How to create a Device
+    - Link: How to create an Actor
+    - Link: How to create a Machine
+      - API (SocketIO + REST)
+      - Creation/Validation Logic
+        - Optional/Mandatory Devices
+        - Validate Devices
+      - Business Logic
+    - Link: How to create Machine Abstraction (Like Traverse/Puller/...)
+    - Forward `act` in winder.
+
+- [ ] Control Core
+
+  - [x] [Actors](./docs/actors.md)
+  - [ ] SocketIO
+    - Namespaces & Caching
+    - Joining leaving namespaces
+    - NamespaceId
+    - Caching
+      - Serverside Caching
+      - Clientside Caching
+  - [ ] REST
+
+- [x] Ethercat HAL
+
+  - [x] [Devices](./docs/devices.md)
+  - [x] [Configuration (CoE)](./docs/coe.md)
+  - [x] [IO](./docs/io.md)
+  - [x] [PDO](./docs/pdo.md)
+
+- [x] [Ethercat Basics](./docs/ethercat-basics.md)
+
+- [x] [NixOS Operating System](./docs/nixos/README.md)

compile_metrics.sh

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

control-core/Cargo.toml

@@ -9,19 +9,21 @@ workspace = true
 [dependencies]
 anyhow = "1.0.100"
 
-axum = "0.8.8"
+axum = "0.8.6"
 
 ethercat_hal = { path = "../ethercat-hal" }
-units = { path = "../units" }
-ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
+ethercrab = "0.6"
 interfaces = "0.0.9"
 serde = "1.0.219"
+serde_json = "1.0.143"
 serialport = "4.7.3"
 smol = "2.0.2"
 socketioxide = "0.17.2"
+uom = { version = "0.36.0", default-features = false, features = ["f64"] }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
-tracing = "0.1.44"
+serial = "0.4.0"
+tracing = "0.1.41"
 erased-serde = "0.4.8"
 core_affinity = "0.8.3"
 control_core_derive = { version = "0.1.0", path = "../control-core-derive" }

control-core/src/controllers/deadtime_pi_controller.rs

@@ -0,0 +1,124 @@
+use std::time::{Duration, Instant};
+
+#[derive(Debug)]
+pub struct TimeAgnosticDeadTimePiController {
+    // Params
+    /// Proportional gain
+    kp: f64,
+    /// Integral gain
+    ki: f64,
+    // State
+    /// Proportional error
+    ep: f64,
+    /// Integral error
+    ei: f64,
+    /// Dead Time
+    dead: Duration,
+
+    last: Option<Instant>,
+}
+
+impl TimeAgnosticDeadTimePiController {
+    pub fn new(kp: f64, ki: f64, dead: Duration) -> Self {
+        Self {
+            kp,
+            ki,
+            dead,
+            ep: 0.0,
+            ei: 0.0,
+            last: None,
+        }
+    }
+
+    pub fn configure(&mut self, kp: f64, ki: f64) {
+        self.reset();
+        self.kp = kp;
+        self.ki = ki;
+    }
+
+    pub fn get_kp(&self) -> f64 {
+        self.kp
+    }
+
+    pub fn get_ki(&self) -> f64 {
+        self.ki
+    }
+
+    pub fn get_dead(&self) -> Duration {
+        self.dead
+    }
+
+    pub fn set_kp(&mut self, kp: f64) {
+        self.kp = kp;
+    }
+
+    pub fn set_ki(&mut self, ki: f64) {
+        self.ki = ki;
+    }
+
+    pub fn set_dead(&mut self, dead: Duration) {
+        self.dead = dead;
+    }
+
+    pub fn optional_clamp(value: f64, min: Option<f64>, max: Option<f64>) -> f64 {
+        match (min, max) {
+            (Some(min), Some(max)) => value.clamp(min, max),
+            (Some(min), None) => value.max(min),
+            (None, Some(max)) => value.min(max),
+            (None, None) => value,
+        }
+    }
+
+    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
+        let kp = self.kp / 10000.0;
+        let ki = self.ki / 10000.0;
+        let signal = match self.last {
+            // First update
+            None => {
+                let ep = error;
+
+                // Initialize integral error
+                self.ei = 0.0;
+
+                // Proportional + Integral
+                let signal = kp * ep + ki * self.ei;
+
+                // Save state
+                self.ep = ep;
+                self.last = Some(t);
+
+                -signal
+            }
+            // Subsequent updates
+            Some(last) => {
+                // Calculate elapsed time
+                let dt = t.duration_since(last).as_secs_f64();
+
+                // Dead-time scaling factor
+                let dead_secs = self.dead.as_secs_f64();
+                let scale = (dt / dead_secs).min(1.0);
+
+                // Smoothed proportional error
+                let ep = self.ep + (error - self.ep) * scale;
+
+                // Integrate error over time
+                self.ei += error * dt;
+
+                // Proportional + Integral
+                let signal = kp * ep + ki * self.ei;
+
+                // Save state
+                self.ep = ep;
+                self.last = Some(t);
+
+                -signal
+            }
+        };
+        -signal
+    }
+
+    pub fn reset(&mut self) {
+        self.ep = 0.0;
+        //self.last = None;
+    }
+}

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

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

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

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

control-core/src/controllers/mod.rs

@@ -1,4 +1,5 @@
 pub mod clamping_timeagnostic_pid;
+pub mod deadtime_pi_controller;
 pub mod first_degree_motion;
 pub mod pid;
 pub mod second_degree_motion;

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

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

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

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

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

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

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

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

control-core/src/converters/angle_converter.rs

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

control-core/src/converters/angular_step_converter.rs

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

control-core/src/converters/circular_converter.rs

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

control-core/src/converters/linear_step_converter.rs

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

control-core/src/ethercat/eeprom_identification.rs

@@ -1,144 +1,3 @@
-use std::fmt::Display;
-
-use ethercat_hal::devices::wago_750_354::WAGO_750_354_IDENTITY_A;
-use ethercat_hal::devices::wago_modules::ip20_ec_di8_do8::IP20_EC_DI8_DO8_IDENTITY;
-use serde::Deserialize;
-use serde::Serialize;
-
-/// Identifies a spacifi machine
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
-pub struct MachineIdentificationUnique {
-    pub machine_identification: MachineIdentification,
-    pub serial: u16,
-}
-
-impl MachineIdentificationUnique {
-    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
-        self.machine_identification.is_valid() && self.serial != 0
-    }
-}
-
-impl Display for MachineIdentificationUnique {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        write!(
-            f,
-            "{}/{}/{}",
-            self.machine_identification.vendor, self.machine_identification.machine, self.serial
-        )
-    }
-}
-
-/// Identifies a machine
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
-pub struct MachineIdentification {
-    pub vendor: u16,
-    pub machine: u16,
-}
-
-impl MachineIdentification {
-    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
-        self.vendor != 0 && self.machine != 0
-    }
-
-    pub fn vendor_str(&self) -> String {
-        match self.vendor {
-            x if x == VENDOR_QITECH => "QiTech".to_string(),
-            _ => "N/A".to_string(),
-        }
-    }
-
-    pub fn slug(&self) -> String {
-        match self.machine {
-            x if x == MACHINE_WINDER_V1 => "winder_v1".to_string(),
-            x if x == MACHINE_EXTRUDER_V1 => "extruder_v1".to_string(),
-            x if x == MACHINE_LASER_V1 => "laser_v1".to_string(),
-            x if x == MACHINE_MOCK => "mock".to_string(),
-            x if x == MACHINE_AQUAPATH_V1 => "aquapath_v1".to_string(),
-            x if x == MACHINE_BUFFER_V1 => "buffer_v1".to_string(),
-            x if x == MACHINE_EXTRUDER_V2 => "extruder_v2".to_string(),
-            x if x == MACHINE_WAGO_POWER_V1 => "wago_power_v1".to_string(),
-            x if x == TEST_MACHINE => "test_machine".to_string(),
-            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(),
-            _ => unreachable!("Unknown machine id"),
-        }
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceMachineIdentification {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub role: u16,
-}
-
-impl DeviceMachineIdentification {
-    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
-        self.machine_identification_unique.is_valid()
-            && self
-                .machine_identification_unique
-                .machine_identification
-                .machine
-                != 0
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceIdentification {
-    pub device_machine_identification: Option<DeviceMachineIdentification>,
-    pub device_hardware_identification: DeviceHardwareIdentification,
-}
-
-impl From<DeviceIdentificationIdentified> for DeviceIdentification {
-    fn from(value: DeviceIdentificationIdentified) -> Self {
-        Self {
-            device_machine_identification: Some(value.device_machine_identification),
-            device_hardware_identification: value.device_hardware_identification,
-        }
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceIdentificationIdentified {
-    pub device_machine_identification: DeviceMachineIdentification,
-    pub device_hardware_identification: DeviceHardwareIdentification,
-}
-
-impl TryFrom<DeviceIdentification> for DeviceIdentificationIdentified {
-    type Error = anyhow::Error;
-
-    fn try_from(value: DeviceIdentification) -> Result<Self, Self::Error> {
-        let device_machine_identification =
-            value.device_machine_identification.ok_or(anyhow::anyhow!(
-                "[{}::DeviceIdentificationIdentified::try_from] No device machine identification",
-                module_path!()
-            ))?;
-
-        Ok(Self {
-            device_machine_identification,
-            device_hardware_identification: value.device_hardware_identification,
-        })
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub enum DeviceHardwareIdentification {
-    Ethercat(DeviceHardwareIdentificationEthercat),
-    Serial(DeviceHardwareIdentificationSerial),
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceHardwareIdentificationEthercat {
-    pub subdevice_index: usize,
-}
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceHardwareIdentificationSerial {
-    pub path: String,
-}
-
 use anyhow::Error;
 use anyhow::anyhow;
 use ethercat_hal::devices::ek1100::EK1100_IDENTITY_A;
@@ -174,19 +33,9 @@ use ethercat_hal::helpers::ethercrab_types::{
 use ethercrab::MainDevice;
 use ethercrab::SubDeviceIdentity;
 
-use crate::ANALOG_INPUT_TEST_MACHINE;
-use crate::IP20_TEST_MACHINE;
-use crate::MACHINE_AQUAPATH_V1;
-use crate::MACHINE_BUFFER_V1;
-use crate::MACHINE_EXTRUDER_V1;
-use crate::MACHINE_EXTRUDER_V2;
-use crate::MACHINE_LASER_V1;
-use crate::MACHINE_MOCK;
-use crate::MACHINE_WAGO_POWER_V1;
-use crate::MACHINE_WINDER_V1;
-use crate::TEST_MACHINE;
-use crate::VENDOR_QITECH;
-use crate::WAGO_AI_TEST_MACHINE;
+use crate::machines::identification::DeviceMachineIdentification;
+use crate::machines::identification::MachineIdentification;
+use crate::machines::identification::MachineIdentificationUnique;
 
 #[derive(Debug)]
 pub struct MachineIdentificationAddresses {
@@ -246,7 +95,7 @@ pub async fn machine_device_identification<'maindevice>(
     let addresses = match get_identification_addresses(&subdevice.identity(), subdevice.name()) {
         Ok(x) => x,
         Err(e) => {
-            // u16dump(subdevice, maindevice, 0, 128).await?;
+            u16dump(subdevice, maindevice, 0, 128).await?;
             return Err(e);
         }
     };
@@ -386,8 +235,6 @@ pub fn get_identification_addresses(
     let identity_tuple = subdevice_identity_to_tuple(subdevice_identity);
 
     Ok(match identity_tuple {
-        WAGO_750_354_IDENTITY_A => MachineIdentificationAddresses::default(),
-        IP20_EC_DI8_DO8_IDENTITY => MachineIdentificationAddresses::default(),
         EK1100_IDENTITY_A => MachineIdentificationAddresses::default(),
         EL1002_IDENTITY_A => MachineIdentificationAddresses::default(),
         EL1008_IDENTITY_A => MachineIdentificationAddresses::default(),
@@ -426,7 +273,61 @@ pub fn get_identification_addresses(
     })
 }
 
+async fn u16dump<'maindevice>(
+    subdevice: &'maindevice EthercrabSubDevicePreoperational<'maindevice>,
+    maindevice: &MainDevice<'maindevice>,
+    start_byte: u16,
+    end_byte: u16,
+) -> Result<(), Error> {
+    let mut words: Vec<u16> = Vec::new();
+    for word in start_byte..end_byte {
+        words.push(subdevice.eeprom_read(maindevice, word).await?);
+    }
+
+    println!(
+        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}",
+        subdevice.name(),
+        start_byte / 2,
+        end_byte / 2
+    );
+
+    u16print(start_byte, end_byte, words);
+
+    Ok(())
+}
+
+fn u16print(start_byte: u16, end_byte: u16, data: Vec<u16>) {
+    let table_start_word = start_byte & 0xfff0;
+    let table_end_word = (end_byte & 0xfff0_u16) + 0x10_u16;
+
+    let rows = (table_end_word - table_start_word) >> 4;
+
+    for row in 0..rows {
+        print!("0x{:04x} | ", (table_start_word + row * 0x10) / 2);
+        for word in 0..8 {
+            let word_address = row * 8 + word;
+            if word_address < start_byte {
+                print!("     ");
+            } else {
+                let i = (word_address - start_byte) as usize;
+                if i > data.len() - 1 {
+                    print!("     ");
+                } else {
+                    print!("{:04x} ", data[i]);
+                }
+            }
+        }
+        println!();
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;
+
+    #[test]
+    fn test_hexprint() {
+        let data = vec![0x0000, 0x1ced];
+        u16print(0x01, 0x40, data);
+    }
 }

control-core/src/ethercat/interface_discovery.rs

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

control-core/src/ethercat/mod.rs

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

control-core/src/ethernet/mod.rs

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

control-core/src/ethernet/modbus_tcp_discovery.rs

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

control-core/src/futures.rs

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

control-core/src/lib.rs

@@ -2,15 +2,19 @@ pub mod controllers;
 pub mod converters;
 pub mod downcast;
 pub mod ethercat;
-pub mod ethernet;
-pub mod futures;
 pub mod helpers;
 pub mod irq_handling;
+pub mod machines;
 pub mod modbus;
 pub mod realtime;
+pub mod rest;
 pub mod serial;
 pub mod socketio;
 pub mod transmission;
+pub mod uom_extensions;
 
 #[cfg(feature = "video-streaming")]
 pub mod video_streaming;
+
+#[macro_use]
+extern crate uom;

control-core/src/machines/api.rs

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

control-core/src/machines/connection.rs

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

control-core/src/machines/identification.rs

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

control-core/src/machines/manager.rs

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

control-core/src/machines/manager_iter.rs

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

control-core/src/machines/mod.rs

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

control-core/src/machines/new.rs

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

control-core/src/machines/registry.rs

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

control-core/src/modbus/mod.rs

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

control-core/src/modbus/tcp.rs

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

control-core/src/rest/mod.rs

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

control-core/src/rest/mutation.rs

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

control-core/src/serial/mod.rs

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

control-core/src/serial/registry.rs

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

control-core/src/socketio/mod.rs

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

control-core/src/socketio/namespace.rs

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

control-core/src/socketio/namespace_id.rs

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

control-core/src/transmission/mod.rs

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

control-core/src/uom_extensions/acceleration.rs

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

control-core/src/uom_extensions/angular_acceleration.rs

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

control-core/src/uom_extensions/angular_jerk.rs

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

control-core/src/uom_extensions/jerk.rs

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

control-core/src/uom_extensions/mod.rs

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

control-core/src/uom_extensions/velocity.rs

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