added restart with backend debug

.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/PULL_REQUEST_TEMPLATE.md

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

.github/workflows/electron.yml

@@ -3,76 +3,50 @@ name: Electron
 on:
   push:
     branches:
-      - master
+      - "**"
   pull_request:
     branches:
-      - master
-
-permissions:
-  contents: read
-
-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/issue-status-check.yml

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

.github/workflows/nix.yml

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

.github/workflows/rust.yml

@@ -3,41 +3,27 @@ name: Rust
 on:
   push:
     branches:
-      - master
+      - "**"
   pull_request:
-    branches:
-      - master
+    branches: "*"
 
 env:
   CARGO_TERM_COLOR: always
   RUST_VERSION: "1.86"
 
-permissions:
-  contents: read
-
 jobs:
   build:
     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: |
@@ -55,36 +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

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

.vscode/settings.json

@@ -1,6 +1,5 @@
 {
     "typescript.inlayHints.enumMemberValues.enabled": false,
-    "git.detectSubmodules": true,
-    "git.detectSubmodulesLimit": 10,
-    "rust-analyzer.check.command": "clippy",
+     "git.detectSubmodules": true,
+     "git.detectSubmodulesLimit": 10,
 }

CHANGELOG.md

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

Cargo.toml

@@ -4,27 +4,7 @@ members = [
     "ethercat-hal",
     "ethercat-hal-derive",
     "control-core",
-    "machines",
-    #"ethercat-eeprom-dump",
-    "control-core-derive",
-    "units",
-    "utils",
+    "ethercat-eeprom-dump", "control-core-derive",
 ]
 exclude = []
 resolver = "2"
-
-[workspace.lints.clippy]
-# Individual lints (priority 0)
-
-# don't lint poissbilities for let chains because they were introduces after Rust 1.86
-collapsible_if = "allow"
-
-# Lint groups (priority -1)
-correctness = { level = "warn", priority = -1 }
-suspicious = { level = "warn", priority = -1 }
-complexity = { level = "warn", priority = -1 }
-perf = { level = "warn", priority = -1 }
-style = { level = "warn", priority = -1 }
-pendantic = { level = "warn", priority = -1 }
-cargo = { level = "warn", priority = -1 }
-nursery = { level = "warn", priority = -1 }

README.md

@@ -2,76 +2,150 @@
 
 # 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.
+# Repo Structure
 
-## Documentation
+Frontend
 
-**[View Full Documentation Wiki](https://github.com/qitechgmbh/control/wiki)**
+- `/electron`: Frontend code for the control software built with React and Electron.
 
-- [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)
+Backend
 
-## Videos
+- `/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.
 
-| Software Demo | Full Explainer |
-|---------------|----------------|
-| [![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)<br/>*Watch a demo of the control software in action* | [![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM)<br/>*Watch a complete overview of QiTech Control* |
+Operating System
 
-## Repository Structure
+- `/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
 
-- **`/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
+Other
 
-## Technology Stack
+- `/docs`: Documentation for the project.
 
-**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
+# Technology Choices
 
-**Frontend:** [Electron](https://www.electronjs.org/) + [React](https://react.dev/) with [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) styling
+## Backend
 
+To interface with Beckhoff and other EtherCAT devices we need an EtherCAY master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
 
-## Hardware Examples
+[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.
 
-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.
+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.
 
-**[View all hardware examples and tutorials on the wiki](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)**
+## Frontend
 
-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)
+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 Machines
+# Dev Setup
 
-QiTech Control powers 10+ production machines for filament extrusion, winding, measurement, and material processing.
+[Developer Documentation](./docs/developer-docs/)
 
-**[View complete machine catalog on the wiki](https://github.com/qitechgmbh/control/wiki/QiTech-Machines)**
+## Backend
 
+- 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)
 
-## Contributing
+## Frontend
 
-This is an open-source project. Contributions are welcome! Please see the [wiki](https://github.com/qitechgmbh/control/wiki) for development guidelines.
+- nodejs and npm installed
+- run `cd electron && npm i && npm run start` to start the frontend
 
+# Machines
 
+| Machine Type | Version | Release Date | Description                 | Change to Previous Version                             | Vendor ID                  | Machine ID | Implemented | Docs                            |
+| ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
+| Winder       | V1      | ???          | Winding Filaments & Similar | -                                                      | 1 (Qitech Industries GmbH) | 1          | Reserved    | -                               |
+| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | In Progress | [](./docs/machines/winder-1.md) |
+| Extruder     | V1      | ???          | Single Screw Extruder       | -                                                      | 1 (Qitech Industries GmbH) | 3          | Reserved    | -                               |
+| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Not Yet     |                                 |
+| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | Not Yet     |                                 |
+| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Not Yet     |                                 |
+| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Not Yet     | -                               |
 
-## Additional Videos
+# More Docs
 
-| Episode Highlights |  |
-|--------------------|--------------------|
-| [![](https://img.youtube.com/vi/U2wNN6sF4to/maxresdefault.jpg)](https://www.youtube.com/watch?v=U2wNN6sF4to&t=163s)<br/>**Day in the Software Team**<br/>*Behind the scenes with Robin and how the team ships control software.* | [![](https://img.youtube.com/vi/R5WGAY3WRWA/maxresdefault.jpg)](https://www.youtube.com/watch?v=R5WGAY3WRWA&t=1s)<br/>**Software Stack Day**<br/>*A fast tour through the tools, stack, and daily workflow.* |
-| [![](https://img.youtube.com/vi/xyaHwxXguw4/maxresdefault.jpg)](https://www.youtube.com/watch?v=xyaHwxXguw4&t=32s)<br/>**First Client**<br/>*A milestone week building the first real client project.* | [![](https://img.youtube.com/vi/moI7z2PVdF4/maxresdefault.jpg)](https://www.youtube.com/watch?v=moI7z2PVdF4)<br/>**Steelworks Week**<br/>*A deep-dive week on a demanding steelworks order.* |
+- [x] [Architecture & Data Flow](./docs/architecture-overview.md)
 
-## License
+  - [x] Example Winder V2
 
-See [LICENSE](LICENSE) file for details.
+- [ ] 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)

cargo_run_linux.sh

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

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"

compile_nix_pkgs.sh

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

control-core-derive/Cargo.toml

@@ -3,13 +3,10 @@ name = "control_core_derive"
 version = "0.1.0"
 edition = "2024"
 
-[lints]
-workspace = true
-
 [lib]
 proc-macro = true
 
 [dependencies]
 proc-macro2 = "1.0"
 quote = "1.0"
-syn = { version = "2.0", features = ["full"] }
+syn = { version = "2.0", features = ["full"] }

control-core-derive/src/lib.rs

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

control-core/Cargo.toml

@@ -3,43 +3,30 @@ name = "control_core"
 version = "0.1.0"
 edition = "2024"
 
-[lints]
-workspace = true
-
 [dependencies]
-anyhow = "1.0.100"
-
-axum = "0.8.8"
-
+anyhow = "1.0.99"
+axum = "0.8.4"
 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 = "0.36.0"
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
-tracing = "0.1.44"
-erased-serde = "0.4.8"
+serial = "0.4.0"
+tracing = "0.1.41"
+erased-serde = "0.4.6"
 core_affinity = "0.8.3"
 control_core_derive = { version = "0.1.0", path = "../control-core-derive" }
-tokio = { version = "1.45.1", features = ["sync"], optional = true }
 
 
 [target.'cfg(unix)'.dependencies]
-libc = "0.2.176"
+libc = "0.2.175"
 
 [dev-dependencies]
 approx = "0.5.1"
 textplots = "0.8"
-tokio = { version = "1.45.1", features = ["rt-multi-thread", "macros", "time"] }
-
-
-[features]
-default = []
-video-streaming = ["dep:tokio"]
-
-[package.metadata.cargo-machete]
-ignored =  ["axum","bitvec","control_core_derive"]

control-core/src/controllers/clamping_timeagnostic_pid.rs

@@ -33,7 +33,7 @@ pub struct ClampingTimeagnosticPidController {
 }
 
 impl ClampingTimeagnosticPidController {
-    pub const fn new(
+    pub fn new(
         kp: f64,
         ki: f64,
         kd: f64,
@@ -65,7 +65,7 @@ impl ClampingTimeagnosticPidController {
         }
     }
 
-    pub const fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
+    pub fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
         Self {
             kp,
             ki,
@@ -85,26 +85,26 @@ impl ClampingTimeagnosticPidController {
         }
     }
 
-    pub const fn get_kp(&self) -> f64 {
+    pub fn get_kp(&self) -> f64 {
         self.kp
     }
 
-    pub const fn get_ki(&self) -> f64 {
+    pub fn get_ki(&self) -> f64 {
         self.ki
     }
 
-    pub const fn get_kd(&self) -> f64 {
+    pub fn get_kd(&self) -> f64 {
         self.kd
     }
 
-    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
+    pub fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
         self.reset();
         self.kp = kp;
         self.ki = ki;
         self.kd = kd;
     }
 
-    pub const fn optional_clamp(value: f64, min: Option<f64>, max: Option<f64>) -> f64 {
+    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),
@@ -114,7 +114,7 @@ impl ClampingTimeagnosticPidController {
     }
 
     pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        match self.last {
+        let signal = match self.last {
             // First update
             None => {
                 // Calculate error
@@ -122,10 +122,15 @@ impl ClampingTimeagnosticPidController {
 
                 // Calculate signal
                 let signal = self.kp * ep;
-                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);
+                let clamped_signal = ClampingTimeagnosticPidController::optional_clamp(
+                    signal,
+                    self.min_signal,
+                    self.max_signal,
+                );
 
                 // Set values
-                self.ep = Self::optional_clamp(ep, self.min_ep, self.max_ep);
+                self.ep =
+                    ClampingTimeagnosticPidController::optional_clamp(ep, self.min_ep, self.max_ep);
                 self.ei = 0.0;
                 self.ed = 0.0;
                 self.last = Some(t);
@@ -138,11 +143,23 @@ impl ClampingTimeagnosticPidController {
                 let dt = t.duration_since(last).as_secs_f64();
 
                 // Calculate errors
-                let ep = Self::optional_clamp(error, self.min_ep, self.max_ep);
+                let ep = ClampingTimeagnosticPidController::optional_clamp(
+                    error,
+                    self.min_ep,
+                    self.max_ep,
+                );
 
-                let ei = Self::optional_clamp(ep.mul_add(dt, self.ei), self.min_ei, self.max_ei);
+                let ei = ClampingTimeagnosticPidController::optional_clamp(
+                    self.ei + ep * dt,
+                    self.min_ei,
+                    self.max_ei,
+                );
 
-                let ed = Self::optional_clamp((ep - self.ep) / dt, self.min_ed, self.max_ed);
+                let ed = ClampingTimeagnosticPidController::optional_clamp(
+                    (ep - self.ep) / dt,
+                    self.min_ed,
+                    self.max_ed,
+                );
 
                 // Make factors timeagnostic
                 let kp = self.kp * dt;
@@ -150,8 +167,12 @@ impl ClampingTimeagnosticPidController {
                 let kd = self.kd * dt;
 
                 // Calculate signal
-                let signal = kd.mul_add(ed, kp.mul_add(ep, ki * ei));
-                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);
+                let signal = kp * ep + ki * ei + kd * ed;
+                let clamped_signal = ClampingTimeagnosticPidController::optional_clamp(
+                    signal,
+                    self.min_signal,
+                    self.max_signal,
+                );
 
                 // Set values
                 self.ep = ep;
@@ -161,10 +182,12 @@ impl ClampingTimeagnosticPidController {
 
                 clamped_signal
             }
-        }
+        };
+
+        signal
     }
 
-    pub const fn reset(&mut self) {
+    pub fn reset(&mut self) {
         self.ep = 0.0;
         self.ei = 0.0;
         self.ed = 0.0;

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

@@ -22,7 +22,7 @@ pub struct AccelerationSpeedController {
 }
 
 impl AccelerationSpeedController {
-    pub const fn new(
+    pub fn new(
         min_speed: Option<f64>,
         max_speed: Option<f64>,
         min_acceleration: f64,
@@ -98,16 +98,16 @@ impl AccelerationSpeedController {
         new_speed
     }
 
-    pub const fn reset(&mut self, initial_speed: f64) {
+    pub fn reset(&mut self, initial_speed: f64) {
         self.last_speed = initial_speed;
         self.last_t = None; // Reset the last update time
     }
 
-    pub const fn set_max_acceleration(&mut self, acceleration: f64) {
+    pub fn set_max_acceleration(&mut self, acceleration: f64) {
         self.max_acceleration = acceleration;
     }
 
-    const fn apply_speed_limits(&self, speed: f64) -> f64 {
+    fn apply_speed_limits(&self, speed: f64) -> f64 {
         let mut limited_speed = speed;
 
         if let Some(min) = self.min_speed {
@@ -121,23 +121,23 @@ impl AccelerationSpeedController {
         limited_speed
     }
 
-    pub const fn get_min_speed(&self) -> Option<f64> {
+    pub fn get_min_speed(&self) -> Option<f64> {
         self.min_speed
     }
 
-    pub const fn get_max_speed(&self) -> Option<f64> {
+    pub fn get_max_speed(&self) -> Option<f64> {
         self.max_speed
     }
 
-    pub const fn set_min_speed(&mut self, min_speed: Option<f64>) {
+    pub fn set_min_speed(&mut self, min_speed: Option<f64>) {
         self.min_speed = min_speed;
     }
 
-    pub const fn set_max_speed(&mut self, max_speed: Option<f64>) {
+    pub fn set_max_speed(&mut self, max_speed: Option<f64>) {
         self.max_speed = max_speed;
     }
 
-    pub const fn set_min_acceleration(&mut self, deceleration: f64) {
+    pub fn set_min_acceleration(&mut self, deceleration: f64) {
         self.min_acceleration = deceleration;
     }
 }

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},
@@ -53,7 +53,7 @@ impl AngularAccelerationSpeedController {
     pub fn update(&mut self, target_speed: AngularVelocity, t: Instant) -> AngularVelocity {
         let target_speed = target_speed.get::<radian_per_second>();
         let new_speed = self.controller.update(target_speed, t);
-        AngularVelocity::new::<radian_per_second>(new_speed)
+        return AngularVelocity::new::<radian_per_second>(new_speed);
     }
 
     pub fn reset(&mut self, initial_speed: AngularVelocity) {
@@ -73,13 +73,13 @@ impl AngularAccelerationSpeedController {
     pub fn get_min_speed(&self) -> Option<AngularVelocity> {
         self.controller
             .get_min_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|s| AngularVelocity::new::<radian_per_second>(s))
     }
 
     pub fn get_max_speed(&self) -> Option<AngularVelocity> {
         self.controller
             .get_max_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|s| AngularVelocity::new::<radian_per_second>(s))
     }
 
     pub fn set_min_speed(&mut self, min_speed: Option<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,
@@ -48,7 +48,7 @@ impl LinearAccelerationLimitingController {
     pub fn update(&mut self, target_speed: Velocity, t: Instant) -> Velocity {
         let target_speed = target_speed.get::<meter_per_second>();
         let new_speed = self.controller.update(target_speed, t);
-        Velocity::new::<meter_per_second>(new_speed)
+        return Velocity::new::<meter_per_second>(new_speed);
     }
     pub fn reset(&mut self, initial_speed: Velocity) {
         let initial_speed = initial_speed.get::<meter_per_second>();
@@ -65,12 +65,12 @@ impl LinearAccelerationLimitingController {
     pub fn get_min_speed(&self) -> Option<Velocity> {
         self.controller
             .get_min_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|s| Velocity::new::<meter_per_second>(s))
     }
     pub fn get_max_speed(&self) -> Option<Velocity> {
         self.controller
             .get_max_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|s| Velocity::new::<meter_per_second>(s))
     }
     pub fn set_min_speed(&mut self, min_speed: Option<Velocity>) {
         self.controller

control-core/src/controllers/pid.rs

@@ -21,7 +21,7 @@ pub struct PidController {
 }
 
 impl PidController {
-    pub const fn new(kp: f64, ki: f64, kd: f64) -> Self {
+    pub fn new(kp: f64, ki: f64, kd: f64) -> Self {
         Self {
             kp,
             ki,
@@ -33,27 +33,27 @@ impl PidController {
         }
     }
 
-    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
+    pub fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
         self.reset();
         self.kp = kp;
         self.ki = ki;
         self.kd = kd;
     }
 
-    pub const fn get_kp(&self) -> f64 {
+    pub fn get_kp(&self) -> f64 {
         self.kp
     }
 
-    pub const fn get_ki(&self) -> f64 {
+    pub fn get_ki(&self) -> f64 {
         self.ki
     }
 
-    pub const fn get_kd(&self) -> f64 {
+    pub fn get_kd(&self) -> f64 {
         self.kd
     }
 
     pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        match self.last {
+        let signal = match self.last {
             // First update
             None => {
                 // Calculate error
@@ -78,11 +78,11 @@ impl PidController {
 
                 // Calculate errors
                 let ep = error;
-                let ei = ep.mul_add(dt, self.ei);
+                let ei = self.ei + ep * dt;
                 let ed = (ep - self.ep) / dt;
 
                 // Calculate signal
-                let signal = self.kd.mul_add(ed, self.kp.mul_add(ep, self.ki * ei));
+                let signal = self.kp * ep + self.ki * ei + self.kd * ed;
 
                 // Set values
                 self.ep = ep;
@@ -92,10 +92,12 @@ impl PidController {
 
                 signal
             }
-        }
+        };
+
+        signal
     }
 
-    pub const fn reset(&mut self) {
+    pub fn reset(&mut self) {
         self.ep = 0.0;
         self.ei = 0.0;
         self.ed = 0.0;

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

@@ -3,7 +3,7 @@ use std::fmt;
 // Remove the anyhow::Ok import as it conflicts with std::result::Ok
 
 /// Errors that can occur when creating or using the motion controller
-#[derive(Debug, Clone, PartialEq, Eq)]
+#[derive(Debug, Clone, PartialEq)]
 pub enum MotionControllerError {
     InvalidSpeedLimits,
     InvalidAccelerationLimits,
@@ -14,25 +14,25 @@ pub enum MotionControllerError {
 impl fmt::Display for MotionControllerError {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         match self {
-            Self::InvalidSpeedLimits => {
+            MotionControllerError::InvalidSpeedLimits => {
                 write!(
                     f,
                     "Invalid speed limits: min_speed must be ≤ 0 and max_speed must be ≥ 0"
                 )
             }
-            Self::InvalidAccelerationLimits => {
+            MotionControllerError::InvalidAccelerationLimits => {
                 write!(
                     f,
                     "Invalid acceleration limits: min_acceleration must be < 0 and max_acceleration must be > 0"
                 )
             }
-            Self::InvalidPositionLimits => {
+            MotionControllerError::InvalidPositionLimits => {
                 write!(
                     f,
                     "Invalid position limits: min_position must be ≤ max_position"
                 )
             }
-            Self::ZeroDeceleration => {
+            MotionControllerError::ZeroDeceleration => {
                 write!(
                     f,
                     "Zero deceleration rate: cannot plan motion without deceleration capability"
@@ -148,7 +148,7 @@ struct MotionConstants {
 }
 
 /// Represents the current phase of motion
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+#[derive(Debug, Clone, Copy, PartialEq)]
 pub enum MotionPhase {
     Idle,
     IncreasingSpeed,
@@ -170,7 +170,7 @@ pub struct ControllerBuilder {
 
 impl ControllerBuilder {
     /// Create a new builder
-    pub const fn new() -> Self {
+    pub fn new() -> Self {
         Self {
             min_speed: None,
             max_speed: None,
@@ -184,36 +184,28 @@ impl ControllerBuilder {
     }
 
     /// Set speed limits (min_speed ≤ 0, max_speed ≥ 0)
-    pub const fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
+    pub fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
         self.min_speed = Some(min_speed);
         self.max_speed = Some(max_speed);
         self
     }
 
     /// Set acceleration limits (min_acceleration < 0, max_acceleration > 0)
-    pub const fn acceleration_limits(
-        mut self,
-        min_acceleration: f64,
-        max_acceleration: f64,
-    ) -> Self {
+    pub fn acceleration_limits(mut self, min_acceleration: f64, max_acceleration: f64) -> Self {
         self.min_acceleration = Some(min_acceleration);
         self.max_acceleration = Some(max_acceleration);
         self
     }
 
     /// Set position limits (optional)
-    pub const fn position_limits(
-        mut self,
-        min_position: Option<f64>,
-        max_position: Option<f64>,
-    ) -> Self {
+    pub fn position_limits(mut self, min_position: Option<f64>, max_position: Option<f64>) -> Self {
         self.min_position = min_position;
         self.max_position = max_position;
         self
     }
 
     /// Set tolerances for position and speed comparisons
-    pub const fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
+    pub fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
         self.position_tolerance = position_tolerance;
         self.speed_tolerance = speed_tolerance;
         self
@@ -330,7 +322,7 @@ impl AccelerationPositionController {
 
         let motion_constants = Self::calculate_motion_constants(&config);
 
-        Ok(Self {
+        Ok(AccelerationPositionController {
             config,
             current_position: 0.0,
             current_speed: 0.0,
@@ -374,19 +366,19 @@ impl AccelerationPositionController {
         }
 
         Self::new(
-            -speed,                     // min_speed
-            speed,                      // max_speed
-            -acceleration,              // min_acceleration
-            acceleration,               // max_acceleration
-            position.map(|p| -p.abs()), // min_position
-            position.map(|p| p.abs()),  // max_position
-            1e-6,                       // position_tolerance (default)
-            1e-6,                       // speed_tolerance (default)
+            -speed,               // min_speed
+            speed,                // max_speed
+            -acceleration,        // min_acceleration
+            acceleration,         // max_acceleration
+            position.map(|p| -p), // min_position
+            position.map(|p| p),  // max_position
+            1e-6,                 // position_tolerance (default)
+            1e-6,                 // speed_tolerance (default)
         )
     }
 
     /// Create a new builder for the controller
-    pub const fn builder() -> ControllerBuilder {
+    pub fn builder() -> ControllerBuilder {
         ControllerBuilder::new()
     }
 
@@ -572,10 +564,8 @@ impl AccelerationPositionController {
 
         // Calculate distance needed to reach cruise speed from current speed
         let speed_change_distance = if current_speed_in_direction < cruise_speed.abs() {
-            current_speed_in_direction.max(0.0).mul_add(
-                -current_speed_in_direction.max(0.0),
-                cruise_speed.abs().powi(2),
-            ) / (2.0 * acceleration_rate)
+            (cruise_speed.abs().powi(2) - current_speed_in_direction.max(0.0).powi(2))
+                / (2.0 * acceleration_rate)
         } else {
             0.0
         };
@@ -589,10 +579,8 @@ impl AccelerationPositionController {
             // Using corrected kinematic equation: v_peak² = v_current² + 2*a*d_total*a_accel*a_decel/(a_accel + a_decel)
             let accel_decel_factor =
                 (acceleration_rate * deceleration_rate) / (acceleration_rate + deceleration_rate);
-            let discriminant = current_speed_in_direction.max(0.0).mul_add(
-                current_speed_in_direction.max(0.0),
-                2.0 * abs_position_change * accel_decel_factor,
-            );
+            let discriminant = current_speed_in_direction.max(0.0).powi(2)
+                + 2.0 * abs_position_change * accel_decel_factor;
 
             if discriminant >= 0.0 {
                 self.peak_speed = discriminant.sqrt() * cruise_speed.signum();
@@ -646,7 +634,7 @@ impl AccelerationPositionController {
                 self.current_acceleration = self.config.max_acceleration * self.direction as f64;
 
                 // Update speed
-                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);
+                let new_speed = self.current_speed + self.current_acceleration * dt;
 
                 // Check if we've reached peak speed
                 if (self.direction > 0 && new_speed >= self.peak_speed)
@@ -677,7 +665,7 @@ impl AccelerationPositionController {
                 self.current_acceleration = self.config.min_acceleration * self.direction as f64;
 
                 // Update speed
-                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);
+                let new_speed = self.current_speed + self.current_acceleration * dt;
 
                 // Check if we've reached zero speed or target
                 if (self.current_speed > 0.0 && new_speed <= 0.0)
@@ -701,7 +689,7 @@ impl AccelerationPositionController {
         }
 
         // Update position based on current speed
-        let new_position = self.current_speed.mul_add(dt, self.current_position);
+        let new_position = self.current_position + self.current_speed * dt;
 
         // Check position limits and handle violations
         let mut position_limited = false;
@@ -754,7 +742,7 @@ impl AccelerationPositionController {
     ///
     /// Returns the current position of the controlled object.
     /// This value is updated with each call to `update()`.
-    pub const fn get_position(&self) -> f64 {
+    pub fn get_position(&self) -> f64 {
         self.current_position
     }
 
@@ -763,7 +751,7 @@ impl AccelerationPositionController {
     /// Returns the current speed (velocity) of the controlled object.
     /// Positive values indicate motion towards increasing position,
     /// negative values indicate motion towards decreasing position.
-    pub const fn get_speed(&self) -> f64 {
+    pub fn get_speed(&self) -> f64 {
         self.current_speed
     }
 
@@ -771,32 +759,32 @@ impl AccelerationPositionController {
     ///
     /// Returns the current acceleration of the controlled object.
     /// Positive values indicate increasing speed, negative values indicate decreasing speed.
-    pub const fn get_acceleration(&self) -> f64 {
+    pub fn get_acceleration(&self) -> f64 {
         self.current_acceleration
     }
 
     /// Get the target position
-    pub const fn get_target_position(&self) -> f64 {
+    pub fn get_target_position(&self) -> f64 {
         self.target_position
     }
 
     /// Get the current motion phase
-    pub const fn get_motion_phase(&self) -> MotionPhase {
+    pub fn get_motion_phase(&self) -> MotionPhase {
         self.motion_phase
     }
 
     /// Get the direction of motion
-    pub const fn get_direction(&self) -> i8 {
+    pub fn get_direction(&self) -> i8 {
         self.direction
     }
 
     /// Get the calculated peak speed for current motion
-    pub const fn get_peak_speed(&self) -> f64 {
+    pub fn get_peak_speed(&self) -> f64 {
         self.peak_speed
     }
 
     /// Get the position at which deceleration will begin
-    pub const fn get_deceleration_position(&self) -> f64 {
+    pub fn get_deceleration_position(&self) -> f64 {
         self.deceleration_position
     }
 
@@ -849,7 +837,7 @@ impl AccelerationPositionController {
     }
 
     /// Force the controller to stop at current position
-    pub const fn emergency_stop(&mut self) {
+    pub fn emergency_stop(&mut self) {
         self.target_position = self.current_position;
         self.current_speed = 0.0;
         self.current_acceleration = 0.0;
@@ -1018,32 +1006,32 @@ impl AccelerationPositionController {
     }
 
     /// Get the minimum speed limit
-    pub const fn get_min_speed(&self) -> f64 {
+    pub fn get_min_speed(&self) -> f64 {
         self.config.min_speed
     }
 
     /// Get the maximum speed limit
-    pub const fn get_max_speed(&self) -> f64 {
+    pub fn get_max_speed(&self) -> f64 {
         self.config.max_speed
     }
 
     /// Get the minimum acceleration limit
-    pub const fn get_min_acceleration(&self) -> f64 {
+    pub fn get_min_acceleration(&self) -> f64 {
         self.config.min_acceleration
     }
 
     /// Get the maximum acceleration limit
-    pub const fn get_max_acceleration(&self) -> f64 {
+    pub fn get_max_acceleration(&self) -> f64 {
         self.config.max_acceleration
     }
 
     /// Get the minimum position limit
-    pub const fn get_min_position(&self) -> Option<f64> {
+    pub fn get_min_position(&self) -> Option<f64> {
         self.config.min_position
     }
 
     /// Get the maximum position limit
-    pub const fn get_max_position(&self) -> Option<f64> {
+    pub fn get_max_position(&self) -> Option<f64> {
         self.config.max_position
     }
 
@@ -1080,17 +1068,17 @@ impl AccelerationPositionController {
     }
 
     /// Get the position tolerance
-    pub const fn get_position_tolerance(&self) -> f64 {
+    pub fn get_position_tolerance(&self) -> f64 {
         self.config.position_tolerance
     }
 
     /// Get the speed tolerance
-    pub const fn get_speed_tolerance(&self) -> f64 {
+    pub fn get_speed_tolerance(&self) -> f64 {
         self.config.speed_tolerance
     }
 
     /// Set tolerances for position and speed comparisons
-    pub const fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
+    pub fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
         self.config.position_tolerance = position_tolerance;
         self.config.speed_tolerance = speed_tolerance;
     }

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,
@@ -102,12 +102,16 @@ impl AngularAccelerationPositionController {
 
     /// Get the minimum angle position limit
     pub fn get_min_position(&self) -> Option<Angle> {
-        self.controller.get_min_position().map(Angle::new::<radian>)
+        self.controller
+            .get_min_position()
+            .map(|angle| Angle::new::<radian>(angle))
     }
 
     /// Get the maximum angle position limit
     pub fn get_max_position(&self) -> Option<Angle> {
-        self.controller.get_max_position().map(Angle::new::<radian>)
+        self.controller
+            .get_max_position()
+            .map(|angle| Angle::new::<radian>(angle))
     }
 
     /// Set the minimum angle position limit
@@ -199,8 +203,8 @@ 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);
@@ -236,7 +236,7 @@ impl AngularJerkSpeedController {
     pub fn get_min_speed(&self) -> Option<AngularVelocity> {
         self.controller
             .get_min_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
     }
 
     /// Get the maximum angular velocity limit
@@ -248,7 +248,7 @@ impl AngularJerkSpeedController {
     pub fn get_max_speed(&self) -> Option<AngularVelocity> {
         self.controller
             .get_max_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
     }
 
     /// Set the minimum angular velocity limit

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

@@ -88,7 +88,7 @@ impl JerkSpeedController {
         )
         .expect("Failed to create AccelerationPositionController");
 
-        Self { base_controller }
+        JerkSpeedController { base_controller }
     }
 
     /// Create a new speed controller with simple symmetric limits
@@ -183,7 +183,7 @@ impl JerkSpeedController {
     ///
     /// # Returns
     /// Current speed as a floating-point value
-    pub const fn get_speed(&self) -> f64 {
+    pub fn get_speed(&self) -> f64 {
         self.base_controller.get_position()
     }
 
@@ -193,7 +193,7 @@ impl JerkSpeedController {
     ///
     /// # Returns
     /// Current acceleration as a floating-point value
-    pub const fn get_acceleration(&self) -> f64 {
+    pub fn get_acceleration(&self) -> f64 {
         self.base_controller.get_speed()
     }
 
@@ -203,7 +203,7 @@ impl JerkSpeedController {
     ///
     /// # Returns
     /// Current jerk as a floating-point value
-    pub const fn get_jerk(&self) -> f64 {
+    pub fn get_jerk(&self) -> f64 {
         self.base_controller.get_acceleration()
     }
 
@@ -213,7 +213,7 @@ impl JerkSpeedController {
     ///
     /// # Returns
     /// Target speed as a floating-point value
-    pub const fn get_target_speed(&self) -> f64 {
+    pub fn get_target_speed(&self) -> f64 {
         self.base_controller.get_target_position()
     }
 
@@ -223,7 +223,7 @@ impl JerkSpeedController {
     ///
     /// # Returns
     /// Minimum speed limit as an Option<f64>, None if no limit is set
-    pub const fn get_min_speed(&self) -> Option<f64> {
+    pub fn get_min_speed(&self) -> Option<f64> {
         self.base_controller.get_min_position()
     }
 
@@ -233,7 +233,7 @@ impl JerkSpeedController {
     ///
     /// # Returns
     /// Maximum speed limit as an Option<f64>, None if no limit is set
-    pub const fn get_max_speed(&self) -> Option<f64> {
+    pub fn get_max_speed(&self) -> Option<f64> {
         self.base_controller.get_max_position()
     }
 

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)),
@@ -205,7 +205,9 @@ impl LinearAccelerationPositionController {
     /// # Returns
     /// Minimum position limit as an Option<Length>, None if no limit is set
     pub fn get_min_position(&self) -> Option<Length> {
-        self.controller.get_min_position().map(Length::new::<meter>)
+        self.controller
+            .get_min_position()
+            .map(|length| Length::new::<meter>(length))
     }
 
     /// Get the maximum position limit
@@ -215,7 +217,9 @@ impl LinearAccelerationPositionController {
     /// # Returns  
     /// Maximum position limit as an Option<Length>, None if no limit is set
     pub fn get_max_position(&self) -> Option<Length> {
-        self.controller.get_max_position().map(Length::new::<meter>)
+        self.controller
+            .get_max_position()
+            .map(|length| Length::new::<meter>(length))
     }
 
     /// Set the minimum position limit
@@ -375,7 +379,7 @@ 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,
@@ -195,14 +195,14 @@ impl LinearJerkSpeedController {
     pub fn get_min_speed(&self) -> Option<Velocity> {
         self.controller
             .get_min_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|speed| Velocity::new::<meter_per_second>(speed))
     }
 
     /// Get the maximum velocity limit
     pub fn get_max_speed(&self) -> Option<Velocity> {
         self.controller
             .get_max_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|speed| Velocity::new::<meter_per_second>(speed))
     }
 
     /// Set the minimum velocity limit

control-core/src/converters/angle_converter.rs

@@ -1,6 +1,8 @@
-use units::{angle::radian, f64::Angle};
+use std::f32::consts::PI;
 
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+use uom::si::angle::radian;
+
+#[derive(Debug, Clone, Copy, PartialEq)]
 pub struct AngleConverter {
     pub flip_x: bool, // true to flip X-axis (mirror horizontally)
     pub flip_y: bool, // true to flip Y-axis (mirror vertically)
@@ -9,7 +11,7 @@ pub struct AngleConverter {
 
 impl AngleConverter {
     /// Create a custom coordinate system
-    pub const fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
+    pub fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
         Self {
             flip_x,
             flip_y,
@@ -18,52 +20,52 @@ impl AngleConverter {
     }
 
     /// Standard mathematical coordinate system (CCW positive, 0° at positive X)
-    pub const fn mathematical() -> Self {
+    pub fn mathematical() -> Self {
         Self::new(false, false, false)
     }
 
     /// Screen/graphics coordinate system (CW positive, 0° at positive X, Y-flipped)
-    pub const fn screen() -> Self {
+    pub fn screen() -> Self {
         Self::new(false, true, false)
     }
 
     /// System where 0° points up, clockwise positive
-    pub const fn y_up_cw() -> Self {
+    pub fn y_up_cw() -> Self {
         Self::new(false, false, true)
     }
 
     /// System where 0° points down, counter-clockwise positive
-    pub const fn y_down_ccw() -> Self {
+    pub fn y_down_ccw() -> Self {
         Self::new(false, true, true)
     }
 
     /// System where 0° points left, clockwise positive
-    pub const fn x_left_cw() -> Self {
+    pub fn x_left_cw() -> Self {
         Self::new(true, false, false)
     }
 
     /// System where 0° points right, counter-clockwise positive (same as mathematical)
-    pub const fn x_right_ccw() -> Self {
+    pub fn x_right_ccw() -> Self {
         Self::mathematical()
     }
 
     /// System where 0° points up, counter-clockwise positive
-    pub const fn y_up_ccw() -> Self {
+    pub fn y_up_ccw() -> Self {
         Self::new(false, false, false)
     }
 
     /// System where 0° points down, clockwise positive
-    pub const fn y_down_cw() -> Self {
+    pub fn y_down_cw() -> Self {
         Self::new(false, true, false)
     }
 
     /// System where 0° points left, counter-clockwise positive
-    pub const fn x_left_ccw() -> Self {
+    pub fn x_left_ccw() -> Self {
         Self::new(true, false, true)
     }
 
     /// Convert angle from mathematical system to this system (f32)
-    pub fn degrees_encode(&self, math_angle_degrees: f64) -> f64 {
+    pub fn degrees_encode(&self, math_angle_degrees: f32) -> f32 {
         let normalized_input = self.normalize_angle(math_angle_degrees);
 
         let mut result = normalized_input;
@@ -73,7 +75,7 @@ impl AngleConverter {
             (false, false) => {}                      // No change
             (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
             (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result += 180.0,          // Both flips: 180° rotation
+            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
         }
 
         // Handle rotation direction
@@ -85,7 +87,7 @@ impl AngleConverter {
     }
 
     /// Convert angle from this system to mathematical system (f32)
-    pub fn degrees_decode(&self, system_angle_degrees: f64) -> f64 {
+    pub fn degrees_decode(&self, system_angle_degrees: f32) -> f32 {
         let normalized_input = self.normalize_angle(system_angle_degrees);
 
         let mut result = normalized_input;
@@ -100,24 +102,24 @@ impl AngleConverter {
             (false, false) => {}                      // No change
             (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
             (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
+            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
         }
 
         self.normalize_angle(result)
     }
 
     /// Convert angle in radians from mathematical system to this system (f32)
-    pub fn radians_encode(&self, math_angle_radians: f64) -> f64 {
-        let degrees = math_angle_radians.to_degrees();
+    pub fn radians_encode(&self, math_angle_radians: f32) -> f32 {
+        let degrees = math_angle_radians * 180.0 / PI;
         let converted_degrees = self.degrees_encode(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * PI / 180.0
     }
 
     /// Convert angle in radians from this system to mathematical system (f32)
-    pub fn radians_decode(&self, system_angle_radians: f64) -> f64 {
-        let degrees = system_angle_radians.to_degrees();
+    pub fn radians_decode(&self, system_angle_radians: f32) -> f32 {
+        let degrees = system_angle_radians * 180.0 / PI;
         let converted_degrees = self.degrees_decode(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * PI / 180.0
     }
 
     /// Convert angle from mathematical system to this system (f64)
@@ -131,7 +133,7 @@ impl AngleConverter {
             (false, false) => {}                      // No change
             (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
             (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result += 180.0,          // Both flips: 180° rotation
+            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
         }
 
         // Handle rotation direction
@@ -158,7 +160,7 @@ impl AngleConverter {
             (false, false) => {}                      // No change
             (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
             (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
+            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
         }
 
         self.normalize_angle_f64(result)
@@ -166,20 +168,20 @@ impl AngleConverter {
 
     /// Convert angle in radians from mathematical system to this system (f64)
     pub fn radians_encode_f64(&self, math_angle_radians: f64) -> f64 {
-        let degrees = math_angle_radians.to_degrees();
+        let degrees = math_angle_radians * 180.0 / std::f64::consts::PI;
         let converted_degrees = self.degrees_encode_f64(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * std::f64::consts::PI / 180.0
     }
 
     /// Convert angle in radians from this system to mathematical system (f64)
     pub fn radians_decode_f64(&self, system_angle_radians: f64) -> f64 {
-        let degrees = system_angle_radians.to_degrees();
+        let degrees = system_angle_radians * 180.0 / std::f64::consts::PI;
         let converted_degrees = self.degrees_decode_f64(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * std::f64::consts::PI / 180.0
     }
 
     /// Normalize angle to [0, 360) range (f32)
-    fn normalize_angle(&self, angle: f64) -> f64 {
+    fn normalize_angle(&self, angle: f32) -> f32 {
         let mut normalized = angle % 360.0;
         if normalized < 0.0 {
             normalized += 360.0;
@@ -203,23 +205,39 @@ pub struct AngleConverterUom {
 }
 
 impl AngleConverterUom {
-    pub const fn new(angle_converter: AngleConverter) -> Self {
+    pub fn new(angle_converter: AngleConverter) -> Self {
         Self { angle_converter }
     }
 
-    pub fn encode(&self, angle: Angle) -> Angle {
-        Angle::new::<radian>(self.angle_converter.radians_encode(angle.get::<radian>()))
+    pub fn encode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
+        uom::si::f32::Angle::new::<radian>(
+            self.angle_converter.radians_encode(angle.get::<radian>()),
+        )
     }
 
-    pub fn decode(&self, angle: Angle) -> Angle {
-        Angle::new::<radian>(self.angle_converter.radians_decode(angle.get::<radian>()))
+    pub fn decode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
+        uom::si::f32::Angle::new::<radian>(
+            self.angle_converter.radians_decode(angle.get::<radian>()),
+        )
+    }
+
+    pub fn encode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
+        uom::si::f64::Angle::new::<radian>(
+            self.angle_converter
+                .radians_encode_f64(angle.get::<radian>()),
+        )
+    }
+
+    pub fn decode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
+        uom::si::f64::Angle::new::<radian>(
+            self.angle_converter
+                .radians_decode_f64(angle.get::<radian>()),
+        )
     }
 }
 
 #[cfg(test)]
 mod tests {
-    use std::f32::consts::PI;
-
     use super::*;
 
     #[test]
@@ -279,8 +297,8 @@ mod tests {
         let converter = AngleConverter::screen();
 
         // Test radians_encode
-        let result = converter.radians_encode(PI as f64 / 2.0) as f64; // 90° in radians
-        let expected: f64 = 270.0f64 * PI as f64 / 180.0f64; // 270° in radians
+        let result = converter.radians_encode(PI / 2.0); // 90° in radians
+        let expected = 270.0 * PI / 180.0; // 270° in radians
         assert!((result - expected).abs() < 1e-6);
     }
 
@@ -288,10 +306,10 @@ mod tests {
     fn test_roundtrip_conversion() {
         let converter = AngleConverter::new(true, false, true); // X-flip + CW
 
-        let original = 75.0_f64;
+        let original = 75.0_f32;
         let converted = converter.degrees_encode(original);
         let roundtrip = converter.degrees_decode(converted);
 
-        assert!((original - roundtrip as f64).abs() < 1e-6);
+        assert!((original - roundtrip).abs() < 1e-6);
     }
 }

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,
@@ -18,7 +18,7 @@ pub struct AngularStepConverter {
 
 impl AngularStepConverter {
     /// Create a new converter with the specified steps per revolution
-    pub const fn new(steps_per_revolution: i16) -> Self {
+    pub fn new(steps_per_revolution: i16) -> Self {
         Self {
             steps_per_revolution,
         }
@@ -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},
@@ -60,7 +60,7 @@ impl LinearStepConverter {
     }
 
     /// Get the steps per revolution
-    pub const fn steps_per_revolution(&self) -> i16 {
+    pub fn steps_per_revolution(&self) -> i16 {
         self.angular_step_converter.steps_per_revolution
     }
 }
@@ -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/downcast.rs

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

control-core/src/ethercat/eeprom_identification.rs

@@ -1,146 +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(),
-            x if x == WAGO_DO_TEST_MACHINE => "wago_do_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;
@@ -162,7 +19,6 @@ use ethercat_hal::devices::el3062_0030::EL3062_0030_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_B;
 use ethercat_hal::devices::el4002::EL4002_IDENTITY_A;
-use ethercat_hal::devices::el5152::EL5152_IDENTITY_A;
 use ethercat_hal::devices::el6021::{
     EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D,
 };
@@ -176,20 +32,9 @@ 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::WAGO_DO_TEST_MACHINE;
+use crate::machines::identification::DeviceMachineIdentification;
+use crate::machines::identification::MachineIdentification;
+use crate::machines::identification::MachineIdentificationUnique;
 
 #[derive(Debug)]
 pub struct MachineIdentificationAddresses {
@@ -200,12 +45,7 @@ pub struct MachineIdentificationAddresses {
 }
 
 impl MachineIdentificationAddresses {
-    pub const fn new(
-        vendor_word: u16,
-        serial_word: u16,
-        machine_word: u16,
-        device_word: u16,
-    ) -> Self {
+    pub fn new(vendor_word: u16, serial_word: u16, machine_word: u16, device_word: u16) -> Self {
         Self {
             vendor_word,
             serial_word,
@@ -235,7 +75,7 @@ pub async fn read_device_identifications<'maindevice>(
 ) -> Vec<Result<DeviceMachineIdentification, Error>> {
     let mut result = Vec::new();
     for subdevice in subdevices.iter() {
-        let identification = machine_device_identification(subdevice, maindevice).await;
+        let identification = machine_device_identification(&subdevice, maindevice).await;
         result.push(identification);
     }
     result
@@ -249,7 +89,7 @@ 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);
         }
     };
@@ -382,39 +222,35 @@ pub async fn write_machine_device_identification<'maindevice, const MAX_PDI: usi
 
 /// Returns the EEPROM addresses for the machine device identification
 /// based on the subdevice's identity
-pub fn get_identification_addresses(
+pub fn get_identification_addresses<'maindevice>(
     subdevice_identity: &SubDeviceIdentity,
     subdevice_name: &str,
 ) -> Result<MachineIdentificationAddresses, Error> {
-    let identity_tuple = subdevice_identity_to_tuple(subdevice_identity);
+    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(),
         EL2002_IDENTITY_A | EL2002_IDENTITY_B => MachineIdentificationAddresses::default(),
         EL2004_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
         EL2008_IDENTITY_A | EL2008_IDENTITY_B => MachineIdentificationAddresses::default(),
+        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
         EL2521_IDENTITY_0000_A | EL2521_IDENTITY_0000_B | EL2521_IDENTITY_0024_A => {
             MachineIdentificationAddresses::default()
         }
         EL2522_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
         EL3021_IDENTITY_A => MachineIdentificationAddresses::default(),
         EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
         EL3062_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
         EL4002_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL5152_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C | EL6021_IDENTITY_D => {
-            MachineIdentificationAddresses::default()
-        }
         EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
         EL7031_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
         EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
-
+        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C | EL6021_IDENTITY_D => {
+            MachineIdentificationAddresses::default()
+        }
         _ => {
             // block_on(u16dump(&subdevice, maindevice, 0x00, 0xff))?;
             Err(anyhow!(
@@ -429,7 +265,61 @@ 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?);
+    }
+
+    print!(
+        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}\n",
+        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]);
+                }
+            }
+        }
+        print!("\n");
+    }
+}
+
 #[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::{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
@@ -11,46 +12,14 @@ const IFACE_DISCOVERY_MAX_PDU_DATA: usize = PduStorage::element_size(1100);
 const IFACE_DISCOVERY_MAX_FRAMES: usize = 16;
 const IFACE_DISCOVERY_MAX_PDI_LEN: usize = 128;
 
-/// Sets a network interface to unmanaged by NetworkManager.
-/// Returns true if the command succeeded.
-pub fn set_interface_managed(interface: &str, managed: bool) -> bool {
-    let managed_str = match managed {
-        true => "yes",
-        false => "no",
-    };
-    tracing::info!(
-        "set_interface_managed for {} managed was set to: {}",
-        interface,
-        managed_str
-    );
-    let status = Command::new("nmcli")
-        .args(["dev", "set", interface, "managed", managed_str])
-        .status();
-
-    matches!(status, Ok(s) if s.success())
-}
-
-/// Returns true if the given network interface is Ethernet.
-/// Prevents testing wlan,loopback and other non ethernet devices
-fn is_ethernet(interface: &str) -> std::io::Result<bool> {
-    #[cfg(target_os = "linux")]
-    {
-        let base_path = format!("/sys/class/net/{}", interface);
-        let type_path = std::path::Path::new(&base_path).join("type");
-        let iface_type = std::fs::read_to_string(&type_path)?.trim().to_string();
-        // 1 means Ethernet
-        let reports_as_ethernet = iface_type == "1";
-        // Double-check that it's not a wireless interface
-        let uevent_path = std::path::Path::new(&base_path).join("uevent");
-        let uevent = std::fs::read_to_string(&uevent_path).unwrap_or_default();
-        // If "DEVTYPE=wlan" appears, it's lying
-        let actually_wifi = uevent.contains("DEVTYPE=wlan");
-        return Ok(reports_as_ethernet && !actually_wifi);
-    }
-    #[cfg(not(target_os = "linux"))]
-    return Ok(true);
-}
-
+/// Finds an ethernet interface that is suitable for EtherCAT communication.
+///
+/// ```ignore
+/// match discover_ethercat_interface().await {
+///     Ok(interface) => println!("Found working interface: {}", interface),
+///     Err(_) => println!("No working interface found"),
+/// }
+/// ```
 pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
     tracing::info!("Discovering EtherCAT interface...");
 
@@ -68,17 +37,17 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
         } else {
             tracing::debug!("Suppressed panic in interface test: {}", panic_info);
         }
+        // Don't call the default hook, which would print the backtrace
     }));
 
     // Get eligible interfaces
     let mut interfaces = Interface::get_all()
-        .map_err(|e| anyhow::anyhow!("Failed to get network interfaces: {}", e))?
+        .or_else(|e| Err(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
@@ -87,39 +56,60 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
         })
         .collect::<Vec<_>>();
 
+    // Sort interfaces by name
     interfaces.sort_by(|a, b| a.name.cmp(&b.name));
-    let mut interface: Option<&str> = None;
 
-    for i in 0..interfaces.len() {
-        match test_interface(&interfaces[i].name) {
-            Ok(_) => {
-                // if interface found with ethercat Exit early, we expect only one interface with ethercat
-                interface = Some(&interfaces[i].name);
-                break;
-            }
-            Err(_) => (),
-        }
-    }
+    // Try all interfaces concurrently
+    let tasks = interfaces
+        .iter()
+        .map(|iface| {
+            let name = iface.name.clone();
+            std::thread::Builder::new()
+                .name(format!("ethercat-test-{}", name))
+                .spawn(move || {
+                    std::panic::catch_unwind(|| {
+                        smol::block_on(async {
+                            match test_interface(&name) {
+                                Ok(_) => {
+                                    tracing::info!("Found working EtherCAT interface: {}", name);
+                                    Some(name.clone())
+                                }
+                                Err(_) => {
+                                    tracing::debug!("Interface {} failed", name);
+                                    None
+                                }
+                            }
+                        })
+                    })
+                    .unwrap_or(None)
+                })
+                .expect("Failed to spawn thread")
+        })
+        .collect::<Vec<_>>();
 
-    for i in 0..interfaces.len() {
-        if interface.is_some() && interface.unwrap() == &interfaces[i].name {
-            set_interface_managed(&interfaces[i].name, false);
-        } else {
-            set_interface_managed(&interfaces[i].name, true);
-        }
-    }
+    // Wait for all tasks to complete and collect successful results
+    let successful_interfaces: Vec<String> = tasks
+        .into_iter()
+        .filter_map(|task| match task.join().expect("Should join thread") {
+            Some(name) => Some(name),
+            None => None,
+        })
+        .collect();
+
+    // Return the first successful interface (they're sorted by name)
+    let result = successful_interfaces.into_iter().next();
 
     // Restore the default panic hook
     std::panic::set_hook(default_hook);
 
-    match interface {
-        Some(interface) => return Ok(interface.to_string()),
-        None => return Err(anyhow::anyhow!("No suitable EtherCAT interface found")),
+    match result {
+        Some(name) => Ok(name),
+        None => Err(anyhow::anyhow!("No suitable EtherCAT interface found")),
     }
 }
 
 fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
-    tracing::info!("Testing interface: {}", interface);
+    tracing::trace!("Testing interface: {}", interface);
 
     let pdu_storage = Box::leak(Box::new(PduStorage::<
         IFACE_DISCOVERY_MAX_FRAMES,
@@ -157,7 +147,7 @@ fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
                 // Default 10000
                 dc_static_sync_iterations: 10000,
                 // Default None
-                retry_behaviour: ethercrab::RetryBehaviour::Count(3),
+                retry_behaviour: ethercrab::RetryBehaviour::None,
             },
         ));
 

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/helpers/hasher_serializer.rs

@@ -25,12 +25,12 @@ impl serde::ser::Error for HashSerializerError {
     where
         T: Display,
     {
-        Self {}
+        HashSerializerError {}
     }
 }
 
 pub struct HashSerializer<'a, H: Hasher>(&'a mut H);
-impl<H: Hasher> SerializeSeq for HashSerializer<'_, H> {
+impl<'a, H: Hasher> SerializeSeq for HashSerializer<'a, H> {
     type Ok = ();
     type Error = HashSerializerError;
 
@@ -46,7 +46,7 @@ impl<H: Hasher> SerializeSeq for HashSerializer<'_, H> {
     }
 }
 
-impl<H: Hasher> SerializeTuple for HashSerializer<'_, H> {
+impl<'a, H: Hasher> SerializeTuple for HashSerializer<'a, H> {
     type Ok = ();
     type Error = HashSerializerError;
 
@@ -62,7 +62,7 @@ impl<H: Hasher> SerializeTuple for HashSerializer<'_, H> {
     }
 }
 
-impl<H: Hasher> SerializeTupleStruct for HashSerializer<'_, H> {
+impl<'a, H: Hasher> SerializeTupleStruct for HashSerializer<'a, H> {
     type Ok = ();
     type Error = HashSerializerError;
 
@@ -78,7 +78,7 @@ impl<H: Hasher> SerializeTupleStruct for HashSerializer<'_, H> {
     }
 }
 
-impl<H: Hasher> SerializeTupleVariant for HashSerializer<'_, H> {
+impl<'a, H: Hasher> SerializeTupleVariant for HashSerializer<'a, H> {
     type Ok = ();
     type Error = HashSerializerError;
 
@@ -94,7 +94,7 @@ impl<H: Hasher> SerializeTupleVariant for HashSerializer<'_, H> {
     }
 }
 
-impl<H: Hasher> SerializeMap for HashSerializer<'_, H> {
+impl<'a, H: Hasher> SerializeMap for HashSerializer<'a, H> {
     type Ok = ();
     type Error = HashSerializerError;
 
@@ -117,7 +117,7 @@ impl<H: Hasher> SerializeMap for HashSerializer<'_, H> {
     }
 }
 
-impl<H: Hasher> SerializeStruct for HashSerializer<'_, H> {
+impl<'a, H: Hasher> SerializeStruct for HashSerializer<'a, H> {
     type Ok = ();
     type Error = HashSerializerError;
 
@@ -135,7 +135,7 @@ impl<H: Hasher> SerializeStruct for HashSerializer<'_, H> {
     }
 }
 
-impl<H: Hasher> SerializeStructVariant for HashSerializer<'_, H> {
+impl<'a, H: Hasher> SerializeStructVariant for HashSerializer<'a, H> {
     type Ok = ();
     type Error = HashSerializerError;
 
@@ -152,7 +152,7 @@ impl<H: Hasher> SerializeStructVariant for HashSerializer<'_, H> {
     }
 }
 
-impl<H: Hasher> Serializer for HashSerializer<'_, H> {
+impl<'a, H: Hasher> Serializer for HashSerializer<'a, H> {
     type Ok = ();
     type Error = HashSerializerError;
     type SerializeSeq = Self;
@@ -329,9 +329,32 @@ impl<H: Hasher> Serializer for HashSerializer<'_, H> {
 }
 
 // A helper that uses Serialize to feed into a Hasher without allocating a buffer:
-pub fn hash_with_serde_model<T: Serialize>(value: T) -> u64 {
-    let mut h = DefaultHasher::new();
+pub fn hash_with_serde_model<T: Serialize, H: Hasher>(value: T, hasher: H) -> u64 {
+    let mut h = hasher;
     let ser = HashSerializer(&mut h);
     value.serialize(ser).expect("serialize to hasher failed");
     h.finish()
 }
+
+/// if hash of a and b are different this function returns true
+/// a and b need to impl Serialize
+pub fn check_hash_different<T: Serialize>(a: T, b: T) -> bool {
+    // Yes DefaultHasher has to be defined multiple times
+    // If you use one for both the results will never match even if they are the same value
+    let hasher = DefaultHasher::new();
+    let hash = hash_with_serde_model(a, hasher);
+    let hasher = DefaultHasher::new();
+    let hash_old = hash_with_serde_model(b, hasher);
+    return hash != hash_old;
+}
+
+#[test]
+fn test_same_values() {
+    let a = 10;
+    let b = 10;
+    assert_eq!(
+        check_hash_different(a, b),
+        false,
+        "Hashes should be equal for identical values"
+    );
+}

control-core/src/helpers/interpolation.rs

@@ -63,11 +63,11 @@ pub fn scale<T>(normalized_value: f64, new_min: T, new_max: T) -> T
 where
     T: Into<f64> + From<f64>,
 {
-    let normalized_value: f64 = normalized_value;
+    let normalized_value: f64 = normalized_value.into();
     let new_min: f64 = new_min.into();
     let new_max: f64 = new_max.into();
 
-    let result = normalized_value.mul_add(new_max - new_min, new_min);
+    let result = normalized_value * (new_max - new_min) + new_min;
     T::from(result)
 }
 
@@ -128,11 +128,11 @@ where
     // If we are under X we scale linearly from 0 to y
     // If we are over X we scale linearly from y to 1
     if value_f64 < x_f64 {
-        normalize(value_f64, 0.0, x_f64) * y_f64
+        return normalize(value_f64, 0.0, x_f64) * y_f64;
     } else if value_f64 > x_f64 {
-        normalize(value_f64, x_f64, 1.0).mul_add(1.0 - y_f64, y_f64)
+        return normalize(value_f64, x_f64, 1.0) * (1.0 - y_f64) + y_f64;
     } else {
-        y_f64
+        return y_f64;
     }
 }
 
@@ -273,7 +273,7 @@ pub fn interpolate_exponential(normalized_value: f64, steepness: f64) -> f64 {
         return normalized_value;
     }
     let numerator = steepness.exp().powf(normalized_value) - 1.0;
-    let denominator = steepness.exp_m1();
+    let denominator = steepness.exp() - 1.0;
 
     clip(numerator / denominator)
 }
@@ -414,7 +414,7 @@ pub fn interpolate_inflected_exponential(x: f64, steepness: f64) -> f64 {
 
         // Use standard exponential interpolation
         let result = interpolate_exponential(x_norm, steepness);
-        0.5f64.mul_add(result, 0.5)
+        0.5 + 0.5 * result
     }
 }
 

control-core/src/helpers/moving_time_window.rs

@@ -11,40 +11,56 @@ pub trait DivideByCount {
 
 impl DivideByCount for f64 {
     fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as f64)
     }
 }
 
 impl DivideByCount for f32 {
     fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as f32)
     }
 }
 
 impl DivideByCount for i32 {
     fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as i32)
     }
 }
 
 impl DivideByCount for i64 {
     fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as i64)
     }
 }
 
 impl DivideByCount for u32 {
     fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as u32)
     }
 }
 
 impl DivideByCount for u64 {
     fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as u64)
     }
 }
 
+/// A generic moving time window that works with numeric types.
+///
+/// # Examples
+///
+/// ```rust
+/// use std::time::{Duration, Instant};
+/// use control_core::helpers::moving_time_window::MovingTimeWindow;
+///
+/// let mut window = MovingTimeWindow::new(Duration::from_secs(10), 100);
+/// window.update(1.5, Instant::now());
+/// window.update(2.5, Instant::now());
+///
+/// let average = window.average();
+/// println!("Average: {}", average);
+/// ```
+
 // Type aliases for common use cases
 pub type F64Window = MovingTimeWindow<f64>;
 pub type F32Window = MovingTimeWindow<f32>;
@@ -178,14 +194,15 @@ where
             .samples
             .iter()
             .map(|(v, _)| *v)
-            .fold(None, |acc, val| {
-                acc.map_or(Some(val), |current_max| {
+            .fold(None, |acc, val| match acc {
+                None => Some(val),
+                Some(current_max) => {
                     if val > current_max {
                         Some(val)
                     } else {
                         Some(current_max)
                     }
-                })
+                }
             })
             .unwrap_or_default();
 
@@ -212,14 +229,15 @@ where
             .samples
             .iter()
             .map(|(v, _)| *v)
-            .fold(None, |acc, val| {
-                acc.map_or(Some(val), |current_min| {
+            .fold(None, |acc, val| match acc {
+                None => Some(val),
+                Some(current_min) => {
                     if val < current_min {
                         Some(val)
                     } else {
                         Some(current_min)
                     }
-                })
+                }
             })
             .unwrap_or_default();
 

control-core/src/irq_handling.rs

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

control-core/src/lib.rs

@@ -1,16 +1,15 @@
 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 +1,8 @@
+use serde_json::Value;
+
+use crate::socketio::namespace::Namespace;
+
+pub trait MachineApi {
+    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
+    fn api_event_namespace(&mut self) -> &mut Namespace;
+}

control-core/src/machines/identification.rs

@@ -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 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 fn is_valid(&self) -> bool {
+        self.vendor != 0 && self.machine != 0
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceMachineIdentification {
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub role: u16,
+}
+
+impl DeviceMachineIdentification {
+    /// Check if values are non-zero
+    pub 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)]
+pub struct DeviceIdentification {
+    pub device_machine_identification: Option<DeviceMachineIdentification>,
+    pub device_hardware_identification: DeviceHardwareIdentification,
+}
+
+impl From<DeviceIdentificationIdentified> for DeviceIdentification {
+    fn from(value: DeviceIdentificationIdentified) -> Self {
+        DeviceIdentification {
+            device_machine_identification: Some(value.device_machine_identification),
+            device_hardware_identification: value.device_hardware_identification,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+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(DeviceIdentificationIdentified {
+            device_machine_identification,
+            device_hardware_identification: value.device_hardware_identification,
+        })
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub enum DeviceHardwareIdentification {
+    Ethercat(DeviceHardwareIdentificationEthercat),
+    Serial(DeviceHardwareIdentificationSerial),
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceHardwareIdentificationEthercat {
+    pub subdevice_index: usize,
+}
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceHardwareIdentificationSerial {
+    pub path: String,
+}

control-core/src/machines/manager.rs

@@ -0,0 +1,269 @@
+use smol::{
+    channel::Sender,
+    lock::{Mutex, RwLock},
+};
+use socketioxide::extract::SocketRef;
+
+use crate::{
+    machines::{
+        identification::MachineIdentificationUnique,
+        new::{MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams},
+    },
+    serial::SerialDevice,
+    socketio::event::GenericEvent,
+};
+use std::{
+    collections::HashMap,
+    sync::{Arc, Weak},
+};
+
+use super::{
+    Machine,
+    identification::{DeviceIdentification, DeviceIdentificationIdentified},
+    new::MachineNewHardwareSerial,
+    registry::MachineRegistry,
+};
+#[derive(Debug)]
+pub struct MachineManager {
+    pub ethercat_machines:
+        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
+    pub serial_machines:
+        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
+}
+
+impl 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<MachineManager>>,
+    ) {
+        // empty ethercat machines
+        self.ethercat_machines.clear();
+
+        // group devices by machine device identification
+        let device_grouping_result = group_devices_by_identification(device_identifications);
+
+        tracing::info!(
+            "Device Groups {}",
+            device_grouping_result.device_groups.len()
+        );
+
+        let machine_new_hardware = MachineNewHardware::Ethercat(hardware);
+
+        // iterate over all identified device groups but ignore unaffected machines
+        for device_group in device_grouping_result.device_groups.iter() {
+            // get the machine identification
+            let machine_identification = match device_group.first() {
+                Some(device_identification) => &device_identification.device_machine_identification,
+                None => continue, // Skip this group if empty
+            };
+
+            // create the machine
+            let new_machine = machine_registry.new_machine(&MachineNewParams {
+                device_group,
+                hardware: &machine_new_hardware,
+                socket_queue_tx: socket_queue_tx.clone(),
+                machine_manager: machine_manager.clone(),
+            });
+
+            // insert the machine into the ethercat machines map
+            self.ethercat_machines.insert(
+                machine_identification.machine_identification_unique.clone(),
+                new_machine,
+            );
+        }
+    }
+
+    pub fn get(
+        &self,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<&Result<Arc<Mutex<dyn Machine>>, anyhow::Error>> {
+        self.ethercat_machines
+            .get(machine_identification)
+            .or_else(|| self.serial_machines.get(machine_identification))
+    }
+
+    pub fn add_serial_device(
+        &mut self,
+        device_identification: &DeviceIdentification,
+        device: Arc<RwLock<dyn SerialDevice>>,
+        machine_registry: &MachineRegistry,
+        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+        machine_manager: Weak<RwLock<MachineManager>>,
+    ) {
+        let hardware = MachineNewHardwareSerial { device };
+
+        let device_identification_identified: DeviceIdentificationIdentified =
+            device_identification
+                .clone()
+                .try_into()
+                .expect("Serial devices always have machine identification");
+
+        let new_machine = machine_registry.new_machine(&MachineNewParams {
+            device_group: &vec![device_identification_identified.clone()],
+            hardware: &MachineNewHardware::Serial(&hardware),
+            socket_queue_tx,
+            machine_manager: machine_manager.clone(),
+        });
+
+        tracing::info!("Adding serial machine {:?}", new_machine);
+
+        self.serial_machines.insert(
+            device_identification_identified
+                .device_machine_identification
+                .machine_identification_unique,
+            new_machine,
+        );
+    }
+
+    pub fn remove_serial_device(&mut self, device_identification: &DeviceIdentification) {
+        let device_identification_identified: DeviceIdentificationIdentified =
+            device_identification
+                .clone()
+                .try_into()
+                .expect("Serial devices always have machine identification");
+
+        tracing::info!(
+            "Removing serial machine {:?}",
+            device_identification_identified
+        );
+
+        self.serial_machines.remove(
+            &device_identification_identified
+                .device_machine_identification
+                .machine_identification_unique,
+        );
+    }
+
+    pub fn get_machine_weak(
+        &self,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<Weak<Mutex<dyn Machine>>> {
+        let machine = self.ethercat_machines.get(machine_identification);
+        let machine = match machine {
+            Some(machine) => machine,
+            None => {
+                return None;
+            }
+        };
+        let machine = match machine {
+            Ok(machine) => machine,
+            Err(_) => {
+                return None;
+            }
+        };
+        let machine_weak = Arc::downgrade(machine);
+        return Some(machine_weak);
+    }
+
+    pub fn get_serial_weak(
+        &self,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<Weak<Mutex<dyn Machine>>> {
+        let machine = self.serial_machines.get(machine_identification);
+        let machine = match machine {
+            Some(machine) => machine,
+            None => {
+                return None;
+            }
+        };
+        let machine = match machine {
+            Ok(machine) => machine,
+            Err(_) => {
+                return None;
+            }
+        };
+        let machine_weak = Arc::downgrade(machine);
+        return Some(machine_weak);
+    }
+}
+
+/// Groups devices by machine identification
+///
+/// Returns a DeviceGroupingResult containing:
+/// - device_groups: a vector of devices grouped by machine identification
+/// - unidentified_devices: a vector of devices that could not be identified
+pub fn group_devices_by_identification(
+    device_identifications: &Vec<DeviceIdentification>,
+) -> DeviceGroupingResult {
+    let mut device_groups: Vec<Vec<DeviceIdentificationIdentified>> = Vec::new();
+    let mut unidentified_devices: Vec<DeviceIdentification> = Vec::new();
+
+    for device_identification in device_identifications {
+        // if vendor or serial or machine is 0, it is not a valid machine device
+        if let Some(device_machine_identification) =
+            device_identification.device_machine_identification.as_ref()
+        {
+            if !device_machine_identification.is_valid() {
+                unidentified_devices.push(device_identification.clone());
+
+                continue;
+            }
+        } else {
+            unidentified_devices.push(device_identification.clone());
+            continue;
+        }
+
+        // scan over all deice groups
+        // get the first DeviceMachineIdentification
+        // compare and append to the group
+        let mut found = false;
+        for check_group in device_groups.iter_mut() {
+            // get first device in group
+            let first_device = check_group.first().expect("group to not be empty");
+            let first_device_machine_identification = &first_device
+                .device_machine_identification
+                .machine_identification_unique;
+
+            // chek if it has machine identification
+            if let Some(device_machine_identification) =
+                device_identification.device_machine_identification.as_ref()
+            {
+                // compare with the current device
+                if first_device_machine_identification
+                    == &device_machine_identification.machine_identification_unique
+                {
+                    let device_identification_identified = device_identification
+                        .clone()
+                        .try_into()
+                        .expect("should have Some(DeviceMachineIdentification)");
+                    check_group.push(device_identification_identified);
+                    found = true;
+                    break;
+                }
+            }
+        }
+
+        if !found {
+            let device_identification_identified = device_identification
+                .clone()
+                .try_into()
+                .expect("should have Some(DeviceMachineIdentification)");
+            device_groups.push(vec![device_identification_identified]);
+        }
+    }
+
+    DeviceGroupingResult {
+        device_groups,
+        unidentified_devices,
+    }
+}
+
+/// Structure to hold the result of grouping devices by identification
+#[derive(Debug)]
+pub struct DeviceGroupingResult {
+    /// Devices grouped by machine identification
+    pub device_groups: Vec<Vec<DeviceIdentificationIdentified>>,
+    /// Devices that could not be identified
+    pub unidentified_devices: Vec<DeviceIdentification>,
+}

control-core/src/machines/manager_iter.rs

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

control-core/src/machines/mod.rs

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

control-core/src/machines/new.rs

@@ -0,0 +1,262 @@
+use crate::{machines::manager::MachineManager, serial::SerialDevice};
+
+use super::identification::DeviceIdentificationIdentified;
+use anyhow::Error;
+use ethercat_hal::{
+    devices::EthercatDevice, helpers::ethercrab_types::EthercrabSubDevicePreoperational,
+};
+use ethercrab::{SubDevice, SubDeviceRef};
+use smol::{channel::Sender, lock::RwLock};
+use socketioxide::extract::SocketRef;
+use std::{
+    pin::Pin,
+    sync::{Arc, Weak},
+    time::Instant,
+};
+
+use crate::socketio::event::GenericEvent;
+
+pub trait MachineNewTrait {
+    fn new<'maindevice, 'subdevices>(
+        params: &MachineNewParams<'maindevice, 'subdevices, '_, '_, '_, '_, '_>,
+    ) -> Result<Self, Error>
+    where
+        Self: Sized;
+}
+
+pub trait MachineAct {
+    fn act(&mut self, now: Instant) -> Pin<&mut (dyn Future<Output = ()> + Send + '_)>;
+}
+
+pub struct MachineNewParams<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+> where
+    'maindevice: 'machine_new_hardware,
+    'subdevices: 'machine_new_hardware,
+    'ethercat_devices: 'machine_new_hardware,
+    'machine_new_hardware_etehrcat: 'machine_new_hardware,
+{
+    pub device_group: &'device_identifications_identified Vec<DeviceIdentificationIdentified>,
+    pub hardware: &'machine_new_hardware MachineNewHardware<
+        'maindevice,
+        'subdevices,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+    >,
+    pub socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+    pub machine_manager: Weak<RwLock<MachineManager>>,
+}
+
+pub enum MachineNewHardware<
+    'maindevice,
+    'subdevices,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+> where
+    'maindevice: 'machine_new_hardware_etehrcat,
+    'subdevices: 'machine_new_hardware_etehrcat,
+    'ethercat_devices: 'machine_new_hardware_etehrcat,
+{
+    Ethercat(
+        &'machine_new_hardware_etehrcat MachineNewHardwareEthercat<
+            'maindevice,
+            'subdevices,
+            'ethercat_devices,
+        >,
+    ),
+    Serial(&'machine_new_hardware_serial MachineNewHardwareSerial),
+}
+
+pub struct MachineNewHardwareEthercat<'maindevice, 'subdevices, 'ethercat_devices> {
+    pub subdevices:
+        &'subdevices Vec<&'subdevices SubDeviceRef<'maindevice, &'subdevices SubDevice>>,
+    pub ethercat_devices: &'ethercat_devices Vec<Arc<RwLock<dyn EthercatDevice>>>,
+}
+
+pub struct MachineNewHardwareSerial {
+    pub device: Arc<RwLock<dyn SerialDevice>>,
+}
+
+// validates that all devices in the group have the same machine identification
+pub fn validate_same_machine_identification_unique(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let machine_identification_unique = &identified_device_group
+        .first()
+        .ok_or_else(|| {
+            anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] No devices in group",
+                module_path!()
+            )
+        })?
+        .device_machine_identification
+        .machine_identification_unique;
+    for device in identified_device_group.iter() {
+        if device
+            .device_machine_identification
+            .machine_identification_unique
+            != *machine_identification_unique
+        {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] Different machine identifications",
+                module_path!()
+            ));
+        }
+    }
+    Ok(())
+}
+
+/// validates that every role is unique
+pub fn validate_no_role_dublicates(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let mut roles = vec![];
+    for device in identified_device_group.iter() {
+        if roles.contains(&device.device_machine_identification.role) {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_no_role_dublicates] Role dublicate",
+                module_path!(),
+            ));
+        }
+        roles.push(device.device_machine_identification.role);
+    }
+    Ok(())
+}
+
+// Inside control_core::machines::new module:
+pub fn get_device_identification_by_role(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+    role: u16,
+) -> Result<&DeviceIdentificationIdentified, Error> {
+    for device in identified_device_group.iter() {
+        if device.device_machine_identification.role == role {
+            return Ok(device);
+        }
+    }
+    Err(anyhow::anyhow!(
+        "[{}::get_device_identification_by_role] Role {} not found",
+        module_path!(),
+        role
+    ))
+}
+
+pub fn get_device_by_index<'maindevice>(
+    devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_device_by_index] Index {} out of bounds for devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+pub fn get_subdevice_by_index<'subdevices, 'maindevice>(
+    subdevices: &'subdevices Vec<&EthercrabSubDevicePreoperational<'maindevice>>,
+    subdevice_index: usize,
+) -> Result<&'subdevices EthercrabSubDevicePreoperational<'maindevice>, Error> {
+    Ok(subdevices.get(subdevice_index).ok_or(anyhow::anyhow!(
+        "Index {} out of bounds for subdevices",
+        subdevice_index
+    ))?)
+}
+
+pub fn get_ethercat_device_by_index<'maindevice>(
+    ethercat_devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(ethercat_devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_ethercat_device_by_index] Index {} out of bounds for ethercat devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::machines::identification::{
+        DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat,
+        DeviceMachineIdentification, MachineIdentification, MachineIdentificationUnique,
+    };
+
+    pub use super::*;
+
+    #[test]
+    fn test_get_device_identification_by_role() {
+        let device_identifications = vec![
+            // role 0
+            DeviceIdentificationIdentified {
+                device_machine_identification: DeviceMachineIdentification {
+                    machine_identification_unique: MachineIdentificationUnique {
+                        machine_identification: MachineIdentification {
+                            vendor: 1,
+                            machine: 1,
+                        },
+                        serial: 1,
+                    },
+                    role: 0,
+                },
+                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
+                    DeviceHardwareIdentificationEthercat { subdevice_index: 0 },
+                ),
+            },
+            // role 1
+            DeviceIdentificationIdentified {
+                device_machine_identification: DeviceMachineIdentification {
+                    machine_identification_unique: MachineIdentificationUnique {
+                        machine_identification: MachineIdentification {
+                            vendor: 2,
+                            machine: 2,
+                        },
+                        serial: 2,
+                    },
+                    role: 2,
+                },
+                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
+                    DeviceHardwareIdentificationEthercat { subdevice_index: 1 },
+                ),
+            },
+            // role 2
+            DeviceIdentificationIdentified {
+                device_machine_identification: DeviceMachineIdentification {
+                    machine_identification_unique: MachineIdentificationUnique {
+                        machine_identification: MachineIdentification {
+                            vendor: 3,
+                            machine: 3,
+                        },
+                        serial: 3,
+                    },
+                    role: 1,
+                },
+                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
+                    DeviceHardwareIdentificationEthercat { subdevice_index: 2 },
+                ),
+            },
+        ];
+
+        // search for role 0
+        let result = get_device_identification_by_role(&device_identifications, 0);
+        assert_eq!(result.unwrap().device_machine_identification.role, 0,);
+
+        // search for role 1
+        let result = get_device_identification_by_role(&device_identifications, 1);
+        assert_eq!(result.unwrap().device_machine_identification.role, 1,);
+        // search for role 2
+        let result = get_device_identification_by_role(&device_identifications, 2);
+        assert_eq!(result.unwrap().device_machine_identification.role, 2,);
+    }
+}

control-core/src/machines/registry.rs

@@ -0,0 +1,68 @@
+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 MachineRegistry {
+    pub fn new() -> Self {
+        Self {
+            type_map: HashMap::new(),
+        }
+    }
+
+    pub fn register<T: Machine + 'static>(
+        &mut self,
+        machine_identficiation: MachineIdentification,
+    ) {
+        self.type_map.insert(
+            TypeId::of::<T>(),
+            (
+                machine_identficiation,
+                // create a machine construction closure
+                Box::new(|machine_new_params| {
+                    Ok(Arc::new(Mutex::new(T::new(machine_new_params)?)))
+                }),
+            ),
+        );
+    }
+
+    pub fn new_machine(
+        &self,
+        machine_new_params: &MachineNewParams,
+    ) -> Result<Arc<Mutex<dyn Machine>>, anyhow::Error> {
+        // get machiine identification
+        let device_identification =
+            &machine_new_params
+                .device_group
+                .first()
+                .ok_or(anyhow::anyhow!(
+                    "[{}::MachineConstructor::new_machine] No device in group",
+                    module_path!()
+                ))?;
+
+        // find machine new function by comparing MachineIdentification
+        let (_, machine_new_closure) = self
+            .type_map
+            .values()
+            .find(|(mi, _)| {
+                mi == &device_identification
+                    .device_machine_identification
+                    .machine_identification_unique
+                    .machine_identification
+            })
+            .ok_or(anyhow::anyhow!(
+                "[{}::MachineConstructor::new_machine] Machine not found",
+                module_path!()
+            ))?;
+
+        // call machine new function by reference
+        (machine_new_closure)(machine_new_params)
+    }
+}

control-core/src/modbus/mod.rs

@@ -1,5 +1,4 @@
 pub mod modbus_serial_interface;
-pub mod tcp;
 
 use anyhow::Error;
 use crc::{CRC_16_MODBUS, Crc};
@@ -63,17 +62,17 @@ impl From<ModbusExceptionCode> for u8 {
 impl From<u8> for ModbusExceptionCode {
     fn from(value: u8) -> Self {
         match value {
-            0 => Self::None,
-            1 => Self::IllegalFunction,
-            2 => Self::IllegalDataAddress,
-            3 => Self::IllegalDataValue,
-            4 => Self::SlaveDeviceFailure,
-            5 => Self::Acknowledge,
-            6 => Self::SlaveDeviceBusy,
-            8 => Self::MemoryParityError,
-            10 => Self::GatewayPathUnavailable,
-            11 => Self::GatewayTargetDeviceFailedToRespond,
-            other => Self::Unknown(other),
+            0 => ModbusExceptionCode::None,
+            1 => ModbusExceptionCode::IllegalFunction,
+            2 => ModbusExceptionCode::IllegalDataAddress,
+            3 => ModbusExceptionCode::IllegalDataValue,
+            4 => ModbusExceptionCode::SlaveDeviceFailure,
+            5 => ModbusExceptionCode::Acknowledge,
+            6 => ModbusExceptionCode::SlaveDeviceBusy,
+            8 => ModbusExceptionCode::MemoryParityError,
+            10 => ModbusExceptionCode::GatewayPathUnavailable,
+            11 => ModbusExceptionCode::GatewayTargetDeviceFailedToRespond,
+            other => ModbusExceptionCode::Unknown(other),
         }
     }
 }
@@ -98,10 +97,10 @@ impl TryFrom<u8> for ModbusFunctionCode {
 
     fn try_from(value: u8) -> Result<Self, Self::Error> {
         match value {
-            0x03 => Ok(Self::ReadHoldingRegister),
-            0x04 => Ok(Self::ReadInputRegister),
-            0x06 => Ok(Self::PresetHoldingRegister),
-            0x08 => Ok(Self::DiagnoseFunction),
+            0x03 => Ok(ModbusFunctionCode::ReadHoldingRegister),
+            0x04 => Ok(ModbusFunctionCode::ReadInputRegister),
+            0x06 => Ok(ModbusFunctionCode::PresetHoldingRegister),
+            0x08 => Ok(ModbusFunctionCode::DiagnoseFunction),
             _ => Err(anyhow::anyhow!("Error: Modbus Function Code doesnt exist!")),
         }
     }
@@ -120,7 +119,7 @@ impl From<ModbusFunctionCode> for u8 {
 
 impl From<ModbusRequest> for Vec<u8> {
     fn from(request: ModbusRequest) -> Self {
-        let mut buffer = Self::new();
+        let mut buffer = Vec::new();
 
         buffer.push(request.slave_id);
         buffer.push(request.function_code.into()); // convert functioncode into u8 and push it
@@ -133,7 +132,7 @@ impl From<ModbusRequest> for Vec<u8> {
         // convert u16 value to le_bytes and add it to the end of the frame
         buffer.extend_from_slice(&result_crc.to_le_bytes());
 
-        buffer
+        return buffer;
     }
 }
 /// Reads data from a Modbus device via a serial port.
@@ -154,7 +153,7 @@ pub fn receive_data_modbus(port: &mut dyn SerialPort) -> Result<Option<Vec<u8>>,
 }
 
 /// Computes Modbus CRC-16 using `crc` crate.
-pub const fn modbus_crc16(data: &[u8]) -> u16 {
+pub fn modbus_crc16(data: &[u8]) -> u16 {
     let modbus: Crc<u16> = Crc::<u16>::new(&CRC_16_MODBUS);
     modbus.checksum(data)
 }
@@ -205,17 +204,23 @@ fn extract_crc(raw_data: &Vec<u8>) -> Result<u16, Error> {
 }
 impl TryFrom<Vec<u8>> for ModbusResponse {
     type Error = anyhow::Error;
-    fn try_from(value: Vec<u8>) -> Result<Self, Error> {
-        let crc = extract_crc(&value)?;
+    fn try_from(value: Vec<u8>) -> Result<ModbusResponse, Error> {
+        let crc = match extract_crc(&value) {
+            Ok(crc_value) => crc_value,
+            Err(err) => return Err(err),
+        };
 
         let function_code_res = ModbusFunctionCode::try_from(value[1]);
-        let function_code = function_code_res?;
+        let function_code = match function_code_res {
+            Ok(code) => code,
+            Err(err) => return Err(err),
+        };
 
-        Ok(Self {
+        Ok(ModbusResponse {
             slave_id: value[0],
-            function_code,
+            function_code: function_code,
             data: value[2..value.len() - 2].to_vec(), // get data without the crc
-            crc,
+            crc: crc,
         })
     }
 }
@@ -227,23 +232,23 @@ impl TryFrom<Vec<u8>> for ModbusResponse {
 /// machine_operation_delay_nano: Delay for the given operation in nanoseconds as specified by the slaves datasheet (example: mitsubishi csfr84 has 12ms for read write in RAM)
 /// baudrate: bits per second
 /// message_size: size of original message in bytes
-pub const fn calculate_modbus_rtu_timeout(
+pub fn calculate_modbus_rtu_timeout(
     bits: u8,
     machine_operation_delay_nano: Duration,
     baudrate: u32,
     message_size: usize,
 ) -> Duration {
     let nanoseconds_per_bit: u64 = (1000000 / baudrate) as u64;
-    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit;
+    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit as u64;
 
     let transmission_timeout: u64 = nanoseconds_per_byte * message_size as u64;
-    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10_u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1
+    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10 as u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1
 
     let mut full_timeout: u64 = transmission_timeout;
     full_timeout += machine_operation_delay_nano.as_nanos() as u64;
     full_timeout += silent_time;
 
-    Duration::from_nanos(full_timeout)
+    return Duration::from_nanos(full_timeout);
 }
 
 #[cfg(test)]

control-core/src/modbus/modbus_serial_interface.rs

@@ -66,7 +66,7 @@ impl ModbusSerialInterface {
         }
     }
 
-    pub const fn is_initialized(&self) -> bool {
+    pub fn is_initialized(&self) -> bool {
         !matches!(self.state, State::Uninitialized)
     }
 
@@ -199,7 +199,7 @@ impl ModbusSerialInterface {
         Some(Duration::from_nanos(total_timeout))
     }
 
-    pub const fn get_response(&self) -> Option<&ModbusResponse> {
+    pub fn get_response(&self) -> Option<&ModbusResponse> {
         self.response.as_ref()
     }
 

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/realtime.rs

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

control-core/src/rest/mod.rs

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

control-core/src/rest/mutation.rs

@@ -0,0 +1,35 @@
+use std::fmt::Debug;
+
+use serde::Serialize;
+
+use crate::machines::identification::MachineIdentificationUnique;
+
+#[derive(Debug, Serialize, Clone)]
+pub struct MutationResponse {
+    pub success: bool,
+    pub error: Option<String>,
+}
+
+impl MutationResponse {
+    pub fn success() -> Self {
+        Self {
+            success: true,
+            error: None,
+        }
+    }
+    pub fn error(error: String) -> Self {
+        Self {
+            success: false,
+            error: Some(error),
+        }
+    }
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct MachineMutationBody<T>
+where
+    T: Debug,
+{
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub data: T,
+}

control-core/src/serial/mod.rs

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

control-core/src/serial/panic.rs

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

control-core/src/serial/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};
@@ -26,12 +20,6 @@ pub struct SerialDeviceRegistry {
     pub type_map: HashMap<TypeId, (SerialDeviceIdentification, SerialDeviceNewClosure)>,
 }
 
-impl Default for SerialDeviceRegistry {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
 impl SerialDeviceRegistry {
     pub fn new() -> Self {
         Self {
@@ -100,22 +88,3 @@ 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/serial/serial_detection.rs

@@ -7,70 +7,197 @@
 */
 
 use serialport::{SerialPortInfo, SerialPortType, UsbPortInfo};
-use std::collections::HashMap;
+use smol::{
+    channel::{Receiver, Sender, unbounded},
+    lock::RwLock,
+};
+use std::{collections::HashMap, sync::Arc};
 
-use super::SerialDeviceIdentification;
-/// Handles scanning and caching of connected USB serial devices.
-pub struct SerialDetection {}
+use crate::{
+    helpers::compare_lists::compare_lists, machines::identification::DeviceIdentification,
+};
 
-impl SerialDetection {
-    /// Returns all serial ports on the system (minus macOS "cu" noise).
-    fn get_ports() -> Vec<SerialPortInfo> {
-        match serialport::available_ports() {
-            Ok(ports) => ports
-                .into_iter()
-                .filter(|port| !port.port_name.contains("cu"))
-                .collect(),
-            Err(_) => Vec::new(),
+use super::{
+    SerialDevice, SerialDeviceIdentification, SerialDeviceNewParams, registry::SerialDeviceRegistry,
+};
+
+pub enum SerialDeviceRemoval<T> {
+    Disconnect(T),
+    Error(T, anyhow::Error),
+}
+
+pub struct SerialDetection<'serialdeviceregistry> {
+    pub serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry,
+    pub ports: HashMap<
+        String,
+        (
+            UsbPortInfo,
+            DeviceIdentification,
+            Arc<RwLock<dyn SerialDevice>>,
+        ),
+    >,
+    pub device_removal_signal_rx: Receiver<SerialDeviceRemoval<String>>,
+    pub device_removal_signal_tx: Sender<SerialDeviceRemoval<String>>,
+}
+
+impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {
+    pub fn new(serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry) -> Self {
+        let (device_removal_signal_tx, device_removal_signal_rx) = unbounded();
+        SerialDetection {
+            serial_device_registry,
+            ports: HashMap::new(),
+            device_removal_signal_rx,
+            device_removal_signal_tx,
         }
     }
 
-    /// Extracts only USB serial devices from the port list.
-    fn extract_usb_serial_devices(port_list: Vec<SerialPortInfo>) -> HashMap<String, UsbPortInfo> {
-        let mut map = HashMap::new();
+    /*
+     *@return: Option::None if there are no available ports on device
+     *@return: Option::Some(Vec) with all available ports
+     *
+     *@description: detects all available ports and returns them as list
+     */
+    fn get_ports() -> Vec<SerialPortInfo> {
+        let all = match serialport::available_ports() {
+            Ok(ports) => ports,
+            Err(_) => return Vec::new(),
+        };
+
+        // exclude ports that contai "cu" in their name
+        all.into_iter()
+            .filter(|port| !port.port_name.contains("cu"))
+            .collect::<Vec<_>>()
+    }
+
+    /* @param: port_list -> list of available ports
+     *
+     * @return: Vec<(String, UsbPortInfo)> -> list of ports with their names and usb information
+     *
+     * @description: This function extracts the USB serial devices from the given list of ports.
+     */
+    fn extract_usb_serial_devices(
+        &self,
+        port_list: Vec<SerialPortInfo>,
+    ) -> Vec<(String, UsbPortInfo)> {
+        let mut usb_ports: Vec<(String, UsbPortInfo)> = Vec::new();
 
         for port in port_list {
-            if let SerialPortType::UsbPort(usb_info) = port.port_type {
-                map.insert(port.port_name, usb_info);
-            }
-        }
-        map
-    }
-
-    /// Scans for connected USB serial devices and updates the internal map.
-    /// Returns a clone of the map for quick access.
-    pub fn detect_devices() -> HashMap<String, UsbPortInfo> {
-        let ports = Self::get_ports();
-        let usb_devices = Self::extract_usb_serial_devices(ports);
-        usb_devices
-    }
-
-    pub fn device_port_exists(device_path: &str) -> bool {
-        let ports = Self::get_ports();
-        return ports.iter().any(|p| p.port_name == device_path);
-    }
-
-    pub fn device_id_exists(sdevid: SerialDeviceIdentification) -> bool {
-        let ports = Self::get_ports();
-        for port in ports {
-            if let SerialPortType::UsbPort(usb_info) = port.port_type {
-                if usb_info.vid == sdevid.vendor_id && usb_info.pid == sdevid.product_id {
-                    return true;
+            match &port.port_type {
+                SerialPortType::UsbPort(usb_info) => {
+                    usb_ports.push((port.port_name.to_string(), usb_info.clone()));
                 }
-            }
+                _ => {}
+            };
         }
-        return false;
+
+        return usb_ports;
     }
 
-    pub fn get_path_by_id(
-        sdevid: SerialDeviceIdentification,
-        map: HashMap<String, UsbPortInfo>,
-    ) -> Option<String> {
-        for (port, usbport) in map.iter() {
-            if usbport.vid == sdevid.vendor_id && usbport.pid == sdevid.product_id {
-                return Some(port.clone());
+    pub async fn check_ports(&mut self) -> CheckPortsResult {
+        // get available ports
+        let ports = Self::get_ports();
+
+        // extract all ports that are usb ports
+        let usb_ports = self.extract_usb_serial_devices(ports);
+
+        let last_usb_ports = self
+            .ports
+            .iter()
+            .map(|last_usb_port| (last_usb_port.0.clone(), last_usb_port.1.0.clone()))
+            .collect::<Vec<_>>();
+
+        let usb_ports_diff = compare_lists(&last_usb_ports, &usb_ports);
+
+        let mut result = CheckPortsResult {
+            added: Vec::new(),
+            removed: Vec::new(),
+        };
+
+        // reamove ports
+        for removed in usb_ports_diff.removed {
+            if let Some((_, device_identification, _)) = self.ports.remove(&removed.0) {
+                result.removed.push(device_identification);
+            }
+
+            tracing::trace!("Removed port: {}", removed.0);
+        }
+
+        // add new ports
+        for added in usb_ports_diff.added {
+            // add the port to the list
+            let serial_device_identification = SerialDeviceIdentification {
+                vendor_id: added.1.vid,
+                product_id: added.1.pid,
+            };
+
+            let device_result = self.serial_device_registry.new_serial_device(
+                &SerialDeviceNewParams {
+                    path: added.0.clone(),
+                    device_thread_panic_tx: self.device_removal_signal_tx.clone(),
+                },
+                &serial_device_identification,
+            );
+
+            // only if created device driver sucessfully
+            if let Ok((device_identification, device)) = device_result {
+                // add the device to the ports list
+                self.ports.insert(
+                    added.0.clone(),
+                    (
+                        added.1.clone(),
+                        device_identification.clone(),
+                        device.clone(),
+                    ),
+                );
+
+                // add to result list
+                result.added.push((device_identification, device.clone()));
+
+                tracing::trace!("Added port: {}", added.0);
             }
         }
-        return None;
+
+        result
+    }
+
+    pub async fn check_remove_signals(&mut self) -> Vec<DeviceIdentification> {
+        let mut removed_signals: Vec<DeviceIdentification> = Vec::new();
+
+        let mut add_removal_signal = |path: &String| {
+            if let Some(info) = self.ports.get(path) {
+                removed_signals.push(info.1.clone());
+            };
+            self.ports.remove(path);
+        };
+
+        if self.device_removal_signal_rx.is_empty() {
+            return removed_signals;
+        }
+
+        let removal = self
+            .device_removal_signal_rx
+            .recv()
+            .await
+            .expect("Failed to receive removal signals");
+
+        match removal {
+            SerialDeviceRemoval::Disconnect(path) => {
+                add_removal_signal(&path);
+                tracing::trace!("Removed serial device after disconnect: {:?}", path);
+            }
+
+            SerialDeviceRemoval::Error(path, error) => {
+                add_removal_signal(&path);
+                tracing::error!("Removed erroring serial device: {:?}: {}", path, error);
+            }
+        }
+
+        removed_signals
     }
 }
+
+#[derive(Debug)]
+pub struct CheckPortsResult {
+    pub added: Vec<(DeviceIdentification, Arc<RwLock<dyn SerialDevice>>)>,
+    pub removed: Vec<DeviceIdentification>,
+}

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>>>,
@@ -30,7 +30,7 @@ impl Namespace {
     #[instrument(skip_all)]
     pub fn subscribe(&mut self, socket: SocketRef) {
         // add the socket to the list
-        self.sockets.push(socket);
+        self.sockets.push(socket.clone());
     }
 
     /// Removes a socket from the namespace.
@@ -81,7 +81,7 @@ impl Namespace {
         for (_event_name, events) in event_groups {
             for event in events {
                 // Send to global queue instead of per-socket queue
-                self.send_to_queue(&socket, event, "reemit");
+                self.send_to_queue(&socket, &event, "reemit");
             }
         }
     }
@@ -97,10 +97,13 @@ impl Namespace {
     fn cache(
         &mut self,
         event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
+        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>,
     ) {
-        let cached_events_for_key = self.events.entry(event.name.clone()).or_default();
-        buffer_fn(cached_events_for_key, &event);
+        let mut cached_events_for_key = self
+            .events
+            .entry(event.name.clone())
+            .or_insert_with(Vec::new);
+        buffer_fn(&mut cached_events_for_key, &event);
     }
 
     /// Emits an event to all sockets in the namespace and caches it.
@@ -114,10 +117,11 @@ impl Namespace {
     pub fn emit(
         &mut self,
         event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
+        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>,
     ) {
         // cache the event
-        self.cache(event.clone(), buffer_fn);
+        self.cache(event.clone(), &buffer_fn);
+
         // emit the event - inlined from emit function
         // Send to global queue for each socket in the namespace
         for socket in self.sockets.clone() {
@@ -167,7 +171,7 @@ impl Namespace {
 
 impl Drop for Namespace {
     fn drop(&mut self) {
-        //self.disconnect_all();
+        self.disconnect_all();
     }
 }
 
@@ -187,7 +191,7 @@ pub trait CacheableEvents<Events> {
     fn event_cache_fn(&self) -> CacheFn;
 }
 
-pub type CacheFn = Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>;
+pub type CacheFn = Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>;
 
 /// [`BufferFn`] that stores the last n events
 pub fn cache_n_events(n: usize) -> CacheFn {
@@ -219,6 +223,7 @@ pub fn cache_first_and_last_event() -> CacheFn {
         if events.len() == 2 {
             events.remove(1);
             events.push(event.clone());
+            return;
         }
     })
 }

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 {
@@ -17,8 +17,8 @@ impl Serialize for NamespaceId {
         S: Serializer,
     {
         match self {
-            Self::Main => serializer.serialize_str("/main"),
-            Self::Machine(id) => {
+            NamespaceId::Main => serializer.serialize_str("/main"),
+            NamespaceId::Machine(id) => {
                 let path = format!(
                     "/machine/{}/{}/{}",
                     id.machine_identification.vendor, id.machine_identification.machine, id.serial
@@ -36,7 +36,7 @@ impl<'de> Deserialize<'de> for NamespaceId {
     {
         struct NamespaceIdVisitor;
 
-        impl Visitor<'_> for NamespaceIdVisitor {
+        impl<'de> Visitor<'de> for NamespaceIdVisitor {
             type Value = NamespaceId;
 
             fn expecting(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
@@ -85,7 +85,7 @@ impl FromStr for NamespaceId {
 
     fn from_str(s: &str) -> Result<Self, Self::Err> {
         if s == "/main" {
-            return Ok(Self::Main);
+            return Ok(NamespaceId::Main);
         }
 
         if let Some(machine_path) = s.strip_prefix("/machine/") {
@@ -101,7 +101,7 @@ impl FromStr for NamespaceId {
                     .parse::<u16>()
                     .map_err(|_| "Invalid serial id".to_string())?;
 
-                return Ok(Self::Machine(MachineIdentificationUnique {
+                return Ok(NamespaceId::Machine(MachineIdentificationUnique {
                     machine_identification: MachineIdentification { vendor, machine },
                     serial,
                 }));
@@ -116,8 +116,8 @@ impl FromStr for NamespaceId {
 impl fmt::Display for NamespaceId {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         match self {
-            Self::Main => write!(f, "/main"),
-            Self::Machine(id) => {
+            NamespaceId::Main => write!(f, "/main"),
+            NamespaceId::Machine(id) => {
                 write!(
                     f,
                     "/machine/{}/{}/{}",

control-core/src/transmission/fixed.rs

@@ -21,7 +21,7 @@ impl FixedTransmission {
     /// # Returns
     ///
     /// A new instance of FixedTransmission.
-    pub const fn new(ratio: f64) -> Self {
+    pub fn new(ratio: f64) -> Self {
         Self { ratio }
     }
 }

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";
+}

control-core/src/video_streaming/mod.rs

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

credentials.sh

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