Merge pull request #1135 from qitechgmbh/991-graph-tab-in-top-navigation-bar-not-connecting-to-graph-page-2

fixed the graph page not not connecting to navigation bar bug
Update README.md to enhance video descriptions and add additional video section
2026-02-13 08:06:53 +01:00 · 2026-02-12 17:04:35 +01:00 · 2026-02-12 13:37:26 +01:00 · 2026-02-12 13:22:14 +01:00 · 2026-02-12 13:14:04 +01:00 · 2026-02-12 11:22:11 +01:00
91 changed files with 3344 additions and 860 deletions
@@ -1,3 +0,0 @@
-.png filter=lfs diff=lfs merge=lfs -text
-.jpg filter=lfs diff=lfs merge=lfs -text
-.jpeg filter=lfs diff=lfs merge=lfs -text
@@ -0,0 +1,40 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: 'BUG: '
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Navigate to '...'
+2. Select/Press '....'
+3. Execute operation '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots/Photos**
+If applicable, add screenshots from the HMI display or photos of the machine screen to help explain your problem.
+
+**Machine Information (please complete the following):**
+ - Machine Type: [Winder2, Laser, Aquapath...]
+ - Control Software Version: [e.g. 2.4.1]
+ - Settings: [e.g. Different Gear Ratios, PID Settings, …]
+
+**Device Information (if issue occurs on external device):**
+ - Device Type: [e.g. Tablet, PLC, Remote Control Panel]
+ - OS: [e.g. Windows 10, Linux, etc.]
+ - Connection Type: [e.g. Ethernet, USB]
+
+**Error Messages/Codes**
+If applicable, provide exact error codes or messages displayed or found in the troubleshooting terminal.
+
+**Additional context**
+Add any other context about the problem here (e.g., recent software updates, environmental factors).
@@ -0,0 +1,33 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: 'Feat: '
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. During operation, I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions, workarounds, or features you've considered.
+
+**Use Case/Application:**
+ - Machine Type(s): [e.g. All machines, Winder, Aquapath, ...]
+ - Frequency of Use: [e.g. Daily, During setup, Occasionally]
+
+**Expected Benefits:**
+ - Efficiency Improvement: [e.g. Reduces setup time by X minutes, Eliminates manual steps]
+ - Safety Enhancement: [e.g. Prevents operator error, Adds safety checks]
+ - Production Impact: [e.g. Increases throughput, Reduces downtime, Improves quality]
+ - User Experience: [e.g. Simplifies workflow, Reduces training time]
+
+**Mockups/Sketches**
+If applicable, add sketches, mockups, or photos showing how the feature would appear on the HMI display or integrate with the machine.
+
+**Additional context**
+Add any other context, industry standards, or examples from other control systems about the feature request here.
@@ -0,0 +1,80 @@
+name: Update npm deps hash
+
+on:
+  pull_request:
+    paths:
+      - 'electron/package-lock.json'
+      - 'electron/package.json'
+  workflow_dispatch:
+
+env:
+  NIX_PATH: nixpkgs=channel:nixos-25.05
+
+permissions:
+  contents: write
+  pull-requests: write
+  actions: write
+
+jobs:
+  update-hash:
+    runs-on: ubuntu-latest
+    if: github.event.pull_request.head.repo.full_name == github.repository
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.head_ref }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Install Nix
+        uses: nixbuild/nix-quick-install-action@v34
+        with:
+          nix_conf: |
+            keep-env-derivations = true
+            keep-outputs = true
+
+      - name: Calculate new npm deps hash
+        id: calc-hash
+        run: |
+          # Calculate the hash using nix run with nixpkgs
+          NEW_HASH=$(nix run 'nixpkgs#prefetch-npm-deps' electron/package-lock.json)
+          echo "hash=$NEW_HASH" >> $GITHUB_OUTPUT
+          echo "Calculated hash: $NEW_HASH"
+
+      - name: Update npmDepsHash in electron.nix
+        run: |
+          NEW_HASH="${{ steps.calc-hash.outputs.hash }}"
+          sed -i "s|npmDepsHash = \".*\";|npmDepsHash = \"$NEW_HASH\";|" nixos/packages/electron.nix
+          
+      - name: Check if hash changed
+        id: check-changes
+        run: |
+          if git diff --quiet nixos/packages/electron.nix; then
+            echo "changed=false" >> $GITHUB_OUTPUT
+            echo "No changes needed - hash is already correct"
+          else
+            echo "changed=true" >> $GITHUB_OUTPUT
+            echo "Hash updated in electron.nix"
+          fi
+
+      - name: Commit and push if changed
+        if: steps.check-changes.outputs.changed == 'true'
+        run: |
+          git config --local user.email "github-actions[bot]@users.noreply.github.com"
+          git config --local user.name "github-actions[bot]"
+          git add nixos/packages/electron.nix
+          git commit -m "chore: update npmDepsHash to ${{ steps.calc-hash.outputs.hash }}"
+          git push
+
+      - name: Comment on PR
+        if: steps.check-changes.outputs.changed == 'true'
+        uses: actions/github-script@v7
+        with:
+          script: |
+            github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: 'Automatically updated `npmDepsHash` to `${{ steps.calc-hash.outputs.hash }}`\n\n**Next step:** Trigger the checks by pushing an empty commit:\n```bash\ngit commit --allow-empty -m "trigger ci" && git push\n```'
+            })
@@ -7,4 +7,5 @@ build.sh
 shell.nix
 node_modules/
 runtime_metrics.csv
-compile_metrics.csv
+compile_metrics.csv
+.idea/
@@ -1,3 +1,15 @@
+# `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_

@@ -5,7 +17,6 @@ _07.01.2026_
 - [#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
@@ -204,7 +204,7 @@ checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -221,7 +221,7 @@ checksum = "99e1aca718ea7b89985790c94aad72d77533063fe00bc497bb79a7c2dae6a661"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -232,9 +232,9 @@ checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"

 [[package]]
 name = "axum"
-version = "0.8.7"
+version = "0.8.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b098575ebe77cb6d14fc7f32749631a6e44edbef6b796f89b020e99ba20d425"
+checksum = "8b52af3cb4058c895d37317bb27508dccc8e5f2d39454016b297bf4a400597b8"
 dependencies = [
 "axum-core",
 "axum-macros",
@@ -291,7 +291,7 @@ checksum = "604fde5e028fea851ce1d8570bbdc034bec850d157f7569d10f347d06808c05c"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -390,9 +390,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"

 [[package]]
 name = "bytes"
-version = "1.11.0"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b35204fbdc0b3f4446b89fc1ac2cf84a8a68971995d0bf2e925ec7cd960f9cb3"
+checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 dependencies = [
 "serde",
 ]
@@ -539,7 +539,7 @@ version = "0.1.0"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -682,7 +682,7 @@ dependencies = [
 "deluxe-macros",
 "once_cell",
 "proc-macro2",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -695,7 +695,7 @@ dependencies = [
 "proc-macro2",
 "quote",
 "strsim",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -710,7 +710,7 @@ dependencies = [
 "proc-macro-crate",
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -721,7 +721,7 @@ checksum = "1e567bd82dcff979e4b03460c307b3cdc9e96fde3d73bed1496d2bc75d9dd62a"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -962,14 +962,13 @@ dependencies = [
 "deluxe",
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
 name = "ethercrab"
 version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbb13becfa15713adb09b27fdb74468b827cdc78aa99aea638a89c1b0db3ce94"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
 "async-io",
 "atomic-waker",
@@ -998,8 +997,7 @@ dependencies = [
 [[package]]
 name = "ethercrab-wire"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d15828cb020fb44c92ca67e1ee3c122c9621c2e00d383d066e488f0619023ba2"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
 "ethercrab-wire-derive",
 "heapless",
@@ -1008,20 +1006,19 @@ dependencies = [
 [[package]]
 name = "ethercrab-wire-derive"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e790b8011211ed70babfcacbd4277b91ee21402ad5ba6a2c293db02e2f12919"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
 "criterion",
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
 name = "euclid"
-version = "0.22.11"
+version = "0.22.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad9cdb4b747e485a12abb0e6566612956c7a1bafa3bdb8d682c5b6d403589e48"
+checksum = "df61bf483e837f88d5c2291dcf55c67be7e676b3a51acc48db3a7b163b91ed63"
 dependencies = [
 "num-traits",
 ]
@@ -1878,7 +1875,7 @@ dependencies = [
 "pest_meta",
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -1908,7 +1905,7 @@ checksum = "6e918e4ff8c4549eb882f14b3a4bc8c8bc93de829416eacf579f1207a8fbf861"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -2221,7 +2218,7 @@ checksum = "22f968c5ea23d555e670b449c1c5e7b2fc399fdaec1d304a17cd48e288abc107"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -2251,20 +2248,20 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
 name = "serde_json"
-version = "1.0.145"
+version = "1.0.149"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "402a6f66d8c709116cf22f558eab210f5a50187f702eb4d7e5ef38d9a7f1c79c"
+checksum = "83fc039473c5595ace860d8c4fafa220ff474b3fc6bfdb4293327f1a37e94d86"
 dependencies = [
 "itoa",
 "memchr",
- "ryu",
 "serde",
 "serde_core",
+ "zmij",
 ]

 [[package]]
@@ -2332,6 +2329,7 @@ dependencies = [
 "smol",
 "socketioxide",
 "spin_sleep",
+ "ta",
 "textplots",
 "tokio",
 "tower-http",
@@ -2573,9 +2571,9 @@ dependencies = [

 [[package]]
 name = "syn"
-version = "2.0.111"
+version = "2.0.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "390cc9a294ab71bdb1aa2e99d13be9c753cd2d7bd6560c77118597410c4d2e87"
+checksum = "d4d107df263a3013ef9b1879b0df87d706ff80f65a86ea879bd9c31f9b307c2a"
 dependencies = [
 "proc-macro2",
 "quote",
@@ -2588,6 +2586,12 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0bf256ce5efdfa370213c1dabab5935a12e49f2c58d15e9eac2870d3b4f27263"

+[[package]]
+name = "ta"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "609409d472a0a7d8d4dd9e19891bbdef546b9dce670c3057d0e02192dc541226"
+
 [[package]]
 name = "tap"
 version = "1.0.1"
@@ -2621,7 +2625,7 @@ checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -2681,7 +2685,7 @@ checksum = "af407857209536a95c8e56f8231ef2c2e2aff839b22e07a1ffcbc617e9db9fa5"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -2843,7 +2847,7 @@ checksum = "7490cfa5ec963746568740651ac6781f701c9c5ea257c58e057f3ba8cf69e8da"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -2880,9 +2884,9 @@ dependencies = [

 [[package]]
 name = "tracing-subscriber"
-version = "0.3.20"
+version = "0.3.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2054a14f5307d601f88daf0553e1cbf472acc4f2c51afab632431cdcd72124d5"
+checksum = "2f30143827ddab0d256fd843b7a66d164e9f271cfa0dde49142c5ca0ca291f1e"
 dependencies = [
 "chrono",
 "matchers",
@@ -3074,7 +3078,7 @@ dependencies = [
 "bumpalo",
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 "wasm-bindgen-shared",
 ]

@@ -3139,7 +3143,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -3150,7 +3154,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]

 [[package]]
@@ -3426,5 +3430,11 @@ checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
+
+[[package]]
+name = "zmij"
+version = "1.0.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ff05f8caa9038894637571ae6b9e29466c1f4f829d26c9b28f869a29cbe3445"
@@ -2,167 +2,76 @@

 # QiTech Control

-QiTech Control is an open-source framework designed to bring modern software paradigms to certified industrial hardware.
+QiTech Control is an open-source framework designed to bring modern software development practices to certified industrial 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.

 QiTech Control combines the modularity and reliability of standard EtherCAT terminals (e.g., WAGO, Beckhoff) with the power of a modern Rust & React stack.

+## Documentation

-[![](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.*
+**[View Full Documentation Wiki](https://github.com/qitechgmbh/control/wiki)**

-[![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM) 
-*Click here to watch a full explainer Video of our Software.*
+- [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)

-# Repo Structure
+## Videos

-Frontend
+| 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* |

- `/electron`: Frontend code for the control software built with React and Electron.
+## Repository Structure

-Backend
+- **`/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

- `/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.
+## Technology Stack

-Operating System
+**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

- `/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
-
-Other
-
- `/docs`: Documentation for the project.
-
-# Technology Choices
-
-## Backend
-
-To interface with Beckhoff and other EtherCAT devices we need an EtherCAT master software. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
-
-[SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.
-
-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.
-
-## Frontend
-
-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).
-
-# Dev Setup
-
-[Developer Documentation](./docs/developer-docs/)
-
-## 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)
-
-## Frontend
-
- 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          | Yes         | [](./docs/machines/winder-1.md) |
-| Extruder     | V1      | ???          | Single Screw Extruder       | -                                                      | 1 (Qitech Industries GmbH) | 3          | Reserved    | -                               |
-| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Yes         |                                 |
-| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | In Progress     |                                 |
-| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Yes         |                                 |
-| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Yes         | -                               |
-
-# Minimal Hardware Examples
-
-For complete step-by-step tutorials on setting up your first hardware, including wiring diagrams and software configuration, see the [Getting Started Guide](./docs/developer-docs/getting-started.md#minimal-hardware-examples).
-
-Available examples:
- **LED Control with EL2004** - Digital output control (simplest setup)
- **Analog Input with EL3021** - Reading analog current measurements
+**Frontend:** [Electron](https://www.electronjs.org/) + [React](https://react.dev/) with [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) styling


-# More Docs
+## Hardware Examples

- [x] [Architecture & Data Flow](./docs/architecture-overview.md)
+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.

-  - [x] Example Winder V2
+**[View all hardware examples and tutorials on the wiki](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)**

- [ ] Electron
+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)

-  - Folder Structure
-  - Routing with TanStack Router
-  - Design with Tailwind & Shadcn
-  - ...
+## QiTech Machines

- [ ] Interfacing with Electron/Server
+QiTech Control powers 10+ production machines for filament extrusion, winding, measurement, and material processing.

-  - [ ] SocketIO
-    - Machine Namespace
-    - Main Namespace
-  - [ ] REST
-    - Machine Mutations
-    - Write Device Identification
+**[View complete machine catalog on the wiki](https://github.com/qitechgmbh/control/wiki/QiTech-Machines)**

- 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.
+## Contributing

- [ ] Control Core
+This is an open-source project. Contributions are welcome! Please see the [wiki](https://github.com/qitechgmbh/control/wiki) for development guidelines.

-  - [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)
+## Additional Videos

- [x] [Ethercat Basics](./docs/ethercat-basics.md)
+| Episode Highlights |  |
+|--------------------|--------------------|
+| [![](https://img.youtube.com/vi/U2wNN6sF4to/maxresdefault.jpg)](https://www.youtube.com/watch?v=U2wNN6sF4to&t=163s)<br/>**Day in the Software Team**<br/>*Behind the scenes with Robin and how the team ships control software.* | [![](https://img.youtube.com/vi/R5WGAY3WRWA/maxresdefault.jpg)](https://www.youtube.com/watch?v=R5WGAY3WRWA&t=1s)<br/>**Software Stack Day**<br/>*A fast tour through the tools, stack, and daily workflow.* |
+| [![](https://img.youtube.com/vi/xyaHwxXguw4/maxresdefault.jpg)](https://www.youtube.com/watch?v=xyaHwxXguw4&t=32s)<br/>**First Client**<br/>*A milestone week building the first real client project.* | [![](https://img.youtube.com/vi/moI7z2PVdF4/maxresdefault.jpg)](https://www.youtube.com/watch?v=moI7z2PVdF4)<br/>**Steelworks Week**<br/>*A deep-dive week on a demanding steelworks order.* |

- [x] [NixOS Operating System](./docs/nixos/README.md)
+## License
+
+See [LICENSE](LICENSE) file for details.
@@ -9,11 +9,11 @@ workspace = true
 [dependencies]
 anyhow = "1.0.100"

-axum = "0.8.6"
+axum = "0.8.8"

 ethercat_hal = { path = "../ethercat-hal" }
 units = { path = "../units" }
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 interfaces = "0.0.9"
 serde = "1.0.219"
 serialport = "4.7.3"
@@ -89,5 +89,86 @@ To get started with actual hardware, check out these step-by-step tutorials:

 - **[LED Control with EL2004](./minimal-example-el2004.md)** - Digital output control, the simplest possible hardware setup
 - **[Analog Input with EL3021](./minimal-example-el3021.md)** - Reading analog current measurements
+- **[Stepper Motor Control with EL7031-0030](./minimal-example-el7031-motor.md)** - Complete motor control integration with velocity control

 These examples provide complete hardware wiring diagrams and software setup instructions.
+
+
+# More Docs 
+
+- [x] [Architecture & Data Flow](./docs/architecture-overview.md)
+
+  - [x] Example Winder V2
+
+- [ ] Electron
+
+  - Folder Structure
+  - Routing with TanStack Router
+  - Design with Tailwind & Shadcn
+  - ...
+
+- [ ] Interfacing with Electron/Server
+
+  - [ ] SocketIO
+    - Machine Namespace
+    - Main Namespace
+  - [ ] REST
+    - Machine Mutations
+    - Write Device Identification
+
+- Server
+
+  - [x] [Threading](./docs/control-loop.md)
+  - [x] [Logging](./docs/logging.md)
+  - [ ] Control Loop Setup
+    - Control Loop Thread
+      - [ ] realtime
+    - Maindevice
+    - Group
+    - Extracting Device Identifications
+    - Identifying Groups
+    - Validating Machines
+    - Run Control Loop
+  - [x] [Control Loop](./docs/control-loop.md)
+  - [x] [Machine/Device Identification](./docs/identification.md)
+  - [ ] Machines
+    - When to create a new Machine?
+      - Versioning
+      - Code sharing
+    - Creating/Validating a Machine
+      - Validation
+      - Configuration
+  - [ ] Machine Implementation Guide
+    - Link: How to create a Device
+    - Link: How to create an Actor
+    - Link: How to create a Machine
+      - API (SocketIO + REST)
+      - Creation/Validation Logic
+        - Optional/Mandatory Devices
+        - Validate Devices
+      - Business Logic
+    - Link: How to create Machine Abstraction (Like Traverse/Puller/...)
+    - Forward `act` in winder.
+
+- [ ] Control Core
+
+  - [x] [Actors](./docs/actors.md)
+  - [ ] SocketIO
+    - Namespaces & Caching
+    - Joining leaving namespaces
+    - NamespaceId
+    - Caching
+      - Serverside Caching
+      - Clientside Caching
+  - [ ] REST
+
+- [x] Ethercat HAL
+
+  - [x] [Devices](./docs/devices.md)
+  - [x] [Configuration (CoE)](./docs/coe.md)
+  - [x] [IO](./docs/io.md)
+  - [x] [PDO](./docs/pdo.md)
+
+- [x] [Ethercat Basics](./docs/ethercat-basics.md)
+
+- [x] [NixOS Operating System](./docs/nixos/README.md)
@@ -0,0 +1,236 @@
+# Minimal Example — Beckhoff EL7031-0030 Stepper Motor Integration  
+A complete hardware + software walkthrough
+
+---
+
+## Table of Contents
+1. [Introduction](#1-introduction)
+2. [Requirements](#2-requirements)
+3. [Hardware Setup](#3-hardware-setup)
+   - [3.2 EK1100 Wiring](#32-ek1100-wiring)
+   - [3.2.1 Safe Wiring Procedure](#321-safe-wiring-procedure-beckhoff-recommended)
+   - [3.2.2 Wiring (EL7031-0030)](#322-wiring-el7031-0030)
+   - [3.3 Safety Warning](#33--safety-warning)
+4. [Software Setup](#4-software-setup)
+   - [4.1 Installing on Linux](#41-installing-on-linux-this-depends-on-your-distro)
+   - [4.2 Running the Backend](#42-running-the-backend)
+   - [4.3 Running the Frontend](#43-running-the-frontend)
+5. [Demo](#5-demo)
+   - [5.1 Assigning Devices in the Dashboard](#51-assigning-devices-in-the-dashboard)
+6. [Documentation](#6-documentation)
+7. [Software Architecture](#7-software-architecture)
+
+---
+
+## 1. Introduction
+
+This project documents the successful integration of a **Beckhoff EL7031-0030 Stepper Motor Terminal** into the QiTech control software stack. 
+The goal was to control a 24V stepper motor via EtherCAT using a custom Rust backend and a React/Electron frontend.
+
+---
+
+## 2. Requirements
+
+### Software
+- Rust toolchain
+- Node.js + npm
+- Git
+- QiTech Control repository
+- EtherCAT HAL (included inside repo)
+
+### Hardware
+- **EtherCAT Master:** Linux PC
+- **Bus Coupler:** EtherCAT Beckhoff EK1100
+- **Stepper Driver:** Beckhoff EL7031-0030 (THIS IS DIFFERENT FROM EL7031)
+- **Motor:** Standard 4-wire Stepper Motor
+- **Power Supply:** 24V DC
+- **Ethernet Cable:** Standard Ethernet cable
+- **Wiring Tools:** Screwdriver, wires
+
+---
+
+## 3. Hardware Setup
+
+### 3.2 EK1100 Wiring
+
+This wiring configuration powers the EL7031-0030.  
+It is not the only possible wiring but is the **simplest functional setup**.
+
+#### ⚠️ Safety Warning
+Always disconnect power before wiring.  
+Working on live EtherCAT terminals can cause serious damage or electrical shock.
+
+---
+
+#### 3.2.1 Safe Wiring Procedure (Beckhoff Recommended)
+
+1. Insert a screwdriver **straight** into the square release hole.
+2. Insert the stripped wire into the round opening.
+3. Remove the screwdriver — the spring clamp locks the wire.
+
+![](../assets/wiring.png)
+
+---
+
+We supply power using a **DC hollow-plug adapter**, like this one:  
+https://www.amazon.de/dp/B093FTFZ8Q
+
+Perform the following wiring on the EK1100:
+
+1. Red wire **(+24 V)** → Terminal **2**
+2. Black wire **(0 V)** → Terminal **3**
+3. Jumper wire from **Terminal 1 → Terminal 6**
+4. Jumper wire from **Terminal 5 → Terminal 7**
+
+After wiring, your module should look like **Figure 1**.
+
+---
+
+#### **Figure 1 — EK1100 Minimal Wiring**
+<img src="../assets/ek1100.jpeg" width="400">
+
+---
+
+#### **Figure 2 — EL7031-0030 Terminal**
+
+<img src="../assets/EL7031_0030.jpg" width="300">
+
+Slide the EL7031-0030 onto the right side of the EK1100 until it locks.
+The EtherCAT E-Bus and power contacts connect automatically — **no wiring required**.
+
+---
+
+#### **Figure 3 — Motor**
+<img src="../assets/motor.jpg" width="300">
+
+---
+
+#### **Figure 4 — Motor Wiring**
+<img src="../assets/motor_wiring.jpg" width="300">
+
+Now the motor is wired via the pins 4, 5, 12, 13 on the EL7031-0030.
+
+---
+
+#### **Figure 5 — EL7031 Integration Connected**
+
+<img src="../assets/EL7031_0030_connected.jpg" width="400">
+
+That's what the pin should look like.
+
+---
+
+### 3.2.2 Wiring (EL7031-0030)
+
+**Crucial:** The EL7031 requires two power sources: E-Bus (side contacts) for logic, and Front Terminal (6 & 14) for motor power.
+
+| Terminal Point | Function         | Cable Color (Example) |
+| :------------- | :--------------- | :-------------------- |
+| **4**          | Motor Coil A1    | Red                   |
+| **12**         | Motor Coil A2    | Blue                  |
+| **5**          | Motor Coil B1    | Green                 |
+| **13**         | Motor Coil B2    | Black                 |
+| **6**          | **Power +24V**   | PSU Red (+)           |
+| **14**         | **Power 0V/GND** | PSU Black (-)         |
+
+---
+
+### 3.3 ⚠️ Safety Warning
+
+- **Mandatory Power Supply:** Without 24V connected to **Pin 6 (+24V)** and **Pin 14 (GND)**, the terminal will remain in `PREOP` state or show a "Warning" LED (No Power). The motor will **not** move without this external supply.
+
+#### Risk of Destruction (Short Circuit):
+- **Never** connect the 24V Power Supply to the Motor Output pins (**4, 5, 12, 13**). This will instantly destroy the terminal (causing pins 12 & 13 to glow red/burn).
+- Ensure strict separation: **Pins 4/5/12/13 are for the MOTOR ONLY**.
+- **Pins 6/14 are for POWER ONLY**.
+
+Also, see the documentation of the EtherCAT terminal ([EL7031-0030](https://download.beckhoff.com/download/document/io/ethercat-terminals/el7031-0030de.pdf)) for the different power modes (page 46 ff.)
+
+---
+
+## 4. Software Setup
+
+### 4.1 Installing on Linux (this depends on your distro)
+
+Paste this into your terminal:
+
+```bash
+# Press Enter when prompted
+curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+
+sudo apt update
+sudo apt install -y npm nodejs git
+
+git clone git@github.com:qitechgmbh/control.git
+cd control/electron
+npm install
+```
+
+### 4.2 Running the Backend
+
+```bash
+./cargo_run_linux.sh
+```
+
+This script:
+- Builds the backend
+- Grants required system capabilities (raw sockets)
+- Starts EtherCAT communication
+
+### 4.3 Running the Frontend
+
+```bash
+# move to the control directory
+cd electron
+npm run start
+```
+
+This launches the QiTech Control dashboard.
+
+---
+
+## 5. Demo
+
+### 5.1 Assigning Devices in the Dashboard
+
+Once the backend + frontend are running, you should see:
+
+![](../assets/UI_start_motor.png)
+
+Make sure that under "Assign" → "Machine Assignment"
+the correct serial number is selected (each device should have the same one, here it is 1).
+Under "Machine" select your new Machine however you named it (I named it "TestMotor V1"), else it will detect that there is something connected to it but the connection won't work.
+
+![](../assets/machine_assigment_motor.png)
+
+**NOW THE MOTOR SHOULD TURN!**
+
+In the interface "TestMotor" on the left side, you can now control the motor (its state and its speed).
+
+![](../assets/UI_motor.png)
+
+---
+
+## 6. Documentation
+
+Use the official documentation of the EL7031-0030 for more information:  
+[Beckhoff EL7031-0030 Documentation](https://download.beckhoff.com/download/document/io/ethercat-terminals/el7031-0030de.pdf)
+
+---
+
+## 7. Software Architecture
+
+### Backend (Rust)
+Located in [machines/src/motor_test_machine/](/machines/src/motor_test_machine/).
+
+1. **`mod.rs`**: Defines the `MotorTestMachine` struct and holds the state (driver wrapper, enabled state, target velocity).
+2. **`api.rs`**: Handles incoming JSON commands from the frontend (Enable/Disable, Set Velocity) via WebSockets/SocketIO.
+3. **`act.rs`**: The real-time control loop. It updates the `StepperVelocityEL70x1` driver wrapper in every cycle based on the current state.
+4. **`new.rs`**: Initializes the hardware.
+
+### Frontend (TypeScript/React)
+Located in [electron/src/machines/motor_test_machine/](/electron/src/machines/motor_test_machine/) and [electron/src/routes/routes.tsx](/electron/src/routes/routes.tsx).
+
+1. **`useTestMotor.ts`**: Custom hook managing the optimistic state and communication with the backend.
+2. **`TestMotorControlPage.tsx`**: The UI using QiTech UI components (`ControlCard`, `EditValue`, `SelectionGroupBoolean`) to match the look and feel of the Winder2.
+3. **Routing**: Integrated into `routes.tsx` using TanStack Router, ensuring the machine appears in the sidebar and navigation works correctly.
@@ -1,12 +1,12 @@
 {
  "name": "qitech-control-electron",
-  "version": "1.0.0",
+  "version": "2.4.1",
  "lockfileVersion": 3,
  "requires": true,
  "packages": {
    "": {
      "name": "qitech-control-electron",
-      "version": "1.0.0",
+      "version": "2.4.1",
      "dependencies": {
        "@hookform/resolvers": "^5.2.2",
        "@icons-pack/react-simple-icons": "^11.2.0",
@@ -40,12 +40,12 @@
        "react": "^19.0.0",
        "react-dom": "^19.0.0",
        "react-hook-form": "^7.57.0",
-        "react-i18next": "^15.4.1",
+        "react-i18next": "^16.5.4",
        "react-markdown": "^10.1.0",
        "react-virtualized": "^9.22.6",
        "rehype-raw": "^7.0.0",
        "remark-gfm": "^4.0.1",
-        "socket.io-client": "^4.8.1",
+        "socket.io-client": "^4.8.3",
        "socket.io-msgpack-parser": "^3.0.2",
        "sonner": "^2.0.1",
        "tailwind-merge": "^3.0.1",
@@ -54,7 +54,7 @@
        "xlsx": "https://cdn.sheetjs.com/xlsx-0.20.3/xlsx-0.20.3.tgz",
        "zod": "^4.3.5",
        "zod-validation-error": "^5.0.0",
-        "zustand": "^5.0.8"
+        "zustand": "^5.0.11"
      },
      "devDependencies": {
        "@electron/fuses": "^1.8.0",
@@ -73,7 +73,7 @@
        "@types/react-virtualized": "^9.22.2",
        "electron": "^37.3.1",
        "electron-playwright-helpers": "^1.7.1",
-        "eslint": "^9.20.1",
+        "eslint": "^9.39.2",
        "eslint-config-prettier": "^10.1.2",
        "eslint-plugin-prettier": "^5.5.4",
        "eslint-plugin-react": "^7.37.4",
@@ -90,7 +90,7 @@
        "vite": "^6.4.1",
        "vite-plugin-electron": "^0.29.0",
        "vite-plugin-electron-renderer": "^0.14.6",
-        "vitest": "^3.0.6"
+        "vitest": "^4.0.18"
      }
    },
    "node_modules/@adobe/css-tools": {
@@ -1305,9 +1305,9 @@
      }
    },
    "node_modules/@eslint/js": {
-      "version": "9.39.1",
-      "resolved": "https://registry.npmjs.org/@eslint/js/-/js-9.39.1.tgz",
-      "integrity": "sha512-S26Stp4zCy88tH94QbBv3XCuzRQiZ9yXofEILmglYTh/Ug/a9/umqvgFtYBAo3Lp0nsI/5/qH1CCrbdK3AP1Tw==",
+      "version": "9.39.2",
+      "resolved": "https://registry.npmjs.org/@eslint/js/-/js-9.39.2.tgz",
+      "integrity": "sha512-q1mjIoW1VX4IvSocvM/vbTiveKC4k9eLrajNEuSsmjymSDEbpGddtpfOoN7YGAqBK3NG+uqo8ia4PDTt8buCYA==",
      "dev": true,
      "license": "MIT",
      "engines": {
@@ -2889,6 +2889,13 @@
      "integrity": "sha512-9BCxFwvbGg/RsZK9tjXd8s4UcwR0MWeFQ1XEKIQVVvAGJyINdrqKMcTRyLoK8Rse1GjzLV9cwjWV1olXRWEXVA==",
      "license": "MIT"
    },
+    "node_modules/@standard-schema/spec": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/@standard-schema/spec/-/spec-1.1.0.tgz",
+      "integrity": "sha512-l2aFy5jALhniG5HgqrD6jXLi/rUWrKvqN/qJx6yoJsgKhblVd+iqqU4RCXavm/jPityDo5TCvKMnpjKnOriy0w==",
+      "dev": true,
+      "license": "MIT"
+    },
    "node_modules/@standard-schema/utils": {
      "version": "0.3.0",
      "resolved": "https://registry.npmjs.org/@standard-schema/utils/-/utils-0.3.0.tgz",
@@ -4116,39 +4123,40 @@
      }
    },
    "node_modules/@vitest/expect": {
-      "version": "3.2.4",
-      "resolved": "https://registry.npmjs.org/@vitest/expect/-/expect-3.2.4.tgz",
-      "integrity": "sha512-Io0yyORnB6sikFlt8QW5K7slY4OjqNX9jmJQ02QDda8lyM6B5oNgVWoSoKPac8/kgnCUzuHQKrSLtu/uOqqrig==",
+      "version": "4.0.18",
+      "resolved": "https://registry.npmjs.org/@vitest/expect/-/expect-4.0.18.tgz",
+      "integrity": "sha512-8sCWUyckXXYvx4opfzVY03EOiYVxyNrHS5QxX3DAIi5dpJAAkyJezHCP77VMX4HKA2LDT/Jpfo8i2r5BE3GnQQ==",
      "dev": true,
      "license": "MIT",
      "dependencies": {
+        "@standard-schema/spec": "^1.0.0",
        "@types/chai": "^5.2.2",
-        "@vitest/spy": "3.2.4",
-        "@vitest/utils": "3.2.4",
-        "chai": "^5.2.0",
-        "tinyrainbow": "^2.0.0"
+        "@vitest/spy": "4.0.18",
+        "@vitest/utils": "4.0.18",
+        "chai": "^6.2.1",
+        "tinyrainbow": "^3.0.3"
      },
      "funding": {
        "url": "https://opencollective.com/vitest"
      }
    },
    "node_modules/@vitest/mocker": {
-      "version": "3.2.4",
-      "resolved": "https://registry.npmjs.org/@vitest/mocker/-/mocker-3.2.4.tgz",
-      "integrity": "sha512-46ryTE9RZO/rfDd7pEqFl7etuyzekzEhUbTW3BvmeO/BcCMEgq59BKhek3dXDWgAj4oMK6OZi+vRr1wPW6qjEQ==",
+      "version": "4.0.18",
+      "resolved": "https://registry.npmjs.org/@vitest/mocker/-/mocker-4.0.18.tgz",
+      "integrity": "sha512-HhVd0MDnzzsgevnOWCBj5Otnzobjy5wLBe4EdeeFGv8luMsGcYqDuFRMcttKWZA5vVO8RFjexVovXvAM4JoJDQ==",
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+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/tinyexec/-/tinyexec-1.0.2.tgz",
+      "integrity": "sha512-W/KYk+NFhkmsYpuHq5JykngiOCnxeVL8v8dFnqxSD8qEEdRfXk1SDM6JzNqcERbcGYj9tMrDQBYV9cjgnunFIg==",
      "dev": true,
-      "license": "MIT"
+      "license": "MIT",
+      "engines": {
+        "node": ">=18"
+      }
    },
    "node_modules/tinyglobby": {
      "version": "0.2.15",
@@ -11028,30 +10934,10 @@
        "url": "https://github.com/sponsors/jonschlinkert"
      }
    },
-    "node_modules/tinypool": {
-      "version": "1.1.1",
-      "resolved": "https://registry.npmjs.org/tinypool/-/tinypool-1.1.1.tgz",
-      "integrity": "sha512-Zba82s87IFq9A9XmjiX5uZA/ARWDrB03OHlq+Vw1fSdt0I+4/Kutwy8BP4Y/y/aORMo61FQ0vIb5j44vSo5Pkg==",
-      "dev": true,
-      "license": "MIT",
-      "engines": {
-        "node": "^18.0.0 || >=20.0.0"
-      }
-    },
    "node_modules/tinyrainbow": {
-      "version": "2.0.0",
-      "resolved": "https://registry.npmjs.org/tinyrainbow/-/tinyrainbow-2.0.0.tgz",
-      "integrity": "sha512-op4nsTR47R6p0vMUUoYl/a+ljLFVtlfaXkLQmqfLR1qHma1h/ysYk4hEXZ880bf2CYgTskvTa/e196Vd5dDQXw==",
-      "dev": true,
-      "license": "MIT",
-      "engines": {
-        "node": ">=14.0.0"
-      }
-    },
-    "node_modules/tinyspy": {
-      "version": "4.0.4",
-      "resolved": "https://registry.npmjs.org/tinyspy/-/tinyspy-4.0.4.tgz",
-      "integrity": "sha512-azl+t0z7pw/z958Gy9svOTuzqIk6xq+NSheJzn5MMWtWTFywIacg2wUlzKFGtt3cthx0r2SxMK0yzJOR0IES7Q==",
+      "version": "3.0.3",
+      "resolved": "https://registry.npmjs.org/tinyrainbow/-/tinyrainbow-3.0.3.tgz",
+      "integrity": "sha512-PSkbLUoxOFRzJYjjxHJt9xro7D+iilgMX/C9lawzVuYiIdcihh9DXmVibBe8lmcFrRi/VzlPjBxbN7rH24q8/Q==",
      "dev": true,
      "license": "MIT",
      "engines": {
@@ -11691,29 +11577,6 @@
        }
      }
    },
-    "node_modules/vite-node": {
-      "version": "3.2.4",
-      "resolved": "https://registry.npmjs.org/vite-node/-/vite-node-3.2.4.tgz",
-      "integrity": "sha512-EbKSKh+bh1E1IFxeO0pg1n4dvoOTt0UDiXMd/qn++r98+jPO1xtJilvXldeuQ8giIB5IkpjCgMleHMNEsGH6pg==",
-      "dev": true,
-      "license": "MIT",
-      "dependencies": {
-        "cac": "^6.7.14",
-        "debug": "^4.4.1",
-        "es-module-lexer": "^1.7.0",
-        "pathe": "^2.0.3",
-        "vite": "^5.0.0 || ^6.0.0 || ^7.0.0-0"
-      },
-      "bin": {
-        "vite-node": "vite-node.mjs"
-      },
-      "engines": {
-        "node": "^18.0.0 || ^20.0.0 || >=22.0.0"
-      },
-      "funding": {
-        "url": "https://opencollective.com/vitest"
-      }
-    },
    "node_modules/vite-plugin-electron": {
      "version": "0.29.0",
      "resolved": "https://registry.npmjs.org/vite-plugin-electron/-/vite-plugin-electron-0.29.0.tgz",
@@ -11782,51 +11645,50 @@
      }
    },
    "node_modules/vitest": {
-      "version": "3.2.4",
-      "resolved": "https://registry.npmjs.org/vitest/-/vitest-3.2.4.tgz",
-      "integrity": "sha512-LUCP5ev3GURDysTWiP47wRRUpLKMOfPh+yKTx3kVIEiu5KOMeqzpnYNsKyOoVrULivR8tLcks4+lga33Whn90A==",
+      "version": "4.0.18",
+      "resolved": "https://registry.npmjs.org/vitest/-/vitest-4.0.18.tgz",
+      "integrity": "sha512-hOQuK7h0FGKgBAas7v0mSAsnvrIgAvWmRFjmzpJ7SwFHH3g1k2u37JtYwOwmEKhK6ZO3v9ggDBBm0La1LCK4uQ==",
      "dev": true,
      "license": "MIT",
      "dependencies": {
-        "@types/chai": "^5.2.2",
-        "@vitest/expect": "3.2.4",
-        "@vitest/mocker": "3.2.4",
-        "@vitest/pretty-format": "^3.2.4",
-        "@vitest/runner": "3.2.4",
-        "@vitest/snapshot": "3.2.4",
-        "@vitest/spy": "3.2.4",
-        "@vitest/utils": "3.2.4",
-        "chai": "^5.2.0",
-        "debug": "^4.4.1",
-        "expect-type": "^1.2.1",
-        "magic-string": "^0.30.17",
+        "@vitest/expect": "4.0.18",
+        "@vitest/mocker": "4.0.18",
+        "@vitest/pretty-format": "4.0.18",
+        "@vitest/runner": "4.0.18",
+        "@vitest/snapshot": "4.0.18",
+        "@vitest/spy": "4.0.18",
+        "@vitest/utils": "4.0.18",
+        "es-module-lexer": "^1.7.0",
+        "expect-type": "^1.2.2",
+        "magic-string": "^0.30.21",
+        "obug": "^2.1.1",
        "pathe": "^2.0.3",
-        "picomatch": "^4.0.2",
-        "std-env": "^3.9.0",
+        "picomatch": "^4.0.3",
+        "std-env": "^3.10.0",
        "tinybench": "^2.9.0",
-        "tinyexec": "^0.3.2",
-        "tinyglobby": "^0.2.14",
-        "tinypool": "^1.1.1",
-        "tinyrainbow": "^2.0.0",
-        "vite": "^5.0.0 || ^6.0.0 || ^7.0.0-0",
-        "vite-node": "3.2.4",
+        "tinyexec": "^1.0.2",
+        "tinyglobby": "^0.2.15",
+        "tinyrainbow": "^3.0.3",
+        "vite": "^6.0.0 || ^7.0.0",
        "why-is-node-running": "^2.3.0"
      },
      "bin": {
        "vitest": "vitest.mjs"
      },
      "engines": {
-        "node": "^18.0.0 || ^20.0.0 || >=22.0.0"
+        "node": "^20.0.0 || ^22.0.0 || >=24.0.0"
      },
      "funding": {
        "url": "https://opencollective.com/vitest"
      },
      "peerDependencies": {
        "@edge-runtime/vm": "*",
-        "@types/debug": "^4.1.12",
-        "@types/node": "^18.0.0 || ^20.0.0 || >=22.0.0",
-        "@vitest/browser": "3.2.4",
-        "@vitest/ui": "3.2.4",
+        "@opentelemetry/api": "^1.9.0",
+        "@types/node": "^20.0.0 || ^22.0.0 || >=24.0.0",
+        "@vitest/browser-playwright": "4.0.18",
+        "@vitest/browser-preview": "4.0.18",
+        "@vitest/browser-webdriverio": "4.0.18",
+        "@vitest/ui": "4.0.18",
        "happy-dom": "*",
        "jsdom": "*"
      },
@@ -11834,13 +11696,19 @@
        "@edge-runtime/vm": {
          "optional": true
        },
-        "@types/debug": {
+        "@opentelemetry/api": {
          "optional": true
        },
        "@types/node": {
          "optional": true
        },
-        "@vitest/browser": {
+        "@vitest/browser-playwright": {
+          "optional": true
+        },
+        "@vitest/browser-preview": {
+          "optional": true
+        },
+        "@vitest/browser-webdriverio": {
          "optional": true
        },
        "@vitest/ui": {
@@ -12226,9 +12094,9 @@
      }
    },
    "node_modules/zustand": {
-      "version": "5.0.9",
-      "resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.9.tgz",
-      "integrity": "sha512-ALBtUj0AfjJt3uNRQoL1tL2tMvj6Gp/6e39dnfT6uzpelGru8v1tPOGBzayOWbPJvujM8JojDk3E1LxeFisBNg==",
+      "version": "5.0.11",
+      "resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.11.tgz",
+      "integrity": "sha512-fdZY+dk7zn/vbWNCYmzZULHRrss0jx5pPFiOuMZ/5HJN6Yv3u+1Wswy/4MpZEkEGhtNH+pwxZB8OKgUBPzYAGg==",
      "license": "MIT",
      "engines": {
        "node": ">=12.20.0"
@@ -1,8 +1,8 @@
 {
  "name": "qitech-control-electron",
  "productName": "QiTech Control",
-  "version": "1.0.0",
-  "description": "",
+  "version": "2.4.1",
+  "description": "Next Generation Machine Interface ",
  "main": ".vite/build/main.js",
  "private": true,
  "scripts": {
@@ -36,7 +36,7 @@
    "@types/react-virtualized": "^9.22.2",
    "electron": "^37.3.1",
    "electron-playwright-helpers": "^1.7.1",
-    "eslint": "^9.20.1",
+    "eslint": "^9.39.2",
    "eslint-config-prettier": "^10.1.2",
    "eslint-plugin-prettier": "^5.5.4",
    "eslint-plugin-react": "^7.37.4",
@@ -53,7 +53,7 @@
    "vite": "^6.4.1",
    "vite-plugin-electron": "^0.29.0",
    "vite-plugin-electron-renderer": "^0.14.6",
-    "vitest": "^3.0.6"
+    "vitest": "^4.0.18"
  },
  "dependencies": {
    "@hookform/resolvers": "^5.2.2",
@@ -88,12 +88,12 @@
    "react": "^19.0.0",
    "react-dom": "^19.0.0",
    "react-hook-form": "^7.57.0",
-    "react-i18next": "^15.4.1",
+    "react-i18next": "^16.5.4",
    "react-markdown": "^10.1.0",
    "react-virtualized": "^9.22.6",
    "rehype-raw": "^7.0.0",
    "remark-gfm": "^4.0.1",
-    "socket.io-client": "^4.8.1",
+    "socket.io-client": "^4.8.3",
    "socket.io-msgpack-parser": "^3.0.2",
    "sonner": "^2.0.1",
    "tailwind-merge": "^3.0.1",
@@ -102,6 +102,6 @@
    "xlsx": "https://cdn.sheetjs.com/xlsx-0.20.3/xlsx-0.20.3.tgz",
    "zod": "^4.3.5",
    "zod-validation-error": "^5.0.0",
-    "zustand": "^5.0.8"
+    "zustand": "^5.0.11"
  }
 }
@@ -18,7 +18,7 @@ export function Aquapath1Page() {
          link: "graph",
          title: "Graph",
          icon: "lu:ChartSpline",
-          activeLink: "graphs",
+          activeLink: "graph",
        },
        {
          link: "settings",
@@ -14,7 +14,7 @@ import {
  NamespaceId,
  createNamespaceHookImplementation,
  ThrottledStoreUpdater,
-} from "../../../client/socketioStore";
+} from "@/client/socketioStore";
 import { MachineIdentificationUnique } from "@/machines/types";
 import {
  createTimeSeries,
@@ -66,19 +66,13 @@ export type Laser1NamespaceStore = {
  roundness: TimeSeries;
 };

-// Constants for time durations
-const HALF_SECOND = 500;
-
-const { initialTimeSeries: diameter, insert: addDiameter } = createTimeSeries({
-  sampleIntervalLong: HALF_SECOND,
-});
+const { initialTimeSeries: diameter, insert: addDiameter } = createTimeSeries();
 const { initialTimeSeries: x_diameter, insert: addXDiameter } =
-  createTimeSeries({ sampleIntervalLong: HALF_SECOND });
+  createTimeSeries();
 const { initialTimeSeries: y_diameter, insert: addYDiameter } =
-  createTimeSeries({ sampleIntervalLong: HALF_SECOND });
-const { initialTimeSeries: roundness, insert: addRoundness } = createTimeSeries(
-  { sampleIntervalLong: HALF_SECOND },
-);
+  createTimeSeries();
+const { initialTimeSeries: roundness, insert: addRoundness } =
+  createTimeSeries();

 /**
 * Factory function to create a new Laser1 namespace store
@@ -0,0 +1,53 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { SelectionGroupBoolean } from "@/control/SelectionGroup";
+import { EditValue } from "@/control/EditValue";
+import { Label } from "@/control/Label";
+import { useTestMotor } from "./useTestMotor";
+
+export function TestMotorControlPage() {
+  const { state, setMotorOn, setVelocity } = useTestMotor();
+
+  // Fallback in case state is still null
+  const safeState = state ?? { motor_enabled: false, motor_velocity: 0 };
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        {/* Basic control */}
+        <ControlCard title="Motor Status">
+          {/* On/Off switch */}
+          <Label label="Power State">
+            <SelectionGroupBoolean
+              value={safeState.motor_enabled}
+              // Icon mapping for True/False
+              optionTrue={{ children: "Enabled", icon: "lu:Play" }}
+              optionFalse={{ children: "Disabled", icon: "lu:CirclePause" }}
+              onChange={(val) => setMotorOn(val)}
+            />
+          </Label>
+        </ControlCard>
+
+        {/* Velocity */}
+        <ControlCard title="Settings">
+          {/* Velocity input with unit */}
+          <Label label="Target Velocity">
+            <EditValue
+              title="Velocity"
+              value={safeState.motor_velocity}
+              unit="rpm"
+              min={0}
+              max={1000} // Limit
+              step={1}
+              onChange={(val) => setVelocity(val)}
+              // Displays the value (as integer)
+              renderValue={(v) => v.toFixed(0)}
+            />
+          </Label>
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}
@@ -0,0 +1,22 @@
+import { Topbar } from "@/components/Topbar";
+import { testMotorSerialRoute } from "@/routes/routes";
+import React from "react";
+
+export function TestMotorPage() {
+  // Access is allowed here because this function is called later
+  const { serial } = testMotorSerialRoute.useParams();
+
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/testmotor/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+      ]}
+    />
+  );
+}
@@ -0,0 +1,73 @@
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "@/client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+
+// ========== Event Schema (Must match StateEvent) ==========
+export const stateEventDataSchema = z.object({
+  motor_enabled: z.boolean(),
+  motor_velocity: z.number(),
+});
+
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+export type StateEvent = z.infer<typeof stateEventDataSchema>;
+
+// ========== Store ==========
+export type TestMotorNamespaceStore = {
+  state: StateEvent | null;
+};
+
+export const createTestMotorNamespaceStore =
+  (): StoreApi<TestMotorNamespaceStore> =>
+    create<TestMotorNamespaceStore>(() => ({
+      state: null,
+    }));
+
+// ========== Message Handler ==========
+export function testMotorMessageHandler(
+  chstore: StoreApi<TestMotorNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<TestMotorNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const updateStore = (
+      updater: (state: TestMotorNamespaceStore) => TestMotorNamespaceStore,
+    ) => throttledUpdater.updateWith(updater);
+    try {
+      if (event.name === "StateEvent") {
+        const parsed = stateEventSchema.parse(event);
+        updateStore(() => ({ state: parsed.data }));
+      } else {
+        handleUnhandledEventError(event.name);
+      }
+    } catch (error) {
+      console.error(`Error processing ${event.name}:`, error);
+      throw error;
+    }
+  };
+}
+
+// ========== Namespace Hook ==========
+const useTestMotorNamespaceImplementation =
+  createNamespaceHookImplementation<TestMotorNamespaceStore>({
+    createStore: createTestMotorNamespaceStore,
+    createEventHandler: testMotorMessageHandler,
+  });
+
+export function useTestMotorNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): TestMotorNamespaceStore {
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+  return useTestMotorNamespaceImplementation(namespaceId);
+}
@@ -0,0 +1,96 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { testMotorSerialRoute } from "@/routes/routes";
+import { MachineIdentificationUnique } from "@/machines/types";
+import { useTestMotorNamespace, StateEvent } from "./testMotorNamespace";
+import { useMachineMutate } from "@/client/useClient";
+import { produce } from "immer";
+import { useEffect, useMemo } from "react";
+import { TestMotor } from "@/machines/properties";
+import { z } from "zod";
+
+export function useTestMotor() {
+  const { serial: serialString } = testMotorSerialRoute.useParams();
+
+  // Memoize machine identification
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+      return {
+        machine_identification: { vendor: 0, machine: 0 },
+        serial: 0,
+      };
+    }
+    return {
+      machine_identification: TestMotor.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Namespace state from backend
+  const { state } = useTestMotorNamespace(machineIdentification);
+
+  // Optimistic state
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) stateOptimistic.setReal(state);
+  }, [state, stateOptimistic]);
+
+  // Generic mutation sender
+  const { request: sendMutation } = useMachineMutate(
+    z.object({
+      type: z.string(),
+      payload: z.any(),
+    }),
+  );
+
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest?: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState)
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    serverRequest?.();
+  };
+
+  // --- ACTIONS ---
+
+  const setMotorOn = (on: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.motor_enabled = on;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          // Must exactly match the 'Mutation' enum!
+          data: { type: "SetMotorOn", payload: on },
+        }),
+    );
+  };
+
+  const setVelocity = (velocity: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.motor_velocity = velocity;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { type: "SetMotorVelocity", payload: velocity },
+        }),
+    );
+  };
+
+  return {
+    state: stateOptimistic.value,
+    setMotorOn,
+    setVelocity,
+  };
+}
@@ -390,6 +390,11 @@ export const aquapath1: MachineProperties = {
          product_id: 0x7d83052,
          revision: 0x110000,
        },
+        {
+          vendor_id: 2,
+          product_id: 0x7d83052,
+          revision: 0x120000,
+        },
      ],
    },
    {
@@ -473,6 +478,30 @@ export const digitalInputTestMachine: MachineProperties = {
  },
  device_roles: [],
 };
+
+export const wago8chDioTestMachine: MachineProperties = {
+  name: "WAGO 8ch DIO Test",
+  version: "V1",
+  slug: "wago8chdiotestmachine",
+  icon: "lu:Disc3",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x0041,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Wago 750-354 Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 0x21,
+          product_id: 0x07500354,
+          revision: 0x2,
+        },
+      ],
+    },
+  ],
+};
 export const wagoPower1: MachineProperties = {
  name: "WAGO Power",
  version: "V1",
@@ -544,6 +573,64 @@ export const ip20TestMachine: MachineProperties = {
  ],
 };

+export const TestMotor: MachineProperties = {
+  name: "TestMotor",
+  version: "V1",
+  slug: "testmotor",
+  icon: "lu:Disc3",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x0011,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 0x2,
+          product_id: 0x44c2c52,
+          revision: 0x120000,
+        },
+      ],
+    },
+    {
+      role: 1,
+      role_label: "Stepper Motor",
+      allowed_devices: [
+        {
+          vendor_id: 0x2,
+          product_id: 0x1b773052,
+          revision: 0x10001e,
+        },
+      ],
+    },
+  ],
+};
+
+export const wagoDoTestMachine: MachineProperties = {
+  name: "Wago DO Test",
+  version: "V1",
+  slug: "wagodotestmachine",
+  icon: "lu:ToggleRight",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x000e,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Wago 750-354 Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 0x21,
+          product_id: 0x07500354,
+          revision: 0x2,
+        },
+      ],
+    },
+  ],
+};
 export const wagoAiTestMachine: MachineProperties = {
  name: "Wago AI Test",
  version: "V1",
@@ -581,7 +668,10 @@ export const machineProperties: MachineProperties[] = [
  analogInputTestMachine,
  wagoAiTestMachine,
  digitalInputTestMachine,
+  wago8chDioTestMachine,
  ip20TestMachine,
+  wagoDoTestMachine,
+  TestMotor,
 ];

 export const getMachineProperties = (
@@ -0,0 +1,84 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { wago8chDioTestMachineRoute } from "@/routes/routes";
+import { MachineIdentificationUnique } from "@/machines/types";
+import { useMachineMutate } from "@/client/useClient";
+import { produce } from "immer";
+import { useEffect, useMemo } from "react";
+import { wago8chDioTestMachine } from "@/machines/properties";
+import { z } from "zod";
+import {
+  StateEvent,
+  useWago8chDioTestMachineNamespace,
+} from "./wago8chDioTestMachineNameSpace";
+export function useWago8chDioTestMachine() {
+  const { serial: serialString } = wago8chDioTestMachineRoute.useParams();
+
+  // Memoize machine identification
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+
+      return {
+        machine_identification: { vendor: 0, machine: 0 },
+        serial: 0,
+      };
+    }
+
+    return {
+      machine_identification: wago8chDioTestMachine.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Namespace state from backend
+  const { state } = useWago8chDioTestMachineNamespace(machineIdentification);
+
+  // Optimistic state
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) stateOptimistic.setReal(state);
+  }, [state, stateOptimistic]);
+
+  // Generic mutation sender
+  const { request: sendMutation } = useMachineMutate(
+    z.object({
+      action: z.string(),
+      value: z.any(),
+    }),
+  );
+
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest?: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState)
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    serverRequest?.();
+  };
+
+  const setOutputAtIndex = (index: number, value: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.digital_output[index] = value;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetOutput", value: { index, value } },
+        }),
+    );
+  };
+
+  return {
+    state: stateOptimistic.value,
+    setOutputAtIndex: setOutputAtIndex,
+  };
+}
@@ -0,0 +1,66 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { Label } from "@/control/Label";
+import { useWago8chDioTestMachine } from "./useWago8chDioTestMachine";
+import { Badge } from "@/components/ui/badge";
+
+export function Wago8chDioTestMachineControlRoute() {
+  const { state, setOutputAtIndex } = useWago8chDioTestMachine();
+
+  const safeState = state ?? {
+    digital_input: [false, false, false, false, false, false, false, false],
+    digital_output: [false, false, false, false, false, false, false, false],
+  };
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        {/* Digital Inputs */}
+        <ControlCard title="Digital Inputs">
+          <div className="grid grid-cols-2 gap-4">
+            {safeState.digital_input.map((input, index) => (
+              <Label key={index} label={`Input ${index + 1}`}>
+                <Badge variant={input ? "outline" : "destructive"}>
+                  {input ? "ON" : "OFF"}
+                </Badge>
+              </Label>
+            ))}
+          </div>
+        </ControlCard>
+
+        {/* Digital Outputs */}
+        <ControlCard title="Digital Outputs">
+          <div className="grid grid-cols-2 gap-4">
+            {safeState.digital_output.map((output, index) => (
+              <Label key={index} label={`Output ${index + 1}`}>
+                <SelectionGroup<"On" | "Off">
+                  value={output ? "On" : "Off"}
+                  orientation="vertical"
+                  className="grid h-full grid-cols-2 gap-2"
+                  options={{
+                    Off: {
+                      children: "Off",
+                      icon: "lu:CirclePause",
+                      isActiveClassName: "bg-red-600",
+                      className: "h-full",
+                    },
+                    On: {
+                      children: "On",
+                      icon: "lu:CirclePlay",
+                      isActiveClassName: "bg-green-600",
+                      className: "h-full",
+                    },
+                  }}
+                  onChange={(value) => setOutputAtIndex(index, value === "On")}
+                />
+              </Label>
+            ))}
+          </div>
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}
@@ -0,0 +1,79 @@
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "@/client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+
+// ========== Event Schema ==========
+
+export const stateEventDataSchema = z.object({
+  digital_input: z.array(z.boolean()).length(8),
+  digital_output: z.array(z.boolean()).length(8),
+});
+
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+export type StateEvent = z.infer<typeof stateEventDataSchema>;
+
+// ========== Store ==========
+export type Wago8chDioTestMachineNamespaceStore = {
+  state: StateEvent | null;
+};
+
+export const createWago8chDioTestMachineNamespaceStore =
+  (): StoreApi<Wago8chDioTestMachineNamespaceStore> =>
+    create<Wago8chDioTestMachineNamespaceStore>(() => ({
+      state: null,
+    }));
+
+// ========== Message Handler ==========
+export function wago8chDioTestMachineMessageHndler(
+  store: StoreApi<Wago8chDioTestMachineNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<Wago8chDioTestMachineNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const updateStore = (
+      updater: (
+        state: Wago8chDioTestMachineNamespaceStore,
+      ) => Wago8chDioTestMachineNamespaceStore,
+    ) => throttledUpdater.updateWith(updater);
+
+    try {
+      if (event.name === "StateEvent") {
+        const parsed = stateEventSchema.parse(event);
+        updateStore(() => ({ state: parsed.data }));
+      } else {
+        handleUnhandledEventError(event.name);
+      }
+    } catch (error) {
+      console.error(`Error processing ${event.name}:`, error);
+      throw error;
+    }
+  };
+}
+
+// ========== Namespace Hook ==========
+const useWago8chDioTestMachineImplementation =
+  createNamespaceHookImplementation<Wago8chDioTestMachineNamespaceStore>({
+    createStore: createWago8chDioTestMachineNamespaceStore,
+    createEventHandler: wago8chDioTestMachineMessageHndler,
+  });
+
+export function useWago8chDioTestMachineNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): Wago8chDioTestMachineNamespaceStore {
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+
+  return useWago8chDioTestMachineImplementation(namespaceId);
+}
@@ -0,0 +1,20 @@
+import { Topbar } from "@/components/Topbar";
+import { wago8chDioTestMachineRoute } from "@/routes/routes";
+import React from "react";
+
+export function Wago8chDioTestMachinePage() {
+  const { serial } = wago8chDioTestMachineRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/wago8chdiotestmachine/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+      ]}
+    />
+  );
+}
@@ -75,7 +75,7 @@ function wagoPower1MessageHandler(
    };

    try {
-      if (eventName === "StateEvent") {
+      if (eventName === "State") {
        const stateEvent = stateEventSchema.parse(event);

        updateStore((state) => ({
@@ -86,7 +86,7 @@ function wagoPower1MessageHandler(
            ? stateEvent
            : state.defaultState,
        }));
-      } else if (eventName === "LiveValuesEvent") {
+      } else if (eventName === "LiveValues") {
        console.log(event);
        const liveValues = liveValuesEventSchema.parse(event);
        const { voltage, current } = liveValues.data;
@@ -0,0 +1,64 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { Label } from "@/control/Label";
+import { useWagoDoTestMachine } from "./useWagoDoTestMachine";
+
+export function WagoDoTestMachineControlPage() {
+  const { state, setLed, setAllLeds } = useWagoDoTestMachine();
+
+  const safeState = state ?? {
+    led_on: Array(8).fill(false),
+  };
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        {/* Digital Output Controls */}
+        <ControlCard title="Digital Outputs (Do1-Do8)">
+          <div className="grid grid-cols-2 gap-6">
+            {safeState.led_on.map((output, index) => (
+              <Label key={index} label={`Do${index + 1}`}>
+                <SelectionGroup<"On" | "Off">
+                  value={output ? "On" : "Off"}
+                  orientation="vertical"
+                  className="flex flex-col gap-3"
+                  options={{
+                    Off: {
+                      children: "Off",
+                      icon: "lu:CirclePause",
+                      isActiveClassName: "bg-red-600",
+                      className: "flex-1",
+                    },
+                    On: {
+                      children: "On",
+                      icon: "lu:CirclePlay",
+                      isActiveClassName: "bg-green-600",
+                      className: "flex-1",
+                    },
+                  }}
+                  onChange={(value) => setLed(index, value === "On")}
+                />
+              </Label>
+            ))}
+          </div>
+        </ControlCard>
+
+        {/* Master Output Control */}
+        <ControlCard title="Master Output Control">
+          <SelectionGroup<"On" | "Off">
+            value={safeState.led_on.every(Boolean) ? "On" : "Off"}
+            orientation="horizontal"
+            options={{
+              Off: { children: "Turn All Off" },
+              On: { children: "Turn All On" },
+            }}
+            onChange={(value) => setAllLeds(value === "On")}
+          />
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}
@@ -0,0 +1,78 @@
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "@/client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+
+// ========== Event Schema ==========
+
+export const stateEventDataSchema = z.object({
+  led_on: z.array(z.boolean()).length(8),
+});
+
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+export type StateEvent = z.infer<typeof stateEventDataSchema>;
+
+// ========== Store ==========
+export type WagoDoTestMachineNamespaceStore = {
+  state: StateEvent | null;
+};
+
+export const createWagoDoTestMachineNamespaceStore =
+  (): StoreApi<WagoDoTestMachineNamespaceStore> =>
+    create<WagoDoTestMachineNamespaceStore>(() => ({
+      state: null,
+    }));
+
+// ========== Message Handler ==========
+export function wagoDoTestMachineMessageHandler(
+  store: StoreApi<WagoDoTestMachineNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<WagoDoTestMachineNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const updateStore = (
+      updater: (
+        state: WagoDoTestMachineNamespaceStore,
+      ) => WagoDoTestMachineNamespaceStore,
+    ) => throttledUpdater.updateWith(updater);
+
+    try {
+      if (event.name === "StateEvent") {
+        const parsed = stateEventSchema.parse(event);
+        updateStore(() => ({ state: parsed.data }));
+      } else {
+        handleUnhandledEventError(event.name);
+      }
+    } catch (error) {
+      console.error(`Error processing ${event.name}:`, error);
+      throw error;
+    }
+  };
+}
+
+// ========== Namespace Hook ==========
+const useWagoDoTestMachineNamespaceImplementation =
+  createNamespaceHookImplementation<WagoDoTestMachineNamespaceStore>({
+    createStore: createWagoDoTestMachineNamespaceStore,
+    createEventHandler: wagoDoTestMachineMessageHandler,
+  });
+
+export function useWagoDoTestMachineNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): WagoDoTestMachineNamespaceStore {
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+
+  return useWagoDoTestMachineNamespaceImplementation(namespaceId);
+}
@@ -0,0 +1,20 @@
+import { Topbar } from "@/components/Topbar";
+import { wagoDoTestMachineSerialRoute } from "@/routes/routes";
+import React from "react";
+
+export function WagoDoTestMachinePage() {
+  const { serial } = wagoDoTestMachineSerialRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/wagodotestmachine/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+      ]}
+    />
+  );
+}
@@ -0,0 +1,99 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { wagoDoTestMachineSerialRoute } from "@/routes/routes";
+import { MachineIdentificationUnique } from "@/machines/types";
+import {
+  useWagoDoTestMachineNamespace,
+  StateEvent,
+} from "./WagoDoTestMachineNamespace";
+import { useMachineMutate } from "@/client/useClient";
+import { produce } from "immer";
+import { useEffect, useMemo } from "react";
+import { wagoDoTestMachine } from "@/machines/properties";
+import { z } from "zod";
+
+export function useWagoDoTestMachine() {
+  const { serial: serialString } = wagoDoTestMachineSerialRoute.useParams();
+
+  // Memoize machine identification
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+
+      return {
+        machine_identification: { vendor: 0, machine: 0 },
+        serial: 0,
+      };
+    }
+
+    return {
+      machine_identification: wagoDoTestMachine.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Namespace state from backend
+  const { state } = useWagoDoTestMachineNamespace(machineIdentification);
+
+  // Optimistic state
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) stateOptimistic.setReal(state);
+  }, [state, stateOptimistic]);
+
+  // Generic mutation sender
+  const { request: sendMutation } = useMachineMutate(
+    z.object({
+      action: z.string(),
+      value: z.any(),
+    }),
+  );
+
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest?: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState)
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    serverRequest?.();
+  };
+
+  const setLed = (index: number, on: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.led_on[index] = on;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetLed", value: { index, on } },
+        }),
+    );
+  };
+
+  const setAllLeds = (on: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.led_on = Array(8).fill(on);
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetAllLeds", value: { on } },
+        }),
+    );
+  };
+
+  return {
+    state: stateOptimistic.value,
+    setLed,
+    setAllLeds,
+  };
+}
@@ -67,12 +67,18 @@ import { DigitalInputTestMachineControlPage } from "@/machines/digitalinputtestm

 import { IP20TestMachinePage } from "@/machines/ip20testmachine/IP20TestMachinePage";
 import { IP20TestMachineControlPage } from "@/machines/ip20testmachine/IP20TestMachineControlPage";
+import { TestMotorPage } from "@/machines/motor_test_machine/TestMotorPage";
+import { TestMotorControlPage } from "@/machines/motor_test_machine/TestMotorControlPage";

 import { MetricsGraphsPage } from "@/metrics/MetricsGraphsPage";
 import { MetricsControlPage } from "@/metrics/MetricsControlPage";

 import { WagoPower1Page } from "@/machines/wago_power/wago_power1/WagoPower1Page";
 import { WagoPower1ControlPage } from "@/machines/wago_power/wago_power1/WagoPower1ControlPage";
+import { WagoDoTestMachinePage } from "@/machines/wagodotestmachine/WagoDoTestMachinePage";
+import { WagoDoTestMachineControlPage } from "@/machines/wagodotestmachine/WagoDoTestMachineControlPage";
+import { Wago8chDioTestMachinePage } from "@/machines/wago8chdiotestmachine/wago8chDioTestMachinePage";
+import { Wago8chDioTestMachineControlRoute } from "@/machines/wago8chdiotestmachine/wago8chDioTestMachineControlPage";

 // make a route tree like this
 // _mainNavigation/machines/winder2/$serial/control
@@ -87,6 +93,18 @@ export const testMachineSerialRoute = createRoute({
  component: () => <TestMachinePage />,
 });

+export const wago8chDioTestMachineRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "wago8chdiotestmachine/$serial",
+  component: () => <Wago8chDioTestMachinePage />,
+});
+
+export const wago8chDioTestMachineControlRoute = createRoute({
+  getParentRoute: () => wago8chDioTestMachineRoute,
+  path: "control",
+  component: () => <Wago8chDioTestMachineControlRoute />,
+});
+
 // Leaf route: control page
 export const testMachineControlRoute = createRoute({
  getParentRoute: () => testMachineSerialRoute,
@@ -142,6 +160,18 @@ export const ip20TestMachineControlRoute = createRoute({
  component: () => <IP20TestMachineControlPage />,
 });

+export const testMotorSerialRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "testmotor/$serial",
+  component: () => <TestMotorPage />,
+});
+
+export const testMotorControlRoute = createRoute({
+  getParentRoute: () => testMotorSerialRoute,
+  path: "control",
+  component: () => <TestMotorControlPage />,
+});
+
 export const sidebarRoute = createRoute({
  getParentRoute: () => RootRoute,
  path: "_sidebar",
@@ -369,6 +399,18 @@ export const wagoPower1ControlRoute = createRoute({
  component: () => <WagoPower1ControlPage />,
 });

+export const wagoDoTestMachineSerialRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "wagodotestmachine/$serial",
+  component: () => <WagoDoTestMachinePage />,
+});
+
+export const wagoDoTestMachineControlRoute = createRoute({
+  getParentRoute: () => wagoDoTestMachineSerialRoute,
+  path: "control",
+  component: () => <WagoDoTestMachineControlPage />,
+});
+
 export const setupRoute = createRoute({
  getParentRoute: () => sidebarRoute,
  path: "setup",
@@ -470,12 +512,17 @@ export const rootTree = RootRoute.addChildren([
        laser1GraphsRoute,
        laser1PresetsRoute,
      ]),
+
      testMachineSerialRoute.addChildren([testMachineControlRoute]),

      analogInputTestMachineSerialRoute.addChildren([
        analogInputTestMachineControlRoute,
      ]),

+      wago8chDioTestMachineRoute.addChildren([
+        wago8chDioTestMachineControlRoute,
+      ]),
+
      wagoAiTestMachineSerialRoute.addChildren([wagoAiTestMachineControlRoute]),

      digitalInputTestMachineSerialRoute.addChildren([
@@ -484,6 +531,8 @@ export const rootTree = RootRoute.addChildren([

      ip20TestMachineSerialRoute.addChildren([ip20TestMachineControlRoute]),

+      testMotorSerialRoute.addChildren([testMotorControlRoute]),
+
      aquapath1SerialRoute.addChildren([
        aquapath1ControlRoute,
        aquapath1GraphRoute,
@@ -524,6 +573,8 @@ export const rootTree = RootRoute.addChildren([
      wagoPower1SerialRoute.addChildren([wagoPower1ControlRoute]),

      buffer1SerialRoute.addChildren([buffer1ControlRoute]),
+
+      wagoDoTestMachineSerialRoute.addChildren([wagoDoTestMachineControlRoute]),
    ]),
  ]),
 ]);
@@ -15,7 +15,13 @@ import {
  machineProperties,
  VENDOR_QITECH,
 } from "@/machines/properties";
-import React, { useEffect, useMemo, useRef, useState } from "react";
+import React, {
+  useCallback,
+  useEffect,
+  useMemo,
+  useRef,
+  useState,
+} from "react";
 import { z } from "zod";
 import { useForm } from "react-hook-form";
 import { zodResolver } from "@hookform/resolvers/zod";
@@ -150,6 +156,15 @@ export function DeviceEeepromDialogContent({ device, setOpen }: ContentProps) {
      });
  };

+  const updateNumpadPosition = useCallback(() => {
+    if (!numpadOpen || !dialogRef.current) return;
+    const rect = dialogRef.current.getBoundingClientRect();
+    setNumpadPosition({
+      left: rect.right + 20,
+      top: rect.top + rect.height / 2,
+    });
+  }, [numpadOpen]);
+
  const machinePreset = useMemo(() => {
    if (!values.machine) return;
    return getMachineProperties({
@@ -187,12 +202,7 @@ export function DeviceEeepromDialogContent({ device, setOpen }: ContentProps) {

  // Position numpad once when it opens
  useEffect(() => {
-    if (!numpadOpen || !dialogRef.current) return;
-    const rect = dialogRef.current.getBoundingClientRect();
-    setNumpadPosition({
-      left: rect.right + 20,
-      top: rect.top + rect.height / 2,
-    });
+    updateNumpadPosition();
  }, [numpadOpen]);

  // Close numpad when clicking outside input/numpad
@@ -226,6 +236,14 @@ export function DeviceEeepromDialogContent({ device, setOpen }: ContentProps) {
    }
  }, [numpadOpen]);

+  // Update numpad position whenever the window resizes
+  useEffect(() => {
+    window.addEventListener("resize", updateNumpadPosition);
+    return () => {
+      window.removeEventListener("resize", updateNumpadPosition);
+    };
+  }, [updateNumpadPosition]);
+
  // Numpad handlers for serial input
  const numpadHandlers = useMemo(() => {
    const ensureFocus = () => {
@@ -8,7 +8,7 @@ workspace = true

 [dependencies]
 anyhow = "1.0.100"
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 ethercat_hal_derive = { version = "0.1.0", path = "../ethercat-hal-derive" }
 units = { path = "../units" }
 bitvec = { version = "1.0.1", features = ["alloc"] }
@@ -180,7 +180,6 @@ impl Configuration for EL5152Configuration {
    ) -> Result<(), anyhow::Error> {
        // Configure channel 1
        self.channel1.write_channel_config(device, 0x8000).await?;
-
        // Configure channel 2
        self.channel2.write_channel_config(device, 0x8010).await?;
        // Write PDO assignments
@@ -304,6 +303,7 @@ impl EL5152ChannelConfiguration {
        device
            .sdo_write(base_index, 0x11, self.frequency_window)
            .await?;
+
        device
            .sdo_write(base_index, 0x13, self.frequency_scaling)
            .await?;
@@ -351,6 +351,7 @@ pub enum EL7031_0030AnalogInputPort {
 pub const EL7031_0030_VENDOR_ID: u32 = 0x2;
 pub const EL7031_0030_PRODUCT_ID: u32 = 0x1b773052;
 pub const EL7031_0030_REVISION_A: u32 = 0x10001E;
+
 pub const EL7031_0030_IDENTITY_A: SubDeviceIdentityTuple = (
    EL7031_0030_VENDOR_ID,
    EL7031_0030_PRODUCT_ID,
@@ -56,8 +56,9 @@ use std::{any::Any, fmt::Debug, sync::Arc};
 use wago_750_354::{WAGO_750_354_IDENTITY_A, Wago750_354};
 use wago_modules::ip20_ec_di8_do8::{IP20_EC_DI8_DO8_IDENTITY, IP20EcDi8Do8};

-#[derive(Debug, Clone, Copy)]
+#[derive(Debug, Clone)]
 pub struct Module {
+    pub name: String,
    pub slot: u16,
    pub belongs_to_addr: u16,
    pub has_tx: bool,
@@ -2,6 +2,9 @@ use super::{
    EthercatDevice, EthercatDeviceProcessing, EthercatDeviceUsed, NewEthercatDevice,
    SubDeviceIdentityTuple,
 };
+use crate::devices::wago_modules::wago_750_430::{
+    WAGO_750_430_MODULE_IDENT, WAGO_750_430_PRODUCT_ID,
+};
 use crate::devices::wago_modules::*;
 use crate::{
    devices::{
@@ -20,24 +23,25 @@ use crate::{
 use anyhow::Error;
 use smol::lock::RwLock;
 use std::sync::Arc;
-
 const MODULE_COUNT_INDEX: (u16, u8) = (0xf050, 0x00);
 const TX_MAPPING_INDEX: (u16, u8) = (0x1c13, 0x00);
 const RX_MAPPING_INDEX: (u16, u8) = (0x1c12, 0x00);
-// For both the rx and tx The Wago Coupler has 4 bytes, which we dont care about and skip

-/// Wago750_354 bus coupler
-/*
-    The "Modules" simply write at an offset into rx and read at an offset in tx
-*/
+#[derive(Clone, Debug)]
+struct ModulePdoMapping {
+    pub offset: usize,
+    pub module_i: u32,
+}
+
+// For both the rx and tx The Wago Coupler has 4 bytes, which we dont care about and skip
 pub struct Wago750_354 {
    is_used: bool,
    pub slots: [Option<Module>; 64],
    pub slot_devices: [Option<Arc<RwLock<dyn DynamicEthercatDevice>>>; 64],
    pub dev_count: usize,
    pub module_count: usize,
-    rx_offsets: Vec<usize>,
-    tx_offsets: Vec<usize>,
+    rx_pdo_mappings: Vec<ModulePdoMapping>,
+    tx_pdo_mappings: Vec<ModulePdoMapping>,
    tx_size: usize,
    rx_size: usize,
 }
@@ -105,7 +109,7 @@ impl EthercatDevice for Wago750_354 {
    }

    fn set_module(&mut self, module: Module) {
-        self.slots[self.module_count] = Some(module);
+        self.slots[self.module_count] = Some(module.clone());
        self.module_count += 1;
        self.tx_size += module.tx_offset;
        self.rx_size += module.rx_offset;
@@ -134,8 +138,8 @@ impl NewEthercatDevice for Wago750_354 {
            dev_count: 0,
            tx_size: 0,
            rx_size: 0,
-            rx_offsets: vec![],
-            tx_offsets: vec![],
+            rx_pdo_mappings: vec![],
+            tx_pdo_mappings: vec![],
        }
    }
 }
@@ -147,39 +151,76 @@ impl std::fmt::Debug for Wago750_354 {
 }

 impl Wago750_354 {
+    pub fn calculate_module_index(pdo_mapping: u32, is_tx: bool) -> u32 {
+        let start_index = match is_tx {
+            true => 0x6000 as u32,
+            false => 0x7000 as u32,
+        };
+        let index_in_hex = ((pdo_mapping & 0xFFFF0000) >> 16) - start_index;
+        if index_in_hex < 16 {
+            return 0;
+        } else {
+            return index_in_hex / 16;
+        }
+    }
+
    pub async fn get_pdo_offsets<'a>(
        &mut self,
        device: &EthercrabSubDevicePreoperational<'a>,
        get_tx: bool,
    ) -> Result<(), Error> {
-        let mut vec: Vec<usize> = vec![];
+        let mut vec: Vec<ModulePdoMapping> = vec![];
        let mut bit_offset = 0;
-        let start_subindex = 0x1;
+
+        let mut module_i;
+        let start_subindex = 0x2;
+
        let index = match get_tx {
            true => (TX_MAPPING_INDEX.0, TX_MAPPING_INDEX.1),
            false => (RX_MAPPING_INDEX.0, RX_MAPPING_INDEX.1),
        };
-        let count = device.sdo_read::<u8>(index.0, index.1).await?;

-        for i in 0..count {
-            vec.push(bit_offset);
-            let pdo_index = device.sdo_read(index.0, start_subindex + i).await?;
-            if pdo_index != 0 {
-                let pdo_map_count = device.sdo_read::<u8>(pdo_index, 0).await?;
-                // Iterate over every PDO Mapped entry and add it to the cumulative bit offset
-                for j in 0..pdo_map_count {
-                    let pdo_mapping: u32 = device.sdo_read(pdo_index, 1 + j).await?;
-                    // We only need / Want the bit len, which we extract with a bitmask extracting the lsb
-                    let bit_length = (pdo_mapping & 0xFF) as u8;
-                    bit_offset += bit_length as usize;
-                }
-            }
+        let count_mappings = device.sdo_read::<u8>(index.0, index.1).await?;
+        let pdo_index = device.sdo_read::<u16>(index.0, 1).await?;
+        let pdo_map_count = device.sdo_read::<u8>(pdo_index, 0).await?;
+
+        for i in 0..pdo_map_count {
+            let pdo_mapping: u32 = device.sdo_read(pdo_index, 1 + i).await?;
+            let bit_length = (pdo_mapping & 0xFF) as u8;
+            bit_offset += bit_length as usize;
        }

+        let mut mappings_without_coupler: Vec<u32> = vec![];
+        for i in start_subindex..count_mappings {
+            let pdo_index = device.sdo_read(index.0, i).await?;
+            let pdo_map_count = device.sdo_read::<u8>(pdo_index, 0).await?;
+            for j in 0..pdo_map_count {
+                let pdo_mapping: u32 = device.sdo_read(pdo_index, 1 + j).await?;
+                mappings_without_coupler.push(pdo_mapping);
+            }
+        }
+        mappings_without_coupler.sort();
+
+        for pdo_mapping in mappings_without_coupler {
+            module_i = Wago750_354::calculate_module_index(pdo_mapping, get_tx);
+            let bit_length = (pdo_mapping & 0xFF) as u8;
+            if module_i < 64 {
+                vec.push(ModulePdoMapping {
+                    offset: bit_offset,
+                    module_i,
+                });
+            }
+            bit_offset += bit_length as usize;
+        }
+
+        vec.sort_by_key(|e| (e.module_i, e.offset));
+        // deduplicate by module_i, so we only have the offset to the start of inputs/outputs
+        vec.dedup_by(|a, b| a.module_i == b.module_i);
+
        if get_tx {
-            self.tx_offsets = vec;
+            self.tx_pdo_mappings = vec;
        } else {
-            self.rx_offsets = vec;
+            self.rx_pdo_mappings = vec;
        }
        Ok(())
    }
@@ -222,6 +263,7 @@ impl Wago750_354 {
                has_rx: false,
                tx_offset: 0,
                rx_offset: 0,
+                name: "".to_string(),
            };

            match ident_iom {
@@ -229,26 +271,37 @@ impl Wago750_354 {
                WAGO_750_1506_PRODUCT_ID => {
                    module.has_tx = true;
                    module.has_rx = true;
+                    module.name = "750-1506".to_string();
                }
                WAGO_750_455_PRODUCT_ID => {
                    module.has_tx = true;
                    module.has_rx = false;
+                    module.name = "750-455".to_string();
                }
                WAGO_750_501_PRODUCT_ID => {
                    module.has_tx = false;
                    module.has_rx = true;
+                    module.name = "750-501".to_string();
                }
                WAGO_750_530_PRODUCT_ID => {
                    module.has_tx = false;
                    module.has_rx = true;
+                    module.name = "750-530".to_string();
                }
                WAGO_750_652_PRODUCT_ID => {
                    module.has_tx = true;
                    module.has_rx = true;
+                    module.name = "750-652".to_string();
                }
                WAGO_750_402_PRODUCT_ID => {
                    module.has_tx = true;
                    module.has_rx = false;
+                    module.name = "750-402".to_string();
+                }
+                WAGO_750_430_PRODUCT_ID => {
+                    module.has_tx = true;
+                    module.has_rx = false;
+                    module.name = "750-430".to_string();
                }
                _ => println!(
                    "Wago-750-354 found Unknown/Unimplemented Module: {}",
@@ -266,17 +319,42 @@ impl Wago750_354 {
        if self.dev_count != 0 {
            return;
        }
-        let mut tx_index = 1;
-        let mut rx_index = 1;

        smol::block_on(async {
            let _ = self.get_pdo_offsets(device, true).await;
            let _ = self.get_pdo_offsets(device, false).await;
        });

-        println!("{:?}\n\n{:?}", self.tx_offsets, self.rx_offsets);
+        for module in &mut self.slots {
+            match module {
+                Some(m) => {
+                    let tx_pdo_mapping = self
+                        .tx_pdo_mappings
+                        .iter()
+                        .find(|map| map.module_i == m.slot.into());
+                    if m.has_tx {
+                        m.tx_offset = match tx_pdo_mapping {
+                            Some(map) => map.offset,
+                            None => 0,
+                        }
+                    }

-        for module in self.slots {
+                    let rx_pdo_mapping = self
+                        .rx_pdo_mappings
+                        .iter()
+                        .find(|map| map.module_i == m.slot.into());
+                    if m.has_rx {
+                        m.rx_offset = match rx_pdo_mapping {
+                            Some(map) => map.offset,
+                            None => 0,
+                        }
+                    }
+                }
+                None => break,
+            }
+        }
+
+        for module in &self.slots {
            match module {
                Some(m) => {
                    // Map ModuleIdent's to Terminals
@@ -302,6 +380,10 @@ impl Wago750_354 {
                        WAGO_750_402_MODULE_IDENT => {
                            Arc::new(RwLock::new(wago_750_402::Wago750_402::new()))
                        }
+                        WAGO_750_430_MODULE_IDENT => {
+                            Arc::new(RwLock::new(wago_750_430::Wago750_430::new()))
+                        }
+
                        _ => {
                            println!(
                                "{} Missing Implementation for Module Identification: vendor_id: {:?}, module ident: {:?} !",
@@ -312,27 +394,10 @@ impl Wago750_354 {
                            return;
                        }
                    };
-
-                    let tx_pdo_offset = self.tx_offsets.get(tx_index as usize);
-                    if m.has_tx {
-                        tx_index += 1;
-                    }
-
-                    let rx_pdo_offset = self.rx_offsets.get(rx_index as usize);
-                    if m.has_rx {
-                        rx_index += 1;
-                    }
-
                    let mut dev_guard = dev.write_blocking();
-                    match tx_pdo_offset {
-                        Some(offset) => dev_guard.set_tx_offset(*offset),
-                        None => (),
-                    }
-
-                    match rx_pdo_offset {
-                        Some(offset) => dev_guard.set_rx_offset(*offset),
-                        None => (),
-                    }
+                    //println!("For {:?} setting tx: {} rx: {}",m.name,m.tx_offset,m.rx_offset);
+                    dev_guard.set_tx_offset(m.tx_offset);
+                    dev_guard.set_rx_offset(m.rx_offset);
                    drop(dev_guard);
                    self.slot_devices[self.dev_count] = Some(dev);
                    self.dev_count += 1;
@@ -214,7 +214,7 @@ impl EthercatDevice for IP20EcDi8Do8 {
    }

    fn set_module(&mut self, module: Module) {
-        self.slots[self.module_count] = Some(module);
+        self.slots[self.module_count] = Some(module.clone());
        self.module_count += 1;
        self.tx_size += module.tx_offset;
        self.rx_size += module.rx_offset;
@@ -378,6 +378,7 @@ impl IP20EcDi8Do8 {
                has_rx: false,
                tx_offset: 0,
                rx_offset: 0,
+                name: "".to_string(),
            };

            match ident_iom {
@@ -415,7 +416,7 @@ impl IP20EcDi8Do8 {
            let _ = self.get_pdo_offsets(device, false).await;
        });

-        for module in self.slots {
+        for module in &self.slots {
            match module {
                Some(m) => {
                    // Map ModuleIdent's to Terminals
@@ -1,6 +1,7 @@
 pub mod ip20_ec_di8_do8;
 pub mod wago_750_1506;
 pub mod wago_750_402;
+pub mod wago_750_430;
 pub mod wago_750_455;
 pub mod wago_750_501;
 pub mod wago_750_530;
@@ -38,27 +38,27 @@ impl From<Wago750_1506OutputPort> for usize {

 #[derive(Debug, Clone)]
 pub enum Wago750_1506InputPort {
-    DO1,
-    DO2,
-    DO3,
-    DO4,
-    DO5,
-    DO6,
-    DO7,
-    DO8,
+    DI1,
+    DI2,
+    DI3,
+    DI4,
+    DI5,
+    DI6,
+    DI7,
+    DI8,
 }

 impl From<Wago750_1506InputPort> for usize {
    fn from(value: Wago750_1506InputPort) -> Self {
        match value {
-            Wago750_1506InputPort::DO1 => 0,
-            Wago750_1506InputPort::DO2 => 1,
-            Wago750_1506InputPort::DO3 => 2,
-            Wago750_1506InputPort::DO4 => 3,
-            Wago750_1506InputPort::DO5 => 4,
-            Wago750_1506InputPort::DO6 => 5,
-            Wago750_1506InputPort::DO7 => 6,
-            Wago750_1506InputPort::DO8 => 7,
+            Wago750_1506InputPort::DI1 => 0,
+            Wago750_1506InputPort::DI2 => 1,
+            Wago750_1506InputPort::DI3 => 2,
+            Wago750_1506InputPort::DI4 => 3,
+            Wago750_1506InputPort::DI5 => 4,
+            Wago750_1506InputPort::DI6 => 5,
+            Wago750_1506InputPort::DI7 => 6,
+            Wago750_1506InputPort::DI8 => 7,
        }
    }
 }
@@ -91,14 +91,14 @@ impl DigitalInputDevice<Wago750_1506InputPort> for Wago750_1506 {
    fn get_input(&self, port: Wago750_1506InputPort) -> Result<DigitalInputInput, anyhow::Error> {
        Ok(DigitalInputInput {
            value: match port {
-                Wago750_1506InputPort::DO1 => self.tx_pdo.port1,
-                Wago750_1506InputPort::DO2 => self.tx_pdo.port2,
-                Wago750_1506InputPort::DO3 => self.tx_pdo.port3,
-                Wago750_1506InputPort::DO4 => self.tx_pdo.port4,
-                Wago750_1506InputPort::DO5 => self.tx_pdo.port5,
-                Wago750_1506InputPort::DO6 => self.tx_pdo.port6,
-                Wago750_1506InputPort::DO7 => self.tx_pdo.port7,
-                Wago750_1506InputPort::DO8 => self.tx_pdo.port8,
+                Wago750_1506InputPort::DI1 => self.tx_pdo.port1,
+                Wago750_1506InputPort::DI2 => self.tx_pdo.port2,
+                Wago750_1506InputPort::DI3 => self.tx_pdo.port3,
+                Wago750_1506InputPort::DI4 => self.tx_pdo.port4,
+                Wago750_1506InputPort::DI5 => self.tx_pdo.port5,
+                Wago750_1506InputPort::DI6 => self.tx_pdo.port6,
+                Wago750_1506InputPort::DI7 => self.tx_pdo.port7,
+                Wago750_1506InputPort::DI8 => self.tx_pdo.port8,
            },
        })
    }
@@ -189,28 +189,28 @@ impl EthercatDevice for Wago750_1506 {
    ) -> Result<(), anyhow::Error> {
        let base = self.tx_bit_offset;

-        let idx1 = base + Into::<usize>::into(Wago750_1506InputPort::DO1);
+        let idx1 = base + Into::<usize>::into(Wago750_1506InputPort::DI1);
        self.tx_pdo.port1 = *input.get(idx1).expect("Bit 1 out of bounds");

-        let idx2 = base + Into::<usize>::into(Wago750_1506InputPort::DO2);
+        let idx2 = base + Into::<usize>::into(Wago750_1506InputPort::DI2);
        self.tx_pdo.port2 = *input.get(idx2).expect("Bit 2 out of bounds");

-        let idx3 = base + Into::<usize>::into(Wago750_1506InputPort::DO3);
+        let idx3 = base + Into::<usize>::into(Wago750_1506InputPort::DI3);
        self.tx_pdo.port3 = *input.get(idx3).expect("Bit 3 out of bounds");

-        let idx4 = base + Into::<usize>::into(Wago750_1506InputPort::DO4);
+        let idx4 = base + Into::<usize>::into(Wago750_1506InputPort::DI4);
        self.tx_pdo.port4 = *input.get(idx4).expect("Bit 4 out of bounds");

-        let idx5 = base + Into::<usize>::into(Wago750_1506InputPort::DO5);
+        let idx5 = base + Into::<usize>::into(Wago750_1506InputPort::DI5);
        self.tx_pdo.port5 = *input.get(idx5).expect("Bit 5 out of bounds");

-        let idx6 = base + Into::<usize>::into(Wago750_1506InputPort::DO6);
+        let idx6 = base + Into::<usize>::into(Wago750_1506InputPort::DI6);
        self.tx_pdo.port6 = *input.get(idx6).expect("Bit 6 out of bounds");

-        let idx7 = base + Into::<usize>::into(Wago750_1506InputPort::DO7);
+        let idx7 = base + Into::<usize>::into(Wago750_1506InputPort::DI7);
        self.tx_pdo.port7 = *input.get(idx7).expect("Bit 7 out of bounds");

-        let idx8 = base + Into::<usize>::into(Wago750_1506InputPort::DO8);
+        let idx8 = base + Into::<usize>::into(Wago750_1506InputPort::DI8);
        self.tx_pdo.port8 = *input.get(idx8).expect("Bit 8 out of bounds");
        Ok(())
    }
@@ -0,0 +1,211 @@
+use crate::devices::{
+    DynamicEthercatDevice, EthercatDevice, EthercatDeviceUsed, EthercatDynamicPDO, Module,
+    SubDeviceProductTuple,
+};
+use crate::devices::{EthercatDeviceProcessing, NewEthercatDevice};
+use crate::io::digital_input::{DigitalInputDevice, DigitalInputInput};
+
+#[derive(Clone)]
+pub struct Wago750_430 {
+    is_used: bool,
+    tx_bit_offset: usize,
+    rx_bit_offset: usize,
+    pub txpdo: Wago750_430TxPdo,
+    module: Option<Module>,
+}
+
+#[derive(Debug, Clone)]
+pub enum Wago750_430Port {
+    Port1,
+    Port2,
+    Port3,
+    Port4,
+    Port5,
+    Port6,
+    Port7,
+    Port8,
+}
+
+impl From<Wago750_430Port> for usize {
+    fn from(value: Wago750_430Port) -> Self {
+        match value {
+            Wago750_430Port::Port1 => 0,
+            Wago750_430Port::Port2 => 1,
+            Wago750_430Port::Port3 => 2,
+            Wago750_430Port::Port4 => 3,
+            Wago750_430Port::Port5 => 4,
+            Wago750_430Port::Port6 => 5,
+            Wago750_430Port::Port7 => 6,
+            Wago750_430Port::Port8 => 7,
+        }
+    }
+}
+
+#[derive(Clone, Default)]
+pub struct Wago750_430TxPdo {
+    pub port1: bool,
+    pub port2: bool,
+    pub port3: bool,
+    pub port4: bool,
+    pub port5: bool,
+    pub port6: bool,
+    pub port7: bool,
+    pub port8: bool,
+}
+
+impl DigitalInputDevice<Wago750_430Port> for Wago750_430 {
+    fn get_input(
+        &self,
+        port: Wago750_430Port,
+    ) -> Result<crate::io::digital_input::DigitalInputInput, anyhow::Error> {
+        match port {
+            Wago750_430Port::Port1 => Ok(DigitalInputInput {
+                value: self.txpdo.port1,
+            }),
+            Wago750_430Port::Port2 => Ok(DigitalInputInput {
+                value: self.txpdo.port2,
+            }),
+            Wago750_430Port::Port3 => Ok(DigitalInputInput {
+                value: self.txpdo.port3,
+            }),
+            Wago750_430Port::Port4 => Ok(DigitalInputInput {
+                value: self.txpdo.port4,
+            }),
+            Wago750_430Port::Port5 => Ok(DigitalInputInput {
+                value: self.txpdo.port5,
+            }),
+            Wago750_430Port::Port6 => Ok(DigitalInputInput {
+                value: self.txpdo.port6,
+            }),
+            Wago750_430Port::Port7 => Ok(DigitalInputInput {
+                value: self.txpdo.port7,
+            }),
+            Wago750_430Port::Port8 => Ok(DigitalInputInput {
+                value: self.txpdo.port8,
+            }),
+        }
+    }
+}
+
+impl EthercatDeviceUsed for Wago750_430 {
+    fn is_used(&self) -> bool {
+        self.is_used
+    }
+
+    fn set_used(&mut self, used: bool) {
+        self.is_used = used;
+    }
+}
+
+impl DynamicEthercatDevice for Wago750_430 {}
+
+impl EthercatDynamicPDO for Wago750_430 {
+    fn get_tx_offset(&self) -> usize {
+        self.tx_bit_offset
+    }
+
+    fn get_rx_offset(&self) -> usize {
+        self.rx_bit_offset
+    }
+
+    fn set_tx_offset(&mut self, offset: usize) {
+        self.tx_bit_offset = offset
+    }
+
+    fn set_rx_offset(&mut self, offset: usize) {
+        self.rx_bit_offset = offset
+    }
+}
+
+impl EthercatDevice for Wago750_430 {
+    fn input(
+        &mut self,
+        input: &bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
+    ) -> Result<(), anyhow::Error> {
+        self.txpdo.port1 = input[0];
+        self.txpdo.port2 = input[1];
+        self.txpdo.port3 = input[2];
+        self.txpdo.port4 = input[3];
+        self.txpdo.port5 = input[4];
+        self.txpdo.port6 = input[5];
+        self.txpdo.port7 = input[6];
+        self.txpdo.port8 = input[7];
+        Ok(())
+    }
+
+    fn input_len(&self) -> usize {
+        8
+    }
+
+    fn output(
+        &self,
+        _output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
+    ) -> Result<(), anyhow::Error> {
+        Ok(())
+    }
+
+    fn output_len(&self) -> usize {
+        0
+    }
+
+    fn as_any(&self) -> &dyn std::any::Any {
+        self
+    }
+
+    fn as_any_mut(&mut self) -> &mut dyn std::any::Any {
+        self
+    }
+
+    fn is_module(&self) -> bool {
+        true
+    }
+
+    fn input_checked(
+        &mut self,
+        _input: &bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
+    ) -> Result<(), anyhow::Error> {
+        Ok(())
+    }
+
+    fn output_checked(
+        &self,
+        _output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
+    ) -> Result<(), anyhow::Error> {
+        Ok(())
+    }
+
+    fn get_module(&self) -> Option<crate::devices::Module> {
+        self.module.clone()
+    }
+
+    fn set_module(&mut self, module: crate::devices::Module) {
+        self.tx_bit_offset = module.tx_offset;
+        self.rx_bit_offset = module.rx_offset;
+        self.module = Some(module)
+    }
+}
+
+impl EthercatDeviceProcessing for Wago750_430 {}
+
+impl NewEthercatDevice for Wago750_430 {
+    fn new() -> Self {
+        Self {
+            is_used: false,
+            tx_bit_offset: 0,
+            rx_bit_offset: 0,
+            module: None,
+            txpdo: Wago750_430TxPdo::default(),
+        }
+    }
+}
+
+impl std::fmt::Debug for Wago750_430 {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Wago750_430")
+    }
+}
+
+pub const WAGO_750_430_VENDOR_ID: u32 = 0x00000021;
+pub const WAGO_750_430_PRODUCT_ID: u32 = 2147483777;
+pub const WAGO_750_430_MODULE_IDENT: SubDeviceProductTuple =
+    (WAGO_750_430_VENDOR_ID, WAGO_750_430_PRODUCT_ID);
@@ -148,8 +148,7 @@ impl EthercatDevice for Wago750_652 {
        &self,
        output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
    ) -> Result<(), anyhow::Error> {
-        let base = 32;
-
+        let base = self.rx_bit_offset;
        let mut ol0_i = 5; // Ol0 starts at bit 5 and goes to bit 7 (inclusive) 
        let mut ol1_i = 8;

@@ -174,12 +173,10 @@ impl EthercatDevice for Wago750_652 {
            );
            ol1_i += 1;
        }
-        println!("{}", self.rx_pdo.control.output_length);
        let data_start = base + 16;
        for (i, &byte) in self.rx_pdo.out_buffer.iter().take(22).enumerate() {
            output[(data_start + i * 8)..(data_start + (i + 1) * 8)].store_le(byte);
        }
-        //println!("{:?}",self.rx_pdo.out_buffer);
        Ok(())
    }

@@ -2,3 +2,74 @@ pub mod counter_wrapper_u16_i128;
 pub mod el70xx_velocity_converter;
 pub mod ethercrab_types;
 pub mod signing_converter_u16;
+
+use ethercrab::{SubDevice, SubDeviceRef};
+// This is the Codeword for disabling EEPROM writes on sdo writes
+const BECKHOFF_EEPROM_LOCK_CODEWORD: u32 = 0x12345678;
+// In this index Codewords can be written for Beckhoff Terminals
+const BECKHOFF_CODEWORD_INDEX: u16 = 0xF008;
+
+// This code locks the eeprom and protects it from writes
+// When the toggle is in effect no writes propagate to the eeprom
+// This is useful if you have a usecase where you very often write into CoE registers, as writes to EEPROM after a long time degrage the EEPROM
+pub async fn set_mut_beckhoff_eeprom_lock_active<'a>(
+    subdevice: &SubDeviceRef<'a, &mut SubDevice>,
+) -> Result<(), anyhow::Error> {
+    let code_word = match subdevice.sdo_read::<u32>(BECKHOFF_CODEWORD_INDEX, 0).await {
+        Ok(code_word) => code_word,
+        // This happens when the subdevice has no mailbox
+        // There is NO check in ethercrab for Mailbox presence, so we just have to pray that it has one and send a request
+        // If there is no Mailbox to write Coe Request to, then there is also no EEPROM meaning we achieved our goal in a sense
+        // This is why it returns OK on an error for sdo_read
+        Err(_) => return Ok(()),
+    };
+
+    let eeprom_lock_toggled = match code_word {
+        BECKHOFF_EEPROM_LOCK_CODEWORD => true,
+        _ => false,
+    };
+
+    if !eeprom_lock_toggled {
+        subdevice
+            .sdo_write(BECKHOFF_CODEWORD_INDEX, 0, BECKHOFF_EEPROM_LOCK_CODEWORD)
+            .await?;
+        tracing::info!(
+            "Activated EEPROM Lock for {} {}",
+            subdevice.name(),
+            subdevice.name()
+        );
+    }
+
+    Ok(())
+}
+
+pub async fn set_beckhoff_eeprom_lock_active<'a>(
+    subdevice: &SubDeviceRef<'a, &SubDevice>,
+) -> Result<(), anyhow::Error> {
+    let code_word = match subdevice.sdo_read::<u32>(BECKHOFF_CODEWORD_INDEX, 0).await {
+        Ok(code_word) => code_word,
+        // This happens when the subdevice has no mailbox
+        // There is NO check in ethercrab for Mailbox presence, so we just have to pray that it has one and send a request
+        // If there is no Mailbox to write Coe Request to, then there is also no EEPROM meaning we achieved our goal in a sense
+        // This is why it returns OK on an error for sdo_read
+        Err(_) => return Ok(()),
+    };
+
+    let eeprom_lock_toggled = match code_word {
+        BECKHOFF_EEPROM_LOCK_CODEWORD => true,
+        _ => false,
+    };
+
+    if !eeprom_lock_toggled {
+        subdevice
+            .sdo_write(BECKHOFF_CODEWORD_INDEX, 0, BECKHOFF_EEPROM_LOCK_CODEWORD)
+            .await?;
+        tracing::info!(
+            "Activated EEPROM Lock for {} {}",
+            subdevice.name(),
+            subdevice.name()
+        );
+    }
+
+    Ok(())
+}
@@ -1,13 +0,0 @@
-# Git Hooks
-
-This directory contains Git hooks for the project.
-
-## Installation
-
-To install the hooks, run the following command from the repository root:
-
-```bash
-# Copy the pre-commit hook to your local .git/hooks directory
-cp hooks/pre-commit .git/hooks/pre-commit
-chmod +x .git/hooks/pre-commit
-```
@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# Pre-commit hook to generate Rust documentation
-#
-# This hook runs the rustdoc.sh script to update documentation
-# before each commit.
-
-echo "Running rustdoc generation..."
-
-# Get the repository root
-REPO_ROOT="$(git rev-parse --show-toplevel)"
-
-# iteralte all directories thst contain a Cargo.toml file
-for dir in $(find "$REPO_ROOT" -name "Cargo.toml" -exec dirname {} \;); do
-    echo "Generating documentation in $dir"
-
-    # cargotoml conatains workspace members, skip this directory
-    # HAS_MEMBERS=$(grep -c '\[workspace\]' "$dir/Cargo.toml")
-    # if [ "$HAS_MEMBERS" -gt 0 ]; then
-    #     echo "Skipping workspace directory $dir"
-    #     continue
-    # fi
-
-    # get package name from Cargo.toml using cargo metadata
-    PACKAGE_NAME=$(cargo metadata --format-version 1 --no-deps --manifest-path "$dir/Cargo.toml" | jq -r '.packages[0].name')
-    if [ -z "$PACKAGE_NAME" ]; then
-        echo "Could not determine package name for $dir"
-        continue
-    fi
-
-    # go into the directory
-    cd "$dir" || continue
-
-    # generate the documentation using rustdoc-md
-    cargo install rustdoc-md --git https://github.com/qitechgmbh/rustdoc-md --rev 6dc34f9c9d878799d9c1b4f2d2bcbb1f2757ede7
-    RUSTC_BOOTSTRAP=1 RUSTDOCFLAGS="-Z unstable-options --output-format json" cargo doc --no-deps
-    rustdoc-md --path "${REPO_ROOT}/target/doc/${PACKAGE_NAME}.json" --output ./rustdoc.md
-
-    # stage the generated documentation file
-    git add "rustdoc.md"
-
-    # go back to the repository root
-    cd "$REPO_ROOT" || exit
-done
-
-git rm --cached rustdoc.md 2>/dev/null
-rm rustdoc.md
-
-exit 0
@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2024"

 [dependencies]
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
 control_core_derive = { path = "../control-core-derive" }
@@ -15,13 +15,13 @@ anyhow = "1.0.100"

 bitvec = "1.0.1"
 lazy_static = "1.5.0"
-euclid = "0.22.11"
+euclid = "0.22.13"

 # concurrency
 smol = "2.0.2"

 # web
-serde_json = "1.0.143"
+serde_json = "1.0.149"
 socketioxide = { version = "0.17.2", features = ["msgpack"] }

 # serial
@@ -1,7 +1,6 @@
 use crate::{
    MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
-    get_subdevice_by_index, validate_no_role_dublicates,
-    validate_same_machine_identification_unique,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
 };

 use super::{
@@ -92,7 +91,12 @@ impl MachineNewTrait for AquaPathV1 {
                pdo_assignment: EL5152PredefinedPdoAssignment::Frequency,
                ..Default::default()
            };
-            let subdevice = get_subdevice_by_index(hardware.subdevices, 4)?;
+
+            let subdevice =
+                get_ethercat_device::<EL5152>(hardware, params, 4, [EL5152_IDENTITY_A].to_vec())
+                    .await?
+                    .1;
+
            el5152
                .write()
                .await
@@ -159,7 +159,7 @@ impl MachineNewTrait for ExtruderV3 {
                digital_out_1,
                Heating::default(),
                Duration::from_millis(500),
-                700.0,
+                900.0,
                1.0,
            );

@@ -174,7 +174,7 @@ impl MachineNewTrait for ExtruderV3 {
                digital_out_2,
                Heating::default(),
                Duration::from_millis(500),
-                700.0,
+                900.0,
                1.0,
            );

@@ -189,7 +189,7 @@ impl MachineNewTrait for ExtruderV3 {
                digital_out_3,
                Heating::default(),
                Duration::from_millis(500),
-                700.0,
+                900.0,
                1.0,
            );

@@ -204,7 +204,7 @@ impl MachineNewTrait for ExtruderV3 {
                digital_out_4,
                Heating::default(),
                Duration::from_millis(500),
-                200.0,
+                150.0,
                0.95,
            );

@@ -28,10 +28,13 @@ pub mod ip20_test_machine;
 pub mod laser;
 pub mod machine_identification;
 pub mod mock;
+pub mod motor_test_machine;
 pub mod registry;
 pub mod serial;
 pub mod test_machine;
+pub mod wago_8ch_dio_test_machine;
 pub mod wago_ai_test_machine;
+pub mod wago_do_test_machine;
 pub mod wago_power;
 pub mod winder2;

@@ -49,7 +52,10 @@ pub const IP20_TEST_MACHINE: u16 = 0x0034;
 pub const ANALOG_INPUT_TEST_MACHINE: u16 = 0x0035;
 pub const WAGO_AI_TEST_MACHINE: u16 = 0x0036;
 pub const DIGITAL_INPUT_TEST_MACHINE: u16 = 0x0040;
+pub const WAGO_8CH_IO_TEST_MACHINE: u16 = 0x0041;

+pub const MOTOR_TEST_MACHINE: u16 = 0x0011;
+pub const WAGO_DO_TEST_MACHINE: u16 = 0x000E;
 use serde_json::Value;
 use smol::lock::RwLock;

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

 #[derive(Debug)]
 pub struct MachineIdentificationAddresses {
@@ -0,0 +1,40 @@
+use super::MotorTestMachine;
+use crate::{MachineAct, MachineMessage};
+use std::time::Instant;
+
+impl MachineAct for MotorTestMachine {
+    fn act(&mut self, _now_ts: Instant) {
+        // println!("[{}::act] Running act", module_path!());
+        if let Ok(msg) = self.api_receiver.try_recv() {
+            self.act_machine_message(msg);
+        }
+
+        self.motor_driver.set_enabled(self.motor_state.enabled);
+
+        if self.motor_state.enabled {
+            let steps_per_rev = 200.0; // Adjust to match motor
+            let steps_per_second = (self.motor_state.target_velocity as f64) * steps_per_rev / 60.0;
+
+            let _ = self.motor_driver.set_speed(steps_per_second);
+        } else {
+            let _ = self.motor_driver.set_speed(0.0);
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(ns) => {
+                self.namespace.namespace = Some(ns);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => {
+                self.namespace.namespace = None;
+            }
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _ = self.api_mutate(value);
+            }
+            _ => {}
+        }
+    }
+}
@@ -0,0 +1,92 @@
+use super::MotorTestMachine;
+use crate::{MachineApi, MachineMessage};
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
+    },
+};
+use serde::{Deserialize, Serialize};
+use serde_json::Value;
+use smol::channel::Sender;
+use std::sync::Arc;
+use tracing::instrument;
+
+#[derive(Serialize, Debug, Clone)]
+pub struct StateEvent {
+    pub motor_enabled: bool,
+    pub motor_velocity: i32,
+}
+
+impl StateEvent {
+    pub fn build(&self) -> Event<Self> {
+        Event::new("StateEvent", self.clone())
+    }
+}
+
+pub enum BeckhoffEvents {
+    State(Event<StateEvent>),
+}
+
+#[derive(Deserialize, Serialize, Debug)]
+#[serde(tag = "type", content = "payload")]
+enum Mutation {
+    SetMotorOn(bool),
+    SetMotorVelocity(i32),
+    SetMotorOff(bool),
+}
+
+#[derive(Debug, Clone)]
+pub struct BeckhoffNamespace {
+    pub namespace: Option<Namespace>,
+}
+
+impl NamespaceCacheingLogic<BeckhoffEvents> for BeckhoffNamespace {
+    #[instrument(skip_all)]
+    fn emit(&mut self, events: BeckhoffEvents) {
+        let event = Arc::new(events.event_value());
+        let buffer_fn = events.event_cache_fn();
+        if let Some(ns) = &mut self.namespace {
+            ns.emit(event, &buffer_fn);
+        }
+    }
+}
+
+impl CacheableEvents<BeckhoffEvents> for BeckhoffEvents {
+    fn event_value(&self) -> GenericEvent {
+        match self {
+            BeckhoffEvents::State(event) => event.into(),
+        }
+    }
+    fn event_cache_fn(&self) -> CacheFn {
+        cache_first_and_last_event()
+    }
+}
+
+impl MachineApi for MotorTestMachine {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
+        self.namespace.namespace.clone()
+    }
+    fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
+        let mutation: Mutation = serde_json::from_value(request_body)?;
+        match mutation {
+            Mutation::SetMotorOn(t) => {
+                if t {
+                    self.turn_motor_on();
+                } else {
+                    self.turn_motor_off();
+                }
+            }
+            Mutation::SetMotorVelocity(vel) => {
+                self.motor_state.target_velocity = vel;
+                self.emit_state();
+            }
+
+            _ => {}
+        }
+        Ok(())
+    }
+}
@@ -0,0 +1,64 @@
+use crate::machine_identification::{MachineIdentification, MachineIdentificationUnique};
+use crate::{AsyncThreadMessage, Machine, MachineMessage};
+use crate::{MOTOR_TEST_MACHINE, VENDOR_QITECH};
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+use ethercat_hal::io::stepper_velocity_el70x1::StepperVelocityEL70x1;
+use smol::channel::{Receiver, Sender};
+
+pub mod act;
+pub mod api;
+pub mod new;
+
+#[derive(Debug, Clone, PartialEq)]
+pub struct MotorState {
+    pub enabled: bool,
+    pub target_velocity: i32,
+}
+
+#[derive(Debug)]
+pub struct MotorTestMachine {
+    api_receiver: Receiver<MachineMessage>,
+    api_sender: Sender<MachineMessage>,
+    main_sender: Option<Sender<AsyncThreadMessage>>,
+    machine_identification_unique: MachineIdentificationUnique,
+    namespace: api::BeckhoffNamespace,
+
+    pub motor_driver: StepperVelocityEL70x1,
+    pub motor_state: MotorState,
+}
+
+impl Machine for MotorTestMachine {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
+impl MotorTestMachine {
+    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
+        vendor: VENDOR_QITECH,
+        machine: MOTOR_TEST_MACHINE,
+    };
+
+    pub fn emit_state(&mut self) {
+        let event = api::StateEvent {
+            motor_enabled: self.motor_state.enabled,
+            motor_velocity: self.motor_state.target_velocity,
+        };
+        self.namespace
+            .emit(api::BeckhoffEvents::State(event.build()));
+    }
+
+    pub fn turn_motor_on(&mut self) {
+        self.motor_state.enabled = true;
+        self.emit_state();
+    }
+
+    pub fn turn_motor_off(&mut self) {
+        self.motor_state.enabled = false;
+        self.emit_state();
+    }
+}
@@ -0,0 +1,91 @@
+use super::{MotorState, MotorTestMachine, api::BeckhoffNamespace};
+use crate::{
+    MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
+};
+use anyhow::Error;
+
+use ethercat_hal::coe::ConfigurableDevice;
+use ethercat_hal::devices::ek1100::{EK1100, EK1100_IDENTITY_A};
+use ethercat_hal::devices::el7031_0030::coe::EL7031_0030Configuration;
+use ethercat_hal::devices::el7031_0030::pdo::EL7031_0030PredefinedPdoAssignment;
+use ethercat_hal::devices::el7031_0030::{
+    EL7031_0030, EL7031_0030_IDENTITY_A, EL7031_0030StepperPort,
+};
+use ethercat_hal::io::stepper_velocity_el70x1::StepperVelocityEL70x1;
+use ethercat_hal::shared_config;
+use ethercat_hal::shared_config::el70x1::{EL70x1OperationMode, StmMotorConfiguration};
+
+impl MachineNewTrait for MotorTestMachine {
+    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
+        println!("[{}::new] Creating new MotorTestMachine", module_path!());
+        let device_identification = params.device_group.iter().cloned().collect::<Vec<_>>();
+        validate_same_machine_identification_unique(&device_identification)?;
+        validate_no_role_dublicates(&device_identification)?;
+
+        let hardware = match &params.hardware {
+            MachineNewHardware::Ethercat(x) => x,
+            _ => return Err(anyhow::anyhow!("Hardware is not EtherCAT")),
+        };
+
+        smol::block_on(async {
+            // Role 0: EK1100 (Koppler)
+            let _ek1100 =
+                get_ethercat_device::<EK1100>(hardware, params, 0, vec![EK1100_IDENTITY_A]).await?;
+
+            // Role 1: EL7031 (Stepper Motor)
+            let el7031 = {
+                let device = get_ethercat_device::<EL7031_0030>(
+                    hardware,
+                    params,
+                    1,
+                    vec![EL7031_0030_IDENTITY_A],
+                )
+                .await?;
+
+                let el7031_config = EL7031_0030Configuration {
+                    stm_features: ethercat_hal::devices::el7031_0030::coe::StmFeatures {
+                        operation_mode: EL70x1OperationMode::DirectVelocity,
+                        speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
+                        ..Default::default()
+                    },
+                    stm_motor: StmMotorConfiguration {
+                        max_current: 1500,
+                        ..Default::default()
+                    },
+                    pdo_assignment: EL7031_0030PredefinedPdoAssignment::VelocityControlCompact,
+                    ..Default::default()
+                };
+
+                device
+                    .0
+                    .write()
+                    .await
+                    .write_config(&device.1, &el7031_config)
+                    .await?;
+
+                device.0
+            };
+
+            let motor_driver =
+                StepperVelocityEL70x1::new(el7031.clone(), EL7031_0030StepperPort::STM1);
+
+            let (sender, receiver) = smol::channel::unbounded();
+
+            Ok(Self {
+                main_sender: params.main_thread_channel.clone(),
+                api_receiver: receiver,
+                api_sender: sender,
+                machine_identification_unique: params.get_machine_identification_unique(),
+                namespace: BeckhoffNamespace {
+                    namespace: params.namespace.clone(),
+                },
+                motor_driver,
+                motor_state: MotorState {
+                    enabled: true,
+                    target_velocity: 100,
+                },
+            })
+        })
+    }
+}
@@ -1,7 +1,9 @@
 use crate::analog_input_test_machine::AnalogInputTestMachine;
 use crate::digital_input_test_machine::DigitalInputTestMachine;
 use crate::ip20_test_machine::IP20TestMachine;
+use crate::wago_8ch_dio_test_machine::Wago8chDigitalIOTestMachine;
 use crate::wago_ai_test_machine::WagoAiTestMachine;
+use crate::wago_do_test_machine::WagoDOTestMachine;
 #[cfg(feature = "mock-machine")]
 use crate::{
    extruder1::mock::ExtruderV2 as ExtruderV2Mock1, extruder2::mock::ExtruderV2 as ExtruderV2Mock2,
@@ -24,6 +26,7 @@ use crate::test_machine::TestMachine;

 use lazy_static::lazy_static;

+use crate::motor_test_machine::MotorTestMachine;
 use anyhow::Error;
 use std::{any::TypeId, collections::HashMap};

@@ -132,8 +135,15 @@ lazy_static! {

        mc.register::<WagoAiTestMachine>(WagoAiTestMachine::MACHINE_IDENTIFICATION);

+        mc.register::<MotorTestMachine>(MotorTestMachine::MACHINE_IDENTIFICATION);
+
        mc.register::<DigitalInputTestMachine>(DigitalInputTestMachine::MACHINE_IDENTIFICATION);

+        mc.register::<WagoDOTestMachine>(WagoDOTestMachine::MACHINE_IDENTIFICATION);
+        mc.register::<Wago8chDigitalIOTestMachine>(
+            Wago8chDigitalIOTestMachine::MACHINE_IDENTIFICATION,
+        );
+
        mc
    };
 }
@@ -0,0 +1,46 @@
+use super::Wago8chDigitalIOTestMachine;
+use crate::{MachineAct, MachineMessage, MachineValues};
+use std::time::{Duration, Instant};
+
+impl MachineAct for Wago8chDigitalIOTestMachine {
+    fn act(&mut self, now: Instant) {
+        if let Ok(msg) = self.api_receiver.try_recv() {
+            self.act_machine_message(msg);
+        }
+
+        if now.duration_since(self.last_state_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+            self.emit_state();
+            self.last_state_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) => {
+                // Does not connect to any Machine; do nothing
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) => {
+                // Does not connect to any Machine; do nothing
+            }
+            MachineMessage::RequestValues(sender) => {
+                sender
+                    .send_blocking(MachineValues {
+                        state: serde_json::to_value(self.get_state())
+                            .expect("Failed to serialize state"),
+                        live_values: serde_json::Value::Null,
+                    })
+                    .expect("Failed to send values");
+                sender.close();
+            }
+        }
+    }
+}
@@ -0,0 +1,79 @@
+use std::sync::Arc;
+
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
+    },
+};
+use serde::{Deserialize, Serialize};
+
+use crate::{MachineApi, wago_8ch_dio_test_machine::Wago8chDigitalIOTestMachine};
+
+#[derive(Serialize, Debug, Clone)]
+pub struct StateEvent {
+    pub digital_input: [bool; 8],
+    pub digital_output: [bool; 8],
+}
+
+impl StateEvent {
+    pub fn build(&self) -> Event<Self> {
+        Event::new("StateEvent", self.clone())
+    }
+}
+pub enum Wago8chDigitalIOTestMachineEvents {
+    State(Event<StateEvent>),
+}
+
+#[derive(Deserialize)]
+#[serde(tag = "action", content = "value")]
+pub enum Mutation {
+    SetOutput { index: usize, value: bool },
+}
+#[derive(Debug, Clone)]
+pub struct Wago8chDigitalIOTestMachineNamespace {
+    pub namespace: Option<Namespace>,
+}
+
+impl NamespaceCacheingLogic<Wago8chDigitalIOTestMachineEvents>
+    for Wago8chDigitalIOTestMachineNamespace
+{
+    fn emit(&mut self, events: Wago8chDigitalIOTestMachineEvents) {
+        let event = Arc::new(events.event_value());
+        let buffer_fn = events.event_cache_fn();
+        if let Some(ns) = &mut self.namespace {
+            ns.emit(event, &buffer_fn);
+        }
+    }
+}
+
+impl CacheableEvents<Wago8chDigitalIOTestMachineEvents> for Wago8chDigitalIOTestMachineEvents {
+    fn event_value(&self) -> GenericEvent {
+        match self {
+            Wago8chDigitalIOTestMachineEvents::State(event) => event.clone().into(),
+        }
+    }
+
+    fn event_cache_fn(&self) -> CacheFn {
+        cache_first_and_last_event()
+    }
+}
+
+impl MachineApi for Wago8chDigitalIOTestMachine {
+    fn api_get_sender(&self) -> smol::channel::Sender<crate::MachineMessage> {
+        self.api_sender.clone()
+    }
+
+    fn api_mutate(&mut self, value: serde_json::Value) -> Result<(), anyhow::Error> {
+        let mutation: Mutation = serde_json::from_value(value)?;
+        match mutation {
+            Mutation::SetOutput { index, value } => self.set_output(index, value),
+        }
+
+        Ok(())
+    }
+
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
+        self.namespace.namespace.clone()
+    }
+}
@@ -0,0 +1,80 @@
+use std::time::Instant;
+
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+use ethercat_hal::io::{digital_input::DigitalInput, digital_output::DigitalOutput};
+use smol::channel::{Receiver, Sender};
+
+use crate::{
+    AsyncThreadMessage, Machine, MachineMessage, VENDOR_QITECH, WAGO_8CH_IO_TEST_MACHINE,
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
+    wago_8ch_dio_test_machine::api::{
+        StateEvent, Wago8chDigitalIOTestMachineEvents, Wago8chDigitalIOTestMachineNamespace,
+    },
+};
+
+pub mod act;
+pub mod api;
+pub mod new;
+
+#[derive(Debug)]
+pub struct Wago8chDigitalIOTestMachine {
+    pub api_receiver: Receiver<MachineMessage>,
+    pub api_sender: Sender<MachineMessage>,
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub main_sender: Option<Sender<AsyncThreadMessage>>,
+    pub namespace: Wago8chDigitalIOTestMachineNamespace,
+    pub last_state_emit: Instant,
+    pub digital_output: [DigitalOutput; 8],
+    pub digital_input: [DigitalInput; 8],
+}
+
+impl Machine for Wago8chDigitalIOTestMachine {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
+impl Wago8chDigitalIOTestMachine {
+    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
+        vendor: VENDOR_QITECH,
+        machine: WAGO_8CH_IO_TEST_MACHINE,
+    };
+
+    pub fn get_state(&self) -> StateEvent {
+        StateEvent {
+            digital_input: (0..8)
+                .map(|i| {
+                    self.digital_input[i]
+                        .get_value()
+                        .expect("digital input value should be available")
+                })
+                .collect::<Vec<_>>()
+                .try_into()
+                .expect("bool vector into array[8] should work"),
+            digital_output: [
+                self.digital_output[0].get(),
+                self.digital_output[1].get(),
+                self.digital_output[2].get(),
+                self.digital_output[3].get(),
+                self.digital_output[4].get(),
+                self.digital_output[5].get(),
+                self.digital_output[6].get(),
+                self.digital_output[7].get(),
+            ],
+        }
+    }
+
+    pub fn emit_state(&mut self) {
+        let event = self.get_state().build();
+        self.namespace
+            .emit(Wago8chDigitalIOTestMachineEvents::State(event));
+    }
+
+    pub fn set_output(&mut self, i: usize, value: bool) {
+        self.digital_output[i].set(value);
+    }
+}
@@ -0,0 +1,105 @@
+use std::{sync::Arc, time::Instant};
+
+use anyhow::Error;
+use ethercat_hal::{
+    devices::{
+        EthercatDevice, downcast_device,
+        wago_750_354::{WAGO_750_354_IDENTITY_A, Wago750_354},
+        wago_modules::wago_750_1506::{
+            Wago750_1506, Wago750_1506InputPort, Wago750_1506OutputPort,
+        },
+    },
+    io::{digital_input::DigitalInput, digital_output::DigitalOutput},
+};
+use smol::{block_on, lock::RwLock};
+
+use crate::{
+    MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
+    wago_8ch_dio_test_machine::{
+        Wago8chDigitalIOTestMachine, api::Wago8chDigitalIOTestMachineNamespace,
+    },
+};
+
+impl MachineNewTrait for Wago8chDigitalIOTestMachine {
+    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
+        // validate general stuff
+        let device_identification = params
+            .device_group
+            .iter()
+            .map(|device_identification| device_identification.clone())
+            .collect::<Vec<_>>();
+        validate_same_machine_identification_unique(&device_identification)?;
+        validate_no_role_dublicates(&device_identification)?;
+
+        let hardware = match &params.hardware {
+            MachineNewHardware::Ethercat(x) => x,
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::EtherCATMachine/TestMachine::new] MachineNewHardware is not Ethercat",
+                    module_path!()
+                ));
+            }
+        };
+
+        block_on(async {
+            // Example usage of a Wago Coupler and a 750-402 in the first slot, where the Output Port 1,2,3,4 is used
+            let _wago_750_354 = get_ethercat_device::<Wago750_354>(
+                hardware,
+                params,
+                0,
+                [WAGO_750_354_IDENTITY_A].to_vec(),
+            )
+            .await?;
+
+            let modules = Wago750_354::initialize_modules(_wago_750_354.1).await?;
+
+            let mut coupler = _wago_750_354.0.write().await;
+
+            for module in modules {
+                coupler.set_module(module);
+            }
+
+            coupler.init_slot_modules(_wago_750_354.1);
+            let dev = coupler.slot_devices.get(0).unwrap().clone().unwrap();
+            let wago750_1506: Arc<RwLock<Wago750_1506>> =
+                downcast_device::<Wago750_1506>(dev).await?;
+
+            let di1 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI1);
+            let di2 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI2);
+            let di3 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI3);
+            let di4 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI4);
+            let di5 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI5);
+            let di6 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI6);
+            let di7 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI7);
+            let di8 = DigitalInput::new(wago750_1506.clone(), Wago750_1506InputPort::DI8);
+
+            let do1 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO1);
+            let do2 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO2);
+            let do3 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO3);
+            let do4 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO4);
+            let do5 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO5);
+            let do6 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO6);
+            let do7 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO7);
+            let do8 = DigitalOutput::new(wago750_1506.clone(), Wago750_1506OutputPort::DO8);
+
+            drop(coupler);
+
+            let (sender, receiver) = smol::channel::unbounded();
+            let mut my_test = Self {
+                api_receiver: receiver,
+                api_sender: sender,
+                machine_identification_unique: params.get_machine_identification_unique(),
+                namespace: Wago8chDigitalIOTestMachineNamespace {
+                    namespace: params.namespace.clone(),
+                },
+                last_state_emit: Instant::now(),
+                main_sender: params.main_thread_channel.clone(),
+                digital_output: [do1, do2, do3, do4, do5, do6, do7, do8],
+                digital_input: [di1, di2, di3, di4, di5, di6, di7, di8],
+            };
+            my_test.emit_state();
+            Ok(my_test)
+        })
+    }
+}
@@ -0,0 +1,46 @@
+use super::WagoDOTestMachine;
+use crate::{MachineAct, MachineMessage, MachineValues};
+use std::time::{Duration, Instant};
+
+impl MachineAct for WagoDOTestMachine {
+    fn act(&mut self, now: Instant) {
+        if let Ok(msg) = self.api_receiver.try_recv() {
+            self.act_machine_message(msg);
+        }
+
+        if now.duration_since(self.last_state_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+            self.emit_state();
+            self.last_state_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(_machine_connection) => {
+                // Does not connect to any Machine; do nothing
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) => {
+                // Does not connect to any Machine; do nothing
+            }
+            MachineMessage::RequestValues(sender) => {
+                sender
+                    .send_blocking(MachineValues {
+                        state: serde_json::to_value(self.get_state())
+                            .expect("Failed to serialize state"),
+                        live_values: serde_json::Value::Null,
+                    })
+                    .expect("Failed to send values");
+                sender.close();
+            }
+        }
+    }
+}
@@ -0,0 +1,84 @@
+use super::WagoDOTestMachine;
+use crate::{MachineApi, MachineMessage};
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_first_and_last_event,
+    },
+};
+use serde::{Deserialize, Serialize};
+use serde_json::Value;
+use std::sync::Arc;
+
+#[derive(Serialize, Debug, Clone)]
+pub struct StateEvent {
+    pub led_on: [bool; 8],
+}
+
+impl StateEvent {
+    pub fn build(&self) -> Event<Self> {
+        Event::new("StateEvent", self.clone())
+    }
+}
+
+pub enum WagoDOTestMachineEvents {
+    State(Event<StateEvent>),
+}
+
+#[derive(Deserialize)]
+#[serde(tag = "action", content = "value")]
+pub enum Mutation {
+    SetLed { index: usize, on: bool },
+    SetAllLeds { on: bool },
+}
+
+#[derive(Debug, Clone)]
+pub struct WagoDOTestMachineNamespace {
+    pub namespace: Option<Namespace>,
+}
+
+impl NamespaceCacheingLogic<WagoDOTestMachineEvents> for WagoDOTestMachineNamespace {
+    fn emit(&mut self, events: WagoDOTestMachineEvents) {
+        let event = Arc::new(events.event_value());
+        let buffer_fn = events.event_cache_fn();
+        if let Some(ns) = &mut self.namespace {
+            ns.emit(event, &buffer_fn);
+        }
+    }
+}
+
+impl CacheableEvents<WagoDOTestMachineEvents> for WagoDOTestMachineEvents {
+    fn event_value(&self) -> GenericEvent {
+        match self {
+            WagoDOTestMachineEvents::State(event) => event.clone().into(),
+        }
+    }
+
+    fn event_cache_fn(&self) -> CacheFn {
+        cache_first_and_last_event()
+    }
+}
+
+impl MachineApi for WagoDOTestMachine {
+    fn api_get_sender(&self) -> smol::channel::Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
+    fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
+        let mutation: Mutation = serde_json::from_value(request_body)?;
+        match mutation {
+            Mutation::SetLed { index, on } => self.set_led(index, on),
+            Mutation::SetAllLeds { on } => self.set_all_leds(on),
+        }
+
+        for (led, &on) in self.douts.iter().zip(self.led_on.iter()) {
+            led.set(on);
+        }
+
+        Ok(())
+    }
+
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
+        self.namespace.namespace.clone()
+    }
+}
@@ -0,0 +1,69 @@
+use std::time::Instant;
+
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use smol::channel::{Receiver, Sender};
+
+use crate::{
+    AsyncThreadMessage, Machine, MachineMessage, VENDOR_QITECH, WAGO_DO_TEST_MACHINE,
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
+    wago_do_test_machine::api::{StateEvent, WagoDOTestMachineEvents, WagoDOTestMachineNamespace},
+};
+
+pub mod act;
+pub mod api;
+pub mod new;
+
+#[derive(Debug)]
+pub struct WagoDOTestMachine {
+    pub api_receiver: Receiver<MachineMessage>,
+    pub api_sender: Sender<MachineMessage>,
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub main_sender: Option<Sender<AsyncThreadMessage>>,
+    pub namespace: WagoDOTestMachineNamespace,
+    pub last_state_emit: Instant,
+    pub led_on: [bool; 8],
+    pub douts: [DigitalOutput; 8],
+}
+
+impl Machine for WagoDOTestMachine {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
+impl WagoDOTestMachine {
+    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
+        vendor: VENDOR_QITECH,
+        machine: WAGO_DO_TEST_MACHINE,
+    };
+
+    pub fn get_state(&self) -> StateEvent {
+        StateEvent {
+            led_on: self.led_on,
+        }
+    }
+
+    pub fn emit_state(&mut self) {
+        let event = self.get_state().build();
+        self.namespace.emit(WagoDOTestMachineEvents::State(event));
+    }
+
+    /// Set the state of a specific digital output
+    pub fn set_led(&mut self, index: usize, on: bool) {
+        if index < self.led_on.len() {
+            self.led_on[index] = on;
+            self.emit_state();
+        }
+    }
+
+    /// Set all digital outputs at once
+    pub fn set_all_leds(&mut self, on: bool) {
+        self.led_on = [on; 8];
+        self.emit_state();
+    }
+}
@@ -0,0 +1,101 @@
+use crate::wago_do_test_machine::WagoDOTestMachine;
+use crate::wago_do_test_machine::api::WagoDOTestMachineNamespace;
+use smol::block_on;
+use std::time::Instant;
+
+use crate::{
+    MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
+};
+
+use anyhow::Error;
+use ethercat_hal::devices::wago_750_354::{WAGO_750_354_IDENTITY_A, Wago750_354};
+use ethercat_hal::devices::wago_modules::wago_750_530::{Wago750_530, Wago750_530Port};
+use ethercat_hal::devices::{EthercatDevice, downcast_device};
+use ethercat_hal::io::digital_output::DigitalOutput;
+use smol::lock::RwLock;
+use std::sync::Arc;
+
+impl MachineNewTrait for WagoDOTestMachine {
+    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
+        let device_identification = params
+            .device_group
+            .iter()
+            .map(|device_identification| device_identification.clone())
+            .collect::<Vec<_>>();
+        validate_same_machine_identification_unique(&device_identification)?;
+        validate_no_role_dublicates(&device_identification)?;
+
+        let hardware = match &params.hardware {
+            MachineNewHardware::Ethercat(x) => x,
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::MachineNewTrait/WagoDOTestMachine::new] MachineNewHardware is not Ethercat",
+                    module_path!()
+                ));
+            }
+        };
+
+        block_on(async {
+            let _wago_750_354 = get_ethercat_device::<Wago750_354>(
+                hardware,
+                params,
+                0,
+                [WAGO_750_354_IDENTITY_A].to_vec(),
+            )
+            .await?;
+
+            let modules = Wago750_354::initialize_modules(_wago_750_354.1).await?;
+            let mut coupler = _wago_750_354.0.write().await;
+
+            for module in modules {
+                coupler.set_module(module);
+            }
+
+            coupler.init_slot_modules(_wago_750_354.1);
+            let dev = coupler
+                .slot_devices
+                .get(0)
+                .ok_or_else(|| {
+                    anyhow::anyhow!(
+                        "[{}::MachineNewTrait/WagoDOTestMachine::new] Expected Wago 750-530 module in slot 0, but slot 0 is not configured",
+                        module_path!()
+                    )
+                })?
+                .clone()
+                .ok_or_else(|| {
+                    anyhow::anyhow!(
+                        "[{}::MachineNewTrait/WagoDOTestMachine::new] Expected Wago 750-530 module in slot 0, but slot 0 is empty or no device is present",
+                        module_path!()
+                    )
+                })?;
+            let wago750_530: Arc<RwLock<Wago750_530>> = downcast_device::<Wago750_530>(dev).await?;
+
+            let do1 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port1);
+            let do2 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port2);
+            let do3 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port3);
+            let do4 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port4);
+            let do5 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port5);
+            let do6 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port6);
+            let do7 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port7);
+            let do8 = DigitalOutput::new(wago750_530.clone(), Wago750_530Port::Port8);
+            drop(coupler);
+
+            let (sender, receiver) = smol::channel::unbounded();
+            let mut machine = Self {
+                api_receiver: receiver,
+                api_sender: sender,
+                machine_identification_unique: params.get_machine_identification_unique(),
+                namespace: WagoDOTestMachineNamespace {
+                    namespace: params.namespace.clone(),
+                },
+                last_state_emit: Instant::now(),
+                led_on: [false; 8],
+                main_sender: params.main_thread_channel.clone(),
+                douts: [do1, do2, do3, do4, do5, do6, do7, do8],
+            };
+            machine.emit_state();
+            Ok(machine)
+        })
+    }
+}
@@ -10,7 +10,7 @@ buildNpmPackage rec {
  ELECTRON_SKIP_BINARY_DOWNLOAD = 1;

  makeCacheWritable = true;
-  npmDepsHash = "sha256-UHPIoyMTzr7jkvbpZsePaNJ6s76h3R/0pcnbCkOcdYo=";
+  npmDepsHash = "sha256-rnaAsSkoTRoBgLCTF8ZFpi7uUQ+8W+u3qoMxsptX6NU=";
  npmFlags = [ "--no-audit" "--no-fund" ];

  installPhase = ''
@@ -9,7 +9,7 @@ workspace = true


 [dependencies]
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }

@@ -27,10 +27,10 @@ tokio = { version = "1.45.1", features = ["rt-multi-thread"] }
 regex = "1.11.3"

 # web
-serde_json = "1.0.143"
+serde_json = "1.0.149"
 socketioxide = { version = "0.17.2", features = ["msgpack"] }
 tower-http = { version = "0.6.6", features = ["cors", "trace", "fs"] }
-axum = { version = "0.8.6", features = ["macros"] }
+axum = { version = "0.8.8", features = ["macros"] }

 # serial
 serialport = "4.7.3"
@@ -38,7 +38,7 @@ serialport = "4.7.3"
 #tracing
 tracing = { version = "0.1.44", features = ["attributes"] }
 tracing-journald = { version = "0.3.1", optional = true }
-tracing-subscriber = { version = "0.3.20", features = [
+tracing-subscriber = { version = "0.3.22", features = [
    "env-filter",
    "chrono",
    "registry",
@@ -47,6 +47,7 @@ utils = { version = "0.1.0", path="../utils" }
 spin_sleep = "1.3.3"
 dhat = { version = "0.3.3", optional = true }
 ctrlc = { version = "3.3", optional = true }
+ta = "0.5.0"


 [dev-dependencies]
@@ -7,6 +7,7 @@ use anyhow::{Result, bail};
 use control_core::socketio::event::GenericEvent;
 use ethercat_hal::devices::EthercatDevice;
 use ethercrab::SubDeviceRef;
+use ethercrab::subdevice_group::HasDc;
 use ethercrab::{MainDevice, SubDeviceGroup, subdevice_group::Op};
 use machines::machine_identification::{DeviceIdentification, MachineIdentificationUnique};
 use machines::serial::registry::SERIAL_DEVICE_REGISTRY;
@@ -102,22 +103,25 @@ pub struct EthercatSetup {
    /// All Ethercat devices
    /// Generic interface for all devices
    /// Needed to interface with the devices on an Ethercat level
-    pub group: SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, Op>,
+    pub group: SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, Op, HasDc>,
    /// The Ethercat main device
    /// Needed to interface with the devices
    pub maindevice: MainDevice<'static>,
+    pub all_operational: bool,
 }

 impl EthercatSetup {
    pub fn new(
        devices: Vec<(DeviceIdentification, Arc<RwLock<dyn EthercatDevice>>)>,
-        group: SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, Op>,
+        group: SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, Op, HasDc>,
        maindevice: MainDevice<'static>,
+        all_operational: bool,
    ) -> Self {
        Self {
            devices,
            group,
            maindevice,
+            all_operational,
        }
    }
 }
@@ -1,12 +1,7 @@
+use crate::metrics::io::set_ethercat_iface;
 use control_core::ethercat::interface_discovery::discover_ethercat_interface;
 use smol::Timer;
-use std::{sync::Arc, time::Duration};
-
-use crate::{
-    app_state::SharedState,
-    ethercat::{ethercat_discovery_info::send_ethercat_found, setup::setup_loop},
-    metrics::io::set_ethercat_iface,
-};
+use std::time::Duration;

 pub async fn find_ethercat_interface() -> String {
    loop {
@@ -23,22 +18,3 @@ pub async fn find_ethercat_interface() -> String {
        }
    }
 }
-
-pub async fn start_interface_discovery(app_state: Arc<SharedState>) {
-    let interface = find_ethercat_interface().await;
-
-    tracing::info!("Calling setup_loop");
-    let res = setup_loop(&interface, app_state.clone()).await;
-    match res {
-        Ok(_) => tracing::info!("Successfully initialized EtherCAT network"),
-        Err(e) => {
-            tracing::error!(
-                "[{}::main] Failed to initialize EtherCAT network \n{:?}",
-                module_path!(),
-                e
-            );
-        }
-    }
-
-    send_ethercat_found(app_state, &interface).await;
-}
@@ -12,16 +12,30 @@ use control_core::socketio::namespace::NamespaceCacheingLogic;
 use control_core::{irq_handling::set_irq_affinity, realtime::set_realtime_priority};
 use ethercat_hal::debugging::diagnosis_history::get_most_recent_diagnosis_message;
 use ethercat_hal::devices::devices_from_subdevices;
+
 use ethercat_hal::devices::wago_750_354::{
    WAGO_750_354_PRODUCT_ID, WAGO_750_354_VENDOR_ID, Wago750_354,
 };
+
 use ethercat_hal::devices::wago_modules::ip20_ec_di8_do8::{
    IP20_EC_DI8_DO8_PRODUCT_ID, IP20_EC_DI8_DO8_VENDOR_ID, IP20EcDi8Do8,
 };

-use crate::utils::{start_dnsmasq, stop_dnsmasq};
+use ethercat_hal::helpers::set_mut_beckhoff_eeprom_lock_active;
+use ethercrab::error::Error;
+use ethercrab::subdevice_group::{DcConfiguration, HasDc, PreOpPdi, SafeOp};
+use smol::stream::StreamExt;
+use ta::Next;
+use ta::indicators::ExponentialMovingAverage;
+
+#[cfg(not(feature = "development-build"))]
+use crate::utils::stop_dnsmasq;
+
 use ethercrab::std::ethercat_now;
-use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, RetryBehaviour, Timeouts};
+use ethercrab::{
+    DcSync, MainDevice, MainDeviceConfig, PduStorage, RegisterAddress, RetryBehaviour,
+    SubDeviceGroup, Timeouts,
+};
 use machines::machine_identification::{
    DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat, DeviceIdentification,
    DeviceIdentificationIdentified, MachineIdentificationUnique, read_device_identifications,
@@ -30,6 +44,7 @@ use machines::registry::{MACHINE_REGISTRY, MachineRegistry};
 use machines::{Machine, MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams};
 use smol::channel::Sender;
 use socketioxide::extract::SocketRef;
+use std::time::Instant;
 use std::{sync::Arc, time::Duration};

 /// Structure to hold the result of grouping devices by identification
@@ -169,23 +184,25 @@ pub async fn set_ethercat_devices<const MAX_SUBDEVICES: usize, const MAX_PDI: us

 pub async fn setup_loop(
    interface: &str,
+    cycle_target: Duration,
    app_state: Arc<SharedState>,
 ) -> Result<EthercatSetup, anyhow::Error> {
    tracing::info!("Starting Ethercat PDU loop");
-
-    let res = stop_dnsmasq();
-    match res {
-        Ok(_) => (),
-        Err(e) => tracing::error!("Failed to stop dnsmasq: {:?}", e),
-    };
-    // Small Timeout to ensure interfaces get released
-    smol::Timer::after(Duration::from_millis(1500)).await;
+    #[cfg(not(feature = "development-build"))]
+    {
+        let res = stop_dnsmasq();
+        match res {
+            Ok(_) => tracing::info!("Stopped dnsmasq"),
+            Err(e) => tracing::error!("Failed to stop dnsmasq: {:?}", e),
+        };
+        // Small Timeout to ensure interfaces get released
+        smol::Timer::after(Duration::from_millis(1500)).await;
+    }

    // Setup ethercrab tx/rx task
    let pdu_storage = Box::leak(Box::new(PduStorage::<MAX_FRAMES, MAX_PDU_DATA>::new()));
    let (tx, rx, pdu) = pdu_storage.try_split().expect("can only split once");
    let interface = interface.to_string();
-    let mut has_dc = false;

    std::thread::Builder::new()
        .name("EthercatTxRxThread".to_owned())
@@ -229,11 +246,11 @@ pub async fn setup_loop(
        pdu,
        Timeouts {
            // Default 5000ms
-            state_transition: Duration::from_millis(5000),
+            state_transition: Duration::from_millis(20000),
            // Default 30_000us
            pdu: Duration::from_micros(30_000),
            // Default 10ms
-            eeprom: Duration::from_millis(10),
+            eeprom: Duration::from_millis(100),
            // Default 0ms
            wait_loop_delay: Duration::from_millis(0),
            // Default 100ms
@@ -278,6 +295,45 @@ pub async fn setup_loop(
        ))?,
    };

+    for mut subdevice in group_preop.iter_mut(&maindevice) {
+        // 0x2 vendor id is Beckhoff
+        if subdevice.identity().vendor_id == 0x2 {
+            let _res = set_mut_beckhoff_eeprom_lock_active(&subdevice).await;
+        }
+
+        if subdevice.name() == "EL4002" {
+            // Sync mode 01 = SM Synchronous, says it does dc but actually doesnt, thx?
+            subdevice
+                .sdo_write(0x1c32, 1, 1u16)
+                .await
+                .expect("Set sync mode");
+        }
+        // Configure SYNC0 AND SYNC1 for EL4102
+        else if subdevice.name() == "EL5152" {
+            // Sync mode 02 = SYNC0
+            subdevice
+                .sdo_write(0x1c32, 1, 2u16)
+                .await
+                .expect("Set sync mode");
+
+            subdevice
+                .sdo_write(0x1c32, 0x02, cycle_target.as_nanos() as u32)
+                .await
+                .expect("Set cycle time");
+
+            subdevice.set_dc_sync(DcSync::Sync01 {
+                // EL4102 ESI specifies SYNC1 with an offset of 100k ns
+                sync1_period: Duration::from_nanos(100_000),
+            });
+        } else {
+            match subdevice.dc_support() {
+                ethercrab::DcSupport::None => (),
+                ethercrab::DcSupport::RefOnly => (),
+                ethercrab::DcSupport::Bits64 => subdevice.set_dc_sync(DcSync::Sync0),
+                ethercrab::DcSupport::Bits32 => subdevice.set_dc_sync(DcSync::Sync0),
+            }
+        }
+    }
    // create devices
    let devices =
        devices_from_subdevices::<MAX_SUBDEVICES, PDI_LEN>(&mut group_preop, &maindevice)?;
@@ -298,6 +354,7 @@ pub async fn setup_loop(
            },
        )
        .collect::<Vec<_>>();
+
    let devices = device_identifications
        .into_iter()
        .zip(devices)
@@ -356,7 +413,6 @@ pub async fn setup_loop(
    */
    match (coupler.identity().vendor_id, coupler.identity().product_id) {
        (WAGO_750_354_VENDOR_ID, WAGO_750_354_PRODUCT_ID) => {
-            has_dc = true;
            let r = Wago750_354::initialize_modules(coupler).await?;
            for module in r {
                if coupler.configured_address() == module.belongs_to_addr {
@@ -364,7 +420,7 @@ pub async fn setup_loop(
                        Some(meta) => {
                            let meta_data = EtherCatDeviceMetaData {
                                configured_address: module.slot,
-                                name: "wago module".to_owned(),
+                                name:module.name,
                                vendor_id:module.vendor_id,
                                product_id: module.product_id,
                                revision: 0x2,
@@ -380,7 +436,6 @@ pub async fn setup_loop(
            }
        }
        (IP20_EC_DI8_DO8_VENDOR_ID, IP20_EC_DI8_DO8_PRODUCT_ID) => {
-            has_dc = true;
            let r = IP20EcDi8Do8::initialize_modules(coupler).await?;
            for module in r {
                if coupler.configured_address() == module.belongs_to_addr {
@@ -388,7 +443,7 @@ pub async fn setup_loop(
                        Some(meta) => {
                            let meta_data = EtherCatDeviceMetaData {
                                configured_address: module.slot,
-                                name: "IP20 EC DI8 DO8 module".to_owned(),
+                                name:module.name,
                                vendor_id:module.vendor_id,
                                product_id: module.product_id,
                                revision: 0x1,
@@ -407,19 +462,11 @@ pub async fn setup_loop(
    };
    drop(ethercat_meta_devices);

-    for subdevice in subdevices.iter() {
-        // Hack so El5152 goes into OP
-        if subdevice.name() == "EL5152" {
-            has_dc = true;
-        }
-    }
-
    // remove subdevice from devices tuple
    let devices = devices
        .iter()
        .map(|(device_identification, device, _)| (device_identification.clone(), device.clone()))
        .collect::<Vec<_>>();
-    // Notify client via socketio

    set_ethercat_devices::<MAX_SUBDEVICES, PDI_LEN>(
        &identified_device_identifications,
@@ -433,72 +480,130 @@ pub async fn setup_loop(
    )
    .await?;

-    let group_safe = match group_preop.into_safe_op(&maindevice).await {
-        Ok(group_op) => {
-            tracing::info!("Group in Safe-OP state");
-            group_op
-        }
-        Err(err) => Err(anyhow::anyhow!(
-            "[{}::setup_loop] Failed to put group in Safe-OP state: {:?}",
-            module_path!(),
-            err
-        ))?,
-    };
+    // Avoid potential Sdo write Contention on the bus, by just waiting a bit
+    // Timeout is not enough ... or rather a monstrous timeout would be required for all of the sdo writes we do ...
+    // TODO: Keep small timeout here and add Complete Access configuration for the stepper terminals and complex trerminals like (el5152)
+    smol::Timer::after(Duration::from_millis(4000)).await;

-    // TODO Make a more extensive init for the case of DC-Sync
-    // Maybe we need multiple groups? like one DC group and one non dc sync group?
-    // For now we just check if we use wago coupler or IP20
-    if has_dc {
-        for _ in 1..1000 {
-            let res = group_safe.tx_rx_sync_system_time(&maindevice).await;
-            match res {
-                Ok(_) => (),
-                Err(e) => tracing::error!(
-                    "[{}::setup_loop] Failed to sync dc time: {:?}",
-                    e,
-                    module_path!()
-                ),
+    let mut now = Instant::now();
+    let start = Instant::now();
+    let mut averages = Vec::new();
+    for _ in 0..group_preop.len() {
+        averages.push(ExponentialMovingAverage::new(64).unwrap());
+    }
+    let mut tick_interval = smol::Timer::interval(cycle_target);
+
+    tracing::info!("Moving into PRE-OP with PDI");
+    let group = group_preop.into_pre_op_pdi(&maindevice).await?;
+    tracing::info!("Done. PDI available. Waiting for SubDevices to align");
+
+    loop {
+        group
+            .tx_rx_sync_system_time(&maindevice)
+            .await
+            .expect("TX/RX");
+
+        if now.elapsed() >= Duration::from_millis(25) {
+            now = Instant::now();
+            let mut max_deviation = 0;
+            for (s1, ema) in group.iter(&maindevice).zip(averages.iter_mut()) {
+                let diff = match s1
+                    .register_read::<u32>(RegisterAddress::DcSystemTimeDifference)
+                    .await
+                {
+                    Ok(value) =>
+                    // The returned value is NOT in two's compliment, rather the upper bit specifies
+                    // whether the number in the remaining bits is odd or even, so we convert the
+                    // value to `i32` using that logic here.
+                    {
+                        let flag = 0b1u32 << 31;
+                        if value >= flag {
+                            // Strip off negative flag bit and negate value as normal
+                            -((value & !flag) as i32)
+                        } else {
+                            value as i32
+                        }
+                    }
+                    Err(Error::WorkingCounter { .. }) => 0,
+                    Err(e) => {
+                        return Err(anyhow::anyhow!("Failed to read DC system time: {:?}", e));
+                    }
+                };
+
+                let ema_next = ema.next(diff as f64);
+                max_deviation = max_deviation.max(ema_next.abs() as u32);
+            }
+            if max_deviation < 100 {
+                tracing::info!("Clocks settled after {} ms", start.elapsed().as_millis());
+                break;
            }
        }
+        tick_interval.next().await;
    }

-    // Put group in operational state
-    let group_op = match group_safe.into_op(&maindevice).await {
-        Ok(group_op) => {
-            tracing::info!("Group in OP state");
-            group_op
+    // SubDevice clocks are aligned. We can turn DC on now.
+    let group = group
+        .configure_dc_sync(
+            &maindevice,
+            DcConfiguration {
+                // Start SYNC0 100ms in the future
+                start_delay: Duration::from_millis(100),
+                // SYNC0 period should be the same as the process data loop in most cases
+                sync0_period: cycle_target,
+                // Send process data half way through cycle
+                sync0_shift: cycle_target / 2,
+            },
+        )
+        .await?;
+
+    // State machine to handle transition to SafeOp with process data
+    enum GroupState {
+        PreOp(SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, PreOpPdi, HasDc>),
+        SafeOp(SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, SafeOp, HasDc>),
+    }
+
+    let mut group_container = Some(GroupState::PreOp(group));
+    let mut tick = 0;
+
+    let group = loop {
+        let now = Instant::now();
+        match group_container.take().unwrap() {
+            GroupState::PreOp(group) => {
+                let res = group.tx_rx_dc(&maindevice).await.expect("TX/RX");
+                if tick > 300 {
+                    let group = group.request_into_safe_op(&maindevice).await?;
+                    group_container = Some(GroupState::SafeOp(group));
+                    tracing::info!("Requested SAFE-OP");
+                } else {
+                    group_container = Some(GroupState::PreOp(group));
+                }
+
+                smol::Timer::at(now + res.extra.next_cycle_wait).await;
+            }
+            GroupState::SafeOp(group) => {
+                let res = group.tx_rx_dc(&maindevice).await.expect("TX/RX");
+                if res.all_safe_op() {
+                    tracing::info!("SAFE-OP");
+                    break group;
+                } else {
+                    group_container = Some(GroupState::SafeOp(group));
+                }
+                smol::Timer::at(now + res.extra.next_cycle_wait).await;
+            }
        }
-        Err(err) => Err(anyhow::anyhow!(
-            "[{}::setup_loop] Failed to put group in OP state: {:?}",
-            module_path!(),
-            err
-        ))?,
+        tick += 1;
    };

-    {
-        // Notify client via socketio
-        let app_state_clone = app_state.clone();
-        let main_namespace = &mut app_state_clone
-            .socketio_setup
-            .namespaces
-            .write()
-            .await
-            .main_namespace;
-        let event = EthercatDevicesEventBuilder()
-            .build(app_state_clone.clone())
-            .await;
-        main_namespace.emit(MainNamespaceEvents::EthercatDevicesEvent(event));
-    }
-
-    let res = start_dnsmasq();
-    match res {
-        Ok(o) => o,
-        Err(e) => tracing::error!("Failed to start dnsmasq: {:?}", e),
-    };
+    let group_op = group
+        .request_into_op(&maindevice)
+        .await
+        .expect("SAFE-OP -> OP");
+    tracing::info!("Started Transition to OP");

    Ok(EthercatSetup {
        devices,
        group: group_op,
        maindevice,
+        all_operational: false,
    })
 }
@@ -4,6 +4,8 @@ use bitvec::prelude::*;
 use control_core::realtime::set_core_affinity;
 #[cfg(not(feature = "development-build"))]
 use control_core::realtime::set_realtime_priority;
+use ethercrab::TxRxResponse;
+use ethercrab::subdevice_group::CycleInfo;
 use machines::Machine;
 use machines::machine_identification::write_machine_device_identification;
 use smol::channel::Receiver;
@@ -88,7 +90,6 @@ pub fn start_loop_thread(
                match msg {
                    HotThreadMessage::NoMsg => {}
                    HotThreadMessage::AddEtherCatSetup(ethercat_setup) => {
-                        println!("EthercatSetup: {:?}", ethercat_setup.devices);
                        rt_loop_inputs.ethercat_setup = Some(Box::new(ethercat_setup));
                    }
                    HotThreadMessage::WriteMachineDeviceInfo(info_request) => {
@@ -113,7 +114,6 @@ pub fn start_loop_thread(
                            .retain(|m| m.get_machine_identification_unique() != unique_id);
                    }
                    HotThreadMessage::AddMachines(machine_vec) => {
-                        tracing::info!("received machines{:?}", machine_vec);
                        for new_machine in machine_vec {
                            let id = new_machine.get_machine_identification_unique();
                            if !rt_loop_inputs
@@ -159,55 +159,79 @@ pub fn start_loop_thread(
 }

 pub async fn copy_ethercat_inputs(
-    ethercat_setup: Option<&EthercatSetup>,
+    ethercat_setup: Option<&mut EthercatSetup>,
 ) -> Result<(), anyhow::Error> {
    // only if we have an ethercat setup
    // - tx/rx cycle
    // - copy inputs to devices
    if let Some(ethercat_setup) = ethercat_setup {
-        ethercat_setup
-            .group
-            .tx_rx(&ethercat_setup.maindevice)
-            .await?;
+        if ethercat_setup.all_operational {
+            ethercat_setup
+                .group
+                .tx_rx_dc(&ethercat_setup.maindevice)
+                .await?;

-        // copy inputs to devices
-        for (i, subdevice) in ethercat_setup
-            .group
-            .iter(&ethercat_setup.maindevice)
-            .enumerate()
-        {
-            // retrieve inputs
-            let input = subdevice.inputs_raw();
-            let input_bits = input.view_bits::<Lsb0>();
+            // copy inputs to devices
+            for (i, subdevice) in ethercat_setup
+                .group
+                .iter(&ethercat_setup.maindevice)
+                .enumerate()
+            {
+                // retrieve inputs
+                let input = subdevice.inputs_raw();
+                let input_bits = input.view_bits::<Lsb0>();

-            // get device
-            let mut device = ethercat_setup.devices[i].1.as_ref().write().await;
+                // get device
+                let mut device = ethercat_setup.devices[i].1.as_ref().write().await;

-            // check if the device is used
-            if !device.is_used() {
-                // if the device is not used, we skip it
-                continue;
+                // check if the device is used
+                if !device.is_used() {
+                    // if the device is not used, we skip it
+                    continue;
+                }
+
+                // put inputs into device
+                device.input_checked(input_bits).map_err(|e| {
+                    anyhow::anyhow!(
+                        "[{}::loop_once] SubDevice with index {} failed to copy inputs\n{:?}",
+                        module_path!(),
+                        i,
+                        e
+                    )
+                })?;
+
+                // post process inputs
+                device.input_post_process().map_err(|e| {
+                    anyhow::anyhow!(
+                        "[{}::loop_once] SubDevice with index {} failed to copy post_process\n{:?}",
+                        module_path!(),
+                        i,
+                        e
+                    )
+                })?;
+            }
+            return Ok(());
+        } else {
+            loop {
+                let now = Instant::now();
+                let response @ TxRxResponse {
+                    working_counter: _wkc,
+                    extra:
+                        CycleInfo {
+                            next_cycle_wait, ..
+                        },
+                    ..
+                } = ethercat_setup
+                    .group
+                    .tx_rx_dc(&ethercat_setup.maindevice)
+                    .await
+                    .expect("TX/RX");
+                if response.all_op() {
+                    ethercat_setup.all_operational = true;
+                    break;
+                }
+                smol::Timer::at(now + next_cycle_wait).await;
            }
-
-            // put inputs into device
-            device.input_checked(input_bits).map_err(|e| {
-                anyhow::anyhow!(
-                    "[{}::loop_once] SubDevice with index {} failed to copy inputs\n{:?}",
-                    module_path!(),
-                    i,
-                    e
-                )
-            })?;
-
-            // post process inputs
-            device.input_post_process().map_err(|e| {
-                anyhow::anyhow!(
-                    "[{}::loop_once] SubDevice with index {} failed to copy post_process\n{:?}",
-                    module_path!(),
-                    i,
-                    e
-                )
-            })?;
        }
    }
    Ok(())
@@ -276,7 +300,7 @@ pub fn loop_once<'maindevice>(inputs: &mut RtLoopInputs<'_>) -> Result<(), anyho
            .unwrap()
            .cycle_start();

-        let res = smol::block_on(copy_ethercat_inputs(inputs.ethercat_setup.as_deref()));
+        let res = smol::block_on(copy_ethercat_inputs(inputs.ethercat_setup.as_deref_mut()));
        match res {
            Ok(_) => (),
            Err(e) => {
@@ -2,6 +2,7 @@ use crate::{
    metrics::collector::{RuntimeMetricsConfig, spawn_runtime_metrics_sampler},
    socketio::main_namespace::machines_event::MachineObj,
 };
+use control_core::socketio::namespace::NamespaceCacheingLogic;
 use machines::{
    AsyncThreadMessage, MachineConnection, MachineNewHardware, MachineNewHardwareSerial,
    MachineNewParams, SerialDevice, SerialDeviceIdentification, SerialDeviceNew,
@@ -14,6 +15,11 @@ use machines::{
    serial::{devices::laser::Laser, init::SerialDetection},
    winder2::api::GenericEvent,
 };
+use socketio::{
+    main_namespace::{MainNamespaceEvents, ethercat_devices_event::EthercatDevicesEventBuilder},
+    queue::start_socketio_queue,
+};
+
 #[cfg(feature = "development-build")]
 use std::sync::atomic::{AtomicBool, Ordering};
 use utils::start_dnsmasq;
@@ -33,6 +39,12 @@ use smol::{
 use socketioxide::extract::SocketRef;
 use std::{collections::HashMap, sync::Arc, time::Duration};

+#[cfg(feature = "development-build")]
+const CYCLE_TARGET_TIME: Duration = Duration::from_micros(2000);
+
+#[cfg(not(feature = "development-build"))]
+const CYCLE_TARGET_TIME: Duration = Duration::from_micros(700);
+
 #[cfg(feature = "mock-machine")]
 use mock_init::init_mock;

@@ -42,7 +54,6 @@ use crate::{
        setup::setup_loop,
    },
    modbus_tcp::start_modbus_tcp_discovery,
-    socketio::queue::socketio_queue_worker,
 };

 #[cfg(feature = "mock-machine")]
@@ -124,10 +135,8 @@ pub async fn add_serial_device(
 pub async fn start_serial_discovery(app_state: Arc<SharedState>) {
    loop {
        let devices = SerialDetection::detect_devices();
-
        // This allows detection of disconnected devices
        handle_serial_device_hotplug(app_state.clone(), devices).await;
-
        smol::Timer::after(Duration::from_secs(1)).await;
    }
 }
@@ -139,14 +148,35 @@ pub async fn start_interface_discovery(
    let interface = find_ethercat_interface().await;
    tracing::info!("Inferface found {}, setting up EtherCAT loop", interface);
    set_ethercat_iface(interface.clone());
-    let res = setup_loop(&interface, app_state.clone()).await;
+    let res = setup_loop(&interface, CYCLE_TARGET_TIME, app_state.clone()).await;

    match res {
        Ok(setup) => {
            let _ = sender.send(HotThreadMessage::AddEtherCatSetup(setup)).await;
            tracing::info!("Successfully initialized EtherCAT devices");
-        }

+            // Notify client via socketio
+            let app_state_clone = app_state.clone();
+            let main_namespace = &mut app_state_clone
+                .socketio_setup
+                .namespaces
+                .write()
+                .await
+                .main_namespace;
+            let event = EthercatDevicesEventBuilder()
+                .build(app_state_clone.clone())
+                .await;
+            main_namespace.emit(MainNamespaceEvents::EthercatDevicesEvent(event));
+
+            #[cfg(not(feature = "development-build"))]
+            {
+                let res = start_dnsmasq();
+                match res {
+                    Ok(o) => o,
+                    Err(e) => tracing::error!("Failed to start dnsmasq: {:?}", e),
+                };
+            }
+        }
        Err(e) => {
            tracing::error!(
                "[{}::main] Failed to initialize EtherCAT network \n{:?}",
@@ -154,6 +184,7 @@ pub async fn start_interface_discovery(
                e
            );
            // if this doesnt work, unlucky
+            #[cfg(not(feature = "development-build"))]
            let _ = start_dnsmasq();
        }
    }
@@ -293,15 +324,6 @@ async fn handle_async_requests(recv: Receiver<AsyncThreadMessage>, shared_state:
    tracing::warn!("Async handler task finished");
 }

-pub async fn start_socketio_queue(app_state: Arc<SharedState>) {
-    let app_state = app_state.as_ref();
-    loop {
-        let res = socketio_queue_worker(app_state).await;
-        tracing::error!("SocketIO task finished, but should never finish: {:?}", res);
-        tracing::error!("Restarting SocketIO...");
-    }
-}
-
 #[cfg(feature = "development-build")]
 fn setup_ctrlc_handler() -> Arc<AtomicBool> {
    let running = Arc::new(AtomicBool::new(true));
@@ -331,8 +353,6 @@ fn main() {
    #[cfg(feature = "development-build")]
    let running = setup_ctrlc_handler();

-    const CYCLE_TARGET_TIME: Duration = Duration::from_micros(700);
-
    // for the "hot thread"
    let (sender, receiver) = smol::channel::unbounded();
    let (main_sender, main_receiver) = smol::channel::unbounded();
@@ -356,7 +376,6 @@ fn main() {

    #[cfg(not(feature = "mock-machine"))]
    smol::spawn(start_interface_discovery(app_state.clone(), sender)).detach();
-
    smol::spawn(start_modbus_tcp_discovery(app_state.clone())).detach();

    smol::block_on(async {
@@ -1,6 +1,6 @@
 use crate::app_state::SharedState;
-use std::{sync::Arc, time::Instant};
-use tracing::{debug, info, instrument, trace};
+use std::sync::Arc;
+use tracing::{error, info, instrument, trace};

 /// Send a single event with retry logic
 #[instrument(skip_all)]
@@ -12,7 +12,7 @@ async fn send_event_with_retry(
    loop {
        // check if socket is still connected
        if !socket.connected() {
-            trace!(
+            info!(
                socket_id = ?socket.id,
                event = %event.name,
                "Socket disconnected, skipping event"
@@ -32,7 +32,7 @@ async fn send_event_with_retry(
            }
            Err(e) => match e {
                socketioxide::SendError::Serialize(serialize_error) => {
-                    trace!(
+                    info!(
                        socket_id = ?socket.id,
                        event = %event.name,
                        error = %serialize_error,
@@ -45,7 +45,7 @@ async fn send_event_with_retry(
                        continue; // Retry sending the event
                    }
                    socketioxide::SocketError::Closed => {
-                        trace!(
+                        info!(
                            socket_id = ?socket.id,
                            event = %event.name,
                            "Socket closed, skipping event"
@@ -58,40 +58,16 @@ async fn send_event_with_retry(
    }
 }

-pub async fn socketio_queue_worker(app_state: &SharedState) {
-    tracing::info!("SocketIO global queue listener started");
-    let mut event_count = 0;
-    let mut batch_start = Instant::now();
-
-    while let Ok((socket, event)) = app_state.socketio_setup.socket_queue_rx.recv().await {
-        event_count += 1;
-
-        send_event_with_retry(&socket, &event).await;
-
-        if batch_start.elapsed().as_secs() >= 5 {
-            let elapsed = batch_start.elapsed();
-            if event_count > 0 {
-                debug!(
-                    "[{}::socketio_queue_worker] Processed {} events in {:.2?} ({:.1} events/s)",
-                    module_path!(),
-                    event_count,
-                    elapsed,
-                    event_count as f64 / elapsed.as_secs_f64(),
-                );
-            }
-            event_count = 0;
-            batch_start = Instant::now();
-        }
-    }
-
-    info!("SocketIO global queue listener stopped");
-}
-
 pub async fn start_socketio_queue(app_state: Arc<SharedState>) {
    let app_state = app_state.as_ref();
    loop {
-        let res = socketio_queue_worker(app_state).await;
-        tracing::error!("SocketIO task finished, but should never finish: {:?}", res);
-        tracing::error!("Restarting SocketIO...");
+        let res = app_state.socketio_setup.socket_queue_rx.recv().await;
+        match res {
+            Ok((socket, event)) => send_event_with_retry(&socket, &event).await,
+            Err(e) => {
+                error!("SocketIO global queue listener stopped: {:?}", e);
+                break;
+            }
+        }
    }
 }
Author	SHA1	Message	Date
Christian	af0b5deff0	Merge pull request #1135 from qitechgmbh/991-graph-tab-in-top-navigation-bar-not-connecting-to-graph-page-2 fixed the graph page not not connecting to navigation bar bug	2026-02-13 08:06:53 +01:00
Christian	743a589c1d	Update README.md to enhance video descriptions and add additional video section	2026-02-12 17:04:35 +01:00
Achraf Jalleli	ee7550d89f	Merge pull request #1127 from qitechgmbh/1042-implement-minimal-machine-example-for-wago-750-530 1042 implement minimal machine example for wago 750 530	2026-02-12 13:37:26 +01:00
Achraf JalleliandCopilot	ec13f715aa	slug fix Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>	2026-02-12 13:22:14 +01:00
Achraf Jalleli	2af746e7a4	Add files via upload	2026-02-12 13:14:04 +01:00
JalleliAchraf	3af3fb9d79	used array.fill	2026-02-12 11:22:11 +01:00
Achraf Jalleli	ff3103bec2	Merge branch 'master' into 1042-implement-minimal-machine-example-for-wago-750-530	2026-02-12 11:00:23 +01:00
Hans Sebastian Pöhlmann	5eb3c39f84	1043 implement minimal machine example for wago 750 1506 (#1106 ) * wago 750_1506 minimal machine backend apparently done, frontend still unfinished * wago 750_1506 frontend apparently done, but untested * added bus coupler to device roles	2026-02-12 10:54:06 +01:00
Robin Krämer	2c715d6a8e	fixed initialization by raising timeouts for eeprom,eeprom write lock (#1136 ) * fixed initialization by raising timeouts for eeprom,eeprom write lock * fixed formatting	2026-02-11 14:24:48 +01:00
JalleliAchraf	fb12001721	fixed the graph page not not connecting to navigation bar bug	2026-02-10 18:29:04 +01:00
Robin Krämer	ad94754fcf	Added missing revision for Watercooling (#1130 )	2026-02-09 15:14:30 +01:00
Achraf Jalleli	b919721c3a	Update npmDepsHash for electron package	2026-02-06 16:20:26 +01:00
JalleliAchraf	a428a2aa02	formatting	2026-02-06 16:12:25 +01:00
JalleliAchraf	7b479c6021	Merge branch '1042-implement-minimal-machine-example-for-wago-750-530' of github.com:qitechgmbh/control into 1042-implement-minimal-machine-example-for-wago-750-530	2026-02-06 16:09:03 +01:00
JalleliAchraf	17ac24c79d	minor improvements	2026-02-06 16:08:25 +01:00
JalleliAchraf	8c7a04b616	formatting fix	2026-02-06 15:57:55 +01:00
github-actions[bot]	fe248c79ae	chore: update npmDepsHash to sha256-/7zfLof91S97OmW8dBeaVajYEv3r2eYOZ8Zb2ahykaQ=	2026-02-06 14:54:58 +00:00
JalleliAchraf	038df09611	removed unecessary differences between this branch and master	2026-02-06 15:49:21 +01:00
JalleliAchraf	9e43d8d431	several small fixes	2026-02-06 15:44:13 +01:00
JalleliAchraf	d364263d6e	wago digital output minimal machine	2026-02-06 15:22:00 +01:00
Christian	376e4a4ea2	Merge pull request #1117 from qitechgmbh/1100-update-the-main-readme 1100 update the main readme	2026-02-05 21:39:54 +01:00
Robin Krämer	0b30ae9a85	removed excessive logging, simplified socketio task with actual error printed … (#1122 ) * removed excessive logging, simplified socketio task with actual error message * fixed formatting	2026-02-05 17:34:48 +01:00
Christian	528952238d	Update issue templates	2026-02-05 14:54:10 +01:00
Robin Krämer	8c32ce2a2b	loop now uses Different Cycle time when development-build is set (#1112 ) * loop now uses Different Cycle time when development-build is set * fixed formatting * hid stop_dnsmasq import behind feature flag * added feature gate for start_dnsmasq in main	2026-02-05 11:52:56 +01:00
Christian	579ef0d2e2	Enhance video section in README.md with descriptive captions for better user engagement	2026-02-04 19:39:34 +01:00
Christian	b6263e90d6	Refactor video section in README.md for improved layout and clarity	2026-02-04 19:32:33 +01:00
Christian	f67f098ff3	better wording	2026-02-04 19:30:21 +01:00
Christian	1a3c26b789	Update issue templates	2026-02-04 18:30:07 +01:00
Oshgnacknak	49f0c9f289	Merge pull request #1113 from qitechgmbh/add-issue-templates Add issue templates	2026-02-04 15:40:33 +01:00
Oshgnacknak	e60daed274	Merge pull request #1116 from qitechgmbh/1115-remove-gitattributes-and-gitmodules 1115 Remove .gitattributes and .gitmodules files	2026-02-04 15:35:35 +01:00
Oshgnacknak	9a9120398e	Merge pull request #1097 from qitechgmbh/dependabot/cargo/serde_json-1.0.149 Bump serde_json from 1.0.145 to 1.0.149	2026-02-04 15:22:07 +01:00
Christian	dec342498c	Fix link to Device Examples in README.md for improved navigation	2026-02-04 15:21:06 +01:00
Christian	bc8cc5dd3d	Update README.md to enhance documentation structure and clarity	2026-02-04 15:18:19 +01:00
Oshgnacknak	4a1f3d125d	Merge pull request #1096 from qitechgmbh/dependabot/cargo/syn-2.0.114 Bump syn from 2.0.111 to 2.0.114	2026-02-04 15:07:29 +01:00
dependabot[bot]	1d1eeb3d48	Bump serde_json from 1.0.145 to 1.0.149 Bumps [serde_json](https://github.com/serde-rs/json) from 1.0.145 to 1.0.149. - [Release notes](https://github.com/serde-rs/json/releases) - [Commits](https://github.com/serde-rs/json/compare/v1.0.145...v1.0.149) --- updated-dependencies: - dependency-name: serde_json dependency-version: 1.0.149 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-04 14:06:09 +00:00
Oshgnacknak	c395d4e172	Merge pull request #1094 from qitechgmbh/dependabot/cargo/euclid-0.22.13 Bump euclid from 0.22.11 to 0.22.13	2026-02-04 15:05:33 +01:00
Oshgnacknak	5009c5ca75	Merge pull request #1092 from qitechgmbh/dependabot/cargo/axum-0.8.8 Bump axum from 0.8.7 to 0.8.8	2026-02-04 15:03:41 +01:00
Oshgnacknak	50dbc46b8c	Merge pull request #1089 from qitechgmbh/dependabot/cargo/tracing-subscriber-0.3.22 Bump tracing-subscriber from 0.3.20 to 0.3.22	2026-02-04 15:01:40 +01:00
Oshgnacknak	774e7e2f8b	Merge pull request #1108 from qitechgmbh/dependabot/cargo/bytes-1.11.1 Bump bytes from 1.11.0 to 1.11.1	2026-02-04 14:59:55 +01:00
Oshgnacknak	270872fe81	Merge pull request #1114 from qitechgmbh/1081-automate-npm-deps-hash-for-electronnix feat: automate npm deps hash update for Electron	2026-02-04 14:33:01 +01:00
Oshgnacknak	a749f59186	Merge pull request #1110 from qitechgmbh/1109-remove-hooks 1109 remove hooks folder	2026-02-04 14:28:37 +01:00
Christian	bae1de3c54	Remove .gitattributes and .gitmodules files	2026-02-04 13:52:33 +01:00
Christian	7681dae32c	feat: automate npmDepsHash updates for Electron - Add GitHub Actions workflow to automatically calculate and update npmDepsHash - Workflow triggers on package-lock.json changes in PRs - Uses nix prefetch-npm-deps to calculate correct hash - Automatically commits hash updates to the PR - Supports manual triggering via workflow_dispatch	2026-02-04 13:40:58 +01:00
ChristianandCopilot	2d98d369e1	Update .github/ISSUE_TEMPLATE/feature_request.md Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>	2026-02-04 13:04:29 +01:00
Christian	310ac42a88	Update issue templates Add issue templates for better feature requests or bug reports.	2026-02-04 12:57:35 +01:00
Christian	182df9c569	Merge pull request #1107 from qitechgmbh/electron-deps electron deps	2026-02-03 22:05:39 +01:00
Christian	153a719d64	remove Git hooks and pre-commit script	2026-02-03 21:56:06 +01:00
Christian	84603d1594	update hash	2026-02-03 21:53:28 +01:00
Christian	17b2e3e297	clear hash	2026-02-03 21:52:02 +01:00
Christian	fb1cf33c7f	Update package lock	2026-02-03 21:44:19 +01:00
dependabot[bot]	ae2d0fa8b1	Bump bytes from 1.11.0 to 1.11.1 Bumps [bytes](https://github.com/tokio-rs/bytes) from 1.11.0 to 1.11.1. - [Release notes](https://github.com/tokio-rs/bytes/releases) - [Changelog](https://github.com/tokio-rs/bytes/blob/master/CHANGELOG.md) - [Commits](https://github.com/tokio-rs/bytes/compare/v1.11.0...v1.11.1) --- updated-dependencies: - dependency-name: bytes dependency-version: 1.11.1 dependency-type: indirect ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-03 19:43:19 +00:00
ᴏxᴏ.ᴍɪᴋᴀ	ed06b63b77	Merge pull request #1083 from qitechgmbh/1076-minimum-hardware-documentation-links 1076 minimum hardware documentation links	2026-02-03 17:15:21 +01:00
Oshgnacknak	9f0f45d19c	Fix hash	2026-02-03 16:26:07 +01:00
dependabot[bot]	a75c0ff08a	Bump zustand from 5.0.9 to 5.0.11 in /electron Bumps [zustand](https://github.com/pmndrs/zustand) from 5.0.9 to 5.0.11. - [Release notes](https://github.com/pmndrs/zustand/releases) - [Commits](https://github.com/pmndrs/zustand/compare/v5.0.9...v5.0.11) --- updated-dependencies: - dependency-name: zustand dependency-version: 5.0.11 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-03 16:19:11 +01:00
dependabot[bot]	205432c926	Bump vitest from 3.2.4 to 4.0.18 in /electron Bumps [vitest](https://github.com/vitest-dev/vitest/tree/HEAD/packages/vitest) from 3.2.4 to 4.0.18. - [Release notes](https://github.com/vitest-dev/vitest/releases) - [Commits](https://github.com/vitest-dev/vitest/commits/v4.0.18/packages/vitest) --- updated-dependencies: - dependency-name: vitest dependency-version: 4.0.18 dependency-type: direct:development update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-03 16:18:11 +01:00
dependabot[bot]	781783464b	Bump eslint from 9.39.1 to 9.39.2 in /electron Bumps [eslint](https://github.com/eslint/eslint) from 9.39.1 to 9.39.2. - [Release notes](https://github.com/eslint/eslint/releases) - [Commits](https://github.com/eslint/eslint/compare/v9.39.1...v9.39.2) --- updated-dependencies: - dependency-name: eslint dependency-version: 9.39.2 dependency-type: direct:development update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-03 16:16:43 +01:00
dependabot[bot]	4fa2a1a221	Bump react-i18next from 15.7.4 to 16.5.4 in /electron Bumps [react-i18next](https://github.com/i18next/react-i18next) from 15.7.4 to 16.5.4. - [Changelog](https://github.com/i18next/react-i18next/blob/master/CHANGELOG.md) - [Commits](https://github.com/i18next/react-i18next/compare/v15.7.4...v16.5.4) --- updated-dependencies: - dependency-name: react-i18next dependency-version: 16.5.4 dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-03 16:14:36 +01:00
Oshgnacknak	b734468741	Fix event names in wago power machine	2026-02-03 16:14:02 +01:00
dependabot[bot]	1ed4ae3d2c	Bump socket.io-client from 4.8.1 to 4.8.3 in /electron Bumps [socket.io-client](https://github.com/socketio/socket.io) from 4.8.1 to 4.8.3. - [Release notes](https://github.com/socketio/socket.io/releases) - [Changelog](https://github.com/socketio/socket.io/blob/main/CHANGELOG.md) - [Commits](https://github.com/socketio/socket.io/compare/socket.io-client@4.8.1...socket.io-client@4.8.3) --- updated-dependencies: - dependency-name: socket.io-client dependency-version: 4.8.3 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-03 15:57:02 +01:00
dependabot[bot]	8095222cad	Bump syn from 2.0.111 to 2.0.114 Bumps [syn](https://github.com/dtolnay/syn) from 2.0.111 to 2.0.114. - [Release notes](https://github.com/dtolnay/syn/releases) - [Commits](https://github.com/dtolnay/syn/compare/2.0.111...2.0.114) --- updated-dependencies: - dependency-name: syn dependency-version: 2.0.114 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-03 12:37:25 +00:00
dependabot[bot]	d19af0923c	Bump axum from 0.8.7 to 0.8.8 Bumps [axum](https://github.com/tokio-rs/axum) from 0.8.7 to 0.8.8. - [Release notes](https://github.com/tokio-rs/axum/releases) - [Changelog](https://github.com/tokio-rs/axum/blob/main/CHANGELOG.md) - [Commits](https://github.com/tokio-rs/axum/compare/axum-v0.8.7...axum-v0.8.8) --- updated-dependencies: - dependency-name: axum dependency-version: 0.8.8 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-03 12:37:25 +00:00
Robin Krämer	08ce5a37bd	aquapath now works with all the other machines connected (#1103 ) * aquapath now works with all the other machines connected * fixed formatting * removed unused import * fixed formatting AGAIN	2026-02-03 13:36:07 +01:00
Robin Krämer	78c7667d96	Merge pull request #1087 from qitechgmbh/fix-wago-init-logic fixed Wago Initialization Logic	2026-02-02 11:02:44 +01:00
dependabot[bot]	bef3389874	Bump euclid from 0.22.11 to 0.22.13 Bumps [euclid](https://github.com/servo/euclid) from 0.22.11 to 0.22.13. - [Release notes](https://github.com/servo/euclid/releases) - [Commits](https://github.com/servo/euclid/commits) --- updated-dependencies: - dependency-name: euclid dependency-version: 0.22.13 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-01 02:25:36 +00:00
dependabot[bot]	985937c227	Bump tracing-subscriber from 0.3.20 to 0.3.22 Bumps [tracing-subscriber](https://github.com/tokio-rs/tracing) from 0.3.20 to 0.3.22. - [Release notes](https://github.com/tokio-rs/tracing/releases) - [Commits](https://github.com/tokio-rs/tracing/compare/tracing-subscriber-0.3.20...tracing-subscriber-0.3.22) --- updated-dependencies: - dependency-name: tracing-subscriber dependency-version: 0.3.22 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2026-02-01 02:25:04 +00:00
kraemr	22be4b79f0	fixed linter errors and added logic for 750_430	2026-01-30 16:33:50 +01:00
kraemr	be84edf0fd	removed unused parameter from ModulePDOMapping	2026-01-30 16:23:22 +01:00
kraemr	ff3e787a03	fixed Wago Initialization Logic fixed formatting	2026-01-30 16:16:10 +01:00
Christian	093663c4e6	Merge pull request #1086 from qitechgmbh/1085-change-heater-power-for-extruder-v3 Update heater power to the real values for extruder v3	2026-01-30 15:14:59 +01:00
Christian	1b2d6df459	Merge pull request #967 from qitechgmbh/Hamids-Branch BECKHOFF minimal example motor	2026-01-30 13:24:54 +01:00
Christian	cd2e15cb29	Update heater power to the real values for extruder v3	2026-01-30 13:23:46 +01:00
Christian	f1571c0daa	Merge pull request #1082 from qitechgmbh/revert-1077-1076-minimum-hardware-documentation-links Revert "docs(readme): add documentation links and update machine table"	2026-01-29 14:50:33 +01:00
Christian	96e0fb83ef	Revert "docs(readme): add documentation links and update machine table"	2026-01-29 14:50:10 +01:00
Christian	94cffbf717	Merge pull request #1077 from qitechgmbh/1076-minimum-hardware-documentation-links docs(readme): add documentation links and update machine table	2026-01-29 13:22:14 +01:00
EinsPommes	38b2e907f9	docs(readme): update documentation links and improve machine table clarity	2026-01-28 17:16:10 +01:00
ᴏxᴏ.ᴍɪᴋᴀ	7e5498751a	Merge branch 'master' into 1076-minimum-hardware-documentation-links	2026-01-28 17:13:52 +01:00
Christian	eef9d63de2	Merge pull request #1074 from qitechgmbh/dependabot/npm_and_yarn/electron/multi-c5fe2c841a Bump seroval and solid-js in /electron	2026-01-27 11:00:51 +01:00
Christian	d9d9b9d344	update hash	2026-01-27 10:47:20 +01:00
Christian	2ff3d8df56	remove deps hash	2026-01-27 10:43:38 +01:00
Christian	462672bb6a	Add peer dependency flag to multiple packages in package-lock.json	2026-01-27 10:38:58 +01:00
dependabot[bot]	84d539a4fa	Bump seroval and solid-js in /electron Bumps [seroval](https://github.com/lxsmnsyc/seroval) and [solid-js](https://github.com/solidjs/solid). These dependencies needed to be updated together. Updates `seroval` from 1.3.2 to 1.5.0 - [Release notes](https://github.com/lxsmnsyc/seroval/releases) - [Commits](https://github.com/lxsmnsyc/seroval/commits) Updates `solid-js` from 1.9.10 to 1.9.11 - [Release notes](https://github.com/solidjs/solid/releases) - [Changelog](https://github.com/solidjs/solid/blob/main/CHANGELOG.md) - [Commits](https://github.com/solidjs/solid/commits) --- updated-dependencies: - dependency-name: seroval dependency-version: 1.5.0 dependency-type: indirect - dependency-name: solid-js dependency-version: 1.9.11 dependency-type: indirect ... Signed-off-by: dependabot[bot] <support@github.com>	2026-01-27 10:38:58 +01:00
Robin Krämer	850b2d411d	Merge pull request #1080 from qitechgmbh/changelog-2.14.1 updated Changelog	2026-01-26 16:37:03 +01:00
kraemr	008efe6ba1	updated Changelog	2026-01-26 16:36:09 +01:00
Robin KrämerandOshgnacknak	3bd248b9fe	Don't use half sec interval (#1079 ) Co-authored-by: Oshgnacknak <osh@oshgnacknak.de>	2026-01-26 16:29:11 +01:00
Oshgnacknak	d73cfe7a02	Don't use half sec interval	2026-01-26 13:19:08 +01:00
EinsPommes	6a6c09e283	docs(readme): add documentation links and update machine table	2026-01-25 22:03:53 +01:00
dependabot[bot]	6d2279d44b	Merge pull request #1062 from qitechgmbh/dependabot/npm_and_yarn/electron/seroval-1.4.2 Bump seroval from 1.4.0 to 1.4.2 in /electron	2026-01-25 17:00:04 +01:00
Oshgnacknak	61b9ac8a39	Merge branch 'master' into Hamids-Branch	2026-01-23 16:14:22 +01:00
Oshgnacknak	728dd6eb26	Merge pull request #1066 from qitechgmbh/update_numpad_position Numpad position now updating on resize	2026-01-23 16:10:00 +01:00
Hans Sebastian Pöhlmann	742fd35d5f	Numpad position now updating on resize	2026-01-23 15:56:58 +01:00
Milan von dem Bussche	5e1126e896	Revise machine table in README.md Updated the machine table format and added version details.	2026-01-23 12:38:14 +01:00
Milan von dem Bussche	e91719f902	Update getting started documentation with new sections	2026-01-23 12:37:30 +01:00
Milan von dem Bussche	0efa9bcb07	Revise README structure and add documentation links Updated README to enhance structure and clarity, added minimal hardware examples section, and included API documentation link.	2026-01-23 12:33:58 +01:00
Milan von dem Bussche	37d897d240	Revise machine table with new entries and videos Updated machine specifications and added video links for various machines.	2026-01-23 11:38:36 +01:00
Robin Krämer	7488e1d97a	updated Change Log (#1069 )	2026-01-22 20:35:25 +01:00
Christian	bb169e3b33	Fix formatting in registry.rs by removing extra blank line	2026-01-22 14:11:19 +01:00
Christian	3d735f8abd	Merge branch 'master' into Hamids-Branch	2026-01-22 13:48:58 +01:00
Christian	a9a973e336	Merge branch 'master' into Hamids-Branch	2026-01-21 17:11:58 +01:00
Christian	b66a59dba9	Fix naming	2026-01-21 14:33:18 +01:00
Christian	9dbc962dbc	Update file paths	2026-01-21 14:33:18 +01:00
Christian	93e2558803	Translate comments from German to English	2026-01-21 14:33:18 +01:00
Christian	8cf7480833	Fix path in routes.tsx	2026-01-21 14:33:18 +01:00
Christian	08d655effc	Fix naming and folder structure	2026-01-21 14:33:18 +01:00
Christian	c1c867fca1	Change minimal motor readme for current implementation	2026-01-21 14:33:18 +01:00
Hamid-el	1378c00e1a	added .idea to .gitignore	2026-01-21 14:33:18 +01:00
Hamid-el	85f17befbe	removed .idea	2026-01-21 14:33:18 +01:00
Hamid-el	f2e764f93a	finished stepper motor + doc finished (real version3)	2026-01-21 14:33:18 +01:00
Hamid-el	9adeeda490	finished stepper motor + doc finished (real version2)	2026-01-21 14:33:18 +01:00
Hamid-el	68bf075172	finished stepper motor + doc finished (real version)	2026-01-21 14:33:18 +01:00
Hamid-el	7d23190939	stepper motor doc finished	2026-01-21 14:33:18 +01:00
Hamid-el	5c68e2c78a	finished stepper motor	2026-01-21 14:33:18 +01:00
Hamid-el	980e14a96e	stepper motor with ethercat beckhoff Ek1100 and EL7031 0030 + UI works	2026-01-21 14:33:18 +01:00
Hamid-el	d5fb45e4e3	stepper motor with ethercat beckhoff Ek1100 and EL7031 works	2026-01-21 14:33:18 +01:00
Hamid-el	cdb7ab1e0c	small adjustment	2026-01-21 14:33:18 +01:00
Hamid-el	da934e0bb3	first version of manually running a stepper motor with ethercat beckhoff Ek1100 and EL7031 # Conflicts: # machines/src/aquapath1/act.rs # machines/src/registry.rs # server/src/ethercat/setup.rs	2026-01-21 14:33:18 +01:00