Merge pull request #793 from qitechgmbh/790-refactor-aquapath-newrs-to-match-others

790 refactor aquapath newrs to match others
fixed fmt
2025-10-08 16:29:49 +02:00 · 2025-10-08 16:23:40 +02:00 · 2025-10-08 15:45:58 +02:00 · 2025-10-07 13:54:02 +02:00 · 2025-10-07 13:04:49 +02:00 · 2025-10-07 12:57:27 +02:00
66 changed files with 2072 additions and 2260 deletions
@@ -1,3 +1,31 @@
+# `2.9.0`
+_06.10.2025_
+
+## Winder V2
+- [#778](https://github.com/qitechgmbh/control/pull/778) Increased Winder Traverse Step size limit
+
+## General
+- [#725](https://github.com/qitechgmbh/control/pull/725) Improved troubleshooting and update page
+- [#625](https://github.com/qitechgmbh/control/pull/625) Improved stability of Machine-Connections
+
+
+# `2.8.0`
+_30.09.2025_
+
+
+## Laser V1
+- [#741](https://github.com/qitechgmbh/control/pull/741) Added roundness measurement to two-axis Laser
+
+
+## Winder V2
+- [#745](https://github.com/qitechgmbh/control/pull/745), [#756](https://github.com/qitechgmbh/control/pull/756) improved Winder Frontend
+
+## General
+- [#447](https://github.com/qitechgmbh/control/pull/447) added AquaPath Machine
+
+
+
+
 # `2.7.0`

 _17.09.2025_
@@ -10,9 +38,9 @@ _17.09.2025_

 - [#727](https://github.com/qitechgmbh/control/pull/727) Removed estimated diameter

-## Laser V1/V2
+## Laser V1

- [#731](https://github.com/qitechgmbh/control/pull/731) Added LaserV2 with two-axis measurements
+- [#731](https://github.com/qitechgmbh/control/pull/731) Added Laser with two-axis measurements

 ## General

@@ -99,9 +99,9 @@ dependencies = [

 [[package]]
 name = "anyhow"
-version = "1.0.99"
+version = "1.0.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0674a1ddeecb70197781e945de4b3b8ffb61fa939a5597bcf48503737663100"
+checksum = "a23eb6b1614318a8071c9b2521f36b424b2c83db5eb3a0fead4a6c0809af6e61"

 [[package]]
 name = "approx"
@@ -284,9 +284,9 @@ checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"

 [[package]]
 name = "axum"
-version = "0.8.4"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "021e862c184ae977658b36c4500f7feac3221ca5da43e3f25bd04ab6c79a29b5"
+checksum = "8a18ed336352031311f4e0b4dd2ff392d4fbb370777c9d18d7fc9d7359f73871"
 dependencies = [
 "axum-core",
 "axum-macros",
@@ -304,8 +304,7 @@ dependencies = [
 "mime",
 "percent-encoding",
 "pin-project-lite",
- "rustversion",
- "serde",
+ "serde_core",
 "serde_json",
 "serde_path_to_error",
 "serde_urlencoded",
@@ -319,9 +318,9 @@ dependencies = [

 [[package]]
 name = "axum-core"
-version = "0.5.2"
+version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68464cd0412f486726fb3373129ef5d2993f90c34bc2bc1c1e9943b2f4fc7ca6"
+checksum = "59446ce19cd142f8833f856eb31f3eb097812d1479ab224f54d72428ca21ea22"
 dependencies = [
 "bytes",
 "futures-core",
@@ -330,7 +329,6 @@ dependencies = [
 "http-body-util",
 "mime",
 "pin-project-lite",
- "rustversion",
 "sync_wrapper",
 "tower-layer",
 "tower-service",
@@ -955,11 +953,12 @@ checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"

 [[package]]
 name = "erased-serde"
-version = "0.4.6"
+version = "0.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e004d887f51fcb9fef17317a2f3525c887d8aa3f4f50fed920816a688284a5b7"
+checksum = "259d404d09818dec19332e31d94558aeb442fea04c817006456c24b5460bbd4b"
 dependencies = [
 "serde",
+ "serde_core",
 "typeid",
 ]

@@ -1729,9 +1728,9 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"

 [[package]]
 name = "libc"
-version = "0.2.175"
+version = "0.2.176"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a82ae493e598baaea5209805c49bbf2ea7de956d50d7da0da1164f9c6d28543"
+checksum = "58f929b4d672ea937a23a1ab494143d968337a5f47e56d0815df1e0890ddf174"

 [[package]]
 name = "libloading"
@@ -2381,9 +2380,9 @@ dependencies = [

 [[package]]
 name = "regex"
-version = "1.11.2"
+version = "1.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23d7fd106d8c02486a8d64e778353d1cffe08ce79ac2e82f540c86d0facf6912"
+checksum = "8b5288124840bee7b386bc413c487869b360b2b4ec421ea56425128692f2a82c"
 dependencies = [
 "aho-corasick",
 "memchr",
@@ -2393,9 +2392,9 @@ dependencies = [

 [[package]]
 name = "regex-automata"
-version = "0.4.9"
+version = "0.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
+checksum = "833eb9ce86d40ef33cb1306d8accf7bc8ec2bfea4355cbdebb3df68b40925cad"
 dependencies = [
 "aho-corasick",
 "memchr",
@@ -2541,18 +2540,28 @@ dependencies = [

 [[package]]
 name = "serde"
-version = "1.0.219"
+version = "1.0.228"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f0e2c6ed6606019b4e29e69dbaba95b11854410e5347d525002456dbbb786b6"
+checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
+dependencies = [
+ "serde_core",
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_core"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
 dependencies = [
 "serde_derive",
 ]

 [[package]]
 name = "serde_derive"
-version = "1.0.219"
+version = "1.0.228"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b0276cf7f2c73365f7157c8123c21cd9a50fbbd844757af28ca1f5925fc2a00"
+checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
 "proc-macro2",
 "quote",
@@ -2680,8 +2689,6 @@ dependencies = [
 "smol",
 "socketioxide",
 "textplots",
- "tikv-jemalloc-ctl",
- "tikv-jemallocator",
 "tokio",
 "tonic",
 "tower-http",
@@ -3004,37 +3011,6 @@ dependencies = [
 "once_cell",
 ]

-[[package]]
-name = "tikv-jemalloc-ctl"
-version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f21f216790c8df74ce3ab25b534e0718da5a1916719771d3fec23315c99e468b"
-dependencies = [
- "libc",
- "paste",
- "tikv-jemalloc-sys",
-]
-
-[[package]]
-name = "tikv-jemalloc-sys"
-version = "0.6.0+5.3.0-1-ge13ca993e8ccb9ba9847cc330696e02839f328f7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd3c60906412afa9c2b5b5a48ca6a5abe5736aec9eb48ad05037a677e52e4e2d"
-dependencies = [
- "cc",
- "libc",
-]
-
-[[package]]
-name = "tikv-jemallocator"
-version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4cec5ff18518d81584f477e9bfdf957f5bb0979b0bac3af4ca30b5b3ae2d2865"
-dependencies = [
- "libc",
- "tikv-jemalloc-sys",
-]
-
 [[package]]
 name = "timerfd"
 version = "1.6.0"
@@ -32,7 +32,7 @@ Other

 ## Backend

-To interface with Beckhoff and other EtherCAT devices we need an EtherCAY master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
+To interface with Beckhoff and other EtherCAT devices we need an EtherCAT master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.

 [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.

@@ -64,12 +64,12 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
 | Machine Type | Version | Release Date | Description                 | Change to Previous Version                             | Vendor ID                  | Machine ID | Implemented | Docs                            |
 | ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
 | Winder       | V1      | ???          | Winding Filaments & Similar | -                                                      | 1 (Qitech Industries GmbH) | 1          | Reserved    | -                               |
-| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | In Progress | [](./docs/machines/winder-1.md) |
+| 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          | Not Yet     |                                 |
-| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | Not Yet     |                                 |
-| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Not Yet     |                                 |
-| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Not Yet     | -                               |
+| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Yes         |                                 |
+| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | In Progress     |                                 |
+| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Yes         |                                 |
+| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Yes         | -                               |

 # More Docs

@@ -40,10 +40,15 @@ fn machine_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
    let ast: DeriveInput = syn::parse2(item)?;

    let ident = &ast.ident;
+
    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();

    let expanded = quote! {
-        impl #impl_generics control_core::machines::Machine for #ident #ty_generics #where_clause {}
+        impl #impl_generics control_core::machines::Machine for #ident #ty_generics #where_clause {
+            fn get_machine_identification_unique(&self) -> control_core::machines::identification::MachineIdentificationUnique {
+                self.machine_identification_unique.clone()
+            }
+        }

        impl #impl_generics control_core::machines::AnyGetters for #ident #ty_generics #where_clause {
            fn as_any(&self) -> &dyn std::any::Any {
@@ -7,9 +7,9 @@ edition = "2024"
 workspace = true

 [dependencies]
-anyhow = "1.0.99"
+anyhow = "1.0.100"

-axum = "0.8.4"
+axum = "0.8.6"

 ethercat_hal = { path = "../ethercat-hal" }
 ethercrab = "0.6"
@@ -19,19 +19,19 @@ serde_json = "1.0.143"
 serialport = "4.7.3"
 smol = "2.0.2"
 socketioxide = "0.17.2"
-uom = "0.36.0"
+uom = { version = "0.36.0", default-features = false, features = ["f64"] }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
 serial = "0.4.0"
 tracing = "0.1.41"
-erased-serde = "0.4.6"
+erased-serde = "0.4.8"
 core_affinity = "0.8.3"
 control_core_derive = { version = "0.1.0", path = "../control-core-derive" }
 tokio = { version = "1.45.1", features = ["sync"], optional = true }


 [target.'cfg(unix)'.dependencies]
-libc = "0.2.175"
+libc = "0.2.176"

 [dev-dependencies]
 approx = "0.5.1"
@@ -1,4 +1,4 @@
-use uom::si::angle::radian;
+use uom::si::{angle::radian, f64::Angle};

 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct AngleConverter {
@@ -63,7 +63,7 @@ impl AngleConverter {
    }

    /// Convert angle from mathematical system to this system (f32)
-    pub fn degrees_encode(&self, math_angle_degrees: f32) -> f32 {
+    pub fn degrees_encode(&self, math_angle_degrees: f64) -> f64 {
        let normalized_input = self.normalize_angle(math_angle_degrees);

        let mut result = normalized_input;
@@ -85,7 +85,7 @@ impl AngleConverter {
    }

    /// Convert angle from this system to mathematical system (f32)
-    pub fn degrees_decode(&self, system_angle_degrees: f32) -> f32 {
+    pub fn degrees_decode(&self, system_angle_degrees: f64) -> f64 {
        let normalized_input = self.normalize_angle(system_angle_degrees);

        let mut result = normalized_input;
@@ -107,14 +107,14 @@ impl AngleConverter {
    }

    /// Convert angle in radians from mathematical system to this system (f32)
-    pub fn radians_encode(&self, math_angle_radians: f32) -> f32 {
+    pub fn radians_encode(&self, math_angle_radians: f64) -> f64 {
        let degrees = math_angle_radians.to_degrees();
        let converted_degrees = self.degrees_encode(degrees);
        converted_degrees.to_radians()
    }

    /// Convert angle in radians from this system to mathematical system (f32)
-    pub fn radians_decode(&self, system_angle_radians: f32) -> f32 {
+    pub fn radians_decode(&self, system_angle_radians: f64) -> f64 {
        let degrees = system_angle_radians.to_degrees();
        let converted_degrees = self.degrees_decode(degrees);
        converted_degrees.to_radians()
@@ -179,7 +179,7 @@ impl AngleConverter {
    }

    /// Normalize angle to [0, 360) range (f32)
-    fn normalize_angle(&self, angle: f32) -> f32 {
+    fn normalize_angle(&self, angle: f64) -> f64 {
        let mut normalized = angle % 360.0;
        if normalized < 0.0 {
            normalized += 360.0;
@@ -207,30 +207,12 @@ impl AngleConverterUom {
        Self { angle_converter }
    }

-    pub fn encode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
-        uom::si::f32::Angle::new::<radian>(
-            self.angle_converter.radians_encode(angle.get::<radian>()),
-        )
+    pub fn encode(&self, angle: Angle) -> Angle {
+        Angle::new::<radian>(self.angle_converter.radians_encode(angle.get::<radian>()))
    }

-    pub fn decode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
-        uom::si::f32::Angle::new::<radian>(
-            self.angle_converter.radians_decode(angle.get::<radian>()),
-        )
-    }
-
-    pub fn encode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
-        uom::si::f64::Angle::new::<radian>(
-            self.angle_converter
-                .radians_encode_f64(angle.get::<radian>()),
-        )
-    }
-
-    pub fn decode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
-        uom::si::f64::Angle::new::<radian>(
-            self.angle_converter
-                .radians_decode_f64(angle.get::<radian>()),
-        )
+    pub fn decode(&self, angle: Angle) -> Angle {
+        Angle::new::<radian>(self.angle_converter.radians_decode(angle.get::<radian>()))
    }
 }

@@ -297,8 +279,8 @@ mod tests {
        let converter = AngleConverter::screen();

        // Test radians_encode
-        let result = converter.radians_encode(PI / 2.0); // 90° in radians
-        let expected = 270.0 * PI / 180.0; // 270° in radians
+        let result = converter.radians_encode(PI as f64 / 2.0) as f64; // 90° in radians
+        let expected: f64 = 270.0f64 * PI as f64 / 180.0f64; // 270° in radians
        assert!((result - expected).abs() < 1e-6);
    }

@@ -306,10 +288,10 @@ mod tests {
    fn test_roundtrip_conversion() {
        let converter = AngleConverter::new(true, false, true); // X-flip + CW

-        let original = 75.0_f32;
+        let original = 75.0_f64;
        let converted = converter.degrees_encode(original);
        let roundtrip = converter.degrees_decode(converted);

-        assert!((original - roundtrip).abs() < 1e-6);
+        assert!((original - roundtrip as f64).abs() < 1e-6);
    }
 }
@@ -0,0 +1,36 @@
+use anyhow::anyhow;
+use smol::lock::Mutex;
+use std::any::Any;
+use std::sync::Arc;
+
+pub trait Downcast<T> {
+    fn downcast(&self) -> Result<T, anyhow::Error>;
+}
+
+pub trait DowncastRef<T> {
+    fn downcast_ref(&self) -> Result<&T, anyhow::Error>;
+}
+
+impl<T: 'static, U: Any + 'static> Downcast<Arc<Mutex<T>>> for Arc<Mutex<U>> {
+    fn downcast(&self) -> Result<Arc<Mutex<T>>, anyhow::Error> {
+        // Acquire a read lock on the RwLock
+        let lock = self.lock_blocking();
+
+        // Check if the inner type can be downcasted to T
+        let any: &dyn Any = &*lock;
+
+        if any.is::<T>() {
+            // Clone the Arc and return it as the desired type
+            let cloned: Arc<Mutex<dyn Any>> = self.clone();
+
+            // Transmute the Arc to the desired type
+            unsafe {
+                let arc = Arc::from_raw(Arc::into_raw(cloned) as *const Mutex<T>);
+
+                Ok(arc)
+            }
+        } else {
+            Err(anyhow!("[{}::downcast] Downcast failed", module_path!()))
+        }
+    }
+}
@@ -1,5 +1,6 @@
 pub mod controllers;
 pub mod converters;
+pub mod downcast;
 pub mod ethercat;
 pub mod helpers;
 pub mod irq_handling;
@@ -1,10 +1,12 @@
 use serde_json::Value;
+use smol::lock::Mutex;
+use std::sync::Arc;

 use crate::socketio::namespace::Namespace;

 pub trait MachineApi {
    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
-    fn api_event_namespace(&mut self) -> &mut Namespace;
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>>;

    /// Returns a list of available video stream identifiers for this machine
    #[cfg(feature = "video-streaming")]
@@ -0,0 +1,208 @@
+use crate::downcast::Downcast;
+use crate::machines::identification::MachineIdentificationUnique;
+use crate::machines::manager::MachineManager;
+use crate::socketio::{event::GenericEvent, namespace::Namespace};
+use serde::Serialize;
+use smol::block_on;
+use smol::lock::RwLock;
+use std::sync::Arc;
+use std::sync::Weak;
+
+use super::Machine;
+use anyhow::anyhow;
+use smol::{channel::Sender, lock::Mutex};
+use socketioxide::extract::SocketRef;
+
+#[derive(Debug)]
+pub enum MachineConnection<M: Machine + ?Sized>
+where
+    Self: Sized,
+{
+    Error(anyhow::Error),
+    Disconnected,
+    Connected(Arc<Mutex<M>>),
+}
+
+#[derive(Debug)]
+pub struct MachineSlot<M: Machine + ?Sized>
+where
+    Self: Sized,
+{
+    pub machine_connection: MachineConnection<M>,
+    pub namespace: Arc<Mutex<Namespace>>,
+}
+
+pub type MachineConnectionGeneric = MachineConnection<dyn Machine>;
+
+pub type MachineSlotGeneric = MachineSlot<dyn Machine>;
+
+impl<M: Machine> Clone for MachineConnection<M> {
+    fn clone(&self) -> Self {
+        match self {
+            Self::Connected(m) => Self::Connected(m.clone()),
+            Self::Error(e) => Self::Error(anyhow!(e.to_string())),
+            Self::Disconnected => Self::Disconnected,
+        }
+    }
+}
+
+impl<M: Machine + ?Sized> MachineConnection<M> {
+    pub fn to_error(&self) -> Option<anyhow::Error> {
+        match self {
+            MachineConnection::Error(err) => Some(anyhow!(err.to_string())),
+            Self::Disconnected => Some(anyhow!("Machine is disconnected")),
+            _ => None,
+        }
+    }
+
+    pub fn to_machine(&self) -> Option<Arc<Mutex<M>>> {
+        match self {
+            Self::Connected(machine) => Some(machine.clone()),
+            _ => None,
+        }
+    }
+}
+
+impl<M: Machine + ?Sized> MachineSlot<M> {
+    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
+        let namespace = Namespace::new(socket_queue_tx);
+        Self {
+            machine_connection: MachineConnection::Disconnected,
+            namespace: Arc::new(Mutex::new(namespace)),
+        }
+    }
+
+    pub const fn is_connected(&self) -> bool {
+        matches!(self.machine_connection, MachineConnection::Connected(_))
+    }
+}
+
+pub trait CrossConnectableMachine<
+    F: CrossConnectableMachine<F, T>,
+    T: CrossConnectableMachine<T, F>,
+>: Machine
+{
+    fn get_cross_connection(&mut self) -> &mut MachineCrossConnection<F, T>;
+}
+
+#[derive(Debug)]
+pub struct MachineCrossConnection<
+    F: CrossConnectableMachine<F, T>,
+    T: CrossConnectableMachine<T, F>,
+> {
+    machine_manager: Weak<RwLock<MachineManager>>,
+    machine_identification_unique: MachineIdentificationUnique,
+    connected_machine: Weak<Mutex<MachineSlot<T>>>,
+    _make_compiler_happy: std::marker::PhantomData<F>, // This marks tells the typechecker, that we
+                                                       // need F in our type arguemnts. We are ok with
+                                                       // it being used only in a fake field. Without
+                                                       // F being fixed, we would not be anble to implement
+                                                       // reverse connecting and disconnecting properly,
+                                                       // as the type on the other side would decay
+                                                       // to an unknown type. See also https://github.com/qitechgmbh/control/pull/625#discussion_r2379566315
+}
+
+#[derive(Serialize, Debug, Clone)]
+pub struct MachineCrossConnectionState {
+    /// Connected Machine
+    pub machine_identification_unique: Option<MachineIdentificationUnique>,
+    pub is_available: bool,
+}
+
+impl<F: CrossConnectableMachine<F, T>, T: CrossConnectableMachine<T, F>>
+    MachineCrossConnection<F, T>
+{
+    pub fn new(
+        manager: Weak<RwLock<MachineManager>>,
+        machine_identification_unique: &MachineIdentificationUnique,
+    ) -> Self {
+        Self {
+            machine_manager: manager,
+            connected_machine: Weak::new(),
+            machine_identification_unique: machine_identification_unique.clone(),
+            _make_compiler_happy: std::marker::PhantomData,
+        }
+    }
+
+    pub fn set_connected_machine(
+        &mut self,
+        machine_identification_unique: &MachineIdentificationUnique,
+    ) {
+        if let Some(machine_manager) = self.machine_manager.upgrade() {
+            let machine_manager = block_on(machine_manager.read());
+
+            let slot: Arc<Mutex<MachineSlotGeneric>> =
+                match machine_manager.get(&machine_identification_unique) {
+                    Some(c) => c,
+                    None => return,
+                };
+
+            let slot: Arc<Mutex<MachineSlot<T>>> = match Downcast::downcast(&slot) {
+                Ok(s) => s,
+                Err(_) => return,
+            };
+
+            self.connected_machine = Arc::downgrade(&slot);
+        } else {
+            panic!("The machine manager has died, cannot do anything at this point");
+        }
+    }
+
+    pub fn reverse_connect(&self) {
+        if let Some(slot) = self.connected_machine.upgrade() {
+            let slot = &mut slot.lock_blocking();
+
+            if let MachineConnection::Connected(machine) = &slot.machine_connection {
+                let mut machine = machine.lock_blocking();
+                let cross_connection = machine.get_cross_connection();
+
+                if !cross_connection.is_connected() {
+                    cross_connection.set_connected_machine(&self.machine_identification_unique);
+                }
+            };
+        }
+    }
+
+    pub fn disconnect(&mut self) {
+        self.connected_machine = Weak::new();
+    }
+
+    pub fn reverse_disconnect(&mut self) {
+        if let Some(slot) = self.connected_machine.upgrade() {
+            let slot = slot.lock_blocking();
+
+            if let MachineConnection::Connected(machine) = &slot.machine_connection {
+                let mut machine = machine.lock_blocking();
+                let cross_connection = machine.get_cross_connection();
+                cross_connection.disconnect();
+            };
+        }
+    }
+
+    pub fn is_connected(&self) -> bool {
+        let arc = self.connected_machine.upgrade();
+        arc.is_some()
+    }
+
+    pub fn to_state(&self) -> MachineCrossConnectionState {
+        if let Some(slot) = self.connected_machine.upgrade() {
+            let connection = &slot.lock_blocking().machine_connection;
+
+            if let MachineConnection::Connected(machine) = connection {
+                let machine = machine.lock_blocking();
+
+                return MachineCrossConnectionState {
+                    machine_identification_unique: Some(
+                        machine.get_machine_identification_unique(),
+                    ),
+                    is_available: true,
+                };
+            }
+        }
+
+        MachineCrossConnectionState {
+            machine_identification_unique: None,
+            is_available: false,
+        }
+    }
+}
@@ -1,3 +1,9 @@
+use super::{
+    Machine,
+    identification::{DeviceIdentification, DeviceIdentificationIdentified},
+    new::MachineNewHardwareSerial,
+    registry::MachineRegistry,
+};
 use smol::{
    channel::Sender,
    lock::{Mutex, RwLock},
@@ -6,6 +12,9 @@ use socketioxide::extract::SocketRef;

 use crate::{
    machines::{
+        connection::{
+            MachineConnection, MachineConnectionGeneric, MachineSlot, MachineSlotGeneric,
+        },
        identification::MachineIdentificationUnique,
        new::{MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams},
    },
@@ -17,18 +26,10 @@ use std::{
    sync::{Arc, Weak},
 };

-use super::{
-    Machine,
-    identification::{DeviceIdentification, DeviceIdentificationIdentified},
-    new::MachineNewHardwareSerial,
-    registry::MachineRegistry,
-};
 #[derive(Debug)]
 pub struct MachineManager {
-    pub ethercat_machines:
-        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
-    pub serial_machines:
-        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
+    pub ethercat_machines: HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
+    pub serial_machines: HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
 }

 impl Default for MachineManager {
@@ -53,9 +54,6 @@ impl MachineManager {
        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
        machine_manager: Weak<RwLock<Self>>,
    ) {
-        // empty ethercat machines
-        self.ethercat_machines.clear();
-
        // group devices by machine device identification
        let device_grouping_result = group_devices_by_identification(device_identifications);

@@ -69,10 +67,18 @@ impl MachineManager {
        // iterate over all identified device groups but ignore unaffected machines
        for device_group in device_grouping_result.device_groups.iter() {
            // get the machine identification
-            let machine_identification = match device_group.first() {
-                Some(device_identification) => &device_identification.device_machine_identification,
-                None => continue, // Skip this group if empty
-            };
+            let machine_identification_unique: MachineIdentificationUnique =
+                match device_group.first() {
+                    Some(device_identification) => device_identification
+                        .device_machine_identification
+                        .machine_identification_unique
+                        .clone(),
+                    None => continue, // Skip this group if empty
+                };
+
+            let slot =
+                self.get_or_create_slot(socket_queue_tx.clone(), machine_identification_unique);
+            let mut slot = slot.lock_blocking();

            // create the machine
            let new_machine = machine_registry.new_machine(&MachineNewParams {
@@ -80,23 +86,40 @@ impl MachineManager {
                hardware: &machine_new_hardware,
                socket_queue_tx: socket_queue_tx.clone(),
                machine_manager: machine_manager.clone(),
+                namespace: slot.namespace.clone(),
            });

-            // insert the machine into the ethercat machines map
-            self.ethercat_machines.insert(
-                machine_identification.machine_identification_unique.clone(),
-                new_machine,
-            );
+            slot.machine_connection = match new_machine {
+                Err(err) => MachineConnectionGeneric::Error(err),
+                Ok(machine) => MachineConnectionGeneric::Connected(machine),
+            };
        }
    }

+    fn get_or_create_slot(
+        &mut self,
+        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+        machine_identification: MachineIdentificationUnique,
+    ) -> Arc<Mutex<MachineSlotGeneric>> {
+        if let Some(slot) = self.get(&machine_identification) {
+            return slot;
+        }
+
+        let slot = Arc::new(Mutex::new(MachineSlot::new(socket_queue_tx)));
+        self.ethercat_machines
+            .insert(machine_identification, slot.clone());
+
+        return slot;
+    }
+
    pub fn get(
        &self,
        machine_identification: &MachineIdentificationUnique,
-    ) -> Option<&Result<Arc<Mutex<dyn Machine>>, anyhow::Error>> {
+    ) -> Option<Arc<Mutex<MachineSlotGeneric>>> {
        self.ethercat_machines
            .get(machine_identification)
            .or_else(|| self.serial_machines.get(machine_identification))
+            .map(|x| x.clone())
    }

    pub fn add_serial_device(
@@ -115,21 +138,28 @@ impl MachineManager {
                .try_into()
                .expect("Serial devices always have machine identification");

+        let machine_identification: MachineIdentificationUnique = device_identification_identified
+            .device_machine_identification
+            .machine_identification_unique
+            .clone();
+
+        let slot = self.get_or_create_slot(socket_queue_tx.clone(), machine_identification);
+        let mut slot = slot.lock_blocking();
+
        let new_machine = machine_registry.new_machine(&MachineNewParams {
            device_group: &vec![device_identification_identified.clone()],
            hardware: &MachineNewHardware::Serial(&hardware),
            socket_queue_tx,
-            machine_manager,
+            machine_manager: machine_manager.clone(),
+            namespace: slot.namespace.clone(),
        });

-        tracing::info!("Adding serial machine {:?}", new_machine);
+        slot.machine_connection = match new_machine {
+            Err(err) => MachineConnectionGeneric::Error(err),
+            Ok(machine) => MachineConnectionGeneric::Connected(machine),
+        };

-        self.serial_machines.insert(
-            device_identification_identified
-                .device_machine_identification
-                .machine_identification_unique,
-            new_machine,
-        );
+        tracing::info!("Adding serial machine {:?}", slot);
    }

    pub fn remove_serial_device(&mut self, device_identification: &DeviceIdentification) {
@@ -144,53 +174,45 @@ impl MachineManager {
            device_identification_identified
        );

-        self.serial_machines.remove(
-            &device_identification_identified
-                .device_machine_identification
-                .machine_identification_unique,
-        );
+        let machine_identification_unique = &device_identification_identified
+            .device_machine_identification
+            .machine_identification_unique;
+
+        if let Some(slot) = self.serial_machines.get(machine_identification_unique) {
+            let mut slot = slot.lock_blocking();
+            slot.machine_connection = MachineConnection::Disconnected;
+        }
    }

-    pub fn get_machine_weak(
+    pub fn get_ethercat_weak(
        &self,
        machine_identification: &MachineIdentificationUnique,
    ) -> Option<Weak<Mutex<dyn Machine>>> {
-        let machine = self.ethercat_machines.get(machine_identification);
-        let machine = match machine {
-            Some(machine) => machine,
-            None => {
-                return None;
-            }
-        };
-        let machine = match machine {
-            Ok(machine) => machine,
-            Err(_) => {
-                return None;
-            }
-        };
-        let machine_weak = Arc::downgrade(machine);
-        Some(machine_weak)
+        self.get_weak(&self.ethercat_machines, machine_identification)
    }

    pub fn get_serial_weak(
        &self,
        machine_identification: &MachineIdentificationUnique,
    ) -> Option<Weak<Mutex<dyn Machine>>> {
-        let machine = self.serial_machines.get(machine_identification);
-        let machine = match machine {
-            Some(machine) => machine,
-            None => {
-                return None;
+        self.get_weak(&self.serial_machines, machine_identification)
+    }
+
+    fn get_weak(
+        &self,
+        machines: &HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<Weak<Mutex<dyn Machine>>> {
+        let slot = machines.get(machine_identification).clone();
+
+        return slot.and_then(|slot| {
+            let connection = &slot.lock_blocking().machine_connection;
+            match connection {
+                MachineConnectionGeneric::Error(_) => None,
+                MachineConnectionGeneric::Disconnected => None,
+                MachineConnectionGeneric::Connected(machine) => Some(Arc::downgrade(&machine)),
            }
-        };
-        let machine = match machine {
-            Ok(machine) => machine,
-            Err(_) => {
-                return None;
-            }
-        };
-        let machine_weak = Arc::downgrade(machine);
-        Some(machine_weak)
+        });
    }
 }

@@ -1,22 +1,25 @@
-use std::{collections::HashMap, sync::Arc};
+use std::collections::HashMap;
+use std::sync::Arc;

 use smol::lock::Mutex;

-use super::{Machine, identification::MachineIdentificationUnique, manager::MachineManager};
+use crate::machines::connection::MachineSlotGeneric;
+
+use super::{identification::MachineIdentificationUnique, manager::MachineManager};

 pub enum MachineManagerIter<'a> {
    EthercatMachines {
        iter: std::collections::hash_map::Iter<
            'a,
            MachineIdentificationUnique,
-            Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
+            Arc<Mutex<MachineSlotGeneric>>,
        >,
    },
    SerialMachines {
        iter: std::collections::hash_map::Iter<
            'a,
            MachineIdentificationUnique,
-            Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
+            Arc<Mutex<MachineSlotGeneric>>,
        >,
    },
    Done,
@@ -24,14 +27,13 @@ pub enum MachineManagerIter<'a> {

 pub struct MachineManagerIterator<'a> {
    iter: MachineManagerIter<'a>,
-    serial_machines:
-        &'a HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
+    serial_machines: &'a HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
 }

 impl<'a> Iterator for MachineManagerIterator<'a> {
    type Item = (
        &'a MachineIdentificationUnique,
-        &'a Result<Arc<Mutex<dyn Machine>>, anyhow::Error>,
+        &'a Arc<Mutex<MachineSlotGeneric>>,
    );

    fn next(&mut self) -> Option<Self::Item> {
@@ -71,7 +73,7 @@ impl<'a> Iterator for MachineManagerIterator<'a> {

 impl MachineManager {
    // Returns an iterator over all machines (both ethercat and serial)
-    pub fn iter(&'_ self) -> MachineManagerIterator<'_> {
+    pub fn iter(&self) -> MachineManagerIterator<'_> {
        MachineManagerIterator {
            iter: MachineManagerIter::EthercatMachines {
                iter: self.ethercat_machines.iter(),
@@ -1,83 +1,23 @@
-use anyhow::anyhow;
-use api::MachineApi;
 use new::MachineNewTrait;
-use serde::Serialize;
-use smol::lock::Mutex;
 use std::any::Any;
 use std::fmt::Debug;
-use std::sync::{Arc, Weak};

-use crate::machines::identification::MachineIdentificationUnique;
-use crate::machines::new::MachineAct;
+use crate::machines::{
+    api::MachineApi, identification::MachineIdentificationUnique, new::MachineAct,
+};
 pub mod api;
+pub mod connection;
 pub mod identification;
 pub mod manager;
 pub mod manager_iter;
 pub mod new;
 pub mod registry;

-pub trait Machine: MachineAct + MachineNewTrait + MachineApi + AnyGetters + Debug + Send {}
+pub trait Machine: MachineAct + MachineNewTrait + MachineApi + Any + Debug + Send + Sync {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique;
+}
+
 pub trait AnyGetters: Any {
    fn as_any(&self) -> &dyn Any;
    fn as_any_mut(&mut self) -> &mut dyn Any;
 }
-
-/// Casts a `dyn Machine` to a specific machine type
-pub async fn downcast_machine<T: Machine>(
-    machine: Arc<Mutex<dyn Machine>>,
-) -> Result<Arc<Mutex<T>>, anyhow::Error> {
-    // Acquire a read lock on the RwLock
-    let read_lock = machine.lock().await;
-
-    // Check if the inner type can be downcasted to T
-    if read_lock.as_any().is::<T>() {
-        // Clone the Arc and return it as the desired type
-        let cloned_machine = Arc::clone(&machine);
-        // Transmute the Arc to the desired type
-        unsafe {
-            Ok(Arc::from_raw(
-                Arc::into_raw(cloned_machine) as *const Mutex<T>
-            ))
-        }
-    } else {
-        Err(anyhow!(
-            "[{}::downcast_machine] Downcast failed",
-            module_path!()
-        ))
-    }
-}
-
-/// Trait to get strong count to see if Weak has reference
-pub trait GetStrongCount {
-    fn get_strong_count(&self) -> usize;
-}
-
-impl<T> GetStrongCount for Weak<Mutex<T>> {
-    fn get_strong_count(&self) -> usize {
-        self.strong_count()
-    }
-}
-
-#[derive(Debug)]
-pub struct ConnectedMachine<T: GetStrongCount> {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub machine: T,
-}
-
-#[derive(Serialize, Debug, Clone, PartialEq, Eq)]
-pub struct ConnectedMachineData {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub is_available: bool,
-}
-
-impl<T> From<&ConnectedMachine<T>> for ConnectedMachineData
-where
-    T: GetStrongCount,
-{
-    fn from(value: &ConnectedMachine<T>) -> Self {
-        Self {
-            machine_identification_unique: value.machine_identification_unique.clone(),
-            is_available: value.machine.get_strong_count() != 0,
-        }
-    }
-}
@@ -1,4 +1,8 @@
-use crate::{machines::manager::MachineManager, serial::SerialDevice};
+use crate::{
+    machines::{identification::MachineIdentificationUnique, manager::MachineManager},
+    serial::SerialDevice,
+    socketio::namespace::Namespace,
+};

 use super::identification::DeviceIdentificationIdentified;
 use anyhow::Error;
@@ -6,7 +10,10 @@ use ethercat_hal::{
    devices::EthercatDevice, helpers::ethercrab_types::EthercrabSubDevicePreoperational,
 };
 use ethercrab::{SubDevice, SubDeviceRef};
-use smol::{channel::Sender, lock::RwLock};
+use smol::{
+    channel::Sender,
+    lock::{Mutex, RwLock},
+};
 use socketioxide::extract::SocketRef;
 use std::{
    sync::{Arc, Weak},
@@ -49,6 +56,19 @@ pub struct MachineNewParams<
    >,
    pub socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
    pub machine_manager: Weak<RwLock<MachineManager>>,
+
+    pub namespace: Arc<Mutex<Namespace>>,
+}
+
+impl MachineNewParams<'_, '_, '_, '_, '_, '_, '_> {
+    pub fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.device_group
+            .first()
+            .expect("device group must have at least one device")
+            .device_machine_identification
+            .machine_identification_unique
+            .clone()
+    }
 }

 pub enum MachineNewHardware<
@@ -15,7 +15,7 @@
        "@radix-ui/react-dialog": "^1.1.6",
        "@radix-ui/react-dropdown-menu": "^2.1.15",
        "@radix-ui/react-label": "^2.1.2",
-        "@radix-ui/react-navigation-menu": "^1.2.5",
+        "@radix-ui/react-navigation-menu": "^1.2.14",
        "@radix-ui/react-popover": "^1.1.7",
        "@radix-ui/react-select": "^2.2.6",
        "@radix-ui/react-separator": "^1.1.3",
@@ -24,7 +24,7 @@
        "@radix-ui/react-toggle": "^1.1.1",
        "@radix-ui/react-toggle-group": "^1.1.2",
        "@tanstack/react-query": "^5.84.2",
-        "@tanstack/react-router": "^1.105.0",
+        "@tanstack/react-router": "^1.130.17",
        "@tanstack/react-table": "^8.21.2",
        "@tanstack/router-devtools": "^1.105.0",
        "@tanstack/zod-adapter": "^1.116.0",
@@ -43,6 +43,7 @@
        "react-hook-form": "^7.57.0",
        "react-i18next": "^15.4.1",
        "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",
@@ -77,8 +78,9 @@
        "@types/electron-squirrel-startup": "^1.0.2",
        "@types/eslint-config-prettier": "^6.11.3",
        "@types/node": "^24.2.1",
-        "@types/react": "^19.0.10",
+        "@types/react": "^19.1.16",
        "@types/react-dom": "^19.0.4",
+        "@types/react-virtualized": "^9.22.2",
        "electron": "^37.3.1",
        "electron-playwright-helpers": "^1.7.1",
        "eslint": "^9.20.1",
@@ -2655,18 +2657,19 @@
      }
    },
    "node_modules/@radix-ui/react-navigation-menu": {
-      "version": "1.2.13",
-      "resolved": "https://registry.npmjs.org/@radix-ui/react-navigation-menu/-/react-navigation-menu-1.2.13.tgz",
-      "integrity": "sha512-WG8wWfDiJlSF5hELjwfjSGOXcBR/ZMhBFCGYe8vERpC39CQYZeq1PQ2kaYHdye3V95d06H89KGMsVCIE4LWo3g==",
+      "version": "1.2.14",
+      "resolved": "https://registry.npmjs.org/@radix-ui/react-navigation-menu/-/react-navigation-menu-1.2.14.tgz",
+      "integrity": "sha512-YB9mTFQvCOAQMHU+C/jVl96WmuWeltyUEpRJJky51huhds5W2FQr1J8D/16sQlf0ozxkPK8uF3niQMdUwZPv5w==",
+      "license": "MIT",
      "dependencies": {
-        "@radix-ui/primitive": "1.1.2",
+        "@radix-ui/primitive": "1.1.3",
        "@radix-ui/react-collection": "1.1.7",
        "@radix-ui/react-compose-refs": "1.1.2",
        "@radix-ui/react-context": "1.1.2",
        "@radix-ui/react-direction": "1.1.1",
-        "@radix-ui/react-dismissable-layer": "1.1.10",
+        "@radix-ui/react-dismissable-layer": "1.1.11",
        "@radix-ui/react-id": "1.1.1",
-        "@radix-ui/react-presence": "1.1.4",
+        "@radix-ui/react-presence": "1.1.5",
        "@radix-ui/react-primitive": "2.1.3",
        "@radix-ui/react-use-callback-ref": "1.1.1",
        "@radix-ui/react-use-controllable-state": "1.2.2",
@@ -2689,6 +2692,63 @@
        }
      }
    },
+    "node_modules/@radix-ui/react-navigation-menu/node_modules/@radix-ui/primitive": {
+      "version": "1.1.3",
+      "resolved": "https://registry.npmjs.org/@radix-ui/primitive/-/primitive-1.1.3.tgz",
+      "integrity": "sha512-JTF99U/6XIjCBo0wqkU5sK10glYe27MRRsfwoiq5zzOEZLHU3A3KCMa5X/azekYRCJ0HlwI0crAXS/5dEHTzDg==",
+      "license": "MIT"
+    },
+    "node_modules/@radix-ui/react-navigation-menu/node_modules/@radix-ui/react-dismissable-layer": {
+      "version": "1.1.11",
+      "resolved": "https://registry.npmjs.org/@radix-ui/react-dismissable-layer/-/react-dismissable-layer-1.1.11.tgz",
+      "integrity": "sha512-Nqcp+t5cTB8BinFkZgXiMJniQH0PsUt2k51FUhbdfeKvc4ACcG2uQniY/8+h1Yv6Kza4Q7lD7PQV0z0oicE0Mg==",
+      "license": "MIT",
+      "dependencies": {
+        "@radix-ui/primitive": "1.1.3",
+        "@radix-ui/react-compose-refs": "1.1.2",
+        "@radix-ui/react-primitive": "2.1.3",
+        "@radix-ui/react-use-callback-ref": "1.1.1",
+        "@radix-ui/react-use-escape-keydown": "1.1.1"
+      },
+      "peerDependencies": {
+        "@types/react": "*",
+        "@types/react-dom": "*",
+        "react": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc",
+        "react-dom": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc"
+      },
+      "peerDependenciesMeta": {
+        "@types/react": {
+          "optional": true
+        },
+        "@types/react-dom": {
+          "optional": true
+        }
+      }
+    },
+    "node_modules/@radix-ui/react-navigation-menu/node_modules/@radix-ui/react-presence": {
+      "version": "1.1.5",
+      "resolved": "https://registry.npmjs.org/@radix-ui/react-presence/-/react-presence-1.1.5.tgz",
+      "integrity": "sha512-/jfEwNDdQVBCNvjkGit4h6pMOzq8bHkopq458dPt2lMjx+eBQUohZNG9A7DtO/O5ukSbxuaNGXMjHicgwy6rQQ==",
+      "license": "MIT",
+      "dependencies": {
+        "@radix-ui/react-compose-refs": "1.1.2",
+        "@radix-ui/react-use-layout-effect": "1.1.1"
+      },
+      "peerDependencies": {
+        "@types/react": "*",
+        "@types/react-dom": "*",
+        "react": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc",
+        "react-dom": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc"
+      },
+      "peerDependenciesMeta": {
+        "@types/react": {
+          "optional": true
+        },
+        "@types/react-dom": {
+          "optional": true
+        }
+      }
+    },
    "node_modules/@radix-ui/react-popover": {
      "version": "1.1.14",
      "resolved": "https://registry.npmjs.org/@radix-ui/react-popover/-/react-popover-1.1.14.tgz",
@@ -3964,13 +4024,14 @@
      }
    },
    "node_modules/@tanstack/react-router": {
-      "version": "1.130.12",
-      "resolved": "https://registry.npmjs.org/@tanstack/react-router/-/react-router-1.130.12.tgz",
-      "integrity": "sha512-7BYgOpGc1vK8MH1LIFLLBudGpH46GQy+hewnP7dNQJ4KHmkwPHv958L1IMA9jU/rs5g1ZH5n1f33BAMOBXUMYQ==",
+      "version": "1.130.17",
+      "resolved": "https://registry.npmjs.org/@tanstack/react-router/-/react-router-1.130.17.tgz",
+      "integrity": "sha512-F1tyMEbX7PJclnA25hAFXhLKq4jqeODvvaogsd0/NX02Kmz3QoT9GV+rgpv2TxamU6RwjRgihSH06Dn5hM6SOw==",
+      "license": "MIT",
      "dependencies": {
        "@tanstack/history": "1.130.12",
        "@tanstack/react-store": "^0.7.0",
-        "@tanstack/router-core": "1.130.12",
+        "@tanstack/router-core": "1.130.17",
        "isbot": "^5.1.22",
        "tiny-invariant": "^1.3.3",
        "tiny-warning": "^1.0.3"
@@ -4044,9 +4105,10 @@
      }
    },
    "node_modules/@tanstack/router-core": {
-      "version": "1.130.12",
-      "resolved": "https://registry.npmjs.org/@tanstack/router-core/-/router-core-1.130.12.tgz",
-      "integrity": "sha512-emq3cRU9Na1hnIToojzkfJcOZm/MG2bv9M+Kr/elUxEf83enGEwQXC1EKezTuwNgeJrOv8vPJdEhWM7IQodnHQ==",
+      "version": "1.130.17",
+      "resolved": "https://registry.npmjs.org/@tanstack/router-core/-/router-core-1.130.17.tgz",
+      "integrity": "sha512-0AH4s/52X2shYLifr9hR+6R6NpGsBp1M3LyjBTZm6Jlkud+nOhkkRxKxYS7l+JErRlffdxVHxMdoTnKcQ+duiQ==",
+      "license": "MIT",
      "dependencies": {
        "@tanstack/history": "1.130.12",
        "@tanstack/store": "^0.7.0",
@@ -4442,10 +4504,18 @@
        "undici-types": "~7.10.0"
      }
    },
+    "node_modules/@types/prop-types": {
+      "version": "15.7.15",
+      "resolved": "https://registry.npmjs.org/@types/prop-types/-/prop-types-15.7.15.tgz",
+      "integrity": "sha512-F6bEyamV9jKGAFBEmlQnesRPGOQqS2+Uwi0Em15xenOxHaf2hv6L8YCVn3rPdPJOiJfPiCnLIRyvwVaqMY3MIw==",
+      "dev": true,
+      "license": "MIT"
+    },
    "node_modules/@types/react": {
-      "version": "19.1.9",
-      "resolved": "https://registry.npmjs.org/@types/react/-/react-19.1.9.tgz",
-      "integrity": "sha512-WmdoynAX8Stew/36uTSVMcLJJ1KRh6L3IZRx1PZ7qJtBqT3dYTgyDTx8H1qoRghErydW7xw9mSJ3wS//tCRpFA==",
+      "version": "19.1.16",
+      "resolved": "https://registry.npmjs.org/@types/react/-/react-19.1.16.tgz",
+      "integrity": "sha512-WBM/nDbEZmDUORKnh5i1bTnAz6vTohUf9b8esSMu+b24+srbaxa04UbJgWx78CVfNXA20sNu0odEIluZDFdCog==",
+      "license": "MIT",
      "dependencies": {
        "csstype": "^3.0.2"
      }
@@ -4459,6 +4529,17 @@
        "@types/react": "^19.0.0"
      }
    },
+    "node_modules/@types/react-virtualized": {
+      "version": "9.22.2",
+      "resolved": "https://registry.npmjs.org/@types/react-virtualized/-/react-virtualized-9.22.2.tgz",
+      "integrity": "sha512-0Eg/ME3OHYWGxs+/n4VelfYrhXssireZaa1Uqj5SEkTpSaBu5ctFGOCVxcOqpGXRiEdrk/7uho9tlZaryCIjHA==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@types/prop-types": "*",
+        "@types/react": "*"
+      }
+    },
    "node_modules/@types/responselike": {
      "version": "1.0.3",
      "resolved": "https://registry.npmjs.org/@types/responselike/-/responselike-1.0.3.tgz",
@@ -6295,6 +6376,16 @@
      "dev": true,
      "peer": true
    },
+    "node_modules/dom-helpers": {
+      "version": "5.2.1",
+      "resolved": "https://registry.npmjs.org/dom-helpers/-/dom-helpers-5.2.1.tgz",
+      "integrity": "sha512-nRCa7CK3VTrM2NmGkIy4cbK7IZlgBE/PYMn55rrXefr5xXDP0LdtfPnblFDoVdcAfslJ7or6iqAUnx0CCGIWQA==",
+      "license": "MIT",
+      "dependencies": {
+        "@babel/runtime": "^7.8.7",
+        "csstype": "^3.0.2"
+      }
+    },
    "node_modules/dunder-proto": {
      "version": "1.0.1",
      "resolved": "https://registry.npmjs.org/dunder-proto/-/dunder-proto-1.0.1.tgz",
@@ -9917,7 +10008,6 @@
      "version": "1.4.0",
      "resolved": "https://registry.npmjs.org/loose-envify/-/loose-envify-1.4.0.tgz",
      "integrity": "sha512-lyuxPGr/Wfhrlem2CL/UcnUc1zcqKAImBDzukY7Y5F/yQiNdko6+fRLevlw1HgMySw7f611UIY408EtxRSoK3Q==",
-      "dev": true,
      "dependencies": {
        "js-tokens": "^3.0.0 || ^4.0.0"
      },
@@ -11301,7 +11391,6 @@
      "version": "4.1.1",
      "resolved": "https://registry.npmjs.org/object-assign/-/object-assign-4.1.1.tgz",
      "integrity": "sha512-rJgTQnkUnH1sFw8yT6VSU3zD3sWmu6sZhIseY8VX+GRu3P6F7Fu+JNDoXfklElbLJSnc3FUQHVe4cU5hj+BcUg==",
-      "dev": true,
      "engines": {
        "node": ">=0.10.0"
      }
@@ -12087,7 +12176,6 @@
      "version": "15.8.1",
      "resolved": "https://registry.npmjs.org/prop-types/-/prop-types-15.8.1.tgz",
      "integrity": "sha512-oj87CgZICdulUohogVAR7AjlC0327U4el4L6eAvOqCeudMDVU0NThNaV+b9Df4dXgSP1gXMTnPdhfe/2qDH5cg==",
-      "dev": true,
      "dependencies": {
        "loose-envify": "^1.4.0",
        "object-assign": "^4.1.1",
@@ -12097,8 +12185,7 @@
    "node_modules/prop-types/node_modules/react-is": {
      "version": "16.13.1",
      "resolved": "https://registry.npmjs.org/react-is/-/react-is-16.13.1.tgz",
-      "integrity": "sha512-24e6ynE2H+OKt4kqsOvNd8kBpV65zoxbA4BVsEOB3ARVWQki/DHzaUoC5KuON/BiccDaCCTZBuOcfZs70kR8bQ==",
-      "dev": true
+      "integrity": "sha512-24e6ynE2H+OKt4kqsOvNd8kBpV65zoxbA4BVsEOB3ARVWQki/DHzaUoC5KuON/BiccDaCCTZBuOcfZs70kR8bQ=="
    },
    "node_modules/property-information": {
      "version": "7.1.0",
@@ -12226,6 +12313,12 @@
      "dev": true,
      "peer": true
    },
+    "node_modules/react-lifecycles-compat": {
+      "version": "3.0.4",
+      "resolved": "https://registry.npmjs.org/react-lifecycles-compat/-/react-lifecycles-compat-3.0.4.tgz",
+      "integrity": "sha512-fBASbA6LnOU9dOU2eW7aQ8xmYBSXUIWr+UmF9b1efZBazGNO+rcXT/icdKnYm2pTwcRylVUYwW7H1PHfLekVzA==",
+      "license": "MIT"
+    },
    "node_modules/react-markdown": {
      "version": "10.1.0",
      "resolved": "https://registry.npmjs.org/react-markdown/-/react-markdown-10.1.0.tgz",
@@ -12326,6 +12419,33 @@
        }
      }
    },
+    "node_modules/react-virtualized": {
+      "version": "9.22.6",
+      "resolved": "https://registry.npmjs.org/react-virtualized/-/react-virtualized-9.22.6.tgz",
+      "integrity": "sha512-U5j7KuUQt3AaMatlMJ0UJddqSiX+Km0YJxSqbAzIiGw5EmNz0khMyqP2hzgu4+QUtm+QPIrxzUX4raJxmVJnHg==",
+      "license": "MIT",
+      "dependencies": {
+        "@babel/runtime": "^7.7.2",
+        "clsx": "^1.0.4",
+        "dom-helpers": "^5.1.3",
+        "loose-envify": "^1.4.0",
+        "prop-types": "^15.7.2",
+        "react-lifecycles-compat": "^3.0.4"
+      },
+      "peerDependencies": {
+        "react": "^16.3.0 || ^17.0.0 || ^18.0.0 || ^19.0.0",
+        "react-dom": "^16.3.0 || ^17.0.0 || ^18.0.0 || ^19.0.0"
+      }
+    },
+    "node_modules/react-virtualized/node_modules/clsx": {
+      "version": "1.2.1",
+      "resolved": "https://registry.npmjs.org/clsx/-/clsx-1.2.1.tgz",
+      "integrity": "sha512-EcR6r5a8bj6pu3ycsa/E/cKVGuTgZJZdsyUYHOksG/UHIiKfjxzRxYJpyVBwYaQeOvghal9fcc4PidlgzugAQg==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=6"
+      }
+    },
    "node_modules/read-binary-file-arch": {
      "version": "1.0.6",
      "resolved": "https://registry.npmjs.org/read-binary-file-arch/-/read-binary-file-arch-1.0.6.tgz",
@@ -42,8 +42,9 @@
    "@types/electron-squirrel-startup": "^1.0.2",
    "@types/eslint-config-prettier": "^6.11.3",
    "@types/node": "^24.2.1",
-    "@types/react": "^19.0.10",
+    "@types/react": "^19.1.16",
    "@types/react-dom": "^19.0.4",
+    "@types/react-virtualized": "^9.22.2",
    "electron": "^37.3.1",
    "electron-playwright-helpers": "^1.7.1",
    "eslint": "^9.20.1",
@@ -71,7 +72,7 @@
    "@radix-ui/react-dialog": "^1.1.6",
    "@radix-ui/react-dropdown-menu": "^2.1.15",
    "@radix-ui/react-label": "^2.1.2",
-    "@radix-ui/react-navigation-menu": "^1.2.5",
+    "@radix-ui/react-navigation-menu": "^1.2.14",
    "@radix-ui/react-popover": "^1.1.7",
    "@radix-ui/react-select": "^2.2.6",
    "@radix-ui/react-separator": "^1.1.3",
@@ -80,7 +81,7 @@
    "@radix-ui/react-toggle": "^1.1.1",
    "@radix-ui/react-toggle-group": "^1.1.2",
    "@tanstack/react-query": "^5.84.2",
-    "@tanstack/react-router": "^1.105.0",
+    "@tanstack/react-router": "^1.130.17",
    "@tanstack/react-table": "^8.21.2",
    "@tanstack/router-devtools": "^1.105.0",
    "@tanstack/zod-adapter": "^1.116.0",
@@ -99,6 +100,7 @@
    "react-hook-form": "^7.57.0",
    "react-i18next": "^15.4.1",
    "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",
@@ -58,15 +58,10 @@ export function MarkdownWithToc({
          className={`sticky ${stickyTop}`}
          style={{ maxHeight: "calc(100vh - 6rem)" }}
        >
-          {/* Hide scrollbar for the TOC container across browsers */}
-          <style>{`
-            [data-toc-scroll-container] { -ms-overflow-style: none; scrollbar-width: none; }
-            [data-toc-scroll-container]::-webkit-scrollbar { display: none; }
-          `}</style>
+          {/* Table of Contents with hidden scrollbar */}
          <div
-            className="overflow-y-auto"
+            className="scrollbar-hidden overflow-y-auto"
            style={{ maxHeight: "calc(100vh - 8rem)" }}
-            data-toc-scroll-container
          >
            <MarkdownToc
              markdownContent={markdownContent}
@@ -1,20 +1,32 @@
 import { cva } from "class-variance-authority";
 import React, { useEffect, useRef, useState } from "react";
 import { Icon } from "./Icon";
+import {
+  List,
+  CellMeasurer,
+  CellMeasurerCache,
+  ListRowRenderer,
+  AutoSizer,
+} from "react-virtualized";
+
+// Create cache (outside the component so it persists across renders)
+const cache = new CellMeasurerCache({
+  defaultHeight: 20,
+  fixedWidth: true,
+});

 type Props = {
  lines: string[];
-  autoScroll?: boolean; // Optional prop to control if terminal should auto-scroll
-  className?: string; // Optional prop to control terminal height
+  autoScroll?: boolean;
+  className?: string;
  title?: string;
-  exportPrefix?: string; // Optional prefix for exported log files
+  exportPrefix?: string;
 };

 const terminalStyle = cva([
  "flex flex-col overflow-hidden rounded-md border border-neutral-700 font-mono text-sm",
 ]);

-// Color mapping for ANSI color codes
 const colorMap: Record<string, string> = {
  "30": "text-gray-900",
  "31": "text-red-600",
@@ -32,7 +44,6 @@ const colorMap: Record<string, string> = {
  "95": "text-purple-400",
  "96": "text-cyan-400",
  "97": "text-white",
-  // Background colors
  "40": "bg-gray-900",
  "41": "bg-red-600",
  "42": "bg-green-600",
@@ -43,36 +54,26 @@ const colorMap: Record<string, string> = {
  "47": "bg-gray-200",
 };

-// Parse ANSI color codes in text
 const parseColorCodes = (text: string) => {
-  // Split by ANSI escape sequences
-  // eslint-disable-next-line no-control-regex
+  /* eslint-disable-next-line no-control-regex */
  const parts = text.split(/(\x1b\[\d+m)/g);
-
  let currentClass = "";
  const result: { text: string; className: string }[] = [];
-
  for (let i = 0; i < parts.length; i++) {
    const part = parts[i];
-
    if (part.startsWith("\x1b[")) {
-      // This is a color code
-      const code = part.slice(2, -1); // Extract the number from \x1b[XXm
+      const code = part.slice(2, -1);
      currentClass = colorMap[code] || "";
    } else if (part) {
-      // This is text content
      result.push({ text: part, className: currentClass });
    }
  }
-
  return result;
 };

-// Function to strip ANSI color codes for plain text copy
-const stripColorCodes = (text: string): string => {
+const stripColorCodes = (text: string): string =>
  // eslint-disable-next-line no-control-regex
-  return text.replace(/\x1b\[\d+m/g, "");
-};
+  text.replace(/\x1b\[\d+m/g, "");

 export function Terminal({
  lines,
@@ -81,99 +82,88 @@ export function Terminal({
  title = "Terminal",
  exportPrefix,
 }: Props) {
-  const terminalRef = useRef<HTMLDivElement>(null);
-  const [isScrolledToBottom, setIsScrolledToBottom] = useState(true);
+  const listRef = useRef<List>(null);
  const [copySuccess, setCopySuccess] = useState(false);
  const [exportSuccess, setExportSuccess] = useState(false);

-  // Handle scrolling
+  // Auto-scroll to bottom when new lines arrive
  useEffect(() => {
-    const terminal = terminalRef.current;
-    if (!terminal) return;
-
-    // If auto-scroll is enabled and user was at bottom, scroll to bottom when lines change
-    if (autoScroll && isScrolledToBottom) {
-      terminal.scrollTop = terminal.scrollHeight;
+    if (autoScroll && listRef.current) {
+      listRef.current.scrollToRow(lines.length - 1);
    }
-  }, [lines, autoScroll, isScrolledToBottom]);
+  }, [lines, autoScroll]);

-  // Handle scroll events to detect if user is at bottom
-  const handleScroll = () => {
-    const terminal = terminalRef.current;
-    if (!terminal) return;
-
-    const isAtBottom =
-      Math.abs(
-        terminal.scrollHeight - terminal.clientHeight - terminal.scrollTop,
-      ) < 10; // Small threshold to account for rounding errors
-
-    setIsScrolledToBottom(isAtBottom);
-  };
-
-  // Handle copy to clipboard
  const handleCopy = async () => {
-    // Strip ANSI color codes and join lines
-    const plainText = lines.map((line) => stripColorCodes(line)).join("\n");
-
+    const plainText = lines.map(stripColorCodes).join("\n");
    try {
      await navigator.clipboard.writeText(plainText);
      setCopySuccess(true);
-
-      // Reset copy success message after 2 seconds
-      setTimeout(() => {
-        setCopySuccess(false);
-      }, 2000);
+      setTimeout(() => setCopySuccess(false), 2000);
    } catch (err) {
      console.error("Failed to copy text: ", err);
    }
  };

-  // Handle export to file
  const handleExport = () => {
    if (!exportPrefix) return;
-
-    // Strip ANSI color codes and join lines
-    const plainText = lines.map((line) => stripColorCodes(line)).join("\n");
-
-    // Create timestamp for filename
+    const plainText = lines.map(stripColorCodes).join("\n");
    const timestamp = new Date()
      .toISOString()
      .replace(/[:.]/g, "-")
      .slice(0, -5);
    const filename = `${exportPrefix}_${timestamp}.log`;
-
-    // Create blob and download
    const blob = new Blob([plainText], { type: "text/plain" });
    const url = URL.createObjectURL(blob);
-
-    // Create temporary link element and trigger download
    const link = document.createElement("a");
    link.href = url;
    link.download = filename;
    document.body.appendChild(link);
    link.click();
    document.body.removeChild(link);
-
-    // Clean up
    URL.revokeObjectURL(url);
-
-    // Show success feedback
    setExportSuccess(true);
-    setTimeout(() => {
-      setExportSuccess(false);
-    }, 2000);
+    setTimeout(() => setExportSuccess(false), 2000);
+  };
+
+  const rowRenderer: ListRowRenderer = ({ index, key, parent, style }) => {
+    const colorParts = parseColorCodes(lines[index] || "");
+
+    return (
+      <CellMeasurer
+        key={key}
+        cache={cache}
+        parent={parent}
+        columnIndex={0}
+        rowIndex={index}
+      >
+        <div
+          style={style}
+          className="bg-black px-2 py-1 whitespace-pre-wrap text-white"
+        >
+          {colorParts.length > 0
+            ? colorParts.map((part, partIndex) => (
+                <span
+                  key={partIndex}
+                  className={part.className || "text-white"}
+                >
+                  {part.text || " "}
+                </span>
+              ))
+            : lines[index] || " "}
+        </div>
+      </CellMeasurer>
+    );
  };

  return (
    <div className={terminalStyle({ className })}>
-      {/* Terminal header */}
+      {/* Header */}
      <div className="flex items-center justify-between border-b border-neutral-700 bg-neutral-800 px-4 py-2">
        <div className="text-xs text-neutral-400">{title}</div>
        <div className="flex items-center gap-2">
          <button
            onClick={handleCopy}
            className="flex items-center text-xs text-neutral-400 transition-colors hover:text-neutral-200"
-            title="Copy to clipboard"
          >
            {copySuccess ? (
              <>
@@ -191,7 +181,6 @@ export function Terminal({
            <button
              onClick={handleExport}
              className="flex items-center text-xs text-neutral-400 transition-colors hover:text-neutral-200"
-              title="Export logs to file"
            >
              {exportSuccess ? (
                <>
@@ -209,62 +198,28 @@ export function Terminal({
        </div>
      </div>

-      {/* Terminal content with custom scrollbar styling */}
-      <div
-        ref={terminalRef}
-        onScroll={handleScroll}
-        className={`scrollbar-thin scrollbar-thumb-neutral-600 scrollbar-track-transparent flex-grow overflow-y-auto bg-neutral-900 p-4 text-neutral-300`}
-        style={{
-          scrollbarWidth: "thin",
-          scrollbarColor: "rgb(82 82 91) transparent",
-        }}
-      >
-        <style>{`
-          Add commentMore actions
-          /* For Webkit browsers (Chrome, Safari) */
-          .scrollbar-thin::-webkit-scrollbar {
-            width: 6px;
-          }
-
-          .scrollbar-thin::-webkit-scrollbar-track {
-            background: transparent;
-          }
-
-          .scrollbar-thin::-webkit-scrollbar-thumb {
-            background-color: rgb(82 82 91);
-            border-radius: 3px;
-          }
-
-          /* For Firefox */
-          .scrollbar-thin {
-            scrollbar-width: thin;
-            scrollbar-color: rgb(82 82 91) transparent;
-          }
-        `}</style>
-        {lines.map((line, index) => {
-          const colorParts = parseColorCodes(line);
-
-          return (
-            <div key={index} className="whitespace-pre-wrap">
-              {colorParts.length > 0
-                ? colorParts.map((part, partIndex) => (
-                    <span key={partIndex} className={part.className}>
-                      {part.text || " "}
-                    </span>
-                  ))
-                : line || " "}
-            </div>
-          );
-        })}
+      {/* Virtualized List */}
+      <div className="flex-grow overflow-y-auto bg-neutral-900 p-4 text-neutral-300">
+        <AutoSizer>
+          {({ width, height }) => (
+            <List
+              ref={listRef}
+              width={width}
+              height={height}
+              deferredMeasurementCache={cache}
+              rowHeight={cache.rowHeight}
+              rowCount={lines.length}
+              rowRenderer={rowRenderer}
+              overscanRowCount={5}
+            />
+          )}
+        </AutoSizer>
      </div>

-      {/* Status bar */}
+      {/* Footer */}
      <div className="flex items-center justify-between bg-neutral-800 px-4 py-1 text-xs text-neutral-400">
        <div>{lines.length} lines</div>
-        <div>
-          {isScrolledToBottom ? "At bottom" : "Scrolled up"} |
-          {autoScroll ? " Auto-scroll enabled" : " Auto-scroll disabled"}
-        </div>
+        <div>{autoScroll ? "Auto-scroll enabled" : "Auto-scroll disabled"}</div>
      </div>
    </div>
  );
@@ -18,17 +18,39 @@ type UpdateExecuteInvokeParams = {

 export function exposeUpdateContext() {
  const { contextBridge, ipcRenderer } = window.require("electron");
+
+  let currentLogListener: ((event: any, log: string) => void) | null = null;
+  let currentEndListener: ((event: any, params: any) => void) | null = null;
+
  contextBridge.exposeInMainWorld("update", {
    execute: (params: UpdateExecuteInvokeParams) =>
      ipcRenderer.invoke(UPDATE_EXECUTE, params),
    cancel: () => ipcRenderer.invoke(UPDATE_CANCEL),
-    onLog: (callback: (log: string) => void) =>
-      ipcRenderer.on(UPDATE_LOG, (_event, log: string) => {
+
+    onLog: (callback: (log: string) => void) => {
+      if (currentLogListener) {
+        ipcRenderer.removeListener(UPDATE_LOG, currentLogListener);
+      }
+
+      currentLogListener = (_event, log: string) => {
        callback(log);
-      }),
-    onEnd: (callback: (params: { success: boolean; error?: string }) => void) =>
-      ipcRenderer.on(UPDATE_END, (_event, params) => {
+      };
+
+      ipcRenderer.on(UPDATE_LOG, currentLogListener);
+    },
+
+    onEnd: (
+      callback: (params: { success: boolean; error?: string }) => void,
+    ) => {
+      if (currentEndListener) {
+        ipcRenderer.removeListener(UPDATE_END, currentEndListener);
+      }
+
+      currentEndListener = (_event, params) => {
        callback(params);
-      }),
+      };
+
+      ipcRenderer.on(UPDATE_END, currentEndListener);
+    },
  });
 }
@@ -1,16 +1,28 @@
 import type { UpdateInfo } from "@/stores/updateStore";
 import { useUpdateStore } from "@/stores/updateStore";

+let currentLogListener: ((line: string) => void) | null = null;
+
 export async function updateExecute(
  source: UpdateInfo,
  onLog: (log: string) => void,
 ): Promise<{ success: boolean; error?: string }> {
  return new Promise((resolve) => {
-    window.update.onLog(onLog);
+    // Remove previous listener if exists
+    if (currentLogListener) {
+      window.update.onLog(() => {}); // clear previous
+      currentLogListener = null;
+    }
+
+    currentLogListener = onLog;
+    window.update.onLog(currentLogListener);
+
    window.update.execute(source);
+
    window.update.onEnd((params) => {
-      window.update.onLog(() => {});
+      window.update.onLog(() => {}); // remove listener
      window.update.onEnd(() => {});
+      currentLogListener = null;
      resolve(params);
    });
  });
@@ -40,7 +52,10 @@ export async function updateCancel(): Promise<{
  success: boolean;
  error?: string;
 }> {
-  return window.update.cancel();
+  const result = await window.update.cancel();
+  window.update.onLog(() => {}); // remove listener
+  window.update.onEnd(() => {}); // remove listener
+  return result;
 }

 // Enhanced helper that automatically manages store state
@@ -44,7 +44,7 @@ export function Winder2SettingPage() {
              unit="mm"
              step={0.05}
              min={0.1}
-              max={10}
+              max={75}
              defaultValue={defaultState?.traverse_state?.step_size}
              renderValue={(value) => roundToDecimals(value, 2)}
              onChange={(value) => setTraverseStepSize(value)}
@@ -11,15 +11,16 @@ import { toast } from "sonner";
 export function TroubleshootPage() {
  const [isRebootLoading, setIsRebootLoading] = useState(false);
  const [isRestartLoading, setIsRestartLoading] = useState(false);
+  const { getLogsBySource, clearLogs } = useLogsStore();

-  const { getLogsBySource } = useLogsStore();
-
+  // Perhaps we just need to clear the logs ?
  // Get backend logs for display
  const backendLogs = getLogsBySource("qitech-control-server");
  const logLines = backendLogs.map((log) => log.raw);
-
+  console.log(backendLogs);
  const handleRebootHmi = async () => {
    setIsRebootLoading(true);
+
    try {
      const result = await rebootHmi();
      if (result.success) {
@@ -22,6 +22,8 @@ export function UpdateExecutePage() {
    startUpdate,
    stopUpdate,
    addTerminalLine,
+    clearTerminalLines,
+    resetUpdateState,
  } = useUpdateStore();

  // Set update info from search params when component mounts or search changes
@@ -49,6 +51,7 @@ export function UpdateExecutePage() {
    };

    startUpdate();
+    // Perhaps we just need to clear the logs ?
    const res = await updateExecute(updateInfo, addTerminalLine);
    stopUpdate();

@@ -66,12 +69,14 @@ export function UpdateExecutePage() {
      const res = await updateCancelWithStore();
      if (res.success) {
        toast.info("Update cancelled successfully");
+        clearTerminalLines();
      } else {
        toast.error("Failed to cancel update: " + res.error);
      }
    } catch (error: any) {
      toast.error("Failed to cancel update: " + error.message);
    }
+    resetUpdateState();
  };

  return (
@@ -33,7 +33,6 @@ const initialState: LogsState = {

 export const useLogsStore = create<LogsStore>((set, get) => ({
  ...initialState,
-
  addLogEntry: (entry) =>
    set(
      produce((state: LogsState) => {
@@ -69,6 +68,7 @@ export const useLogsStore = create<LogsStore>((set, get) => ({
    ),

  getLogsBySource: (source) => {
+    console.log(source);
    const state = get();
    return state.entries.filter((entry) => entry.source === source);
  },
@@ -78,11 +78,16 @@ export const useUpdateStore = create<UpdateStore>((set) => ({
  addTerminalLine: (line) =>
    set(
      produce((state: UpdateState) => {
-        state.terminalLines.push(line);
+        console.log(state.terminalLines);

-        // Keep only last 10000 lines to prevent memory issues
-        if (state.terminalLines.length > 10000) {
-          state.terminalLines.splice(0, state.terminalLines.length - 10000);
+        const lastLine = state.terminalLines[state.terminalLines.length - 1];
+        if (line !== lastLine) {
+          state.terminalLines.push(line);
+
+          // Keep only last 10000 lines to prevent memory issues
+          if (state.terminalLines.length > 10000) {
+            state.terminalLines.splice(0, state.terminalLines.length - 10000);
+          }
        }
      }),
    ),
@@ -177,3 +177,107 @@
    @apply bg-background text-foreground;
  }
 }
+
+/* macOS-style scrollbars */
+@layer base {
+  /* WebKit browsers (Safari, Chrome, newer Edge) */
+  ::-webkit-scrollbar {
+    width: 8px;
+    height: 16px;
+  }
+
+  ::-webkit-scrollbar-track {
+    background: transparent;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background: rgba(0, 0, 0, 0.2);
+    border-radius: 10px;
+    border: 2px solid transparent;
+    background-clip: content-box;
+    transition: background-color 0.2s ease;
+  }
+
+  ::-webkit-scrollbar-thumb:hover {
+    background: rgba(0, 0, 0, 0.4);
+    background-clip: content-box;
+  }
+
+  ::-webkit-scrollbar-thumb:active {
+    background: rgba(0, 0, 0, 0.6);
+    background-clip: content-box;
+  }
+
+  ::-webkit-scrollbar-corner {
+    background: transparent;
+  }
+
+  /* Dark mode adjustments */
+  .dark ::-webkit-scrollbar-thumb {
+    background: rgba(255, 255, 255, 0.2);
+    background-clip: content-box;
+  }
+
+  .dark ::-webkit-scrollbar-thumb:hover {
+    background: rgba(255, 255, 255, 0.4);
+    background-clip: content-box;
+  }
+
+  .dark ::-webkit-scrollbar-thumb:active {
+    background: rgba(255, 255, 255, 0.6);
+    background-clip: content-box;
+  }
+
+  /* Firefox */
+  html,
+  body {
+    scrollbar-width: thin;
+    scrollbar-color: rgba(0, 0, 0, 0.2) transparent;
+  }
+
+  .dark html,
+  .dark body {
+    scrollbar-color: rgba(255, 255, 255, 0.2) transparent;
+  }
+
+  /* Auto-hide behavior for overlay scrollbars */
+  @media (pointer: fine) {
+    ::-webkit-scrollbar {
+      width: 4px;
+      height: 4px;
+    }
+
+    ::-webkit-scrollbar:hover {
+      width: 8px;
+      height: 8px;
+    }
+
+    /* Container hover shows scrollbars */
+    .scrollbar-visible:hover::-webkit-scrollbar {
+      width: 8px;
+      height: 8px;
+    }
+  }
+
+  /* Utility classes for scrollbar customization */
+  .scrollbar-hidden {
+    -ms-overflow-style: none;
+    scrollbar-width: none;
+  }
+
+  .scrollbar-hidden::-webkit-scrollbar {
+    display: none;
+  }
+
+  .scrollbar-always-visible::-webkit-scrollbar {
+    width: 8px !important;
+    height: 8px !important;
+  }
+
+  @media (pointer: fine) {
+    .scrollbar-always-visible::-webkit-scrollbar {
+      width: 8px !important;
+      height: 8px !important;
+    }
+  }
+}
@@ -14,7 +14,7 @@ tokio = { version = "1.45.1", features = ["macros", "rt-multi-thread"] }
 ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
 futures = "0.3.31"
-anyhow = "1.0.99"
+anyhow = "1.0.100"


 [package.metadata.cargo-machete]
@@ -7,12 +7,12 @@ edition = "2024"
 workspace = true

 [dependencies]
-anyhow = "1.0.99"
+anyhow = "1.0.100"
 ethercrab = "0.6"
 ethercat_hal_derive = { version = "0.1.0", path = "../ethercat-hal-derive" }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 smol = "2.0.2"
-uom = "0.36.0"
+uom = { version = "0.36.0", default-features = false, features = ["f64","si"] }
 rand = "0.9.2"
 futures = "0.3.31"
 tracing = "0.1.41"
@@ -78,18 +78,20 @@ serviceConfig = {
  Restart = "always";
  RestartSec = "10s";

-  # Capabilities (unchanged, as you wanted)
-  CapabilityBoundingSet = "CAP_NET_RAW CAP_NET_ADMIN CAP_SYS_NICE CAP_DAC_OVERRIDE";
-  AmbientCapabilities     = "CAP_NET_RAW CAP_NET_ADMIN CAP_SYS_NICE CAP_DAC_OVERRIDE";
+  # Capabilities
+  CapabilityBoundingSet = "CAP_NET_RAW CAP_IPC_LOCK CAP_NET_ADMIN CAP_SYS_NICE CAP_DAC_OVERRIDE";
+  AmbientCapabilities     = "CAP_NET_RAW CAP_IPC_LOCK CAP_NET_ADMIN CAP_SYS_NICE CAP_DAC_OVERRIDE";

  # Hardening options
  NoNewPrivileges = true;
  ProtectSystem = "strict";
+
  # Open only /proc/irq explicitly
  ReadWritePaths = [ "/proc/irq" ];
  ProtectHome = true;
  PrivateTmp = true;
  PrivateDevices = false;
+
  # Must disable this to allow /proc/irq writes
  ProtectKernelTunables = false;
  ProtectControlGroups = true;
@@ -16,7 +16,7 @@ control_core_derive = { path = "../control-core-derive" }

 uom = { version = "0.36.0", default-features = false, features = ["f64"] }
 serde = "1.0.217"
-anyhow = "1.0.99"
+anyhow = "1.0.100"

 bitvec = "1.0.1"
 lazy_static = "1.5.0"
@@ -26,14 +26,14 @@ euclid = "0.22.11"
 # concurrency
 smol = "2.0.2"
 tokio = { version = "1.45.1", features = ["rt-multi-thread"] }
-regex = "1.11.2"
+regex = "1.11.3"
 futures = "0.3.31"

 # web
 serde_json = "1.0.143"
 socketioxide = { version = "0.17.2", features = ["msgpack"] }
 tower-http = { version = "0.6.6", features = ["cors", "trace", "fs"] }
-axum = { version = "0.8.4", features = ["macros"] }
+axum = { version = "0.8.6", features = ["macros"] }

 # serial
 serialport = "4.7.3"
@@ -55,9 +55,9 @@ opentelemetry-otlp = { version = "0.30.0", features = [
 ], optional = true }
 tonic = { version = "0.13.1", optional = true }

-[target.'cfg(not(target_env = "msvc"))'.dependencies]
-tikv-jemallocator = { version = "0.6", features = ["profiling", "stats"] }
-tikv-jemalloc-ctl = "0.6"
+#[target.'cfg(not(target_env = "msvc"))'.dependencies]
+#tikv-jemallocator = { version = "0.6", features = ["profiling", "stats"] }
+#tikv-jemalloc-ctl = "0.6"

 [dev-dependencies]
 approx = "0.5.1"
@@ -1,6 +1,7 @@
 use crate::ethercat::config::{MAX_SUBDEVICES, PDI_LEN};
 use crate::performance_metrics::EthercatPerformanceMetrics;
 use crate::serial::registry::SERIAL_DEVICE_REGISTRY;
+use crate::socketio::main_namespace::machines_event::MachineObj;
 use crate::socketio::namespaces::Namespaces;
 use control_core::machines::Machine;
 use control_core::machines::identification::{DeviceIdentification, MachineIdentificationUnique};
@@ -90,4 +91,22 @@ impl AppState {
            performance_metrics: Arc::new(RwLock::new(EthercatPerformanceMetrics::new())),
        }
    }
+
+    pub fn get_machine_objs(&self) -> Vec<MachineObj> {
+        let machines = self.machines.read_blocking();
+        machines
+            .iter()
+            .map(|machine| {
+                let error = {
+                    let slot = machine.1.lock_blocking();
+                    slot.machine_connection.to_error().map(|e| e.to_string())
+                };
+
+                MachineObj {
+                    machine_identification_unique: machine.0.clone(),
+                    error,
+                }
+            })
+            .collect()
+    }
 }
@@ -235,7 +235,7 @@ pub async fn setup_loop(
            .write()
            .await
            .main_namespace;
-        let event = MachinesEventBuilder().build(app_state_clone.clone()).await;
+        let event = MachinesEventBuilder().build(app_state_clone.clone());
        main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
    });

@@ -1,64 +0,0 @@
-use std::{thread::sleep, time::Duration};
-
-pub fn init_jemalloc_stats() {
-    std::thread::Builder::new()
-        .name("jemalloc-stats".to_string())
-        .spawn(|| {
-            let mut last_allocated = 0usize;
-            let mut last_time = std::time::Instant::now();
-
-            loop {
-                smol::block_on(async {
-                    sleep(Duration::from_secs(10));
-                    // Advance epoch and get allocated bytes
-                    let _ = tikv_jemalloc_ctl::epoch::advance();
-
-                    if let Ok(allocated_bytes) =
-                        unsafe { tikv_jemalloc_ctl::raw::read::<usize>(b"stats.allocated\0") }
-                    {
-                        let current_time = std::time::Instant::now();
-                        let time_diff = current_time.duration_since(last_time).as_secs_f64();
-
-                        let change = allocated_bytes as i64 - last_allocated as i64;
-                        let change_per_sec = if time_diff > 0.0 {
-                            (change as f64 / time_diff) as i64
-                        } else {
-                            0
-                        };
-
-                        let change_str = if change_per_sec >= 0 {
-                            format!("+{} KB/s", format_bytes(change_per_sec))
-                        } else {
-                            format!("-{} KB/s", format_bytes(-change_per_sec))
-                        };
-
-                        let formatted = format_bytes(allocated_bytes as i64);
-
-                        tracing::debug!("Memory: {} KB ({})", formatted, change_str);
-                        last_allocated = allocated_bytes;
-                        last_time = current_time;
-                    }
-                });
-            }
-        })
-        .expect("Failed to spawn jemalloc-stats thread");
-}
-
-fn format_bytes(bytes: i64) -> String {
-    let kb = bytes / 1024;
-    format!("{}", kb)
-        .chars()
-        .rev()
-        .enumerate()
-        .map(|(i, c)| {
-            if i > 0 && i % 3 == 0 {
-                format!("_{}", c)
-            } else {
-                c.to_string()
-            }
-        })
-        .collect::<String>()
-        .chars()
-        .rev()
-        .collect::<String>()
-}
@@ -1,6 +1,7 @@
 use crate::app_state::AppState;
 use crate::panic::{PanicDetails, send_panic};
 use bitvec::prelude::*;
+use control_core::machines::connection::MachineConnection;
 use control_core::realtime::{set_core_affinity, set_realtime_priority};
 use smol::channel::Sender;
 use std::sync::Arc;
@@ -144,7 +145,8 @@ pub async fn loop_once<'maindevice>(app_state: Arc<AppState>) -> Result<(), anyh
        let now = std::time::Instant::now();

        for machine in machine_guard.iter() {
-            if let Ok(machine) = machine.1 {
+            let connection = &machine.1.lock_blocking().machine_connection;
+            if let MachineConnection::Connected(machine) = connection {
                // if the machine is currenlty locked (likely processing API call)
                // we skip the machine
                if let Some(mut machine_guard) = machine.try_lock() {
@@ -13,8 +13,7 @@ use control_core::{
 };
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use tracing::instrument;

 #[derive(Serialize, Debug, Clone, Default)]
@@ -94,7 +93,7 @@ enum Mutation {

 #[derive(Debug)]
 pub struct AquaPathV1Namespace {
-    pub namespace: Namespace,
+    pub namespace: Arc<Mutex<Namespace>>,
 }

 impl NamespaceCacheingLogic<AquaPathV1Events> for AquaPathV1Namespace {
@@ -102,15 +101,9 @@ impl NamespaceCacheingLogic<AquaPathV1Events> for AquaPathV1Namespace {
    fn emit(&mut self, events: AquaPathV1Events) {
        let event = Arc::new(events.event_value());
        let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
-    }
-}

-impl AquaPathV1Namespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
    }
 }

@@ -156,7 +149,7 @@ impl MachineApi for AquaPathV1 {
        Ok(())
    }

-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
    }
 }
@@ -1,8 +1,9 @@
 use control_core::{
-    machines::identification::MachineIdentification, socketio::namespace::NamespaceCacheingLogic,
+    machines::identification::{MachineIdentification, MachineIdentificationUnique},
+    socketio::namespace::NamespaceCacheingLogic,
 };
-use control_core_derive::Machine;

+use control_core_derive::Machine;
 use serde::{Deserialize, Serialize};
 use std::time::Instant;
 use uom::si::{
@@ -79,12 +80,14 @@ impl Default for Flow {

 #[derive(Debug, Machine)]
 pub struct AquaPathV1 {
+    machine_identification_unique: MachineIdentificationUnique,
    namespace: AquaPathV1Namespace,
    mode: AquaPathV1Mode,
    last_measurement_emit: Instant,
    front_controller: Controller,
    back_controller: Controller,
 }
+
 impl AquaPathV1 {
    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
        vendor: VENDOR_QITECH,
@@ -1,20 +1,16 @@
 use super::{AquaPathV1, AquaPathV1Mode};
-use crate::machines::aquapath1::{
-    Flow, Temperature, api::AquaPathV1Namespace, controller::Controller,
+use crate::machines::{
+    aquapath1::{Flow, Temperature, api::AquaPathV1Namespace, controller::Controller},
+    get_ethercat_device,
 };
 use anyhow::Error;
-use control_core::machines::{
-    identification::DeviceHardwareIdentification,
-    new::{
-        MachineNewHardware, MachineNewParams, MachineNewTrait, get_device_identification_by_role,
-        get_ethercat_device_by_index, get_subdevice_by_index, validate_no_role_dublicates,
-        validate_same_machine_identification_unique,
-    },
+use control_core::machines::new::{
+    MachineNewHardware, MachineNewParams, MachineNewTrait, get_subdevice_by_index,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
 };
 use ethercat_hal::{
    coe::ConfigurableDevice,
    devices::{
-        EthercatDeviceUsed, downcast_device,
        ek1100::{EK1100, EK1100_IDENTITY_A},
        el2008::{EL2008, EL2008_IDENTITY_A, EL2008Port},
        el3204::{EL3204, EL3204_IDENTITY_A, EL3204_IDENTITY_B, EL3204Port},
@@ -23,7 +19,6 @@ use ethercat_hal::{
            EL5152, EL5152_IDENTITY_A, EL5152Configuration, EL5152Port,
            EL5152PredefinedPdoAssignment,
        },
-        subdevice_identity_to_tuple,
    },
    io::{
        analog_output::AnalogOutput, digital_output::DigitalOutput, encoder_input::EncoderInput,
@@ -56,217 +51,46 @@ impl MachineNewTrait for AquaPathV1 {

        smol::block_on(async {
            // Role 0 - Buscoupler EK1100
-            {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 0)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 0 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EK1100_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EK1100>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 0 is not an EK1100",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-            }
+            let _ek1100 =
+                get_ethercat_device::<EK1100>(hardware, params, 0, [EK1100_IDENTITY_A].to_vec());

            // Role 1 - EL2008 Digital Output Module
-            let el2008 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 1)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 1 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL2008_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL2008>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 1 is not an EL2008",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
+            let el2008 =
+                get_ethercat_device::<EL2008>(hardware, params, 1, [EL2008_IDENTITY_A].to_vec())
+                    .await?
+                    .0;

            // Role 2 - EL4002 Analog Output Module
-            let el4002 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 2)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 2 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
+            let el4002 =
+                get_ethercat_device::<EL4002>(hardware, params, 2, [EL4002_IDENTITY_A].to_vec())
+                    .await?
+                    .0;

-                let subdevice = get_subdevice_by_index(
-                    hardware.subdevices,
-                    device_hardware_identification_ethercat.subdevice_index,
-                )?;
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice_identity = subdevice.identity();
+            let el3204 = get_ethercat_device::<EL3204>(
+                hardware,
+                params,
+                3,
+                [EL3204_IDENTITY_A, EL3204_IDENTITY_B].to_vec(),
+            )
+            .await?
+            .0;

-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL4002_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL4002>(ethercat_device).await?
-                    }
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 2 is not an EL4002",
-                        module_path!()
-                    ))?,
-                };
+            let el5152 =
+                get_ethercat_device::<EL5152>(hardware, params, 4, [EL5152_IDENTITY_A].to_vec())
+                    .await?
+                    .0;

-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
-            let el3204 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 3)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 3 is not Ethercat",
-                        module_path!()
-                    ))?, //uncommented
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL3204_IDENTITY_A | EL3204_IDENTITY_B => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL3204>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 3 is not an EL3204",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
+            let config = EL5152Configuration {
+                pdo_assignment: EL5152PredefinedPdoAssignment::Frequency,
+                ..Default::default()
            };
+            let subdevice = get_subdevice_by_index(hardware.subdevices, 4)?;
+            el5152
+                .write()
+                .await
+                .write_config(&subdevice, &config)
+                .await?;

-            let el5152 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 4)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/AquaPath1::new] Device with role 4 is not Ethercat",
-                        module_path!()
-                    ))?,
-                };
-
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL5152_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            &hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL5152>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/AquaPath1::new] Device with role 4 is not an EL5152",
-                            module_path!()
-                        ));
-                    }
-                };
-
-                let config = EL5152Configuration {
-                    pdo_assignment: EL5152PredefinedPdoAssignment::Frequency,
-                    ..Default::default()
-                };
-                device
-                    .write()
-                    .await
-                    .write_config(&subdevice, &config)
-                    .await?;
-
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
            let enc1 = EncoderInput::new(el5152.clone(), EL5152Port::ENC1);

            let enc2 = EncoderInput::new(el5152.clone(), EL5152Port::ENC2);
@@ -338,7 +162,10 @@ impl MachineNewTrait for AquaPathV1 {
            );

            let mut water_cooling = Self {
-                namespace: AquaPathV1Namespace::new(params.socket_queue_tx.clone()),
+                machine_identification_unique: params.get_machine_identification_unique(),
+                namespace: AquaPathV1Namespace {
+                    namespace: params.namespace.clone(),
+                },
                mode: AquaPathV1Mode::Standby,
                last_measurement_emit: Instant::now(),
                front_controller,
@@ -2,6 +2,7 @@ use std::time::{Duration, Instant};

 use super::BufferV1;
 use control_core::machines::new::MachineAct;
+
 impl MachineAct for BufferV1 {
    fn act(&mut self, now: Instant) {
        // if last measurement is older than 1 second, emit a new measurement
@@ -2,7 +2,10 @@ use std::{sync::Arc, time::Duration};

 use super::{BufferV1, BufferV1Mode};
 use control_core::{
-    machines::{api::MachineApi, identification::MachineIdentificationUnique},
+    machines::{
+        api::MachineApi, connection::MachineCrossConnectionState,
+        identification::MachineIdentificationUnique,
+    },
    socketio::{
        event::{Event, GenericEvent},
        namespace::{
@@ -13,8 +16,7 @@ use control_core::{
 };
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use tracing::instrument;

 #[derive(Serialize, Debug, Clone, Default)]
@@ -31,7 +33,7 @@ pub struct StateEvent {
    /// mode state
    pub mode_state: ModeState,
    /// connected machine state
-    pub connected_machine_state: ConnectedMachineState,
+    pub connected_machine_state: MachineCrossConnectionState,
 }

 impl StateEvent {
@@ -78,7 +80,7 @@ enum Mutation {

 #[derive(Debug)]
 pub struct Buffer1Namespace {
-    pub namespace: Namespace,
+    pub namespace: Arc<Mutex<Namespace>>,
 }

 impl NamespaceCacheingLogic<BufferV1Events> for Buffer1Namespace {
@@ -86,15 +88,9 @@ impl NamespaceCacheingLogic<BufferV1Events> for Buffer1Namespace {
    fn emit(&mut self, events: BufferV1Events) {
        let event = Arc::new(events.event_value());
        let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
-    }
-}

-impl Buffer1Namespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
    }
 }

@@ -132,7 +128,7 @@ impl MachineApi for BufferV1 {
        Ok(())
    }

-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
    }
 }
@@ -5,26 +5,20 @@ pub mod new;

 use api::{Buffer1Namespace, BufferV1Events, LiveValuesEvent, ModeState, StateEvent};
 use buffer_tower_controller::BufferTowerController;
+use control_core::machines::connection::{CrossConnectableMachine, MachineCrossConnection};
 use control_core::{
    machines::{
-        ConnectedMachine, ConnectedMachineData, downcast_machine,
        identification::{MachineIdentification, MachineIdentificationUnique},
        manager::MachineManager,
    },
    socketio::namespace::NamespaceCacheingLogic,
 };
 use control_core_derive::Machine;
-use futures::executor::block_on;
 use serde::{Deserialize, Serialize};
-use smol::lock::{Mutex, RwLock};
-use std::{
-    sync::{Arc, Weak},
-    time::Instant,
-};
+use smol::lock::RwLock;
+use std::{sync::Weak, time::Instant};

-use crate::machines::{
-    MACHINE_BUFFER_V1, VENDOR_QITECH, buffer1::api::ConnectedMachineState, winder2::Winder2,
-};
+use crate::machines::{MACHINE_BUFFER_V1, VENDOR_QITECH, winder2::Winder2};

 #[derive(Debug, Machine)]
 pub struct BufferV1 {
@@ -40,12 +34,18 @@ pub struct BufferV1 {
    pub machine_identification_unique: MachineIdentificationUnique,

    // connected machines
-    pub connected_winder: Option<ConnectedMachine<Weak<Mutex<Winder2>>>>,
+    pub connected_winder: MachineCrossConnection<BufferV1, Winder2>,

    // mode
    mode: BufferV1Mode,
 }

+impl CrossConnectableMachine<BufferV1, Winder2> for BufferV1 {
+    fn get_cross_connection(&mut self) -> &mut MachineCrossConnection<BufferV1, Winder2> {
+        &mut self.connected_winder
+    }
+}
+
 impl std::fmt::Display for BufferV1 {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        write!(f, "BufferV1")
@@ -57,9 +57,6 @@ impl BufferV1 {
        vendor: VENDOR_QITECH,
        machine: MACHINE_BUFFER_V1,
    };
-}
-
-impl BufferV1 {
    pub fn emit_live_values(&mut self) {
        let live_values = LiveValuesEvent {};

@@ -72,28 +69,13 @@ impl BufferV1 {
            mode_state: ModeState {
                mode: self.mode.clone(),
            },
-            connected_machine_state: ConnectedMachineState {
-                machine_identification_unique: self.connected_winder.as_ref().map(
-                    |connected_machine| {
-                        ConnectedMachineData::from(connected_machine).machine_identification_unique
-                    },
-                ),
-                is_available: self
-                    .connected_winder
-                    .as_ref()
-                    .map(|connected_machine| {
-                        ConnectedMachineData::from(connected_machine).is_available
-                    })
-                    .unwrap_or(false),
-            },
+            connected_machine_state: self.connected_winder.to_state(),
        };

        let event = state.build();
        self.namespace.emit(BufferV1Events::State(event));
    }
-}

-impl BufferV1 {
    // To be implemented
    fn fill_buffer(&mut self) {
        todo!();
@@ -146,17 +128,13 @@ impl BufferV1 {
            BufferV1Mode::EmptyingBuffer => self.switch_to_emptying(),
        }
    }
-}

-impl BufferV1 {
    fn set_mode_state(&mut self, mode: BufferV1Mode) {
        self.switch_mode(mode);
        self.emit_state();
    }
-}

-/// Connecting/Disconnecting machine
-impl BufferV1 {
+    /// Connecting/Disconnecting machine
    /// set connected winder
    pub fn set_connected_winder(
        &mut self,
@@ -168,34 +146,13 @@ impl BufferV1 {
        ) {
            return;
        }
-        let machine_manager_arc = match self.machine_manager.upgrade() {
-            Some(machine_manager_arc) => machine_manager_arc,
-            None => return,
-        };
-        let machine_manager_guard = block_on(machine_manager_arc.read());
-        let winder2_weak = machine_manager_guard.get_machine_weak(&machine_identification_unique);
-        let winder2_weak = match winder2_weak {
-            Some(winder2_weak) => winder2_weak,
-            None => return,
-        };
-        let winder2_strong = match winder2_weak.upgrade() {
-            Some(winder2_strong) => winder2_strong,
-            None => return,
-        };

-        let winder2: Arc<Mutex<Winder2>> = block_on(downcast_machine::<Winder2>(winder2_strong))
-            .expect("failed downcasting machine");
-
-        let machine = Arc::downgrade(&winder2);
-
-        self.connected_winder = Some(ConnectedMachine {
-            machine_identification_unique,
-            machine,
-        });
+        self.connected_winder
+            .set_connected_machine(&machine_identification_unique);

        self.emit_state();

-        self.reverse_connect();
+        self.connected_winder.reverse_connect();
    }

    /// disconnect winder
@@ -209,36 +166,9 @@ impl BufferV1 {
        ) {
            return;
        }
-        if let Some(connected) = &self.connected_winder {
-            if let Some(winder2_arc) = connected.machine.upgrade() {
-                let future = async move {
-                    let mut winder2 = winder2_arc.lock().await;
-                    if winder2.connected_buffer.is_some() {
-                        winder2.connected_buffer = None;
-                        winder2.emit_state();
-                    }
-                };
-                smol::spawn(future).detach();
-            }
-        }
-        self.connected_winder = None;
-        self.emit_state();
-    }

-    /// initiate connection from winder to buffer
-    pub fn reverse_connect(&mut self) {
-        let machine_identification_unique = self.machine_identification_unique.clone();
-        if let Some(connected) = &self.connected_winder {
-            if let Some(winder2_arc) = connected.machine.upgrade() {
-                let future = async move {
-                    let mut winder2 = winder2_arc.lock().await;
-                    if winder2.connected_buffer.is_none() {
-                        winder2.set_connected_buffer(machine_identification_unique);
-                    }
-                };
-                smol::spawn(future).detach();
-            }
-        }
+        self.connected_winder.disconnect();
+        self.emit_state();
    }
 }

@@ -1,208 +1,125 @@
 use std::time::Instant;

 use anyhow::Error;
-use control_core::machines::identification::DeviceHardwareIdentification;
+use control_core::machines::connection::MachineCrossConnection;
 use control_core::machines::new::{
-    MachineNewHardware, MachineNewParams, MachineNewTrait, get_device_identification_by_role,
-    get_ethercat_device_by_index, get_subdevice_by_index, validate_no_role_dublicates,
+    MachineNewHardware, MachineNewParams, MachineNewTrait, validate_no_role_dublicates,
    validate_same_machine_identification_unique,
 };
-use ethercat_hal::coe::ConfigurableDevice;
-use ethercat_hal::devices::ek1100::EK1100;
-use ethercat_hal::devices::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::{self, EL7031_0030, EL7031_0030_IDENTITY_A};
-use ethercat_hal::devices::el7041_0052::coe::EL7041_0052Configuration;
-use ethercat_hal::devices::el7041_0052::{EL7041_0052, EL7041_0052_IDENTITY_A, EL7041_0052Port};
-use ethercat_hal::devices::{EthercatDeviceUsed, downcast_device, subdevice_identity_to_tuple};
-use ethercat_hal::io::stepper_velocity_el70x1::StepperVelocityEL70x1;
-use ethercat_hal::shared_config;
-use ethercat_hal::shared_config::el70x1::{EL70x1OperationMode, StmMotorConfiguration};
+use ethercat_hal::{
+    coe::ConfigurableDevice,
+    devices::el7031_0030::coe::EL7031_0030Configuration,
+    devices::el7031_0030::pdo::EL7031_0030PredefinedPdoAssignment,
+    devices::el7041_0052::coe::EL7041_0052Configuration,
+    devices::{
+        EthercatDeviceUsed,
+        ek1100::{EK1100, EK1100_IDENTITY_A},
+        el7031_0030::{EL7031_0030, EL7031_0030_IDENTITY_A},
+        el7041_0052::{EL7041_0052, EL7041_0052_IDENTITY_A, EL7041_0052Port},
+    },
+    io::stepper_velocity_el70x1::StepperVelocityEL70x1,
+    shared_config,
+    shared_config::el70x1::{EL70x1OperationMode, StmMotorConfiguration},
+};

 use crate::machines::buffer1::BufferV1Mode;
 use crate::machines::buffer1::buffer_tower_controller::BufferTowerController;
+use crate::machines::get_ethercat_device;

 use super::{BufferV1, api::Buffer1Namespace};

 impl MachineNewTrait for BufferV1 {
-    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
+    fn new<'maindevice>(
+        params: &MachineNewParams<'maindevice, '_, '_, '_, '_, '_, '_>,
+    ) -> Result<Self, Error> {
        // validate general stuff
        let device_identification = params.device_group.to_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/Buffer::new] MachineNewHardware is not Ethercat",
-                    module_path!()
-                ));
-            }
-        };
+        let hardware: &&control_core::machines::new::MachineNewHardwareEthercat<'_, '_, '_> =
+            match &params.hardware {
+                MachineNewHardware::Ethercat(x) => x,
+                _ => {
+                    return Err(anyhow::anyhow!(
+                        "[{}::MachineNewTrait/Buffer::new] MachineNewHardware is not Ethercat",
+                        module_path!()
+                    ));
+                }
+            };

        smol::block_on(async {
-            // Role 0
-            // Buscoupler
-            // EK1100
+            // Role 0 - Buscoupler EK1100
+            let _ek1100 =
+                get_ethercat_device::<EK1100>(hardware, params, 0, [EK1100_IDENTITY_A].to_vec())
+                    .await?
+                    .0;
+
+            // Role 1 - Stepper Buffer EL7041-0052
+            let (el7041, subdevice) = get_ethercat_device::<EL7041_0052>(
+                hardware,
+                params,
+                1,
+                [EL7041_0052_IDENTITY_A].to_vec(),
+            )
+            .await?;
+
+            let el7041_config = EL7041_0052Configuration {
+                stm_features: shared_config::el70x1::StmFeatures {
+                    operation_mode: EL70x1OperationMode::DirectVelocity,
+                    ..Default::default()
+                },
+                stm_motor: StmMotorConfiguration {
+                    max_current: 6000,
+                    ..Default::default()
+                },
+                ..Default::default()
+            };
+
+            el7041
+                .write()
+                .await
+                .write_config(&subdevice, &el7041_config)
+                .await?;
            {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 0)?;
-                let device_hardware_identification_ethercat =
-                    match &device_identification.device_hardware_identification {
-                        DeviceHardwareIdentification::Ethercat(
-                            device_hardware_identification_ethercat,
-                        ) => device_hardware_identification_ethercat,
-                        _ => Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Buffer::new] Device with role 0 is not Ethercat",
-                            module_path!()
-                        ))?, //uncommented
-                    };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EK1100_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EK1100>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Buffer::new] Device with role 0 is not an EK1100",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
+                let mut device_guard = el7041.write().await;
+                device_guard.set_used(true);
            }

-            // Role 1
-            // 1x Stepper Buffer
-            // EL7041-0052
-            let (el7041, _el7041_config) = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 1)?;
-                let device_hardware_identification_ethercat =
-                    match &device_identification.device_hardware_identification {
-                        DeviceHardwareIdentification::Ethercat(
-                            device_hardware_identification_ethercat,
-                        ) => device_hardware_identification_ethercat,
-                        _ => Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Buffer::new] Device with role 1 is not Ethercat",
-                            module_path!()
-                        ))?,
-                    };
-                let subdevice = get_subdevice_by_index(
-                    hardware.subdevices,
-                    device_hardware_identification_ethercat.subdevice_index,
-                )?;
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL7041_0052_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL7041_0052>(ethercat_device).await?
-                    }
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/Buffer::new] Device with role 1 is not an EL7041-0052",
-                        module_path!()
-                    ))?,
-                };
-                let config = EL7041_0052Configuration {
-                    stm_features: shared_config::el70x1::StmFeatures {
-                        operation_mode: EL70x1OperationMode::DirectVelocity,
-                        ..Default::default()
-                    },
-                    stm_motor: StmMotorConfiguration {
-                        max_current: 6000,
-                        ..Default::default()
-                    },
+            // Role 2 - Stepper Puller EL7031-0030
+            let (el7031, subdevice) = get_ethercat_device::<EL7031_0030>(
+                hardware,
+                params,
+                2,
+                [EL7031_0030_IDENTITY_A].to_vec(),
+            )
+            .await?;
+
+            let el7031_config = EL7031_0030Configuration {
+                stm_features: ethercat_hal::devices::el7031_0030::coe::StmFeatures {
+                    operation_mode: EL70x1OperationMode::DirectVelocity,
+                    // Max Speed of 1000 steps/s
+                    // Max @ 8cm diameter = approx 75 m/min
+                    speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
                    ..Default::default()
-                };
-                device
-                    .write()
-                    .await
-                    .write_config(subdevice, &config)
-                    .await?;
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                (device, config)
+                },
+                stm_motor: StmMotorConfiguration {
+                    max_current: 1500,
+                    ..Default::default()
+                },
+                pdo_assignment: EL7031_0030PredefinedPdoAssignment::VelocityControlCompact,
+                ..Default::default()
            };

-            // Role 2
-            // 1x Stepper Puller
-            // EL7031
-            let (_el7031_0030, _el7031_0030_config) = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 2)?;
-                let device_hardware_identification_ethercat =
-                    match &device_identification.device_hardware_identification {
-                        DeviceHardwareIdentification::Ethercat(
-                            device_hardware_identification_ethercat,
-                        ) => device_hardware_identification_ethercat,
-                        _ => Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Buffer::new] Device with role 2 is not Ethercat",
-                            module_path!()
-                        ))?,
-                    };
-                let subdevice = get_subdevice_by_index(
-                    hardware.subdevices,
-                    device_hardware_identification_ethercat.subdevice_index,
-                )?;
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL7031_0030_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL7031_0030>(ethercat_device).await?
-                    }
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/Buffer1::new] Device with role 2 is not an EL7031-0030",
-                        module_path!()
-                    ))?,
-                };
-                let config = EL7031_0030Configuration {
-                    stm_features: el7031_0030::coe::StmFeatures {
-                        operation_mode: EL70x1OperationMode::DirectVelocity,
-                        // Max Speed of 1000 steps/s
-                        // Max @ 8cm diameter = approx 75 m/min
-                        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
-                    .write()
-                    .await
-                    .write_config(subdevice, &config)
-                    .await?;
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                (device, config)
-            };
+            el7031
+                .write()
+                .await
+                .write_config(&subdevice, &el7031_config)
+                .await?;
+            {
+                let mut device_guard = el7031.write().await;
+                device_guard.set_used(true);
+            }

            // Controller
            let buffer_tower_controller = BufferTowerController::new(StepperVelocityEL70x1::new(
@@ -210,23 +127,22 @@ impl MachineNewTrait for BufferV1 {
                EL7041_0052Port::STM1,
            ));

-            let machine_id = params
-                .device_group
-                .first()
-                .expect("device group must have at least one device")
-                .device_machine_identification
-                .machine_identification_unique
-                .clone();
+            let machine_identification_unique = params.get_machine_identification_unique();

            // create buffer instance
-            let mut buffer: Self = Self {
-                namespace: Buffer1Namespace::new(params.socket_queue_tx.clone()),
+            let mut buffer: BufferV1 = Self {
+                namespace: Buffer1Namespace {
+                    namespace: params.namespace.clone(),
+                },
                last_measurement_emit: Instant::now(),
                mode: BufferV1Mode::Standby,
                buffer_tower_controller,
                machine_manager: params.machine_manager.clone(),
-                machine_identification_unique: machine_id,
-                connected_winder: None,
+                machine_identification_unique: machine_identification_unique.clone(),
+                connected_winder: MachineCrossConnection::new(
+                    params.machine_manager.clone(),
+                    &machine_identification_unique,
+                ),
            };
            buffer.emit_state();
            Ok(buffer)
@@ -1,26 +1,25 @@
-use super::{ExtruderV2Mode, HeatingType, mitsubishi_cs80::MotorStatus};
+use super::{ExtruderV2Mode, mitsubishi_cs80::MotorStatus};

 #[cfg(not(feature = "mock-machine"))]
 use super::ExtruderV2;

-#[cfg(feature = "mock-machine")]
-use super::mock::ExtruderV2;
+#[cfg(not(feature = "mock-machine"))]
+use crate::machines::extruder1::HeatingType;

-use control_core::{
-    machines::api::MachineApi,
-    socketio::{
-        event::{Event, GenericEvent},
-        namespace::{
-            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
-            cache_first_and_last_event,
-        },
+#[cfg(not(feature = "mock-machine"))]
+use control_core::machines::api::MachineApi;
+use control_core::socketio::{
+    event::{Event, GenericEvent},
+    namespace::{
+        CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
+        cache_first_and_last_event,
    },
 };
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
+#[cfg(not(feature = "mock-machine"))]
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use std::{sync::Arc, time::Duration};
 use tracing::instrument;
 use uom::si::{
@@ -225,7 +224,7 @@ pub enum Mutation {

 #[derive(Debug)]
 pub struct ExtruderV2Namespace {
-    pub namespace: Namespace,
+    pub namespace: Arc<Mutex<Namespace>>,
 }

 impl NamespaceCacheingLogic<ExtruderV2Events> for ExtruderV2Namespace {
@@ -233,15 +232,9 @@ impl NamespaceCacheingLogic<ExtruderV2Events> for ExtruderV2Namespace {
    fn emit(&mut self, events: ExtruderV2Events) {
        let event = Arc::new(events.event_value());
        let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
-    }
-}

-impl ExtruderV2Namespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
    }
 }

@@ -303,7 +296,7 @@ impl MachineApi for ExtruderV2 {
        Ok(())
    }

-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
    }
 }
@@ -8,16 +8,21 @@ use crate::machines::extruder1::{
        RotationState, ScrewState, StateEvent,
    },
 };
-use control_core::{
-    helpers::hasher_serializer::hash_with_serde_model,
-    socketio::{event::BuildEvent, namespace::NamespaceCacheingLogic},
-};
-use uom::si::{
-    angular_velocity::revolution_per_minute,
-    f64::{AngularVelocity, Pressure, ThermodynamicTemperature},
-    pressure::bar,
-    thermodynamic_temperature::degree_celsius,
-};
+#[cfg(not(feature = "mock-machine"))]
+use control_core::helpers::hasher_serializer::hash_with_serde_model;
+#[cfg(not(feature = "mock-machine"))]
+use control_core::socketio::event::BuildEvent;
+#[cfg(not(feature = "mock-machine"))]
+use control_core::socketio::namespace::NamespaceCacheingLogic;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::{angular_velocity::revolution_per_minute, thermodynamic_temperature::degree_celsius};
+
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::angular_velocity::AngularVelocity;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::pressure::{Pressure, bar};
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::thermodynamic_temperature::ThermodynamicTemperature;

 #[cfg(not(feature = "mock-machine"))]
 impl ExtruderV2 {
@@ -199,7 +204,6 @@ impl ExtruderV2 {
    }

    pub fn set_nozzle_pressure_limit(&mut self, pressure: f64) {
-        use uom::si::pressure::bar;
        self.screw_speed_controller
            .set_nozzle_pressure_limit(Pressure::new::<bar>(pressure));
        self.emit_state();
@@ -244,7 +248,6 @@ impl ExtruderV2 {
    }

    pub fn set_target_rpm(&mut self, rpm: f64) {
-        use uom::si::angular_velocity::revolution_per_minute;
        self.screw_speed_controller
            .set_target_screw_rpm(AngularVelocity::new::<revolution_per_minute>(rpm));
        self.emit_state();
@@ -1,5 +1,8 @@
 use crate::machines::extruder1::{HeatingType, api::Mutation, mock::ExtruderV2};
 use control_core::machines::api::MachineApi;
+use control_core::socketio::namespace::Namespace;
+use smol::lock::Mutex;
+use std::sync::Arc;

 impl MachineApi for ExtruderV2 {
    fn api_mutate(&mut self, request_body: serde_json::Value) -> Result<(), anyhow::Error> {
@@ -38,7 +41,7 @@ impl MachineApi for ExtruderV2 {
        Ok(())
    }

-    fn api_event_namespace(&mut self) -> &mut control_core::socketio::namespace::Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
    }
 }
@@ -1,6 +1,8 @@
 #[cfg(feature = "mock-machine")]
 use control_core::machines::identification::MachineIdentification;
 #[cfg(feature = "mock-machine")]
+use control_core::machines::identification::MachineIdentificationUnique;
+#[cfg(feature = "mock-machine")]
 use control_core_derive::Machine;
 #[cfg(feature = "mock-machine")]
 use std::time::Instant;
@@ -31,6 +33,7 @@ pub mod new;
 #[cfg(feature = "mock-machine")]
 #[derive(Debug, Machine)]
 pub struct ExtruderV2 {
+    machine_identification_unique: MachineIdentificationUnique,
    namespace: ExtruderV2Namespace,
    last_measurement_emit: Instant,
    last_status_hash: Option<u64>,
@@ -32,7 +32,10 @@ impl control_core::machines::new::MachineNewTrait for ExtruderV2 {
        let now = std::time::Instant::now();

        let mut extruder_mock_machine = Self {
-            namespace: ExtruderV2Namespace::new(params.socket_queue_tx.clone()),
+            machine_identification_unique: params.get_machine_identification_unique(),
+            namespace: ExtruderV2Namespace {
+                namespace: params.namespace.clone(),
+            },
            last_measurement_emit: now,

            mode: ExtruderV2Mode::Standby, // Start in standby mode
@@ -1,15 +1,26 @@
-use crate::machines::{MACHINE_EXTRUDER_V1, VENDOR_QITECH};
-use api::ExtruderV2Namespace;
-use control_core::machines::identification::MachineIdentification;
-use control_core_derive::Machine;
-use screw_speed_controller::ScrewSpeedController;
-use serde::{Deserialize, Serialize};
+#[cfg(not(feature = "mock-machine"))]
 use std::time::Instant;
-use temperature_controller::TemperatureController;
-use uom::si::{
-    electric_current::ampere, electric_potential::volt, f64::ThermodynamicTemperature,
-    thermodynamic_temperature::degree_celsius,
+
+#[cfg(not(feature = "mock-machine"))]
+use control_core::machines::identification::{MachineIdentification, MachineIdentificationUnique};
+#[cfg(not(feature = "mock-machine"))]
+use control_core_derive::Machine;
+use serde::{Deserialize, Serialize};
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::electric_current::ampere;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::electric_potential::volt;
+use uom::si::{f64::ThermodynamicTemperature, thermodynamic_temperature::degree_celsius};
+
+#[cfg(not(feature = "mock-machine"))]
+use crate::machines::{
+    MACHINE_EXTRUDER_V1, VENDOR_QITECH,
+    extruder1::{
+        api::ExtruderV2Namespace, screw_speed_controller::ScrewSpeedController,
+        temperature_controller::TemperatureController,
+    },
 };
+
 pub mod act;
 pub mod api;
 pub mod emit;
@@ -52,9 +63,10 @@ pub enum HeatingType {
    Middle,
 }

-#[derive(Debug, Machine)]
 #[cfg(not(feature = "mock-machine"))]
+#[derive(Debug, Machine)]
 pub struct ExtruderV2 {
+    machine_identification_unique: MachineIdentificationUnique,
    namespace: ExtruderV2Namespace,
    last_measurement_emit: Instant,
    last_status_hash: Option<u64>,
@@ -126,6 +138,9 @@ impl ExtruderV2 {
    }

    // Funktionen ohne emit_state bleiben hier
+
+    // Set all relais to ZERO
+    // We dont need a function to enable again though, as the act Loop will detect the mode
    fn turn_heating_off(&mut self) {
        self.temperature_controller_back.disable();
        self.temperature_controller_front.disable();
@@ -1,310 +1,141 @@
 #[cfg(not(feature = "mock-machine"))]
-use super::{
-    ExtruderV2, ExtruderV2Mode, Heating, api::ExtruderV2Namespace, mitsubishi_cs80::MitsubishiCS80,
-    screw_speed_controller::ScrewSpeedController,
-};
-use crate::machines::extruder1::temperature_controller::TemperatureController;
+use crate::machines::get_ethercat_device;
+#[cfg(not(feature = "mock-machine"))]
 use anyhow::Error;
-use control_core::machines::{
-    identification::DeviceHardwareIdentification,
-    new::{
-        MachineNewHardware, MachineNewParams, MachineNewTrait, get_device_identification_by_role,
-        get_ethercat_device_by_index, get_subdevice_by_index, validate_no_role_dublicates,
-        validate_same_machine_identification_unique,
-    },
+#[cfg(not(feature = "mock-machine"))]
+use control_core::machines::new::MachineNewHardware;
+#[cfg(not(feature = "mock-machine"))]
+use control_core::machines::new::{MachineNewParams, MachineNewTrait};
+#[cfg(not(feature = "mock-machine"))]
+use control_core::machines::new::{
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
 };
+#[cfg(not(feature = "mock-machine"))]
+use ethercat_hal::coe::ConfigurableDevice;
+#[cfg(not(feature = "mock-machine"))]
+use ethercat_hal::devices::{
+    EthercatDeviceUsed,
+    ek1100::EK1100,
+    ek1100::EK1100_IDENTITY_A,
+    el1002::EL1002,
+    el1002::EL1002_IDENTITY_A,
+    el6021::EL6021,
+    el6021::EL6021Configuration,
+    el6021::EL6021Port,
+    el6021::{EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D},
+};
+#[cfg(not(feature = "mock-machine"))]
+use std::time::Duration;
+#[cfg(not(feature = "mock-machine"))]
+use std::time::Instant;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::angular_velocity::AngularVelocity;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::angular_velocity::revolution_per_minute;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::pressure::Pressure;
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::pressure::bar;
+
+#[cfg(not(feature = "mock-machine"))]
 use ethercat_hal::{
-    coe::ConfigurableDevice,
    devices::{
-        EthercatDeviceUsed, downcast_device,
-        ek1100::{EK1100, EK1100_IDENTITY_A},
-        el1002::{EL1002, EL1002_IDENTITY_A},
        el2004::{EL2004, EL2004_IDENTITY_A, EL2004Port},
        el3021::{EL3021, EL3021_IDENTITY_A, EL3021Port},
        el3204::{EL3204, EL3204_IDENTITY_A, EL3204_IDENTITY_B, EL3204Port},
-        el6021::{
-            self, EL6021, EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C,
-            EL6021_IDENTITY_D, EL6021Configuration,
-        },
-        subdevice_identity_to_tuple,
    },
    io::{
        analog_input::AnalogInput, digital_output::DigitalOutput,
        serial_interface::SerialInterface, temperature_input::TemperatureInput,
    },
 };
-use std::time::{Duration, Instant};
-use uom::si::{
-    angular_velocity::revolution_per_minute,
-    f64::{AngularVelocity, Pressure, ThermodynamicTemperature},
-    pressure::bar,
-    thermodynamic_temperature::degree_celsius,
+#[cfg(not(feature = "mock-machine"))]
+use uom::si::thermodynamic_temperature::{ThermodynamicTemperature, degree_celsius};
+
+#[cfg(not(feature = "mock-machine"))]
+use crate::machines::extruder1::temperature_controller::TemperatureController;
+
+#[cfg(not(feature = "mock-machine"))]
+use super::{
+    ExtruderV2, ExtruderV2Mode, Heating, api::ExtruderV2Namespace, mitsubishi_cs80::MitsubishiCS80,
+    screw_speed_controller::ScrewSpeedController,
 };

 #[cfg(not(feature = "mock-machine"))]
 impl MachineNewTrait for ExtruderV2 {
    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
        // validate general stuff
+
        let device_identification = params.device_group.to_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/Extruder2::new] MachineNewHardware is not Ethercat",
-                    module_path!()
-                ));
-            }
-        };
+        let hardware: &&control_core::machines::new::MachineNewHardwareEthercat<'_, '_, '_> =
+            match &params.hardware {
+                MachineNewHardware::Ethercat(x) => x,
+                _ => {
+                    return Err(anyhow::anyhow!(
+                        "[{}::MachineNewTrait/Extruder2::new] MachineNewHardware is not Ethercat",
+                        module_path!()
+                    ));
+                }
+            };
+
        // using block_on because making this funciton async creates a lifetime issue
        // if its async the compiler thinks &subdevices is persisted in the future which might never execute
        // so we can't drop subdevices unless this machine is dropped, which is bad
        smol::block_on(async {
-            // Role 0
-            // Buscoupler
-            // EK1100
-            {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 0)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/ExtruderV2::new] Device with role 0 is not Ethercat",
-                        module_path!()
-                    ))?, //uncommented
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EK1100_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EK1100>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/ExtruderV2::new] Device with role 0 is not an EK1100",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-            }
+            // Role 0 - Buscoupler EK1100
+            let _ek1100 =
+                get_ethercat_device::<EK1100>(hardware, params, 0, [EK1100_IDENTITY_A].to_vec());

            // What is its use ?
-            let _el1002 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 1)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/ExtruderV2::new] Device with role 1 is not Ethercat",
-                        module_path!()
-                    ))?, //uncommented
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL1002_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL1002>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/ExtruderV2::new] Device with role 1 is not an EL1002",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
+            let _el1002 =
+                get_ethercat_device::<EL1002>(hardware, params, 1, [EL1002_IDENTITY_A].to_vec())
+                    .await?;

            let el6021 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 2)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/ExtruderV2::new] Device with role 2 is not Ethercat",
-                        module_path!()
-                    ))?, //uncommented
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C
-                    | EL6021_IDENTITY_D => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL6021>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/ExtruderV2::new] Device with role 2 is not an EL6021",
-                            module_path!()
-                        ));
-                    }
-                };
+                let identities = [
+                    EL6021_IDENTITY_A,
+                    EL6021_IDENTITY_B,
+                    EL6021_IDENTITY_C,
+                    EL6021_IDENTITY_D,
+                ]
+                .to_vec();
+                let device = get_ethercat_device::<EL6021>(hardware, params, 2, identities).await?;
+
                device
+                    .0
                    .write()
                    .await
-                    .write_config(subdevice, &EL6021Configuration::default())
+                    .write_config(&device.1, &EL6021Configuration::default())
                    .await?;
                {
-                    let mut device_guard = device.write().await;
+                    let mut device_guard = device.0.write().await;
                    device_guard.set_used(true);
                }
-                device
+                device.0
            };

-            let el2004 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 3)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/ExtruderV2::new] Device with role 3 is not Ethercat",
-                        module_path!()
-                    ))?, //uncommented
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL2004_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL2004>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/ExtruderV2::new] Device with role 3 is not an EL2004",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
+            let el2004 =
+                get_ethercat_device::<EL2004>(hardware, params, 3, [EL2004_IDENTITY_A].to_vec())
+                    .await?
+                    .0;

-            let el3021 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 4)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/ExtruderV2::new] Device with role 4 is not Ethercat",
-                        module_path!()
-                    ))?, //uncommented
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL3021_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL3021>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/ExtruderV2::new] Device with role 4 is not an EL3021",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
+            let el3021 =
+                get_ethercat_device::<EL3021>(hardware, params, 4, [EL3021_IDENTITY_A].to_vec())
+                    .await?
+                    .0;

-            let el3204 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 5)?;
-                let device_hardware_identification_ethercat = match &device_identification
-                    .device_hardware_identification
-                {
-                    DeviceHardwareIdentification::Ethercat(
-                        device_hardware_identification_ethercat,
-                    ) => device_hardware_identification_ethercat,
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/ExtruderV2::new] Device with role 5 is not Ethercat",
-                        module_path!()
-                    ))?, //uncommented
-                };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL3204_IDENTITY_A | EL3204_IDENTITY_B => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL3204>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/ExtruderV2::new] Device with role 5 is not an EL3204",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
+            let el3204 = get_ethercat_device::<EL3204>(
+                hardware,
+                params,
+                5,
+                [EL3204_IDENTITY_A, EL3204_IDENTITY_B].to_vec(),
+            )
+            .await?
+            .0;

            let t1 = TemperatureInput::new(el3204.clone(), EL3204Port::T1);
            let t2 = TemperatureInput::new(el3204.clone(), EL3204Port::T2);
@@ -380,8 +211,7 @@ impl MachineNewTrait for ExtruderV2 {
                0.95,
            );

-            let inverter =
-                MitsubishiCS80::new(SerialInterface::new(el6021, el6021::EL6021Port::SI1));
+            let inverter = MitsubishiCS80::new(SerialInterface::new(el6021, EL6021Port::SI1));

            let target_pressure = Pressure::new::<bar>(0.0);
            let target_rpm = AngularVelocity::new::<revolution_per_minute>(0.0);
@@ -389,8 +219,11 @@ impl MachineNewTrait for ExtruderV2 {
            let screw_speed_controller =
                ScrewSpeedController::new(inverter, target_pressure, target_rpm, pressure_sensor);

-            let mut extruder: Self = Self {
-                namespace: ExtruderV2Namespace::new(params.socket_queue_tx.clone()),
+            let mut extruder: ExtruderV2 = Self {
+                machine_identification_unique: params.get_machine_identification_unique(),
+                namespace: ExtruderV2Namespace {
+                    namespace: params.namespace.clone(),
+                },
                last_measurement_emit: Instant::now(),
                mode: ExtruderV2Mode::Standby,
                total_energy_kwh: 0.0,
@@ -12,8 +12,7 @@ use control_core::{
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use std::{sync::Arc, time::Duration};
 use tracing::instrument;

@@ -62,15 +61,7 @@ pub enum LaserEvents {

 #[derive(Debug)]
 pub struct LaserMachineNamespace {
-    pub namespace: Namespace,
-}
-
-impl LaserMachineNamespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
-    }
+    pub namespace: Arc<Mutex<Namespace>>,
 }

 impl CacheableEvents<Self> for LaserEvents {
@@ -107,7 +98,9 @@ impl NamespaceCacheingLogic<LaserEvents> for LaserMachineNamespace {
    fn emit(&mut self, events: LaserEvents) {
        let event = Arc::new(events.event_value());
        let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
+
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
    }
 }

@@ -128,7 +121,7 @@ impl MachineApi for LaserMachine {
        Ok(())
    }

-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
    }
 }
@@ -4,7 +4,8 @@ use crate::{
 };
 use api::{LaserEvents, LaserMachineNamespace, LaserState, LiveValuesEvent, StateEvent};
 use control_core::{
-    machines::identification::MachineIdentification, socketio::namespace::NamespaceCacheingLogic,
+    machines::identification::{MachineIdentification, MachineIdentificationUnique},
+    socketio::namespace::NamespaceCacheingLogic,
 };
 use control_core_derive::Machine;
 use smol::lock::RwLock;
@@ -17,6 +18,8 @@ pub mod new;

 #[derive(Debug, Machine)]
 pub struct LaserMachine {
+    machine_identification_unique: MachineIdentificationUnique,
+
    // drivers
    laser: Arc<RwLock<Laser>>,

@@ -43,9 +46,7 @@ impl LaserMachine {
        vendor: VENDOR_QITECH,
        machine: MACHINE_LASER_V1,
    };
-}

-impl LaserMachine {
    ///diameter in mm
    pub fn emit_live_values(&mut self) {
        let diameter = self.diameter.get::<millimeter>();
@@ -4,11 +4,9 @@ use crate::serial::{devices::laser::Laser, registry::SERIAL_DEVICE_REGISTRY};

 use super::{LaserMachine, LaserTarget, api::LaserMachineNamespace};
 use anyhow::Error;
-use control_core::machines::new::MachineNewTrait;
-use uom::{
-    ConstZero,
-    si::{f64::Length, length::millimeter},
-};
+use control_core::machines::new::{MachineNewHardware, MachineNewTrait};
+use uom::ConstZero;
+use uom::si::{f64::Length, length::millimeter};

 impl MachineNewTrait for LaserMachine {
    fn new(
@@ -18,7 +16,7 @@ impl MachineNewTrait for LaserMachine {
        Self: Sized,
    {
        let hardware_serial = match params.hardware {
-            control_core::machines::new::MachineNewHardware::Serial(serial) => *serial,
+            MachineNewHardware::Serial(serial) => *serial,
            _ => return Err(Error::msg("Invalid hardware type for LaserMachine")),
        };

@@ -37,8 +35,11 @@ impl MachineNewTrait for LaserMachine {
            diameter: Length::new::<millimeter>(1.75),
        };
        let mut laser_machine = Self {
+            machine_identification_unique: params.get_machine_identification_unique(),
            laser,
-            namespace: LaserMachineNamespace::new(params.socket_queue_tx.clone()),
+            namespace: LaserMachineNamespace {
+                namespace: params.namespace.clone(),
+            },
            last_measurement_emit: Instant::now(),
            laser_target,
            emitted_default_state: false,
@@ -12,8 +12,7 @@ use control_core::{
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use std::{sync::Arc, time::Duration};
 use tracing::instrument;

@@ -61,15 +60,7 @@ pub enum MockEvents {

 #[derive(Debug)]
 pub struct MockMachineNamespace {
-    pub namespace: Namespace,
-}
-
-impl MockMachineNamespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
-    }
+    pub namespace: Arc<Mutex<Namespace>>,
 }

 impl CacheableEvents<Self> for MockEvents {
@@ -106,7 +97,9 @@ impl NamespaceCacheingLogic<MockEvents> for MockMachineNamespace {
    fn emit(&mut self, events: MockEvents) {
        let event = Arc::new(events.event_value());
        let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
+
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
    }
 }

@@ -130,7 +123,7 @@ impl MachineApi for MockMachine {
        Ok(())
    }

-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
    }
 }
@@ -1,5 +1,6 @@
 use crate::machines::{MACHINE_MOCK, VENDOR_QITECH};
 use api::{LiveValuesEvent, MockEvents, MockMachineNamespace, Mode, ModeState, StateEvent};
+use control_core::machines::identification::MachineIdentificationUnique;
 use control_core::socketio::event::BuildEvent;
 use control_core::{
    machines::identification::MachineIdentification, socketio::namespace::NamespaceCacheingLogic,
@@ -19,6 +20,8 @@ pub mod new;

 #[derive(Debug, Machine)]
 pub struct MockMachine {
+    machine_identification_unique: MachineIdentificationUnique,
+
    // socketio
    namespace: MockMachineNamespace,
    last_measurement_emit: Instant,
@@ -40,12 +43,10 @@ pub struct MockMachine {

 impl MockMachine {
    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
-        vendor: VENDOR_QITECH,
        machine: MACHINE_MOCK,
+        vendor: VENDOR_QITECH,
    };
-}

-impl MockMachine {
    /// Emit live values data event with the current sine wave amplitude
    pub fn emit_live_values(&mut self) {
        let now = Instant::now();
@@ -5,12 +5,12 @@ use super::{
    api::{MockMachineNamespace, Mode},
 };
 use anyhow::Error;
-use control_core::machines::new::{MachineNewHardware, MachineNewTrait};
+use control_core::machines::new::{MachineNewHardware, MachineNewParams, MachineNewTrait};
 use uom::si::{f64::Frequency, frequency::hertz};

 impl MachineNewTrait for MockMachine {
-    fn new(
-        params: &control_core::machines::new::MachineNewParams<'_, '_, '_, '_, '_, '_, '_>,
+    fn new<'maindevice, 'subdevices>(
+        params: &MachineNewParams<'maindevice, 'subdevices, '_, '_, '_, '_, '_>,
    ) -> Result<Self, Error>
    where
        Self: Sized,
@@ -32,7 +32,10 @@ impl MachineNewTrait for MockMachine {
        let now = Instant::now();

        let mut mock_machine = Self {
-            namespace: MockMachineNamespace::new(params.socket_queue_tx.clone()),
+            machine_identification_unique: params.get_machine_identification_unique(),
+            namespace: MockMachineNamespace {
+                namespace: params.namespace.clone(),
+            },
            last_measurement_emit: now,
            t_0: now, // Initialize start time to current time
            frequency1: Frequency::new::<hertz>(0.1), // Default frequency1 of 100 mHz
@@ -1,3 +1,18 @@
+use std::sync::Arc;
+
+use control_core::machines::{
+    identification::{DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat},
+    new::{
+        MachineNewParams, get_device_identification_by_role, get_ethercat_device_by_index,
+        get_subdevice_by_index,
+    },
+};
+use ethercat_hal::devices::{
+    EthercatDevice, SubDeviceIdentityTuple, downcast_device, subdevice_identity_to_tuple,
+};
+use ethercrab::{SubDevice, SubDeviceRef};
+use smol::lock::RwLock;
+
 pub mod aquapath1;
 pub mod buffer1;
 pub mod extruder1;
@@ -13,3 +28,111 @@ pub const MACHINE_LASER_V1: u16 = 0x0006;
 pub const MACHINE_MOCK: u16 = 0x0007;
 pub const MACHINE_BUFFER_V1: u16 = 0x0008;
 pub const MACHINE_AQUAPATH_V1: u16 = 0x0009;
+
+async fn get_device_ident<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+>(
+    params: &MachineNewParams<
+        'maindevice,
+        'subdevices,
+        'device_identifications_identified,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+        'machine_new_hardware,
+    >,
+    role: u16,
+) -> Result<DeviceHardwareIdentificationEthercat, anyhow::Error> {
+    let device_identification = get_device_identification_by_role(params.device_group, role)?;
+    let device_hardware_identification_ethercat =
+        match &device_identification.device_hardware_identification {
+            DeviceHardwareIdentification::Ethercat(device_hardware_identification_ethercat) => {
+                device_hardware_identification_ethercat
+            }
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::MachineNewTrait/ExtruderV2::new] Device with role {} is not Ethercat",
+                    module_path!(),
+                    role
+                ));
+            }
+        };
+    return Ok(device_hardware_identification_ethercat.clone());
+}
+
+async fn get_ethercat_device<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+    T,
+>(
+    hardware: &&control_core::machines::new::MachineNewHardwareEthercat<
+        'maindevice,
+        'subdevices,
+        'ethercat_devices,
+    >,
+    params: &MachineNewParams<
+        'maindevice,
+        'subdevices,
+        'device_identifications_identified,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+        'machine_new_hardware,
+    >,
+    role: u16,
+    expected_identities: Vec<SubDeviceIdentityTuple>,
+) -> Result<
+    (
+        Arc<RwLock<T>>,
+        &'subdevices SubDeviceRef<'subdevices, &'subdevices SubDevice>,
+    ),
+    anyhow::Error,
+>
+where
+    T: 'static + Send + Sync + EthercatDevice,
+{
+    let device_hardware_identification_ethercat = get_device_ident(params, role).await?;
+    let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
+
+    let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
+    let subdevice_identity = subdevice.identity();
+
+    let actual_identity = subdevice_identity_to_tuple(&subdevice_identity);
+
+    let mut matched_any_identity = false;
+    for identity in expected_identities.clone() {
+        if actual_identity == identity {
+            matched_any_identity = true;
+        }
+    }
+
+    if !matched_any_identity {
+        return Err(anyhow::anyhow!(
+            "[{}::MachineNewTrait/ExtruderV2::new] Device identity mismatch: expected {:?}",
+            module_path!(),
+            expected_identities
+        ));
+    }
+
+    let ethercat_device =
+        get_ethercat_device_by_index(&hardware.ethercat_devices, subdevice_index)?;
+    let device = downcast_device::<T>(ethercat_device).await?;
+
+    {
+        let mut device_guard = device.write().await;
+        device_guard.set_used(true);
+    }
+
+    Ok((device, subdevice))
+}
@@ -1,6 +1,9 @@
 use super::{Winder2, Winder2Mode, puller_speed_controller::PullerRegulationMode};
 use control_core::{
-    machines::{api::MachineApi, identification::MachineIdentificationUnique},
+    machines::{
+        api::MachineApi, connection::MachineCrossConnectionState,
+        identification::MachineIdentificationUnique,
+    },
    socketio::{
        event::{Event, GenericEvent},
        namespace::{
@@ -13,8 +16,7 @@ use control_core::{
 use control_core_derive::BuildEvent;
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
-use smol::channel::Sender;
-use socketioxide::extract::SocketRef;
+use smol::lock::Mutex;
 use std::{
    sync::Arc,
    time::{Duration, Instant},
@@ -141,7 +143,7 @@ pub struct StateEvent {
    /// spool speed controller state
    pub spool_speed_controller_state: SpoolSpeedControllerState,
    /// connected machine state
-    pub connected_machine_state: ConnectedMachineState,
+    pub connected_machine_state: MachineCrossConnectionState,
 }

 #[derive(Serialize, Debug, Clone)]
@@ -237,13 +239,6 @@ pub struct SpoolSpeedControllerState {
    pub adaptive_deacceleration_urgency_multiplier: f64,
 }

-#[derive(Serialize, Debug, Clone)]
-pub struct ConnectedMachineState {
-    /// Connected Machine
-    pub machine_identification_unique: Option<MachineIdentificationUnique>,
-    pub is_available: bool,
-}
-
 pub enum Winder2Events {
    LiveValues(Event<LiveValuesEvent>),
    State(Event<StateEvent>),
@@ -251,7 +246,7 @@ pub enum Winder2Events {

 #[derive(Debug)]
 pub struct Winder2Namespace {
-    pub namespace: Namespace,
+    pub namespace: Arc<Mutex<Namespace>>,
 }

 impl NamespaceCacheingLogic<Winder2Events> for Winder2Namespace {
@@ -259,15 +254,9 @@ impl NamespaceCacheingLogic<Winder2Events> for Winder2Namespace {
    fn emit(&mut self, events: Winder2Events) {
        let event = Arc::new(events.event_value());
        let buffer_fn = events.event_cache_fn();
-        self.namespace.emit(event, &buffer_fn);
-    }
-}

-impl Winder2Namespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            namespace: Namespace::new(socket_queue_tx),
-        }
+        let mut namespace = self.namespace.lock_blocking();
+        namespace.emit(event, &buffer_fn);
    }
 }

@@ -341,7 +330,7 @@ impl MachineApi for Winder2 {
        Ok(())
    }

-    fn api_event_namespace(&mut self) -> &mut Namespace {
-        &mut self.namespace.namespace
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>> {
+        self.namespace.namespace.clone()
    }
 }
@@ -0,0 +1,502 @@
+use std::time::Instant;
+
+use crate::machines::buffer1::BufferV1;
+
+use super::puller_speed_controller::PullerRegulationMode;
+use super::{TraverseMode, Winder2, Winder2Mode, api, spool_speed_controller};
+use api::{
+    LiveValuesEvent, ModeState, PullerState, SpoolAutomaticActionMode, SpoolAutomaticActionState,
+    SpoolSpeedControllerState, StateEvent, TensionArmState, TraverseState, Winder2Events,
+};
+use control_core::socketio::event::BuildEvent;
+use control_core::{
+    machines::identification::MachineIdentificationUnique,
+    socketio::namespace::NamespaceCacheingLogic, uom_extensions::velocity::meter_per_minute,
+};
+
+use uom::si::{
+    angle::degree,
+    angular_velocity::revolution_per_minute,
+    f64::{Length, Velocity},
+    length::{meter, millimeter},
+};
+
+impl Winder2 {
+    /// Implement Spool
+    /// called by `act`
+    pub fn sync_spool_speed(&mut self, t: Instant) {
+        let angular_velocity = self.spool_speed_controller.update_speed(
+            t,
+            &self.tension_arm,
+            &self.puller_speed_controller,
+        );
+        let steps_per_second = self
+            .spool_step_converter
+            .angular_velocity_to_steps(angular_velocity);
+        let _ = self.spool.set_speed(steps_per_second);
+    }
+
+    pub fn stop_or_pull_spool(&mut self, now: Instant) {
+        if matches!(
+            self.spool_automatic_action.mode,
+            SpoolAutomaticActionMode::NoAction
+        ) {
+            self.calculate_spool_auto_progress_(now);
+            return;
+        }
+
+        match self.mode {
+            Winder2Mode::Pull => self.calculate_spool_auto_progress_(now),
+            Winder2Mode::Wind => self.calculate_spool_auto_progress_(now),
+            _ => {
+                self.spool_automatic_action.progress_last_check = now;
+                return;
+            }
+        }
+
+        if self.spool_automatic_action.progress >= self.spool_automatic_action.target_length {
+            match self.spool_automatic_action.mode {
+                SpoolAutomaticActionMode::NoAction => (),
+                SpoolAutomaticActionMode::Pull => {
+                    self.stop_or_pull_spool_reset(now);
+                    self.set_mode(&Winder2Mode::Pull);
+                }
+                SpoolAutomaticActionMode::Hold => {
+                    self.stop_or_pull_spool_reset(now);
+                    self.set_mode(&Winder2Mode::Hold);
+                }
+            }
+        }
+    }
+    /// Implement Mode
+    pub fn set_mode(&mut self, mode: &Winder2Mode) {
+        let should_update = *mode != Winder2Mode::Wind || self.can_wind();
+
+        if should_update {
+            // all transitions are allowed
+            self.mode = mode.clone();
+
+            // Apply the mode changes to the spool and puller
+            self.set_spool_mode(mode);
+            self.set_puller_mode(mode);
+            self.set_traverse_mode(mode);
+        }
+        self.emit_state();
+    }
+
+    /// Implement Traverse
+    pub fn set_laser(&mut self, value: bool) {
+        self.laser.set(value);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_limit_inner(&mut self, limit: f64) {
+        let new_inner = Length::new::<millimeter>(limit);
+        let current_outer = self.traverse_controller.get_limit_outer();
+
+        // Validate the new inner limit against current outer limit
+        if !Self::validate_traverse_limits(new_inner, current_outer) {
+            // Don't update if validation fails - keep the current value
+            return;
+        }
+        self.traverse_controller.set_limit_inner(new_inner);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_limit_outer(&mut self, limit: f64) {
+        let new_outer = Length::new::<millimeter>(limit);
+        let current_inner = self.traverse_controller.get_limit_inner();
+
+        // Validate the new outer limit against current inner limit
+        if !Self::validate_traverse_limits(current_inner, new_outer) {
+            // Don't update if validation fails - keep the current value
+            return;
+        }
+
+        self.traverse_controller.set_limit_outer(new_outer);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_step_size(&mut self, step_size: f64) {
+        let step_size = Length::new::<millimeter>(step_size);
+        self.traverse_controller.set_step_size(step_size);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_padding(&mut self, padding: f64) {
+        let padding = Length::new::<millimeter>(padding);
+        self.traverse_controller.set_padding(padding);
+        self.emit_state();
+    }
+
+    pub fn traverse_goto_limit_inner(&mut self) {
+        if self.can_go_in() {
+            self.traverse_controller.goto_limit_inner();
+        }
+        self.emit_state();
+    }
+
+    pub fn traverse_goto_limit_outer(&mut self) {
+        if self.can_go_out() {
+            self.traverse_controller.goto_limit_outer();
+        }
+        self.emit_state();
+    }
+
+    pub fn traverse_goto_home(&mut self) {
+        if self.can_go_home() {
+            self.traverse_controller.goto_home();
+        }
+        self.emit_state();
+    }
+
+    pub fn emit_live_values(&mut self) {
+        let angle_deg = self.tension_arm.get_angle().get::<degree>();
+
+        // Wrap [270;<360] to [-90; 0]
+        // This is done to reduce flicker in the graphs around the zero point
+        let angle_deg = if angle_deg >= 270.0 {
+            angle_deg - 360.0
+        } else {
+            angle_deg
+        };
+
+        // Calculate puller speed from current motor steps
+        let steps_per_second = self.puller.get_speed();
+        let angular_velocity = self
+            .puller_speed_controller
+            .converter
+            .steps_to_angular_velocity(steps_per_second as f64);
+        let puller_speed = self
+            .puller_speed_controller
+            .angular_velocity_to_speed(angular_velocity);
+
+        // Calculate spool RPM from current motor steps
+        let spool_rpm = self
+            .spool_step_converter
+            .steps_to_angular_velocity(self.spool.get_speed() as f64)
+            .get::<revolution_per_minute>();
+
+        let live_values = LiveValuesEvent {
+            traverse_position: self
+                .traverse_controller
+                .get_current_position()
+                .map(|x| x.get::<millimeter>()),
+            puller_speed: puller_speed.get::<meter_per_minute>(),
+            spool_rpm,
+            tension_arm_angle: angle_deg,
+            spool_progress: self.spool_automatic_action.progress.get::<meter>(),
+        };
+
+        let event = live_values.build();
+        self.namespace.emit(Winder2Events::LiveValues(event));
+    }
+
+    pub fn build_state_event(&mut self) -> StateEvent {
+        StateEvent {
+            is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
+            traverse_state: TraverseState {
+                limit_inner: self
+                    .traverse_controller
+                    .get_limit_inner()
+                    .get::<millimeter>(),
+                limit_outer: self
+                    .traverse_controller
+                    .get_limit_outer()
+                    .get::<millimeter>(),
+                position_in: self
+                    .traverse_controller
+                    .get_limit_inner()
+                    .get::<millimeter>(),
+                position_out: self
+                    .traverse_controller
+                    .get_limit_outer()
+                    .get::<millimeter>(),
+                is_going_in: self.traverse_controller.is_going_in(),
+                is_going_out: self.traverse_controller.is_going_out(),
+                is_homed: self.traverse_controller.is_homed(),
+                is_going_home: self.traverse_controller.is_going_home(),
+                is_traversing: self.traverse_controller.is_traversing(),
+                laserpointer: self.laser.get(),
+                step_size: self.traverse_controller.get_step_size().get::<millimeter>(),
+                padding: self.traverse_controller.get_padding().get::<millimeter>(),
+                can_go_in: self.can_go_in(),
+                can_go_out: self.can_go_out(),
+                can_go_home: self.can_go_home(),
+            },
+            puller_state: PullerState {
+                regulation: self.puller_speed_controller.regulation_mode.clone(),
+                target_speed: self
+                    .puller_speed_controller
+                    .target_speed
+                    .get::<meter_per_minute>(),
+                target_diameter: self
+                    .puller_speed_controller
+                    .target_diameter
+                    .get::<millimeter>(),
+                forward: self.puller_speed_controller.forward,
+            },
+            mode_state: ModeState {
+                mode: self.mode.clone().into(),
+                can_wind: self.can_wind(),
+            },
+            tension_arm_state: TensionArmState {
+                zeroed: self.tension_arm.zeroed,
+            },
+            spool_speed_controller_state: SpoolSpeedControllerState {
+                regulation_mode: self.spool_speed_controller.get_type().clone(),
+                minmax_min_speed: self
+                    .spool_speed_controller
+                    .get_minmax_min_speed()
+                    .get::<revolution_per_minute>(),
+                minmax_max_speed: self
+                    .spool_speed_controller
+                    .get_minmax_max_speed()
+                    .get::<revolution_per_minute>(),
+                adaptive_tension_target: self.spool_speed_controller.get_adaptive_tension_target(),
+                adaptive_radius_learning_rate: self
+                    .spool_speed_controller
+                    .get_adaptive_radius_learning_rate(),
+                adaptive_max_speed_multiplier: self
+                    .spool_speed_controller
+                    .get_adaptive_max_speed_multiplier(),
+                adaptive_acceleration_factor: self
+                    .spool_speed_controller
+                    .get_adaptive_acceleration_factor(),
+                adaptive_deacceleration_urgency_multiplier: self
+                    .spool_speed_controller
+                    .get_adaptive_deacceleration_urgency_multiplier(),
+            },
+            spool_automatic_action_state: SpoolAutomaticActionState {
+                spool_required_meters: self.spool_automatic_action.target_length.get::<meter>(),
+                spool_automatic_action_mode: self.spool_automatic_action.mode.clone(),
+            },
+            connected_machine_state: self.connected_buffer.to_state(),
+        }
+    }
+
+    pub fn emit_state(&mut self) {
+        let state_event = self.build_state_event();
+        let event = state_event.build();
+        self.namespace.emit(Winder2Events::State(event));
+    }
+
+    /// Apply the mode changes to the spool
+    ///
+    /// It contains a transition matrix for atomic changes.
+    /// It will set [`Self::spool_mode`]
+    fn set_traverse_mode(&mut self, mode: &Winder2Mode) {
+        // Convert to `Winder2Mode` to `TraverseMode`
+        let mode: TraverseMode = mode.clone().into();
+
+        // If coming out of standby
+        if self.traverse_mode == TraverseMode::Standby && mode != TraverseMode::Standby {
+            self.traverse.set_enabled(true);
+            self.traverse_controller.set_enabled(true);
+        }
+
+        // If going into standby
+        if mode == TraverseMode::Standby && self.traverse_mode != TraverseMode::Standby {
+            // If we are going into standby, we need to stop the traverse
+            self.traverse.set_enabled(false);
+            self.traverse_controller.set_enabled(false);
+        }
+
+        // Transition matrix
+        match self.traverse_mode {
+            TraverseMode::Standby => match mode {
+                TraverseMode::Standby => {}
+                TraverseMode::Hold => {
+                    // From [`TraverseMode::Standby`] to [`TraverseMode::Hold`]
+                    self.traverse.set_enabled(true);
+                    self.traverse_controller.set_enabled(true);
+                    self.traverse_controller.goto_home();
+                }
+                TraverseMode::Traverse => {
+                    // From [`TraverseMode::Standby`] to [`TraverseMode::Wind`]
+                    self.traverse.set_enabled(true);
+                    self.traverse_controller.set_enabled(true);
+                    self.traverse_controller.start_traversing();
+                }
+            },
+            TraverseMode::Hold => match mode {
+                TraverseMode::Standby => {
+                    // From [`TraverseMode::Hold`] to [`TraverseMode::Standby`]
+                    self.traverse.set_enabled(false);
+                    self.traverse_controller.set_enabled(false);
+                }
+                TraverseMode::Hold => {}
+                TraverseMode::Traverse => {
+                    // From [`TraverseMode::Hold`] to [`TraverseMode::Wind`]
+                    self.traverse_controller.start_traversing();
+                }
+            },
+            TraverseMode::Traverse => match mode {
+                TraverseMode::Standby => {
+                    // From [`TraverseMode::Wind`] to [`TraverseMode::Standby`]
+                    self.traverse.set_enabled(false);
+                    self.traverse_controller.set_enabled(false);
+                }
+                TraverseMode::Hold => {
+                    // From [`TraverseMode::Wind`] to [`TraverseMode::Hold`]
+                    self.traverse_controller.goto_home();
+                }
+                TraverseMode::Traverse => {}
+            },
+        }
+
+        // Update the internal state
+        self.traverse_mode = mode;
+        self.emit_state();
+    }
+
+    /// Implement Tension Arm
+    pub fn tension_arm_zero(&mut self) {
+        self.tension_arm.zero();
+        self.emit_live_values(); // For angle update
+        // For state update
+        self.emit_state();
+    }
+
+    pub fn set_spool_automatic_required_meters(&mut self, meters: f64) {
+        self.spool_automatic_action.target_length = Length::new::<meter>(meters);
+        self.emit_state();
+    }
+
+    pub fn set_spool_automatic_mode(&mut self, mode: SpoolAutomaticActionMode) {
+        self.spool_automatic_action.mode = mode;
+        self.emit_state();
+    }
+
+    pub fn puller_set_regulation(&mut self, puller_regulation_mode: PullerRegulationMode) {
+        self.puller_speed_controller
+            .set_regulation_mode(puller_regulation_mode);
+        self.emit_state();
+    }
+
+    /// Set target speed in m/min
+    pub fn puller_set_target_speed(&mut self, target_speed: f64) {
+        // Convert m/min to velocity
+        let target_speed = Velocity::new::<meter_per_minute>(target_speed);
+        self.puller_speed_controller.set_target_speed(target_speed);
+        self.emit_state();
+    }
+
+    /// Set target diameter in mm
+    pub fn puller_set_target_diameter(&mut self, target_diameter: f64) {
+        // Convert m/min to velocity
+        let target_diameter = Length::new::<millimeter>(target_diameter);
+        self.puller_speed_controller
+            .set_target_diameter(target_diameter);
+        self.emit_state();
+    }
+
+    /// Set forward direction
+    pub fn puller_set_forward(&mut self, forward: bool) {
+        self.puller_speed_controller.set_forward(forward);
+        self.emit_state();
+    }
+
+    // Spool Speed Controller API methods
+    pub fn spool_set_regulation_mode(
+        &mut self,
+        regulation_mode: spool_speed_controller::SpoolSpeedControllerType,
+    ) {
+        self.spool_speed_controller.set_type(regulation_mode);
+        self.emit_state();
+    }
+
+    /// Set minimum speed for minmax mode in RPM
+    pub fn spool_set_minmax_min_speed(&mut self, min_speed_rpm: f64) {
+        let min_speed = uom::si::f64::AngularVelocity::new::<revolution_per_minute>(min_speed_rpm);
+        if let Err(e) = self.spool_speed_controller.set_minmax_min_speed(min_speed) {
+            tracing::error!("Failed to set spool min speed: {:?}", e);
+        }
+        self.emit_state();
+    }
+
+    /// Set maximum speed for minmax mode in RPM
+    pub fn spool_set_minmax_max_speed(&mut self, max_speed_rpm: f64) {
+        let max_speed = uom::si::f64::AngularVelocity::new::<revolution_per_minute>(max_speed_rpm);
+        if let Err(e) = self.spool_speed_controller.set_minmax_max_speed(max_speed) {
+            tracing::error!("Failed to set spool max speed: {:?}", e);
+        }
+        self.emit_state();
+    }
+
+    /// Set tension target for adaptive mode (0.0-1.0)
+    pub fn spool_set_adaptive_tension_target(&mut self, tension_target: f64) {
+        self.spool_speed_controller
+            .set_adaptive_tension_target(tension_target);
+        self.emit_state();
+    }
+
+    /// Set radius learning rate for adaptive mode
+    pub fn spool_set_adaptive_radius_learning_rate(&mut self, radius_learning_rate: f64) {
+        self.spool_speed_controller
+            .set_adaptive_radius_learning_rate(radius_learning_rate);
+        self.emit_state();
+    }
+
+    /// Set max speed multiplier for adaptive mode
+    pub fn spool_set_adaptive_max_speed_multiplier(&mut self, max_speed_multiplier: f64) {
+        self.spool_speed_controller
+            .set_adaptive_max_speed_multiplier(max_speed_multiplier);
+        self.emit_state();
+    }
+
+    /// Set acceleration factor for adaptive mode
+    pub fn spool_set_adaptive_acceleration_factor(&mut self, acceleration_factor: f64) {
+        self.spool_speed_controller
+            .set_adaptive_acceleration_factor(acceleration_factor);
+        self.emit_state();
+    }
+
+    /// Set deacceleration urgency multiplier for adaptive mode
+    pub fn spool_set_adaptive_deacceleration_urgency_multiplier(
+        &mut self,
+        deacceleration_urgency_multiplier: f64,
+    ) {
+        self.spool_speed_controller
+            .set_adaptive_deacceleration_urgency_multiplier(deacceleration_urgency_multiplier);
+        self.emit_state();
+    }
+
+    /// implement machine connection
+    /// set connected buffer
+    pub fn set_connected_buffer(
+        &mut self,
+        machine_identification_unique: MachineIdentificationUnique,
+    ) {
+        if !matches!(
+            machine_identification_unique.machine_identification,
+            BufferV1::MACHINE_IDENTIFICATION
+        ) {
+            return;
+        }
+
+        self.connected_buffer
+            .set_connected_machine(&machine_identification_unique);
+        self.connected_buffer.reverse_connect();
+
+        self.emit_state();
+    }
+
+    /// disconnect buffer
+    pub fn disconnect_buffer(
+        &mut self,
+        machine_identification_unique: MachineIdentificationUnique,
+    ) {
+        if !matches!(
+            machine_identification_unique.machine_identification,
+            BufferV1::MACHINE_IDENTIFICATION
+        ) {
+            return;
+        }
+
+        self.connected_buffer.reverse_disconnect();
+        self.connected_buffer.disconnect();
+
+        self.emit_state();
+    }
+}
@@ -77,7 +77,7 @@ impl FilamentTensionCalculator {
    pub fn calc_filament_length(&self, tension_arm_angle: Angle) -> Length {
        let tension_arm_angle_rad = self
            .angle_converter
-            .decode_f64(tension_arm_angle)
+            .decode(tension_arm_angle)
            .get::<radian>();

        // Calculate tension arm tip position (flipped Y-axis: 0° = down, 90° = left)
@@ -2,6 +2,7 @@ pub mod act;
 pub mod adaptive_spool_speed_controller;
 pub mod api;
 pub mod clamp_revolution;
+pub mod emit;
 pub mod filament_tension;
 pub mod minmax_spool_speed_controller;
 pub mod new;
@@ -9,52 +10,38 @@ pub mod puller_speed_controller;
 pub mod spool_speed_controller;
 pub mod tension_arm;
 pub mod traverse_controller;
-use api::{
-    LiveValuesEvent, ModeState, PullerState, SpoolAutomaticActionMode, SpoolAutomaticActionState,
-    SpoolSpeedControllerState, StateEvent, TensionArmState, TraverseState, Winder2Events,
-    Winder2Namespace,
-};
-use control_core::socketio::event::BuildEvent;
+
+use std::{fmt::Debug, sync::Weak, time::Instant};
+
+use api::{SpoolAutomaticActionMode, Winder2Namespace};
 use control_core::{
    converters::angular_step_converter::AngularStepConverter,
    machines::{
-        ConnectedMachine, ConnectedMachineData, downcast_machine,
+        connection::{CrossConnectableMachine, MachineCrossConnection},
        identification::{MachineIdentification, MachineIdentificationUnique},
        manager::MachineManager,
    },
-    socketio::namespace::NamespaceCacheingLogic,
-    uom_extensions::velocity::meter_per_minute,
 };
 use control_core_derive::Machine;
 use ethercat_hal::io::{
    digital_input::DigitalInput, digital_output::DigitalOutput,
    stepper_velocity_el70x1::StepperVelocityEL70x1,
 };
-use futures::executor::block_on;
-use puller_speed_controller::{PullerRegulationMode, PullerSpeedController};
-use smol::lock::{Mutex, RwLock};
+use puller_speed_controller::PullerSpeedController;
+use smol::lock::RwLock;
 use spool_speed_controller::SpoolSpeedController;
-use std::{
-    fmt::Debug,
-    sync::{Arc, Weak},
-    time::Instant,
-};
 use tension_arm::TensionArm;
 use traverse_controller::TraverseController;
 use uom::{
    ConstZero,
    si::{
-        angle::degree,
-        angular_velocity::revolution_per_minute,
-        f64::{Length, Velocity},
+        f64::Length,
        length::{meter, millimeter},
        velocity::meter_per_second,
    },
 };

-use crate::machines::{
-    MACHINE_WINDER_V1, VENDOR_QITECH, buffer1::BufferV1, winder2::api::ConnectedMachineState,
-};
+use crate::machines::{MACHINE_WINDER_V1, VENDOR_QITECH, buffer1::BufferV1};

 #[derive(Debug)]
 pub struct SpoolAutomaticAction {
@@ -86,7 +73,7 @@ pub struct Winder2 {
    pub machine_identification_unique: MachineIdentificationUnique,

    // connected machines
-    pub connected_buffer: Option<ConnectedMachine<Weak<Mutex<BufferV1>>>>,
+    pub connected_buffer: MachineCrossConnection<Winder2, BufferV1>,

    // mode
    pub mode: Winder2Mode,
@@ -109,19 +96,17 @@ pub struct Winder2 {
    emitted_default_state: bool,
 }

+impl CrossConnectableMachine<Winder2, BufferV1> for Winder2 {
+    fn get_cross_connection(&mut self) -> &mut MachineCrossConnection<Winder2, BufferV1> {
+        &mut self.connected_buffer
+    }
+}
+
 impl Winder2 {
    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
        vendor: VENDOR_QITECH,
        machine: MACHINE_WINDER_V1,
    };
-}
-
-/// Implement Traverse
-impl Winder2 {
-    fn set_laser(&mut self, value: bool) {
-        self.laser.set(value);
-        self.emit_state();
-    }

    /// Validates that traverse limits maintain proper constraints:
    /// - Inner limit must be smaller than outer limit
@@ -130,210 +115,6 @@ impl Winder2 {
        outer > inner + Length::new::<millimeter>(0.9)
    }

-    pub fn traverse_set_limit_inner(&mut self, limit: f64) {
-        let new_inner = Length::new::<millimeter>(limit);
-        let current_outer = self.traverse_controller.get_limit_outer();
-
-        // Validate the new inner limit against current outer limit
-        if !Self::validate_traverse_limits(new_inner, current_outer) {
-            // Don't update if validation fails - keep the current value
-            return;
-        }
-        self.traverse_controller.set_limit_inner(new_inner);
-        self.emit_state();
-    }
-
-    pub fn traverse_set_limit_outer(&mut self, limit: f64) {
-        let new_outer = Length::new::<millimeter>(limit);
-        let current_inner = self.traverse_controller.get_limit_inner();
-
-        // Validate the new outer limit against current inner limit
-        if !Self::validate_traverse_limits(current_inner, new_outer) {
-            // Don't update if validation fails - keep the current value
-            return;
-        }
-
-        self.traverse_controller.set_limit_outer(new_outer);
-        self.emit_state();
-    }
-
-    pub fn traverse_set_step_size(&mut self, step_size: f64) {
-        let step_size = Length::new::<millimeter>(step_size);
-        self.traverse_controller.set_step_size(step_size);
-        self.emit_state();
-    }
-
-    pub fn traverse_set_padding(&mut self, padding: f64) {
-        let padding = Length::new::<millimeter>(padding);
-        self.traverse_controller.set_padding(padding);
-        self.emit_state();
-    }
-
-    pub fn traverse_goto_limit_inner(&mut self) {
-        if self.can_go_in() {
-            self.traverse_controller.goto_limit_inner();
-        }
-        self.emit_state();
-    }
-
-    pub fn traverse_goto_limit_outer(&mut self) {
-        if self.can_go_out() {
-            self.traverse_controller.goto_limit_outer();
-        }
-        self.emit_state();
-    }
-
-    pub fn traverse_goto_home(&mut self) {
-        if self.can_go_home() {
-            self.traverse_controller.goto_home();
-        }
-        self.emit_state();
-    }
-
-    pub fn emit_live_values(&mut self) {
-        let angle_deg = self.tension_arm.get_angle().get::<degree>();
-
-        // Wrap [270;<360] to [-90; 0]
-        // This is done to reduce flicker in the graphs around the zero point
-        let angle_deg = if angle_deg >= 270.0 {
-            angle_deg - 360.0
-        } else {
-            angle_deg
-        };
-
-        // Calculate puller speed from current motor steps
-        let steps_per_second = self.puller.get_speed();
-        let angular_velocity = self
-            .puller_speed_controller
-            .converter
-            .steps_to_angular_velocity(steps_per_second as f64);
-        let puller_speed = self
-            .puller_speed_controller
-            .angular_velocity_to_speed(angular_velocity);
-
-        // Calculate spool RPM from current motor steps
-        let spool_rpm = self
-            .spool_step_converter
-            .steps_to_angular_velocity(self.spool.get_speed() as f64)
-            .get::<revolution_per_minute>();
-
-        let live_values = LiveValuesEvent {
-            traverse_position: self
-                .traverse_controller
-                .get_current_position()
-                .map(|x| x.get::<millimeter>()),
-            puller_speed: puller_speed.get::<meter_per_minute>(),
-            spool_rpm,
-            tension_arm_angle: angle_deg,
-            spool_progress: self.spool_automatic_action.progress.get::<meter>(),
-        };
-
-        let event = live_values.build();
-        self.namespace.emit(Winder2Events::LiveValues(event));
-    }
-
-    pub fn build_state_event(&mut self) -> StateEvent {
-        StateEvent {
-            is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
-            traverse_state: TraverseState {
-                limit_inner: self
-                    .traverse_controller
-                    .get_limit_inner()
-                    .get::<millimeter>(),
-                limit_outer: self
-                    .traverse_controller
-                    .get_limit_outer()
-                    .get::<millimeter>(),
-                position_in: self
-                    .traverse_controller
-                    .get_limit_inner()
-                    .get::<millimeter>(),
-                position_out: self
-                    .traverse_controller
-                    .get_limit_outer()
-                    .get::<millimeter>(),
-                is_going_in: self.traverse_controller.is_going_in(),
-                is_going_out: self.traverse_controller.is_going_out(),
-                is_homed: self.traverse_controller.is_homed(),
-                is_going_home: self.traverse_controller.is_going_home(),
-                is_traversing: self.traverse_controller.is_traversing(),
-                laserpointer: self.laser.get(),
-                step_size: self.traverse_controller.get_step_size().get::<millimeter>(),
-                padding: self.traverse_controller.get_padding().get::<millimeter>(),
-                can_go_in: self.can_go_in(),
-                can_go_out: self.can_go_out(),
-                can_go_home: self.can_go_home(),
-            },
-            puller_state: PullerState {
-                regulation: self.puller_speed_controller.regulation_mode.clone(),
-                target_speed: self
-                    .puller_speed_controller
-                    .target_speed
-                    .get::<meter_per_minute>(),
-                target_diameter: self
-                    .puller_speed_controller
-                    .target_diameter
-                    .get::<millimeter>(),
-                forward: self.puller_speed_controller.forward,
-            },
-            mode_state: ModeState {
-                mode: self.mode.clone().into(),
-                can_wind: self.can_wind(),
-            },
-            tension_arm_state: TensionArmState {
-                zeroed: self.tension_arm.zeroed,
-            },
-            spool_speed_controller_state: SpoolSpeedControllerState {
-                regulation_mode: self.spool_speed_controller.get_type().clone(),
-                minmax_min_speed: self
-                    .spool_speed_controller
-                    .get_minmax_min_speed()
-                    .get::<revolution_per_minute>(),
-                minmax_max_speed: self
-                    .spool_speed_controller
-                    .get_minmax_max_speed()
-                    .get::<revolution_per_minute>(),
-                adaptive_tension_target: self.spool_speed_controller.get_adaptive_tension_target(),
-                adaptive_radius_learning_rate: self
-                    .spool_speed_controller
-                    .get_adaptive_radius_learning_rate(),
-                adaptive_max_speed_multiplier: self
-                    .spool_speed_controller
-                    .get_adaptive_max_speed_multiplier(),
-                adaptive_acceleration_factor: self
-                    .spool_speed_controller
-                    .get_adaptive_acceleration_factor(),
-                adaptive_deacceleration_urgency_multiplier: self
-                    .spool_speed_controller
-                    .get_adaptive_deacceleration_urgency_multiplier(),
-            },
-            spool_automatic_action_state: SpoolAutomaticActionState {
-                spool_required_meters: self.spool_automatic_action.target_length.get::<meter>(),
-                spool_automatic_action_mode: self.spool_automatic_action.mode.clone(),
-            },
-            connected_machine_state: ConnectedMachineState {
-                machine_identification_unique: self.connected_buffer.as_ref().map(
-                    |connected_machine| {
-                        ConnectedMachineData::from(connected_machine).machine_identification_unique
-                    },
-                ),
-                is_available: self
-                    .connected_buffer
-                    .as_ref()
-                    .map(|connected_machine| {
-                        ConnectedMachineData::from(connected_machine).is_available
-                    })
-                    .unwrap_or(false),
-            },
-        }
-    }
-
-    pub fn emit_state(&mut self) {
-        let state_event = self.build_state_event();
-        let event = state_event.build();
-        self.namespace.emit(Winder2Events::State(event));
-    }
-
    pub fn sync_traverse_speed(&mut self) {
        self.traverse_controller.update_speed(
            &mut self.traverse,
@@ -385,26 +166,6 @@ impl Winder2 {
            && !self.traverse_controller.is_traversing()
            && self.mode != Winder2Mode::Wind
    }
-}
-
-impl Winder2 {}
-
-/// Implement Mode
-impl Winder2 {
-    fn set_mode(&mut self, mode: &Winder2Mode) {
-        let should_update = *mode != Winder2Mode::Wind || self.can_wind();
-
-        if should_update {
-            // all transitions are allowed
-            self.mode = mode.clone();
-
-            // Apply the mode changes to the spool and puller
-            self.set_spool_mode(mode);
-            self.set_puller_mode(mode);
-            self.set_traverse_mode(mode);
-        }
-        self.emit_state();
-    }

    /// Apply the mode changes to the spool
    ///
@@ -458,75 +219,6 @@ impl Winder2 {
        self.spool_mode = mode;
    }

-    /// Apply the mode changes to the spool
-    ///
-    /// It contains a transition matrix for atomic changes.
-    /// It will set [`Self::spool_mode`]
-    fn set_traverse_mode(&mut self, mode: &Winder2Mode) {
-        // Convert to `Winder2Mode` to `TraverseMode`
-        let mode: TraverseMode = mode.clone().into();
-
-        // If coming out of standby
-        if self.traverse_mode == TraverseMode::Standby && mode != TraverseMode::Standby {
-            self.traverse.set_enabled(true);
-            self.traverse_controller.set_enabled(true);
-        }
-
-        // If going into standby
-        if mode == TraverseMode::Standby && self.traverse_mode != TraverseMode::Standby {
-            // If we are going into standby, we need to stop the traverse
-            self.traverse.set_enabled(false);
-            self.traverse_controller.set_enabled(false);
-        }
-
-        // Transition matrix
-        match self.traverse_mode {
-            TraverseMode::Standby => match mode {
-                TraverseMode::Standby => {}
-                TraverseMode::Hold => {
-                    // From [`TraverseMode::Standby`] to [`TraverseMode::Hold`]
-                    self.traverse.set_enabled(true);
-                    self.traverse_controller.set_enabled(true);
-                    self.traverse_controller.goto_home();
-                }
-                TraverseMode::Traverse => {
-                    // From [`TraverseMode::Standby`] to [`TraverseMode::Wind`]
-                    self.traverse.set_enabled(true);
-                    self.traverse_controller.set_enabled(true);
-                    self.traverse_controller.start_traversing();
-                }
-            },
-            TraverseMode::Hold => match mode {
-                TraverseMode::Standby => {
-                    // From [`TraverseMode::Hold`] to [`TraverseMode::Standby`]
-                    self.traverse.set_enabled(false);
-                    self.traverse_controller.set_enabled(false);
-                }
-                TraverseMode::Hold => {}
-                TraverseMode::Traverse => {
-                    // From [`TraverseMode::Hold`] to [`TraverseMode::Wind`]
-                    self.traverse_controller.start_traversing();
-                }
-            },
-            TraverseMode::Traverse => match mode {
-                TraverseMode::Standby => {
-                    // From [`TraverseMode::Wind`] to [`TraverseMode::Standby`]
-                    self.traverse.set_enabled(false);
-                    self.traverse_controller.set_enabled(false);
-                }
-                TraverseMode::Hold => {
-                    // From [`TraverseMode::Wind`] to [`TraverseMode::Hold`]
-                    self.traverse_controller.goto_home();
-                }
-                TraverseMode::Traverse => {}
-            },
-        }
-
-        // Update the internal state
-        self.traverse_mode = mode;
-        self.emit_state();
-    }
-
    /// Apply the mode changes to the puller
    ///
    /// It contains a transition matrix for atomic changes.
@@ -577,75 +269,6 @@ impl Winder2 {
        // Update the internal state
        self.puller_mode = mode;
    }
-}
-
-/// Implement Tension Arm
-impl Winder2 {
-    fn tension_arm_zero(&mut self) {
-        self.tension_arm.zero();
-        self.emit_live_values(); // For angle update
-        // For state update
-        self.emit_state();
-    }
-}
-
-/// Implement Spool
-impl Winder2 {
-    /// called by `act`
-    pub fn sync_spool_speed(&mut self, t: Instant) {
-        let angular_velocity = self.spool_speed_controller.update_speed(
-            t,
-            &self.tension_arm,
-            &self.puller_speed_controller,
-        );
-        let steps_per_second = self
-            .spool_step_converter
-            .angular_velocity_to_steps(angular_velocity);
-        let _ = self.spool.set_speed(steps_per_second);
-    }
-
-    pub fn set_spool_automatic_required_meters(&mut self, meters: f64) {
-        self.spool_automatic_action.target_length = Length::new::<meter>(meters);
-        self.emit_state();
-    }
-
-    pub fn set_spool_automatic_mode(&mut self, mode: SpoolAutomaticActionMode) {
-        self.spool_automatic_action.mode = mode;
-        self.emit_state();
-    }
-
-    pub fn stop_or_pull_spool(&mut self, now: Instant) {
-        if matches!(
-            self.spool_automatic_action.mode,
-            SpoolAutomaticActionMode::NoAction
-        ) {
-            self.calculate_spool_auto_progress_(now);
-            return;
-        }
-
-        match self.mode {
-            Winder2Mode::Pull => self.calculate_spool_auto_progress_(now),
-            Winder2Mode::Wind => self.calculate_spool_auto_progress_(now),
-            _ => {
-                self.spool_automatic_action.progress_last_check = now;
-                return;
-            }
-        }
-
-        if self.spool_automatic_action.progress >= self.spool_automatic_action.target_length {
-            match self.spool_automatic_action.mode {
-                SpoolAutomaticActionMode::NoAction => (),
-                SpoolAutomaticActionMode::Pull => {
-                    self.stop_or_pull_spool_reset(now);
-                    self.set_mode(&Winder2Mode::Pull);
-                }
-                SpoolAutomaticActionMode::Hold => {
-                    self.stop_or_pull_spool_reset(now);
-                    self.set_mode(&Winder2Mode::Hold);
-                }
-            }
-        }
-    }

    pub const fn stop_or_pull_spool_reset(&mut self, now: Instant) {
        self.spool_automatic_action.progress = Length::ZERO;
@@ -670,10 +293,8 @@ impl Winder2 {
        self.spool_automatic_action.progress += meters_pulled_this_interval;
        self.spool_automatic_action.progress_last_check = now;
    }
-}

-/// Implement Puller
-impl Winder2 {
+    /// Implement Puller
    /// called by `act`
    pub fn sync_puller_speed(&mut self, t: Instant) {
        let angular_velocity = self.puller_speed_controller.calc_angular_velocity(t);
@@ -683,186 +304,6 @@ impl Winder2 {
            .angular_velocity_to_steps(angular_velocity);
        let _ = self.puller.set_speed(steps_per_second);
    }
-
-    pub fn puller_set_regulation(&mut self, puller_regulation_mode: PullerRegulationMode) {
-        self.puller_speed_controller
-            .set_regulation_mode(puller_regulation_mode);
-        self.emit_state();
-    }
-
-    /// Set target speed in m/min
-    pub fn puller_set_target_speed(&mut self, target_speed: f64) {
-        // Convert m/min to velocity
-        let target_speed = Velocity::new::<meter_per_minute>(target_speed);
-        self.puller_speed_controller.set_target_speed(target_speed);
-        self.emit_state();
-    }
-
-    /// Set target diameter in mm
-    pub fn puller_set_target_diameter(&mut self, target_diameter: f64) {
-        // Convert m/min to velocity
-        let target_diameter = Length::new::<millimeter>(target_diameter);
-        self.puller_speed_controller
-            .set_target_diameter(target_diameter);
-        self.emit_state();
-    }
-
-    /// Set forward direction
-    pub fn puller_set_forward(&mut self, forward: bool) {
-        self.puller_speed_controller.set_forward(forward);
-        self.emit_state();
-    }
-
-    // Spool Speed Controller API methods
-    pub fn spool_set_regulation_mode(
-        &mut self,
-        regulation_mode: spool_speed_controller::SpoolSpeedControllerType,
-    ) {
-        self.spool_speed_controller.set_type(regulation_mode);
-        self.emit_state();
-    }
-
-    /// Set minimum speed for minmax mode in RPM
-    pub fn spool_set_minmax_min_speed(&mut self, min_speed_rpm: f64) {
-        let min_speed = uom::si::f64::AngularVelocity::new::<revolution_per_minute>(min_speed_rpm);
-        if let Err(e) = self.spool_speed_controller.set_minmax_min_speed(min_speed) {
-            tracing::error!("Failed to set spool min speed: {:?}", e);
-        }
-        self.emit_state();
-    }
-
-    /// Set maximum speed for minmax mode in RPM
-    pub fn spool_set_minmax_max_speed(&mut self, max_speed_rpm: f64) {
-        let max_speed = uom::si::f64::AngularVelocity::new::<revolution_per_minute>(max_speed_rpm);
-        if let Err(e) = self.spool_speed_controller.set_minmax_max_speed(max_speed) {
-            tracing::error!("Failed to set spool max speed: {:?}", e);
-        }
-        self.emit_state();
-    }
-
-    /// Set tension target for adaptive mode (0.0-1.0)
-    pub fn spool_set_adaptive_tension_target(&mut self, tension_target: f64) {
-        self.spool_speed_controller
-            .set_adaptive_tension_target(tension_target);
-        self.emit_state();
-    }
-
-    /// Set radius learning rate for adaptive mode
-    pub fn spool_set_adaptive_radius_learning_rate(&mut self, radius_learning_rate: f64) {
-        self.spool_speed_controller
-            .set_adaptive_radius_learning_rate(radius_learning_rate);
-        self.emit_state();
-    }
-
-    /// Set max speed multiplier for adaptive mode
-    pub fn spool_set_adaptive_max_speed_multiplier(&mut self, max_speed_multiplier: f64) {
-        self.spool_speed_controller
-            .set_adaptive_max_speed_multiplier(max_speed_multiplier);
-        self.emit_state();
-    }
-
-    /// Set acceleration factor for adaptive mode
-    pub fn spool_set_adaptive_acceleration_factor(&mut self, acceleration_factor: f64) {
-        self.spool_speed_controller
-            .set_adaptive_acceleration_factor(acceleration_factor);
-        self.emit_state();
-    }
-
-    /// Set deacceleration urgency multiplier for adaptive mode
-    pub fn spool_set_adaptive_deacceleration_urgency_multiplier(
-        &mut self,
-        deacceleration_urgency_multiplier: f64,
-    ) {
-        self.spool_speed_controller
-            .set_adaptive_deacceleration_urgency_multiplier(deacceleration_urgency_multiplier);
-        self.emit_state();
-    }
-}
-
-/// implement machine connection
-impl Winder2 {
-    /// set connected buffer
-    pub fn set_connected_buffer(
-        &mut self,
-        machine_identification_unique: MachineIdentificationUnique,
-    ) {
-        if !matches!(
-            machine_identification_unique.machine_identification,
-            BufferV1::MACHINE_IDENTIFICATION
-        ) {
-            return;
-        }
-        let machine_manager_arc = match self.machine_manager.upgrade() {
-            Some(machine_manager_arc) => machine_manager_arc,
-            None => return,
-        };
-        let machine_manager_guard = block_on(machine_manager_arc.read());
-        let buffer_weak = machine_manager_guard.get_machine_weak(&machine_identification_unique);
-        let buffer_weak = match buffer_weak {
-            Some(buffer_weak) => buffer_weak,
-            None => return,
-        };
-        let buffer_strong = match buffer_weak.upgrade() {
-            Some(buffer_strong) => buffer_strong,
-            None => return,
-        };
-
-        let buffer: Arc<Mutex<BufferV1>> = block_on(downcast_machine::<BufferV1>(buffer_strong))
-            .expect("failed downcasting machine");
-
-        let machine = Arc::downgrade(&buffer);
-
-        self.connected_buffer = Some(ConnectedMachine {
-            machine_identification_unique,
-            machine,
-        });
-        self.emit_state();
-
-        self.reverse_connect();
-    }
-
-    /// disconnect buffer
-    pub fn disconnect_buffer(
-        &mut self,
-        machine_identification_unique: MachineIdentificationUnique,
-    ) {
-        if !matches!(
-            machine_identification_unique.machine_identification,
-            BufferV1::MACHINE_IDENTIFICATION
-        ) {
-            return;
-        }
-        if let Some(connected) = &self.connected_buffer {
-            if let Some(buffer_arc) = connected.machine.upgrade() {
-                let future = async move {
-                    let mut buffer = buffer_arc.lock().await;
-                    if buffer.connected_winder.is_some() {
-                        buffer.connected_winder = None;
-                        buffer.emit_state();
-                    }
-                };
-                smol::spawn(future).detach();
-            }
-        }
-        self.connected_buffer = None;
-        self.emit_state();
-    }
-
-    /// initiate connection from buffer to winder
-    pub fn reverse_connect(&mut self) {
-        let machine_identification_unique = self.machine_identification_unique.clone();
-        if let Some(connected) = &self.connected_buffer {
-            if let Some(buffer_arc) = connected.machine.upgrade() {
-                let future = async move {
-                    let mut buffer = buffer_arc.lock().await;
-                    if buffer.connected_winder.is_none() {
-                        buffer.set_connected_winder(machine_identification_unique);
-                    }
-                };
-                smol::spawn(future).detach();
-            }
-        }
-    }
 }

 #[derive(Debug, Clone, PartialEq, Eq)]
@@ -3,16 +3,16 @@ use std::time::Instant;
 use super::api::Winder2Namespace;
 use super::tension_arm::TensionArm;
 use super::{Winder2, Winder2Mode};
+use crate::machines::get_ethercat_device;
 use crate::machines::winder2::puller_speed_controller::PullerSpeedController;
 use crate::machines::winder2::spool_speed_controller::SpoolSpeedController;
 use crate::machines::winder2::traverse_controller::TraverseController;
 use anyhow::Error;
 use control_core::converters::angular_step_converter::AngularStepConverter;
 use control_core::converters::linear_step_converter::LinearStepConverter;
-use control_core::machines::identification::DeviceHardwareIdentification;
+use control_core::machines::connection::MachineCrossConnection;
 use control_core::machines::new::{
-    MachineNewHardware, MachineNewParams, MachineNewTrait, get_device_identification_by_role,
-    get_ethercat_device_by_index, get_subdevice_by_index, validate_no_role_dublicates,
+    MachineNewHardware, MachineNewParams, MachineNewTrait, validate_no_role_dublicates,
    validate_same_machine_identification_unique,
 };
 use control_core::uom_extensions::velocity::meter_per_minute;
@@ -31,7 +31,6 @@ use ethercat_hal::devices::el7031_0030::{
 };
 use ethercat_hal::devices::el7041_0052::coe::EL7041_0052Configuration;
 use ethercat_hal::devices::el7041_0052::{EL7041_0052, EL7041_0052_IDENTITY_A, EL7041_0052Port};
-use ethercat_hal::devices::{EthercatDeviceUsed, downcast_device, subdevice_identity_to_tuple};
 use ethercat_hal::devices::{ek1100::EK1100_IDENTITY_A, el2002::EL2002_IDENTITY_A};
 use ethercat_hal::io::analog_input::AnalogInput;
 use ethercat_hal::io::digital_input::DigitalInput;
@@ -65,121 +64,31 @@ impl MachineNewTrait for Winder2 {
        // if its async the compiler thinks &subdevices is persisted in the future which might never execute
        // so we can't drop subdevices unless this machine is dropped, which is bad
        smol::block_on(async {
-            // Role 0
-            // Buscoupler
-            // EK1100
-            {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 0)?;
-                let device_hardware_identification_ethercat =
-                    match &device_identification.device_hardware_identification {
-                        DeviceHardwareIdentification::Ethercat(
-                            device_hardware_identification_ethercat,
-                        ) => device_hardware_identification_ethercat,
-                        _ => Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Winder2::new] Device with role 0 is not Ethercat",
-                            module_path!()
-                        ))?, //uncommented
-                    };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EK1100_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EK1100>(ethercat_device).await?
-                    }
-                    _ => {
-                        return Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Winder2::new] Device with role 0 is not an EK1100",
-                            module_path!()
-                        ));
-                    }
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-            }
+            // Role 0: Buscoupler EK1100
+            let _ek1100 =
+                get_ethercat_device::<EK1100>(hardware, params, 0, vec![EK1100_IDENTITY_A]).await?;

-            // Role 1
-            // 2x Digitalausgang
-            // EL2002
-            let el2002 = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 1)?;
-                let device_hardware_identification_ethercat =
-                    match &device_identification.device_hardware_identification {
-                        DeviceHardwareIdentification::Ethercat(
-                            device_hardware_identification_ethercat,
-                        ) => device_hardware_identification_ethercat,
-                        _ => Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Winder2::new] Device with role 1 is not Ethercat",
-                            module_path!()
-                        ))?, //uncommented
-                    };
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice = get_subdevice_by_index(hardware.subdevices, subdevice_index)?;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL2002_IDENTITY_A | EL2002_IDENTITY_B => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL2002>(ethercat_device).await?
-                    }
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/Winder2::new] Device with role 1 is not an EL2002",
-                        module_path!()
-                    ))?,
-                };
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                device
-            };
+            // Role 1: 2x Digital outputs EL2002
+            let el2002 = get_ethercat_device::<EL2002>(
+                hardware,
+                params,
+                1,
+                vec![EL2002_IDENTITY_A, EL2002_IDENTITY_B],
+            )
+            .await?
+            .0;

-            // Role 2
-            // 1x Stepper Spool
-            // EL7041-0052
-            let (el7041, _el7041_config) = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 2)?;
-                let device_hardware_identification_ethercat =
-                    match &device_identification.device_hardware_identification {
-                        DeviceHardwareIdentification::Ethercat(
-                            device_hardware_identification_ethercat,
-                        ) => device_hardware_identification_ethercat,
-                        _ => Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Winder2::new] Device with role 2 is not Ethercat",
-                            module_path!()
-                        ))?,
-                    };
-                let subdevice = get_subdevice_by_index(
-                    hardware.subdevices,
-                    device_hardware_identification_ethercat.subdevice_index,
-                )?;
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL7041_0052_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL7041_0052>(ethercat_device).await?
-                    }
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/Winder2::new] Device with role 3 is not an EL7041-0052",
-                        module_path!()
-                    ))?,
-                };
-                let config = EL7041_0052Configuration {
+            // Role 2: Stepper Spool EL7041-0052
+            let el7041 = {
+                let device = get_ethercat_device::<EL7041_0052>(
+                    hardware,
+                    params,
+                    2,
+                    vec![EL7041_0052_IDENTITY_A],
+                )
+                .await?;
+
+                let el7041_config = EL7041_0052Configuration {
                    stm_features: shared_config::el70x1::StmFeatures {
                        operation_mode: EL70x1OperationMode::DirectVelocity,
                        ..Default::default()
@@ -190,59 +99,29 @@ impl MachineNewTrait for Winder2 {
                    },
                    ..Default::default()
                };
+
                device
+                    .0
                    .write()
                    .await
-                    .write_config(subdevice, &config)
+                    .write_config(&device.1, &el7041_config)
                    .await?;
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                (device, config)
+                device.0
            };

-            // Role 3
-            // 1x Stepper Traverse
-            // EL7031
-            let (el7031, _el7031_config) = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 3)?;
-                let device_hardware_identification_ethercat =
-                    match &device_identification.device_hardware_identification {
-                        DeviceHardwareIdentification::Ethercat(
-                            device_hardware_identification_ethercat,
-                        ) => device_hardware_identification_ethercat,
-                        _ => Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Winder2::new] Device with role 3 is not Ethercat",
-                            module_path!()
-                        ))?,
-                    };
-                let subdevice = get_subdevice_by_index(
-                    hardware.subdevices,
-                    device_hardware_identification_ethercat.subdevice_index,
-                )?;
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL7031_IDENTITY_A | EL7031_IDENTITY_B => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL7031>(ethercat_device).await?
-                    }
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/Winder2::new] Device with role 4 is not an EL7031",
-                        module_path!()
-                    ))?,
-                };
-                let config = EL7031Configuration {
+            // Role 3: Stepper Traverse EL7031
+            let el7031 = {
+                let device = get_ethercat_device::<EL7031>(
+                    hardware,
+                    params,
+                    3,
+                    vec![EL7031_IDENTITY_A, EL7031_IDENTITY_B],
+                )
+                .await?;
+
+                let el7031_config = EL7031Configuration {
                    stm_features: shared_config::el70x1::StmFeatures {
                        operation_mode: EL70x1OperationMode::DirectVelocity,
-                        // Max Speed of 1000 steps/s
-                        // Max @ 9cm diameter = approx 85 m/min
-                        // Max @ 20cm diameter = approx 185 m/min
                        speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
                        ..Default::default()
                    },
@@ -253,58 +132,30 @@ impl MachineNewTrait for Winder2 {
                    pdo_assignment: EL7031PredefinedPdoAssignment::VelocityControlCompact,
                    ..Default::default()
                };
+
                device
+                    .0
                    .write()
                    .await
-                    .write_config(subdevice, &config)
+                    .write_config(&device.1, &el7031_config)
                    .await?;
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                (device, config)
+
+                device.0
            };

-            // Role 4
-            // 1x Stepper Puller
-            // EL7031
-            let (el7031_0030, _el7031_0030_config) = {
-                let device_identification =
-                    get_device_identification_by_role(params.device_group, 4)?;
-                let device_hardware_identification_ethercat =
-                    match &device_identification.device_hardware_identification {
-                        DeviceHardwareIdentification::Ethercat(
-                            device_hardware_identification_ethercat,
-                        ) => device_hardware_identification_ethercat,
-                        _ => Err(anyhow::anyhow!(
-                            "[{}::MachineNewTrait/Winder2::new] Device with role 4 is not Ethercat",
-                            module_path!()
-                        ))?,
-                    };
-                let subdevice = get_subdevice_by_index(
-                    hardware.subdevices,
-                    device_hardware_identification_ethercat.subdevice_index,
-                )?;
-                let subdevice_index = device_hardware_identification_ethercat.subdevice_index;
-                let subdevice_identity = subdevice.identity();
-                let device = match subdevice_identity_to_tuple(&subdevice_identity) {
-                    EL7031_0030_IDENTITY_A => {
-                        let ethercat_device = get_ethercat_device_by_index(
-                            hardware.ethercat_devices,
-                            subdevice_index,
-                        )?;
-                        downcast_device::<EL7031_0030>(ethercat_device).await?
-                    }
-                    _ => Err(anyhow::anyhow!(
-                        "[{}::MachineNewTrait/Winder2::new] Device with role 5 is not an EL7031-0030",
-                        module_path!()
-                    ))?,
-                };
-                let config = EL7031_0030Configuration {
+            // Role 4: Stepper Puller EL7031-0030
+            let el7031_0030 = {
+                let device = get_ethercat_device::<EL7031_0030>(
+                    hardware,
+                    params,
+                    4,
+                    vec![EL7031_0030_IDENTITY_A],
+                )
+                .await?;
+
+                let el7031_0030_config = EL7031_0030Configuration {
                    stm_features: el7031_0030::coe::StmFeatures {
                        operation_mode: EL70x1OperationMode::DirectVelocity,
-                        // Max Speed of 1000 steps/s
-                        // Max @ 8cm diameter = approx 75 m/min
                        speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
                        ..Default::default()
                    },
@@ -316,15 +167,12 @@ impl MachineNewTrait for Winder2 {
                    ..Default::default()
                };
                device
+                    .0
                    .write()
                    .await
-                    .write_config(subdevice, &config)
+                    .write_config(&device.1, &el7031_0030_config)
                    .await?;
-                {
-                    let mut device_guard = device.write().await;
-                    device_guard.set_used(true);
-                }
-                (device, config)
+                device.0
            };

            let mode = Winder2Mode::Standby;
@@ -350,7 +198,9 @@ impl MachineNewTrait for Winder2 {
                    EL7031_0030AnalogInputPort::AI1,
                )),
                laser: DigitalOutput::new(el2002, EL2002Port::DO1),
-                namespace: Winder2Namespace::new(params.socket_queue_tx.clone()),
+                namespace: Winder2Namespace {
+                    namespace: params.namespace.clone(),
+                },
                mode: mode.clone(),
                spool_step_converter: AngularStepConverter::new(200),
                spool_speed_controller: SpoolSpeedController::new(),
@@ -380,7 +230,10 @@ impl MachineNewTrait for Winder2 {
                },
                machine_manager: params.machine_manager.clone(),
                machine_identification_unique: machine_id,
-                connected_buffer: None,
+                connected_buffer: MachineCrossConnection::new(
+                    params.machine_manager.clone(),
+                    &params.get_machine_identification_unique(),
+                ),
            };

            // initalize events
@@ -1,27 +1,15 @@
-#[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-use tikv_jemallocator::Jemalloc;
-
-#[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-#[global_allocator]
-static GLOBAL: Jemalloc = Jemalloc;
-
 #[cfg(feature = "dhat-heap")]
 #[global_allocator]
 static ALLOC: dhat::Alloc = dhat::Alloc;

 use app_state::AppState;
+use r#loop::init_loop;
 #[cfg(feature = "mock-machine")]
 use mock::init::init_mock;
-use std::{sync::Arc, time::Duration};
-
-use ethercat::init::init_ethercat;
-use r#loop::init_loop;
 use rest::init::init_api;
 #[cfg(not(feature = "mock-machine"))]
 use serial::init::init_serial;
-
-#[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-use jemalloc_stats::init_jemalloc_stats;
+use std::sync::Arc;

 use crate::panic::init_panic;
 use crate::socketio::queue::init_socketio_queue;
@@ -39,25 +27,18 @@ pub mod rest;
 pub mod serial;
 pub mod socketio;

-#[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-pub mod jemalloc_stats;
+use crate::ethercat::init::init_ethercat;

 fn main() {
    // Initialize panic handling
    let thread_panic_tx = init_panic();
    logging::init_tracing();
    tracing::info!("Tracing initialized successfully");
-
-    // lock memory (not working thus commented out)
-    // if let Err(e) = lock_memory() {
-    //     tracing::error!("[{}::main] Failed to lock memory: {:?}", module_path!(), e);
-    // } else {
-    //     tracing::info!("[{}::main] Memory locked successfully", module_path!());
-    // }
-
-    #[cfg(all(not(target_env = "msvc"), not(feature = "dhat-heap")))]
-    init_jemalloc_stats();
-
+    if let Err(e) = control_core::realtime::lock_memory() {
+        tracing::error!("[{}::main] Failed to lock memory: {:?}", module_path!(), e);
+    } else {
+        tracing::info!("[{}::main] Memory locked successfully", module_path!());
+    }
    let app_state = Arc::new(AppState::new());

    // Spawn init thread
@@ -96,7 +77,8 @@ fn main() {
    // Keep the main thread alive indefinitely
    // The program should only exit via panic handling or external signals
    loop {
-        std::thread::sleep(Duration::from_secs(u64::MAX));
+        // better way to "sleep", uses basically
+        std::thread::park();
    }
 }

@@ -25,7 +25,7 @@ pub fn init_mock(app_state: Arc<AppState>) -> Result<(), anyhow::Error> {
        };

        // Create the mock serial device
-        match MockSerialDevice::new_serial(&serial_params) {
+        let _ = match MockSerialDevice::new_serial(&serial_params) {
            Ok((device_identification, mock_serial_device)) => {
                // Add the mock device to the machine manager
                {
@@ -47,7 +47,7 @@ pub fn init_mock(app_state: Arc<AppState>) -> Result<(), anyhow::Error> {
                    .write()
                    .await
                    .main_namespace;
-                let event = MachinesEventBuilder().build(app_state_event.clone()).await;
+                let event = MachinesEventBuilder().build(app_state_event.clone());
                main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
                Ok::<(), anyhow::Error>(())
            }
@@ -79,7 +79,7 @@ pub fn init_mock(app_state: Arc<AppState>) -> Result<(), anyhow::Error> {
                    .write()
                    .await
                    .main_namespace;
-                let event = MachinesEventBuilder().build(app_state_event.clone()).await;
+                let event = MachinesEventBuilder().build(app_state_event.clone());
                main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
                Ok(())
            }
@@ -3,7 +3,10 @@ use crate::{
    rest::util::{ResponseUtil, ResponseUtilError},
 };
 use axum::{Json, body::Body, extract::State, http::Response};
-use control_core::rest::mutation::{MachineMutationBody, MutationResponse};
+use control_core::{
+    machines::connection::MachineConnection,
+    rest::mutation::{MachineMutationBody, MutationResponse},
+};
 use serde_json::Value;
 use std::sync::Arc;

@@ -27,7 +30,7 @@ async fn _post_machine_mutate(
    let machines_guard = app_state.machines.read().await;

    // find machine with given identification in hashmap
-    let machine = machines_guard
+    let slot = machines_guard
        .get(&body.machine_identification_unique)
        .ok_or(anyhow::anyhow!(
            "[{}::_post_machine_mutate] Machine not found {:?}",
@@ -35,14 +38,21 @@ async fn _post_machine_mutate(
            body.machine_identification_unique,
        ))?;

-    // check machine for error
-    let machine = match machine {
-        Ok(m) => m,
-        Err(e) => {
+    // check machine for valid connection
+    let connection = &slot.lock_blocking().machine_connection;
+    let machine = match connection {
+        MachineConnection::Connected(m) => m,
+        MachineConnection::Error(error) => {
            return Err(anyhow::anyhow!(
                "[{}::_post_machine_mutate] Machine has error: {}",
                module_path!(),
-                e
+                error
+            ));
+        }
+        MachineConnection::Disconnected => {
+            return Err(anyhow::anyhow!(
+                "[{}::_post_machine_mutate] Machine is disconnected",
+                module_path!()
            ));
        }
    };
@@ -68,8 +68,7 @@ pub fn init_serial(
                                    .write()
                                    .await
                                    .main_namespace;
-                                let event =
-                                    MachinesEventBuilder().build(app_state_event.clone()).await;
+                                let event = MachinesEventBuilder().build(app_state_event.clone());
                                main_namespace.emit(MainNamespaceEvents::MachinesEvent(event));
                            });
                        }
@@ -20,20 +20,8 @@ pub struct MachinesEventBuilder();
 impl MachinesEventBuilder {
    const NAME: &'static str = "MachinesEvent";

-    pub async fn build(&self, app_state: Arc<AppState>) -> Event<MachinesEvent> {
-        let mut machine_objs: Vec<_> = vec![];
-        // add machines
-        let machines_guard = app_state.machines.read().await;
-        for machine in machines_guard.iter() {
-            machine_objs.push(MachineObj {
-                machine_identification_unique: machine.0.clone(),
-                error: match machine.1 {
-                    Ok(_) => None,
-                    Err(e) => Some(e.to_string()),
-                },
-            });
-        }
-
+    pub fn build(&self, app_state: Arc<AppState>) -> Event<MachinesEvent> {
+        let machine_objs = app_state.get_machine_objs();
        Event::new(
            Self::NAME,
            MachinesEvent {
@@ -1,7 +1,8 @@
 use std::sync::Arc;

-use control_core::socketio::{
-    event::GenericEvent, namespace::Namespace, namespace_id::NamespaceId,
+use control_core::{
+    machines::connection::MachineConnection,
+    socketio::{event::GenericEvent, namespace::Namespace, namespace_id::NamespaceId},
 };
 use smol::channel::Sender;
 use socketioxide::extract::SocketRef;
@@ -34,8 +35,8 @@ impl Namespaces {
                let machines_guard = app_state.machines.read().await;

                // get machine
-                let machine = match machines_guard.get(&machine_identification_unique) {
-                    Some(machine) => machine,
+                let slot = match machines_guard.get(&machine_identification_unique) {
+                    Some(slot) => slot,
                    None => {
                        callback(Err(anyhow::anyhow!(
                            "[{}::Namespaces::appply_mut] Machine {:?} not found",
@@ -45,24 +46,32 @@ impl Namespaces {
                        return;
                    }
                };
+                let slot = slot.lock_blocking();

                // check if machine has error
-                let machine = match machine {
-                    Ok(machine) => machine,
-                    Err(err) => {
+                let machine = match &slot.machine_connection {
+                    MachineConnection::Error(error) => {
                        callback(Err(anyhow::anyhow!(
                            "[{}::Namespaces::appply_mut] Machine {:?} has error: {}",
                            module_path!(),
                            machine_identification_unique,
-                            err
+                            error
                        )));
                        return;
                    }
+                    MachineConnection::Disconnected => {
+                        callback(Err(anyhow::anyhow!(
+                            "[{}::Namespaces::appply_mut] Machine {:?} has disconnected",
+                            module_path!(),
+                            machine_identification_unique
+                        )));
+                        return;
+                    }
+                    MachineConnection::Connected(mutex) => mutex,
                };
-
                let mut machine_guard = machine.lock().await;
                let namespace = machine_guard.api_event_namespace();
-                callback(Ok(namespace));
+                callback(Ok(&mut namespace.lock_blocking()));
            }
        }
    }
Author	SHA1	Message	Date
Robin Krämer	71de39e871	Merge pull request #793 from qitechgmbh/790-refactor-aquapath-newrs-to-match-others 790 refactor aquapath newrs to match others	2025-10-08 16:29:49 +02:00
joe	54ffa193c3	fixed fmt	2025-10-08 16:23:40 +02:00
joe	03164f1ceb	refactor(aquapath1): cleanup and fix device initialization and configuration	2025-10-08 15:45:58 +02:00
Robin Krämer	f67a46ab4c	Merge pull request #787 from qitechgmbh/786-add-memory-locking added CAP_IPC_LOCK and added memory locking	2025-10-07 13:54:02 +02:00
kraemr	610790a778	added CAP_IPC_LOCK and memory locking	2025-10-07 13:04:49 +02:00
Robin Krämer	6eaf451ad4	Merge pull request #692 from JanHBade/master Update README.md	2025-10-07 12:57:27 +02:00
JanHBade	022e0adae3	Update README.md Minor typo in EtherCAT	2025-10-07 12:57:16 +02:00
Robin Krämer	6e6d4b31e7	Merge pull request #746 from qitechgmbh/640-improve-scroll-bar-styling-for-manuals-to-resemble-macos-style Update scrollbar styling to be similar to macos	2025-10-07 12:45:12 +02:00
Christian	0dafad3fb5	fix code stye	2025-10-07 12:40:01 +02:00
Christian	534de55239	Refactor scrollbar styles to apply only to html and body elements	2025-10-07 12:40:01 +02:00
Christian	d9f92bcdf2	Refactor scrollbar styles for Markdown and Terminal components to be similar to MacOS styling	2025-10-07 12:40:01 +02:00
Robin Krämer	1570299e38	Merge pull request #782 from qitechgmbh/781-refactor-winderv2-emit-functions-to-emitrs refactored winder2's emit methods to emit.rs	2025-10-06 17:01:38 +02:00
kraemr	c95f6f3bd9	refactored winder2's emit methods to emit.rs	2025-10-06 16:36:59 +02:00
Robin Krämer	9fcde2a234	Merge pull request #780 from qitechgmbh/772-remove-dependencies-that-are-not-necessary decreased compile time by removing jemalloc, and using only f64 uom	2025-10-06 16:05:08 +02:00
kraemr	a2ffc41e05	decreased compile time by removing jemalloc, and using only f64 uom	2025-10-06 16:02:29 +02:00
Robin Krämer	ff13baf257	Merge pull request #779 from qitechgmbh/changelog-2.9.0 updated Changelog	2025-10-06 14:25:39 +02:00
kraemr	8f5df07c19	updated Changelog	2025-10-06 14:24:43 +02:00
Robin Krämer	299b38515a	Merge pull request #778 from qitechgmbh/777-increase-max-step-size Increased Winder Step Size	2025-10-06 14:12:24 +02:00
kraemr	2b073aeb76	Increased Winder Step Size	2025-10-06 13:56:20 +02:00
Robin Krämer	7a6f92f8a4	Merge pull request #771 from qitechgmbh/770-update-machine-implementation-status-in-the-readme Update machine documentation to reflect current implementation status	2025-10-02 17:07:13 +02:00
Christian	2e283ea95f	Update machine documentation to reflect current implementation status	2025-10-02 17:03:55 +02:00
Robin Krämer	829bb5ea1c	Merge pull request #625 from qitechgmbh/improved-disconnect-handling Introduce machine connection	2025-10-02 14:26:07 +02:00
Oshgnacknak	0be18aaed0	Derive machines from macro again This time we also add get_machine_identification_unique. Also fix import warnings	2025-10-02 13:58:54 +02:00
Oshgnacknak	ffe0f09061	Clean up machine event creation	2025-10-01 16:50:04 +02:00
nixos-install.sh	730d61a18d	Don't clear ethercat slots, we want to keep the namespaces	2025-10-01 15:57:03 +02:00
Oshgnacknak	fc07525976	Don't remove, only disconnect serial machines This allows use to keep the namespaces	2025-10-01 15:57:03 +02:00
Oshgnacknak	c48953aa6b	Introduce machine connection This is to hold on to the namespace of a machine even if the devices of that machine has disconnected and to allow reattaching to the namespace once the devices reconnects. Additionally to the new struct, a wast refactor took place cleaning up connections to machines, cross connections between machines the way we downcast machines downcasts.	2025-10-01 15:57:03 +02:00
Melvin Spieß	0c948b436d	Merge pull request #764 from qitechgmbh/dependabot/cargo/axum-0.8.6 Bump axum from 0.8.4 to 0.8.6	2025-10-01 12:05:48 +02:00
Robin Krämer	1b3f92dd1c	Merge pull request #725 from qitechgmbh/425-fix-terminal-component-issues-v2 425 fix terminal component issues v2	2025-10-01 11:58:55 +02:00
dependabot[bot]	c29c549a1c	Bump axum from 0.8.4 to 0.8.6 Bumps [axum](https://github.com/tokio-rs/axum) from 0.8.4 to 0.8.6. - [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-v0.8.4...axum-v0.8.6) --- updated-dependencies: - dependency-name: axum dependency-version: 0.8.6 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2025-10-01 09:57:52 +00:00
kraemr	17622cacde	set log level to "info" for rust	2025-10-01 11:56:29 +02:00
kraemr	0b423454ec	fixed line duplication in Terminal Component on Update Page	2025-10-01 11:56:29 +02:00
kraemr	81ec98f670	dont clear log, causes react errors	2025-10-01 11:56:29 +02:00
93094049+kraemr@users.noreply.github.com	1aed425544	eslint bypass for control character	2025-10-01 11:56:29 +02:00
93094049+kraemr@users.noreply.github.com	da080ace68	try using clear functions before interactions	2025-10-01 11:56:29 +02:00
93094049+kraemr@users.noreply.github.com	ded8dd2d2d	added react-virtualized	2025-10-01 11:56:29 +02:00
93094049+kraemr@users.noreply.github.com	edd83ba559	added virtualized list	2025-10-01 11:56:29 +02:00
Melvin Spieß	7d1d8559a5	Merge pull request #672 from qitechgmbh/671-refactor-machine-creation reduced code duplication in new.rs of machines	2025-10-01 11:56:17 +02:00
kraemr	f0bb9bfed1	fixed lifetimes of get_ethercat_device and refactored buffer	2025-10-01 11:52:13 +02:00
93094049+kraemr@users.noreply.github.com	c6ea057736	renamed helper function	2025-10-01 11:52:13 +02:00
93094049+kraemr@users.noreply.github.com	90a00198a7	reduced code duplication in new.rs of machines	2025-10-01 11:52:12 +02:00
Melvin Spieß	f8241547fe	Merge pull request #762 from qitechgmbh/dependabot/cargo/erased-serde-0.4.8 Bump erased-serde from 0.4.6 to 0.4.8	2025-10-01 11:50:54 +02:00
Melvin Spieß	1cb5d51c13	Merge pull request #760 from qitechgmbh/dependabot/npm_and_yarn/electron/tanstack/react-router-1.130.17 Bump @tanstack/react-router from 1.130.12 to 1.130.17 in /electron	2025-10-01 11:38:53 +02:00
Melvin Spieß	c42cdf8db1	Merge pull request #759 from qitechgmbh/dependabot/npm_and_yarn/electron/radix-ui/react-navigation-menu-1.2.14 Bump @radix-ui/react-navigation-menu from 1.2.13 to 1.2.14 in /electron	2025-10-01 11:38:22 +02:00
Melvin Spieß	69014ef8c6	Merge pull request #758 from qitechgmbh/dependabot/npm_and_yarn/electron/types/react-19.1.16 Bump @types/react from 19.1.9 to 19.1.16 in /electron	2025-10-01 11:35:53 +02:00
Melvin Spieß	5faab29a2b	Merge pull request #763 from qitechgmbh/dependabot/cargo/libc-0.2.176 Bump libc from 0.2.175 to 0.2.176	2025-10-01 11:35:31 +02:00
dependabot[bot]	9a8b16ca69	Bump @radix-ui/react-navigation-menu from 1.2.13 to 1.2.14 in /electron Bumps [@radix-ui/react-navigation-menu](https://github.com/radix-ui/primitives) from 1.2.13 to 1.2.14. - [Changelog](https://github.com/radix-ui/primitives/blob/main/release-process.md) - [Commits](https://github.com/radix-ui/primitives/commits) --- updated-dependencies: - dependency-name: "@radix-ui/react-navigation-menu" dependency-version: 1.2.14 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2025-10-01 09:32:49 +00:00
Melvin Spieß	53f3c66214	Merge pull request #765 from qitechgmbh/dependabot/cargo/regex-1.11.3 Bump regex from 1.11.2 to 1.11.3	2025-10-01 11:30:59 +02:00
dependabot[bot]	432bf0d6ba	Bump libc from 0.2.175 to 0.2.176 Bumps [libc](https://github.com/rust-lang/libc) from 0.2.175 to 0.2.176. - [Release notes](https://github.com/rust-lang/libc/releases) - [Changelog](https://github.com/rust-lang/libc/blob/0.2.176/CHANGELOG.md) - [Commits](https://github.com/rust-lang/libc/compare/0.2.175...0.2.176) --- updated-dependencies: - dependency-name: libc dependency-version: 0.2.176 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2025-10-01 09:30:49 +00:00
dependabot[bot]	f3990f35f1	Bump erased-serde from 0.4.6 to 0.4.8 Bumps [erased-serde](https://github.com/dtolnay/erased-serde) from 0.4.6 to 0.4.8. - [Release notes](https://github.com/dtolnay/erased-serde/releases) - [Commits](https://github.com/dtolnay/erased-serde/compare/0.4.6...0.4.8) --- updated-dependencies: - dependency-name: erased-serde dependency-version: 0.4.8 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2025-10-01 09:30:40 +00:00
dependabot[bot]	6f17412363	Bump regex from 1.11.2 to 1.11.3 Bumps [regex](https://github.com/rust-lang/regex) from 1.11.2 to 1.11.3. - [Release notes](https://github.com/rust-lang/regex/releases) - [Changelog](https://github.com/rust-lang/regex/blob/master/CHANGELOG.md) - [Commits](https://github.com/rust-lang/regex/compare/1.11.2...1.11.3) --- updated-dependencies: - dependency-name: regex dependency-version: 1.11.3 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2025-10-01 09:28:49 +00:00
dependabot[bot]	68907b9750	Bump @types/react from 19.1.9 to 19.1.16 in /electron Bumps [@types/react](https://github.com/DefinitelyTyped/DefinitelyTyped/tree/HEAD/types/react) from 19.1.9 to 19.1.16. - [Release notes](https://github.com/DefinitelyTyped/DefinitelyTyped/releases) - [Commits](https://github.com/DefinitelyTyped/DefinitelyTyped/commits/HEAD/types/react) --- updated-dependencies: - dependency-name: "@types/react" dependency-version: 19.1.16 dependency-type: direct:development update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2025-10-01 09:26:34 +00:00
dependabot[bot]	e7007e1980	Bump @tanstack/react-router from 1.130.12 to 1.130.17 in /electron Bumps [@tanstack/react-router](https://github.com/TanStack/router/tree/HEAD/packages/react-router) from 1.130.12 to 1.130.17. - [Release notes](https://github.com/TanStack/router/releases) - [Commits](https://github.com/TanStack/router/commits/v1.130.17/packages/react-router) --- updated-dependencies: - dependency-name: "@tanstack/react-router" dependency-version: 1.130.17 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2025-10-01 09:26:27 +00:00
Melvin Spieß	3bcd96d73c	Merge pull request #766 from qitechgmbh/dependabot/cargo/anyhow-1.0.100 Bump anyhow from 1.0.99 to 1.0.100	2025-10-01 11:09:51 +02:00
dependabot[bot]	8a77c62a5e	Bump anyhow from 1.0.99 to 1.0.100 Bumps [anyhow](https://github.com/dtolnay/anyhow) from 1.0.99 to 1.0.100. - [Release notes](https://github.com/dtolnay/anyhow/releases) - [Commits](https://github.com/dtolnay/anyhow/compare/1.0.99...1.0.100) --- updated-dependencies: - dependency-name: anyhow dependency-version: 1.0.100 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>	2025-10-01 02:24:32 +00:00
kraemr	93add82ab5	updated Changelog	2025-09-30 15:29:27 +02:00
Robin Krämer	690b1f7ab3	Merge pull request #757 from qitechgmbh/revert-ethercat-setup fixed ethercat setup timeouts and retry	2025-09-29 17:19:33 +02:00