fixed formatting AGAIN

Cargo.lock

@@ -968,8 +968,7 @@ dependencies = [
 [[package]]
 name = "ethercrab"
 version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbb13becfa15713adb09b27fdb74468b827cdc78aa99aea638a89c1b0db3ce94"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
  "async-io",
  "atomic-waker",
@@ -998,8 +997,7 @@ dependencies = [
 [[package]]
 name = "ethercrab-wire"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d15828cb020fb44c92ca67e1ee3c122c9621c2e00d383d066e488f0619023ba2"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
  "ethercrab-wire-derive",
  "heapless",
@@ -1008,8 +1006,7 @@ dependencies = [
 [[package]]
 name = "ethercrab-wire-derive"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e790b8011211ed70babfcacbd4277b91ee21402ad5ba6a2c293db02e2f12919"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
  "criterion",
  "proc-macro2",
@@ -2332,6 +2329,7 @@ dependencies = [
  "smol",
  "socketioxide",
  "spin_sleep",
+ "ta",
  "textplots",
  "tokio",
  "tower-http",
@@ -2588,6 +2586,12 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0bf256ce5efdfa370213c1dabab5935a12e49f2c58d15e9eac2870d3b4f27263"
 
+[[package]]
+name = "ta"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "609409d472a0a7d8d4dd9e19891bbdef546b9dce670c3057d0e02192dc541226"
+
 [[package]]
 name = "tap"
 version = "1.0.1"

control-core/Cargo.toml

@@ -13,7 +13,7 @@ axum = "0.8.6"
 
 ethercat_hal = { path = "../ethercat-hal" }
 units = { path = "../units" }
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 interfaces = "0.0.9"
 serde = "1.0.219"
 serialport = "4.7.3"

ethercat-hal/Cargo.toml

@@ -8,7 +8,7 @@ workspace = true
 
 [dependencies]
 anyhow = "1.0.100"
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 ethercat_hal_derive = { version = "0.1.0", path = "../ethercat-hal-derive" }
 units = { path = "../units" }
 bitvec = { version = "1.0.1", features = ["alloc"] }

ethercat-hal/src/devices/el5152.rs

@@ -180,7 +180,6 @@ impl Configuration for EL5152Configuration {
     ) -> Result<(), anyhow::Error> {
         // Configure channel 1
         self.channel1.write_channel_config(device, 0x8000).await?;
-
         // Configure channel 2
         self.channel2.write_channel_config(device, 0x8010).await?;
         // Write PDO assignments

machines/Cargo.toml

@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
 control_core_derive = { path = "../control-core-derive" }

machines/src/aquapath1/new.rs

@@ -1,7 +1,6 @@
 use crate::{
     MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
-    get_subdevice_by_index, validate_no_role_dublicates,
-    validate_same_machine_identification_unique,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,
 };
 
 use super::{
@@ -92,7 +91,12 @@ impl MachineNewTrait for AquaPathV1 {
                 pdo_assignment: EL5152PredefinedPdoAssignment::Frequency,
                 ..Default::default()
             };
-            let subdevice = get_subdevice_by_index(hardware.subdevices, 4)?;
+
+            let subdevice =
+                get_ethercat_device::<EL5152>(hardware, params, 4, [EL5152_IDENTITY_A].to_vec())
+                    .await?
+                    .1;
+
             el5152
                 .write()
                 .await

server/Cargo.toml

@@ -9,7 +9,7 @@ workspace = true
 
 
 [dependencies]
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
 
@@ -47,6 +47,7 @@ utils = { version = "0.1.0", path="../utils" }
 spin_sleep = "1.3.3"
 dhat = { version = "0.3.3", optional = true }
 ctrlc = { version = "3.3", optional = true }
+ta = "0.5.0"
 
 
 [dev-dependencies]

server/src/app_state.rs

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

server/src/ethercat/setup.rs

@@ -18,10 +18,18 @@ use ethercat_hal::devices::wago_750_354::{
 use ethercat_hal::devices::wago_modules::ip20_ec_di8_do8::{
     IP20_EC_DI8_DO8_PRODUCT_ID, IP20_EC_DI8_DO8_VENDOR_ID, IP20EcDi8Do8,
 };
+use ethercrab::error::Error;
+use ethercrab::subdevice_group::{DcConfiguration, HasDc, PreOpPdi, SafeOp};
+use smol::stream::StreamExt;
+use ta::Next;
+use ta::indicators::ExponentialMovingAverage;
 
-use crate::utils::{start_dnsmasq, stop_dnsmasq};
+use crate::utils::stop_dnsmasq;
 use ethercrab::std::ethercat_now;
-use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, RetryBehaviour, Timeouts};
+use ethercrab::{
+    DcSync, MainDevice, MainDeviceConfig, PduStorage, RegisterAddress, RetryBehaviour,
+    SubDeviceGroup, Timeouts,
+};
 use machines::machine_identification::{
     DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat, DeviceIdentification,
     DeviceIdentificationIdentified, MachineIdentificationUnique, read_device_identifications,
@@ -30,6 +38,7 @@ use machines::registry::{MACHINE_REGISTRY, MachineRegistry};
 use machines::{Machine, MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams};
 use smol::channel::Sender;
 use socketioxide::extract::SocketRef;
+use std::time::Instant;
 use std::{sync::Arc, time::Duration};
 
 /// Structure to hold the result of grouping devices by identification
@@ -172,7 +181,7 @@ pub async fn setup_loop(
     app_state: Arc<SharedState>,
 ) -> Result<EthercatSetup, anyhow::Error> {
     tracing::info!("Starting Ethercat PDU loop");
-
+    const TICK_INTERVAL: Duration = Duration::from_micros(700);
     let res = stop_dnsmasq();
     match res {
         Ok(_) => (),
@@ -185,7 +194,6 @@ pub async fn setup_loop(
     let pdu_storage = Box::leak(Box::new(PduStorage::<MAX_FRAMES, MAX_PDU_DATA>::new()));
     let (tx, rx, pdu) = pdu_storage.try_split().expect("can only split once");
     let interface = interface.to_string();
-    let mut has_dc = false;
 
     std::thread::Builder::new()
         .name("EthercatTxRxThread".to_owned())
@@ -278,6 +286,45 @@ pub async fn setup_loop(
         ))?,
     };
 
+    for mut subdevice in group_preop.iter_mut(&maindevice) {
+        println!(
+            "subdevice {} {:X?}",
+            subdevice.name(),
+            subdevice.configured_address()
+        );
+        if subdevice.name() == "EL4002" {
+            // Sync mode 01 = SM Synchronous, says it does dc but actually doesnt, thx?
+            subdevice
+                .sdo_write(0x1c32, 1, 1u16)
+                .await
+                .expect("Set sync mode");
+        }
+        // Configure SYNC0 AND SYNC1 for EL4102
+        else if subdevice.name() == "EL5152" {
+            // Sync mode 02 = SYNC0
+            subdevice
+                .sdo_write(0x1c32, 1, 2u16)
+                .await
+                .expect("Set sync mode");
+
+            subdevice
+                .sdo_write(0x1c32, 0x02, TICK_INTERVAL.as_nanos() as u32)
+                .await
+                .expect("Set cycle time");
+
+            subdevice.set_dc_sync(DcSync::Sync01 {
+                // EL4102 ESI specifies SYNC1 with an offset of 100k ns
+                sync1_period: Duration::from_nanos(100_000),
+            });
+        } else {
+            match subdevice.dc_support() {
+                ethercrab::DcSupport::None => (),
+                ethercrab::DcSupport::RefOnly => (),
+                ethercrab::DcSupport::Bits64 => subdevice.set_dc_sync(DcSync::Sync0),
+                ethercrab::DcSupport::Bits32 => subdevice.set_dc_sync(DcSync::Sync0),
+            }
+        }
+    }
     // create devices
     let devices =
         devices_from_subdevices::<MAX_SUBDEVICES, PDI_LEN>(&mut group_preop, &maindevice)?;
@@ -298,6 +345,7 @@ pub async fn setup_loop(
             },
         )
         .collect::<Vec<_>>();
+
     let devices = device_identifications
         .into_iter()
         .zip(devices)
@@ -356,7 +404,6 @@ pub async fn setup_loop(
     */
     match (coupler.identity().vendor_id, coupler.identity().product_id) {
         (WAGO_750_354_VENDOR_ID, WAGO_750_354_PRODUCT_ID) => {
-            has_dc = true;
             let r = Wago750_354::initialize_modules(coupler).await?;
             for module in r {
                 if coupler.configured_address() == module.belongs_to_addr {
@@ -380,7 +427,6 @@ pub async fn setup_loop(
             }
         }
         (IP20_EC_DI8_DO8_VENDOR_ID, IP20_EC_DI8_DO8_PRODUCT_ID) => {
-            has_dc = true;
             let r = IP20EcDi8Do8::initialize_modules(coupler).await?;
             for module in r {
                 if coupler.configured_address() == module.belongs_to_addr {
@@ -407,19 +453,11 @@ pub async fn setup_loop(
     };
     drop(ethercat_meta_devices);
 
-    for subdevice in subdevices.iter() {
-        // Hack so El5152 goes into OP
-        if subdevice.name() == "EL5152" {
-            has_dc = true;
-        }
-    }
-
     // remove subdevice from devices tuple
     let devices = devices
         .iter()
         .map(|(device_identification, device, _)| (device_identification.clone(), device.clone()))
         .collect::<Vec<_>>();
-    // Notify client via socketio
 
     set_ethercat_devices::<MAX_SUBDEVICES, PDI_LEN>(
         &identified_device_identifications,
@@ -433,72 +471,127 @@ pub async fn setup_loop(
     )
     .await?;
 
-    let group_safe = match group_preop.into_safe_op(&maindevice).await {
-        Ok(group_op) => {
-            tracing::info!("Group in Safe-OP state");
-            group_op
-        }
-        Err(err) => Err(anyhow::anyhow!(
-            "[{}::setup_loop] Failed to put group in Safe-OP state: {:?}",
-            module_path!(),
-            err
-        ))?,
-    };
+    // Avoid potential Sdo write Contention on the bus, by just waiting a bit
+    smol::Timer::after(Duration::from_millis(4000)).await;
+    let mut now = Instant::now();
+    let start = Instant::now();
+    let mut averages = Vec::new();
+    for _ in 0..group_preop.len() {
+        averages.push(ExponentialMovingAverage::new(64).unwrap());
+    }
+    let mut tick_interval = smol::Timer::interval(TICK_INTERVAL);
 
-    // TODO Make a more extensive init for the case of DC-Sync
-    // Maybe we need multiple groups? like one DC group and one non dc sync group?
-    // For now we just check if we use wago coupler or IP20
-    if has_dc {
-        for _ in 1..1000 {
-            let res = group_safe.tx_rx_sync_system_time(&maindevice).await;
-            match res {
-                Ok(_) => (),
-                Err(e) => tracing::error!(
-                    "[{}::setup_loop] Failed to sync dc time: {:?}",
-                    e,
-                    module_path!()
-                ),
+    tracing::info!("Moving into PRE-OP with PDI");
+    let group = group_preop.into_pre_op_pdi(&maindevice).await?;
+    tracing::info!("Done. PDI available. Waiting for SubDevices to align");
+
+    loop {
+        group
+            .tx_rx_sync_system_time(&maindevice)
+            .await
+            .expect("TX/RX");
+
+        if now.elapsed() >= Duration::from_millis(25) {
+            now = Instant::now();
+            let mut max_deviation = 0;
+            for (s1, ema) in group.iter(&maindevice).zip(averages.iter_mut()) {
+                let diff = match s1
+                    .register_read::<u32>(RegisterAddress::DcSystemTimeDifference)
+                    .await
+                {
+                    Ok(value) =>
+                    // The returned value is NOT in two's compliment, rather the upper bit specifies
+                    // whether the number in the remaining bits is odd or even, so we convert the
+                    // value to `i32` using that logic here.
+                    {
+                        let flag = 0b1u32 << 31;
+                        if value >= flag {
+                            // Strip off negative flag bit and negate value as normal
+                            -((value & !flag) as i32)
+                        } else {
+                            value as i32
+                        }
+                    }
+                    Err(Error::WorkingCounter { .. }) => 0,
+                    Err(e) => {
+                        return Err(anyhow::anyhow!("Failed to read DC system time: {:?}", e));
+                    }
+                };
+
+                let ema_next = ema.next(diff as f64);
+                max_deviation = max_deviation.max(ema_next.abs() as u32);
+            }
+            if max_deviation < 100 {
+                tracing::info!("Clocks settled after {} ms", start.elapsed().as_millis());
+                break;
             }
         }
+        tick_interval.next().await;
     }
 
-    // Put group in operational state
-    let group_op = match group_safe.into_op(&maindevice).await {
-        Ok(group_op) => {
-            tracing::info!("Group in OP state");
-            group_op
+    // SubDevice clocks are aligned. We can turn DC on now.
+    let group = group
+        .configure_dc_sync(
+            &maindevice,
+            DcConfiguration {
+                // Start SYNC0 100ms in the future
+                start_delay: Duration::from_millis(100),
+                // SYNC0 period should be the same as the process data loop in most cases
+                sync0_period: TICK_INTERVAL,
+                // Send process data half way through cycle
+                sync0_shift: TICK_INTERVAL / 2,
+            },
+        )
+        .await?;
+
+    // State machine to handle transition to SafeOp with process data
+    enum GroupState {
+        PreOp(SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, PreOpPdi, HasDc>),
+        SafeOp(SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, SafeOp, HasDc>),
+    }
+
+    let mut group_container = Some(GroupState::PreOp(group));
+    let mut tick = 0;
+
+    let group = loop {
+        let now = Instant::now();
+        match group_container.take().unwrap() {
+            GroupState::PreOp(group) => {
+                let res = group.tx_rx_dc(&maindevice).await.expect("TX/RX");
+                if tick > 300 {
+                    let group = group.request_into_safe_op(&maindevice).await?;
+                    group_container = Some(GroupState::SafeOp(group));
+                    tracing::info!("Requested SAFE-OP");
+                } else {
+                    group_container = Some(GroupState::PreOp(group));
+                }
+
+                smol::Timer::at(now + res.extra.next_cycle_wait).await;
+            }
+            GroupState::SafeOp(group) => {
+                let res = group.tx_rx_dc(&maindevice).await.expect("TX/RX");
+                if res.all_safe_op() {
+                    tracing::info!("SAFE-OP");
+                    break group;
+                } else {
+                    group_container = Some(GroupState::SafeOp(group));
+                }
+                smol::Timer::at(now + res.extra.next_cycle_wait).await;
+            }
         }
-        Err(err) => Err(anyhow::anyhow!(
-            "[{}::setup_loop] Failed to put group in OP state: {:?}",
-            module_path!(),
-            err
-        ))?,
+        tick += 1;
     };
 
-    {
-        // Notify client via socketio
-        let app_state_clone = app_state.clone();
-        let main_namespace = &mut app_state_clone
-            .socketio_setup
-            .namespaces
-            .write()
-            .await
-            .main_namespace;
-        let event = EthercatDevicesEventBuilder()
-            .build(app_state_clone.clone())
-            .await;
-        main_namespace.emit(MainNamespaceEvents::EthercatDevicesEvent(event));
-    }
-
-    let res = start_dnsmasq();
-    match res {
-        Ok(o) => o,
-        Err(e) => tracing::error!("Failed to start dnsmasq: {:?}", e),
-    };
+    let group_op = group
+        .request_into_op(&maindevice)
+        .await
+        .expect("SAFE-OP -> OP");
+    tracing::info!("Started Transition to OP");
 
     Ok(EthercatSetup {
         devices,
         group: group_op,
         maindevice,
+        all_operational: false,
     })
 }

server/src/loop.rs

@@ -4,6 +4,8 @@ use bitvec::prelude::*;
 use control_core::realtime::set_core_affinity;
 #[cfg(not(feature = "development-build"))]
 use control_core::realtime::set_realtime_priority;
+use ethercrab::TxRxResponse;
+use ethercrab::subdevice_group::CycleInfo;
 use machines::Machine;
 use machines::machine_identification::write_machine_device_identification;
 use smol::channel::Receiver;
@@ -159,55 +161,79 @@ pub fn start_loop_thread(
 }
 
 pub async fn copy_ethercat_inputs(
-    ethercat_setup: Option<&EthercatSetup>,
+    ethercat_setup: Option<&mut EthercatSetup>,
 ) -> Result<(), anyhow::Error> {
     // only if we have an ethercat setup
     // - tx/rx cycle
     // - copy inputs to devices
     if let Some(ethercat_setup) = ethercat_setup {
-        ethercat_setup
-            .group
-            .tx_rx(&ethercat_setup.maindevice)
-            .await?;
+        if ethercat_setup.all_operational {
+            ethercat_setup
+                .group
+                .tx_rx_dc(&ethercat_setup.maindevice)
+                .await?;
 
-        // copy inputs to devices
-        for (i, subdevice) in ethercat_setup
-            .group
-            .iter(&ethercat_setup.maindevice)
-            .enumerate()
-        {
-            // retrieve inputs
-            let input = subdevice.inputs_raw();
-            let input_bits = input.view_bits::<Lsb0>();
+            // copy inputs to devices
+            for (i, subdevice) in ethercat_setup
+                .group
+                .iter(&ethercat_setup.maindevice)
+                .enumerate()
+            {
+                // retrieve inputs
+                let input = subdevice.inputs_raw();
+                let input_bits = input.view_bits::<Lsb0>();
 
-            // get device
-            let mut device = ethercat_setup.devices[i].1.as_ref().write().await;
+                // get device
+                let mut device = ethercat_setup.devices[i].1.as_ref().write().await;
 
-            // check if the device is used
-            if !device.is_used() {
-                // if the device is not used, we skip it
-                continue;
+                // check if the device is used
+                if !device.is_used() {
+                    // if the device is not used, we skip it
+                    continue;
+                }
+
+                // put inputs into device
+                device.input_checked(input_bits).map_err(|e| {
+                    anyhow::anyhow!(
+                        "[{}::loop_once] SubDevice with index {} failed to copy inputs\n{:?}",
+                        module_path!(),
+                        i,
+                        e
+                    )
+                })?;
+
+                // post process inputs
+                device.input_post_process().map_err(|e| {
+                    anyhow::anyhow!(
+                        "[{}::loop_once] SubDevice with index {} failed to copy post_process\n{:?}",
+                        module_path!(),
+                        i,
+                        e
+                    )
+                })?;
+            }
+            return Ok(());
+        } else {
+            loop {
+                let now = Instant::now();
+                let response @ TxRxResponse {
+                    working_counter: _wkc,
+                    extra:
+                        CycleInfo {
+                            next_cycle_wait, ..
+                        },
+                    ..
+                } = ethercat_setup
+                    .group
+                    .tx_rx_dc(&ethercat_setup.maindevice)
+                    .await
+                    .expect("TX/RX");
+                if response.all_op() {
+                    ethercat_setup.all_operational = true;
+                    break;
+                }
+                smol::Timer::at(now + next_cycle_wait).await;
             }
-
-            // put inputs into device
-            device.input_checked(input_bits).map_err(|e| {
-                anyhow::anyhow!(
-                    "[{}::loop_once] SubDevice with index {} failed to copy inputs\n{:?}",
-                    module_path!(),
-                    i,
-                    e
-                )
-            })?;
-
-            // post process inputs
-            device.input_post_process().map_err(|e| {
-                anyhow::anyhow!(
-                    "[{}::loop_once] SubDevice with index {} failed to copy post_process\n{:?}",
-                    module_path!(),
-                    i,
-                    e
-                )
-            })?;
         }
     }
     Ok(())
@@ -276,7 +302,7 @@ pub fn loop_once<'maindevice>(inputs: &mut RtLoopInputs<'_>) -> Result<(), anyho
             .unwrap()
             .cycle_start();
 
-        let res = smol::block_on(copy_ethercat_inputs(inputs.ethercat_setup.as_deref()));
+        let res = smol::block_on(copy_ethercat_inputs(inputs.ethercat_setup.as_deref_mut()));
         match res {
             Ok(_) => (),
             Err(e) => {

server/src/main.rs

@@ -2,6 +2,7 @@ use crate::{
     metrics::collector::{RuntimeMetricsConfig, spawn_runtime_metrics_sampler},
     socketio::main_namespace::machines_event::MachineObj,
 };
+use control_core::socketio::namespace::NamespaceCacheingLogic;
 use machines::{
     AsyncThreadMessage, MachineConnection, MachineNewHardware, MachineNewHardwareSerial,
     MachineNewParams, SerialDevice, SerialDeviceIdentification, SerialDeviceNew,
@@ -14,6 +15,9 @@ use machines::{
     serial::{devices::laser::Laser, init::SerialDetection},
     winder2::api::GenericEvent,
 };
+use socketio::main_namespace::{
+    MainNamespaceEvents, ethercat_devices_event::EthercatDevicesEventBuilder,
+};
 #[cfg(feature = "development-build")]
 use std::sync::atomic::{AtomicBool, Ordering};
 use utils::start_dnsmasq;
@@ -145,8 +149,28 @@ pub async fn start_interface_discovery(
         Ok(setup) => {
             let _ = sender.send(HotThreadMessage::AddEtherCatSetup(setup)).await;
             tracing::info!("Successfully initialized EtherCAT devices");
-        }
 
+            {
+                // Notify client via socketio
+                let app_state_clone = app_state.clone();
+                let main_namespace = &mut app_state_clone
+                    .socketio_setup
+                    .namespaces
+                    .write()
+                    .await
+                    .main_namespace;
+                let event = EthercatDevicesEventBuilder()
+                    .build(app_state_clone.clone())
+                    .await;
+                main_namespace.emit(MainNamespaceEvents::EthercatDevicesEvent(event));
+            }
+
+            let res = start_dnsmasq();
+            match res {
+                Ok(o) => o,
+                Err(e) => tracing::error!("Failed to start dnsmasq: {:?}", e),
+            };
+        }
         Err(e) => {
             tracing::error!(
                 "[{}::main] Failed to initialize EtherCAT network \n{:?}",