create frontend components

* added way to generate credentials + config for caddy, added caddy as a reverse proxy
* opened up firewall properly again

.gitattributes

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

.github/ISSUE_TEMPLATE/bug_report.md

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

.github/ISSUE_TEMPLATE/feature_request.md

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

.github/workflows/issue-status-check.yml

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

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

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

.gitignore

@@ -1,10 +1,11 @@
 target/
 dist/
 .DS_Store
-Cargo.lock
 dhat-heap.json
 build.sh
 shell.nix
 node_modules/
 runtime_metrics.csv
-compile_metrics.csv
+compile_metrics.csv
+.idea/
+electron/dist-electron/

CHANGELOG.md

@@ -1,3 +1,15 @@
+# `2.14.1`
+_26.01.2026_
+
+## Laser
+-[#1079](https://github.com/qitechgmbh/control/pull/1079) Fixed Overflowing of buffer for Graphs causing crashes
+
+# `2.14.0`
+_22.01.2026_
+
+## General 
+- [#1040](https://github.com/qitechgmbh/control/pull/1040) Added API for reading Machine Data
+
 # `2.13.0`
 _07.01.2026_
 
@@ -5,7 +17,6 @@ _07.01.2026_
 - [#925](https://github.com/qitechgmbh/control/pull/925) Switch to Setup when selected machine is disconnected
 - [#937](https://github.com/qitechgmbh/control/pull/937) Added minimal Support for WAGO 
 - [#945](https://github.com/qitechgmbh/control/pull/945) Improvements for On-Screen Keyboard usage in Ethercat Setup Page
-- []
 
 ## Extruder V3
 - [#930](https://github.com/qitechgmbh/control/pull/930) Added Extruder V3

Cargo.lock

@@ -204,7 +204,7 @@ checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -221,7 +221,7 @@ checksum = "99e1aca718ea7b89985790c94aad72d77533063fe00bc497bb79a7c2dae6a661"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -232,9 +232,9 @@ checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
 
 [[package]]
 name = "axum"
-version = "0.8.7"
+version = "0.8.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b098575ebe77cb6d14fc7f32749631a6e44edbef6b796f89b020e99ba20d425"
+checksum = "8b52af3cb4058c895d37317bb27508dccc8e5f2d39454016b297bf4a400597b8"
 dependencies = [
  "axum-core",
  "axum-macros",
@@ -291,7 +291,7 @@ checksum = "604fde5e028fea851ce1d8570bbdc034bec850d157f7569d10f347d06808c05c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -390,9 +390,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.11.0"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b35204fbdc0b3f4446b89fc1ac2cf84a8a68971995d0bf2e925ec7cd960f9cb3"
+checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 dependencies = [
  "serde",
 ]
@@ -539,7 +539,7 @@ version = "0.1.0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -682,7 +682,7 @@ dependencies = [
  "deluxe-macros",
  "once_cell",
  "proc-macro2",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -695,7 +695,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "strsim",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -710,7 +710,7 @@ dependencies = [
  "proc-macro-crate",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -721,7 +721,7 @@ checksum = "1e567bd82dcff979e4b03460c307b3cdc9e96fde3d73bed1496d2bc75d9dd62a"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -962,14 +962,13 @@ dependencies = [
  "deluxe",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
 name = "ethercrab"
 version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbb13becfa15713adb09b27fdb74468b827cdc78aa99aea638a89c1b0db3ce94"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
  "async-io",
  "atomic-waker",
@@ -998,8 +997,7 @@ dependencies = [
 [[package]]
 name = "ethercrab-wire"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d15828cb020fb44c92ca67e1ee3c122c9621c2e00d383d066e488f0619023ba2"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
  "ethercrab-wire-derive",
  "heapless",
@@ -1008,20 +1006,19 @@ dependencies = [
 [[package]]
 name = "ethercrab-wire-derive"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e790b8011211ed70babfcacbd4277b91ee21402ad5ba6a2c293db02e2f12919"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
  "criterion",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
 name = "euclid"
-version = "0.22.11"
+version = "0.22.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad9cdb4b747e485a12abb0e6566612956c7a1bafa3bdb8d682c5b6d403589e48"
+checksum = "df61bf483e837f88d5c2291dcf55c67be7e676b3a51acc48db3a7b163b91ed63"
 dependencies = [
  "num-traits",
 ]
@@ -1878,7 +1875,7 @@ dependencies = [
  "pest_meta",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -1908,7 +1905,7 @@ checksum = "6e918e4ff8c4549eb882f14b3a4bc8c8bc93de829416eacf579f1207a8fbf861"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2221,7 +2218,7 @@ checksum = "22f968c5ea23d555e670b449c1c5e7b2fc399fdaec1d304a17cd48e288abc107"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2251,20 +2248,20 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.145"
+version = "1.0.149"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "402a6f66d8c709116cf22f558eab210f5a50187f702eb4d7e5ef38d9a7f1c79c"
+checksum = "83fc039473c5595ace860d8c4fafa220ff474b3fc6bfdb4293327f1a37e94d86"
 dependencies = [
  "itoa",
  "memchr",
- "ryu",
  "serde",
  "serde_core",
+ "zmij",
 ]
 
 [[package]]
@@ -2332,6 +2329,7 @@ dependencies = [
  "smol",
  "socketioxide",
  "spin_sleep",
+ "ta",
  "textplots",
  "tokio",
  "tower-http",
@@ -2573,9 +2571,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.111"
+version = "2.0.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "390cc9a294ab71bdb1aa2e99d13be9c753cd2d7bd6560c77118597410c4d2e87"
+checksum = "d4d107df263a3013ef9b1879b0df87d706ff80f65a86ea879bd9c31f9b307c2a"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2588,6 +2586,12 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0bf256ce5efdfa370213c1dabab5935a12e49f2c58d15e9eac2870d3b4f27263"
 
+[[package]]
+name = "ta"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "609409d472a0a7d8d4dd9e19891bbdef546b9dce670c3057d0e02192dc541226"
+
 [[package]]
 name = "tap"
 version = "1.0.1"
@@ -2621,7 +2625,7 @@ checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2681,7 +2685,7 @@ checksum = "af407857209536a95c8e56f8231ef2c2e2aff839b22e07a1ffcbc617e9db9fa5"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2843,7 +2847,7 @@ checksum = "7490cfa5ec963746568740651ac6781f701c9c5ea257c58e057f3ba8cf69e8da"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2880,9 +2884,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-subscriber"
-version = "0.3.20"
+version = "0.3.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2054a14f5307d601f88daf0553e1cbf472acc4f2c51afab632431cdcd72124d5"
+checksum = "2f30143827ddab0d256fd843b7a66d164e9f271cfa0dde49142c5ca0ca291f1e"
 dependencies = [
  "chrono",
  "matchers",
@@ -3074,7 +3078,7 @@ dependencies = [
  "bumpalo",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
  "wasm-bindgen-shared",
 ]
 
@@ -3139,7 +3143,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -3150,7 +3154,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -3426,5 +3430,11 @@ checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
+
+[[package]]
+name = "zmij"
+version = "1.0.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ff05f8caa9038894637571ae6b9e29466c1f4f829d26c9b28f869a29cbe3445"

README.md

@@ -2,167 +2,76 @@
 
 # QiTech Control
 
-QiTech Control is an open-source framework designed to bring modern software paradigms to certified industrial hardware.
+QiTech Control is an open-source framework designed to bring modern software development practices to certified industrial hardware.
 
 It frees developers from proprietary, license-heavy PLC ecosystems and rigid "point-and-click" workflows that are no longer adequate for today's complex automation challenges.
 
 QiTech Control combines the modularity and reliability of standard EtherCAT terminals (e.g., WAGO, Beckhoff) with the power of a modern Rust & React stack.
 
+## Documentation
 
-[![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)
-*Click here to watch a video demo of our software.*
+**[View Full Documentation Wiki](https://github.com/qitechgmbh/control/wiki)**
 
-[![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM) 
-*Click here to watch a full explainer Video of our Software.*
+- [Getting Started](https://github.com/qitechgmbh/control/wiki/Getting-Started)
+- [Architecture Overview](https://github.com/qitechgmbh/control/wiki/Architecture-Overview)
+- [EtherCAT Basics](https://github.com/qitechgmbh/control/wiki/Ethercat-Basics)
+- [Device Examples](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)
+- [REST API Reference](https://github.com/qitechgmbh/control/wiki/Rest-Api)
 
-# Repo Structure
+## Videos
 
-Frontend
+| Software Demo | Full Explainer |
+|---------------|----------------|
+| [![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)<br/>*Watch a demo of the control software in action* | [![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM)<br/>*Watch a complete overview of QiTech Control* |
 
-- `/electron`: Frontend code for the control software built with React and Electron.
+## Repository Structure
 
-Backend
+- **`/electron`** - React + Electron frontend
+- **`/server`** - Rust backend implementing machine logic
+- **`/ethercat-hal`** - Hardware abstraction layer for EtherCAT devices
+- **`/control-core`** - Core control logic
+- **`/nixos`** - Custom Linux OS with realtime kernel
 
-- `/server`: Glue between Beckhoff and Electron. Implements machine logic.
-- `/ethercat-hal`: Hardware abstraction layer for Beckhoff (and possibly other EtherCat) devices and protocols.
-- `/ethercat-hal-derive`: Macros for `ethercat-hal`
-- `/control-core`: Core control logic for the server.
+## Technology Stack
 
-Operating System
+**Backend:** Rust with [Ethercrab](https://github.com/ethercrab-rs/ethercrab) for EtherCAT, [SocketIO](https://socket.io/) for real-time communication, [axum](https://docs.rs/axum/latest/axum/) for REST API
 
-- `/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
-
-Other
-
-- `/docs`: Documentation for the project.
-
-# Technology Choices
-
-## Backend
-
-To interface with Beckhoff and other EtherCAT devices we need an EtherCAT master software. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
-
-[SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.
-
-We use [Smol](https://github.com/smol-rs/smol) for EtherCAT IO in the control loop for it's performance and [Tokio](https://tokio.rs/) for server IO because of it's ecosystem and maturity.
-
-## Frontend
-
-We could combine the code of the frontend and backend using [Doxius](https://dioxuslabs.com/) but it lacks good Linux support. We chose [Electron](https://www.electronjs.org/) with [React](https://react.dev/) for it's maturity and ecosystem. For the UI we use [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) for styling. For routing we use [TanStack Router](https://tanstack.com/router/v1).
-
-# Dev Setup
-
-[Developer Documentation](./docs/developer-docs/)
-
-## Backend
-
-- Rust stable 1.86^ toolchain (install via [rustup](https://rustup.rs/))
-- `rust-analyzer` extension for VSCode
-- Set your interface in `server/src/ethercat/init.rs` like `en10`
-- Connect a Beckhoff EK1100 to your interface
-- run `cd server && cargo run` to start the server (localhost:3001)
-
-## Frontend
-
-- nodejs and npm installed
-- run `cd electron && npm i && npm run start` to start the frontend
-
-# Machines
-
-| Machine Type | Version | Release Date | Description                 | Change to Previous Version                             | Vendor ID                  | Machine ID | Implemented | Docs                            |
-| ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
-| Winder       | V1      | ???          | Winding Filaments & Similar | -                                                      | 1 (Qitech Industries GmbH) | 1          | Reserved    | -                               |
-| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | Yes         | [](./docs/machines/winder-1.md) |
-| Extruder     | V1      | ???          | Single Screw Extruder       | -                                                      | 1 (Qitech Industries GmbH) | 3          | Reserved    | -                               |
-| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Yes         |                                 |
-| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | In Progress     |                                 |
-| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Yes         |                                 |
-| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Yes         | -                               |
-
-# Minimal Hardware Examples
-
-For complete step-by-step tutorials on setting up your first hardware, including wiring diagrams and software configuration, see the [Getting Started Guide](./docs/developer-docs/getting-started.md#minimal-hardware-examples).
-
-Available examples:
-- **LED Control with EL2004** - Digital output control (simplest setup)
-- **Analog Input with EL3021** - Reading analog current measurements
+**Frontend:** [Electron](https://www.electronjs.org/) + [React](https://react.dev/) with [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) styling
 
 
-# More Docs
+## Hardware Examples
 
-- [x] [Architecture & Data Flow](./docs/architecture-overview.md)
+QiTech Control supports a wide range of EtherCAT hardware from WAGO and Beckhoff. We provide complete step-by-step tutorials with wiring diagrams and software configuration for many common modules.
 
-  - [x] Example Winder V2
+**[View all hardware examples and tutorials on the wiki](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)**
 
-- [ ] Electron
+Quick links to popular examples:
+- [EL2004 - LED Control](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El2004) (simplest setup for beginners)
+- [EL3021 - Analog Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El3021)
+- [EL7031 - Stepper Motor Control](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El7031-Motor)
+- [WAGO 750-402 - Digital Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-Wago750-402)
+- [WAGO 750-455 - Analog Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-Wago-750-455)
 
-  - Folder Structure
-  - Routing with TanStack Router
-  - Design with Tailwind & Shadcn
-  - ...
+## QiTech Machines
 
-- [ ] Interfacing with Electron/Server
+QiTech Control powers 10+ production machines for filament extrusion, winding, measurement, and material processing.
 
-  - [ ] SocketIO
-    - Machine Namespace
-    - Main Namespace
-  - [ ] REST
-    - Machine Mutations
-    - Write Device Identification
+**[View complete machine catalog on the wiki](https://github.com/qitechgmbh/control/wiki/QiTech-Machines)**
 
-- Server
 
-  - [x] [Threading](./docs/control-loop.md)
-  - [x] [Logging](./docs/logging.md)
-  - [ ] Control Loop Setup
-    - Control Loop Thread
-      - [ ] realtime
-    - Maindevice
-    - Group
-    - Extracting Device Identifications
-    - Identifying Groups
-    - Validating Machines
-    - Run Control Loop
-  - [x] [Control Loop](./docs/control-loop.md)
-  - [x] [Machine/Device Identification](./docs/identification.md)
-  - [ ] Machines
-    - When to create a new Machine?
-      - Versioning
-      - Code sharing
-    - Creating/Validating a Machine
-      - Validation
-      - Configuration
-  - [ ] Machine Implementation Guide
-    - Link: How to create a Device
-    - Link: How to create an Actor
-    - Link: How to create a Machine
-      - API (SocketIO + REST)
-      - Creation/Validation Logic
-        - Optional/Mandatory Devices
-        - Validate Devices
-      - Business Logic
-    - Link: How to create Machine Abstraction (Like Traverse/Puller/...)
-    - Forward `act` in winder.
+## Contributing
 
-- [ ] Control Core
+This is an open-source project. Contributions are welcome! Please see the [wiki](https://github.com/qitechgmbh/control/wiki) for development guidelines.
 
-  - [x] [Actors](./docs/actors.md)
-  - [ ] SocketIO
-    - Namespaces & Caching
-    - Joining leaving namespaces
-    - NamespaceId
-    - Caching
-      - Serverside Caching
-      - Clientside Caching
-  - [ ] REST
 
-- [x] Ethercat HAL
 
-  - [x] [Devices](./docs/devices.md)
-  - [x] [Configuration (CoE)](./docs/coe.md)
-  - [x] [IO](./docs/io.md)
-  - [x] [PDO](./docs/pdo.md)
+## Additional Videos
 
-- [x] [Ethercat Basics](./docs/ethercat-basics.md)
+| Episode Highlights |  |
+|--------------------|--------------------|
+| [![](https://img.youtube.com/vi/U2wNN6sF4to/maxresdefault.jpg)](https://www.youtube.com/watch?v=U2wNN6sF4to&t=163s)<br/>**Day in the Software Team**<br/>*Behind the scenes with Robin and how the team ships control software.* | [![](https://img.youtube.com/vi/R5WGAY3WRWA/maxresdefault.jpg)](https://www.youtube.com/watch?v=R5WGAY3WRWA&t=1s)<br/>**Software Stack Day**<br/>*A fast tour through the tools, stack, and daily workflow.* |
+| [![](https://img.youtube.com/vi/xyaHwxXguw4/maxresdefault.jpg)](https://www.youtube.com/watch?v=xyaHwxXguw4&t=32s)<br/>**First Client**<br/>*A milestone week building the first real client project.* | [![](https://img.youtube.com/vi/moI7z2PVdF4/maxresdefault.jpg)](https://www.youtube.com/watch?v=moI7z2PVdF4)<br/>**Steelworks Week**<br/>*A deep-dive week on a demanding steelworks order.* |
 
-- [x] [NixOS Operating System](./docs/nixos/README.md)
+## License
+
+See [LICENSE](LICENSE) file for details.

control-core/Cargo.toml

@@ -9,11 +9,11 @@ workspace = true
 [dependencies]
 anyhow = "1.0.100"
 
-axum = "0.8.6"
+axum = "0.8.8"
 
 ethercat_hal = { path = "../ethercat-hal" }
 units = { path = "../units" }
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 interfaces = "0.0.9"
 serde = "1.0.219"
 serialport = "4.7.3"

credentials.sh

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

docs/developer-docs/Wago-Stepper-Documentation.md

@@ -0,0 +1,931 @@
+# Wago Stepper Controller - Developer Documentation
+
+**Models:** 750-671 & 750-672  
+**Last Updated:** February 2026  
+
+## Table of Contents
+
+1. [Overview](#overview)
+2. [Hardware Quick Reference](#hardware-quick-reference)
+3. [Architecture & Code Organization](#architecture--code-organization)
+4. [Control & Status Bytes](#control--status-bytes)
+5. [Implementation Details](#implementation-details)
+6. [Prescalers & Calculations](#prescalers--calculations)
+7. [Common Pitfalls & Debug Tips](#common-pitfalls--debug-tips)
+
+---
+
+## Overview
+
+The Wago Stepper Controllers (750-671 and 750-672) drive stepper motors via EtherCAT. This documentation focuses on **velocity/speed control mode** implementation.
+
+### Key Differences Between Models
+
+| Feature         | 750-671                                    | 750-672                              |
+| --------------- | ------------------------------------------ | ------------------------------------ |
+| Max Voltage     | 50 VDC                                     | 70 VDC                               |
+| Max Current     | 5 A                                        | 7.5 A                                |
+| Speed Control   | Via Application Selector in config         | Via Control Byte C1 command          |
+| Control Byte C1 | Different bit layout (M_Speed_Control bit) | Command field (0x18 = Speed Control) |
+
+**For 750-671:** Must set `Application_Selector = 2` and `PWM_Period = 0` in WAGO I/O CHECK before using speed control.
+
+**For 750-672:** Speed control is selected directly via command in Control Byte C1 (no config needed).
+
+### Process Image
+
+Both models use **12 bytes bidirectional** (96 bits each way):
+
+```
+Input (TxPDO - Controller → PLC):
+ [0] S0 (status)
+ [1] Reserved
+ [2-3] Actual Velocity (i16)
+ [4-5] Reserved
+ [6-8] Actual Position (24-bit: L, M, H)
+ [9] S3 (digital inputs, warnings)
+ [10] S2 (busy, error, on_speed, etc.)
+ [11] S1 (acknowledgments)
+
+Output (RxPDO - PLC → Controller):
+ [0] C0 (control)
+ [1] Reserved
+ [2-3] Target Velocity (i16, clamped to ±25000)
+ [4-5] Acceleration (u16)
+ [6-8] Position (24-bit: L, M, H)
+ [9] C3 (position/reset control)
+ [10] C2 (prescalers, error quit)
+ [11] C1 (main control: enable, start, mode)
+```
+
+---
+
+## Hardware Quick Reference
+
+### Connections
+
+| Pin | Name | Purpose |
+|-----|------|---------|
+| DI1+ | Digital Input 1 | Enable input (connect to 24V or control via software) |
+| DI2+ | Digital Input 2 | Referencing input |
+| DI- | Ground | Reference potential for DI1/DI2 |
+| A1, A2 | Motor Winding A | Connect to motor phase A |
+| B1, B2 | Motor Winding B | Connect to motor phase B |
+
+### Status LEDs
+
+- **LED H:** Shows error codes via blink patterns (see Wago manual section 3.3 for error codes)
+- Other LEDs show Ready, Enable, Busy states (see manual section 2.1.2.3)
+
+---
+
+## Architecture & Code Organization
+
+### File Structure
+
+```
+devices/
+  wago_modules/
+    wago_750_672.rs          # Device struct, EtherCAT interface
+    
+io/
+  stepper_velocity_wago_750_672.rs  # High-level wrapper & byte helpers
+```
+
+### Key Components
+
+#### 1. `Wago750_672` Struct (EtherCAT Device)
+
+Located in `devices/wago_modules/wago_750_672.rs`
+
+```rust
+pub struct Wago750_672 {
+    is_used: bool,
+    tx_bit_offset: usize,  // Input data offset
+    rx_bit_offset: usize,  // Output data offset
+    pub rxpdo: Wago750_672RxPdo,  // Data we send
+    pub txpdo: Wago750_672TxPdo,  // Data we receive
+    module: Option<Module>,
+    pub state: InitState,
+    pub initialized: bool,
+}
+```
+
+**Responsibilities:**
+- Implements EtherCAT device traits
+- Handles bit-level I/O with process image
+- Runs state machine in `input()` method
+- Thread-safe (used via `Arc<RwLock<>>`)
+
+#### 2. `StepperVelocityWago750672` Wrapper
+
+Located in `io/stepper_velocity_wago_750_672.rs`
+
+```rust
+pub struct StepperVelocityWago750672 {
+    pub device: Arc<RwLock<Wago750_672>>,
+    pub state: InitState,
+    pub target_velocity: i16,
+    pub target_acceleration: u16,
+    pub enabled: bool,
+    pub freq_range_sel: u8,
+    pub acc_range_sel: u8,
+}
+```
+
+**Responsibilities:**
+- Provides high-level API (`set_velocity()`, `set_enabled()`)
+- Manages prescaler settings
+- Abstracts away state machine complexity
+
+### Why Two Layers?
+
+1. **`Wago750_672`:** Low-level EtherCAT device that handles cycle-by-cycle I/O
+2. **`StepperVelocityWago750672`:** High-level wrapper for application logic
+
+This separation allows:
+- EtherCAT device to run in tight real-time loop
+- Application code to use simple API without worrying about cycles/acknowledgments
+- Easy testing of each layer independently
+
+---
+
+## Control & Status Bytes
+
+### Design Pattern: Type-Safe Byte Construction
+
+Instead of hardcoding hex values like `0x1B`, we use builder pattern with enums:
+
+```rust
+// ❌ BAD - magic numbers, error-prone
+dev.rxpdo.c1 = 0x1B;
+
+// ✅ GOOD - explicit, self-documenting
+let c1 = ControlByteC1::new()
+    .with_flag(C1Flag::Enable)
+    .with_flag(C1Flag::Stop2N)
+    .with_command(C1Command::SpeedControl)
+    .bits();
+dev.rxpdo.c1 = c1;
+```
+
+### Wago 750-672 Control Bytes
+
+#### Control Byte C1 (Offset 11) - Main Control
+
+```rust
+pub struct ControlByteC1(u8);
+
+pub enum C1Flag {
+    Enable = 0b0000_0001,  // Bit 0: Must be 1 to enable
+    Stop2N = 0b0000_0010,  // Bit 1: Must be 1 for normal operation
+    Start  = 0b0000_0100,  // Bit 2: Rising edge triggers action
+}
+
+pub enum C1Command {
+    Idle          = 0b0000_0000,  // Bits 3-7: Operating mode
+    SinglePosition = 0b0000_1000,
+    RunProgram    = 0b0001_0000,
+    SpeedControl  = 0b0001_1000,  // ← We use this
+    Reference     = 0b0010_0000,
+    JogMode       = 0b0010_1000,
+    Mailbox       = 0b0011_0000,
+}
+```
+
+**Implementation:**
+
+```rust
+impl ControlByteC1 {
+    pub const fn new() -> Self {
+        Self(0)
+    }
+
+    pub const fn with_flag(mut self, flag: C1Flag) -> Self {
+        self.0 |= flag as u8;  // OR in the bit
+        self
+    }
+
+    pub const fn with_command(mut self, cmd: C1Command) -> Self {
+        self.0 = (self.0 & 0b0000_0111) | (cmd as u8);  // Mask lower 3 bits, set upper 5
+        self
+    }
+
+    pub const fn bits(self) -> u8 {
+        self.0
+    }
+}
+```
+
+**Key Points:**
+- `const fn` allows compile-time evaluation
+- Chainable builder pattern
+- Command overwrites bits 3-7 while preserving 0-2
+- Flags are additive (multiple can be set)
+
+#### Control Byte C2 (Offset 10) - Prescalers & Error Handling
+
+```rust
+pub struct ControlByteC2(u8);
+
+pub enum C2Flag {
+    FreqRangeSelL = 0b0000_0001,  // Bit 0: Freq prescaler LSB
+    FreqRangeSelH = 0b0000_0010,  // Bit 1: Freq prescaler MSB
+    AccRangeSelL  = 0b0000_0100,  // Bit 2: Acc prescaler LSB
+    AccRangeSelH  = 0b0000_1000,  // Bit 3: Acc prescaler MSB
+    PreCalc       = 0b0100_0000,  // Bit 6: Pre-calculation
+    ErrorQuit     = 0b1000_0000,  // Bit 7: Acknowledge error
+}
+
+impl ControlByteC2 {
+    pub const fn with_freq_range(mut self, sel: u8) -> Self {
+        self.0 = (self.0 & 0b1111_1100) | (sel & 0b0000_0011);
+        self
+    }
+
+    pub const fn with_acc_range(mut self, sel: u8) -> Self {
+        self.0 = (self.0 & 0b1111_0011) | ((sel & 0b0000_0011) << 2);
+        self
+    }
+}
+```
+
+**Critical:** Prescalers can only be changed when controller is **disabled** (before Enable state).
+
+#### Control Byte C3 (Offset 9) - Position & Reset
+
+```rust
+pub struct ControlByteC3(u8);
+
+pub enum C3Flag {
+    SetActualPos = 0b0000_0001,  // Bit 0: Set current position
+    DirectionPos = 0b0000_0010,  // Bit 2: Force positive direction
+    DirectionNeg = 0b0000_0100,  // Bit 3: Force negative direction
+    ResetQuit    = 0b1000_0000,  // Bit 7: Acknowledge reset
+}
+```
+
+### Status Bytes (Read-Only)
+
+#### Status Byte S1 (Offset 11) - Acknowledgments
+
+```rust
+pub struct StatusByteS1(u8);
+
+pub enum S1Flag {
+    Ready      = 0b0000_0001,  // Bit 0: Acknowledges Enable
+    Stop2NAck  = 0b0000_0010,  // Bit 1: Acknowledges Stop2_N
+    StartAck   = 0b0000_0100,  // Bit 2: Acknowledges Start
+}
+// Bits 3-7: Mirrors C1 command when acknowledged
+
+impl StatusByteS1 {
+    pub const fn has_flag(self, flag: S1Flag) -> bool {
+        (self.0 & flag as u8) != 0
+    }
+}
+```
+
+**Usage Pattern:**
+```rust
+// Wait for acknowledgment
+if self.txpdo.s1 == c1 {
+    // All bits acknowledged, proceed
+}
+```
+
+#### Status Byte S2 (Offset 10) - Operation Status
+
+```rust
+pub struct StatusByteS2(u8);
+
+pub enum S2Flag {
+    OnTarget    = 0b0000_0001,  // Bit 0: Position reached (positioning mode)
+    Busy        = 0b0000_0010,  // Bit 1: Executing command
+    StandStill  = 0b0000_0100,  // Bit 2: Motor not moving
+    OnSpeed     = 0b0000_1000,  // Bit 3: Target velocity reached
+    Direction   = 0b0001_0000,  // Bit 4: Rotation direction (0=neg, 1=pos)
+    ReferenceOk = 0b0010_0000,  // Bit 5: Referencing complete
+    PreCalcAck  = 0b0100_0000,  // Bit 6: Pre-calc acknowledged
+    Error       = 0b1000_0000,  // Bit 7: Error occurred (check LED H)
+}
+```
+
+**Critical for velocity control:** Monitor `OnSpeed` bit to know when target velocity is reached.
+
+#### Status Byte S3 (Offset 9) - Digital Inputs & Warnings
+
+```rust
+pub struct StatusByteS3(u8);
+
+pub enum S3Flag {
+    Input1  = 0b0000_0001,  // Bits 0-5: Digital input states
+    Input2  = 0b0000_0010,
+    Input3  = 0b0000_0100,
+    Input4  = 0b0000_1000,
+    Input5  = 0b0001_0000,
+    Input6  = 0b0010_0000,
+    Warning = 0b0100_0000,  // Bit 6: Warning condition
+    Reset   = 0b1000_0000,  // Bit 7: Reset requested
+}
+```
+
+---
+
+## Implementation Details
+
+### Critical Initialization Sequence
+
+⚠️ **This sequence MUST be followed exactly or the controller won't work:**
+
+1. **Set non-zero acceleration** (before enabling)
+2. **Set Enable + Stop2_N** (wait for ack)
+3. **Set operating mode** (0x18 for speed control, wait for ack)
+4. **Issue Start pulse** (set to 1, wait for ack, set to 0, wait for ack clear)
+5. **Running** (repeat step 4 every time velocity changes)
+
+### State Machine (Why It Exists)
+
+The state machine exists because **acknowledgments happen in different EtherCAT cycles**. You can't just set everything in one cycle.
+
+```rust
+#[derive(Debug, Clone)]
+pub enum InitState {
+    Off,               // Controller disabled
+    Enable,            // Setting Enable + Stop2_N, waiting for ack
+    SetMode,           // Setting speed control mode, waiting for ack
+    StartPulseStart,   // Setting Start bit, waiting for ack
+    StartPulseEnd,     // Clearing Start bit, waiting for ack clear
+    Running,           // Normal operation
+    ErrorQuit,         // Handling error
+    ResetQuit,         // Handling reset
+}
+```
+
+### State Machine Implementation
+
+Located in `Wago750_672::input()` method (runs every EtherCAT cycle):
+
+```rust
+fn input(&mut self, input: &BitSlice) -> Result<(), anyhow::Error> {
+    // 1. Read process image from controller
+    let base = self.tx_bit_offset;
+    let mut b = [0u8; 12];
+    for i in 0..12 {
+        b[i] = input[base + i * 8..base + (i + 1) * 8].load_le();
+    }
+    
+    self.txpdo = Wago750_672TxPdo {
+        s0: b[0],
+        actual_velocity: i16::from_le_bytes([b[2], b[3]]),
+        position_l: b[6],
+        position_m: b[7],
+        position_h: b[8],
+        s3: b[9],
+        s2: b[10],
+        s1: b[11],
+    };
+
+    // 2. State machine logic
+    match self.state {
+        InitState::Off => {
+            self.initialized = false;
+            // Do nothing until external enable request
+        }
+        
+        InitState::Enable => {
+            // Build C1 byte with Enable and Stop2_N
+            let c1 = ControlByteC1::new()
+                .with_flag(C1Flag::Enable)
+                .with_flag(C1Flag::Stop2N)
+                .bits();
+            self.rxpdo.c1 = c1;
+            
+            // Wait for acknowledgment
+            if self.txpdo.s1 == c1 {
+                self.state = InitState::SetMode;
+            }
+        }
+        
+        InitState::SetMode => {
+            // Add speed control command
+            let c1 = ControlByteC1::new()
+                .with_flag(C1Flag::Enable)
+                .with_flag(C1Flag::Stop2N)
+                .with_command(C1Command::SpeedControl)
+                .bits();
+            self.rxpdo.c1 = c1;
+            
+            // Wait for mode acknowledgment
+            if self.txpdo.s1 == c1 {
+                self.initialized = true;
+                self.state = InitState::StartPulseStart;
+            }
+        }
+        
+        InitState::StartPulseStart => {
+            // Set Start bit
+            let c1 = ControlByteC1::new()
+                .with_flag(C1Flag::Enable)
+                .with_flag(C1Flag::Stop2N)
+                .with_flag(C1Flag::Start)  // ← Rising edge
+                .with_command(C1Command::SpeedControl)
+                .bits();
+            self.rxpdo.c1 = c1;
+            
+            // Wait for Start acknowledgment
+            if self.txpdo.s1 == c1 {
+                self.state = InitState::StartPulseEnd;
+            }
+        }
+        
+        InitState::StartPulseEnd => {
+            // Clear Start bit
+            let c1 = ControlByteC1::new()
+                .with_flag(C1Flag::Enable)
+                .with_flag(C1Flag::Stop2N)
+                .with_command(C1Command::SpeedControl)
+                .bits();
+            self.rxpdo.c1 = c1;
+            
+            // Wait for acknowledgment to clear
+            if self.txpdo.s1 == c1 {
+                self.state = InitState::Running;
+            }
+        }
+        
+        InitState::Running => {
+            // Monitor for errors and resets
+            let c2_error_mask = ControlByteC2::new().with_flag(C2Flag::ErrorQuit).bits();
+            let c3_reset_mask = ControlByteC3::new().with_flag(C3Flag::ResetQuit).bits();
+            
+            if self.txpdo.s2 & c2_error_mask != 0 {
+                self.state = InitState::ErrorQuit;
+            } else if self.txpdo.s3 & c3_reset_mask != 0 {
+                self.state = InitState::ResetQuit;
+            }
+        }
+        
+        InitState::ErrorQuit => {
+            // Set Error_Quit bit to acknowledge
+            self.rxpdo.c2 |= ControlByteC2::new().with_flag(C2Flag::ErrorQuit).bits();
+            tracing::error!("Stepper Controller Errored. Trying to reenable...");
+            self.state = InitState::Enable;  // Restart initialization
+        }
+        
+        InitState::ResetQuit => {
+            // Set Reset_Quit bit to acknowledge
+            self.rxpdo.c3 |= ControlByteC3::new().with_flag(C3Flag::ResetQuit).bits();
+            tracing::error!("Stepper Controller Reset. Trying to reenable...");
+            self.state = InitState::Enable;  // Restart initialization
+        }
+    }
+    
+    Ok(())
+}
+```
+
+**Key Implementation Notes:**
+
+1. **State changes happen AFTER acknowledgment:** We wait for `self.txpdo.s1 == c1` before moving to next state
+2. **Enable and Stop2_N stay high:** They're included in every C1 byte after Enable state
+3. **Start pulse is a rising edge:** Must go 1 → 0, not just stay at 1
+4. **Error recovery:** Automatically attempts to re-enable on error/reset
+
+### High-Level API Implementation
+
+Located in `StepperVelocityWago750672`:
+
+```rust
+pub fn set_enabled(&mut self, enabled: bool) {
+    // Prevent redundant enables
+    if self.enabled && enabled {
+        return;
+    }
+    
+    // Safety check: acceleration must be non-zero
+    if self.get_target_acceleration() == 0 {
+        return;
+    }
+    
+    self.enabled = enabled;
+    if enabled {
+        self.change_init_state(InitState::Enable);
+    } else {
+        self.change_init_state(InitState::Off);
+        self.write_control_byte(ControlByte::C1, 0b00000000);
+    }
+}
+
+pub fn set_velocity(&mut self, velocity: i16) {
+    self.target_velocity = velocity;
+    
+    let mut dev = block_on(self.device.write());
+    
+    // Clamp to valid range
+    dev.rxpdo.velocity = velocity.clamp(-25000, 25000);
+    
+    // Trigger Start pulse if already initialized
+    if dev.initialized {
+        dev.state = InitState::StartPulseStart;
+    }
+}
+
+pub fn set_acceleration(&mut self, acceleration: u16) {
+    self.target_acceleration = acceleration;
+    
+    let mut dev = block_on(self.device.write());
+    dev.rxpdo.acceleration = acceleration;
+}
+```
+
+**Why the wrapper?**
+- Application code doesn't need to know about state machine
+- Handles common errors (zero acceleration check)
+- Thread-safe access to device
+- Clamping and validation in one place
+
+### Changing Velocity at Runtime
+
+⚠️ **Critical:** Must issue a **new Start pulse** for every velocity change:
+
+```rust
+// User calls this
+stepper.set_velocity(15000);
+
+// Internally, set_velocity() does:
+dev.rxpdo.velocity = 15000;
+if dev.initialized {
+    dev.state = InitState::StartPulseStart;  // ← Triggers new pulse
+}
+
+// State machine then handles:
+// StartPulseStart → StartPulseEnd → Running
+// (Takes 2-3 EtherCAT cycles)
+```
+
+**Common mistake:** Setting velocity without triggering Start pulse - motor won't change speed.
+
+---
+
+## Prescalers & Calculations
+
+Prescalers scale the velocity and acceleration values. They **can only be changed when disabled**.
+
+### Frequency Prescaler (Bits 0-1 of C2)
+
+Controls velocity scaling:
+
+| Freq_Range_Sel | Prescaler | Max Frequency | Resolution |
+|----------------|-----------|---------------|------------|
+| 00 | 200 (default) | 10 kHz | Configurable |
+| 01 | 80 | 25 kHz | 1 Hz |
+| 10 | 20 | 100 kHz | 20 Hz |
+| 11 | 4 | 500 kHz | 20 Hz |
+
+**Formula:**
+```
+Output Frequency (fp) = Velocity × 80 / Freq_Prescaler [Hz]
+```
+
+**Example:**
+```rust
+// Freq_Range_Sel = 01 (prescaler = 80)
+// Velocity = 10000
+// Output: 10000 × 80 / 80 = 10000 Hz
+
+stepper.set_freq_range_sel(1);  // Must be done BEFORE enable
+stepper.set_velocity(10000);
+```
+
+### Acceleration Prescaler (Bits 2-3 of C2)
+
+Controls acceleration scaling:
+
+| Acc_Range_Sel | Multiplier | Time to Max Speed |
+|---------------|------------|-------------------|
+| 00 | 8 (default) | 7600 ms |
+| 01 | 80 | 760 ms |
+| 10 | 800 | 76 ms |
+| 11 | 8000 | 7.6 ms |
+
+**Formula:**
+```
+Acceleration (a) = Acceleration_Value × Acc_Multiplier / Freq_Prescaler [Hz/s]
+```
+
+**Example:**
+```rust
+// Acc_Range_Sel = 01 (multiplier = 80)
+// Freq_Range_Sel = 01 (prescaler = 80)
+// Acceleration_Value = 10000
+// Output: 10000 × 80 / 80 = 10000 Hz/s
+
+stepper.set_acc_range_sel(1);   // Must be done BEFORE enable
+stepper.set_acceleration(10000);
+```
+
+### Setting Prescalers (Implementation)
+
+```rust
+pub fn set_freq_range_sel(&mut self, factor: u8) {
+    // Safety checks
+    if self.enabled || factor > 3 {
+        return;  // Can't change while enabled
+    }
+    
+    self.freq_range_sel = factor;
+    
+    let mut dev = block_on(self.device.write());
+    let c2 = ControlByteC2::from_bits(dev.rxpdo.c2)
+        .with_freq_range(factor)
+        .bits();
+    dev.rxpdo.c2 = c2;
+}
+
+pub fn set_acc_range_sel(&mut self, factor: u8) {
+    if self.enabled || factor > 3 {
+        return;
+    }
+    
+    self.acc_range_sel = factor;
+    
+    let mut dev = block_on(self.device.write());
+    let c2 = ControlByteC2::from_bits(dev.rxpdo.c2)
+        .with_acc_range(factor)
+        .bits();
+    dev.rxpdo.c2 = c2;
+}
+```
+
+**Usage:**
+```rust
+let mut stepper = StepperVelocityWago750672::new(device);
+
+// Set prescalers FIRST (before enabling)
+stepper.set_freq_range_sel(1);
+stepper.set_acc_range_sel(1);
+stepper.set_acceleration(10000);
+
+// Then enable
+stepper.set_enabled(true);
+
+// Now can set velocity
+stepper.set_velocity(15000);
+```
+
+---
+
+## Common Pitfalls & Debug Tips
+
+### 1. Controller Won't Enable
+
+**Symptoms:**
+- State stuck in `Enable`
+- `initialized` never becomes true
+- Motor doesn't move
+
+**Debug checklist:**
+```rust
+// Check acceleration is non-zero
+println!("Acceleration: {}", dev.rxpdo.acceleration);  // Must be > 0
+
+// Check DI1 if hardware enable is configured
+println!("DI1 state: {}", (dev.txpdo.s3 & 0x01) != 0);  // Should be 1
+
+// Check status byte acknowledgment
+println!("C1: {:#010b}", dev.rxpdo.c1);
+println!("S1: {:#010b}", dev.txpdo.s1);  // Should match C1
+```
+
+**Common causes:**
+```rust
+// ❌ Forgot to set acceleration
+stepper.set_acceleration(0);  // Won't enable!
+
+// ✅ Always set non-zero acceleration
+stepper.set_acceleration(10000);
+stepper.set_enabled(true);
+```
+
+### 2. Velocity Won't Change
+
+**Symptoms:**
+	- Motor running but won't change speed
+- `set_velocity()` called but no effect
+
+**Debug:**
+```rust
+// Check initialized flag
+println!("Initialized: {}", dev.initialized);
+
+// Check state after velocity change
+println!("State: {:?}", dev.state);  // Should become StartPulseStart
+
+// Manually trigger Start pulse (bypass wrapper)
+dev.state = InitState::StartPulseStart;
+```
+
+**Common causes:**
+```rust
+// ❌ Setting velocity before initialization
+stepper.set_velocity(10000);  // Controller not ready yet
+
+// ✅ Check initialized first
+if stepper.device.read().initialized {
+    stepper.set_velocity(10000);
+}
+```
+
+### 3. Prescaler Not Working
+
+**Symptoms:**
+- Velocity calculation seems wrong
+- Can't reach expected frequency
+
+**Debug:**
+```rust
+// Check prescalers were set BEFORE enabling
+println!("Freq prescaler: {}", stepper.freq_range_sel);
+println!("Acc prescaler: {}", stepper.acc_range_sel);
+println!("Enabled: {}", stepper.enabled);
+
+// Check C2 byte
+let dev = stepper.device.read();
+println!("C2: {:#010b}", dev.rxpdo.c2);
+// Bits 0-1: freq, Bits 2-3: acc
+```
+
+**Common causes:**
+```rust
+// ❌ Setting prescaler after enable
+stepper.set_enabled(true);
+stepper.set_freq_range_sel(1);  // Too late! Ignored.
+
+// ✅ Set prescalers FIRST
+stepper.set_freq_range_sel(1);
+stepper.set_acc_range_sel(1);
+stepper.set_enabled(true);
+```
+
+### 4. State Machine Stuck
+
+**Symptoms:**
+- State doesn't progress
+- Acknowledgments not received
+
+**Debug:**
+```rust
+// Add logging to state machine
+match self.state {
+    InitState::Enable => {
+        println!("Enable state: C1={:#010b}, S1={:#010b}", self.rxpdo.c1, self.txpdo.s1);
+        // ...
+    }
+}
+
+// Check EtherCAT communication
+// - Is cycle running?
+// - Are other devices working?
+// - Check bus topology
+```
+
+### 5. Error Bit Set
+
+**Symptoms:**
+- Error bit (S2 bit 7) is 1
+- LED H blinking
+- Controller stops
+
+**Debug:**
+```rust
+// Check error state
+let s2 = StatusByteS2::from_bits(dev.txpdo.s2);
+if s2.has_flag(S2Flag::Error) {
+    println!("ERROR DETECTED");
+    
+    // Count LED H blinks for error code
+    // See Wago manual section 3.3
+    
+    // Check other status flags for clues
+    println!("Busy: {}", s2.has_flag(S2Flag::Busy));
+    println!("StandStill: {}", s2.has_flag(S2Flag::StandStill));
+}
+```
+
+**Common error codes:**
+- **2 blinks:** Overcurrent
+- **3 blinks:** Position error
+- **4 blinks:** Encoder fault
+- See Wago manual for complete list
+	
+---
+
+### Supporting Wago 750-671
+
+The 750-671 uses different C1 bit layout:
+
+1. **Create separate enum:**
+```rust
+// For 750-671
+pub enum C1Flag671 {
+    Enable         = 0b0000_0001,  // Bit 0
+    Stop2N         = 0b0000_0010,  // Bit 1
+    Start          = 0b0000_0100,  // Bit 2
+    MSpeedControl  = 0b0000_1000,  // Bit 3 (instead of command field)
+    MProgram       = 0b0001_0000,  // Bit 4
+    MReference     = 0b0010_0000,  // Bit 5
+    MJog           = 0b0100_0000,  // Bit 6
+    MDriveByMBX    = 0b1000_0000,  // Bit 7
+}
+```
+
+---
+
+## Quick Reference Card
+
+### Initialization Checklist
+```rust
+// 1. Create and configure
+let stepper = StepperVelocityWago750672::new(device);
+
+// 2. Set prescalers (optional, before enable)
+stepper.set_freq_range_sel(1);   // 0-3
+stepper.set_acc_range_sel(1);    // 0-3
+
+// 3. Set non-zero acceleration (REQUIRED)
+stepper.set_acceleration(10000);
+
+// 4. Enable
+stepper.set_enabled(true);
+
+// 5. Set velocity (after initialized)
+stepper.set_velocity(15000);     // ±25000 max
+```
+
+### Key Constants
+```rust
+const SPEED_CONTROL_CMD: u8 = 0x18;  // C1 command for 750-672
+const MAX_VELOCITY: i16 = 25000;
+const MIN_VELOCITY: i16 = -25000;
+const DEFAULT_ACCELERATION: u16 = 10000;
+```
+
+### Critical Rules
+1. ⚠️ **Never enable with zero acceleration**
+2. ⚠️ **Always wait for acknowledgments**
+3. ⚠️ **Issue Start pulse for every velocity change**
+4. ⚠️ **Prescalers can only be changed when disabled**
+5. ⚠️ **Keep Enable and Stop2_N high during operation**
+
+### Common Bit Patterns
+```rust
+// Enable + Stop2_N
+0b0000_0011
+
+// Enable + Stop2_N + Speed Control
+0b0001_1011
+
+// Enable + Stop2_N + Speed Control + Start
+0b0001_1111
+```
+
+### Debug Commands
+```bash
+# View byte values
+println!("C1: {:#010b}", dev.rxpdo.c1);
+println!("S1: {:#010b}", dev.txpdo.s1);
+
+# Check specific flags
+let s2 = StatusByteS2::from_bits(dev.txpdo.s2);
+println!("Error: {}", s2.has_flag(S2Flag::Error));
+println!("OnSpeed: {}", s2.has_flag(S2Flag::OnSpeed));
+
+# Monitor state
+println!("State: {:?}", dev.state);
+println!("Initialized: {}", dev.initialized);
+```
+
+---
+
+## Additional Resources
+
+- **Wago Manual:** Section 2.1.2.3 (LEDs), 3.3 (Error Codes)
+- **WAGO I/O CHECK:** Configuration software for 750-671 application selector
+- **EtherCAT Specification:** www.ethercat.org
+- **Code Location:** 
+  - Device: `devices/wago_modules/wago_750_672.rs`
+  - Wrapper: `io/stepper_velocity_wago_750_672.rs`
+
+---
+
+## Changelog
+
+| Version | Date    | Changes                                     |
+| ------- | ------- | ------------------------------------------- |
+| 1.0     | 2025    | Initial implementation with state machine   |
+| 2.0     | 2026-02 | Added comprehensive developer documentation |
+
+---
+
+**Need help?** Check the troubleshooting section or add debug logging using the template above.

docs/developer-docs/getting-started.md

@@ -89,5 +89,86 @@ To get started with actual hardware, check out these step-by-step tutorials:
 
 - **[LED Control with EL2004](./minimal-example-el2004.md)** - Digital output control, the simplest possible hardware setup
 - **[Analog Input with EL3021](./minimal-example-el3021.md)** - Reading analog current measurements
+- **[Stepper Motor Control with EL7031-0030](./minimal-example-el7031-motor.md)** - Complete motor control integration with velocity control
 
 These examples provide complete hardware wiring diagrams and software setup instructions.
+
+
+# More Docs 
+
+- [x] [Architecture & Data Flow](./docs/architecture-overview.md)
+
+  - [x] Example Winder V2
+
+- [ ] Electron
+
+  - Folder Structure
+  - Routing with TanStack Router
+  - Design with Tailwind & Shadcn
+  - ...
+
+- [ ] Interfacing with Electron/Server
+
+  - [ ] SocketIO
+    - Machine Namespace
+    - Main Namespace
+  - [ ] REST
+    - Machine Mutations
+    - Write Device Identification
+
+- Server
+
+  - [x] [Threading](./docs/control-loop.md)
+  - [x] [Logging](./docs/logging.md)
+  - [ ] Control Loop Setup
+    - Control Loop Thread
+      - [ ] realtime
+    - Maindevice
+    - Group
+    - Extracting Device Identifications
+    - Identifying Groups
+    - Validating Machines
+    - Run Control Loop
+  - [x] [Control Loop](./docs/control-loop.md)
+  - [x] [Machine/Device Identification](./docs/identification.md)
+  - [ ] Machines
+    - When to create a new Machine?
+      - Versioning
+      - Code sharing
+    - Creating/Validating a Machine
+      - Validation
+      - Configuration
+  - [ ] Machine Implementation Guide
+    - Link: How to create a Device
+    - Link: How to create an Actor
+    - Link: How to create a Machine
+      - API (SocketIO + REST)
+      - Creation/Validation Logic
+        - Optional/Mandatory Devices
+        - Validate Devices
+      - Business Logic
+    - Link: How to create Machine Abstraction (Like Traverse/Puller/...)
+    - Forward `act` in winder.
+
+- [ ] Control Core
+
+  - [x] [Actors](./docs/actors.md)
+  - [ ] SocketIO
+    - Namespaces & Caching
+    - Joining leaving namespaces
+    - NamespaceId
+    - Caching
+      - Serverside Caching
+      - Clientside Caching
+  - [ ] REST
+
+- [x] Ethercat HAL
+
+  - [x] [Devices](./docs/devices.md)
+  - [x] [Configuration (CoE)](./docs/coe.md)
+  - [x] [IO](./docs/io.md)
+  - [x] [PDO](./docs/pdo.md)
+
+- [x] [Ethercat Basics](./docs/ethercat-basics.md)
+
+- [x] [NixOS Operating System](./docs/nixos/README.md)

docs/developer-docs/minimal-example-el7031-motor.md

@@ -0,0 +1,236 @@
+# Minimal Example — Beckhoff EL7031-0030 Stepper Motor Integration  
+A complete hardware + software walkthrough
+
+---
+
+## Table of Contents
+1. [Introduction](#1-introduction)
+2. [Requirements](#2-requirements)
+3. [Hardware Setup](#3-hardware-setup)
+   - [3.2 EK1100 Wiring](#32-ek1100-wiring)
+   - [3.2.1 Safe Wiring Procedure](#321-safe-wiring-procedure-beckhoff-recommended)
+   - [3.2.2 Wiring (EL7031-0030)](#322-wiring-el7031-0030)
+   - [3.3 Safety Warning](#33--safety-warning)
+4. [Software Setup](#4-software-setup)
+   - [4.1 Installing on Linux](#41-installing-on-linux-this-depends-on-your-distro)
+   - [4.2 Running the Backend](#42-running-the-backend)
+   - [4.3 Running the Frontend](#43-running-the-frontend)
+5. [Demo](#5-demo)
+   - [5.1 Assigning Devices in the Dashboard](#51-assigning-devices-in-the-dashboard)
+6. [Documentation](#6-documentation)
+7. [Software Architecture](#7-software-architecture)
+
+---
+
+## 1. Introduction
+
+This project documents the successful integration of a **Beckhoff EL7031-0030 Stepper Motor Terminal** into the QiTech control software stack. 
+The goal was to control a 24V stepper motor via EtherCAT using a custom Rust backend and a React/Electron frontend.
+
+---
+
+## 2. Requirements
+
+### Software
+- Rust toolchain
+- Node.js + npm
+- Git
+- QiTech Control repository
+- EtherCAT HAL (included inside repo)
+
+### Hardware
+- **EtherCAT Master:** Linux PC
+- **Bus Coupler:** EtherCAT Beckhoff EK1100
+- **Stepper Driver:** Beckhoff EL7031-0030 (THIS IS DIFFERENT FROM EL7031)
+- **Motor:** Standard 4-wire Stepper Motor
+- **Power Supply:** 24V DC
+- **Ethernet Cable:** Standard Ethernet cable
+- **Wiring Tools:** Screwdriver, wires
+
+---
+
+## 3. Hardware Setup
+
+### 3.2 EK1100 Wiring
+
+This wiring configuration powers the EL7031-0030.  
+It is not the only possible wiring but is the **simplest functional setup**.
+
+#### ⚠️ Safety Warning
+Always disconnect power before wiring.  
+Working on live EtherCAT terminals can cause serious damage or electrical shock.
+
+---
+
+#### 3.2.1 Safe Wiring Procedure (Beckhoff Recommended)
+
+1. Insert a screwdriver **straight** into the square release hole.
+2. Insert the stripped wire into the round opening.
+3. Remove the screwdriver — the spring clamp locks the wire.
+
+![](../assets/wiring.png)
+
+---
+
+We supply power using a **DC hollow-plug adapter**, like this one:  
+https://www.amazon.de/dp/B093FTFZ8Q
+
+Perform the following wiring on the EK1100:
+
+1. Red wire **(+24 V)** → Terminal **2**
+2. Black wire **(0 V)** → Terminal **3**
+3. Jumper wire from **Terminal 1 → Terminal 6**
+4. Jumper wire from **Terminal 5 → Terminal 7**
+
+After wiring, your module should look like **Figure 1**.
+
+---
+
+#### **Figure 1 — EK1100 Minimal Wiring**
+<img src="../assets/ek1100.jpeg" width="400">
+
+---
+
+#### **Figure 2 — EL7031-0030 Terminal**
+
+<img src="../assets/EL7031_0030.jpg" width="300">
+
+Slide the EL7031-0030 onto the right side of the EK1100 until it locks.
+The EtherCAT E-Bus and power contacts connect automatically — **no wiring required**.
+
+---
+
+#### **Figure 3 — Motor**
+<img src="../assets/motor.jpg" width="300">
+
+---
+
+#### **Figure 4 — Motor Wiring**
+<img src="../assets/motor_wiring.jpg" width="300">
+
+Now the motor is wired via the pins 4, 5, 12, 13 on the EL7031-0030.
+
+---
+
+#### **Figure 5 — EL7031 Integration Connected**
+
+<img src="../assets/EL7031_0030_connected.jpg" width="400">
+
+That's what the pin should look like.
+
+---
+
+### 3.2.2 Wiring (EL7031-0030)
+
+**Crucial:** The EL7031 requires two power sources: E-Bus (side contacts) for logic, and Front Terminal (6 & 14) for motor power.
+
+| Terminal Point | Function         | Cable Color (Example) |
+| :------------- | :--------------- | :-------------------- |
+| **4**          | Motor Coil A1    | Red                   |
+| **12**         | Motor Coil A2    | Blue                  |
+| **5**          | Motor Coil B1    | Green                 |
+| **13**         | Motor Coil B2    | Black                 |
+| **6**          | **Power +24V**   | PSU Red (+)           |
+| **14**         | **Power 0V/GND** | PSU Black (-)         |
+
+---
+
+### 3.3 ⚠️ Safety Warning
+
+- **Mandatory Power Supply:** Without 24V connected to **Pin 6 (+24V)** and **Pin 14 (GND)**, the terminal will remain in `PREOP` state or show a "Warning" LED (No Power). The motor will **not** move without this external supply.
+
+#### Risk of Destruction (Short Circuit):
+- **Never** connect the 24V Power Supply to the Motor Output pins (**4, 5, 12, 13**). This will instantly destroy the terminal (causing pins 12 & 13 to glow red/burn).
+- Ensure strict separation: **Pins 4/5/12/13 are for the MOTOR ONLY**.
+- **Pins 6/14 are for POWER ONLY**.
+
+Also, see the documentation of the EtherCAT terminal ([EL7031-0030](https://download.beckhoff.com/download/document/io/ethercat-terminals/el7031-0030de.pdf)) for the different power modes (page 46 ff.)
+
+---
+
+## 4. Software Setup
+
+### 4.1 Installing on Linux (this depends on your distro)
+
+Paste this into your terminal:
+
+```bash
+# Press Enter when prompted
+curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+
+sudo apt update
+sudo apt install -y npm nodejs git
+
+git clone git@github.com:qitechgmbh/control.git
+cd control/electron
+npm install
+```
+
+### 4.2 Running the Backend
+
+```bash
+./cargo_run_linux.sh
+```
+
+This script:
+- Builds the backend
+- Grants required system capabilities (raw sockets)
+- Starts EtherCAT communication
+
+### 4.3 Running the Frontend
+
+```bash
+# move to the control directory
+cd electron
+npm run start
+```
+
+This launches the QiTech Control dashboard.
+
+---
+
+## 5. Demo
+
+### 5.1 Assigning Devices in the Dashboard
+
+Once the backend + frontend are running, you should see:
+
+![](../assets/UI_start_motor.png)
+
+Make sure that under "Assign" → "Machine Assignment"
+the correct serial number is selected (each device should have the same one, here it is 1).
+Under "Machine" select your new Machine however you named it (I named it "TestMotor V1"), else it will detect that there is something connected to it but the connection won't work.
+
+![](../assets/machine_assigment_motor.png)
+
+**NOW THE MOTOR SHOULD TURN!**
+
+In the interface "TestMotor" on the left side, you can now control the motor (its state and its speed).
+
+![](../assets/UI_motor.png)
+
+---
+
+## 6. Documentation
+
+Use the official documentation of the EL7031-0030 for more information:  
+[Beckhoff EL7031-0030 Documentation](https://download.beckhoff.com/download/document/io/ethercat-terminals/el7031-0030de.pdf)
+
+---
+
+## 7. Software Architecture
+
+### Backend (Rust)
+Located in [machines/src/motor_test_machine/](/machines/src/motor_test_machine/).
+
+1. **`mod.rs`**: Defines the `MotorTestMachine` struct and holds the state (driver wrapper, enabled state, target velocity).
+2. **`api.rs`**: Handles incoming JSON commands from the frontend (Enable/Disable, Set Velocity) via WebSockets/SocketIO.
+3. **`act.rs`**: The real-time control loop. It updates the `StepperVelocityEL70x1` driver wrapper in every cycle based on the current state.
+4. **`new.rs`**: Initializes the hardware.
+
+### Frontend (TypeScript/React)
+Located in [electron/src/machines/motor_test_machine/](/electron/src/machines/motor_test_machine/) and [electron/src/routes/routes.tsx](/electron/src/routes/routes.tsx).
+
+1. **`useTestMotor.ts`**: Custom hook managing the optimistic state and communication with the backend.
+2. **`TestMotorControlPage.tsx`**: The UI using QiTech UI components (`ControlCard`, `EditValue`, `SelectionGroupBoolean`) to match the look and feel of the Winder2.
+3. **Routing**: Integrated into `routes.tsx` using TanStack Router, ensuring the machine appears in the sidebar and navigation works correctly.

electron/package.json

@@ -1,8 +1,8 @@
 {
   "name": "qitech-control-electron",
   "productName": "QiTech Control",
-  "version": "1.0.0",
-  "description": "",
+  "version": "2.4.1",
+  "description": "Next Generation Machine Interface ",
   "main": ".vite/build/main.js",
   "private": true,
   "scripts": {
@@ -36,7 +36,7 @@
     "@types/react-virtualized": "^9.22.2",
     "electron": "^37.3.1",
     "electron-playwright-helpers": "^1.7.1",
-    "eslint": "^9.20.1",
+    "eslint": "^9.39.2",
     "eslint-config-prettier": "^10.1.2",
     "eslint-plugin-prettier": "^5.5.4",
     "eslint-plugin-react": "^7.37.4",
@@ -53,7 +53,7 @@
     "vite": "^6.4.1",
     "vite-plugin-electron": "^0.29.0",
     "vite-plugin-electron-renderer": "^0.14.6",
-    "vitest": "^3.0.6"
+    "vitest": "^4.0.18"
   },
   "dependencies": {
     "@hookform/resolvers": "^5.2.2",
@@ -88,12 +88,12 @@
     "react": "^19.0.0",
     "react-dom": "^19.0.0",
     "react-hook-form": "^7.57.0",
-    "react-i18next": "^15.4.1",
+    "react-i18next": "^16.5.4",
     "react-markdown": "^10.1.0",
     "react-virtualized": "^9.22.6",
     "rehype-raw": "^7.0.0",
     "remark-gfm": "^4.0.1",
-    "socket.io-client": "^4.8.1",
+    "socket.io-client": "^4.8.3",
     "socket.io-msgpack-parser": "^3.0.2",
     "sonner": "^2.0.1",
     "tailwind-merge": "^3.0.1",
@@ -102,6 +102,6 @@
     "xlsx": "https://cdn.sheetjs.com/xlsx-0.20.3/xlsx-0.20.3.tgz",
     "zod": "^4.3.5",
     "zod-validation-error": "^5.0.0",
-    "zustand": "^5.0.8"
+    "zustand": "^5.0.11"
   }
 }

electron/src/components/graph/GraphControls.tsx

@@ -80,7 +80,7 @@ export function GraphControls({
           )}
 
           <TouchButton
-            onClick={onSwitchToHistorical}
+            onClick={() => onSwitchToHistorical("button")}
             variant="outline"
             className={`h-auto px-3 py-3 text-base font-medium transition-colors ${
               !isLiveMode
@@ -197,7 +197,7 @@ export function FloatingControlPanel({
             )}
 
             <TouchButton
-              onClick={onSwitchToHistorical}
+              onClick={() => onSwitchToHistorical("button")}
               variant="outline"
               className={`h-auto px-3 py-3 text-base font-medium transition-colors ${
                 !isLiveMode

electron/src/components/graph/animation.ts

@@ -5,8 +5,10 @@ import {
   AnimationRefs,
   AnimationState,
   BigGraphProps,
+  GraphLine,
   SeriesData,
 } from "./types";
+import { alignTargetSeriesToTimestamps } from "@/lib/timeseries";
 
 export function useAnimationRefs(): AnimationRefs {
   const animationFrameRef = useRef<number | null>(null);
@@ -50,7 +52,9 @@ export function buildUPlotData(
   values: number[],
   realPointsCount: number | undefined,
   realPointsCountRef: React.RefObject<number>,
-  config: { lines?: Array<{ show?: boolean; value: number }> },
+  config: {
+    lines?: Array<Partial<GraphLine> & { show?: boolean; value: number }>;
+  },
   allSeriesData?: number[][],
 ): uPlot.AlignedData {
   const uData: uPlot.AlignedData = [timestamps];
@@ -72,7 +76,14 @@ export function buildUPlotData(
   // Add config lines
   config.lines?.forEach((line) => {
     if (line.show !== false) {
-      uData.push(timestamps.map(() => line.value));
+      const lineData = line.targetSeries
+        ? alignTargetSeriesToTimestamps(
+            line.targetSeries,
+            timestamps,
+            line.value,
+          )
+        : timestamps.map(() => line.value);
+      uData.push(lineData);
     }
   });
 
@@ -88,7 +99,9 @@ export function animateNewPoint(
   viewMode: string,
   selectedTimeWindow: number | "all",
   startTimeRef: React.RefObject<number | null>,
-  config: { lines?: Array<{ show?: boolean; value: number }> },
+  config: {
+    lines?: Array<Partial<GraphLine> & { show?: boolean; value: number }>;
+  },
   updateYAxisScale: (xMin?: number, xMax?: number) => void, // Updated signature
   getAllSeriesData?: () => number[][],
 ): void {

electron/src/components/graph/createChart.ts

@@ -1,5 +1,9 @@
 import uPlot from "uplot";
-import { seriesToUPlotData, TimeSeries } from "@/lib/timeseries";
+import {
+  seriesToUPlotData,
+  TimeSeries,
+  alignTargetSeriesToTimestamps,
+} from "@/lib/timeseries";
 import {
   createEventHandlers,
   attachEventHandlers,
@@ -8,6 +12,15 @@ import {
 import { BigGraphProps, CreateChartParams } from "./types";
 import { normalizeDataSeries } from "./animation";
 
+type CustomDashedTargetLine = {
+  dataIndex: number;
+  dash: number[];
+  color: string;
+  width: number;
+};
+
+const DASH_FLOW_PX_PER_SEC = 180;
+
 export function createChart({
   containerRef,
   uplotRef,
@@ -59,7 +72,13 @@ export function createChart({
   // Add config lines data
   config.lines?.forEach((line) => {
     if (line.show !== false) {
-      const lineData = new Array(timestamps.length).fill(line.value);
+      const lineData = line.targetSeries
+        ? alignTargetSeriesToTimestamps(
+            line.targetSeries,
+            timestamps,
+            line.value,
+          )
+        : new Array(timestamps.length).fill(line.value);
       uPlotData.push(lineData as any);
     }
   });
@@ -142,6 +161,8 @@ export function createChart({
 
   // Build series configuration for ALL series (but control visibility)
   const seriesConfig: uPlot.Series[] = [{ label: "Time" }];
+  const customDashedTargetLines: CustomDashedTargetLine[] = [];
+  const dashFlowStartTime = performance.now();
 
   // Add ALL data series with visibility control
   const defaultColors = ["#3b82f6", "#ef4444", "#10b981", "#f59e0b", "#8b5cf6"];
@@ -167,16 +188,35 @@ export function createChart({
   });
 
   // Add config lines
+  let visibleLineIndex = 0;
+  const firstConfigLineDataIndex = 1 + allOriginalSeries.length;
   config.lines?.forEach((line) => {
     if (line.show !== false) {
+      const dash =
+        line.dash ?? (line.type === "threshold" ? [5, 5] : undefined);
+      const lineDataIndex = firstConfigLineDataIndex + visibleLineIndex;
+      const isHistoricalDashedTarget = !!line.targetSeries && !!dash?.length;
+
+      if (isHistoricalDashedTarget) {
+        customDashedTargetLines.push({
+          dataIndex: lineDataIndex,
+          dash: dash!,
+          color: line.color,
+          width: line.width ?? 1,
+        });
+      }
+
       seriesConfig.push({
         label: line.label,
-        stroke: line.color,
+        // Historical dashed targets are rendered manually in draw hook to
+        // avoid dash shimmer while the live x-axis slides.
+        stroke: isHistoricalDashedTarget ? "rgba(0,0,0,0)" : line.color,
         width: line.width ?? 1,
-        dash: line.dash ?? (line.type === "threshold" ? [5, 5] : undefined),
+        dash: isHistoricalDashedTarget ? undefined : dash,
         show: true,
         points: { show: false },
       });
+      visibleLineIndex++;
     }
   });
 
@@ -306,6 +346,119 @@ export function createChart({
             }
           },
         ],
+        draw: [
+          (u) => {
+            if (customDashedTargetLines.length === 0) return;
+            const xData = u.data[0] as number[] | undefined;
+            if (!xData || xData.length < 2) return;
+
+            const xMin = u.scales.x?.min;
+            const xMax = u.scales.x?.max;
+            if (xMin === undefined || xMax === undefined) return;
+
+            const ctx = u.ctx;
+            const left = u.bbox.left;
+            const top = u.bbox.top;
+            const snap = (v: number) => Math.round(v) + 0.5;
+            const findFirstGe = (arr: number[], value: number): number => {
+              let lo = 0;
+              let hi = arr.length - 1;
+              let ans = arr.length;
+              while (lo <= hi) {
+                const mid = (lo + hi) >> 1;
+                if (arr[mid] >= value) {
+                  ans = mid;
+                  hi = mid - 1;
+                } else {
+                  lo = mid + 1;
+                }
+              }
+              return ans;
+            };
+            const findLastLe = (arr: number[], value: number): number => {
+              let lo = 0;
+              let hi = arr.length - 1;
+              let ans = -1;
+              while (lo <= hi) {
+                const mid = (lo + hi) >> 1;
+                if (arr[mid] <= value) {
+                  ans = mid;
+                  lo = mid + 1;
+                } else {
+                  hi = mid - 1;
+                }
+              }
+              return ans;
+            };
+            const firstVisibleIdx = Math.max(0, findFirstGe(xData, xMin) - 1);
+            const lastVisibleIdx = Math.min(
+              xData.length - 1,
+              findLastLe(xData, xMax) + 1,
+            );
+            if (lastVisibleIdx < firstVisibleIdx) return;
+
+            ctx.save();
+            ctx.beginPath();
+            ctx.rect(left, top, u.bbox.width, u.bbox.height);
+            ctx.clip();
+            ctx.lineCap = "butt";
+
+            customDashedTargetLines.forEach(
+              ({ dataIndex, dash, color, width }) => {
+                const yData = u.data[dataIndex] as
+                  | Array<number | null>
+                  | undefined;
+                if (!yData || yData.length < 2) return;
+
+                const dashPeriod = dash.reduce((acc, curr) => acc + curr, 0);
+                ctx.setLineDash(dash);
+                const elapsedMs = performance.now() - dashFlowStartTime;
+                const dashTravelPx = (elapsedMs * DASH_FLOW_PX_PER_SEC) / 1000;
+                ctx.lineDashOffset =
+                  dashPeriod > 0 ? -(dashTravelPx % dashPeriod) : 0;
+                ctx.strokeStyle = color;
+                ctx.lineWidth = width;
+                ctx.beginPath();
+
+                let started = false;
+                let prevX = 0;
+                let prevY = 0;
+
+                for (let i = firstVisibleIdx; i <= lastVisibleIdx; i++) {
+                  const value = yData[i];
+                  if (value === null || value === undefined) continue;
+
+                  const x = snap(u.valToPos(xData[i], "x", true));
+                  const y = snap(u.valToPos(value, "y", true));
+
+                  if (!started) {
+                    ctx.moveTo(x, y);
+                    started = true;
+                    prevX = x;
+                    prevY = y;
+                    continue;
+                  }
+
+                  if (x !== prevX) {
+                    ctx.lineTo(x, prevY);
+                  }
+                  if (y !== prevY) {
+                    ctx.lineTo(x, y);
+                  }
+
+                  prevX = x;
+                  prevY = y;
+                }
+
+                if (started) {
+                  ctx.stroke();
+                }
+              },
+            );
+
+            ctx.restore();
+          },
+        ],
       },
       scales: {
         x: {
@@ -507,12 +660,27 @@ export function createChart({
 
   const cleanup = attachEventHandlers(containerRef.current, handlers);
 
+  let dashFlowAnimationFrame: number | null = null;
+  if (customDashedTargetLines.length > 0) {
+    const animateDashFlow = () => {
+      if (!uplotRef.current) return;
+      uplotRef.current.redraw();
+      dashFlowAnimationFrame = requestAnimationFrame(animateDashFlow);
+    };
+    dashFlowAnimationFrame = requestAnimationFrame(animateDashFlow);
+  }
+
   animationRefs.lastRenderedData.current = {
     timestamps: [...timestamps],
     values: [...primaryValues],
   };
 
-  return cleanup;
+  return () => {
+    if (dashFlowAnimationFrame !== null) {
+      cancelAnimationFrame(dashFlowAnimationFrame);
+    }
+    cleanup();
+  };
 }
 
 // Helper function to get all valid TimeSeries from DataSeries

electron/src/components/graph/historicalMode.ts

@@ -3,7 +3,12 @@ import { useRef, useCallback } from "react";
 import uPlot from "uplot";
 import { seriesToUPlotData } from "@/lib/timeseries";
 import { getPrimarySeriesData, stopAnimations } from "./animation";
-import { BigGraphProps, HistoricalModeHandlers, AnimationRefs } from "./types";
+import {
+  BigGraphProps,
+  HistoricalModeHandlers,
+  AnimationRefs,
+  SwitchOrigin,
+} from "./types";
 
 export function useHistoricalMode({
   newData,
@@ -120,12 +125,43 @@ export function useHistoricalMode({
   );
 
   // Switch to historical mode
-  const switchToHistoricalMode = useCallback(() => {
-    isInHistoricalModeRef.current = true;
-    captureHistoricalFreezeTimestamp();
-    stopAnimations(animationRefs);
-    lastProcessedCountRef.current = 0; // Reset processed count
-  }, [captureHistoricalFreezeTimestamp, animationRefs, lastProcessedCountRef]);
+  const switchToHistoricalMode = useCallback(
+    (origin?: SwitchOrigin) => {
+      isInHistoricalModeRef.current = true;
+
+      // Preserve current scale
+      if (origin === "gesture") {
+        try {
+          if (uplotRef.current) {
+            const xScale = uplotRef.current.scales.x;
+            const yScale = uplotRef.current.scales.y;
+            manualScaleRef.current = {
+              x: {
+                min: xScale?.min ?? 0,
+                max: xScale?.max ?? 0,
+              },
+              y: {
+                min: yScale?.min ?? 0,
+                max: yScale?.max ?? 1,
+              },
+            };
+          }
+        } catch (err) {
+          console.warn(
+            "Error preserving chart scales when switching to historical mode:",
+            err,
+          );
+        }
+      } else {
+        manualScaleRef.current = null;
+      }
+
+      captureHistoricalFreezeTimestamp();
+      stopAnimations(animationRefs);
+      lastProcessedCountRef.current = 0; // Reset processed count
+    },
+    [captureHistoricalFreezeTimestamp, animationRefs, lastProcessedCountRef],
+  );
 
   // Switch back to live mode
   const switchToLiveMode = useCallback(() => {

electron/src/components/graph/types.ts

@@ -3,6 +3,8 @@ import { Unit } from "@/control/units";
 import { TimeSeries } from "@/lib/timeseries";
 import { RefObject } from "react";
 
+export type SwitchOrigin = "button" | "gesture";
+
 // Prop-based sync types
 export type PropGraphSync = {
   timeWindow: number | "all";
@@ -11,6 +13,7 @@ export type PropGraphSync = {
   xRange?: { min: number; max: number };
   historicalFreezeTimestamp?: number | null;
   showFromTimestamp?: number | null;
+  historicalSwitchOrigin: SwitchOrigin;
   onTimeWindowChange?: (graphId: string, timeWindow: number | "all") => void;
   onViewModeChange?: (
     graphId: string,
@@ -27,6 +30,7 @@ export type PropGraphSync = {
 export type GraphLine = {
   type: "threshold" | "target";
   value: number;
+  targetSeries?: TimeSeries;
   color: string;
   label?: string;
   width?: number;
@@ -83,7 +87,7 @@ export type ControlProps = {
   isLiveMode: boolean;
   onTimeWindowChange: (timeWindow: number | "all") => void;
   onSwitchToLive: () => void;
-  onSwitchToHistorical: () => void;
+  onSwitchToHistorical: (origin: SwitchOrigin) => void;
   onExport?: () => void;
   timeWindowOptions?: TimeWindowOption[];
   showFromTimestamp?: number | null;
@@ -100,7 +104,7 @@ export interface HistoricalModeHandlers {
   captureHistoricalFreezeTimestamp: () => number;
   getHistoricalEndTimestamp: () => number;
   handleHistoricalTimeWindow: (timeWindow: number | "all") => void;
-  switchToHistoricalMode: () => void;
+  switchToHistoricalMode: (origin?: SwitchOrigin) => void;
   switchToLiveMode: () => void;
 }
 

electron/src/components/graph/useBigGraphEffects.ts

@@ -175,7 +175,7 @@ export function useBigGraphEffects({
       const newIsLiveMode = syncGraph.isLiveMode;
 
       if (lastState.isLiveMode && !newIsLiveMode) {
-        historicalMode.switchToHistoricalMode();
+        historicalMode.switchToHistoricalMode(syncGraph.historicalSwitchOrigin);
       } else if (!lastState.isLiveMode && newIsLiveMode) {
         historicalMode.switchToLiveMode();
 

electron/src/components/graph/useGraphSync.ts

@@ -1,5 +1,5 @@
 import { useState, useCallback, useRef } from "react";
-import { PropGraphSync } from "./types";
+import { PropGraphSync, SwitchOrigin } from "./types";
 import { GraphExportData, exportGraphsToExcel } from "./excelExport";
 import { useGraphSettingsStore } from "@/stores/graphSettingsStore";
 
@@ -19,6 +19,7 @@ export function useGraphSync(exportGroupId?: string) {
     null,
   );
 
+  const historicalSwitchOriginRef = useRef<SwitchOrigin>("gesture");
   const historicalFreezeTimestampRef = useRef<number | null>(null);
   const graphDataRef = useRef<Map<string, () => GraphExportData | null>>(
     new Map(),
@@ -65,6 +66,7 @@ export function useGraphSync(exportGroupId?: string) {
         showFromTimestamp?: number | null;
         clearHistoricalFreeze?: boolean;
         setHistoricalFreeze?: boolean;
+        historicalSwitchOrigin?: SwitchOrigin;
       },
       requestId?: number,
     ) => {
@@ -104,6 +106,10 @@ export function useGraphSync(exportGroupId?: string) {
           historicalFreezeTimestampRef.current = Date.now();
         }
 
+        if (updates.historicalSwitchOrigin !== undefined) {
+          historicalSwitchOriginRef.current = updates.historicalSwitchOrigin;
+        }
+
         clearChangeSource();
       });
     },
@@ -164,6 +170,7 @@ export function useGraphSync(exportGroupId?: string) {
         viewMode: "manual",
         isLiveMode: false,
         setHistoricalFreeze: historicalFreezeTimestampRef.current === null,
+        historicalSwitchOrigin: "gesture",
       });
     },
     [updateSyncState],
@@ -210,6 +217,7 @@ export function useGraphSync(exportGroupId?: string) {
       isLiveMode: false,
       viewMode: "manual",
       setHistoricalFreeze: true,
+      historicalSwitchOrigin: "button",
     });
   }, [updateSyncState]);
 
@@ -242,6 +250,7 @@ export function useGraphSync(exportGroupId?: string) {
     xRange,
     historicalFreezeTimestamp: historicalFreezeTimestampRef.current,
     showFromTimestamp,
+    historicalSwitchOrigin: historicalSwitchOriginRef.current,
     onTimeWindowChange: handleTimeWindowChange,
     onViewModeChange: handleViewModeChange,
     onZoomChange: handleZoomChangeThrottled,

electron/src/extensions/stahlwerk/machines/ff01_mock/ControlPage.tsx

@@ -0,0 +1,113 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { TimeSeriesValueNumeric } from "@/control/TimeSeriesValue";
+import { EditValue } from "@/control/EditValue";
+import { useMock1 } from "./use";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { Mode } from "./namespace";
+import { TimeSeries } from "@/lib/timeseries";
+
+type SineWaveCardProps = {
+  title: string;
+  timeseries: TimeSeries;
+};
+
+function SineWaveCard({ title, timeseries }: SineWaveCardProps) {
+  return (
+    <ControlCard title={title}>
+      <TimeSeriesValueNumeric
+        label="Current Value"
+        timeseries={timeseries}
+        renderValue={(value) => value.toFixed(3)}
+      />
+    </ControlCard>
+  );
+}
+
+export function Mock1ControlPage() {
+  const {
+    state,
+    defaultState,
+    sineWave1,
+    sineWave2,
+    sineWave3,
+    sineWaveSum,
+    setFrequency1,
+    setFrequency2,
+    setFrequency3,
+    setMode,
+    isDisabled,
+  } = useMock1();
+
+  // Controlled local states synced with consolidated state
+  const frequency1 = state?.frequency1 ?? 1.0;
+  const frequency2 = state?.frequency2 ?? 2.0;
+  const frequency3 = state?.frequency3 ?? 5.0;
+  const mode = state?.mode_state?.mode ?? "Standby";
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        <SineWaveCard title="Sine Wave Sum" timeseries={sineWaveSum} />
+        <SineWaveCard title="Sine Wave 1" timeseries={sineWave1} />
+        <SineWaveCard title="Sine Wave 2" timeseries={sineWave2} />
+        <SineWaveCard title="Sine Wave 3" timeseries={sineWave3} />
+
+        <ControlCard title="Frequency">
+          <div className="flex flex-row gap-2">
+            <EditValue
+              title="Frequency 1"
+              unit="mHz"
+              value={frequency1}
+              defaultValue={defaultState?.frequency1}
+              min={0.0}
+              max={1000}
+              step={0.1}
+              renderValue={(value) => value.toFixed(0)}
+              onChange={setFrequency1}
+            />
+            <EditValue
+              title="Frequency 2"
+              unit="mHz"
+              value={frequency2}
+              defaultValue={defaultState?.frequency2}
+              min={0.0}
+              max={1000}
+              step={0.1}
+              renderValue={(value) => value.toFixed(0)}
+              onChange={setFrequency2}
+            />
+            <EditValue
+              title="Frequency 3"
+              unit="mHz"
+              value={frequency3}
+              defaultValue={defaultState?.frequency3}
+              min={0.0}
+              max={1000}
+              step={0.1}
+              renderValue={(value) => value.toFixed(0)}
+              onChange={setFrequency3}
+            />
+          </div>
+        </ControlCard>
+
+        <ControlCard title="Mode">
+          <div className="flex flex-col gap-2">
+            <div className="text-sm font-medium">Mode</div>
+            <SelectionGroup
+              value={mode}
+              onChange={(newMode: Mode) => setMode(newMode)}
+              disabled={isDisabled}
+              options={{
+                Standby: { children: "Standby" },
+                Running: { children: "Running" },
+              }}
+            />
+          </div>
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/extensions/stahlwerk/machines/ff01_mock/Page.tsx

@@ -0,0 +1,38 @@
+import { Topbar } from "@/components/Topbar";
+import { mock1SerialRoute } from "@/routes/routes";
+import React from "react";
+
+export function Mock1Page() {
+  const { serial } = mock1SerialRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/mock1/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+        {
+          link: "graph",
+          activeLink: "graph",
+          title: "Graph",
+          icon: "lu:CirclePlay",
+        },
+        {
+          link: "manual",
+          activeLink: "manual",
+          title: "Manual",
+          icon: "lu:BookOpen",
+        },
+        {
+          link: "presets",
+          activeLink: "presets",
+          title: "Presets",
+          icon: "lu:Save",
+        },
+      ]}
+    />
+  );
+}

electron/src/extensions/stahlwerk/machines/ff01_mock/PresetsPage.tsx

@@ -0,0 +1,71 @@
+import React from "react";
+import { useMock1 } from "./use";
+import { mock1 } from "@/machines/properties";
+
+import { PresetsPage } from "@/components/preset/PresetsPage";
+import { Preset } from "@/lib/preset/preset";
+import { PresetPreviewEntries } from "@/components/preset/PresetPreviewTable";
+import { z } from "zod";
+
+const mock1PresetDataSchema = z
+  .object({
+    frequency1: z.number(),
+    frequency2: z.number(),
+    frequency3: z.number(),
+  })
+  .partial();
+
+type Mock1 = z.infer<typeof mock1PresetDataSchema>;
+
+const schemas = new Map([[1, mock1PresetDataSchema]]);
+
+const previewEntries: PresetPreviewEntries<Mock1> = [
+  {
+    name: "Frequency 1",
+    unit: "mHz",
+    renderValue: (data: Mock1) => data?.frequency1?.toFixed(3),
+  },
+  {
+    name: "Frequency 2",
+    unit: "mHz",
+    renderValue: (data: Mock1) => data?.frequency2?.toFixed(3),
+  },
+  {
+    name: "Frequency 3",
+    unit: "mHz",
+    renderValue: (data: Mock1) => data?.frequency3?.toFixed(3),
+  },
+];
+
+export function Mock1PresetsPage() {
+  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
+    useMock1();
+
+  const applyPreset = (preset: Preset<Mock1>) => {
+    const frequency1 = preset.data?.frequency1 ?? 100;
+    const frequency2 = preset.data?.frequency2 ?? 200;
+    const frequency3 = preset.data?.frequency3 ?? 500;
+
+    setFrequency1(frequency1);
+    setFrequency2(frequency2);
+    setFrequency3(frequency3);
+  };
+
+  const toPresetData = (s: typeof state): Mock1 => ({
+    frequency1: s?.frequency1 ?? defaultState?.frequency1,
+    frequency2: s?.frequency2 ?? defaultState?.frequency2,
+    frequency3: s?.frequency3 ?? defaultState?.frequency3,
+  });
+
+  return (
+    <PresetsPage
+      machine_identification={mock1.machine_identification}
+      currentState={toPresetData(state)}
+      schemas={schemas}
+      schemaVersion={1}
+      applyPreset={applyPreset}
+      previewEntries={previewEntries}
+      defaultState={toPresetData(defaultState)}
+    />
+  );
+}

electron/src/extensions/stahlwerk/machines/ff01_mock/namespace.ts

@@ -0,0 +1,190 @@
+/**
+ * @file mock1Namespace.ts
+ * @description TypeScript implementation of Mock1 namespace with Zod schema validation.
+ */
+
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "../../../../client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+import {
+  createTimeSeries,
+  TimeSeries,
+  TimeSeriesValue,
+} from "@/lib/timeseries";
+
+// ========== Event Schema Definitions ==========
+/**
+ * Mode enum for Mock Machine
+ */
+export const modeSchema = z.enum(["Standby", "Running"]);
+
+/**
+ * Mode state schema
+ */
+export const modeStateSchema = z.object({
+  mode: modeSchema,
+});
+
+/**
+ * Live values event schema (time-series data)
+ */
+export const liveValuesEventDataSchema = z.object({
+  amplitude_sum: z.number(),
+  amplitude1: z.number(),
+  amplitude2: z.number(),
+  amplitude3: z.number(),
+});
+
+/**
+ * State event schema (consolidated state)
+ */
+export const stateEventDataSchema = z.object({
+  is_default_state: z.boolean(),
+  frequency1: z.number(),
+  frequency2: z.number(),
+  frequency3: z.number(),
+  mode_state: modeStateSchema,
+});
+
+// ========== Event Schemas with Wrappers ==========
+export const liveValuesEventSchema = eventSchema(liveValuesEventDataSchema);
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+// ========== Type Inferences ==========
+export type Mode = z.infer<typeof modeSchema>;
+export type ModeState = z.infer<typeof modeStateSchema>;
+export type LiveValuesEvent = z.infer<typeof liveValuesEventSchema>;
+export type StateEvent = z.infer<typeof stateEventSchema>;
+
+export type Mock1NamespaceStore = {
+  // Single state event from server
+  state: StateEvent | null;
+  defaultState: StateEvent | null;
+
+  // Time series data for live values
+  sineWaveSum: TimeSeries;
+  sineWave1: TimeSeries;
+  sineWave2: TimeSeries;
+  sineWave3: TimeSeries;
+};
+
+const { initialTimeSeries: sineWave, insert: addSineWave } = createTimeSeries();
+
+/**
+ * Factory function to create a new Mock1 namespace store
+ * @returns A new Zustand store instance for Mock1 namespace
+ */
+export const createMock1NamespaceStore = (): StoreApi<Mock1NamespaceStore> => {
+  return create<Mock1NamespaceStore>(() => {
+    return {
+      state: null,
+      defaultState: null,
+      sineWaveSum: sineWave,
+      sineWave1: sineWave,
+      sineWave2: sineWave,
+      sineWave3: sineWave,
+    };
+  });
+};
+
+/**
+ * Creates a message handler for Mock1 namespace events with validation and appropriate caching strategies
+ * @param store The store to update when messages are received
+ * @param throttledUpdater Throttled updater for batching updates at 30 FPS
+ * @returns A message handler function
+ */
+export function mock1MessageHandler(
+  store: StoreApi<Mock1NamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<Mock1NamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const eventName = event.name;
+
+    // Helper function to update store through buffer
+    const updateStore = (
+      updater: (state: Mock1NamespaceStore) => Mock1NamespaceStore,
+    ) => {
+      throttledUpdater.updateWith(updater);
+    };
+
+    try {
+      // State events (latest only)
+      if (eventName === "StateEvent") {
+        const stateEvent = stateEventSchema.parse(event);
+        console.log("StateEvent", stateEvent);
+        updateStore((state) => ({
+          ...state,
+          state: stateEvent,
+          // only set default state if is_default_state is true
+          defaultState: stateEvent.data.is_default_state
+            ? stateEvent
+            : state.defaultState,
+        }));
+      }
+      // Live values events (time-series data)
+      else if (eventName === "LiveValuesEvent") {
+        const liveValuesEvent = liveValuesEventSchema.parse(event);
+        const wave1Value: TimeSeriesValue = {
+          value: liveValuesEvent.data.amplitude1 ?? 0,
+          timestamp: liveValuesEvent.ts,
+        };
+        const wave2Value: TimeSeriesValue = {
+          value: liveValuesEvent.data.amplitude2 ?? 0,
+          timestamp: liveValuesEvent.ts,
+        };
+        const wave3Value: TimeSeriesValue = {
+          value: liveValuesEvent.data.amplitude3 ?? 0,
+          timestamp: liveValuesEvent.ts,
+        };
+        const waveSumValue: TimeSeriesValue = {
+          value: liveValuesEvent.data.amplitude_sum ?? 0,
+          timestamp: liveValuesEvent.ts,
+        };
+        updateStore((state) => ({
+          ...state,
+          sineWaveSum: addSineWave(state.sineWaveSum, waveSumValue),
+          sineWave1: addSineWave(state.sineWave1, wave1Value),
+          sineWave2: addSineWave(state.sineWave2, wave2Value),
+          sineWave3: addSineWave(state.sineWave3, wave3Value),
+        }));
+      } else {
+        handleUnhandledEventError(eventName);
+      }
+    } catch (error) {
+      console.error(`Unexpected error processing ${eventName} event:`, error);
+      throw error;
+    }
+  };
+}
+
+/**
+ * Create the Mock1 namespace implementation
+ */
+const useMock1NamespaceImplementation =
+  createNamespaceHookImplementation<Mock1NamespaceStore>({
+    createStore: createMock1NamespaceStore,
+    createEventHandler: mock1MessageHandler,
+  });
+
+export function useMock1Namespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): Mock1NamespaceStore {
+  // Generate namespace ID from validated machine ID
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+
+  // Use the implementation with validated namespace ID
+  return useMock1NamespaceImplementation(namespaceId);
+}

electron/src/extensions/stahlwerk/machines/ff01_mock/use.ts

@@ -0,0 +1,172 @@
+import { toastError } from "@/components/Toast";
+import { useMachineMutate as useMachineMutation } from "@/client/useClient";
+import { MachineIdentificationUnique } from "@/machines/types";
+import { mock1 } from "@/machines/properties";
+import { mock1SerialRoute } from "@/routes/routes";
+import { z } from "zod";
+import { useMock1Namespace, Mode, StateEvent } from "./namespace";
+import { useEffect, useMemo } from "react";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { produce } from "immer";
+
+function useMock(machine_identification_unique: MachineIdentificationUnique) {
+  // Get consolidated state and live values from namespace
+  const { state, defaultState, sineWaveSum, sineWave1, sineWave2, sineWave3 } =
+    useMock1Namespace(machine_identification_unique);
+
+  // Single optimistic state for all state management
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) {
+      stateOptimistic.setReal(state);
+    }
+  }, [state]);
+
+  // Helper function for optimistic updates using produce
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest: () => Promise<any>,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState && !stateOptimistic.isOptimistic) {
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    }
+    serverRequest()
+      .then((response) => {
+        if (!response.success) stateOptimistic.resetToReal();
+      })
+      .catch(() => stateOptimistic.resetToReal());
+  };
+
+  // Action functions with verb-first names
+  const setSchemaFrequency1 = z.object({ SetFrequency1: z.number() });
+  const { request: requestSetFrequency1 } =
+    useMachineMutation(setSchemaFrequency1);
+  const setFrequency1 = (frequency: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.frequency1 = frequency;
+      },
+      () =>
+        requestSetFrequency1({
+          machine_identification_unique,
+          data: {
+            SetFrequency1: frequency,
+          },
+        }),
+    );
+  };
+
+  const setSchemaFrequency2 = z.object({ SetFrequency2: z.number() });
+  const { request: requestSetFrequency2 } =
+    useMachineMutation(setSchemaFrequency2);
+  const setFrequency2 = (frequency: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.frequency2 = frequency;
+      },
+      () =>
+        requestSetFrequency2({
+          machine_identification_unique,
+          data: {
+            SetFrequency2: frequency,
+          },
+        }),
+    );
+  };
+
+  const setSchemaFrequency3 = z.object({ SetFrequency3: z.number() });
+  const { request: requestSetFrequency3 } =
+    useMachineMutation(setSchemaFrequency3);
+  const setFrequency3 = (frequency: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.frequency3 = frequency;
+      },
+      () =>
+        requestSetFrequency3({
+          machine_identification_unique,
+          data: {
+            SetFrequency3: frequency,
+          },
+        }),
+    );
+  };
+
+  const schemaSetMode = z.object({ SetMode: z.enum(["Standby", "Running"]) });
+  const { request: requestSetMode } = useMachineMutation(schemaSetMode);
+  const setMode = (mode: Mode) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.mode_state.mode = mode;
+      },
+      () =>
+        requestSetMode({
+          machine_identification_unique,
+          data: {
+            SetMode: mode,
+          },
+        }),
+    );
+  };
+
+  return {
+    // Consolidated state
+    state: stateOptimistic.value?.data,
+
+    // Default state for initial values
+    defaultState: defaultState?.data,
+
+    // Individual live values (TimeSeries)
+    sineWave1,
+    sineWave2,
+    sineWave3,
+    sineWaveSum,
+
+    // Loading states
+    isLoading: stateOptimistic.isOptimistic,
+    isDisabled: !stateOptimistic.isInitialized,
+
+    // Action functions (verb-first)
+    setFrequency1,
+    setFrequency2,
+    setFrequency3,
+    setMode,
+  };
+}
+
+export function useMock1() {
+  const { serial: serialString } = mock1SerialRoute.useParams();
+
+  // Memoize the machine identification to keep it stable between renders
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString); // Use 0 as fallback if NaN
+
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+
+      return {
+        machine_identification: {
+          vendor: 0,
+          machine: 0,
+        },
+        serial: 0,
+      };
+    }
+
+    return {
+      machine_identification: mock1.machine_identification,
+      serial,
+    };
+  }, [serialString]); // Only recreate when serialString changes
+
+  const mock = useMock(machineIdentification);
+
+  return {
+    ...mock,
+  };
+}

electron/src/extensions/stahlwerk/properties.ts

@@ -0,0 +1,20 @@
+import { VENDOR_QITECH } from "../../machines/properties";
+import { MachineProperties } from "../../machines/types";
+
+export const ff01_mock: MachineProperties = 
+{
+  name:     "FF01",
+  version:  "V1",
+  slug:     "stahlwerk_ff01",
+  icon:     "lu:FlaskConical",
+  machine_identification: 
+  {
+    vendor:  VENDOR_QITECH,
+    machine: 0x0007,
+  },
+  device_roles: [],
+};
+
+export const machineProperties: MachineProperties[] = [
+    ff01_mock
+];

electron/src/extensions/stahlwerk/routes.tsx

@@ -0,0 +1,34 @@
+import { createRoute, Outlet } from "@tanstack/react-router";
+
+import React from "react";
+import { z } from "zod";
+
+import { Laser1ControlPage } from "@/extensions/stahlwerk/machines/ff01_mock/Page";
+import { Laser1GraphsPage } from "@/machines/laser/laser1/Laser1Graph";
+import { Laser1Page } from "@/machines/laser/laser1/Laser1Page";
+import { Laser1PresetsPage } from "@/machines/laser/laser1/Laser1PresetsPage";
+import { machinesRoute } from "@/routes/routes";
+
+export const mock1SerialRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "mock1/$serial",
+  component: () => <Mock1Page />,
+});
+
+export const mock1ControlRoute = createRoute({
+  getParentRoute: () => mock1SerialRoute,
+  path: "control",
+  component: () => <Mock1ControlPage />,
+});
+
+export const mock1GraphRoute = createRoute({
+  getParentRoute: () => mock1SerialRoute,
+  path: "graph",
+  component: () => <Mock1GraphPage />,
+});
+
+export const mock1ManualRoute = createRoute({
+  getParentRoute: () => mock1SerialRoute,
+  path: "manual",
+  component: () => <Mock1ManualPage />,
+});

electron/src/lib/timeseries.ts

@@ -304,3 +304,46 @@ export function resetSeries(series: Series): void {
   series.lastTimestamp = 0;
   series.validCount = 0;
 }
+
+/**
+ * Aligns target series values with a given set of timestamps.
+ * For each timestamp in dataTimestamps, finds the most recent target value
+ * that was set before or at that timestamp (step function interpolation).
+ */
+export function alignTargetSeriesToTimestamps(
+  targetSeries: TimeSeries,
+  dataTimestamps: number[],
+  fallbackValue: number,
+): number[] {
+  if (dataTimestamps.length === 0) {
+    return [];
+  }
+
+  const [targetTimestamps, targetValues] = extractDataFromSeries(
+    targetSeries.long,
+  );
+
+  if (targetTimestamps.length === 0) {
+    return new Array(dataTimestamps.length).fill(fallbackValue);
+  }
+
+  const result: number[] = [];
+  let targetIndex = 0;
+
+  for (const dataTs of dataTimestamps) {
+    while (
+      targetIndex < targetTimestamps.length - 1 &&
+      targetTimestamps[targetIndex + 1] <= dataTs
+    ) {
+      targetIndex++;
+    }
+
+    if (targetTimestamps[targetIndex] > dataTs) {
+      result.push(fallbackValue);
+    } else {
+      result.push(targetValues[targetIndex]);
+    }
+  }
+
+  return result;
+}

electron/src/machines/aquapath/aquapath1/Aquapath1Page.tsx

@@ -18,7 +18,7 @@ export function Aquapath1Page() {
           link: "graph",
           title: "Graph",
           icon: "lu:ChartSpline",
-          activeLink: "graphs",
+          activeLink: "graph",
         },
         {
           link: "settings",

electron/src/machines/extruder/extruder2/Extruder2Graph.tsx

@@ -24,6 +24,13 @@ export function Extruder2GraphsPage() {
     motorCurrent,
     motorPower,
     combinedPower,
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
   } = useExtruder2();
 
   const syncHook = useGraphSync("extruder-graphs");
@@ -49,6 +56,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.nozzle.target_temperature,
+                      targetSeries: targetNozzleTemperature,
                       color: "#ef4444",
                       show: true,
                     },
@@ -69,6 +77,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.front.target_temperature,
+                      targetSeries: targetFrontTemperature,
                       color: "#f59e0b",
                       show: true,
                     },
@@ -89,6 +98,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.middle.target_temperature,
+                      targetSeries: targetMiddleTemperature,
                       color: "#8b5cf6",
                       show: true,
                     },
@@ -109,6 +119,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.back.target_temperature,
+                      targetSeries: targetBackTemperature,
                       color: "#3b82f6",
                       show: true,
                     },
@@ -253,6 +264,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.pressure_state.target_bar,
+                      targetSeries: targetPressure,
                       color: "#3b82f6",
                       show: true,
                     },
@@ -306,6 +318,7 @@ export function Extruder2GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.screw_state.target_rpm,
+                      targetSeries: targetScrewRpm,
                       color: "#8b5cf6",
                       show: true,
                     },

electron/src/machines/extruder/extruder2/extruder2Namespace.ts

@@ -221,6 +221,14 @@ export type Extruder2NamespaceStore = {
   // Combined power consumption and energy
   combinedPower: TimeSeries;
   totalEnergyKWh: TimeSeries;
+
+  // Target value history (for graph target lines)
+  targetPressure: TimeSeries;
+  targetScrewRpm: TimeSeries;
+  targetNozzleTemperature: TimeSeries;
+  targetFrontTemperature: TimeSeries;
+  targetMiddleTemperature: TimeSeries;
+  targetBackTemperature: TimeSeries;
 };
 
 const { initialTimeSeries: pressure, insert: addPressure } = createTimeSeries();
@@ -253,6 +261,28 @@ const { initialTimeSeries: motorScrewRpm, insert: addMotorScrewRpm } =
 const { initialTimeSeries: motorPower, insert: addMotorPower } =
   createTimeSeries();
 
+// Target value time series (for historical target lines on graphs)
+const { initialTimeSeries: targetPressure, insert: addTargetPressure } =
+  createTimeSeries();
+const { initialTimeSeries: targetScrewRpm, insert: addTargetScrewRpm } =
+  createTimeSeries();
+const {
+  initialTimeSeries: targetNozzleTemperature,
+  insert: addTargetNozzleTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetFrontTemperature,
+  insert: addTargetFrontTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetMiddleTemperature,
+  insert: addTargetMiddleTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetBackTemperature,
+  insert: addTargetBackTemperature,
+} = createTimeSeries();
+
 export function extruder2MessageHandler(
   store: StoreApi<Extruder2NamespaceStore>,
   throttledUpdater: ThrottledStoreUpdater<Extruder2NamespaceStore>,
@@ -271,6 +301,17 @@ export function extruder2MessageHandler(
       if (eventName === "StateEvent") {
         console.log(event);
         const stateEvent = stateEventSchema.parse(event);
+        const timestamp = event.ts;
+        const nextTargetPressure = stateEvent.data.pressure_state.target_bar;
+        const nextTargetScrewRpm = stateEvent.data.screw_state.target_rpm;
+        const nextTargetNozzleTemperature =
+          stateEvent.data.heating_states.nozzle.target_temperature;
+        const nextTargetFrontTemperature =
+          stateEvent.data.heating_states.front.target_temperature;
+        const nextTargetMiddleTemperature =
+          stateEvent.data.heating_states.middle.target_temperature;
+        const nextTargetBackTemperature =
+          stateEvent.data.heating_states.back.target_temperature;
         updateStore((state) => ({
           ...state,
           state: stateEvent,
@@ -278,6 +319,53 @@ export function extruder2MessageHandler(
           defaultState: stateEvent.data.is_default_state
             ? stateEvent
             : state.defaultState,
+          // Update target value history
+          targetPressure:
+            state.targetPressure.current?.value === nextTargetPressure
+              ? state.targetPressure
+              : addTargetPressure(state.targetPressure, {
+                  value: nextTargetPressure,
+                  timestamp,
+                }),
+          targetScrewRpm:
+            state.targetScrewRpm.current?.value === nextTargetScrewRpm
+              ? state.targetScrewRpm
+              : addTargetScrewRpm(state.targetScrewRpm, {
+                  value: nextTargetScrewRpm,
+                  timestamp,
+                }),
+          targetNozzleTemperature:
+            state.targetNozzleTemperature.current?.value ===
+            nextTargetNozzleTemperature
+              ? state.targetNozzleTemperature
+              : addTargetNozzleTemperature(state.targetNozzleTemperature, {
+                  value: nextTargetNozzleTemperature,
+                  timestamp,
+                }),
+          targetFrontTemperature:
+            state.targetFrontTemperature.current?.value ===
+            nextTargetFrontTemperature
+              ? state.targetFrontTemperature
+              : addTargetFrontTemperature(state.targetFrontTemperature, {
+                  value: nextTargetFrontTemperature,
+                  timestamp,
+                }),
+          targetMiddleTemperature:
+            state.targetMiddleTemperature.current?.value ===
+            nextTargetMiddleTemperature
+              ? state.targetMiddleTemperature
+              : addTargetMiddleTemperature(state.targetMiddleTemperature, {
+                  value: nextTargetMiddleTemperature,
+                  timestamp,
+                }),
+          targetBackTemperature:
+            state.targetBackTemperature.current?.value ===
+            nextTargetBackTemperature
+              ? state.targetBackTemperature
+              : addTargetBackTemperature(state.targetBackTemperature, {
+                  value: nextTargetBackTemperature,
+                  timestamp,
+                }),
         }));
       } else if (eventName === "LiveValuesEvent") {
         const liveValuesEvent = liveValuesEventSchema.parse(event);
@@ -378,6 +466,14 @@ export const createExtruder2NamespaceStore =
         middlePower,
         combinedPower,
         totalEnergyKWh,
+
+        // Target value history
+        targetPressure,
+        targetScrewRpm,
+        targetNozzleTemperature,
+        targetFrontTemperature,
+        targetMiddleTemperature,
+        targetBackTemperature,
       };
     });
 

electron/src/machines/extruder/extruder2/useExtruder.ts

@@ -57,6 +57,14 @@ export function useExtruder2() {
     backPower,
     combinedPower,
     totalEnergyKWh,
+
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
   } = useExtruder2Namespace(machineIdentification);
 
   // Single optimistic state for all state management
@@ -423,6 +431,14 @@ export function useExtruder2() {
     combinedPower,
     totalEnergyKWh,
 
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
+
     // Loading states
     isLoading: stateOptimistic.isOptimistic,
     isDisabled: !stateOptimistic.isInitialized,

electron/src/machines/extruder/extruder3/Extruder3Graph.tsx

@@ -24,6 +24,13 @@ export function Extruder3GraphsPage() {
     motorCurrent,
     motorPower,
     combinedPower,
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
   } = useExtruder3();
 
   const syncHook = useGraphSync("extruder-graphs");
@@ -49,6 +56,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.nozzle.target_temperature,
+                      targetSeries: targetNozzleTemperature,
                       color: "#ef4444",
                       show: true,
                     },
@@ -69,6 +77,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.front.target_temperature,
+                      targetSeries: targetFrontTemperature,
                       color: "#f59e0b",
                       show: true,
                     },
@@ -89,6 +98,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.middle.target_temperature,
+                      targetSeries: targetMiddleTemperature,
                       color: "#8b5cf6",
                       show: true,
                     },
@@ -109,6 +119,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.heating_states.back.target_temperature,
+                      targetSeries: targetBackTemperature,
                       color: "#3b82f6",
                       show: true,
                     },
@@ -253,6 +264,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.pressure_state.target_bar,
+                      targetSeries: targetPressure,
                       color: "#3b82f6",
                       show: true,
                     },
@@ -306,6 +318,7 @@ export function Extruder3GraphsPage() {
                     {
                       type: "target" as const,
                       value: state.screw_state.target_rpm,
+                      targetSeries: targetScrewRpm,
                       color: "#8b5cf6",
                       show: true,
                     },

electron/src/machines/extruder/extruder3/extruder3Namespace.ts

@@ -221,6 +221,14 @@ export type Extruder3NamespaceStore = {
   // Combined power consumption and energy
   combinedPower: TimeSeries;
   totalEnergyKWh: TimeSeries;
+
+  // Target value history (for graph target lines)
+  targetPressure: TimeSeries;
+  targetScrewRpm: TimeSeries;
+  targetNozzleTemperature: TimeSeries;
+  targetFrontTemperature: TimeSeries;
+  targetMiddleTemperature: TimeSeries;
+  targetBackTemperature: TimeSeries;
 };
 
 const { initialTimeSeries: pressure, insert: addPressure } = createTimeSeries();
@@ -253,6 +261,28 @@ const { initialTimeSeries: motorScrewRpm, insert: addMotorScrewRpm } =
 const { initialTimeSeries: motorPower, insert: addMotorPower } =
   createTimeSeries();
 
+// Target value time series (for historical target lines on graphs)
+const { initialTimeSeries: targetPressure, insert: addTargetPressure } =
+  createTimeSeries();
+const { initialTimeSeries: targetScrewRpm, insert: addTargetScrewRpm } =
+  createTimeSeries();
+const {
+  initialTimeSeries: targetNozzleTemperature,
+  insert: addTargetNozzleTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetFrontTemperature,
+  insert: addTargetFrontTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetMiddleTemperature,
+  insert: addTargetMiddleTemperature,
+} = createTimeSeries();
+const {
+  initialTimeSeries: targetBackTemperature,
+  insert: addTargetBackTemperature,
+} = createTimeSeries();
+
 export function extruder3MessageHandler(
   store: StoreApi<Extruder3NamespaceStore>,
   throttledUpdater: ThrottledStoreUpdater<Extruder3NamespaceStore>,
@@ -271,6 +301,17 @@ export function extruder3MessageHandler(
       if (eventName === "StateEvent") {
         console.log(event);
         const stateEvent = stateEventSchema.parse(event);
+        const timestamp = event.ts;
+        const nextTargetPressure = stateEvent.data.pressure_state.target_bar;
+        const nextTargetScrewRpm = stateEvent.data.screw_state.target_rpm;
+        const nextTargetNozzleTemperature =
+          stateEvent.data.heating_states.nozzle.target_temperature;
+        const nextTargetFrontTemperature =
+          stateEvent.data.heating_states.front.target_temperature;
+        const nextTargetMiddleTemperature =
+          stateEvent.data.heating_states.middle.target_temperature;
+        const nextTargetBackTemperature =
+          stateEvent.data.heating_states.back.target_temperature;
         updateStore((state) => ({
           ...state,
           state: stateEvent,
@@ -278,6 +319,53 @@ export function extruder3MessageHandler(
           defaultState: stateEvent.data.is_default_state
             ? stateEvent
             : state.defaultState,
+          // Update target value history
+          targetPressure:
+            state.targetPressure.current?.value === nextTargetPressure
+              ? state.targetPressure
+              : addTargetPressure(state.targetPressure, {
+                  value: nextTargetPressure,
+                  timestamp,
+                }),
+          targetScrewRpm:
+            state.targetScrewRpm.current?.value === nextTargetScrewRpm
+              ? state.targetScrewRpm
+              : addTargetScrewRpm(state.targetScrewRpm, {
+                  value: nextTargetScrewRpm,
+                  timestamp,
+                }),
+          targetNozzleTemperature:
+            state.targetNozzleTemperature.current?.value ===
+            nextTargetNozzleTemperature
+              ? state.targetNozzleTemperature
+              : addTargetNozzleTemperature(state.targetNozzleTemperature, {
+                  value: nextTargetNozzleTemperature,
+                  timestamp,
+                }),
+          targetFrontTemperature:
+            state.targetFrontTemperature.current?.value ===
+            nextTargetFrontTemperature
+              ? state.targetFrontTemperature
+              : addTargetFrontTemperature(state.targetFrontTemperature, {
+                  value: nextTargetFrontTemperature,
+                  timestamp,
+                }),
+          targetMiddleTemperature:
+            state.targetMiddleTemperature.current?.value ===
+            nextTargetMiddleTemperature
+              ? state.targetMiddleTemperature
+              : addTargetMiddleTemperature(state.targetMiddleTemperature, {
+                  value: nextTargetMiddleTemperature,
+                  timestamp,
+                }),
+          targetBackTemperature:
+            state.targetBackTemperature.current?.value ===
+            nextTargetBackTemperature
+              ? state.targetBackTemperature
+              : addTargetBackTemperature(state.targetBackTemperature, {
+                  value: nextTargetBackTemperature,
+                  timestamp,
+                }),
         }));
       } else if (eventName === "LiveValuesEvent") {
         const liveValuesEvent = liveValuesEventSchema.parse(event);
@@ -378,6 +466,14 @@ export const createExtruder3NamespaceStore =
         middlePower,
         combinedPower,
         totalEnergyKWh,
+
+        // Target value history
+        targetPressure,
+        targetScrewRpm,
+        targetNozzleTemperature,
+        targetFrontTemperature,
+        targetMiddleTemperature,
+        targetBackTemperature,
       };
     });
 

electron/src/machines/extruder/extruder3/useExtruder.ts

@@ -57,6 +57,14 @@ export function useExtruder3() {
     backPower,
     combinedPower,
     totalEnergyKWh,
+
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
   } = useExtruder3Namespace(machineIdentification);
 
   // Single optimistic state for all state management
@@ -423,6 +431,14 @@ export function useExtruder3() {
     combinedPower,
     totalEnergyKWh,
 
+    // Target value history for graph target lines
+    targetPressure,
+    targetScrewRpm,
+    targetNozzleTemperature,
+    targetFrontTemperature,
+    targetMiddleTemperature,
+    targetBackTemperature,
+
     // Loading states
     isLoading: stateOptimistic.isOptimistic,
     isDisabled: !stateOptimistic.isInitialized,

electron/src/machines/laser/laser1/Laser1Graph.tsx

@@ -10,10 +10,17 @@ import React from "react";
 import { useLaser1 } from "./useLaser1";
 
 export function Laser1GraphsPage() {
-  const { diameter, x_diameter, y_diameter, roundness, state } = useLaser1();
+  const {
+    diameter,
+    x_diameter,
+    y_diameter,
+    roundness,
+    state,
+    targetDiameter: targetDiameterSeries,
+  } = useLaser1();
 
   const syncHook = useGraphSync("diameter-roundness-group");
-  const targetDiameter = state?.laser_state?.target_diameter ?? 0;
+  const targetDiameterValue = state?.laser_state?.target_diameter ?? 0;
   const lowerTolerance = state?.laser_state?.lower_tolerance ?? 0;
   const higherTolerance = state?.laser_state?.higher_tolerance ?? 0;
 
@@ -71,21 +78,22 @@ export function Laser1GraphsPage() {
         // Tolerance for diameter
         {
           type: "threshold" as const,
-          value: targetDiameter + higherTolerance,
+          value: targetDiameterValue + higherTolerance,
           label: "Upper Tolerance",
           color: diameterColor,
           dash: [5, 5],
         },
         {
           type: "threshold" as const,
-          value: targetDiameter - lowerTolerance,
+          value: targetDiameterValue - lowerTolerance,
           label: "Lower Tolerance",
           color: diameterColor,
           dash: [5, 5],
         },
         {
           type: "target" as const,
-          value: targetDiameter,
+          value: targetDiameterValue,
+          targetSeries: targetDiameterSeries,
           label: "Target",
           color: diameterColor,
         },

electron/src/machines/laser/laser1/laser1Namespace.ts

@@ -14,7 +14,7 @@ import {
   NamespaceId,
   createNamespaceHookImplementation,
   ThrottledStoreUpdater,
-} from "../../../client/socketioStore";
+} from "@/client/socketioStore";
 import { MachineIdentificationUnique } from "@/machines/types";
 import {
   createTimeSeries,
@@ -64,21 +64,18 @@ export type Laser1NamespaceStore = {
   x_diameter: TimeSeries;
   y_diameter: TimeSeries;
   roundness: TimeSeries;
+  targetDiameter: TimeSeries;
 };
 
-// Constants for time durations
-const HALF_SECOND = 500;
-
-const { initialTimeSeries: diameter, insert: addDiameter } = createTimeSeries({
-  sampleIntervalLong: HALF_SECOND,
-});
+const { initialTimeSeries: diameter, insert: addDiameter } = createTimeSeries();
 const { initialTimeSeries: x_diameter, insert: addXDiameter } =
-  createTimeSeries({ sampleIntervalLong: HALF_SECOND });
+  createTimeSeries();
 const { initialTimeSeries: y_diameter, insert: addYDiameter } =
-  createTimeSeries({ sampleIntervalLong: HALF_SECOND });
-const { initialTimeSeries: roundness, insert: addRoundness } = createTimeSeries(
-  { sampleIntervalLong: HALF_SECOND },
-);
+  createTimeSeries();
+const { initialTimeSeries: roundness, insert: addRoundness } =
+  createTimeSeries();
+const { initialTimeSeries: targetDiameter, insert: addTargetDiameter } =
+  createTimeSeries();
 
 /**
  * Factory function to create a new Laser1 namespace store
@@ -93,6 +90,7 @@ export const createLaser1NamespaceStore = (): StoreApi<Laser1NamespaceStore> =>
       x_diameter,
       y_diameter,
       roundness,
+      targetDiameter,
     };
   });
 
@@ -120,9 +118,17 @@ export function laser1MessageHandler(
       // Apply appropriate caching strategy based on event type
       if (eventName === "StateEvent") {
         const stateEvent = stateEventSchema.parse(event);
+        const nextTargetDiameter = stateEvent.data.laser_state.target_diameter;
         updateStore((state) => ({
           ...state,
           state: stateEvent,
+          targetDiameter:
+            state.targetDiameter.current?.value === nextTargetDiameter
+              ? state.targetDiameter
+              : addTargetDiameter(state.targetDiameter, {
+                  value: nextTargetDiameter,
+                  timestamp: event.ts,
+                }),
           // only set default state if is_default_state is true
           defaultState: stateEvent.data.is_default_state
             ? stateEvent

electron/src/machines/laser/laser1/useLaser1.ts

@@ -11,8 +11,15 @@ import { produce } from "immer";
 
 function useLaser(machine_identification_unique: MachineIdentificationUnique) {
   // Get consolidated state and live values from namespace
-  const { state, defaultState, diameter, x_diameter, y_diameter, roundness } =
-    useLaser1Namespace(machine_identification_unique);
+  const {
+    state,
+    defaultState,
+    diameter,
+    x_diameter,
+    y_diameter,
+    roundness,
+    targetDiameter,
+  } = useLaser1Namespace(machine_identification_unique);
 
   // Single optimistic state for all state management
   const stateOptimistic = useStateOptimistic<StateEvent>();
@@ -113,6 +120,7 @@ function useLaser(machine_identification_unique: MachineIdentificationUnique) {
     x_diameter,
     y_diameter,
     roundness,
+    targetDiameter,
 
     // Loading states
     isLoading: stateOptimistic.isOptimistic,

electron/src/machines/motor_test_machine/TestMotorControlPage.tsx

@@ -0,0 +1,53 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { SelectionGroupBoolean } from "@/control/SelectionGroup";
+import { EditValue } from "@/control/EditValue";
+import { Label } from "@/control/Label";
+import { useTestMotor } from "./useTestMotor";
+
+export function TestMotorControlPage() {
+  const { state, setMotorOn, setVelocity } = useTestMotor();
+
+  // Fallback in case state is still null
+  const safeState = state ?? { motor_enabled: false, motor_velocity: 0 };
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        {/* Basic control */}
+        <ControlCard title="Motor Status">
+          {/* On/Off switch */}
+          <Label label="Power State">
+            <SelectionGroupBoolean
+              value={safeState.motor_enabled}
+              // Icon mapping for True/False
+              optionTrue={{ children: "Enabled", icon: "lu:Play" }}
+              optionFalse={{ children: "Disabled", icon: "lu:CirclePause" }}
+              onChange={(val) => setMotorOn(val)}
+            />
+          </Label>
+        </ControlCard>
+
+        {/* Velocity */}
+        <ControlCard title="Settings">
+          {/* Velocity input with unit */}
+          <Label label="Target Velocity">
+            <EditValue
+              title="Velocity"
+              value={safeState.motor_velocity}
+              unit="rpm"
+              min={0}
+              max={1000} // Limit
+              step={1}
+              onChange={(val) => setVelocity(val)}
+              // Displays the value (as integer)
+              renderValue={(v) => v.toFixed(0)}
+            />
+          </Label>
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/machines/motor_test_machine/TestMotorPage.tsx

@@ -0,0 +1,22 @@
+import { Topbar } from "@/components/Topbar";
+import { testMotorSerialRoute } from "@/routes/routes";
+import React from "react";
+
+export function TestMotorPage() {
+  // Access is allowed here because this function is called later
+  const { serial } = testMotorSerialRoute.useParams();
+
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/testmotor/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+      ]}
+    />
+  );
+}

electron/src/machines/motor_test_machine/testMotorNamespace.ts

@@ -0,0 +1,73 @@
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "@/client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+
+// ========== Event Schema (Must match StateEvent) ==========
+export const stateEventDataSchema = z.object({
+  motor_enabled: z.boolean(),
+  motor_velocity: z.number(),
+});
+
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+export type StateEvent = z.infer<typeof stateEventDataSchema>;
+
+// ========== Store ==========
+export type TestMotorNamespaceStore = {
+  state: StateEvent | null;
+};
+
+export const createTestMotorNamespaceStore =
+  (): StoreApi<TestMotorNamespaceStore> =>
+    create<TestMotorNamespaceStore>(() => ({
+      state: null,
+    }));
+
+// ========== Message Handler ==========
+export function testMotorMessageHandler(
+  chstore: StoreApi<TestMotorNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<TestMotorNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const updateStore = (
+      updater: (state: TestMotorNamespaceStore) => TestMotorNamespaceStore,
+    ) => throttledUpdater.updateWith(updater);
+    try {
+      if (event.name === "StateEvent") {
+        const parsed = stateEventSchema.parse(event);
+        updateStore(() => ({ state: parsed.data }));
+      } else {
+        handleUnhandledEventError(event.name);
+      }
+    } catch (error) {
+      console.error(`Error processing ${event.name}:`, error);
+      throw error;
+    }
+  };
+}
+
+// ========== Namespace Hook ==========
+const useTestMotorNamespaceImplementation =
+  createNamespaceHookImplementation<TestMotorNamespaceStore>({
+    createStore: createTestMotorNamespaceStore,
+    createEventHandler: testMotorMessageHandler,
+  });
+
+export function useTestMotorNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): TestMotorNamespaceStore {
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+  return useTestMotorNamespaceImplementation(namespaceId);
+}

electron/src/machines/motor_test_machine/useTestMotor.ts

@@ -0,0 +1,96 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { testMotorSerialRoute } from "@/routes/routes";
+import { MachineIdentificationUnique } from "@/machines/types";
+import { useTestMotorNamespace, StateEvent } from "./testMotorNamespace";
+import { useMachineMutate } from "@/client/useClient";
+import { produce } from "immer";
+import { useEffect, useMemo } from "react";
+import { TestMotor } from "@/machines/properties";
+import { z } from "zod";
+
+export function useTestMotor() {
+  const { serial: serialString } = testMotorSerialRoute.useParams();
+
+  // Memoize machine identification
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+      return {
+        machine_identification: { vendor: 0, machine: 0 },
+        serial: 0,
+      };
+    }
+    return {
+      machine_identification: TestMotor.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Namespace state from backend
+  const { state } = useTestMotorNamespace(machineIdentification);
+
+  // Optimistic state
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) stateOptimistic.setReal(state);
+  }, [state, stateOptimistic]);
+
+  // Generic mutation sender
+  const { request: sendMutation } = useMachineMutate(
+    z.object({
+      type: z.string(),
+      payload: z.any(),
+    }),
+  );
+
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest?: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState)
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    serverRequest?.();
+  };
+
+  // --- ACTIONS ---
+
+  const setMotorOn = (on: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.motor_enabled = on;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          // Must exactly match the 'Mutation' enum!
+          data: { type: "SetMotorOn", payload: on },
+        }),
+    );
+  };
+
+  const setVelocity = (velocity: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.motor_velocity = velocity;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { type: "SetMotorVelocity", payload: velocity },
+        }),
+    );
+  };
+
+  return {
+    state: stateOptimistic.value,
+    setMotorOn,
+    setVelocity,
+  };
+}

electron/src/machines/properties.ts

@@ -5,6 +5,10 @@ import {
   machineIdentificationEquals,
 } from "./types";
 
+import { 
+  machineProperties as stahlwerkMachineProperties 
+} from "../extensions/stahlwerk/properties";
+
 export const VENDOR_QITECH = 0x0001;
 
 export type VendorProperties = {
@@ -390,6 +394,11 @@ export const aquapath1: MachineProperties = {
           product_id: 0x7d83052,
           revision: 0x110000,
         },
+        {
+          vendor_id: 2,
+          product_id: 0x7d83052,
+          revision: 0x120000,
+        },
       ],
     },
     {
@@ -473,6 +482,30 @@ export const digitalInputTestMachine: MachineProperties = {
   },
   device_roles: [],
 };
+
+export const wago8chDioTestMachine: MachineProperties = {
+  name: "WAGO 8ch DIO Test",
+  version: "V1",
+  slug: "wago8chdiotestmachine",
+  icon: "lu:Disc3",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x0041,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Wago 750-354 Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 0x21,
+          product_id: 0x07500354,
+          revision: 0x2,
+        },
+      ],
+    },
+  ],
+};
 export const wagoPower1: MachineProperties = {
   name: "WAGO Power",
   version: "V1",
@@ -544,6 +577,64 @@ export const ip20TestMachine: MachineProperties = {
   ],
 };
 
+export const TestMotor: MachineProperties = {
+  name: "TestMotor",
+  version: "V1",
+  slug: "testmotor",
+  icon: "lu:Disc3",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x0011,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 0x2,
+          product_id: 0x44c2c52,
+          revision: 0x120000,
+        },
+      ],
+    },
+    {
+      role: 1,
+      role_label: "Stepper Motor",
+      allowed_devices: [
+        {
+          vendor_id: 0x2,
+          product_id: 0x1b773052,
+          revision: 0x10001e,
+        },
+      ],
+    },
+  ],
+};
+
+export const wagoDoTestMachine: MachineProperties = {
+  name: "Wago DO Test",
+  version: "V1",
+  slug: "wagodotestmachine",
+  icon: "lu:ToggleRight",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x000e,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Wago 750-354 Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 0x21,
+          product_id: 0x07500354,
+          revision: 0x2,
+        },
+      ],
+    },
+  ],
+};
 export const wagoAiTestMachine: MachineProperties = {
   name: "Wago AI Test",
   version: "V1",
@@ -568,6 +659,41 @@ export const wagoAiTestMachine: MachineProperties = {
   ],
 };
 
+export const testmachinestepper: MachineProperties = {
+  name: "TestMachineStepper",
+  version: "V1",
+  slug: "testmachinestepper",
+  icon: "lu:Disc3",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x0037,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 0x00000021,
+          product_id: 0x07500354,
+          revision: 0x2,
+        },
+      ],
+    },
+    {
+      role: 1,
+      role_label: "Stepper Motor",
+      allowed_devices: [
+        {
+          vendor_id: 0x00000021,
+          product_id: 0x67214e8,
+          revision: 0x2,
+        },
+      ],
+    },
+  ],
+};
+
 export const machineProperties: MachineProperties[] = [
   winder2,
   extruder3,
@@ -581,7 +707,12 @@ export const machineProperties: MachineProperties[] = [
   analogInputTestMachine,
   wagoAiTestMachine,
   digitalInputTestMachine,
+  wago8chDioTestMachine,
   ip20TestMachine,
+  wagoDoTestMachine,
+  TestMotor,
+  testmachinestepper,
+  ...stahlwerkMachineProperties
 ];
 
 export const getMachineProperties = (

electron/src/machines/testmachinestepper/TestMachineStepperControlPage.tsx

@@ -0,0 +1,130 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { useTestMachineStepper } from "./useTestMachineStepper";
+import { Label } from "@/control/Label";
+import { EditValue } from "@/control/EditValue";
+import { roundToDecimals } from "@/lib/decimal";
+import { TouchButton } from "@/components/touch/TouchButton";
+
+export function TestMachineStepperControlPage() {
+  const { state, setTargetSpeed, setEnabled, setFreq, setAccFreq } =
+    useTestMachineStepper();
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        <ControlCard title="Stepper Speed">
+          <Label label="Target Speed">
+            <EditValue
+              value={state?.target_speed}
+              unit="rpm"
+              title="Target Speed"
+              defaultValue={0}
+              min={-25000}
+              max={25000}
+              step={1}
+              renderValue={(value) => roundToDecimals(value, 0)}
+              onChange={setTargetSpeed}
+            />
+            <TouchButton
+              variant="outline"
+              icon="lu:CirclePower"
+              onClick={() => setEnabled(true)}
+              disabled={false}
+              isLoading={false}
+            >
+              Enable
+            </TouchButton>
+            <TouchButton
+              variant="outline"
+              icon="lu:CirclePower"
+              onClick={() => setEnabled(false)}
+              disabled={false}
+              isLoading={false}
+            >
+              Disable
+            </TouchButton>
+          </Label>
+        </ControlCard>
+        <ControlCard height={2} title="Frequency Prescaler">
+          <TouchButton
+            variant="outline"
+            icon="lu:CirclePower"
+            onClick={() => setFreq(0)}
+            disabled={false}
+            isLoading={false}
+          >
+            Default (00)
+          </TouchButton>
+          <TouchButton
+            variant="outline"
+            icon="lu:CirclePower"
+            onClick={() => setFreq(1)}
+            disabled={false}
+            isLoading={false}
+          >
+            Low (01)
+          </TouchButton>
+          <TouchButton
+            variant="outline"
+            icon="lu:CirclePower"
+            onClick={() => setFreq(2)}
+            disabled={false}
+            isLoading={false}
+          >
+            Mid (10)
+          </TouchButton>
+          <TouchButton
+            variant="outline"
+            icon="lu:CirclePower"
+            onClick={() => setFreq(3)}
+            disabled={false}
+            isLoading={false}
+          >
+            High (11)
+          </TouchButton>
+        </ControlCard>
+        <ControlCard height={2} title="Acceleration Factor">
+          <TouchButton
+            variant="outline"
+            icon="lu:CirclePower"
+            onClick={() => setAccFreq(0)}
+            disabled={false}
+            isLoading={false}
+          >
+            Default (00)
+          </TouchButton>
+          <TouchButton
+            variant="outline"
+            icon="lu:CirclePower"
+            onClick={() => setAccFreq(1)}
+            disabled={false}
+            isLoading={false}
+          >
+            Low (01)
+          </TouchButton>
+          <TouchButton
+            variant="outline"
+            icon="lu:CirclePower"
+            onClick={() => setAccFreq(2)}
+            disabled={false}
+            isLoading={false}
+          >
+            Mid (10)
+          </TouchButton>
+          <TouchButton
+            variant="outline"
+            icon="lu:CirclePower"
+            onClick={() => setAccFreq(3)}
+            disabled={false}
+            isLoading={false}
+          >
+            High (11)
+          </TouchButton>
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/machines/testmachinestepper/TestMachineStepperPage.tsx

@@ -0,0 +1,20 @@
+import { Topbar } from "@/components/Topbar";
+import { testMachineStepperSerialRoute } from "@/routes/routes";
+import React from "react";
+
+export function TestMachineStepperPage() {
+  const { serial } = testMachineStepperSerialRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/testmachinestepper/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+      ]}
+    />
+  );
+}

electron/src/machines/testmachinestepper/testMachineStepperNamespace.ts

@@ -0,0 +1,81 @@
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "@/client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+
+// ========== Event Schema ==========
+
+export const stateEventDataSchema = z.object({
+  target_speed: z.number(),
+  enabled: z.boolean(),
+  freq: z.number(),
+  acc_freq: z.number(),
+});
+
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+export type StateEvent = z.infer<typeof stateEventDataSchema>;
+
+// ========== Store ==========
+export type TestMachineStepperNamespaceStore = {
+  state: StateEvent | null;
+};
+
+export const createTestMachineStepperNamespaceStore =
+  (): StoreApi<TestMachineStepperNamespaceStore> =>
+    create<TestMachineStepperNamespaceStore>(() => ({
+      state: null,
+    }));
+
+// ========== Message Handler ==========
+export function testMachineStepperMessageHandler(
+  store: StoreApi<TestMachineStepperNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<TestMachineStepperNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const updateStore = (
+      updater: (
+        state: TestMachineStepperNamespaceStore,
+      ) => TestMachineStepperNamespaceStore,
+    ) => throttledUpdater.updateWith(updater);
+
+    try {
+      if (event.name === "StateEvent") {
+        const parsed = stateEventSchema.parse(event);
+        updateStore(() => ({ state: parsed.data }));
+      } else {
+        handleUnhandledEventError(event.name);
+      }
+    } catch (error) {
+      console.error(`Error processing ${event.name}:`, error);
+      throw error;
+    }
+  };
+}
+
+// ========== Namespace Hook ==========
+const useTestMachineStepperNamespaceImplementation =
+  createNamespaceHookImplementation<TestMachineStepperNamespaceStore>({
+    createStore: createTestMachineStepperNamespaceStore,
+    createEventHandler: testMachineStepperMessageHandler,
+  });
+
+export function useTestMachineStepperNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): TestMachineStepperNamespaceStore {
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+
+  return useTestMachineStepperNamespaceImplementation(namespaceId);
+}

electron/src/machines/testmachinestepper/useTestMachineStepper.ts

@@ -0,0 +1,126 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { testMachineStepperSerialRoute } from "@/routes/routes";
+import { MachineIdentificationUnique } from "@/machines/types";
+import {
+  useTestMachineStepperNamespace,
+  StateEvent,
+} from "./testMachineStepperNamespace";
+import { useMachineMutate } from "@/client/useClient";
+import { produce } from "immer";
+import { useEffect, useMemo } from "react";
+import { testmachinestepper } from "@/machines/properties";
+import { z } from "zod";
+export function useTestMachineStepper() {
+  const { serial: serialString } = testMachineStepperSerialRoute.useParams();
+
+  // Memoize machine identification
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+
+      return {
+        machine_identification: { vendor: 0, machine: 0 },
+        serial: 0,
+      };
+    }
+
+    return {
+      machine_identification: testmachinestepper.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Namespace state from backend
+  const { state } = useTestMachineStepperNamespace(machineIdentification);
+
+  // Optimistic state
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) stateOptimistic.setReal(state);
+  }, [state, stateOptimistic]);
+
+  // Generic mutation sender
+  const { request: sendMutation } = useMachineMutate(
+    z.object({
+      action: z.string(),
+      value: z.any(),
+    }),
+  );
+
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest?: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState)
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    serverRequest?.();
+  };
+
+  const setTargetSpeed = (target: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.target_speed = target;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetTargetSpeed", value: { target } },
+        }),
+    );
+  };
+
+  const setEnabled = (enabled: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.enabled = enabled;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetEnabled", value: { enabled } },
+        }),
+    );
+  };
+
+  const setFreq = (factor: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.freq = factor;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetFreq", value: { factor } },
+        }),
+    );
+  };
+
+  const setAccFreq = (factor: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.acc_freq = factor;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetAccFreq", value: { factor } },
+        }),
+    );
+  };
+
+  return {
+    state: stateOptimistic.value,
+    setTargetSpeed,
+    setEnabled,
+    setFreq,
+    setAccFreq,
+  };
+}

electron/src/machines/wago8chdiotestmachine/useWago8chDioTestMachine.ts

@@ -0,0 +1,84 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { wago8chDioTestMachineRoute } from "@/routes/routes";
+import { MachineIdentificationUnique } from "@/machines/types";
+import { useMachineMutate } from "@/client/useClient";
+import { produce } from "immer";
+import { useEffect, useMemo } from "react";
+import { wago8chDioTestMachine } from "@/machines/properties";
+import { z } from "zod";
+import {
+  StateEvent,
+  useWago8chDioTestMachineNamespace,
+} from "./wago8chDioTestMachineNameSpace";
+export function useWago8chDioTestMachine() {
+  const { serial: serialString } = wago8chDioTestMachineRoute.useParams();
+
+  // Memoize machine identification
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+
+      return {
+        machine_identification: { vendor: 0, machine: 0 },
+        serial: 0,
+      };
+    }
+
+    return {
+      machine_identification: wago8chDioTestMachine.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Namespace state from backend
+  const { state } = useWago8chDioTestMachineNamespace(machineIdentification);
+
+  // Optimistic state
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) stateOptimistic.setReal(state);
+  }, [state, stateOptimistic]);
+
+  // Generic mutation sender
+  const { request: sendMutation } = useMachineMutate(
+    z.object({
+      action: z.string(),
+      value: z.any(),
+    }),
+  );
+
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest?: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState)
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    serverRequest?.();
+  };
+
+  const setOutputAtIndex = (index: number, value: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.digital_output[index] = value;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetOutput", value: { index, value } },
+        }),
+    );
+  };
+
+  return {
+    state: stateOptimistic.value,
+    setOutputAtIndex: setOutputAtIndex,
+  };
+}

electron/src/machines/wago8chdiotestmachine/wago8chDioTestMachineControlPage.tsx

@@ -0,0 +1,66 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { Label } from "@/control/Label";
+import { useWago8chDioTestMachine } from "./useWago8chDioTestMachine";
+import { Badge } from "@/components/ui/badge";
+
+export function Wago8chDioTestMachineControlRoute() {
+  const { state, setOutputAtIndex } = useWago8chDioTestMachine();
+
+  const safeState = state ?? {
+    digital_input: [false, false, false, false, false, false, false, false],
+    digital_output: [false, false, false, false, false, false, false, false],
+  };
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        {/* Digital Inputs */}
+        <ControlCard title="Digital Inputs">
+          <div className="grid grid-cols-2 gap-4">
+            {safeState.digital_input.map((input, index) => (
+              <Label key={index} label={`Input ${index + 1}`}>
+                <Badge variant={input ? "outline" : "destructive"}>
+                  {input ? "ON" : "OFF"}
+                </Badge>
+              </Label>
+            ))}
+          </div>
+        </ControlCard>
+
+        {/* Digital Outputs */}
+        <ControlCard title="Digital Outputs">
+          <div className="grid grid-cols-2 gap-4">
+            {safeState.digital_output.map((output, index) => (
+              <Label key={index} label={`Output ${index + 1}`}>
+                <SelectionGroup<"On" | "Off">
+                  value={output ? "On" : "Off"}
+                  orientation="vertical"
+                  className="grid h-full grid-cols-2 gap-2"
+                  options={{
+                    Off: {
+                      children: "Off",
+                      icon: "lu:CirclePause",
+                      isActiveClassName: "bg-red-600",
+                      className: "h-full",
+                    },
+                    On: {
+                      children: "On",
+                      icon: "lu:CirclePlay",
+                      isActiveClassName: "bg-green-600",
+                      className: "h-full",
+                    },
+                  }}
+                  onChange={(value) => setOutputAtIndex(index, value === "On")}
+                />
+              </Label>
+            ))}
+          </div>
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/machines/wago8chdiotestmachine/wago8chDioTestMachineNameSpace.ts

@@ -0,0 +1,79 @@
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "@/client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+
+// ========== Event Schema ==========
+
+export const stateEventDataSchema = z.object({
+  digital_input: z.array(z.boolean()).length(8),
+  digital_output: z.array(z.boolean()).length(8),
+});
+
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+export type StateEvent = z.infer<typeof stateEventDataSchema>;
+
+// ========== Store ==========
+export type Wago8chDioTestMachineNamespaceStore = {
+  state: StateEvent | null;
+};
+
+export const createWago8chDioTestMachineNamespaceStore =
+  (): StoreApi<Wago8chDioTestMachineNamespaceStore> =>
+    create<Wago8chDioTestMachineNamespaceStore>(() => ({
+      state: null,
+    }));
+
+// ========== Message Handler ==========
+export function wago8chDioTestMachineMessageHndler(
+  store: StoreApi<Wago8chDioTestMachineNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<Wago8chDioTestMachineNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const updateStore = (
+      updater: (
+        state: Wago8chDioTestMachineNamespaceStore,
+      ) => Wago8chDioTestMachineNamespaceStore,
+    ) => throttledUpdater.updateWith(updater);
+
+    try {
+      if (event.name === "StateEvent") {
+        const parsed = stateEventSchema.parse(event);
+        updateStore(() => ({ state: parsed.data }));
+      } else {
+        handleUnhandledEventError(event.name);
+      }
+    } catch (error) {
+      console.error(`Error processing ${event.name}:`, error);
+      throw error;
+    }
+  };
+}
+
+// ========== Namespace Hook ==========
+const useWago8chDioTestMachineImplementation =
+  createNamespaceHookImplementation<Wago8chDioTestMachineNamespaceStore>({
+    createStore: createWago8chDioTestMachineNamespaceStore,
+    createEventHandler: wago8chDioTestMachineMessageHndler,
+  });
+
+export function useWago8chDioTestMachineNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): Wago8chDioTestMachineNamespaceStore {
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+
+  return useWago8chDioTestMachineImplementation(namespaceId);
+}

electron/src/machines/wago8chdiotestmachine/wago8chDioTestMachinePage.tsx

@@ -0,0 +1,20 @@
+import { Topbar } from "@/components/Topbar";
+import { wago8chDioTestMachineRoute } from "@/routes/routes";
+import React from "react";
+
+export function Wago8chDioTestMachinePage() {
+  const { serial } = wago8chDioTestMachineRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/wago8chdiotestmachine/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+      ]}
+    />
+  );
+}

electron/src/machines/wago_power/wago_power1/wagoPower1Namespace.ts

@@ -75,7 +75,7 @@ function wagoPower1MessageHandler(
     };
 
     try {
-      if (eventName === "StateEvent") {
+      if (eventName === "State") {
         const stateEvent = stateEventSchema.parse(event);
 
         updateStore((state) => ({
@@ -86,7 +86,7 @@ function wagoPower1MessageHandler(
             ? stateEvent
             : state.defaultState,
         }));
-      } else if (eventName === "LiveValuesEvent") {
+      } else if (eventName === "LiveValues") {
         console.log(event);
         const liveValues = liveValuesEventSchema.parse(event);
         const { voltage, current } = liveValues.data;

electron/src/machines/wagodotestmachine/WagoDoTestMachineControlPage.tsx

@@ -0,0 +1,64 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { Label } from "@/control/Label";
+import { useWagoDoTestMachine } from "./useWagoDoTestMachine";
+
+export function WagoDoTestMachineControlPage() {
+  const { state, setLed, setAllLeds } = useWagoDoTestMachine();
+
+  const safeState = state ?? {
+    led_on: Array(8).fill(false),
+  };
+
+  return (
+    <Page>
+      <ControlGrid columns={2}>
+        {/* Digital Output Controls */}
+        <ControlCard title="Digital Outputs (Do1-Do8)">
+          <div className="grid grid-cols-2 gap-6">
+            {safeState.led_on.map((output, index) => (
+              <Label key={index} label={`Do${index + 1}`}>
+                <SelectionGroup<"On" | "Off">
+                  value={output ? "On" : "Off"}
+                  orientation="vertical"
+                  className="flex flex-col gap-3"
+                  options={{
+                    Off: {
+                      children: "Off",
+                      icon: "lu:CirclePause",
+                      isActiveClassName: "bg-red-600",
+                      className: "flex-1",
+                    },
+                    On: {
+                      children: "On",
+                      icon: "lu:CirclePlay",
+                      isActiveClassName: "bg-green-600",
+                      className: "flex-1",
+                    },
+                  }}
+                  onChange={(value) => setLed(index, value === "On")}
+                />
+              </Label>
+            ))}
+          </div>
+        </ControlCard>
+
+        {/* Master Output Control */}
+        <ControlCard title="Master Output Control">
+          <SelectionGroup<"On" | "Off">
+            value={safeState.led_on.every(Boolean) ? "On" : "Off"}
+            orientation="horizontal"
+            options={{
+              Off: { children: "Turn All Off" },
+              On: { children: "Turn All On" },
+            }}
+            onChange={(value) => setAllLeds(value === "On")}
+          />
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/machines/wagodotestmachine/WagoDoTestMachineNamespace.ts

@@ -0,0 +1,78 @@
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "@/client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+
+// ========== Event Schema ==========
+
+export const stateEventDataSchema = z.object({
+  led_on: z.array(z.boolean()).length(8),
+});
+
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+export type StateEvent = z.infer<typeof stateEventDataSchema>;
+
+// ========== Store ==========
+export type WagoDoTestMachineNamespaceStore = {
+  state: StateEvent | null;
+};
+
+export const createWagoDoTestMachineNamespaceStore =
+  (): StoreApi<WagoDoTestMachineNamespaceStore> =>
+    create<WagoDoTestMachineNamespaceStore>(() => ({
+      state: null,
+    }));
+
+// ========== Message Handler ==========
+export function wagoDoTestMachineMessageHandler(
+  store: StoreApi<WagoDoTestMachineNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<WagoDoTestMachineNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const updateStore = (
+      updater: (
+        state: WagoDoTestMachineNamespaceStore,
+      ) => WagoDoTestMachineNamespaceStore,
+    ) => throttledUpdater.updateWith(updater);
+
+    try {
+      if (event.name === "StateEvent") {
+        const parsed = stateEventSchema.parse(event);
+        updateStore(() => ({ state: parsed.data }));
+      } else {
+        handleUnhandledEventError(event.name);
+      }
+    } catch (error) {
+      console.error(`Error processing ${event.name}:`, error);
+      throw error;
+    }
+  };
+}
+
+// ========== Namespace Hook ==========
+const useWagoDoTestMachineNamespaceImplementation =
+  createNamespaceHookImplementation<WagoDoTestMachineNamespaceStore>({
+    createStore: createWagoDoTestMachineNamespaceStore,
+    createEventHandler: wagoDoTestMachineMessageHandler,
+  });
+
+export function useWagoDoTestMachineNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): WagoDoTestMachineNamespaceStore {
+  const namespaceId: NamespaceId = {
+    type: "machine",
+    machine_identification_unique,
+  };
+
+  return useWagoDoTestMachineNamespaceImplementation(namespaceId);
+}

electron/src/machines/wagodotestmachine/WagoDoTestMachinePage.tsx

@@ -0,0 +1,20 @@
+import { Topbar } from "@/components/Topbar";
+import { wagoDoTestMachineSerialRoute } from "@/routes/routes";
+import React from "react";
+
+export function WagoDoTestMachinePage() {
+  const { serial } = wagoDoTestMachineSerialRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/wagodotestmachine/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+      ]}
+    />
+  );
+}

electron/src/machines/wagodotestmachine/useWagoDoTestMachine.ts

@@ -0,0 +1,99 @@
+import { toastError } from "@/components/Toast";
+import { useStateOptimistic } from "@/lib/useStateOptimistic";
+import { wagoDoTestMachineSerialRoute } from "@/routes/routes";
+import { MachineIdentificationUnique } from "@/machines/types";
+import {
+  useWagoDoTestMachineNamespace,
+  StateEvent,
+} from "./WagoDoTestMachineNamespace";
+import { useMachineMutate } from "@/client/useClient";
+import { produce } from "immer";
+import { useEffect, useMemo } from "react";
+import { wagoDoTestMachine } from "@/machines/properties";
+import { z } from "zod";
+
+export function useWagoDoTestMachine() {
+  const { serial: serialString } = wagoDoTestMachineSerialRoute.useParams();
+
+  // Memoize machine identification
+  const machineIdentification: MachineIdentificationUnique = useMemo(() => {
+    const serial = parseInt(serialString);
+
+    if (isNaN(serial)) {
+      toastError(
+        "Invalid Serial Number",
+        `"${serialString}" is not a valid serial number.`,
+      );
+
+      return {
+        machine_identification: { vendor: 0, machine: 0 },
+        serial: 0,
+      };
+    }
+
+    return {
+      machine_identification: wagoDoTestMachine.machine_identification,
+      serial,
+    };
+  }, [serialString]);
+
+  // Namespace state from backend
+  const { state } = useWagoDoTestMachineNamespace(machineIdentification);
+
+  // Optimistic state
+  const stateOptimistic = useStateOptimistic<StateEvent>();
+
+  useEffect(() => {
+    if (state) stateOptimistic.setReal(state);
+  }, [state, stateOptimistic]);
+
+  // Generic mutation sender
+  const { request: sendMutation } = useMachineMutate(
+    z.object({
+      action: z.string(),
+      value: z.any(),
+    }),
+  );
+
+  const updateStateOptimistically = (
+    producer: (current: StateEvent) => void,
+    serverRequest?: () => void,
+  ) => {
+    const currentState = stateOptimistic.value;
+    if (currentState)
+      stateOptimistic.setOptimistic(produce(currentState, producer));
+    serverRequest?.();
+  };
+
+  const setLed = (index: number, on: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.led_on[index] = on;
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetLed", value: { index, on } },
+        }),
+    );
+  };
+
+  const setAllLeds = (on: boolean) => {
+    updateStateOptimistically(
+      (current) => {
+        current.led_on = Array(8).fill(on);
+      },
+      () =>
+        sendMutation({
+          machine_identification_unique: machineIdentification,
+          data: { action: "SetAllLeds", value: { on } },
+        }),
+    );
+  };
+
+  return {
+    state: stateOptimistic.value,
+    setLed,
+    setAllLeds,
+  };
+}

electron/src/machines/winder/winder2/Winder2Graphs.tsx

@@ -19,6 +19,7 @@ export function Winder2GraphsPage() {
     traversePosition,
     tensionArmAngle,
     pullerSpeed,
+    targetPullerSpeed,
     spoolProgress,
   } = useWinder2();
 
@@ -31,6 +32,7 @@ export function Winder2GraphsPage() {
           <PullerSpeedGraph
             syncHook={syncHook}
             newData={pullerSpeed}
+            targetSeries={targetPullerSpeed}
             targetSpeed={state?.puller_state?.target_speed}
             unit="m/min"
             renderValue={(value) => roundToDecimals(value, 0)}
@@ -243,12 +245,14 @@ export function SpoolProgressGraph({
 export function PullerSpeedGraph({
   syncHook,
   newData,
+  targetSeries,
   targetSpeed,
   unit,
   renderValue,
 }: {
   syncHook: ReturnType<typeof useGraphSync>;
   newData: TimeSeries | null;
+  targetSeries?: TimeSeries;
   targetSpeed?: number;
   unit?: Unit;
   renderValue?: (value: number) => string;
@@ -259,6 +263,7 @@ export function PullerSpeedGraph({
     lines.push({
       type: "target",
       value: targetSpeed,
+      targetSeries,
       label: "Target Speed",
       color: "#06b6d4", // Match series color
     });

electron/src/machines/winder/winder2/useWinder.ts

@@ -62,6 +62,7 @@ export function useWinder2() {
     defaultState,
     traversePosition,
     pullerSpeed,
+    targetPullerSpeed,
     spoolRpm,
     tensionArmAngle,
     spoolProgress,
@@ -638,6 +639,7 @@ export function useWinder2() {
     // Individual live values (TimeSeries)
     traversePosition,
     pullerSpeed,
+    targetPullerSpeed,
     spoolRpm,
     tensionArmAngle,
     spoolProgress,

electron/src/machines/winder/winder2/winder2Namespace.ts

@@ -211,6 +211,7 @@ export type Winder2NamespaceStore = {
   spoolRpm: TimeSeries;
   tensionArmAngle: TimeSeries;
   spoolProgress: TimeSeries;
+  targetPullerSpeed: TimeSeries;
 };
 
 //Store Factory and Message Handler -> no param, so default values
@@ -220,6 +221,8 @@ const { initialTimeSeries: traversePosition, insert: addTraversePosition } =
   createTimeSeries();
 const { initialTimeSeries: pullerSpeed, insert: addPullerSpeed } =
   createTimeSeries();
+const { initialTimeSeries: targetPullerSpeed, insert: addTargetPullerSpeed } =
+  createTimeSeries();
 const { initialTimeSeries: spoolRpm, insert: addSpoolRpm } = createTimeSeries();
 const { initialTimeSeries: tensionArmAngle, insert: addTensionArmAngle } =
   createTimeSeries();
@@ -239,6 +242,7 @@ export const createWinder2NamespaceStore =
         // Time series data for live values
         traversePosition,
         pullerSpeed,
+        targetPullerSpeed,
         spoolRpm,
         tensionArmAngle,
         spoolProgress,
@@ -273,10 +277,18 @@ export function winder2MessageHandler(
         console.log(event);
         // Parse and validate the state event
         const stateEvent = stateEventSchema.parse(event);
+        const nextTargetPullerSpeed = stateEvent.data.puller_state.target_speed;
 
         updateStore((state) => ({
           ...state,
           state: stateEvent,
+          targetPullerSpeed:
+            state.targetPullerSpeed.current?.value === nextTargetPullerSpeed
+              ? state.targetPullerSpeed
+              : addTargetPullerSpeed(state.targetPullerSpeed, {
+                  value: nextTargetPullerSpeed,
+                  timestamp: event.ts,
+                }),
           // only set default state if is_default_state is true
           defaultState: stateEvent.data.is_default_state
             ? stateEvent

electron/src/routes/routes.tsx

@@ -57,6 +57,8 @@ import { Aquapath1SettingsPage } from "@/machines/aquapath/aquapath1/Aquapath1Se
 import { TestMachinePage } from "@/machines/testmachine/TestMachinePage";
 import { TestMachineControlPage } from "@/machines/testmachine/TestMachineControlPage";
 
+import { TestMachineStepperPage } from "@/machines/testmachinestepper/TestMachineStepperPage";
+import { TestMachineStepperControlPage } from "@/machines/testmachinestepper/TestMachineStepperControlPage";
 import { AnalogInputTestMachine } from "@/machines/analoginputtestmachine/AnalogInputTestMachinePage";
 import { AnalogInputTestMachineControl } from "@/machines/analoginputtestmachine/AnalogInputTestMachineControlPage";
 import { WagoAiTestMachine } from "@/machines/wagoaitestmachine/WagoAiTestMachinePage";
@@ -67,12 +69,18 @@ import { DigitalInputTestMachineControlPage } from "@/machines/digitalinputtestm
 
 import { IP20TestMachinePage } from "@/machines/ip20testmachine/IP20TestMachinePage";
 import { IP20TestMachineControlPage } from "@/machines/ip20testmachine/IP20TestMachineControlPage";
+import { TestMotorPage } from "@/machines/motor_test_machine/TestMotorPage";
+import { TestMotorControlPage } from "@/machines/motor_test_machine/TestMotorControlPage";
 
 import { MetricsGraphsPage } from "@/metrics/MetricsGraphsPage";
 import { MetricsControlPage } from "@/metrics/MetricsControlPage";
 
 import { WagoPower1Page } from "@/machines/wago_power/wago_power1/WagoPower1Page";
 import { WagoPower1ControlPage } from "@/machines/wago_power/wago_power1/WagoPower1ControlPage";
+import { WagoDoTestMachinePage } from "@/machines/wagodotestmachine/WagoDoTestMachinePage";
+import { WagoDoTestMachineControlPage } from "@/machines/wagodotestmachine/WagoDoTestMachineControlPage";
+import { Wago8chDioTestMachinePage } from "@/machines/wago8chdiotestmachine/wago8chDioTestMachinePage";
+import { Wago8chDioTestMachineControlRoute } from "@/machines/wago8chdiotestmachine/wago8chDioTestMachineControlPage";
 
 // make a route tree like this
 // _mainNavigation/machines/winder2/$serial/control
@@ -87,6 +95,18 @@ export const testMachineSerialRoute = createRoute({
   component: () => <TestMachinePage />,
 });
 
+export const wago8chDioTestMachineRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "wago8chdiotestmachine/$serial",
+  component: () => <Wago8chDioTestMachinePage />,
+});
+
+export const wago8chDioTestMachineControlRoute = createRoute({
+  getParentRoute: () => wago8chDioTestMachineRoute,
+  path: "control",
+  component: () => <Wago8chDioTestMachineControlRoute />,
+});
+
 // Leaf route: control page
 export const testMachineControlRoute = createRoute({
   getParentRoute: () => testMachineSerialRoute,
@@ -142,6 +162,31 @@ export const ip20TestMachineControlRoute = createRoute({
   component: () => <IP20TestMachineControlPage />,
 });
 
+export const testMotorSerialRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "testmotor/$serial",
+  component: () => <TestMotorPage />,
+});
+
+export const testMotorControlRoute = createRoute({
+  getParentRoute: () => testMotorSerialRoute,
+  path: "control",
+  component: () => <TestMotorControlPage />,
+});
+
+export const testMachineStepperSerialRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "testmachinestepper/$serial",
+  component: () => <TestMachineStepperPage />,
+});
+
+export const testMachineStepperControlRoute = createRoute({
+  getParentRoute: () => testMachineStepperSerialRoute,
+  path: "control",
+  component: () => <TestMachineStepperControlPage />,
+});
+
+// Leaf route: control page
 export const sidebarRoute = createRoute({
   getParentRoute: () => RootRoute,
   path: "_sidebar",
@@ -369,6 +414,18 @@ export const wagoPower1ControlRoute = createRoute({
   component: () => <WagoPower1ControlPage />,
 });
 
+export const wagoDoTestMachineSerialRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "wagodotestmachine/$serial",
+  component: () => <WagoDoTestMachinePage />,
+});
+
+export const wagoDoTestMachineControlRoute = createRoute({
+  getParentRoute: () => wagoDoTestMachineSerialRoute,
+  path: "control",
+  component: () => <WagoDoTestMachineControlPage />,
+});
+
 export const setupRoute = createRoute({
   getParentRoute: () => sidebarRoute,
   path: "setup",
@@ -470,12 +527,21 @@ export const rootTree = RootRoute.addChildren([
         laser1GraphsRoute,
         laser1PresetsRoute,
       ]),
+
       testMachineSerialRoute.addChildren([testMachineControlRoute]),
 
+      testMachineStepperSerialRoute.addChildren([
+        testMachineStepperControlRoute,
+      ]),
+
       analogInputTestMachineSerialRoute.addChildren([
         analogInputTestMachineControlRoute,
       ]),
 
+      wago8chDioTestMachineRoute.addChildren([
+        wago8chDioTestMachineControlRoute,
+      ]),
+
       wagoAiTestMachineSerialRoute.addChildren([wagoAiTestMachineControlRoute]),
 
       digitalInputTestMachineSerialRoute.addChildren([
@@ -484,6 +550,8 @@ export const rootTree = RootRoute.addChildren([
 
       ip20TestMachineSerialRoute.addChildren([ip20TestMachineControlRoute]),
 
+      testMotorSerialRoute.addChildren([testMotorControlRoute]),
+
       aquapath1SerialRoute.addChildren([
         aquapath1ControlRoute,
         aquapath1GraphRoute,
@@ -524,6 +592,8 @@ export const rootTree = RootRoute.addChildren([
       wagoPower1SerialRoute.addChildren([wagoPower1ControlRoute]),
 
       buffer1SerialRoute.addChildren([buffer1ControlRoute]),
+
+      wagoDoTestMachineSerialRoute.addChildren([wagoDoTestMachineControlRoute]),
     ]),
   ]),
 ]);

electron/src/setup/DeviceEepromDialog.tsx

@@ -15,7 +15,13 @@ import {
   machineProperties,
   VENDOR_QITECH,
 } from "@/machines/properties";
-import React, { useEffect, useMemo, useRef, useState } from "react";
+import React, {
+  useCallback,
+  useEffect,
+  useMemo,
+  useRef,
+  useState,
+} from "react";
 import { z } from "zod";
 import { useForm } from "react-hook-form";
 import { zodResolver } from "@hookform/resolvers/zod";
@@ -150,6 +156,15 @@ export function DeviceEeepromDialogContent({ device, setOpen }: ContentProps) {
       });
   };
 
+  const updateNumpadPosition = useCallback(() => {
+    if (!numpadOpen || !dialogRef.current) return;
+    const rect = dialogRef.current.getBoundingClientRect();
+    setNumpadPosition({
+      left: rect.right + 20,
+      top: rect.top + rect.height / 2,
+    });
+  }, [numpadOpen]);
+
   const machinePreset = useMemo(() => {
     if (!values.machine) return;
     return getMachineProperties({
@@ -187,12 +202,7 @@ export function DeviceEeepromDialogContent({ device, setOpen }: ContentProps) {
 
   // Position numpad once when it opens
   useEffect(() => {
-    if (!numpadOpen || !dialogRef.current) return;
-    const rect = dialogRef.current.getBoundingClientRect();
-    setNumpadPosition({
-      left: rect.right + 20,
-      top: rect.top + rect.height / 2,
-    });
+    updateNumpadPosition();
   }, [numpadOpen]);
 
   // Close numpad when clicking outside input/numpad
@@ -226,6 +236,14 @@ export function DeviceEeepromDialogContent({ device, setOpen }: ContentProps) {
     }
   }, [numpadOpen]);
 
+  // Update numpad position whenever the window resizes
+  useEffect(() => {
+    window.addEventListener("resize", updateNumpadPosition);
+    return () => {
+      window.removeEventListener("resize", updateNumpadPosition);
+    };
+  }, [updateNumpadPosition]);
+
   // Numpad handlers for serial input
   const numpadHandlers = useMemo(() => {
     const ensureFocus = () => {

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

@@ -113,7 +113,25 @@ impl EncoderInputDevice<EL5152Port> for EL5152 {
         &self,
         port: EL5152Port,
     ) -> Result<Option<EncoderInputFrequency>, anyhow::Error> {
-       Ok(None)
+        let frequency = match port {
+            EL5152Port::ENC1 => {
+                self.txpdo
+                    .frequency_channel1
+                    .as_ref()
+                    .map(|f| EncoderInputFrequency {
+                        value: f.frequency_value,
+                    })
+            }
+            EL5152Port::ENC2 => {
+                self.txpdo
+                    .frequency_channel2
+                    .as_ref()
+                    .map(|f| EncoderInputFrequency {
+                        value: f.frequency_value,
+                    })
+            }
+        };
+        Ok(frequency)
     }
 
     fn get_period(&self, port: EL5152Port) -> Result<Option<EncoderInputPeriod>, anyhow::Error> {
@@ -161,10 +179,9 @@ impl Configuration for EL5152Configuration {
         device: &EthercrabSubDevicePreoperational<'a>,
     ) -> Result<(), anyhow::Error> {
         // Configure channel 1
-        //self.channel1.write_channel_config(device, 0x8000).await?;
-
+        self.channel1.write_channel_config(device, 0x8000).await?;
         // Configure channel 2
-        //self.channel2.write_channel_config(device, 0x8010).await?;
+        self.channel2.write_channel_config(device, 0x8010).await?;
         // Write PDO assignments
         self.pdo_assignment
             .txpdo_assignment()
@@ -193,15 +210,15 @@ pub struct EL5152TxPdo {
     pub status_channel1: Option<El5152EncoderStatus>,
     #[pdo_object_index(0x1A02)]
     pub period_channel1: Option<El5152EncoderPeriod>,
-    /*#[pdo_object_index(0x1A03)]
-    pub frequency_channel1: Option<El5152EncoderFrequency>,*/
+    #[pdo_object_index(0x1A03)]
+    pub frequency_channel1: Option<El5152EncoderFrequency>,
 
     #[pdo_object_index(0x1A04)]
     pub status_channel2: Option<El5152EncoderStatus>,
     #[pdo_object_index(0x1A06)]
     pub period_channel2: Option<El5152EncoderPeriod>,
-/*    #[pdo_object_index(0x1A07)]
-    pub frequency_channel2: Option<El5152EncoderFrequency>,*/
+    #[pdo_object_index(0x1A07)]
+    pub frequency_channel2: Option<El5152EncoderFrequency>,
 }
 
 impl PredefinedPdoAssignment<EL5152TxPdo, EL5152RxPdo> for EL5152PredefinedPdoAssignment {
@@ -217,20 +234,20 @@ impl PredefinedPdoAssignment<EL5152TxPdo, EL5152RxPdo> for EL5152PredefinedPdoAs
             Self::Period => EL5152TxPdo {
                 status_channel1: Some(El5152EncoderStatus::default()),
                 period_channel1: Some(El5152EncoderPeriod::default()),
-               // frequency_channel1: None,
+                frequency_channel1: None,
 
                 status_channel2: Some(El5152EncoderStatus::default()),
                 period_channel2: Some(El5152EncoderPeriod::default()),
-             //   frequency_channel2: None,
+                frequency_channel2: None,
             },
             Self::Frequency => EL5152TxPdo {
                 status_channel1: Some(El5152EncoderStatus::default()),
                 period_channel1: None,
-          //      frequency_channel1: Some(El5152EncoderFrequency::default()),
+                frequency_channel1: Some(El5152EncoderFrequency::default()),
 
                 status_channel2: Some(El5152EncoderStatus::default()),
                 period_channel2: None,
-             //   frequency_channel2: Some(El5152EncoderFrequency::default()),
+                frequency_channel2: Some(El5152EncoderFrequency::default()),
             },
         }
     }
@@ -286,6 +303,7 @@ impl EL5152ChannelConfiguration {
         device
             .sdo_write(base_index, 0x11, self.frequency_window)
             .await?;
+
         device
             .sdo_write(base_index, 0x13, self.frequency_scaling)
             .await?;

ethercat-hal/src/devices/el7031_0030/mod.rs

@@ -351,6 +351,7 @@ pub enum EL7031_0030AnalogInputPort {
 pub const EL7031_0030_VENDOR_ID: u32 = 0x2;
 pub const EL7031_0030_PRODUCT_ID: u32 = 0x1b773052;
 pub const EL7031_0030_REVISION_A: u32 = 0x10001E;
+
 pub const EL7031_0030_IDENTITY_A: SubDeviceIdentityTuple = (
     EL7031_0030_VENDOR_ID,
     EL7031_0030_PRODUCT_ID,

ethercat-hal/src/devices/mod.rs

@@ -56,8 +56,9 @@ use std::{any::Any, fmt::Debug, sync::Arc};
 use wago_750_354::{WAGO_750_354_IDENTITY_A, Wago750_354};
 use wago_modules::ip20_ec_di8_do8::{IP20_EC_DI8_DO8_IDENTITY, IP20EcDi8Do8};
 
-#[derive(Debug, Clone, Copy)]
+#[derive(Debug, Clone)]
 pub struct Module {
+    pub name: String,
     pub slot: u16,
     pub belongs_to_addr: u16,
     pub has_tx: bool,

ethercat-hal/src/devices/wago_750_354.rs

@@ -2,6 +2,9 @@ use super::{
     EthercatDevice, EthercatDeviceProcessing, EthercatDeviceUsed, NewEthercatDevice,
     SubDeviceIdentityTuple,
 };
+use crate::devices::wago_modules::wago_750_430::{
+    WAGO_750_430_MODULE_IDENT, WAGO_750_430_PRODUCT_ID,
+};
 use crate::devices::wago_modules::*;
 use crate::{
     devices::{
@@ -12,6 +15,7 @@ use crate::{
             wago_750_501::{WAGO_750_501_MODULE_IDENT, WAGO_750_501_PRODUCT_ID},
             wago_750_530::{WAGO_750_530_MODULE_IDENT, WAGO_750_530_PRODUCT_ID},
             wago_750_652::{WAGO_750_652_MODULE_IDENT, WAGO_750_652_PRODUCT_ID},
+            wago_750_672::{WAGO_750_672_MODULE_IDENT, WAGO_750_672_PRODUCT_ID},
             wago_750_1506::{WAGO_750_1506_MODULE_IDENT, WAGO_750_1506_PRODUCT_ID},
         },
     },
@@ -20,24 +24,25 @@ use crate::{
 use anyhow::Error;
 use smol::lock::RwLock;
 use std::sync::Arc;
-
 const MODULE_COUNT_INDEX: (u16, u8) = (0xf050, 0x00);
 const TX_MAPPING_INDEX: (u16, u8) = (0x1c13, 0x00);
 const RX_MAPPING_INDEX: (u16, u8) = (0x1c12, 0x00);
-// For both the rx and tx The Wago Coupler has 4 bytes, which we dont care about and skip
 
-/// Wago750_354 bus coupler
-/*
-    The "Modules" simply write at an offset into rx and read at an offset in tx
-*/
+#[derive(Clone, Debug)]
+struct ModulePdoMapping {
+    pub offset: usize,
+    pub module_i: u32,
+}
+
+// For both the rx and tx The Wago Coupler has 4 bytes, which we dont care about and skip
 pub struct Wago750_354 {
     is_used: bool,
     pub slots: [Option<Module>; 64],
     pub slot_devices: [Option<Arc<RwLock<dyn DynamicEthercatDevice>>>; 64],
     pub dev_count: usize,
     pub module_count: usize,
-    rx_offsets: Vec<usize>,
-    tx_offsets: Vec<usize>,
+    rx_pdo_mappings: Vec<ModulePdoMapping>,
+    tx_pdo_mappings: Vec<ModulePdoMapping>,
     tx_size: usize,
     rx_size: usize,
 }
@@ -58,7 +63,6 @@ impl EthercatDevice for Wago750_354 {
                 None => break,
             }
         }
-
         Ok(())
     }
 
@@ -105,7 +109,7 @@ impl EthercatDevice for Wago750_354 {
     }
 
     fn set_module(&mut self, module: Module) {
-        self.slots[self.module_count] = Some(module);
+        self.slots[self.module_count] = Some(module.clone());
         self.module_count += 1;
         self.tx_size += module.tx_offset;
         self.rx_size += module.rx_offset;
@@ -134,8 +138,8 @@ impl NewEthercatDevice for Wago750_354 {
             dev_count: 0,
             tx_size: 0,
             rx_size: 0,
-            rx_offsets: vec![],
-            tx_offsets: vec![],
+            rx_pdo_mappings: vec![],
+            tx_pdo_mappings: vec![],
         }
     }
 }
@@ -147,39 +151,84 @@ impl std::fmt::Debug for Wago750_354 {
 }
 
 impl Wago750_354 {
+    pub fn calculate_module_index(pdo_mapping: u32, is_tx: bool) -> u32 {
+        let start_index = match is_tx {
+            true => 0x6000,
+            false => 0x7000,
+        };
+        let pdo_index = (pdo_mapping & 0xFFFF0000) >> 16;
+
+        if pdo_index < start_index {
+            // Treat as coupler/module 0
+            return 0;
+        }
+
+        let index_in_hex = pdo_index - start_index;
+
+        if index_in_hex < 16 {
+            0
+        } else {
+            index_in_hex / 16
+        }
+    }
+
     pub async fn get_pdo_offsets<'a>(
         &mut self,
         device: &EthercrabSubDevicePreoperational<'a>,
         get_tx: bool,
     ) -> Result<(), Error> {
-        let mut vec: Vec<usize> = vec![];
+        let mut vec: Vec<ModulePdoMapping> = vec![];
         let mut bit_offset = 0;
-        let start_subindex = 0x1;
+
+        let mut module_i;
+        let start_subindex = 0x2;
+
         let index = match get_tx {
             true => (TX_MAPPING_INDEX.0, TX_MAPPING_INDEX.1),
             false => (RX_MAPPING_INDEX.0, RX_MAPPING_INDEX.1),
         };
-        let count = device.sdo_read::<u8>(index.0, index.1).await?;
 
-        for i in 0..count {
-            vec.push(bit_offset);
-            let pdo_index = device.sdo_read(index.0, start_subindex + i).await?;
-            if pdo_index != 0 {
-                let pdo_map_count = device.sdo_read::<u8>(pdo_index, 0).await?;
-                // Iterate over every PDO Mapped entry and add it to the cumulative bit offset
-                for j in 0..pdo_map_count {
-                    let pdo_mapping: u32 = device.sdo_read(pdo_index, 1 + j).await?;
-                    // We only need / Want the bit len, which we extract with a bitmask extracting the lsb
-                    let bit_length = (pdo_mapping & 0xFF) as u8;
-                    bit_offset += bit_length as usize;
-                }
-            }
+        let count_mappings = device.sdo_read::<u8>(index.0, index.1).await?;
+        let pdo_index = device.sdo_read::<u16>(index.0, 1).await?;
+        let pdo_map_count = device.sdo_read::<u8>(pdo_index, 0).await?;
+
+        for i in 0..pdo_map_count {
+            let pdo_mapping: u32 = device.sdo_read(pdo_index, 1 + i).await?;
+            let bit_length = (pdo_mapping & 0xFF) as u8;
+            bit_offset += bit_length as usize;
         }
 
+        let mut mappings_without_coupler: Vec<u32> = vec![];
+        for i in start_subindex..=count_mappings {
+            let pdo_index = device.sdo_read(index.0, i).await?;
+            let pdo_map_count = device.sdo_read::<u8>(pdo_index, 0).await?;
+            for j in 0..pdo_map_count {
+                let pdo_mapping: u32 = device.sdo_read(pdo_index, 1 + j).await?;
+                mappings_without_coupler.push(pdo_mapping);
+            }
+        }
+        mappings_without_coupler.sort();
+
+        for pdo_mapping in mappings_without_coupler {
+            module_i = Wago750_354::calculate_module_index(pdo_mapping, get_tx);
+            let bit_length = (pdo_mapping & 0xFF) as u8;
+            if module_i < 64 {
+                vec.push(ModulePdoMapping {
+                    offset: bit_offset,
+                    module_i,
+                });
+            }
+            bit_offset += bit_length as usize;
+        }
+
+        vec.sort_by_key(|e| (e.module_i, e.offset));
+        // deduplicate by module_i, so we only have the offset to the start of inputs/outputs
+        vec.dedup_by(|a, b| a.module_i == b.module_i);
+
         if get_tx {
-            self.tx_offsets = vec;
+            self.tx_pdo_mappings = vec;
         } else {
-            self.rx_offsets = vec;
+            self.rx_pdo_mappings = vec;
         }
         Ok(())
     }
@@ -222,6 +271,7 @@ impl Wago750_354 {
                 has_rx: false,
                 tx_offset: 0,
                 rx_offset: 0,
+                name: "".to_string(),
             };
 
             match ident_iom {
@@ -229,26 +279,42 @@ impl Wago750_354 {
                 WAGO_750_1506_PRODUCT_ID => {
                     module.has_tx = true;
                     module.has_rx = true;
+                    module.name = "750-1506".to_string();
                 }
                 WAGO_750_455_PRODUCT_ID => {
                     module.has_tx = true;
                     module.has_rx = false;
+                    module.name = "750-455".to_string();
                 }
                 WAGO_750_501_PRODUCT_ID => {
                     module.has_tx = false;
                     module.has_rx = true;
+                    module.name = "750-501".to_string();
                 }
                 WAGO_750_530_PRODUCT_ID => {
                     module.has_tx = false;
                     module.has_rx = true;
+                    module.name = "750-530".to_string();
                 }
                 WAGO_750_652_PRODUCT_ID => {
                     module.has_tx = true;
                     module.has_rx = true;
+                    module.name = "750-652".to_string();
                 }
                 WAGO_750_402_PRODUCT_ID => {
                     module.has_tx = true;
                     module.has_rx = false;
+                    module.name = "750-402".to_string();
+                }
+                WAGO_750_430_PRODUCT_ID => {
+                    module.has_tx = true;
+                    module.has_rx = false;
+                    module.name = "750-430".to_string();
+                }
+                WAGO_750_672_PRODUCT_ID => {
+                    module.has_tx = true;
+                    module.has_rx = true;
+                    module.name = "750-672".to_string();
                 }
                 _ => println!(
                     "Wago-750-354 found Unknown/Unimplemented Module: {}",
@@ -266,17 +332,42 @@ impl Wago750_354 {
         if self.dev_count != 0 {
             return;
         }
-        let mut tx_index = 1;
-        let mut rx_index = 1;
 
         smol::block_on(async {
             let _ = self.get_pdo_offsets(device, true).await;
             let _ = self.get_pdo_offsets(device, false).await;
         });
 
-        println!("{:?}\n\n{:?}", self.tx_offsets, self.rx_offsets);
+        for module in &mut self.slots {
+            match module {
+                Some(m) => {
+                    let tx_pdo_mapping = self
+                        .tx_pdo_mappings
+                        .iter()
+                        .find(|map| map.module_i == m.slot.into());
+                    if m.has_tx {
+                        m.tx_offset = match tx_pdo_mapping {
+                            Some(map) => map.offset,
+                            None => 0,
+                        }
+                    }
 
-        for module in self.slots {
+                    let rx_pdo_mapping = self
+                        .rx_pdo_mappings
+                        .iter()
+                        .find(|map| map.module_i == m.slot.into());
+                    if m.has_rx {
+                        m.rx_offset = match rx_pdo_mapping {
+                            Some(map) => map.offset,
+                            None => 0,
+                        }
+                    }
+                }
+                None => break,
+            }
+        }
+
+        for module in &self.slots {
             match module {
                 Some(m) => {
                     // Map ModuleIdent's to Terminals
@@ -302,6 +393,12 @@ impl Wago750_354 {
                         WAGO_750_402_MODULE_IDENT => {
                             Arc::new(RwLock::new(wago_750_402::Wago750_402::new()))
                         }
+                        WAGO_750_430_MODULE_IDENT => {
+                            Arc::new(RwLock::new(wago_750_430::Wago750_430::new()))
+                        }
+                        WAGO_750_672_MODULE_IDENT => {
+                            Arc::new(RwLock::new(wago_750_672::Wago750_672::new()))
+                        }
                         _ => {
                             println!(
                                 "{} Missing Implementation for Module Identification: vendor_id: {:?}, module ident: {:?} !",
@@ -312,27 +409,10 @@ impl Wago750_354 {
                             return;
                         }
                     };
-
-                    let tx_pdo_offset = self.tx_offsets.get(tx_index as usize);
-                    if m.has_tx {
-                        tx_index += 1;
-                    }
-
-                    let rx_pdo_offset = self.rx_offsets.get(rx_index as usize);
-                    if m.has_rx {
-                        rx_index += 1;
-                    }
-
                     let mut dev_guard = dev.write_blocking();
-                    match tx_pdo_offset {
-                        Some(offset) => dev_guard.set_tx_offset(*offset),
-                        None => (),
-                    }
-
-                    match rx_pdo_offset {
-                        Some(offset) => dev_guard.set_rx_offset(*offset),
-                        None => (),
-                    }
+                    //println!("For {:?} setting tx: {} rx: {}",m.name,m.tx_offset,m.rx_offset);
+                    dev_guard.set_tx_offset(m.tx_offset);
+                    dev_guard.set_rx_offset(m.rx_offset);
                     drop(dev_guard);
                     self.slot_devices[self.dev_count] = Some(dev);
                     self.dev_count += 1;

ethercat-hal/src/devices/wago_modules/ip20_ec_di8_do8.rs

@@ -214,7 +214,7 @@ impl EthercatDevice for IP20EcDi8Do8 {
     }
 
     fn set_module(&mut self, module: Module) {
-        self.slots[self.module_count] = Some(module);
+        self.slots[self.module_count] = Some(module.clone());
         self.module_count += 1;
         self.tx_size += module.tx_offset;
         self.rx_size += module.rx_offset;
@@ -378,6 +378,7 @@ impl IP20EcDi8Do8 {
                 has_rx: false,
                 tx_offset: 0,
                 rx_offset: 0,
+                name: "".to_string(),
             };
 
             match ident_iom {
@@ -415,7 +416,7 @@ impl IP20EcDi8Do8 {
             let _ = self.get_pdo_offsets(device, false).await;
         });
 
-        for module in self.slots {
+        for module in &self.slots {
             match module {
                 Some(m) => {
                     // Map ModuleIdent's to Terminals

ethercat-hal/src/devices/wago_modules/mod.rs

@@ -1,7 +1,9 @@
 pub mod ip20_ec_di8_do8;
 pub mod wago_750_1506;
 pub mod wago_750_402;
+pub mod wago_750_430;
 pub mod wago_750_455;
 pub mod wago_750_501;
 pub mod wago_750_530;
 pub mod wago_750_652;
+pub mod wago_750_672;

ethercat-hal/src/devices/wago_modules/wago_750_1506.rs

@@ -38,27 +38,27 @@ impl From<Wago750_1506OutputPort> for usize {
 
 #[derive(Debug, Clone)]
 pub enum Wago750_1506InputPort {
-    DO1,
-    DO2,
-    DO3,
-    DO4,
-    DO5,
-    DO6,
-    DO7,
-    DO8,
+    DI1,
+    DI2,
+    DI3,
+    DI4,
+    DI5,
+    DI6,
+    DI7,
+    DI8,
 }
 
 impl From<Wago750_1506InputPort> for usize {
     fn from(value: Wago750_1506InputPort) -> Self {
         match value {
-            Wago750_1506InputPort::DO1 => 0,
-            Wago750_1506InputPort::DO2 => 1,
-            Wago750_1506InputPort::DO3 => 2,
-            Wago750_1506InputPort::DO4 => 3,
-            Wago750_1506InputPort::DO5 => 4,
-            Wago750_1506InputPort::DO6 => 5,
-            Wago750_1506InputPort::DO7 => 6,
-            Wago750_1506InputPort::DO8 => 7,
+            Wago750_1506InputPort::DI1 => 0,
+            Wago750_1506InputPort::DI2 => 1,
+            Wago750_1506InputPort::DI3 => 2,
+            Wago750_1506InputPort::DI4 => 3,
+            Wago750_1506InputPort::DI5 => 4,
+            Wago750_1506InputPort::DI6 => 5,
+            Wago750_1506InputPort::DI7 => 6,
+            Wago750_1506InputPort::DI8 => 7,
         }
     }
 }
@@ -91,14 +91,14 @@ impl DigitalInputDevice<Wago750_1506InputPort> for Wago750_1506 {
     fn get_input(&self, port: Wago750_1506InputPort) -> Result<DigitalInputInput, anyhow::Error> {
         Ok(DigitalInputInput {
             value: match port {
-                Wago750_1506InputPort::DO1 => self.tx_pdo.port1,
-                Wago750_1506InputPort::DO2 => self.tx_pdo.port2,
-                Wago750_1506InputPort::DO3 => self.tx_pdo.port3,
-                Wago750_1506InputPort::DO4 => self.tx_pdo.port4,
-                Wago750_1506InputPort::DO5 => self.tx_pdo.port5,
-                Wago750_1506InputPort::DO6 => self.tx_pdo.port6,
-                Wago750_1506InputPort::DO7 => self.tx_pdo.port7,
-                Wago750_1506InputPort::DO8 => self.tx_pdo.port8,
+                Wago750_1506InputPort::DI1 => self.tx_pdo.port1,
+                Wago750_1506InputPort::DI2 => self.tx_pdo.port2,
+                Wago750_1506InputPort::DI3 => self.tx_pdo.port3,
+                Wago750_1506InputPort::DI4 => self.tx_pdo.port4,
+                Wago750_1506InputPort::DI5 => self.tx_pdo.port5,
+                Wago750_1506InputPort::DI6 => self.tx_pdo.port6,
+                Wago750_1506InputPort::DI7 => self.tx_pdo.port7,
+                Wago750_1506InputPort::DI8 => self.tx_pdo.port8,
             },
         })
     }
@@ -143,7 +143,7 @@ pub struct Wago750_1506 {
     is_used: bool,
     tx_bit_offset: usize,
     rx_bit_offset: usize,
-    // Should always have on but not when calling constructor
+    // Should always have one but not when calling constructor
     module: Option<Module>,
     rx_pdo: Wago750_1506RxPdo,
     tx_pdo: Wago750_1506TxPdo,
@@ -189,28 +189,28 @@ impl EthercatDevice for Wago750_1506 {
     ) -> Result<(), anyhow::Error> {
         let base = self.tx_bit_offset;
 
-        let idx1 = base + Into::<usize>::into(Wago750_1506InputPort::DO1);
+        let idx1 = base + Into::<usize>::into(Wago750_1506InputPort::DI1);
         self.tx_pdo.port1 = *input.get(idx1).expect("Bit 1 out of bounds");
 
-        let idx2 = base + Into::<usize>::into(Wago750_1506InputPort::DO2);
+        let idx2 = base + Into::<usize>::into(Wago750_1506InputPort::DI2);
         self.tx_pdo.port2 = *input.get(idx2).expect("Bit 2 out of bounds");
 
-        let idx3 = base + Into::<usize>::into(Wago750_1506InputPort::DO3);
+        let idx3 = base + Into::<usize>::into(Wago750_1506InputPort::DI3);
         self.tx_pdo.port3 = *input.get(idx3).expect("Bit 3 out of bounds");
 
-        let idx4 = base + Into::<usize>::into(Wago750_1506InputPort::DO4);
+        let idx4 = base + Into::<usize>::into(Wago750_1506InputPort::DI4);
         self.tx_pdo.port4 = *input.get(idx4).expect("Bit 4 out of bounds");
 
-        let idx5 = base + Into::<usize>::into(Wago750_1506InputPort::DO5);
+        let idx5 = base + Into::<usize>::into(Wago750_1506InputPort::DI5);
         self.tx_pdo.port5 = *input.get(idx5).expect("Bit 5 out of bounds");
 
-        let idx6 = base + Into::<usize>::into(Wago750_1506InputPort::DO6);
+        let idx6 = base + Into::<usize>::into(Wago750_1506InputPort::DI6);
         self.tx_pdo.port6 = *input.get(idx6).expect("Bit 6 out of bounds");
 
-        let idx7 = base + Into::<usize>::into(Wago750_1506InputPort::DO7);
+        let idx7 = base + Into::<usize>::into(Wago750_1506InputPort::DI7);
         self.tx_pdo.port7 = *input.get(idx7).expect("Bit 7 out of bounds");
 
-        let idx8 = base + Into::<usize>::into(Wago750_1506InputPort::DO8);
+        let idx8 = base + Into::<usize>::into(Wago750_1506InputPort::DI8);
         self.tx_pdo.port8 = *input.get(idx8).expect("Bit 8 out of bounds");
         Ok(())
     }

ethercat-hal/src/devices/wago_modules/wago_750_430.rs

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

ethercat-hal/src/devices/wago_modules/wago_750_652.rs

@@ -148,8 +148,7 @@ impl EthercatDevice for Wago750_652 {
         &self,
         output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
     ) -> Result<(), anyhow::Error> {
-        let base = 32;
-
+        let base = self.rx_bit_offset;
         let mut ol0_i = 5; // Ol0 starts at bit 5 and goes to bit 7 (inclusive) 
         let mut ol1_i = 8;
 
@@ -174,12 +173,10 @@ impl EthercatDevice for Wago750_652 {
             );
             ol1_i += 1;
         }
-        println!("{}", self.rx_pdo.control.output_length);
         let data_start = base + 16;
         for (i, &byte) in self.rx_pdo.out_buffer.iter().take(22).enumerate() {
             output[(data_start + i * 8)..(data_start + (i + 1) * 8)].store_le(byte);
         }
-        //println!("{:?}",self.rx_pdo.out_buffer);
         Ok(())
     }
 

ethercat-hal/src/devices/wago_modules/wago_750_672.rs

@@ -0,0 +1,387 @@
+/*
+ * Wago Stepper Controller 750-672
+ * 70 VDC / 7.5 A
+ */
+
+use anyhow::Ok;
+use bitvec::field::BitField;
+
+use crate::{
+    devices::{
+        DynamicEthercatDevice, EthercatDevice, EthercatDeviceProcessing, EthercatDeviceUsed,
+        EthercatDynamicPDO, Module, NewEthercatDevice, SubDeviceProductTuple,
+    },
+    io::{
+        digital_input::{DigitalInputDevice, DigitalInputInput},
+        stepper_velocity_wago_750_672::{
+            C1Command, C1Flag, C2Flag, C3Flag, ControlByteC1, ControlByteC2, ControlByteC3, S3Flag,
+            StatusByteS3,
+        },
+    },
+};
+
+#[derive(Clone)]
+pub struct Wago750_672 {
+    is_used: bool,
+    tx_bit_offset: usize,
+    rx_bit_offset: usize,
+    pub rxpdo: Wago750_672RxPdo,
+    pub txpdo: Wago750_672TxPdo,
+    module: Option<Module>,
+    pub state: InitState,
+    pub initialized: bool,
+}
+
+// unfortunately we need to track and set bits over multiple cycles
+// and wait for their acknowledgement so we have to use a state machine
+// inside of our loop.
+#[derive(Debug, Clone)]
+pub enum InitState {
+    Off,
+    Enable,
+    SetMode,
+    StartPulseStart,
+    StartPulseEnd,
+    Running,
+    ErrorQuit,
+    ResetQuit,
+}
+
+/*
+* Wago has two different kind of applications when it comes to
+* running the Stepper Controller.
+* - Positioning
+* - Frequency/Speed Control
+* !!!! IMPORTANT !!!!
+* It seems like this is only true for the 750 671.
+* The 750 672 has differnt commands inside of ControlByteC1
+* where w can choose the Speed control mode - just like that
+* we always want to use the latter one so the following
+* process images are for that usecase.
+*/
+
+#[derive(Clone, Debug, Default)]
+pub struct Wago750_672RxPdo {
+    pub control_byte: u8,  // C0
+    pub velocity: i16,     // D0/D1
+    pub acceleration: u16, // D2/D3
+    pub control_byte3: u8, // C3
+    pub control_byte2: u8, // C2
+    pub control_byte1: u8, // C1
+}
+
+#[derive(Clone, Debug, Default)]
+pub struct Wago750_672TxPdo {
+    pub status_byte0: u8,     // S0
+    pub actual_velocity: i16, // D0/D1
+    pub position_l: u8,       // D4
+    pub position_m: u8,       // D5
+    pub position_h: u8,       // D6
+    pub status_byte3: u8,     // S3
+    pub status_byte2: u8,     // S2
+    pub status_byte1: u8,     // S1
+}
+
+/// Digital input port enumeration for the 6 inputs
+#[derive(Debug, Clone, Copy)]
+pub enum Wago750_672InputPort {
+    DI1,
+    DI2,
+    DI3,
+    DI4,
+    DI5,
+    DI6,
+}
+
+// Get the Digital Inputs from the Status Byte S3
+impl DigitalInputDevice<Wago750_672InputPort> for Wago750_672 {
+    fn get_input(&self, port: Wago750_672InputPort) -> Result<DigitalInputInput, anyhow::Error> {
+        let s3 = StatusByteS3::from_bits(self.txpdo.status_byte3);
+        Ok(DigitalInputInput {
+            value: match port {
+                Wago750_672InputPort::DI1 => s3.has_flag(S3Flag::Input1),
+                Wago750_672InputPort::DI2 => s3.has_flag(S3Flag::Input2),
+                Wago750_672InputPort::DI3 => s3.has_flag(S3Flag::Input3),
+                Wago750_672InputPort::DI4 => s3.has_flag(S3Flag::Input4),
+                Wago750_672InputPort::DI5 => s3.has_flag(S3Flag::Input5),
+                Wago750_672InputPort::DI6 => s3.has_flag(S3Flag::Input6),
+            },
+        })
+    }
+}
+
+impl EthercatDeviceUsed for Wago750_672 {
+    fn is_used(&self) -> bool {
+        self.is_used
+    }
+    fn set_used(&mut self, used: bool) {
+        self.is_used = used;
+    }
+}
+
+impl DynamicEthercatDevice for Wago750_672 {}
+
+impl EthercatDynamicPDO for Wago750_672 {
+    fn get_tx_offset(&self) -> usize {
+        self.tx_bit_offset
+    }
+    fn get_rx_offset(&self) -> usize {
+        self.rx_bit_offset
+    }
+    fn set_tx_offset(&mut self, offset: usize) {
+        self.tx_bit_offset = offset
+    }
+    fn set_rx_offset(&mut self, offset: usize) {
+        self.rx_bit_offset = offset
+    }
+}
+
+impl EthercatDeviceProcessing for Wago750_672 {
+    fn input_post_process(&mut self) -> Result<(), anyhow::Error> {
+        Ok(())
+    }
+
+    fn output_pre_process(&mut self) -> Result<(), anyhow::Error> {
+        Ok(())
+    }
+}
+
+impl EthercatDevice for Wago750_672 {
+    fn input(
+        &mut self,
+        input: &bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
+    ) -> Result<(), anyhow::Error> {
+        let base = self.tx_bit_offset;
+
+        let mut b = [0u8; 12];
+        for i in 0..12 {
+            b[i] = input[base + i * 8..base + (i + 1) * 8].load_le();
+        }
+
+        self.txpdo = Wago750_672TxPdo {
+            status_byte0: b[0],
+            actual_velocity: i16::from_le_bytes([b[2], b[3]]),
+            position_l: b[6],
+            position_m: b[7],
+            position_h: b[8],
+            status_byte3: b[9],
+            status_byte2: b[10],
+            status_byte1: b[11],
+        };
+
+        // Yes this statemachine is unfortunately needed in here to make sure
+        // bits are correctly set and reset in the correct cycle.
+        match self.state {
+            InitState::Off => {
+                // Do nothing
+                self.initialized = false;
+            }
+            InitState::Enable => {
+                let c1 = ControlByteC1::new()
+                    .with_flag(C1Flag::Enable)
+                    .with_flag(C1Flag::Stop2N)
+                    .bits();
+                self.rxpdo.control_byte1 = c1;
+
+                // Switch state if ENABLE and STOP2_N is acknowledged
+                if self.txpdo.status_byte1 == c1 {
+                    self.state = InitState::SetMode;
+                }
+            }
+            InitState::SetMode => {
+                let c1 = ControlByteC1::new()
+                    .with_flag(C1Flag::Enable)
+                    .with_flag(C1Flag::Stop2N)
+                    .with_command(C1Command::SpeedControl)
+                    .bits();
+                self.rxpdo.control_byte1 = c1;
+
+                // Switch state if SPEED MODE is acknowledged
+                if self.txpdo.status_byte1 == c1 {
+                    self.initialized = true;
+                    self.state = InitState::StartPulseStart;
+                }
+            }
+            InitState::StartPulseStart => {
+                let c1 = ControlByteC1::new()
+                    .with_flag(C1Flag::Enable)
+                    .with_flag(C1Flag::Stop2N)
+                    .with_flag(C1Flag::Start)
+                    .with_command(C1Command::SpeedControl)
+                    .bits();
+                self.rxpdo.control_byte1 = c1;
+
+                // Switch state after StartPulse is acknowledged
+                if self.txpdo.status_byte1 == c1 {
+                    self.state = InitState::StartPulseEnd;
+                }
+            }
+            InitState::StartPulseEnd => {
+                let c1 = ControlByteC1::new()
+                    .with_flag(C1Flag::Enable)
+                    .with_flag(C1Flag::Stop2N)
+                    .with_command(C1Command::SpeedControl)
+                    .bits();
+                self.rxpdo.control_byte1 = c1;
+
+                // Switch state after StartPulse is over
+                if self.txpdo.status_byte1 == c1 {
+                    self.state = InitState::Running;
+                }
+            }
+            InitState::Running => {
+                let c2 = ControlByteC2::new().with_flag(C2Flag::ErrorQuit).bits();
+                let c3 = ControlByteC3::new().with_flag(C3Flag::ResetQuit).bits();
+
+                // Check for Error
+                if self.txpdo.status_byte2 & c2 != 0 {
+                    self.state = InitState::ErrorQuit;
+                } else {
+                    self.rxpdo.control_byte2 |= c2;
+                }
+                // Check for Reset
+                if self.txpdo.status_byte3 & c3 != 0 {
+                    self.state = InitState::ResetQuit;
+                } else {
+                    self.rxpdo.control_byte3 |= c3;
+                }
+            }
+            InitState::ErrorQuit => {
+                self.rxpdo.control_byte2 |=
+                    ControlByteC2::new().with_flag(C2Flag::ErrorQuit).bits();
+                tracing::error!("Stepper Controller Errored. Trying to reenable...");
+                self.state = InitState::Enable;
+            }
+            InitState::ResetQuit => {
+                self.rxpdo.control_byte3 |=
+                    ControlByteC3::new().with_flag(C3Flag::ResetQuit).bits();
+                tracing::error!("Stepper Controller Reset not Quit. Trying to reenable...");
+                self.state = InitState::Enable;
+            }
+        }
+
+        Ok(())
+    }
+
+    fn input_len(&self) -> usize {
+        12 * 8
+    }
+
+    fn output(
+        &self,
+        output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
+    ) -> Result<(), anyhow::Error> {
+        let base = self.rx_bit_offset;
+
+        let output_bytes = [
+            self.rxpdo.control_byte,
+            0,
+            self.rxpdo.velocity.to_le_bytes()[0],
+            self.rxpdo.velocity.to_le_bytes()[1],
+            self.rxpdo.acceleration.to_le_bytes()[0],
+            self.rxpdo.acceleration.to_le_bytes()[1],
+            0,
+            0,
+            0,
+            self.rxpdo.control_byte3,
+            self.rxpdo.control_byte2,
+            self.rxpdo.control_byte1,
+        ];
+
+        for i in 0..12 {
+            output[base + i * 8..base + (i + 1) * 8].store_le(output_bytes[i]);
+        }
+
+        Ok(())
+    }
+
+    fn output_len(&self) -> usize {
+        12 * 8
+    }
+
+    fn as_any(&self) -> &dyn std::any::Any {
+        self
+    }
+
+    fn as_any_mut(&mut self) -> &mut dyn std::any::Any {
+        self
+    }
+
+    fn is_module(&self) -> bool {
+        true
+    }
+
+    fn input_checked(
+        &mut self,
+        input: &bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
+    ) -> Result<(), anyhow::Error> {
+        let expected = self.input_len();
+        let actual = input.len();
+        if actual != expected {
+            return Err(anyhow::anyhow!(
+                "[{}::Device::input_checked] Input length is {} ({} bytes) and must be {} bits ({} bytes)",
+                module_path!(),
+                actual,
+                actual / 8,
+                expected,
+                expected / 8
+            ));
+        }
+        Ok(())
+    }
+
+    fn output_checked(
+        &self,
+        output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
+    ) -> Result<(), anyhow::Error> {
+        let expected = self.output_len();
+        let actual = output.len();
+        if actual != expected {
+            return Err(anyhow::anyhow!(
+                "[{}::Device::output_checked] Output length is {} ({} bytes) and must be {} bits ({} bytes)",
+                module_path!(),
+                actual,
+                actual / 8,
+                expected,
+                expected / 8
+            ));
+        }
+        Ok(())
+    }
+
+    fn get_module(&self) -> Option<crate::devices::Module> {
+        self.module.clone()
+    }
+
+    fn set_module(&mut self, module: crate::devices::Module) {
+        self.tx_bit_offset = module.tx_offset;
+        self.rx_bit_offset = module.rx_offset;
+        self.module = Some(module)
+    }
+}
+
+impl NewEthercatDevice for Wago750_672 {
+    fn new() -> Self {
+        Self {
+            is_used: false,
+            tx_bit_offset: 0,
+            rx_bit_offset: 0,
+            module: None,
+            rxpdo: Wago750_672RxPdo::default(),
+            txpdo: Wago750_672TxPdo::default(),
+            state: InitState::Off,
+            initialized: false,
+        }
+    }
+}
+
+impl std::fmt::Debug for Wago750_672 {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Wago750_672")
+    }
+}
+
+pub const WAGO_750_672_VENDOR_ID: u32 = 0x00000021;
+pub const WAGO_750_672_PRODUCT_ID: u32 = 108139752;
+pub const WAGO_750_672_MODULE_IDENT: SubDeviceProductTuple =
+    (WAGO_750_672_VENDOR_ID, WAGO_750_672_PRODUCT_ID);

ethercat-hal/src/helpers/counter_wrapper_u16_i128.rs

@@ -5,7 +5,7 @@ const U16_MAX: i128 = std::u16::MAX as i128;
 /// We convert the overflows and underflows to an i128 value for easier calculations.
 ///
 /// When overriding the counter we don't set the valeu direclty but schedula it wiht the [`push_override`] so it can be synced with [`pop_override`] to an EtherCAT device.
-#[derive(Debug)]
+#[derive(Clone, Debug)]
 pub struct CounterWrapperU16U128 {
     counter: i128,
     last_counter: u16,

ethercat-hal/src/helpers/mod.rs

@@ -2,3 +2,74 @@ pub mod counter_wrapper_u16_i128;
 pub mod el70xx_velocity_converter;
 pub mod ethercrab_types;
 pub mod signing_converter_u16;
+
+use ethercrab::{SubDevice, SubDeviceRef};
+// This is the Codeword for disabling EEPROM writes on sdo writes
+const BECKHOFF_EEPROM_LOCK_CODEWORD: u32 = 0x12345678;
+// In this index Codewords can be written for Beckhoff Terminals
+const BECKHOFF_CODEWORD_INDEX: u16 = 0xF008;
+
+// This code locks the eeprom and protects it from writes
+// When the toggle is in effect no writes propagate to the eeprom
+// This is useful if you have a usecase where you very often write into CoE registers, as writes to EEPROM after a long time degrage the EEPROM
+pub async fn set_mut_beckhoff_eeprom_lock_active<'a>(
+    subdevice: &SubDeviceRef<'a, &mut SubDevice>,
+) -> Result<(), anyhow::Error> {
+    let code_word = match subdevice.sdo_read::<u32>(BECKHOFF_CODEWORD_INDEX, 0).await {
+        Ok(code_word) => code_word,
+        // This happens when the subdevice has no mailbox
+        // There is NO check in ethercrab for Mailbox presence, so we just have to pray that it has one and send a request
+        // If there is no Mailbox to write Coe Request to, then there is also no EEPROM meaning we achieved our goal in a sense
+        // This is why it returns OK on an error for sdo_read
+        Err(_) => return Ok(()),
+    };
+
+    let eeprom_lock_toggled = match code_word {
+        BECKHOFF_EEPROM_LOCK_CODEWORD => true,
+        _ => false,
+    };
+
+    if !eeprom_lock_toggled {
+        subdevice
+            .sdo_write(BECKHOFF_CODEWORD_INDEX, 0, BECKHOFF_EEPROM_LOCK_CODEWORD)
+            .await?;
+        tracing::info!(
+            "Activated EEPROM Lock for {} {}",
+            subdevice.name(),
+            subdevice.name()
+        );
+    }
+
+    Ok(())
+}
+
+pub async fn set_beckhoff_eeprom_lock_active<'a>(
+    subdevice: &SubDeviceRef<'a, &SubDevice>,
+) -> Result<(), anyhow::Error> {
+    let code_word = match subdevice.sdo_read::<u32>(BECKHOFF_CODEWORD_INDEX, 0).await {
+        Ok(code_word) => code_word,
+        // This happens when the subdevice has no mailbox
+        // There is NO check in ethercrab for Mailbox presence, so we just have to pray that it has one and send a request
+        // If there is no Mailbox to write Coe Request to, then there is also no EEPROM meaning we achieved our goal in a sense
+        // This is why it returns OK on an error for sdo_read
+        Err(_) => return Ok(()),
+    };
+
+    let eeprom_lock_toggled = match code_word {
+        BECKHOFF_EEPROM_LOCK_CODEWORD => true,
+        _ => false,
+    };
+
+    if !eeprom_lock_toggled {
+        subdevice
+            .sdo_write(BECKHOFF_CODEWORD_INDEX, 0, BECKHOFF_EEPROM_LOCK_CODEWORD)
+            .await?;
+        tracing::info!(
+            "Activated EEPROM Lock for {} {}",
+            subdevice.name(),
+            subdevice.name()
+        );
+    }
+
+    Ok(())
+}

ethercat-hal/src/io/mod.rs

@@ -7,4 +7,5 @@ pub mod encoder_input;
 pub mod pulse_train_output;
 pub mod serial_interface;
 pub mod stepper_velocity_el70x1;
+pub mod stepper_velocity_wago_750_672;
 pub mod temperature_input;

ethercat-hal/src/io/stepper_velocity_wago_750_672.rs

@@ -0,0 +1,376 @@
+use std::sync::Arc;
+
+use smol::{block_on, lock::RwLock};
+
+use crate::devices::wago_modules::wago_750_672::{InitState, Wago750_672};
+
+/*
+ * Wago Stepper Velocity Wrapper around Stepper Controller
+ *
+ */
+#[derive(Debug)]
+pub struct StepperVelocityWago750672 {
+    pub device: Arc<RwLock<Wago750_672>>,
+    pub state: InitState,
+    pub target_velocity: i16,
+    pub target_acceleration: u16,
+    pub enabled: bool,
+    pub freq_range_sel: u8,
+    pub acc_range_sel: u8,
+}
+
+impl StepperVelocityWago750672 {
+    pub fn new(device: Arc<RwLock<Wago750_672>>) -> Self {
+        Self {
+            device,
+            state: InitState::Off,
+            target_velocity: 0,
+            target_acceleration: 10000,
+            enabled: false,
+            freq_range_sel: 0,
+            acc_range_sel: 0,
+        }
+    }
+
+    pub fn set_enabled(&mut self, enabled: bool) {
+        if self.enabled && enabled {
+            return;
+        }
+
+        // this needs to be set before the stepper controller
+        // is enabled because it will generate an error otherwise
+        self.set_acceleration(self.target_acceleration);
+
+        self.enabled = enabled;
+        if enabled {
+            self.change_init_state(InitState::Enable);
+        } else {
+            self.change_init_state(InitState::Off);
+            self.write_control_byte(ControlByte::C1, 0b00000000);
+        }
+    }
+
+    pub fn set_velocity(&mut self, velocity: i16) {
+        self.target_velocity = velocity;
+
+        let mut dev = block_on(self.device.write());
+
+        // clamp velocity to -25000 - 25000 :: because this is
+        // the min max for the controller
+        dev.rxpdo.velocity = velocity.clamp(-25000, 25000);
+
+        if dev.initialized {
+            dev.state = InitState::StartPulseStart;
+        }
+    }
+
+    pub fn set_acceleration(&mut self, acceleration: u16) {
+        self.target_acceleration = acceleration;
+
+        let mut dev = block_on(self.device.write());
+
+        dev.rxpdo.acceleration = acceleration;
+    }
+
+    #[allow(dead_code)]
+    fn get_actual_velocity(&self) -> i16 {
+        let dev = block_on(self.device.read());
+        dev.txpdo.actual_velocity
+    }
+
+    #[allow(dead_code)]
+    fn get_target_acceleration(&self) -> u16 {
+        let dev = block_on(self.device.read());
+        dev.rxpdo.acceleration
+    }
+
+    pub fn set_freq_range_sel(&mut self, factor: u8) {
+        if self.enabled || factor > 3 {
+            return;
+        }
+        self.freq_range_sel = factor;
+        let mut dev = block_on(self.device.write());
+        let c2 = ControlByteC2::from_bits(dev.rxpdo.control_byte2)
+            .with_freq_range(factor)
+            .bits();
+        dev.rxpdo.control_byte2 = c2;
+    }
+
+    pub fn set_acc_range_sel(&mut self, factor: u8) {
+        if self.enabled || factor > 3 {
+            return;
+        }
+        self.acc_range_sel = factor;
+        let mut dev = block_on(self.device.write());
+        let c2 = ControlByteC2::from_bits(dev.rxpdo.control_byte2)
+            .with_acc_range(factor)
+            .bits();
+        dev.rxpdo.control_byte2 = c2;
+    }
+
+    fn change_init_state(&mut self, state: InitState) {
+        self.state = state.clone();
+        let mut dev = block_on(self.device.write());
+        dev.state = state;
+    }
+
+    fn write_control_byte(&self, control_byte: ControlByte, value: u8) {
+        let mut dev = block_on(self.device.write());
+
+        match control_byte {
+            ControlByte::C0 => dev.rxpdo.control_byte = value,
+            ControlByte::C1 => dev.rxpdo.control_byte1 = value,
+            ControlByte::C2 => dev.rxpdo.control_byte2 = value,
+            ControlByte::C3 => dev.rxpdo.control_byte3 = value,
+        }
+    }
+
+    #[allow(dead_code)]
+    fn read_status_byte(&self, status_byte: StatusByte) -> u8 {
+        let dev = block_on(self.device.read());
+
+        match status_byte {
+            StatusByte::S0 => dev.txpdo.status_byte0,
+            StatusByte::S1 => dev.txpdo.status_byte1,
+            StatusByte::S2 => dev.txpdo.status_byte2,
+            StatusByte::S3 => dev.txpdo.status_byte3,
+        }
+    }
+}
+
+// The Different Control Bytes set control the stepper controller
+// by setting and resetting specific bits.
+//
+// There are some construction functions provided to create the
+// control bytes correctly.
+
+/// Control Byte C1
+#[derive(Clone, Copy, Default)]
+pub struct ControlByteC1(u8);
+
+#[repr(u8)]
+#[derive(Clone, Copy)]
+pub enum C1Flag {
+    Enable = 0b0000_0001,
+    Stop2N = 0b0000_0010,
+    Start = 0b0000_0100,
+}
+
+#[repr(u8)]
+#[derive(Clone, Copy)]
+pub enum C1Command {
+    Idle = 0b0000_0000,
+    SinglePosition = 0b0000_1000,
+    RunProgram = 0b0001_0000,
+    SpeedControl = 0b0001_1000,
+    Reference = 0b0010_0000,
+    JogMode = 0b0010_1000,
+    Mailbox = 0b0011_0000,
+}
+
+impl ControlByteC1 {
+    pub const fn new() -> Self {
+        Self(0)
+    }
+
+    pub const fn with_flag(mut self, flag: C1Flag) -> Self {
+        self.0 |= flag as u8;
+        self
+    }
+
+    pub const fn with_command(mut self, cmd: C1Command) -> Self {
+        self.0 = (self.0 & 0b0000_0111) | (cmd as u8);
+        self
+    }
+
+    pub const fn bits(self) -> u8 {
+        self.0
+    }
+}
+
+/// Control Byte C2
+#[derive(Clone, Copy, Default)]
+pub struct ControlByteC2(u8);
+
+#[repr(u8)]
+#[derive(Clone, Copy)]
+pub enum C2Flag {
+    FreqRangeSelL = 0b0000_0001,
+    FreqRangeSelH = 0b0000_0010,
+    AccRangeSelL = 0b0000_0100,
+    AccRangeSelH = 0b0000_1000,
+    PreCalc = 0b0100_0000,
+    ErrorQuit = 0b1000_0000,
+}
+
+impl ControlByteC2 {
+    pub const fn new() -> Self {
+        Self(0)
+    }
+
+    pub const fn from_bits(bits: u8) -> Self {
+        Self(bits)
+    }
+
+    pub const fn with_freq_range(mut self, sel: u8) -> Self {
+        self.0 = (self.0 & 0b1111_1100) | (sel & 0b0000_0011);
+        self
+    }
+
+    pub const fn with_acc_range(mut self, sel: u8) -> Self {
+        self.0 = (self.0 & 0b1111_0011) | ((sel & 0b0000_0011) << 2);
+        self
+    }
+
+    pub const fn with_flag(mut self, flag: C2Flag) -> Self {
+        self.0 |= flag as u8;
+        self
+    }
+
+    pub const fn bits(self) -> u8 {
+        self.0
+    }
+}
+
+/// Control Byte C3
+#[derive(Clone, Copy, Default)]
+pub struct ControlByteC3(u8);
+
+#[repr(u8)]
+#[derive(Clone, Copy)]
+pub enum C3Flag {
+    SetActualPos = 0b0000_0001,
+    DirectionPos = 0b0000_0010,
+    DirectionNeg = 0b0000_0100,
+    ResetQuit = 0b1000_0000,
+}
+
+impl ControlByteC3 {
+    pub const fn new() -> Self {
+        Self(0)
+    }
+
+    pub const fn with_flag(mut self, flag: C3Flag) -> Self {
+        self.0 |= flag as u8;
+        self
+    }
+
+    pub const fn bits(self) -> u8 {
+        self.0
+    }
+}
+
+// The status bytes are similar to the control bytes but are only readable
+// and most of the time provide corresponding acknoledgements to the diffrent
+// Control bytes.
+//
+// There are also helper functions to construct the diffrent Status bytes for
+// compoarison.
+
+/// Status Byte S1
+#[derive(Clone, Copy, Default)]
+pub struct StatusByteS1(u8);
+
+#[repr(u8)]
+#[derive(Clone, Copy)]
+pub enum S1Flag {
+    Ready = 0b0000_0001,
+    Stop2NAck = 0b0000_0010,
+    StartAck = 0b0000_0100,
+}
+
+#[repr(u8)]
+#[derive(Clone, Copy)]
+pub enum S1CommandAck {
+    Idle = 0b0000_0000,
+    SinglePosition = 0b0000_1000,
+    RunProgram = 0b0001_0000,
+    SpeedControl = 0b0001_1000,
+    Reference = 0b0010_0000,
+    JogMode = 0b0010_1000,
+    Mailbox = 0b0011_0000,
+}
+
+impl StatusByteS1 {
+    pub const fn from_bits(bits: u8) -> Self {
+        Self(bits)
+    }
+
+    pub const fn has_flag(self, flag: S1Flag) -> bool {
+        (self.0 & flag as u8) != 0
+    }
+
+    pub const fn bits(self) -> u8 {
+        self.0
+    }
+}
+
+/// Status Byte S2
+#[derive(Clone, Copy, Default)]
+pub struct StatusByteS2(u8);
+
+#[repr(u8)]
+#[derive(Clone, Copy)]
+pub enum S2Flag {
+    OnTarget = 0b0000_0001,
+    Busy = 0b0000_0010,
+    StandStill = 0b0000_0100,
+    OnSpeed = 0b0000_1000,
+    Direction = 0b0001_0000,
+    ReferenceOk = 0b0010_0000,
+    PreCalcAck = 0b0100_0000,
+    Error = 0b1000_0000,
+}
+
+impl StatusByteS2 {
+    pub const fn from_bits(bits: u8) -> Self {
+        Self(bits)
+    }
+
+    pub const fn has_flag(self, flag: S2Flag) -> bool {
+        (self.0 & flag as u8) != 0
+    }
+}
+
+/// Status Byte S3
+#[derive(Clone, Copy, Default)]
+pub struct StatusByteS3(u8);
+
+#[repr(u8)]
+#[derive(Clone, Copy)]
+pub enum S3Flag {
+    Input1 = 0b0000_0001,
+    Input2 = 0b0000_0010,
+    Input3 = 0b0000_0100,
+    Input4 = 0b0000_1000,
+    Input5 = 0b0001_0000,
+    Input6 = 0b0010_0000,
+    Warning = 0b0100_0000,
+    Reset = 0b1000_0000,
+}
+
+impl StatusByteS3 {
+    pub const fn from_bits(bits: u8) -> Self {
+        Self(bits)
+    }
+
+    pub const fn has_flag(self, flag: S3Flag) -> bool {
+        (self.0 & flag as u8) != 0
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+pub enum ControlByte {
+    C0,
+    C1,
+    C2,
+    C3,
+}
+
+#[derive(Debug, Clone, Copy)]
+pub enum StatusByte {
+    S0,
+    S1,
+    S2,
+    S3,
+}