fix import issues

ts fixes
wip
2025-08-21 14:37:26 +02:00 · 2025-08-21 12:50:06 +02:00 · 2025-08-21 12:34:15 +02:00 · 2025-08-21 11:48:50 +02:00 · 2025-08-21 11:03:32 +02:00 · 2025-08-20 18:17:32 +02:00
315 changed files with 31159 additions and 19553 deletions
@@ -1,16 +1,19 @@
-# To get started with Dependabot version updates, you'll need to specify which
-# package ecosystems to update and where the package manifests are located.
-# Please see the documentation for all configuration options:
-# https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file
-
 version: 2
 updates:
-  - package-ecosystem: "npm" # See documentation for possible values
-    directory: "/electron" # Location of package manifests
+  - package-ecosystem: "npm"
+    directory: "/electron"
    schedule:
-      interval: "weekly"
+      interval: "monthly"
+    ignore:
+    - dependency-name: "*"
+      update-types:
+        - "version-update:semver-minor"

-  - package-ecosystem: "cargo" # See documentation for possible values
-    directory: "/" # Location of package manifests
+  - package-ecosystem: "cargo"
+    directory: "/"
    schedule:
-      interval: "weekly"
+      interval: "monthly"
+    ignore:
+      - dependency-name: "*"
+        update-types:
+          - "version-update:semver-minor"
@@ -36,6 +36,9 @@ jobs:
      - name: Install
        run: npm i

+      - name: Build
+        run: tsc
+
      - name: Format
        run: npm run format

@@ -45,5 +48,5 @@ jobs:
      - name: Test
        run: npm run test

-      - name: Build
+      - name: Package
        run: npm run package
@@ -21,6 +21,8 @@ jobs:
      - uses: actions/checkout@v4
      - name: Set Rust version
        run: rustup override set ${{ env.RUST_VERSION }}
+      - name: Install Formatter
+        run: rustup component add rustfmt
      - name: Cache Rust dependencies
        uses: actions/cache@v3
        with:
@@ -35,7 +37,12 @@ jobs:
            ${{ runner.os }}-${{ env.RUST_VERSION }}-cargo-

      - name: Build
+        env:
+          RUSTFLAGS: "-D warnings"
        run: cargo build --verbose

+      - name: Format
+        run: cargo fmt --check --verbose
+
      - name: Run tests
        run: cargo test --verbose
@@ -3,3 +3,4 @@ dist/
 .DS_Store
 Cargo.lock
 dhat-heap.json
+node_modules/
@@ -1,12 +1,58 @@
-# `Unreleased`
+# `2.4.0`
+_14.08.2025_
+
+## Winder V2 
+- [#550](https://github.com/qitechgmbh/control/pull/551) Can now reset wound distance while winding
+  
+## General
+- [#568](https://github.com/qitechgmbh/control/pull/569) switched to a Realtime Linuxkernel on nixos
+- [#574](https://github.com/qitechgmbh/control/pull/587) isolated cores 2 and 3 on nixos to guarentee strict timings for ethercat
+- [#588](https://github.com/qitechgmbh/control/pull/589) limited frontend to 30 fps to reduce cpu usage
+- [#572](https://github.com/qitechgmbh/control/pull/572) switched to io_uring to reduce latency
+
+
+
+# `2.3.0`
+_06.08.2025_
+
+## Extruder V2
+- [#520](https://github.com/qitechgmbh/control/pull/523) added warning message incase inverter is overloaded
+- [#501](https://github.com/qitechgmbh/control/pull/508) raised pressure limit of pressured PID mode for extruder
+- [#519](https://github.com/qitechgmbh/control/pull/549) added total power consumption monitor and graphs for voltage,current and wattage of the motor
+
+## Winder V2 
+- [#64](https://github.com/qitechgmbh/control/pull/504) added winder handbook
+
+## Laser V1
+- [#497](https://github.com/qitechgmbh/control/pull/498) improved diameter visualisation
+
+## General
+- [#62](https://github.com/qitechgmbh/control/pull/514),[#524](https://github.com/qitechgmbh/control/pull/528) added machine presets to load configurations
+- [#526](https://github.com/qitechgmbh/control/pull/541) added import and export of presets
+
+
+# `2.2.0`
+
+_15.07.2025_

 ## Extruder V2

- [#455](https://github.com/qitechgmbh/control/pull/458) Greatly improved stability and precision of pressure-based regulation for the motor
+- [#455](https://github.com/qitechgmbh/control/pull/458), Greatly improved stability and precision of pressure-based regulation for the motor
+- [#467](https://github.com/qitechgmbh/control/pull/468), [#448](https://github.com/qitechgmbh/control/pull/449), [#485](https://github.com/qitechgmbh/control/pull/486) Improved the Responsiveness for motor control and monitoring
+- [#138](https://github.com/qitechgmbh/control/pull/495), Added a Warning in case the Pressure sensor is disconnected or incorrectly wired
+- [#169](https://github.com/qitechgmbh/control/pull/492), Added a Confirmation Dialog when extruder has not reached 90% of target temperature
+
+## Winder V2
+- [#471](https://github.com/qitechgmbh/control/pull/480), Added a live value to track the pulled distance and the option of switching to a different Mode after a given distance.
+
+## General
+
+- [#121](https://github.com/qitechgmbh/control/pull/121), Use Linux realtime threads for EtherCAT and control loop (PREEMPT_RT)
+- [#138](https://github.com/qitechgmbh/control/pull/495), Updated Quick Start Guide

 # `2.1.0`

-_30.07.2025_
+_30.06.2025_

 ## Extruder V2

@@ -256,7 +256,7 @@ checksum = "e539d3fca749fcee5236ab05e93a52867dd549cc157c8cb7f99595f3cedffdb5"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -273,7 +273,7 @@ checksum = "99e1aca718ea7b89985790c94aad72d77533063fe00bc497bb79a7c2dae6a661"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -345,7 +345,7 @@ checksum = "604fde5e028fea851ce1d8570bbdc034bec850d157f7569d10f347d06808c05c"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -539,7 +539,7 @@ dependencies = [
 "heck 0.5.0",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -581,11 +581,13 @@ dependencies = [
 "approx",
 "axum",
 "bitvec",
+ "core_affinity",
 "crc",
 "erased-serde",
 "ethercat_hal",
 "ethercrab",
 "interfaces",
+ "libc",
 "serde",
 "serde_json",
 "serial",
@@ -613,6 +615,17 @@ version = "0.8.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"

+[[package]]
+name = "core_affinity"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a034b3a7b624016c6e13f5df875747cc25f884156aad2abd12b6c46797971342"
+dependencies = [
+ "libc",
+ "num_cpus",
+ "winapi",
+]
+
 [[package]]
 name = "cpufeatures"
 version = "0.2.17"
@@ -715,7 +728,7 @@ dependencies = [
 "deluxe-macros",
 "once_cell",
 "proc-macro2",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -728,7 +741,7 @@ dependencies = [
 "proc-macro2",
 "quote",
 "strsim 0.10.0",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -743,7 +756,7 @@ dependencies = [
 "proc-macro-crate",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -754,7 +767,7 @@ checksum = "30542c1ad912e0e3d22a1935c290e12e8a29d704a420177a31faad4a601a0800"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -791,7 +804,7 @@ checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -993,6 +1006,7 @@ dependencies = [
 "bitvec",
 "ethercat_hal_derive",
 "ethercrab",
+ "futures",
 "rand",
 "smol",
 "uom",
@@ -1005,7 +1019,7 @@ dependencies = [
 "deluxe",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1057,7 +1071,7 @@ dependencies = [
 "criterion",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1186,7 +1200,7 @@ checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1722,9 +1736,9 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"

 [[package]]
 name = "libc"
-version = "0.2.172"
+version = "0.2.175"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d750af042f7ef4f724306de029d18836c26c1765a54a6a3f094cbd23a7267ffa"
+checksum = "6a82ae493e598baaea5209805c49bbf2ea7de956d50d7da0da1164f9c6d28543"

 [[package]]
 name = "libloading"
@@ -1946,6 +1960,16 @@ dependencies = [
 "autocfg",
 ]

+[[package]]
+name = "num_cpus"
+version = "1.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "91df4bbde75afed763b708b7eee1e8e7651e02d97f6d5dd763e89367e957b23b"
+dependencies = [
+ "hermit-abi 0.5.0",
+ "libc",
+]
+
 [[package]]
 name = "object"
 version = "0.36.7"
@@ -2151,7 +2175,7 @@ dependencies = [
 "pest_meta",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2182,7 +2206,7 @@ checksum = "6e918e4ff8c4549eb882f14b3a4bc8c8bc93de829416eacf579f1207a8fbf861"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2318,7 +2342,7 @@ dependencies = [
 "itertools",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2350,9 +2374,9 @@ checksum = "dc33ff2d4973d518d823d61aa239014831e521c75da58e3df4840d3f47749d09"

 [[package]]
 name = "rand"
-version = "0.9.1"
+version = "0.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fbfd9d094a40bf3ae768db9361049ace4c0e04a4fd6b359518bd7b73a73dd97"
+checksum = "6db2770f06117d490610c7488547d543617b21bfa07796d7a12f6f1bd53850d1"
 dependencies = [
 "rand_chacha",
 "rand_core",
@@ -2558,7 +2582,7 @@ checksum = "22f968c5ea23d555e670b449c1c5e7b2fc399fdaec1d304a17cd48e288abc107"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2578,7 +2602,7 @@ checksum = "5b0276cf7f2c73365f7157c8123c21cd9a50fbbd844757af28ca1f5925fc2a00"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2659,9 +2683,9 @@ dependencies = [

 [[package]]
 name = "serialport"
-version = "4.7.1"
+version = "4.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2daa7abb9b965493e3c8f4184c6f46435484ff2538a332b886788cf6768b927b"
+checksum = "cdb0bc984f6af6ef8bab54e6cf2071579ee75b9286aa9f2319a0d220c28b0a2b"
 dependencies = [
 "bitflags 2.9.0",
 "cfg-if",
@@ -2690,6 +2714,7 @@ dependencies = [
 "ethercat_hal",
 "ethercrab",
 "euclid",
+ "futures",
 "lazy_static",
 "open",
 "opentelemetry",
@@ -2831,9 +2856,9 @@ dependencies = [

 [[package]]
 name = "socketioxide"
-version = "0.17.1"
+version = "0.17.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85fe8a90fd0cdac0bcb7b3c40c1084f5658f8737c62dfb277f5620cf78f3849a"
+checksum = "476190583b592f1e3d55584269600f2d3c4f18af36adad03c41c27e82dcb6bd5"
 dependencies = [
 "bytes",
 "engineioxide",
@@ -2938,9 +2963,9 @@ dependencies = [

 [[package]]
 name = "syn"
-version = "2.0.101"
+version = "2.0.105"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ce2b7fc941b3a24138a0a7cf8e858bfc6a992e7978a068a5c760deb0ed43caf"
+checksum = "7bc3fcb250e53458e712715cf74285c1f889686520d79294a9ef3bd7aa1fc619"
 dependencies = [
 "proc-macro2",
 "quote",
@@ -2964,7 +2989,7 @@ checksum = "728a70f3dbaf5bab7f0c4b1ac8d7ae5ea60a4b5549c8a5914361c99147a709d2"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3009,7 +3034,7 @@ checksum = "7f7cf42b4507d8ea322120659672cf1b9dbb93f8f2d4ecfd6e51350ff5b17a1d"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3020,16 +3045,16 @@ checksum = "3bf63baf9f5039dadc247375c29eb13706706cfde997d0330d05aa63a77d8820"

 [[package]]
 name = "thread-priority"
-version = "1.2.0"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cfe075d7053dae61ac5413a34ea7d4913b6e6207844fd726bdd858b37ff72bf5"
+checksum = "cd4ef372b29fbcc6cb0cef97bcbf3ffa9da90e02eb23dbf14db48ce30d11d2d5"
 dependencies = [
 "bitflags 2.9.0",
 "cfg-if",
 "libc",
 "log",
 "rustversion",
- "winapi",
+ "windows",
 ]

 [[package]]
@@ -3104,9 +3129,9 @@ dependencies = [

 [[package]]
 name = "tokio"
-version = "1.45.0"
+version = "1.45.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2513ca694ef9ede0fb23fe71a4ee4107cb102b9dc1930f6d0fd77aae068ae165"
+checksum = "75ef51a33ef1da925cea3e4eb122833cb377c61439ca401b770f54902b806779"
 dependencies = [
 "backtrace",
 "bytes",
@@ -3126,7 +3151,7 @@ checksum = "6e06d43f1345a3bcd39f6a56dbb7dcab2ba47e68e8ac134855e7e2bdbaf8cab8"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3288,7 +3313,7 @@ checksum = "395ae124c09f9e6918a2310af6038fba074bcf474ac352496d5910dd59a2226d"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3545,7 +3570,7 @@ dependencies = [
 "log",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "wasm-bindgen-shared",
 ]

@@ -3580,7 +3605,7 @@ checksum = "8ae87ea40c9f689fc23f209965b6fb8a99ad69aeeb0231408be24920604395de"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "wasm-bindgen-backend",
 "wasm-bindgen-shared",
 ]
@@ -3645,6 +3670,28 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"

+[[package]]
+name = "windows"
+version = "0.61.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9babd3a767a4c1aef6900409f85f5d53ce2544ccdfaa86dad48c91782c6d6893"
+dependencies = [
+ "windows-collections",
+ "windows-core",
+ "windows-future",
+ "windows-link",
+ "windows-numerics",
+]
+
+[[package]]
+name = "windows-collections"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3beeceb5e5cfd9eb1d76b381630e82c4241ccd0d27f1a39ed41b2760b255c5e8"
+dependencies = [
+ "windows-core",
+]
+
 [[package]]
 name = "windows-core"
 version = "0.61.2"
@@ -3658,6 +3705,17 @@ dependencies = [
 "windows-strings 0.4.2",
 ]

+[[package]]
+name = "windows-future"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fc6a41e98427b19fe4b73c550f060b59fa592d7d686537eebf9385621bfbad8e"
+dependencies = [
+ "windows-core",
+ "windows-link",
+ "windows-threading",
+]
+
 [[package]]
 name = "windows-implement"
 version = "0.60.0"
@@ -3666,7 +3724,7 @@ checksum = "a47fddd13af08290e67f4acabf4b459f647552718f683a7b415d290ac744a836"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3677,14 +3735,24 @@ checksum = "bd9211b69f8dcdfa817bfd14bf1c97c9188afa36f4750130fcdf3f400eca9fa8"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
 name = "windows-link"
-version = "0.1.1"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76840935b766e1b0a05c0066835fb9ec80071d4c09a16f6bd5f7e655e3c14c38"
+checksum = "5e6ad25900d524eaabdbbb96d20b4311e1e7ae1699af4fb28c17ae66c80d798a"
+
+[[package]]
+name = "windows-numerics"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9150af68066c4c5c07ddc0ce30421554771e528bde427614c61038bc2c92c2b1"
+dependencies = [
+ "windows-core",
+ "windows-link",
+]

 [[package]]
 name = "windows-registry"
@@ -3787,6 +3855,15 @@ dependencies = [
 "windows_x86_64_msvc 0.53.0",
 ]

+[[package]]
+name = "windows-threading"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b66463ad2e0ea3bbf808b7f1d371311c80e115c0b71d60efc142cafbcfb057a6"
+dependencies = [
+ "windows-link",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.52.6"
@@ -3966,7 +4043,7 @@ checksum = "38da3c9736e16c5d3c8c597a9aaa5d1fa565d0532ae05e27c24aa62fb32c0ab6"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "synstructure",
 ]

@@ -3987,7 +4064,7 @@ checksum = "28a6e20d751156648aa063f3800b706ee209a32c0b4d9f24be3d980b01be55ef"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -4007,7 +4084,7 @@ checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "synstructure",
 ]

@@ -4041,5 +4118,5 @@ checksum = "5b96237efa0c878c64bd89c436f661be4e46b2f3eff1ebb976f7ef2321d2f58f"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]
@@ -4,6 +4,9 @@

 QiTech Control is an industrial control panel software for the next generation of QiTech recycling machines built on top of Beckhoff Automation hardware.

+[![](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.*
+
 # Repo Structure

 Frontend
@@ -41,6 +44,8 @@ We could combine the code of the frontend and backend using [Doxius](https://dio

 # Dev Setup

+[Developer Documentation](./docs/developer-docs/)
+
 ## Backend

 - Rust stable 1.86^ toolchain (install via [rustup](https://rustup.rs/))
@@ -66,7 +71,6 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
 | Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Not Yet     |                                 |
 | Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Not Yet     | -                               |

-
 # More Docs

 - [x] [Architecture & Data Flow](./docs/architecture-overview.md)
@@ -90,8 +94,9 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
    - Write Device Identification

 - Server
-  - [X] [Threading](./docs/control-loop.md)
-  - [X] [Logging](./docs/logging.md)
+
+  - [x] [Threading](./docs/control-loop.md)
+  - [x] [Logging](./docs/logging.md)
  - [ ] Control Loop Setup
    - Control Loop Thread
      - [ ] realtime
@@ -1,13 +1,25 @@
 #!/bin/bash

-if [ $1 == "release" ]; then
+FEATURE=""
+
+# Check if "mock-machine" was passed as an argument
+if [[ "$1" == "mock-machine" ]]; then
+    echo "Building Debug Code with mock-machine feature"
+    FEATURE="--features mock-machine"
+fi
+if [[ "$1" == "release" ]]; then
    echo "building Release Code"
    cargo build --release
 else
-    echo "building Debug Code"
-    cargo build
+    echo "Building Debug Code"
+    cargo build $FEATURE
+fi
+
+# Only setcap if not building with mock-machine
+if [ "$1" != "mock-machine" ]; then
+    echo "Setting capabilities for server executable"
+    sudo setcap 'cap_net_raw,cap_sys_nice=eip' ./target/debug/server
 fi
-# set cap for server executable
-sudo setcap cap_net_raw=eip ./target/debug/server
 # run
 ./target/debug/server
+
@@ -11,15 +11,20 @@ ethercrab = "0.6"
 interfaces = "0.0.9"
 serde = "1.0.219"
 serde_json = "1.0.140"
-serialport = "4.7.1"
+serialport = "4.7.2"
 smol = "2.0.2"
-socketioxide = "0.17.1"
+socketioxide = "0.17.2"
 uom = "0.36.0"
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
 serial = "0.4.0"
 tracing = "0.1.41"
 erased-serde = "0.4.6"
+core_affinity = "0.8.3"
+
+[target.'cfg(unix)'.dependencies]
+libc = "0.2.175"
+
 [dev-dependencies]
 approx = "0.5.1"
 textplots = "0.8"
@@ -1,91 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::analog_output::AnalogOutput;
-use std::{
-    f64::consts::PI,
-    future::Future,
-    pin::Pin,
-    time::{Duration, Instant},
-};
-use uom::si::{angle::radian, f64::Angle, ratio::ratio};
-pub type AnalogFunction = Box<dyn Fn(Duration) -> f64 + Send + Sync>;
-
-/// Can module analog output with a function
-pub struct AnalogFunctionGenerator {
-    output: AnalogOutput,
-    function: AnalogFunction,
-    start_ts: Instant,
-}
-
-impl AnalogFunctionGenerator {
-    pub fn new(output: AnalogOutput, function: AnalogFunction) -> Self {
-        Self {
-            output,
-            function,
-            start_ts: Instant::now(),
-        }
-    }
-}
-
-impl Actor for AnalogFunctionGenerator {
-    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let diff = now - self.start_ts;
-            let value = (self.function)(diff);
-            (self.output.write)((value as f32).into()).await;
-        })
-    }
-}
-
-pub fn analog_sine(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
-    Box::new(move |dt: Duration| {
-        // Convert to seconds as f64 for calculation
-        let dt_secs = dt.as_secs_f64();
-        let period_secs = period.as_secs_f64();
-        let phase_secs = dt_secs % period_secs;
-        let angle = Angle::new::<radian>(2.0 * PI * phase_secs / period_secs);
-        let value = angle.sin().get::<ratio>();
-        value * (amplitude / 2.0) + normal + (amplitude / 2.0)
-    })
-}
-
-pub fn analog_multiply<const N: usize>(functions: [AnalogFunction; N]) -> AnalogFunction {
-    Box::new(move |dt: Duration| functions.iter().fold(1.0, |acc, func| acc * func(dt)))
-}
-
-pub fn analog_sawtooth(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
-    Box::new(move |dt: Duration| {
-        let dt_secs = dt.as_secs_f64();
-        let period_secs = period.as_secs_f64();
-        let phase_secs = dt_secs % period_secs;
-        let value = phase_secs / period_secs;
-        value * amplitude + normal
-    })
-}
-
-pub fn analog_square(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
-    Box::new(move |dt: Duration| {
-        let dt_secs = dt.as_secs_f64();
-        let period_secs = period.as_secs_f64();
-        let phase_secs = dt_secs % period_secs;
-        let value = if phase_secs < period_secs / 2.0 {
-            1.0
-        } else {
-            -1.0
-        };
-        value * amplitude + normal
-    })
-}
-
-pub fn analog_triangle(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
-    Box::new(move |dt: Duration| {
-        let dt_secs = dt.as_secs_f64();
-        let period_secs = period.as_secs_f64();
-        let phase_secs = dt_secs % period_secs;
-        let value = if phase_secs < period_secs / 2.0 {
-            phase_secs / period_secs * 2.0
-        } else {
-            2.0 - phase_secs / period_secs * 2.0
-        };
-        value * amplitude + normal
-    })
-}
@@ -1,40 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::analog_input::{AnalogInput, physical::AnalogInputValue};
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Log the state of a analog input
-#[derive(Debug)]
-pub struct AnalogInputGetter {
-    input: AnalogInput,
-    normalized: Option<f32>,
-}
-
-impl AnalogInputGetter {
-    pub fn new(input: AnalogInput) -> Self {
-        Self {
-            input,
-            normalized: None,
-        }
-    }
-
-    /// Value from -1.0 to 1.0
-    pub fn get_normalized(&self) -> Option<f32> {
-        self.normalized
-    }
-
-    pub fn get_physical(&self) -> Option<AnalogInputValue> {
-        match self.get_normalized() {
-            Some(normalized) => Some(self.input.range.normalized_to_physical(normalized)),
-            None => return None,
-        }
-    }
-}
-
-impl Actor for AnalogInputGetter {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = (self.input.state)().await;
-            self.normalized = Some(state.input.normalized);
-        })
-    }
-}
@@ -1,35 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_input::DigitalInput;
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Log the state of a digital input
-#[derive(Debug)]
-pub struct DigitalInputGetter {
-    input: DigitalInput,
-    value: bool,
-}
-
-impl DigitalInputGetter {
-    pub fn new(input: DigitalInput) -> Self {
-        Self {
-            input,
-            value: false,
-        }
-    }
-
-    /// Get the current value of the digital input
-    pub fn value(&self) -> bool {
-        self.value
-    }
-}
-
-impl Actor for DigitalInputGetter {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = (self.input.state)()
-                .await
-                .expect("Failed to get digital input state");
-            self.value = state.input.value;
-        })
-    }
-}
@@ -1,25 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_input::DigitalInput;
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Log the state of a digital input
-pub struct DigitalInputLogger {
-    input: DigitalInput,
-}
-
-impl DigitalInputLogger {
-    pub fn new(input: DigitalInput) -> Self {
-        Self { input }
-    }
-}
-
-impl Actor for DigitalInputLogger {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = (self.input.state)()
-                .await
-                .expect("Failed to get digital input state");
-            println!("DigitalInputLogger: {}", state.input.value);
-        })
-    }
-}
@@ -1,51 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_output::DigitalOutput;
-use std::{
-    future::Future,
-    pin::Pin,
-    time::{Duration, Instant},
-};
-
-/// Set a digital output high and low with a given interval
-#[derive(Debug)]
-pub struct DigitalOutputBlinker {
-    last_toggle: Instant,
-    output: DigitalOutput,
-    interval: Duration,
-    enabled: bool,
-}
-
-impl DigitalOutputBlinker {
-    pub fn new(output: DigitalOutput, interval: Duration) -> Self {
-        Self {
-            last_toggle: Instant::now(),
-            output,
-            interval,
-            enabled: true,
-        }
-    }
-    pub fn set_interval(&mut self, interval: Duration) {
-        self.interval = interval;
-    }
-
-    pub fn set_enabled(&mut self, enabled: bool) {
-        self.enabled = enabled;
-    }
-}
-
-impl Actor for DigitalOutputBlinker {
-    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            {
-                let state = (self.output.state)().await;
-                if now - self.last_toggle > self.interval {
-                    match state.output.into() {
-                        true => (self.output.write)(false.into()).await,
-                        false => (self.output.write)(true.into()).await,
-                    }
-                    self.last_toggle = now;
-                }
-            }
-        })
-    }
-}
@@ -1,57 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_output::DigitalOutput;
-use std::{
-    future::Future,
-    pin::Pin,
-    time::{Duration, Instant},
-};
-
-/// Set a series of digital outputs high in sequence with a given interval
-pub struct DigitalOutputBlinkers {
-    last_toggle: Instant,
-    outputs: Vec<Option<DigitalOutput>>,
-    index: usize,
-    interval: Duration,
-    enabled: bool,
-    amount: usize,
-}
-
-impl DigitalOutputBlinkers {
-    pub fn new(outputs: Vec<Option<DigitalOutput>>, interval: Duration, amount: usize) -> Self {
-        Self {
-            last_toggle: Instant::now(),
-            outputs,
-            interval,
-            enabled: true,
-            index: 0,
-            amount,
-        }
-    }
-
-    pub fn set_interval(&mut self, interval: Duration) {
-        self.interval = interval;
-    }
-
-    pub fn set_enabled(&mut self, enabled: bool) {
-        self.enabled = enabled;
-    }
-}
-
-impl Actor for DigitalOutputBlinkers {
-    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            if now - self.last_toggle > self.interval {
-                if let Some(output) = &self.outputs[self.index] {
-                    (output.write)(true.into()).await;
-                }
-                let index_end =
-                    (self.index + self.outputs.len() - self.amount) % self.outputs.len();
-                if let Some(output) = &self.outputs[index_end] {
-                    (output.write)(false.into()).await;
-                }
-                self.last_toggle = now;
-                self.index = (self.index + 1) % self.outputs.len();
-            }
-        })
-    }
-}
@@ -1,38 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_output::DigitalOutput;
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Set a digital output high and low with a given interval
-#[derive(Debug)]
-pub struct DigitalOutputSetter {
-    output: DigitalOutput,
-    enabled: bool,
-}
-
-impl DigitalOutputSetter {
-    pub fn new(output: DigitalOutput) -> Self {
-        Self {
-            output,
-            enabled: false,
-        }
-    }
-    pub fn set(&mut self, enabled: bool) {
-        self.enabled = enabled;
-    }
-    pub fn get(&self) -> bool {
-        self.enabled
-    }
-    pub fn toggle(&mut self) {
-        self.enabled = !self.enabled;
-    }
-}
-
-impl Actor for DigitalOutputSetter {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            {
-                (self.output.write)(self.enabled.into()).await;
-            }
-        })
-    }
-}
@@ -1,19 +0,0 @@
-pub mod analog_function_generator;
-pub mod analog_input_getter;
-pub mod digital_input_getter;
-pub mod digital_input_logger;
-pub mod digital_output_blinker;
-pub mod digital_output_blinkers;
-pub mod digital_output_setter;
-pub mod serial_interface_actor;