diff --git a/src/build/.cmake/api/v1/reply/index-2023-04-06T19-30-51-0911.json b/src/build/.cmake/api/v1/reply/index-2023-04-06T21-06-58-0296.json
similarity index 100%
rename from src/build/.cmake/api/v1/reply/index-2023-04-06T19-30-51-0911.json
rename to src/build/.cmake/api/v1/reply/index-2023-04-06T21-06-58-0296.json
diff --git a/src/model/hardware/hw/extendables/Device.hpp b/src/model/hardware/hw/extendables/Device.hpp
index c1cbe8f..217449c 100644
--- a/src/model/hardware/hw/extendables/Device.hpp
+++ b/src/model/hardware/hw/extendables/Device.hpp
@@ -9,7 +9,7 @@ class Device{
         std::string _displayName;
         std::map<std::string, DeviceCommand*>* _commands = new std::map<std::string, DeviceCommand*>();
     public:
-        std::atomic_bool enabled = true;
+        std::atomic_bool enabled = false;
         std::atomic_bool working = false;
         std::atomic_int workDelayMs = 60;
         inline Device(const std::string& tagidentifier) : _tagidentifier(tagidentifier){}
diff --git a/src/model/hardware/hw/extendables/DeviceTree.cpp b/src/model/hardware/hw/extendables/DeviceTree.cpp
index 0573712..7278ae1 100644
--- a/src/model/hardware/hw/extendables/DeviceTree.cpp
+++ b/src/model/hardware/hw/extendables/DeviceTree.cpp
@@ -48,8 +48,12 @@ void DeviceTree::build(){
                     if(back.find(kv.first) != std::string::npos){
                         std::cout << "uids matched! port assigned"<< std::endl;
                         (*serialDevices)[kv.first]->serialPort = serialPort;
+                        (*serialDevices)[kv.first]->enabled = true;
                         assigned = true;
                         std::cout << "assign done"<< std::endl;
+                    }else{
+                        std::cout << "device sent back uid but no match, an extension may be missing"<< std::endl;
+                        assigned = false;
                     }
                 }
 
@@ -76,7 +80,7 @@ void DeviceTree::runDevice(SerialDevice* device){
     while(device->enabled){
         if(!device->working){
             device->working = true;
-            device->doPortWork();
+            device->runPort();
         }
         std::this_thread::sleep_for(std::chrono::milliseconds(device->workDelayMs));
     }
diff --git a/src/model/hardware/hw/extendables/SerialDevice.hpp b/src/model/hardware/hw/extendables/SerialDevice.hpp
index 22b418a..4a38bc1 100644
--- a/src/model/hardware/hw/extendables/SerialDevice.hpp
+++ b/src/model/hardware/hw/extendables/SerialDevice.hpp
@@ -23,10 +23,15 @@ class SerialDevice : public Device{
         unsigned int _baudrate;
         std::string lastData;
     public:
-        mn::CppLinuxSerial::SerialPort* serialPort;
+        mn::CppLinuxSerial::SerialPort* serialPort = nullptr;
         DeviceCommand* ic;
         SerialDevice(const std::string& serialPort) : Device("blank"), _serialPort(serialPort){}
         void getID();
+        void runPort(){
+            if(enabled){
+                doPortWork();
+            }
+        }
         virtual void doPortWork() = 0;
         ~SerialDevice(){
             delete ic;
diff --git a/src/model/hardware/hw/inputKeys.hpp b/src/model/hardware/hw/inputKeys.hpp
index 802a40f..92147e3 100644
--- a/src/model/hardware/hw/inputKeys.hpp
+++ b/src/model/hardware/hw/inputKeys.hpp
@@ -59,10 +59,10 @@ enum class KeyboardKeyCode: unsigned int {
   BACKSPACE = 8,
   TAB = 9,
   CAPS_LOCK = 20,
-  LEFT_ARROW = 37,
-  UP_ARROW = 38,
-  RIGHT_ARROW = 39,
-  DOWN_ARROW = 40,
+  LEFT_ARROW = 81,
+  UP_ARROW = 84,
+  RIGHT_ARROW = 83,
+  DOWN_ARROW = 82,
   INSERT = 45,
   DELETE_KEY = 46,
   HOME = 36,
diff --git a/src/model/windows/CMakeFiles/windows.dir/compiler_depend.internal b/src/model/windows/CMakeFiles/windows.dir/compiler_depend.internal
index 6e3fc60..eb71548 100644
--- a/src/model/windows/CMakeFiles/windows.dir/compiler_depend.internal
+++ b/src/model/windows/CMakeFiles/windows.dir/compiler_depend.internal
@@ -325,6 +325,42 @@ model/windows/CMakeFiles/windows.dir/window.cpp.o
  /usr/include/GL/glu.h
  /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
  /usr/include/c++/11/iostream
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
+ /usr/include/c++/11/thread
+ /usr/include/c++/11/bits/std_thread.h
+ /usr/include/c++/11/bits/this_thread_sleep.h
+ /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
+ /usr/include/unistd.h
+ /usr/include/x86_64-linux-gnu/bits/posix_opt.h
+ /usr/include/x86_64-linux-gnu/bits/environments.h
+ /usr/include/x86_64-linux-gnu/bits/confname.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_posix.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_core.h
+ /usr/include/x86_64-linux-gnu/bits/unistd_ext.h
+ /usr/include/linux/close_range.h
+ /usr/include/c++/11/filesystem
+ /usr/include/c++/11/bits/fs_fwd.h
+ /usr/include/c++/11/bits/fs_path.h
+ /usr/include/c++/11/locale
+ /usr/include/c++/11/bits/locale_facets_nonio.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h
+ /usr/include/libintl.h
+ /usr/include/c++/11/bits/codecvt.h
+ /usr/include/c++/11/bits/locale_facets_nonio.tcc
+ /usr/include/c++/11/bits/locale_conv.h
+ /usr/include/c++/11/iomanip
+ /usr/include/c++/11/bits/quoted_string.h
+ /usr/include/c++/11/codecvt
+ /usr/include/c++/11/bits/fs_dir.h
+ /usr/include/c++/11/bits/fs_ops.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
+ /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
+ /usr/include/c++/11/list
+ /usr/include/c++/11/bits/stl_list.h
+ /usr/include/c++/11/bits/list.tcc
+ /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
 
 model/windows/CMakeFiles/windows.dir/windowManager.cpp.o
  /home/kanken/code/AHRS_core/src/model/windows/windowManager.cpp
diff --git a/src/model/windows/CMakeFiles/windows.dir/compiler_depend.make b/src/model/windows/CMakeFiles/windows.dir/compiler_depend.make
index 0f2782c..6cec8f5 100644
--- a/src/model/windows/CMakeFiles/windows.dir/compiler_depend.make
+++ b/src/model/windows/CMakeFiles/windows.dir/compiler_depend.make
@@ -323,7 +323,43 @@ model/windows/CMakeFiles/windows.dir/window.cpp.o: model/windows/window.cpp \
   /usr/include/KHR/khrplatform.h \
   /usr/include/GL/glu.h \
   threadweaver/debugging.hpp \
-  /usr/include/c++/11/iostream
+  /usr/include/c++/11/iostream \
+  model/hardware/hw/inputManager.hpp \
+  /usr/include/c++/11/thread \
+  /usr/include/c++/11/bits/std_thread.h \
+  /usr/include/c++/11/bits/this_thread_sleep.h \
+  threadweaver/threadweaver.hpp \
+  /usr/include/unistd.h \
+  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
+  /usr/include/x86_64-linux-gnu/bits/environments.h \
+  /usr/include/x86_64-linux-gnu/bits/confname.h \
+  /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
+  /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
+  /usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
+  /usr/include/linux/close_range.h \
+  /usr/include/c++/11/filesystem \
+  /usr/include/c++/11/bits/fs_fwd.h \
+  /usr/include/c++/11/bits/fs_path.h \
+  /usr/include/c++/11/locale \
+  /usr/include/c++/11/bits/locale_facets_nonio.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h \
+  /usr/include/libintl.h \
+  /usr/include/c++/11/bits/codecvt.h \
+  /usr/include/c++/11/bits/locale_facets_nonio.tcc \
+  /usr/include/c++/11/bits/locale_conv.h \
+  /usr/include/c++/11/iomanip \
+  /usr/include/c++/11/bits/quoted_string.h \
+  /usr/include/c++/11/codecvt \
+  /usr/include/c++/11/bits/fs_dir.h \
+  /usr/include/c++/11/bits/fs_ops.h \
+  threadweaver/debugging.hpp \
+  model/patterns/observer/observable.hpp \
+  /usr/include/c++/11/list \
+  /usr/include/c++/11/bits/stl_list.h \
+  /usr/include/c++/11/bits/list.tcc \
+  model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp
 
 model/windows/CMakeFiles/windows.dir/windowManager.cpp.o: model/windows/windowManager.cpp \
   /usr/include/stdc-predef.h \
@@ -656,6 +692,42 @@ model/windows/CMakeFiles/windows.dir/windowManager.cpp.o: model/windows/windowMa
 
 model/windows/windowManager.cpp:
 
+model/patterns/observer/observer.hpp:
+
+/usr/include/c++/11/bits/list.tcc:
+
+/usr/include/c++/11/list:
+
+/usr/include/c++/11/bits/fs_ops.h:
+
+/usr/include/c++/11/bits/fs_dir.h:
+
+/usr/include/c++/11/bits/quoted_string.h:
+
+/usr/include/c++/11/bits/locale_conv.h:
+
+/usr/include/c++/11/bits/locale_facets_nonio.tcc:
+
+/usr/include/libintl.h:
+
+/usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h:
+
+/usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h:
+
+/usr/include/c++/11/bits/locale_facets_nonio.h:
+
+/usr/include/c++/11/filesystem:
+
+/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
+
+/usr/include/x86_64-linux-gnu/bits/getopt_core.h:
+
+/usr/include/x86_64-linux-gnu/bits/confname.h:
+
+/usr/include/x86_64-linux-gnu/bits/posix_opt.h:
+
+model/hardware/hw/inputManager.hpp:
+
 threadweaver/debugging.hpp:
 
 /usr/include/GL/glu.h:
@@ -776,6 +848,8 @@ model/windows/windowManager.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/posix2_lim.h:
 
+/usr/include/unistd.h:
+
 /usr/include/c++/11/bits/stl_algobase.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/stdint.h:
@@ -860,6 +934,8 @@ model/windows/windowManager.hpp:
 
 /usr/include/c++/11/bits/std_function.h:
 
+model/patterns/observer/observable.hpp:
+
 /usr/include/c++/11/type_traits:
 
 /usr/include/x86_64-linux-gnu/sys/single_threaded.h:
@@ -894,6 +970,8 @@ model/windows/windowManager.hpp:
 
 /usr/include/c++/11/limits:
 
+/usr/include/c++/11/bits/fs_path.h:
+
 /usr/include/x86_64-linux-gnu/bits/stdlib-float.h:
 
 /usr/include/x86_64-linux-gnu/bits/uintn-identity.h:
@@ -904,6 +982,8 @@ model/windows/windowManager.hpp:
 
 /usr/local/include/opencv4/opencv2/core/cvdef.h:
 
+/usr/include/linux/close_range.h:
+
 model/windows/window.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/timer_t.h:
@@ -912,12 +992,16 @@ model/windows/window.hpp:
 
 /usr/local/include/opencv4/opencv2/core/core.hpp:
 
+threadweaver/threadweaver.hpp:
+
 /usr/lib/gcc/x86_64-linux-gnu/11/include/syslimits.h:
 
 /usr/include/c++/11/debug/debug.h:
 
 /usr/include/features-time64.h:
 
+/usr/include/x86_64-linux-gnu/bits/environments.h:
+
 /usr/include/c++/11/bits/exception_defines.h:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h:
@@ -1068,6 +1152,8 @@ model/windows/window.cpp:
 
 /usr/include/c++/11/unordered_map:
 
+/usr/include/c++/11/iomanip:
+
 /usr/include/c++/11/cctype:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/c++allocator.h:
@@ -1100,6 +1186,8 @@ model/windows/window.cpp:
 
 /usr/local/include/opencv4/opencv2/core/cvstd.hpp:
 
+/usr/include/c++/11/bits/codecvt.h:
+
 /usr/include/c++/11/bits/basic_ios.tcc:
 
 /usr/include/c++/11/bits/enable_special_members.h:
@@ -1134,10 +1222,14 @@ model/windows/window.cpp:
 
 /usr/include/c++/11/bits/vector.tcc:
 
+/usr/include/c++/11/codecvt:
+
 /usr/include/c++/11/bits/streambuf.tcc:
 
 /usr/include/string.h:
 
+/usr/include/c++/11/locale:
+
 /usr/include/ctype.h:
 
 /usr/include/x86_64-linux-gnu/bits/uio_lim.h:
@@ -1192,12 +1284,16 @@ model/windows/window.cpp:
 
 /usr/include/x86_64-linux-gnu/bits/cpu-set.h:
 
+/usr/include/x86_64-linux-gnu/bits/getopt_posix.h:
+
 /usr/include/time.h:
 
 /usr/include/x86_64-linux-gnu/bits/setjmp.h:
 
 /usr/include/x86_64-linux-gnu/bits/types/__fpos64_t.h:
 
+/usr/include/c++/11/bits/fs_fwd.h:
+
 /usr/include/x86_64-linux-gnu/bits/types/clockid_t.h:
 
 /usr/include/c++/11/bits/stl_bvector.h:
@@ -1264,6 +1360,8 @@ model/windows/window.cpp:
 
 /usr/include/x86_64-linux-gnu/bits/mathcalls-narrow.h:
 
+/usr/include/c++/11/bits/stl_list.h:
+
 /usr/include/x86_64-linux-gnu/bits/iscanonical.h:
 
 /usr/include/c++/11/bits/specfun.h:
@@ -1276,6 +1374,8 @@ model/windows/window.cpp:
 
 /usr/include/c++/11/tr1/bessel_function.tcc:
 
+model/hardware/hw/inputKeys.hpp:
+
 /usr/include/c++/11/bits/atomic_lockfree_defines.h:
 
 /usr/include/c++/11/array:
diff --git a/src/model/windows/window.cpp b/src/model/windows/window.cpp
index f64d485..61520bc 100644
--- a/src/model/windows/window.cpp
+++ b/src/model/windows/window.cpp
@@ -1,5 +1,5 @@
 #include "window.hpp"
-
+#include "../hardware/hw/inputManager.hpp"
 void glDrawTextureCallback(void* userdata)
 {
    cv::ogl::Texture2D* texObj = static_cast<cv::ogl::Texture2D*>(userdata);
@@ -35,7 +35,10 @@ void Window::draw(){
    #else
       cv::imshow(this->myWindow, drawBuffer);
    #endif
-      cv::waitKey(1);
+      int key = cv::waitKey(1);
+      if (key >= 0) {
+        InputManager::GetInstance()->sendinput(key, InputTypes::KEYBOARD);
+    }
    }
    catch(...){
       drawAccess.unlock();
diff --git a/src/pipeline/abstract/pipelineNode.hpp b/src/pipeline/abstract/pipelineNode.hpp
index 721253e..438dc72 100644
--- a/src/pipeline/abstract/pipelineNode.hpp
+++ b/src/pipeline/abstract/pipelineNode.hpp
@@ -14,8 +14,10 @@
 /// @brief this class represents an unthreaded sub-node of a given node of the graphcis pipeline
 class SubNode{
     public:
-    virtual void processFrame(cv::UMat& input, cv::Point2d& cursorPos)=0;
+    void doWork(cv::UMat& input, cv::Point2d& cursorPos){if(enabled){processFrame(input,cursorPos);}}
     std::atomic_bool enabled = true;
+    protected:
+    virtual void processFrame(cv::UMat& input, cv::Point2d& cursorPos)=0;
 };
 
 /// @brief this class represents a threaded node of the graphics pipeline
diff --git a/src/pipeline/members/cameraPickerNode.cpp b/src/pipeline/members/cameraPickerNode.cpp
index 3c4b85f..9186611 100644
--- a/src/pipeline/members/cameraPickerNode.cpp
+++ b/src/pipeline/members/cameraPickerNode.cpp
@@ -18,7 +18,7 @@ void cameraPickerNode::processFrame(){
     _sourceManager->accessLocks[0]->unlock();
     Point2d p(0,0);
     for (SubNode* sn : subNodes)
-        if(sn->enabled) sn->processFrame(output,p);
+        if(sn->enabled) sn->doWork(output,p);
     outputLock.unlock();
     
     DEBUG_LOG("cameraPickerNode on thread " << localThread->get_id() << " is done picking its camera frame");
diff --git a/src/pipeline/members/pluginNode.cpp b/src/pipeline/members/pluginNode.cpp
index c0b3ef0..e79b800 100644
--- a/src/pipeline/members/pluginNode.cpp
+++ b/src/pipeline/members/pluginNode.cpp
@@ -20,7 +20,7 @@ void PluginNode::processFrame()
         DEBUG_LOG("PluginNode on thread " << localThread->get_id() << " fetched camera frame");
         Point2d p(0,0);
         for (SubNode* sn : subNodes)
-            if(sn->enabled) sn->processFrame(toProcess,p);
+            if(sn->enabled) sn->doWork(toProcess,p);
         DEBUG_LOG("PluginNode on thread " << localThread->get_id() << " processed camera frame");
         outputLock.lock();
         output = toProcess; // write the final image to the psvr UI buffer
diff --git a/src/pipeline/members/uiDrawerNode.cpp b/src/pipeline/members/uiDrawerNode.cpp
index f495df8..d30c6c0 100644
--- a/src/pipeline/members/uiDrawerNode.cpp
+++ b/src/pipeline/members/uiDrawerNode.cpp
@@ -59,7 +59,7 @@ void UiDrawerNode::processFrame()
         Point2d pc = Point2d(0,stackerIndex);
         cv::rectangle(MenuMat, cv::Rect2i(0, stackerIndex+5, wd, 1), Scalar(200, 0, 0), 3, 8, 0);
         for (SubNode* sn : subNodes)
-            if(sn->enabled) sn->processFrame(MenuMat,pc);
+            if(sn->enabled) sn->doWork(MenuMat,pc);
         outputLock.lock();
         output = MenuMat;
         outputLock.unlock();
diff --git a/src/pipeline/members/uiMergerNode.cpp b/src/pipeline/members/uiMergerNode.cpp
index 0b5f7a2..eda3ac5 100644
--- a/src/pipeline/members/uiMergerNode.cpp
+++ b/src/pipeline/members/uiMergerNode.cpp
@@ -19,7 +19,7 @@ void UiMergerNode::processFrame()
 
     Point2d p(0,0);
     for (SubNode* sn : subNodes)
-        if(sn->enabled) sn->processFrame(cameraFrame,p);
+        if(sn->enabled) sn->doWork(cameraFrame,p);
 
     cameraFrame = UiSupport::resizeIn(cameraFrame); // resize the frame to the standard format
     // Copy the frame in the center of the background
diff --git a/src/pluginManagement/PluginManager.cpp b/src/pluginManagement/PluginManager.cpp
index dd9bbfe..0988a8d 100644
--- a/src/pluginManagement/PluginManager.cpp
+++ b/src/pluginManagement/PluginManager.cpp
@@ -25,7 +25,7 @@ PluginManager::PluginManager(Pipeline& pi){
                     if(pl->loadNode != NULL){
                         std::cout << "loading plugin node\n";
                         SubNode* sn = pl->loadNode();
-                        sn->enabled = true;
+                        sn->enabled = false;
                         pi.getNodes().at(6)->addSubNode(sn);
                         std::cout << "loaded plugin node\n";
                     }
diff --git a/src/prog b/src/prog
index d39a7b0..60052f4 100755
Binary files a/src/prog and b/src/prog differ