Garage doors and lights connected on Siemens S7 PLC

Hello,

I have several garage doors and lights (on/off and dimmable) connected to a PLC.
What would be best practice for linking these as devices in HA? I already have a connection with Node-Red, but this only gives me the individual entities which cannot be controlled as doors or lights in HA. I am also open to a different integration.

Existing signals Door:
SHOULD Open
SHOULD Closed
ACTUAL Open
ACTUAL Closed

Existing signals Light:
On/Off
Dimming 0-100%

All signals can still be adjusted to the required value in the PLC.