Merge pull request #72 from dacarley/6

7 - Improved bit selection during probing
2022-08-23 15:33:41 -07:00
parent 06bf10afcb 7a20b49aeb
commit 078241c657
39 changed files with 705 additions and 421 deletions
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,15 @@
+# See here for image contents: https://github.com/microsoft/vscode-dev-containers/blob/v0.241.1/containers/debian/.devcontainer/base.Dockerfile
+
+# [Choice] Debian version (use bullseye on local arm64/Apple Silicon): bullseye, buster
+ARG VARIANT=bullseye
+FROM mcr.microsoft.com/vscode/devcontainers/base:${VARIANT}
+
+RUN    apt update \
+    && apt upgrade -y \
+    && apt install -y \
+        build-essential git wget binfmt-support qemu gcc-9 \
+        parted gcc-avr avr-libc avrdude python3 python3-pip python3-tornado \
+        curl unzip python3-setuptools gcc-arm-linux-gnueabihf bc vim sudo \
+    && update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 9 \
+    && curl -fsSL https://deb.nodesource.com/setup_18.x | bash - \
+    && apt install -y nodejs
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,26 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
+// https://github.com/microsoft/vscode-dev-containers/blob/v0.241.1/containers/debian
+{
+	"name": "Debian",
+	"build": {
+		"dockerfile": "Dockerfile",
+		// Update 'VARIANT' to pick an Debian version: bullseye, buster
+		// Use bullseye on local arm64/Apple Silicon.
+		"args": { "VARIANT": "bullseye" }
+	},
+
+	"runArgs": ["--privileged"],
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Uncomment to use the Docker CLI from inside the container. See https://aka.ms/vscode-remote/samples/docker-from-docker.
+	// "mounts": [ "source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind" ],
+
+	// Comment out to connect as root instead. More info: https://aka.ms/vscode-remote/containers/non-root.
+	// "remoteUser": "vscode",
+	
+	"features": {
+		"sshd": "latest"
+	}
+}
--- a/docs/development.md
+++ b/docs/development.md
@@ -8,12 +8,18 @@ Debian Linux are not supported.

 On a Debian Linux (9.6.0 stable) system install the required packages:

-    sudo apt-get update
-    sudo apt-get install -y build-essential git wget binfmt-support qemu \
-      parted gcc-avr avr-libc avrdude pylint3 python3 python3-tornado curl \
-      unzip python3-setuptools gcc-arm-linux-gnueabihf bc sudo
-    curl -sL https://deb.nodesource.com/setup_13.x | sudo -E bash -
-    sudo apt-get install -y nodejs
+    apt update
+    apt upgrade -y
+    apt install -y \
+        build-essential git wget binfmt-support qemu gcc-9 \
+        parted gcc-avr avr-libc avrdude python3 python3-tornado curl \
+        unzip python3-setuptools gcc-arm-linux-gnueabihf bc sudo
+        
+    update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 9
+
+    curl -fsSL https://deb.nodesource.com/setup_18.x | bash -
+
+    apt install -y nodejs

 ## Getting the Source Code

--- a/package-lock.json
+++ b/package-lock.json
@@ -1,12 +1,12 @@
 {
  "name": "bbctrl",
-  "version": "1.0.10b7",
+  "version": "1.0.10b10",
  "lockfileVersion": 2,
  "requires": true,
  "packages": {
    "": {
      "name": "bbctrl",
-      "version": "1.0.10b7",
+      "version": "1.0.10b10",
      "hasInstallScript": true,
      "license": "GPL-3.0+",
      "dependencies": {
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
  "name": "bbctrl",
-  "version": "1.0.10b7",
+  "version": "1.0.10b10",
  "homepage": "https://onefinitycnc.com/",
  "repository": "https://github.com/OneFinityCNC/onefinity",
  "license": "GPL-3.0+",
--- a/scripts/rpi-chroot.sh
+++ b/scripts/rpi-chroot.sh
@@ -1,7 +1,6 @@
 #!/bin/bash -ex

 ROOT="$PWD/rpi-root"
-LOOP=12

 if [ $# -lt 1 ]; then
    echo "Usage: $0 <image> <exec>"
@@ -9,7 +8,8 @@ if [ $# -lt 1 ]; then
 fi

 IMAGE="$1"
-LOOP_DEV=/dev/loop${LOOP}
+LOOP_BOOT=
+LOOP_ROOT=
 EXEC=

 if [ $# -gt 1 ]; then
@@ -26,25 +26,28 @@ fi
 # Clean up on EXIT
 function cleanup {
    umount "$ROOT"/{dev/pts,dev,sys,proc,boot,mnt/host,} 2>/dev/null || true
-    losetup -d $LOOP_DEV 2>/dev/null || true
+    losetup -d $LOOP_BOOT 2>/dev/null || true
+    losetup -d $LOOP_ROOT 2>/dev/null || true
    rmdir "$ROOT" 2>/dev/null || true
 }
 trap cleanup EXIT

-# set up image as loop device
-losetup $LOOP_DEV "$IMAGE"
-partprobe $LOOP_DEV
+LOOP_BOOT=`losetup -f`
+losetup -o 4194304 $LOOP_BOOT "$IMAGE"
+
+LOOP_ROOT=`losetup -f`
+losetup -o 48234496 $LOOP_ROOT "$IMAGE"

 # check and fix filesystems
-fsck -f ${LOOP_DEV}p1
-fsck -f ${LOOP_DEV}p2
+fsck -f $LOOP_BOOT
+fsck -f $LOOP_ROOT

 # make dir
 mkdir -p "$ROOT"

 # mount partition
-mount -o rw ${LOOP_DEV}p2 -t ext4 "$ROOT"
-mount -o rw ${LOOP_DEV}p1 "$ROOT/boot"
+mount -o rw $LOOP_ROOT -t ext4 "$ROOT"
+mount -o rw $LOOP_BOOT "$ROOT/boot"

 # mount binds
 mount --bind /dev "$ROOT/dev/"
--- a/src/bbserial/Makefile
+++ b/src/bbserial/Makefile
@@ -5,7 +5,7 @@ ccflags-y:=-std=gnu99 -Wno-declaration-after-statement

 KPKG=raspberrypi-kernel_1.20171029-1.tar.gz
 KURL=https://github.com/dbrgn/linux-rpi/archive/$(KPKG)
-KDIR=linux-rpi-raspberrypi-kernel_1.20171029-1
+KDIR=/tmp/rpi-kernel
 export KERNEL=kernel7

 KOPTS=ARCH=arm CROSS_COMPILE=$(CROSS) -C $(KDIR)
@@ -14,7 +14,9 @@ all: $(KDIR)
 	$(MAKE) $(KOPTS) M=$(DIR) modules

 $(KDIR): $(KPKG)
-	tar xf $(KPKG)
+	rm -rf $(KDIR)
+	mkdir -p $(KDIR)
+	tar xf $(KPKG) -C $(KDIR) --strip-components 1
 	$(MAKE) $(KOPTS) bcm2709_defconfig
 	$(MAKE) $(KOPTS) modules_prepare

--- a/src/js/admin-general-view.js
+++ b/src/js/admin-general-view.js
@@ -46,9 +46,7 @@ module.exports = {

  data: function () {
    return {
-      configRestored: false,
      confirmReset: false,
-      configReset: false,
      autoCheckUpgrade: true,
      reset_variant: ''
    }
@@ -71,29 +69,31 @@ module.exports = {
    },

    restore: function (e) {
-      var files = e.target.files || e.dataTransfer.files;
-      if (!files.length) return;
+      const files = e.target.files || e.dataTransfer.files;
+      if (!files.length) {
+        return;
+      }

-      var fr = new FileReader();
-      fr.onload = function (e) {
-        var config;
+      const fileReader = new FileReader();
+      fileReader.onload = async ({ target }) => {
+        let config;
        try {
-          config = JSON.parse(e.target.result);
+          config = JSON.parse(target.result);
        } catch (ex) {
          api.alert("Invalid config file");
          return;
        }

-        api.put('config/save', config).done(function (data) {
+        try {
+          await api.put('config/save', config);
          this.$dispatch('update');
-          this.configRestored = true;
-
-        }.bind(this)).fail(function (error) {
+          SvelteComponents.showDialog("Message", { title: "Success", message: "Configuration restored" })
+        } catch (error) {
          api.alert('Restore failed', error);
-        })
-      }.bind(this);
+        }
+      }

-      fr.readAsText(files[0]);
+      fileReader.readAsText(files[0]);
    },

    reset: async function () {
@@ -107,7 +107,7 @@ module.exports = {
        await api.put('config/save', config)
        this.confirmReset = false;
        this.$dispatch('update');
-        this.configRestored = true;
+        SvelteComponents.showDialog("Message", { title: "Success", message: "Configuration restored" })
      } catch (err) {
        api.alert('Restore failed');
        console.error('Restore failed', err);
--- a/src/js/app.js
+++ b/src/js/app.js
@@ -106,8 +106,7 @@ module.exports = new Vue({
      firmwareUpgrading: false,
      checkedUpgrade: false,
      firmwareName: "",
-      latestVersion: "",
-      confirmShutdown: false,
+      latestVersion: ""
    };
  },

@@ -283,10 +282,17 @@ module.exports = new Vue({
    },

    show_upgrade: function () {
-      if (!this.latestVersion) return false;
+      if (!this.latestVersion) {
+        return false;
+      }
+
      return is_newer_version(this.config.version, this.latestVersion);
    },

+    showShutdownDialog: function () {
+      SvelteComponents.showDialog("Shutdown");
+    },
+
    update: async function () {
      const config = await api.get("config/load");

@@ -303,16 +309,6 @@ module.exports = new Vue({
      SvelteComponents.handleConfigUpdate(this.config);
    },

-    shutdown: function () {
-      this.confirmShutdown = false;
-      api.put("shutdown");
-    },
-
-    reboot: function () {
-      this.confirmShutdown = false;
-      api.put("reboot");
-    },
-
    connect: function () {
      this.sock = new Sock(`//${location.host}/sockjs`);

--- a/src/js/control-view.js
+++ b/src/js/control-view.js
@@ -39,17 +39,7 @@ module.exports = {
      jog_adjust: parseInt(cookie.get('jog-adjust', 2)),
      deleteGCode: false,
      tab: 'auto',
-      toolpath_msg: {
-        x: false,
-        y: false,
-        z: false,
-        a: false,
-        b: false,
-        c: false
-      },
      ask_home: true,
-      ask_zero_xy_msg: false,
-      ask_zero_z_msg: false,
      showGcodeMessage: false
    }
  },
@@ -244,7 +234,6 @@ module.exports = {
    SvelteComponents.registerControllerMethods({
      stop: (...args) => this.stop(...args),
      send: (...args) => this.send(...args),
-      goto_zero: (...args) => this.goto_zero(...args),
      isAxisHomed: (axis) => this[axis].homed,
      unhome: (...args) => this.unhome(...args),
      set_position: (...args) => this.set_position(...args),
@@ -253,18 +242,6 @@ module.exports = {
  },

  methods: {
-    goto_zero(zero_x, zero_y, zero_z, zero_a) {
-      const xcmd = zero_x ? "X0" : "";
-      const ycmd = zero_y ? "Y0" : "";
-      const zcmd = zero_z ? "Z0" : "";
-      const acmd = zero_a ? "A0" : "";
-
-      this.ask_zero_xy_msg = false;
-      this.ask_zero_z_msg = false;
-
-      this.send('G90\nG0' + xcmd + ycmd + zcmd + acmd + '\n');
-    },
-
    getJogIncrStyle(value) {
      const weight = `font-weight:${this.jog_incr === value ? 'bold' : 'normal'}`;
      const color = this.jog_incr === value ? "color:#0078e7" : "";
@@ -436,8 +413,12 @@ module.exports = {
      SvelteComponents.showDialog("SetAxisPosition", { axis });
    },

-    show_toolpath_msg: function (axis) {
-      this.toolpath_msg[axis] = true;
+    showMoveToZeroDialog: function (axes) {
+      SvelteComponents.showDialog("MoveToZero", { axes });
+    },
+
+    showToolpathMessageDialog: function (axis) {
+      SvelteComponents.showDialog("Message", { title: this[axis].toolmsg });
    },

    set_position: function (axis, position) {
--- a/src/js/main.js
+++ b/src/js/main.js
@@ -39,7 +39,6 @@ function uuid(length) {
  return s
 }

-
 $(function () {
  if (typeof cookie_get('client-id') == 'undefined') {
    cookie_set('client-id', uuid(), 10000);
--- a/src/pug/index.pug
+++ b/src/pug/index.pug
@@ -65,16 +65,8 @@ html(lang="en")
            li.pure-menu-heading
              a.pure-menu-link(href="#help") Help
              
-            button.pure-button.pure-button-primary(@click="confirmShutdown = true", style="width: 100%")
-              .fa.fa-power-off
-            message(:show.sync="confirmShutdown")
-              h3(slot="header") Confirm shutdown?
-              p(slot="body") Please wait for black screen before switching off power.
-              div(slot="footer")
-                button.pure-button(@click="confirmShutdown = false") Cancel
-                button.pure-button.button-success(@click="shutdown") Shutdown
-                button.pure-button.button-success(@click="reboot") Restart
-              
+            button.pure-button.pure-button-primary(@click="showShutdownDialog", style="width: 100%")
+              .fa.fa-power-off              

      #main
        .header
--- a/src/pug/templates/admin-general-view.pug
+++ b/src/pug/templates/admin-general-view.pug
@@ -45,9 +45,6 @@ script#admin-general-view-template(type="text/x-template")
    label.pure-button.pure-button-primary(@click="restore_config") Restore
    form.restore-config.file-upload
      input(type="file", accept=".json", @change="restore")
-    message(:show.sync="configRestored")
-      h3(slot="header") Success
-      p(slot="body") Configuration restored.

    button.pure-button.pure-button-primary(@click="confirmReset = true") Reset    
    message(:show.sync="confirmReset")
@@ -70,10 +67,6 @@ script#admin-general-view-template(type="text/x-template")
        button.pure-button(@click="confirmReset = false") Cancel
        button.pure-button.pure-button-primary(@click="reset") Reset
        
-    message(:show.sync="configReset")
-      h3(slot="header") Success
-      p(slot="body") Configuration reset.
-
    h2 Debugging
    a(href="/api/log", target="_blank")
      button.pure-button.pure-button-primary View Log
--- a/src/pug/templates/control-view.pug
+++ b/src/pug/templates/control-view.pug
@@ -10,32 +10,6 @@ script#control-view-template(type="text/x-template")
      div(slot="footer")
        label Simulating {{(toolpath_progress || 0) | percent}}

-    message(:show.sync=`ask_zero_xy_msg`)
-        h3(slot="header") XY Origin
-
-        div(slot="body")
-          p Move to XY origin?
-
-        div(slot="footer")
-          button.pure-button(@click="goto_zero(1,1,0,0)")
-            | Confirm
-            
-          button.pure-button(@click='ask_zero_xy_msg = false')
-            | Cancel
-    
-    message(:show.sync=`ask_zero_z_msg`)
-        h3(slot="header") Z Origin
-
-        div(slot="body")
-          p Move to Z origin?
-
-        div(slot="footer")
-          button.pure-button(@click="goto_zero(0,0,1,0)")
-            | Confirm
-            
-          button.pure-button(@click='ask_zero_z_msg = false')
-            | Cancel
-
    table(style="table-layout: fixed; width: 100%;")
      tr(style="height: fit-content;")
        td(style="white-space: nowrap; width: 410px;", rowspan="2")
@@ -60,12 +34,12 @@ script#control-view-template(type="text/x-template")
              td(style="height:100px",align="center")
                button(@click="jog_fn(-1,0,0,0)") X-
              td(style="height:100px",align="center")
-                button(@click="ask_zero_xy_msg = true")
+                button(@click="showMoveToZeroDialog('xy')")
                  .fa.fa-bullseye(style="font-size: 173%")
              td(style="height:100px",align="center")
                button(@click="jog_fn(1,0,0,0)") X+
              td(style="height:100px",align="center")
-                button(@click='ask_zero_z_msg = true') Z0
+                button(@click="showMoveToZeroDialog('z')") Z0
            tr
              td(style="height:100px",align="center")
                button(@click="jog_fn(-1,-1,0,0)")
@@ -133,20 +107,10 @@ script#control-view-template(type="text/x-template")
                td.state
                  .fa(:class=`'fa-' + ${axis}.icon`)
                  | {{#{axis}.state}}
-                td.tstate(:class=`${axis}.tklass`, :title=`${axis}.toolmsg`, @click=`show_toolpath_msg('${axis}')`)
+                td.tstate(:class=`${axis}.tklass`, :title=`${axis}.toolmsg`, @click=`showToolpathMessageDialog('${axis}')`)
                  .fa(:class=`'fa-' + ${axis}.ticon`)
                  | {{#{axis}.tstate}}
-                  
-                message(:show.sync=`toolpath_msg['${axis}']`)
-                    h3(slot="header") Tool path info {{'#{axis}' | upper}} axis
-                
-                    div(slot="body")
-                      p {{#{axis}.toolmsg}}
-                
-                    div(slot="footer")
-                      button.pure-button(@click=`toolpath_msg['${axis}'] = false`)
-                        | OK
-                
+
                th.actions
                  button.pure-button(:disabled="!can_set_axis",
                    title=`Set {{'${axis}' | upper}} axis position.`,
--- a/src/pug/templates/settings-view.pug
+++ b/src/pug/templates/settings-view.pug
@@ -1,2 +1,2 @@
 script#settings-view-template(type="text/x-template")
-  #settings
+  #settings
--- a/src/py/bbctrl/FileHandler.py
+++ b/src/py/bbctrl/FileHandler.py
@@ -5,7 +5,7 @@ import glob
 import tornado
 from tornado import gen
 from tornado.web import HTTPError
-
+from tornado.escape import url_unescape;

 def safe_remove(path):
    try:
@@ -20,7 +20,8 @@ class FileHandler(bbctrl.APIHandler):
        if self.request.method == 'PUT':
            self.request.connection.set_max_body_size(2 ** 30)

-            self.uploadFilename = self.request.path.split('/')[-1] \
+            filename = self.request.path.split('/')[-1]
+            self.uploadFilename = url_unescape(filename) \
                .replace('\\', '/') \
                .replace('#', '-') \
                .replace('?', '-')
--- a/src/py/bbctrl/Jog.py
+++ b/src/py/bbctrl/Jog.py
@@ -37,7 +37,7 @@ class Jog(inevent.JogHandler):

        config = {
            "Logitech Logitech RumblePad 2 USB": {
-                "deadband": 0.1,
+                "deadband": 0.15,
                "axes":     [ABS_X, ABS_Y, ABS_RZ, ABS_Z],
                "dir":      [1, -1, -1, 1],
                "arrows":   [ABS_HAT0X, ABS_HAT0Y],
@@ -46,7 +46,7 @@ class Jog(inevent.JogHandler):
            },

            "default": {
-                "deadband": 0.1,
+                "deadband": 0.15,
                "axes":     [ABS_X, ABS_Y, ABS_RY, ABS_RX],
                "dir":      [1, -1, -1, 1],
                "arrows":   [ABS_HAT0X, ABS_HAT0Y],
--- a/src/py/bbctrl/State.py
+++ b/src/py/bbctrl/State.py
@@ -4,9 +4,10 @@ import json
 import uuid
 import os
 import socket
-import bbctrl
 import iw_parse
-from tornado import gen
+import threading
+import subprocess
+import time
 from watchdog.observers import Observer
 from watchdog.events import FileSystemEventHandler

@@ -20,6 +21,7 @@ def call_get_output(cmd):


 class UploadChangeHandler(FileSystemEventHandler):
+
    def __init__(self, state):
        self.state = state

@@ -28,7 +30,9 @@ class UploadChangeHandler(FileSystemEventHandler):


 class State(object):
+
    def __init__(self, ctrl):
+        self.lock = threading.Lock()
        self.ctrl = ctrl
        self.log = ctrl.log.get('State')

@@ -72,39 +76,40 @@ class State(object):
        self.load_files()

        observer = Observer()
-        observer.schedule(UploadChangeHandler(
-            self), self.ctrl.get_upload(), recursive=True)
+        observer.schedule(UploadChangeHandler(self),
+                          self.ctrl.get_upload(),
+                          recursive=True)
        observer.start()

-        self._updateNetworkInfo()
+        threading.Thread(target=self._updateNetworkInfo, daemon=True).start()

-    @gen.coroutine
    def _updateNetworkInfo(self):
-        try:
-            ipAddresses = call_get_output(['hostname', '-I']).split()
-        except:
-            ipAddresses = ""
+        while True:
+            try:
+                ipAddresses = call_get_output(['hostname', '-I']).split()
+            except:
+                ipAddresses = ""

-        hostname = socket.gethostname()
+            hostname = socket.gethostname()

-        try:
-            wifi = json.loads(call_get_output(['config-wifi', '-j']))
-        except:
-            wifi = {'enabled': False}
+            try:
+                wifi = json.loads(call_get_output(['config-wifi', '-j']))
+            except:
+                wifi = {'enabled': False}

-        try:
-            lines = iw_parse.call_iwlist().decode("utf-8").split("\n")
-            wifi['networks'] = iw_parse.get_parsed_cells(lines)
-        except:
-            wifi['networks'] = []
+            try:
+                lines = iw_parse.call_iwlist().decode("utf-8").split("\n")
+                wifi['networks'] = iw_parse.get_parsed_cells(lines)
+            except:
+                wifi['networks'] = []

-        self.set('networkInfo', {
-            'ipAddresses': ipAddresses,
-            'hostname': hostname,
-            'wifi': wifi
-        })
+            self.set('networkInfo', {
+                'ipAddresses': ipAddresses,
+                'hostname': hostname,
+                'wifi': wifi
+            })

-        self.timeout = self.ctrl.ioloop.call_later(5, self._updateNetworkInfo)
+            time.sleep(5)

    def reset(self):
        # Unhome all motors
@@ -217,15 +222,20 @@ class State(object):
        self.callbacks[self.resolve(name)] = cb

    def set(self, name, value):
-        name = self.resolve(name)
+        self.lock.acquire()
+        try:
+            name = self.resolve(name)

-        if not name in self.vars or self.vars[name] != value:
-            self.vars[name] = value
-            self.changes[name] = value
+            if not name in self.vars or self.vars[name] != value:
+                self.vars[name] = value
+                self.changes[name] = value

-            # Trigger listener notify
-            if self.timeout is None:
-                self.timeout = self.ctrl.ioloop.call_later(0.25, self._notify)
+                # Trigger listener notify
+                if self.timeout is None:
+                    self.timeout = self.ctrl.ioloop.call_later(
+                        0.25, self._notify)
+        finally:
+            self.lock.release()

    def update(self, update):
        for name, value in update.items():
@@ -377,7 +387,7 @@ class State(object):
        softMax = int(self.get(axis + '_tm', 0))
        if softMax <= softMin + 1:
            return 'max-soft-limit must be at least 1mm greater ' \
-                'than min-soft-limit'
+             'than min-soft-limit'

    def motor_enabled(self, motor):
        return bool(int(self.vars.get('%dme' % motor, 0)))
--- a/src/py/inevent/JogHandler.py
+++ b/src/py/inevent/JogHandler.py
@@ -1,30 +1,3 @@
-################################################################################
-#                                                                              #
-#                This file is part of the Buildbotics firmware.                #
-#                                                                              #
-#                  Copyright (c) 2015 - 2018, Buildbotics LLC                  #
-#                             All rights reserved.                             #
-#                                                                              #
-#     This file ("the software") is free software: you can redistribute it     #
-#     and/or modify it under the terms of the GNU General Public License,      #
-#      version 2 as published by the Free Software Foundation. You should      #
-#      have received a copy of the GNU General Public License, version 2       #
-#     along with the software. If not, see <http://www.gnu.org/licenses/>.     #
-#                                                                              #
-#     The software is distributed in the hope that it will be useful, but      #
-#          WITHOUT ANY WARRANTY; without even the implied warranty of          #
-#      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU       #
-#               Lesser General Public License for more details.                #
-#                                                                              #
-#       You should have received a copy of the GNU Lesser General Public       #
-#                License along with the software.  If not, see                 #
-#                       <http://www.gnu.org/licenses/>.                        #
-#                                                                              #
-#                For information regarding this software email:                #
-#                  "Joseph Coffland" <joseph@buildbotics.com>                  #
-#                                                                              #
-################################################################################
-
 import logging

 from inevent.Constants import *
@@ -97,7 +70,31 @@ class JogHandler:

        # Process event
        if event.type == EV_ABS and event.code in config['axes']:
-            pass
+            old_axes = list(self.axes)
+            deadband = config['deadband']
+            axis = config['axes'].index(event.code)
+
+            self.axes[axis] = event.stream.state.abs[event.code]
+            self.axes[axis] *= config['dir'][axis]
+
+            value = abs(self.axes[axis])
+            if value >= deadband:
+                sign = -1 if self.axes[axis] < 0 else 1
+                delta = value - deadband
+                range = 1 - deadband
+
+                # Scale the new value to the available range (full range, minus the deadband)
+                self.axes[axis] = (delta * sign) / range
+            else:
+                self.axes[axis] = 0
+                
+            if self.horizontal_lock and axis not in [0, 3]:
+                self.axes[axis] = 0
+
+            if self.vertical_lock and axis not in [1, 2]:
+                self.axes[axis] = 0
+
+            if old_axes[axis] != self.axes[axis]: changed = True

        elif event.type == EV_KEY and event.code in config['speed']:
            old_speed = self.speed
@@ -115,22 +112,4 @@ class JogHandler:

        log.debug(event_to_string(event, state))

-        # Update axes
-        old_axes = list(self.axes)
-
-        for axis in range(4):
-            self.axes[axis] = event.stream.state.abs[config['axes'][axis]]
-            self.axes[axis] *= config['dir'][axis]
-
-            if abs(self.axes[axis]) < config['deadband']:
-                self.axes[axis] = 0
-
-            if self.horizontal_lock and axis not in [0, 3]:
-                self.axes[axis] = 0
-
-            if self.vertical_lock and axis not in [1, 2]:
-                self.axes[axis] = 0
-
-        if old_axes != self.axes: changed = True
-
        if changed: self.changed()
--- a/src/static/js/three.min.js
+++ b/src/static/js/three.min.js
@@ -172,7 +172,7 @@ c.isSpriteMaterial?(t.diffuse.value=c.color,t.opacity.value=c.opacity,t.rotation
 b.envMap,a.flipEnvMap.value=b.envMap&&b.envMap.isCubeTexture?-1:1,a.reflectivity.value=b.reflectivity,a.refractionRatio.value=b.refractionRatio,a.maxMipLevel.value=Ca.get(b.envMap).__maxMipLevel);b.lightMap&&(a.lightMap.value=b.lightMap,a.lightMapIntensity.value=b.lightMapIntensity);b.aoMap&&(a.aoMap.value=b.aoMap,a.aoMapIntensity.value=b.aoMapIntensity);if(b.map)var c=b.map;else b.specularMap?c=b.specularMap:b.displacementMap?c=b.displacementMap:b.normalMap?c=b.normalMap:b.bumpMap?c=b.bumpMap:b.roughnessMap?
 c=b.roughnessMap:b.metalnessMap?c=b.metalnessMap:b.alphaMap?c=b.alphaMap:b.emissiveMap&&(c=b.emissiveMap);void 0!==c&&(c.isWebGLRenderTarget&&(c=c.texture),!0===c.matrixAutoUpdate&&c.updateMatrix(),a.uvTransform.value.copy(c.matrix))}function r(a,b){a.specular.value=b.specular;a.shininess.value=Math.max(b.shininess,1E-4);b.emissiveMap&&(a.emissiveMap.value=b.emissiveMap);b.bumpMap&&(a.bumpMap.value=b.bumpMap,a.bumpScale.value=b.bumpScale,1===b.side&&(a.bumpScale.value*=-1));b.normalMap&&(a.normalMap.value=
 b.normalMap,a.normalScale.value.copy(b.normalScale),1===b.side&&a.normalScale.value.negate());b.displacementMap&&(a.displacementMap.value=b.displacementMap,a.displacementScale.value=b.displacementScale,a.displacementBias.value=b.displacementBias)}function v(a,b){a.roughness.value=b.roughness;a.metalness.value=b.metalness;b.roughnessMap&&(a.roughnessMap.value=b.roughnessMap);b.metalnessMap&&(a.metalnessMap.value=b.metalnessMap);b.emissiveMap&&(a.emissiveMap.value=b.emissiveMap);b.bumpMap&&(a.bumpMap.value=
-b.bumpMap,a.bumpScale.value=b.bumpScale,1===b.side&&(a.bumpScale.value*=-1));b.normalMap&&(a.normalMap.value=b.normalMap,a.normalScale.value.copy(b.normalScale),1===b.side&&a.normalScale.value.negate());b.displacementMap&&(a.displacementMap.value=b.displacementMap,a.displacementScale.value=b.displacementScale,a.displacementBias.value=b.displacementBias);b.envMap&&(a.envMapIntensity.value=b.envMapIntensity)}console.log("THREE.WebGLRenderer","96");a=a||{};var y=void 0!==a.canvas?a.canvas:document.createElementNS("http://www.w3.org/1999/xhtml",
+b.bumpMap,a.bumpScale.value=b.bumpScale,1===b.side&&(a.bumpScale.value*=-1));b.normalMap&&(a.normalMap.value=b.normalMap,a.normalScale.value.copy(b.normalScale),1===b.side&&a.normalScale.value.negate());b.displacementMap&&(a.displacementMap.value=b.displacementMap,a.displacementScale.value=b.displacementScale,a.displacementBias.value=b.displacementBias);b.envMap&&(a.envMapIntensity.value=b.envMapIntensity)}a=a||{};var y=void 0!==a.canvas?a.canvas:document.createElementNS("http://www.w3.org/1999/xhtml",
 "canvas"),x=void 0!==a.context?a.context:null,w=void 0!==a.alpha?a.alpha:!1,G=void 0!==a.depth?a.depth:!0,D=void 0!==a.stencil?a.stencil:!0,O=void 0!==a.antialias?a.antialias:!1,S=void 0!==a.premultipliedAlpha?a.premultipliedAlpha:!0,E=void 0!==a.preserveDrawingBuffer?a.preserveDrawingBuffer:!1,z=void 0!==a.powerPreference?a.powerPreference:"default",A=null,B=null;this.domElement=y;this.context=null;this.sortObjects=this.autoClearStencil=this.autoClearDepth=this.autoClearColor=this.autoClear=!0;this.clippingPlanes=
 [];this.localClippingEnabled=!1;this.gammaFactor=2;this.physicallyCorrectLights=this.gammaOutput=this.gammaInput=!1;this.toneMappingWhitePoint=this.toneMappingExposure=this.toneMapping=1;this.maxMorphTargets=8;this.maxMorphNormals=4;var P=this,I=!1,F=null,L=null,M=null,Q=-1;var H=b=null;var U=!1;var V=null,Z=null,T=new aa,zc=new aa,Y=null,fa=0,X=y.width,N=y.height,W=1,cb=new aa(0,0,X,N),ha=new aa(0,0,X,N),ra=!1,pa=new od,ba=new Nf,qd=!1,Xd=!1,yc=new J,db=new p;try{w={alpha:w,depth:G,stencil:D,antialias:O,
 premultipliedAlpha:S,preserveDrawingBuffer:E,powerPreference:z};y.addEventListener("webglcontextlost",d,!1);y.addEventListener("webglcontextrestored",e,!1);var C=x||y.getContext("webgl",w)||y.getContext("experimental-webgl",w);if(null===C){if(null!==y.getContext("webgl"))throw Error("Error creating WebGL context with your selected attributes.");throw Error("Error creating WebGL context.");}void 0===C.getShaderPrecisionFormat&&(C.getShaderPrecisionFormat=function(){return{rangeMin:1,rangeMax:1,precision:1}})}catch(Lg){console.error("THREE.WebGLRenderer: "+
--- a/src/static/js/vue.js
+++ b/src/static/js/vue.js
@@ -394,7 +394,7 @@
  var inBrowser = typeof window !== 'undefined' && Object.prototype.toString.call(window) !== '[object Object]';

  // detect devtools
-  var devtools = inBrowser && window.__VUE_DEVTOOLS_GLOBAL_HOOK__;
+  var devtools = false;

  // UA sniffing for working around browser-specific quirks
  var UA = inBrowser && window.navigator.userAgent.toLowerCase();
@@ -9677,14 +9677,5 @@ var template = Object.freeze({

  Vue.version = '1.0.17';

-  // devtools global hook
-  /* istanbul ignore next */
-  if (devtools) {
-    devtools.emit('init', Vue);
-  } else if ('development' !== 'production' && inBrowser && /Chrome\/\d+/.test(window.navigator.userAgent)) {
-    console.log('Download the Vue Devtools for a better development experience:\n' + 'https://github.com/vuejs/vue-devtools');
-  }
-
  return Vue;
-
 }));
--- a/src/svelte-components/src/components/DimensionInput.svelte
+++ b/src/svelte-components/src/components/DimensionInput.svelte
@@ -1,91 +0,0 @@
-<script lang="ts">
-  import TextField from "@smui/textfield";
-  import Select, { Option } from "@smui/select";
-  import type { MenuComponentDev } from "@smui/menu";
-  import Menu from "@smui/menu";
-  import List, { Item, Text } from "@smui/list";
-  import { onMount } from "svelte";
-  import { set_input_value } from "svelte/internal";
-
-  let menu: MenuComponentDev;
-
-  type Option = {
-    value: number;
-    label: string;
-    metric: boolean;
-  };
-
-  export let label: string;
-  export let value: number;
-  export let metric: boolean;
-  export let options: Option[];
-
-  let textValue = "";
-
-  $: if (textValue) {
-    value = Number.parseFloat(textValue) || null;
-  }
-
-  onMount(() => {
-    textValue = value?.toString() || "";
-  });
-
-  function onOptionSelected(option: Option) {
-    textValue = option.value.toString();
-    metric = option.metric;
-  }
-
-  function filterKeys(event) {
-    const input = event.target;
-
-    if (input.value.match(/[^0-9.]/)) {
-      input.value = input.value.replace(/[^0-9.]/g, "");
-    }
-
-    if (input.value.match(/\.[^.]*\./)) {
-      input.value = input.value.replace(/(\.[^.]*)\./g, "$1");
-    }
-  }
-</script>
-
-<div>
-  <div class="value-and-unit">
-    <TextField
-      {label}
-      on:keypress={filterKeys}
-      on:keyup={filterKeys}
-      bind:value={textValue}
-      on:click={() => menu.setOpen(true)}
-    />
-    <Select bind:value={metric}>
-      <Option value={true}>mm</Option>
-      <Option value={false}>in</Option>
-    </Select>
-  </div>
-  <Menu bind:this={menu} anchorCorner="BOTTOM_LEFT">
-    <List>
-      {#each options as option}
-        <Item on:SMUI:action={() => onOptionSelected(option)}>
-          <Text>{option.label}</Text>
-        </Item>
-      {/each}
-    </List>
-  </Menu>
-</div>
-
-<style lang="scss">
-  :global {
-    .value-and-unit {
-      display: flex;
-      column-gap: 10px;
-
-      .mdc-select {
-        max-width: 60px;
-      }
-
-      .smui-select--standard .mdc-select__dropdown-icon {
-        margin-left: 0;
-      }
-    }
-  }
-</style>
--- a/src/svelte-components/src/components/TextFieldWithOptions.svelte
+++ b/src/svelte-components/src/components/TextFieldWithOptions.svelte
@@ -0,0 +1,90 @@
+<script lang="ts">
+  import TextField from "@smui/textfield";
+  import Icon from "@smui/textfield/icon";
+  import HelperText from "@smui/textfield/helper-text";
+  import MenuSurface, {
+    type MenuSurfaceComponentDev,
+  } from "@smui/menu-surface";
+  import List, { Item, Text } from "@smui/list";
+  import { virtualKeyboardChange } from "$lib/CustomActions";
+  import { onDestroy } from "svelte";
+
+  let menuSurface: MenuSurfaceComponentDev;
+  let menuTimeout;
+  let optionSelected: boolean = false;
+
+  export let value: string;
+  export let options: string[][];
+  export let valid: boolean;
+  export let helperText: string;
+
+  onDestroy(() => {
+    if (menuTimeout) {
+      clearTimeout(menuTimeout);
+      menuTimeout = undefined;
+    }
+  });
+
+  function showMenu(show: boolean) {
+    if (show && optionSelected) {
+      return;
+    }
+
+    optionSelected = false;
+
+    if (menuTimeout) {
+      clearTimeout(menuTimeout);
+    }
+
+    // Use a timeout to "debounce" the display of the menu.
+    menuTimeout = setTimeout(() => menuSurface.setOpen(show), 100);
+  }
+</script>
+
+<div class="textfield-with-options">
+  <TextField
+    bind:value
+    on:focusin={() => showMenu(true)}
+    on:focusout={() => showMenu(false)}
+    use={[[virtualKeyboardChange, (newValue) => (value = newValue)]]}
+    {...$$restProps}
+  >
+    <div slot="trailingIcon">
+      {#if valid}
+        <Icon class="fa fa-check-circle-o" style="color: green;" />
+      {/if}
+    </div>
+    <HelperText persistent slot="helper">{helperText}</HelperText>
+  </TextField>
+
+  <MenuSurface bind:this={menuSurface} anchorCorner="BOTTOM_LEFT">
+    <div style="display: flex; flex-direction: row;">
+      {#each options as group}
+        <List>
+          {#each group as option}
+            <Item
+              on:SMUI:action={() => {
+                value = option;
+                showMenu(false);
+
+                optionSelected = true;
+              }}
+            >
+              <Text>{option}</Text>
+            </Item>
+          {/each}
+        </List>
+      {/each}
+    </div>
+  </MenuSurface>
+</div>
+
+<style lang="scss">
+  :global {
+    .textfield-with-options {
+      .mdc-deprecated-list-item {
+        height: 35px;
+      }
+    }
+  }
+</style>
--- a/src/svelte-components/src/dialogs/ChangeHostnameDialog.svelte
+++ b/src/svelte-components/src/dialogs/ChangeHostnameDialog.svelte
@@ -4,6 +4,7 @@
  import TextField from "@smui/textfield";
  import MessageDialog from "$dialogs/MessageDialog.svelte";
  import * as api from "$lib/api";
+  import { virtualKeyboardChange } from "$lib/CustomActions";

  // https://man7.org/linux/man-pages/man7/hostname.7.html
  //
@@ -57,7 +58,7 @@
  }
 </script>

-<MessageDialog open={rebooting} title="Rebooting">
+<MessageDialog open={rebooting} title="Rebooting" noaction>
  Rebooting to apply the hostname change...
 </MessageDialog>

@@ -72,15 +73,12 @@
  <Content id="change-hostname-dialog-content">
    <TextField
      bind:value={hostname}
+      use={[[virtualKeyboardChange, (newValue) => (hostname = newValue)]]}
      label="New Hostname"
      spellcheck="false"
      variant="filled"
      style="width: 100%;"
    />
-
-    <p>
-      <em>Clicking Confirm will reboot the controller to apply the change.</em>
-    </p>
  </Content>

  <Actions>
--- a/src/svelte-components/src/dialogs/DialogHost.svelte
+++ b/src/svelte-components/src/dialogs/DialogHost.svelte
@@ -7,6 +7,9 @@
  import SetTimeDialog from "./SetTimeDialog.svelte";
  import ManualHomeAxisDialog from "./ManualHomeAxisDialog.svelte";
  import SetAxisPositionDialog from "./SetAxisPositionDialog.svelte";
+  import MoveToZeroDialog from "./MoveToZeroDialog.svelte";
+  import ShutdownDialog from "./ShutdownDialog.svelte";
+  import MessageDialog from "./MessageDialog.svelte";

  const HomeMachineDialogProps = writable<HomeMachineDialogPropsType>();
  type HomeMachineDialogPropsType = {
@@ -49,6 +52,25 @@
    axis: string;
  };

+  const MoveToZeroDialogProps = writable<MoveToZeroDialogPropsType>();
+  type MoveToZeroDialogPropsType = {
+    open: boolean;
+    axes: "xy" | "z";
+  };
+
+  const ShutdownDialogProps = writable<ShutdownDialogPropsType>();
+  type ShutdownDialogPropsType = {
+    open: boolean;
+  };
+
+  const MessageDialogProps = writable<MessageDialogPropsType>();
+  type MessageDialogPropsType = {
+    open: boolean;
+    title: string;
+    message: string;
+    noaction: boolean;
+  };
+
  export function showDialog(
    dialog: "HomeMachine",
    props: Omit<HomeMachineDialogPropsType, "open">
@@ -84,6 +106,21 @@
    props: Omit<SetAxisPositionDialogPropsType, "open">
  );

+  export function showDialog(
+    dialog: "MoveToZero",
+    props: Omit<MoveToZeroDialogPropsType, "open">
+  );
+
+  export function showDialog(
+    dialog: "Shutdown",
+    props: Omit<ShutdownDialogPropsType, "open">
+  );
+
+  export function showDialog(
+    dialog: "Message",
+    props: Omit<MessageDialogPropsType, "open">
+  );
+
  export function showDialog(dialog: string, props: any) {
    switch (dialog) {
      case "HomeMachine":
@@ -114,12 +151,84 @@
        SetAxisPositionDialogProps.set({ ...props, open: true });
        break;

+      case "MoveToZero":
+        MoveToZeroDialogProps.set({ ...props, open: true });
+        break;
+
+      case "Shutdown":
+        ShutdownDialogProps.set({ ...props, open: true });
+        break;
+
+      case "Message":
+        MessageDialogProps.set({ ...props, open: true });
+        break;
+
      default:
-        throw new Error(`Unknown dialog '${dialog}`);
+        throw new Error(`Unknown dialog '${dialog}'`);
    }
  }
 </script>

+<script lang="ts">
+  import { onMount, onDestroy } from "svelte";
+
+  let bodyObserver: MutationObserver;
+  let keyboardObserver: MutationObserver;
+
+  onMount(() => {
+    bodyObserver = new MutationObserver(() => {
+      const virtualKeyboard = document.getElementById(
+        "virtualKeyboardChromeExtension"
+      );
+
+      if (virtualKeyboard) {
+        bodyObserver.disconnect();
+        bodyObserver = undefined;
+
+        const virtualKeyboardOverlay = document.getElementById(
+          "virtualKeyboardChromeExtensionOverlayScrollExtend"
+        );
+
+        keyboardObserver = new MutationObserver(() => {
+          const open = virtualKeyboard.getAttribute("_state") === "open";
+          const keyboardHeight = Number.parseFloat(
+            virtualKeyboardOverlay.style.height
+          );
+
+          const dialogContainers = document.querySelectorAll<HTMLDivElement>(
+            ".mdc-dialog .mdc-dialog__container"
+          );
+
+          for (let dialogContainer of dialogContainers) {
+            dialogContainer.style["marginBottom"] = open
+              ? `${keyboardHeight}px`
+              : "";
+          }
+        });
+
+        keyboardObserver.observe(virtualKeyboard, { attributes: true });
+      }
+    });
+
+    bodyObserver.observe(document.querySelector("body"), {
+      subtree: false,
+      childList: true,
+    });
+  });
+
+  onDestroy(() => {
+    if (bodyObserver) {
+      bodyObserver.disconnect();
+      bodyObserver = undefined;
+    }
+
+    if (keyboardObserver) {
+      keyboardObserver.disconnect();
+      keyboardObserver = undefined;
+    }
+  });
+</script>
+
 <HomeMachineDialog {...$HomeMachineDialogProps} />
 <ProbeDialog {...$ProbeDialogProps} />
 <ScreenRotationDialog {...$ScreenRotationDialogProps} />
@@ -127,3 +236,6 @@
 <SetTimeDialog {...$SetTimeDialogProps} />
 <ManualHomeAxisDialog {...$ManualHomeAxisDialogProps} />
 <SetAxisPositionDialog {...$SetAxisPositionDialogProps} />
+<MoveToZeroDialog {...$MoveToZeroDialogProps} />
+<ShutdownDialog {...$ShutdownDialogProps} />
+<MessageDialog {...$MessageDialogProps} />
--- a/src/svelte-components/src/dialogs/ManualHomeAxisDialog.svelte
+++ b/src/svelte-components/src/dialogs/ManualHomeAxisDialog.svelte
@@ -3,6 +3,7 @@
  import TextField from "@smui/textfield";
  import Button, { Label } from "@smui/button";
  import { ControllerMethods } from "$lib/RegisterControllerMethods";
+  import { virtualKeyboardChange } from "$lib/CustomActions";

  export let open: boolean;
  export let axis = "";
@@ -30,6 +31,7 @@
      label="Absolute"
      type="number"
      bind:value
+      use={[[virtualKeyboardChange, (newValue) => (value = newValue)]]}
      variant="filled"
      style="width: 100%;"
    />
--- a/src/svelte-components/src/dialogs/MessageDialog.svelte
+++ b/src/svelte-components/src/dialogs/MessageDialog.svelte
@@ -1,8 +1,11 @@
 <script lang="ts">
-  import Dialog, { Title, Content } from "@smui/dialog";
+  import Dialog, { Title, Content, Actions } from "@smui/dialog";
+  import Button, { Label } from "@smui/button";

  export let open: boolean;
-  export let title: string;
+  export let title = "";
+  export let message = "";
+  export let noaction = false;
 </script>

 <Dialog
@@ -13,7 +16,16 @@
  aria-describedby="message-dialog-content"
 >
  <Title id="message-dialog-title">{title}</Title>
+
  <Content id="message-dialog-content">
-    <slot />
+    <slot>{message}</slot>
  </Content>
+
+  {#if !noaction}
+    <Actions>
+      <Button defaultAction>
+        <Label>OK</Label>
+      </Button>
+    </Actions>
+  {/if}
 </Dialog>
--- a/src/svelte-components/src/dialogs/MoveToZeroDialog.svelte
+++ b/src/svelte-components/src/dialogs/MoveToZeroDialog.svelte
@@ -0,0 +1,33 @@
+<script lang="ts">
+    import Dialog, { Title, Actions, InitialFocus } from "@smui/dialog";
+    import Button, { Label } from "@smui/button";
+    import { ControllerMethods } from "$lib/RegisterControllerMethods";
+
+    export let open;
+    export let axes: "xy" | "z";
+</script>
+
+<Dialog
+    bind:open
+    scrimClickAction=""
+    aria-labelledby="move-to-zero-dialog-title"
+    aria-describedby="move-to-zero-dialog-content"
+>
+    <Title id="move-to-zero-dialog-title">
+        Move to {(axes || "").toUpperCase()} origin?
+    </Title>
+
+    <Actions>
+        <Button>
+            <Label>Cancel</Label>
+        </Button>
+
+        <Button
+            defaultAction
+            use={[InitialFocus]}
+            on:click={() => ControllerMethods.gotoZero(axes)}
+        >
+            <Label>Confirm</Label>
+        </Button>
+    </Actions>
+</Dialog>
--- a/src/svelte-components/src/dialogs/ProbeDialog.svelte
+++ b/src/svelte-components/src/dialogs/ProbeDialog.svelte
@@ -1,5 +1,4 @@
 <script type="ts">
-  import DimensionInput from "$components/DimensionInput.svelte";
  import Dialog, { Title, Content, Actions } from "@smui/dialog";
  import Button, { Label } from "@smui/button";
  import { waitForChange } from "$lib/StoreHelpers";
@@ -13,14 +12,23 @@
    probingFailed,
    probingStarted,
  } from "$lib/ControllerState";
+  import { numberWithUnit } from "$lib/RegexHelpers";
+  import TextFieldWithOptions from "$components/TextFieldWithOptions.svelte";

-  type Step =
-    | "None"
-    | "CheckProbe"
-    | "BitDimensions"
-    | "PlaceProbeBlock"
-    | "Probe"
-    | "Done";
+  const ValidSteps = [
+    "None",
+    "CheckProbe",
+    "BitDimensions",
+    "PlaceProbeBlock",
+    "Probe",
+    "Done",
+  ] as const;
+
+  type Step = typeof ValidSteps[number];
+
+  function isStep(str): str is Step {
+    return ValidSteps.includes(str);
+  }

  const stepLabels: Record<Step, string> = {
    None: "",
@@ -34,21 +42,16 @@
  const cancelled = writable(false);
  const userAcknowledged = writable(false);

-  const cutterDiameterOptions = [
-    { value: 0.5, label: '1/2 "', metric: false },
-    { value: 0.25, label: '1/4 "', metric: false },
-    { value: 0.125, label: '1/8 "', metric: false },
-    { value: 10, label: "10 mm", metric: true },
-    { value: 6, label: "6 mm", metric: true },
-    { value: 3, label: "10 mm", metric: true },
-  ];
+  const imperialBits = ["1/2 in", "1/4 in", "1/8 in", "1/16", "1/32"];
+  const metricBits = ["10 mm", "8 mm", "6 mm", "3 mm"];

  export let open;
  export let probeType: "xyz" | "z";
  let currentStep: Step = "None";
-  let cutterDiameter: number;
+  let cutterDiameterString: string = "";
+  let cutterDiameterMetric: number;
  let showCancelButton = true;
-  let steps: Array<Step> = [];
+  let steps: Step[] = [];
  let nextButton = {
    label: "Next",
    disabled: false,
@@ -56,10 +59,12 @@
  };

  $: metric = $Config.settings?.units === "METRIC";
+  $: cutterDiameterMetric = numberWithUnit
+    .parse(cutterDiameterString)
+    ?.toMetric();

  $: if (open) {
-    cutterDiameter =
-      Number.parseFloat(localStorage.getItem("cutterDiameter")) || null;
+    cutterDiameterString = localStorage.getItem("cutterDiameter") ?? "";

    // Svelte appears not to like it when you invoke
    // an async function from a reactive statement, so we
@@ -67,32 +72,31 @@
    requestAnimationFrame(begin);
  }

-  $: if (cutterDiameter) {
+  $: if (cutterDiameterString) {
    updateButtons();
  }

-  function removeSkippedSteps(steps: Step[]): Step[] {
-    return steps.filter((x) => x);
-  }
-
  async function begin() {
    try {
      $probingActive = true;
      assertValidProbeType();

-      steps = removeSkippedSteps([
+      steps = [
        "CheckProbe",
        probeType === "xyz" ? "BitDimensions" : undefined,
        "PlaceProbeBlock",
        "Probe",
        "Done",
-      ]);
+      ].filter<Step>(isStep);

      await stepCompleted("CheckProbe", probeContacted);

      if (probeType === "xyz") {
        await stepCompleted("BitDimensions", userAcknowledged);
-        localStorage.setItem("cutterDiameter", cutterDiameter.toString());
+        localStorage.setItem(
+          "cutterDiameter",
+          numberWithUnit.normalize(cutterDiameterString)
+        );
      }

      await stepCompleted("PlaceProbeBlock", userAcknowledged);
@@ -100,7 +104,7 @@
      await stepCompleted("Done", userAcknowledged);

      if (probeType === "xyz") {
-        ControllerMethods.goto_zero(1, 1, 0, 0);
+        ControllerMethods.gotoZero("xy");
      }
    } catch (err) {
      if (err.message !== "cancelled") {
@@ -177,11 +181,7 @@
        break;

      case "BitDimensions":
-        nextButton.disabled = !(
-          cutterDiameter !== null &&
-          cutterDiameter !== 0 &&
-          isFinite(cutterDiameter)
-        );
+        nextButton.disabled = !isFinite(cutterDiameterMetric);
        break;

      case "Done":
@@ -204,8 +204,8 @@

    const cutterLength = 12.7;
    const zLift = 1;
-    const xOffset = probeBlockWidth + cutterDiameter / 2.0;
-    const yOffset = probeBlockLength + cutterDiameter / 2.0;
+    const xOffset = probeBlockWidth + cutterDiameterMetric / 2.0;
+    const yOffset = probeBlockLength + cutterDiameterMetric / 2.0;
    const zOffset = probeBlockHeight;

    if (probeType === "z") {
@@ -269,11 +269,11 @@
  scrimClickAction=""
  aria-labelledby="probe-dialog-title"
  aria-describedby="probe-dialog-content"
-  surface$style="width: 700px; height: 400px; max-width: calc(100vw - 32px); overflow: visible;"
+  surface$style="width: 700px; max-width: calc(100vw - 32px);"
 >
  <Title id="probe-dialog-title">Probing {probeType?.toUpperCase()}</Title>

-  <Content id="probe-dialog-content" style="overflow: visible;">
+  <Content id="probe-dialog-content">
    <div class="steps">
      <p><b>Step {steps.indexOf(currentStep) + 1} of {steps.length}</b></p>
      <ul>
@@ -282,48 +282,49 @@
        {/each}
      </ul>
    </div>
-    <div class="current-step">
-      <p>
-        {#if currentStep === "CheckProbe"}
-          Attach the probe magnet to the collet, then touch the probe block to
-          the bit.
-        {:else if currentStep === "BitDimensions"}
-          <DimensionInput
-            label="Cutter diameter"
-            options={cutterDiameterOptions}
-            bind:value={cutterDiameter}
-            {metric}
-          />
-        {:else if currentStep === "PlaceProbeBlock"}
+    <p>
+      {#if currentStep === "CheckProbe"}
+        Attach the probe magnet to the collet, then touch the probe block to the
+        bit.
+      {:else if currentStep === "BitDimensions"}
+        <TextFieldWithOptions
+          label="Cutter diameter"
+          variant="filled"
+          spellcheck="false"
+          style="width: 100%;"
+          bind:value={cutterDiameterString}
+          options={[imperialBits, metricBits]}
+          valid={isFinite(cutterDiameterMetric)}
+          helperText={`Examples: 1/2", 10 mm, 0.25 in`}
+        />
+      {:else if currentStep === "PlaceProbeBlock"}
+        {#if probeType === "xyz"}
+          Place the probe block face up, on the lower-left corner of your
+          workpiece.
+        {:else}
+          Place the probe block face down, with the bit above the recess.
+        {/if}
+      {:else if currentStep === "Probe"}
+        Probing in progress...
+      {:else if currentStep === "Done"}
+        {#if $probingFailed}
+          Could not find the probe block during probing!
+
+          <p>
+            Make sure the tip of the bit is less than {metric ? "25mm" : "1 in"}
+            above the probe block, and try again.
+          </p>
+        {:else}
+          Don't forget to put away the probe!
+
          {#if probeType === "xyz"}
-            Place the probe block face up, on the lower-left corner of your
-            workpiece.
-          {:else}
-            Place the probe block face down, with the bit above the recess.
-          {/if}
-        {:else if currentStep === "Probe"}
-          Probing in progress...
-        {:else if currentStep === "Done"}
-          {#if $probingFailed}
-            Could not find the probe block during probing!
+            <p>The machine will now move to the XY origin.</p>

-            <p>
-              Make sure the tip of the bit is less than {metric
-                ? "25mm"
-                : "1 in"} above the probe block, and try again.
-            </p>
-          {:else}
-            Don't forget to put away the probe!
-
-            {#if probeType === "xyz"}
-              <p>The machine will now move to the XY origin.</p>
-
-              <p>Watch your hands!</p>
-            {/if}
+            <p>Watch your hands!</p>
          {/if}
        {/if}
-      </p>
-    </div>
+      {/if}
+    </p>
  </Content>

  <Actions>
@@ -358,12 +359,9 @@
      flex-direction: row;
    }

-    .current-step {
-      flex-grow: 1;
-
-      .mdc-text-field {
-        margin-bottom: 20px;
-      }
+    .bit-dimensions {
+      display: flex;
+      flex-direction: column;
    }

    .steps {
--- a/src/svelte-components/src/dialogs/ScreenRotationDialog.svelte
+++ b/src/svelte-components/src/dialogs/ScreenRotationDialog.svelte
@@ -29,7 +29,7 @@
  }
 </script>

-<MessageDialog open={rebooting} title="Rebooting">
+<MessageDialog open={rebooting} title="Rebooting" noaction>
  Rebooting to apply the new screen rotation...
 </MessageDialog>

--- a/src/svelte-components/src/dialogs/SetAxisPositionDialog.svelte
+++ b/src/svelte-components/src/dialogs/SetAxisPositionDialog.svelte
@@ -3,6 +3,7 @@
  import TextField from "@smui/textfield";
  import Button, { Label } from "@smui/button";
  import { ControllerMethods } from "$lib/RegisterControllerMethods";
+  import { virtualKeyboardChange } from "$lib/CustomActions";

  export let open: boolean;
  export let axis = "";
@@ -42,6 +43,7 @@
      label="Position"
      type="number"
      bind:value
+      use={[[virtualKeyboardChange, (newValue) => (value = newValue)]]}
      spellcheck="false"
      variant="filled"
      style="width: 100%;"
--- a/src/svelte-components/src/dialogs/SetTimeDialog.svelte
+++ b/src/svelte-components/src/dialogs/SetTimeDialog.svelte
@@ -5,6 +5,7 @@
  import CircularProgress from "@smui/circular-progress";
  import VirtualList from "svelte-tiny-virtual-list";
  import * as api from "$lib/api";
+  import { virtualKeyboardChange } from "$lib/CustomActions";

  const itemHeight = 35;

@@ -153,6 +154,7 @@
        <Label>Date & Time</Label>
        <TextField
          bind:value
+          use={[[virtualKeyboardChange, (newValue) => (value = newValue)]]}
          label="Time"
          type="datetime-local"
          variant="filled"
--- a/src/svelte-components/src/dialogs/ShutdownDialog.svelte
+++ b/src/svelte-components/src/dialogs/ShutdownDialog.svelte
@@ -0,0 +1,38 @@
+<script lang="ts">
+    import Dialog, { Title, Actions, InitialFocus } from "@smui/dialog";
+    import Button, { Label } from "@smui/button";
+    import * as Api from "$lib/api"
+
+    export let open;
+
+    function shutdown() {
+        Api.PUT("shutdown");
+    }
+
+    function restart() {
+        Api.PUT("reboot");
+    }
+</script>
+
+<Dialog
+    bind:open
+    scrimClickAction=""
+    aria-labelledby="shutdown-dialog-title"
+    aria-describedby="shutdown-dialog-content"
+>
+    <Title id="shutdown-dialog-title">Confirm Shutdown?</Title>
+
+    <Actions>
+        <Button>
+            <Label>Cancel</Label>
+        </Button>
+
+        <Button on:click={shutdown}>
+            <Label>Shutdown</Label>
+        </Button>
+
+        <Button use={[InitialFocus]} on:click={restart}>
+            <Label>Restart</Label>
+        </Button>
+    </Actions>
+</Dialog>
--- a/src/svelte-components/src/dialogs/WifiConnectionDialog.svelte
+++ b/src/svelte-components/src/dialogs/WifiConnectionDialog.svelte
@@ -7,6 +7,7 @@
  import MessageDialog from "$dialogs/MessageDialog.svelte";
  import type { WifiNetwork } from "$lib/NetworkInfo";
  import * as api from "$lib/api";
+  import { virtualKeyboardChange } from "$lib/CustomActions";

  export let open = false;
  export let network: WifiNetwork;
@@ -38,7 +39,7 @@
  }
 </script>

-<MessageDialog open={rebooting} title="Rebooting">
+<MessageDialog open={rebooting} title="Rebooting" noaction>
  Rebooting to apply Wifi changes...
 </MessageDialog>

@@ -48,14 +49,16 @@
  aria-labelledby="wifi-connection-dialog-title"
  aria-describedby="wifi-connection-dialog-content"
 >
-  <Title id="wifi-connection-dialog-title"
-    >{connectToOrDisconnectFrom} {network.Name}</Title
-  >
+  <Title id="wifi-connection-dialog-title">
+    {connectToOrDisconnectFrom}
+    {network.Name}
+  </Title>

  <Content id="wifi-connection-dialog-content">
    {#if needPassword}
      <TextField
        bind:value={password}
+        use={[[virtualKeyboardChange, (newValue) => (password = newValue)]]}
        label="Password"
        spellcheck="false"
        variant="filled"
--- a/src/svelte-components/src/lib/CustomActions.ts
+++ b/src/svelte-components/src/lib/CustomActions.ts
@@ -0,0 +1,9 @@
+export function virtualKeyboardChange(node: HTMLElement, cb: (value: any) => void) {
+    const input = node.querySelector("input");
+    if (!input) {
+        console.error("Could not find the textfield's <input>:", node);
+        throw new Error("Could not find the textfield's <input>");
+    }
+
+    input.addEventListener("keyup", () => cb(input.value));
+}
--- a/src/svelte-components/src/lib/RegexHelpers.ts
+++ b/src/svelte-components/src/lib/RegexHelpers.ts
@@ -0,0 +1,90 @@
+type NumberWithUnit = {
+    value: number,
+    metric: boolean,
+    toMetric: () => number;
+}
+
+function numberWithUnitToMetric() {
+    return this.metric ? this.value : this.value * 25.4;
+}
+
+function isPojo(value) {
+    if (value === null || typeof value !== "object") {
+        return false;
+    }
+
+    return Object.getPrototypeOf(value) === Object.prototype;
+}
+
+const fractions = [
+    { value: 0.75, formatted: "3/4" },
+    { value: 0.625, formatted: "5/8" },
+    { value: 0.5, formatted: "1/2" },
+    { value: 0.375, formatted: "3/8" },
+    { value: 0.25, formatted: "1/4" },
+    { value: 0.1875, formatted: "3/16" },
+    { value: 0.125, formatted: "1/8" },
+    { value: 0.09375, formatted: "3/32" },
+    { value: 0.0625, formatted: "1/16" },
+    { value: 0.03125, formatted: "1/32" },
+];
+
+function formatFraction(value: number) {
+    const fraction = fractions.find(f => f.value === value);
+
+    return fraction ? fraction.formatted : value.toString();
+}
+
+export const numberWithUnit = {
+    regex: /^\s*(?:(\d+)\s*\/\s*(\d+)|(\d*\.\d+)|(\d+(?:\.\d+)?))\s*("|in|inch|inches|mm|millimeters)\s*$/,
+    parse: function (str: string) {
+        let [, numerator, denominator, decimal1, decimal2, unit]: any = str?.match(numberWithUnit.regex) ?? [];
+
+        numerator = Number.parseFloat(numerator)
+        denominator = Number.parseFloat(denominator)
+        decimal1 = Number.parseFloat(decimal1)
+        decimal2 = Number.parseFloat(decimal2)
+
+        const metric = (unit ?? "").includes("m");
+
+        switch (true) {
+            case isFinite(numerator) && isFinite(denominator):
+                return {
+                    value: numerator / denominator,
+                    metric,
+                    toMetric: numberWithUnitToMetric
+                };
+
+            case isFinite(decimal1) && decimal1 !== 0:
+                return {
+                    value: decimal1,
+                    metric,
+                    toMetric: numberWithUnitToMetric
+                };
+
+            case isFinite(decimal2) && decimal2 !== 0:
+                return {
+                    value: decimal2,
+                    metric,
+                    toMetric: numberWithUnitToMetric
+                };
+
+            default:
+                return undefined;
+        }
+    },
+    normalize: function (str) {
+        const value = this.parse(str);
+
+        switch (true) {
+            case !isPojo(value):
+                return "";
+
+            case value.metric:
+                return `${value.value} mm`
+
+            default:
+                return `${formatFraction(value.value)} in`
+        }
+    }
+}
--- a/src/svelte-components/src/lib/RegisterControllerMethods.ts
+++ b/src/svelte-components/src/lib/RegisterControllerMethods.ts
@@ -1,7 +1,6 @@
-type ControllerMethods = {
+interface RegisterableControllerMethods {
    stop: () => void;
    send: (gcode: string) => void;
-    goto_zero: (x: number, y: number, z: number, a: number) => void;
    dispatch: (event: string, ...args: any[]) => void;
    isAxisHomed: (axis: string) => boolean;
    unhome: (axis: string) => void;
@@ -9,11 +8,37 @@ type ControllerMethods = {
    set_home: (axis: string, value: number) => void;
 }

+interface ControllerMethods extends RegisterableControllerMethods {
+    gotoZero: (axes: "xy" | "z") => void;
+}
+
 export let ControllerMethods: ControllerMethods;

-export function registerControllerMethods(methods: Partial<ControllerMethods>) {
+export function registerControllerMethods(methods: Partial<RegisterableControllerMethods>) {
    ControllerMethods = {
        ...ControllerMethods,
-        ...methods
+        ...methods,
+        gotoZero
    };
 }
+
+function gotoZero(axes: "xy" | "z") {
+    let axesClause = "";
+    switch (axes.toLowerCase()) {
+        case "xy":
+            axesClause = "X0Y0";
+            break;
+
+        case "z":
+            axesClause = "Z0";
+            break;
+
+        default:
+            throw new Error(`Invalid axes: ${axes}`);
+    }
+
+    ControllerMethods.send(`
+        G90
+        G0 ${axesClause}
+    `);
+}
--- a/src/svelte-components/src/theme/_smui-theme.scss
+++ b/src/svelte-components/src/theme/_smui-theme.scss
@@ -20,6 +20,10 @@
 :root {
  --mdc-theme-text-primary-on-background: #777;

+  .mdc-dialog .mdc-dialog__container {
+    transition: margin-bottom 0.5s;
+  }
+
  .mdc-dialog .mdc-dialog__content {
    color: #777;
  }
--- a/src/svelte-components/vite.config.ts
+++ b/src/svelte-components/vite.config.ts
@@ -15,7 +15,6 @@ export default defineConfig({
    }
  },
  build: {
-    minify: false,
    target: "chrome60",
    lib: {
      entry: resolve(__dirname, 'src/main.ts'),