From 748f092795e246d21d3b13941a8db77a7ea8581a Mon Sep 17 00:00:00 2001
From: muehe <muehe@muehe.org>
Date: Fri, 1 May 2026 16:18:23 +0200
Subject: [PATCH] control: properly wait for gantry homing before W

api.put('home') returns immediately when queued, not when homing
finishes, so the previous polling loop saw cycle=='idle' (homing
hadn't started yet) and fired W right away. Now we first wait up
to 5s for the cycle to *leave* idle, then up to 2min for it to
return, before kicking off the auxcnc W home.
---
 src/js/control-view.js | 43 ++++++++++++++++++++++++++++++++----------
 1 file changed, 33 insertions(+), 10 deletions(-)

diff --git a/src/js/control-view.js b/src/js/control-view.js
index c9b53b8..a418ba6 100644
--- a/src/js/control-view.js
+++ b/src/js/control-view.js
@@ -258,9 +258,12 @@ module.exports = {
     // Home every enabled axis (legacy Onefinity "Home All"). Sequence:
     //   1. Z, X, Y (and A/B/C if enabled)  via /api/home on the AVR
     //   2. W axis                          via /api/aux/home on the ESP
-    // The two cycles are dispatched serially: we wait for the main
-    // homing cycle to drop back to idle before kicking off W so the
-    // gantry never moves while the W spindle is also homing.
+    // /api/home returns as soon as the request is queued, not when
+    // homing completes, so we have to watch state.cycle:
+    //   - first wait for it to *leave* 'idle' (cycle began),
+    //   - then wait for it to come *back* to 'idle' (cycle ended).
+    // Only then do we fire the W home, so the gantry and the auxcnc
+    // ESP never move at the same time.
     home_all: async function () {
       this.ask_home = false;
       try {
@@ -270,14 +273,34 @@ module.exports = {
         return;
       }
       if (!this.w || !this.w.enabled) return;
-      // Poll state.cycle until the main homing cycle finishes. The
-      // homing cycle leaves state.cycle as 'homing' until done, then
-      // returns to 'idle'.
-      const start = Date.now();
-      while (Date.now() - start < 120000) {
-        if (this.state && this.state.cycle == "idle") break;
-        await new Promise(r => setTimeout(r, 200));
+
+      const wait = (ms) => new Promise(r => setTimeout(r, ms));
+      const cycleNow = () => (this.state && this.state.cycle) || "idle";
+
+      // Phase 1: wait up to 5s for the homing cycle to actually start.
+      // If the request was rejected upstream (e.g. estopped) cycle
+      // never leaves idle and we bail rather than home W in isolation.
+      const startedAt = Date.now();
+      while (Date.now() - startedAt < 5000) {
+        if (cycleNow() != "idle") break;
+        await wait(100);
       }
+      if (cycleNow() == "idle") {
+        console.warn("home_all: main homing cycle never started; skipping W");
+        return;
+      }
+
+      // Phase 2: wait up to 2 minutes for the gantry to finish.
+      const settledAt = Date.now();
+      while (Date.now() - settledAt < 120000) {
+        if (cycleNow() == "idle") break;
+        await wait(200);
+      }
+      if (cycleNow() != "idle") {
+        console.warn("home_all: gantry homing did not complete in time");
+        return;
+      }
+
       api.put("aux/home").catch(function (err) {
         console.error("W home failed:", err);
       });