Brings in:
- W axis (auxcnc) integration via ESP32 over /dev/ttyUSB0, including
the W axis settings panel, DRO row, jog row aligned with X/Y/Z, and
collapsed home-only W controls.
- README + W axis docs covering macOS build/flash and the new UI.
- Build & flash docs for the Pi firmware (BUILD.md), including the
cached gplan.so build via Docker (~30 min first time, 3 sec after).
- Hooks v2: external triggers during G-code execution that block
unpause until the hook completes.
- V09 full UX redesign mock + implementation plan + mock variations.
- V09 implementation: new app shell with underline-ribbon tabs,
Program / Console / Settings shells, V09 jog/macro palette, slim
status pill replacing the old chip soup, and an octagonal STOP that
wraps the existing <estop> SVG.
- Vue.config.async = false to fix sticky :class bindings under hash
navigation.
# Conflicts:
# .gitignore
Implements the V09 mock end-to-end (per plans/2026-04-30_ux_redesign.md):
Top shell
- index.pug rebuilt around .app-shell with a slim 96px header.
- Underline-ribbon tab bar (Control / Program / Console / Settings)
replaces the old side menu and the inline #tab1..#tab4 system.
- Single 'All systems' pill collapses the legacy WiFi/Camera/Rotary/
IP/Version chip-soup into one popover (sys-popover) anchored to the
header; rotary toggle, camera feed and shutdown live there.
- Octagonal 88x88px STOP button wraps the existing <estop> SVG; STATE
pill with pulse-dot honors prefers-reduced-motion.
Routing
- app.js parse_hash maps every existing hash:
#control -> Control
#program / #program:auto -> Program
#console / #console:mdi|messages|indicators -> Console
#settings, #admin-general,
#admin-network, #motor:N, #tool, #io, #macros, #help,
#cheat-sheet -> Settings (rail picks inner)
- All deep links are preserved.
Control panel (control-view.pug + .js)
- 720px jog grid + 4-axis DRO + 4 KPI cards + 8-macro row.
- Jog tiles use V09 flat slate (#3f4b63) with diagonal helpers and
a ghost row for XY/Z origin shortcuts.
- Per-axis Settings/Set-zero/Home buttons grow to 72x72px.
- Status strip cards: State / Velocity-Feed / Spindle / Job. Tapping
the Spindle card opens the new override-drawer with feed + spindle
range inputs (resolved decision in plans/...).
- Macro row binds to state.macros.slice(0, 8); >8 lives in Settings.
- Drops the old <table> control-buttons, .info, .override and .tabs
blocks entirely.
Program panel (program-view.pug + .js)
- Extracts the Auto bar, file selectors, gcode-viewer and path-viewer
out of control-view.
- Action buttons (RUN/STOP/UPLOAD-FOLDER/UPLOAD-FILE/DOWNLOAD-FILE/
DELETE) at 84px with explicit color affordances.
- Reuses control-view's existing methods via the new program-mixin.
Console panel (console-view.pug + .js)
- Three sub-tabs: MDI / Messages / Indicators. Sub-tab persists in the
URL fragment (#console:messages etc.).
- MDI: terminal-style prompt + SEND, plus an 8-wide on-screen keypad
(G0/G1/G2/G3/G28/G92/M3/M5 + axis letters + CLEAR/SEND).
- Messages: pulls from .messages_log (mirrored from
state.messages); badge in the header tab counts unread.
- Indicators: mounts the existing <indicators> component.
Settings shell (settings-shell.pug + .js)
- New left rail navigator listing Display, Network, General/Firmware,
Spindle&Tool, IO, Motors 0..3, Macros, Cheat Sheet, Help.
- Inner area mounts the existing settings family templates via an
explicit v-if cascade (avoiding a Vue 1 :is reactivity quirk).
- Shutdown / Save buttons relocated from the dropped side menu.
JS plumbing
- main.js: Vue.config.async = false to keep dependent watchers in
sync when reactive data is mutated outside Vue's normal event loop
(e.g. from a hashchange listener).
- program-mixin.js extracted so control-view.js no longer carries the
file/macro/gcode methods that are now Program-only.
- control-view.js trimmed to jog/DRO/probe/home logic.
- console-view.js / settings-shell-view.js use a hashchange listener
+ local data props because Vue 1 cannot reliably observe
.sub_tab from a child component.
Stylus rewrite
- Removes the old .header (140px), .nav-header, .brand subtree, #menu,
#main, .control-view block, .info, .override, .toolbar, .macros-div,
.macros-button, the .tabs > input radio-tab system and the .control-
view #control media-query overrides. None of these are referenced
any more.
- Adds V09 tokens (jog/macro palette + accent + line/card colors) at
the top, the new shell rules, .ktab / .sys-btn / .state-badge /
.estop chrome, the .control-page grid, status strip + override
drawer, .program-page action / file bars and program body,
.console-page MDI keypad / messages / indicators panes, and the
.settings-shell rail.
- Adds a 1820px breakpoint that stacks the right column under the jog
on smaller portable monitors.
Hard cut: no config.ui.layout flag, the old shell is removed in this
single commit. side-menu.css is no longer included from index.pug.
Tested locally with agent-browser (1920x1080) on every top tab and
every settings sub-route; routing, active tab highlighting and inner
view selection all work without a controller connection.
Replaces the 'Open questions' section with 'Resolved decisions' and
propagates the four decisions into the relevant phases:
- Hard cut: no config.ui.layout flag. Phase 6 now includes the
removal of .nav-header, side-menu.css and the #tab1..#tab4 block
with a git grep verification step.
- Macros: Control row binds to config.macros.slice(0, 8); Settings
-> Macros owns the master list and reordering.
- Pin to Control: deferred, status strip stays at State / V&F /
Spindle / Job for this iteration.
- Feed/spindle override: bottom drawer triggered by the Spindle
KPI tile, reusing override_feed / override_speed.
Goals (s.1) and Phase 6 testing checklist updated to match.
- docs/mocks/v09_full_ux.html — high-fidelity 1920x1080 mock
showing the proposed Control / Program / Console / Settings tab
layout with the V09 flat slate jog/macro palette and an underline
ribbon header tab style.
- plans/2026-04-30_ux_redesign.md — phased implementation plan to
port index.pug + control-view.pug to the new shell while keeping
hash routing and existing settings/admin views intact.
- README.md (was a one-liner): describe the layout, the macOS quick
path including the esbuild platform-pin gotcha, and how to flash
with curl or 'make update'.
- docs/AUX_W_AXIS.md: document the new Control jog row layout, the
Settings 'W Axis (auxcnc)' section, and list the additional UI
files touched by this fork.
Expose the aux.json fields under a new 'W Axis (auxcnc)' section in
Settings: serial port/baud, mechanics (steps/mm, dir sign, soft limits,
max feed), homing (direction, position, fast/slow seek, backoff, max
travel, limit polarity) and the step profile (max/start rate, accel).
The 'enabled' flag stays read-only in the UI; flipping the W axis
on/off is still done via aux.json so a fresh install can't surprise the
user with hardware that isn't there. Live status (offline / unhomed /
homed at <pos> mm) is shown above the form.
Saving PUTs the merged config to /api/aux/config/save, which writes
aux.json and pushes the homing/step config to the ESP.
The W axis homing already drives toward the configured limit (home_dir
in aux.json, default '-') and lands at home_position_mm = 0, so
'home' and 'zero' are the same point. Remove the now-redundant 'W
Origin' (move-to-zero) and 'Set W to 0' map-marker buttons; keep just
W-, W+, and a single Home W button. Also drop the unused
aux_move_zero / aux_set_zero JS handlers.
Mirrors the 4-column rotary A row that appears when 2an==3, so the same
fine/small/medium/large increment selector that drives XYZ jogging now
also drives W jogging. New control-view methods:
- aux_jog_incr(sign) - PUTs aux/jog with the current jog_incr amount
converted to mm (handles imperial display units)
- aux_move_zero() - PUTs aux/move {mm:0}, the absolute counterpart to
aux_set_zero (which redefines the current pos as zero without moving)
Row is hidden when w.enabled is false, so users without the auxcnc
controller see no change.
The xyzabc rows have three actions (set-position cog, zero marker, home),
W only has two. Without a placeholder the W buttons render in the left two
slots of the actions cell, leaving the home button unaligned with the home
column above. Added a hidden disabled cog button so the marker and home
buttons sit under the same columns as the rest.
Adds the auxcnc W axis to the front-page Position table:
- axis-vars.js exposes a 'w' computed property fed by state.aux_pos /
aux_enabled / aux_homed / aux_present (set by AuxAxis on the host).
No motor mapping, no soft-limit warnings - the aux controller does
its own bounds.
- control-view.pug adds a W row after the xyzabc loop. The Set/Zero
button calls /api/aux/set-zero {mm:0} and the Home button calls
/api/aux/home, which hit the new endpoints exposed by Web.py.
- control-view.js: aux_home(), aux_set_zero(), and aux_jog() helpers.
When aux_enabled is false (no aux.json or aux.json has enabled=false)
the row stays hidden, matching the existing axis-row behavior.
Rather than rebuild gplan + the AVR firmware to add a true 7th axis,
we treat W as a synchronous out-of-band axis that moves between G-code
blocks. The pipeline:
upload -> AuxPreprocessor rewrites W tokens into (MSG,HOOK:aux:N)
comments -> planner sees only XYZ + messages -> Hooks fires the
registered internal handler -> AuxAxis sends STEPS/HOME over serial
to the ESP and blocks the planner until done.
New files:
src/py/bbctrl/AuxAxis.py serial worker + RPC layer
src/py/bbctrl/AuxPreprocessor.py G-code rewriter
docs/AUX_W_AXIS.md design + ops notes
Changed:
Hooks.py register_internal(); fix the (MSG,HOOK:...) listener
to read the 'messages' state list (was broken before)
Ctrl.py instantiate AuxAxis, register aux/aux_rel/aux_home/
aux_setzero hooks
FileHandler.py rewrite uploads in place when they use W
Mach.py rewrite W tokens in MDI input the same way
Web.py REST endpoints under /api/aux/*
The ESP firmware in ../auxcnc was extended in lockstep: HOME, HOMECFG
(NVS-persisted), WPOS, HOMED?, LIMIT?, abortable STEPS with
limit-aware abort, trapezoidal ramps, deterministic [topic] reply
tokens, [boot] banner.
Real-time decisions (limit switch, step pulses) live on the ESP. The
host owns mm units, soft limits, and aux_homed bookkeeping. ESP
reboot mid-job clears aux_homed and surfaces a message; per design
manual jogs are still allowed without homing.
Use balenalib/raspberry-pi-debian:stretch with legacy.raspbian.org repos.
Exact match: GCC 6.3, Python 3.5, GLIBC 2.24 — identical to the Pi.
First build ~25min (QEMU), subsequent builds ~1sec (cached image).
Replaces the broken Bullseye approach that had GLIBC/GLIBCXX mismatches.
The gplan.so (CAMotics G-code planner) must be a 32-bit ARM binary
matching the Pi's Python 3.5. Source it from the official release
package rather than cross-compiling (SCons ignores CC/CXX overrides).
Also revert install.sh gplan.so preservation logic — simpler to just
ship the correct binary in the package.
- Blocking hooks (block_unpause: true, default for tool-change) run
in a background thread and gate Mach.unpause() via can_unpause()
- Machine stays in HOLDING state while hook runs — AVR steppers idle,
spindle state preserved, position locked
- auto_resume option to unpause automatically after hook completes
- E-stop cancels any running hook immediately
- Hook status pushed to frontend via state (hook_busy, hook_event)
- GET /api/hooks/status endpoint for polling
- Non-blocking hooks (program-start, program-end, etc.) fire-and-forget
- New Hooks module (src/py/bbctrl/Hooks.py) that watches controller state
and fires webhooks or scripts on events:
- tool-change (M6), program-start, program-end, pause, estop,
homing-start, homing-end, custom (via MSG comments)
- API endpoints:
- GET /api/hooks - get current hook config
- PUT /api/hooks/save - save hook config
- PUT /api/hooks/fire/<event> - manually fire a hook (for testing)
- Hook config stored in hooks.json with two types:
- webhook: HTTP POST/PUT to external URL with JSON context
- script: run local command with env vars (HOOK_OLD_TOOL, etc.)
- Fix tornado.web.asynchronous deprecation in Camera.py
- Wired into Ctrl initialization and state listener system
