AuxPreprocessor: precede each HOOK with M0 so atoms block

The ATC M-codes are supposed to behave like proper blocking gcode -
M100 should not return until the ejector pulse has actually finished,
and the next block should not run until M100 has returned. Without
that, the drop macro

  M102            (release)
  M100            (eject pulse 1)
  M100            (eject pulse 2)
  M100            (eject pulse 3)
  M100            (eject pulse 4)
  G53 G0 Z0       (lift Z)
  M103            (clamp)

races: gplan emits all the (MSG,HOOK:...) lines and the Z move in
quick succession, the AVR queues them, and Z lifts while V2 is
still wiggling.

The (MSG,...) transport itself is fire-and-forget by gplan's design.
The Hooks framework already implements proper blocking via the
block_unpause / auto_resume mechanism - but it only takes effect
when the program is actually paused. So precede each hook with M0
(program pause) in the rewritten temp file:

  M0 (MSG,HOOK:release:)
  M0 (MSG,HOOK:eject:)
  ...

Sequence becomes:
  M0       -> machine pauses on the AVR side
  (MSG..)  -> hook fires synchronously in a thread
  hook does ESP RPC, blocks until [eject] done
  hook completes; auto_resume unpauses
  next block streams

This also fixes the consecutive-comment-line collapse problem
naturally: each M0 is its own block, so back-to-back HOOK lines
no longer collide.

The M0 lives only in the tempfile gplan loads; the operator's macro
source still reads as plain M100/M102/M103.

docs/AUX_A_AXIS.md

@@ -8,8 +8,9 @@
 > blended with XYZ in the same S-curve plan and the gcode surface
 > below applies as plain `A` words.
 >
-> The HOOK pipeline still exists for ATC pneumatics (M100..M103),
-> see `bbctrl/AuxPreprocessor.py`.
+> The HOOK pipeline still exists for ATC pneumatic atoms (M100 EJECT,
+> M102 RELEASE, M103 CLAMP) - see `bbctrl/AuxPreprocessor.py`. Macros
+> compose drop/grab tool sequences from those atoms.
 
 This adds a virtual `A` axis to the bbctrl controller, driven by the
 auxcnc ESP32 over USB serial (`/dev/ttyUSB0`). The ESP owns step-pulse

src/js/program-mixin.js

@@ -232,6 +232,17 @@ module.exports = {
           const toolpath = await api.get(`path/${file}`);
           this.toolpath_progress = toolpath.progress;
 
+          // Planner failure (e.g. AuxPreprocessor Z-A coupling
+          // rejection). Close the dialog and surface the message
+          // instead of polling the same broken plan forever.
+          if (toolpath.error) {
+            this.showGcodeMessage = false;
+            this.toolpath_progress = 0;
+            console.error("Plan failed:", toolpath.error);
+            alert("Could not plan G-code:\n\n" + toolpath.error);
+            return;
+          }
+
           if (toolpath.progress === 1 || typeof toolpath.progress == "undefined") {
             this.showGcodeMessage = false;
 
@@ -248,7 +259,11 @@ module.exports = {
             }
           }
         } catch (error) {
+          // api.get throws on non-2xx; log and break the loop so the
+          // dialog doesn't stay up forever.
           console.error(error);
+          this.showGcodeMessage = false;
+          return;
         }
       }
     },

src/py/bbctrl/AuxAxis.py

@@ -303,6 +303,75 @@ class AuxAxis(object):
             return
         self._do_steps(int(steps), ignore_limits=True)
 
+    # ----------------------------------------------- continuous-rate jog
+    #
+    # Hold-to-jog support for the gamepad pendant. JOG / JOGSTOP on
+    # the ESP give a smooth ramp-up, cruise-until-released, ramp-down
+    # profile - much better than streaming small STEPS chunks.
+    #
+    # `jog_start` returns immediately after the ESP acknowledges with
+    # `[jog] started ...`. The terminal `[jog] done count=<n>
+    # pos=<p>` arrives later; our reader picks it up and resyncs
+    # _pos_steps via the same path as STEPS.
+    def jog_start(self, direction, max_rate_sps=None,
+                  accel_sps2=None, ignore_limits=False,
+                  target_steps=None):
+        """Begin a continuous-rate jog. `direction` is +1 or -1.
+        Returns once the ESP has accepted the JOG command.
+
+        target_steps (optional): a signed step-counter value. The
+        ESP picks the deceleration start point so the motor ramps
+        smoothly from the current cruise rate to step_start_rate
+        and stops AT this counter value. Used to enforce host-side
+        soft limits without overshoot. The target must be on the
+        side of the current g_pos that matches `direction`; the
+        ESP rejects a wrong-side target with reason=softlimit."""
+        self._require_present()
+        if direction not in (-1, +1):
+            raise AuxAxisError('jog_start direction must be +/-1')
+        sign = '+' if direction > 0 else '-'
+        rate = (int(max_rate_sps) if max_rate_sps is not None
+                else int(self._cfg['step_max_sps']))
+        accel = (int(accel_sps2) if accel_sps2 is not None
+                 else int(self._cfg['step_accel_sps2']))
+        if rate < 1: rate = 1
+        if accel < 1: accel = 1
+        cmd = 'JOG dir=%s maxrate=%d accel=%d safe=%d' % (
+            sign, rate, accel, 0 if ignore_limits else 1)
+        if target_steps is not None:
+            cmd += ' target=%d' % int(target_steps)
+        # Capture both the immediate ack AND the eventual terminal
+        # line in a single _rpc call would block; instead fire the
+        # ack-only RPC here and let _on_line handle the terminal
+        # `[jog] done` async (it falls through to the info log path,
+        # but we hook _on_line to update _pos_steps).
+        line = self._rpc(cmd, topic='jog', timeout=2.0)
+        if line.startswith('error'):
+            raise AuxAxisError('JOG rejected: %s' % line)
+        if not line.startswith('started'):
+            # Could be "done count=0 pos=..." if a near-instant abort
+            # raced; treat as completed.
+            self._pos_steps = self._parse_kv_int(
+                line, 'pos', self._pos_steps)
+            self._publish_state()
+        # else: cruising, terminal [jog] reply will arrive later.
+
+    def jog_stop(self):
+        """Request the running JOG to ramp down to a stop. Returns
+        immediately; the terminal `[jog] done` arrives async and is
+        picked up by `_on_line` to resync _pos_steps.
+
+        Like abort(), this does NOT take the RPC lock - JOGSTOP is
+        the on-release path of a hold-to-jog UI and must not block
+        on whatever else is in flight."""
+        if not self._present:
+            return
+        try:
+            self.log.info('aux >> JOGSTOP')
+            self._send_raw('JOGSTOP')
+        except Exception as e:
+            self.log.warning('JOGSTOP send failed: %s' % e)
+
     def abort(self):
         """Cancel any running ESP motion immediately."""
         if not self._present:
@@ -313,38 +382,23 @@ class AuxAxis(object):
         except Exception as e:
             self.log.warning('ABORT send failed: %s' % e)
 
-    # ---------------------------------------------------------- ATC commands
+    # ---------------------------------------------------------- ATC atoms
     #
     # The auxcnc firmware drives an AMB 1050 FME-W DI tool changer via
-    # three pneumatic valves on relays 1-3. The ESP runs the timed
-    # sequences itself; the host just kicks them off and waits for the
-    # terminal reply.
-
-    def atc_droptool(self, timeout=30.0):
-        """Eject the current tool. Opens the collet (V1), oscillates the
-        ejector (V2), then re-clamps with a bleed cycle. Blocks until
-        the ESP reports done. Raises on failure."""
-        self._require_present()
-        line = self._rpc('DROPTOOL', topic='droptool', timeout=timeout)
-        if line.startswith('done'):
-            return
-        reason = line.split('reason=', 1)[1] if 'reason=' in line else line
-        raise AuxAxisError('DROPTOOL failed: %s' % reason)
-
-    def atc_grabtool(self, timeout=30.0):
-        """Pick up a tool that's already been seated by the operator.
-        Opens V1 (releases the collet), waits for the operator to insert
-        the holder, then re-clamps with a bleed cycle. Blocks."""
-        self._require_present()
-        line = self._rpc('GRABTOOL', topic='grabtool', timeout=timeout)
-        if line.startswith('done'):
-            return
-        reason = line.split('reason=', 1)[1] if 'reason=' in line else line
-        raise AuxAxisError('GRABTOOL failed: %s' % reason)
+    # two pneumatic valves on relays 1-2:
+    #   V1 (clamp, 3/2 valve) - relay 2: ON = collet open, OFF = vent + spring closes
+    #   V2 (ejector)          - relay 1: ON = ejector cylinder extends
+    #
+    # The host exposes three composable atoms - RELEASE, CLAMP, EJECT -
+    # and composes drop/grab sequences from G-code macros that call
+    # them in order. (Older firmware exposed monolithic DROPTOOL /
+    # GRABTOOL verbs; protocol v3 dropped them in favour of these
+    # atoms so callers can interleave Z moves between ejector pulses.)
 
     def atc_release(self, timeout=5.0):
-        """Manually open the collet (release-only, no clamp). Use
-        atc_clamp() afterwards once the new holder is in place."""
+        """Open the collet (V1 on). Instant. Idempotent. Pairs with
+        atc_clamp() to bracket a sequence of host-side moves and/or
+        ejector pulses with the collet held open."""
         self._require_present()
         line = self._rpc('RELEASE', topic='release', timeout=timeout)
         if line.startswith('done'):
@@ -353,8 +407,8 @@ class AuxAxis(object):
         raise AuxAxisError('RELEASE failed: %s' % reason)
 
     def atc_clamp(self, timeout=10.0):
-        """Manually clamp the collet (run a full bleed cycle). Pairs
-        with atc_release() for two-step manual tool changes."""
+        """Close the collet: V1 off, then dwell for the line to vent
+        and the spring to re-engage. Idempotent."""
         self._require_present()
         line = self._rpc('CLAMP', topic='clamp', timeout=timeout)
         if line.startswith('done'):
@@ -362,6 +416,29 @@ class AuxAxis(object):
         reason = line.split('reason=', 1)[1] if 'reason=' in line else line
         raise AuxAxisError('CLAMP failed: %s' % reason)
 
+    def atc_eject(self, pulse_ms=None, dwell_ms=None, timeout=10.0):
+        """One ejector wiggle: V2 on for pulse_ms, then off for
+        dwell_ms. The collet (V1) is left in whatever state the caller
+        set it to via atc_release/atc_clamp - typically RELEASE first
+        so the holder can actually drop.
+
+        Repeatedly calling atc_eject gives the wiggle that the old
+        monolithic DROPTOOL did internally, but as discrete blocking
+        calls so a macro can interleave Z moves between pulses.
+
+        pulse_ms / dwell_ms default to the ESP-side defaults
+        (currently 500 / 500). Pass explicit values to override."""
+        self._require_present()
+        parts = ['EJECT']
+        if pulse_ms is not None: parts.append('pulse=%d' % int(pulse_ms))
+        if dwell_ms is not None: parts.append('dwell=%d' % int(dwell_ms))
+        cmd = ' '.join(parts)
+        line = self._rpc(cmd, topic='eject', timeout=timeout)
+        if line.startswith('done'):
+            return
+        reason = line.split('reason=', 1)[1] if 'reason=' in line else line
+        raise AuxAxisError('EJECT failed: %s' % reason)
+
     def close(self):
         self._stop.set()
         try:
@@ -615,7 +692,22 @@ class AuxAxis(object):
                     self._pending_replies.append(body)
                     self._pending_cv.notify_all()
                     return
-            # Async informational line; just log.
+            # Async informational line.
+            #
+            # The terminal [jog] done|aborted line for a continuous
+            # JOG arrives long after the JOG _rpc returned (the JOG
+            # _rpc only waits for the immediate `[jog] started`
+            # ack). Use this async path to keep _pos_steps in sync
+            # so subsequent moves compute the correct delta.
+            if topic == 'jog' and ('pos=' in body):
+                try:
+                    self._pos_steps = self._parse_kv_int(
+                        body, 'pos', self._pos_steps)
+                    if 'reason=limit' in body:
+                        self._homed = False
+                    self._publish_state()
+                except Exception:
+                    pass
             self.log.info('aux: %s' % line)
         else:
             self.log.info('aux: %s' % line)

src/py/bbctrl/AuxPreprocessor.py

@@ -11,20 +11,28 @@
 #     so gplan handles W motion natively. The preprocessor no longer
 #     touches W tokens. ATC pneumatics still go through the hook
 #     channel because they're events, not motion.
+# v3: ATC primitives split into atoms. The composite DROPTOOL /
+#     GRABTOOL hooks are gone; macros now compose tool changes from
+#     RELEASE / CLAMP / EJECT.
 #
 # What this still does
 # --------------------
-# Maps four user-defined M-codes onto pneumatic-tool-changer events:
+# Maps three user-defined M-codes onto pneumatic-tool-changer atoms:
 #
-#   M100  DROPTOOL  -> (MSG,HOOK:droptool:)
-#   M101  GRABTOOL  -> (MSG,HOOK:grabtool:)
-#   M102  RELEASE   -> (MSG,HOOK:release:)
-#   M103  CLAMP     -> (MSG,HOOK:clamp:)
+#   M100  EJECT     -> (MSG,HOOK:eject:)     one V2 ejector pulse
+#   M102  RELEASE   -> (MSG,HOOK:release:)   open collet (V1 on)
+#   M103  CLAMP     -> (MSG,HOOK:clamp:)     close collet (V1 off + vent)
+#
+# M101 (formerly GRABTOOL) is intentionally unmapped - it's now a
+# pure host-side macro composed from RELEASE / dwell / CLAMP. If a
+# legacy file still emits M101 the preprocessor leaves it alone and
+# the planner ignores it (M101 is in the user-defined range, so it
+# won't error - it just won't do anything).
 #
 # M100-M103 are in LinuxCNC/Buildbotics' user-defined range, so the
 # planner won't error if the codes leak through unrewritten - it just
-# won't *do* anything. We strip them out and emit the matching hook
-# line in their place.
+# won't *do* anything. We strip the recognized ones out and emit the
+# matching hook line in their place.
 #
 # The preprocessor is intentionally conservative: anything it doesn't
 # understand is left alone.
@@ -38,12 +46,46 @@ import tempfile
 
 
 # Strip line comments so we don't get fooled by "(M100 not really)".
+# Note this is a simple regex and doesn't handle nested parentheses
+# - which actually occur in real macro headers like
+# `(Composed from atoms: M102 = RELEASE (V1 on), M103 = CLAMP)`.
+# Use _strip_comments() below for a parser that does handle them.
 _PAREN_COMMENT_RE = re.compile(r'\([^)]*\)')
 
-# ATC pneumatics M-codes mapped onto hook events.
+
+def _strip_comments(line):
+    """Return `line` with paren comments and the trailing semicolon
+    comment removed. Handles arbitrarily nested parentheses (RS274
+    technically forbids them but real-world gcode comments often
+    contain prose with parens, e.g. `(M102 = RELEASE (V1 on))`).
+
+    Returns just the executable code, with the original whitespace
+    preserved between tokens."""
+    out = []
+    depth = 0
+    i = 0
+    n = len(line)
+    while i < n:
+        c = line[i]
+        if c == ';' and depth == 0:
+            break
+        if c == '(':
+            depth += 1
+            i += 1
+            continue
+        if c == ')':
+            if depth > 0: depth -= 1
+            i += 1
+            continue
+        if depth == 0:
+            out.append(c)
+        i += 1
+    return ''.join(out)
+
+# ATC pneumatics M-codes mapped onto hook events. M101 is
+# deliberately unassigned (see header).
 _ATC_M_CODES = {
-    100: 'droptool',
-    101: 'grabtool',
+    100: 'eject',
     102: 'release',
     103: 'clamp',
 }
@@ -127,8 +169,7 @@ class AuxPreprocessor(object):
         try:
             with open(path, 'r', encoding='utf-8', errors='replace') as f:
                 for line in f:
-                    code = _PAREN_COMMENT_RE.sub('', line)
-                    code = code.split(';', 1)[0]
+                    code = _strip_comments(line)
                     if _ATC_M_RE.search(code):
                         return True
                     if couple_active:
@@ -319,8 +360,7 @@ class AuxPreprocessor(object):
                 line = raw.rstrip('\n')
 
                 # Comment-only or blank lines pass through verbatim.
-                code = _PAREN_COMMENT_RE.sub('', line)
-                code = code.split(';', 1)[0]
+                code = _strip_comments(line)
                 if not code.strip():
                     fout.write(raw)
                     continue
@@ -339,10 +379,14 @@ class AuxPreprocessor(object):
                 if self._maybe_inject_a_down(code, fout):
                     rewrote_any = True
 
-                # ATC M-codes (M100-M103). Each ATC M-code on the line
-                # is replaced with its (MSG,HOOK:<event>:) line and
-                # stripped from the residual.
-                atc_matches = list(_ATC_M_RE.finditer(line))
+                # ATC M-codes (M100/M102/M103). Match against the
+                # comment-stripped `code` so prose mentions like
+                # `(M102 = RELEASE)` inside a comment don't spuriously
+                # fire hooks. Each match emits a (MSG,HOOK:<event>:)
+                # line; the M-code is stripped from the executable
+                # residual but the original line's comments are kept
+                # for log readability.
+                atc_matches = list(_ATC_M_RE.finditer(code))
                 if atc_matches:
                     rewrote_any = True
                     for m in atc_matches:
@@ -350,19 +394,49 @@ class AuxPreprocessor(object):
                         except ValueError: continue
                         event = _ATC_M_CODES.get(num)
                         if event:
-                            fout.write('(MSG,HOOK:%s:)\n' % event)
-                    line = _ATC_M_RE.sub('', line)
-                    code = _PAREN_COMMENT_RE.sub('', line)
-                    code = code.split(';', 1)[0]
-                    if not code.strip():
-                        # Nothing meaningful left; preserve any trailing
-                        # comment text but skip empty lines.
-                        rest = line.rstrip()
-                        if rest:
-                            fout.write(rest + '\n')
-                        continue
-                    # Other gcode remains on the line - emit it.
-                    fout.write(line + '\n')
+                            # We need two things here that aren't
+                            # naturally provided by the (MSG,...)
+                            # transport:
+                            #
+                            # (1) Synchronization. (MSG,HOOK:...) is
+                            #     fire-and-forget from gplan's view -
+                            #     gplan emits the message and keeps
+                            #     streaming subsequent blocks (Z
+                            #     moves, the next eject, etc.) to the
+                            #     AVR. Meanwhile the hook handler
+                            #     runs the actual ESP RPC in a
+                            #     thread, and Z lifts while V2 is
+                            #     still wiggling. To make M-codes
+                            #     behave like proper blocking gcode,
+                            #     we precede each HOOK with M0
+                            #     (program pause). The Hooks layer
+                            #     registers the atom as block_unpause
+                            #     + auto_resume, so:
+                            #         M0 -> machine pauses
+                            #         (MSG,HOOK:event:) fires hook
+                            #         hook thread runs ESP RPC
+                            #         hook completes, auto-unpauses
+                            #         next block streams
+                            #     End result: M100/M102/M103 block
+                            #     until the ESP says done, just like
+                            #     a G-code dwell.
+                            #
+                            # (2) Block separation. gplan collapses
+                            #     consecutive comment-only lines
+                            #     into a single block, so back-to-
+                            #     back HOOK lines used to drop all
+                            #     but the last. M0 is its own block
+                            #     so this falls out automatically -
+                            #     the (MSG,...) attaches cleanly to
+                            #     each M0.
+                            fout.write('M0 (MSG,HOOK:%s:)\n' % event)
+                    code_stripped = _ATC_M_RE.sub('', code).strip()
+                    if code_stripped:
+                        # Mixed line: keep the residual executable
+                        # gcode. Drop the comments to keep the
+                        # rewritten file tidy (the original line's
+                        # text already appears once as the input).
+                        fout.write(code_stripped + '\n')
                     continue
 
                 # No rewrite needed.
@@ -371,16 +445,26 @@ class AuxPreprocessor(object):
         return rewrote_any
 
 
-def preprocess_file(src_path, log=None, coupling=None, **_unused):
-    """Convenience: rewrite src_path in place if it contains ATC
-    M-codes or needs Z-A coupling injection. Returns True if the
-    file was rewritten.
+def preprocess_to_tempfile(src_path, log=None, coupling=None):
+    """Run the preprocessor on `src_path` and return the path to a
+    rewritten temp file (or None if no rewriting was needed). Caller
+    owns the temp file and must os.unlink() it when done.
 
-    `coupling` is an optional dict (see AuxPreprocessor.__init__).
-    Extra keyword args are accepted for backwards compat (the old
-    w_first arg is no longer used)."""
+    The original source file is never modified - this is the
+    intentional design: the macro / job file the operator authored
+    is what they see in the macro editor and the file viewer; the
+    rewriting happens only on the in-memory copy that gplan loads.
+
+    Why we rewrite at all: gplan (the camotics planner) treats the
+    user-defined M-codes M100/M102/M103 as no-ops. The only callback
+    channel it exposes during a running program is the (MSG,...)
+    message stream, so the only way for the host to react to those
+    M-codes mid-program is to substitute (MSG,HOOK:<event>:) lines
+    in their place. This rewriting is an implementation detail the
+    operator should never have to know about - hence the tempfile.
+    """
     if not AuxPreprocessor.file_uses_aux(src_path, coupling=coupling):
-        return False
+        return None
     pre = AuxPreprocessor(log=log, coupling=coupling)
     fd, tmp = tempfile.mkstemp(prefix='auxpre_', suffix='.nc',
                                dir=os.path.dirname(src_path) or None)
@@ -388,13 +472,36 @@ def preprocess_file(src_path, log=None, coupling=None, **_unused):
     try:
         rewrote = pre.process(src_path, tmp)
         if rewrote:
-            shutil.move(tmp, src_path)
-            return True
+            return tmp
         os.unlink(tmp)
-        return False
+        return None
     except Exception:
         try:
             os.unlink(tmp)
         except OSError:
             pass
         raise
+
+
+def preprocess_file(src_path, log=None, coupling=None, **_unused):
+    """DEPRECATED in-place version of the preprocessor. Kept for
+    callers that still rewrite their input on disk (chiefly the
+    upload path, where mutating the file is fine because there's no
+    operator-authored source to preserve).
+
+    Returns True if the file was rewritten, False otherwise.
+
+    For new callers prefer preprocess_to_tempfile() which never
+    touches the source."""
+    tmp = preprocess_to_tempfile(src_path, log=log, coupling=coupling)
+    if tmp is None:
+        return False
+    try:
+        shutil.move(tmp, src_path)
+    except Exception:
+        try:
+            os.unlink(tmp)
+        except OSError:
+            pass
+        raise
+    return True

src/py/bbctrl/Ctrl.py

@@ -166,31 +166,46 @@ class Ctrl(object):
             else:
                 self.aux.home()
 
-        def _hook_droptool(ctx):  self.aux.atc_droptool()
-        def _hook_grabtool(ctx):  self.aux.atc_grabtool()
         def _hook_release(ctx):   self.aux.atc_release()
         def _hook_clamp(ctx):     self.aux.atc_clamp()
 
+        def _hook_eject(ctx):
+            # ctx['data'] is the payload after HOOK:eject:. Allow
+            # operators to override pulse / dwell from gcode via
+            # (MSG,HOOK:eject:pulse=400 dwell=300). Empty data ->
+            # ESP defaults.
+            data = (ctx.get('data') or '').strip()
+            kw = {}
+            for tok in data.split():
+                if '=' not in tok: continue
+                k, v = tok.split('=', 1)
+                k = k.strip().lower()
+                if k in ('pulse', 'pulse_ms'):
+                    try: kw['pulse_ms'] = int(v)
+                    except ValueError: pass
+                elif k in ('dwell', 'dwell_ms'):
+                    try: kw['dwell_ms'] = int(v)
+                    except ValueError: pass
+            self.aux.atc_eject(**kw)
+
         # Legacy alias for older gcode that used aux_home.
         self.hooks.register_internal('aux_home',    _hook_aux_home,
                                      block_unpause=True, auto_resume=True,
                                      timeout=180)
 
-        # ATC pneumatics. block_unpause + auto_resume so a program
-        # using M100/M101/M102/M103 pauses at the right point and
-        # resumes once the sequence is done.
-        self.hooks.register_internal('droptool',    _hook_droptool,
-                                     block_unpause=True, auto_resume=True,
-                                     timeout=60)
-        self.hooks.register_internal('grabtool',    _hook_grabtool,
-                                     block_unpause=True, auto_resume=True,
-                                     timeout=60)
+        # ATC pneumatic atoms. block_unpause + auto_resume so a
+        # program using M100/M102/M103 pauses at the right point and
+        # resumes once each atom finishes. Macros compose drop/grab
+        # sequences from these primitives.
         self.hooks.register_internal('release',     _hook_release,
                                      block_unpause=True, auto_resume=True,
                                      timeout=10)
         self.hooks.register_internal('clamp',       _hook_clamp,
                                      block_unpause=True, auto_resume=True,
                                      timeout=15)
+        self.hooks.register_internal('eject',       _hook_eject,
+                                     block_unpause=True, auto_resume=True,
+                                     timeout=15)
         log.info('Aux hooks registered')
 
 

src/py/bbctrl/FileHandler.py

@@ -107,15 +107,27 @@ class FileHandler(bbctrl.APIHandler):
             # auxcnc stepper is exposed as a virtual A axis (see
             # ExternalAxis).
             try:
-                from bbctrl.AuxPreprocessor import preprocess_file
+                from bbctrl.AuxPreprocessor import (
+                    preprocess_file, AuxPreprocessorError)
                 log = self.get_log('AuxPreprocessor')
                 ext = getattr(self.get_ctrl(), 'ext_axis', None)
                 coupling = (ext.coupling_for_preprocessor()
                             if ext is not None else None)
-                if preprocess_file(filename.decode('utf8'),
-                                    log=log, coupling=coupling):
-                    log.info('Rewrote upload (ATC / Z-A coupling) in %s'
-                             % self.uploadFilename)
+                try:
+                    if preprocess_file(filename.decode('utf8'),
+                                       log=log, coupling=coupling):
+                        log.info('Rewrote upload (ATC / Z-A coupling) in %s'
+                                 % self.uploadFilename)
+                except AuxPreprocessorError as e:
+                    # Surface coupling-violation errors to the operator
+                    # via the message stream so the upload doesn't go
+                    # silently un-rewritten and then trip the runtime
+                    # check (which can hang the planner dialog).
+                    log.warning('Aux preprocess refused upload: %s' % e)
+                    try:
+                        self.get_ctrl().state.add_message(
+                            'Z-A coupling: ' + str(e))
+                    except Exception: pass
             except Exception:
                 self.get_log('AuxPreprocessor').exception(
                     'Aux preprocess failed; uploading unchanged')

src/py/bbctrl/Jog.py

@@ -25,10 +25,21 @@
 #                                                                              #
 ################################################################################
 
+import os
+import threading
+import time
+
 import inevent
 from inevent.Constants import *
 
 
+# Set to True (or BBCTRL_AJOG_DRYRUN=1 in env) to log press/release
+# events and would-be ESP commands without actually sending JOG /
+# JOGSTOP. Useful for debugging the gamepad event path without
+# touching the gantry. Defaults to live actuation.
+A_DRY_RUN = os.environ.get('BBCTRL_AJOG_DRYRUN', '') == '1'
+
+
 # Listen for input events
 class Jog(inevent.JogHandler):
     def __init__(self, ctrl):
@@ -51,12 +62,23 @@ class Jog(inevent.JogHandler):
                 "dir":      [1, -1, -1, 1],
                 "arrows":   [ABS_HAT0X, ABS_HAT0Y],
                 "speed":    [0x133, 0x130, 0x131, 0x134],
-                "lock":     [0x136, 0x137],
+                "lock":     [0x136],          # L1 = horiz-lock; RB/RT now A axis
+                # Right back controls drive the A axis while held.
+                # Verified on Xbox 360 pad (Vendor=045e Product=028e):
+                #   RB (upper-right bumper)  -> BTN_TR (0x137) digital -> A+
+                #   RT (lower-right trigger) -> ABS_RZ analog 0..255   -> A-
+                # Some pads expose RT as BTN_TR2 (0x139) instead -- that
+                # works too via a_neg_btn.
+                "a_pos_btn": 0x137,
+                "a_neg_btn": 0x139,
+                "a_neg_abs": ABS_RZ,
+                "a_abs_thresh": 32,         # 0..255 trigger press threshold
             }
         }
 
         super().__init__(config)
 
+        self.a_button = 0  # -1, 0, +1 from RB / RT hold state
         self.v = [0.0] * 4
         self.lastV = self.v
         self.callback()
@@ -64,6 +86,276 @@ class Jog(inevent.JogHandler):
         self.processor = inevent.InEvent(ctrl.ioloop, self, types = ['js'])
 
 
+    # -------- A-axis (external, ESP-driven) hold-to-jog ---------------
+    #
+    # The Mach jog path only knows about AVR axes; the A axis is
+    # handled by ExternalAxis on the auxcnc ESP, which has a proper
+    # JOG / JOGSTOP protocol added for hold-to-jog: ramp up on press,
+    # cruise while held, ramp down on release.
+    #
+    # Speed buttons (X/A/B/Y) scale the cruise rate (1/128, 1/32,
+    # 1/4, 1.0x of the configured step_max_sps).
+    def _a_speed_scale(self):
+        if self.speed == 1: return 1.0 / 128.0
+        if self.speed == 2: return 1.0 / 32.0
+        if self.speed == 3: return 1.0 / 4.0
+        return 1.0
+
+    def _a_stop(self):
+        ext = getattr(self.ctrl, 'ext_axis', None)
+        ext_state = ('present' if (ext is not None and ext.enabled)
+                     else 'unavailable')
+        if A_DRY_RUN:
+            self.log.info('AJOG DRYRUN _a_stop  ext=%s  (would send JOGSTOP)',
+                          ext_state)
+            return
+        if ext is None or not ext.enabled:
+            return
+        try:
+            ext.aux.jog_stop()
+        except Exception as e:
+            self.log.warning('A-axis jog_stop failed: %s', e)
+
+    def _a_soft_limit_target_steps(self, aux, direction):
+        """Return a step-counter target for the configured soft
+        limit (`min_mm` / `max_mm`) on the `direction` side of the
+        current position, or None when no limit applies (axis
+        unhomed or limits not configured)."""
+        try:
+            if not bool(aux._homed):
+                return None
+            cfg = aux._cfg
+            lo_mm = float(cfg.get('min_mm', 0.0))
+            hi_mm = float(cfg.get('max_mm', 0.0))
+            if hi_mm <= lo_mm:
+                return None
+            lo_steps = aux._mm_to_steps(lo_mm)
+            hi_steps = aux._mm_to_steps(hi_mm)
+            # _mm_to_steps applies dir_sign; sort so we know which
+            # is "more positive in g_pos".
+            top_steps    = max(lo_steps, hi_steps)
+            bottom_steps = min(lo_steps, hi_steps)
+            return top_steps if direction > 0 else bottom_steps
+        except Exception:
+            return None
+
+    def _a_coupling_target_steps(self, ext, direction):
+        """Return a step-counter target that prevents the Z-A
+        coupling rule (a - z <= K) from being violated by this jog.
+        Returns None when coupling is disabled or doesn't constrain
+        motion in `direction`.
+
+        The constraint is on machine-mm: the rule limits how far A
+        may go *up* (toward larger machine A) for the current Z. So
+        only the +A jog direction can ever violate it; -A jogs are
+        unconstrained by coupling and we return None for them.
+
+        Note: 'direction' here refers to the gamepad axis sign, not
+        machine-mm. dir_sign in aux config maps gamepad+ to
+        machine+ steps. We translate via the existing
+        ext._a_machine_now / aux._mm_to_steps so the result is in
+        the same g_pos space as _a_soft_limit_target_steps."""
+        try:
+            if not ext.couple_z_enabled:
+                return None
+            if not bool(ext.aux._homed):
+                return None
+            K = ext.couple_K
+            if K is None:
+                return None
+            z_now = ext._z_machine_now()
+            if z_now is None:
+                return None
+            # Max permitted A in machine-mm: a_max = z_now + K.
+            a_max_mm = float(z_now) + float(K)
+            a_max_steps = ext.aux._mm_to_steps(a_max_mm)
+            # The coupling only caps the *upper* side (more-positive
+            # machine A). With dir_sign=+1 that's g_pos+; with
+            # dir_sign=-1 it's g_pos-. Jogs in the opposite gamepad
+            # direction don't approach the coupling bound, return
+            # None so the soft-limit target alone applies.
+            dir_sign = 1 if int(ext.aux._cfg.get('dir_sign', 1)) >= 0 else -1
+            # Gamepad+ moves toward larger machine-mm when dir_sign>0.
+            machine_dir = direction * dir_sign
+            if machine_dir <= 0:
+                return None
+            return a_max_steps
+        except Exception:
+            return None
+
+    def _a_combined_target_steps(self, ext, direction):
+        """Pick the more restrictive of soft-limit and coupling
+        targets. Returns (target_steps, source_label) where
+        target_steps is None when neither rule applies."""
+        soft = self._a_soft_limit_target_steps(ext.aux, direction)
+        couple = self._a_coupling_target_steps(ext, direction)
+        if soft is None and couple is None:
+            return None, 'none'
+        if soft is None:    return couple, 'coupling'
+        if couple is None:  return soft,   'softlimit'
+        # Both present: pick whichever is reached first when moving
+        # in `direction` from the current g_pos.
+        try:
+            cur = int(ext.aux._pos_steps)
+        except Exception:
+            cur = 0
+        if direction > 0:
+            return ((soft, 'softlimit') if soft <= couple
+                    else (couple, 'coupling'))
+        else:
+            return ((soft, 'softlimit') if soft >= couple
+                    else (couple, 'coupling'))
+
+    def _a_start(self, direction):
+        ext = getattr(self.ctrl, 'ext_axis', None)
+        ext_state = ('present' if (ext is not None and ext.enabled)
+                     else 'unavailable')
+        scale = self._a_speed_scale()
+        target_steps = None
+        target_src = 'none'
+        cur_steps = None
+        if ext is not None and ext.enabled:
+            target_steps, target_src = self._a_combined_target_steps(
+                ext, direction)
+            try: cur_steps = int(ext.aux._pos_steps)
+            except Exception: cur_steps = None
+        if A_DRY_RUN:
+            try:
+                step_max = (int(ext.aux._cfg['step_max_sps'])
+                            if ext is not None and ext.enabled else -1)
+                accel = (int(ext.aux._cfg['step_accel_sps2'])
+                         if ext is not None and ext.enabled else -1)
+            except Exception:
+                step_max, accel = -1, -1
+            self.log.info(
+                'AJOG DRYRUN _a_start dir=%+d ext=%s speed=%d scale=%.4f '
+                'step_max=%d accel=%d cur_steps=%s target_steps=%s '
+                'target_src=%s (would send JOG)',
+                direction, ext_state, self.speed, scale, step_max, accel,
+                cur_steps, target_steps, target_src)
+            return
+        if ext is None or not ext.enabled or direction == 0:
+            return
+        try:
+            aux = ext.aux
+            max_rate = max(1, int(int(aux._cfg['step_max_sps']) * scale))
+            accel    = int(aux._cfg['step_accel_sps2'])
+            # If the axis is already at-or-past the more-restrictive
+            # boundary (soft limit OR Z-A coupling) in the requested
+            # direction, refuse the jog rather than sending a
+            # wrong-side target the ESP would reject.
+            if target_steps is not None and cur_steps is not None:
+                at_limit = ((direction > 0 and cur_steps >= target_steps)
+                            or (direction < 0 and cur_steps <= target_steps))
+                if at_limit:
+                    self.log.info(
+                        'A-axis jog refused: at %s limit '
+                        '(cur=%d target=%d dir=%+d)',
+                        target_src, cur_steps, target_steps, direction)
+                    return
+            # ignore_limits=True (safe=0) when the axis is unhomed:
+            # pendant jog is allowed before homing for setup. When
+            # homed, soft limits AND Z-A coupling are enforced via
+            # target_steps and the ESP's hardware-limit abort still
+            # applies unconditionally (movingTowardLimit in
+            # jogTask).
+            ignore = not bool(aux._homed)
+            aux.jog_start(direction,
+                          max_rate_sps=max_rate,
+                          accel_sps2=accel,
+                          ignore_limits=ignore,
+                          target_steps=target_steps)
+            if target_steps is not None:
+                self.log.info(
+                    'A-axis jog_start dir=%+d cur=%d target=%d (%s)',
+                    direction, cur_steps, target_steps, target_src)
+        except Exception as e:
+            self.log.warning('A-axis jog_start failed: %s', e)
+
+    def _a_apply(self, new_dir, old_dir):
+        if new_dir == old_dir:
+            return
+        # On any state change we stop the current jog and (if the
+        # new direction is non-zero) start a fresh one. JOG / JOGSTOP
+        # are non-blocking on the host side.
+        if old_dir != 0:
+            self._a_stop()
+        if new_dir != 0:
+            self._a_start(new_dir)
+
+    def _a_resync_pos(self):
+        """Pull the ESP step counter back into ExternalAxis after a
+        JOG ends, so subsequent gplan-driven A motion computes the
+        right delta. Called opportunistically on state changes; the
+        AuxAxis reader also updates _pos_steps from the terminal
+        [jog] done line."""
+        ext = getattr(self.ctrl, 'ext_axis', None)
+        if ext is None or not ext.enabled:
+            return
+        try:
+            ext._pos_mm = ext.aux.position_mm
+            self.ctrl.state.set(ext.axis_letter + 'p', ext._pos_mm)
+        except Exception:
+            pass
+
+
+    def event(self, event, state, dev_name):
+        cfg = self.get_config(dev_name)
+        old = self.a_button
+
+        # DEBUG: log EVERY incoming gamepad event so we can see
+        # exactly what the pendant is producing on press/release.
+        # Skip noisy stick / report-syn events to keep the journal
+        # readable but log all KEY events and any ABS event whose
+        # code matches one we care about.
+        try:
+            tname = ev_type_name.get(event.type, '?')
+        except Exception:
+            tname = '?'
+        if event.type == EV_KEY:
+            self.log.info(
+                'AJOG EV dev=%r type=%s(%d) code=0x%x val=%d '
+                'cfg.a_pos_btn=0x%x cfg.a_neg_btn=0x%x',
+                dev_name, tname, event.type, event.code, event.value,
+                cfg.get('a_pos_btn', 0), cfg.get('a_neg_btn', 0))
+        elif event.type == EV_ABS and event.code in (
+                cfg.get('a_neg_abs', -1),
+                cfg.get('a_pos_abs', -1)):
+            self.log.info(
+                'AJOG EV dev=%r type=%s(%d) code=0x%x val=%d (trigger ABS)',
+                dev_name, tname, event.type, event.code, event.value)
+
+        if event.type == EV_KEY:
+            if event.code == cfg.get('a_pos_btn'):
+                if event.value: self.a_button = 1
+                elif self.a_button == 1: self.a_button = 0
+            elif event.code == cfg.get('a_neg_btn'):
+                if event.value: self.a_button = -1
+                elif self.a_button == -1: self.a_button = 0
+
+        elif event.type == EV_ABS:
+            thresh = cfg.get('a_abs_thresh', 32)
+            if event.code == cfg.get('a_neg_abs'):
+                if event.value >= thresh: self.a_button = -1
+                elif self.a_button == -1: self.a_button = 0
+
+        if self.a_button != old:
+            self.log.info(
+                'AJOG STATE %+d -> %+d  (t=%.3f dry_run=%s)',
+                old, self.a_button, time.monotonic(), A_DRY_RUN)
+            self._a_apply(self.a_button, old)
+            # On every release pull a fresh position mirror in case
+            # the user does a gplan-driven A move next. The terminal
+            # [jog] done line itself already updates aux._pos_steps;
+            # this propagates that into ExternalAxis._pos_mm.
+            if self.a_button == 0 and not A_DRY_RUN:
+                # Wait briefly so the [jog] done line has time to
+                # arrive before we read aux.position_mm.
+                self.ctrl.ioloop.call_later(0.2, self._a_resync_pos)
+
+        super().event(event, state, dev_name)
+
+
     def up(self): self.ctrl.lcd.page_up()
     def down(self): self.ctrl.lcd.page_down()
     def left(self): self.ctrl.lcd.page_left()
@@ -90,4 +382,7 @@ class Jog(inevent.JogHandler):
         if self.speed == 2: scale = 1.0 / 32.0
         if self.speed == 3: scale = 1.0 / 4.0
 
+        # axes[3] is left untouched by RB/RT -- the A axis is the
+        # ESP-driven external axis on this branch and is jogged via
+        # discrete relative moves through ExternalAxis (see _a_pump).
         self.v = [x * scale for x in self.axes]

src/py/bbctrl/Planner.py

@@ -27,6 +27,7 @@
 
 import json
 import math
+import os
 import re
 import time
 from collections import deque
@@ -76,6 +77,10 @@ class Planner():
         self.planner = None
         self._position_dirty = False
         self.where = ''
+        # Tracks the rewritten temp file (if any) returned by the
+        # AuxPreprocessor for the currently-loaded program. We delete
+        # it on the next load() so it doesn't pile up under /tmp.
+        self._aux_tempfile = None
 
         ctrl.state.add_listener(self._update)
 
@@ -507,28 +512,57 @@ class Planner():
 
     def load(self, path):
         self.where = path
-        path = self.ctrl.get_path('upload', path)
-        self.log.info('GCode:' + path)
-        # Rewrite ATC M-codes (M100..M103) before gplan sees them.
-        # preprocess_file is a no-op when no rewriting is needed and
-        # idempotent when run twice on the same file, so this is
-        # safe on every load. W tokens are no longer rewritten - the
-        # auxcnc stepper is now exposed as a virtual A axis and gcode
-        # should use A directly.
+        src_path = self.ctrl.get_path('upload', path)
+        self.log.info('GCode:' + src_path)
+
+        # Clean up any leftover temp file from a previous load.
+        self._cleanup_aux_tempfile()
+
+        # Rewrite ATC M-codes (M100/M102/M103) and inject Z-A
+        # coupling moves before gplan sees them. The rewriting goes
+        # to a temp file -- the operator's macro / job source is
+        # never modified. This matters because:
+        #
+        #   1. The macro editor reads back the source. If we
+        #      rewrote in place, the operator would open `drop.nc`
+        #      and see (MSG,HOOK:...) blobs instead of the M-code
+        #      sequence they wrote.
+        #   2. Re-running a rewritten file would re-rewrite it; any
+        #      bug in the regex (e.g. with paren comments) would
+        #      compound on every load.
+        #
+        # Why we rewrite at all: gplan treats M100..M103 as no-ops
+        # by spec and exposes no callback for user M-codes. Its only
+        # in-band channel back to Python during a running program is
+        # the (MSG,...) message stream, so we substitute hook
+        # messages for the M-codes purely as transport.
+        load_path = src_path
         try:
-            from bbctrl.AuxPreprocessor import preprocess_file
+            from bbctrl.AuxPreprocessor import preprocess_to_tempfile
             ext = getattr(self.ctrl, 'ext_axis', None)
             coupling = (ext.coupling_for_preprocessor()
                         if ext is not None else None)
-            if preprocess_file(path, log=self.log, coupling=coupling):
-                self.log.info('Rewrote (ATC / Z-A coupling) in %s' % path)
+            tmp = preprocess_to_tempfile(
+                src_path, log=self.log, coupling=coupling)
+            if tmp is not None:
+                self._aux_tempfile = tmp
+                load_path = tmp
+                self.log.info(
+                    'Rewrote (ATC / Z-A coupling) for gplan: %s -> %s'
+                    % (src_path, tmp))
         except Exception:
             self.log.exception('Aux preprocess at load failed; '
                                'attempting to load file unchanged')
         self._sync_position()
-        self.planner.load(path, self.get_config(False, True))
+        self.planner.load(load_path, self.get_config(False, True))
         self.reset_times()
 
+    def _cleanup_aux_tempfile(self):
+        if self._aux_tempfile and os.path.exists(self._aux_tempfile):
+            try: os.unlink(self._aux_tempfile)
+            except OSError: pass
+        self._aux_tempfile = None
+
 
     def stop(self):
         try:

src/py/bbctrl/Preplanner.py

@@ -74,6 +74,7 @@ class Plan(object):
         self.progress = 0
         self.cancel = False
         self.pid = None
+        self.error = None
 
         root = ctrl.get_path()
         self.gcode = '%s/upload/%s' % (root, filename)
@@ -202,8 +203,16 @@ class Plan(object):
             if not self._exists(): yield self._exec()
             self.future.set_result(self._read())
 
-        except:
-            self.preplanner.log.exception("Failed to load file - doesn't appear to be GCode.")
+        except Exception as e:
+            # Record the error and ALWAYS resolve the future, otherwise
+            # PathHandler.get keeps timing out at 1s forever and the UI
+            # gets stuck on the "Processing New File" dialog.
+            self.preplanner.log.exception(
+                "Failed to plan file: " + str(e))
+            self.error = str(e) or 'Plan failed'
+            self.progress = 1
+            if not self.future.done():
+                self.future.set_result(None)
 
 
 class Preplanner(object):
@@ -268,3 +277,6 @@ class Preplanner(object):
 
     def get_plan_progress(self, filename):
         return self.plans[filename].progress if filename in self.plans else 0
+
+    def get_plan_error(self, filename):
+        return self.plans[filename].error if filename in self.plans else None

src/py/bbctrl/Web.py

@@ -411,11 +411,22 @@ class PathHandler(bbctrl.APIHandler):
 
         except gen.TimeoutError:
             progress = preplanner.get_plan_progress(filename)
-            self.write_json(dict(progress = progress))
+            err = preplanner.get_plan_error(filename)
+            resp = dict(progress = progress)
+            if err: resp['error'] = err
+            self.write_json(resp)
             return
 
         try:
-            if data is None: return
+            # Plan finished but produced no data (planner subprocess
+            # failed, e.g. AuxPreprocessor coupling rejection at
+            # planner-load time). Surface the error so the UI can
+            # close the "Processing New File" dialog instead of
+            # polling forever.
+            if data is None:
+                err = preplanner.get_plan_error(filename) or 'Plan failed'
+                self.write_json(dict(progress = 1, error = err))
+                return
             meta, positions, speeds = data
 
             if dataType == '/positions': data = positions