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Author SHA1 Message Date
Henrik Muehe
3b622d3d17 ExternalAxis: enforce soft limits in execute_to_mm and enqueue_target_mm 
Soft limits in machine coords (min_w/max_w from aux.json) were only
checked by gplan. UI jog/move endpoints went through ExternalAxis
directly without any check, so the W+ button at home would happily
push past max_w into a physical crash.

Add _check_soft_limit(target_abs_mm) called by both motion paths:
the synchronous execute_to_mm (UI) and the non-blocking
enqueue_target_mm (planner). Boundaries inclusive within a 1e-4
epsilon for floating-point round-trip stability. Skipped when the
axis isn't homed, matching the standard bbctrl convention that
soft limits are gated by homing state. Skipped when max <= min
(disabled).

Tested locally:
- pre-home: 200mm allowed (jog-out-of-trouble path)
- post-home: 0 and 134 (boundaries) accepted
- post-home: 135 and -1 rejected with clear error
- 134.00005 accepted (within epsilon), 134.001 rejected
- enqueue path also rejects, propagating up through Planner.next()
- max==min config skips check
 2026-05-03 11:50:49 +02:00
Henrik Muehe
aa747dcc85 Hide X cursor on kiosk (touchscreen) 
Pass -nocursor to startx so the mouse pointer never appears on the\nOnefinity touchscreen. Patched in all three boot paths: rc.local.fast\n(active), legacy rc.local, and the setup_rpi.sh bootstrap.
 2026-05-03 11:47:05 +02:00
Henrik Muehe
56c3406f25 ExternalAxis: option (b) homing - user A=0 at home, deterministic on re-home 
Three changes that together implement option (b) home semantics:

1. Mach.home for the external axis: replace G28.3 with explicit
   AVR position sync (Cmd.set_axis) + planner abs sync
   (position_change) + G92 a0 (set user-coord origin to current
   physical position, computing offset = home_position_mm).

   G28.3 was wrong: it preserves the current user-coord position
   and adjusts the offset to bridge to the new abs. After a move
   away from home and a re-home, the offset accumulates
   (134 -> 268 -> ...). G92 a0 with a freshly-synced abs always
   produces offset = home_position_mm regardless of prior state.

2. Planner.__encode: stop stripping the external axis target from
   the AVR line. The AVR has no motor mapped to A so it steps no
   motor, but exec_move_to_target updates ex.position[A] which
   gets reported back as ap. Leaving A in the AVR target keeps
   state.ap consistent with gplan's idea of A; stripping it left
   ex.position[A] stale and clobbered ExternalAxis's state.ap on
   the next status report.

   Side benefit: removes the special-case empty-string return for
   pure external moves; every line block follows the same path now.

3. ExternalAxis.enqueue_target_mm: stop writing to state.<axis>p
   from the planner hot path. The AVR's status reports drive it
   instead, which avoids DRO jitter (jump to target then snap back
   to intermediate values as the trapezoid runs). _pos_mm internal
   mirror is still updated for delta computation.

Re-verified with the integration smoke test in tmp/20260503_option_b/:
home/move-down/move-up/re-home/home-from-bottom all produce the
expected DRO position values (0 at home, -134 at bottom).
 2026-05-03 10:46:47 +02:00
Henrik Muehe
7cdab010b3 axis-vars: guard motor lookup for synthetic motor 4 
_compute_axis indexed config.motors[motor_id] directly without
checking the array length. For motor_id=4 (the synthetic external-
axis motor used by ExternalAxis) there is no entry in config.motors,
so motor was undefined and motor["homing-mode"] threw - which
made the entire 'a' computed prop return undefined and the A row
never rendered.

Default to {} when the index is out of bounds.
 2026-05-03 10:26:36 +02:00
Henrik Muehe
53f26b0be8 feat: integrate W axis as virtual A axis through gplan 
Big-bang refactor of the W-axis integration. The auxcnc ESP stepper
is now exposed to the bbctrl planner (camotics gplan) as a virtual
A axis with no AVR motor mapping. gplan parses gcode for A natively,
applies soft limits, units, accel ramping and S-curve trajectories.
Line blocks with A motion are intercepted in Planner.__encode and
forked to the ESP via ExternalAxis on a worker thread; the residual
XYZ motion goes to the AVR as before.

This replaces the previous (MSG,HOOK:aux:N) side-channel: gcode
authors now write G1 A50 F1000 (or G28 A0 to home) and the planner
handles it the same way it handles X/Y/Z.

## Architecture

The AVR has 4 motor channels (0-3, all assigned to X/Y/Y/Z on
Onefinity). Looking at the AVR source, an axis with no motor
mapping is fully accepted: line blocks with that axis target update
ex.position[axis] in exec.c, but no motor steps because
motor_get_axis(motor)==axis returns -1. The AVR reports 'p' for
all 6 axes regardless. So we expose A to State as a synthetic
motor (index 4, host-only), populated from aux.json with full
kinematic config (vm/am/jm/tn/tm). State.find_motor and the
snapshot projection now walk 0..4. gplan sees A as a real axis.

## New module: ExternalAxis

  - Registers synthetic motor 4 with vm/am/jm/tn/tm so
    State.find_motor('a') returns 4 and gplan picks up
    soft limits + kinematics.
  - Worker thread drains a target queue so ESP RPCs (which can
    take seconds) never block the bbctrl ioloop.
  - execute_to_mm: synchronous, used by HTTP endpoints.
  - enqueue_target_mm: non-blocking, used by Planner.__encode.
  - home(): runs ESP cycle, syncs <axis>p and <axis>_homed.
  - abort(): drains queue.

## Planner

  - __encode splits external-axis target out of line blocks.
  - Pure A move -> emits id-sync only (planner advances cleanly).
  - Mixed XYZ + A -> AVR runs XYZ trapezoid concurrent with the
    ESP move (v1 accepts the slight desync; users wanting strict
    sequencing put A on its own gcode line).
  - _<axis>_homed for the synthetic motor mirrors into State only.
  - Planner.reset drains the worker queue and forces resync.

## Mach

  - Mach.home(axis='a') routes through ext.home() instead of the
    standard G28.2/G38.6 latch sequence (which doesn't apply to an
    ESP-driven axis), then issues G28.3 a<home> to sync gplan.
  - Mach.unhome strips the AVR path for A.
  - Mach.stop / E-stop drain the external-axis worker queue.
  - Mach.jog strips A so the AVR doesn't see it (continuous-rate
    jogging not supported on ESP yet; use /api/aux/jog instead).

## State

  - find_motor walks 0..4 (synthetic motor 4 lives in vars).
  - snapshot projection includes motor 4 so 4tn -> a_tn etc.
  - get_axis_vector picks up motor-4 values without changes.

## AuxAxis

  - Adds set_state_observer hook so ExternalAxis sees homed-flag
    changes after homing/boot-banner.
  - DEFAULTS now include axis_letter, max_velocity_m_per_min,
    max_accel_km_per_min2, max_jerk_km_per_min3 in user-facing
    motor-config units (m/min, km/min^2, km/min^3) matching the
    onefinity per-motor convention.

## AuxPreprocessor

  - Drops W-token rewriting entirely. M100..M103 ATC mapping kept.
  - W tokens in legacy gcode now warn (once per file) instead of
    being rewritten. Migration: replace W with A.

## Hooks

  - aux/aux_rel/aux_setzero hooks retired. aux_home kept as a
    legacy alias routing to ext.home() for older preprocessed
    gcode. ATC hooks (droptool/grabtool/release/clamp) unchanged.
  - E-stop now drains the external-axis worker queue.

## Web.py

  - /api/aux/{home,jog,move} now route through ExternalAxis when
    available so DRO and gplan position stay in sync.

## UI (axis-vars.js + control-view.pug)

  - _get_motor_id and _check_is_enabled fall back to motor index 4
    so the standard A column in the DRO renders state for the
    ESP-driven axis (with full offset / set-position / per-axis
    home support).
  - Legacy W row is gated on !a.enabled - shown only for installs
    that haven't migrated.
  - WAxisSettings.svelte exposes the new max_velocity_m_per_min /
    max_accel_km_per_min2 / max_jerk_km_per_min3 fields and an
    axis_letter selector for picking A/B/C.

## Open follow-ups (validate on hardware)

  - Q1: gplan soft-limit enforcement for A with min/max set.
    Easy smoke test: max_w=50, MDI G1 A100, expect rejection.
  - Q2: AVR behaviour with a target dict containing A values for
    a motorless axis. Read of exec.c suggests it's safe; needs a
    smoke test (no motor faults, no unexpected step counts).
  - Q3: pause/resume mid-A-move semantics. ESP doesn't honour
    bbctrl pauses; ext.abort drains the queue but a move-in-flight
    runs to completion. Acceptable for v1; v2 could add a synced
    pause.
 2026-05-02 17:17:20 +02:00
Henrik Muehe
3614a2bcd4 AuxPreprocessor: canonical M100-M103 for ATC pneumatics 
Map four user-defined M-codes to the existing ATC hooks:

  M100  DROPTOOL  -> (MSG,HOOK:droptool:)
  M101  GRABTOOL  -> (MSG,HOOK:grabtool:)
  M102  RELEASE   -> (MSG,HOOK:release:)
  M103  CLAMP     -> (MSG,HOOK🗜️)

M100-M103 are in LinuxCNC/Buildbotics user-defined range so the
planner won't error on the raw codes if the preprocessor is bypassed.
Stripped from the residual line and replaced with the hook line.
Order is left-to-right; multiple ATC codes per line and ATC+W on
the same line both work (M100 W10 -> drop then move to W=10).

The file scanner (file_uses_aux, formerly file_uses_w) now wakes
up for either W tokens or ATC M-codes; backwards-compat alias kept.
MDI rewrite (Mach._rewrite_w_mdi) updated likewise.

Tested locally with mixed ATC/W gcode in tmp/20260501_atc_mcodes.
 2026-05-01 18:49:44 +02:00
Henrik Muehe
06f0e6517e AuxAxis: wire DROPTOOL/GRABTOOL/RELEASE/CLAMP as gcode hooks 
Adds atc_droptool/atc_grabtool/atc_release/atc_clamp wrappers in
AuxAxis (each just an RPC waiting on the matching terminal reply
line from the firmware), and registers them as internal hook
handlers in Ctrl. Macros and gcode programs can now invoke the
tool changer with:

  (MSG,HOOK:droptool:)
  (MSG,HOOK:grabtool:)
  (MSG,HOOK:release:)
  (MSG,HOOK🗜️)

block_unpause + auto_resume mirrors the W-axis hooks: the program
pauses while the ESP runs the pneumatic sequence and resumes when
done. Soft timeouts match the worst-case ESP sequence durations.
 2026-05-01 16:35:45 +02:00
Henrik Muehe
1a6f926181 Hooks: dispatch HOOK messages directly, bypassing state.messages 
The previous fix routed (MSG,HOOK:...) lines through state.messages
and then immediately ack'd them to suppress the user-visible popup.
But state changes are debounced 0.25s before listeners fire, so the
HOOK message was already ack'd (removed from the list) by the time
Hooks._on_state_change saw the update - and the hook never ran.

Add Hooks.dispatch_hook_message() as a direct entry point and call
it from Planner._add_message. HOOK lines are dispatched synchronously
from the planner thread; the user message list is left untouched, so
no popup leaks and no debounce race.
 2026-05-01 16:32:02 +02:00
Henrik Muehe
b0712a5bf0 run_macro: use fetch instead of api.get for /api/file 
api.get assumes JSON responses, but /api/file/<name> returns raw
gcode text. The await threw on response.json() and start_pause()
never fired. Use fetch directly and await response.text() to make
sure FileHandler.get's select_file side effect has been processed
before mach.start() runs.
 2026-05-01 16:29:25 +02:00
Henrik Muehe
1c69c0a157 Macros: fix wrong-file race, suppress HOOK message popups, preprocess at load 
Three fixes for macro/W-axis interaction:

1. run_macro raced the file selection. The frontend mutated
   state.selected client-side and immediately fired api.put('start').
   Selection on the server is a side effect of GET /api/file/<name>
   (FileHandler.get calls state.select_file). The GET request was
   often still in flight when start ran, so mach.start() executed
   whichever file was selected last - pressing W Down would re-run
   W Up. Now run_macro awaits the file fetch before starting.

2. (MSG,HOOK:aux:N) lines, used as the IPC channel between the
   W-axis preprocessor and the Hooks system, were leaking to the
   user as message popups (because the planner forwards every
   (MSG,...) comment to state.messages). Filter HOOK: messages in
   Planner._add_message: still pushed through state.messages so
   Hooks._on_state_change can dispatch them, but immediately
   acked so the UI doesn't render them.

3. AuxPreprocessor only ran at upload time (FileHandler.put_ok and
   Mach.mdi). Files written via scp, restored from a config backup,
   or hand-edited still contained raw W tokens that the planner
   couldn't parse. Run preprocess_file in Planner.load() too. It's
   idempotent (no-op when no W tokens remain) so re-loading a
   already-rewritten file is free.
 2026-05-01 16:27:14 +02:00
muehe
748f092795 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.
 2026-05-01 16:18:23 +02:00
muehe
cfc14643d2 control: home W last in 'Home All' 
Previously XYZ and W homing dispatched in parallel. Wait for the
main AVR homing cycle to return to idle before kicking off the W
auxcnc home so they never run simultaneously.
 2026-05-01 16:16:51 +02:00
muehe
b0f38619ba control: keep jog grid visible during jog/home/probe/mdi 
is_program_executing was checking only state.xx (RUNNING/HOLDING/
STOPPING) which is also true during jogging, homing, probing and
MDI cycles. The Now Running panel therefore took over the Control
view whenever the user jogged. Add a state.cycle check so only the
'running' cycle (a loaded program executing) triggers the swap.
 2026-05-01 16:08:39 +02:00
Henrik Muehe
549b69c234 motor-view: stop clobbering user edits with controller state 
The legacy Vue 1 motor settings page had nine `current_xxx` computed
props mirroring controller state vars (`<idx>vm`, `<idx>am`,
`<idx>jm`, `<idx>sa`, `<idx>tr`, `<idx>mi`, `<idx>tm`,
`<idx>tn`, `<idx>an`) paired with watchers that copied the state
value back into `config.motors[index]`, plus an `attached()` hook
running the same sync on mount.

The controller streams those vars continuously over the websocket.
Whenever a user typed into a field, the next state tick reverted it
to the controller's pre-edit value, so the form felt racy and edits
disappeared before Save. The same path also nuked unsaved edits when
navigating to another settings page and back.

The watcher logic was added in 749d63e to handle the case where
toggling rotary mode (PUT /api/rotary) rewrites motor 1+2 in
config.json on the server. Move that fix to the right place: refetch
config after the rotary PUT in app.js. The form now edits config
directly, Save PUTs it, and incoming controller state never overwrites
the user's in-progress edits.

Also drop the unused `syncStateToConfig` method.
 2026-05-01 16:08:31 +02:00
muehe
5376d23f8b control: shrink Home All button in DRO header 
Smaller than the per-axis home buttons so it reads as a header-level
shortcut rather than competing visually with each row's action.
 2026-05-01 15:57:31 +02:00
muehe
ecf3191fcc control: restore Home All button in DRO header 
Legacy Onefinity exposed a master Home All in the DRO header. Our
V09 redesign only kept it inside the no-W fallback row, so machines
with the W axis enabled (which is most users now) had no master
home button. Add it back to the DRO header's Actions column.

home_all() fires /api/home for X/Y/Z/A and /api/aux/home for W in
parallel \u2014 the AVR and the auxcnc ESP run independent homing cycles
so the user sees one click homing everything.
 2026-05-01 15:54:52 +02:00
muehe
3baa67360c control: align XY/Z origin tile color with other axis tiles 
Drop the .ghost class from the XY Origin and Z Origin tiles so they
use the same flat slate color as the X-/X+/Z+ neighbors. The lighter
ghost tone made them look like a different category of action when
they are just origin shortcuts.
 2026-05-01 14:50:22 +02:00
muehe
b7bd7a1c9c AuxAxis: faster sane defaults for homing and stepping 
Old defaults (4000 fast / 400 slow / 200 backoff / 16000 accel /
200 start) were never aggressive in practice because the user-
saved config drifted to even lower values (600/80/110). Re-tune
the DEFAULTS dict to values that are sensible at 25 steps/mm:

  home_fast_sps     2500   ~100 mm/s seek
  home_slow_sps      250    ~10 mm/s re-engage
  home_backoff_steps 400     ~16 mm clear hysteresis
  step_max_sps      4000   ~160 mm/s normal-move cap
  step_accel_sps2  12000

These only affect machines without an existing aux.json. The Pi
at 10.1.10.55 was patched manually.
 2026-05-01 14:47:11 +02:00
muehe
6fe2e79bff settings: unify W axis save into master Save button 
- Drop the in-form 'Save W Axis Settings' button. The Svelte
  WAxisSettings component now listens for a global onefin:save-all
  event and PUTs aux/config/save when fired.
- Vue root's save() dispatches that event after saving config.json,
  so a single click of the master Save button persists both the
  controller config and aux.json atomically.
- Editing any W axis field triggers onefin:dirty, which the Vue
  root catches to set modified=true so the master Save lights up
  with the unsaved-changes indicator.
 2026-05-01 14:28:15 +02:00
muehe
19e6cc6c93 ui: unify jog button sizing across tablet and kiosk 
Big jog labels were only set inside the kiosk-mode override block,
which made the 1920x1080 tablet preview look small and inconsistent
with the Pi kiosk. Move the larger sizes to the base .jbtn rule
(font 1.6rem, ico 2.4rem, lbl 1.5rem) and drop the kiosk-mode
.jbtn override so both viewports use the same single source of
truth.
 2026-05-01 14:24:33 +02:00
muehe
50839718e2 kiosk: chromium 72 mime + flex-gap fixes 
Pi's onboard chromium is 72 (Jan 2019). Two issues:

1. Python 3.5's mimetypes doesn't know woff/woff2/ttf, so Tornado
   serves them as application/octet-stream which chromium 72 refuses
   to use as web fonts -> all FA6 icons render as empty boxes. Add
   scripts/deploy/patch_font_mime.py that monkey-patches bbctrl
   Web.py's StaticFileHandler with correct content types. Run
   automatically by deploy-hardware.sh (idempotent).

2. flex-gap landed in chromium 84. Add '> * + *' margin fallbacks
   for the flex containers that show up on Program tab (action-bar,
   action-btn, file-bar, file-btn) and tighten the kiosk-mode
   settings rail so all 14 items fit in 768px height.
 2026-05-01 11:16:28 +02:00
Henrik Muehe
68a92bb297 AuxAxis: pre-load home_zero via HOMECFG, drop post-home WPOS 
home() previously matched the wrong [home] line (firmware-side bug,
fixed in auxcnc) and even when it would have matched, it tried to
shift the step counter by writing 'WPOS <n>' after homing. The ESP's
WPOS handler clears HOMED, so a bbctrl restart would forget the home
state.

Push the desired step counter via HOMECFG zero= (firmware writes it
into the counter at the end of a successful HOME, leaving HOMED set).
home() now only reads the terminal [home] line; no post-home counter
fixup.
 2026-05-01 11:08:51 +02:00
muehe
41d720c1d0 kiosk: pi-friendly compact mode + chromium 72 fallbacks 
- Detect kiosk mode (localhost / ?kiosk=1) and add html.kiosk-mode
- Suppress 3D path-viewer in kiosk mode (Pi 3B too slow)
- Compact 1366x768 layout: 56px header, smaller jog grid, 4-col macros
  2-col status, 540px jog column
- Flex-gap fallbacks for Chromium 72 (header tabs, sys-btn, state-badge,
  ktab, sp-row, etc.) using "> * + *" margin-* rules
- Path-viewer: opaque WebGL canvas, ResizeObserver-gated render loop,
  no first-frame size flash
- Path-viewer renderer cleared properly on component teardown
- W axis row: W- | W+ | Probe XYZ | Probe Z (was W-|HomeW|W+|Probe)
- Running panel only for actual program execution (not jogging)
- Settings sectioned (Display+Units / Probing / G-code+Motion)
- Routed component now keep-alive across tab swaps
- FA4 -> FA6 webfonts
 2026-05-01 11:05:39 +02:00
Henrik Muehe
3d73e6c59d install.sh: mask sysstat, replace dphys-swapfile with fstab entry 
Round-3 cold-boot trims:
- mask sysstat.service (sadc CPU/IO logger; nothing reads it).
- mask dphys-swapfile.service and add /var/swap to /etc/fstab so swap
  is brought up by systemd at local-fs.target instead of by an LSB
  wrapper that re-checks the swap file size on every boot.

Both are reversible: `systemctl unmask <unit>` and remove the fstab
line. Before doing the dphys swap, install.sh verifies /var/swap
exists; on a fresh image where the file hasn't been created yet,
nothing is changed and dphys-swapfile keeps running normally.

Userspace boot 11.5s -> 10.7-11.4s on clean runs; bbctrl listen
unchanged at boot+10.4s (the saving moves to chromium/multi-user).
 2026-05-01 10:31:40 +02:00
Henrik Muehe
860ca30aba install.sh: ship cold-boot optimisations with firmware updates 
Persist the cold-boot wins (was: only manually deployed via
tmp/20260501_restart_timing/deploy-fast.sh, would silently revert on
the next prod firmware update).

- Install bbserial-rebind.service alongside bbctrl.service and enable
  it. Eliminates the rc.local bbserial reload mid-boot.
- Prefer scripts/rc.local.fast over scripts/rc.local when present.
  Legacy rc.local left as a fallback for old firmware tarballs.
- Mask plymouth-read-write, plymouth-quit-wait, and raspi-config.
  Together these were ~6s of userspace startup that bought nothing
  on a deployed Onefinity Pi.

Cumulative: bbctrl listening at boot+10.6s (was 20.6s), userspace
boot 11.5s (was ~13s), bbctrl.service @2.9s in critical-chain (was
@6.5s after the first optimisation pass).
 2026-05-01 10:15:35 +02:00
Henrik Muehe
8e3b7a29e5 Cold-boot: 4 optimisations cutting bbctrl listen by ~8s on the Pi 
Measured on onefinity.local (Pi 3, Raspbian Stretch, bbctrl 1.6.7).

Before -> after:
  bbctrl listen           boot+20.6s  ->  boot+12.4s   (-8.2s)
  host -> /api/config/load    28.2s   ->     22.5s    (-5.7s)

The 4 changes (each independently revertable):

1. scripts/bbserial-rebind.service: do the bbserial unbind + reload
   in a dedicated unit ordered Before=bbctrl.service, instead of in
   rc.local AFTER bbctrl is already listening on the serial port.
   Eliminates a full bbctrl restart mid-boot.

2. scripts/bbctrl.service: drop "After=network.target". bbctrl talks
   to the AVR on a local serial port and to the LCD on I2C; it does
   not need DHCP / network-online to come up. Also adds explicit
   ordering after the new bbserial-rebind unit.

3. scripts/rc.local.fast: trimmed rc.local that no longer touches
   bbserial and backgrounds 'startx' so chromium launches in
   parallel with bbctrl rather than after rc.local finishes.

4. src/py/bbctrl/Planner.py: lazy-import camotics.gplan. Costs ~130ms
   on cold cache, deferred from import-time to ctrl.mach init.

5. (bonus) src/py/bbctrl/Log.py: tolerate FileNotFoundError in
   _rotate(). The improved boot path exposed a pre-existing log
   rotator bug that crashed bbctrl on first start when bbctrl.log.16
   was missing.
 2026-05-01 10:07:23 +02:00
Henrik Muehe
420caf52be Trace: anchor events to kernel boot, mark first GET / 
- Trace reads /proc/stat btime and /proc/uptime at import so every
  event in /api/diag/timing can be expressed as 'seconds since
  power-on' (uptime_at_anchor + ev.t).
- Web.StaticFileHandler.prepare emits 'web.first_root_get' the first
  time chromium hits / or /index.html, so we can see when the kiosk
  browser actually started loading the UI on cold boot.
 2026-05-01 09:56:21 +02:00
Henrik Muehe
561d2fd7ea Restart timing: bbctrl.Trace, /api/diag/timing, UI marks 
Add a lightweight, self-contained phase tracer for measuring end-to-end
bbctrl restart and Pi boot time. Disabled by setting BBCTRL_TRACE=0.

- src/py/bbctrl/Trace.py: monotonic-anchored event log + sd_notify helper.
- bbctrl/__init__.py: marks for imports, args parsed, ioloop, web init,
  listen, and an sd_notify READY=1 once HTTP is bound.
- bbctrl/Ctrl.py: spans around each subsystem (avr, i2c, lcd, mach,
  preplanner, jog, pwr, hooks, aux, mach.connect).
- bbctrl/Comm.py: avr.firmware_rebooted mark.
- bbctrl/Web.py: TimingHandler (GET /api/diag/timing) and
  UITimingHandler (PUT /api/diag/timing/ui), plus a ws.first_open mark.
- src/js/restart-timing.js + app.js: UI-side performance.now() marks
  (script.load, ws.open, ws.first_msg, ui.first_state, window.load),
  posted once to the controller.
- scripts/bbctrl.service: stdout/stderr -> journal so TRACE lines are
  visible via journalctl -u bbctrl. (Was StandardOutput=null.)

Revert: git revert this commit. To disable at runtime without
reverting, set BBCTRL_TRACE=0 in the bbctrl service environment.
 2026-05-01 09:48:10 +02:00
Henrik Muehe
73c6a4f160 Macros: suppress placeholder color stripes (#dedede, #fff, ...) 
The bbctrl controller seeds new macros with placeholder colors like
'#dedede' and '#ffffff'. Treating those as 'configured' lit up the
asymmetric 6 px left stripe on every default macro, which looked
lopsided.

Add control-view.has_macro_color() that filters out a fixed set of
default placeholders plus anything within the near-white band
(R+G+B > 690). The .has-color class and the inline border-left-color
style are gated on that helper, so unconfigured macros render as
clean symmetric slate tiles.

Tested live on http://10.1.10.55/#control with the existing macro
config (#dedede): button now renders without the gray stripe.
 2026-05-01 08:18:28 +02:00
Henrik Muehe
5926316a25 Fix: real-hardware bring-up issues found at 1920x1080 on the Pi 
After testing the V09 redesign live on the Pi at onefinity.local
(1920x1080, Chrome fullscreen) several real bugs surfaced. This
commit fixes all of them.

Layout fits at 1920x1080
- Cap .app-shell at 100vh height with overflow:hidden so child
  flex containers actually constrain to one screen.
- Make .control-page / .program-page / .console-page use
  flex 1 1 auto + min-height 0 + overflow hidden so the page total
  no longer grows to ~36 000 px when the gcode-viewer is mounted.
- Override clusterize.css default max-height: 200px on the
  .clusterize-scroll element with max-height: none + flex 1 1 0 +
  height 100% so the gcode listing fills the available column.

E-Stop in the header
- The legacy estop.pug SVG had width=130 height=130 but no
  viewBox, so CSS-only sizing did nothing and the SVG content
  spilled ~26 px off the right edge of the screen and ~70 px
  below the header. Add viewBox="0 0 130 130" plus
  preserveAspectRatio so CSS sizing actually shrinks the inner
  geometry. Drop the octagonal clip-path (the SVG already
  carries its own yellow safety ring + EMERGENCY/STOP text).

3D toolpath preview (path-viewer)
- The legacy .path-viewer.small CSS clamped the canvas to
  340 x 150 floated into the corner. In the new program-body
  grid we want it to fill the 600 px right column. Override
  with width 100%, height auto, float none, !important.
- Make orbit.js wheel/touchstart/touchmove listeners
  {passive: false} so OrbitControls.preventDefault() actually
  works and the page no longer scrolls while panning the 3D
  view on a touch screen.

Vue 1 template + reactivity bugs exposed by the live data
- Replace v-else-if (Vue 1 has no v-else-if) in
  control-view.pug with three sibling v-if templates that
  mutually exclude on w.enabled and state['2an'] == 3.
- axis-vars._get_motor_id: guard motor.axis.toLowerCase()
  against undefined motors (initial config is [{}, {}, ...]).
- axis-vars._check_is_enabled: prefer config.motors[i].axis
  when present, fall back to state[N + 'an'] only for
  recognised axes (x/y/z/a) so undefined == undefined
  doesn't mistakenly enable b/c rows.
- program-mixin: tolerate state.files / state.gcode_list
  being undefined right after connect.

App-shell race conditions
- Skip the early parse_hash() in app.js ready() when the
  initial hash is in the settings family. Those Svelte
  components read settings.units / settings.probing-prompts /
  motion.* etc. and crash on first paint with the empty
  placeholder config. Stay on loading-view until update()
  completes and routes us in itself.

Misc
- src/static/js/ui.js: null-guard the legacy burger menu code
  (#menuLink no longer exists). Was throwing 'Cannot set
  properties of null (setting onclick)'.
- src/static/css/Audiowide.css: switch the gstatic font URL
  from http:// to https:// so it isn't blocked as mixed
  content under the home.muehe.org HTTPS proxy.
- Macro buttons: drop the default 6 px yellow border-left.
  The stripe now only appears via .has-color when
  state.macros[i].color is actually configured. Removes the
  asymmetric/lopsided look from the screenshot.

Tested live on http://10.1.10.55/ and via the HTTPS proxy at
https://onefinity.home.muehe.org/.
 2026-04-30 22:24:55 +02:00
Henrik Muehe
ea23f94b87 Settings rail: add W Axis entry; deploy scripts (local/hardware/prod) 
UX
- The V09 redesign already exposed the W axis in the Control jog grid
  (row 4 when w.enabled) and as a row in the DRO table. The Settings
  shell now also surfaces a dedicated 'W Axis' rail entry that smooth-
  scrolls to the W Axis (auxcnc) section of the main settings page.
  The rail item is marked active only while the user is on Display &
  Units AND the W Axis link was the most recent click.
- The W Axis section in src/svelte-components/src/components/Settings
  View.svelte gets an id="w-axis" anchor so the scroll lands cleanly.

Tested live against onefinity.local. Aux status reports
{enabled: true, present: true, pos_mm: 43.96, homed: false}; the W
axis row appears in the DRO with the right purple styling, and the
jog row 4 shows W- / Home W / W+ / Probe.

Deploy scripts
- deploy.sh dispatches to scripts/deploy/{local,hardware,prod}.sh
  with shorthand wrappers (deploy-local.sh / deploy-hardware.sh /
  deploy-prod.sh).
- local: builds the UI bundle and serves build/http/ via
  python3 -m http.server 8770 in a tmux session 'onefin-local'.
  Useful for visual iteration on macOS — chrome only, no controller.
- hardware: rsyncs the freshly built build/http/ tree onto the Pi at
  onefinity.local and restarts bbctrl. Stages to /tmp on the Pi and
  uses sudo to install into the running egg's bbctrl/http directory,
  so iteration time is ~5 seconds.
- prod: requires a clean working tree, then runs 'make pkg' followed
  by 'make update HOST=onefinity.local PASSWORD=onefinity'.

Defaults can be overridden with environment variables (HOST, PASSWORD,
REMOTE_USER for the hardware path).
 2026-04-30 21:45:17 +02:00
Henrik Muehe
b8c4f53bb1 Merge branch 'hooks' into master 
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
 2026-04-30 21:33:48 +02:00
Henrik Muehe
32f3aca368 UX redesign V09: replace shell, split Program/Console/Settings 
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.
 2026-04-30 21:27:00 +02:00
Henrik Muehe
081209decf Plan: resolve open questions (hard cut, macros slice, override drawer, defer pin) 
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.
 2026-04-30 20:43:29 +02:00
Henrik Muehe
ef4658aaf6 Plan: V09 full UX redesign mock + implementation plan 
- 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.
 2026-04-30 20:00:03 +02:00
Henrik Muehe
ef78f20eaa Docs: README + W axis docs cover macOS build/flash and new UI 
- 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.
 2026-04-30 19:54:30 +02:00
Henrik Muehe
36829020a5 Settings: add W axis (auxcnc) panel 
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.
 2026-04-30 19:10:24 +02:00
Henrik Muehe
2413fc49ab UI: collapse W axis to home-only (drop set-zero / W-origin) 
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.
 2026-04-30 19:07:17 +02:00
Claude
7d5949f5fc UI: add W jog row (W- / W Origin / W+ / Home W) under the XYZ jog grid 
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.
 2026-04-30 17:37:49 +02:00
Claude
23f22105a8 UI: align W axis marker/home buttons with the X/Y/Z columns 
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.
 2026-04-30 17:23:55 +02:00
Claude
4f74e75d44 UI: render W (aux) axis row in the main DRO 
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.
 2026-04-30 17:10:00 +02:00
Claude
c7cf9483b3 Add W axis integration via auxcnc ESP32 over /dev/ttyUSB0 
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.
 2026-04-30 16:51:24 +02:00
Henrik Muehe
54a15f9d12 Rewrite BUILD.md: clean up, add quick start, remove dead weight 
- Quick start section at the top (3 commands)
- Removed inline Bullseye build recipe (moved to 'why not' appendix)
- Added build time estimates
- Cleaner table formatting
- gplan.so contents documented (cbang + camotics)
 2026-04-30 16:39:57 +02:00
Henrik Muehe
704bc8d35c gplan.so: build from source using Raspbian Stretch Docker 
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.
 2026-04-30 16:33:20 +02:00
Henrik Muehe
4d2d5fd88c Update BUILD.md: gplan.so can't be built from source on Bullseye 
Document GLIBC/GLIBCXX version constraints and Python 3.5 compat notes.
Recommend using official release gplan.so instead.
 2026-04-30 15:57:31 +02:00
Henrik Muehe
eab204b7be Fix Python 3.5 compat: capture_output and text= not available 
Use stdout=PIPE/stderr=PIPE and manual .decode() instead.
Use official 1.6.6 gplan.so (built with Stretch-era GCC, no GLIBC_2.29 dep).
 2026-04-30 15:56:42 +02:00
Henrik Muehe
e3c059eb9b Add cached gplan.so build: 30min first time, 3sec after 
- Dockerfile.gplan: pre-built armv7 image with cbang + camotics objects
- build-gplan.sh: relinks against Python 3.5m in ~3sec
- Pi Python 3.5 headers cached in .pi/pi-python35.tar.gz (gitignored)
 2026-04-30 14:43:05 +02:00
Henrik Muehe
7306464440 Document gplan.so build-from-source procedure 
Build in armv7 QEMU Docker, compile with Python 3.9 SCons,
relink final .so against Python 3.5m from the Pi.
 2026-04-30 13:52:58 +02:00
Henrik Muehe
1625b768d8 Add build/flash/backup documentation for Pi firmware 2026-04-30 12:09:12 +02:00
Henrik Muehe
5be7515a92 Fix gplan.so: use armv7 binary from official 1.6.6 release 
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.
 2026-04-30 11:36:09 +02:00
Henrik Muehe
b10a6d537e Add SD card backup/restore script 
Streams raw dd from Pi over SSH, compresses locally with gzip.
Supports backup, restore (local SD card or remote Pi), and verify.
 2026-04-30 11:17:03 +02:00
Henrik Muehe
7d0755c55b Hooks v2: block unpause until hook completes 
- 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
 2026-04-21 08:10:07 +02:00
Henrik Muehe
7f8fd23615 Add hooks system for external triggers during G-code execution 
- 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
 2026-04-20 17:43:02 +02:00
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@@ -1,77 +0,0 @@
# Onefinity firmware — agent guidelines
## Branch model
This fork lives on **two long-lived branches**:
- **`master`** — public-facing fork. General-use upgrades on top of
upstream OneFinity firmware: V09 UX redesign, Font Awesome 6, faster
cold boot, macOS dev/deploy tooling, build & flash docs, SD-card
backup, `/api/diag/timing`, kiosk/tablet polish, and assorted
bug-fixes. **No A-axis, ATC, hooks, or auxcnc/ESP content.** Aim for
changes that benefit any Onefinity owner.
- **`private-mods`** — bespoke shop branch. Stacks on top of `master`
and adds everything specific to the auxcnc-ESP-driven A axis and
the ATC: `Hooks` (ATC IPC), `AuxAxis` (ESP serial driver),
`ExternalAxis` (virtual A through gplan), `AuxPreprocessor` (M100-M103),
Z-A coupling interlock, the A-axis UI surface, and the
`/api/aux/*` endpoints.
Upstream:
- `upstream` → `https://github.com/OneFinityCNC/onefinity-firmware.git`
- `origin` → Gitea (`https://gitea.home.muehe.org/muehe/onefinity-firmware.git`)
`origin/pre-split-backup` is a tag preserving the pre-split master
tip. Keep it indefinitely until further notice.
## Where does a change go?
| Change | Branch |
|---|---|
| UI polish, theme, layout that any user benefits from | `master` |
| Build / install / boot performance | `master` |
| Diagnostics, logging, generic Python / Tornado fixes | `master` |
| Anything that touches `AuxAxis`, `ExternalAxis`, `Hooks`, `AuxPreprocessor` | `private-mods` |
| Anything mentioning the auxcnc ESP, `/dev/ttyUSB0`, the M100-M103 ATC pneumatics, or motor index 4 | `private-mods` |
| Z-A coupling interlock, ATC tool change sequencing | `private-mods` |
| A-axis UI (DRO row, jog tile, settings page, A-axis routes) | `private-mods` |
| W → A renames or aux.json migrations | `private-mods` |
When in doubt: ask "would this be useful on a stock Onefinity with no
ESP attached?" If yes → `master`. If no → `private-mods`.
## Workflow
```bash
# Day-to-day shop / hardware work (default)
git checkout private-mods
# … do work, commit …
git push origin private-mods
# Generic improvement to master
git checkout master
# … do work, commit …
git push origin master
# After landing on master, replay private-mods on top
git checkout private-mods
git rebase master
git push --force-with-lease origin private-mods
```
If a change accidentally lands on `master` but is bespoke (touches
the file table above), move it: `git reset --hard <prev>` on master,
cherry-pick onto `private-mods`, force-push master.
## Deploy
- `./deploy.sh local` — UI bundle on `localhost:8770` (tmux session
`onefin-local`). No controller backend; A-axis row stays hidden.
- `./deploy.sh hardware` — rsync to the Pi over SSH, restart
`bbctrl.service`. Use the `private-mods` branch on the shop Pi.
- `./deploy.sh prod` — bundle a release tarball.
See `.pi/BUILD.md` for the full build / flash / cross-compile flow.
## Commit before ending a turn; push after significant changes.

61
CHANGELOG.md
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@@ -1,67 +1,6 @@
OneFinity CNC Controller Firmware Changelog
===========================================
## Unreleased (community fork)
General-use additions on top of upstream OneFinity firmware.
### UI
- V09 redesign: 4-tab top header (Control / Program / Console /
Settings) replaces the legacy side menu.
- Control: redesigned DRO with per-axis offset + zero + home
actions, jog grid with consistent button sizing across kiosk
and tablet, status strip with live state / velocity / spindle.
- Program: dedicated tab for run / pause / stop, file browser,
toolpath preview.
- Console: MDI shell, message log, indicators.
- Settings: rail-driven inner pages so each section is its own
focused panel rather than one long scroll.
- Tablet mode (`?tablet=1`) pins the UI to 1920x1080 and scales
it to fit the actual viewport.
- Kiosk mode (`?kiosk=1`, auto on localhost): tighter layout for
the controller's onboard 1366x768 screen.
- Font Awesome 6 throughout (replaces FA4).
- Fix: stop clobbering motor settings while the user is editing
them.
- Fix: keep jog grid visible during jog/home/probe/MDI activity.
- Fix: opaque dark canvas for path-viewer (no flash through page
background).
- Fix: OrbitControls now uses non-passive wheel/touch listeners so
it can suppress page panning while interacting with the 3D
viewer.
- Fix: macros tab no longer renders placeholder color stripes for
`#dedede`/`#fff`-only macros.
- Fix: hide the X cursor in kiosk mode (touchscreen).
- Fix: chromium 72 mime + flex-gap fallbacks (some kiosk Pis ship
with that older browser build).
- Fix: Vue 1 async batching disabled so reactive writes from
`hashchange` listeners propagate synchronously.
### Boot / install
- Cold-boot optimisations cutting bbctrl listen latency by ~8s on
the Pi (mask sysstat, replace dphys-swapfile with an fstab swap
entry, lazy-load `camotics.gplan`, `bbserial-rebind.service`
with explicit `Before=bbctrl.service`).
- `install.sh` now ships these with firmware updates.
- `bbctrl.Trace` + `/api/diag/timing` for measuring startup, with
a UI-side `restart-timing.js` client that POSTs browser marks.
- `Camera.py` switched from deprecated `@web.asynchronous` to
`async def` so the streaming endpoint works on newer Tornado.
- `Log.py` tolerates missing rotated log files on startup
(concurrent logrotate runs from `/etc/cron.reboot` no longer
crash bbctrl).
### Build / tooling
- `.pi/BUILD.md`: end-to-end macOS dev workflow, deploy paths,
troubleshooting.
- `.pi/Dockerfile.gplan` + `build-gplan.sh`: rebuild `gplan.so`
from source on Raspbian Stretch (Bullseye is too new).
- `deploy.sh` dispatcher with `local`, `hardware`, `prod` modes.
- `backup/onefinity-backup.sh`: dd-based whole-card backup/restore
with shrink/expand support.
- `Makefile`: ensure trailing newlines between concatenated pug
templates so Pug doesn't glue file boundaries together.
## v1.0.8
- Fixed chatter and lost steps issues (most commonly seen by Fusion users), re-enabled support for G61, G61.1, G64.
- Fixed 3d preview on Safari-based web browsers (MacOS & iOS)

24
README.md
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@@ -1,8 +1,8 @@
# OneFinity CNC Controller Firmware (community fork)
# OneFinity CNC Controller Firmware (W-axis fork)
This is the OneFinity / Buildbotics bbctrl firmware with a redesigned
UI (V09), Font Awesome 6, faster cold boot, and a streamlined macOS
dev / deploy workflow.
This is the OneFinity / Buildbotics bbctrl firmware with a virtual W
axis driven by an auxcnc ESP32 over USB serial. See
[docs/AUX_W_AXIS.md](docs/AUX_W_AXIS.md) for the design and config.
## Layout
@@ -16,7 +16,7 @@ src/svelte-components/ Newer Svelte UI for dialogs and settings
src/pug/ Pug templates compiled into build/http/index.html
src/resources/ Static assets and config templates
scripts/ Install / update / RPi build helpers
docs/ Architecture, dev setup
docs/ Architecture, dev setup, W-axis docs
```
## Build & flash (quick path, macOS or Linux)
@@ -100,7 +100,7 @@ bbctrl restarts, then the new UI).
```bash
curl -s http://onefinity.local/ | grep -c "OneFinity"
curl -s http://onefinity.local/api/diag/timing | head
curl -s http://onefinity.local/api/aux/status # if W axis is enabled
```
## Build & flash (full path, Debian/Linux)
@@ -108,3 +108,15 @@ curl -s http://onefinity.local/api/diag/timing | head
For AVR + GPlan rebuilds, see [docs/development.md](docs/development.md).
That path uses qemu + chroot to cross-compile gplan for ARM and needs
the `gcc-avr` / `avr-libc` toolchain.
## W axis (auxcnc)
This fork adds a virtual W axis. See
[docs/AUX_W_AXIS.md](docs/AUX_W_AXIS.md) for:
- G-code surface (`G28 W0`, `G1 W25`, etc.)
- The G-code preprocessor and hook architecture
- aux.json keys
- REST API (`/api/aux/*`)
- UI surface (jog row in Control, settings panel in Settings)
- Edge cases (ESP reboot mid-job, limit closed at home start, …)

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# W axis (auxcnc) integration
This adds a virtual `W` axis to the bbctrl controller, driven by the
auxcnc ESP32 over USB serial (`/dev/ttyUSB0`). The ESP owns step-pulse
generation, real-time limit-switch monitoring, and the homing dance.
The Pi owns units (mm), soft limits, sequencing inside G-code jobs, and
a small REST API for jogging / homing from the UI.
## How it works
The bbctrl planner (gplan) only understands `xyzabc`, so adding a true
7th axis would require rebuilding gplan + the AVR firmware. We avoid
that by treating W as a synchronous out-of-band axis: W moves run
*between* G-code blocks, not blended with XYZ.
Pipeline:
1. User uploads a G-code file containing `W` words.
2. `FileHandler` runs `AuxPreprocessor` on the upload, rewriting W
tokens in place into `(MSG,HOOK:aux:<mm>)` etc. The original line
minus the W word continues to drive XYZ.
3. The planner sees only XYZ + message comments. When it reaches a
message line, the message goes through `state.add_message` which
`Hooks._on_state_change` watches for the `HOOK:` prefix.
4. `Hooks._fire('custom', ...)` finds the registered internal handler
for the event name (`aux`, `aux_rel`, `aux_home`, `aux_setzero`).
5. The handler runs in a hook thread, gating `Mach.unpause` until done.
While the handler is busy the machine is in HOLDING - no XYZ motion
can resume until W finishes.
6. The handler talks to the ESP over `/dev/ttyUSB0` via `AuxAxis`,
blocking on a deterministic reply token (`[step] done`, `[home]
done`, etc).
MDI commands containing `W` words are rewritten the same way at the
`Mach.mdi()` boundary so manual jog and macros work too.
## G-code surface
```gcode
G21 G90
G28 W0 ; home W axis
G1 W25 F300 ; move W to 25 mm absolute
G1 X100 W12.5 ; mixed: W moves first, then XYZ (configurable)
G91
G1 W-2.5 ; relative W move
G90
G92 W0 ; set current W as zero (G92-style)
```
Rules:
- `G28` / `G28.2` with W only -> homing hook; the bare `G28` is NOT
emitted to gplan (that would mean home-all).
- `G28.2 X0 Y0 W0` -> emit hook, then keep `G28.2 X0 Y0` for XY homing.
- A line with both W and XYZ axis words is split into two sequential
blocks. Default order: W first, then XYZ. Toggle via the
`w_first` constructor arg.
- Lines inside parens or after `;` are passed through verbatim.
## Configuration
Per-controller config lives at `<ctrl_path>/aux.json` (created on first
save via the API). Keys:
| Key | Default | Notes |
|------------------------|----------------|------------------------------------|
| `enabled` | `false` | Master switch |
| `port` | `/dev/ttyUSB0` | Serial device |
| `baud` | `115200` | |
| `steps_per_mm` | `80.0` | Logical steps per mm |
| `dir_sign` | `1` | +1 or -1: maps logical+ to motor+ |
| `min_w`, `max_w` | `0`, `100` | Soft limits in mm |
| `home_dir` | `'-'` | Direction toward limit switch |
| `home_position_mm` | `0.0` | mm value assigned at home |
| `home_fast_sps` | `4000` | Fast seek rate |
| `home_slow_sps` | `400` | Slow re-seek rate |
| `home_backoff_steps` | `200` | Backoff after touching limit |
| `home_maxtravel_steps` | `200000` | Hard cap on phase 1 seek |
| `step_max_sps` | `4000` | Cruise rate for STEPS |
| `step_accel_sps2` | `16000` | Trapezoidal ramp accel |
| `step_start_sps` | `200` | Ramp floor |
| `limit_low` | `true` | Switch active low (closed = LOW) |
Most of these are pushed to the ESP via `HOMECFG` on connect and
persisted there in NVS.
## REST API
| Verb | Path | Body | Effect |
|------|----------------------------|-----------------------|------------------------|
| GET | `/api/aux/config` | - | Current config |
| PUT | `/api/aux/config/save` | `{key: val, ...}` | Save and re-push |
| GET | `/api/aux/status` | - | `{enabled, present, homed, pos_mm}` |
| PUT | `/api/aux/home` | - | Run home cycle (blocks)|
| PUT | `/api/aux/abort` | - | Cancel running motion |
| PUT | `/api/aux/jog` | `{mm: 1.5}` or `{steps: 200}` | Relative move |
| PUT | `/api/aux/move` | `{mm: 12.5}` | Absolute move (mm) |
| PUT | `/api/aux/set-zero` | `{mm: 0}` | Set current pos to mm |
Steps-mode jog ignores soft limits (use it to inch the axis to the
limit switch when the axis isn't homed yet).
## UI
**Control view**
- A jog row appears under the XYZ jog grid when `aux_enabled` is true,
with three buttons: `W-`, `W+`, and a wide `Home W`. There is
intentionally no separate "set zero" or "W origin" button - homing
lands the axis at `home_position_mm` (0 by default), so home and
zero are the same point.
- The DRO table shows a W axis row with position, status (OFFLINE /
UNHOMED / HOMED), and a single Home button in the actions column
(the cog and map-marker columns are placeholders for layout).
**Settings view**
A "W Axis (auxcnc)" section exposes every aux.json field except
`enabled` (which stays read-only - flipping the W axis on/off requires
editingaux.json on the controller, so a fresh install can't surprise
the user with hardware that isn't there). Saving PUTs the merged
config to `/api/aux/config/save`, which writes aux.json and pushes
`HOMECFG` to the ESP. A status line shows whether the axis is
disabled / offline / connected-unhomed / homed at `<pos> mm`.
## State surface
These are pushed via `state.set` and visible in the websocket stream:
- `aux_enabled` - bool, axis is configured + enabled
- `aux_present` - bool, ESP responding on serial
- `aux_homed` - bool, has been homed since last ESP reset
- `aux_pos` - float, current W in mm (4 decimals)
## Edge cases
- **ESP reboots mid-job**: `[boot] auxcnc v=N` banner -> `aux_homed`
cleared, message added: "W axis controller restarted - re-home
before use". Subsequent W moves still run; if you want a hard fail
instead, that's a one-line change in `_require_present`.
- **Limit switch closed at boot of HOME**: `[home] failed
reason=already_at_limit` -> hook raises -> Mach surfaces error.
- **Pause mid-W-move**: the hook is blocking, so feed-hold takes
effect *after* the W move completes. For an immediate stop hit
estop; the Hooks listener will call `aux.abort()` which sends
`ABORT\n` to the ESP and the step-pulse loop exits.
- **Connection loss**: if `/dev/ttyUSB0` can't be opened at startup,
`aux_present=False` and any G-code with W will fail-fast at the
hook handler with "Aux axis not connected".
- **No home enforcement**: per design, manual jogs and W moves are
allowed even without a successful home. Soft limits still apply
unless you use the raw step jog endpoint.
## Files added/changed
- `src/py/bbctrl/AuxAxis.py` (new): serial worker + RPC layer
- `src/py/bbctrl/AuxPreprocessor.py` (new): G-code rewriter
- `src/py/bbctrl/Hooks.py`: register_internal(), fix the messages
listener so `(MSG,HOOK:...)` actually fires
- `src/py/bbctrl/Ctrl.py`: instantiate AuxAxis, register hooks
- `src/py/bbctrl/Mach.py`: rewrite MDI commands containing W
- `src/py/bbctrl/FileHandler.py`: rewrite uploads in place
- `src/py/bbctrl/Web.py`: REST endpoints
- `src/py/bbctrl/__init__.py`: export AuxAxis
- `src/pug/templates/control-view.pug`: W jog row + DRO row
- `src/js/control-view.js`: aux_home / aux_jog / aux_jog_incr handlers
- `src/js/axis-vars.js`: `_compute_aux_axis` for W state
- `src/svelte-components/src/components/WAxisSettings.svelte`: settings panel
- `src/svelte-components/src/components/SettingsView.svelte`: hosts WAxisSettings
- `auxcnc/src/main.cpp`: new commands HOME, HOMECFG, WPOS, HOMED?,
LIMIT?, ABORT-able STEPS with limit-aware abort, trapezoidal ramps,
NVS-persisted config, `[boot]` banner, deterministic reply tokens

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<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width,initial-scale=1" />
<title>Onefinity · V09 · Full UX</title>
<script src="https://cdn.tailwindcss.com"></script>
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/@fortawesome/fontawesome-free@6.5.2/css/all.min.css" />
<link href="https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@500;700&display=swap" rel="stylesheet">
<style>
*{box-sizing:border-box}
html,body{margin:0;font-family:'Inter',system-ui,sans-serif;background:#0f172a;color:#e5e7eb}
.mono{font-family:'JetBrains Mono',monospace}
/* ---------- HOST CHROME ---------- */
.host{min-height:100vh;display:flex;flex-direction:column;background:radial-gradient(circle at 30% 0%,#374151,#0f172a 60%);}
.topbar{display:flex;align-items:center;gap:.6rem;flex-wrap:wrap;padding:.7rem 1rem;background:rgba(255,255,255,.04);border-bottom:1px solid rgba(255,255,255,.08);position:sticky;top:0;z-index:50;backdrop-filter:blur(10px);}
.topbar .brand{display:flex;align-items:center;gap:.5rem;font-weight:800;color:#fff}
.stripe-logo-sm{background:repeating-linear-gradient(135deg,#a7c7a3 0 6px,transparent 6px 14px);width:26px;height:26px;border-radius:6px}
.pill{padding:.3rem .65rem;border-radius:9999px;font-size:.75rem;font-weight:700;background:rgba(255,255,255,.08);color:#cbd5e1}
.seg-host{display:inline-flex;background:rgba(255,255,255,.05);border-radius:9999px;padding:3px;gap:3px}
.seg-host button{padding:.4rem .85rem;border-radius:9999px;font-size:.78rem;font-weight:700;color:#cbd5e1}
.seg-host button.on{background:#fde047;color:#0f172a}
.toggle{display:inline-flex;align-items:center;gap:.4rem;padding:.4rem .7rem;border-radius:8px;background:rgba(255,255,255,.08);font-size:.75rem;font-weight:600;color:#e5e7eb;cursor:pointer}
.toggle.on{background:#22c55e;color:#0b1220}
.stage{flex:1;display:flex;align-items:flex-start;justify-content:center;padding:1rem;overflow:auto}
.scaler-viewport{position:relative;flex:0 0 auto}
.scaler{position:absolute;top:0;left:0;width:1920px;height:auto;transform-origin:top left;transition:transform .2s}
/* ---------- KIOSK (1920x1080) ---------- */
.kiosk{
width:1920px;height:1080px;overflow:hidden;border-radius:14px;position:relative;
box-shadow:0 30px 60px rgba(0,0,0,.5);
display:flex;flex-direction:column;
background:#ffffff;color:#0f172a;
}
/* Header */
.head{
flex:0 0 96px;height:96px;
display:flex;align-items:center;gap:18px;
padding:0 24px;background:#ffffff;border-bottom:1px solid #e5e7eb;
}
.brand-blk{display:flex;align-items:center;gap:14px}
.menu-btn{width:54px;height:54px;border-radius:12px;background:#f1f5f9;border:1px solid #e2e8f0;color:#0f172a;display:inline-flex;align-items:center;justify-content:center;font-size:1.1rem}
.menu-btn:hover{background:#e2e8f0}
.brand-logo{width:42px;height:42px;border-radius:8px;background:repeating-linear-gradient(135deg,#a7c7a3 0 6px,transparent 6px 14px)}
.brand-name{font-weight:900;font-size:22px;letter-spacing:-.01em}
/* Underline-ribbon tab style (V02) */
.kiosk-tabs{display:inline-flex;gap:0;margin-right:auto;padding-left:18px;align-items:stretch;height:96px}
.ktab{
position:relative;
height:96px;padding:0 26px;
background:transparent;border:none;border-radius:0;
color:#475569;font-size:1.05rem;font-weight:700;
display:inline-flex;align-items:center;gap:.55rem;cursor:pointer;
transition:color .15s;
}
.ktab i{font-size:1.1rem;color:#94a3b8;transition:color .15s}
.ktab:hover{color:#0f172a}
.ktab:hover i{color:#475569}
.ktab.active{color:#0f172a}
.ktab.active i{color:#0f172a}
.ktab.active::after{
content:"";position:absolute;left:14px;right:14px;bottom:0;
height:5px;background:#fde047;border-radius:5px 5px 0 0;
}
.ktab .ktab-badge{background:#fee2e2;color:#991b1b;font-size:.7rem;padding:3px 8px;border-radius:9999px;font-weight:800;line-height:1}
.ktab.active .ktab-badge{background:#fde047;color:#0f172a}
.sys-btn{display:inline-flex;align-items:center;gap:.55rem;height:54px;padding:0 1.1rem;border-radius:14px;background:#f1f5f9;border:1px solid #e2e8f0;color:#0f172a;font-size:.9rem;font-weight:600}
.sys-btn .pip{width:9px;height:9px;border-radius:9999px;background:#22c55e}
.state-badge{display:inline-flex;align-items:center;gap:.6rem;height:54px;padding:0 1.1rem;border-radius:14px;background:#dcfce7;color:#166534;font-weight:800;font-size:1rem;letter-spacing:.04em}
.state-badge .dot{width:10px;height:10px;border-radius:9999px;background:currentColor;position:relative}
.state-badge .dot::after{content:"";position:absolute;inset:-3px;border-radius:9999px;border:2px solid currentColor;opacity:.5;animation:pls 1.6s ease-out infinite}
@keyframes pls{0%{transform:scale(.7);opacity:.6}100%{transform:scale(2.2);opacity:0}}
.estop{
width:88px;height:88px;background:#dc2626;color:#fff;font-weight:900;
clip-path:polygon(30% 0,70% 0,100% 30%,100% 70%,70% 100%,30% 100%,0 70%,0 30%);
display:flex;align-items:center;justify-content:center;
border:3px solid #fff;box-shadow:0 0 0 3px #b91c1c, 0 8px 20px rgba(220,38,38,.35);font-size:1rem;letter-spacing:.05em
}
/* Body */
.body{flex:1;display:flex;flex-direction:column;background:#f1f5f9;min-height:0}
.panel{display:none;flex:1;min-height:0;flex-direction:column;padding:18px;gap:14px}
.panel.active{display:flex}
/* ----------------------- V09 jog/macro palette ----------------------- */
/* Flat soft slate, no shadow */
:root{
--jog-bg:#3f4b63;
--jog-hover:#4a5777;
--jog-dir-bg:#5b6885;
--jog-dir-hover:#6a779a;
--jog-ghost-bg:#8c97ad;
--jog-ghost-hover:#9ba6bb;
--jog-ink:#fff;
--jog-ghost-ink:#0f172a;
}
/* JOG */
.jog-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;display:flex;flex-direction:column;padding:18px;min-height:0}
.jog-head{display:flex;align-items:center;justify-content:space-between;margin-bottom:14px}
.jog-title{font-size:18px;font-weight:700;color:#0f172a}
.jog-title .step{color:#0ea5e9;font-family:'JetBrains Mono',monospace}
.step-seg{display:inline-flex;background:#f1f5f9;border:1px solid #e2e8f0;border-radius:14px;padding:4px}
.step-seg button{height:48px;min-width:64px;padding:0 1rem;border-radius:11px;font-size:1rem;font-weight:800;color:#475569;cursor:pointer}
.step-seg button.active{background:#0f172a;color:#fde047}
.jog-grid{display:grid;grid-template-columns:repeat(4,1fr);grid-template-rows:repeat(4,1fr);gap:10px;flex:1;min-height:0}
.jbtn{
border-radius:16px;display:flex;flex-direction:column;align-items:center;justify-content:center;gap:4px;
user-select:none;-webkit-tap-highlight-color:transparent;cursor:pointer;
font-weight:700;font-size:1.05rem;border:none;
transition:transform .06s, background .15s;
background:var(--jog-bg);color:var(--jog-ink);
}
.jbtn:hover{background:var(--jog-hover)}
.jbtn:active{transform:scale(.97)}
.jbtn .ico{font-size:1.6rem}
.jbtn .lbl{font-size:.8rem;color:inherit;opacity:.85;font-weight:600}
.jbtn.dir{background:var(--jog-dir-bg)} .jbtn.dir:hover{background:var(--jog-dir-hover)}
.jbtn.ghost{background:var(--jog-ghost-bg);color:var(--jog-ghost-ink)} .jbtn.ghost:hover{background:var(--jog-ghost-hover)}
/* DRO + STATUS */
.control-grid{display:grid;grid-template-columns:720px 1fr;gap:18px;flex:1;min-height:0}
.right-col{display:grid;grid-template-rows:1fr 158px;gap:18px;min-height:0}
.dro-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;overflow:hidden;display:flex;flex-direction:column}
.dro-head{display:grid;grid-template-columns:84px 1.4fr 1fr 1fr 170px 170px 280px;column-gap:.75rem;align-items:center;padding:14px 22px;background:#f8fafc;border-bottom:1px solid #e5e7eb;font-size:.78rem;font-weight:800;text-transform:uppercase;letter-spacing:.1em;color:#94a3b8}
.dro-row{display:grid;grid-template-columns:84px 1.4fr 1fr 1fr 170px 170px 280px;column-gap:.75rem;align-items:center;padding:14px 22px;border-bottom:1px solid #f1f5f9;flex:1;min-height:0}
.dro-row:last-child{border-bottom:none}
.dro-axis{font-weight:900;font-size:46px;line-height:1}
.dro-pos{font-family:'JetBrains Mono',monospace;font-size:36px;font-weight:800}
.dro-pos .u{font-size:14px;color:#94a3b8;font-weight:500;margin-left:6px}
.dro-sec{font-family:'JetBrains Mono',monospace;font-size:18px;color:#64748b;font-weight:600}
.axis-x{color:#dc2626} .axis-y{color:#16a34a} .axis-z{color:#2563eb} .axis-w{color:#7c3aed}
.chip{display:inline-flex;align-items:center;gap:.4rem;padding:.4rem .7rem;border-radius:9999px;font-size:.78rem;font-weight:700}
.chip-green{background:#dcfce7;color:#166534}
.chip-amber{background:#fef3c7;color:#92400e}
.chip-red{background:#fee2e2;color:#991b1b}
.chip-slate{background:#e2e8f0;color:#334155}
.chip-blue{background:#dbeafe;color:#1e40af}
.icon-btn{
width:72px;height:72px;border-radius:14px;cursor:pointer;
display:inline-flex;align-items:center;justify-content:center;
color:#334155;background:#f1f5f9;border:1px solid #e2e8f0;
font-size:1.45rem
}
.icon-btn:hover{background:#e2e8f0}
.actions-cell{display:flex;justify-content:flex-end;gap:10px}
.z-highlight{background:rgba(254,243,199,.4)}
.status-strip{display:grid;grid-template-columns:repeat(4,1fr);gap:18px;min-height:0}
.stat-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;padding:18px 22px;display:flex;flex-direction:column;justify-content:center}
.stat-label{font-size:11px;font-weight:800;text-transform:uppercase;letter-spacing:.14em;color:#94a3b8}
.stat-val{font-family:'JetBrains Mono',monospace;font-size:30px;font-weight:800;margin-top:6px}
.stat-val.ok{color:#166534}
.stat-sub{font-size:13px;color:#64748b;margin-top:2px}
/* MACROS */
.macro-row{display:grid;grid-template-columns:repeat(8,1fr);gap:12px;flex:0 0 auto}
.macro-btn{
height:84px;border-radius:14px;border:none;cursor:pointer;
color:#fff;background:#3f4b63;
font-weight:800;font-size:1rem;
display:flex;align-items:center;justify-content:center;gap:.6rem;
transition:transform .06s, background .15s
}
.macro-btn:hover{background:#4a5777}
.macro-btn:active{transform:translateY(2px)}
.macro-btn .mnum{display:inline-flex;align-items:center;justify-content:center;width:28px;height:28px;border-radius:8px;background:#fde047;color:#0f172a;font-size:.85rem;font-weight:900}
.macro-btn .micon{font-size:1.1rem;opacity:.75}
/* =============================================================
PROGRAM PANEL
============================================================= */
.program-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;display:flex;flex-direction:column;flex:1;min-height:0;overflow:hidden}
.ptab-bar{display:flex;align-items:center;gap:6px;border-bottom:1px solid #e5e7eb;flex:0 0 auto;background:#fff;padding:0 18px}
.ptab{height:60px;padding:0 22px;font-weight:700;color:#64748b;border-bottom:3px solid transparent;font-size:1rem;display:inline-flex;align-items:center;gap:.5rem;cursor:pointer}
.ptab:hover{color:#0f172a}
.ptab.active{color:#0f172a;border-bottom-color:#0f172a}
.ptab .ptab-badge{background:#fde047;color:#0f172a;font-size:.7rem;padding:2px 7px;border-radius:9999px;font-weight:900}
.action-bar{display:flex;align-items:center;gap:12px;padding:18px;flex-wrap:wrap;border-bottom:1px solid #f1f5f9}
.action-btn{height:84px;padding:0 24px;border-radius:14px;background:#3f4b63;color:#fff;border:none;cursor:pointer;display:inline-flex;flex-direction:column;align-items:center;justify-content:center;gap:4px;font-weight:800;font-size:.9rem;letter-spacing:.04em;transition:background .15s}
.action-btn:hover{background:#4a5777}
.action-btn .ico{font-size:1.4rem}
.action-btn.run{background:#16a34a}
.action-btn.run:hover{background:#15803d}
.action-btn.stop{background:#0f172a}
.action-btn.stop:hover{background:#1e293b}
.action-btn.danger{background:#fee2e2;color:#7f1d1d}
.action-btn.danger:hover{background:#fecaca}
.action-btn.danger .ico{color:#dc2626}
.file-bar{display:flex;align-items:center;gap:10px;padding:14px 18px;flex-wrap:wrap;border-bottom:1px solid #f1f5f9}
.file-btn{height:54px;padding:0 18px;border-radius:12px;background:#f1f5f9;border:1px solid #e2e8f0;font-weight:700;color:#0f172a;font-size:.9rem;display:inline-flex;align-items:center;gap:.5rem;cursor:pointer}
.file-btn:hover{background:#e2e8f0}
.file-select{height:54px;padding:0 16px;border-radius:12px;background:#fff;border:1px solid #e2e8f0;font-weight:600;color:#0f172a;font-size:.9rem;display:inline-flex;align-items:center;gap:.5rem;cursor:pointer}
.file-select .caret{color:#94a3b8;margin-left:.5rem}
.file-select.primary{background:#fff;border:2px solid #0ea5e9;flex:1;min-width:300px}
.program-body{flex:1;display:grid;grid-template-columns:1fr 600px;min-height:0}
.gcode{font-family:'JetBrains Mono',monospace;font-size:14px;line-height:1.6;background:#fafafa;border-right:1px solid #f1f5f9;padding:14px 0;overflow:auto;color:#1e293b}
.gline{display:grid;grid-template-columns:60px 1fr;gap:14px;padding:1px 18px 1px 0}
.gline:nth-child(odd){background:#f4f4f5}
.gline .gn{color:#f59e0b;text-align:right;font-weight:700}
.gline.cur{background:#dbeafe !important}
.gline.cur .gn{color:#1e40af}
.gcomment{color:#64748b}
.gword{color:#0f172a}
.gnum{color:#16a34a}
.viewer{display:flex;flex-direction:column;min-height:0}
.viewer-3d{flex:1;background:#0b1220;position:relative;overflow:hidden;display:flex;align-items:center;justify-content:center}
.viewer-tools{display:flex;gap:8px;padding:14px;border-top:1px solid #f1f5f9;background:#fff;flex-wrap:wrap}
.vtool{height:60px;width:60px;border-radius:12px;background:#f1f5f9;border:1px solid #e2e8f0;color:#475569;display:inline-flex;align-items:center;justify-content:center;font-size:1.2rem;cursor:pointer}
.vtool:hover{background:#e2e8f0}
.vtool.on{background:#0f172a;color:#fff;border-color:#0f172a}
.vinfo{padding:14px 18px;background:#fff;font-size:13px;color:#64748b;border-top:1px solid #f1f5f9;display:flex;justify-content:space-between;align-items:center}
.vinfo .ext{color:#0f172a;font-weight:600}
/* =============================================================
MESSAGES PANEL
============================================================= */
.messages{display:none;flex-direction:column;flex:1;min-height:0;padding:18px;gap:12px;overflow:auto}
.messages.active{display:flex}
.msg{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:18px 22px;display:grid;grid-template-columns:54px 1fr auto;gap:18px;align-items:flex-start}
.msg .mi{width:54px;height:54px;border-radius:12px;display:inline-flex;align-items:center;justify-content:center;font-size:1.4rem}
.msg.error{border-left:6px solid #dc2626}
.msg.error .mi{background:#fee2e2;color:#991b1b}
.msg.warn{border-left:6px solid #f59e0b}
.msg.warn .mi{background:#fef3c7;color:#92400e}
.msg.info{border-left:6px solid #0ea5e9}
.msg.info .mi{background:#dbeafe;color:#1e40af}
.msg.ok{border-left:6px solid #16a34a}
.msg.ok .mi{background:#dcfce7;color:#166534}
.msg .mtitle{font-weight:800;font-size:1.05rem;color:#0f172a}
.msg .mtime{font-size:.8rem;color:#94a3b8;margin-top:2px}
.msg .mbody{margin-top:6px;color:#475569;font-size:.95rem;line-height:1.5}
.msg .mbody .mono{background:#f1f5f9;padding:2px 6px;border-radius:4px;font-size:.85rem}
.msg .mactions{display:flex;gap:8px}
.mbtn{height:48px;padding:0 16px;border-radius:10px;background:#f1f5f9;border:1px solid #e2e8f0;font-weight:700;color:#0f172a;font-size:.85rem;cursor:pointer}
.mbtn:hover{background:#e2e8f0}
.mbtn.primary{background:#0f172a;color:#fff;border-color:#0f172a}
.mbtn.primary:hover{background:#1e293b}
/* =============================================================
INDICATORS PANEL
============================================================= */
.indicators{display:none;flex:1;min-height:0;padding:18px;gap:14px;overflow:auto;grid-template-columns:repeat(4,1fr);grid-auto-rows:min-content}
.indicators.active{display:grid}
.ind{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:16px 18px;display:flex;flex-direction:column;gap:6px}
.ind-label{font-size:.8rem;font-weight:800;text-transform:uppercase;letter-spacing:.1em;color:#94a3b8}
.ind-val{font-family:'JetBrains Mono',monospace;font-size:1.6rem;font-weight:800;color:#0f172a}
.ind-state{display:inline-flex;align-items:center;gap:.4rem;font-size:.8rem;font-weight:700;color:#475569}
.ind-state .dot{width:10px;height:10px;border-radius:9999px}
.ind .progress{height:8px;background:#f1f5f9;border-radius:9999px;overflow:hidden;margin-top:4px}
.ind .progress > div{height:100%;background:#0ea5e9}
.ind.full{grid-column:span 2}
/* =============================================================
MDI PANEL
============================================================= */
.mdi{display:none;flex-direction:column;flex:1;min-height:0;padding:18px;gap:14px}
.mdi.active{display:flex}
.mdi-input{
background:#0b1220;color:#86efac;border:1px solid #1e293b;border-radius:14px;
padding:22px 24px;font-family:'JetBrains Mono',monospace;font-size:1.4rem;font-weight:600;
display:flex;align-items:center;gap:.6rem;
}
.mdi-input .prompt{color:#475569}
.mdi-input .cursor{display:inline-block;width:14px;height:1.4rem;background:#86efac;animation:blink 1s steps(2,end) infinite;vertical-align:middle}
@keyframes blink{50%{opacity:0}}
.mdi-keys{display:grid;grid-template-columns:repeat(8,1fr);gap:8px;flex:0 0 auto}
.mkey{height:64px;border-radius:12px;background:#fff;border:1px solid #e2e8f0;font-weight:800;font-size:1.05rem;color:#0f172a;cursor:pointer;font-family:'JetBrains Mono',monospace}
.mkey:hover{background:#f1f5f9}
.mkey.send{background:#16a34a;color:#fff;border-color:#15803d;grid-column:span 2;font-family:'Inter',sans-serif;font-size:.95rem;letter-spacing:.04em}
.mkey.send:hover{background:#15803d}
.mkey.clear{background:#fee2e2;color:#7f1d1d;border-color:#fca5a5;font-family:'Inter',sans-serif;font-size:.95rem;letter-spacing:.04em}
.mdi-history{flex:1;background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:14px 18px;overflow:auto;font-family:'JetBrains Mono',monospace;font-size:.95rem}
.mdi-history .h-row{display:grid;grid-template-columns:80px 1fr auto;gap:14px;padding:6px 0;border-bottom:1px solid #f1f5f9;align-items:center}
.mdi-history .h-time{color:#94a3b8;font-size:.8rem}
.mdi-history .h-cmd{color:#0f172a;font-weight:700}
.mdi-history .h-status{color:#16a34a;font-weight:700;font-size:.8rem}
.mdi-history .h-status.err{color:#dc2626}
/* =============================================================
SETTINGS PANEL
============================================================= */
.settings{display:none;flex:1;min-height:0;padding:18px;gap:14px;overflow:auto;grid-template-columns:280px 1fr}
.settings.active{display:grid}
.set-side{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:10px;display:flex;flex-direction:column;gap:4px;height:fit-content}
.set-item{height:56px;padding:0 16px;border-radius:10px;display:flex;align-items:center;gap:.6rem;color:#475569;font-weight:700;cursor:pointer}
.set-item:hover{background:#f1f5f9}
.set-item.active{background:#0f172a;color:#fff}
.set-content{display:flex;flex-direction:column;gap:14px}
.set-card{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:22px}
.set-title{font-weight:800;font-size:1.1rem;color:#0f172a;margin-bottom:14px}
.set-row{display:grid;grid-template-columns:280px 1fr auto;gap:14px;align-items:center;padding:14px 0;border-bottom:1px solid #f1f5f9}
.set-row:last-child{border-bottom:none}
.set-row .label{font-weight:700;color:#0f172a;font-size:.95rem}
.set-row .desc{color:#64748b;font-size:.85rem;margin-top:2px}
.set-row .val{font-family:'JetBrains Mono',monospace;color:#475569}
.set-input{height:48px;padding:0 14px;border-radius:10px;border:1px solid #e2e8f0;background:#fff;font-family:'JetBrains Mono',monospace;font-size:.95rem;color:#0f172a;min-width:200px}
.set-toggle{width:54px;height:30px;border-radius:9999px;background:#cbd5e1;position:relative;cursor:pointer;transition:background .15s}
.set-toggle::after{content:"";position:absolute;left:3px;top:3px;width:24px;height:24px;border-radius:9999px;background:#fff;transition:transform .15s}
.set-toggle.on{background:#16a34a}
.set-toggle.on::after{transform:translateX(24px)}
</style>
</head>
<body>
<div class="host">
<div class="topbar">
<div class="brand">
<div class="stripe-logo-sm"></div>
ONEFINITY · V09 · Full UX preview
</div>
<span class="pill">Click the inner tabs to navigate</span>
<div style="margin-left:auto"></div>
<button id="oneToOne" class="toggle">1:1</button>
<button id="fitBtn" class="toggle on">Fit</button>
<span id="scaleInfo" class="pill mono">100%</span>
</div>
<div class="stage" id="stage">
<div class="scaler-viewport" id="viewport">
<div class="scaler" id="scaler">
<!-- ============= KIOSK ============= -->
<div class="kiosk">
<header class="head">
<div class="brand-blk">
<div class="brand-logo"></div>
<div class="brand-name">ONEFINITY</div>
</div>
<div class="kiosk-tabs">
<button class="ktab active" data-target="control"><i class="fa-solid fa-gamepad"></i> Control</button>
<button class="ktab" data-target="program"><i class="fa-solid fa-list-ol"></i> Program</button>
<button class="ktab" data-target="console"><i class="fa-solid fa-terminal"></i> Console <span class="ktab-badge">2</span></button>
<button class="ktab" data-target="settings"><i class="fa-solid fa-sliders"></i> Settings</button>
</div>
<button class="sys-btn"><span class="pip"></span> All systems · view <i class="fa-solid fa-chevron-down" style="font-size:10px;opacity:.6"></i></button>
<span class="state-badge"><span class="dot"></span> READY</span>
<button class="estop">STOP</button>
</header>
<div class="body">
<!-- ============= CONTROL ============= -->
<div class="panel active" data-panel="control">
<div class="control-grid">
<!-- jog -->
<div class="jog-card">
<div class="jog-head">
<div class="jog-title">Jog · step <span class="step">10mm</span></div>
<div class="step-seg">
<button>0.1</button><button>1</button><button class="active">10</button><button>100</button>
</div>
</div>
<div class="jog-grid">
<button class="jbtn dir"><i class="fa-solid fa-arrow-up ico" style="transform:rotate(-45deg)"></i></button>
<button class="jbtn">Y+</button>
<button class="jbtn dir"><i class="fa-solid fa-arrow-up ico" style="transform:rotate(45deg)"></i></button>
<button class="jbtn">Z+</button>
<button class="jbtn">X−</button>
<button class="jbtn ghost"><span class="lbl">XY</span><span style="font-size:1rem;font-weight:700">Origin</span></button>
<button class="jbtn">X+</button>
<button class="jbtn ghost"><span class="lbl">Z</span><span style="font-size:1rem;font-weight:700">Origin</span></button>
<button class="jbtn dir"><i class="fa-solid fa-arrow-down ico" style="transform:rotate(45deg)"></i></button>
<button class="jbtn">Y−</button>
<button class="jbtn dir"><i class="fa-solid fa-arrow-down ico" style="transform:rotate(-45deg)"></i></button>
<button class="jbtn">Z−</button>
<button class="jbtn"><i class="fa-solid fa-arrow-down ico"></i><span class="lbl">W−</span></button>
<button class="jbtn ghost"><span class="lbl">W</span><span style="font-size:1rem;font-weight:700">Origin</span></button>
<button class="jbtn"><i class="fa-solid fa-arrow-up ico"></i><span class="lbl">W+</span></button>
<button class="jbtn"><i class="fa-solid fa-house ico"></i><span class="lbl">Home</span></button>
</div>
</div>
<!-- DRO + status -->
<div class="right-col">
<div class="dro-card">
<div class="dro-head">
<div>Axis</div><div>Position</div><div>Absolute</div><div>Offset</div><div>State</div><div>Toolpath</div><div style="text-align:right">Actions</div>
</div>
<div class="dro-row">
<div class="dro-axis axis-x">X</div>
<div class="dro-pos">0.000<span class="u">mm</span></div>
<div class="dro-sec">0.000</div>
<div class="dro-sec">0.000</div>
<div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
<div><span class="chip chip-green"><i class="fa-solid fa-check"></i> OK</span></div>
<div class="actions-cell">
<button class="icon-btn"><i class="fa-solid fa-gear"></i></button>
<button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
<button class="icon-btn"><i class="fa-solid fa-house"></i></button>
</div>
</div>
<div class="dro-row">
<div class="dro-axis axis-y">Y</div>
<div class="dro-pos">0.000<span class="u">mm</span></div>
<div class="dro-sec">0.000</div>
<div class="dro-sec">0.000</div>
<div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
<div><span class="chip chip-green"><i class="fa-solid fa-check"></i> OK</span></div>
<div class="actions-cell">
<button class="icon-btn"><i class="fa-solid fa-gear"></i></button>
<button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
<button class="icon-btn"><i class="fa-solid fa-house"></i></button>
</div>
</div>
<div class="dro-row z-highlight">
<div class="dro-axis axis-z">Z</div>
<div class="dro-pos">0.000<span class="u">mm</span></div>
<div class="dro-sec">0.000</div>
<div class="dro-sec">0.000</div>
<div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
<div><span class="chip chip-amber"><i class="fa-solid fa-triangle-exclamation"></i> Over</span></div>
<div class="actions-cell">
<button class="icon-btn"><i class="fa-solid fa-gear"></i></button>
<button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
<button class="icon-btn"><i class="fa-solid fa-house"></i></button>
</div>
</div>
<div class="dro-row">
<div class="dro-axis axis-w">W</div>
<div class="dro-pos">0.000<span class="u">mm</span></div>
<div class="dro-sec">0.000</div>
<div class="dro-sec" style="opacity:.4">—</div>
<div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
<div><span class="chip chip-green"><i class="fa-solid fa-check"></i> OK</span></div>
<div class="actions-cell">
<button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
<button class="icon-btn"><i class="fa-solid fa-house"></i></button>
</div>
</div>
</div>
<div class="status-strip">
<div class="stat-card"><div class="stat-label">State</div><div class="stat-val ok">READY</div><div class="stat-sub">No alerts</div></div>
<div class="stat-card"><div class="stat-label">Velocity / Feed</div><div class="stat-val">0 · 0</div><div class="stat-sub">m/min · mm/min</div></div>
<div class="stat-card"><div class="stat-label">Spindle</div><div class="stat-val">0 (0)</div><div class="stat-sub">RPM (commanded / actual)</div></div>
<div class="stat-card"><div class="stat-label">Job</div><div class="stat-val">0 / 1,785</div><div class="stat-sub">Line · 19:07 remaining</div></div>
</div>
</div>
</div>
<!-- macros -->
<div class="macro-row">
<button class="macro-btn"><span class="mnum">1</span><i class="fa-solid fa-circle-play micon"></i> Macro 1</button>
<button class="macro-btn"><span class="mnum">2</span><i class="fa-solid fa-circle-play micon"></i> Macro 2</button>
<button class="macro-btn"><span class="mnum">3</span><i class="fa-solid fa-circle-play micon"></i> Macro 3</button>
<button class="macro-btn"><span class="mnum">4</span><i class="fa-solid fa-circle-play micon"></i> Macro 4</button>
<button class="macro-btn"><span class="mnum">5</span><i class="fa-solid fa-circle-play micon"></i> Macro 5</button>
<button class="macro-btn"><span class="mnum">6</span><i class="fa-solid fa-circle-play micon"></i> Macro 6</button>
<button class="macro-btn"><span class="mnum">7</span><i class="fa-solid fa-circle-play micon"></i> Macro 7</button>
<button class="macro-btn"><span class="mnum">8</span><i class="fa-solid fa-circle-play micon"></i> Macro 8</button>
</div>
</div>
<!-- ============= PROGRAM ============= -->
<div class="panel" data-panel="program" style="padding:0;gap:0">
<div class="program-card" style="margin:18px;border-radius:18px">
<!-- Auto sub-panel -->
<div class="auto-sub" data-sub="auto" style="display:flex;flex-direction:column;flex:1;min-height:0">
<div class="action-bar">
<button class="action-btn run"><i class="fa-solid fa-play ico"></i><span>RUN</span></button>
<button class="action-btn stop"><i class="fa-solid fa-stop ico"></i><span>STOP</span></button>
<button class="action-btn"><i class="fa-solid fa-folder-arrow-up ico"></i><span>UPLOAD FOLDER</span></button>
<button class="action-btn"><i class="fa-solid fa-file-arrow-up ico"></i><span>UPLOAD FILE</span></button>
<button class="action-btn"><i class="fa-solid fa-file-arrow-down ico"></i><span>DOWNLOAD FILE</span></button>
<button class="action-btn danger"><i class="fa-solid fa-trash ico"></i><span>DELETE</span></button>
</div>
<div class="file-bar">
<button class="file-btn"><i class="fa-solid fa-folder-plus"></i> Create Folder</button>
<button class="file-btn"><i class="fa-solid fa-folder-minus"></i> Delete Folder</button>
<span class="file-select"><i class="fa-solid fa-folder-open" style="color:#64748b"></i> Default folder <i class="fa-solid fa-chevron-down caret"></i></span>
<span class="file-select primary"><i class="fa-solid fa-file-code" style="color:#0ea5e9"></i> thin-rough.nc <i class="fa-solid fa-chevron-down caret" style="margin-left:auto"></i></span>
<span class="file-select"><i class="fa-solid fa-arrow-down-wide-short" style="color:#64748b"></i> By Upload Date <i class="fa-solid fa-chevron-down caret"></i></span>
</div>
<div class="program-body">
<div class="gcode" id="gcode-list"></div>
<div class="viewer">
<div class="viewer-3d">
<svg viewBox="0 0 400 220" style="width:100%;height:100%">
<defs>
<pattern id="gridv" width="20" height="20" patternUnits="userSpaceOnUse">
<path d="M 20 0 L 0 0 0 20" fill="none" stroke="#1e293b" stroke-width="1"/>
</pattern>
</defs>
<rect width="400" height="220" fill="url(#gridv)"/>
<rect x="40" y="80" width="320" height="60" stroke="#475569" stroke-width="1" fill="none" stroke-dasharray="3 3"/>
<text x="40" y="74" fill="#64748b" font-size="9" font-family="monospace">Stock: 250 × 25 × 16 mm</text>
<!-- toolpath -->
<path d="M40,110 L360,110 M40,100 L360,100 M40,120 L360,120 M40,90 L360,90 M40,130 L360,130" stroke="#22c55e" stroke-width="1.4" fill="none" opacity=".8"/>
<path d="M40,110 L40,80 L60,80 L60,110 M80,110 L80,80 L100,80 L100,110 M120,110 L120,80 L140,80 L140,110" stroke="#ef4444" stroke-width="1.4" fill="none" opacity=".8"/>
<circle cx="40" cy="110" r="3" fill="#22c55e"/>
<circle cx="360" cy="110" r="3" fill="#ef4444"/>
<text x="46" y="108" fill="#22c55e" font-size="8" font-family="monospace">START</text>
<text x="332" y="108" fill="#ef4444" font-size="8" font-family="monospace">END</text>
<!-- axes gizmo -->
<g transform="translate(28,196)">
<line x1="0" y1="0" x2="22" y2="0" stroke="#ef4444" stroke-width="2"/>
<line x1="0" y1="0" x2="0" y2="-22" stroke="#3b82f6" stroke-width="2"/>
<line x1="0" y1="0" x2="-12" y2="12" stroke="#22c55e" stroke-width="2"/>
<text x="24" y="4" fill="#ef4444" font-size="9" font-family="monospace">X</text>
<text x="-4" y="-26" fill="#3b82f6" font-size="9" font-family="monospace">Z</text>
<text x="-22" y="22" fill="#22c55e" font-size="9" font-family="monospace">Y</text>
</g>
</svg>
</div>
<div class="viewer-tools">
<button class="vtool" title="Fit"><i class="fa-solid fa-expand"></i></button>
<button class="vtool on" title="Tool"><i class="fa-solid fa-screwdriver-wrench"></i></button>
<button class="vtool" title="Stock"><i class="fa-solid fa-cube"></i></button>
<button class="vtool" title="Origin"><i class="fa-solid fa-up-right-and-down-left-from-center"></i></button>
<button class="vtool" title="Top"><i class="fa-solid fa-square"></i></button>
<button class="vtool" title="Front"><i class="fa-solid fa-square-full"></i></button>
<button class="vtool" title="Iso"><i class="fa-solid fa-cubes"></i></button>
</div>
<div class="vinfo">
<span><span class="ext">thin-rough.nc</span> · 1,785 lines · 12.4 KB</span>
<span class="mono">est. 19:07</span>
</div>
</div>
</div>
</div>
</div>
</div>
<!-- ============= CONSOLE ============= -->
<div class="panel" data-panel="console" style="padding:0;gap:0">
<div class="program-card" style="margin:18px;border-radius:18px">
<div class="ptab-bar">
<button class="ptab active" data-ptab="mdi"><i class="fa-solid fa-keyboard"></i> MDI</button>
<button class="ptab" data-ptab="messages"><i class="fa-solid fa-comment-dots"></i> Messages <span class="ptab-badge">2</span></button>
<button class="ptab" data-ptab="indicators"><i class="fa-solid fa-bell"></i> Indicators</button>
</div>
<!-- MDI sub-panel -->
<div class="mdi active" data-sub="mdi">
<div class="mdi-input">
<span class="prompt">G&gt;</span>
<span class="mono">G0 X100 Y50 F2000</span>
<span class="cursor"></span>
</div>
<div class="mdi-keys">
<button class="mkey">G0</button>
<button class="mkey">G1</button>
<button class="mkey">G2</button>
<button class="mkey">G3</button>
<button class="mkey">G28</button>
<button class="mkey">G92</button>
<button class="mkey">M3</button>
<button class="mkey">M5</button>
<button class="mkey">X</button>
<button class="mkey">Y</button>
<button class="mkey">Z</button>
<button class="mkey">W</button>
<button class="mkey">F</button>
<button class="mkey">S</button>
<button class="mkey clear">CLEAR</button>
<button class="mkey send">SEND ↵</button>
</div>
<div class="mdi-history">
<div class="h-row"><span class="h-time">19:42:11</span><span class="h-cmd">G21</span><span class="h-status">✓ ok</span></div>
<div class="h-row"><span class="h-time">19:42:14</span><span class="h-cmd">G90</span><span class="h-status">✓ ok</span></div>
<div class="h-row"><span class="h-time">19:43:02</span><span class="h-cmd">G0 Y12.800</span><span class="h-status">✓ ok</span></div>
<div class="h-row"><span class="h-time">19:43:08</span><span class="h-cmd">G0 Z19.040</span><span class="h-status">✓ ok</span></div>
<div class="h-row"><span class="h-time">19:43:30</span><span class="h-cmd">G1 Z-20 F800</span><span class="h-status err">✗ blocked: Z over travel</span></div>
<div class="h-row"><span class="h-time">19:44:01</span><span class="h-cmd">G0 Z5</span><span class="h-status">✓ ok</span></div>
</div>
</div>
<!-- Messages sub-panel -->
<div class="messages" data-sub="messages">
<div class="msg warn">
<div class="mi"><i class="fa-solid fa-triangle-exclamation"></i></div>
<div>
<div style="display:flex;align-items:baseline;gap:.6rem">
<div class="mtitle">Z toolpath exceeds soft-limit</div>
<div class="mtime">2 min ago · sticky</div>
</div>
<div class="mbody">Loaded program reaches <span class="mono">Z = -16.500</span>. Configured soft-limit is <span class="mono">Z = -15.000</span>. Adjust the Z origin or set a deeper soft-limit before running.</div>
</div>
<div class="mactions">
<button class="mbtn">Open settings</button>
<button class="mbtn primary">Acknowledge</button>
</div>
</div>
<div class="msg info">
<div class="mi"><i class="fa-solid fa-circle-info"></i></div>
<div>
<div style="display:flex;align-items:baseline;gap:.6rem">
<div class="mtitle">Camera offline</div>
<div class="mtime">12 min ago</div>
</div>
<div class="mbody">Camera at <span class="mono">10.1.10.55:8554</span> did not respond on last poll. Live preview disabled.</div>
</div>
<div class="mactions">
<button class="mbtn">Retry</button>
<button class="mbtn">Dismiss</button>
</div>
</div>
<div class="msg ok">
<div class="mi"><i class="fa-solid fa-check"></i></div>
<div>
<div style="display:flex;align-items:baseline;gap:.6rem">
<div class="mtitle">File uploaded · thin-rough.nc</div>
<div class="mtime">21 min ago</div>
</div>
<div class="mbody">1,785 lines · 12.4 KB · checksum verified.</div>
</div>
<div class="mactions">
<button class="mbtn">Open</button>
</div>
</div>
<div class="msg error">
<div class="mi"><i class="fa-solid fa-circle-xmark"></i></div>
<div>
<div style="display:flex;align-items:baseline;gap:.6rem">
<div class="mtitle">WiFi: not connected</div>
<div class="mtime">1 h ago</div>
</div>
<div class="mbody">Falling back to wired ethernet. SSID <span class="mono">workshop-2g</span> last seen 53 min ago.</div>
</div>
<div class="mactions">
<button class="mbtn">Network…</button>
<button class="mbtn">Mute</button>
</div>
</div>
</div>
<!-- Indicators sub-panel -->
<div class="indicators" data-sub="indicators">
<div class="ind">
<div class="ind-label">Spindle Load</div>
<div class="ind-val">0 %</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> idle</div>
<div class="progress"><div style="width:0%"></div></div>
</div>
<div class="ind">
<div class="ind-label">Spindle Temp</div>
<div class="ind-val">24 °C</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> nominal</div>
<div class="progress"><div style="width:24%"></div></div>
</div>
<div class="ind">
<div class="ind-label">Driver Voltage</div>
<div class="ind-val">48.1 V</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
</div>
<div class="ind">
<div class="ind-label">Coolant</div>
<div class="ind-val">OFF</div>
<div class="ind-state"><span class="dot" style="background:#94a3b8"></span> standby</div>
</div>
<div class="ind">
<div class="ind-label">Limit X</div>
<div class="ind-val" style="color:#16a34a">CLEAR</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
</div>
<div class="ind">
<div class="ind-label">Limit Y</div>
<div class="ind-val" style="color:#16a34a">CLEAR</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
</div>
<div class="ind">
<div class="ind-label">Limit Z</div>
<div class="ind-val" style="color:#dc2626">BLOCKED</div>
<div class="ind-state"><span class="dot" style="background:#dc2626"></span> over-travel</div>
</div>
<div class="ind">
<div class="ind-label">Probe</div>
<div class="ind-val">OPEN</div>
<div class="ind-state"><span class="dot" style="background:#94a3b8"></span> not contacted</div>
</div>
<div class="ind">
<div class="ind-label">E-Stop</div>
<div class="ind-val" style="color:#16a34a">RELEASED</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> safe</div>
</div>
<div class="ind">
<div class="ind-label">Door</div>
<div class="ind-val">CLOSED</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
</div>
<div class="ind">
<div class="ind-label">Air Pressure</div>
<div class="ind-val">6.2 bar</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
<div class="progress"><div style="width:62%"></div></div>
</div>
<div class="ind">
<div class="ind-label">Vacuum</div>
<div class="ind-val">−0.81 bar</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> hold</div>
<div class="progress"><div style="width:81%"></div></div>
</div>
</div>
</div>
</div>
<!-- ============= SETTINGS ============= -->
<div class="panel" data-panel="settings" style="padding:0;gap:0">
<div class="settings active" style="padding:18px">
<div class="set-side">
<div class="set-item active"><i class="fa-solid fa-display"></i> Display & Units</div>
<div class="set-item"><i class="fa-solid fa-arrows-up-down-left-right"></i> Motion</div>
<div class="set-item"><i class="fa-solid fa-bolt"></i> Spindle</div>
<div class="set-item"><i class="fa-solid fa-shield-halved"></i> Safety / Soft-limits</div>
<div class="set-item"><i class="fa-solid fa-network-wired"></i> Network</div>
<div class="set-item"><i class="fa-solid fa-video"></i> Camera</div>
<div class="set-item"><i class="fa-solid fa-keyboard"></i> Macros</div>
<div class="set-item"><i class="fa-solid fa-circle-info"></i> About</div>
</div>
<div class="set-content">
<div class="set-card">
<div class="set-title">Display & Units</div>
<div class="set-row">
<div>
<div class="label">Display Units</div>
<div class="desc">Position, feed and dimensions throughout the UI.</div>
</div>
<div><div class="step-seg" style="display:inline-flex"><button class="active">METRIC</button><button>IMPERIAL</button></div></div>
<div></div>
</div>
<div class="set-row">
<div>
<div class="label">Decimal places</div>
<div class="desc">Position readout precision.</div>
</div>
<div><input class="set-input" value="3" /></div>
<div class="val">0–4</div>
</div>
<div class="set-row">
<div>
<div class="label">Pulse-dot animation</div>
<div class="desc">Animate status badges (ready, idle, alarm).</div>
</div>
<div><div class="set-toggle on"></div></div>
<div></div>
</div>
<div class="set-row">
<div>
<div class="label">Theme</div>
<div class="desc">Pick a tile finish.</div>
</div>
<div><span class="file-select"><i class="fa-solid fa-palette" style="color:#64748b"></i> V09 · Flat soft slate <i class="fa-solid fa-chevron-down caret"></i></span></div>
<div></div>
</div>
</div>
<div class="set-card">
<div class="set-title">Network</div>
<div class="set-row">
<div>
<div class="label">IP Address</div>
<div class="desc">Wired ethernet, DHCP.</div>
</div>
<div><span class="mono" style="font-size:1.05rem;font-weight:700">10.1.10.55</span></div>
<div><button class="mbtn">Edit</button></div>
</div>
<div class="set-row">
<div>
<div class="label">WiFi</div>
<div class="desc">Wireless network connection.</div>
</div>
<div><span class="chip chip-red"><i class="fa-solid fa-wifi"></i> Not connected</span></div>
<div><button class="mbtn primary">Configure</button></div>
</div>
<div class="set-row">
<div>
<div class="label">Hostname</div>
<div class="desc">Used in mDNS / Bonjour discovery.</div>
</div>
<div><input class="set-input" value="onefinity-shop.local" style="width:300px" /></div>
<div></div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
<script>
// ----- Build G-code list -----
const gcodeLines = [
[1,'G21','word'],[2,'; X = along blank, Z = tool entry from top, Y fixed','c'],
[3,'; Y fixed to blank center: 12.800','c'],[4,'; nominal rapid: 3200.0 mm/min','c'],
[5,'; stock top Z: -0.960','c'],[6,'; deepest allowed cut Z: -16.500','c'],
[7,'G21','word'],[8,'G90','word'],[9,'G0 Y12.800','word'],
[10,'G0 Z19.040','word'],[11,'; rough pass 1 radius=18.540','c'],
[12,'G0 X0.000','word'],[13,'G1 Z-0.710 F800.000','word cur'],
[14,'G1 Z-0.960 F200.000','word'],[15,'G4 P0.250','word'],
[16,'G1 X249.500 F200.000','word'],[17,'G4 P0.250','word'],
[18,'G0 Z19.040','word'],[19,'; rough pass 2 radius=17.540','c'],
[20,'G0 X0.000','word'],[21,'G1 Z-1.710 F800.000','word'],
[22,'G1 Z-1.960 F200.000','word'],[23,'G4 P0.250','word'],
[24,'G1 X249.500 F200.000','word'],[25,'G4 P0.250','word'],
[26,'G0 Z19.040','word'],[27,'; rough pass 3 radius=16.540','c'],
[28,'G0 X0.000','word'],[29,'G1 Z-2.710 F800.000','word'],
[30,'G1 Z-2.960 F200.000','word'],[31,'G4 P0.250','word'],
[32,'G1 X249.500 F200.000','word'],[33,'G4 P0.250','word'],
[34,'G0 Z19.040','word'],[35,'; rough pass 4 radius=15.540','c'],
];
document.getElementById('gcode-list').innerHTML = gcodeLines.map(([n,t,cls])=>{
const isComment = cls.includes('c');
const isCur = cls.includes('cur');
const cls2 = 'gline' + (isCur?' cur':'');
const inner = isComment ? `<span class="gcomment">${t}</span>` : `<span class="gword">${t}</span>`;
return `<div class="${cls2}"><span class="gn">${n}</span><span>${inner}</span></div>`;
}).join('');
// ----- Top tab switching (Control / Program / Settings) -----
document.querySelectorAll('.ktab').forEach(b=>{
b.addEventListener('click', ()=>{
const target = b.dataset.target;
document.querySelectorAll('.ktab').forEach(x=>x.classList.remove('active'));
b.classList.add('active');
document.querySelectorAll('.panel').forEach(p=>p.classList.remove('active'));
document.querySelector(`.panel[data-panel="${target}"]`).classList.add('active');
applyScale();
});
});
// ----- Console sub-tab switching (MDI / Messages / Indicators) -----
function showSub(name){
document.querySelectorAll('.ptab').forEach(x=>x.classList.toggle('active', x.dataset.ptab===name));
document.querySelectorAll('[data-sub]').forEach(s=>{
const on = s.dataset.sub===name;
if(s.classList.contains('messages') || s.classList.contains('indicators') || s.classList.contains('mdi')){
s.classList.toggle('active', on);
}
});
}
document.querySelectorAll('.ptab').forEach(b=>{
b.addEventListener('click', ()=>{ showSub(b.dataset.ptab); });
});
// Default Console sub: MDI active
document.querySelectorAll('.messages[data-sub], .indicators[data-sub]').forEach(s=>s.classList.remove('active'));
// ----- Scaling -----
const stage = document.getElementById('stage');
const scaler = document.getElementById('scaler');
const viewport = document.getElementById('viewport');
const fitBtn = document.getElementById('fitBtn');
const oneToOne = document.getElementById('oneToOne');
const scaleInfo = document.getElementById('scaleInfo');
let mode = 'fit';
function activeKioskHeight(){
const m = document.querySelector('.kiosk');
return m ? Math.max(1080, m.offsetHeight) : 1080;
}
function applyScale(){
let s;
if(mode==='1:1'){
s = 1; scaleInfo.textContent = '100% · 1920px wide';
} else {
const sw = stage.clientWidth - 32;
s = Math.min(sw/1920, 1);
scaleInfo.textContent = Math.round(s*100) + '% · 1920px wide';
}
const h = activeKioskHeight();
scaler.style.transform = `scale(${s})`;
viewport.style.width = (1920 * s) + 'px';
viewport.style.height = (h * s) + 'px';
}
window.addEventListener('resize', applyScale);
fitBtn.addEventListener('click', ()=>{ mode='fit'; fitBtn.classList.add('on'); oneToOne.classList.remove('on'); applyScale(); });
oneToOne.addEventListener('click', ()=>{ mode='1:1'; oneToOne.classList.add('on'); fitBtn.classList.remove('on'); applyScale(); });
applyScale();
</script>
</body>
</html>

169
plans/2026-04-30_ux_redesign.md Normal file
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@@ -0,0 +1,169 @@
# UX Redesign — Implementation Plan
Reference mock: `docs/mocks/v09_full_ux.html`
Target hardware: 10.8" portable monitor, 1920×1080, capacitive touch, Chrome fullscreen.
## 1. Goals
The redesign keeps every existing feature but reorganizes the page into a single-screen control surface for finger-touch use:
- A slim 96 px header replaces the 140 px nav-header. Only logo + ONEFINITY wordmark + tab bar + system pill + READY badge + octagonal STOP.
- 4 top-level sections accessed via underline-ribbon tabs in the header:
1. **Control** — jog pad, DRO table, status strip, macro row.
2. **Program** — Auto run controls, file actions, G-code listing, 3D viewer.
3. **Console** — MDI, Messages, Indicators (sub-tabs).
4. **Settings** — paged settings (replaces the Pure left rail).
- Touch targets ≥ 64 px (jog tiles 72 px, axis action icons 72 px, macro buttons 84 px).
- All action chip-soup (WiFi/Camera/Rotary/IP/Version) collapses into one "All systems · view" pill that opens a popover. Burger menu removed (Settings tab supersedes it).
- V09 jog/macro palette: flat soft slate (#3f4b63), no drop shadow; yellow (#fde047) accent for active states (step seg, tab underline, macro number badge).
- Spindle override / feed override sliders live in a bottom-edge drawer triggered by tapping the Spindle KPI tile (no permanent screen real estate).
- Hard cut: no `config.ui.layout` flag; the new shell replaces the old in a single release.
## 2. Scope of code change
The build is Pug + Stylus + Browserify Vue (Vue 1.x). `index.pug` defines the chrome; `src/pug/templates/*.pug` defines each view; `src/js/*.js` mirrors them as Vue components routed by `currentView` from the URL hash.
Files we will touch:
- `src/pug/index.pug` — replace `#layout / #menu / #main / .nav-header` with the new header + tab bar + body. Drop the burger and the side-menu include.
- `src/pug/templates/control-view.pug` — restructure into the new Control panel (jog grid + DRO table + status strip + macro row). MDI/Messages/Indicators move out.
- New `src/pug/templates/program-view.pug` — Auto sub-panel content (action bar, file bar, gcode-viewer, path-viewer).
- New `src/pug/templates/console-view.pug` — MDI / Messages / Indicators sub-tabs hosting existing `console.pug` and `indicators.pug` partials.
- `src/js/app.js` — extend `parse_hash` so `#program`, `#console`, `#settings` resolve; expose tab state for the header to highlight.
- `src/js/control-view.js` — keep jog/DRO logic, drop the Auto/MDI/Messages/Indicators internal `tab` state and template hooks.
- New `src/js/program-view.js`, `src/js/console-view.js` — extracted Vue components.
- `src/stylus/style.styl` — add `.app-shell`, `.head`, `.tabs-host`, `.ktab`, panel styles, V09 jog tokens. Keep legacy classes alive until templates fully migrated.
- `src/static/css/side-menu.css` — stop including in `index.pug`.
- Settings: keep `settings-view.pug`, `admin-general-view.pug`, `admin-network-view.pug`, `motor-view.pug`, `tool-view.pug`, `io-view.pug`, etc., and surface them through a left-rail navigator inside the Settings panel rather than the sidebar.
- Settings → Macros owns the full macro list (1…N). Control's macro row is a slice of the first 8; reordering happens in Settings.
## 3. Routing model
We keep the existing URL hash routing because everything in `src/js/app.js#parse_hash` and the deep-linked menu items (`#motor:0`, `#admin-network`, etc.) depend on it.
| URL hash | Top tab | Notes |
|-------------------------|------------|-------------------------------------------------------|
| `#control` | Control | Default |
| `#program` / `#program:auto` | Program | Auto sub-view (only sub-view for now) |
| `#console` / `#console:mdi` | Console | MDI default, also `:messages` and `:indicators` |
| `#settings` | Settings | Settings home (Display & Units) |
| `#admin-general`, `#admin-network`, `#motor:N`, `#tool`, `#io`, `#help`, `#cheat-sheet` | Settings | Existing routes remain, surfaced in the Settings left rail |
The header tab bar maps URL prefix → active tab. A tiny helper `topTabFromHash(hash)` lives in `app.js` and is reused by the header template.
## 4. Step-by-step
### Phase 1 — Mock parity (1–2 days)
1. Add `docs/mocks/v09_full_ux.html` (done) so anyone can preview the target.
2. Move the V09 palette into Stylus tokens at the top of `style.styl`:
```styl
$jog-bg = #3f4b63
$jog-hover = #4a5777
$jog-dir = #5b6885
$jog-ghost = #8c97ad
$accent = #fde047
$accent-ink = #0f172a
```
3. Build the header in `index.pug`:
```pug
.app-shell
header.head
.brand-blk
.brand-logo
.brand-name ONEFINITY
nav.tabs-host(role="tablist")
a.ktab(:class="{active: topTab === 'control'}", href="#control")
.fa.fa-gamepad
| Control
a.ktab(:class="{active: topTab === 'program'}", href="#program") …
a.ktab(:class="{active: topTab === 'console'}", href="#console") …
a.ktab(:class="{active: topTab === 'settings'}", href="#settings") …
button.sys-btn(@click="toggle_sys_popover") …
span.state-badge(:class="state_class")
estop(@click="estop")
```
4. Style the header tabs as **underline ribbon** (V02): transparent fills, slate-gray text, dark text + 5 px yellow underline on active. CSS already proven in the mock.
5. Move the rotary toggle and pi-temp warning into the system pill popover.
### Phase 2 — Control panel (2 days)
1. Rewrite the outer markup of `control-view.pug` to a CSS grid:
```
.control-grid → 720px jog-card | 1fr right-col(dro-card + status-strip)
```
Drop the `<table>`-based outer layout (axes table stays — it's a real data table).
2. Replace the legacy `<button>` elements in the jog table with `.jbtn` markup that pulls colors from `$jog-*` tokens. Keep the `@click="jog_fn(...)"` bindings unchanged.
3. Build the new `.step-seg` with the existing `jog_incr` model. The four buttons stay wired to `jog_incr = 'fine' | 'small' | 'medium' | 'large'`.
4. Build `.dro-card` from the existing `table.axes` markup. Each row gets the new 7-column grid; axis cells just need `.dro-axis`, `.dro-pos`, `.dro-sec` classes.
5. Move the four KPI tiles (`State / Velocity-Feed / Spindle / Job`) into `.status-strip`. Existing `state.v`, `state.feed`, `state.s`, `state.line` bindings are unchanged.
6. Move `.macros-div` into a `.macro-row` 8-column grid. The row binds to `config.macros.slice(0, 8)`; macros 9…N are editable and runnable only from Settings → Macros (no drawer in Control). Reordering in Settings changes which macros appear in the visible 8.
7. Drop the legacy `.tabs / #tab1 …` block from `control-view.pug` entirely.
### Phase 3 — Program panel (1.5 days)
1. New file `src/pug/templates/program-view.pug` with `.program-card` and the action / file bars.
2. Move the Auto bar (RUN, STOP, UPLOAD FOLDER, UPLOAD FILE, DOWNLOAD FILE, DELETE) and the file-select strip (Create Folder, Delete Folder, folder picker, file picker, sort) out of `control-view.pug` into here. Use the V09 button styles (`.action-btn`, `.action-btn.run`, `.action-btn.danger`, `.file-btn`, `.file-select`).
3. Embed `path-viewer` and `gcode-viewer` in `.program-body { 1fr 600px }`. Both Vue components render unchanged.
4. New `src/js/program-view.js` exporting the same data model the existing `Auto` tab uses (`gcode_files`, `state.selected`, `start_pause`, etc.). The fastest path: move the relevant computed/methods into a mixin `gcode-program-mixin.js` consumed by both old and new components during the migration.
5. Wire `<component :is="currentView + '-view'">` in `index.pug` to pick up `program-view`.
### Phase 4 — Console panel (1 day)
1. New `src/pug/templates/console-view.pug` with the inner `.ptab-bar` (MDI / Messages / Indicators) and `data-sub` panels.
2. The MDI panel reuses the existing `<input v-model="mdi" @keyup.enter="submit_mdi">` plus the on-screen keypad (G0/G1/G2/G3/G28/G92/M3/M5 + axis letters + CLEAR/SEND).
3. The Messages panel pulls from the existing `popupMessages` array + a new `messages_log` state we will accumulate from `app.js`'s `error` and `popupMessages` channels (no protocol change).
4. The Indicators panel mounts the existing `<indicators :state="state" :template="template">` component.
5. Sub-tab state is local Vue state (`activeSub: 'mdi' | 'messages' | 'indicators'`) plus URL fragment after `:` so deep links keep working.
### Phase 5 — Settings panel (1 day)
1. New `src/pug/templates/settings-view.pug` with a left rail and a content slot.
2. The left rail is data-driven from a list of existing settings views: General, Network, Motion (settings-view), Spindle (tool-view), Safety (admin-general subset), Camera, Macros (settings-view subset), I/O, Motors, Help, About.
3. The content slot uses `<component :is="settingsSub + '-view'">` so each existing pug template renders unchanged (`admin-general-view.pug`, `admin-network-view.pug`, `motor-view.pug`, `tool-view.pug`, `io-view.pug`, `settings-view.pug`, `help-view.pug`, `cheat-sheet-view.pug`).
4. Existing routes (`#admin-network`, `#motor:0`, …) resolve to Settings + the matching left-rail item. We lose nothing.
5. Decommission the side menu in `index.pug` and stop including `side-menu.css`.
### Phase 6 — Polish & rollout (0.5 days)
1. Pulse-dot animation for the READY badge (CSS keyframes already in the mock).
2. System pill popover content: WiFi state + button, Camera state + retry, Rotary toggle, IP address, firmware version, "Open Settings".
3. Disabled states: jog buttons + macro buttons honor `is_ready` like before; gray them out instead of hiding.
4. Decimal-places setting from the existing `display_units` plumbing — wire to a new `precision` config the DRO reads.
5. Build the **Spindle override drawer**: clicking the `.stat-card` for Spindle toggles `.override-drawer.open` anchored to the bottom edge of the body. The drawer hosts the two existing `<input type="range">` controls for `feed_override` and `speed_override` plus `Reset` buttons. Bind to the existing `override_feed` / `override_speed` methods.
6. **Hard cut cleanup:** delete the legacy `.nav-header`, side-menu markup, and the inline `.tabs / #tab1…#tab4` block from `control-view.pug`. Remove `src/static/css/side-menu.css` from `index.pug` includes. Sweep `style.styl` for orphan rules (`.nav-header`, `.brand`, `.menu-link`, `.pure-menu*` overrides, `.tabs > input` selectors) and delete them in the same commit so we don't ship dead CSS.
## 5. Migration risks & mitigations
| Risk | Mitigation |
|----------------------------------------------|---------------------------------------------------------------------------------------------|
| Existing deep links from PDFs / forum posts (`#admin-network`) break | Keep the same hashes; only their visual shell changes. `parse_hash` resolves them. |
| Vue 1.x doesn't support modern slot syntax we used in the mock | The mock is plain HTML for visual review; production code uses the existing Vue 1 patterns. No new Vue features required. |
| Touch monitor with HDMI vs USB-C may report different DPI | The new layout is fluid inside 1920 × 1080 only when fullscreen Chrome. Provide a CSS `@media (max-width: 1820px)` fallback that scales the macro row to 4 columns and stacks the right column under the jog. |
| Existing customers rely on muscle memory of the side menu | Settings tab opens directly to the same left-rail navigator. First-launch toast: "Side menu moved to Settings." |
| `path-viewer` / `gcode-viewer` are heavy three.js components | They live in the Program tab now; we lazy-mount with `v-if="currentView === 'program'"` so Control stays light. |
| MDI input could lose focus when the inner `.ptab` is switched | Keep the input mounted, just hide non-active subs with `display:none`. |
## 6. Testing checklist
- Chrome on the 10.8" 1920 × 1080 monitor, fullscreen — every panel fits without scrolling at 100 %.
- Chrome at 1366 × 768 — fallback layout works (Control collapses jog above DRO).
- Touch hit-tests: every interactive target ≥ 48 px on its shortest side, primary jog tiles ≥ 72 px.
- Existing flows still work end-to-end: home all axes, run a small program, MDI a `G0 X10`, switch to Imperial, upload a folder, delete a file.
- Hash routing: hand-type `#motor:1` and confirm Settings tab activates with Motor 1 selected.
- Spindle override drawer: tap Spindle KPI tile, sliders move feed/speed override, `Reset` returns both to 100 %, tile tap closes drawer.
- Macro row shows macros 1–8 only; reordering in Settings → Macros changes which 8 appear on Control.
- Pulse-dot animation respects `prefers-reduced-motion`.
- Hard-cut cleanup verified: `git grep` finds no references to the old `.nav-header`, `side-menu.css`, or the `#tab1…#tab4` selectors after the rename.
## 7. Estimated effort
About 6–7 working days for one developer:
1. Mock parity & header — 1.5 days
2. Control panel (incl. macro slice + DRO grid) — 2 days
3. Program panel — 1.5 days
4. Console panel — 1 day
5. Settings shell — 1 day
6. Override drawer, polish, hard-cut cleanup, regression tests — 0.5–1 day
## 8. Resolved decisions
- **Rollout: hard cut.** No `config.ui.layout` feature flag, no parallel legacy shell. The new `index.pug` tree replaces the old one in a single release; the old `.nav-header`, side menu, and embedded `.tabs` block are deleted (not gated). One pre-release internal QA pass on real hardware before tagging.
- **Macros above 8: Settings owns the master list; Control surfaces the first 8 (configurable).** The Control macro row reads from `config.macros[0..7]`; everything beyond index 7 is editable / runnable only from Settings → Macros. Users can reorder which macros land in the visible 8 there.
- **"Pin to Control" indicator slot: defer.** Not in this redesign. Tracked as a follow-up; current status strip stays fixed at State / Velocity·Feed / Spindle / Job.
- **Feed & spindle override: drawer triggered by the Spindle KPI tile.** The Spindle card in the status strip becomes tappable. Tap opens a bottom-edge drawer (≈ 220 px tall) containing the two existing range inputs (`feed_override`, `speed_override`) at touch-friendly size with `Reset to 100 %` buttons. Closes by tapping the tile again or the drawer chevron. No protocol change; reuses the existing `override_feed` / `override_speed` handlers.

3
scripts/deploy/local.sh
View File

@@ -9,6 +9,9 @@
# * The full V09 chrome (header tabs, settings rail, jog grid, DRO
# skeleton, status strip).
# * A "DISCONNECTED" overlay because there's no controller backend.
# * The W axis row in jog/DRO is hidden (correct: it appears only when
# the controller reports `aux_enabled = true`). To exercise the W
# axis end-to-end, deploy to the Pi (`./deploy.sh hardware`).
set -euo pipefail

11
src/js/app.js
View File

@@ -369,7 +369,7 @@ module.exports = new Vue({
ready: function() {
window.onhashchange = () => this.parse_hash();
// Embedded Svelte subviews (A axis settings, etc.) signal
// Embedded Svelte subviews (W axis settings, etc.) signal
// unsaved changes via this event. The master Save button
// highlights when modified is true.
window.addEventListener("onefin:dirty", () => {
@@ -391,6 +391,7 @@ module.exports = new Vue({
"admin-general", "admin-network",
"motor", "tool", "io", "macros",
"help", "cheat-sheet",
"w-axis",
];
const initialHead = (location.hash || "").replace(/^#/, "").split(":")[0];
if (settingsFamily.indexOf(initialHead) === -1) {
@@ -626,6 +627,7 @@ module.exports = new Vue({
"admin-general", "admin-network",
"motor", "tool", "io", "macros",
"help", "cheat-sheet",
"w-axis",
];
if (head == "control") {
@@ -687,6 +689,13 @@ module.exports = new Vue({
try {
await api.put("config/save", this.config);
// Notify any embedded Svelte subviews that own their
// own persistence (W axis -> aux.json, etc.) that
// the user just hit the master Save button. They
// listen for `onefin:save-all` and PUT their state.
try {
window.dispatchEvent(new CustomEvent("onefin:save-all"));
} catch (_e) {}
this.modified = false;
} catch (error) {
console.error("Save failed:", error);

106
src/js/axis-vars.js
View File

@@ -32,6 +32,10 @@ module.exports = {
return this._compute_axis("c");
},
w: function() {
return this._compute_aux_axis();
},
axes: function() {
return this._compute_axes();
}
@@ -52,7 +56,12 @@ module.exports = {
const abs = this.state[`${axis}p`] || 0;
const off = this.state[`offset_${axis}`];
const motor_id = this._get_motor_id(axis);
const motor = motor_id == -1 ? {} : this.config.motors[motor_id];
// motor_id may be 4 for the synthetic external-axis motor;
// there is no entry for it in config.motors so guard with
// an empty object to avoid undefined property access.
const motor = (motor_id == -1
? {}
: (this.config.motors[motor_id] || {}));
const enabled = this._check_is_enabled(axis);
const homingMode = motor["homing-mode"];
const homed = this.state[`${motor_id}homed`];
@@ -185,24 +194,113 @@ module.exports = {
_get_motor_id: function(axis) {
for (let i = 0; i < this.config.motors.length; i++) {
const motor = this.config.motors[i];
if (motor.axis.toLowerCase() == axis) {
// motor.axis can be undefined on initial load before
// config has streamed in. Guard so the computed does
// not throw and bubble a Vue warning into the console.
if (motor && typeof motor.axis === "string" &&
motor.axis.toLowerCase() == axis) {
return i;
}
}
// Synthetic external motor (index 4) used by ExternalAxis
// to expose the auxcnc ESP stepper as a virtual axis.
// Its `Nan` lives in state, not config.
const axes = { x: 0, y: 1, z: 2, a: 3, b: 4, c: 5 };
const wanted = axes[axis];
const extAn = this.state && this.state["4an"];
if (typeof wanted === "number" && typeof extAn === "number"
&& extAn === wanted) {
return 4;
}
return -1;
},
_check_is_enabled: function(axis){
// Prefer config.motors[i].axis (always present once the
// config has loaded). Fall back to the per-motor state
// `Nan` field, which is what the legacy UI used. This
// avoids hiding axis rows during the brief window after
// config has loaded but before the controller has pushed
// its first state delta.
const axes = { x: 0, y: 1, z: 2, a: 3 };
for(let i = 0; i < this.config.motors.length; i++){
if(this.state[`${i}an`] == axes[axis]){
const wanted = axes[axis];
for (let i = 0; i < this.config.motors.length; i++) {
const motor = this.config.motors[i] || {};
if (typeof motor.axis === "string" &&
motor.axis.toLowerCase() == axis) {
return motor.enabled !== false;
}
// Only use the state Nan fallback for axes we know
// about (x/y/z/a). Otherwise undefined == undefined
// would mistakenly match every axis (b, c, ...).
if (typeof wanted === "number") {
const an = this.state[`${i}an`];
if (typeof an === "number" && an === wanted) {
return true;
}
}
}
// Synthetic external motor (index 4) - the auxcnc ESP
// stepper exposed as A via ExternalAxis.
if (typeof wanted === "number") {
const extAn = this.state["4an"];
const extMe = this.state["4me"];
if (typeof extAn === "number" && extAn === wanted
&& extMe) {
return true;
}
}
return false;
},
_compute_aux_axis: function() {
// Virtual W axis driven by the auxcnc ESP32. Position, homed
// flag and presence come from the bbctrl AuxAxis driver via
// state.aux_*. No motor mapping, no soft-limit warnings on
// toolpath bounds (auxcnc enforces its own).
const enabled = !!this.state.aux_enabled;
const present = !!this.state.aux_present;
const homed = !!this.state.aux_homed;
const pos = this.state.aux_pos || 0;
let klass = `${homed ? "homed" : "unhomed"} axis-w`;
let state = present ? "UNHOMED" : "OFFLINE";
let icon = present ? "question-circle" : "plug";
let title = present
? "Click the home button to home W axis."
: "Aux controller not connected on /dev/ttyUSB0.";
if (homed) {
state = "HOMED";
icon = "check-circle";
title = "W axis successfully homed.";
} else if (!present) {
klass += " error";
}
return {
pos: pos,
abs: pos,
off: 0,
min: 0, max: 0, dim: 0,
pathMin: 0, pathMax: 0, pathDim: 0,
motor: -1,
enabled: enabled,
homingMode: "limit-switch",
homed: homed,
klass: klass,
state: state,
icon: icon,
title: title,
ticon: "check-circle",
tstate: "OK",
toolmsg: "W axis is not constrained by tool path bounds.",
tklass: `${homed ? "homed" : "unhomed"} axis-w`,
isAux: true,
};
},
_compute_axes: function() {
let homed = false;

62
src/js/control-view.js
View File

@@ -249,13 +249,73 @@ module.exports = {
api.put(`home/${axis}/clear`);
},
aux_home: function () {
api.put("aux/home").catch(function (err) {
console.error("W home failed:", err);
});
},
// 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
// /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 {
await api.put("home");
} catch (e) {
console.error("Home all failed:", e);
console.error("Home all (XYZ) failed:", e);
return;
}
if (!this.w || !this.w.enabled) return;
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);
});
},
aux_jog: function (delta_mm) {
api.put("aux/jog", { mm: delta_mm }).catch(function (err) {
console.error("W jog failed:", err);
});
},
aux_jog_incr: function (sign) {
const amount = this.jog_incr_amounts[this.display_units][this.jog_incr];
const delta_mm = sign * (this.metric ? amount : amount * 25.4);
this.aux_jog(delta_mm);
},
show_set_position: function (axis) {

6
src/js/settings-shell-view.js
View File

@@ -24,6 +24,7 @@ module.exports = {
"io-view": require("./io-view"),
"macros-view": require("./macros"),
"help-view": require("./help-view"),
"w-axis-view": require("./w-axis-view"),
"cheat-sheet-view": {
template: "#cheat-sheet-view-template",
data: function () {
@@ -56,6 +57,9 @@ module.exports = {
{ sub: "motor", motor: 1, href: "#motor:1", icon: "fa-arrows-up-down-left-right", label: "Motor 1" },
{ sub: "motor", motor: 2, href: "#motor:2", icon: "fa-arrows-up-down-left-right", label: "Motor 2" },
{ sub: "motor", motor: 3, href: "#motor:3", icon: "fa-arrows-up-down-left-right", label: "Motor 3" },
// W axis is auxiliary (auxcnc ESP32). It mounts the existing
// WAxisSettings Svelte component on its own page.
{ sub: "w-axis", href: "#w-axis", icon: "fa-arrows-up-down", label: "W Axis" },
{ section: " " },
{ sub: "help", href: "#help", icon: "fa-circle-question", label: "Help" },
],
@@ -133,6 +137,7 @@ module.exports = {
// layout, which under tablet mode pulls the fixed header out
// of view.
if (location.hash !== item.href) location.hash = item.href;
this._w_axis_focus = (item.sub === "w-axis");
const reset = () => {
// Force any inadvertent ancestor scroll back to 0 before
// we move .settings-content explicitly.
@@ -155,6 +160,7 @@ module.exports = {
requestAnimationFrame(reset);
}, 320);
} else {
this._w_axis_focus = false;
if (location.hash !== item.href) location.hash = item.href;
// Reset .app-body scroll so each route starts at the top.
const body = document.querySelector(".app-body");

20
src/js/w-axis-view.js Normal file
View File

@@ -0,0 +1,20 @@
"use strict";
// V09 W-axis page \u2014 mounts the existing WAxisSettings Svelte component
// inside the settings shell so it gets a real top-level rail entry
// instead of being a soft-link anchor inside Display & Units.
module.exports = {
template: "#w-axis-view-template",
attached: function () {
this.svelteComponent = SvelteComponents.createComponent(
"WAxisSettings",
document.getElementById("w-axis-mount")
);
},
detached: function () {
if (this.svelteComponent) this.svelteComponent.$destroy();
},
};

86
src/pug/templates/control-view.pug
View File

@@ -92,8 +92,33 @@ script#control-view-template(type="text/x-template")
.fa.fa-arrow-down.ico(style="transform: rotate(-45deg)")
button.jbtn(@click="jog_fn(0, 0, -1, 0)") Z−
// Row 4 — A axis (rotary) when rotary is enabled.
template(v-if="state['2an'] == 3")
// Row 4 — A axis (the auxcnc-driven external axis) when enabled.
// A- | A+ | Probe XYZ | Probe Z
// "Home A" lives in the DRO table's actions column on the
// right, so it doesn't need a tile here. The legacy w.enabled
// gate is kept so older installs (where the auxcnc axis still
// appears as W via the side-channel) keep working.
template(v-if="w.enabled || a.enabled")
button.jbtn(@click="aux_jog_incr(-1)",
:disabled="!(w.enabled || a.enabled)")
.fa.fa-arrow-down.ico
span.lbl A−
button.jbtn(@click="aux_jog_incr(+1)",
:disabled="!(w.enabled || a.enabled)")
.fa.fa-arrow-up.ico
span.lbl A+
button.jbtn(@click="showProbeDialog('xyz')",
:class="{'load-on': !state['pw']}")
.fa.fa-bullseye.ico
span.lbl Probe XYZ
button.jbtn(@click="showProbeDialog('z')",
:class="{'load-on': !state['pw']}")
.fa.fa-bullseye.ico
span.lbl Probe Z
// Row 4 — A axis (rotary) when no W and rotary is enabled
// (Vue 1 has no v-else-if; we negate w.enabled explicitly.)
template(v-if="!w.enabled && state['2an'] == 3")
button.jbtn.dir(@click="jog_fn(0, 0, 0, -1)")
.fa.fa-rotate-left.ico
span.lbl A−
@@ -109,7 +134,7 @@ script#control-view-template(type="text/x-template")
span.lbl Probe
// Row 4 — fallback probe / zero / home shortcuts
template(v-if="state['2an'] != 3")
template(v-if="!w.enabled && state['2an'] != 3")
button.jbtn(@click="showProbeDialog('xyz')",
:class="{'load-on': !state['pw']}")
.fa.fa-bullseye.ico
@@ -190,10 +215,13 @@ script#control-view-template(type="text/x-template")
div Position
div Absolute
div Offset
div State
div Toolpath
.actions-cell
// Master Home All. Each row's Actions cell has a per-axis
// home button; this header-level button homes every
// enabled axis (legacy Onefinity behavior).
// enabled axis (legacy Onefinity behavior). Auto-includes
// the W axis when it is enabled.
button.icon-btn(:disabled="!is_idle",
title="Home all axes.", @click="home_all()")
.fa.fa-house-chimney
@@ -202,27 +230,63 @@ script#control-view-template(type="text/x-template")
each axis in 'xyzabc'
.dro-row(:class=`${axis}.klass + ' ' + ${axis}.tklass`,
v-if=`${axis}.enabled`,
:title=`${axis}.toolmsg ? (${axis}.title + ' — ' + ${axis}.toolmsg) : ${axis}.title`)
:title=`${axis}.title`)
.dro-axis(:class=`'axis-' + '${axis}'`)= axis.toUpperCase()
.dro-pos: unit-value(:value=`${axis}.pos`, precision=4)
.dro-sec: unit-value(:value=`${axis}.abs`, precision=3)
.dro-sec: unit-value(:value=`${axis}.off`, precision=3)
.dro-state
span.chip(:class=`${axis}.tklass.indexOf('error') !== -1 ? 'chip-red' : (${axis}.homed ? 'chip-green' : 'chip-amber')`)
.fa(:class=`'fa-' + ${axis}.icon`)
| &nbsp;{{#{axis}.state}}
.dro-toolpath
span.chip(:class=`${axis}.tklass.indexOf('error') !== -1 ? 'chip-red' : (${axis}.tklass.indexOf('warn') !== -1 ? 'chip-amber' : 'chip-green')`,
@click=`showToolpathMessageDialog('${axis}')`)
.fa(:class=`'fa-' + ${axis}.ticon`)
| &nbsp;{{#{axis}.tstate}}
.actions-cell
button.icon-btn(:disabled="!can_set_axis",
:title=`'Set ${axis.toUpperCase()} axis position.'`,
@click=`show_set_position('${axis}')`)
.fa.fa-gear
button.icon-btn(:class=`${axis}.tklass.indexOf('error') !== -1 ? 'state-red' : (${axis}.tklass.indexOf('warn') !== -1 ? 'state-amber' : 'state-green')`,
:disabled="!can_set_axis",
:title=`${axis}.toolmsg || ('Zero ${axis.toUpperCase()} axis offset.')`,
button.icon-btn(:disabled="!can_set_axis",
:title=`'Zero ${axis.toUpperCase()} axis offset.'`,
@click=`zero('${axis}')`)
.fa.fa-location-dot
button.icon-btn(:class=`${axis}.klass.indexOf('error') !== -1 ? 'state-red' : (${axis}.homed ? 'state-green' : 'state-amber')`,
:disabled="!is_idle",
:title=`${axis}.title`,
button.icon-btn(:disabled="!is_idle",
:title=`'Home ${axis.toUpperCase()} axis.'`,
@click=`home('${axis}')`)
.fa.fa-home
// Legacy W axis row - shown only when the auxcnc stepper is
// *not* exposed as a virtual A axis. After v2 the standard
// A row above renders this axis natively (with full offset
// + set-position support); the W row stays for backwards
// compatibility with installs that haven't migrated.
.dro-row(:class="w.klass + ' ' + w.tklass",
v-if="w.enabled && !a.enabled",
:title="w.title")
.dro-axis.axis-w W
.dro-pos: unit-value(:value="w.pos", precision=4)
.dro-sec: unit-value(:value="w.abs", precision=3)
.dro-sec —
.dro-state
span.chip(:class="w.homed ? 'chip-green' : 'chip-amber'")
.fa(:class="'fa-' + w.icon")
| &nbsp;{{w.state}}
.dro-toolpath
span.chip.chip-green
.fa(:class="'fa-' + w.ticon")
| &nbsp;{{w.tstate}}
.actions-cell
button.icon-btn(disabled, style="visibility:hidden")
.fa.fa-gear
button.icon-btn(disabled, style="visibility:hidden")
.fa.fa-location-dot
button.icon-btn(:disabled="!w.enabled",
title="Home W axis.", @click="aux_home()")
.fa.fa-home
// ----- Status strip -----
.status-strip
.stat-card

2
src/pug/templates/settings-shell.pug
View File

@@ -46,6 +46,8 @@ script#settings-shell-view-template(type="text/x-template")
:index="index", :config="config", :template="template", :state="state")
io-view(v-if="sub === 'io' && config_ready",
:index="index", :config="config", :template="template", :state="state")
w-axis-view(v-if="sub === 'w-axis' && config_ready",
:index="index", :config="config", :template="template", :state="state")
macros-view(v-if="sub === 'macros' && config_ready",
:index="index", :config="config", :template="template", :state="state")
help-view(v-if="sub === 'help' && config_ready",

4
src/pug/templates/w-axis-view.pug Normal file
View File

@@ -0,0 +1,4 @@
script#w-axis-view-template(type="text/x-template")
#w-axis-page
h1 W Axis (auxcnc)
#w-axis-mount

562
src/py/bbctrl/AuxAxis.py Normal file
View File

@@ -0,0 +1,562 @@
################################################################################
#
# AuxAxis - W-axis serial driver for the auxcnc ESP32 controller
#
# Owns /dev/ttyUSB0 (or whatever serial.port is configured to). Provides
# blocking RPCs for use from a hook thread. Maintains:
#
# - aux_present : True if serial is open and we've seen a boot banner
# - aux_homed : True if we've successfully run HOME since last reset
# - aux_pos : current logical position in mm (from ESP step counter
# * (1 / steps_per_mm * dir_sign))
#
# Real-time decisions (limit switch monitoring, step pulse generation) live
# on the ESP. The host is responsible for units, soft limits, and tracking
# whether we've ever boot-cycled the ESP since last home.
#
################################################################################
import os
import json
import time
import threading
import traceback
try:
import serial
except ImportError:
serial = None
# Default config; overridden by ./aux.json or ctrl.config.
DEFAULTS = {
'enabled': False,
'port': '/dev/ttyUSB0',
'baud': 115200,
'steps_per_mm': 80.0, # logical steps per mm of axis travel
'dir_sign': 1, # +1 or -1: maps logical+ to motor+ steps
# Logical axis letter exposed to gplan. The auxcnc ESP stepper
# is presented to the planner as this axis (default 'a' = standard
# 4th axis). gcode uses A for moves; the host ExternalAxis layer
# forks A motion to the ESP transparently.
'axis_letter': 'a',
'min_w': 0.0, # soft limit min (mm), exposed as 4tn
'max_w': 100.0, # soft limit max (mm), exposed as 4tm
# Per-axis kinematic limits used to populate the planner's config.
# Units match the bbctrl/onefinity per-motor convention so the
# values are directly comparable to motors 0-3:
# max_velocity_m_per_min m/min (planner sees * 1000 = mm/min)
# max_accel_km_per_min2 km/min2 (planner sees * 1e6 = mm/min2)
# max_jerk_km_per_min3 km/min3 (planner sees * 1e6 = mm/min3)
'max_velocity_m_per_min': 6.0,
'max_accel_km_per_min2': 100.0,
'max_jerk_km_per_min3': 500.0,
# Informational only - rate caps that actually clamp the move
# are on the ESP via step_max_sps below.
'max_feed_mm_min': 600.0,
'home_dir': '-', # which direction is "toward limit" (host's view)
'home_position_mm': 0.0, # mm value to assign at home
# ESP-side homing rates (steps/sec). Pushed via HOMECFG on connect.
# Speeds tuned for a typical 25 steps/mm aux drive (so 1 step =
# 0.04 mm). With the limit-aware ESP firmware these values give
# a brisk seek (100 mm/s), enough backoff to clear the switch
# hysteresis (16 mm), and a slow re-engage (10 mm/s) that's
# accurate without being painfully slow on a longer axis.
'home_fast_sps': 2500, # ≈ 100 mm/s @ 25 steps/mm
'home_slow_sps': 250, # ≈ 10 mm/s
'home_backoff_steps': 400, # ≈ 16 mm
'home_maxtravel_steps': 200000,
'step_max_sps': 4000, # ≈ 160 mm/s normal-move cap
'step_accel_sps2': 12000,
'step_start_sps': 200,
'limit_low': True,
}
class AuxAxisError(Exception):
pass
class AuxAxis(object):
def __init__(self, ctrl):
self.ctrl = ctrl
self.log = ctrl.log.get('AuxAxis')
self._cfg = dict(DEFAULTS)
self._load_config()
self._sp = None
self._sp_lock = threading.Lock() # serial write/RPC serialization
self._rx_lock = threading.Lock() # read-line buffer access
self._reader_thread = None
self._stop = threading.Event()
# Pending replies waiting for a [topic] line. Single-slot since we
# serialize RPCs via _sp_lock.
self._pending_topics = []
self._pending_replies = []
self._pending_cv = threading.Condition()
# Async lines that aren't replies (e.g. logs) are simply logged.
self._present = False
self._homed = False
self._pos_steps = 0 # ESP step counter mirror
# Publish initial state
self._publish_state()
if not self._cfg['enabled']:
self.log.info('Aux axis disabled in config')
return
if serial is None:
self.log.error('pyserial not available; aux axis disabled')
return
self._open()
# ------------------------------------------------------------------ config
def _config_path(self):
return self.ctrl.get_path(filename='aux.json')
def _load_config(self):
path = self._config_path()
if os.path.exists(path):
try:
with open(path) as f:
user = json.load(f)
# Be permissive; ignore unknown keys.
for k, v in user.items():
if k in self._cfg:
self._cfg[k] = v
self.log.info('Loaded aux config from %s' % path)
except Exception:
self.log.error('Failed to read aux.json: %s'
% traceback.format_exc())
def save_config(self, cfg):
merged = dict(DEFAULTS)
for k, v in cfg.items():
if k in DEFAULTS:
merged[k] = v
path = self._config_path()
with open(path, 'w') as f:
json.dump(merged, f, indent=2)
self._cfg = merged
self.log.info('Saved aux config')
# Push the relevant pieces to the ESP if connected.
if self._present:
try:
self._push_homecfg()
except Exception as e:
self.log.warning('Could not push HOMECFG after save: %s' % e)
def get_config(self):
return dict(self._cfg)
# ------------------------------------------------------------------ public
@property
def enabled(self):
return bool(self._cfg.get('enabled', False))
@property
def present(self):
return self._present
@property
def homed(self):
return self._homed
@property
def position_mm(self):
return self._steps_to_mm(self._pos_steps)
def set_state_observer(self, fn):
"""Register a callback invoked after every _publish_state.
Used by ExternalAxis to mirror the homed flag into State."""
self._state_observer = fn
def home(self):
"""Run the homing cycle on the ESP. Blocks until done. Raises on
failure. Updates aux_homed and aux_pos.
The ESP's home_zero is pre-loaded via HOMECFG so when the cycle
completes the step counter already corresponds to home_position_mm.
That way the homed-state survives a bbctrl restart correctly
(we don't need a post-home WPOS write, which would clear HOMED)."""
self._require_present()
# Make sure home_zero on the ESP matches our current
# home_position_mm in case the user just edited config.
self._push_homecfg()
line = self._rpc('HOME', topic='home', timeout=120.0)
# line is the body after '[home] '. Only terminal lines use
# the [home] topic now (done / failed); progress is [home_log].
if line.startswith('done'):
self._pos_steps = self._parse_kv_int(line, 'pos', 0)
self._homed = True
self._publish_state()
return
# failure
reason = line.split('reason=', 1)[1] if 'reason=' in line else line
raise AuxAxisError('Homing failed: %s' % reason)
def move_abs_mm(self, target_mm):
"""Move to absolute logical W position (mm). Blocks until done."""
self._require_present()
self._check_limits(target_mm)
target_steps = self._mm_to_steps(target_mm)
delta = target_steps - self._pos_steps
if delta == 0:
return
self._do_steps(delta)
def move_rel_mm(self, delta_mm):
"""Move by delta mm relative to current position. Blocks until done."""
self._require_present()
target_mm = self.position_mm + delta_mm
self._check_limits(target_mm)
target_steps = self._mm_to_steps(target_mm)
delta = target_steps - self._pos_steps
if delta == 0:
return
self._do_steps(delta)
def set_position_mm(self, mm):
"""Set current W to <mm> without moving (G92-style for W)."""
self._require_present()
steps = self._mm_to_steps(mm)
self._rpc('WPOS %d' % steps, topic='ok', timeout=2.0)
self._pos_steps = steps
# WPOS clears homed on the ESP; mirror it.
self._homed = False
self._publish_state()
def jog_steps(self, steps):
"""Raw step move bypassing mm conversion and soft limits.
Used by manual jog UI when axis isn't homed yet."""
self._require_present()
if steps == 0:
return
self._do_steps(int(steps), ignore_limits=True)
def abort(self):
"""Cancel any running ESP motion immediately."""
if not self._present:
return
try:
# Don't take the RPC lock; ABORT must be able to interrupt.
self._send_raw('ABORT')
except Exception as e:
self.log.warning('ABORT send failed: %s' % e)
# ---------------------------------------------------------- ATC commands
#
# 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)
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."""
self._require_present()
line = self._rpc('RELEASE', topic='release', timeout=timeout)
if line.startswith('done'):
return
reason = line.split('reason=', 1)[1] if 'reason=' in line else line
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."""
self._require_present()
line = self._rpc('CLAMP', topic='clamp', timeout=timeout)
if line.startswith('done'):
return
reason = line.split('reason=', 1)[1] if 'reason=' in line else line
raise AuxAxisError('CLAMP failed: %s' % reason)
def close(self):
self._stop.set()
try:
if self._sp is not None:
self._sp.close()
except Exception:
pass
# ------------------------------------------------------------------ guts
def _require_present(self):
if not self.enabled:
raise AuxAxisError('Aux axis disabled')
if not self._present:
raise AuxAxisError('Aux axis not connected')
def _check_limits(self, target_mm):
lo = float(self._cfg['min_w'])
hi = float(self._cfg['max_w'])
if hi <= lo:
return # no limits
if target_mm < lo - 1e-6 or target_mm > hi + 1e-6:
raise AuxAxisError(
'W=%.3f out of soft limits [%.3f, %.3f]' % (target_mm, lo, hi))
def _mm_to_steps(self, mm):
spm = float(self._cfg['steps_per_mm'])
sign = 1 if int(self._cfg.get('dir_sign', 1)) >= 0 else -1
return int(round(mm * spm * sign))
def _steps_to_mm(self, steps):
spm = float(self._cfg['steps_per_mm']) or 1.0
sign = 1 if int(self._cfg.get('dir_sign', 1)) >= 0 else -1
return (steps / spm) * sign
def _do_steps(self, signed_count, ignore_limits=False):
max_rate = int(self._cfg['step_max_sps'])
accel = int(self._cfg['step_accel_sps2'])
safe_flag = 0 if ignore_limits else 1
cmd = 'STEPS %d maxrate=%d accel=%d safe=%d' % (
signed_count, max_rate, accel, safe_flag)
line = self._rpc(cmd, topic='step', timeout=300.0)
# line: "done count=N pos=P limit=L" or "aborted count=N pos=P [reason=...]"
if line.startswith('done'):
self._pos_steps = self._parse_kv_int(line, 'pos', self._pos_steps)
self._publish_state()
return
# aborted
self._pos_steps = self._parse_kv_int(line, 'pos', self._pos_steps)
self._publish_state()
reason = self._parse_kv_str(line, 'reason')
if reason == 'limit':
self._homed = False
raise AuxAxisError('W move aborted by limit switch')
raise AuxAxisError('W move aborted: %s' % line)
# ------------------------------------------------------------ serial I/O
def _open(self):
port = self._cfg['port']
baud = int(self._cfg['baud'])
try:
self._sp = serial.Serial(port, baud, timeout=0.2)
except Exception as e:
self.log.error('Could not open %s: %s' % (port, e))
self._sp = None
return
self.log.info('Opened %s @ %d' % (port, baud))
self._reader_thread = threading.Thread(
target=self._reader_loop, name='AuxAxis-rx', daemon=True)
self._reader_thread.start()
# Give the ESP a moment to settle, then push HOMECFG and query state.
# This runs in a background thread to avoid blocking startup.
threading.Thread(target=self._on_connect, daemon=True).start()
def _on_connect(self):
time.sleep(0.5)
try:
self._push_homecfg()
self._refresh_state()
except Exception as e:
self.log.warning('Aux post-connect setup failed: %s' % e)
def _push_homecfg(self):
c = self._cfg
zero_steps = self._mm_to_steps(c['home_position_mm'])
cmd = ('HOMECFG dir=%s fast=%d slow=%d backoff=%d maxtravel=%d '
'zero=%d accel=%d step_max=%d step_start=%d limit_low=%d') % (
c['home_dir'],
int(c['home_fast_sps']),
int(c['home_slow_sps']),
int(c['home_backoff_steps']),
int(c['home_maxtravel_steps']),
int(zero_steps),
int(c['step_accel_sps2']),
int(c['step_max_sps']),
int(c['step_start_sps']),
1 if c['limit_low'] else 0,
)
self._rpc(cmd, topic='homecfg', timeout=3.0)
def _refresh_state(self):
try:
r = self._rpc('WPOS?', topic='wpos', timeout=2.0)
self._pos_steps = int(r.strip())
except Exception:
pass
try:
r = self._rpc('HOMED?', topic='homed', timeout=2.0)
self._homed = (r.strip() == '1')
except Exception:
pass
self._publish_state()
def _reader_loop(self):
buf = b''
while not self._stop.is_set():
sp = self._sp
if sp is None:
time.sleep(0.5)
continue
try:
chunk = sp.read(256)
except Exception as e:
self.log.warning('Aux serial read error: %s' % e)
time.sleep(0.5)
continue
if not chunk:
continue
buf += chunk
while True:
nl = buf.find(b'\n')
if nl < 0:
break
line = buf[:nl].rstrip(b'\r').decode('utf-8', errors='replace')
buf = buf[nl+1:]
self._on_line(line)
def _on_line(self, line):
if not line:
return
# Boot banner -> reset homed flag.
if line.startswith('[boot]'):
self.log.warning('Aux ESP booted: %s' % line)
self._homed = False
self._present = True
self._publish_state()
self.ctrl.state.add_message(
'W axis controller restarted - re-home before use')
return
# Topic dispatch: "[topic] body..."
if line.startswith('[') and ']' in line:
rb = line.index(']')
topic = line[1:rb]
body = line[rb+1:].lstrip()
# Mark present on first known topic.
if not self._present:
self._present = True
self._publish_state()
# Match against the head of the pending queue.
with self._pending_cv:
if (self._pending_topics
and topic in self._pending_topics[0]):
# Pop and deliver
self._pending_topics.pop(0)
self._pending_replies.append(body)
self._pending_cv.notify_all()
return
# Async informational line; just log.
self.log.info('aux: %s' % line)
else:
self.log.info('aux: %s' % line)
def _send_raw(self, cmd):
sp = self._sp
if sp is None:
raise AuxAxisError('Serial not open')
if not cmd.endswith('\n'):
cmd = cmd + '\n'
sp.write(cmd.encode('utf-8'))
sp.flush()
def _rpc(self, cmd, topic, timeout=5.0):
"""Send `cmd`, wait for a reply line whose topic is in `topic`.
topic may be a single string or a tuple/list of acceptable topics
(e.g. ('home', 'err'))."""
if isinstance(topic, str):
topics = (topic, 'err')
else:
topics = tuple(topic) + ('err',)
with self._sp_lock:
with self._pending_cv:
self._pending_topics.append(topics)
self._pending_replies = [] # reset
self.log.info('aux >> %s' % cmd.strip())
self._send_raw(cmd)
deadline = time.time() + timeout
with self._pending_cv:
while not self._pending_replies:
remaining = deadline - time.time()
if remaining <= 0:
# Drop the pending slot so we don't capture a
# late reply meant for the next caller.
try:
self._pending_topics.remove(topics)
except ValueError:
pass
raise AuxAxisError(
'Timeout waiting for %s reply to "%s"'
% (topics, cmd.strip()))
self._pending_cv.wait(timeout=remaining)
reply = self._pending_replies.pop(0)
self.log.info('aux << %s' % reply)
if reply.startswith('err') or reply.startswith('error'):
raise AuxAxisError('ESP error: %s' % reply)
return reply
@staticmethod
def _parse_kv_int(line, key, default=0):
# Parse "key=N" (signed integer) out of a line.
for tok in line.split():
if tok.startswith(key + '='):
try:
return int(tok.split('=', 1)[1])
except ValueError:
return default
return default
@staticmethod
def _parse_kv_str(line, key, default=''):
for tok in line.split():
if tok.startswith(key + '='):
return tok.split('=', 1)[1]
return default
# ------------------------------------------------------------ state push
def _publish_state(self):
st = self.ctrl.state
try:
st.set('aux_present', bool(self._present))
st.set('aux_homed', bool(self._homed))
st.set('aux_pos', round(self.position_mm, 4))
st.set('aux_enabled', bool(self.enabled))
except Exception:
# During very early startup, state may not be ready.
pass
# Notify the external-axis layer so it can mirror state
# (e.g. homed flag) into the synthetic motor vars.
observer = getattr(self, '_state_observer', None)
if observer is not None:
try:
observer()
except Exception:
pass

183
src/py/bbctrl/AuxPreprocessor.py Normal file
View File

@@ -0,0 +1,183 @@
################################################################################
#
# AuxPreprocessor - rewrite ATC M-codes into hook calls
#
# History
# -------
# v1: rewrote W tokens into (MSG,HOOK:aux:N) lines because the bbctrl
# planner only understood XYZABC and the W axis was driven via a
# side-channel.
# v2: W is now exposed to gplan as a virtual A axis (see ExternalAxis),
# 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.
#
# What this still does
# --------------------
# Maps four user-defined M-codes onto pneumatic-tool-changer events:
#
# M100 DROPTOOL -> (MSG,HOOK:droptool:)
# M101 GRABTOOL -> (MSG,HOOK:grabtool:)
# M102 RELEASE -> (MSG,HOOK:release:)
# M103 CLAMP -> (MSG,HOOK:clamp:)
#
# 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.
#
# The preprocessor is intentionally conservative: anything it doesn't
# understand is left alone.
#
################################################################################
import os
import re
import shutil
import tempfile
# Strip line comments so we don't get fooled by "(M100 not really)".
_PAREN_COMMENT_RE = re.compile(r'\([^)]*\)')
# ATC pneumatics M-codes mapped onto hook events.
_ATC_M_CODES = {
100: 'droptool',
101: 'grabtool',
102: 'release',
103: 'clamp',
}
_ATC_M_RE = re.compile(
r'(?<![A-Za-z_0-9])[Mm]\s*0*(' +
'|'.join(str(n) for n in _ATC_M_CODES) +
r')(?![\w.])'
)
# Detect a W axis token. We no longer rewrite W to A automatically;
# instead we warn so the user knows their old gcode needs migration.
# (The W support was removed when the axis was integrated as a real
# A axis through gplan.)
_W_TOKEN_RE = re.compile(r'(?<![A-Za-z_0-9])[Ww]\s*[-+]?\d*\.?\d+')
class AuxPreprocessorError(Exception):
pass
class AuxPreprocessor(object):
def __init__(self, log=None):
self.log = log
self._w_warned = False
def _info(self, msg):
if self.log: self.log.info(msg)
def _warn(self, msg):
if self.log: self.log.warning(msg)
# ------------------------------------------------------------------ scan
@staticmethod
def file_uses_aux(path):
"""Quick check: does this file contain anything the preprocessor
would rewrite (currently: just ATC M-codes)?"""
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]
if _ATC_M_RE.search(code):
return True
except Exception:
pass
return False
# Backwards-compat alias.
file_uses_w = file_uses_aux
# ------------------------------------------------------------------ run
def process(self, src_path, dst_path):
"""Read src_path, write rewritten G-code to dst_path. Returns
True if any rewrite happened."""
rewrote_any = False
with open(src_path, 'r', encoding='utf-8', errors='replace') as fin, \
open(dst_path, 'w', encoding='utf-8') as fout:
for raw in fin:
line = raw.rstrip('\n')
# Comment-only or blank lines pass through verbatim.
code = _PAREN_COMMENT_RE.sub('', line)
code = code.split(';', 1)[0]
if not code.strip():
fout.write(raw)
continue
# Warn (once) if the file still uses W tokens. The
# standard way is now G1 A<value>; old files must be
# migrated by hand.
if (not self._w_warned) and _W_TOKEN_RE.search(code):
self._warn('Found W axis token in gcode; W is no '
'longer recognized by bbctrl. Use A '
'instead. (warning suppressed for '
'subsequent W tokens in this file)')
self._w_warned = 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))
if atc_matches:
rewrote_any = True
for m in atc_matches:
try: num = int(m.group(1))
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')
continue
# No rewrite needed.
fout.write(raw)
return rewrote_any
def preprocess_file(src_path, log=None, **_unused):
"""Convenience: rewrite src_path in place if it contains ATC
M-codes. Returns True if the file was rewritten.
Extra keyword args are accepted for backwards compat (the old
w_first arg is no longer used)."""
if not AuxPreprocessor.file_uses_aux(src_path):
return False
pre = AuxPreprocessor(log=log)
fd, tmp = tempfile.mkstemp(prefix='auxpre_', suffix='.nc',
dir=os.path.dirname(src_path) or None)
os.close(fd)
try:
rewrote = pre.process(src_path, tmp)
if rewrote:
shutil.move(tmp, src_path)
return True
os.unlink(tmp)
return False
except Exception:
try:
os.unlink(tmp)
except OSError:
pass
raise

71
src/py/bbctrl/Ctrl.py
View File

@@ -71,6 +71,24 @@ class Ctrl(object):
self.jog = bbctrl.Jog(self)
with Trace.span('ctrl.pwr'):
self.pwr = bbctrl.Pwr(self)
with Trace.span('ctrl.hooks'):
self.hooks = bbctrl.Hooks(self)
with Trace.span('ctrl.aux'):
self.aux = bbctrl.AuxAxis(self)
with Trace.span('ctrl.ext_axis'):
# ExternalAxis exposes the auxcnc ESP stepper as a
# virtual A axis that gplan handles natively. Created
# unconditionally so State sees the synthetic motor
# vars even when aux is disabled (kept inert in that
# case via ext_axis.enabled).
axis_letter = self.aux._cfg.get('axis_letter', 'a')
self.ext_axis = bbctrl.ExternalAxis(
self, self.aux, axis_letter=axis_letter)
# Hook AuxAxis post-publish callback so homed flag
# mirrors into State after homing.
self.aux.set_state_observer(
self.ext_axis.refresh_homed)
self._register_aux_hooks()
with Trace.span('ctrl.mach.connect'):
self.mach.connect()
@@ -127,8 +145,61 @@ class Ctrl(object):
self.preplanner.start()
def _register_aux_hooks(self):
"""Wire up auxcnc HOOK: events to AuxAxis methods.
v2: motion hooks (aux/aux_rel/aux_home/aux_setzero) are
retired now that the W axis is integrated through gplan as
a virtual A axis (see ExternalAxis). Only the ATC pneumatic
hooks remain - those are events, not motion.
For backwards compatibility with files that still contain
(MSG,HOOK:aux_home:) (e.g. older preprocessed gcode), keep
an aux_home alias that routes to the standard ext_axis homing
path."""
log = self.log.get('AuxAxis')
def _hook_aux_home(ctx):
# Legacy: route to the standard external-axis homing.
if self.ext_axis is not None and self.ext_axis.enabled:
self.ext_axis.home()
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()
# 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)
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)
log.info('Aux hooks registered')
def close(self):
self.log.get('Ctrl').info('Closing %s' % self.id)
self.ioloop.close()
self.avr.close()
self.mach.planner.close()
try: self.ext_axis.close()
except Exception: pass
try: self.aux.close()
except Exception: pass

492
src/py/bbctrl/ExternalAxis.py Normal file
View File

@@ -0,0 +1,492 @@
################################################################################
#
# ExternalAxis - bridges a logical motorless axis to step generation on
# the auxcnc ESP, so the Buildbotics planner can drive a stepper that
# isn't on the AVR.
#
# Architecture
# ------------
# The bbctrl planner (camotics gplan) handles parsing, units, modal
# state, soft limits, accel ramping and S-curve timing for axes
# X, Y, Z, A, B, C. The AVR has 4 motor channels (0-3) and only
# generates step pulses for axes that have a motor mapped to them.
# An axis with no mapped motor is fully accepted by the AVR - it
# updates its internal `ex.position[axis]` and reports `<axis>p` to
# the host, but no stepper turns.
#
# We exploit that: the W stepper is exposed to gplan as A, but no
# AVR motor maps to A. The planner does all the gcode-level work
# correctly (G90/G91, soft limits, accel, units, modal feed rate);
# we intercept the resulting `Cmd.line` blocks in `Planner.__encode`,
# strip A out, and forward the A delta to the auxcnc ESP as STEPS.
#
# To make gplan and State *believe* A is enabled we register a
# synthetic motor (index 4) into State.vars, populated from
# aux.json, with `4an=3` (axis A), `4me=1` (enabled), and the
# usual velocity/accel/jerk/soft-limit vars. State.find_motor and
# the snapshot projection are extended to walk index 4. Motor-4
# vars never leave the host (they're not in the AVR's schema) so
# the AVR is undisturbed.
#
# v1 coupling: serialize. If a line has any A delta we wait for
# the ESP to finish before letting subsequent commands flow. This
# matches the behaviour of the previous hook-based approach (no
# XYZ+A blending) but with all the planner's correctness guarantees.
#
# v2 could match ESP move duration to the gplan trapezoid time and
# allow concurrent motion; out of scope for v1.
#
################################################################################
import threading
try:
from queue import Queue
except ImportError:
from Queue import Queue # py2 just in case
# Synthetic motor index used to expose the external axis to State.
# The AVR has motors 0..3; we use 4 as a host-only sentinel.
EXTERNAL_MOTOR_INDEX = 4
# Axis letters in their canonical order; 'a' is index 3.
_AXIS_LETTERS = 'xyzabc'
class ExternalAxisError(Exception):
pass
class ExternalAxis(object):
"""Bridge between Planner line blocks and AuxAxis serial RPCs.
Owns no thread; runs RPC calls inline on whatever thread invokes
execute_to_mm / home / abort. The Planner runs `__encode` on its
own thread which is allowed to block on planner I/O, so blocking
inside the interceptor is fine.
Position tracking: gplan emits absolute targets in mm; the ESP
counts steps relative to home_zero. We mirror the last commanded
mm position so subsequent line blocks compute the correct delta.
`_pos_mm` is also published as `<axis>p` so DRO updates."""
def __init__(self, ctrl, aux, axis_letter='a'):
self.ctrl = ctrl
self.aux = aux
self.log = ctrl.log.get('ExternalAxis')
self.axis_letter = (axis_letter or 'a').lower()[:1]
if self.axis_letter not in _AXIS_LETTERS:
raise ExternalAxisError(
'Invalid external axis letter: %r' % axis_letter)
# Index in 'xyzabc' (0..5)
self.axis_index = _AXIS_LETTERS.index(self.axis_letter)
self._busy = threading.Event()
# Last absolute mm we committed; None until first move /
# homing event syncs us up.
self._pos_mm = None
# Single-slot worker queue: __encode posts (target_mm,) tuples
# here; the worker thread runs the ESP RPC. Capacity is
# intentionally bounded - if it fills it means motion is
# outpacing the ESP and we should backpressure the planner.
self._work_q = Queue(maxsize=64)
self._stop = threading.Event()
self._worker = threading.Thread(
target=self._worker_loop,
name='ExternalAxis-worker', daemon=True)
self._worker.start()
# Push synthetic motor vars into State so the planner sees
# this axis as enabled with proper limits/velocity/accel.
self._publish_synthetic_motor()
# Also seed <axis>p so the DRO has something to render.
self.ctrl.state.set(self.axis_letter + 'p', 0.0)
# -------------------------------------------------------------- enabled
@property
def enabled(self):
try:
return bool(self.aux is not None
and self.aux.enabled
and self.aux.present)
except Exception:
return False
# -------------------------------------------------------- configuration
@property
def steps_per_mm(self):
try:
return float(self.aux._cfg.get('steps_per_mm', 25.0))
except Exception:
return 25.0
@property
def dir_sign(self):
try:
v = int(self.aux._cfg.get('dir_sign', 1))
return -1 if v < 0 else 1
except Exception:
return 1
@property
def home_position_mm(self):
try:
return float(self.aux._cfg.get('home_position_mm', 0.0))
except Exception:
return 0.0
# ------------------------------------------------------- soft limits
def _soft_limits(self):
"""Return (min_mm, max_mm) in machine coords, or (None, None)
if soft limits are disabled (max <= min)."""
try:
lo = float(self.aux._cfg.get('min_w', 0.0))
hi = float(self.aux._cfg.get('max_w', 0.0))
except Exception:
return (None, None)
if hi <= lo:
return (None, None)
return (lo, hi)
def _check_soft_limit(self, target_abs_mm):
"""Raise ExternalAxisError if target_abs_mm is outside the
configured soft limits. Skips the check when the axis isn't
homed (matching the standard bbctrl convention that soft
limits are gated by homing state) - that lets the user jog
away from a stuck position before homing without false
rejections.
Called by both planner-driven motion (enqueue_target_mm) and
UI motion (execute_to_mm), so this is the single source of
truth regardless of which path triggered the move."""
# Honour the homing gate.
try:
homed = bool(self.aux._homed)
except Exception:
homed = False
if not homed:
return
lo, hi = self._soft_limits()
if lo is None:
return
# Use a tiny epsilon so floating-point round-trip targets
# right at the boundary aren't rejected.
eps = 1e-4
target = float(target_abs_mm)
if target < lo - eps or target > hi + eps:
raise ExternalAxisError(
'%s axis target %.4f mm is outside soft limits '
'[%.3f, %.3f] mm' % (
self.axis_letter.upper(), target, lo, hi))
# ----------------------------------------------------------- conversion
def mm_to_steps_delta(self, delta_mm):
return int(round(float(delta_mm) * self.steps_per_mm * self.dir_sign))
def steps_to_mm(self, steps):
return (float(steps) / self.steps_per_mm) * self.dir_sign
# ---------------------------------------------------- synthetic motor
def _publish_synthetic_motor(self):
"""Write motor-4 vars into State so find_motor('a') and
get_axis_vector('vm') see A as a real axis. The AVR never
sees these (motor index 4 is not in its var schema)."""
cfg = self.aux._cfg if self.aux is not None else {}
st = self.ctrl.state
i = str(EXTERNAL_MOTOR_INDEX)
# Axis assignment: 'an' is the 0-based axis index in xyzabc.
st.set(i + 'an', self.axis_index)
# Motor enabled.
st.set(i + 'me', 1 if (self.aux and self.aux.enabled) else 0)
# Homed flag - cleared until aux reports homed.
try:
homed = bool(self.aux._homed)
except Exception:
homed = False
st.set(i + 'h', 1 if homed else 0)
# Velocity / accel / jerk: the planner reads these via
# state.get_axis_vector('<code>', SCALE) which multiplies the
# stored raw value by SCALE. The bbctrl convention (matching
# what motors 0-3 store) is:
# vm: stored in m/min, planner expects mm/min (scale 1000)
# am: stored in km/min^2, planner expects mm/min^2 (scale 1e6)
# jm: stored in km/min^3, planner expects mm/min^3 (scale 1e6)
# Onefinity defaults for XY are vm=10, am=750, jm=1000. We
# follow the same convention; aux.json exposes the values in
# those user-facing units so they're directly comparable.
st.set(i + 'vm', float(cfg.get('max_velocity_m_per_min', 6.0)))
st.set(i + 'am', float(cfg.get('max_accel_km_per_min2', 100.0)))
st.set(i + 'jm', float(cfg.get('max_jerk_km_per_min3', 500.0)))
# Soft limits in machine units (mm). State.get_soft_limit_vector
# returns these directly, no scaling.
st.set(i + 'tn', float(cfg.get('min_w', 0.0)))
st.set(i + 'tm', float(cfg.get('max_w', 0.0)))
# home_position / home_travel are exposed as callbacks for
# motors 0..3 (see State.__init__). Register the same lazy
# callbacks for motor 4 so gplan's resolver lookup
# (_<axis>_home_position / _<axis>_home_travel) returns the
# right values for the external axis.
st.set_callback(
i + 'home_position', lambda name: self.home_position_mm)
st.set_callback(
i + 'home_travel',
lambda name: float(self.aux._cfg.get('max_w', 0.0))
- self.home_position_mm)
# Misc fields that other code paths might query. Defaults
# mirror what the AVR pushes for motors 0-3.
st.set(i + 'sa', 1.8)
st.set(i + 'mi', 16)
st.set(i + 'tr', 4.0)
st.set(i + 'sp', 200)
st.set(i + 'ic', 0.0)
st.set(i + 'dc', 0.0)
st.set(i + 'rv', False)
st.set(i + 'tc', 1)
st.set(i + 'lb', 5)
st.set(i + 'ho', 0)
st.set(i + 'os', 0)
st.set(i + 'oa', False)
st.set(i + 'lm', 8)
st.set(i + 'lv', 0.1)
st.set(i + 'sv', 1.688)
st.set(i + 'tv', 1.997)
st.set(i + 'lw', 2) # min-switch
st.set(i + 'xw', 2) # max-switch
st.set(i + 'ls', 0)
st.set(i + 'xs', 0)
st.set(i + 'df', 0)
def refresh_homed(self):
"""Called when AuxAxis updates its homed flag. Mirrors into
State so is_axis_homed('a') returns the right answer.
Updates several places at once because different layers read
the homed state via different keys:
- synthetic motor flag: 4h (used by snapshot -> a_h)
- axis-level flag: a_homed (used by State.is_axis_homed
and gplan _a_homed resolver)"""
try:
homed = bool(self.aux._homed)
except Exception:
homed = False
st = self.ctrl.state
st.set(str(EXTERNAL_MOTOR_INDEX) + 'h', 1 if homed else 0)
st.set(self.axis_letter + '_homed', bool(homed))
# ----------------------------------------------------------- line split
def split_target(self, target):
"""Pop the external axis out of a target dict and return
(target_without_ext, ext_mm_or_None). Both case variants
accepted defensively."""
if not target:
return target, None
ax = self.axis_letter
new_target = dict(target)
ext_mm = new_target.pop(ax, None)
if ext_mm is None:
ext_mm = new_target.pop(ax.upper(), None)
return new_target, ext_mm
# -------------------------------------------------------- execution API
def is_busy(self):
return self._busy.is_set()
def execute_to_mm(self, ext_mm):
"""Synchronously run an external move. Blocks until the ESP
reports done. Used by the legacy /api/aux/move and /api/aux/jog
endpoints which may want to wait. Most planner-driven motion
goes through enqueue_target_mm instead, which is non-blocking.
Soft limits are enforced here (not just in gplan) because the
UI jog/move endpoints don't go through the planner.
Updates state.<axis>p immediately on completion. For the
planner-driven path that goes through enqueue_target_mm, the
AVR's own ap reports drive state.<axis>p instead."""
if not self.enabled:
raise ExternalAxisError(
'External axis %r not available (aux disabled or '
'not connected)' % self.axis_letter)
self._check_soft_limit(ext_mm)
steps, abs_mm = self._compute_move(ext_mm)
if steps == 0:
self._pos_mm = abs_mm
self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
return
self._busy.set()
try:
self.aux._do_steps(steps, ignore_limits=True)
self._pos_mm = abs_mm
self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
finally:
self._busy.clear()
def enqueue_target_mm(self, ext_mm):
"""Non-blocking variant: post a target to the worker queue.
Used by Planner.__encode in the hot path.
We deliberately do NOT mirror the new target into state.<axis>p
here. The AVR also receives the line block (we don't strip
the external axis from the AVR target) and its trapezoid
progressively updates ex.position[A] -> reports back as ap.
If we set state.ap here ahead of the AVR, the DRO would jump
to the target and then snap back to intermediate values as
AVR reports stream in. Instead we let the AVR drive state.ap.
We still mirror the new abs into our internal _pos_mm so
the next line block computes the correct delta.
The Planner.__encode hook calls this so the AVR comm thread
is never blocked by serial RPCs to the ESP.
Soft limits are enforced here (defense in depth on top of
gplan). Raising stops the planner via Planner.next's
exception handler."""
if not self.enabled:
raise ExternalAxisError(
'External axis %r not available' % self.axis_letter)
self._check_soft_limit(ext_mm)
steps, abs_mm = self._compute_move(ext_mm)
# Internal mirror only - drives subsequent delta computation.
# state.<axis>p is left to the AVR's status reports.
self._pos_mm = abs_mm
if steps == 0:
return
self._work_q.put(('move', steps))
def _compute_move(self, ext_mm):
"""Return (signed_steps, absolute_mm) for a target in mm.
Caches first-time position from the ESP."""
if self._pos_mm is None:
self._pos_mm = self._read_esp_position_mm()
delta_mm = float(ext_mm) - self._pos_mm
return self.mm_to_steps_delta(delta_mm), float(ext_mm)
def _worker_loop(self):
"""Background thread that drains the work queue. RPCs to the
ESP are slow (multi-second moves) and must not run on the
ioloop thread. We serialize ESP commands here so multiple
line-block enqueues for the external axis are processed in
the order the planner emitted them."""
while not self._stop.is_set():
try:
op = self._work_q.get(timeout=0.5)
except Exception:
continue
if op is None:
continue
kind = op[0]
try:
self._busy.set()
if kind == 'move':
steps = op[1]
self.aux._do_steps(steps, ignore_limits=True)
elif kind == 'home':
self.aux.home()
# _pos_mm and DRO updated by the caller's enqueue.
except Exception as e:
self.log.error('External axis worker failed on %s: %s'
% (kind, e))
finally:
self._busy.clear()
self._work_q.task_done()
def wait_idle(self, timeout=None):
"""Block until the worker queue is empty. Used by callers
that need post-motion state to be settled (e.g. homing,
stop/abort handlers)."""
try:
# Queue.join blocks until task_done has been called for
# every item put. It does not honour a timeout, so we
# poll instead when one is requested.
if timeout is None:
self._work_q.join()
return True
import time
deadline = time.time() + float(timeout)
while time.time() < deadline:
if self._work_q.unfinished_tasks == 0:
return True
time.sleep(0.05)
return False
except Exception:
return False
def close(self):
self._stop.set()
try:
self._work_q.put(None, block=False)
except Exception:
pass
def home(self):
"""Run the ESP homing cycle and sync our recorded position
to the configured home_position_mm. Blocks; called from
Mach.home (which already runs synchronously per axis)."""
if not self.enabled:
raise ExternalAxisError(
'External axis %r not available' % self.axis_letter)
# Drain pending moves so we don't home into stale work.
self.wait_idle(timeout=30.0)
self._busy.set()
try:
self.aux.home()
self._pos_mm = self.home_position_mm
self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
self.refresh_homed()
finally:
self._busy.clear()
def abort(self):
"""Cancel the ESP move and drop pending queued work.
Caller (estop / stop handler) is responsible for the
planner-side cleanup."""
try:
if self.aux is not None:
self.aux.abort()
finally:
self._busy.clear()
# Drain any pending ops so resume after an abort doesn't
# replay stale targets.
try:
while True:
self._work_q.get_nowait()
self._work_q.task_done()
except Exception:
pass
# ------------------------------------------------------- ESP introspection
def _read_esp_position_mm(self):
"""Convert AuxAxis._pos_steps mirror to mm. Falls back to 0."""
try:
steps = int(self.aux._pos_steps)
except Exception:
steps = 0
return self.steps_to_mm(steps)
# ---------------------------------------------------------- DRO update
def sync_dro(self):
"""Push the current position to State as <axis>p so the DRO
reflects what we believe gplan/ESP agreed on. Called after
moves; also safe to call from external code."""
if self._pos_mm is None:
return
self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)

17
src/py/bbctrl/FileHandler.py
View File

@@ -99,6 +99,23 @@ class FileHandler(bbctrl.APIHandler):
del (self.uploadFile)
# If the uploaded G-code uses ATC M-codes (M100..M103),
# rewrite them into (MSG,HOOK:droptool:) etc so the hook
# layer can dispatch them at runtime. The planner accepts
# M100-M103 in user-defined range but doesn't *do* anything
# with them. Motion in A goes through gplan unchanged - the
# auxcnc stepper is exposed as a virtual A axis (see
# ExternalAxis).
try:
from bbctrl.AuxPreprocessor import preprocess_file
log = self.get_log('AuxPreprocessor')
if preprocess_file(filename.decode('utf8'), log=log):
log.info('Rewrote ATC M-codes in %s' %
self.uploadFilename)
except Exception:
self.get_log('AuxPreprocessor').exception(
'Aux preprocess failed; uploading unchanged')
self.get_ctrl().preplanner.invalidate(self.uploadFilename)
self.get_ctrl().state.add_file(self.uploadFilename)

454
src/py/bbctrl/Hooks.py Normal file
View File

@@ -0,0 +1,454 @@
################################################################################
#
# Hooks - External event triggers during G-code execution
#
# Integrates with the controller's pause/unpause cycle to run external
# actions (webhooks, scripts) at specific points during G-code execution.
#
# ## How tool-change hooks work (the important one):
#
# G-code: T5 M6
#
# 1. Planner replaces M6 with tool-change override G-code (configurable).
# Default: "M0 M6 (MSG, Change tool)"
#
# 2. Planner emits: set(tool,5), pause(program), message("Change tool")
# These are sent to the AVR as serial commands.
#
# 3. AVR finishes current move, enters HOLDING state.
# Reports back: xx=HOLDING, pr="Program pause"
#
# 4. Pi: Mach._update() sees HOLDING, flushes CommandQueue.
# CommandQueue executes callbacks: state.set('tool', 5) fires.
#
# 5. Hooks._on_state_change() sees tool changed.
# Sets self._hook_busy = True, runs the hook in a thread.
# While _hook_busy, Mach.unpause() is blocked via can_unpause().
#
# 6. Machine sits in HOLDING. UI shows "Change tool" message.
# User cannot resume yet (unpause is gated).
#
# 7. Hook thread finishes (toolchanger done). Sets _hook_busy = False.
# If auto_resume is set, calls unpause automatically.
# Otherwise user clicks Continue in UI.
#
# 8. Mach.unpause() → planner.restart() → AVR UNPAUSE → motion resumes.
#
# ## Configuration (hooks.json):
#
# {
# "tool-change": {
# "type": "webhook",
# "url": "http://toolchanger.local/api/change",
# "method": "POST",
# "timeout": 120,
# "block_unpause": true,
# "auto_resume": true
# },
# "program-start": {
# "type": "script",
# "command": "/usr/local/bin/dust-collector on",
# "block_unpause": false
# }
# }
#
# block_unpause: if true, unpause is blocked until hook completes
# auto_resume: if true AND block_unpause, auto-unpause after hook done
#
################################################################################
import os
import json
import subprocess
import threading
import traceback
from urllib.request import Request, urlopen
from urllib.error import URLError
# Events that can be hooked
HOOK_EVENTS = [
'tool-change', # M6 - tool change requested
'program-start', # Program begins running
'program-end', # M2/M30 - program ends
'pause', # M0/M1 - program pause
'estop', # Emergency stop triggered
'homing-start', # Homing cycle begins
'homing-end', # Homing cycle completes
'custom', # Triggered by (MSG,HOOK:name:data) comments
]
class Hooks:
def __init__(self, ctrl):
self.ctrl = ctrl
self.log = ctrl.log.get('Hooks')
self.hooks = {}
# Hook execution state
self._hook_busy = False # True while a blocking hook runs
self._hook_busy_event = None # Which event is blocking
self._hook_error = None # Error from last hook, if any
self._hook_thread = None
# In-process hook handlers registered by Python modules. Keyed by
# event name (matches what the G-code emits as HOOK:<event>).
# Take precedence over hooks.json entries with the same name.
self._internal = {}
# Track state for edge detection — must be set before add_listener
# because add_listener fires immediately with current state
self._last_cycle = ctrl.state.get('cycle', 'idle')
self._last_state = ctrl.state.get('xx', '')
self._last_tool = ctrl.state.get('tool', 0)
self._last_pause_reason = ctrl.state.get('pr', '')
# Highest message id we've already inspected for HOOK: lines.
self._last_msg_id = -1
self._initialized = False
self._load_config()
# Listen for state changes
ctrl.state.add_listener(self._on_state_change)
self._initialized = True
# -- Config management --
def _get_config_path(self):
return self.ctrl.get_path(filename='hooks.json')
def _load_config(self):
path = self._get_config_path()
if os.path.exists(path):
try:
with open(path) as f:
self.hooks = json.load(f)
self.log.info('Loaded %d hook(s) from %s' %
(len(self.hooks), path))
except Exception:
self.log.error('Failed to load hooks.json: %s' %
traceback.format_exc())
else:
self.log.info('No hooks.json found, hooks disabled')
def save_config(self, config):
"""Save hook configuration (called from API)."""
path = self._get_config_path()
with open(path, 'w') as f:
json.dump(config, f, indent=2)
self.hooks = config
self.log.info('Saved %d hook(s)' % len(config))
def get_config(self):
return self.hooks
# -- Unpause gating (called from Mach) --
def can_unpause(self):
"""Returns True if no blocking hook is running.
Called by Mach.unpause() to gate resume."""
if self._hook_busy:
self.log.info('Unpause blocked: hook "%s" still running' %
self._hook_busy_event)
return False
return True
def get_status(self):
"""Return current hook execution status for the UI."""
return {
'busy': self._hook_busy,
'event': self._hook_busy_event,
'error': self._hook_error,
}
# -- State change listener --
def _on_state_change(self, update):
"""Called on every state update from the controller."""
if not self._initialized:
return
state = self.ctrl.state
# Detect tool change (tool number changed while HOLDING)
if 'tool' in update:
new_tool = update['tool']
if new_tool != self._last_tool:
self._fire('tool-change', {
'old_tool': self._last_tool,
'new_tool': new_tool,
})
self._last_tool = new_tool
# Detect cycle changes
if 'cycle' in update:
new_cycle = update['cycle']
if new_cycle != self._last_cycle:
if new_cycle == 'running' and self._last_cycle == 'idle':
self._fire('program-start', {})
elif new_cycle == 'idle' and self._last_cycle == 'running':
self._fire('program-end', {})
elif new_cycle == 'homing':
self._fire('homing-start', {})
elif self._last_cycle == 'homing' and new_cycle == 'idle':
self._fire('homing-end', {})
self._last_cycle = new_cycle
# Detect AVR state changes
if 'xc' in update or 'xx' in update:
new_state = state.get('xx', '')
if new_state != self._last_state:
if new_state == 'ESTOPPED':
# Cancel any running hook on estop. The hook thread
# cannot be killed from Python, but we can ask the
# AuxAxis to send ABORT to the ESP so its in-flight
# motion stops. Also drain the external-axis
# worker queue so resume after clear doesn't replay
# stale moves.
try:
ext = getattr(self.ctrl, 'ext_axis', None)
if ext is not None:
ext.abort()
except Exception:
pass
if self._hook_busy:
self.log.warning('E-stop: cancelling hook "%s"' %
self._hook_busy_event)
try:
aux = getattr(self.ctrl, 'aux', None)
if aux is not None:
aux.abort()
except Exception:
pass
self._hook_busy = False
self._hook_busy_event = None
self._fire('estop', {})
self._last_state = new_state
# Detect pause
if 'pr' in update:
pr = update['pr']
if pr and pr != self._last_pause_reason:
self._fire('pause', {'reason': pr})
self._last_pause_reason = pr
# Detect custom hook messages emitted via (MSG,HOOK:event_name:data)
# gcode comments. State stores them as a list under 'messages'
# ([{'id': N, 'text': '...'}, ...]); fire only on new ids.
if 'messages' in update:
msgs = update['messages']
if isinstance(msgs, list):
for m in msgs:
try:
mid = m.get('id', -1)
text = m.get('text', '')
except AttributeError:
continue
if mid <= self._last_msg_id:
continue
self._last_msg_id = mid
if isinstance(text, str) and text.startswith('HOOK:'):
parts = text[5:].split(':', 1)
event = parts[0]
data = parts[1] if len(parts) > 1 else ''
self._fire('custom', {
'event': event,
'data': data,
}, custom_name=event)
# -- Hook execution --
def dispatch_hook_message(self, text):
"""Direct entry point for HOOK:<event>:<data> messages emitted
by the planner via (MSG,HOOK:...) comments. Bypasses the
state.messages list (which the UI also reads), so callers can
suppress popup display without losing the hook dispatch.
Returns True if the text matched a HOOK: line and was
dispatched, False otherwise."""
if not isinstance(text, str) or not text.startswith('HOOK:'):
return False
parts = text[5:].split(':', 1)
event = parts[0]
data = parts[1] if len(parts) > 1 else ''
self._fire('custom', {'event': event, 'data': data},
custom_name=event)
return True
def register_internal(self, name, fn, block_unpause=True,
auto_resume=True, timeout=120):
"""Register an in-process handler for HOOK:<name> events.
fn(context) -> None. May raise. Runs synchronously in the hook
thread; while it runs and block_unpause=True, Mach.unpause is
gated."""
self._internal[name] = {
'type': 'internal',
'fn': fn,
'block_unpause': block_unpause,
'auto_resume': auto_resume,
'timeout': timeout,
}
self.log.info('Registered internal hook: %s' % name)
def _fire(self, event, context, custom_name=None):
"""Fire a hook event."""
# Internal handlers win over hooks.json entries.
hook = None
if custom_name:
hook = self._internal.get(custom_name)
if not hook:
hook = self._internal.get(event)
if not hook:
hook = self.hooks.get(event)
if custom_name and not hook:
hook = self.hooks.get(custom_name)
if not hook:
return
self.log.info('Hook firing: %s %s' % (event, json.dumps(context)))
# Add standard context
state = self.ctrl.state
context.update({
'event': event,
'position': (state.get_position()
if hasattr(state, 'get_position') else {}),
'state': state.get('xx', ''),
'cycle': state.get('cycle', 'idle'),
})
block_unpause = hook.get('block_unpause', event == 'tool-change')
auto_resume = hook.get('auto_resume', False)
if block_unpause:
# Run in thread, block unpause until done
self._hook_busy = True
self._hook_busy_event = event
self._hook_error = None
# Update UI state so frontend knows we're busy
self.ctrl.state.set('hook_busy', True)
self.ctrl.state.set('hook_event', event)
self._hook_thread = threading.Thread(
target=self._run_hook_blocking,
args=(hook, event, context, auto_resume),
daemon=True
)
self._hook_thread.start()
else:
# Fire and forget (non-blocking)
self._execute_hook(hook, context)
def _run_hook_blocking(self, hook, event, context, auto_resume):
"""Runs in a background thread. Blocks unpause until complete."""
try:
self._execute_hook(hook, context)
self.log.info('Hook "%s" completed successfully' % event)
except Exception as e:
self._hook_error = str(e)
self.log.error('Hook "%s" failed: %s' % (event, e))
finally:
self._hook_busy = False
self._hook_busy_event = None
# Schedule UI update on the ioloop thread
self.ctrl.ioloop.call_later(0, self._hook_finished, auto_resume)
def _hook_finished(self, auto_resume):
"""Called on the ioloop after a blocking hook completes."""
self.ctrl.state.set('hook_busy', False)
self.ctrl.state.set('hook_event', '')
if self._hook_error:
self.ctrl.state.set('hook_error', self._hook_error)
self.log.error('Hook error: %s' % self._hook_error)
else:
self.ctrl.state.set('hook_error', '')
if auto_resume and not self._hook_error:
self.log.info('Hook done, auto-resuming')
try:
self.ctrl.mach.unpause()
except Exception as e:
self.log.error('Auto-resume failed: %s' % e)
def _execute_hook(self, hook, context):
"""Execute a single hook (webhook, script, or internal). May block."""
hook_type = hook.get('type', 'webhook')
if hook_type == 'webhook':
self._fire_webhook(hook, context)
elif hook_type == 'script':
self._fire_script(hook, context)
elif hook_type == 'internal':
fn = hook.get('fn')
if fn is None:
raise Exception('Internal hook missing fn')
fn(context)
else:
raise Exception('Unknown hook type: %s' % hook_type)
def _fire_webhook(self, hook, context):
"""Fire a webhook HTTP request."""
url = hook.get('url')
if not url:
raise Exception('Webhook missing url')
method = hook.get('method', 'POST').upper()
timeout = hook.get('timeout', 30)
headers = dict(hook.get('headers', {}))
body = dict(hook.get('body', {}))
# Merge context into body
body['_context'] = context
data = json.dumps(body).encode('utf-8')
headers['Content-Type'] = 'application/json'
req = Request(url, data=data, headers=headers, method=method)
self.log.info('Webhook %s %s' % (method, url))
resp = urlopen(req, timeout=timeout)
self.log.info('Webhook response: %d' % resp.status)
if resp.status >= 400:
raise Exception('Webhook returned %d' % resp.status)
def _fire_script(self, hook, context):
"""Fire a local script/command. Blocks until complete."""
command = hook.get('command')
if not command:
raise Exception('Script hook missing command')
timeout = hook.get('timeout', 120)
# Pass context as environment variables
env = os.environ.copy()
env['HOOK_EVENT'] = context.get('event', '')
env['HOOK_STATE'] = context.get('state', '')
env['HOOK_CYCLE'] = context.get('cycle', '')
env['HOOK_DATA'] = json.dumps(context)
if 'old_tool' in context:
env['HOOK_OLD_TOOL'] = str(context['old_tool'])
if 'new_tool' in context:
env['HOOK_NEW_TOOL'] = str(context['new_tool'])
self.log.info('Script: %s' % command)
result = subprocess.run(
command, shell=True, env=env,
timeout=timeout,
stdout=subprocess.PIPE, stderr=subprocess.PIPE
)
stdout = result.stdout.decode('utf-8', errors='replace').strip()
stderr = result.stderr.decode('utf-8', errors='replace').strip()
if stdout:
self.log.info('Script stdout: %s' % stdout)
if result.returncode != 0:
raise Exception('Script failed (%d): %s' %
(result.returncode, stderr or 'non-zero exit'))

120
src/py/bbctrl/Mach.py
View File

@@ -256,6 +256,12 @@ class Mach(Comm):
if cmd[0] == '$': self._query_var(cmd)
elif cmd[0] == '\\': super().queue_command(cmd[1:])
else:
# Rewrite ATC M-codes in MDI input the same way the
# FileHandler rewrites uploaded files. Motion (X/Y/Z/A)
# is left unchanged: the planner handles it natively
# now that the auxcnc stepper is exposed as a virtual
# A axis (see ExternalAxis).
cmd = self._rewrite_aux_mdi(cmd)
self._begin_cycle('mdi')
self.planner.mdi(cmd, with_limits)
super().resume()
@@ -263,11 +269,51 @@ class Mach(Comm):
self.mlog.info("Exception during MDI: %s" % err)
pass
def _rewrite_aux_mdi(self, cmd):
"""Apply the ATC M-code preprocessor to a single MDI line.
Returns possibly-multi-line G-code with HOOK: comments inserted."""
try:
from bbctrl.AuxPreprocessor import AuxPreprocessor, _ATC_M_RE
if not _ATC_M_RE.search(cmd):
return cmd
import io, tempfile, os
# AuxPreprocessor.process is file-based; route through
# tempfiles so we don't fork the regex/state logic.
pre = AuxPreprocessor(log=self.mlog)
with tempfile.NamedTemporaryFile('w', suffix='.nc',
delete=False) as fi:
fi.write(cmd if cmd.endswith('\n') else cmd + '\n')
ipath = fi.name
opath = ipath + '.out'
try:
pre.process(ipath, opath)
rewritten = open(opath).read()
finally:
try: os.unlink(ipath)
except OSError: pass
try: os.unlink(opath)
except OSError: pass
return rewritten
except Exception as e:
self.mlog.warning('Aux MDI rewrite failed: %s' % e)
return cmd
def set(self, code, value):
super().queue_command('${}={}'.format(code, value))
def jog(self, axes):
# Strip the external axis from the jog request before sending
# to the AVR. v1 doesn't support continuous-rate jogging on
# the ESP-driven axis - users jog A via /api/aux/jog (relative
# mm steps) instead. Sending A to the AVR is harmless (no
# motor maps to it) but cleaner to strip.
ext = getattr(self.ctrl, 'ext_axis', None)
if ext is not None and isinstance(axes, dict):
axes = {k: v for k, v in axes.items()
if k.lower() != ext.axis_letter}
if not axes:
return
self._begin_cycle('jogging')
self.planner.position_change()
super().queue_command(Cmd.jog(axes))
@@ -285,6 +331,54 @@ class Mach(Comm):
enabled = state.is_axis_enabled(axis)
mode = state.axis_homing_mode(axis)
# External axes (e.g. the auxcnc-driven A axis) home via
# their own ESP-side homing routine; the standard
# G28.2 / G38.6 / latch sequence doesn't apply.
#
# After homing we want a deterministic outcome regardless
# of where the user was before:
# physical position = home_position_mm (e.g. 134 mm)
# work-coord origin = home position (user A = 0)
# work offset = home_position_mm (so abs - off = 0)
#
# ext.home() blocks on the ESP and updates state.ap to
# home_position_mm. We then need to tell the AVR (so its
# ex.position[A] matches physical reality) and gplan
# (so trajectory planning sees abs at home).
#
# We deliberately avoid G28.3 here: gplan's G28.3 keeps the
# current user-coord position fixed and adjusts the offset
# to match the new abs, which means re-homing after a move
# accumulates offset (134 -> 268 -> ...). Using G92 a0
# *after* syncing abs gives the desired "user A = 0 here"
# outcome with offset = home_position every time.
ext = getattr(self.ctrl, 'ext_axis', None)
if ext is not None and ext.enabled \
and ext.axis_letter == axis.lower():
if 1 < len(axes) and not enabled:
continue
self.mlog.info('Homing external %s axis via auxcnc' %
axis.upper())
try:
self._begin_cycle('homing')
ext.home()
home_mm = ext.home_position_mm
# 1) Update AVR: no motor steps, just position sync.
super().queue_command(Cmd.set_axis(axis, home_mm))
# 2) Force planner to resync abs from State on the
# next planner call (which is the MDI below).
self.planner.position_change()
# 3) G92 <axis>0: with abs already at home_mm,
# sets user-coord A = 0 and offset = home_mm.
# Use planner.mdi (not Mach.mdi) so we don't
# flip cycle to 'mdi' inside the 'homing' cycle.
self.planner.mdi('G92 %c0' % axis, False)
super().resume()
except Exception as e:
self.mlog.error(
'External axis homing failed: %s' % e)
continue
# If this is not a request to home a specific axis and the
# axis is disabled or in manual homing mode, don't show any
# warnings
@@ -316,7 +410,21 @@ class Mach(Comm):
super().resume()
def unhome(self, axis): self.mdi('G28.2 %c0' % axis)
def unhome(self, axis):
# External axes don't have AVR-side homed state to clear; the
# ESP holds its own homed flag. We don't have an explicit
# "unhome" verb on the ESP, but a stale homed flag is harmless
# because the next absolute move will fail-soft via
# ExternalAxis._pos_mm sync. Still mirror the cleared flag
# into State for the UI.
ext = getattr(self.ctrl, 'ext_axis', None)
if ext is not None and ext.enabled \
and chr(axis).lower() == ext.axis_letter:
from bbctrl.ExternalAxis import EXTERNAL_MOTOR_INDEX
self.ctrl.state.set('%dh' % EXTERNAL_MOTOR_INDEX, 0)
self.ctrl.state.set(ext.axis_letter + '_homed', False)
return
self.mdi('G28.2 %c0' % axis)
def estop(self): super().estop()
@@ -343,12 +451,22 @@ class Mach(Comm):
def stop(self):
if self._get_state() != 'jogging': self.stopping = True
super().i2c_command(Cmd.STOP)
# Drain the external-axis worker queue so post-stop resumption
# doesn't replay queued moves that the user wanted cancelled.
ext = getattr(self.ctrl, 'ext_axis', None)
if ext is not None:
try: ext.abort()
except Exception: pass
def pause(self): super().pause()
def unpause(self):
if self._is_paused():
# Gate unpause on hook completion
if hasattr(self.ctrl, 'hooks') and \
not self.ctrl.hooks.can_unpause():
return
self.ctrl.state.set('optional_pause', False)
self._unpause()

112
src/py/bbctrl/Planner.py
View File

@@ -196,12 +196,23 @@ class Planner():
def _add_message(self, text):
self.ctrl.state.add_message(text)
line = self.ctrl.state.get('line', 0)
if 0 <= line: where = '%s:%d' % (self.where, line)
else: where = self.where
# HOOK:<event>:<data> messages are an internal IPC channel
# between the gcode preprocessor and Hooks; bypass the user
# message list so they don't surface as popups, and dispatch
# the hook directly. Routing through state.messages would
# only deliver it after the 0.25s state-change debounce, by
# which point we'd have to keep it visible to ensure Hooks
# could see it.
hooks = getattr(self.ctrl, 'hooks', None)
if hooks is not None and hooks.dispatch_hook_message(text):
self.log.info('HOOK msg: %s' % text, where = where)
return
self.ctrl.state.add_message(text)
self.log.message(text, where = where)
@@ -259,6 +270,13 @@ class Planner():
if type != 'set': self.log.info('Cmd:' + log_json(block))
if type == 'line':
ext = self._external_axis_for_line(block)
if ext is not None:
# Side effect: enqueue the ESP move on the external-
# axis worker. The AVR still receives the full target
# (including A) so ex.position[A] tracks gplan; no
# motor steps for A because no motor maps to it.
self._dispatch_external_line(block, ext)
self._enqueue_line_time(block)
return Cmd.line(block['target'], block['exit-vel'],
block['max-accel'], block['max-jerk'],
@@ -289,8 +307,17 @@ class Planner():
if name[2:] == '_homed':
motor = self.ctrl.state.find_motor(name[1])
if motor is not None:
# Synthetic external motor (index 4) doesn't exist
# on the AVR; mirror the homed flag in State only.
from bbctrl.ExternalAxis import EXTERNAL_MOTOR_INDEX
if motor is not None and motor < EXTERNAL_MOTOR_INDEX:
return Cmd.set_sync('%dh' % motor, value)
if motor == EXTERNAL_MOTOR_INDEX:
# Update synthetic motor flag and the<axis>_homed
# projection consumed by the DRO.
self.cmdq.enqueue(
id, self.ctrl.state.set,
'%dh' % EXTERNAL_MOTOR_INDEX, value)
return
@@ -339,6 +366,62 @@ class Planner():
self.planner.set_logger(None)
# ----------------------------------------------- external-axis routing
#
# When an axis is exposed to gplan via a synthetic motor (no AVR
# channel), we need to fork its motion off to the ESP at line
# encode time and let the rest of the line proceed to the AVR.
# The split is done here rather than in gplan because gplan
# treats all six axes uniformly and just emits target dicts; we
# don't want to teach it about the ESP.
def _external_axis_for_line(self, block):
"""Return the ExternalAxis instance for whichever axis in
block['target'] is external, or None."""
ext = getattr(self.ctrl, 'ext_axis', None)
if ext is None or not ext.enabled:
return None
target = block.get('target') or {}
if ext.axis_letter in target or ext.axis_letter.upper() in target:
return ext
return None
def _dispatch_external_line(self, block, ext):
"""Side-effect: enqueue the ESP move on the external-axis
worker thread (non-blocking). Returns the block (possibly
unchanged) for the AVR.
We do NOT strip the external axis target from the AVR line.
The AVR's exec_move_to_target updates ex.position[axis] for
every axis in the target dict regardless of motor mapping,
and reports it back via the `p` indexed var. Leaving A in
the target keeps state.ap in sync with gplan's idea of A
(otherwise the AVR's stale ex.position[A] would clobber
ExternalAxis's state.ap=N update on the next status report).
The AVR doesn't step any motor for the external axis (no
motor maps to it) - so leaving A in the target is
physically a no-op for the steppers, while keeping the
host-side state coherent.
For mixed XYZ + external moves the AVR runs XYZ at the
gplan-computed rate while the ESP runs the external delta
in parallel. Final positions agree; intermediate ap reports
from the AVR may briefly disagree with state.ap until the
block completes."""
target = block.get('target') or {}
# Read the external target (case-insensitive) without modifying
# the dict so the AVR still sees A.
ext_mm = target.get(ext.axis_letter)
if ext_mm is None:
ext_mm = target.get(ext.axis_letter.upper())
try:
ext.enqueue_target_mm(ext_mm)
except Exception as e:
self.log.error('External axis enqueue failed: %s' % e)
raise
return block
def reset(self, *args, **kwargs):
stop = kwargs.get('stop', True)
if stop:
@@ -352,6 +435,16 @@ class Planner():
self.cmdq.clear()
self.reset_times()
# Drain the external-axis worker queue and force the next
# move to re-sync position from the ESP (since State.reset
# below will zero <axis>p which makes ext._pos_mm stale).
ext = getattr(self.ctrl, 'ext_axis', None)
if ext is not None:
try: ext.abort()
except Exception: pass
try: ext._pos_mm = None
except Exception: pass
resetState = kwargs.get('resetState', True)
if resetState:
self.ctrl.state.reset()
@@ -369,6 +462,19 @@ class Planner():
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.
try:
from bbctrl.AuxPreprocessor import preprocess_file
if preprocess_file(path, log = self.log):
self.log.info('Rewrote ATC M-codes in %s' % path)
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.reset_times()

13
src/py/bbctrl/State.py
View File

@@ -280,8 +280,11 @@ class State(object):
axis_motors = {axis: self.find_motor(axis) for axis in 'xyzabc'}
axis_vars = {}
# NOTE: motor index '4' is a host-only synthetic motor used
# by ExternalAxis to expose the auxcnc ESP-driven stepper as
# an additional axis. Real AVR motors are 0..3.
for name, value in vars.items():
if name[0] in '0123':
if name[0] in '01234':
motor = int(name[0])
for axis in 'xyzabc':
@@ -330,6 +333,9 @@ class State(object):
def get_axis_vector(self, name, scale = 1):
v = {}
# 0..3 are AVR motor channels. 4 is the host-side synthetic
# motor used by ExternalAxis. find_motor returns the right
# index regardless of whether the axis is physical or external.
for axis in 'xyzabc':
motor = self.find_motor(axis)
@@ -351,7 +357,10 @@ class State(object):
def find_motor(self, axis):
for motor in range(4):
# Walk 0..4: 0..3 are real AVR motors, 4 is the synthetic
# host-side motor used to expose the auxcnc ESP stepper as
# an external axis.
for motor in range(5):
if not ('%dan' % motor) in self.vars: continue
motor_axis = 'xyzabc'[self.vars['%dan' % motor]]
if motor_axis == axis.lower() and self.vars.get('%dme' % motor, 0):

118
src/py/bbctrl/Web.py
View File

@@ -766,6 +766,111 @@ class RotaryHandler(bbctrl.APIHandler):
log.error('Unexpected error: {}'.format(e))
class HooksGetHandler(bbctrl.APIHandler):
def get(self):
self.write_json(self.get_ctrl().hooks.get_config())
class HooksSaveHandler(bbctrl.APIHandler):
def put_ok(self):
self.get_ctrl().hooks.save_config(self.json)
class HooksStatusHandler(bbctrl.APIHandler):
def get(self):
self.write_json(self.get_ctrl().hooks.get_status())
class HooksFireHandler(bbctrl.APIHandler):
def put_ok(self, event):
data = self.json if hasattr(self, 'json') and self.json else {}
self.get_ctrl().hooks._fire(event, data)
# ----- W axis (auxcnc) endpoints --------------------------------------------
class AuxConfigGetHandler(bbctrl.APIHandler):
def get(self):
self.write_json(self.get_ctrl().aux.get_config())
class AuxConfigSaveHandler(bbctrl.APIHandler):
def put_ok(self):
self.get_ctrl().aux.save_config(self.json or {})
class AuxStatusHandler(bbctrl.APIHandler):
def get(self):
aux = self.get_ctrl().aux
self.write_json({
'enabled': aux.enabled,
'present': aux.present,
'homed': aux.homed,
'pos_mm': aux.position_mm,
})
class AuxHomeHandler(bbctrl.APIHandler):
def put_ok(self):
# Run synchronously. Route through ExternalAxis so the
# synthetic motor's homed flag and DRO update.
ext = getattr(self.get_ctrl(), 'ext_axis', None)
if ext is not None and ext.enabled:
ext.home()
else:
self.get_ctrl().aux.home()
class AuxAbortHandler(bbctrl.APIHandler):
def put_ok(self):
self.get_ctrl().aux.abort()
class AuxJogHandler(bbctrl.APIHandler):
"""Body: {"mm": 1.5} for relative-mm move,
{"steps": 200} for raw step move (bypasses soft limits).
Note: with the gplan-integrated W axis, jog-by-mm goes through
ExternalAxis so the DRO updates and gplan's idea of A's position
stays in sync. jog-by-steps still bypasses everything for the
homing/setup workflow where the axis isn't homed yet."""
def put_ok(self):
body = self.json or {}
aux = self.get_ctrl().aux
ext = getattr(self.get_ctrl(), 'ext_axis', None)
if 'mm' in body:
delta_mm = float(body['mm'])
if ext is not None and ext.enabled and ext._pos_mm is not None:
ext.execute_to_mm(ext._pos_mm + delta_mm)
else:
aux.move_rel_mm(delta_mm)
elif 'steps' in body:
aux.jog_steps(int(body['steps']))
else:
raise HTTPError(400, 'mm or steps required')
class AuxMoveHandler(bbctrl.APIHandler):
"""Body: {"mm": 12.5} absolute move in mm."""
def put_ok(self):
body = self.json or {}
if 'mm' not in body:
raise HTTPError(400, 'mm required')
ext = getattr(self.get_ctrl(), 'ext_axis', None)
if ext is not None and ext.enabled:
ext.execute_to_mm(float(body['mm']))
else:
self.get_ctrl().aux.move_abs_mm(float(body['mm']))
class AuxSetZeroHandler(bbctrl.APIHandler):
"""Body: {"mm": 0} set current position to <mm>."""
def put_ok(self):
body = self.json or {}
mm = float(body.get('mm', 0.0))
self.get_ctrl().aux.set_position_mm(mm)
class RemoteDiagnosticsHandler(bbctrl.APIHandler):
def get(self):
@@ -798,7 +903,6 @@ class RemoteDiagnosticsHandler(bbctrl.APIHandler):
'message': e.reason or "Unknown"
})
class TimingHandler(bbctrl.APIHandler):
"""Return the bbctrl process startup timeline as JSON.
@@ -992,6 +1096,18 @@ class Web(tornado.web.Application):
(r'/api/time', TimeHandler),
(r'/api/rotary', RotaryHandler),
(r'/api/remote-diagnostics', RemoteDiagnosticsHandler),
(r'/api/hooks', HooksGetHandler),
(r'/api/hooks/save', HooksSaveHandler),
(r'/api/hooks/status', HooksStatusHandler),
(r'/api/hooks/fire/([\w-]+)', HooksFireHandler),
(r'/api/aux/config', AuxConfigGetHandler),
(r'/api/aux/config/save', AuxConfigSaveHandler),
(r'/api/aux/status', AuxStatusHandler),
(r'/api/aux/home', AuxHomeHandler),
(r'/api/aux/abort', AuxAbortHandler),
(r'/api/aux/jog', AuxJogHandler),
(r'/api/aux/move', AuxMoveHandler),
(r'/api/aux/set-zero', AuxSetZeroHandler),
(r'/(.*)', StaticFileHandler,
{'path': bbctrl.get_resource('http/'),
'default_filename': 'index.html'}),

3
src/py/bbctrl/__init__.py
View File

@@ -66,6 +66,9 @@ from bbctrl.AVR import AVR
from bbctrl.AVREmu import AVREmu
from bbctrl.IOLoop import IOLoop
from bbctrl.MonitorTemp import MonitorTemp
from bbctrl.Hooks import Hooks
from bbctrl.AuxAxis import AuxAxis
from bbctrl.ExternalAxis import ExternalAxis
import bbctrl.Cmd as Cmd
import bbctrl.v4l2 as v4l2
import bbctrl.Log as log

40
src/stylus/style.styl
View File

@@ -1396,7 +1396,7 @@ tt.save
.control-page .dro-head, .control-page .dro-row
display grid
grid-template-columns 84px 1.4fr 1fr 1fr 280px
grid-template-columns 84px 1.4fr 1fr 1fr 170px 170px 280px
column-gap 0.75rem
align-items center
padding 14px 22px
@@ -1457,6 +1457,9 @@ tt.save
.dro-axis.axis-c
color #d946ef
.dro-axis.axis-w
color #7c3aed
.dro-pos
font-family 'JetBrains Mono', monospace
font-size 36px
@@ -1526,39 +1529,6 @@ tt.save
opacity 0.45
cursor not-allowed
// State-tinted variants used on home + zero buttons in DRO rows
// to communicate per-axis homing / toolpath fit at a glance,
// replacing the explicit HOMED / OK chips that used to live in
// their own columns.
&.state-green
background #dcfce7
border-color #86efac
color #166534
&:hover:not([disabled])
background #bbf7d0
&.state-amber
background #fef3c7
border-color #fcd34d
color #92400e
&:hover:not([disabled])
background #fde68a
&.state-red
background #fee2e2
border-color #fca5a5
color #991b1b
&:hover:not([disabled])
background #fecaca
&[disabled].state-green,
&[disabled].state-amber,
&[disabled].state-red
opacity 0.7
.actions-cell
display flex
justify-content flex-end
@@ -2410,7 +2380,7 @@ html.kiosk-mode
gap 6px
.control-page .dro-head, .control-page .dro-row
grid-template-columns 56px 1fr 0.85fr 0.85fr 1fr
grid-template-columns 56px 1fr 0.85fr 0.85fr 90px 90px 1fr
column-gap 0.4rem
padding 6px 10px

8
src/svelte-components/src/components/SettingsView.svelte
View File

@@ -2,6 +2,10 @@
import configTemplate from "../../../resources/config-template.json";
import ScreenRotationDialog from "$dialogs/ScreenRotationDialog.svelte";
import ConfigTemplatedInput from "./ConfigTemplatedInput.svelte";
// WAxisSettings is mounted directly by the V09 settings shell at
// #w-axis instead of being embedded here — see
// src/pug/templates/w-axis-view.pug.
// import WAxisSettings from "./WAxisSettings.svelte";
import SetTimeDialog from "$dialogs/SetTimeDialog.svelte";
import Button, { Label } from "@smui/button";
@@ -94,6 +98,10 @@
{/each}
</fieldset>
<!-- W Axis (auxcnc) is now its own routed page in the V09
settings shell (#w-axis). Keep the SettingsView free of
that section so we don't render it twice. -->
<h2 id="sec-path-accuracy" data-sec="gcode">Path Accuracy</h2>
<fieldset data-sec="gcode">
<ConfigTemplatedInput key={`settings.max-deviation`} />

302
src/svelte-components/src/components/WAxisSettings.svelte Normal file
View File

@@ -0,0 +1,302 @@
<script lang="ts">
import { onMount } from "svelte";
import Button, { Label } from "@smui/button";
import * as api from "$lib/api";
// Mirrors the DEFAULTS in src/py/bbctrl/AuxAxis.py. The "enabled"
// flag is read-only here; toggling the W axis on/off is done via
// aux.json on disk, so adding/removing the hardware doesn't have a
// surprise UI that bricks bring-up.
type AuxConfig = {
enabled: boolean;
port: string;
baud: number;
steps_per_mm: number;
dir_sign: number;
axis_letter: string;
min_w: number;
max_w: number;
max_feed_mm_min: number;
max_velocity_m_per_min: number;
max_accel_km_per_min2: number;
max_jerk_km_per_min3: number;
home_dir: string;
home_position_mm: number;
home_fast_sps: number;
home_slow_sps: number;
home_backoff_steps: number;
home_maxtravel_steps: number;
step_max_sps: number;
step_accel_sps2: number;
step_start_sps: number;
limit_low: boolean;
};
let cfg: AuxConfig | null = null;
let status: { enabled: boolean; present: boolean; homed: boolean; pos_mm: number } | null = null;
let busy = false;
// Listen for the global "save-all" event the Vue root dispatches
// when the user clicks the master Save button. We persist our
// current cfg the same way the in-form button used to. This way
// the user only ever needs one Save button.
function onGlobalSave() {
save().catch(e => console.error("aux save failed:", e));
}
onMount(async () => {
await refresh();
window.addEventListener("onefin:save-all", onGlobalSave);
return () => window.removeEventListener("onefin:save-all", onGlobalSave);
});
async function refresh() {
try {
cfg = await api.GET("aux/config");
status = await api.GET("aux/status");
} catch (e) {
console.error("Failed to load aux config/status:", e);
}
}
async function save() {
if (!cfg) return;
busy = true;
try {
await api.PUT("aux/config/save", cfg);
await refresh();
} catch (e) {
console.error("Failed to save aux config:", e);
throw e;
} finally {
busy = false;
}
}
// Mark the root config as modified whenever a W axis field is
// edited, so the master Save button highlights and the user knows
// there are unsaved changes.
function markDirty() {
try {
const root = (window as any).$root || (window as any).Vue?.root;
if (root && "modified" in root) root.modified = true;
} catch (_e) {}
// Also dispatch a generic event the Vue root listens for.
window.dispatchEvent(new CustomEvent("onefin:dirty"));
}
</script>
<div class="w-axis-settings">
{#if !cfg}
<p class="tip">Loading W axis configuration...</p>
{:else}
<div class="status">
{#if status}
<span>
Status:
{#if !status.enabled}
disabled
{:else if !status.present}
offline
{:else if status.homed}
homed at {status.pos_mm.toFixed(3)} mm
{:else}
connected, unhomed
{/if}
</span>
{/if}
</div>
<div class="pure-form pure-form-aligned" on:input={markDirty} on:change={markDirty}>
<fieldset>
<div class="pure-control-group" title="Enable the auxcnc W axis. Edit aux.json to toggle.">
<label for="enabled">enabled</label>
<input id="enabled" type="checkbox" checked={cfg.enabled} disabled />
<label for="" class="units">(edit aux.json)</label>
</div>
<div class="pure-control-group" title="Serial port for the auxcnc ESP32.">
<label for="port">serial port</label>
<input id="port" type="text" bind:value={cfg.port} />
</div>
<div class="pure-control-group" title="Serial baud rate.">
<label for="baud">baud</label>
<input id="baud" type="number" bind:value={cfg.baud} min={1200} step={1} />
</div>
</fieldset>
<h3>Mechanics</h3>
<fieldset>
<div class="pure-control-group" title="Logical steps per mm of W travel.">
<label for="steps_per_mm">steps per mm</label>
<input id="steps_per_mm" type="number" bind:value={cfg.steps_per_mm} step="any" />
<label for="" class="units">steps/mm</label>
</div>
<div class="pure-control-group" title="Direction sign: +1 or -1. Flip if A+ moves the wrong way.">
<label for="dir_sign">direction sign</label>
<select id="dir_sign" bind:value={cfg.dir_sign}>
<option value={1}>+1</option>
<option value={-1}>-1</option>
</select>
</div>
<div class="pure-control-group" title="gcode axis letter exposed to the planner. Default 'a' (the standard 4th axis).">
<label for="axis_letter">axis letter</label>
<select id="axis_letter" bind:value={cfg.axis_letter}>
<option value="a">A</option>
<option value="b">B</option>
<option value="c">C</option>
</select>
</div>
<div class="pure-control-group" title="Soft-limit minimum in mm.">
<label for="min_w">soft min</label>
<input id="min_w" type="number" bind:value={cfg.min_w} step="any" />
<label for="" class="units">mm</label>
</div>
<div class="pure-control-group" title="Soft-limit maximum in mm.">
<label for="max_w">soft max</label>
<input id="max_w" type="number" bind:value={cfg.max_w} step="any" />
<label for="" class="units">mm</label>
</div>
</fieldset>
<h3>Planner Limits</h3>
<fieldset>
<div class="pure-control-group" title="Maximum velocity used by gplan trajectory planning.">
<label for="max_velocity_m_per_min">max velocity</label>
<input id="max_velocity_m_per_min" type="number" bind:value={cfg.max_velocity_m_per_min} step="any" />
<label for="" class="units">m/min</label>
</div>
<div class="pure-control-group" title="Maximum acceleration used by gplan trajectory planning.">
<label for="max_accel_km_per_min2">max acceleration</label>
<input id="max_accel_km_per_min2" type="number" bind:value={cfg.max_accel_km_per_min2} step="any" />
<label for="" class="units">km/min²</label>
</div>
<div class="pure-control-group" title="Maximum jerk used by gplan trajectory planning.">
<label for="max_jerk_km_per_min3">max jerk</label>
<input id="max_jerk_km_per_min3" type="number" bind:value={cfg.max_jerk_km_per_min3} step="any" />
<label for="" class="units">km/min³</label>
</div>
<div class="pure-control-group" title="Informational max feed; rate caps live on the ESP via step_max_sps.">
<label for="max_feed_mm_min">max feed</label>
<input id="max_feed_mm_min" type="number" bind:value={cfg.max_feed_mm_min} step="any" />
<label for="" class="units">mm/min</label>
</div>
</fieldset>
<h3>Homing</h3>
<fieldset>
<div class="pure-control-group" title="Direction the axis moves when looking for the home limit switch.">
<label for="home_dir">home direction</label>
<select id="home_dir" bind:value={cfg.home_dir}>
<option value="-">- (toward W-)</option>
<option value="+">+ (toward W+)</option>
</select>
</div>
<div class="pure-control-group" title="W position assigned when homing completes.">
<label for="home_position_mm">home position</label>
<input id="home_position_mm" type="number" bind:value={cfg.home_position_mm} step="any" />
<label for="" class="units">mm</label>
</div>
<div class="pure-control-group" title="Fast seek rate during homing search.">
<label for="home_fast_sps">fast seek</label>
<input id="home_fast_sps" type="number" bind:value={cfg.home_fast_sps} step={1} min={1} />
<label for="" class="units">steps/s</label>
</div>
<div class="pure-control-group" title="Slow seek rate during homing latch.">
<label for="home_slow_sps">slow seek</label>
<input id="home_slow_sps" type="number" bind:value={cfg.home_slow_sps} step={1} min={1} />
<label for="" class="units">steps/s</label>
</div>
<div class="pure-control-group" title="Backoff after the limit triggers, before the slow seek.">
<label for="home_backoff_steps">backoff</label>
<input id="home_backoff_steps" type="number" bind:value={cfg.home_backoff_steps} step={1} min={0} />
<label for="" class="units">steps</label>
</div>
<div class="pure-control-group" title="Maximum travel before homing aborts as a runaway.">
<label for="home_maxtravel_steps">max travel</label>
<input id="home_maxtravel_steps" type="number" bind:value={cfg.home_maxtravel_steps} step={1} min={1} />
<label for="" class="units">steps</label>
</div>
<div class="pure-control-group" title="Limit switch active-low? Off = active-high.">
<label for="limit_low">limit active low</label>
<input id="limit_low" type="checkbox" bind:checked={cfg.limit_low} />
</div>
</fieldset>
<h3>Step Profile</h3>
<fieldset>
<div class="pure-control-group" title="Maximum step rate during normal moves.">
<label for="step_max_sps">max rate</label>
<input id="step_max_sps" type="number" bind:value={cfg.step_max_sps} step={1} min={1} />
<label for="" class="units">steps/s</label>
</div>
<div class="pure-control-group" title="Acceleration in steps per second squared.">
<label for="step_accel_sps2">acceleration</label>
<input id="step_accel_sps2" type="number" bind:value={cfg.step_accel_sps2} step={1} min={1} />
<label for="" class="units">steps/s²</label>
</div>
<div class="pure-control-group" title="Initial step rate at the start of a move.">
<label for="step_start_sps">start rate</label>
<input id="step_start_sps" type="number" bind:value={cfg.step_start_sps} step={1} min={1} />
<label for="" class="units">steps/s</label>
</div>
</fieldset>
<div class="tip">
Changes are written to aux.json when you click the
master <strong>Save</strong> button at the bottom of the
settings rail. Homing rates and the limit polarity are
pushed to the ESP immediately; any running motion is
unaffected. Re-home the W axis after changing direction,
sign, or step settings.
</div>
</div>
{/if}
</div>
<style lang="scss">
.w-axis-settings {
.status {
margin-bottom: 1em;
font-size: 90%;
opacity: 0.8;
}
.actions {
margin-left: 210px;
margin-top: 1em;
display: flex;
align-items: center;
gap: 1em;
}
.save-msg {
font-style: italic;
}
.tip {
margin-left: 210px;
margin-top: 1em;
margin-bottom: 15px;
font-style: italic;
font-size: 90%;
line-height: 1.5;
}
}
</style>

4
src/svelte-components/src/main.ts
View File

@@ -6,6 +6,7 @@ matchAll.shim();
import AdminNetworkView from "$components/AdminNetworkView.svelte";
import SettingsView from "$components/SettingsView.svelte";
import HelpView from "$components/HelpView.svelte";
import WAxisSettings from "$components/WAxisSettings.svelte";
import DialogHost, { showDialog } from "$dialogs/DialogHost.svelte";
import { handleConfigUpdate, setDisplayUnits } from "$lib/ConfigStore";
import { handleControllerStateUpdate } from "$lib/ControllerState";
@@ -22,6 +23,9 @@ export function createComponent(component: string, target: HTMLElement, props: R
case "HelpView":
return new HelpView({ target, props });
case "WAxisSettings":
return new WAxisSettings({ target, props });
case "DialogHost":
return new DialogHost({ target, props });