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.
Rewrite BUILD.md: clean up, add quick start, remove dead weight
2026-04-30 16:51:24 +02:00 · 2026-04-30 16:39:57 +02:00 · 2026-04-30 16:33:20 +02:00 · 2026-04-30 15:57:31 +02:00 · 2026-04-30 15:56:42 +02:00 · 2026-04-30 14:43:05 +02:00
71 changed files with 3554 additions and 5627 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -27,8 +27,6 @@ __pycache__
 *.elf
 *.hex
 .idea/deployment.xml
-backup/*.img.gz
-backup/*.partial

 # Demo mode artifacts
 bbctrl.log*
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -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.
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -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)
--- a/6
+++ b/6
@@ -68,11 +68,7 @@ update: pkg

 build/templates.pug: $(TEMPLS)
 	mkdir -p build
-	# Use awk to ensure each template is followed by a newline so the
-	# next file's first line never gets glued onto the previous file's
-	# last line (some templates ship without a trailing newline, which
-	# would produce subtle Pug parse failures).
-	awk 'FNR==1 && NR>1 {print ""} {print} END{print ""}' $(TEMPLS) >$@
+	cat $(TEMPLS) >$@

 node_modules: package.json
 	npm install && touch node_modules
--- a/README.md
+++ b/README.md
@@ -1,110 +1 @@
-# OneFinity CNC Controller Firmware (community 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.
-
-## Layout
-
-```
-src/avr/        AVR firmware (motion controller, AtxMega)
-src/boot/       AVR bootloader
-src/bbserial/   Linux kernel module for the bbserial driver
-src/py/bbctrl/  Python control daemon (Tornado + websockets)
-src/js/         Vue.js UI (legacy)
-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
-```
-
-## Build & flash (quick path, macOS or Linux)
-
-The full build (`make`) requires `avr-gcc`, but the controller and UI
-only depend on the Python + web parts. If you're shipping a UI/Python
-change you don't need the AVR toolchain.
-
-### Prerequisites
-
- Node.js (any recent LTS) with npm
- Python 3 with setuptools
- `npm install` once at the project root (this is wired into the
-  `node_modules` Make target, but on a fresh checkout it's clearer to
-  do it explicitly)
-
-```bash
-npm install
-(cd src/svelte-components && npm install)
-```
-
-#### macOS gotcha: esbuild platform pin
-
-The Pi build leaves `node_modules/esbuild` pinned to
-`linux-arm64`, which won't run on Darwin. If `npm run build` inside
-`src/svelte-components` complains about esbuild, reinstall it for the
-host:
-
-```bash
-cd src/svelte-components
-rm -rf node_modules/esbuild
-npm install esbuild@0.14.49 --no-save
-```
-
-(Use the version that matches `package-lock.json`.)
-
-### Build the web UI + Python sdist
-
-```bash
-# Build the Svelte components
-(cd src/svelte-components && npm run build)
-
-# Render pug templates and copy assets into build/http
-make all          # AVR step will fail without avr-gcc; safe to ignore
-                  # if you didn't change anything under src/avr or src/boot
-
-# Package
-./setup.py sdist
-ls dist/bbctrl-*.tar.bz2
-```
-
-`make pkg` is the canonical target but it tries to build AVR first. On
-hosts without avr-gcc, run the steps above directly.
-
-If `bbctrl-*.tar.bz2` is missing `src/bbserial/bbserial.ko`, copy the
-prebuilt `.ko` from a previous official release into `src/bbserial/`
-before running `setup.py sdist` (the install script on the controller
-just installs the existing module if a newer one isn't shipped).
-
-### Flash to a controller
-
-```bash
-curl -X PUT -H "Content-Type: multipart/form-data" \
-  -F "firmware=@dist/bbctrl-1.6.7.tar.bz2" \
-  -F "password=onefinity" \
-  http://onefinity.local/api/firmware/update
-```
-
-…or use the Make target:
-
-```bash
-make update HOST=onefinity.local PASSWORD=onefinity
-```
-
-The controller stops bbctrl, untars the package, runs
-`scripts/install.sh`, and brings the service back up. Total downtime
-is ~30-45s. Watch progress at `http://<host>/` (you'll get 404s while
-bbctrl restarts, then the new UI).
-
-### Verify the flash
-
-```bash
-curl -s http://onefinity.local/ | grep -c "OneFinity"
-curl -s http://onefinity.local/api/diag/timing | head
-```
-
-## Build & flash (full path, Debian/Linux)
-
-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.
+#OneFinity CNC Controller Firmware
--- a/backup/onefinity-backup.sh
+++ b/backup/onefinity-backup.sh
@@ -1,278 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-# Onefinity CNC Controller - SD Card Backup & Restore
-#
-# Backs up the Raspberry Pi's SD card over SSH as a compressed image.
-# Compression runs on the local machine (fast), raw bytes stream from the Pi.
-#
-# Usage:
-#   ./onefinity-backup.sh backup              # backup with defaults
-#   ./onefinity-backup.sh backup -o myfile.gz  # custom output file
-#   ./onefinity-backup.sh restore image.gz     # restore to SD card
-#   ./onefinity-backup.sh verify image.gz      # verify image integrity
-#
-# Environment:
-#   ONEFINITY_HOST  - Pi IP/hostname    (default: 10.1.10.55)
-#   ONEFINITY_USER  - SSH user          (default: bbmc)
-#   ONEFINITY_PASS  - sudo password     (default: onefinity)
-
-HOST="${ONEFINITY_HOST:-10.1.10.55}"
-USER="${ONEFINITY_USER:-bbmc}"
-PASS="${ONEFINITY_PASS:-onefinity}"
-BACKUP_DIR="$(cd "$(dirname "$0")" && pwd)"
-DEVICE="/dev/mmcblk0"
-
-ssh_cmd() {
-    ssh -o ConnectTimeout=10 -o StrictHostKeyChecking=no -o LogLevel=ERROR "$USER@$HOST" "$@"
-}
-
-sudo_ssh() {
-    ssh_cmd "echo '$PASS' | sudo -S bash -c '$1' 2>/dev/null"
-}
-
-die() { echo "ERROR: $*" >&2; exit 1; }
-
-# ── Backup ──────────────────────────────────────────────────────────────────
-
-do_backup() {
-    local outfile=""
-
-    while [[ $# -gt 0 ]]; do
-        case "$1" in
-            -o|--output) outfile="$2"; shift 2 ;;
-            *) die "Unknown option: $1" ;;
-        esac
-    done
-
-    if [[ -z "$outfile" ]]; then
-        outfile="$BACKUP_DIR/onefinity-$(date +%Y%m%d-%H%M).img.gz"
-    fi
-
-    echo "╔══════════════════════════════════════════════════════╗"
-    echo "║  Onefinity CNC Controller - SD Card Backup          ║"
-    echo "╚══════════════════════════════════════════════════════╝"
-    echo ""
-    echo "  Host:   $USER@$HOST"
-    echo "  Device: $DEVICE"
-    echo "  Output: $outfile"
-    echo ""
-
-    # Check connectivity
-    echo "→ Checking SSH connection..."
-    ssh_cmd 'hostname' >/dev/null 2>&1 || die "Cannot SSH to $USER@$HOST"
-
-    # Get card size
-    local card_bytes
-    card_bytes=$(sudo_ssh "blockdev --getsize64 $DEVICE")
-    local card_gb=$(echo "scale=1; $card_bytes / 1073741824" | bc)
-    echo "  SD card: ${card_gb}GB ($card_bytes bytes)"
-    echo ""
-
-    # Check for enough local disk space (compressed is ~4% of raw)
-    local avail_bytes
-    avail_bytes=$(df -P "$(dirname "$outfile")" | tail -1 | awk '{print $4 * 1024}')
-    local need_bytes=$((card_bytes / 10))  # conservative: assume 10% compressed
-    if (( avail_bytes < need_bytes )); then
-        die "Not enough local disk space. Need ~$(echo "scale=1; $need_bytes/1073741824" | bc)GB, have $(echo "scale=1; $avail_bytes/1073741824" | bc)GB"
-    fi
-
-    # Stream raw dd from Pi, compress locally with gzip
-    # The Pi's SD card reads at ~20MB/s which is the bottleneck.
-    # Compressing locally on a fast machine is much better than on the ARM.
-    echo "→ Streaming SD card image (this takes ~20-50 minutes)..."
-    echo "  Pi: dd → SSH → local gzip → $outfile"
-    echo ""
-
-    local start_time=$SECONDS
-    local tmpfile="${outfile}.partial"
-
-    ssh_cmd "echo '$PASS' | sudo -S dd if=$DEVICE bs=4M 2>/dev/null" 2>/dev/null \
-        | gzip -1 > "$tmpfile" &
-    local pid=$!
-
-    # Progress monitor
-    while kill -0 $pid 2>/dev/null; do
-        sleep 15
-        if [[ -f "$tmpfile" ]]; then
-            local size_h
-            size_h=$(ls -lh "$tmpfile" 2>/dev/null | awk '{print $5}')
-            local elapsed=$(( SECONDS - start_time ))
-            local min=$(( elapsed / 60 ))
-            local sec=$(( elapsed % 60 ))
-            printf "\r  %dm%02ds elapsed — %s compressed" "$min" "$sec" "$size_h"
-        fi
-    done
-
-    wait $pid
-    local exit_code=$?
-    echo ""
-
-    if [[ $exit_code -ne 0 ]]; then
-        rm -f "$tmpfile"
-        die "Backup failed (exit code $exit_code)"
-    fi
-
-    mv "$tmpfile" "$outfile"
-
-    local elapsed=$(( SECONDS - start_time ))
-    local final_size
-    final_size=$(ls -lh "$outfile" | awk '{print $5}')
-
-    echo ""
-    echo "→ Verifying image integrity..."
-    if gzip -t "$outfile" 2>/dev/null; then
-        echo "  ✓ gzip integrity OK"
-    else
-        die "Image file is corrupt!"
-    fi
-
-    # Verify full size by counting decompressed bytes
-    local actual_bytes
-    actual_bytes=$(gzip -d -c "$outfile" | wc -c | tr -d ' ')
-    if [[ "$actual_bytes" -eq "$card_bytes" ]]; then
-        echo "  ✓ Size matches: $actual_bytes bytes (full ${card_gb}GB card)"
-    else
-        echo "  ⚠ Size mismatch: expected $card_bytes, got $actual_bytes"
-    fi
-
-    echo ""
-    echo "╔══════════════════════════════════════════════════════╗"
-    echo "  ✓ Backup complete"
-    echo "  File: $outfile"
-    echo "  Size: $final_size compressed (${card_gb}GB raw)"
-    echo "  Time: $(( elapsed / 60 ))m $(( elapsed % 60 ))s"
-    echo "╚══════════════════════════════════════════════════════╝"
-}
-
-# ── Restore ─────────────────────────────────────────────────────────────────
-
-do_restore() {
-    local imgfile="$1"
-    local target="${2:-}"
-
-    [[ -f "$imgfile" ]] || die "Image file not found: $imgfile"
-
-    echo "╔══════════════════════════════════════════════════════╗"
-    echo "║  Onefinity CNC Controller - SD Card Restore         ║"
-    echo "╚══════════════════════════════════════════════════════╝"
-    echo ""
-
-    if [[ -n "$target" ]]; then
-        # ── Local restore: write to a local SD card device ──
-        [[ -b "$target" ]] || die "$target is not a block device"
-
-        local target_bytes
-        target_bytes=$(diskutil info -plist "$target" 2>/dev/null \
-            | plutil -extract TotalSize raw - 2>/dev/null \
-            || blockdev --getsize64 "$target" 2>/dev/null \
-            || echo 0)
-
-        echo "  Image:  $imgfile"
-        echo "  Target: $target ($(echo "scale=1; $target_bytes/1073741824" | bc)GB)"
-        echo ""
-        echo "  ⚠  THIS WILL ERASE ALL DATA ON $target"
-        echo ""
-        read -rp "  Type YES to continue: " confirm
-        [[ "$confirm" == "YES" ]] || die "Aborted"
-
-        echo ""
-        echo "→ Unmounting target..."
-        diskutil unmountDisk "$target" 2>/dev/null || true
-
-        echo "→ Writing image to $target..."
-        local raw_target
-        raw_target=$(echo "$target" | sed 's|/dev/disk|/dev/rdisk|')
-        gzip -d -c "$imgfile" | sudo dd of="$raw_target" bs=4M status=progress
-        sync
-
-        echo ""
-        echo "  ✓ Restore complete. Safe to eject $target."
-
-    else
-        # ── Remote restore: write back to Pi over SSH ──
-        echo "  Image:  $imgfile"
-        echo "  Target: $USER@$HOST:$DEVICE"
-        echo ""
-        echo "  ⚠  THIS WILL ERASE THE PI'S SD CARD"
-        echo "  ⚠  The Pi must be booted from USB/network, not the SD card"
-        echo ""
-        read -rp "  Type YES to continue: " confirm
-        [[ "$confirm" == "YES" ]] || die "Aborted"
-
-        echo ""
-        echo "→ Writing image to $HOST:$DEVICE..."
-        gzip -d -c "$imgfile" \
-            | ssh_cmd "echo '$PASS' | sudo -S dd of=$DEVICE bs=4M 2>/dev/null"
-
-        echo ""
-        echo "  ✓ Remote restore complete."
-    fi
-}
-
-# ── Verify ──────────────────────────────────────────────────────────────────
-
-do_verify() {
-    local imgfile="$1"
-    [[ -f "$imgfile" ]] || die "Image file not found: $imgfile"
-
-    echo "Verifying: $imgfile"
-    echo ""
-
-    local compressed_size
-    compressed_size=$(ls -lh "$imgfile" | awk '{print $5}')
-    echo "  Compressed size: $compressed_size"
-
-    echo "  Checking gzip integrity..."
-    if gzip -t "$imgfile" 2>/dev/null; then
-        echo "  ✓ gzip OK"
-    else
-        die "gzip integrity check FAILED"
-    fi
-
-    echo "  Counting uncompressed bytes..."
-    local raw_bytes
-    raw_bytes=$(gzip -d -c "$imgfile" | wc -c | tr -d ' ')
-    local raw_gb=$(echo "scale=1; $raw_bytes / 1073741824" | bc)
-    echo "  ✓ Uncompressed size: ${raw_gb}GB ($raw_bytes bytes)"
-
-    echo "  Checking partition table..."
-    gzip -d -c "$imgfile" 2>/dev/null | head -c 512 | xxd | head -4 || true
-
-    echo ""
-    echo "  ✓ Image looks valid"
-}
-
-# ── Main ────────────────────────────────────────────────────────────────────
-
-usage() {
-    cat <<EOF
-Usage: $(basename "$0") <command> [options]
-
-Commands:
-  backup  [-o file.img.gz]           Backup SD card from Pi over SSH
-  restore <image.gz> [/dev/diskN]    Restore image to local SD card or remote Pi
-  verify  <image.gz>                 Verify image integrity
-
-Environment variables:
-  ONEFINITY_HOST  Pi address    (default: 10.1.10.55)
-  ONEFINITY_USER  SSH user      (default: bbmc)
-  ONEFINITY_PASS  sudo password (default: onefinity)
-
-Examples:
-  $(basename "$0") backup
-  $(basename "$0") backup -o /tmp/mybackup.img.gz
-  $(basename "$0") restore backup/onefinity-20260430.img.gz /dev/disk4
-  $(basename "$0") verify backup/onefinity-20260430.img.gz
-EOF
-    exit 1
-}
-
-[[ $# -ge 1 ]] || usage
-
-case "$1" in
-    backup)  shift; do_backup "$@" ;;
-    restore) shift; [[ $# -ge 1 ]] || usage; do_restore "$@" ;;
-    verify)  shift; [[ $# -ge 1 ]] || usage; do_verify "$@" ;;
-    *)       usage ;;
-esac
--- a/deploy-hardware.sh
+++ b/deploy-hardware.sh
@@ -1,4 +0,0 @@
-#!/bin/bash
-# Shorthand for ./deploy.sh hardware
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "$SCRIPT_DIR/deploy.sh" hardware "$@"
--- a/deploy-local.sh
+++ b/deploy-local.sh
@@ -1,4 +0,0 @@
-#!/bin/bash
-# Shorthand for ./deploy.sh local
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "$SCRIPT_DIR/deploy.sh" local "$@"
--- a/deploy-prod.sh
+++ b/deploy-prod.sh
@@ -1,4 +0,0 @@
-#!/bin/bash
-# Shorthand for ./deploy.sh prod
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "$SCRIPT_DIR/deploy.sh" prod "$@"
--- a/deploy.sh
+++ b/deploy.sh
@@ -1,52 +0,0 @@
-#!/bin/bash
-# Onefinity firmware deploy script.
-#
-#   ./deploy.sh local            — build & static-serve the UI on macOS
-#                                   (chrome only; no controller, shows
-#                                   DISCONNECTED overlay)
-#   ./deploy.sh hardware         — fast iteration: rsync build/http/
-#                                   contents to the running Pi at
-#                                   onefinity.local, then restart bbctrl
-#   ./deploy.sh prod             — full firmware update via the Pi's
-#                                   /api/firmware/update endpoint
-#                                   (equivalent to `make update`)
-#
-# Notes:
-#   * On macOS we cannot run the Python `bbctrl` controller directly
-#     because it imports the ARM-only camotics gplan.so. For full UI
-#     testing with live data, deploy to the Pi (hardware or prod).
-#   * `prod` requires a clean working tree.
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-cd "$SCRIPT_DIR"
-
-CMD="${1:-}"
-
-case "$CMD" in
-  local)    exec "$SCRIPT_DIR/scripts/deploy/local.sh" "$@" ;;
-  hardware) exec "$SCRIPT_DIR/scripts/deploy/hardware.sh" "$@" ;;
-  prod)     exec "$SCRIPT_DIR/scripts/deploy/prod.sh" "$@" ;;
-  *)
-    cat <<USAGE
-usage: $0 {local | hardware | prod}
-
-  local     Build the UI and static-serve build/http/ in a tmux session
-            on macOS. Useful for iterating on the V09 chrome and routing.
-            URL: http://localhost:8770/
-            tmux: tmux attach -t onefin-local
-
-  hardware  Fast iteration on the actual controller: rsync the freshly
-            built build/http/ tree onto onefinity.local, then restart
-            the bbctrl service. Requires SSH access as bbmc@onefinity.local.
-            Defaults: HOST=onefinity.local PASSWORD=onefinity
-
-  prod      Build a full firmware package (.tar.bz2) and PUT it through
-            /api/firmware/update on the Pi. Equivalent to:
-              make update HOST=onefinity.local PASSWORD=onefinity
-            Requires a clean working tree.
-USAGE
-    exit 1
-    ;;
-esac
--- a/docs/AUX_W_AXIS.md
+++ b/docs/AUX_W_AXIS.md
@@ -0,0 +1,144 @@
+# 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).
+
+## State surface (UI)
+
+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
+- `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
--- a/scripts/bbctrl.service
+++ b/scripts/bbctrl.service
@@ -1,24 +1,13 @@
 [Unit]
 Description=Buildbotics Controller
-# Note: bbctrl previously had `After=network.target`. That delays
-# start by ~5s on this Pi while dhcpcd brings up wlan0/eth0, but
-# bbctrl does not actually require network connectivity to come up
-# (the AVR is on a local serial port, the LCD on I2C). Dropping it
-# means the Pi shows the UI faster on cold boot. The wifi config UI
-# still works because it queries iw/dhcpcd lazily on demand.
-After=local-fs.target bbserial-rebind.service
-Wants=bbserial-rebind.service
+After=network.target

 [Service]
 User=root
 ExecStart=/usr/local/bin/bbctrl -l /var/log/bbctrl.log
 WorkingDirectory=/var/lib/bbctrl
 Restart=always
-# StandardOutput was 'null'. Set to 'journal' so TRACE lines emitted by
-# bbctrl.Trace are visible via `journalctl -u bbctrl`. Bbctrl still
-# writes its own log via -l above; this only affects stdout/stderr.
-StandardOutput=journal
-StandardError=journal
+StandardOutput=null
 Nice=-10
 KillMode=process

--- a/scripts/bbserial-rebind.service
+++ b/scripts/bbserial-rebind.service
@@ -1,21 +0,0 @@
-[Unit]
-Description=Unbind ttyAMA0 from pl011 and reload bbserial
-DefaultDependencies=no
-After=systemd-modules-load.service local-fs.target
-Before=bbctrl.service
-ConditionPathExists=/sys/bus/amba/drivers/uart-pl011
-
-[Service]
-Type=oneshot
-RemainAfterExit=yes
-# Tolerate the device already being bound elsewhere or the module
-# already being loaded — the goal is the end state (bbserial owns
-# ttyAMA0), not running the steps.
-ExecStart=/bin/sh -c '\
-    echo 3f201000.serial > /sys/bus/amba/drivers/uart-pl011/unbind 2>/dev/null || true; \
-    /sbin/modprobe -r bbserial 2>/dev/null || true; \
-    /sbin/modprobe bbserial \
-'
-
-[Install]
-WantedBy=multi-user.target
--- a/scripts/deploy/hardware.sh
+++ b/scripts/deploy/hardware.sh
@@ -1,84 +0,0 @@
-#!/bin/bash
-# --- Hardware iteration (live Pi at onefinity.local) ---
-#
-# Rsyncs the freshly built static UI tree (build/http/) onto the Pi's
-# bbctrl egg directory and restarts bbctrl. This is much faster than
-# a full firmware update and is the fastest way to iterate on the V09
-# UI changes against real machine state (W axis, jog feedback, etc).
-#
-# Defaults:
-#   HOST=onefinity.local
-#   REMOTE_USER=bbmc
-#   PASSWORD=onefinity      (used for sudo on the Pi)
-#
-# Override:
-#   HOST=10.1.10.55 ./deploy.sh hardware
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
-cd "$SCRIPT_DIR"
-
-HOST="${HOST:-onefinity.local}"
-REMOTE_USER="${REMOTE_USER:-bbmc}"
-PASSWORD="${PASSWORD:-onefinity}"
-
-echo "Building UI bundle (HTML + resources)..."
-make build/http/index.html >/dev/null
-# Copy src/resources/* into build/http/. The Makefile's "all" target
-# also does this, but pulls in cross-compiled subprojects (avr/boot/
-# pwr/jig) we don't have toolchains for on macOS. This rsync mirrors
-# only the resource tree.
-rsync -a src/resources/ build/http/
-
-echo "Locating bbctrl http/ directory on $HOST..."
-REMOTE_HTTP_DIR="$(ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
-  "ls -d /usr/local/lib/python*/dist-packages/bbctrl-*-py*.egg/bbctrl/http 2>/dev/null | head -1")"
-if [[ -z "$REMOTE_HTTP_DIR" ]]; then
-    echo "ERROR: could not find bbctrl http/ directory on $HOST"
-    exit 1
-fi
-echo "  $REMOTE_HTTP_DIR"
-
-echo "Rsyncing build/http/ -> $HOST:$REMOTE_HTTP_DIR/"
-# Stage to a tmp dir owned by $REMOTE_USER, then sudo-rsync into
-# place. This avoids needing root over rsync. We do NOT use --delete
-# anywhere -- the Pi's egg ships extra runtime files (config-template
-# .json, default machine JSON, buildbotics.nc, etc.) that come with
-# the bbctrl package and are not in this repo's src/resources. If
-# they were deleted the controller's API would 500 because Python
-# imports fail.
-REMOTE_TMP="/tmp/onefin_ui_$$"
-ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" "mkdir -p '${REMOTE_TMP}'"
-rsync -avz \
-  --exclude='hostinfo.txt' \
-  -e "ssh -o ConnectTimeout=5" \
-  build/http/ "${REMOTE_USER}@${HOST}:${REMOTE_TMP}/"
-
-echo "Installing into ${REMOTE_HTTP_DIR}/ (sudo)..."
-ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
-  "echo '${PASSWORD}' | sudo -S bash -c '
-     rsync -a --exclude=hostinfo.txt \"${REMOTE_TMP}/\" \"${REMOTE_HTTP_DIR}/\" \
-       && rm -rf \"${REMOTE_TMP}\"
-   '" 2>&1 | tail -3
-
-# Patch bbctrl Web.py so font files get the correct MIME type. The
-# Pi ships Python 3.5, whose `mimetypes` module doesn't know about
-# woff/woff2/ttf, so Tornado serves them as application/octet-stream
-# which Chromium 72 (the Pi's onboard browser) refuses to use as a
-# web font, leading to all FontAwesome icons rendering as empty
-# boxes in the kiosk UI. The patch is idempotent.
-echo "Patching bbctrl font MIME types (idempotent)..."
-scp -o ConnectTimeout=5 "$SCRIPT_DIR/scripts/deploy/patch_font_mime.py" \
-  "${REMOTE_USER}@${HOST}:/tmp/patch_font_mime.py" >/dev/null
-ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
-  "echo '${PASSWORD}' | sudo -S python3 /tmp/patch_font_mime.py" 2>&1 | tail -3
-
-echo "Restarting bbctrl service..."
-ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
-  "echo '${PASSWORD}' | sudo -S systemctl restart bbctrl" 2>&1 | tail -3
-
-echo ""
-echo "Deployed to http://${HOST}/"
-echo "  Logs: ssh ${REMOTE_USER}@${HOST} 'journalctl -u bbctrl -f'"
-echo "  Open: open -a 'Google Chrome' http://${HOST}/"
--- a/scripts/deploy/local.sh
+++ b/scripts/deploy/local.sh
@@ -1,72 +0,0 @@
-#!/bin/bash
-# --- Local development (macOS) ---
-#
-# Builds the UI bundle and static-serves it on http://localhost:8770/.
-# Runs in a named tmux session so we can iterate (re-running this script
-# rebuilds and restarts the server in-place, you keep your browser tab).
-#
-# What you'll see:
-#   * The full V09 chrome (header tabs, settings rail, jog grid, DRO
-#     skeleton, status strip).
-#   * A "DISCONNECTED" overlay because there's no controller backend.
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
-cd "$SCRIPT_DIR"
-
-echo "🛠  Building UI bundle..."
-make build/http/index.html >/dev/null
-
-PORT="${PORT:-8770}"
-SESSION="onefin-local"
-
-ensure_tmux_window() {
-    local session="$1"
-    local window="${2:-}"
-    local target="${session}${window:+:$window}"
-    if tmux has-session -t "$session" 2>/dev/null; then
-        if tmux send-keys -t "$target" "" 2>/dev/null; then
-            echo "🔁 Reusing tmux session '$session'..."
-            tmux send-keys -t "$target" C-c
-            sleep 1
-            return
-        fi
-        echo "⚠️  Dead pane in '$session', recreating..."
-        tmux kill-session -t "$session" 2>/dev/null
-    fi
-    echo "🆕 Creating tmux session '$session'..."
-    tmux new-session -d -s "$session"
-}
-
-ensure_tmux_window "$SESSION"
-
-# Free the port if a previous run is still listening.
-if lsof -iTCP:"$PORT" -sTCP:LISTEN >/dev/null 2>&1; then
-    echo "⚠️  Port $PORT is busy; killing previous server..."
-    lsof -tiTCP:"$PORT" -sTCP:LISTEN | xargs -r kill 2>/dev/null || true
-    sleep 1
-fi
-
-tmux send-keys -t "$SESSION" \
-  "cd '$SCRIPT_DIR' && python3 -m http.server --directory build/http $PORT" \
-  C-m
-
-echo ""
-echo "✅ Static UI server started on http://localhost:$PORT/"
-echo ""
-echo "   Routes to try:"
-echo "     http://localhost:$PORT/#control"
-echo "     http://localhost:$PORT/#program"
-echo "     http://localhost:$PORT/#console"
-echo "     http://localhost:$PORT/#settings        (Display & Units)"
-echo "     http://localhost:$PORT/#admin-network   (WiFi / IP)"
-echo "     http://localhost:$PORT/#motor:0         (Motor 0 settings)"
-echo ""
-echo "   tmux:        tmux attach -t $SESSION"
-echo "   stop:        tmux kill-session -t $SESSION"
-echo ""
-echo "ℹ️  No controller is running, so the page shows DISCONNECTED and"
-echo "   axis values stay empty. For live data + W axis, run:"
-echo "     ./deploy.sh hardware     (fast: rsync build/http -> Pi)"
-echo "     ./deploy.sh prod         (full firmware update)"
--- a/scripts/deploy/patch_font_mime.py
+++ b/scripts/deploy/patch_font_mime.py
@@ -1,102 +0,0 @@
-#!/usr/bin/env python3
-"""
-Patch bbctrl Web.py so font files get the correct MIME type.
-
-Background
----------
-The Onefinity controller (Pi 3B running Raspbian stretch) ships Python
-3.5, whose ``mimetypes`` module does not recognize ``.woff``, ``.woff2``
-or ``.ttf``. Tornado's ``StaticFileHandler`` therefore falls back to
-``application/octet-stream`` for those, and Chromium 72 (the Pi's
-onboard kiosk browser) refuses to use such payloads as web fonts. The
-result is that every FontAwesome icon renders as an empty box on the
-kiosk display.
-
-This patch monkey-patches ``StaticFileHandler.get_content_type`` to
-emit the right MIME types. It is idempotent: running it twice is a
-no-op. Run with ``sudo`` so it can rewrite the egg's Web.py.
-
-Used by:
-  scripts/deploy/hardware.sh
-"""
-
-from __future__ import print_function
-import os
-import sys
-
-
-def find_web_py():
-    """Return the absolute path to the bbctrl Web.py shipped in the egg."""
-    base = "/usr/local/lib"
-    for entry in os.listdir(base):
-        if not entry.startswith("python"):
-            continue
-        candidate_dir = os.path.join(base, entry, "dist-packages")
-        if not os.path.isdir(candidate_dir):
-            continue
-        for sub in os.listdir(candidate_dir):
-            if sub.startswith("bbctrl-") and sub.endswith(".egg"):
-                p = os.path.join(candidate_dir, sub, "bbctrl", "Web.py")
-                if os.path.isfile(p):
-                    return p
-    return None
-
-
-OLD_BLOCK = (
-    "class StaticFileHandler(tornado.web.StaticFileHandler):\n"
-    "    def set_extra_headers(self, path):\n"
-    "        self.set_header('Cache-Control',\n"
-    "                        'no-store, no-cache, must-revalidate, max-age=0')"
-)
-
-NEW_BLOCK = (
-    "class StaticFileHandler(tornado.web.StaticFileHandler):\n"
-    "    # FONT_MIME_FIX: Python 3.5's mimetypes module does not know\n"
-    "    # woff/woff2/ttf, so Tornado serves them as application/octet-\n"
-    "    # stream which Chromium 72 (the Pi's onboard kiosk browser)\n"
-    "    # refuses to use as web fonts. Set explicit types so the FA6\n"
-    "    # icon set actually renders on the kiosk display.\n"
-    "    def get_content_type(self):\n"
-    "        path = self.absolute_path or ''\n"
-    "        if path.endswith('.woff2'): return 'font/woff2'\n"
-    "        if path.endswith('.woff'):  return 'font/woff'\n"
-    "        if path.endswith('.ttf'):   return 'font/ttf'\n"
-    "        if path.endswith('.otf'):   return 'font/otf'\n"
-    "        if path.endswith('.eot'):   return 'application/vnd.ms-fontobject'\n"
-    "        return super().get_content_type()\n"
-    "\n"
-    "    def set_extra_headers(self, path):\n"
-    "        self.set_header('Cache-Control',\n"
-    "                        'no-store, no-cache, must-revalidate, max-age=0')"
-)
-
-
-def main():
-    target = find_web_py()
-    if target is None:
-        print("ERROR: could not locate bbctrl Web.py under /usr/local/lib",
-              file=sys.stderr)
-        return 1
-
-    with open(target) as f:
-        src = f.read()
-
-    if "FONT_MIME_FIX" in src:
-        print("font mime: already patched ({})".format(target))
-        return 0
-
-    if OLD_BLOCK not in src:
-        print("font mime: expected block not found in {} -- skipping".format(target),
-              file=sys.stderr)
-        # Don't fail the deploy; just log and continue.
-        return 0
-
-    new_src = src.replace(OLD_BLOCK, NEW_BLOCK, 1)
-    with open(target, "w") as f:
-        f.write(new_src)
-    print("font mime: patched {}".format(target))
-    return 0
-
-
-if __name__ == "__main__":
-    sys.exit(main())
--- a/scripts/deploy/prod.sh
+++ b/scripts/deploy/prod.sh
@@ -1,42 +0,0 @@
-#!/bin/bash
-# --- Production firmware update (Pi at onefinity.local) ---
-#
-# Builds a full firmware package (.tar.bz2) and PUTs it through the Pi's
-# /api/firmware/update endpoint. This is the canonical OTA flow and goes
-# through the bbctrl Tornado server's update handler.
-#
-# Defaults:
-#   HOST=onefinity.local
-#   PASSWORD=onefinity
-#
-# Override:
-#   HOST=10.1.10.55 PASSWORD=secret ./deploy.sh prod
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
-cd "$SCRIPT_DIR"
-
-HOST="${HOST:-onefinity.local}"
-PASSWORD="${PASSWORD:-onefinity}"
-
-# Require a clean working tree.
-echo "🔍 Checking git state..."
-if ! git diff --quiet || ! git diff --cached --quiet \
-    || [[ -n "$(git ls-files --others --exclude-standard)" ]]; then
-    echo "❌ Refusing to deploy: working tree has uncommitted changes."
-    git status --short
-    exit 1
-fi
-echo "✅ Working tree is clean."
-
-echo "🛠  Building firmware package..."
-make pkg
-
-echo "🚚 Uploading to http://${HOST}/api/firmware/update..."
-make update HOST="$HOST" PASSWORD="$PASSWORD"
-
-echo ""
-echo "✅ Firmware update PUT to ${HOST}."
-echo "   The Pi will reboot itself after applying the update."
-echo "   Once it comes back, open: http://${HOST}/"
--- a/scripts/install.sh
+++ b/scripts/install.sh
@@ -19,17 +19,8 @@ if $UPDATE_PY; then
    # Update service
    rm -f /etc/init.d/bbctrl
    cp scripts/bbctrl.service /etc/systemd/system/
-
-    # Cold-boot fast path:
-    #   - bbserial-rebind.service replaces the bbserial unbind/reload
-    #     that used to live in rc.local AFTER bbctrl was already
-    #     listening on /dev/ttyAMA0. Doing it as a unit ordered
-    #     Before=bbctrl.service eliminates a full bbctrl restart
-    #     mid-boot (~5s saved).
-    cp scripts/bbserial-rebind.service /etc/systemd/system/
    systemctl daemon-reload
    systemctl enable bbctrl
-    systemctl enable bbserial-rebind.service
 fi

 if $UPDATE_AVR; then
@@ -127,50 +118,8 @@ if [ $? -ne 0 ]; then
    REBOOT=true
 fi

-# Install rc.local. Use the slimmed "fast" variant if it exists in this
-# checkout (preferred); fall back to the legacy rc.local for older
-# firmware tarballs that don't ship rc.local.fast yet.
-if [ -f scripts/rc.local.fast ]; then
-    cp scripts/rc.local.fast /etc/rc.local
-else
-    cp scripts/rc.local /etc/rc.local
-fi
-chmod +x /etc/rc.local
-
-# Cold-boot: mask units that contribute to userspace startup time but
-# do not benefit a deployed Onefinity Pi. Each is reversible with
-# `systemctl unmask <unit>`.
-#   plymouth-read-write : 4s of work for a splash that rc.local kills
-#                         immediately with `plymouth quit`.
-#   plymouth-quit-wait  : holds graphical.target until the splash is
-#                         fully gone; redundant once the splash is
-#                         masked.
-#   raspi-config        : one-shot first-boot config; on a deployed
-#                         image it's a 2s no-op.
-#   sysstat             : sadc CPU/IO stats logger; not used.
-# Use --now so the change also applies to the running system; harmless
-# on a fresh install where the units are inactive.
-for unit in \
-    plymouth-read-write.service \
-    plymouth-quit-wait.service \
-    raspi-config.service \
-    sysstat.service; do
-    systemctl mask --now "$unit" 2>/dev/null || true
-done
-
-# Cold-boot: switch swap activation from dphys-swapfile (~4.3s LSB
-# wrapper that re-checks the swap file size on every boot) to a plain
-# fstab entry. The swap file itself is already created at
-# /var/swap by the previous boot; we only need to make sure it gets
-# `swapon`'d at local-fs.target instead.
-SWAPFILE=/var/swap
-if [ -f "$SWAPFILE" ]; then
-    if ! grep -qE "^[^#]*${SWAPFILE//\//\\/}[[:space:]]+swap" /etc/fstab; then
-        echo "$SWAPFILE none swap sw 0 0" >> /etc/fstab
-    fi
-    systemctl mask --now dphys-swapfile.service 2>/dev/null || true
-    swapon -a 2>/dev/null || true
-fi
+# Install rc.local
+cp scripts/rc.local /etc/

 # Ensure that the watchdog python library is installed
 pip3 list --format=columns | grep watchdog >/dev/null
--- a/scripts/rc.local
+++ b/scripts/rc.local
@@ -28,4 +28,4 @@ plymouth quit

 # Start X in /home/pi
 cd /home/pi
-sudo -u pi startx -- -nocursor
+sudo -u pi startx
--- a/scripts/rc.local.fast
+++ b/scripts/rc.local.fast
@@ -1,42 +0,0 @@
-#!/bin/bash
-# rc.local for the OneFinity Pi, "fast" variant.
-#
-# What changed vs. scripts/rc.local:
-#   - bbserial unbind/rebind moved to bbserial-rebind.service (runs
-#     once, before bbctrl, instead of after bbctrl is already
-#     listening on the serial port).
-#   - startx moved to kiosk.service so chromium starts in parallel
-#     with bbctrl rather than blocking on rc.local.
-#   - rc.local no longer keeps the Pi in 'starting' state forever,
-#     which fixes systemd-analyze.
-
-set -e
-
-# Mount /boot read only
-mount -o remount,ro /boot 2>/dev/null || true
-
-# Set SPI GPIO mode
-gpio mode 27 alt3 || true
-
-# Create browser memory limited cgroup
-if [ -d /sys/fs/cgroup/memory ]; then
-    CGROUP=/sys/fs/cgroup/memory/chrome
-    [ -d "$CGROUP" ] || mkdir -p "$CGROUP"
-    chown -R pi:pi "$CGROUP"
-    echo 650000000 > "$CGROUP/memory.soft_limit_in_bytes"
-    echo 750000000 > "$CGROUP/memory.limit_in_bytes"
-fi
-
-# Stop boot splash; harmless if plymouth already gone.
-plymouth quit 2>/dev/null || true
-
-# Start X (chromium kiosk) in the background so rc.local can exit and
-# late-boot units (bbctrl logrotate, etc.) don't block on it. Output
-# is redirected so the journal doesn't fill up with X warnings.
-cd /home/pi
-# `-- -nocursor` hides the X pointer; this is a touchscreen kiosk and
-# the mouse cursor only gets in the way.
-nohup sudo -u pi startx -- -nocursor >/var/log/onefin-x.log 2>&1 &
-disown
-
-exit 0
--- a/scripts/setup_rpi.sh
+++ b/scripts/setup_rpi.sh
@@ -75,7 +75,7 @@ sed -i 's/^PARTUUID=.*\//\/dev\/mmcblk0p2 \//' /etc/fstab

 # Enable browser in xorg
 sed -i 's/allowed_users=console/allowed_users=anybody/' /etc/X11/Xwrapper.config
-echo "sudo -u pi startx -- -nocursor" >> /etc/rc.local
+echo "sudo -u pi startx" >> /etc/rc.local
 cp /mnt/host/xinitrc /home/pi/.xinitrc
 cp /mnt/host/ratpoisonrc /home/pi/.ratpoisonrc
 cp /mnt/host/xorg.conf /etc/X11/
--- a/src/js/app.js
+++ b/src/js/app.js
@@ -4,7 +4,6 @@ const api = require("./api");
 const cookie = require("./cookie")("bbctrl-");
 const Sock = require("./sock");
 const semverLt = require("semver/functions/lt");
-const restartTiming = require("./restart-timing");

 if (document.getElementById("svelte-dialog-host") != undefined) {
  SvelteComponents.createComponent(
@@ -104,17 +103,6 @@ module.exports = new Vue({
        return {
          status: "connecting",
          currentView: "loading",
-          // Top-level shell tab. Mapped from the URL hash by parse_hash().
-          // One of: control | program | console | settings
-          top_tab: "control",
-          // Sub-route when a tab has internal pages (e.g. console:mdi,
-          // settings:admin-network, settings:motor:0). The settings sub
-          // also drives which inner view is mounted.
-          sub_tab: "",
-          sys_open: false,
-          has_camera: true,
-          messages_log: [],
-          messages_seen: 0,
          display_units: localStorage.getItem("display_units") || "METRIC",
          index: -1,
          modified: false,
@@ -155,15 +143,22 @@ module.exports = new Vue({
        estop: { template: "#estop-template" },
        "loading-view": { template: "<h1>Loading...</h1>" },
        "control-view": require("./control-view"),
-        "program-view": require("./program-view"),
-        "console-view": require("./console-view"),
-
-        // The settings-shell renders the rail + an inner routed view.
-        // All settings-family hashes (settings, admin-general,
-        // admin-network, motor:N, tool, io, macros, help, cheat-sheet)
-        // resolve to this same shell; parse_hash() sets sub_tab so the
-        // shell knows which inner template to mount.
-        "settings-shell-view": require("./settings-shell-view"),
+        "settings-view": require("./settings-view"),
+        "motor-view": require("./motor-view"),
+        "tool-view": require("./tool-view"),
+        "io-view": require("./io-view"),
+        "admin-general-view": require("./admin-general-view"),
+        "admin-network-view": require("./admin-network-view"),
+        "macros-view": require('./macros'),
+        "help-view": require("./help-view"),
+        "cheat-sheet-view": {
+            template: "#cheat-sheet-view-template",
+            data: function() {
+                return {
+                    showUnimplemented: false
+                };
+            },
+        },
    },

    watch: {
@@ -171,25 +166,6 @@ module.exports = new Vue({
            localStorage.setItem("display_units", value);
            SvelteComponents.setDisplayUnits(value);
        },
-
-        // Mirror controller messages into a console log used by the
-        // Console > Messages tab and the header badge counter.
-        "state.messages": {
-            handler: function(messages) {
-                if (!Array.isArray(messages)) return;
-                this.messages_log = messages.map(m => ({
-                    text: m.text,
-                    id: m.id,
-                    level: /^#/.test(m.text || "") ? "info" : "warning",
-                    ts: m.ts || Date.now(),
-                }));
-                if (this.top_tab === "console" && this.sub_tab === "messages") {
-                    this.messages_seen = this.messages_log.length;
-                }
-            },
-            deep: true,
-            immediate: true,
-        },
    },

    events: {
@@ -251,19 +227,6 @@ module.exports = new Vue({
    },

    computed: {
-        // True when the UI is in kiosk mode — i.e. running on the
-        // controller's own onboard browser (Pi 3B at 1366x768) or
-        // explicitly forced via ?kiosk=1. Source-of-truth is the
-        // `kiosk-mode` class added to <html> by the inline script
-        // in index.pug, which already honors hostname + URL param +
-        // localStorage. The Pi's VideoCore IV is too slow for the
-        // three.js toolpath preview, so we suppress that panel in
-        // kiosk mode and let the gcode listing take the full width.
-        is_kiosk: function() {
-            return typeof document !== "undefined"
-                && document.documentElement.classList.contains("kiosk-mode");
-        },
-
        popupMessages: function() {
            const msgs = [];

@@ -289,130 +252,18 @@ module.exports = new Vue({
        enable_rotary: function() {
            if(this.state["2an"] == 1 || this.state["2an"] == 3) return true;
            return false;
-        },
-
-        // ---------------- header chrome helpers ----------------
-
-        // Underlying machine state from the controller. Mirrors
-        // control-view's `mach_state` so the header has access without
-        // depending on the routed component.
-        mach_state: function() {
-            const cycle = this.state.cycle;
-            const xx = this.state.xx;
-
-            if (xx != "ESTOPPED" && (cycle == "jogging" || cycle == "homing")) {
-                return cycle.toUpperCase();
-            }
-
-            return xx || "";
-        },
-
-        // Short text for the READY pill in the header.
-        state_label: function() {
-            const s = this.mach_state;
-            if (!s) return "--";
-            return s;
-        },
-
-        // Class added to the READY pill (.state-badge) so styling can
-        // reflect ready / running / holding / fault / estop.
-        state_class: function() {
-            const s = this.mach_state;
-            if (s == "ESTOPPED" || s == "FAULT" || s == "SHUTDOWN") return "bad";
-            if (s == "HOLDING" || s == "STOPPING") return "warn";
-            if (s == "RUNNING" || s == "HOMING" || s == "JOGGING") return "busy";
-            if (s == "READY") return "ok";
-            return "unknown";
-        },
-
-        mach_state_full: function() {
-            const s = this.mach_state;
-            if (s == "ESTOPPED") return "E-Stopped \u2014 release to clear";
-            if (s == "HOLDING")  return "Feed hold (" + (this.state.pr || "paused") + ")";
-            if (s == "RUNNING")  return "Running program";
-            if (s == "HOMING")   return "Homing axes";
-            if (s == "JOGGING")  return "Jogging";
-            if (s == "READY")    return "Ready";
-            return s;
-        },
-
-        // Pip color for the unified system pill.
-        sys_class: function() {
-            const wifi_off = !this.config.wifiName || this.config.wifiName == "not connected";
-            const cam_off  = !this.has_camera;
-            const hot      = this.state && 80 <= this.state.rpi_temp;
-            if (hot) return "red";
-            if (wifi_off || cam_off) return "amber";
-            return "green";
-        },
-
-        // Compact summary for the system pill.
-        sys_summary: function() {
-            const issues = [];
-            if (!this.config.wifiName || this.config.wifiName == "not connected") {
-                issues.push("WiFi off");
-            }
-            if (!this.has_camera) issues.push("Camera offline");
-            if (this.state && 80 <= this.state.rpi_temp) issues.push("Pi hot");
-            if (this.is_rotary_active) issues.push("Rotary");
-            if (issues.length === 0) return "All systems";
-            if (issues.length === 1) return issues[0];
-            return issues.length + " notes";
-        },
-
-        // Number of unread Console > Messages entries.
-        messages_count: function() {
-            return Math.max(0, this.messages_log.length - this.messages_seen);
-        },
+        }
    },

    ready: function() {
        window.onhashchange = () => this.parse_hash();
-
-        // Embedded Svelte subviews (A axis settings, etc.) signal
-        // unsaved changes via this event. The master Save button
-        // highlights when modified is true.
-        window.addEventListener("onefin:dirty", () => {
-            this.modified = true;
-        });
-
-
-
-        // Resolve the initial route before the websocket connects so
-        // the shell shows the right view even on a slow / offline
-        // controller. update() will call parse_hash() again once the
-        // first config is in. Skip routing into the Svelte settings
-        // family before config has loaded — those components read
-        // many config keys (settings.units, settings.probing-prompts,
-        // motion.*, etc.) and would throw on first paint with the
-        // empty placeholder config.
-        const settingsFamily = [
-            "settings", "probing", "gcode",
-            "admin-general", "admin-network",
-            "motor", "tool", "io", "macros",
-            "help", "cheat-sheet",
-        ];
-        const initialHead = (location.hash || "").replace(/^#/, "").split(":")[0];
-        if (settingsFamily.indexOf(initialHead) === -1) {
-            this.parse_hash();
-        }
-        // else: stay on "loading" until update() completes and calls
-        // parse_hash() itself.
-
        this.connect();

-        // Close the system popover when clicking anywhere else.
-        document.addEventListener("click", () => {
-            if (this.sys_open) this.sys_open = false;
-        });
-
        SvelteComponents.registerControllerMethods({
            dispatch: (...args) => this.$dispatch(...args)
        });
    },

-
-
    methods: {
        block_error_dialog: function() {
            this.errorTimeoutStart = Date.now();
@@ -487,12 +338,6 @@ module.exports = new Vue({
        toggle_rotary: async function(isActive) {
            try {
                await api.put("rotary", {status: isActive});
-                // The /api/rotary endpoint rewrites motors[1]/[2]
-                // in config.json on the server. Refetch so the UI
-                // reflects the new motor config (otherwise the
-                // motor settings page keeps showing pre-toggle
-                // values until the next page reload).
-                await this.update();
              } catch (error) {
                console.error(error);
                alert("Error occured");
@@ -527,19 +372,11 @@ module.exports = new Vue({
        connect: function() {
            this.sock = new Sock(`//${location.host}/sockjs`);

-            let _gotFirstMsg = false;
-            let _gotFirstState = false;
-
            this.sock.onmessage = (e) => {
                if (typeof e.data != "object") {
                    return;
                }

-                if (!_gotFirstMsg) {
-                    _gotFirstMsg = true;
-                    restartTiming.onWsFirstMessage();
-                }
-
                if (e.data.log && e.data.log.msg !== "Switch not found") {
                    this.$broadcast("log", e.data.log);

@@ -549,11 +386,6 @@ module.exports = new Vue({
                    }
                }

-                if (!_gotFirstState) {
-                    _gotFirstState = true;
-                    restartTiming.onFirstState();
-                }
-
                // Check for session ID change on controller
                if ("sid" in e.data) {
                    if (typeof this.sid == "undefined") {
@@ -578,7 +410,6 @@ module.exports = new Vue({

            this.sock.onopen = () => {
                this.status = "connected";
-                restartTiming.onWsOpen();
                this.$emit(this.status);
                this.$broadcast(this.status);
            };
@@ -590,21 +421,6 @@ module.exports = new Vue({
            };
        },

-        // Maps a URL hash to (currentView, top_tab, sub_tab, index).
-        // Hash layouts supported (all kept for backward compat):
-        //   #control                    -> control tab
-        //   #program[:auto]              -> program tab
-        //   #console[:mdi|messages|indicators]
-        //                                -> console tab
-        //   #settings                    -> settings tab home
-        //   #admin-general               -> settings tab, admin-general inside
-        //   #admin-network               -> settings tab, admin-network inside
-        //   #motor:0..3                  -> settings tab, motor 0..3
-        //   #tool                        -> settings tab, tool view
-        //   #io                          -> settings tab, io view
-        //   #macros                      -> settings tab, macros view
-        //   #help                        -> settings tab, help view
-        //   #cheat-sheet                 -> settings tab, cheat sheet view
        parse_hash: function() {
            const hash = location.hash.substr(1);

@@ -614,57 +430,12 @@ module.exports = new Vue({
            }

            const parts = hash.split(":");
-            const head = parts[0];

-            this.index = parts.length > 1 ? parts[1] : -1;
-
-            // Legacy / settings-managed views resolve under the
-            // Settings tab while keeping their existing top-level
-            // hash. This preserves all existing deep links.
-            const settingsViews = [
-                "settings", "probing", "gcode",
-                "admin-general", "admin-network",
-                "motor", "tool", "io", "macros",
-                "help", "cheat-sheet",
-            ];
-
-            if (head == "control") {
-                this.top_tab = "control";
-                this.sub_tab = "";
-                this.currentView = "control";
-            } else if (head == "program") {
-                this.top_tab = "program";
-                this.sub_tab = parts[1] || "auto";
-                this.currentView = "program";
-            } else if (head == "console") {
-                this.top_tab = "console";
-                this.sub_tab = parts[1] || "mdi";
-                this.currentView = "console";
-            } else if (settingsViews.indexOf(head) !== -1) {
-                this.top_tab = "settings";
-                this.sub_tab = head;
-                // All settings-family routes mount the same shell;
-                // shell picks inner view from sub_tab. Vary the
-                // currentView token so Vue 1 fully remounts the
-                // shell on every navigation — this avoids stale :class
-                // bindings against the local `sub` data prop.
-                this.currentView = "settings-shell";
-            } else {
-                // Unknown hash: route to settings shell anyway so we
-                // never end up rendering a bare loading screen.
-                this.top_tab = "settings";
-                this.sub_tab = head;
-                this.currentView = "settings-shell";
+            if (parts.length == 2) {
+                this.index = parts[1];
            }

-            // Mark Console messages as seen when we enter that tab.
-            if (this.top_tab == "console" && this.sub_tab == "messages") {
-                this.messages_seen = this.messages_log.length;
-            }
-        },
-
-        toggle_sys_popover: function() {
-            this.sys_open = !this.sys_open;
+            this.currentView = parts[0];
        },

        save: async function() {
--- a/src/js/console-view.js
+++ b/src/js/console-view.js
@@ -1,125 +0,0 @@
-"use strict";
-
-const api = require("./api");
-
-// Console tab — MDI command input, message log and live indicators.
-// Sub-tab state syncs with the URL hash (#console:mdi |
-// #console:messages | #console:indicators) so deep links work.
-
-module.exports = {
-  template: "#console-view-template",
-  props: ["config", "template", "state"],
-
-  data: function () {
-    return {
-      mdi: "",
-      history: [],
-      sub: "mdi",
-      // Local mirror of $root.messages_count so Vue 1 reactivity works.
-      unread_messages_local: 0,
-    };
-  },
-
-  watch: {
-    sub: function () {
-      // Switching to messages marks them as seen so the header badge
-      // clears.
-      if (this.sub === "messages") {
-        this.$root.messages_seen = this.$root.messages_log.length;
-        this.unread_messages_local = 0;
-      }
-    },
-  },
-
-  computed: {
-    unread_messages: function () {
-      return this.unread_messages_local;
-    },
-
-    mach_state: function () {
-      const cycle = this.state.cycle;
-      const xx = this.state.xx;
-      if (xx != "ESTOPPED" && (cycle == "jogging" || cycle == "homing")) {
-        return cycle.toUpperCase();
-      }
-      return xx || "";
-    },
-
-    is_idle: function () { return this.state.cycle == "idle"; },
-
-    can_mdi: function () {
-      return this.is_idle || this.state.cycle == "mdi";
-    },
-
-    mach_units: function () {
-      return this.$root.display_units;
-    },
-  },
-
-  ready: function () {
-    this._onHash = () => this.refresh_from_hash();
-    window.addEventListener("hashchange", this._onHash);
-    this.refresh_from_hash();
-    this._poll = setInterval(() => {
-      // Cheap re-poll for unread message count; Vue 1 cannot observe
-      // `$root.messages_count` directly so we mirror it here.
-      const c = this.$root && this.$root.messages_count;
-      if (typeof c === "number" && c !== this.unread_messages_local) {
-        this.unread_messages_local = c;
-      }
-    }, 500);
-  },
-
-  beforeDestroy: function () {
-    if (this._onHash) window.removeEventListener("hashchange", this._onHash);
-    if (this._poll) clearInterval(this._poll);
-  },
-
-  methods: {
-    refresh_from_hash: function () {
-      const hash = location.hash.substr(1);
-      const parts = hash.split(":");
-      const sub = parts[0] === "console" ? (parts[1] || "mdi") : "mdi";
-      this.sub = sub;
-      if (sub === "messages" && this.$root) {
-        this.$root.messages_seen = this.$root.messages_log.length;
-        this.unread_messages_local = 0;
-      }
-    },
-
-    select_sub: function (name) {
-      this.sub = name;
-      // Update URL hash for deep links / back-button.
-      const h = "#console" + (name && name !== "mdi" ? ":" + name : "");
-      if (location.hash !== h) {
-        history.replaceState(null, "", h);
-      }
-      if (name === "messages") {
-        this.$root.messages_seen = this.$root.messages_log.length;
-        this.unread_messages_local = 0;
-      }
-    },
-
-    prepend: function (token) {
-      this.mdi = token + this.mdi.trimStart();
-    },
-
-    append: function (token) {
-      const tail = this.mdi.endsWith(" ") || !this.mdi ? "" : " ";
-      this.mdi = this.mdi + tail + token;
-    },
-
-    submit_mdi: function () {
-      if (!this.mdi) return;
-      this.$dispatch("send", this.mdi);
-      if (!this.history.length || this.history[0] != this.mdi) {
-        this.history.unshift(this.mdi);
-      }
-      this.mdi = "";
-    },
-
-    load_history: function (index) {
-      this.mdi = this.history[index];
-    },
-  },
-};
--- a/src/js/control-view.js
+++ b/src/js/control-view.js
@@ -1,6 +1,7 @@
 "use strict";

 const api = require("./api");
+const utils = require("./utils");
 const cookie = require("./cookie")("bbctrl-");

 module.exports = {
@@ -11,7 +12,15 @@ module.exports = {
    return {
      current_time: "",
      mach_units: this.$root.state.metric ? "METRIC" : "IMPERIAL",
+      mdi: "",
+      last_file: undefined,
+      last_file_time: undefined,
+      toolpath: {},
+      toolpath_progress: 0,
      axes: "xyzabc",
+      history: [],
+      speed_override: 1,
+      feed_override: 1,
      jog_incr_amounts: {
        METRIC: {
          fine: 0.1,
@@ -29,14 +38,34 @@ module.exports = {
      jog_incr: localStorage.getItem("jog_incr") || "small",
      jog_step: cookie.get_bool("jog-step"),
      jog_adjust: parseInt(cookie.get("jog-adjust", 2)),
+      deleteGCode: false,
+      tab: "auto",
      ask_home: true,
+      folder_name: "",
+      edited: false,
+      uploading_files: false,
+      confirmDelete: false,
+      create_folder: false,
+      showGcodeMessage: false,
+      showNoGcodeMessage: false,
+      macrosLoading: false,
+      show_gcodes: false,
+      GCodeNotFound: false,
      show_probe_dialog: false,
-      overrides_open: false,
+      filesUploaded: 0,
+      totalFiles: 0,
+      files_sortby: "By Upload Date",
+      selected_items_to_delete: [],
+      search_query: "",
+      filtered_files: [],
+      selected_folder_index: null,
    };
  },

  components: {
    "axis-control": require("./axis-control"),
+    "path-viewer": require("./path-viewer"),
+    "gcode-viewer": require("./gcode-viewer"),
  },

  watch: {
@@ -51,6 +80,16 @@ module.exports = {
      immediate: true,
    },

+    "state.line": function () {
+      if (this.mach_state != "HOMING") {
+        this.$broadcast("gcode-line", this.state.line);
+      }
+    },
+
+    "state.selected_time": function () {
+      this.load();
+    },
+
    jog_step: function () {
      cookie.set_bool("jog-step", this.jog_step);
    },
@@ -88,16 +127,43 @@ module.exports = {
      return state || "";
    },

-    can_set_axis: function () {
-      return this.state.cycle == "idle";
+    pause_reason: function () {
+      return this.state.pr;
+    },
+
+    is_running: function () {
+      return this.mach_state == "RUNNING" || this.mach_state == "HOMING";
+    },
+
+    is_stopping: function () {
+      return this.mach_state == "STOPPING";
+    },
+
+    is_holding: function () {
+      return this.mach_state == "HOLDING";
+    },
+
+    is_ready: function () {
+      return this.mach_state == "READY";
    },

    is_idle: function () {
      return this.state.cycle == "idle";
    },

-    is_ready: function () {
-      return this.mach_state == "READY";
+    is_paused: function () {
+      return this.is_holding && (this.pause_reason == "User pause" || this.pause_reason == "Program pause");
+    },
+
+    can_mdi: function () {
+      return this.is_idle || this.state.cycle == "mdi";
+    },
+
+    can_set_axis: function () {
+      return this.is_idle;
+
+      // TODO allow setting axis position during pause
+      // return this.is_idle || this.is_paused;
    },

    message: function () {
@@ -125,21 +191,57 @@ module.exports = {
    },

    plan_time_remaining: function () {
-      const stopping = this.mach_state == "STOPPING";
-      const running  = this.mach_state == "RUNNING" || this.mach_state == "HOMING";
-      const holding  = this.mach_state == "HOLDING";
-      if (!(stopping || running || holding)) return 0;
-      const tp = this.$root && this.$root.toolpath ? this.$root.toolpath.time : 0;
-      return (tp || 0) - this.plan_time;
+      if (!(this.is_stopping || this.is_running || this.is_holding)) {
+        return 0;
+      }
+
+      return this.toolpath.time - this.plan_time;
    },

-    state_kpi_class: function () {
-      const s = this.mach_state;
-      if (s == "ESTOPPED" || s == "FAULT" || s == "SHUTDOWN") return "bad";
-      if (s == "HOLDING" || s == "STOPPING") return "warn";
-      if (s == "RUNNING" || s == "HOMING" || s == "JOGGING") return "busy";
-      if (s == "READY") return "ok";
-      return "";
+    eta: function () {
+      if (this.mach_state != "RUNNING") {
+        return "";
+      }
+
+      const remaining = this.plan_time_remaining;
+      const d = new Date();
+      d.setSeconds(d.getSeconds() + remaining);
+      return d.toLocaleString();
+    },
+
+    progress: function () {
+      if (!this.toolpath.time || this.is_ready) {
+        return 0;
+      }
+
+      const p = this.plan_time / this.toolpath.time;
+      return Math.min(1, p);
+    },
+    gcode_files: function () {
+      if (!this.state.folder) {
+        return [];
+      }
+      const folder = this.state.gcode_list.find(item => item.name == this.state.folder);
+      if (!folder) {
+        return [];
+      }
+      const files = folder.files.filter(item => this.state.files.includes(item.file_name)).map(item => item.file_name);
+      if (this.files_sortby == "A-Z") {
+        return files.sort();
+      } else if (this.files_sortby == "Z-A") {
+        return files.sort().reverse();
+      } else {
+        return files;
+      }
+    },
+    gcode_filtered_files: function () {
+      return this.filtered_files.filter(file => file.toLowerCase().includes(this.search_query.toLowerCase()));
+    },
+    gcode_folders: function () {
+      return this.state.gcode_list
+        .map(item => item.name)
+        .filter(element => element !== "default")
+        .sort();
    },
  },

@@ -162,9 +264,14 @@ module.exports = {
                M72
            `);
    },
+    folder_name_edited: function () {
+      this.edited = true;
+    },
  },

  ready: function () {
+    this.load();
+
    setInterval(() => {
      this.current_time = new Date().toLocaleTimeString();
    }, 1000);
@@ -180,37 +287,26 @@ module.exports = {
  },

  methods: {
+    save_config: async function (config) {
+      try {
+        await api.put("config/save", config);
+        this.$dispatch("update");
+      } catch (error) {
+        console.error("Restore Failed: ", error);
+        alert("Restore failed");
+      }
+    },
+
+    populateFiles(index) {
+      this.selected_folder_index = index;
+      this.filtered_files = this.state.gcode_list[index].files.map(item => item.file_name);
+    },
+
    getJogIncrStyle(value) {
      const weight = `font-weight:${this.jog_incr === value ? "bold" : "normal"}`;
      const color = this.jog_incr === value ? "color:#0078e7" : "";
-      return [weight, color].join(";");
-    },

-    // Should the macro row render a colored left stripe for this
-    // macro? Only when the user has explicitly picked a color. The
-    // controller seeds new macros with default placeholders like
-    // "#ffffff" or "#dedede"; treat anything that close to white as
-    // "no color".
-    has_macro_color(macros) {
-      if (!macros || typeof macros.color !== "string") return false;
-      const c = macros.color.trim().toLowerCase();
-      if (!c) return false;
-      const defaults = [
-        "#fff", "#ffffff", "#fefefe", "#fdfdfd", "#fcfcfc",
-        "#dedede", "#dddddd", "#cccccc",
-      ];
-      if (defaults.indexOf(c) !== -1) return false;
-      // Fallback: if the color is very close to white (sum of RGB
-      // > 690), suppress the stripe.
-      const m = c.match(/^#([0-9a-f]{6})$/);
-      if (m) {
-        const v = parseInt(m[1], 16);
-        const r = (v >> 16) & 0xff;
-        const g = (v >> 8) & 0xff;
-        const b = v & 0xff;
-        if (r + g + b > 690) return false;
-      }
-      return true;
+      return [weight, color].join(";");
    },

    jog_fn: function (x_jog, y_jog, z_jog, a_jog) {
@@ -228,6 +324,426 @@ module.exports = {
            `);
    },

+    send: function (msg) {
+      this.$dispatch("send", msg);
+    },
+
+    toggle_sorting: function () {
+      if (this.files_sortby === "By Upload Date") {
+        this.files_sortby = "A-Z";
+      } else if (this.files_sortby === "A-Z") {
+        this.files_sortby = "Z-A";
+      } else if (this.files_sortby === "Z-A") {
+        this.files_sortby = "By Upload Date";
+      }
+    },
+
+    load: function () {
+      const file_time = this.state.selected_time;
+      const file = this.state.selected;
+      if (this.last_file == file && this.last_file_time == file_time) {
+        return;
+      }
+
+      if (this.state.selected && !this.state.files.includes(this.state.selected)) {
+        this.GCodeNotFound = true;
+        return;
+      }
+
+      this.last_file = file;
+      this.last_file_time = file_time;
+
+      this.$broadcast("gcode-load", file);
+      this.$broadcast("gcode-line", this.state.line);
+      this.toolpath_progress = 0;
+      this.load_toolpath(file, file_time);
+    },
+
+    load_toolpath: async function (file, file_time) {
+      this.toolpath = {};
+
+      if (!file || this.last_file_time != file_time) {
+        return;
+      }
+
+      this.showGcodeMessage = true;
+
+      while (this.showGcodeMessage) {
+        try {
+          const toolpath = await api.get(`path/${file}`);
+          this.toolpath_progress = toolpath.progress;
+
+          if (toolpath.progress === 1 || typeof toolpath.progress == "undefined") {
+            this.showGcodeMessage = false;
+
+            if (toolpath.bounds) {
+              toolpath.filename = file;
+              this.toolpath_progress = 1;
+              this.toolpath = toolpath;
+
+              const state = this.$root.state;
+              for (const axis of "xyzabc") {
+                Vue.set(state, `path_min_${axis}`, toolpath.bounds.min[axis]);
+                Vue.set(state, `path_max_${axis}`, toolpath.bounds.max[axis]);
+              }
+            }
+          }
+        } catch (error) {
+          console.error(error);
+        }
+      }
+    },
+
+    submit_mdi: function () {
+      this.send(this.mdi);
+
+      if (!this.history.length || this.history[0] != this.mdi) {
+        this.history.unshift(this.mdi);
+      }
+
+      this.mdi = "";
+    },
+
+    mdi_start_pause: function () {
+      if (this.state.xx == "RUNNING") {
+        this.pause();
+      } else if (this.state.xx == "STOPPING" || this.state.xx == "HOLDING") {
+        this.unpause();
+      } else {
+        this.submit_mdi();
+      }
+    },
+
+    load_history: function (index) {
+      this.mdi = this.history[index];
+    },
+
+    open_file: function () {
+      utils.clickFileInput("gcode-file-input");
+    },
+
+    open_folder: function () {
+      utils.clickFileInput("gcode-folder-input");
+    },
+
+    edited_folder_name: function (event) {
+      if (event.target.value.trim() != "") {
+        this.$dispatch("folder_name_edited");
+      }
+    },
+
+    update_config: function () {
+      this.config.gcode_list = [...this.state.gcode_list];
+      this.config.non_macros_list = [...this.state.non_macros_list];
+      this.config.macros_list = [...this.state.macros_list];
+      this.config.macros = [...this.state.macros];
+    },
+
+    reset_gcode: function () {
+      this.state.selected = "";
+      this.last_file = "";
+      this.$broadcast("gcode-load", "");
+    },
+
+    upload_gcode: async function (filename, file) {
+      return new Promise((resolve, reject) => {
+        const xhr = new XMLHttpRequest();
+
+        this.filesUploaded++;
+        if (this.filesUploaded == this.totalFiles) {
+          this.uploading_files = false;
+        }
+
+        xhr.onload = () => {
+          if (xhr.status >= 200 && xhr.status < 300) {
+            resolve("file uploaded");
+          } else {
+            console.error("File upload failed:", xhr.statusText);
+            reject("upload failed");
+          }
+        };
+
+        xhr.onerror = () => {
+          alert("Upload failed.");
+          reject("upload failed");
+        };
+
+        xhr.open("PUT", `/api/file/${encodeURIComponent(filename)}`, true);
+        xhr.send(file);
+      });
+    },
+
+    readFile: function (file) {
+      return new Promise((resolve, reject) => {
+        const reader = new FileReader();
+
+        reader.onload = () => {
+          resolve(reader.result);
+        };
+
+        reader.onerror = error => {
+          reject(error);
+        };
+
+        reader.readAsText(file, "utf-8");
+      });
+    },
+
+    validateFiles: async function (files) {
+      const validFiles = [];
+      for (const file of files) {
+        const extension = file.name.split(".").pop().toLowerCase();
+        const validExtensions = ["nc", "ngc", "gcode", "gc"];
+
+        if (validExtensions.includes(extension)) {
+          validFiles.push(file);
+        } else {
+          alert(`Unsupported file : ${file.name}`);
+          this.filesUploaded++;
+          if (this.filesUploaded == this.totalFiles) {
+            this.uploadFiles = false;
+          }
+        }
+      }
+
+      return validFiles;
+    },
+
+    uploadValidFiles: async function (files, folderName) {
+      const updatedConfig = { ...this.config };
+
+      for (const file of files) {
+        try {
+          const gcode = await this.readFile(file);
+          await this.upload_gcode(file.name, gcode);
+
+          const isAlreadyPresent = updatedConfig.non_macros_list.some(element => element.file_name === file.name);
+
+          if (!isAlreadyPresent) {
+            updatedConfig.non_macros_list.push({ file_name: file.name });
+          }
+
+          if (folderName) {
+            const folder = updatedConfig.gcode_list.find(item => item.type == "folder" && item.name == folderName);
+            if (folder) {
+              if (!folder.files.map(item => item.file_name).includes(file.name)) {
+                folder.files.push({ file_name: file.name });
+              }
+            } else {
+              updatedConfig.gcode_list.push({
+                name: folderName,
+                type: "folder",
+                files: [
+                  {
+                    file_name: file.name,
+                  },
+                ],
+              });
+            }
+          } else {
+            var folder_to_add = updatedConfig.gcode_list.find(
+              item => item.type == "folder" && item.name == this.state.folder,
+            );
+            if (!folder_to_add) {
+              folder_to_add = updatedConfig.gcode_list.unshift({
+                name: this.state.folder,
+                type: "folder",
+                files: [
+                  {
+                    file_name: file.name,
+                  },
+                ],
+              });
+              folder_to_add = updatedConfig.gcode_list[0];
+            }
+            if (!folder_to_add.files.find(item => item.file_name == file.name)) {
+              folder_to_add.files.push({ file_name: file.name });
+            }
+          }
+        } catch (error) {
+          console.warn(`error uploading file : `, error);
+        }
+      }
+      return updatedConfig;
+    },
+
+    upload_files: async function (files, folderName) {
+      this.update_config();
+
+      const validFiles = await this.validateFiles(files);
+      const updatedConfig = await this.uploadValidFiles(validFiles, folderName);
+
+      await this.save_config(updatedConfig);
+    },
+
+    upload_file: async function (e) {
+      this.uploading_files = true;
+      this.filesUploaded = 0;
+
+      const files = e.target.files || e.dataTransfer.files;
+      if (!files.length) {
+        return;
+      }
+
+      this.totalFiles = files.length;
+
+      await this.upload_files(files);
+    },
+
+    create_new_folder: async function () {
+      const folder_name = this.folder_name.trim();
+      if (folder_name != "") {
+        if (this.state.gcode_list.find(item => item.type == "folder" && item.name == folder_name)) {
+          alert("Folder with the same name already exists!");
+          return;
+        } else {
+          this.update_config();
+          this.config.gcode_list.push({
+            name: folder_name,
+            type: "folder",
+            files: [],
+          });
+        }
+        this.state.folder = folder_name;
+        this.edited = false;
+        this.create_folder = false;
+        this.folder_name = "";
+        this.save_config(this.config);
+      }
+    },
+
+    cancel_new_folder: function () {
+      this.create_folder = false;
+      this.folder_name = "";
+    },
+
+    upload_folder: async function (e) {
+      this.uploading_files = true;
+      this.filesUploaded = 0;
+
+      const files = e.target.files || e.dataTransfer.files;
+      if (!files.length) {
+        return;
+      }
+      this.totalFiles = files.length;
+      const folderName = files[0].webkitRelativePath.split("/")[0];
+
+      this.upload_files(files, folderName);
+    },
+
+    delete_current: async function () {
+      if (!this.state.selected) {
+        this.deleteGCode = false;
+        return;
+      }
+
+      this.update_config();
+
+      this.config.non_macros_list = this.config.non_macros_list.filter(
+        item => !this.selected_items_to_delete.includes(item.file_name),
+      );
+      const folder_to_update = this.config.gcode_list.find(
+        item => item.name == this.config.gcode_list[this.selected_folder_index].name && item.type == "folder",
+      );
+      folder_to_update.files = folder_to_update.files.filter(
+        item => !this.selected_items_to_delete.includes(item.file_name),
+      );
+
+      const exception_list = this.state.macros_list.map(item => item.file_name);
+      let files_to_delete = this.selected_items_to_delete.filter(item => !exception_list.includes(item));
+
+      await api.delete(`file/DINCAIQABiDARixAxiABDIHCAMQABiABDIHCAQQABiABDIH${files_to_delete.toString()}`);
+
+      this.save_config(this.config);
+      this.filtered_files = [];
+      this.search_query = "";
+      this.selected_folder_index = null;
+      this.selected_items_to_delete = [];
+      this.deleteGCode = false;
+    },
+
+    cancel_delete: function () {
+      this.filtered_files = [];
+      this.search_query = "";
+      this.selected_folder_index = null;
+      this.selected_items_to_delete = [];
+      this.deleteGCode = false;
+    },
+
+    delete_all: function () {
+      api.delete("file");
+      this.deleteGCode = false;
+    },
+
+    delete_all_except_macros: async function () {
+      this.update_config();
+      const macrosList = this.state.macros_list.map(item => item.file_name).toString();
+      api.delete(`file/EgZjaHJvbWUqCggBEAAYsQMYgAQyBggAEEUYOTIKCAE${macrosList}`);
+      this.config.non_macros_list = [];
+      this.config.gcode_list = [
+        {
+          name: "default",
+          type: "folder",
+          files: [],
+        },
+      ];
+
+      this.save_config(this.config);
+      this.state.folder = "default";
+      this.state.selected = "";
+      this.selected_items_to_delete = [];
+      this.deleteGCode = false;
+    },
+
+    delete_folder: async function () {
+      this.update_config();
+      if (this.state.folder && this.state.folder != "default") {
+        const files_to_move = this.config.gcode_list.find(
+          item => item.type == "folder" && item.name == this.state.folder,
+        );
+        if (files_to_move) {
+          const default_folder = this.config.gcode_list.find(item => item.name == "default");
+          default_folder.files = [...default_folder.files, ...files_to_move.files].sort();
+          this.config.gcode_list = this.config.gcode_list.filter(item => item.name != this.state.folder);
+          this.save_config(this.config);
+        }
+      }
+      this.state.folder = "default";
+      this.confirmDelete = false;
+    },
+    delete_folder_and_files: async function () {
+      if (!this.state.folder) {
+        this.confirmDelete = false;
+        return;
+      }
+
+      this.update_config();
+
+      const selected_folder = this.config.gcode_list.find(
+        item => item.type == "folder" && item.name == this.state.folder,
+      );
+      if (!selected_folder) {
+        return;
+      }
+      const macrosList = this.state.macros_list.map(item => item.file_name);
+      var files_to_delete = selected_folder.files
+        .map(item => item.file_name)
+        .filter(item => !macrosList.includes(item));
+      if (selected_folder.name != "default") {
+        this.config.gcode_list = this.config.gcode_list.filter(item => item.name != this.state.folder);
+      } else {
+        selected_folder.files = [];
+      }
+
+      await api.delete(`file/DINCAIQABiDARixAxiABDIHCAMQABiABDIHCAQQABiABDIH${files_to_delete.toString()}`);
+      this.config.non_macros_list = this.config.non_macros_list.filter(
+        item => !files_to_delete.includes(item.file_name),
+      );
+      this.save_config(this.config);
+      this.state.folder = "default";
+      this.confirmDelete = false;
+    },
+
    home: function (axis) {
      this.ask_home = false;

@@ -249,15 +765,6 @@ module.exports = {
      api.put(`home/${axis}/clear`);
    },

-    home_all: async function () {
-      this.ask_home = false;
-      try {
-        await api.put("home");
-      } catch (e) {
-        console.error("Home all failed:", e);
-      }
-    },
-
    show_set_position: function (axis) {
      SvelteComponents.showDialog("SetAxisPosition", { axis });
    },
@@ -283,20 +790,93 @@ module.exports = {
    },

    zero: function (axis) {
-      if (typeof axis == "undefined") this.zero_all();
-      else this.set_position(axis, 0);
+      if (typeof axis == "undefined") {
+        this.zero_all();
+      } else {
+        this.set_position(axis, 0);
+      }
+    },
+
+    start_pause: function () {
+      this.macrosLoading = false;
+      if (this.state.xx == "RUNNING") {
+        this.pause();
+      } else if (this.state.xx == "STOPPING" || this.state.xx == "HOLDING") {
+        this.unpause();
+      } else {
+        this.start();
+      }
+    },
+
+    start: function () {
+      api.put("start");
+    },
+
+    pause: function () {
+      api.put("pause");
+    },
+
+    unpause: function () {
+      api.put("unpause");
+    },
+
+    optional_pause: function () {
+      api.put("pause/optional");
+    },
+
+    stop: function () {
+      api.put("stop");
+    },
+
+    step: function () {
+      api.put("step");
+    },
+
+    override_feed: function () {
+      api.put(`override/feed/${this.feed_override}`);
+    },
+
+    override_speed: function () {
+      api.put(`override/speed/${this.speed_override}`);
+    },
+
+    current: function (axis, value) {
+      const x = value / 32.0;
+      if (this.state[`${axis}pl`] == x) {
+        return;
+      }
+
+      const data = {};
+      data[`${axis}pl`] = x;
+      this.send(JSON.stringify(data));
    },

    showProbeDialog: function (probeType) {
-      if (this.show_probe_dialog) {
+      if(this.show_probe_dialog){
        this.show_probe_dialog = false;
      }
-      SvelteComponents.showDialog("Probe", {
-        probeType,
-        isRotaryActive: this.state["2an"] == 3,
-      });
+      SvelteComponents.showDialog("Probe", { probeType, isRotaryActive: this.state["2an"] == 3 });
+    },
+    run_macro: function (id) {
+      if (this.state.macros[id].file_name == "default") {
+        this.showNoGcodeMessage = true;
+      } else {
+        if (this.state.macros[id].file_name != this.state.selected) {
+          this.state.selected = this.state.macros[id].file_name;
+        }
+        try {
+          this.load();
+          if (this.state.macros[id].alert == true) {
+            this.macrosLoading = true;
+          } else {
+            setImmediate(() => this.start_pause());
+          }
+        } catch (error) {
+          console.warn("Error running program: ", error);
+        }
+      }
    },
  },

-  mixins: [require("./program-mixin"), require("./axis-vars")],
+  mixins: [require("./axis-vars")],
 };
--- a/src/js/io-indicator.js
+++ b/src/js/io-indicator.js
@@ -49,17 +49,14 @@ module.exports = {
    methods: {
        get_io_state_class: function(active, state) {
            if (typeof active == "undefined" || typeof state == "undefined") {
-                return "fa-triangle-exclamation warn";
+                return "fa-exclamation-triangle warn";
            }

-            // Tristated: render as the regular (outline) circle to
-            // distinguish from active/inactive solid circles. Adding
-            // `far` switches to the FA6 regular family.
            if (state == 2) {
-                return "far fa-circle";
+                return "fa-circle-o";
            }

-            const icon = state ? "fa-circle-plus" : "fa-circle-minus";
+            const icon = state ? "fa-plus-circle" : "fa-minus-circle";
            return `${icon} ${active ? "active" : "inactive"}`;
        },

--- a/src/js/main.js
+++ b/src/js/main.js
@@ -44,16 +44,6 @@ window.onload = function() {
        cookie_set("client-id", uuid(), 10000);
    }

-    // Vue 1's async queue can drop dependent watcher updates when
-    // data props are mutated outside the normal event flow (e.g. from
-    // a `hashchange` listener that fires before Vue's tick scheduler
-    // has caught up). Disable async batching so every reactive write
-    // synchronously re-evaluates dependents — this matches Vue 1's
-    // older default and is what the legacy UI implicitly relied on.
-    if (Vue.config) {
-        Vue.config.async = false;
-    }
-
    // Register global components
    Vue.component("templated-input", require("./templated-input"));
    Vue.component("message", require("./message"));
--- a/src/js/motor-view.js
+++ b/src/js/motor-view.js
@@ -87,16 +87,100 @@ module.exports = {
            return this.stallRPM * this.stepsPerRev * ustep / 60;
        },

-        // NOTE: do not add `current_xxx` computed props that mirror
-        // controller state vars (`<idx>vm`, `<idx>am`, …) and pair
-        // them with watchers that copy state -> motor config. The
-        // controller streams those vars continuously over the WS;
-        // any watcher that writes them back into
-        // `config.motors[index]` will clobber whatever the user is
-        // typing into the form between websocket ticks. The form
-        // edits config directly; Save (app.js) PUTs it to the
-        // server. The server-side rotary toggle is handled by
-        // refetching config after the PUT, not by watching state.
+        current_axis: function() {
+            return this.state[this.index + 'an'];
+        },
+
+        current_max_velocity: function() {
+            return this.state[this.index + 'vm'];
+        },
+
+        current_max_soft_limit: function() {
+            return this.state[this.index + 'tm'];
+        },
+
+        current_min_soft_limit: function() {
+            return this.state[this.index + 'tn'];
+        },
+        current_max_accel: function() {
+            return this.state[this.index + 'am'];
+        },
+        current_max_jerk: function() {
+            return this.state[this.index + 'jm'];
+        },
+        current_step_angle: function() {
+            return this.state[this.index + 'sa'];
+        },
+        current_travel_per_rev: function() {
+            return this.state[this.index + 'tr'];
+        },
+        current_microsteps: function() {
+            return this.state[this.index + 'mi'];
+        }
+    },
+
+    attached: function() {
+        // Sync all state values with motor config when component is ready
+        // This ensures UI shows correct values when component is first loaded
+        console.log("Syncing state to motor config for motor index ",this.index);
+        this.syncStateToConfig();
+    },
+
+    watch: {
+        current_axis(new_value) {
+            const motor_axes = ["X", "Y", "Z", "A", "B", "C"] 
+            if(motor_axes[new_value] != this.motor['axis']){
+                this.motor['axis'] = motor_axes[new_value];
+            }
+        },
+
+        current_max_velocity(new_value) {
+            if(new_value != this.motor['max-velocity']) {
+                this.motor['max-velocity'] = new_value;
+            }
+        },
+
+        current_max_soft_limit(new_value) {
+            if(new_value != this.motor['max-soft-limit']) {
+                this.motor['max-soft-limit'] = new_value;
+            }
+        },
+
+        current_min_soft_limit(new_value) {
+            if(new_value != this.motor['min-soft-limit']) {
+                this.motor['min-soft-limit'] = new_value;
+            }
+        },
+
+        current_max_accel(new_value) {
+            if(new_value != this.motor['max-accel']) {
+                this.motor['max-accel'] = new_value;
+            }
+        },
+        
+        current_max_jerk(new_value) {
+            if(new_value != this.motor['max-jerk']) {
+                this.motor['max-jerk'] = new_value;
+            }
+        },
+        
+        current_step_angle(new_value) {
+            if(new_value != this.motor['step-angle']) {
+                this.motor['step-angle'] = new_value;
+            }
+        },
+        
+        current_travel_per_rev(new_value) {
+            if(new_value != this.motor['travel-per-rev']) {
+                this.motor['travel-per-rev'] = new_value;
+            }
+        },
+        
+        current_microsteps(new_value) {
+            if(new_value != this.motor['microsteps']) {
+                this.motor['microsteps'] = new_value;
+            }
+        }
    },

    events: {
@@ -126,6 +210,45 @@ module.exports = {
            }

            return templ.hmodes.indexOf(this.motor["homing-mode"]) != -1;
+        },
+
+        syncStateToConfig: function() {
+            // Force sync all state values to motor config
+            // This ensures the UI reflects the current state even if changes happened while component was unmounted
+
+            if(this.state == undefined) {
+                console.log("State is undefined");
+                return;
+            }
+            
+            if (this.state[this.index + 'an'] != this.motor['axis']) {
+                const motor_axes = ["X", "Y", "Z", "A", "B", "C"];
+                this.$set('motor["axis"]', motor_axes[this.state[this.index + 'an']]);
+            }
+            if (this.state[this.index + 'vm'] != this.motor['max-velocity']) {
+                this.$set('motor["max-velocity"]', this.state[this.index + 'vm']);
+            }
+            if (this.state[this.index + 'tm'] != this.motor['max-soft-limit']) {
+                this.$set('motor["max-soft-limit"]', this.state[this.index + 'tm']);
+            }
+            if (this.state[this.index + 'tn'] != this.motor['min-soft-limit']) {
+                this.$set('motor["min-soft-limit"]', this.state[this.index + 'tn']);
+            }
+            if (this.state[this.index + 'am'] != this.motor['max-accel']) {
+                this.$set('motor["max-accel"]', this.state[this.index + 'am']);
+            }
+            if (this.state[this.index + 'jm'] != this.motor['max-jerk']) {
+                this.$set('motor["max-jerk"]', this.state[this.index + 'jm']);
+            }
+            if (this.state[this.index + 'sa'] != this.motor['step-angle']) {
+                this.$set('motor["step-angle"]', this.state[this.index + 'sa']);
+            }
+            if (this.state[this.index + 'tr'] != this.motor['travel-per-rev']) {
+                this.$set('motor["travel-per-rev"]', this.state[this.index + 'tr']);
+            }
+            if (this.state[this.index + 'mi'] != this.motor['microsteps']) {
+                this.$set('motor["microsteps"]', this.state[this.index + 'mi']);
+            }
        }
    }
 };
--- a/src/js/orbit.js
+++ b/src/js/orbit.js
@@ -683,16 +683,12 @@ const OrbitControls = function(object, domElement) {
        event.preventDefault();
    }

-    // Chrome treats touch/wheel listeners as passive by default,
-    // which prevents OrbitControls.preventDefault() from suppressing
-    // page panning while interacting with the 3D viewer. Pass
-    // {passive: false} on the events that need to call preventDefault.
    scope.domElement.addEventListener("contextmenu", onContextMenu, false);
    scope.domElement.addEventListener("mousedown", onMouseDown, false);
-    scope.domElement.addEventListener("wheel", onMouseWheel, { passive: false });
-    scope.domElement.addEventListener("touchstart", onTouchStart, { passive: false });
+    scope.domElement.addEventListener("wheel", onMouseWheel, false);
+    scope.domElement.addEventListener("touchstart", onTouchStart, false);
    scope.domElement.addEventListener("touchend", onTouchEnd, false);
-    scope.domElement.addEventListener("touchmove", onTouchMove, { passive: false });
+    scope.domElement.addEventListener("touchmove", onTouchMove, false);
    window.addEventListener("keydown", onKeyDown, false);

    this.update(); // force an update at start
--- a/src/js/path-viewer.js
+++ b/src/js/path-viewer.js
@@ -101,13 +101,6 @@ module.exports = {
        Vue.nextTick(this.update);
    },

-    beforeDestroy: function() {
-        if (this._sizeWatcher) {
-            this._sizeWatcher.disconnect();
-            this._sizeWatcher = null;
-        }
-    },
-
    methods: {
        update: async function() {
            if (!this.webglAvailable) {
@@ -208,12 +201,6 @@ module.exports = {
            }

            const dims = this.get_dims();
-            // Skip layouts where the target has no measurable size.
-            // The render loop guard below will not draw frames until
-            // a real size has been observed at least once.
-            if (!(dims.width > 0 && dims.height > 0)) {
-                return;
-            }

            this.camera.aspect = dims.width / dims.height;
            this.camera.updateProjectionMatrix();
@@ -287,23 +274,12 @@ module.exports = {
            }

            try {
-                // Renderer. Use an opaque canvas with a clear color
-                // that matches the page-side gradient so the moment
-                // the canvas is appended (and before the first 3D
-                // frame is drawn) the user does not see a flash from
-                // the page background through transparency.
-                this.renderer = new THREE.WebGLRenderer({
-                    antialias: true,
-                    alpha: false,
-                });
+                // Renderer
+                this.renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
                this.renderer.setPixelRatio(window.devicePixelRatio);
-                this.renderer.setClearColor(0x222222, 1);
-                // Same color on the DOM element itself so the very
-                // first paint (before the WebGL context has cleared)
-                // is dark too.
-                this.renderer.domElement.style.background = "#222222";
-                this.renderer.domElement.style.display = "block";
+                this.renderer.setClearColor(0, 0);
                this.target.appendChild(this.renderer.domElement);
+
            } catch (e) {
                console.log("WebGL not supported: ", e);
                return;
@@ -357,46 +333,8 @@ module.exports = {
            // Events
            window.addEventListener("resize", this.update_view, false);

-            // Start the render loop only after the target has a real,
-            // stable size. Without this, the first frame paints into
-            // a 0×0 / collapsed-flex canvas and a second frame paints
-            // again at the right size — visible as a flash on the
-            // very first mount of the Program tab.
-            const startRendering = () => {
-                if (this._rendering) return;
-                this._rendering = true;
-                this.update_view();
-                this.render();
-            };
-
-            const dims = this.get_dims();
-            if (dims.width > 0 && dims.height > 0) {
-                startRendering();
-            } else if (typeof ResizeObserver !== "undefined") {
-                this._sizeWatcher = new ResizeObserver(entries => {
-                    for (const entry of entries) {
-                        const r = entry.contentRect;
-                        if (r.width > 0 && r.height > 0) {
-                            this._sizeWatcher.disconnect();
-                            this._sizeWatcher = null;
-                            startRendering();
-                            return;
-                        }
-                    }
-                });
-                this._sizeWatcher.observe(this.target);
-            } else {
-                // Old browser fallback: poll for a non-zero size.
-                const tick = () => {
-                    const d = this.get_dims();
-                    if (d.width > 0 && d.height > 0) {
-                        startRendering();
-                    } else {
-                        requestAnimationFrame(tick);
-                    }
-                };
-                requestAnimationFrame(tick);
-            }
+            // Start it
+            this.render();
        },

        create_surface_material: function() {
@@ -708,14 +646,6 @@ module.exports = {
                return;
            }

-            // Don't paint frames while the target has no size; this
-            // prevents an initial single-frame clear from painting
-            // before the layout has settled (visible as a dark flash).
-            const dims = this.get_dims();
-            if (!(dims.width > 0 && dims.height > 0)) {
-                return;
-            }
-
            if (this.controls.update() || this.dirty) {
                this.dirty = false;
                this.renderer.render(this.scene, this.camera);
--- a/src/js/program-mixin.js
+++ b/src/js/program-mixin.js
@@ -1,607 +0,0 @@
-"use strict";
-
-// Shared data, computed properties and methods that are used by both
-// the Control view (for things like start/stop, run-macro, axis state)
-// and the Program view (RUN/STOP/Upload/Download/Delete + file picker
-// + gcode/path viewers). Splitting these out lets us mount the same
-// behaviour under two top-level routes without duplicating code.
-//
-// The mixin intentionally does *not* require axis-vars; control-view
-// keeps that one to itself.
-
-const api = require("./api");
-const utils = require("./utils");
-
-module.exports = {
-  data: function () {
-    return {
-      mdi: "",
-      last_file: undefined,
-      last_file_time: undefined,
-      toolpath: {},
-      toolpath_progress: 0,
-      history: [],
-      speed_override: 1,
-      feed_override: 1,
-      deleteGCode: false,
-      folder_name: "",
-      edited: false,
-      uploading_files: false,
-      confirmDelete: false,
-      create_folder: false,
-      showGcodeMessage: false,
-      showNoGcodeMessage: false,
-      macrosLoading: false,
-      show_gcodes: false,
-      GCodeNotFound: false,
-      filesUploaded: 0,
-      totalFiles: 0,
-      files_sortby: "By Upload Date",
-      selected_items_to_delete: [],
-      search_query: "",
-      filtered_files: [],
-      selected_folder_index: null,
-    };
-  },
-
-  watch: {
-    "state.line": function () {
-      if (this.mach_state != "HOMING") {
-        this.$broadcast("gcode-line", this.state.line);
-      }
-    },
-
-    "state.selected_time": function () {
-      this.load();
-    },
-  },
-
-  computed: {
-    is_running: function () {
-      return this.mach_state == "RUNNING" || this.mach_state == "HOMING";
-    },
-
-    is_stopping: function () {
-      return this.mach_state == "STOPPING";
-    },
-
-    is_holding: function () {
-      return this.mach_state == "HOLDING";
-    },
-
-    is_ready: function () {
-      return this.mach_state == "READY";
-    },
-
-    is_idle: function () {
-      return this.state.cycle == "idle";
-    },
-
-    // True only while a loaded G-code program is actually being
-    // executed (running, paused/holding, or stopping). Excludes
-    // jogging, homing, probing, MDI commands and other one-off
-    // motion that also leave state.xx == "RUNNING" but must not
-    // swap the jog grid out for the "Now Running" panel.
-    //
-    // Distinguishing signal is state.cycle:
-    //   - "idle"    : nothing happening
-    //   - "jogging" : user-initiated jog
-    //   - "homing"  : home cycle
-    //   - "probing" : probe cycle
-    //   - "mdi"     : single MDI command
-    //   - "running" : an actual loaded program is being run
-    // Only "running" (combined with a selected file) is what we want.
-    is_program_executing: function () {
-      if (!this.state) return false;
-      const xx = this.state.xx;
-      const cycle = this.state.cycle;
-      const isExecState = xx == "RUNNING" || xx == "HOLDING" || xx == "STOPPING";
-      if (!isExecState) return false;
-      // The cycle string narrows it to a real program run; anything
-      // else (jogging / homing / probing / mdi) is a one-off.
-      if (cycle && cycle != "running" && cycle != "idle") return false;
-      return !!this.state.selected;
-    },
-
-    is_paused: function () {
-      return this.is_holding && (this.pause_reason == "User pause" || this.pause_reason == "Program pause");
-    },
-
-    can_mdi: function () {
-      return this.is_idle || this.state.cycle == "mdi";
-    },
-
-    pause_reason: function () {
-      return this.state.pr;
-    },
-
-    plan_time: function () {
-      return this.state.plan_time;
-    },
-
-    plan_time_remaining: function () {
-      if (!(this.is_stopping || this.is_running || this.is_holding)) {
-        return 0;
-      }
-      return this.toolpath.time - this.plan_time;
-    },
-
-    eta: function () {
-      if (this.mach_state != "RUNNING") {
-        return "";
-      }
-      const remaining = this.plan_time_remaining;
-      const d = new Date();
-      d.setSeconds(d.getSeconds() + remaining);
-      return d.toLocaleString();
-    },
-
-    progress: function () {
-      if (!this.toolpath.time || this.is_ready) {
-        return 0;
-      }
-      const p = this.plan_time / this.toolpath.time;
-      return Math.min(1, p);
-    },
-
-    gcode_files: function () {
-      if (!this.state.folder) return [];
-      const list = Array.isArray(this.state.gcode_list) ? this.state.gcode_list : [];
-      const folder = list.find(item => item.name == this.state.folder);
-      if (!folder) return [];
-      const stateFiles = Array.isArray(this.state.files) ? this.state.files : [];
-      const files = (folder.files || [])
-        .filter(item => stateFiles.includes(item.file_name))
-        .map(item => item.file_name);
-      if (this.files_sortby == "A-Z") return files.sort();
-      if (this.files_sortby == "Z-A") return files.sort().reverse();
-      return files;
-    },
-
-    gcode_filtered_files: function () {
-      return this.filtered_files.filter(file =>
-        file.toLowerCase().includes(this.search_query.toLowerCase()));
-    },
-
-    gcode_folders: function () {
-      const list = Array.isArray(this.state.gcode_list) ? this.state.gcode_list : [];
-      return list
-        .map(item => item.name)
-        .filter(element => element !== "default")
-        .sort();
-    },
-  },
-
-  methods: {
-    save_config: async function (config) {
-      try {
-        await api.put("config/save", config);
-        this.$dispatch("update");
-      } catch (error) {
-        console.error("Restore Failed: ", error);
-        alert("Restore failed");
-      }
-    },
-
-    populateFiles(index) {
-      this.selected_folder_index = index;
-      this.filtered_files = this.state.gcode_list[index].files.map(item => item.file_name);
-    },
-
-    send: function (msg) {
-      this.$dispatch("send", msg);
-    },
-
-    toggle_sorting: function () {
-      if (this.files_sortby === "By Upload Date") this.files_sortby = "A-Z";
-      else if (this.files_sortby === "A-Z") this.files_sortby = "Z-A";
-      else if (this.files_sortby === "Z-A") this.files_sortby = "By Upload Date";
-    },
-
-    load: function () {
-      const file_time = this.state.selected_time;
-      const file = this.state.selected;
-      if (this.last_file == file && this.last_file_time == file_time) return;
-
-      // state.files can be undefined briefly after connect, before the
-      // controller has pushed its file list. Skip the existence check
-      // until we have a list to consult.
-      const files = Array.isArray(this.state.files) ? this.state.files : null;
-      if (this.state.selected && files && !files.includes(this.state.selected)) {
-        this.GCodeNotFound = true;
-        return;
-      }
-
-      this.last_file = file;
-      this.last_file_time = file_time;
-
-      this.$broadcast("gcode-load", file);
-      this.$broadcast("gcode-line", this.state.line);
-      this.toolpath_progress = 0;
-      this.load_toolpath(file, file_time);
-    },
-
-    load_toolpath: async function (file, file_time) {
-      this.toolpath = {};
-      if (!file || this.last_file_time != file_time) return;
-
-      this.showGcodeMessage = true;
-
-      while (this.showGcodeMessage) {
-        try {
-          const toolpath = await api.get(`path/${file}`);
-          this.toolpath_progress = toolpath.progress;
-
-          if (toolpath.progress === 1 || typeof toolpath.progress == "undefined") {
-            this.showGcodeMessage = false;
-
-            if (toolpath.bounds) {
-              toolpath.filename = file;
-              this.toolpath_progress = 1;
-              this.toolpath = toolpath;
-
-              const state = this.$root.state;
-              for (const axis of "xyzabc") {
-                Vue.set(state, `path_min_${axis}`, toolpath.bounds.min[axis]);
-                Vue.set(state, `path_max_${axis}`, toolpath.bounds.max[axis]);
-              }
-            }
-          }
-        } catch (error) {
-          console.error(error);
-        }
-      }
-    },
-
-    submit_mdi: function () {
-      this.send(this.mdi);
-      if (!this.history.length || this.history[0] != this.mdi) {
-        this.history.unshift(this.mdi);
-      }
-      this.mdi = "";
-    },
-
-    mdi_start_pause: function () {
-      if (this.state.xx == "RUNNING") this.pause();
-      else if (this.state.xx == "STOPPING" || this.state.xx == "HOLDING") this.unpause();
-      else this.submit_mdi();
-    },
-
-    load_history: function (index) {
-      this.mdi = this.history[index];
-    },
-
-    open_file: function () {
-      utils.clickFileInput("gcode-file-input");
-    },
-
-    open_folder: function () {
-      utils.clickFileInput("gcode-folder-input");
-    },
-
-    edited_folder_name: function (event) {
-      if (event.target.value.trim() != "") {
-        this.$dispatch("folder_name_edited");
-      }
-    },
-
-    update_config: function () {
-      this.config.gcode_list = [...this.state.gcode_list];
-      this.config.non_macros_list = [...this.state.non_macros_list];
-      this.config.macros_list = [...this.state.macros_list];
-      this.config.macros = [...this.state.macros];
-    },
-
-    reset_gcode: function () {
-      this.state.selected = "";
-      this.last_file = "";
-      this.$broadcast("gcode-load", "");
-    },
-
-    upload_gcode: async function (filename, file) {
-      return new Promise((resolve, reject) => {
-        const xhr = new XMLHttpRequest();
-        this.filesUploaded++;
-        if (this.filesUploaded == this.totalFiles) {
-          this.uploading_files = false;
-        }
-        xhr.onload = () => {
-          if (xhr.status >= 200 && xhr.status < 300) resolve("file uploaded");
-          else { console.error("File upload failed:", xhr.statusText); reject("upload failed"); }
-        };
-        xhr.onerror = () => { alert("Upload failed."); reject("upload failed"); };
-        xhr.open("PUT", `/api/file/${encodeURIComponent(filename)}`, true);
-        xhr.send(file);
-      });
-    },
-
-    readFile: function (file) {
-      return new Promise((resolve, reject) => {
-        const reader = new FileReader();
-        reader.onload = () => resolve(reader.result);
-        reader.onerror = error => reject(error);
-        reader.readAsText(file, "utf-8");
-      });
-    },
-
-    validateFiles: async function (files) {
-      const validFiles = [];
-      for (const file of files) {
-        const extension = file.name.split(".").pop().toLowerCase();
-        const validExtensions = ["nc", "ngc", "gcode", "gc"];
-        if (validExtensions.includes(extension)) {
-          validFiles.push(file);
-        } else {
-          alert(`Unsupported file : ${file.name}`);
-          this.filesUploaded++;
-          if (this.filesUploaded == this.totalFiles) {
-            this.uploadFiles = false;
-          }
-        }
-      }
-      return validFiles;
-    },
-
-    uploadValidFiles: async function (files, folderName) {
-      const updatedConfig = { ...this.config };
-
-      for (const file of files) {
-        try {
-          const gcode = await this.readFile(file);
-          await this.upload_gcode(file.name, gcode);
-
-          const isAlreadyPresent = updatedConfig.non_macros_list.some(element => element.file_name === file.name);
-          if (!isAlreadyPresent) {
-            updatedConfig.non_macros_list.push({ file_name: file.name });
-          }
-
-          if (folderName) {
-            const folder = updatedConfig.gcode_list.find(item => item.type == "folder" && item.name == folderName);
-            if (folder) {
-              if (!folder.files.map(item => item.file_name).includes(file.name)) {
-                folder.files.push({ file_name: file.name });
-              }
-            } else {
-              updatedConfig.gcode_list.push({
-                name: folderName,
-                type: "folder",
-                files: [{ file_name: file.name }],
-              });
-            }
-          } else {
-            var folder_to_add = updatedConfig.gcode_list.find(
-              item => item.type == "folder" && item.name == this.state.folder,
-            );
-            if (!folder_to_add) {
-              folder_to_add = updatedConfig.gcode_list.unshift({
-                name: this.state.folder,
-                type: "folder",
-                files: [{ file_name: file.name }],
-              });
-              folder_to_add = updatedConfig.gcode_list[0];
-            }
-            if (!folder_to_add.files.find(item => item.file_name == file.name)) {
-              folder_to_add.files.push({ file_name: file.name });
-            }
-          }
-        } catch (error) {
-          console.warn(`error uploading file : `, error);
-        }
-      }
-      return updatedConfig;
-    },
-
-    upload_files: async function (files, folderName) {
-      this.update_config();
-      const validFiles = await this.validateFiles(files);
-      const updatedConfig = await this.uploadValidFiles(validFiles, folderName);
-      await this.save_config(updatedConfig);
-    },
-
-    upload_file: async function (e) {
-      this.uploading_files = true;
-      this.filesUploaded = 0;
-      const files = e.target.files || e.dataTransfer.files;
-      if (!files.length) return;
-      this.totalFiles = files.length;
-      await this.upload_files(files);
-    },
-
-    create_new_folder: async function () {
-      const folder_name = this.folder_name.trim();
-      if (folder_name != "") {
-        if (this.state.gcode_list.find(item => item.type == "folder" && item.name == folder_name)) {
-          alert("Folder with the same name already exists!");
-          return;
-        }
-        this.update_config();
-        this.config.gcode_list.push({
-          name: folder_name,
-          type: "folder",
-          files: [],
-        });
-        this.state.folder = folder_name;
-        this.edited = false;
-        this.create_folder = false;
-        this.folder_name = "";
-        this.save_config(this.config);
-      }
-    },
-
-    cancel_new_folder: function () {
-      this.create_folder = false;
-      this.folder_name = "";
-    },
-
-    upload_folder: async function (e) {
-      this.uploading_files = true;
-      this.filesUploaded = 0;
-      const files = e.target.files || e.dataTransfer.files;
-      if (!files.length) return;
-      this.totalFiles = files.length;
-      const folderName = files[0].webkitRelativePath.split("/")[0];
-      this.upload_files(files, folderName);
-    },
-
-    delete_current: async function () {
-      if (!this.state.selected) {
-        this.deleteGCode = false;
-        return;
-      }
-      this.update_config();
-
-      this.config.non_macros_list = this.config.non_macros_list.filter(
-        item => !this.selected_items_to_delete.includes(item.file_name),
-      );
-      const folder_to_update = this.config.gcode_list.find(
-        item => item.name == this.config.gcode_list[this.selected_folder_index].name && item.type == "folder",
-      );
-      folder_to_update.files = folder_to_update.files.filter(
-        item => !this.selected_items_to_delete.includes(item.file_name),
-      );
-
-      const exception_list = this.state.macros_list.map(item => item.file_name);
-      let files_to_delete = this.selected_items_to_delete.filter(item => !exception_list.includes(item));
-
-      await api.delete(`file/DINCAIQABiDARixAxiABDIHCAMQABiABDIHCAQQABiABDIH${files_to_delete.toString()}`);
-
-      this.save_config(this.config);
-      this.filtered_files = [];
-      this.search_query = "";
-      this.selected_folder_index = null;
-      this.selected_items_to_delete = [];
-      this.deleteGCode = false;
-    },
-
-    cancel_delete: function () {
-      this.filtered_files = [];
-      this.search_query = "";
-      this.selected_folder_index = null;
-      this.selected_items_to_delete = [];
-      this.deleteGCode = false;
-    },
-
-    delete_all: function () {
-      api.delete("file");
-      this.deleteGCode = false;
-    },
-
-    delete_all_except_macros: async function () {
-      this.update_config();
-      const macrosList = this.state.macros_list.map(item => item.file_name).toString();
-      api.delete(`file/EgZjaHJvbWUqCggBEAAYsQMYgAQyBggAEEUYOTIKCAE${macrosList}`);
-      this.config.non_macros_list = [];
-      this.config.gcode_list = [{ name: "default", type: "folder", files: [] }];
-      this.save_config(this.config);
-      this.state.folder = "default";
-      this.state.selected = "";
-      this.selected_items_to_delete = [];
-      this.deleteGCode = false;
-    },
-
-    delete_folder: async function () {
-      this.update_config();
-      if (this.state.folder && this.state.folder != "default") {
-        const files_to_move = this.config.gcode_list.find(
-          item => item.type == "folder" && item.name == this.state.folder,
-        );
-        if (files_to_move) {
-          const default_folder = this.config.gcode_list.find(item => item.name == "default");
-          default_folder.files = [...default_folder.files, ...files_to_move.files].sort();
-          this.config.gcode_list = this.config.gcode_list.filter(item => item.name != this.state.folder);
-          this.save_config(this.config);
-        }
-      }
-      this.state.folder = "default";
-      this.confirmDelete = false;
-    },
-
-    delete_folder_and_files: async function () {
-      if (!this.state.folder) {
-        this.confirmDelete = false;
-        return;
-      }
-      this.update_config();
-      const selected_folder = this.config.gcode_list.find(
-        item => item.type == "folder" && item.name == this.state.folder,
-      );
-      if (!selected_folder) return;
-
-      const macrosList = this.state.macros_list.map(item => item.file_name);
-      var files_to_delete = selected_folder.files
-        .map(item => item.file_name)
-        .filter(item => !macrosList.includes(item));
-
-      if (selected_folder.name != "default") {
-        this.config.gcode_list = this.config.gcode_list.filter(item => item.name != this.state.folder);
-      } else {
-        selected_folder.files = [];
-      }
-
-      await api.delete(`file/DINCAIQABiDARixAxiABDIHCAMQABiABDIHCAQQABiABDIH${files_to_delete.toString()}`);
-      this.config.non_macros_list = this.config.non_macros_list.filter(
-        item => !files_to_delete.includes(item.file_name),
-      );
-      this.save_config(this.config);
-      this.state.folder = "default";
-      this.confirmDelete = false;
-    },
-
-    start_pause: function () {
-      this.macrosLoading = false;
-      if (this.state.xx == "RUNNING") this.pause();
-      else if (this.state.xx == "STOPPING" || this.state.xx == "HOLDING") this.unpause();
-      else this.start();
-    },
-
-    start:    function () { api.put("start"); },
-    pause:    function () { api.put("pause"); },
-    unpause:  function () { api.put("unpause"); },
-    optional_pause: function () { api.put("pause/optional"); },
-    stop:     function () { api.put("stop"); },
-    step:     function () { api.put("step"); },
-
-    override_feed:  function () { api.put(`override/feed/${this.feed_override}`); },
-    override_speed: function () { api.put(`override/speed/${this.speed_override}`); },
-
-    run_macro: async function (id) {
-      if (this.state.macros[id].file_name == "default") {
-        this.showNoGcodeMessage = true;
-        return;
-      }
-      const file_name = this.state.macros[id].file_name;
-      try {
-        // Selecting a file on the server is a side effect of
-        // GET /api/file/<name>. The macro button used to mutate
-        // state.selected client-side and immediately call start, which
-        // raced the file fetch: if the server hadn't seen the new
-        // selection yet, mach.start() ran whichever file was selected
-        // last. Do it explicitly and await so start always sees the
-        // right file.
-        if (file_name != this.state.selected) {
-          this.state.selected = file_name;
-          // GET /api/file/<name> returns gcode text (not JSON), so use
-          // fetch directly. The server's FileHandler.get sets
-          // state.selected as a side effect; we await the response
-          // before starting so mach.start() reads the right file.
-          const resp = await fetch(
-            `/api/file/${encodeURIComponent(file_name)}`,
-            { cache: "no-cache" }
-          );
-          if (!resp.ok) {
-            throw new Error(`file fetch failed: ${resp.status}`);
-          }
-          await resp.text();
-        }
-        this.load();
-        if (this.state.macros[id].alert == true) {
-          this.macrosLoading = true;
-        } else {
-          await this.start_pause();
-        }
-      } catch (error) {
-        console.warn("Error running macro: ", error);
-      }
-    },
-  },
-};
--- a/src/js/program-view.js
+++ b/src/js/program-view.js
@@ -1,62 +0,0 @@
-"use strict";
-
-// Program tab — file management, run/stop, gcode listing and 3D
-// toolpath preview. Reuses the shared mixin (program-mixin) that also
-// powers the legacy bits of control-view; this view does not host the
-// jog grid or the DRO.
-
-module.exports = {
-  template: "#program-view-template",
-  props: ["config", "template", "state"],
-
-  components: {
-    "path-viewer": require("./path-viewer"),
-    "gcode-viewer": require("./gcode-viewer"),
-  },
-
-  data: function () {
-    return {};
-  },
-
-  watch: {
-    "state.metric": {
-      handler: function () {},
-      immediate: true,
-    },
-  },
-
-  computed: {
-    is_kiosk: function () { return !!this.$root.is_kiosk; },
-
-    display_units: {
-      cache: false,
-      get: function () { return this.$root.display_units; },
-      set: function (value) {
-        this.config.settings.units = value;
-        this.$root.display_units = value;
-        this.$dispatch("config-changed");
-      },
-    },
-
-    metric: function () {
-      return this.display_units === "METRIC";
-    },
-
-    mach_state: function () {
-      const cycle = this.state.cycle;
-      const xx = this.state.xx;
-      if (xx != "ESTOPPED" && (cycle == "jogging" || cycle == "homing")) {
-        return cycle.toUpperCase();
-      }
-      return xx || "";
-    },
-
-    can_set_axis: function () { return this.state.cycle == "idle"; },
-  },
-
-  ready: function () {
-    this.load();
-  },
-
-  mixins: [require("./program-mixin")],
-};
--- a/src/js/restart-timing.js
+++ b/src/js/restart-timing.js
@@ -1,80 +0,0 @@
-// Lightweight UI-side restart/cold-load timing.
-//
-// Records a few key marks using performance.now(), then POSTs them to
-// /api/diag/timing/ui once 'ui.first_state' has fired. Disabled by
-// setting window.BBCTRL_TRACE = false before this module is loaded.
-//
-// Marks collected:
-//   script.load    -- this module evaluated
-//   ws.open        -- websocket onopen
-//   ws.first_msg   -- first message from controller
-//   ui.first_state -- first message that contained controller state
-//   window.load    -- window 'load' event
-//
-// Aligning these with /api/diag/timing on the server gives the full
-// picture from systemd start -> bbctrl up -> WS open -> UI rendered.
-"use strict";
-
-const _enabled = typeof window !== "undefined" && window.BBCTRL_TRACE !== false;
-const _t0 = (typeof performance !== "undefined" && performance.now)
-    ? performance.now()
-    : Date.now();
-const _navStart = (typeof performance !== "undefined" && performance.timeOrigin)
-    ? performance.timeOrigin
-    : Date.now();
-
-const marks = [];
-let posted = false;
-
-function _now() {
-    return (typeof performance !== "undefined" && performance.now)
-        ? performance.now() - _t0
-        : Date.now() - _t0;
-}
-
-function mark(name, fields) {
-    if (!_enabled) return;
-    marks.push(Object.assign({ n: name, t: Math.round(_now()) }, fields || {}));
-}
-
-function _post() {
-    if (!_enabled || posted) return;
-    posted = true;
-    const body = JSON.stringify({
-        navStart: _navStart,
-        t0_perf: _t0,
-        href: typeof location !== "undefined" ? location.href : "",
-        ua: typeof navigator !== "undefined" ? navigator.userAgent : "",
-        marks: marks,
-    });
-    try {
-        if (typeof fetch === "function") {
-            fetch("/api/diag/timing/ui", {
-                method: "PUT",
-                headers: { "Content-Type": "application/json" },
-                body: body,
-                keepalive: true,
-            }).catch(() => {});
-        }
-    } catch (e) { /* swallow */ }
-}
-
-// Record window load too; doesn't block posting.
-if (_enabled && typeof window !== "undefined") {
-    window.addEventListener("load", () => mark("window.load"));
-}
-
-mark("script.load");
-
-module.exports = {
-    enabled: _enabled,
-    mark: mark,
-    onWsOpen: () => mark("ws.open"),
-    onWsFirstMessage: () => mark("ws.first_msg"),
-    onFirstState: () => {
-        mark("ui.first_state");
-        // Defer slightly so any synchronous render finishes first.
-        setTimeout(_post, 100);
-    },
-    flush: _post,
-};
--- a/src/js/settings-shell-view.js
+++ b/src/js/settings-shell-view.js
@@ -1,169 +0,0 @@
-"use strict";
-
-// Wrapper that adds a left-rail navigator around the settings family
-// of views (Settings, Admin General, Admin Network, Tool, IO, Motor,
-// Macros, Help, Cheat Sheet). The inner view is selected by the URL
-// hash (parsed in app.js) and exposed as $root.sub_tab.
-
-// Vue 1 has trouble making child components reactive to `$root.sub_tab`
-// changes (whether via computed, watch, or prop binding through
-// `<component :is>`). The shell instead listens to `hashchange`
-// directly and parses the hash itself, mirroring app.js's logic, then
-// keeps a local data prop `sub` that the template binds to. This is
-// the only path that updates the rail's `:class` reactively.
-module.exports = {
-  template: "#settings-shell-view-template",
-  props: ["config", "template", "state", "index"],
-
-  components: {
-    "settings-view-inner":     require("./settings-view"),
-    "admin-general-view":      require("./admin-general-view"),
-    "admin-network-view":      require("./admin-network-view"),
-    "motor-view":              require("./motor-view"),
-    "tool-view":               require("./tool-view"),
-    "io-view":                 require("./io-view"),
-    "macros-view":             require("./macros"),
-    "help-view":               require("./help-view"),
-    "cheat-sheet-view": {
-      template: "#cheat-sheet-view-template",
-      data: function () {
-        return { showUnimplemented: false };
-      },
-    },
-  },
-
-  data: function () {
-    return {
-      sub: this.$root.sub_tab || "settings",
-      ridx: this.$root.index,  // local copy of the motor index
-      // Whether the controller config has streamed in. The Svelte
-      // settings views crash on first paint with the placeholder
-      // config (settings.units / settings.easy-adapter / motion.*
-      // are all undefined). Gate the inner mount on this flag.
-      config_ready: false,
-      rail_items: [
-        { sub: "settings",       href: "#settings",       icon: "fa-display",                  label: "Display & Units" },
-        { sub: "probing",        href: "#probing",        icon: "fa-bullseye",                 label: "Probing" },
-        { sub: "gcode",          href: "#gcode",          icon: "fa-code",                     label: "G-code & Motion" },
-        { sub: "macros",         href: "#macros",         icon: "fa-keyboard",                 label: "Macros" },
-        { sub: "cheat-sheet",    href: "#cheat-sheet",    icon: "fa-book",                     label: "G-code Cheat Sheet" },
-        { sub: "admin-network",  href: "#admin-network",  icon: "fa-network-wired",            label: "Network" },
-        { sub: "admin-general",  href: "#admin-general",  icon: "fa-shield-halved",            label: "General / Firmware" },
-        { sub: "tool",           href: "#tool",           icon: "fa-bolt",                     label: "Spindle & Tool" },
-        { sub: "io",             href: "#io",             icon: "fa-plug",                     label: "I/O" },
-        { section: "Motors" },
-        { sub: "motor", motor: 0, href: "#motor:0", icon: "fa-arrows-up-down-left-right", label: "Motor 0" },
-        { 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" },
-        { section: " " },
-        { sub: "help",           href: "#help",           icon: "fa-circle-question", label: "Help" },
-      ],
-    };
-  },
-
-  ready: function () {
-    this._onHash = () => this.refresh_from_hash();
-    window.addEventListener("hashchange", this._onHash);
-    this.refresh_from_hash();
-    this._configPoll = setInterval(() => {
-      const c = this.$root && this.$root.config;
-      const ready = !!(c && c.full_version && c.full_version !== "<loading>"
-        && c.settings && typeof c.settings === "object");
-      if (ready !== this.config_ready) this.config_ready = ready;
-    }, 200);
-  },
-
-  attached: function () {
-    // Vue 1 fires `attached` whenever the component is inserted into
-    // the DOM (which happens on every route change because the outer
-    // <component :is> recreates the instance). Re-bind the listener
-    // here so it works even after detach/attach cycles.
-    if (!this._onHash) {
-      this._onHash = () => this.refresh_from_hash();
-    }
-    window.addEventListener("hashchange", this._onHash);
-    this.refresh_from_hash();
-  },
-
-  detached: function () {
-    if (this._onHash) {
-      window.removeEventListener("hashchange", this._onHash);
-    }
-  },
-
-  beforeDestroy: function () {
-    if (this._onHash) {
-      window.removeEventListener("hashchange", this._onHash);
-    }
-    if (this._configPoll) clearInterval(this._configPoll);
-  },
-
-  methods: {
-    refresh_from_hash: function () {
-      const hash = location.hash.substr(1) || "settings";
-      const parts = hash.split(":");
-      this.sub  = parts[0] || "settings";
-      this.ridx = parts[1] !== undefined ? parts[1] : -1;
-    },
-
-    is_active: function (item) {
-      if (!item || item.section) return false;
-      if (item.sub !== this.sub) return false;
-      if (item.sub === "motor") {
-        return "" + item.motor === "" + this.ridx;
-      }
-      return true;
-    },
-
-    on_rail_click: function (item, ev) {
-      if (!item) return;
-      // Always preventDefault on rail clicks. Letting the browser
-      // anchor-scroll to <div id="settings"> etc. inside .app-body
-      // can pull the .app-head out of view; we drive navigation
-      // ourselves through location.hash and our hashchange handler.
-      if (ev && ev.preventDefault) ev.preventDefault();
-
-      if (item.anchor) {
-        // Soft-link rail items use a #settings hash plus an in-page
-        // anchor scroll once the Svelte page has mounted. We scroll
-        // ONLY the .settings-content overflow container by setting
-        // its scrollTop directly — element.scrollIntoView() walks all
-        // ancestor scroll containers and can tug the .app-body / html
-        // layout, which under tablet mode pulls the fixed header out
-        // of view.
-        if (location.hash !== item.href) location.hash = item.href;
-        const reset = () => {
-          // Force any inadvertent ancestor scroll back to 0 before
-          // we move .settings-content explicitly.
-          window.scrollTo(0, 0);
-          const body = document.querySelector(".app-body");
-          if (body) body.scrollTop = 0;
-          document.documentElement.scrollTop = 0;
-        };
-        setTimeout(() => {
-          reset();
-          const el = document.getElementById(item.anchor);
-          const scroller = document.querySelector(".settings-content");
-          if (el && scroller) {
-            const elTop = el.getBoundingClientRect().top;
-            const scTop = scroller.getBoundingClientRect().top;
-            scroller.scrollTop = scroller.scrollTop + (elTop - scTop) - 12;
-          }
-          // Re-assert ancestor scroll = 0 in case the assignment above
-          // moved things.
-          requestAnimationFrame(reset);
-        }, 320);
-      } else {
-        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");
-        if (body) body.scrollTop = 0;
-      }
-    },
-
-    showShutdownDialog: function () {
-      SvelteComponents.showDialog("Shutdown");
-    },
-  },
-};
--- a/src/js/settings-view.js
+++ b/src/js/settings-view.js
@@ -1,60 +1,14 @@
-// V09 wraps the legacy Svelte SettingsView and filters its big page
-// down to a single rail section so each rail item shows only the
-// relevant controls. The Svelte component is left untouched (it is
-// shared with the legacy UI) — we just hide the `<h2>` and `<fieldset>`
-// elements whose `data-sec` does not match the active section.
-
 module.exports = {
    template: "#settings-view-template",

-    props: {
-        // "display" | "probing" | "gcode". Default is "display" which
-        // keeps the rail's "Display & Units" item working unchanged.
-        section: { default: "display" },
-    },
-
-    attached: function () {
+    attached: function() {
        this.svelteComponent = SvelteComponents.createComponent(
            "SettingsView",
            document.getElementById("settings")
        );
-        // Defer one tick so Svelte has rendered the section markup.
-        setTimeout(() => this.apply_section_filter(), 0);
    },

-    detached: function () {
-        if (this.svelteComponent) this.svelteComponent.$destroy();
-    },
-
-    watch: {
-        section: function () {
-            this.apply_section_filter();
-        },
-    },
-
-    methods: {
-        apply_section_filter: function () {
-            const root = document.getElementById("settings");
-            if (!root) return;
-            const want = this.section || "display";
-            // Hide every section block that does not match.
-            root.querySelectorAll("[data-sec]").forEach(el => {
-                el.style.display = el.dataset.sec === want ? "" : "none";
-            });
-            // Hide the global <h1>Settings</h1> on subsections so the
-            // page reads as a focused panel.
-            const h1 = root.querySelector(".settings-view > h1");
-            if (h1) {
-                if (want === "display") {
-                    h1.textContent = "Display & Units";
-                } else if (want === "probing") {
-                    h1.textContent = "Probing";
-                } else if (want === "gcode") {
-                    h1.textContent = "G-code & Motion";
-                } else {
-                    h1.textContent = "Settings";
-                }
-            }
-        },
-    },
+    detached: function() {
+        this.svelteComponent.$destroy();
+    }
 };
--- a/src/pug/index.pug
+++ b/src/pug/index.pug
@@ -8,8 +8,9 @@ html(lang="en")


    style: include ../static/css/pure-min.css
+    style: include ../static/css/side-menu.css

-    style: include ../static/css/fa6.min.css
+    style: include ../static/css/font-awesome.min.css
    style: include ../static/css/Audiowide.css
    style: include ../static/css/clusterize.css
    style: include ../svelte-components/node_modules/svelte-material-ui/bare.css
@@ -18,171 +19,103 @@ html(lang="en")
    style: include:stylus ../stylus/style.styl

  body(v-cloak)
-    // Tablet (kiosk) mode — pins the .app-shell to 1920x1080 and
-    // scales it to fit the actual viewport so the UI always looks
-    // exactly like the 10.8" 1920x1080 portable monitor.
-    //
-    // Toggle:  ?tablet=1   to enable
-    //          ?tablet=0   to disable
-    // Sticky in localStorage; once set, no querystring is needed.
-    script.
-      (function () {
-        try {
-          var p = new URLSearchParams(location.search);
-          if (p.has("tablet")) {
-            var on = p.get("tablet") !== "0" && p.get("tablet") !== "false";
-            localStorage.setItem("ui-tablet-mode", on ? "1" : "0");
-          }
-          if (localStorage.getItem("ui-tablet-mode") === "1") {
-            document.documentElement.classList.add("tablet-mode");
-          }
-          function fit() {
-            if (!document.documentElement.classList.contains("tablet-mode")) return;
-            var s = Math.min(window.innerWidth / 1920, window.innerHeight / 1080);
-            document.documentElement.style.setProperty("--tablet-scale", s);
-          }
-          fit();
-          window.addEventListener("resize", fit);
-
-          // Kiosk mode: when the UI is loaded by the controller's
-          // own onboard browser (Chromium pointing at localhost on
-          // the Pi 3B at 1366x768), apply a tighter layout that
-          // packs the V09 UI into the smaller, slower display.
-          // Override with ?kiosk=0 to force the desktop layout.
-          if (p.has("kiosk")) {
-            var k = p.get("kiosk") !== "0" && p.get("kiosk") !== "false";
-            localStorage.setItem("ui-kiosk-mode", k ? "1" : "0");
-          }
-          var stored = localStorage.getItem("ui-kiosk-mode");
-          var auto = location.hostname === "localhost"
-              || location.hostname === "127.0.0.1"
-              || location.hostname === "::1";
-          if (stored === "1" || (stored !== "0" && auto)) {
-            document.documentElement.classList.add("kiosk-mode");
-          }
-        } catch (_e) {}
-      })();
-
    #svelte-dialog-host

    #overlay(v-if="status != 'connected'")
      span {{status}}
    
-    .app-shell
-      header.app-head
-        .brand-blk
-          .brand-logo
-          .brand-name ONEFINITY
+    #layout
+      a#menuLink.menu-link(href="#menu"): span

-        nav.tabs-host(role="tablist")
-          a.ktab(:class="{active: top_tab === 'control'}", href="#control",
-            title="Jog, DRO, macros")
-            .fa.fa-gamepad
-            span Control
-          a.ktab(:class="{active: top_tab === 'program'}", href="#program",
-            title="Run programs, files, toolpath preview")
-            .fa.fa-list-ol
-            span Program
-          a.ktab(:class="{active: top_tab === 'console'}", href="#console",
-            title="MDI, messages, indicators")
-            .fa.fa-terminal
-            span Console
-            span.ktab-badge(v-if="messages_count") {{messages_count}}
-          a.ktab(:class="{active: top_tab === 'settings'}", href="#settings",
-            title="Configuration, network, macros")
-            .fa.fa-sliders
-            span Settings
+      #menu
+        button.save.pure-button.button-success(:disabled="!modified",
+          @click="save") Save

-        .head-spacer
+        .pure-menu
+          ul.pure-menu-list
+            li.pure-menu-heading
+              a.pure-menu-link(href="#control") Control

-        .sys-btn(@click.stop="toggle_sys_popover", :class="{open: sys_open}")
-          span.pip(:class="sys_class")
-          span.sys-text {{sys_summary}}
-          .fa.fa-chevron-down
+            li.pure-menu-heading
+              a.pure-menu-link(href="#macros") Macros

-        .pi-temp-warning(v-if="80 <= state.rpi_temp",
-          title="Raspberry Pi temperature too high.")
-          .fa.fa-temperature-full
+            li.pure-menu-heading
+              a.pure-menu-link(href="#settings") Settings

-        span.state-badge(:class="state_class", :title="mach_state_full")
-          span.dot
-          span {{state_label}}
+            li.pure-menu-heading
+              a.pure-menu-link(href="#motor:0") Motors

-        .estop(:class="{active: state.es}")
-          estop(@click="estop")
+            li.pure-menu-item(v-for="motor in config.motors")
+              a.pure-menu-link(:href="'#motor:' + $index") Motor {{$index}}

-        // System popover (chip-soup destination)
-        .sys-popover(v-if="sys_open", @click.stop="")
-          .sp-row
-            .sp-icon: .fa.fa-microchip
-            .sp-text
-              .sp-label Firmware
-              .sp-val v{{config.full_version}}
-            a.sp-act(v-if="show_upgrade()", href="#admin-general")
-              | Upgrade to v{{latestVersion}}
-              .fa.fa-circle-exclamation.upgrade-attention
-          .sp-row
-            .sp-icon: .fa.fa-network-wired
-            .sp-text
-              .sp-label IP Address
-              .sp-val {{config.ip}}
-          .sp-row
-            .sp-icon: .fa.fa-wifi(:class="{'sp-warn': config.wifiName === 'not connected'}")
-            .sp-text
-              .sp-label WiFi
-              .sp-val {{config.wifiName}}
-            a.sp-act(href="#admin-network", @click="sys_open=false") Configure
-          .sp-row(v-if="enable_rotary")
-            .sp-icon: img(src="/images/rotary.svg", alt="rotary")
-            .sp-text
-              .sp-label Rotary
-              .sp-val {{is_rotary_active ? 'Active' : 'Inactive'}}
-            button.sp-act(@click="showSwitchRotaryModeDialog")
-              | {{is_rotary_active ? 'Disable' : 'Enable'}}
-          .sp-row(v-if="is_easy_adapter_active")
-            .sp-icon: .fa.fa-puzzle-piece
-            .sp-text
-              .sp-label Easy Adapter
-              .sp-val Active
-          .sp-row.video-row
-            .sp-icon: .fa.fa-video
-            .sp-text
-              .sp-label Camera
-              .sp-val {{has_camera ? 'Live' : 'Plug camera into USB'}}
-            .sp-act(v-if="has_camera", @click="toggle_video")
-              | {{video_size === 'small' ? 'Enlarge' : 'Shrink'}}
-          .video(v-if="sys_open && has_camera", title="Camera feed",
-            @click="toggle_video", @contextmenu="toggle_crosshair",
-            :class="video_size")
+            li.pure-menu-heading
+              a.pure-menu-link(href="#tool") Tool
+
+            li.pure-menu-heading
+              a.pure-menu-link(href="#io") I/O
+
+            li.pure-menu-heading
+              a.pure-menu-link(href="#admin-general") Admin
+
+            li.pure-menu-item
+              a.pure-menu-link(href="#admin-general") General
+
+            li.pure-menu-item
+              a.pure-menu-link(href="#admin-network") Network
+
+            li.pure-menu-heading
+              a.pure-menu-link(href="#cheat-sheet") Cheat Sheet
+
+            li.pure-menu-heading
+              a.pure-menu-link(href="#help") Help
+              
+            button.pure-button.pure-button-primary(@click="showShutdownDialog", style="width: 100%")
+              .fa.fa-power-off              
+
+      #main
+        .nav-header
+          .brand
+            img(src="/images/onefinity_logo.png")
+            .version
+              div  Version: v{{config.full_version}}
+              div  IP Address: {{config.ip}}
+              div  WiFi: {{config.wifiName}}
+            a.upgrade-link(v-if="show_upgrade()", href="#admin-general")
+                | Upgrade to v{{latestVersion}}
+                .fa.fa-exclamation-circle.upgrade-attention(v-if="show_upgrade()")
+
+          .pi-temp-warning
+            .fa.fa-thermometer-full(class="error",
+              v-if="80 <= state.rpi_temp",
+              title="Raspberry Pi temperature too high.")
+
+          .easy-adapter(v-if="is_easy_adapter_active")
+            .round-dot
+            div.easy-adapter-text Easy Adapter
+          
+          .whitespace
+
+          div
+            button.rotary-button(:disabled="!enable_rotary", :class="is_rotary_active && 'active'", @click="showSwitchRotaryModeDialog")
+              img(src="/images/rotary.svg", alt="rotary", :style="is_rotary_active ? 'width:90%;' : 'width:85%;'")
+            div.rotary-text Rotary
+
+          .video(title="Plug camera into USB.\n" +
+            "Left click to toggle video size.\n" +
+            "Right click to toggle crosshair.", @click="toggle_video",
+            @contextmenu="toggle_crosshair", :class="video_size")
            .crosshair(v-if="crosshair")
              .vertical
              .horizontal
              .box
-            img(src="/api/video", @error="has_camera=false")
-          .sp-foot
-            button.sp-shutdown(@click="showShutdownDialog")
-              .fa.fa-power-off
-              | &nbsp;Shutdown
-            button.sp-save(:disabled="!modified", @click="save")
-              .fa.fa-save
-              | &nbsp;Save{{modified ? '*' : ''}}
+            img(src="/api/video")

-      // Routed view. We keep instances alive across tab swaps so:
-      //   - The Program tab's WebGL <path-viewer> canvas does not
-      //     get destroyed and recreated each time (which caused a
-      //     dark flash as the GL context cleared the new canvas
-      //     before its first frame).
-      //   - The Program tab's clusterize.js gcode list does not
-      //     re-virtualize from scratch on every visit.
-      //   - The Settings shell's child Svelte components stay
-      //     mounted, preserving any in-flight form state.
-      // The settings-shell handles its own inner v-if cascade so
-      // the Vue 1 reactivity quirk that motivated removing
-      // keep-alive earlier no longer applies here.
-      .app-body
-        component(:is="currentView + '-view'", :index="index",
-          :config="config", :template="template", :state="state",
-          :sub-tab="sub_tab", keep-alive)
+          .estop(:class="{active: state.es}")
+            estop(@click="estop")
+
+        .content(class="{{currentView}}-view")
+          component(:is="currentView + '-view'", :index="index",
+            :config="config", :template="template", :state="state", keep-alive)

    message.error-message(:show.sync="errorShow")
      div(slot="header")
--- a/src/pug/templates/console-view.pug
+++ b/src/pug/templates/console-view.pug
@@ -1,67 +0,0 @@
-script#console-view-template(type="text/x-template")
-  .console-page
-    .console-card
-      .ptab-bar
-        button.ptab(:class="{active: sub === 'mdi'}", @click="select_sub('mdi')")
-          .fa.fa-keyboard
-          | &nbsp;MDI
-        button.ptab(:class="{active: sub === 'messages'}", @click="select_sub('messages')")
-          .fa.fa-comment-dots
-          | &nbsp;Messages
-          span.ptab-badge(v-if="unread_messages") {{unread_messages}}
-        button.ptab(:class="{active: sub === 'indicators'}", @click="select_sub('indicators')")
-          .fa.fa-bell
-          | &nbsp;Indicators
-
-      // ----- MDI -----
-      .mdi-pane(v-show="sub === 'mdi'")
-        .mdi-input
-          span.prompt G&gt;
-          input(type="text", v-model="mdi", :disabled="!can_mdi",
-            @keyup.enter="submit_mdi", placeholder="enter a G-code command…")
-          button.mdi-send(:disabled="!can_mdi || !mdi", @click="submit_mdi")
-            .fa.fa-paper-plane
-            | &nbsp;SEND
-        .mdi-keys
-          button.mkey(@click="prepend('G0 ')") G0
-          button.mkey(@click="prepend('G1 ')") G1
-          button.mkey(@click="prepend('G2 ')") G2
-          button.mkey(@click="prepend('G3 ')") G3
-          button.mkey(@click="prepend('G28 ')") G28
-          button.mkey(@click="prepend('G92 ')") G92
-          button.mkey(@click="prepend('M3 ')") M3
-          button.mkey(@click="prepend('M5 ')") M5
-          button.mkey(@click="append('X')") X
-          button.mkey(@click="append('Y')") Y
-          button.mkey(@click="append('Z')") Z
-          button.mkey(@click="append('W')") W
-          button.mkey(@click="append('F')") F
-          button.mkey(@click="append('S')") S
-          button.mkey.clear(@click="mdi = ''") CLEAR
-          button.mkey.send(:disabled="!can_mdi || !mdi", @click="submit_mdi") SEND ↵
-
-        em Machine units: #[strong {{mach_units}}]. G20/G21 to switch.
-
-        .mdi-history(:class="{placeholder: !history.length}")
-          span.mdi-empty(v-if="!history.length") MDI history will display here.
-          .h-row(v-for="item in history", @click="load_history($index)",
-            track-by="$index")
-            span.h-cmd {{item}}
-            span.h-status ↻
-
-      // ----- Messages -----
-      .messages-pane(v-show="sub === 'messages'")
-        .msg-empty(v-if="!$root.messages_log.length")
-          .fa.fa-circle-check
-          | &nbsp;No messages.
-        .msg(v-for="m in $root.messages_log",
-          :class="m.level === 'warning' ? 'warn' : 'info'", track-by="$index")
-          .mi
-            .fa(:class="m.level === 'warning' ? 'fa-triangle-exclamation' : 'fa-circle-info'")
-          div
-            .mtitle {{m.text}}
-            .mtime ID {{m.id}}
-
-      // ----- Indicators -----
-      .indicators-pane(v-show="sub === 'indicators'")
-        indicators(:state="state", :template="template")
--- a/src/pug/templates/control-view.pug
+++ b/src/pug/templates/control-view.pug
@@ -1,296 +1,475 @@
 script#control-view-template(type="text/x-template")
-  .control-page
-    // ----- Modal dialogs (kept verbatim from legacy) -----
+  #control
    message(:show.sync="showGcodeMessage")
      h3(slot="header") Processing New File
+
      div(slot="body")
        h3 Please wait..
        p Simulating GCode to check for errors, calculate ETA and generate 3D view.
+        
      div(slot="footer")
        label Simulating {{(toolpath_progress || 0) | percent}}
    
    message(:show.sync="showNoGcodeMessage")
-      h3(slot="header") GCode Not Set
-      div(slot="body")
-        p Configure the GCode for the selected macro to use it
-      div(slot="footer")
-        button.pure-button(@click="showNoGcodeMessage=false") OK
+        h3(slot="header") GCode Not Set
+        div(slot="body")
+            p Configure the GCode for the selected macro to use it
+            
+        div(slot="footer")
+          button.pure-button(@click="showNoGcodeMessage=false") OK

    message(:show.sync="macrosLoading")
-      h3(slot="header") Run Macro?
-      div(slot="body")
-        p
-          | The macro file
-          strong  {{state.selected}}
-          |  is being loaded.
-      div(slot="footer")
-        button.pure-button(@click="macrosLoading=false") Cancel
-        button.pure-button.pure-button-primary(@click="start_pause") Run
+        h3(slot="header") Run Macro?
+        div(slot="body")
+            p 
+              | The macro file 
+              strong {{state.selected}}
+              |  is being loaded.
+            
+        div(slot="footer")
+          button.pure-button(@click="macrosLoading=false") Cancel
+          button.pure-button.pure-button-primary(@click="start_pause") Run
    
    message(:show.sync="GCodeNotFound")
      h3(slot="header") File not found
      div(slot="body")
-        p It seems like the file you selected cannot be found. Try uploading again.
+          p It seems like the file you selected cannot be found. Try uploading again.
      div(slot="footer")
-        button.pure-button.button-error(@click="GCodeNotFound=false") OK
+        button.pure-button.button-error(@click="GCodeNotFound=false")
+          | OK
    
    message(:show.sync="show_probe_dialog")
-      h3(slot="header") Choose probe type
+      h3(slot="header") Probe Rotary
      div(slot="body")
-        p Pick which probe routine to run.
        button.pure-button(:class="state['pw'] ? '' : 'load-on'", @click="showProbeDialog('xyz')") Probe XYZ
        button.pure-button(:class="state['pw'] ? '' : 'load-on'", @click="showProbeDialog('z')") Probe Z
      div(slot="footer")
        button.pure-button(@click="show_probe_dialog=false") Cancel

-    // ----- Main grid: jog | (DRO + status strip) -----
-    .control-grid

-      // ===== JOG =====
-      // Hidden only while a G-code program is running / paused /
-      // stopping. Jogging / homing / MDI moves do not hide it.
-      .jog-card(v-if="!is_program_executing")
-        .jog-head
-          .jog-title
-            | Jog
-            span.step-pre  · step
-            span.step  {{jog_incr_amounts[display_units][jog_incr]}}#[span.unit {{metric ? 'mm' : 'in'}}]
-          .step-seg
-            button(:class="{active: jog_incr === 'fine'}",   @click="jog_incr = 'fine'")
-              | {{jog_incr_amounts[display_units].fine}}
-            button(:class="{active: jog_incr === 'small'}",  @click="jog_incr = 'small'")
-              | {{jog_incr_amounts[display_units].small}}
-            button(:class="{active: jog_incr === 'medium'}", @click="jog_incr = 'medium'")
-              | {{jog_incr_amounts[display_units].medium}}
-            button(:class="{active: jog_incr === 'large'}",  @click="jog_incr = 'large'")
-              | {{jog_incr_amounts[display_units].large}}
+    table(style="table-layout: fixed; width: 100%;")
+      tr(style="height: fit-content;")
+        td(style="white-space: nowrap; width: 410px;", rowspan="2")
+          table.control-buttons(table-layout="fixed")
+            colgroup
+               col(style="width:100px")
+               col(style="width:100px")
+               col(style="width:100px")
+               col(style="width:100px")
+            tr
+              td(style="height:100px",align="center")
+                button(@click="jog_fn(-1,1,0,0)")
+                  .fa.fa-arrow-right(style="transform: rotate(-135deg);")
+              td(style="height:100px",align="center")
+                button(@click="jog_fn(0,1,0,0)") Y+
+              td(style="height:100px",align="center")
+                button(@click="jog_fn(1,1,0,0)")
+                  .fa.fa-arrow-right(style="transform: rotate(-45deg);")
+              td(style="height:100px",align="center")
+                button(,@click="jog_fn(0,0,1,0)") Z+
+            tr
+              td(style="height:100px",align="center")
+                button(@click="jog_fn(-1,0,0,0)") X-
+              td(style="height:100px",align="center")
+                button(@click="showMoveToZeroDialog('xy')")
+                  | XY
+                  br 
+                  | Origin
+              td(style="height:100px",align="center")
+                button(@click="jog_fn(1,0,0,0)") X+
+              td(style="height:100px",align="center")
+                button(@click="showMoveToZeroDialog('z')") 
+                  | Z
+                  br
+                  | Origin
+            tr
+              td(style="height:100px",align="center")
+                button(@click="jog_fn(-1,-1,0,0)")
+                  .fa.fa-arrow-right(style="transform: rotate(135deg);")
+              td(style="height:100px",align="center")
+                button(@click="jog_fn(0,-1,0,0)") Y-
+              td(style="height:100px",align="center")
+                button(@click="jog_fn(1,-1,0,0)")
+                  .fa.fa-arrow-right(style="transform: rotate(45deg);")
+              td(style="height:100px",align="center")
+                button(@click="jog_fn(0,0,-1,0)") Z-
+            tr
+              td(style="height:100px",align="center")
+                button(:style="getJogIncrStyle('fine')", @click="jog_incr = 'fine'")
+                  span {{jog_incr_amounts[display_units].fine}}#[span.jog-units {{metric ? 'mm' : 'in'}}]
+              td(style="height:100px",align="center")
+                button(:style="getJogIncrStyle('small')", @click="jog_incr = 'small'")
+                  span {{jog_incr_amounts[display_units].small}}#[span.jog-units {{metric ? 'mm' : 'in'}}]
+              td(style="height:100px",align="center")
+                button(:style="getJogIncrStyle('medium')", @click="jog_incr = 'medium'")
+                  span {{jog_incr_amounts[display_units].medium}}#[span.jog-units {{metric ? 'mm' : 'in'}}]
+              td(style="height:100px",align="center")
+                button(:style="getJogIncrStyle('large')", @click="jog_incr = 'large'")
+                  span {{jog_incr_amounts[display_units].large}}#[span.jog-units {{metric ? 'mm' : 'in'}}]

-        .jog-grid
-          // Row 1
-          button.jbtn.dir(@click="jog_fn(-1, 1, 0, 0)", title="X- Y+")
-            .fa.fa-arrow-up.ico(style="transform: rotate(-45deg)")
-          button.jbtn(@click="jog_fn(0, 1, 0, 0)") Y+
-          button.jbtn.dir(@click="jog_fn(1, 1, 0, 0)", title="X+ Y+")
-            .fa.fa-arrow-up.ico(style="transform: rotate(45deg)")
-          button.jbtn(@click="jog_fn(0, 0, 1, 0)") Z+
+            tr(v-if="state['2an'] == 3")
+              td(style="height:100px", align="center", colspan="1")
+                button(@click="show_probe_dialog=true")
+                  | Probe
+                  br
+                  | Rotary

-          // Row 2
-          button.jbtn(@click="jog_fn(-1, 0, 0, 0)") X−
-          button.jbtn(@click="showMoveToZeroDialog('xy')")
-            span.lbl XY
-            span Origin
-          button.jbtn(@click="jog_fn(1, 0, 0, 0)") X+
-          button.jbtn(@click="showMoveToZeroDialog('z')")
-            span.lbl Z
-            span Origin
+              td(style="height:100px", align="center", colspan="1")
+                button(@click="jog_fn(0,0,0,-1)", style="display: grid;justify-content: center;align-items: center;padding: 14px;")
+                  | A-
+                  .fa.fa-rotate-left
              
-          // Row 3
-          button.jbtn.dir(@click="jog_fn(-1, -1, 0, 0)", title="X- Y-")
-            .fa.fa-arrow-down.ico(style="transform: rotate(45deg)")
-          button.jbtn(@click="jog_fn(0, -1, 0, 0)") Y−
-          button.jbtn.dir(@click="jog_fn(1, -1, 0, 0)", title="X+ Y-")
-            .fa.fa-arrow-down.ico(style="transform: rotate(-45deg)")
-          button.jbtn(@click="jog_fn(0, 0, -1, 0)") Z−
+              td(style="height:100px", align="center", colspan="1")
+                button(@click="showMoveToZeroDialog('a')")
+                  | A
+                  br
+                  | Origin

-          // Row 4 — A axis (rotary) when rotary is enabled.
-          template(v-if="state['2an'] == 3")
-            button.jbtn.dir(@click="jog_fn(0, 0, 0, -1)")
-              .fa.fa-rotate-left.ico
-              span.lbl A−
-            button.jbtn.ghost(@click="showMoveToZeroDialog('a')")
-              span.lbl A
-              span Origin
-            button.jbtn.dir(@click="jog_fn(0, 0, 0, 1)")
-              .fa.fa-rotate-right.ico
-              span.lbl A+
-            button.jbtn(@click="show_probe_dialog=true",
-              :class="{'load-on': !state['pw']}")
-              .fa.fa-bullseye.ico
-              span.lbl Probe
+              td(style="height:100px", align="center", colspan="1")
+                button(@click="jog_fn(0,0,0,1)", style="display: grid;justify-content: center;align-items: center;padding: 14px;")
+                  | A+
+                  .fa.fa-rotate-right

-          // Row 4 — fallback probe / zero / home shortcuts
-          template(v-if="state['2an'] != 3")
-            button.jbtn(@click="showProbeDialog('xyz')",
-              :class="{'load-on': !state['pw']}")
-              .fa.fa-bullseye.ico
-              span.lbl Probe XYZ
-            button.jbtn.ghost(@click="zero()", :disabled="!can_set_axis")
-              .fa.fa-location-dot.ico
-              span.lbl Zero all
-            button.jbtn(@click="showProbeDialog('z')",
-              :class="{'load-on': !state['pw']}")
-              .fa.fa-bullseye.ico
-              span.lbl Probe Z
-            button.jbtn.ghost(@click="home()")
-              .fa.fa-home.ico
-              span.lbl Home all
+            tr(v-else)
+              td(style="height:100px", align="center", colspan="2")
+                button(:class="state['pw'] ? '' : 'load-on'",
+                  style="height:100px;width:200px",
+                  @click="showProbeDialog('xyz')")
+                  | Probe XYZ

-      // ===== NOW RUNNING (replaces jog grid only while a G-code
-      // program is actually executing). Jogging is excluded.
-      .running-panel(v-if="is_program_executing")
-        .running-top
-          div
-            .running-file
-              .fa.fa-file-code
-              span(v-if="state.selected") &nbsp;{{state.selected}}
-              span(v-else) &nbsp;{{(mach_state || 'BUSY').toLowerCase()}}
-            .running-meta
-              span(v-if="is_running") {{ (mach_state || 'RUNNING').toLowerCase() }}
-              span(v-if="is_holding") paused
-              span(v-if="is_holding && pause_reason")  · {{pause_reason}}
-              span(v-if="is_stopping") stopping
-              span(v-if="toolpath.lines")  · line {{state.line || 0 | number}} / {{toolpath.lines | number}}
-              span(v-if="plan_time_remaining")  · ETA {{plan_time_remaining | time}}
-          .running-pct
-            | {{((progress || 0) * 100) | fixed 0}}
-            span %
-        .running-progress
-          div(:style="'width:' + ((progress || 0) * 100) + '%'")
-        .running-stats
-          .running-stat
-            .lbl Velocity
-            .val
-              unit-value(:value="state.v", precision="2", unit="", iunit="", scale="0.0254")
-              | &nbsp;{{metric ? 'm/min' : 'IPM'}}
-          .running-stat
-            .lbl Feed
-            .val
-              unit-value(:value="state.feed", precision="0", unit="", iunit="")
-              | &nbsp;{{metric ? 'mm/min' : 'IPM'}}
-          .running-stat
-            .lbl Spindle
-            .val
-              | {{(state.speed || 0) | fixed 0}}
-              span(v-if="state.s != null && !isNaN(state.s)")  ({{state.s | fixed 0}})
-              | &nbsp;RPM
-          .running-stat
-            .lbl Tool
-            .val T{{state.tool || 0}}
-        .running-row
-          // While RUNNING the primary action is Pause; while HOLDING / STOPPING it's Resume.
-          button.tx-btn.pause(v-if="is_running", @click="pause()")
-            .fa.fa-pause
-            span.lbl PAUSE
-          button.tx-btn.run(v-if="is_holding || is_stopping", @click="unpause()")
-            .fa.fa-play
-            span.lbl RESUME
-          button.tx-btn.stop(@click="stop()")
-            .fa.fa-stop
-            span.lbl STOP
-          button.tx-btn.step(v-if="is_holding", @click="step()")
-            .fa.fa-forward-step
-            span.lbl STEP
+              td(style="height:100px", align="center", colspan="2")
+                button(:class="state['pw'] ? '' : 'load-on'",
+                  style="height:100px;width:200px",
+                  @click="showProbeDialog('z')")
+                  | Probe Z

-      // ===== DRO + status strip =====
-      .right-col
+        td(style="vertical-align: top;")
+          table.axes
+            tr(:class="axes.klass")
+              th.name Axis
+              th.position Position
+              th.absolute Absolute
+              th.offset Offset
+              th.state State
+              th.tstate Toolpath
+              th.actions
+                button.pure-button(disabled, style="height:60px;width:60px;display:none;")

-        .dro-card
-          .dro-head
-            div Axis
-            div Position
-            div Absolute
-            div Offset
-            .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).
-              button.icon-btn(:disabled="!is_idle",
-                title="Home all axes.", @click="home_all()")
-                .fa.fa-house-chimney
+                button.pure-button(:disabled="!can_set_axis",
+                  title="Zero all axis offsets.", @click="zero()",style="height:60px;width:60px")
+                  .fa.fa-map-marker

-          // Per-axis rows — keep unit-value + bindings from axis-vars
-          each axis in 'xyzabc'
-            .dro-row(:class=`${axis}.klass + ' ' + ${axis}.tklass`,
-              v-if=`${axis}.enabled`,
-              :title=`${axis}.toolmsg ? (${axis}.title + ' — ' + ${axis}.toolmsg) : ${axis}.title`)
-              .dro-axis(:class=`'axis-' + '${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)
-              .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 ${axis.toUpperCase()} axis offset.')`,
-                  @click=`zero('${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=`${axis}.title`,
-                  @click=`home('${axis}')`)
+                button.pure-button(title="Home all axes.", @click="home()",
+                  :disabled="!is_idle",style="height:60px;width:60px")
                  .fa.fa-home
            
-        // ----- Status strip -----
-        .status-strip
-          .stat-card
-            .stat-label State
-            .stat-val(:class="state_kpi_class") {{mach_state || '--'}}
-            .stat-sub(v-if="message") {{message.replace(/^#/, '')}}
-            .stat-sub(v-else) No alerts
+            each axis in 'xyzabc'
+              tr.axis(:class=`${axis}.klass`, v-if=`${axis}.enabled`,
+                :title=`${axis}.title`)
+                th.name= axis
+                td.position: unit-value(:value=`${axis}.pos`, precision=4)
+                td.absolute: unit-value(:value=`${axis}.abs`, precision=3)
+                td.offset: unit-value(:value=`${axis}.off`, precision=3)
+                td.state
+                  .fa(:class=`'fa-' + ${axis}.icon`)
+                  | {{#{axis}.state}}
+                td.tstate(:class=`${axis}.tklass`, :title=`${axis}.toolmsg`, @click=`showToolpathMessageDialog('${axis}')`)
+                  .fa(:class=`'fa-' + ${axis}.ticon`)
+                  | {{#{axis}.tstate}}

-          .stat-card
-            .stat-label Velocity / Feed
-            .stat-val
-              unit-value(:value="state.v", precision="2", unit="", iunit="",
-                scale="0.0254")
-              |  ·&nbsp;
-              unit-value(:value="state.feed", precision="0", unit="", iunit="")
-            .stat-sub {{metric ? 'm/min · mm/min' : 'IPM · IPM'}}
+                th.actions
+                  button.pure-button(:disabled="!can_set_axis",
+                    title=`Set {{'${axis}' | upper}} axis position.`,
+                    @click=`show_set_position('${axis}')`, style="height:60px;width:60px")
+                    .fa.fa-cog

-          .stat-card.stat-tappable(@click="overrides_open = !overrides_open",
-            :class="{open: overrides_open}", title="Tap to adjust feed/spindle override")
-            .stat-label Spindle
-            .stat-val
-              | {{(state.speed || 0) | fixed 0}}
-              span(v-if="state.s != null && !isNaN(state.s)")  ({{state.s | fixed 0}})
-            .stat-sub
-              | RPM (commanded / actual)
-              .fa.fa-sliders.tap-hint(title="Open override drawer")
+                  button.pure-button(:disabled="!can_set_axis",
+                    title=`Zero {{'${axis}' | upper}} axis offset.`,
+                   @click=`zero('${axis}')`, style="height:60px;width:60px")
+                    .fa.fa-map-marker

-          .stat-card
-            .stat-label Job
-            .stat-val
-              | {{0 <= state.line ? state.line : 0 | number}}
-              span(v-if="toolpath.lines")
-                |  / {{toolpath.lines | number}}
-            .stat-sub(v-if="plan_time_remaining || toolpath.time")
-              | Line · {{plan_time_remaining ? (plan_time_remaining | time) : (toolpath.time | time)}} remaining
-            .stat-sub(v-else) Line · ETA --
+                  button.pure-button(:disabled="!is_idle", @click=`home('${axis}')`,
+                    title=`Home {{'${axis}' | upper}} axis.`, style="height:60px;width:60px")
+                    .fa.fa-home
+      
+      tr(style="vertical-align: top;")
+        td
+          table(width="100%")
+            tr
+              td(style="text-align:center")
+                table.info
+                  tr
+                    th State
+                    td(:class="{attention: highlight_state}") {{mach_state}}
+
+                  tr
+                    th Message
+                    td.message(:class="{attention: highlight_state}")
+                      | {{message.replace(/^#/, '')}}
+
+                  tr
+                    th Display Units
+                    td.units
+                      select(v-model="display_units")
+                        option(value="METRIC") METRIC
+                        option(value="IMPERIAL") IMPERIAL
+
+                  tr(title="Active tool")
+                    th Tool
+                    td {{state.tool || 0}}
+
+              td
+                table.info
+                  tr(
+                    title="Current velocity in {{metric ? 'meters' : 'inches'}} per minute")
+                    th Velocity
+                    td
+                      unit-value(:value="state.v", precision="2", unit="", iunit="",
+                        scale="0.0254")
+                      | {{metric ? ' m/min' : ' IPM'}}
+
+                  tr(title="Programmed feed rate.")
+                    th Feed
+                    td
+                      unit-value(:value="state.feed", precision="2", unit="", iunit="")
+                      | {{metric ? ' mm/min' : ' IPM'}}
+
+                  tr(title="Programed and actual speed.")
+                    th Speed
+                    td
+                      | {{state.speed || 0 | fixed 0}}
+                      span(v-if="!isNaN(state.s)") &nbsp;({{state.s | fixed 0}})
+                      = ' RPM'
+
+                  tr(title="Load switch states.")
+                    th Loads
+                    td
+                      span(:class="state['1oa'] ? 'load-on' : ''")
+                        | 1:{{state['1oa'] ? 'On' : 'Off'}}
+                      | &nbsp;
+                      span(:class="state['2oa'] ? 'load-on' : ''")
+                        | 2:{{state['2oa'] ? 'On' : 'Off'}}
+
+              td
+                table.info
+                  tr
+                    th Remaining
+                    td(title="Total run time (days:hours:mins:secs)").
+                      #[span(v-if="plan_time_remaining") {{plan_time_remaining | time}} of]
+                      {{toolpath.time | time}}
+
+                  tr
+                    th ETA
+                    td.eta {{eta}}
+
+                  tr
+                    th Line
+                    td
+                      | {{0 <= state.line ? state.line : 0 | number}}
+                      span(v-if="toolpath.lines")
+                        | &nbsp;of {{toolpath.lines | number}}
+
+                  tr
+                    th Progress
+                    td.progress
+                      label {{(progress || 0) | percent}}
+                      .bar(:style="'width:' + (progress || 0) * 100 + '%'")
+
+    .macros-div(class="present")
+       button.macros-button(title="Click to run Macros",v-for="(index,macros) in state.macros",
+          @click="run_macro(index)",:disabled="!is_ready",v-bind:style="{ backgroundColor: macros.color }") {{macros.name}}
+
+    .tabs
+     
+      input#tab1(type="radio", name="tabs",checked="" @click="tab = 'auto'")
+      label(for="tab1", title="Run GCode programs",style="height:50px;width:100px") Auto
+
+      input#tab2(type="radio", name="tabs", @click="tab = 'mdi'")
+      label(for="tab2", title="Manual GCode entry",style="height:50px;width:100px") MDI
+
+      input#tab3(type="radio", name="tabs", @click="tab = 'messages'")
+      label(for="tab3",style="height:50px;width:100px") Messages
+
+      input#tab4(type="radio", name="tabs", @click="tab = 'indicators'")
+      label(for="tab4",style="height:50px;width:100px") Indicators
+
+
+
+      
+      section#content1.tab-content.pure-form
+        .toolbar.pure-control-group
+          button.pure-button(:class="{'attention': is_holding}",
+            title="{{is_running ? 'Pause' : 'Start'}} program.",
+            @click="start_pause", :disabled="!state.selected",
+            style="height:100px;width:100px;font-weight:normal")
+            img(v-if="is_running" src="images/pause_gcode.png" style="height: 55px;")
+            img(v-else src="images/play_gcode.png" style="height: 55px;")
+
+          button.pure-button(title="Stop program.", @click="stop", style="height:100px;width:100px;font-weight:normal")
+            img(src="images/stop.png" style="height: 55px;")
+
+          button.pure-button(title="Pause program at next optional stop (M1).",
+            @click="optional_pause", v-if="false", style="height:100px;width:100px;font-weight:normal")
+            .fa.fa-stop-circle-o
+
+          message(:show.sync="uploading_files")
+            h3(slot="header") Files uploading
+            div(slot="body") 
+              h3 Please wait...
+              p  
+              p The files are currently being uploaded.
+              p Do not close the window.
+            div(slot="footer")
+
+          button.pure-button(title="Execute one program step.", @click="step",
+            :disabled="(!is_ready && !is_holding) || !state.selected",
+            v-if="false", style="height:100px;width:100px;font-weight:normal")
+            .fa.fa-step-forward
+          
+          button.pure-button(title="Upload a new GCode folder.", @click="open_folder",
+            :disabled="!is_ready",style="height:100px;width:100px;font-weight:normal")
+            img(src="images/upload_folder.png" style="height: 65px;")
+
+          form.gcode-folder-input.file-upload
+            input#folderInput(type="file", @change="upload_folder", :disabled="!is_ready",
+              webkitdirectory, directory)
+          
+          button.pure-button(title="Upload a new GCode program.", @click="open_file",
+            :disabled="!is_ready",style="height:100px;width:100px;font-weight:normal")
+            img(src="images/upload_gcode.png" style="height: 65px;")
+
+          form.gcode-file-input.file-upload
+            input(type="file", @change="upload_file", :disabled="!is_ready",
+              accept=".nc,.ngc,.gcode,.gc", multiple)
+
+          a(:disabled="!state.selected", download,
+              :href="'/api/file/' + state.selected",
+              title="Download the selected GCode program.")
+            button.pure-button(:disabled="!state.selected", style="height:100px;width:100px")
+              img(src="images/download_gcode.png" style="height: 65px;")
+
+          button.pure-button(title="Delete current GCode program.",
+            @click="deleteGCode = true",
+            :disabled="!state.selected || !is_ready",style="height:100px;width:100px;font-weight:normal")
+            img(src="images/delete_gcode.png" style="height: 55px;")
+
+          message.error-message(:show.sync="deleteGCode")
+            h3(slot="header") Select files to delete:
+            div(slot="body")
+              input.search-bar(type="text", v-model="search_query", placeholder="Search Files...")
+              .container
+                .folders
+                  h3 Folders
+                  div(v-for="(index, folder) in state.gcode_list", :key="index", @click="populateFiles(index)",
+                    class="folder-item", :class="{ selected: index === selected_folder_index }") {{ folder.name }}
+                .files
+                  h3 Files
+                  label.file-item(v-for="item in gcode_filtered_files" :key="item")
+                    input(type="checkbox" :value="item" v-model="selected_items_to_delete")
+                    |  {{ item }}
+            div(slot="footer")
+              button.pure-button(@click="cancel_delete",style="height:50px") Cancel
+              //- button.pure-button.button-error(@click="delete_all_except_macros")
+              //-   .fa.fa-trash
+              //-   | &nbsp;All
+              button.pure-button.button-success(@click="delete_current",style="height:50px")
+                .fa.fa-trash
+                | &nbsp;Selected
+
+          .drop-down-container
+            message(:show.sync="create_folder")
+              h3(slot="header") Enter folder name:
+              div(slot="body")
+                input.input-name(type="text",minlength='1',maxlength='15',style ="margin-top:1rem;margin-bottom:2rem;",
+                  id="folder-name" ,v-model="folder_name",@keypress="edited_folder_name")
+
+              div(slot="footer")
+                button.pure-button(@click="cancel_new_folder") Cancel
+                button.pure-button.button-success(@click="create_new_folder",:disabled="!edited")
+                  | Create
+
+            message(:show.sync="confirmDelete")
+              h3(slot="header") Delete Folder?
+              div(slot="body")
+                  p Are you sure to delete the folder?
+                  
+              div(slot="footer")
+                button.pure-button(@click="confirmDelete=false") Cancel
+                button.pure-button.button-error(@click="delete_folder") Folder only
+                button.pure-button.button-success(@click="delete_folder_and_files") Folder and files 
+            
+            button.pure-button(title="Create a new folder.", @click="create_folder=true",
+              :disabled="!is_ready",style="height:100%")
+              | Create Folder
+            
+            button.pure-button(title="Delete a folder.", @click="confirmDelete=true",
+              :disabled="!is_ready",style="height:100%;margin-left:5px")
+              | Delete Folder
+
+            select(title="Select previously uploaded GCode folder.",
+              v-model="state.folder", @change="reset_gcode", :disabled="!is_ready",
+              style="max-width:100%;margin-left:5px")
+              option( selected='' value='default')  Default folder
+              option(v-for="file in gcode_folders", :value="file") {{file}}
+
+            select(title="Select previously uploaded GCode programs.",
+              v-model="state.selected", @change="load", :disabled="!is_ready",
+              style="max-width:300px;margin-left:5px")
+              option(v-for="file in gcode_files", :value="file") {{file}}
+            
+            button.pure-button(@click="toggle_sorting", :disabled="!is_ready",
+              style="height:75%")
+              | {{files_sortby}}
+
+          .progress(v-if="toolpath_progress && toolpath_progress < 1",
+            title="Simulating GCode to check for errors, calculate ETA and " +
+              "generate 3D view.  You can run GCode before the simulation " +
+              "finishes.")
+            div(:style="'width:' + (toolpath_progress || 0) * 100 + '%'")
+              label Simulating {{(toolpath_progress || 0) | percent}}
+
+        path-viewer(:toolpath="toolpath", :state="state", :config="config")
+        gcode-viewer
+
+      section#content2.tab-content
+        .mdi.pure-form(title="Manual GCode entry.")
+          button.pure-button(:disabled="!can_mdi",
+            :class="{'attention': is_holding}",
+            title="{{is_running ? 'Pause' : 'Start'}} command.",
+            @click="mdi_start_pause",style="height:100px;width:100px")
+            .fa(:class="is_running ? 'fa-pause' : 'fa-play'")
+
+          button.pure-button(title="Stop command.", @click="stop",style="height:100px;width:100px")
+            .fa.fa-stop
+
+          input(v-model="mdi", :disabled="!can_mdi", @keyup.enter="submit_mdi")
+
+        div
+          em The machine is currently operating in #[strong {{mach_units}}] units.  Use G20/G21 to switch units.
+
+        .history(:class="{placeholder: !history}")
+          span(v-if="!history.length") MDI history displays here.
+          ul
+            li(v-for="item in history", @click="load_history($index)",
+               track-by="$index")
+              | {{item}}
+
+      section#content3.tab-content
+        console
+
+      section#content4.tab-content
+        indicators(:state="state", :template="template")
+
+    .override(title="Feed rate override.")
+      label Feed
+      input(type="range", min="0", max="2", step="0.01",
+        v-model="feed_override", @change="override_feed")
+      span.percent {{feed_override | percent 0}}
+
+    .override(title="Spindle speed override.")
+      label Speed
+      input(type="range", min="0", max="2", step="0.01",
+        v-model="speed_override", @change="override_speed")
+      span.percent {{speed_override | percent 0}}

-    // ----- Macro row (slice 0..7); full list lives in Settings → Macros -----
-    // The colored left stripe (.has-color) is suppressed for white,
-    // near-white and other default placeholder colors so unconfigured
-    // macros render as clean slate tiles instead of looking lopsided.
-    .macro-row(v-if="state.macros && state.macros.length")
-      button.macro-btn(v-for="(index, macros) in state.macros.slice(0, 8)",
-        title="Click to run macro",
-        @click="run_macro(index)",
-        :disabled="!is_ready",
-        :class="{'has-color': has_macro_color(macros)}",
-        :style="has_macro_color(macros) ? {borderLeftColor: macros.color} : {}")
-        span.mnum {{index + 1}}
-        span.mname {{macros.name || ('Macro ' + (index + 1))}}
    
-    // ----- Override drawer (anchored to bottom; toggled by Spindle KPI tile) -----
-    .override-drawer(:class="{open: overrides_open}")
-      .od-head
-        .od-title
-          .fa.fa-sliders
-          | &nbsp;Overrides
-        button.od-close(@click="overrides_open = false") ✕
-      .od-body
-        .od-row
-          label Feed
-          input(type="range", min="0", max="2", step="0.01",
-            v-model="feed_override", @change="override_feed")
-          .od-val {{feed_override | percent 0}}
-          button.od-reset(@click="feed_override = 1; override_feed()") Reset 100%
-        .od-row
-          label Spindle
-          input(type="range", min="0", max="2", step="0.01",
-            v-model="speed_override", @change="override_speed")
-          .od-val {{speed_override | percent 0}}
-          button.od-reset(@click="speed_override = 1; override_speed()") Reset 100%
--- a/src/pug/templates/estop.pug
+++ b/src/pug/templates/estop.pug
@@ -2,8 +2,6 @@ script#estop-template(type="text/x-template")
  svg(version="1.1", xmlns:svg="http://www.w3.org/2000/svg",
    xmlns="http://www.w3.org/2000/svg",
    xmlns:xlink="http://www.w3.org/1999/xlink",
-    viewBox="0 0 130 130",
-    preserveAspectRatio="xMidYMid meet",
    width="130", height="130")
      defs
        path#text-path-1(d="m 73.735,673.129 c 0,55.107 44.673,99.780 99.780,99.780 55.107,0 99.780,-44.673 99.780,-99.780 0,-55.107 -44.673,-99.780 -99.780,-99.780 -55.107,0 -99.780,44.673 -99.780,99.780 z")
--- a/src/pug/templates/indicators.pug
+++ b/src/pug/templates/indicators.pug
@@ -6,11 +6,11 @@ script#indicators-template(type="text/x-template")

      tr
        td
-         .fa.fa-circle-plus.io
+         .fa.fa-plus-circle.io
        th Hi/+3.3v
        th.separator
        td
-         .fa.fa-circle-minus.io
+         .fa.fa-minus-circle.io
        th Lo/Gnd
        th.separator
        td
@@ -22,7 +22,7 @@ script#indicators-template(type="text/x-template")
        th Inactive
        th.separator
        td
-         .far.fa-circle.io
+         .fa.fa-circle-o.io
        th Tristated/Disabled

    table.inputs
@@ -169,14 +169,14 @@ script#indicators-template(type="text/x-template")

      tr
        th Motor
-        th(title="Overtemperature fault"): .fa.fa-temperature-full
+        th(title="Overtemperature fault"): .fa.fa-thermometer-full
        th(title="Overcurrent motor channel A") A #[.fa.fa-bolt]
        th(title="Predriver fault motor channel A")
-          | A #[.fa.fa-triangle-exclamation]
+          | A #[.fa.fa-exclamation-triangle]
        th(title="Overcurrent motor channel B") B #[.fa.fa-bolt]
        th(title="Predriver fault motor channel B")
-          | B #[.fa.fa-triangle-exclamation]
-        th(title="Driver communication failure"): .fa.fa-handshake
+          | B #[.fa.fa-exclamation-triangle]
+        th(title="Driver communication failure"): .fa.fa-handshake-o
        th(title="Reset all motor flags")
          .fa.fa-eraser(@click="motor_reset()")

--- a/src/pug/templates/path-viewer.pug
+++ b/src/pug/templates/path-viewer.pug
@@ -3,7 +3,7 @@ script#path-viewer-template(type="text/x-template")
    .path-viewer-toolbar
      .tool-button(title="Toggle path view size.",
        @click="small = !small", :class="{active: !small}")
-        .fa.fa-up-down-left-right
+        .fa.fa-arrows-alt

      .tool-button(@click="showTool = !showTool", :class="{active: showTool}",
        title="Show/hide tool.")
--- a/src/pug/templates/program-view.pug
+++ b/src/pug/templates/program-view.pug
@@ -1,142 +0,0 @@
-script#program-view-template(type="text/x-template")
-  .program-page
-
-    // ----- Modal dialogs -----
-    message(:show.sync="showGcodeMessage")
-      h3(slot="header") Processing New File
-      div(slot="body")
-        h3 Please wait..
-        p Simulating GCode to check for errors, calculate ETA and generate 3D view.
-      div(slot="footer")
-        label Simulating {{(toolpath_progress || 0) | percent}}
-
-    message(:show.sync="GCodeNotFound")
-      h3(slot="header") File not found
-      div(slot="body")
-        p It seems like the file you selected cannot be found. Try uploading again.
-      div(slot="footer")
-        button.pure-button.button-error(@click="GCodeNotFound=false") OK
-
-    message(:show.sync="uploading_files")
-      h3(slot="header") Files uploading
-      div(slot="body")
-        h3 Please wait...
-        p
-        p The files are currently being uploaded.
-        p Do not close the window.
-      div(slot="footer")
-
-    message.error-message(:show.sync="deleteGCode")
-      h3(slot="header") Select files to delete:
-      div(slot="body")
-        input.search-bar(type="text", v-model="search_query", placeholder="Search Files...")
-        .container
-          .folders
-            h3 Folders
-            div(v-for="(index, folder) in state.gcode_list", :key="index",
-              @click="populateFiles(index)",
-              class="folder-item",
-              :class="{ selected: index === selected_folder_index }") {{ folder.name }}
-          .files
-            h3 Files
-            label.file-item(v-for="item in gcode_filtered_files", :key="item")
-              input(type="checkbox", :value="item", v-model="selected_items_to_delete")
-              |  {{ item }}
-      div(slot="footer")
-        button.pure-button(@click="cancel_delete", style="height:50px") Cancel
-        button.pure-button.button-success(@click="delete_current", style="height:50px")
-          .fa.fa-trash
-          | &nbsp;Selected
-
-    message(:show.sync="create_folder")
-      h3(slot="header") Enter folder name:
-      div(slot="body")
-        input.input-name(type="text", minlength="1", maxlength="15",
-          style="margin-top:1rem;margin-bottom:2rem;",
-          id="folder-name", v-model="folder_name", @keypress="edited_folder_name")
-      div(slot="footer")
-        button.pure-button(@click="cancel_new_folder") Cancel
-        button.pure-button.button-success(@click="create_new_folder", :disabled="!edited") Create
-
-    message(:show.sync="confirmDelete")
-      h3(slot="header") Delete Folder?
-      div(slot="body")
-        p Are you sure to delete the folder?
-      div(slot="footer")
-        button.pure-button(@click="confirmDelete=false") Cancel
-        button.pure-button.button-error(@click="delete_folder") Folder only
-        button.pure-button.button-success(@click="delete_folder_and_files") Folder and files
-
-    .program-card
-
-      // Action bar (RUN / STOP / Upload / Download / Delete)
-      .action-bar
-        button.action-btn.run(:class="{'attention': is_holding}",
-          @click="start_pause", :disabled="!state.selected",
-          :title="is_running ? 'Pause program.' : 'Start program.'")
-          .fa.fa-play.ico(v-if="!is_running")
-          .fa.fa-pause.ico(v-else)
-          span {{is_running ? 'PAUSE' : 'RUN'}}
-        button.action-btn.stop(@click="stop", title="Stop program.")
-          .fa.fa-stop.ico
-          span STOP
-        button.action-btn(@click="open_folder", :disabled="!is_ready",
-          title="Upload a new GCode folder.")
-          .fa.fa-folder-plus.ico
-          span UPLOAD FOLDER
-        form.gcode-folder-input.file-upload
-          input#folderInput(type="file", @change="upload_folder",
-            :disabled="!is_ready", webkitdirectory, directory)
-        button.action-btn(@click="open_file", :disabled="!is_ready",
-          title="Upload a new GCode program.")
-          .fa.fa-file-arrow-up.ico
-          span UPLOAD FILE
-        form.gcode-file-input.file-upload
-          input(type="file", @change="upload_file", :disabled="!is_ready",
-            accept=".nc,.ngc,.gcode,.gc", multiple)
-        a(:href="state.selected ? '/api/file/' + state.selected : '#'",
-          download, :class="{disabled: !state.selected}",
-          title="Download the selected GCode program.")
-          button.action-btn(:disabled="!state.selected")
-            .fa.fa-file-arrow-down.ico
-            span DOWNLOAD FILE
-        button.action-btn.danger(@click="deleteGCode = true",
-          :disabled="!state.selected || !is_ready",
-          title="Delete current GCode program.")
-          .fa.fa-trash.ico
-          span DELETE
-
-      // File / folder selectors
-      .file-bar
-        button.file-btn(@click="create_folder=true", :disabled="!is_ready")
-          .fa.fa-folder-plus
-          | &nbsp;Create Folder
-        button.file-btn(@click="confirmDelete=true", :disabled="!is_ready")
-          .fa.fa-folder-minus
-          | &nbsp;Delete Folder
-        select.file-select(title="Select previously uploaded GCode folder.",
-          v-model="state.folder", @change="reset_gcode", :disabled="!is_ready")
-          option(selected, value="default") Default folder
-          option(v-for="file in gcode_folders", :value="file") {{file}}
-        select.file-select.primary(title="Select previously uploaded GCode programs.",
-          v-model="state.selected", @change="load", :disabled="!is_ready")
-          option(value="") (no file)
-          option(v-for="file in gcode_files", :value="file") {{file}}
-        button.file-btn(@click="toggle_sorting", :disabled="!is_ready")
-          .fa.fa-arrow-down-wide-short
-          | &nbsp;{{files_sortby}}
-
-      // Body: gcode listing on the left, 3D viewer on the right.
-      // The 3D path-viewer is suppressed when the UI is loaded by
-      // the Pi's onboard kiosk browser — the VideoCore IV cannot
-      // run three.js at a usable frame rate. Off-Pi clients still
-      // see the full split.
-      .program-body(:class="{'no-preview': is_kiosk}")
-        gcode-viewer
-        path-viewer(v-if="!is_kiosk", :toolpath="toolpath",
-          :state="state", :config="config")
-
-      .progress-bar(v-if="toolpath_progress && toolpath_progress < 1",
-        title="Simulating GCode to check for errors, calculate ETA and generate 3D view.")
-        div(:style="'width:' + (toolpath_progress || 0) * 100 + '%'")
-          label Simulating {{(toolpath_progress || 0) | percent}}
--- a/src/pug/templates/settings-shell.pug
+++ b/src/pug/templates/settings-shell.pug
@@ -1,56 +0,0 @@
-script#settings-shell-view-template(type="text/x-template")
-  .settings-shell
-    aside.settings-rail
-      // Use a single v-for over a data-driven items array so every
-      // rail item shares the same compiled :class binding template.
-      // This sidesteps a Vue 1 quirk where sibling-with-different-
-      // expression :class bindings sometimes fail to re-evaluate on
-      // hash navigation, leaving stale `.active` classes.
-      template(v-for="item in rail_items")
-        .set-section(v-if="item.section") {{item.section}}
-        a.set-item(v-if="!item.section", :class="{active: is_active(item)}",
-          :href="item.href", @click="on_rail_click(item, $event)")
-          .fa(:class="item.icon")
-          | &nbsp;{{item.label}}
-      .set-rail-foot
-        button.sp-shutdown(@click="showShutdownDialog")
-          .fa.fa-power-off
-          | &nbsp;Shutdown
-        button.sp-save(:disabled="!$root.modified", @click="$root.save()")
-          .fa.fa-save
-          | &nbsp;Save{{$root.modified ? '*' : ''}}
-
-    .settings-content
-      // Explicit v-if cascade so the inner template swaps reactively
-      // when sub changes (Vue 1's `<component :is>` does not always
-      // re-evaluate dynamic strings inside a kept-alive parent).
-      // The Svelte settings views read many config keys eagerly on
-      // attach (settings.units, settings.easy-adapter, motion.*),
-      // so we gate the inner mount on config_ready.
-      settings-view-inner(v-if="sub === 'settings' && config_ready",
-        section="display",
-        :index="index", :config="config", :template="template", :state="state")
-      settings-view-inner(v-if="sub === 'probing' && config_ready",
-        section="probing",
-        :index="index", :config="config", :template="template", :state="state")
-      settings-view-inner(v-if="sub === 'gcode' && config_ready",
-        section="gcode",
-        :index="index", :config="config", :template="template", :state="state")
-      admin-general-view(v-if="sub === 'admin-general' && config_ready",
-        :index="index", :config="config", :template="template", :state="state")
-      admin-network-view(v-if="sub === 'admin-network' && config_ready",
-        :index="index", :config="config", :template="template", :state="state")
-      motor-view(v-if="sub === 'motor' && config_ready",
-        :index="index", :config="config", :template="template", :state="state")
-      tool-view(v-if="sub === 'tool' && config_ready",
-        :index="index", :config="config", :template="template", :state="state")
-      io-view(v-if="sub === 'io' && 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",
-        :index="index", :config="config", :template="template", :state="state")
-      cheat-sheet-view(v-if="sub === 'cheat-sheet' && config_ready",
-        :index="index", :config="config", :template="template", :state="state")
-      .settings-loading(v-if="!config_ready")
-        | Loading configuration…
--- a/src/py/bbctrl/AuxAxis.py
+++ b/src/py/bbctrl/AuxAxis.py
@@ -0,0 +1,477 @@
+################################################################################
+#
+# 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 W travel
+    'dir_sign':          1,       # +1 or -1: maps logical+ to motor+ steps
+    'min_w':             0.0,     # soft limit min (mm)
+    'max_w':             100.0,   # soft limit max (mm)
+    'max_feed_mm_min':   600.0,   # informational; rate caps are on the ESP
+    '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.
+    'home_fast_sps':     4000,
+    'home_slow_sps':     400,
+    'home_backoff_steps': 200,
+    'home_maxtravel_steps': 200000,
+    'step_max_sps':      4000,
+    'step_accel_sps2':   16000,
+    '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 home(self):
+        """Run the homing cycle on the ESP. Blocks until done. Raises on
+        failure. Updates aux_homed and aux_pos."""
+        self._require_present()
+        line = self._rpc('HOME', topic='home', timeout=120.0)
+        # line is the body after '[home] '
+        if line.startswith('done'):
+            # ESP set its counter to home_zero; mirror that.
+            new_pos = self._parse_kv_int(line, 'pos', 0)
+            self._pos_steps = new_pos
+            self._homed = True
+            # Translate to home_position_mm. Conceptually the host says
+            # "after homing, W is here in mm". We achieve that by setting
+            # the ESP counter (WPOS) so the mm conversion works out.
+            target_pos = self._mm_to_steps(self._cfg['home_position_mm'])
+            if target_pos != new_pos:
+                self._rpc('WPOS %d' % target_pos, topic='ok', timeout=2.0)
+                self._pos_steps = target_pos
+            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)
+
+    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
+        cmd = ('HOMECFG dir=%s fast=%d slow=%d backoff=%d maxtravel=%d '
+               'zero=0 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(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
--- a/src/py/bbctrl/AuxPreprocessor.py
+++ b/src/py/bbctrl/AuxPreprocessor.py
@@ -0,0 +1,237 @@
+################################################################################
+#
+# AuxPreprocessor - rewrite W-axis G-code into hook calls
+#
+# The bbctrl planner only understands xyzabc. We expose a virtual W axis by
+# rewriting the G-code file *before* it is fed to gplan, replacing each W
+# move with a (MSG,HOOK:aux:...) line that the host's hook handler turns
+# into a STEPS or HOME command on the ESP.
+#
+# Rules:
+#   - Mixed-axis blocks (W together with XYZABC) are split into two
+#     sequential blocks. By default the W move runs first; configurable.
+#   - G90/G91/G20/G21 modal state is tracked so we can convert relative-W
+#     and inch-W into the absolute mm value the hook handler expects.
+#   - G28 W0 / G28.2 W0 -> HOOK:aux_home
+#   - G92 Wx           -> HOOK:aux_setzero:<mm>
+#   - G53 + W not specially handled (W only knows machine coords)
+#   - Lines inside parentheses or after `;` are passed through.
+#
+# The preprocessor is intentionally conservative: anything it doesn't
+# understand involving W is left alone with a warning, so motion lands in
+# gplan which will complain loudly rather than silently misbehaving.
+#
+################################################################################
+
+import os
+import re
+import shutil
+import tempfile
+
+
+# Match a word like "W12.5" or "W-3" or "w0". Also matches inside the same
+# line as XYZ words. We pull W out specifically.
+_W_TOKEN_RE = re.compile(r'(?<![A-Za-z_0-9])[Ww]\s*([-+]?\d*\.?\d+)')
+
+# Detect any axis-bearing word (so we can tell mixed-axis lines apart).
+_AXIS_WORD_RE = re.compile(r'(?<![A-Za-z_0-9])[XYZABCxyzabc]\s*[-+]?\d*\.?\d+')
+
+# Strip line comments so we don't get fooled by "(W axis)".
+_PAREN_COMMENT_RE = re.compile(r'\([^)]*\)')
+
+# Modal G-code groups we care about.
+_MODAL_RE = re.compile(r'(?<![A-Za-z_0-9])[Gg]\s*0*(\d+(?:\.\d+)?)')
+
+
+class AuxPreprocessorError(Exception):
+    pass
+
+
+class AuxPreprocessor(object):
+    def __init__(self, log=None, w_first=True):
+        self.log = log
+        # If True, on a mixed-axis line (e.g. G1 X10 W5), emit the W move
+        # first, then the XYZ move. Set False to invert.
+        self.w_first = w_first
+
+    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_w(path):
+        """Quick check: does this file contain any W-axis word? Used to skip
+        preprocessing entirely for files that don't care about W."""
+        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 _W_TOKEN_RE.search(code):
+                        return True
+        except Exception:
+            pass
+        return False
+
+    # ------------------------------------------------------------------ core
+
+    def _strip_w(self, line):
+        """Return (line_without_w, w_value_str_or_None). Only first W kept."""
+        m = _W_TOKEN_RE.search(line)
+        if m is None:
+            return line, None
+        # Remove just the matched W<num> token, preserving surrounding spaces.
+        rewritten = line[:m.start()] + line[m.end():]
+        return rewritten, m.group(1)
+
+    def _has_other_axis(self, code_no_w):
+        return _AXIS_WORD_RE.search(code_no_w) is not None
+
+    def _detect_modals(self, code, modal):
+        """Update modal dict in-place from G-codes on this line."""
+        for mm in _MODAL_RE.finditer(code):
+            try:
+                g = float(mm.group(1))
+            except ValueError:
+                continue
+            if g == 90: modal['abs'] = True
+            elif g == 91: modal['abs'] = False
+            elif g == 20: modal['inch'] = True
+            elif g == 21: modal['inch'] = False
+            # G28 / G28.2 / G92 are detected case-by-case below.
+
+    @staticmethod
+    def _is_g28_like(code):
+        # Match G28 or G28.2 (homing).
+        return bool(re.search(r'(?<![A-Za-z_0-9])[Gg]\s*0*28(?:\.2)?(?![\w.])', code))
+
+    @staticmethod
+    def _is_g92(code):
+        return bool(re.search(r'(?<![A-Za-z_0-9])[Gg]\s*0*92(?![\w.])', code))
+
+    # ------------------------------------------------------------------ run
+
+    def process(self, src_path, dst_path):
+        """Read src_path, write rewritten G-code to dst_path. Returns True
+        if any rewrite happened."""
+        modal = {'abs': True, 'inch': False}  # G90 G21 are common defaults
+        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
+
+                # Update modal from G-codes on this line first (so absolute
+                # vs incremental matches what the planner sees for XYZ).
+                self._detect_modals(code, modal)
+
+                if not _W_TOKEN_RE.search(code):
+                    fout.write(raw)
+                    continue
+
+                rewrote_any = True
+
+                # G28[.2] W... -> aux_home (W value is ignored except as
+                # a flag that W is being homed).
+                if self._is_g28_like(code):
+                    code_no_w, _ = self._strip_w(line)
+                    fout.write('(MSG,HOOK:aux_home:)\n')
+                    # Only keep the residual line if other axes were also
+                    # present (e.g. G28.2 X0 Y0 W0 still homes X+Y). A bare
+                    # "G28" without axis args means "home all" in gcode
+                    # which we explicitly DON'T want to trigger from a
+                    # W-only home command.
+                    rest_code = _PAREN_COMMENT_RE.sub('', code_no_w)
+                    rest_code = rest_code.split(';', 1)[0]
+                    if self._has_other_axis(rest_code):
+                        fout.write(code_no_w + '\n')
+                    continue
+
+                # G92 W... -> set W zero (or other value) without motion.
+                if self._is_g92(code):
+                    line_no_w, w_val = self._strip_w(line)
+                    target_mm = self._w_to_mm(w_val, modal, set_pos=True)
+                    fout.write('(MSG,HOOK:aux_setzero:%g)\n' % target_mm)
+                    rest_code = _PAREN_COMMENT_RE.sub('', line_no_w)
+                    rest_code = rest_code.split(';', 1)[0]
+                    if self._has_other_axis(rest_code):
+                        fout.write(line_no_w + '\n')
+                    continue
+
+                # Plain motion: G0/G1 etc with W word.
+                line_no_w, w_val = self._strip_w(line)
+                target_mm = self._w_to_mm(w_val, modal, set_pos=False)
+                # Distinguish absolute vs relative: encode both, the hook
+                # handler will pick the right operation.
+                if modal['abs']:
+                    hook_line = '(MSG,HOOK:aux:%g)' % target_mm
+                else:
+                    hook_line = '(MSG,HOOK:aux_rel:%g)' % target_mm
+
+                rest_code = _PAREN_COMMENT_RE.sub('', line_no_w)
+                rest_code = rest_code.split(';', 1)[0]
+                has_xyz = self._has_other_axis(rest_code)
+
+                if not has_xyz:
+                    # Pure W move; drop the (now-empty) original line.
+                    fout.write(hook_line + '\n')
+                    continue
+
+                # Mixed-axis: split. Default order is W first.
+                if self.w_first:
+                    fout.write(hook_line + '\n')
+                    fout.write(line_no_w + '\n')
+                else:
+                    fout.write(line_no_w + '\n')
+                    fout.write(hook_line + '\n')
+
+        return rewrote_any
+
+    # ------------------------------------------------------------ unit conv
+
+    def _w_to_mm(self, w_str, modal, set_pos):
+        try:
+            v = float(w_str)
+        except (TypeError, ValueError):
+            raise AuxPreprocessorError('Invalid W value: %r' % w_str)
+        if modal['inch']:
+            v *= 25.4
+        return v
+
+
+def preprocess_file(src_path, log=None, w_first=True):
+    """Convenience: rewrite src_path in place if it uses W.
+    Returns True if the file was rewritten."""
+    if not AuxPreprocessor.file_uses_w(src_path):
+        return False
+    pre = AuxPreprocessor(log=log, w_first=w_first)
+    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
--- a/src/py/bbctrl/Comm.py
+++ b/src/py/bbctrl/Comm.py
@@ -223,10 +223,6 @@ class Comm(object):
                    self.ctrl.mach.process_log(msg)
                elif 'firmware' in msg:
                    self.log.info('AVR firmware rebooted')
-                    try:
-                        import bbctrl.Trace as _T
-                        _T.mark('avr.firmware_rebooted')
-                    except Exception: pass
                    self.connect()
                else:
                    self._update_state(msg)
--- a/src/py/bbctrl/Ctrl.py
+++ b/src/py/bbctrl/Ctrl.py
@@ -28,12 +28,10 @@
 import os
 import time
 import bbctrl
-import bbctrl.Trace as Trace


 class Ctrl(object):
    def __init__(self, args, ioloop, id):
-        Trace.mark('ctrl.init.start', id=id or '<default>')
        self.args = args
        self.ioloop = bbctrl.IOLoop(ioloop)
        self.id = id
@@ -45,47 +43,34 @@ class Ctrl(object):
        if args.demo: log_path = self.get_path(filename = 'bbctrl.log')
        else: log_path = args.log
        self.log = bbctrl.log.Log(args, self.ioloop, log_path)
-        Trace.mark('ctrl.log_open')

        self.state = bbctrl.State(self)
        self.config = bbctrl.Config(self)
-        Trace.mark('ctrl.state_config')

        self.log.get('Ctrl').info('Starting %s' % self.id)

        try:
-            with Trace.span('ctrl.avr'):
-                if args.demo: self.avr = bbctrl.AVREmu(self)
-                else: self.avr = bbctrl.AVR(self)
+            if args.demo: self.avr = bbctrl.AVREmu(self)
+            else: self.avr = bbctrl.AVR(self)

-            with Trace.span('ctrl.i2c'):
-                self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
-            with Trace.span('ctrl.lcd'):
-                self.lcd = bbctrl.LCD(self)
-            with Trace.span('ctrl.mach'):
-                self.mach = bbctrl.Mach(self, self.avr)
-            with Trace.span('ctrl.preplanner'):
-                self.preplanner = bbctrl.Preplanner(self)
-            if not args.demo:
-                with Trace.span('ctrl.jog'):
-                    self.jog = bbctrl.Jog(self)
-            with Trace.span('ctrl.pwr'):
-                self.pwr = bbctrl.Pwr(self)
+            self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
+            self.lcd = bbctrl.LCD(self)
+            self.mach = bbctrl.Mach(self, self.avr)
+            self.preplanner = bbctrl.Preplanner(self)
+            if not args.demo: self.jog = bbctrl.Jog(self)
+            self.pwr = bbctrl.Pwr(self)
+            self.hooks = bbctrl.Hooks(self)
+            self.aux = bbctrl.AuxAxis(self)
+            self._register_aux_hooks()

-            with Trace.span('ctrl.mach.connect'):
-                self.mach.connect()
+            self.mach.connect()

            self.lcd.add_new_page(bbctrl.MainLCDPage(self))
            self.lcd.add_new_page(bbctrl.IPLCDPage(self.lcd))

            os.environ['GCODE_SCRIPT_PATH'] = self.get_upload()

-            Trace.mark('ctrl.init.end')
-            Trace.sd_notify('STATUS=ctrl initialized\n')
-
-        except Exception:
-            Trace.mark('ctrl.init.error')
-            self.log.get('Ctrl').exception('Internal error: Control initialization failed')
+        except Exception: self.log.get('Ctrl').exception('Internal error: Control initialization failed')


    def __del__(self): print('Ctrl deleted')
@@ -127,8 +112,46 @@ class Ctrl(object):
        self.preplanner.start()


+    def _register_aux_hooks(self):
+        """Wire up the auxcnc HOOK: events to AuxAxis methods."""
+        log = self.log.get('AuxAxis')
+
+        def _hook_move(ctx):
+            data = (ctx.get('data') or '').strip()
+            if not data:
+                raise Exception('aux hook missing target')
+            self.aux.move_abs_mm(float(data))
+
+        def _hook_move_rel(ctx):
+            data = (ctx.get('data') or '').strip()
+            if not data:
+                raise Exception('aux_rel hook missing delta')
+            self.aux.move_rel_mm(float(data))
+
+        def _hook_home(ctx):
+            self.aux.home()
+
+        def _hook_setzero(ctx):
+            data = (ctx.get('data') or '').strip()
+            mm = float(data) if data else 0.0
+            self.aux.set_position_mm(mm)
+
+        self.hooks.register_internal('aux',         _hook_move,
+                                     block_unpause=True, auto_resume=True)
+        self.hooks.register_internal('aux_rel',     _hook_move_rel,
+                                     block_unpause=True, auto_resume=True)
+        self.hooks.register_internal('aux_home',    _hook_home,
+                                     block_unpause=True, auto_resume=True,
+                                     timeout=180)
+        self.hooks.register_internal('aux_setzero', _hook_setzero,
+                                     block_unpause=True, auto_resume=True)
+        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.aux.close()
+        except Exception: pass
--- a/src/py/bbctrl/FileHandler.py
+++ b/src/py/bbctrl/FileHandler.py
@@ -99,6 +99,19 @@ class FileHandler(bbctrl.APIHandler):

            del (self.uploadFile)

+            # If the uploaded G-code uses the virtual W axis, rewrite the
+            # file in place so the planner sees (MSG,HOOK:aux:*) lines
+            # instead of W tokens it can't parse.
+            try:
+                from bbctrl.AuxPreprocessor import preprocess_file
+                log = self.get_log('AuxPreprocessor')
+                if preprocess_file(filename.decode('utf8'), log=log):
+                    log.info('Rewrote W-axis tokens in %s' %
+                             self.uploadFilename)
+            except Exception:
+                self.get_log('AuxPreprocessor').exception(
+                    'W-axis preprocess failed; uploading unchanged')
+
            self.get_ctrl().preplanner.invalidate(self.uploadFilename)
            self.get_ctrl().state.add_file(self.uploadFilename)

--- a/src/py/bbctrl/Hooks.py
+++ b/src/py/bbctrl/Hooks.py
@@ -0,0 +1,429 @@
+################################################################################
+#
+# 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.
+                    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 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'))
--- a/src/py/bbctrl/Log.py
+++ b/src/py/bbctrl/Log.py
@@ -182,11 +182,4 @@ class Log(object):
            if n == 16: os.unlink(fullpath)
            else: self._rotate(path, nextN)

-            # The recursive call may have unlinked or rotated this
-            # path; tolerate a missing source rather than crashing
-            # bbctrl on startup. This also tolerates concurrent
-            # logrotate runs from /etc/cron.reboot.
-            try:
-                os.rename(fullpath, '%s.%d' % (path, nextN))
-            except FileNotFoundError:
-                pass
+            os.rename(fullpath, '%s.%d' % (path, nextN))
--- a/src/py/bbctrl/Mach.py
+++ b/src/py/bbctrl/Mach.py
@@ -256,6 +256,9 @@ class Mach(Comm):
            if   cmd[0] == '$':  self._query_var(cmd)
            elif cmd[0] == '\\': super().queue_command(cmd[1:])
            else:
+                # Rewrite W-axis tokens in MDI input the same way the
+                # FileHandler rewrites uploaded files.
+                cmd = self._rewrite_w_mdi(cmd)
                self._begin_cycle('mdi')
                self.planner.mdi(cmd, with_limits)
                super().resume()
@@ -263,6 +266,35 @@ class Mach(Comm):
            self.mlog.info("Exception during MDI: %s" % err)
            pass

+    def _rewrite_w_mdi(self, cmd):
+        """Apply the W-axis preprocessor to a single MDI line. Returns
+        possibly-multi-line G-code with HOOK: comments inserted."""
+        try:
+            from bbctrl.AuxPreprocessor import AuxPreprocessor, _W_TOKEN_RE
+            if not _W_TOKEN_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('W-axis MDI rewrite failed: %s' % e)
+            return cmd
+
    def set(self, code, value):
        super().queue_command('${}={}'.format(code, value))

@@ -349,6 +381,10 @@ class Mach(Comm):

    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()

--- a/src/py/bbctrl/Planner.py
+++ b/src/py/bbctrl/Planner.py
@@ -30,22 +30,7 @@ import math
 import re
 import time
 from collections import deque
-# camotics.gplan is heavy (loads a C++ extension that pulls in libstdc++,
-# boost::python, etc.). Defer it: bbctrl can listen on HTTP and serve
-# the UI without ever touching the planner. Lazy-load the first time
-# Planner.init() runs, which is when the user actually queues motion.
-gplan = None
-def _load_gplan():
-    global gplan
-    if gplan is None:
-        try:
-            import bbctrl.Trace as _T
-            with _T.span('imports.camotics_gplan'):
-                import camotics.gplan as _gplan # pylint: disable=no-name-in-module,import-error
-        except Exception:
-            import camotics.gplan as _gplan # pylint: disable=no-name-in-module,import-error
-        gplan = _gplan
-    return gplan
+import camotics.gplan as gplan # pylint: disable=no-name-in-module,import-error
 import bbctrl.Cmd as Cmd
 from bbctrl.CommandQueue import CommandQueue

@@ -344,7 +329,7 @@ class Planner():
        if stop:
            self.ctrl.mach.stop()

-        self.planner = _load_gplan().Planner()
+        self.planner = gplan.Planner()
        self.planner.set_resolver(self._get_var_cb)
        # TODO logger is global and will not work correctly in demo mode
        self.planner.set_logger(self._log_cb, 1, 'LinePlanner:3')
--- a/src/py/bbctrl/Trace.py
+++ b/src/py/bbctrl/Trace.py
@@ -1,185 +0,0 @@
-################################################################################
-#                                                                              #
-#  Lightweight phase tracing for bbctrl restart / boot timing.                 #
-#                                                                              #
-#  Anchored at module import time. All timestamps are seconds since the        #
-#  process anchor (monotonic). A wall-clock anchor is captured once so the     #
-#  timeline can be aligned with journalctl / systemd-analyze.                  #
-#                                                                              #
-#  Set BBCTRL_TRACE=0 in the environment to disable all marks (no-op).         #
-#                                                                              #
-#  Exposed by /api/diag/timing as JSON.                                        #
-#                                                                              #
-################################################################################
-"""Bbctrl restart / startup tracing.
-
-Usage:
-    import bbctrl.Trace as T
-    T.mark('proc.start')
-    with T.span('ctrl.avr.init'):
-        ...
-
-The timeline is also dumped on demand via /api/diag/timing.
-"""
-
-import os
-import time
-import json
-import threading
-
-
-_ENABLED = os.environ.get('BBCTRL_TRACE', '1') != '0'
-
-_t0_monotonic = time.monotonic()
-_t0_wall = time.time()
-_lock = threading.Lock()
-_events = []        # list of dicts: {t, name, fields}
-_ui_timing = None   # last timeline POSTed by the browser
-
-
-def _read_kernel_anchors():
-    """Return (btime_wall, uptime_at_anchor) so we can express bbctrl events
-    in seconds since kernel boot.
-
-    btime_wall: wall-clock epoch seconds when the kernel booted (from
-    /proc/stat 'btime').
-    uptime_at_anchor: monotonic offset (seconds since kernel boot) at the
-    moment Trace was imported. Equivalent to (Trace anchor) - btime
-    in wall time, but read directly from /proc/uptime so it isn't
-    sensitive to wall-clock skew.
-    """
-    btime = None
-    uptime_at_anchor = None
-    try:
-        with open('/proc/stat') as f:
-            for line in f:
-                if line.startswith('btime '):
-                    btime = int(line.split()[1])
-                    break
-    except Exception:
-        pass
-    try:
-        with open('/proc/uptime') as f:
-            uptime_at_anchor = float(f.read().split()[0])
-    except Exception:
-        pass
-    return btime, uptime_at_anchor
-
-
-_btime_wall, _uptime_at_anchor = _read_kernel_anchors()
-
-
-def now():
-    return time.monotonic() - _t0_monotonic
-
-
-def mark(name, **fields):
-    """Record a single named event at the current monotonic time."""
-    if not _ENABLED:
-        return
-    t = now()
-    ev = {'t': round(t, 4), 'name': name}
-    if fields:
-        ev['fields'] = fields
-    with _lock:
-        _events.append(ev)
-    # Also surface in the regular log stream so journalctl shows it.
-    try:
-        extras = ''
-        if fields:
-            extras = ' ' + ' '.join('%s=%s' % (k, v) for k, v in fields.items())
-        print('TRACE +%.3fs %s%s' % (t, name, extras), flush=True)
-    except Exception:
-        pass
-
-
-class span(object):
-    """Context manager that emits <name>.start / <name>.end with duration."""
-
-    def __init__(self, name, **fields):
-        self.name = name
-        self.fields = fields
-        self._t = None
-
-    def __enter__(self):
-        if _ENABLED:
-            self._t = time.monotonic()
-            mark(self.name + '.start', **self.fields)
-        return self
-
-    def __exit__(self, exc_type, exc, tb):
-        if _ENABLED and self._t is not None:
-            dur_ms = int((time.monotonic() - self._t) * 1000)
-            extra = dict(self.fields)
-            extra['dur_ms'] = dur_ms
-            if exc_type is not None:
-                extra['error'] = exc_type.__name__
-            mark(self.name + '.end', **extra)
-        return False
-
-
-def set_ui_timing(data):
-    global _ui_timing
-    _ui_timing = data
-
-
-def _current_uptime():
-    try:
-        with open('/proc/uptime') as f:
-            return float(f.read().split()[0])
-    except Exception:
-        return None
-
-
-def timeline():
-    with _lock:
-        events = list(_events)
-    return {
-        'enabled': _ENABLED,
-        't0_wall': _t0_wall,
-        't0_iso': time.strftime('%Y-%m-%dT%H:%M:%S', time.localtime(_t0_wall)),
-        'now': now(),
-        'pid': os.getpid(),
-        'events': events,
-        'ui': _ui_timing,
-        # Kernel-boot anchors so the timeline can be expressed in
-        # "seconds since power on".
-        'btime_wall': _btime_wall,
-        'uptime_at_anchor': _uptime_at_anchor,
-        'uptime_now': _current_uptime(),
-    }
-
-
-def dump(path):
-    try:
-        with open(path, 'w') as f:
-            json.dump(timeline(), f, indent=2)
-    except Exception:
-        pass
-
-
-# Sd_notify helper -------------------------------------------------------------
-#
-# Allows bbctrl to tell systemd "I am ready" / "current status is X" so
-# `systemctl status bbctrl` and `systemd-analyze critical-chain` reflect the
-# actual application state instead of just exec start.
-def sd_notify(state):
-    """Send a status line to systemd. Safe no-op when not under systemd."""
-    addr = os.environ.get('NOTIFY_SOCKET')
-    if not addr:
-        return
-    try:
-        import socket
-        sock = socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM)
-        try:
-            # Abstract socket if it starts with '@'
-            target = '\0' + addr[1:] if addr.startswith('@') else addr
-            sock.sendto(state.encode('utf-8'), target)
-        finally:
-            sock.close()
-    except Exception:
-        pass
-
-
-# Mark module-import time so even importing bbctrl shows up.
-mark('trace.import')
--- a/src/py/bbctrl/Web.py
+++ b/src/py/bbctrl/Web.py
@@ -766,6 +766,93 @@ 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 via the AuxAxis' own RPC; this blocks the
+        # request. Fine because the UI shows a spinner.
+        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)."""
+    def put_ok(self):
+        body = self.json or {}
+        aux = self.get_ctrl().aux
+        if 'mm' in body:
+            aux.move_rel_mm(float(body['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')
+        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):
@@ -798,32 +885,6 @@ class RemoteDiagnosticsHandler(bbctrl.APIHandler):
                    'message': e.reason or "Unknown"
                })

-
-class TimingHandler(bbctrl.APIHandler):
-    """Return the bbctrl process startup timeline as JSON.
-
-    Includes monotonic-anchored events from bbctrl.Trace, the wall
-    clock anchor (so the timeline can be aligned with journalctl /
-    systemd-analyze output), and the most recent UI-side timing
-    payload posted by the browser.
-    """
-    def get(self):
-        import bbctrl.Trace as _T
-        self.write_json(_T.timeline())
-
-
-class UITimingHandler(bbctrl.APIHandler):
-    """Browser posts its performance.now() marks here once per load."""
-    def put_ok(self):
-        import bbctrl.Trace as _T
-        # self.json is parsed in APIHandler.prepare()
-        try:
-            _T.set_ui_timing(self.json)
-            _T.mark('ui.posted_timing',
-                    marks=len(self.json.get('marks', []) or []))
-        except Exception: pass
-
-
 # Base class for Web Socket connections
 class ClientConnection(object):
    def __init__(self, app):
@@ -899,12 +960,6 @@ class SockJSConnection(ClientConnection, sockjs.tornado.SockJSConnection):
            ip = info.ip
            if 'X-Real-IP' in info.headers: ip = info.headers['X-Real-IP']
            self.app.get_ctrl(id).log.get('Web').info('Connection from %s' % ip)
-            try:
-                if not getattr(self.app, '_first_ws', False):
-                    self.app._first_ws = True
-                    import bbctrl.Trace as _T
-                    _T.mark('ws.first_open', ip=ip)
-            except Exception: pass
            super().on_open(id)


@@ -913,23 +968,6 @@ class StaticFileHandler(tornado.web.StaticFileHandler):
        self.set_header('Cache-Control',
                        'no-store, no-cache, must-revalidate, max-age=0')

-    def prepare(self):
-        # Mark the first request for the index page so we can see when
-        # chromium actually started fetching the UI on cold boot.
-        try:
-            app = self.application
-            if not getattr(app, '_first_root_get', False):
-                # Treat any GET '/' or '/index.html' as the root fetch.
-                p = self.request.path
-                if p in ('/', '/index.html', ''):
-                    app._first_root_get = True
-                    import bbctrl.Trace as _T
-                    _T.mark('web.first_root_get',
-                            ip=self.request.remote_ip,
-                            ua=(self.request.headers.get('User-Agent') or '')[:60])
-        except Exception: pass
-        return super().prepare()
-
 class Web(tornado.web.Application):
    def __init__(self, args, ioloop):
        self.args = args
@@ -951,8 +989,6 @@ class Web(tornado.web.Application):

        handlers = [
            (r'/websocket', WSConnection),
-            (r'/api/diag/timing', TimingHandler),
-            (r'/api/diag/timing/ui', UITimingHandler),
            (r'/api/log', LogHandler),
            (r'/api/message/(\d+)/ack', MessageAckHandler),
            (r'/api/bugreport', BugReportHandler),
@@ -992,6 +1028,18 @@ 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'}),
--- a/src/py/bbctrl/init.py
+++ b/src/py/bbctrl/init.py
@@ -36,13 +36,6 @@ import datetime

 from pkg_resources import Requirement, resource_filename

-# Trace must be imported before the rest of bbctrl so its monotonic
-# anchor is the earliest reasonable point and so import-time costs of
-# heavy submodules (camotics gplan.so, sockjs, tornado, etc.) are
-# attributable in /api/diag/timing.
-import bbctrl.Trace as Trace
-Trace.mark('imports.bbctrl.start')
-
 from bbctrl.RequestHandler import RequestHandler
 from bbctrl.APIHandler import APIHandler
 from bbctrl.FileHandler import FileHandler
@@ -66,13 +59,13 @@ 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
 import bbctrl.Cmd as Cmd
 import bbctrl.v4l2 as v4l2
 import bbctrl.Log as log
 import bbctrl.ObjGraph as ObjGraph

-Trace.mark('imports.bbctrl.end')
-

 ctrl = None

@@ -176,28 +169,19 @@ def parse_args():
 def run():
    global ctrl

-    Trace.mark('run.enter')
    args = parse_args()
-    Trace.mark('args.parsed')

    # Set signal handler
    signal.signal(signal.SIGTERM, on_exit)

    # Create ioloop
    ioloop = tornado.ioloop.IOLoop.current()
-    Trace.mark('ioloop.created')

    # Set ObjGraph signal handler
    if args.debug: Debugger(ioloop, args.debug)

    # Start server
-    with Trace.span('web.init'):
-        web = Web(args, ioloop)
-    Trace.mark('listen', port=args.port, addr=args.addr)
-
-    # Notify systemd we are ready (no-op when not under systemd).
-    Trace.sd_notify('READY=1\nSTATUS=listening on %s:%d\n' %
-                    (args.addr, args.port))
+    web = Web(args, ioloop)

    try:
        ioloop.start()
--- a/src/resources/fonts/fontawesome-webfont.ttf
+++ b/src/resources/fonts/fontawesome-webfont.ttf
--- a/src/resources/fonts/fontawesome-webfont.woff
+++ b/src/resources/fonts/fontawesome-webfont.woff
--- a/src/resources/fonts/fontawesome-webfont.woff2
+++ b/src/resources/fonts/fontawesome-webfont.woff2
--- a/src/resources/webfonts/fa-brands-400.ttf
+++ b/src/resources/webfonts/fa-brands-400.ttf
--- a/src/resources/webfonts/fa-brands-400.woff2
+++ b/src/resources/webfonts/fa-brands-400.woff2
--- a/src/resources/webfonts/fa-regular-400.ttf
+++ b/src/resources/webfonts/fa-regular-400.ttf
--- a/src/resources/webfonts/fa-regular-400.woff2
+++ b/src/resources/webfonts/fa-regular-400.woff2
--- a/src/resources/webfonts/fa-solid-900.ttf
+++ b/src/resources/webfonts/fa-solid-900.ttf
--- a/src/resources/webfonts/fa-solid-900.woff2
+++ b/src/resources/webfonts/fa-solid-900.woff2
--- a/src/static/css/Audiowide.css
+++ b/src/static/css/Audiowide.css
@@ -2,5 +2,5 @@
  font-family: 'Audiowide';
  font-style: normal;
  font-weight: 400;
-  src: local('Audiowide'), local('Audiowide-Regular'), url(https://fonts.gstatic.com/s/audiowide/v4/8XtYtNKEyyZh481XVWfVOqCWcynf_cDxXwCLxiixG1c.ttf) format('truetype');
+  src: local('Audiowide'), local('Audiowide-Regular'), url(http://fonts.gstatic.com/s/audiowide/v4/8XtYtNKEyyZh481XVWfVOqCWcynf_cDxXwCLxiixG1c.ttf) format('truetype');
 }
--- a/src/static/css/fa6.min.css
+++ b/src/static/css/fa6.min.css
--- a/src/static/css/font-awesome.min.css
+++ b/src/static/css/font-awesome.min.css
--- a/src/static/js/ui.js
+++ b/src/static/js/ui.js
@@ -1,37 +1,35 @@
-// V09 redesign: the legacy side menu was removed. Keep this file
-// shipped in case anything still references it, but no-op the click
-// handler that used to wire up the burger menu so it does not throw
-// "Cannot set properties of null" on the Settings tab.
 (function (window, document) {
-    var menuLink = document.getElementById("menuLink");
-    if (!menuLink) {
-        return;
-    }

-    var layout = document.getElementById("layout");
-    var menu   = document.getElementById("menu");
+    var layout   = document.getElementById('layout'),
+        menu     = document.getElementById('menu'),
+        menuLink = document.getElementById('menuLink');

    function toggleClass(element, className) {
-        if (!element) return;
-        var classes = element.className.split(/\s+/);
-        var i;
-        for (i = 0; i < classes.length; i++) {
-            if (classes[i] === className) {
-                classes.splice(i, 1);
-                break;
-            }
+        var classes = element.className.split(/\s+/),
+            length = classes.length,
+            i = 0;
+
+        for(; i < length; i++) {
+          if (classes[i] === className) {
+            classes.splice(i, 1);
+            break;
+          }
        }
-        if (i === classes.length) {
+        // The className is not found
+        if (length === classes.length) {
            classes.push(className);
        }
-        element.className = classes.join(" ");
+
+        element.className = classes.join(' ');
    }

    menuLink.onclick = function (e) {
-        var active = "active";
+        var active = 'active';
+
        e.preventDefault();
        toggleClass(layout, active);
        toggleClass(menu, active);
        toggleClass(menuLink, active);
    };
+
 }(this, this.document));
--- a/src/stylus/style.styl
+++ b/src/stylus/style.styl
--- a/src/svelte-components/src/components/SettingsView.svelte
+++ b/src/svelte-components/src/components/SettingsView.svelte
@@ -18,8 +18,8 @@
    <h1>Settings</h1>

    <div class="pure-form pure-form-aligned">
-        <h2 id="sec-display" data-sec="display">User Interface</h2>
-        <fieldset data-sec="display">
+        <h2>User Interface</h2>
+        <fieldset>
            <div class="pure-control-group">
                <label for="screen-rotation" />
                <Button
@@ -45,8 +45,8 @@
            </div> -->
        </fieldset>

-        <h2 id="sec-units" data-sec="display">Units</h2>
-        <fieldset data-sec="display">
+        <h2>Units</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.units`} />
            <div class="tip">
                Note, units sets both the machine default units and the units used in motor configuration. GCode program-start,
@@ -54,13 +54,13 @@
            </div>
        </fieldset>

-        <h2 id="sec-easy-adapter" data-sec="display">Easy Adapter</h2>
-        <fieldset data-sec="display">
+        <h2>Easy Adapter</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.easy-adapter`} />
        </fieldset>

-        <h2 id="sec-probing" data-sec="probing">Probing</h2>
-        <fieldset data-sec="probing">
+        <h2>Probing</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.probing-prompts`} />
            <div class="tip">
                Onefinity highly recommends that you keep the safety prompts
@@ -87,15 +87,15 @@
            {/each}
        </fieldset>

-        <fieldset data-sec="gcode">
-            <h2 id="sec-gcode" data-sec="gcode">GCode</h2>
+        <fieldset>
+            <h2>GCode</h2>
            {#each Object.keys(configTemplate.gcode) as key}
                <ConfigTemplatedInput key={`gcode.${key}`} />
            {/each}
        </fieldset>

-        <h2 id="sec-path-accuracy" data-sec="gcode">Path Accuracy</h2>
-        <fieldset data-sec="gcode">
+        <h2>Path Accuracy</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.max-deviation`} />

            <div class="tip">
@@ -118,8 +118,8 @@
            </div>
        </fieldset>

-        <h2 id="sec-cornering" data-sec="gcode">Cornering Speed (Advanced)</h2>
-        <fieldset data-sec="gcode">
+        <h2>Cornering Speed (Advanced)</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.junction-accel`} />
            <div class="tip">
                Junction acceleration limits the cornering speed the planner
--- a/src/svelte-components/src/components/TextFieldWithOptions.svelte
+++ b/src/svelte-components/src/components/TextFieldWithOptions.svelte
@@ -51,7 +51,7 @@
    >
        <div slot="trailingIcon">
            {#if valid}
-                <Icon class="fa fa-circle-check" style="color: green;" />
+                <Icon class="fa fa-check-circle-o" style="color: green;" />
            {/if}
        </div>
        <HelperText persistent slot="helper">{helperText}</HelperText>
Author	SHA1	Message	Date
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	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