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Author SHA1 Message Date
Henrik Muehe
4470fcee0a Z-A coupling: drop active jog/MDI auto-coordination, keep refuse-only check 
The active rewriter for jogs/MDI didn't help anyway because the
continuous-jog buttons send rate-based /api/jog commands to the AVR
and bypass the planner+MDI path entirely. Rather than build out
continuous-jog coupling on the ESP firmware or fake it with browser
ticks, simplify back to:

  * Runtime check (Planner.__encode + ExternalAxis motion entry
    points) refuses any move that would worsen the Z-A gap. Already
    improvement-aware so X/Y jogs and Z-up/A-down recoveries pass.
  * File preprocessor (AuxPreprocessor) injects pre-position A
    moves into uploaded gcode so well-formed programs run without
    operator intervention.

Operator workflow: jog freely down to the safe band; if you need to
go deeper, lower A first (aux jog mm) or use a step-jog MDI like
'G91 G0 Z-10 A-10' that includes the A delta. Programs do the right
thing on their own.
 2026-05-03 15:03:01 +02:00
Henrik Muehe
39e308d9ae AuxAxis: push home_preclear_mm via HOMECFG 
Tells the auxcnc ESP how far (in steps) to back off if HOME is
invoked while the limit switch is already tripped. The ESP now
hard-fails instead of zeroing blindly when the switch stays active
after the preclear move. Default 10 mm; set home_preclear_mm=0 to
disable the preclear and revert to immediate failure.
 2026-05-03 14:54:56 +02:00
Henrik Muehe
8e6e72a8b9 Z-A coupling: auto-coordinate A on jogs and MDI 
Match the file-preprocessor behaviour for live operator input. When a
Z-down jog or MDI line would push (A-Z) above the safe band, append
the matching A delta to the same line so the planner runs Z and A
together. Same direction-aware refusal: only error when the operator
explicitly asks A to move *up* (delta > 0) past the bound, or when
the required A would violate A's soft minimum.

Implementation:
  * ExternalAxis.coordinate_mdi rewrites a multi-line MDI burst,
    tracking G90/G91 modal across lines (jogs always emit
    M70/G91/G0/M72; standard MDI defaults to G90). Z and A targets
    are computed in machine coords using offset_z and offset_a so
    the work-coord A token we emit is consistent with the operator's
    frame.
  * The 'A0' the jog UI emits for axes that aren't moving is treated
    as 'no A intent' (G91 delta of zero) and freely overridden.
  * Hooked into Mach.mdi after the existing ATC rewrite. On
    ExternalAxisError the burst is dropped with a user message; the
    planner check downstream still fires as defense in depth.
  * Planner.__encode also catches ExternalAxisError now (vs
    bricking on uncaught) - logs to the operator messages list and
    halts the cycle cleanly so subsequent jogs work.
  * check_coupling itself is now improvement-aware: only refuses
    moves that worsen an existing violation. Pure XY jogs and
    Z-up/A-down recovery moves pass even when (A-Z) is currently
    above the bound.

Tested locally with synthetic MDI: small Z jog within band, Z jog
across the boundary (auto-injects A delta), G90 MDI G0 Z-50
(appends A106), explicit A-lift while Z deep (refuses), pure XY
jog (unchanged), G91 A-down (unchanged), G90 G0 A0 with
offset_a=134 (refuses as lift to home).
 2026-05-03 14:47:44 +02:00
Henrik Muehe
226b44053c Z-A coupling interlock: prevent collision between Z and A tools 
The auxiliary A axis carries a tool that hangs below the Z spindle.
Beyond a small Z descent the two physically collide unless A drops
with Z. Enforce in machine coords:

    A_machine - Z_machine <= K
    K = (A_home_mm - z_home_mm) + couple_z_clearance_mm

With our setup K = (134 - 0) + 22 = 156. At rest A=134 Z=0, A-Z=134
which is fine. Z can descend 22mm before the rule starts forcing A
down with it.

Two complementary layers:

(1) AuxPreprocessor injection (auto-fix uploaded files)
    Tracks modal Z, A and distance mode (G90/G91) while scanning the
    file. When a line would put A above Z by more than the clearance
    we emit a 'G0 A<safe>' BEFORE the line so A is already at the
    safe position when Z descends. Endpoint check is sufficient
    because Z moves monotonically along a single line.

    Errors are raised (not silently auto-fixed) when:
      - the line lifts A above the safe band while Z stays put
        (would require auto-injecting a Z-up which could swing
        through a fixture)
      - the line endpoint targets an A above the safe band

    G91 disables injection with a one-shot warning; the runtime
    check still applies.

(2) Runtime check (ExternalAxis.check_coupling)
    Single source of truth for live motion. Hooked into:
      * Planner.__encode for every line block (covers MDI and
        running programs - gplan emits machine-coord targets)
      * ExternalAxis.execute_to_mm/enqueue_target_mm/enqueue_line
        for direct A motion (covers UI jog/move and planner-A
        dispatch)
    Raises ExternalAxisError on violation; gplan and the API both
    surface the message. Skipped when coupling is disabled or the
    axis isn't homed (mirrors the soft-limit gate).

    Continuous Z jog from the AVR is not gated - it's an active
    operator action without a pre-known endpoint. Operator-driven
    over-travel during continuous jog will be caught by the next
    MDI/file-load attempt.

Configuration in aux.json:
    couple_z_enabled        bool   default true (per agreed setup)
    couple_z_clearance_mm   float  default 22.0
    z_home_mm               float  default 0.0

Surfaced in the new Z-A Coupling section of the A Axis settings
page with a description of the rule. Existing aux.json files get
the new keys via the merged-defaults path on read.

Tested locally with synthetic gcode covering Z descent, combined
moves, A lift while Z deep, G92 reset, G91 mode, and combined
Z+A target violations.
 2026-05-03 14:28:57 +02:00
Henrik Muehe
0493a4ddc7 Rename W axis -> A axis everywhere (with migration) 
Auxiliary axis is the auxcnc-driven stepper exposed to gplan as A,
not W. Half the stack already used A (gcode, DRO row, soft limits,
homing); the other half (settings tab, macros, internal field
names) still said W which was confusing.

Renames:
  - aux.json fields:       min_w/max_w        -> min_mm/max_mm
  - svelte component:      WAxisSettings      -> AAxisSettings
  - settings tab slug:     #w-axis            -> #a-axis
  - js view module:        w-axis-view.js     -> a-axis-view.js
  - pug template:          w-axis-view.pug    -> a-axis-view.pug
  - macros:                w_down.nc/w_up.nc  -> a_down.nc/a_up.nc
                           'W Down'/'W Up'    -> 'A Down'/'A Up'
  - css class & ids:       .w-axis-settings   -> .a-axis-settings,
                           min_w/max_w form ids match field names
  - internal js identifiers and comments

Migration:
  - AuxAxis._migrate_legacy_fields() promotes min_w/max_w in aux.json
    on every load and persists the upgraded form, so existing
    installs come out clean on first restart.
  - Config._upgrade() renames macro file_name and display name in
    every config.json load, so a stale in-memory copy can't
    reintroduce the W names. Ships with a save right after.

The auxcnc ESP wire protocol verbs (WPOS/HOMED) are unchanged - they
are wire-format identifiers, not user-facing labels.
 2026-05-03 13:37:16 +02:00
Henrik Muehe
c4c20c6d0a Rename user-facing 'W axis' references to 'A axis' / 'auxiliary axis' 
The auxcnc-driven stepper has been integrated into gplan as a
virtual A axis since the option-b migration. User-facing labels
that still said 'W axis' are now confusing because the user types
G-code with A, sees 'A' in the DRO, but config tabs and tooltips
still talked about W.

Cleaned up:
  - Settings tab label W Axis -> A Axis (route slug stays #w-axis
    for back-compat with bookmarks)
  - WAxisSettings.svelte tooltips and tip text say 'auxiliary' or
    just describe the field generically
  - control-view.pug DRO row tooltips, comments, labels
  - control-view.js console.error messages and route-comments
  - axis-vars.js _compute_aux_axis tooltips
  - AuxAxis.py boot-banner message

Internal identifiers (filenames WAxisSettings.svelte, route slug
#w-axis, aux.json fields min_w/max_w, internal comments referring
to the historical W-as-aux design) are kept where they are tied to
on-disk state or wire formats - those rename moves are not
worthwhile and would force users to migrate their aux.json files.
 2026-05-03 13:29:34 +02:00
Henrik Muehe
4a494a101d Mach.home: defer external A homing until AVR axes finish 
Previously the homing loop iterated zxyabc and processed each axis
in turn, but the AVR axes (Z/X/Y) just queue G-code to the planner
and return immediately - the gantry keeps moving in the background.
The external A homing was then driven synchronously on the same
loop iteration, which meant the W stepper started its limit-seek
*while the gantry was still actively homing Z/X/Y*. Visually
confusing and unsafe.

Split into two phases:

  1. The HTTP handler thread queues every AVR axis (no change) and
     collects external axes into a deferred list.
  2. A background thread polls cycle until it returns to 'idle'
     (signalling the AVR finished its queued homing). It then runs
     each external axis home in order, blocking on the ESP serial
     RPC. Post-home bookkeeping (set_axis to AVR, planner G92, cycle
     reset) is scheduled back onto the IOLoop via add_callback so
     gplan and the AVR command queue are only touched from one
     thread.

A guard prevents overlapping threads if Home is clicked again while
the previous deferred run is still waiting.
 2026-05-03 13:24:54 +02:00
Henrik Muehe
ca7e30aa05 Mach.home: end the homing cycle when external homing fails 
When ext.home() raised, Mach.home logged the error but never reset
the cycle from 'homing' back to 'idle'. The AVR had not moved (the
homing was external), so its state stayed at READY without a
transition - meaning _update's normal 'state changed to READY ->
exit cycle' path never fired and the UI was permanently locked out
of every action that requires is_idle (jog buttons, the home button
itself, run, etc).

Wrap the external-homing block in try/except and force the cycle
back to idle on any failure. The success path is unchanged - it
still relies on the AVR's queued set_axis + G92 acks to bring the
state back to READY.
 2026-05-03 13:13:29 +02:00
Henrik Muehe
983e06b53d Wire ExternalAxis to send LINE blocks (full S-curve mirror to ESP) 
Replaces the legacy 'fixed-rate STEPS' path used in Planner.__encode
with a new ExternalAxis.enqueue_line() that hands the ESP the full
7-segment S-curve parameters of every gplan line block (max_accel,
max_jerk, entry_vel, exit_vel, times[7]).

The ESP's new LINE command (auxcnc commit 8acc6f7) integrates the
same SCurve math the AVR uses, so the W axis now physically moves
in lockstep with whatever the planner thinks A is doing. Result:
DRO stays in sync with the actual stepper, no more multi-second lag
between commanded and observed A position.

enqueue_target_mm is kept as a no-frills STEPS path for jog/move UI
endpoints that don't have planner timing context.

AuxAxis._do_line builds the LINE command with mm/min/min^2/min^3
units (matching gplan's internal unit system) and waits for
[line] done|aborted from the ESP. Limit aborts still flag _homed=False.
 2026-05-03 12:29:43 +02:00
Henrik Muehe
53b65dc30e AuxAxis: force unhome on every connect to keep host/ESP state consistent 
The ESP's homed flag survives bbctrl restarts (since the ESP itself
stays powered). Host state, on the other hand, gets reset to zero on
boot - State.reset zeros ap and offset_a. Trusting the ESP's homed
flag in that situation made gplan think A was homed at machine-coord 0
while physically the axis was at 134, which then rejected any move
to the bottom (G1 A-134) as 'less than minimum soft limit 0'.

Send UNHOME (new auxcnc verb that just clears g_homed without
moving) on every host connect. The user has to re-home explicitly,
which goes through the proper Mach.home path that sets up the
offset and gplan position consistently.

Falls back to HOMED? if the firmware doesn't know UNHOME, so older
auxcnc builds keep their previous behaviour.

State.reset extended to also clear motor 4's homed flags
(<motor>homed and <motor>h) so the synthetic external-axis motor
gets reset alongside the real AVR motors.
 2026-05-03 12:04:12 +02:00
Henrik Muehe
f545438fa8 control: skip redundant aux/home in Home All when W is mapped to A 
When the auxcnc axis is integrated as a virtual machine axis via
ExternalAxis (synthetic motor 4 enabled), Mach.home(None) already
homes the external axis as it iterates xyzabc. The legacy 'home W
last' path in home_all() then fired PUT /api/aux/home a second time,
causing the A axis to home twice on Home All.

Skip the trailing aux/home when state['4me'] is set; keep the
fallback for setups where aux is enabled but not integrated as a
virtual axis.
 2026-05-03 11:58:08 +02:00
Henrik Muehe
3b622d3d17 ExternalAxis: enforce soft limits in execute_to_mm and enqueue_target_mm 
Soft limits in machine coords (min_w/max_w from aux.json) were only
checked by gplan. UI jog/move endpoints went through ExternalAxis
directly without any check, so the W+ button at home would happily
push past max_w into a physical crash.

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

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

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

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

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

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

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

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

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

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

## Architecture

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

## New module: ExternalAxis

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

## Planner

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

## Mach

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

## State

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

## AuxAxis

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

## AuxPreprocessor

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

## Hooks

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

## Web.py

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

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

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

## Open follow-ups (validate on hardware)

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

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

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

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

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

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

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

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

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

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

3. AuxPreprocessor only ran at upload time (FileHandler.put_ok and
   Mach.mdi). Files written via scp, restored from a config backup,
   or hand-edited still contained raw W tokens that the planner
   couldn't parse. Run preprocess_file in Planner.load() too. It's
   idempotent (no-op when no W tokens remain) so re-loading a
   already-rewritten file is free.
 2026-05-01 16:27:14 +02:00
muehe
748f092795 control: properly wait for gantry homing before W 
api.put('home') returns immediately when queued, not when homing
finishes, so the previous polling loop saw cycle=='idle' (homing
hadn't started yet) and fired W right away. Now we first wait up
to 5s for the cycle to *leave* idle, then up to 2min for it to
return, before kicking off the auxcnc W home.
 2026-05-01 16:18:23 +02:00
muehe
cfc14643d2 control: home W last in 'Home All' 
Previously XYZ and W homing dispatched in parallel. Wait for the
main AVR homing cycle to return to idle before kicking off the W
auxcnc home so they never run simultaneously.
 2026-05-01 16:16:51 +02:00
muehe
b0f38619ba control: keep jog grid visible during jog/home/probe/mdi 
is_program_executing was checking only state.xx (RUNNING/HOLDING/
STOPPING) which is also true during jogging, homing, probing and
MDI cycles. The Now Running panel therefore took over the Control
view whenever the user jogged. Add a state.cycle check so only the
'running' cycle (a loaded program executing) triggers the swap.
 2026-05-01 16:08:39 +02:00
Henrik Muehe
549b69c234 motor-view: stop clobbering user edits with controller state 
The legacy Vue 1 motor settings page had nine `current_xxx` computed
props mirroring controller state vars (`<idx>vm`, `<idx>am`,
`<idx>jm`, `<idx>sa`, `<idx>tr`, `<idx>mi`, `<idx>tm`,
`<idx>tn`, `<idx>an`) paired with watchers that copied the state
value back into `config.motors[index]`, plus an `attached()` hook
running the same sync on mount.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The 4 changes (each independently revertable):

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Defaults can be overridden with environment variables (HOST, PASSWORD,
REMOTE_USER for the hardware path).
 2026-04-30 21:45:17 +02:00
Henrik Muehe
b8c4f53bb1 Merge branch 'hooks' into master 
Brings in:
- W axis (auxcnc) integration via ESP32 over /dev/ttyUSB0, including
  the W axis settings panel, DRO row, jog row aligned with X/Y/Z, and
  collapsed home-only W controls.
- README + W axis docs covering macOS build/flash and the new UI.
- Build & flash docs for the Pi firmware (BUILD.md), including the
  cached gplan.so build via Docker (~30 min first time, 3 sec after).
- Hooks v2: external triggers during G-code execution that block
  unpause until the hook completes.
- V09 full UX redesign mock + implementation plan + mock variations.
- V09 implementation: new app shell with underline-ribbon tabs,
  Program / Console / Settings shells, V09 jog/macro palette, slim
  status pill replacing the old chip soup, and an octagonal STOP that
  wraps the existing <estop> SVG.
- Vue.config.async = false to fix sticky :class bindings under hash
  navigation.

# Conflicts:
#	.gitignore
 2026-04-30 21:33:48 +02:00
Henrik Muehe
32f3aca368 UX redesign V09: replace shell, split Program/Console/Settings 
Implements the V09 mock end-to-end (per plans/2026-04-30_ux_redesign.md):

Top shell
- index.pug rebuilt around .app-shell with a slim 96px header.
- Underline-ribbon tab bar (Control / Program / Console / Settings)
  replaces the old side menu and the inline #tab1..#tab4 system.
- Single 'All systems' pill collapses the legacy WiFi/Camera/Rotary/
  IP/Version chip-soup into one popover (sys-popover) anchored to the
  header; rotary toggle, camera feed and shutdown live there.
- Octagonal 88x88px STOP button wraps the existing <estop> SVG; STATE
  pill with pulse-dot honors prefers-reduced-motion.

Routing
- app.js parse_hash maps every existing hash:
    #control                       -> Control
    #program / #program:auto       -> Program
    #console / #console:mdi|messages|indicators -> Console
    #settings, #admin-general,
    #admin-network, #motor:N, #tool, #io, #macros, #help,
    #cheat-sheet                  -> Settings (rail picks inner)
- All deep links are preserved.

Control panel (control-view.pug + .js)
- 720px jog grid + 4-axis DRO + 4 KPI cards + 8-macro row.
- Jog tiles use V09 flat slate (#3f4b63) with diagonal helpers and
  a ghost row for XY/Z origin shortcuts.
- Per-axis Settings/Set-zero/Home buttons grow to 72x72px.
- Status strip cards: State / Velocity-Feed / Spindle / Job. Tapping
  the Spindle card opens the new override-drawer with feed + spindle
  range inputs (resolved decision in plans/...).
- Macro row binds to state.macros.slice(0, 8); >8 lives in Settings.
- Drops the old <table> control-buttons, .info, .override and .tabs
  blocks entirely.

Program panel (program-view.pug + .js)
- Extracts the Auto bar, file selectors, gcode-viewer and path-viewer
  out of control-view.
- Action buttons (RUN/STOP/UPLOAD-FOLDER/UPLOAD-FILE/DOWNLOAD-FILE/
  DELETE) at 84px with explicit color affordances.
- Reuses control-view's existing methods via the new program-mixin.

Console panel (console-view.pug + .js)
- Three sub-tabs: MDI / Messages / Indicators. Sub-tab persists in the
  URL fragment (#console:messages etc.).
- MDI: terminal-style prompt + SEND, plus an 8-wide on-screen keypad
  (G0/G1/G2/G3/G28/G92/M3/M5 + axis letters + CLEAR/SEND).
- Messages: pulls from .messages_log (mirrored from
  state.messages); badge in the header tab counts unread.
- Indicators: mounts the existing <indicators> component.

Settings shell (settings-shell.pug + .js)
- New left rail navigator listing Display, Network, General/Firmware,
  Spindle&Tool, IO, Motors 0..3, Macros, Cheat Sheet, Help.
- Inner area mounts the existing settings family templates via an
  explicit v-if cascade (avoiding a Vue 1 :is reactivity quirk).
- Shutdown / Save buttons relocated from the dropped side menu.

JS plumbing
- main.js: Vue.config.async = false to keep dependent watchers in
  sync when reactive data is mutated outside Vue's normal event loop
  (e.g. from a hashchange listener).
- program-mixin.js extracted so control-view.js no longer carries the
  file/macro/gcode methods that are now Program-only.
- control-view.js trimmed to jog/DRO/probe/home logic.
- console-view.js / settings-shell-view.js use a hashchange listener
  + local data props because Vue 1 cannot reliably observe
  .sub_tab from a child component.

Stylus rewrite
- Removes the old .header (140px), .nav-header, .brand subtree, #menu,
  #main, .control-view block, .info, .override, .toolbar, .macros-div,
  .macros-button, the .tabs > input radio-tab system and the .control-
  view #control media-query overrides. None of these are referenced
  any more.
- Adds V09 tokens (jog/macro palette + accent + line/card colors) at
  the top, the new shell rules, .ktab / .sys-btn / .state-badge /
  .estop chrome, the .control-page grid, status strip + override
  drawer, .program-page action / file bars and program body,
  .console-page MDI keypad / messages / indicators panes, and the
  .settings-shell rail.
- Adds a 1820px breakpoint that stacks the right column under the jog
  on smaller portable monitors.

Hard cut: no config.ui.layout flag, the old shell is removed in this
single commit. side-menu.css is no longer included from index.pug.

Tested locally with agent-browser (1920x1080) on every top tab and
every settings sub-route; routing, active tab highlighting and inner
view selection all work without a controller connection.
 2026-04-30 21:27:00 +02:00
Henrik Muehe
081209decf Plan: resolve open questions (hard cut, macros slice, override drawer, defer pin) 
Replaces the 'Open questions' section with 'Resolved decisions' and
propagates the four decisions into the relevant phases:

- Hard cut: no config.ui.layout flag. Phase 6 now includes the
  removal of .nav-header, side-menu.css and the #tab1..#tab4 block
  with a git grep verification step.
- Macros: Control row binds to config.macros.slice(0, 8); Settings
  -> Macros owns the master list and reordering.
- Pin to Control: deferred, status strip stays at State / V&F /
  Spindle / Job for this iteration.
- Feed/spindle override: bottom drawer triggered by the Spindle
  KPI tile, reusing override_feed / override_speed.

Goals (s.1) and Phase 6 testing checklist updated to match.
 2026-04-30 20:43:29 +02:00
Henrik Muehe
ef4658aaf6 Plan: V09 full UX redesign mock + implementation plan 
- docs/mocks/v09_full_ux.html — high-fidelity 1920x1080 mock
  showing the proposed Control / Program / Console / Settings tab
  layout with the V09 flat slate jog/macro palette and an underline
  ribbon header tab style.
- plans/2026-04-30_ux_redesign.md — phased implementation plan to
  port index.pug + control-view.pug to the new shell while keeping
  hash routing and existing settings/admin views intact.
 2026-04-30 20:00:03 +02:00
Henrik Muehe
ef78f20eaa Docs: README + W axis docs cover macOS build/flash and new UI 
- README.md (was a one-liner): describe the layout, the macOS quick
  path including the esbuild platform-pin gotcha, and how to flash
  with curl or 'make update'.
- docs/AUX_W_AXIS.md: document the new Control jog row layout, the
  Settings 'W Axis (auxcnc)' section, and list the additional UI
  files touched by this fork.
 2026-04-30 19:54:30 +02:00
Henrik Muehe
36829020a5 Settings: add W axis (auxcnc) panel 
Expose the aux.json fields under a new 'W Axis (auxcnc)' section in
Settings: serial port/baud, mechanics (steps/mm, dir sign, soft limits,
max feed), homing (direction, position, fast/slow seek, backoff, max
travel, limit polarity) and the step profile (max/start rate, accel).

The 'enabled' flag stays read-only in the UI; flipping the W axis
on/off is still done via aux.json so a fresh install can't surprise the
user with hardware that isn't there. Live status (offline / unhomed /
homed at <pos> mm) is shown above the form.

Saving PUTs the merged config to /api/aux/config/save, which writes
aux.json and pushes the homing/step config to the ESP.
 2026-04-30 19:10:24 +02:00
Henrik Muehe
2413fc49ab UI: collapse W axis to home-only (drop set-zero / W-origin) 
The W axis homing already drives toward the configured limit (home_dir
in aux.json, default '-') and lands at home_position_mm = 0, so
'home' and 'zero' are the same point. Remove the now-redundant 'W
Origin' (move-to-zero) and 'Set W to 0' map-marker buttons; keep just
W-, W+, and a single Home W button. Also drop the unused
aux_move_zero / aux_set_zero JS handlers.
 2026-04-30 19:07:17 +02:00
Claude
7d5949f5fc UI: add W jog row (W- / W Origin / W+ / Home W) under the XYZ jog grid 
Mirrors the 4-column rotary A row that appears when 2an==3, so the same
fine/small/medium/large increment selector that drives XYZ jogging now
also drives W jogging. New control-view methods:

- aux_jog_incr(sign) - PUTs aux/jog with the current jog_incr amount
  converted to mm (handles imperial display units)
- aux_move_zero() - PUTs aux/move {mm:0}, the absolute counterpart to
  aux_set_zero (which redefines the current pos as zero without moving)

Row is hidden when w.enabled is false, so users without the auxcnc
controller see no change.
 2026-04-30 17:37:49 +02:00
Claude
23f22105a8 UI: align W axis marker/home buttons with the X/Y/Z columns 
The xyzabc rows have three actions (set-position cog, zero marker, home),
W only has two. Without a placeholder the W buttons render in the left two
slots of the actions cell, leaving the home button unaligned with the home
column above. Added a hidden disabled cog button so the marker and home
buttons sit under the same columns as the rest.
 2026-04-30 17:23:55 +02:00
Claude
4f74e75d44 UI: render W (aux) axis row in the main DRO 
Adds the auxcnc W axis to the front-page Position table:

- axis-vars.js exposes a 'w' computed property fed by state.aux_pos /
  aux_enabled / aux_homed / aux_present (set by AuxAxis on the host).
  No motor mapping, no soft-limit warnings - the aux controller does
  its own bounds.
- control-view.pug adds a W row after the xyzabc loop. The Set/Zero
  button calls /api/aux/set-zero {mm:0} and the Home button calls
  /api/aux/home, which hit the new endpoints exposed by Web.py.
- control-view.js: aux_home(), aux_set_zero(), and aux_jog() helpers.

When aux_enabled is false (no aux.json or aux.json has enabled=false)
the row stays hidden, matching the existing axis-row behavior.
 2026-04-30 17:10:00 +02:00
Claude
c7cf9483b3 Add W axis integration via auxcnc ESP32 over /dev/ttyUSB0 
Rather than rebuild gplan + the AVR firmware to add a true 7th axis,
we treat W as a synchronous out-of-band axis that moves between G-code
blocks. The pipeline:

  upload -> AuxPreprocessor rewrites W tokens into (MSG,HOOK:aux:N)
  comments -> planner sees only XYZ + messages -> Hooks fires the
  registered internal handler -> AuxAxis sends STEPS/HOME over serial
  to the ESP and blocks the planner until done.

New files:
  src/py/bbctrl/AuxAxis.py       serial worker + RPC layer
  src/py/bbctrl/AuxPreprocessor.py  G-code rewriter
  docs/AUX_W_AXIS.md             design + ops notes

Changed:
  Hooks.py        register_internal(); fix the (MSG,HOOK:...) listener
                  to read the 'messages' state list (was broken before)
  Ctrl.py         instantiate AuxAxis, register aux/aux_rel/aux_home/
                  aux_setzero hooks
  FileHandler.py  rewrite uploads in place when they use W
  Mach.py         rewrite W tokens in MDI input the same way
  Web.py          REST endpoints under /api/aux/*

The ESP firmware in ../auxcnc was extended in lockstep: HOME, HOMECFG
(NVS-persisted), WPOS, HOMED?, LIMIT?, abortable STEPS with
limit-aware abort, trapezoidal ramps, deterministic [topic] reply
tokens, [boot] banner.

Real-time decisions (limit switch, step pulses) live on the ESP. The
host owns mm units, soft limits, and aux_homed bookkeeping. ESP
reboot mid-job clears aux_homed and surfaces a message; per design
manual jogs are still allowed without homing.
 2026-04-30 16:51:24 +02:00
Henrik Muehe
54a15f9d12 Rewrite BUILD.md: clean up, add quick start, remove dead weight 
- Quick start section at the top (3 commands)
- Removed inline Bullseye build recipe (moved to 'why not' appendix)
- Added build time estimates
- Cleaner table formatting
- gplan.so contents documented (cbang + camotics)
 2026-04-30 16:39:57 +02:00
Henrik Muehe
704bc8d35c gplan.so: build from source using Raspbian Stretch Docker 
Use balenalib/raspberry-pi-debian:stretch with legacy.raspbian.org repos.
Exact match: GCC 6.3, Python 3.5, GLIBC 2.24 — identical to the Pi.
First build ~25min (QEMU), subsequent builds ~1sec (cached image).

Replaces the broken Bullseye approach that had GLIBC/GLIBCXX mismatches.
 2026-04-30 16:33:20 +02:00
Henrik Muehe
4d2d5fd88c Update BUILD.md: gplan.so can't be built from source on Bullseye 
Document GLIBC/GLIBCXX version constraints and Python 3.5 compat notes.
Recommend using official release gplan.so instead.
 2026-04-30 15:57:31 +02:00
Henrik Muehe
eab204b7be Fix Python 3.5 compat: capture_output and text= not available 
Use stdout=PIPE/stderr=PIPE and manual .decode() instead.
Use official 1.6.6 gplan.so (built with Stretch-era GCC, no GLIBC_2.29 dep).
 2026-04-30 15:56:42 +02:00
Henrik Muehe
e3c059eb9b Add cached gplan.so build: 30min first time, 3sec after 
- Dockerfile.gplan: pre-built armv7 image with cbang + camotics objects
- build-gplan.sh: relinks against Python 3.5m in ~3sec
- Pi Python 3.5 headers cached in .pi/pi-python35.tar.gz (gitignored)
 2026-04-30 14:43:05 +02:00
Henrik Muehe
7306464440 Document gplan.so build-from-source procedure 
Build in armv7 QEMU Docker, compile with Python 3.9 SCons,
relink final .so against Python 3.5m from the Pi.
 2026-04-30 13:52:58 +02:00
Henrik Muehe
1625b768d8 Add build/flash/backup documentation for Pi firmware 2026-04-30 12:09:12 +02:00
Henrik Muehe
5be7515a92 Fix gplan.so: use armv7 binary from official 1.6.6 release 
The gplan.so (CAMotics G-code planner) must be a 32-bit ARM binary
matching the Pi's Python 3.5. Source it from the official release
package rather than cross-compiling (SCons ignores CC/CXX overrides).

Also revert install.sh gplan.so preservation logic — simpler to just
ship the correct binary in the package.
 2026-04-30 11:36:09 +02:00
Henrik Muehe
b10a6d537e Add SD card backup/restore script 
Streams raw dd from Pi over SSH, compresses locally with gzip.
Supports backup, restore (local SD card or remote Pi), and verify.
 2026-04-30 11:17:03 +02:00
Henrik Muehe
7d0755c55b Hooks v2: block unpause until hook completes 
- Blocking hooks (block_unpause: true, default for tool-change) run
  in a background thread and gate Mach.unpause() via can_unpause()
- Machine stays in HOLDING state while hook runs — AVR steppers idle,
  spindle state preserved, position locked
- auto_resume option to unpause automatically after hook completes
- E-stop cancels any running hook immediately
- Hook status pushed to frontend via state (hook_busy, hook_event)
- GET /api/hooks/status endpoint for polling
- Non-blocking hooks (program-start, program-end, etc.) fire-and-forget
 2026-04-21 08:10:07 +02:00
Henrik Muehe
7f8fd23615 Add hooks system for external triggers during G-code execution 
- New Hooks module (src/py/bbctrl/Hooks.py) that watches controller state
  and fires webhooks or scripts on events:
  - tool-change (M6), program-start, program-end, pause, estop,
    homing-start, homing-end, custom (via MSG comments)
- API endpoints:
  - GET /api/hooks - get current hook config
  - PUT /api/hooks/save - save hook config
  - PUT /api/hooks/fire/<event> - manually fire a hook (for testing)
- Hook config stored in hooks.json with two types:
  - webhook: HTTP POST/PUT to external URL with JSON context
  - script: run local command with env vars (HOOK_OLD_TOOL, etc.)
- Fix tornado.web.asynchronous deprecation in Camera.py
- Wired into Ctrl initialization and state listener system
 2026-04-20 17:43:02 +02:00
16 changed files with 1205 additions and 881 deletions
Expand all files Collapse all files

77
AGENTS.md
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@@ -1,77 +0,0 @@
# Onefinity firmware — agent guidelines
## Branch model
This fork lives on **two long-lived branches**:
- **`master`** — public-facing fork. General-use upgrades on top of
upstream OneFinity firmware: V09 UX redesign, Font Awesome 6, faster
cold boot, macOS dev/deploy tooling, build & flash docs, SD-card
backup, `/api/diag/timing`, kiosk/tablet polish, and assorted
bug-fixes. **No A-axis, ATC, hooks, or auxcnc/ESP content.** Aim for
changes that benefit any Onefinity owner.
- **`private-mods`** — bespoke shop branch. Stacks on top of `master`
and adds everything specific to the auxcnc-ESP-driven A axis and
the ATC: `Hooks` (ATC IPC), `AuxAxis` (ESP serial driver),
`ExternalAxis` (virtual A through gplan), `AuxPreprocessor` (M100-M103),
Z-A coupling interlock, the A-axis UI surface, and the
`/api/aux/*` endpoints.
Upstream:
- `upstream` → `https://github.com/OneFinityCNC/onefinity-firmware.git`
- `origin` → Gitea (`https://gitea.home.muehe.org/muehe/onefinity-firmware.git`)
`origin/pre-split-backup` is a tag preserving the pre-split master
tip. Keep it indefinitely until further notice.
## Where does a change go?
| Change | Branch |
|---|---|
| UI polish, theme, layout that any user benefits from | `master` |
| Build / install / boot performance | `master` |
| Diagnostics, logging, generic Python / Tornado fixes | `master` |
| Anything that touches `AuxAxis`, `ExternalAxis`, `Hooks`, `AuxPreprocessor` | `private-mods` |
| Anything mentioning the auxcnc ESP, `/dev/ttyUSB0`, the M100-M103 ATC pneumatics, or motor index 4 | `private-mods` |
| Z-A coupling interlock, ATC tool change sequencing | `private-mods` |
| A-axis UI (DRO row, jog tile, settings page, A-axis routes) | `private-mods` |
| W → A renames or aux.json migrations | `private-mods` |
When in doubt: ask "would this be useful on a stock Onefinity with no
ESP attached?" If yes → `master`. If no → `private-mods`.
## Workflow
```bash
# Day-to-day shop / hardware work (default)
git checkout private-mods
# … do work, commit …
git push origin private-mods
# Generic improvement to master
git checkout master
# … do work, commit …
git push origin master
# After landing on master, replay private-mods on top
git checkout private-mods
git rebase master
git push --force-with-lease origin private-mods
```
If a change accidentally lands on `master` but is bespoke (touches
the file table above), move it: `git reset --hard <prev>` on master,
cherry-pick onto `private-mods`, force-push master.
## Deploy
- `./deploy.sh local` — UI bundle on `localhost:8770` (tmux session
`onefin-local`). No controller backend; A-axis row stays hidden.
- `./deploy.sh hardware` — rsync to the Pi over SSH, restart
`bbctrl.service`. Use the `private-mods` branch on the shop Pi.
- `./deploy.sh prod` — bundle a release tarball.
See `.pi/BUILD.md` for the full build / flash / cross-compile flow.
## Commit before ending a turn; push after significant changes.

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

22
README.md
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@@ -1,9 +1,8 @@
# OneFinity CNC Controller Firmware (A-axis fork)
# OneFinity CNC Controller Firmware (W-axis fork)
This is the community-fork firmware (V09 UI, FA6, cold-boot work,
macOS dev tooling) with a virtual A axis driven by an auxcnc ESP32
over USB serial. See [docs/AUX_A_AXIS.md](docs/AUX_A_AXIS.md) for the
design and config.
This is the OneFinity / Buildbotics bbctrl firmware with a virtual W
axis driven by an auxcnc ESP32 over USB serial. See
[docs/AUX_W_AXIS.md](docs/AUX_W_AXIS.md) for the design and config.
## Layout
@@ -17,7 +16,7 @@ src/svelte-components/ Newer Svelte UI for dialogs and settings
src/pug/ Pug templates compiled into build/http/index.html
src/resources/ Static assets and config templates
scripts/ Install / update / RPi build helpers
docs/ Architecture, dev setup, A-axis docs
docs/ Architecture, dev setup, W-axis docs
```
## Build & flash (quick path, macOS or Linux)
@@ -101,8 +100,7 @@ bbctrl restarts, then the new UI).
```bash
curl -s http://onefinity.local/ | grep -c "OneFinity"
curl -s http://onefinity.local/api/diag/timing | head
curl -s http://onefinity.local/api/aux/status # if A axis is enabled
curl -s http://onefinity.local/api/aux/status # if W axis is enabled
```
## Build & flash (full path, Debian/Linux)
@@ -111,12 +109,12 @@ 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.
## A axis (auxcnc)
## W axis (auxcnc)
This fork adds a virtual A axis. See
[docs/AUX_A_AXIS.md](docs/AUX_A_AXIS.md) for:
This fork adds a virtual W axis. See
[docs/AUX_W_AXIS.md](docs/AUX_W_AXIS.md) for:
- G-code surface (`G28 A0`, `G1 A25`, etc.)
- G-code surface (`G28 W0`, `G1 W25`, etc.)
- The G-code preprocessor and hook architecture
- aux.json keys
- REST API (`/api/aux/*`)

50
docs/AUX_A_AXIS.md → docs/AUX_W_AXIS.md
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@@ -1,18 +1,6 @@
# A axis (auxcnc) integration
# W axis (auxcnc) integration
> **Note:** This document describes the original out-of-band W-axis
> architecture (gcode preprocessor rewriting W tokens into HOOK
> messages dispatched between blocks). The current implementation
> integrates the auxcnc-driven stepper as a *virtual A axis* through
> gplan via a synthetic motor (`bbctrl/ExternalAxis.py`), so A is
> blended with XYZ in the same S-curve plan and the gcode surface
> below applies as plain `A` words.
>
> The HOOK pipeline still exists for ATC pneumatic atoms (M100 EJECT,
> M102 RELEASE, M103 CLAMP) - see `bbctrl/AuxPreprocessor.py`. Macros
> compose drop/grab tool sequences from those atoms.
This adds a virtual `A` axis to the bbctrl controller, driven by the
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
@@ -22,15 +10,15 @@ a small REST API for jogging / homing from the UI.
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: A moves run
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 `A` words.
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 A word continues to drive XYZ.
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.
@@ -38,25 +26,25 @@ Pipeline:
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 A finishes.
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 `A` words are rewritten the same way at the
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 A0 ; home A axis
G1 A25 F300 ; move A to 25 mm absolute
G1 X100 W12.5 ; mixed: A moves first, then XYZ (configurable)
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 A-2.5 ; relative A move
G1 W-2.5 ; relative W move
G90
G92 A0 ; set current A as zero (G92-style)
G92 W0 ; set current W as zero (G92-style)
```
Rules:
@@ -117,18 +105,18 @@ limit switch when the axis isn't homed yet).
**Control view**
- A jog row appears under the XYZ jog grid when `aux_enabled` is true,
with three buttons: `A-`, `A+`, and a wide `Home W`. There is
with three buttons: `W-`, `W+`, and a wide `Home W`. There is
intentionally no separate "set zero" or "W origin" button - homing
lands the axis at `home_position_mm` (0 by default), so home and
zero are the same point.
- The DRO table shows a A axis row with position, status (OFFLINE /
- The DRO table shows a W axis row with position, status (OFFLINE /
UNHOMED / HOMED), and a single Home button in the actions column
(the cog and map-marker columns are placeholders for layout).
**Settings view**
A "W Axis (auxcnc)" section exposes every aux.json field except
`enabled` (which stays read-only - flipping the A axis on/off requires
`enabled` (which stays read-only - flipping the W axis on/off requires
editingaux.json on the controller, so a fresh install can't surprise
the user with hardware that isn't there). Saving PUTs the merged
config to `/api/aux/config/save`, which writes aux.json and pushes
@@ -147,19 +135,19 @@ These are pushed via `state.set` and visible in the websocket stream:
## Edge cases
- **ESP reboots mid-job**: `[boot] auxcnc v=N` banner -> `aux_homed`
cleared, message added: "A axis controller restarted - re-home
before use". Subsequent A moves still run; if you want a hard fail
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 A move completes. For an immediate stop hit
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 A moves are
- **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.

900
docs/mocks/v09_full_ux.html Normal file
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@@ -0,0 +1,900 @@
<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width,initial-scale=1" />
<title>Onefinity · V09 · Full UX</title>
<script src="https://cdn.tailwindcss.com"></script>
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/@fortawesome/fontawesome-free@6.5.2/css/all.min.css" />
<link href="https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@500;700&display=swap" rel="stylesheet">
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*{box-sizing:border-box}
html,body{margin:0;font-family:'Inter',system-ui,sans-serif;background:#0f172a;color:#e5e7eb}
.mono{font-family:'JetBrains Mono',monospace}
/* ---------- HOST CHROME ---------- */
.host{min-height:100vh;display:flex;flex-direction:column;background:radial-gradient(circle at 30% 0%,#374151,#0f172a 60%);}
.topbar{display:flex;align-items:center;gap:.6rem;flex-wrap:wrap;padding:.7rem 1rem;background:rgba(255,255,255,.04);border-bottom:1px solid rgba(255,255,255,.08);position:sticky;top:0;z-index:50;backdrop-filter:blur(10px);}
.topbar .brand{display:flex;align-items:center;gap:.5rem;font-weight:800;color:#fff}
.stripe-logo-sm{background:repeating-linear-gradient(135deg,#a7c7a3 0 6px,transparent 6px 14px);width:26px;height:26px;border-radius:6px}
.pill{padding:.3rem .65rem;border-radius:9999px;font-size:.75rem;font-weight:700;background:rgba(255,255,255,.08);color:#cbd5e1}
.seg-host{display:inline-flex;background:rgba(255,255,255,.05);border-radius:9999px;padding:3px;gap:3px}
.seg-host button{padding:.4rem .85rem;border-radius:9999px;font-size:.78rem;font-weight:700;color:#cbd5e1}
.seg-host button.on{background:#fde047;color:#0f172a}
.toggle{display:inline-flex;align-items:center;gap:.4rem;padding:.4rem .7rem;border-radius:8px;background:rgba(255,255,255,.08);font-size:.75rem;font-weight:600;color:#e5e7eb;cursor:pointer}
.toggle.on{background:#22c55e;color:#0b1220}
.stage{flex:1;display:flex;align-items:flex-start;justify-content:center;padding:1rem;overflow:auto}
.scaler-viewport{position:relative;flex:0 0 auto}
.scaler{position:absolute;top:0;left:0;width:1920px;height:auto;transform-origin:top left;transition:transform .2s}
/* ---------- KIOSK (1920x1080) ---------- */
.kiosk{
width:1920px;height:1080px;overflow:hidden;border-radius:14px;position:relative;
box-shadow:0 30px 60px rgba(0,0,0,.5);
display:flex;flex-direction:column;
background:#ffffff;color:#0f172a;
}
/* Header */
.head{
flex:0 0 96px;height:96px;
display:flex;align-items:center;gap:18px;
padding:0 24px;background:#ffffff;border-bottom:1px solid #e5e7eb;
}
.brand-blk{display:flex;align-items:center;gap:14px}
.menu-btn{width:54px;height:54px;border-radius:12px;background:#f1f5f9;border:1px solid #e2e8f0;color:#0f172a;display:inline-flex;align-items:center;justify-content:center;font-size:1.1rem}
.menu-btn:hover{background:#e2e8f0}
.brand-logo{width:42px;height:42px;border-radius:8px;background:repeating-linear-gradient(135deg,#a7c7a3 0 6px,transparent 6px 14px)}
.brand-name{font-weight:900;font-size:22px;letter-spacing:-.01em}
/* Underline-ribbon tab style (V02) */
.kiosk-tabs{display:inline-flex;gap:0;margin-right:auto;padding-left:18px;align-items:stretch;height:96px}
.ktab{
position:relative;
height:96px;padding:0 26px;
background:transparent;border:none;border-radius:0;
color:#475569;font-size:1.05rem;font-weight:700;
display:inline-flex;align-items:center;gap:.55rem;cursor:pointer;
transition:color .15s;
}
.ktab i{font-size:1.1rem;color:#94a3b8;transition:color .15s}
.ktab:hover{color:#0f172a}
.ktab:hover i{color:#475569}
.ktab.active{color:#0f172a}
.ktab.active i{color:#0f172a}
.ktab.active::after{
content:"";position:absolute;left:14px;right:14px;bottom:0;
height:5px;background:#fde047;border-radius:5px 5px 0 0;
}
.ktab .ktab-badge{background:#fee2e2;color:#991b1b;font-size:.7rem;padding:3px 8px;border-radius:9999px;font-weight:800;line-height:1}
.ktab.active .ktab-badge{background:#fde047;color:#0f172a}
.sys-btn{display:inline-flex;align-items:center;gap:.55rem;height:54px;padding:0 1.1rem;border-radius:14px;background:#f1f5f9;border:1px solid #e2e8f0;color:#0f172a;font-size:.9rem;font-weight:600}
.sys-btn .pip{width:9px;height:9px;border-radius:9999px;background:#22c55e}
.state-badge{display:inline-flex;align-items:center;gap:.6rem;height:54px;padding:0 1.1rem;border-radius:14px;background:#dcfce7;color:#166534;font-weight:800;font-size:1rem;letter-spacing:.04em}
.state-badge .dot{width:10px;height:10px;border-radius:9999px;background:currentColor;position:relative}
.state-badge .dot::after{content:"";position:absolute;inset:-3px;border-radius:9999px;border:2px solid currentColor;opacity:.5;animation:pls 1.6s ease-out infinite}
@keyframes pls{0%{transform:scale(.7);opacity:.6}100%{transform:scale(2.2);opacity:0}}
.estop{
width:88px;height:88px;background:#dc2626;color:#fff;font-weight:900;
clip-path:polygon(30% 0,70% 0,100% 30%,100% 70%,70% 100%,30% 100%,0 70%,0 30%);
display:flex;align-items:center;justify-content:center;
border:3px solid #fff;box-shadow:0 0 0 3px #b91c1c, 0 8px 20px rgba(220,38,38,.35);font-size:1rem;letter-spacing:.05em
}
/* Body */
.body{flex:1;display:flex;flex-direction:column;background:#f1f5f9;min-height:0}
.panel{display:none;flex:1;min-height:0;flex-direction:column;padding:18px;gap:14px}
.panel.active{display:flex}
/* ----------------------- V09 jog/macro palette ----------------------- */
/* Flat soft slate, no shadow */
:root{
--jog-bg:#3f4b63;
--jog-hover:#4a5777;
--jog-dir-bg:#5b6885;
--jog-dir-hover:#6a779a;
--jog-ghost-bg:#8c97ad;
--jog-ghost-hover:#9ba6bb;
--jog-ink:#fff;
--jog-ghost-ink:#0f172a;
}
/* JOG */
.jog-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;display:flex;flex-direction:column;padding:18px;min-height:0}
.jog-head{display:flex;align-items:center;justify-content:space-between;margin-bottom:14px}
.jog-title{font-size:18px;font-weight:700;color:#0f172a}
.jog-title .step{color:#0ea5e9;font-family:'JetBrains Mono',monospace}
.step-seg{display:inline-flex;background:#f1f5f9;border:1px solid #e2e8f0;border-radius:14px;padding:4px}
.step-seg button{height:48px;min-width:64px;padding:0 1rem;border-radius:11px;font-size:1rem;font-weight:800;color:#475569;cursor:pointer}
.step-seg button.active{background:#0f172a;color:#fde047}
.jog-grid{display:grid;grid-template-columns:repeat(4,1fr);grid-template-rows:repeat(4,1fr);gap:10px;flex:1;min-height:0}
.jbtn{
border-radius:16px;display:flex;flex-direction:column;align-items:center;justify-content:center;gap:4px;
user-select:none;-webkit-tap-highlight-color:transparent;cursor:pointer;
font-weight:700;font-size:1.05rem;border:none;
transition:transform .06s, background .15s;
background:var(--jog-bg);color:var(--jog-ink);
}
.jbtn:hover{background:var(--jog-hover)}
.jbtn:active{transform:scale(.97)}
.jbtn .ico{font-size:1.6rem}
.jbtn .lbl{font-size:.8rem;color:inherit;opacity:.85;font-weight:600}
.jbtn.dir{background:var(--jog-dir-bg)} .jbtn.dir:hover{background:var(--jog-dir-hover)}
.jbtn.ghost{background:var(--jog-ghost-bg);color:var(--jog-ghost-ink)} .jbtn.ghost:hover{background:var(--jog-ghost-hover)}
/* DRO + STATUS */
.control-grid{display:grid;grid-template-columns:720px 1fr;gap:18px;flex:1;min-height:0}
.right-col{display:grid;grid-template-rows:1fr 158px;gap:18px;min-height:0}
.dro-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;overflow:hidden;display:flex;flex-direction:column}
.dro-head{display:grid;grid-template-columns:84px 1.4fr 1fr 1fr 170px 170px 280px;column-gap:.75rem;align-items:center;padding:14px 22px;background:#f8fafc;border-bottom:1px solid #e5e7eb;font-size:.78rem;font-weight:800;text-transform:uppercase;letter-spacing:.1em;color:#94a3b8}
.dro-row{display:grid;grid-template-columns:84px 1.4fr 1fr 1fr 170px 170px 280px;column-gap:.75rem;align-items:center;padding:14px 22px;border-bottom:1px solid #f1f5f9;flex:1;min-height:0}
.dro-row:last-child{border-bottom:none}
.dro-axis{font-weight:900;font-size:46px;line-height:1}
.dro-pos{font-family:'JetBrains Mono',monospace;font-size:36px;font-weight:800}
.dro-pos .u{font-size:14px;color:#94a3b8;font-weight:500;margin-left:6px}
.dro-sec{font-family:'JetBrains Mono',monospace;font-size:18px;color:#64748b;font-weight:600}
.axis-x{color:#dc2626} .axis-y{color:#16a34a} .axis-z{color:#2563eb} .axis-w{color:#7c3aed}
.chip{display:inline-flex;align-items:center;gap:.4rem;padding:.4rem .7rem;border-radius:9999px;font-size:.78rem;font-weight:700}
.chip-green{background:#dcfce7;color:#166534}
.chip-amber{background:#fef3c7;color:#92400e}
.chip-red{background:#fee2e2;color:#991b1b}
.chip-slate{background:#e2e8f0;color:#334155}
.chip-blue{background:#dbeafe;color:#1e40af}
.icon-btn{
width:72px;height:72px;border-radius:14px;cursor:pointer;
display:inline-flex;align-items:center;justify-content:center;
color:#334155;background:#f1f5f9;border:1px solid #e2e8f0;
font-size:1.45rem
}
.icon-btn:hover{background:#e2e8f0}
.actions-cell{display:flex;justify-content:flex-end;gap:10px}
.z-highlight{background:rgba(254,243,199,.4)}
.status-strip{display:grid;grid-template-columns:repeat(4,1fr);gap:18px;min-height:0}
.stat-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;padding:18px 22px;display:flex;flex-direction:column;justify-content:center}
.stat-label{font-size:11px;font-weight:800;text-transform:uppercase;letter-spacing:.14em;color:#94a3b8}
.stat-val{font-family:'JetBrains Mono',monospace;font-size:30px;font-weight:800;margin-top:6px}
.stat-val.ok{color:#166534}
.stat-sub{font-size:13px;color:#64748b;margin-top:2px}
/* MACROS */
.macro-row{display:grid;grid-template-columns:repeat(8,1fr);gap:12px;flex:0 0 auto}
.macro-btn{
height:84px;border-radius:14px;border:none;cursor:pointer;
color:#fff;background:#3f4b63;
font-weight:800;font-size:1rem;
display:flex;align-items:center;justify-content:center;gap:.6rem;
transition:transform .06s, background .15s
}
.macro-btn:hover{background:#4a5777}
.macro-btn:active{transform:translateY(2px)}
.macro-btn .mnum{display:inline-flex;align-items:center;justify-content:center;width:28px;height:28px;border-radius:8px;background:#fde047;color:#0f172a;font-size:.85rem;font-weight:900}
.macro-btn .micon{font-size:1.1rem;opacity:.75}
/* =============================================================
PROGRAM PANEL
============================================================= */
.program-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;display:flex;flex-direction:column;flex:1;min-height:0;overflow:hidden}
.ptab-bar{display:flex;align-items:center;gap:6px;border-bottom:1px solid #e5e7eb;flex:0 0 auto;background:#fff;padding:0 18px}
.ptab{height:60px;padding:0 22px;font-weight:700;color:#64748b;border-bottom:3px solid transparent;font-size:1rem;display:inline-flex;align-items:center;gap:.5rem;cursor:pointer}
.ptab:hover{color:#0f172a}
.ptab.active{color:#0f172a;border-bottom-color:#0f172a}
.ptab .ptab-badge{background:#fde047;color:#0f172a;font-size:.7rem;padding:2px 7px;border-radius:9999px;font-weight:900}
.action-bar{display:flex;align-items:center;gap:12px;padding:18px;flex-wrap:wrap;border-bottom:1px solid #f1f5f9}
.action-btn{height:84px;padding:0 24px;border-radius:14px;background:#3f4b63;color:#fff;border:none;cursor:pointer;display:inline-flex;flex-direction:column;align-items:center;justify-content:center;gap:4px;font-weight:800;font-size:.9rem;letter-spacing:.04em;transition:background .15s}
.action-btn:hover{background:#4a5777}
.action-btn .ico{font-size:1.4rem}
.action-btn.run{background:#16a34a}
.action-btn.run:hover{background:#15803d}
.action-btn.stop{background:#0f172a}
.action-btn.stop:hover{background:#1e293b}
.action-btn.danger{background:#fee2e2;color:#7f1d1d}
.action-btn.danger:hover{background:#fecaca}
.action-btn.danger .ico{color:#dc2626}
.file-bar{display:flex;align-items:center;gap:10px;padding:14px 18px;flex-wrap:wrap;border-bottom:1px solid #f1f5f9}
.file-btn{height:54px;padding:0 18px;border-radius:12px;background:#f1f5f9;border:1px solid #e2e8f0;font-weight:700;color:#0f172a;font-size:.9rem;display:inline-flex;align-items:center;gap:.5rem;cursor:pointer}
.file-btn:hover{background:#e2e8f0}
.file-select{height:54px;padding:0 16px;border-radius:12px;background:#fff;border:1px solid #e2e8f0;font-weight:600;color:#0f172a;font-size:.9rem;display:inline-flex;align-items:center;gap:.5rem;cursor:pointer}
.file-select .caret{color:#94a3b8;margin-left:.5rem}
.file-select.primary{background:#fff;border:2px solid #0ea5e9;flex:1;min-width:300px}
.program-body{flex:1;display:grid;grid-template-columns:1fr 600px;min-height:0}
.gcode{font-family:'JetBrains Mono',monospace;font-size:14px;line-height:1.6;background:#fafafa;border-right:1px solid #f1f5f9;padding:14px 0;overflow:auto;color:#1e293b}
.gline{display:grid;grid-template-columns:60px 1fr;gap:14px;padding:1px 18px 1px 0}
.gline:nth-child(odd){background:#f4f4f5}
.gline .gn{color:#f59e0b;text-align:right;font-weight:700}
.gline.cur{background:#dbeafe !important}
.gline.cur .gn{color:#1e40af}
.gcomment{color:#64748b}
.gword{color:#0f172a}
.gnum{color:#16a34a}
.viewer{display:flex;flex-direction:column;min-height:0}
.viewer-3d{flex:1;background:#0b1220;position:relative;overflow:hidden;display:flex;align-items:center;justify-content:center}
.viewer-tools{display:flex;gap:8px;padding:14px;border-top:1px solid #f1f5f9;background:#fff;flex-wrap:wrap}
.vtool{height:60px;width:60px;border-radius:12px;background:#f1f5f9;border:1px solid #e2e8f0;color:#475569;display:inline-flex;align-items:center;justify-content:center;font-size:1.2rem;cursor:pointer}
.vtool:hover{background:#e2e8f0}
.vtool.on{background:#0f172a;color:#fff;border-color:#0f172a}
.vinfo{padding:14px 18px;background:#fff;font-size:13px;color:#64748b;border-top:1px solid #f1f5f9;display:flex;justify-content:space-between;align-items:center}
.vinfo .ext{color:#0f172a;font-weight:600}
/* =============================================================
MESSAGES PANEL
============================================================= */
.messages{display:none;flex-direction:column;flex:1;min-height:0;padding:18px;gap:12px;overflow:auto}
.messages.active{display:flex}
.msg{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:18px 22px;display:grid;grid-template-columns:54px 1fr auto;gap:18px;align-items:flex-start}
.msg .mi{width:54px;height:54px;border-radius:12px;display:inline-flex;align-items:center;justify-content:center;font-size:1.4rem}
.msg.error{border-left:6px solid #dc2626}
.msg.error .mi{background:#fee2e2;color:#991b1b}
.msg.warn{border-left:6px solid #f59e0b}
.msg.warn .mi{background:#fef3c7;color:#92400e}
.msg.info{border-left:6px solid #0ea5e9}
.msg.info .mi{background:#dbeafe;color:#1e40af}
.msg.ok{border-left:6px solid #16a34a}
.msg.ok .mi{background:#dcfce7;color:#166534}
.msg .mtitle{font-weight:800;font-size:1.05rem;color:#0f172a}
.msg .mtime{font-size:.8rem;color:#94a3b8;margin-top:2px}
.msg .mbody{margin-top:6px;color:#475569;font-size:.95rem;line-height:1.5}
.msg .mbody .mono{background:#f1f5f9;padding:2px 6px;border-radius:4px;font-size:.85rem}
.msg .mactions{display:flex;gap:8px}
.mbtn{height:48px;padding:0 16px;border-radius:10px;background:#f1f5f9;border:1px solid #e2e8f0;font-weight:700;color:#0f172a;font-size:.85rem;cursor:pointer}
.mbtn:hover{background:#e2e8f0}
.mbtn.primary{background:#0f172a;color:#fff;border-color:#0f172a}
.mbtn.primary:hover{background:#1e293b}
/* =============================================================
INDICATORS PANEL
============================================================= */
.indicators{display:none;flex:1;min-height:0;padding:18px;gap:14px;overflow:auto;grid-template-columns:repeat(4,1fr);grid-auto-rows:min-content}
.indicators.active{display:grid}
.ind{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:16px 18px;display:flex;flex-direction:column;gap:6px}
.ind-label{font-size:.8rem;font-weight:800;text-transform:uppercase;letter-spacing:.1em;color:#94a3b8}
.ind-val{font-family:'JetBrains Mono',monospace;font-size:1.6rem;font-weight:800;color:#0f172a}
.ind-state{display:inline-flex;align-items:center;gap:.4rem;font-size:.8rem;font-weight:700;color:#475569}
.ind-state .dot{width:10px;height:10px;border-radius:9999px}
.ind .progress{height:8px;background:#f1f5f9;border-radius:9999px;overflow:hidden;margin-top:4px}
.ind .progress > div{height:100%;background:#0ea5e9}
.ind.full{grid-column:span 2}
/* =============================================================
MDI PANEL
============================================================= */
.mdi{display:none;flex-direction:column;flex:1;min-height:0;padding:18px;gap:14px}
.mdi.active{display:flex}
.mdi-input{
background:#0b1220;color:#86efac;border:1px solid #1e293b;border-radius:14px;
padding:22px 24px;font-family:'JetBrains Mono',monospace;font-size:1.4rem;font-weight:600;
display:flex;align-items:center;gap:.6rem;
}
.mdi-input .prompt{color:#475569}
.mdi-input .cursor{display:inline-block;width:14px;height:1.4rem;background:#86efac;animation:blink 1s steps(2,end) infinite;vertical-align:middle}
@keyframes blink{50%{opacity:0}}
.mdi-keys{display:grid;grid-template-columns:repeat(8,1fr);gap:8px;flex:0 0 auto}
.mkey{height:64px;border-radius:12px;background:#fff;border:1px solid #e2e8f0;font-weight:800;font-size:1.05rem;color:#0f172a;cursor:pointer;font-family:'JetBrains Mono',monospace}
.mkey:hover{background:#f1f5f9}
.mkey.send{background:#16a34a;color:#fff;border-color:#15803d;grid-column:span 2;font-family:'Inter',sans-serif;font-size:.95rem;letter-spacing:.04em}
.mkey.send:hover{background:#15803d}
.mkey.clear{background:#fee2e2;color:#7f1d1d;border-color:#fca5a5;font-family:'Inter',sans-serif;font-size:.95rem;letter-spacing:.04em}
.mdi-history{flex:1;background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:14px 18px;overflow:auto;font-family:'JetBrains Mono',monospace;font-size:.95rem}
.mdi-history .h-row{display:grid;grid-template-columns:80px 1fr auto;gap:14px;padding:6px 0;border-bottom:1px solid #f1f5f9;align-items:center}
.mdi-history .h-time{color:#94a3b8;font-size:.8rem}
.mdi-history .h-cmd{color:#0f172a;font-weight:700}
.mdi-history .h-status{color:#16a34a;font-weight:700;font-size:.8rem}
.mdi-history .h-status.err{color:#dc2626}
/* =============================================================
SETTINGS PANEL
============================================================= */
.settings{display:none;flex:1;min-height:0;padding:18px;gap:14px;overflow:auto;grid-template-columns:280px 1fr}
.settings.active{display:grid}
.set-side{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:10px;display:flex;flex-direction:column;gap:4px;height:fit-content}
.set-item{height:56px;padding:0 16px;border-radius:10px;display:flex;align-items:center;gap:.6rem;color:#475569;font-weight:700;cursor:pointer}
.set-item:hover{background:#f1f5f9}
.set-item.active{background:#0f172a;color:#fff}
.set-content{display:flex;flex-direction:column;gap:14px}
.set-card{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:22px}
.set-title{font-weight:800;font-size:1.1rem;color:#0f172a;margin-bottom:14px}
.set-row{display:grid;grid-template-columns:280px 1fr auto;gap:14px;align-items:center;padding:14px 0;border-bottom:1px solid #f1f5f9}
.set-row:last-child{border-bottom:none}
.set-row .label{font-weight:700;color:#0f172a;font-size:.95rem}
.set-row .desc{color:#64748b;font-size:.85rem;margin-top:2px}
.set-row .val{font-family:'JetBrains Mono',monospace;color:#475569}
.set-input{height:48px;padding:0 14px;border-radius:10px;border:1px solid #e2e8f0;background:#fff;font-family:'JetBrains Mono',monospace;font-size:.95rem;color:#0f172a;min-width:200px}
.set-toggle{width:54px;height:30px;border-radius:9999px;background:#cbd5e1;position:relative;cursor:pointer;transition:background .15s}
.set-toggle::after{content:"";position:absolute;left:3px;top:3px;width:24px;height:24px;border-radius:9999px;background:#fff;transition:transform .15s}
.set-toggle.on{background:#16a34a}
.set-toggle.on::after{transform:translateX(24px)}
</style>
</head>
<body>
<div class="host">
<div class="topbar">
<div class="brand">
<div class="stripe-logo-sm"></div>
ONEFINITY · V09 · Full UX preview
</div>
<span class="pill">Click the inner tabs to navigate</span>
<div style="margin-left:auto"></div>
<button id="oneToOne" class="toggle">1:1</button>
<button id="fitBtn" class="toggle on">Fit</button>
<span id="scaleInfo" class="pill mono">100%</span>
</div>
<div class="stage" id="stage">
<div class="scaler-viewport" id="viewport">
<div class="scaler" id="scaler">
<!-- ============= KIOSK ============= -->
<div class="kiosk">
<header class="head">
<div class="brand-blk">
<div class="brand-logo"></div>
<div class="brand-name">ONEFINITY</div>
</div>
<div class="kiosk-tabs">
<button class="ktab active" data-target="control"><i class="fa-solid fa-gamepad"></i> Control</button>
<button class="ktab" data-target="program"><i class="fa-solid fa-list-ol"></i> Program</button>
<button class="ktab" data-target="console"><i class="fa-solid fa-terminal"></i> Console <span class="ktab-badge">2</span></button>
<button class="ktab" data-target="settings"><i class="fa-solid fa-sliders"></i> Settings</button>
</div>
<button class="sys-btn"><span class="pip"></span> All systems · view <i class="fa-solid fa-chevron-down" style="font-size:10px;opacity:.6"></i></button>
<span class="state-badge"><span class="dot"></span> READY</span>
<button class="estop">STOP</button>
</header>
<div class="body">
<!-- ============= CONTROL ============= -->
<div class="panel active" data-panel="control">
<div class="control-grid">
<!-- jog -->
<div class="jog-card">
<div class="jog-head">
<div class="jog-title">Jog · step <span class="step">10mm</span></div>
<div class="step-seg">
<button>0.1</button><button>1</button><button class="active">10</button><button>100</button>
</div>
</div>
<div class="jog-grid">
<button class="jbtn dir"><i class="fa-solid fa-arrow-up ico" style="transform:rotate(-45deg)"></i></button>
<button class="jbtn">Y+</button>
<button class="jbtn dir"><i class="fa-solid fa-arrow-up ico" style="transform:rotate(45deg)"></i></button>
<button class="jbtn">Z+</button>
<button class="jbtn">X−</button>
<button class="jbtn ghost"><span class="lbl">XY</span><span style="font-size:1rem;font-weight:700">Origin</span></button>
<button class="jbtn">X+</button>
<button class="jbtn ghost"><span class="lbl">Z</span><span style="font-size:1rem;font-weight:700">Origin</span></button>
<button class="jbtn dir"><i class="fa-solid fa-arrow-down ico" style="transform:rotate(45deg)"></i></button>
<button class="jbtn">Y−</button>
<button class="jbtn dir"><i class="fa-solid fa-arrow-down ico" style="transform:rotate(-45deg)"></i></button>
<button class="jbtn">Z−</button>
<button class="jbtn"><i class="fa-solid fa-arrow-down ico"></i><span class="lbl">W−</span></button>
<button class="jbtn ghost"><span class="lbl">W</span><span style="font-size:1rem;font-weight:700">Origin</span></button>
<button class="jbtn"><i class="fa-solid fa-arrow-up ico"></i><span class="lbl">W+</span></button>
<button class="jbtn"><i class="fa-solid fa-house ico"></i><span class="lbl">Home</span></button>
</div>
</div>
<!-- DRO + status -->
<div class="right-col">
<div class="dro-card">
<div class="dro-head">
<div>Axis</div><div>Position</div><div>Absolute</div><div>Offset</div><div>State</div><div>Toolpath</div><div style="text-align:right">Actions</div>
</div>
<div class="dro-row">
<div class="dro-axis axis-x">X</div>
<div class="dro-pos">0.000<span class="u">mm</span></div>
<div class="dro-sec">0.000</div>
<div class="dro-sec">0.000</div>
<div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
<div><span class="chip chip-green"><i class="fa-solid fa-check"></i> OK</span></div>
<div class="actions-cell">
<button class="icon-btn"><i class="fa-solid fa-gear"></i></button>
<button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
<button class="icon-btn"><i class="fa-solid fa-house"></i></button>
</div>
</div>
<div class="dro-row">
<div class="dro-axis axis-y">Y</div>
<div class="dro-pos">0.000<span class="u">mm</span></div>
<div class="dro-sec">0.000</div>
<div class="dro-sec">0.000</div>
<div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
<div><span class="chip chip-green"><i class="fa-solid fa-check"></i> OK</span></div>
<div class="actions-cell">
<button class="icon-btn"><i class="fa-solid fa-gear"></i></button>
<button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
<button class="icon-btn"><i class="fa-solid fa-house"></i></button>
</div>
</div>
<div class="dro-row z-highlight">
<div class="dro-axis axis-z">Z</div>
<div class="dro-pos">0.000<span class="u">mm</span></div>
<div class="dro-sec">0.000</div>
<div class="dro-sec">0.000</div>
<div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
<div><span class="chip chip-amber"><i class="fa-solid fa-triangle-exclamation"></i> Over</span></div>
<div class="actions-cell">
<button class="icon-btn"><i class="fa-solid fa-gear"></i></button>
<button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
<button class="icon-btn"><i class="fa-solid fa-house"></i></button>
</div>
</div>
<div class="dro-row">
<div class="dro-axis axis-w">W</div>
<div class="dro-pos">0.000<span class="u">mm</span></div>
<div class="dro-sec">0.000</div>
<div class="dro-sec" style="opacity:.4">—</div>
<div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
<div><span class="chip chip-green"><i class="fa-solid fa-check"></i> OK</span></div>
<div class="actions-cell">
<button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
<button class="icon-btn"><i class="fa-solid fa-house"></i></button>
</div>
</div>
</div>
<div class="status-strip">
<div class="stat-card"><div class="stat-label">State</div><div class="stat-val ok">READY</div><div class="stat-sub">No alerts</div></div>
<div class="stat-card"><div class="stat-label">Velocity / Feed</div><div class="stat-val">0 · 0</div><div class="stat-sub">m/min · mm/min</div></div>
<div class="stat-card"><div class="stat-label">Spindle</div><div class="stat-val">0 (0)</div><div class="stat-sub">RPM (commanded / actual)</div></div>
<div class="stat-card"><div class="stat-label">Job</div><div class="stat-val">0 / 1,785</div><div class="stat-sub">Line · 19:07 remaining</div></div>
</div>
</div>
</div>
<!-- macros -->
<div class="macro-row">
<button class="macro-btn"><span class="mnum">1</span><i class="fa-solid fa-circle-play micon"></i> Macro 1</button>
<button class="macro-btn"><span class="mnum">2</span><i class="fa-solid fa-circle-play micon"></i> Macro 2</button>
<button class="macro-btn"><span class="mnum">3</span><i class="fa-solid fa-circle-play micon"></i> Macro 3</button>
<button class="macro-btn"><span class="mnum">4</span><i class="fa-solid fa-circle-play micon"></i> Macro 4</button>
<button class="macro-btn"><span class="mnum">5</span><i class="fa-solid fa-circle-play micon"></i> Macro 5</button>
<button class="macro-btn"><span class="mnum">6</span><i class="fa-solid fa-circle-play micon"></i> Macro 6</button>
<button class="macro-btn"><span class="mnum">7</span><i class="fa-solid fa-circle-play micon"></i> Macro 7</button>
<button class="macro-btn"><span class="mnum">8</span><i class="fa-solid fa-circle-play micon"></i> Macro 8</button>
</div>
</div>
<!-- ============= PROGRAM ============= -->
<div class="panel" data-panel="program" style="padding:0;gap:0">
<div class="program-card" style="margin:18px;border-radius:18px">
<!-- Auto sub-panel -->
<div class="auto-sub" data-sub="auto" style="display:flex;flex-direction:column;flex:1;min-height:0">
<div class="action-bar">
<button class="action-btn run"><i class="fa-solid fa-play ico"></i><span>RUN</span></button>
<button class="action-btn stop"><i class="fa-solid fa-stop ico"></i><span>STOP</span></button>
<button class="action-btn"><i class="fa-solid fa-folder-arrow-up ico"></i><span>UPLOAD FOLDER</span></button>
<button class="action-btn"><i class="fa-solid fa-file-arrow-up ico"></i><span>UPLOAD FILE</span></button>
<button class="action-btn"><i class="fa-solid fa-file-arrow-down ico"></i><span>DOWNLOAD FILE</span></button>
<button class="action-btn danger"><i class="fa-solid fa-trash ico"></i><span>DELETE</span></button>
</div>
<div class="file-bar">
<button class="file-btn"><i class="fa-solid fa-folder-plus"></i> Create Folder</button>
<button class="file-btn"><i class="fa-solid fa-folder-minus"></i> Delete Folder</button>
<span class="file-select"><i class="fa-solid fa-folder-open" style="color:#64748b"></i> Default folder <i class="fa-solid fa-chevron-down caret"></i></span>
<span class="file-select primary"><i class="fa-solid fa-file-code" style="color:#0ea5e9"></i> thin-rough.nc <i class="fa-solid fa-chevron-down caret" style="margin-left:auto"></i></span>
<span class="file-select"><i class="fa-solid fa-arrow-down-wide-short" style="color:#64748b"></i> By Upload Date <i class="fa-solid fa-chevron-down caret"></i></span>
</div>
<div class="program-body">
<div class="gcode" id="gcode-list"></div>
<div class="viewer">
<div class="viewer-3d">
<svg viewBox="0 0 400 220" style="width:100%;height:100%">
<defs>
<pattern id="gridv" width="20" height="20" patternUnits="userSpaceOnUse">
<path d="M 20 0 L 0 0 0 20" fill="none" stroke="#1e293b" stroke-width="1"/>
</pattern>
</defs>
<rect width="400" height="220" fill="url(#gridv)"/>
<rect x="40" y="80" width="320" height="60" stroke="#475569" stroke-width="1" fill="none" stroke-dasharray="3 3"/>
<text x="40" y="74" fill="#64748b" font-size="9" font-family="monospace">Stock: 250 × 25 × 16 mm</text>
<!-- toolpath -->
<path d="M40,110 L360,110 M40,100 L360,100 M40,120 L360,120 M40,90 L360,90 M40,130 L360,130" stroke="#22c55e" stroke-width="1.4" fill="none" opacity=".8"/>
<path d="M40,110 L40,80 L60,80 L60,110 M80,110 L80,80 L100,80 L100,110 M120,110 L120,80 L140,80 L140,110" stroke="#ef4444" stroke-width="1.4" fill="none" opacity=".8"/>
<circle cx="40" cy="110" r="3" fill="#22c55e"/>
<circle cx="360" cy="110" r="3" fill="#ef4444"/>
<text x="46" y="108" fill="#22c55e" font-size="8" font-family="monospace">START</text>
<text x="332" y="108" fill="#ef4444" font-size="8" font-family="monospace">END</text>
<!-- axes gizmo -->
<g transform="translate(28,196)">
<line x1="0" y1="0" x2="22" y2="0" stroke="#ef4444" stroke-width="2"/>
<line x1="0" y1="0" x2="0" y2="-22" stroke="#3b82f6" stroke-width="2"/>
<line x1="0" y1="0" x2="-12" y2="12" stroke="#22c55e" stroke-width="2"/>
<text x="24" y="4" fill="#ef4444" font-size="9" font-family="monospace">X</text>
<text x="-4" y="-26" fill="#3b82f6" font-size="9" font-family="monospace">Z</text>
<text x="-22" y="22" fill="#22c55e" font-size="9" font-family="monospace">Y</text>
</g>
</svg>
</div>
<div class="viewer-tools">
<button class="vtool" title="Fit"><i class="fa-solid fa-expand"></i></button>
<button class="vtool on" title="Tool"><i class="fa-solid fa-screwdriver-wrench"></i></button>
<button class="vtool" title="Stock"><i class="fa-solid fa-cube"></i></button>
<button class="vtool" title="Origin"><i class="fa-solid fa-up-right-and-down-left-from-center"></i></button>
<button class="vtool" title="Top"><i class="fa-solid fa-square"></i></button>
<button class="vtool" title="Front"><i class="fa-solid fa-square-full"></i></button>
<button class="vtool" title="Iso"><i class="fa-solid fa-cubes"></i></button>
</div>
<div class="vinfo">
<span><span class="ext">thin-rough.nc</span> · 1,785 lines · 12.4 KB</span>
<span class="mono">est. 19:07</span>
</div>
</div>
</div>
</div>
</div>
</div>
<!-- ============= CONSOLE ============= -->
<div class="panel" data-panel="console" style="padding:0;gap:0">
<div class="program-card" style="margin:18px;border-radius:18px">
<div class="ptab-bar">
<button class="ptab active" data-ptab="mdi"><i class="fa-solid fa-keyboard"></i> MDI</button>
<button class="ptab" data-ptab="messages"><i class="fa-solid fa-comment-dots"></i> Messages <span class="ptab-badge">2</span></button>
<button class="ptab" data-ptab="indicators"><i class="fa-solid fa-bell"></i> Indicators</button>
</div>
<!-- MDI sub-panel -->
<div class="mdi active" data-sub="mdi">
<div class="mdi-input">
<span class="prompt">G&gt;</span>
<span class="mono">G0 X100 Y50 F2000</span>
<span class="cursor"></span>
</div>
<div class="mdi-keys">
<button class="mkey">G0</button>
<button class="mkey">G1</button>
<button class="mkey">G2</button>
<button class="mkey">G3</button>
<button class="mkey">G28</button>
<button class="mkey">G92</button>
<button class="mkey">M3</button>
<button class="mkey">M5</button>
<button class="mkey">X</button>
<button class="mkey">Y</button>
<button class="mkey">Z</button>
<button class="mkey">W</button>
<button class="mkey">F</button>
<button class="mkey">S</button>
<button class="mkey clear">CLEAR</button>
<button class="mkey send">SEND ↵</button>
</div>
<div class="mdi-history">
<div class="h-row"><span class="h-time">19:42:11</span><span class="h-cmd">G21</span><span class="h-status">✓ ok</span></div>
<div class="h-row"><span class="h-time">19:42:14</span><span class="h-cmd">G90</span><span class="h-status">✓ ok</span></div>
<div class="h-row"><span class="h-time">19:43:02</span><span class="h-cmd">G0 Y12.800</span><span class="h-status">✓ ok</span></div>
<div class="h-row"><span class="h-time">19:43:08</span><span class="h-cmd">G0 Z19.040</span><span class="h-status">✓ ok</span></div>
<div class="h-row"><span class="h-time">19:43:30</span><span class="h-cmd">G1 Z-20 F800</span><span class="h-status err">✗ blocked: Z over travel</span></div>
<div class="h-row"><span class="h-time">19:44:01</span><span class="h-cmd">G0 Z5</span><span class="h-status">✓ ok</span></div>
</div>
</div>
<!-- Messages sub-panel -->
<div class="messages" data-sub="messages">
<div class="msg warn">
<div class="mi"><i class="fa-solid fa-triangle-exclamation"></i></div>
<div>
<div style="display:flex;align-items:baseline;gap:.6rem">
<div class="mtitle">Z toolpath exceeds soft-limit</div>
<div class="mtime">2 min ago · sticky</div>
</div>
<div class="mbody">Loaded program reaches <span class="mono">Z = -16.500</span>. Configured soft-limit is <span class="mono">Z = -15.000</span>. Adjust the Z origin or set a deeper soft-limit before running.</div>
</div>
<div class="mactions">
<button class="mbtn">Open settings</button>
<button class="mbtn primary">Acknowledge</button>
</div>
</div>
<div class="msg info">
<div class="mi"><i class="fa-solid fa-circle-info"></i></div>
<div>
<div style="display:flex;align-items:baseline;gap:.6rem">
<div class="mtitle">Camera offline</div>
<div class="mtime">12 min ago</div>
</div>
<div class="mbody">Camera at <span class="mono">10.1.10.55:8554</span> did not respond on last poll. Live preview disabled.</div>
</div>
<div class="mactions">
<button class="mbtn">Retry</button>
<button class="mbtn">Dismiss</button>
</div>
</div>
<div class="msg ok">
<div class="mi"><i class="fa-solid fa-check"></i></div>
<div>
<div style="display:flex;align-items:baseline;gap:.6rem">
<div class="mtitle">File uploaded · thin-rough.nc</div>
<div class="mtime">21 min ago</div>
</div>
<div class="mbody">1,785 lines · 12.4 KB · checksum verified.</div>
</div>
<div class="mactions">
<button class="mbtn">Open</button>
</div>
</div>
<div class="msg error">
<div class="mi"><i class="fa-solid fa-circle-xmark"></i></div>
<div>
<div style="display:flex;align-items:baseline;gap:.6rem">
<div class="mtitle">WiFi: not connected</div>
<div class="mtime">1 h ago</div>
</div>
<div class="mbody">Falling back to wired ethernet. SSID <span class="mono">workshop-2g</span> last seen 53 min ago.</div>
</div>
<div class="mactions">
<button class="mbtn">Network…</button>
<button class="mbtn">Mute</button>
</div>
</div>
</div>
<!-- Indicators sub-panel -->
<div class="indicators" data-sub="indicators">
<div class="ind">
<div class="ind-label">Spindle Load</div>
<div class="ind-val">0 %</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> idle</div>
<div class="progress"><div style="width:0%"></div></div>
</div>
<div class="ind">
<div class="ind-label">Spindle Temp</div>
<div class="ind-val">24 °C</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> nominal</div>
<div class="progress"><div style="width:24%"></div></div>
</div>
<div class="ind">
<div class="ind-label">Driver Voltage</div>
<div class="ind-val">48.1 V</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
</div>
<div class="ind">
<div class="ind-label">Coolant</div>
<div class="ind-val">OFF</div>
<div class="ind-state"><span class="dot" style="background:#94a3b8"></span> standby</div>
</div>
<div class="ind">
<div class="ind-label">Limit X</div>
<div class="ind-val" style="color:#16a34a">CLEAR</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
</div>
<div class="ind">
<div class="ind-label">Limit Y</div>
<div class="ind-val" style="color:#16a34a">CLEAR</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
</div>
<div class="ind">
<div class="ind-label">Limit Z</div>
<div class="ind-val" style="color:#dc2626">BLOCKED</div>
<div class="ind-state"><span class="dot" style="background:#dc2626"></span> over-travel</div>
</div>
<div class="ind">
<div class="ind-label">Probe</div>
<div class="ind-val">OPEN</div>
<div class="ind-state"><span class="dot" style="background:#94a3b8"></span> not contacted</div>
</div>
<div class="ind">
<div class="ind-label">E-Stop</div>
<div class="ind-val" style="color:#16a34a">RELEASED</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> safe</div>
</div>
<div class="ind">
<div class="ind-label">Door</div>
<div class="ind-val">CLOSED</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
</div>
<div class="ind">
<div class="ind-label">Air Pressure</div>
<div class="ind-val">6.2 bar</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
<div class="progress"><div style="width:62%"></div></div>
</div>
<div class="ind">
<div class="ind-label">Vacuum</div>
<div class="ind-val">−0.81 bar</div>
<div class="ind-state"><span class="dot" style="background:#16a34a"></span> hold</div>
<div class="progress"><div style="width:81%"></div></div>
</div>
</div>
</div>
</div>
<!-- ============= SETTINGS ============= -->
<div class="panel" data-panel="settings" style="padding:0;gap:0">
<div class="settings active" style="padding:18px">
<div class="set-side">
<div class="set-item active"><i class="fa-solid fa-display"></i> Display & Units</div>
<div class="set-item"><i class="fa-solid fa-arrows-up-down-left-right"></i> Motion</div>
<div class="set-item"><i class="fa-solid fa-bolt"></i> Spindle</div>
<div class="set-item"><i class="fa-solid fa-shield-halved"></i> Safety / Soft-limits</div>
<div class="set-item"><i class="fa-solid fa-network-wired"></i> Network</div>
<div class="set-item"><i class="fa-solid fa-video"></i> Camera</div>
<div class="set-item"><i class="fa-solid fa-keyboard"></i> Macros</div>
<div class="set-item"><i class="fa-solid fa-circle-info"></i> About</div>
</div>
<div class="set-content">
<div class="set-card">
<div class="set-title">Display & Units</div>
<div class="set-row">
<div>
<div class="label">Display Units</div>
<div class="desc">Position, feed and dimensions throughout the UI.</div>
</div>
<div><div class="step-seg" style="display:inline-flex"><button class="active">METRIC</button><button>IMPERIAL</button></div></div>
<div></div>
</div>
<div class="set-row">
<div>
<div class="label">Decimal places</div>
<div class="desc">Position readout precision.</div>
</div>
<div><input class="set-input" value="3" /></div>
<div class="val">0–4</div>
</div>
<div class="set-row">
<div>
<div class="label">Pulse-dot animation</div>
<div class="desc">Animate status badges (ready, idle, alarm).</div>
</div>
<div><div class="set-toggle on"></div></div>
<div></div>
</div>
<div class="set-row">
<div>
<div class="label">Theme</div>
<div class="desc">Pick a tile finish.</div>
</div>
<div><span class="file-select"><i class="fa-solid fa-palette" style="color:#64748b"></i> V09 · Flat soft slate <i class="fa-solid fa-chevron-down caret"></i></span></div>
<div></div>
</div>
</div>
<div class="set-card">
<div class="set-title">Network</div>
<div class="set-row">
<div>
<div class="label">IP Address</div>
<div class="desc">Wired ethernet, DHCP.</div>
</div>
<div><span class="mono" style="font-size:1.05rem;font-weight:700">10.1.10.55</span></div>
<div><button class="mbtn">Edit</button></div>
</div>
<div class="set-row">
<div>
<div class="label">WiFi</div>
<div class="desc">Wireless network connection.</div>
</div>
<div><span class="chip chip-red"><i class="fa-solid fa-wifi"></i> Not connected</span></div>
<div><button class="mbtn primary">Configure</button></div>
</div>
<div class="set-row">
<div>
<div class="label">Hostname</div>
<div class="desc">Used in mDNS / Bonjour discovery.</div>
</div>
<div><input class="set-input" value="onefinity-shop.local" style="width:300px" /></div>
<div></div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
<script>
// ----- Build G-code list -----
const gcodeLines = [
[1,'G21','word'],[2,'; X = along blank, Z = tool entry from top, Y fixed','c'],
[3,'; Y fixed to blank center: 12.800','c'],[4,'; nominal rapid: 3200.0 mm/min','c'],
[5,'; stock top Z: -0.960','c'],[6,'; deepest allowed cut Z: -16.500','c'],
[7,'G21','word'],[8,'G90','word'],[9,'G0 Y12.800','word'],
[10,'G0 Z19.040','word'],[11,'; rough pass 1 radius=18.540','c'],
[12,'G0 X0.000','word'],[13,'G1 Z-0.710 F800.000','word cur'],
[14,'G1 Z-0.960 F200.000','word'],[15,'G4 P0.250','word'],
[16,'G1 X249.500 F200.000','word'],[17,'G4 P0.250','word'],
[18,'G0 Z19.040','word'],[19,'; rough pass 2 radius=17.540','c'],
[20,'G0 X0.000','word'],[21,'G1 Z-1.710 F800.000','word'],
[22,'G1 Z-1.960 F200.000','word'],[23,'G4 P0.250','word'],
[24,'G1 X249.500 F200.000','word'],[25,'G4 P0.250','word'],
[26,'G0 Z19.040','word'],[27,'; rough pass 3 radius=16.540','c'],
[28,'G0 X0.000','word'],[29,'G1 Z-2.710 F800.000','word'],
[30,'G1 Z-2.960 F200.000','word'],[31,'G4 P0.250','word'],
[32,'G1 X249.500 F200.000','word'],[33,'G4 P0.250','word'],
[34,'G0 Z19.040','word'],[35,'; rough pass 4 radius=15.540','c'],
];
document.getElementById('gcode-list').innerHTML = gcodeLines.map(([n,t,cls])=>{
const isComment = cls.includes('c');
const isCur = cls.includes('cur');
const cls2 = 'gline' + (isCur?' cur':'');
const inner = isComment ? `<span class="gcomment">${t}</span>` : `<span class="gword">${t}</span>`;
return `<div class="${cls2}"><span class="gn">${n}</span><span>${inner}</span></div>`;
}).join('');
// ----- Top tab switching (Control / Program / Settings) -----
document.querySelectorAll('.ktab').forEach(b=>{
b.addEventListener('click', ()=>{
const target = b.dataset.target;
document.querySelectorAll('.ktab').forEach(x=>x.classList.remove('active'));
b.classList.add('active');
document.querySelectorAll('.panel').forEach(p=>p.classList.remove('active'));
document.querySelector(`.panel[data-panel="${target}"]`).classList.add('active');
applyScale();
});
});
// ----- Console sub-tab switching (MDI / Messages / Indicators) -----
function showSub(name){
document.querySelectorAll('.ptab').forEach(x=>x.classList.toggle('active', x.dataset.ptab===name));
document.querySelectorAll('[data-sub]').forEach(s=>{
const on = s.dataset.sub===name;
if(s.classList.contains('messages') || s.classList.contains('indicators') || s.classList.contains('mdi')){
s.classList.toggle('active', on);
}
});
}
document.querySelectorAll('.ptab').forEach(b=>{
b.addEventListener('click', ()=>{ showSub(b.dataset.ptab); });
});
// Default Console sub: MDI active
document.querySelectorAll('.messages[data-sub], .indicators[data-sub]').forEach(s=>s.classList.remove('active'));
// ----- Scaling -----
const stage = document.getElementById('stage');
const scaler = document.getElementById('scaler');
const viewport = document.getElementById('viewport');
const fitBtn = document.getElementById('fitBtn');
const oneToOne = document.getElementById('oneToOne');
const scaleInfo = document.getElementById('scaleInfo');
let mode = 'fit';
function activeKioskHeight(){
const m = document.querySelector('.kiosk');
return m ? Math.max(1080, m.offsetHeight) : 1080;
}
function applyScale(){
let s;
if(mode==='1:1'){
s = 1; scaleInfo.textContent = '100% · 1920px wide';
} else {
const sw = stage.clientWidth - 32;
s = Math.min(sw/1920, 1);
scaleInfo.textContent = Math.round(s*100) + '% · 1920px wide';
}
const h = activeKioskHeight();
scaler.style.transform = `scale(${s})`;
viewport.style.width = (1920 * s) + 'px';
viewport.style.height = (h * s) + 'px';
}
window.addEventListener('resize', applyScale);
fitBtn.addEventListener('click', ()=>{ mode='fit'; fitBtn.classList.add('on'); oneToOne.classList.remove('on'); applyScale(); });
oneToOne.addEventListener('click', ()=>{ mode='1:1'; oneToOne.classList.add('on'); fitBtn.classList.remove('on'); applyScale(); });
applyScale();
</script>
</body>
</html>

169
plans/2026-04-30_ux_redesign.md Normal file
View File

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

4
scripts/deploy/local.sh
View File

@@ -9,8 +9,8 @@
# * The full V09 chrome (header tabs, settings rail, jog grid, DRO
# skeleton, status strip).
# * A "DISCONNECTED" overlay because there's no controller backend.
# * The A axis row in jog/DRO is hidden (correct: it appears only when
# the controller reports `aux_enabled = true`). To exercise the A
# * The W axis row in jog/DRO is hidden (correct: it appears only when
# the controller reports `aux_enabled = true`). To exercise the W
# axis end-to-end, deploy to the Pi (`./deploy.sh hardware`).
set -euo pipefail

15
src/js/program-mixin.js
View File

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

154
src/py/bbctrl/AuxAxis.py
View File

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

189
src/py/bbctrl/AuxPreprocessor.py
View File

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

37
src/py/bbctrl/Ctrl.py
View File

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

22
src/py/bbctrl/FileHandler.py
View File

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

297
src/py/bbctrl/Jog.py
View File

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

58
src/py/bbctrl/Planner.py
View File

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

16
src/py/bbctrl/Preplanner.py
View File

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

15
src/py/bbctrl/Web.py
View File

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