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2
.gitignore
vendored
2
.gitignore
vendored
@@ -27,8 +27,6 @@ __pycache__
|
||||
*.elf
|
||||
*.hex
|
||||
.idea/deployment.xml
|
||||
backup/*.img.gz
|
||||
backup/*.partial
|
||||
|
||||
# Demo mode artifacts
|
||||
bbctrl.log*
|
||||
|
||||
77
AGENTS.md
77
AGENTS.md
@@ -1,77 +0,0 @@
|
||||
# Onefinity firmware — agent guidelines
|
||||
|
||||
## Branch model
|
||||
|
||||
This fork lives on **two long-lived branches**:
|
||||
|
||||
- **`master`** — public-facing fork. General-use upgrades on top of
|
||||
upstream OneFinity firmware: V09 UX redesign, Font Awesome 6, faster
|
||||
cold boot, macOS dev/deploy tooling, build & flash docs, SD-card
|
||||
backup, `/api/diag/timing`, kiosk/tablet polish, and assorted
|
||||
bug-fixes. **No A-axis, ATC, hooks, or auxcnc/ESP content.** Aim for
|
||||
changes that benefit any Onefinity owner.
|
||||
|
||||
- **`private-mods`** — bespoke shop branch. Stacks on top of `master`
|
||||
and adds everything specific to the auxcnc-ESP-driven A axis and
|
||||
the ATC: `Hooks` (ATC IPC), `AuxAxis` (ESP serial driver),
|
||||
`ExternalAxis` (virtual A through gplan), `AuxPreprocessor` (M100-M103),
|
||||
Z-A coupling interlock, the A-axis UI surface, and the
|
||||
`/api/aux/*` endpoints.
|
||||
|
||||
Upstream:
|
||||
- `upstream` → `https://github.com/OneFinityCNC/onefinity-firmware.git`
|
||||
- `origin` → Gitea (`https://gitea.home.muehe.org/muehe/onefinity-firmware.git`)
|
||||
|
||||
`origin/pre-split-backup` is a tag preserving the pre-split master
|
||||
tip. Keep it indefinitely until further notice.
|
||||
|
||||
## Where does a change go?
|
||||
|
||||
| Change | Branch |
|
||||
|---|---|
|
||||
| UI polish, theme, layout that any user benefits from | `master` |
|
||||
| Build / install / boot performance | `master` |
|
||||
| Diagnostics, logging, generic Python / Tornado fixes | `master` |
|
||||
| Anything that touches `AuxAxis`, `ExternalAxis`, `Hooks`, `AuxPreprocessor` | `private-mods` |
|
||||
| Anything mentioning the auxcnc ESP, `/dev/ttyUSB0`, the M100-M103 ATC pneumatics, or motor index 4 | `private-mods` |
|
||||
| Z-A coupling interlock, ATC tool change sequencing | `private-mods` |
|
||||
| A-axis UI (DRO row, jog tile, settings page, A-axis routes) | `private-mods` |
|
||||
| W → A renames or aux.json migrations | `private-mods` |
|
||||
|
||||
When in doubt: ask "would this be useful on a stock Onefinity with no
|
||||
ESP attached?" If yes → `master`. If no → `private-mods`.
|
||||
|
||||
## Workflow
|
||||
|
||||
```bash
|
||||
# Day-to-day shop / hardware work (default)
|
||||
git checkout private-mods
|
||||
# … do work, commit …
|
||||
git push origin private-mods
|
||||
|
||||
# Generic improvement to master
|
||||
git checkout master
|
||||
# … do work, commit …
|
||||
git push origin master
|
||||
|
||||
# After landing on master, replay private-mods on top
|
||||
git checkout private-mods
|
||||
git rebase master
|
||||
git push --force-with-lease origin private-mods
|
||||
```
|
||||
|
||||
If a change accidentally lands on `master` but is bespoke (touches
|
||||
the file table above), move it: `git reset --hard <prev>` on master,
|
||||
cherry-pick onto `private-mods`, force-push master.
|
||||
|
||||
## Deploy
|
||||
|
||||
- `./deploy.sh local` — UI bundle on `localhost:8770` (tmux session
|
||||
`onefin-local`). No controller backend; A-axis row stays hidden.
|
||||
- `./deploy.sh hardware` — rsync to the Pi over SSH, restart
|
||||
`bbctrl.service`. Use the `private-mods` branch on the shop Pi.
|
||||
- `./deploy.sh prod` — bundle a release tarball.
|
||||
|
||||
See `.pi/BUILD.md` for the full build / flash / cross-compile flow.
|
||||
|
||||
## Commit before ending a turn; push after significant changes.
|
||||
61
CHANGELOG.md
61
CHANGELOG.md
@@ -1,67 +1,6 @@
|
||||
OneFinity CNC Controller Firmware Changelog
|
||||
===========================================
|
||||
|
||||
## Unreleased (community fork)
|
||||
|
||||
General-use additions on top of upstream OneFinity firmware.
|
||||
|
||||
### UI
|
||||
- V09 redesign: 4-tab top header (Control / Program / Console /
|
||||
Settings) replaces the legacy side menu.
|
||||
- Control: redesigned DRO with per-axis offset + zero + home
|
||||
actions, jog grid with consistent button sizing across kiosk
|
||||
and tablet, status strip with live state / velocity / spindle.
|
||||
- Program: dedicated tab for run / pause / stop, file browser,
|
||||
toolpath preview.
|
||||
- Console: MDI shell, message log, indicators.
|
||||
- Settings: rail-driven inner pages so each section is its own
|
||||
focused panel rather than one long scroll.
|
||||
- Tablet mode (`?tablet=1`) pins the UI to 1920x1080 and scales
|
||||
it to fit the actual viewport.
|
||||
- Kiosk mode (`?kiosk=1`, auto on localhost): tighter layout for
|
||||
the controller's onboard 1366x768 screen.
|
||||
- Font Awesome 6 throughout (replaces FA4).
|
||||
- Fix: stop clobbering motor settings while the user is editing
|
||||
them.
|
||||
- Fix: keep jog grid visible during jog/home/probe/MDI activity.
|
||||
- Fix: opaque dark canvas for path-viewer (no flash through page
|
||||
background).
|
||||
- Fix: OrbitControls now uses non-passive wheel/touch listeners so
|
||||
it can suppress page panning while interacting with the 3D
|
||||
viewer.
|
||||
- Fix: macros tab no longer renders placeholder color stripes for
|
||||
`#dedede`/`#fff`-only macros.
|
||||
- Fix: hide the X cursor in kiosk mode (touchscreen).
|
||||
- Fix: chromium 72 mime + flex-gap fallbacks (some kiosk Pis ship
|
||||
with that older browser build).
|
||||
- Fix: Vue 1 async batching disabled so reactive writes from
|
||||
`hashchange` listeners propagate synchronously.
|
||||
|
||||
### Boot / install
|
||||
- Cold-boot optimisations cutting bbctrl listen latency by ~8s on
|
||||
the Pi (mask sysstat, replace dphys-swapfile with an fstab swap
|
||||
entry, lazy-load `camotics.gplan`, `bbserial-rebind.service`
|
||||
with explicit `Before=bbctrl.service`).
|
||||
- `install.sh` now ships these with firmware updates.
|
||||
- `bbctrl.Trace` + `/api/diag/timing` for measuring startup, with
|
||||
a UI-side `restart-timing.js` client that POSTs browser marks.
|
||||
- `Camera.py` switched from deprecated `@web.asynchronous` to
|
||||
`async def` so the streaming endpoint works on newer Tornado.
|
||||
- `Log.py` tolerates missing rotated log files on startup
|
||||
(concurrent logrotate runs from `/etc/cron.reboot` no longer
|
||||
crash bbctrl).
|
||||
|
||||
### Build / tooling
|
||||
- `.pi/BUILD.md`: end-to-end macOS dev workflow, deploy paths,
|
||||
troubleshooting.
|
||||
- `.pi/Dockerfile.gplan` + `build-gplan.sh`: rebuild `gplan.so`
|
||||
from source on Raspbian Stretch (Bullseye is too new).
|
||||
- `deploy.sh` dispatcher with `local`, `hardware`, `prod` modes.
|
||||
- `backup/onefinity-backup.sh`: dd-based whole-card backup/restore
|
||||
with shrink/expand support.
|
||||
- `Makefile`: ensure trailing newlines between concatenated pug
|
||||
templates so Pug doesn't glue file boundaries together.
|
||||
|
||||
## v1.0.8
|
||||
- Fixed chatter and lost steps issues (most commonly seen by Fusion users), re-enabled support for G61, G61.1, G64.
|
||||
- Fixed 3d preview on Safari-based web browsers (MacOS & iOS)
|
||||
|
||||
6
Makefile
6
Makefile
@@ -68,11 +68,7 @@ update: pkg
|
||||
|
||||
build/templates.pug: $(TEMPLS)
|
||||
mkdir -p build
|
||||
# Use awk to ensure each template is followed by a newline so the
|
||||
# next file's first line never gets glued onto the previous file's
|
||||
# last line (some templates ship without a trailing newline, which
|
||||
# would produce subtle Pug parse failures).
|
||||
awk 'FNR==1 && NR>1 {print ""} {print} END{print ""}' $(TEMPLS) >$@
|
||||
cat $(TEMPLS) >$@
|
||||
|
||||
node_modules: package.json
|
||||
npm install && touch node_modules
|
||||
|
||||
125
README.md
125
README.md
@@ -1,124 +1 @@
|
||||
# OneFinity CNC Controller Firmware (A-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.
|
||||
|
||||
## Layout
|
||||
|
||||
```
|
||||
src/avr/ AVR firmware (motion controller, AtxMega)
|
||||
src/boot/ AVR bootloader
|
||||
src/bbserial/ Linux kernel module for the bbserial driver
|
||||
src/py/bbctrl/ Python control daemon (Tornado + websockets)
|
||||
src/js/ Vue.js UI (legacy)
|
||||
src/svelte-components/ Newer Svelte UI for dialogs and settings
|
||||
src/pug/ Pug templates compiled into build/http/index.html
|
||||
src/resources/ Static assets and config templates
|
||||
scripts/ Install / update / RPi build helpers
|
||||
docs/ Architecture, dev setup, A-axis docs
|
||||
```
|
||||
|
||||
## Build & flash (quick path, macOS or Linux)
|
||||
|
||||
The full build (`make`) requires `avr-gcc`, but the controller and UI
|
||||
only depend on the Python + web parts. If you're shipping a UI/Python
|
||||
change you don't need the AVR toolchain.
|
||||
|
||||
### Prerequisites
|
||||
|
||||
- Node.js (any recent LTS) with npm
|
||||
- Python 3 with setuptools
|
||||
- `npm install` once at the project root (this is wired into the
|
||||
`node_modules` Make target, but on a fresh checkout it's clearer to
|
||||
do it explicitly)
|
||||
|
||||
```bash
|
||||
npm install
|
||||
(cd src/svelte-components && npm install)
|
||||
```
|
||||
|
||||
#### macOS gotcha: esbuild platform pin
|
||||
|
||||
The Pi build leaves `node_modules/esbuild` pinned to
|
||||
`linux-arm64`, which won't run on Darwin. If `npm run build` inside
|
||||
`src/svelte-components` complains about esbuild, reinstall it for the
|
||||
host:
|
||||
|
||||
```bash
|
||||
cd src/svelte-components
|
||||
rm -rf node_modules/esbuild
|
||||
npm install esbuild@0.14.49 --no-save
|
||||
```
|
||||
|
||||
(Use the version that matches `package-lock.json`.)
|
||||
|
||||
### Build the web UI + Python sdist
|
||||
|
||||
```bash
|
||||
# Build the Svelte components
|
||||
(cd src/svelte-components && npm run build)
|
||||
|
||||
# Render pug templates and copy assets into build/http
|
||||
make all # AVR step will fail without avr-gcc; safe to ignore
|
||||
# if you didn't change anything under src/avr or src/boot
|
||||
|
||||
# Package
|
||||
./setup.py sdist
|
||||
ls dist/bbctrl-*.tar.bz2
|
||||
```
|
||||
|
||||
`make pkg` is the canonical target but it tries to build AVR first. On
|
||||
hosts without avr-gcc, run the steps above directly.
|
||||
|
||||
If `bbctrl-*.tar.bz2` is missing `src/bbserial/bbserial.ko`, copy the
|
||||
prebuilt `.ko` from a previous official release into `src/bbserial/`
|
||||
before running `setup.py sdist` (the install script on the controller
|
||||
just installs the existing module if a newer one isn't shipped).
|
||||
|
||||
### Flash to a controller
|
||||
|
||||
```bash
|
||||
curl -X PUT -H "Content-Type: multipart/form-data" \
|
||||
-F "firmware=@dist/bbctrl-1.6.7.tar.bz2" \
|
||||
-F "password=onefinity" \
|
||||
http://onefinity.local/api/firmware/update
|
||||
```
|
||||
|
||||
…or use the Make target:
|
||||
|
||||
```bash
|
||||
make update HOST=onefinity.local PASSWORD=onefinity
|
||||
```
|
||||
|
||||
The controller stops bbctrl, untars the package, runs
|
||||
`scripts/install.sh`, and brings the service back up. Total downtime
|
||||
is ~30-45s. Watch progress at `http://<host>/` (you'll get 404s while
|
||||
bbctrl restarts, then the new UI).
|
||||
|
||||
### Verify the flash
|
||||
|
||||
```bash
|
||||
curl -s http://onefinity.local/ | grep -c "OneFinity"
|
||||
curl -s http://onefinity.local/api/diag/timing | head
|
||||
curl -s http://onefinity.local/api/aux/status # if A axis is enabled
|
||||
```
|
||||
|
||||
## Build & flash (full path, Debian/Linux)
|
||||
|
||||
For AVR + GPlan rebuilds, see [docs/development.md](docs/development.md).
|
||||
That path uses qemu + chroot to cross-compile gplan for ARM and needs
|
||||
the `gcc-avr` / `avr-libc` toolchain.
|
||||
|
||||
## A axis (auxcnc)
|
||||
|
||||
This fork adds a virtual A axis. See
|
||||
[docs/AUX_A_AXIS.md](docs/AUX_A_AXIS.md) for:
|
||||
|
||||
- G-code surface (`G28 A0`, `G1 A25`, etc.)
|
||||
- The G-code preprocessor and hook architecture
|
||||
- aux.json keys
|
||||
- REST API (`/api/aux/*`)
|
||||
- UI surface (jog row in Control, settings panel in Settings)
|
||||
- Edge cases (ESP reboot mid-job, limit closed at home start, …)
|
||||
#OneFinity CNC Controller Firmware
|
||||
|
||||
@@ -1,278 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euo pipefail
|
||||
|
||||
# Onefinity CNC Controller - SD Card Backup & Restore
|
||||
#
|
||||
# Backs up the Raspberry Pi's SD card over SSH as a compressed image.
|
||||
# Compression runs on the local machine (fast), raw bytes stream from the Pi.
|
||||
#
|
||||
# Usage:
|
||||
# ./onefinity-backup.sh backup # backup with defaults
|
||||
# ./onefinity-backup.sh backup -o myfile.gz # custom output file
|
||||
# ./onefinity-backup.sh restore image.gz # restore to SD card
|
||||
# ./onefinity-backup.sh verify image.gz # verify image integrity
|
||||
#
|
||||
# Environment:
|
||||
# ONEFINITY_HOST - Pi IP/hostname (default: 10.1.10.55)
|
||||
# ONEFINITY_USER - SSH user (default: bbmc)
|
||||
# ONEFINITY_PASS - sudo password (default: onefinity)
|
||||
|
||||
HOST="${ONEFINITY_HOST:-10.1.10.55}"
|
||||
USER="${ONEFINITY_USER:-bbmc}"
|
||||
PASS="${ONEFINITY_PASS:-onefinity}"
|
||||
BACKUP_DIR="$(cd "$(dirname "$0")" && pwd)"
|
||||
DEVICE="/dev/mmcblk0"
|
||||
|
||||
ssh_cmd() {
|
||||
ssh -o ConnectTimeout=10 -o StrictHostKeyChecking=no -o LogLevel=ERROR "$USER@$HOST" "$@"
|
||||
}
|
||||
|
||||
sudo_ssh() {
|
||||
ssh_cmd "echo '$PASS' | sudo -S bash -c '$1' 2>/dev/null"
|
||||
}
|
||||
|
||||
die() { echo "ERROR: $*" >&2; exit 1; }
|
||||
|
||||
# ── Backup ──────────────────────────────────────────────────────────────────
|
||||
|
||||
do_backup() {
|
||||
local outfile=""
|
||||
|
||||
while [[ $# -gt 0 ]]; do
|
||||
case "$1" in
|
||||
-o|--output) outfile="$2"; shift 2 ;;
|
||||
*) die "Unknown option: $1" ;;
|
||||
esac
|
||||
done
|
||||
|
||||
if [[ -z "$outfile" ]]; then
|
||||
outfile="$BACKUP_DIR/onefinity-$(date +%Y%m%d-%H%M).img.gz"
|
||||
fi
|
||||
|
||||
echo "╔══════════════════════════════════════════════════════╗"
|
||||
echo "║ Onefinity CNC Controller - SD Card Backup ║"
|
||||
echo "╚══════════════════════════════════════════════════════╝"
|
||||
echo ""
|
||||
echo " Host: $USER@$HOST"
|
||||
echo " Device: $DEVICE"
|
||||
echo " Output: $outfile"
|
||||
echo ""
|
||||
|
||||
# Check connectivity
|
||||
echo "→ Checking SSH connection..."
|
||||
ssh_cmd 'hostname' >/dev/null 2>&1 || die "Cannot SSH to $USER@$HOST"
|
||||
|
||||
# Get card size
|
||||
local card_bytes
|
||||
card_bytes=$(sudo_ssh "blockdev --getsize64 $DEVICE")
|
||||
local card_gb=$(echo "scale=1; $card_bytes / 1073741824" | bc)
|
||||
echo " SD card: ${card_gb}GB ($card_bytes bytes)"
|
||||
echo ""
|
||||
|
||||
# Check for enough local disk space (compressed is ~4% of raw)
|
||||
local avail_bytes
|
||||
avail_bytes=$(df -P "$(dirname "$outfile")" | tail -1 | awk '{print $4 * 1024}')
|
||||
local need_bytes=$((card_bytes / 10)) # conservative: assume 10% compressed
|
||||
if (( avail_bytes < need_bytes )); then
|
||||
die "Not enough local disk space. Need ~$(echo "scale=1; $need_bytes/1073741824" | bc)GB, have $(echo "scale=1; $avail_bytes/1073741824" | bc)GB"
|
||||
fi
|
||||
|
||||
# Stream raw dd from Pi, compress locally with gzip
|
||||
# The Pi's SD card reads at ~20MB/s which is the bottleneck.
|
||||
# Compressing locally on a fast machine is much better than on the ARM.
|
||||
echo "→ Streaming SD card image (this takes ~20-50 minutes)..."
|
||||
echo " Pi: dd → SSH → local gzip → $outfile"
|
||||
echo ""
|
||||
|
||||
local start_time=$SECONDS
|
||||
local tmpfile="${outfile}.partial"
|
||||
|
||||
ssh_cmd "echo '$PASS' | sudo -S dd if=$DEVICE bs=4M 2>/dev/null" 2>/dev/null \
|
||||
| gzip -1 > "$tmpfile" &
|
||||
local pid=$!
|
||||
|
||||
# Progress monitor
|
||||
while kill -0 $pid 2>/dev/null; do
|
||||
sleep 15
|
||||
if [[ -f "$tmpfile" ]]; then
|
||||
local size_h
|
||||
size_h=$(ls -lh "$tmpfile" 2>/dev/null | awk '{print $5}')
|
||||
local elapsed=$(( SECONDS - start_time ))
|
||||
local min=$(( elapsed / 60 ))
|
||||
local sec=$(( elapsed % 60 ))
|
||||
printf "\r %dm%02ds elapsed — %s compressed" "$min" "$sec" "$size_h"
|
||||
fi
|
||||
done
|
||||
|
||||
wait $pid
|
||||
local exit_code=$?
|
||||
echo ""
|
||||
|
||||
if [[ $exit_code -ne 0 ]]; then
|
||||
rm -f "$tmpfile"
|
||||
die "Backup failed (exit code $exit_code)"
|
||||
fi
|
||||
|
||||
mv "$tmpfile" "$outfile"
|
||||
|
||||
local elapsed=$(( SECONDS - start_time ))
|
||||
local final_size
|
||||
final_size=$(ls -lh "$outfile" | awk '{print $5}')
|
||||
|
||||
echo ""
|
||||
echo "→ Verifying image integrity..."
|
||||
if gzip -t "$outfile" 2>/dev/null; then
|
||||
echo " ✓ gzip integrity OK"
|
||||
else
|
||||
die "Image file is corrupt!"
|
||||
fi
|
||||
|
||||
# Verify full size by counting decompressed bytes
|
||||
local actual_bytes
|
||||
actual_bytes=$(gzip -d -c "$outfile" | wc -c | tr -d ' ')
|
||||
if [[ "$actual_bytes" -eq "$card_bytes" ]]; then
|
||||
echo " ✓ Size matches: $actual_bytes bytes (full ${card_gb}GB card)"
|
||||
else
|
||||
echo " ⚠ Size mismatch: expected $card_bytes, got $actual_bytes"
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "╔══════════════════════════════════════════════════════╗"
|
||||
echo " ✓ Backup complete"
|
||||
echo " File: $outfile"
|
||||
echo " Size: $final_size compressed (${card_gb}GB raw)"
|
||||
echo " Time: $(( elapsed / 60 ))m $(( elapsed % 60 ))s"
|
||||
echo "╚══════════════════════════════════════════════════════╝"
|
||||
}
|
||||
|
||||
# ── Restore ─────────────────────────────────────────────────────────────────
|
||||
|
||||
do_restore() {
|
||||
local imgfile="$1"
|
||||
local target="${2:-}"
|
||||
|
||||
[[ -f "$imgfile" ]] || die "Image file not found: $imgfile"
|
||||
|
||||
echo "╔══════════════════════════════════════════════════════╗"
|
||||
echo "║ Onefinity CNC Controller - SD Card Restore ║"
|
||||
echo "╚══════════════════════════════════════════════════════╝"
|
||||
echo ""
|
||||
|
||||
if [[ -n "$target" ]]; then
|
||||
# ── Local restore: write to a local SD card device ──
|
||||
[[ -b "$target" ]] || die "$target is not a block device"
|
||||
|
||||
local target_bytes
|
||||
target_bytes=$(diskutil info -plist "$target" 2>/dev/null \
|
||||
| plutil -extract TotalSize raw - 2>/dev/null \
|
||||
|| blockdev --getsize64 "$target" 2>/dev/null \
|
||||
|| echo 0)
|
||||
|
||||
echo " Image: $imgfile"
|
||||
echo " Target: $target ($(echo "scale=1; $target_bytes/1073741824" | bc)GB)"
|
||||
echo ""
|
||||
echo " ⚠ THIS WILL ERASE ALL DATA ON $target"
|
||||
echo ""
|
||||
read -rp " Type YES to continue: " confirm
|
||||
[[ "$confirm" == "YES" ]] || die "Aborted"
|
||||
|
||||
echo ""
|
||||
echo "→ Unmounting target..."
|
||||
diskutil unmountDisk "$target" 2>/dev/null || true
|
||||
|
||||
echo "→ Writing image to $target..."
|
||||
local raw_target
|
||||
raw_target=$(echo "$target" | sed 's|/dev/disk|/dev/rdisk|')
|
||||
gzip -d -c "$imgfile" | sudo dd of="$raw_target" bs=4M status=progress
|
||||
sync
|
||||
|
||||
echo ""
|
||||
echo " ✓ Restore complete. Safe to eject $target."
|
||||
|
||||
else
|
||||
# ── Remote restore: write back to Pi over SSH ──
|
||||
echo " Image: $imgfile"
|
||||
echo " Target: $USER@$HOST:$DEVICE"
|
||||
echo ""
|
||||
echo " ⚠ THIS WILL ERASE THE PI'S SD CARD"
|
||||
echo " ⚠ The Pi must be booted from USB/network, not the SD card"
|
||||
echo ""
|
||||
read -rp " Type YES to continue: " confirm
|
||||
[[ "$confirm" == "YES" ]] || die "Aborted"
|
||||
|
||||
echo ""
|
||||
echo "→ Writing image to $HOST:$DEVICE..."
|
||||
gzip -d -c "$imgfile" \
|
||||
| ssh_cmd "echo '$PASS' | sudo -S dd of=$DEVICE bs=4M 2>/dev/null"
|
||||
|
||||
echo ""
|
||||
echo " ✓ Remote restore complete."
|
||||
fi
|
||||
}
|
||||
|
||||
# ── Verify ──────────────────────────────────────────────────────────────────
|
||||
|
||||
do_verify() {
|
||||
local imgfile="$1"
|
||||
[[ -f "$imgfile" ]] || die "Image file not found: $imgfile"
|
||||
|
||||
echo "Verifying: $imgfile"
|
||||
echo ""
|
||||
|
||||
local compressed_size
|
||||
compressed_size=$(ls -lh "$imgfile" | awk '{print $5}')
|
||||
echo " Compressed size: $compressed_size"
|
||||
|
||||
echo " Checking gzip integrity..."
|
||||
if gzip -t "$imgfile" 2>/dev/null; then
|
||||
echo " ✓ gzip OK"
|
||||
else
|
||||
die "gzip integrity check FAILED"
|
||||
fi
|
||||
|
||||
echo " Counting uncompressed bytes..."
|
||||
local raw_bytes
|
||||
raw_bytes=$(gzip -d -c "$imgfile" | wc -c | tr -d ' ')
|
||||
local raw_gb=$(echo "scale=1; $raw_bytes / 1073741824" | bc)
|
||||
echo " ✓ Uncompressed size: ${raw_gb}GB ($raw_bytes bytes)"
|
||||
|
||||
echo " Checking partition table..."
|
||||
gzip -d -c "$imgfile" 2>/dev/null | head -c 512 | xxd | head -4 || true
|
||||
|
||||
echo ""
|
||||
echo " ✓ Image looks valid"
|
||||
}
|
||||
|
||||
# ── Main ────────────────────────────────────────────────────────────────────
|
||||
|
||||
usage() {
|
||||
cat <<EOF
|
||||
Usage: $(basename "$0") <command> [options]
|
||||
|
||||
Commands:
|
||||
backup [-o file.img.gz] Backup SD card from Pi over SSH
|
||||
restore <image.gz> [/dev/diskN] Restore image to local SD card or remote Pi
|
||||
verify <image.gz> Verify image integrity
|
||||
|
||||
Environment variables:
|
||||
ONEFINITY_HOST Pi address (default: 10.1.10.55)
|
||||
ONEFINITY_USER SSH user (default: bbmc)
|
||||
ONEFINITY_PASS sudo password (default: onefinity)
|
||||
|
||||
Examples:
|
||||
$(basename "$0") backup
|
||||
$(basename "$0") backup -o /tmp/mybackup.img.gz
|
||||
$(basename "$0") restore backup/onefinity-20260430.img.gz /dev/disk4
|
||||
$(basename "$0") verify backup/onefinity-20260430.img.gz
|
||||
EOF
|
||||
exit 1
|
||||
}
|
||||
|
||||
[[ $# -ge 1 ]] || usage
|
||||
|
||||
case "$1" in
|
||||
backup) shift; do_backup "$@" ;;
|
||||
restore) shift; [[ $# -ge 1 ]] || usage; do_restore "$@" ;;
|
||||
verify) shift; [[ $# -ge 1 ]] || usage; do_verify "$@" ;;
|
||||
*) usage ;;
|
||||
esac
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/bin/bash
|
||||
# Shorthand for ./deploy.sh hardware
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
exec "$SCRIPT_DIR/deploy.sh" hardware "$@"
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/bin/bash
|
||||
# Shorthand for ./deploy.sh local
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
exec "$SCRIPT_DIR/deploy.sh" local "$@"
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/bin/bash
|
||||
# Shorthand for ./deploy.sh prod
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
exec "$SCRIPT_DIR/deploy.sh" prod "$@"
|
||||
52
deploy.sh
52
deploy.sh
@@ -1,52 +0,0 @@
|
||||
#!/bin/bash
|
||||
# Onefinity firmware deploy script.
|
||||
#
|
||||
# ./deploy.sh local — build & static-serve the UI on macOS
|
||||
# (chrome only; no controller, shows
|
||||
# DISCONNECTED overlay)
|
||||
# ./deploy.sh hardware — fast iteration: rsync build/http/
|
||||
# contents to the running Pi at
|
||||
# onefinity.local, then restart bbctrl
|
||||
# ./deploy.sh prod — full firmware update via the Pi's
|
||||
# /api/firmware/update endpoint
|
||||
# (equivalent to `make update`)
|
||||
#
|
||||
# Notes:
|
||||
# * On macOS we cannot run the Python `bbctrl` controller directly
|
||||
# because it imports the ARM-only camotics gplan.so. For full UI
|
||||
# testing with live data, deploy to the Pi (hardware or prod).
|
||||
# * `prod` requires a clean working tree.
|
||||
|
||||
set -euo pipefail
|
||||
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
CMD="${1:-}"
|
||||
|
||||
case "$CMD" in
|
||||
local) exec "$SCRIPT_DIR/scripts/deploy/local.sh" "$@" ;;
|
||||
hardware) exec "$SCRIPT_DIR/scripts/deploy/hardware.sh" "$@" ;;
|
||||
prod) exec "$SCRIPT_DIR/scripts/deploy/prod.sh" "$@" ;;
|
||||
*)
|
||||
cat <<USAGE
|
||||
usage: $0 {local | hardware | prod}
|
||||
|
||||
local Build the UI and static-serve build/http/ in a tmux session
|
||||
on macOS. Useful for iterating on the V09 chrome and routing.
|
||||
URL: http://localhost:8770/
|
||||
tmux: tmux attach -t onefin-local
|
||||
|
||||
hardware Fast iteration on the actual controller: rsync the freshly
|
||||
built build/http/ tree onto onefinity.local, then restart
|
||||
the bbctrl service. Requires SSH access as bbmc@onefinity.local.
|
||||
Defaults: HOST=onefinity.local PASSWORD=onefinity
|
||||
|
||||
prod Build a full firmware package (.tar.bz2) and PUT it through
|
||||
/api/firmware/update on the Pi. Equivalent to:
|
||||
make update HOST=onefinity.local PASSWORD=onefinity
|
||||
Requires a clean working tree.
|
||||
USAGE
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
@@ -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:
|
||||
@@ -112,30 +100,7 @@ persisted there in NVS.
|
||||
Steps-mode jog ignores soft limits (use it to inch the axis to the
|
||||
limit switch when the axis isn't homed yet).
|
||||
|
||||
## UI
|
||||
|
||||
**Control view**
|
||||
|
||||
- A jog row appears under the XYZ jog grid when `aux_enabled` is true,
|
||||
with three buttons: `A-`, `A+`, 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 /
|
||||
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
|
||||
editingaux.json on the controller, so a fresh install can't surprise
|
||||
the user with hardware that isn't there). Saving PUTs the merged
|
||||
config to `/api/aux/config/save`, which writes aux.json and pushes
|
||||
`HOMECFG` to the ESP. A status line shows whether the axis is
|
||||
disabled / offline / connected-unhomed / homed at `<pos> mm`.
|
||||
|
||||
## State surface
|
||||
## State surface (UI)
|
||||
|
||||
These are pushed via `state.set` and visible in the websocket stream:
|
||||
|
||||
@@ -147,19 +112,19 @@ 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.
|
||||
|
||||
@@ -174,11 +139,6 @@ These are pushed via `state.set` and visible in the websocket stream:
|
||||
- `src/py/bbctrl/FileHandler.py`: rewrite uploads in place
|
||||
- `src/py/bbctrl/Web.py`: REST endpoints
|
||||
- `src/py/bbctrl/__init__.py`: export AuxAxis
|
||||
- `src/pug/templates/control-view.pug`: W jog row + DRO row
|
||||
- `src/js/control-view.js`: aux_home / aux_jog / aux_jog_incr handlers
|
||||
- `src/js/axis-vars.js`: `_compute_aux_axis` for W state
|
||||
- `src/svelte-components/src/components/WAxisSettings.svelte`: settings panel
|
||||
- `src/svelte-components/src/components/SettingsView.svelte`: hosts WAxisSettings
|
||||
- `auxcnc/src/main.cpp`: new commands HOME, HOMECFG, WPOS, HOMED?,
|
||||
LIMIT?, ABORT-able STEPS with limit-aware abort, trapezoidal ramps,
|
||||
NVS-persisted config, `[boot]` banner, deterministic reply tokens
|
||||
@@ -1,24 +1,13 @@
|
||||
[Unit]
|
||||
Description=Buildbotics Controller
|
||||
# Note: bbctrl previously had `After=network.target`. That delays
|
||||
# start by ~5s on this Pi while dhcpcd brings up wlan0/eth0, but
|
||||
# bbctrl does not actually require network connectivity to come up
|
||||
# (the AVR is on a local serial port, the LCD on I2C). Dropping it
|
||||
# means the Pi shows the UI faster on cold boot. The wifi config UI
|
||||
# still works because it queries iw/dhcpcd lazily on demand.
|
||||
After=local-fs.target bbserial-rebind.service
|
||||
Wants=bbserial-rebind.service
|
||||
After=network.target
|
||||
|
||||
[Service]
|
||||
User=root
|
||||
ExecStart=/usr/local/bin/bbctrl -l /var/log/bbctrl.log
|
||||
WorkingDirectory=/var/lib/bbctrl
|
||||
Restart=always
|
||||
# StandardOutput was 'null'. Set to 'journal' so TRACE lines emitted by
|
||||
# bbctrl.Trace are visible via `journalctl -u bbctrl`. Bbctrl still
|
||||
# writes its own log via -l above; this only affects stdout/stderr.
|
||||
StandardOutput=journal
|
||||
StandardError=journal
|
||||
StandardOutput=null
|
||||
Nice=-10
|
||||
KillMode=process
|
||||
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
[Unit]
|
||||
Description=Unbind ttyAMA0 from pl011 and reload bbserial
|
||||
DefaultDependencies=no
|
||||
After=systemd-modules-load.service local-fs.target
|
||||
Before=bbctrl.service
|
||||
ConditionPathExists=/sys/bus/amba/drivers/uart-pl011
|
||||
|
||||
[Service]
|
||||
Type=oneshot
|
||||
RemainAfterExit=yes
|
||||
# Tolerate the device already being bound elsewhere or the module
|
||||
# already being loaded — the goal is the end state (bbserial owns
|
||||
# ttyAMA0), not running the steps.
|
||||
ExecStart=/bin/sh -c '\
|
||||
echo 3f201000.serial > /sys/bus/amba/drivers/uart-pl011/unbind 2>/dev/null || true; \
|
||||
/sbin/modprobe -r bbserial 2>/dev/null || true; \
|
||||
/sbin/modprobe bbserial \
|
||||
'
|
||||
|
||||
[Install]
|
||||
WantedBy=multi-user.target
|
||||
@@ -1,84 +0,0 @@
|
||||
#!/bin/bash
|
||||
# --- Hardware iteration (live Pi at onefinity.local) ---
|
||||
#
|
||||
# Rsyncs the freshly built static UI tree (build/http/) onto the Pi's
|
||||
# bbctrl egg directory and restarts bbctrl. This is much faster than
|
||||
# a full firmware update and is the fastest way to iterate on the V09
|
||||
# UI changes against real machine state (W axis, jog feedback, etc).
|
||||
#
|
||||
# Defaults:
|
||||
# HOST=onefinity.local
|
||||
# REMOTE_USER=bbmc
|
||||
# PASSWORD=onefinity (used for sudo on the Pi)
|
||||
#
|
||||
# Override:
|
||||
# HOST=10.1.10.55 ./deploy.sh hardware
|
||||
|
||||
set -euo pipefail
|
||||
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
HOST="${HOST:-onefinity.local}"
|
||||
REMOTE_USER="${REMOTE_USER:-bbmc}"
|
||||
PASSWORD="${PASSWORD:-onefinity}"
|
||||
|
||||
echo "Building UI bundle (HTML + resources)..."
|
||||
make build/http/index.html >/dev/null
|
||||
# Copy src/resources/* into build/http/. The Makefile's "all" target
|
||||
# also does this, but pulls in cross-compiled subprojects (avr/boot/
|
||||
# pwr/jig) we don't have toolchains for on macOS. This rsync mirrors
|
||||
# only the resource tree.
|
||||
rsync -a src/resources/ build/http/
|
||||
|
||||
echo "Locating bbctrl http/ directory on $HOST..."
|
||||
REMOTE_HTTP_DIR="$(ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
|
||||
"ls -d /usr/local/lib/python*/dist-packages/bbctrl-*-py*.egg/bbctrl/http 2>/dev/null | head -1")"
|
||||
if [[ -z "$REMOTE_HTTP_DIR" ]]; then
|
||||
echo "ERROR: could not find bbctrl http/ directory on $HOST"
|
||||
exit 1
|
||||
fi
|
||||
echo " $REMOTE_HTTP_DIR"
|
||||
|
||||
echo "Rsyncing build/http/ -> $HOST:$REMOTE_HTTP_DIR/"
|
||||
# Stage to a tmp dir owned by $REMOTE_USER, then sudo-rsync into
|
||||
# place. This avoids needing root over rsync. We do NOT use --delete
|
||||
# anywhere -- the Pi's egg ships extra runtime files (config-template
|
||||
# .json, default machine JSON, buildbotics.nc, etc.) that come with
|
||||
# the bbctrl package and are not in this repo's src/resources. If
|
||||
# they were deleted the controller's API would 500 because Python
|
||||
# imports fail.
|
||||
REMOTE_TMP="/tmp/onefin_ui_$$"
|
||||
ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" "mkdir -p '${REMOTE_TMP}'"
|
||||
rsync -avz \
|
||||
--exclude='hostinfo.txt' \
|
||||
-e "ssh -o ConnectTimeout=5" \
|
||||
build/http/ "${REMOTE_USER}@${HOST}:${REMOTE_TMP}/"
|
||||
|
||||
echo "Installing into ${REMOTE_HTTP_DIR}/ (sudo)..."
|
||||
ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
|
||||
"echo '${PASSWORD}' | sudo -S bash -c '
|
||||
rsync -a --exclude=hostinfo.txt \"${REMOTE_TMP}/\" \"${REMOTE_HTTP_DIR}/\" \
|
||||
&& rm -rf \"${REMOTE_TMP}\"
|
||||
'" 2>&1 | tail -3
|
||||
|
||||
# Patch bbctrl Web.py so font files get the correct MIME type. The
|
||||
# Pi ships Python 3.5, whose `mimetypes` module doesn't know about
|
||||
# woff/woff2/ttf, so Tornado serves them as application/octet-stream
|
||||
# which Chromium 72 (the Pi's onboard browser) refuses to use as a
|
||||
# web font, leading to all FontAwesome icons rendering as empty
|
||||
# boxes in the kiosk UI. The patch is idempotent.
|
||||
echo "Patching bbctrl font MIME types (idempotent)..."
|
||||
scp -o ConnectTimeout=5 "$SCRIPT_DIR/scripts/deploy/patch_font_mime.py" \
|
||||
"${REMOTE_USER}@${HOST}:/tmp/patch_font_mime.py" >/dev/null
|
||||
ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
|
||||
"echo '${PASSWORD}' | sudo -S python3 /tmp/patch_font_mime.py" 2>&1 | tail -3
|
||||
|
||||
echo "Restarting bbctrl service..."
|
||||
ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
|
||||
"echo '${PASSWORD}' | sudo -S systemctl restart bbctrl" 2>&1 | tail -3
|
||||
|
||||
echo ""
|
||||
echo "Deployed to http://${HOST}/"
|
||||
echo " Logs: ssh ${REMOTE_USER}@${HOST} 'journalctl -u bbctrl -f'"
|
||||
echo " Open: open -a 'Google Chrome' http://${HOST}/"
|
||||
@@ -1,75 +0,0 @@
|
||||
#!/bin/bash
|
||||
# --- Local development (macOS) ---
|
||||
#
|
||||
# Builds the UI bundle and static-serves it on http://localhost:8770/.
|
||||
# Runs in a named tmux session so we can iterate (re-running this script
|
||||
# rebuilds and restarts the server in-place, you keep your browser tab).
|
||||
#
|
||||
# What you'll see:
|
||||
# * The full V09 chrome (header tabs, settings rail, jog grid, DRO
|
||||
# skeleton, status strip).
|
||||
# * A "DISCONNECTED" overlay because there's no controller backend.
|
||||
# * The A axis row in jog/DRO is hidden (correct: it appears only when
|
||||
# the controller reports `aux_enabled = true`). To exercise the A
|
||||
# axis end-to-end, deploy to the Pi (`./deploy.sh hardware`).
|
||||
|
||||
set -euo pipefail
|
||||
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
echo "🛠 Building UI bundle..."
|
||||
make build/http/index.html >/dev/null
|
||||
|
||||
PORT="${PORT:-8770}"
|
||||
SESSION="onefin-local"
|
||||
|
||||
ensure_tmux_window() {
|
||||
local session="$1"
|
||||
local window="${2:-}"
|
||||
local target="${session}${window:+:$window}"
|
||||
if tmux has-session -t "$session" 2>/dev/null; then
|
||||
if tmux send-keys -t "$target" "" 2>/dev/null; then
|
||||
echo "🔁 Reusing tmux session '$session'..."
|
||||
tmux send-keys -t "$target" C-c
|
||||
sleep 1
|
||||
return
|
||||
fi
|
||||
echo "⚠️ Dead pane in '$session', recreating..."
|
||||
tmux kill-session -t "$session" 2>/dev/null
|
||||
fi
|
||||
echo "🆕 Creating tmux session '$session'..."
|
||||
tmux new-session -d -s "$session"
|
||||
}
|
||||
|
||||
ensure_tmux_window "$SESSION"
|
||||
|
||||
# Free the port if a previous run is still listening.
|
||||
if lsof -iTCP:"$PORT" -sTCP:LISTEN >/dev/null 2>&1; then
|
||||
echo "⚠️ Port $PORT is busy; killing previous server..."
|
||||
lsof -tiTCP:"$PORT" -sTCP:LISTEN | xargs -r kill 2>/dev/null || true
|
||||
sleep 1
|
||||
fi
|
||||
|
||||
tmux send-keys -t "$SESSION" \
|
||||
"cd '$SCRIPT_DIR' && python3 -m http.server --directory build/http $PORT" \
|
||||
C-m
|
||||
|
||||
echo ""
|
||||
echo "✅ Static UI server started on http://localhost:$PORT/"
|
||||
echo ""
|
||||
echo " Routes to try:"
|
||||
echo " http://localhost:$PORT/#control"
|
||||
echo " http://localhost:$PORT/#program"
|
||||
echo " http://localhost:$PORT/#console"
|
||||
echo " http://localhost:$PORT/#settings (Display & Units)"
|
||||
echo " http://localhost:$PORT/#admin-network (WiFi / IP)"
|
||||
echo " http://localhost:$PORT/#motor:0 (Motor 0 settings)"
|
||||
echo ""
|
||||
echo " tmux: tmux attach -t $SESSION"
|
||||
echo " stop: tmux kill-session -t $SESSION"
|
||||
echo ""
|
||||
echo "ℹ️ No controller is running, so the page shows DISCONNECTED and"
|
||||
echo " axis values stay empty. For live data + W axis, run:"
|
||||
echo " ./deploy.sh hardware (fast: rsync build/http -> Pi)"
|
||||
echo " ./deploy.sh prod (full firmware update)"
|
||||
@@ -1,102 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Patch bbctrl Web.py so font files get the correct MIME type.
|
||||
|
||||
Background
|
||||
----------
|
||||
The Onefinity controller (Pi 3B running Raspbian stretch) ships Python
|
||||
3.5, whose ``mimetypes`` module does not recognize ``.woff``, ``.woff2``
|
||||
or ``.ttf``. Tornado's ``StaticFileHandler`` therefore falls back to
|
||||
``application/octet-stream`` for those, and Chromium 72 (the Pi's
|
||||
onboard kiosk browser) refuses to use such payloads as web fonts. The
|
||||
result is that every FontAwesome icon renders as an empty box on the
|
||||
kiosk display.
|
||||
|
||||
This patch monkey-patches ``StaticFileHandler.get_content_type`` to
|
||||
emit the right MIME types. It is idempotent: running it twice is a
|
||||
no-op. Run with ``sudo`` so it can rewrite the egg's Web.py.
|
||||
|
||||
Used by:
|
||||
scripts/deploy/hardware.sh
|
||||
"""
|
||||
|
||||
from __future__ import print_function
|
||||
import os
|
||||
import sys
|
||||
|
||||
|
||||
def find_web_py():
|
||||
"""Return the absolute path to the bbctrl Web.py shipped in the egg."""
|
||||
base = "/usr/local/lib"
|
||||
for entry in os.listdir(base):
|
||||
if not entry.startswith("python"):
|
||||
continue
|
||||
candidate_dir = os.path.join(base, entry, "dist-packages")
|
||||
if not os.path.isdir(candidate_dir):
|
||||
continue
|
||||
for sub in os.listdir(candidate_dir):
|
||||
if sub.startswith("bbctrl-") and sub.endswith(".egg"):
|
||||
p = os.path.join(candidate_dir, sub, "bbctrl", "Web.py")
|
||||
if os.path.isfile(p):
|
||||
return p
|
||||
return None
|
||||
|
||||
|
||||
OLD_BLOCK = (
|
||||
"class StaticFileHandler(tornado.web.StaticFileHandler):\n"
|
||||
" def set_extra_headers(self, path):\n"
|
||||
" self.set_header('Cache-Control',\n"
|
||||
" 'no-store, no-cache, must-revalidate, max-age=0')"
|
||||
)
|
||||
|
||||
NEW_BLOCK = (
|
||||
"class StaticFileHandler(tornado.web.StaticFileHandler):\n"
|
||||
" # FONT_MIME_FIX: Python 3.5's mimetypes module does not know\n"
|
||||
" # woff/woff2/ttf, so Tornado serves them as application/octet-\n"
|
||||
" # stream which Chromium 72 (the Pi's onboard kiosk browser)\n"
|
||||
" # refuses to use as web fonts. Set explicit types so the FA6\n"
|
||||
" # icon set actually renders on the kiosk display.\n"
|
||||
" def get_content_type(self):\n"
|
||||
" path = self.absolute_path or ''\n"
|
||||
" if path.endswith('.woff2'): return 'font/woff2'\n"
|
||||
" if path.endswith('.woff'): return 'font/woff'\n"
|
||||
" if path.endswith('.ttf'): return 'font/ttf'\n"
|
||||
" if path.endswith('.otf'): return 'font/otf'\n"
|
||||
" if path.endswith('.eot'): return 'application/vnd.ms-fontobject'\n"
|
||||
" return super().get_content_type()\n"
|
||||
"\n"
|
||||
" def set_extra_headers(self, path):\n"
|
||||
" self.set_header('Cache-Control',\n"
|
||||
" 'no-store, no-cache, must-revalidate, max-age=0')"
|
||||
)
|
||||
|
||||
|
||||
def main():
|
||||
target = find_web_py()
|
||||
if target is None:
|
||||
print("ERROR: could not locate bbctrl Web.py under /usr/local/lib",
|
||||
file=sys.stderr)
|
||||
return 1
|
||||
|
||||
with open(target) as f:
|
||||
src = f.read()
|
||||
|
||||
if "FONT_MIME_FIX" in src:
|
||||
print("font mime: already patched ({})".format(target))
|
||||
return 0
|
||||
|
||||
if OLD_BLOCK not in src:
|
||||
print("font mime: expected block not found in {} -- skipping".format(target),
|
||||
file=sys.stderr)
|
||||
# Don't fail the deploy; just log and continue.
|
||||
return 0
|
||||
|
||||
new_src = src.replace(OLD_BLOCK, NEW_BLOCK, 1)
|
||||
with open(target, "w") as f:
|
||||
f.write(new_src)
|
||||
print("font mime: patched {}".format(target))
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
@@ -1,42 +0,0 @@
|
||||
#!/bin/bash
|
||||
# --- Production firmware update (Pi at onefinity.local) ---
|
||||
#
|
||||
# Builds a full firmware package (.tar.bz2) and PUTs it through the Pi's
|
||||
# /api/firmware/update endpoint. This is the canonical OTA flow and goes
|
||||
# through the bbctrl Tornado server's update handler.
|
||||
#
|
||||
# Defaults:
|
||||
# HOST=onefinity.local
|
||||
# PASSWORD=onefinity
|
||||
#
|
||||
# Override:
|
||||
# HOST=10.1.10.55 PASSWORD=secret ./deploy.sh prod
|
||||
|
||||
set -euo pipefail
|
||||
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
HOST="${HOST:-onefinity.local}"
|
||||
PASSWORD="${PASSWORD:-onefinity}"
|
||||
|
||||
# Require a clean working tree.
|
||||
echo "🔍 Checking git state..."
|
||||
if ! git diff --quiet || ! git diff --cached --quiet \
|
||||
|| [[ -n "$(git ls-files --others --exclude-standard)" ]]; then
|
||||
echo "❌ Refusing to deploy: working tree has uncommitted changes."
|
||||
git status --short
|
||||
exit 1
|
||||
fi
|
||||
echo "✅ Working tree is clean."
|
||||
|
||||
echo "🛠 Building firmware package..."
|
||||
make pkg
|
||||
|
||||
echo "🚚 Uploading to http://${HOST}/api/firmware/update..."
|
||||
make update HOST="$HOST" PASSWORD="$PASSWORD"
|
||||
|
||||
echo ""
|
||||
echo "✅ Firmware update PUT to ${HOST}."
|
||||
echo " The Pi will reboot itself after applying the update."
|
||||
echo " Once it comes back, open: http://${HOST}/"
|
||||
@@ -19,17 +19,8 @@ if $UPDATE_PY; then
|
||||
# Update service
|
||||
rm -f /etc/init.d/bbctrl
|
||||
cp scripts/bbctrl.service /etc/systemd/system/
|
||||
|
||||
# Cold-boot fast path:
|
||||
# - bbserial-rebind.service replaces the bbserial unbind/reload
|
||||
# that used to live in rc.local AFTER bbctrl was already
|
||||
# listening on /dev/ttyAMA0. Doing it as a unit ordered
|
||||
# Before=bbctrl.service eliminates a full bbctrl restart
|
||||
# mid-boot (~5s saved).
|
||||
cp scripts/bbserial-rebind.service /etc/systemd/system/
|
||||
systemctl daemon-reload
|
||||
systemctl enable bbctrl
|
||||
systemctl enable bbserial-rebind.service
|
||||
fi
|
||||
|
||||
if $UPDATE_AVR; then
|
||||
@@ -127,50 +118,8 @@ if [ $? -ne 0 ]; then
|
||||
REBOOT=true
|
||||
fi
|
||||
|
||||
# Install rc.local. Use the slimmed "fast" variant if it exists in this
|
||||
# checkout (preferred); fall back to the legacy rc.local for older
|
||||
# firmware tarballs that don't ship rc.local.fast yet.
|
||||
if [ -f scripts/rc.local.fast ]; then
|
||||
cp scripts/rc.local.fast /etc/rc.local
|
||||
else
|
||||
cp scripts/rc.local /etc/rc.local
|
||||
fi
|
||||
chmod +x /etc/rc.local
|
||||
|
||||
# Cold-boot: mask units that contribute to userspace startup time but
|
||||
# do not benefit a deployed Onefinity Pi. Each is reversible with
|
||||
# `systemctl unmask <unit>`.
|
||||
# plymouth-read-write : 4s of work for a splash that rc.local kills
|
||||
# immediately with `plymouth quit`.
|
||||
# plymouth-quit-wait : holds graphical.target until the splash is
|
||||
# fully gone; redundant once the splash is
|
||||
# masked.
|
||||
# raspi-config : one-shot first-boot config; on a deployed
|
||||
# image it's a 2s no-op.
|
||||
# sysstat : sadc CPU/IO stats logger; not used.
|
||||
# Use --now so the change also applies to the running system; harmless
|
||||
# on a fresh install where the units are inactive.
|
||||
for unit in \
|
||||
plymouth-read-write.service \
|
||||
plymouth-quit-wait.service \
|
||||
raspi-config.service \
|
||||
sysstat.service; do
|
||||
systemctl mask --now "$unit" 2>/dev/null || true
|
||||
done
|
||||
|
||||
# Cold-boot: switch swap activation from dphys-swapfile (~4.3s LSB
|
||||
# wrapper that re-checks the swap file size on every boot) to a plain
|
||||
# fstab entry. The swap file itself is already created at
|
||||
# /var/swap by the previous boot; we only need to make sure it gets
|
||||
# `swapon`'d at local-fs.target instead.
|
||||
SWAPFILE=/var/swap
|
||||
if [ -f "$SWAPFILE" ]; then
|
||||
if ! grep -qE "^[^#]*${SWAPFILE//\//\\/}[[:space:]]+swap" /etc/fstab; then
|
||||
echo "$SWAPFILE none swap sw 0 0" >> /etc/fstab
|
||||
fi
|
||||
systemctl mask --now dphys-swapfile.service 2>/dev/null || true
|
||||
swapon -a 2>/dev/null || true
|
||||
fi
|
||||
# Install rc.local
|
||||
cp scripts/rc.local /etc/
|
||||
|
||||
# Ensure that the watchdog python library is installed
|
||||
pip3 list --format=columns | grep watchdog >/dev/null
|
||||
|
||||
@@ -28,4 +28,4 @@ plymouth quit
|
||||
|
||||
# Start X in /home/pi
|
||||
cd /home/pi
|
||||
sudo -u pi startx -- -nocursor
|
||||
sudo -u pi startx
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
#!/bin/bash
|
||||
# rc.local for the OneFinity Pi, "fast" variant.
|
||||
#
|
||||
# What changed vs. scripts/rc.local:
|
||||
# - bbserial unbind/rebind moved to bbserial-rebind.service (runs
|
||||
# once, before bbctrl, instead of after bbctrl is already
|
||||
# listening on the serial port).
|
||||
# - startx moved to kiosk.service so chromium starts in parallel
|
||||
# with bbctrl rather than blocking on rc.local.
|
||||
# - rc.local no longer keeps the Pi in 'starting' state forever,
|
||||
# which fixes systemd-analyze.
|
||||
|
||||
set -e
|
||||
|
||||
# Mount /boot read only
|
||||
mount -o remount,ro /boot 2>/dev/null || true
|
||||
|
||||
# Set SPI GPIO mode
|
||||
gpio mode 27 alt3 || true
|
||||
|
||||
# Create browser memory limited cgroup
|
||||
if [ -d /sys/fs/cgroup/memory ]; then
|
||||
CGROUP=/sys/fs/cgroup/memory/chrome
|
||||
[ -d "$CGROUP" ] || mkdir -p "$CGROUP"
|
||||
chown -R pi:pi "$CGROUP"
|
||||
echo 650000000 > "$CGROUP/memory.soft_limit_in_bytes"
|
||||
echo 750000000 > "$CGROUP/memory.limit_in_bytes"
|
||||
fi
|
||||
|
||||
# Stop boot splash; harmless if plymouth already gone.
|
||||
plymouth quit 2>/dev/null || true
|
||||
|
||||
# Start X (chromium kiosk) in the background so rc.local can exit and
|
||||
# late-boot units (bbctrl logrotate, etc.) don't block on it. Output
|
||||
# is redirected so the journal doesn't fill up with X warnings.
|
||||
cd /home/pi
|
||||
# `-- -nocursor` hides the X pointer; this is a touchscreen kiosk and
|
||||
# the mouse cursor only gets in the way.
|
||||
nohup sudo -u pi startx -- -nocursor >/var/log/onefin-x.log 2>&1 &
|
||||
disown
|
||||
|
||||
exit 0
|
||||
@@ -75,7 +75,7 @@ sed -i 's/^PARTUUID=.*\//\/dev\/mmcblk0p2 \//' /etc/fstab
|
||||
|
||||
# Enable browser in xorg
|
||||
sed -i 's/allowed_users=console/allowed_users=anybody/' /etc/X11/Xwrapper.config
|
||||
echo "sudo -u pi startx -- -nocursor" >> /etc/rc.local
|
||||
echo "sudo -u pi startx" >> /etc/rc.local
|
||||
cp /mnt/host/xinitrc /home/pi/.xinitrc
|
||||
cp /mnt/host/ratpoisonrc /home/pi/.ratpoisonrc
|
||||
cp /mnt/host/xorg.conf /etc/X11/
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
"use strict";
|
||||
|
||||
// V09 A-axis page — mounts the AAxisSettings Svelte component
|
||||
// inside the settings shell so it gets a real top-level rail entry
|
||||
// instead of being a soft-link anchor inside Display & Units.
|
||||
|
||||
module.exports = {
|
||||
template: "#a-axis-view-template",
|
||||
|
||||
attached: function () {
|
||||
this.svelteComponent = SvelteComponents.createComponent(
|
||||
"AAxisSettings",
|
||||
document.getElementById("a-axis-mount")
|
||||
);
|
||||
},
|
||||
|
||||
detached: function () {
|
||||
if (this.svelteComponent) this.svelteComponent.$destroy();
|
||||
},
|
||||
};
|
||||
276
src/js/app.js
276
src/js/app.js
@@ -4,7 +4,6 @@ const api = require("./api");
|
||||
const cookie = require("./cookie")("bbctrl-");
|
||||
const Sock = require("./sock");
|
||||
const semverLt = require("semver/functions/lt");
|
||||
const restartTiming = require("./restart-timing");
|
||||
|
||||
if (document.getElementById("svelte-dialog-host") != undefined) {
|
||||
SvelteComponents.createComponent(
|
||||
@@ -104,17 +103,6 @@ module.exports = new Vue({
|
||||
return {
|
||||
status: "connecting",
|
||||
currentView: "loading",
|
||||
// Top-level shell tab. Mapped from the URL hash by parse_hash().
|
||||
// One of: control | program | console | settings
|
||||
top_tab: "control",
|
||||
// Sub-route when a tab has internal pages (e.g. console:mdi,
|
||||
// settings:admin-network, settings:motor:0). The settings sub
|
||||
// also drives which inner view is mounted.
|
||||
sub_tab: "",
|
||||
sys_open: false,
|
||||
has_camera: true,
|
||||
messages_log: [],
|
||||
messages_seen: 0,
|
||||
display_units: localStorage.getItem("display_units") || "METRIC",
|
||||
index: -1,
|
||||
modified: false,
|
||||
@@ -155,15 +143,22 @@ module.exports = new Vue({
|
||||
estop: { template: "#estop-template" },
|
||||
"loading-view": { template: "<h1>Loading...</h1>" },
|
||||
"control-view": require("./control-view"),
|
||||
"program-view": require("./program-view"),
|
||||
"console-view": require("./console-view"),
|
||||
|
||||
// The settings-shell renders the rail + an inner routed view.
|
||||
// All settings-family hashes (settings, admin-general,
|
||||
// admin-network, motor:N, tool, io, macros, help, cheat-sheet)
|
||||
// resolve to this same shell; parse_hash() sets sub_tab so the
|
||||
// shell knows which inner template to mount.
|
||||
"settings-shell-view": require("./settings-shell-view"),
|
||||
"settings-view": require("./settings-view"),
|
||||
"motor-view": require("./motor-view"),
|
||||
"tool-view": require("./tool-view"),
|
||||
"io-view": require("./io-view"),
|
||||
"admin-general-view": require("./admin-general-view"),
|
||||
"admin-network-view": require("./admin-network-view"),
|
||||
"macros-view": require('./macros'),
|
||||
"help-view": require("./help-view"),
|
||||
"cheat-sheet-view": {
|
||||
template: "#cheat-sheet-view-template",
|
||||
data: function() {
|
||||
return {
|
||||
showUnimplemented: false
|
||||
};
|
||||
},
|
||||
},
|
||||
},
|
||||
|
||||
watch: {
|
||||
@@ -171,25 +166,6 @@ module.exports = new Vue({
|
||||
localStorage.setItem("display_units", value);
|
||||
SvelteComponents.setDisplayUnits(value);
|
||||
},
|
||||
|
||||
// Mirror controller messages into a console log used by the
|
||||
// Console > Messages tab and the header badge counter.
|
||||
"state.messages": {
|
||||
handler: function(messages) {
|
||||
if (!Array.isArray(messages)) return;
|
||||
this.messages_log = messages.map(m => ({
|
||||
text: m.text,
|
||||
id: m.id,
|
||||
level: /^#/.test(m.text || "") ? "info" : "warning",
|
||||
ts: m.ts || Date.now(),
|
||||
}));
|
||||
if (this.top_tab === "console" && this.sub_tab === "messages") {
|
||||
this.messages_seen = this.messages_log.length;
|
||||
}
|
||||
},
|
||||
deep: true,
|
||||
immediate: true,
|
||||
},
|
||||
},
|
||||
|
||||
events: {
|
||||
@@ -251,19 +227,6 @@ module.exports = new Vue({
|
||||
},
|
||||
|
||||
computed: {
|
||||
// True when the UI is in kiosk mode — i.e. running on the
|
||||
// controller's own onboard browser (Pi 3B at 1366x768) or
|
||||
// explicitly forced via ?kiosk=1. Source-of-truth is the
|
||||
// `kiosk-mode` class added to <html> by the inline script
|
||||
// in index.pug, which already honors hostname + URL param +
|
||||
// localStorage. The Pi's VideoCore IV is too slow for the
|
||||
// three.js toolpath preview, so we suppress that panel in
|
||||
// kiosk mode and let the gcode listing take the full width.
|
||||
is_kiosk: function() {
|
||||
return typeof document !== "undefined"
|
||||
&& document.documentElement.classList.contains("kiosk-mode");
|
||||
},
|
||||
|
||||
popupMessages: function() {
|
||||
const msgs = [];
|
||||
|
||||
@@ -289,131 +252,18 @@ module.exports = new Vue({
|
||||
enable_rotary: function() {
|
||||
if(this.state["2an"] == 1 || this.state["2an"] == 3) return true;
|
||||
return false;
|
||||
},
|
||||
|
||||
// ---------------- header chrome helpers ----------------
|
||||
|
||||
// Underlying machine state from the controller. Mirrors
|
||||
// control-view's `mach_state` so the header has access without
|
||||
// depending on the routed component.
|
||||
mach_state: function() {
|
||||
const cycle = this.state.cycle;
|
||||
const xx = this.state.xx;
|
||||
|
||||
if (xx != "ESTOPPED" && (cycle == "jogging" || cycle == "homing")) {
|
||||
return cycle.toUpperCase();
|
||||
}
|
||||
|
||||
return xx || "";
|
||||
},
|
||||
|
||||
// Short text for the READY pill in the header.
|
||||
state_label: function() {
|
||||
const s = this.mach_state;
|
||||
if (!s) return "--";
|
||||
return s;
|
||||
},
|
||||
|
||||
// Class added to the READY pill (.state-badge) so styling can
|
||||
// reflect ready / running / holding / fault / estop.
|
||||
state_class: function() {
|
||||
const s = this.mach_state;
|
||||
if (s == "ESTOPPED" || s == "FAULT" || s == "SHUTDOWN") return "bad";
|
||||
if (s == "HOLDING" || s == "STOPPING") return "warn";
|
||||
if (s == "RUNNING" || s == "HOMING" || s == "JOGGING") return "busy";
|
||||
if (s == "READY") return "ok";
|
||||
return "unknown";
|
||||
},
|
||||
|
||||
mach_state_full: function() {
|
||||
const s = this.mach_state;
|
||||
if (s == "ESTOPPED") return "E-Stopped \u2014 release to clear";
|
||||
if (s == "HOLDING") return "Feed hold (" + (this.state.pr || "paused") + ")";
|
||||
if (s == "RUNNING") return "Running program";
|
||||
if (s == "HOMING") return "Homing axes";
|
||||
if (s == "JOGGING") return "Jogging";
|
||||
if (s == "READY") return "Ready";
|
||||
return s;
|
||||
},
|
||||
|
||||
// Pip color for the unified system pill.
|
||||
sys_class: function() {
|
||||
const wifi_off = !this.config.wifiName || this.config.wifiName == "not connected";
|
||||
const cam_off = !this.has_camera;
|
||||
const hot = this.state && 80 <= this.state.rpi_temp;
|
||||
if (hot) return "red";
|
||||
if (wifi_off || cam_off) return "amber";
|
||||
return "green";
|
||||
},
|
||||
|
||||
// Compact summary for the system pill.
|
||||
sys_summary: function() {
|
||||
const issues = [];
|
||||
if (!this.config.wifiName || this.config.wifiName == "not connected") {
|
||||
issues.push("WiFi off");
|
||||
}
|
||||
if (!this.has_camera) issues.push("Camera offline");
|
||||
if (this.state && 80 <= this.state.rpi_temp) issues.push("Pi hot");
|
||||
if (this.is_rotary_active) issues.push("Rotary");
|
||||
if (issues.length === 0) return "All systems";
|
||||
if (issues.length === 1) return issues[0];
|
||||
return issues.length + " notes";
|
||||
},
|
||||
|
||||
// Number of unread Console > Messages entries.
|
||||
messages_count: function() {
|
||||
return Math.max(0, this.messages_log.length - this.messages_seen);
|
||||
},
|
||||
},
|
||||
|
||||
ready: function() {
|
||||
window.onhashchange = () => this.parse_hash();
|
||||
|
||||
// Embedded Svelte subviews (A axis settings, etc.) signal
|
||||
// unsaved changes via this event. The master Save button
|
||||
// highlights when modified is true.
|
||||
window.addEventListener("onefin:dirty", () => {
|
||||
this.modified = true;
|
||||
});
|
||||
|
||||
|
||||
|
||||
// Resolve the initial route before the websocket connects so
|
||||
// the shell shows the right view even on a slow / offline
|
||||
// controller. update() will call parse_hash() again once the
|
||||
// first config is in. Skip routing into the Svelte settings
|
||||
// family before config has loaded — those components read
|
||||
// many config keys (settings.units, settings.probing-prompts,
|
||||
// motion.*, etc.) and would throw on first paint with the
|
||||
// empty placeholder config.
|
||||
const settingsFamily = [
|
||||
"settings", "probing", "gcode",
|
||||
"admin-general", "admin-network",
|
||||
"motor", "tool", "io", "macros",
|
||||
"help", "cheat-sheet",
|
||||
"a-axis",
|
||||
];
|
||||
const initialHead = (location.hash || "").replace(/^#/, "").split(":")[0];
|
||||
if (settingsFamily.indexOf(initialHead) === -1) {
|
||||
this.parse_hash();
|
||||
}
|
||||
// else: stay on "loading" until update() completes and calls
|
||||
// parse_hash() itself.
|
||||
|
||||
this.connect();
|
||||
|
||||
// Close the system popover when clicking anywhere else.
|
||||
document.addEventListener("click", () => {
|
||||
if (this.sys_open) this.sys_open = false;
|
||||
});
|
||||
|
||||
SvelteComponents.registerControllerMethods({
|
||||
dispatch: (...args) => this.$dispatch(...args)
|
||||
});
|
||||
},
|
||||
|
||||
|
||||
|
||||
methods: {
|
||||
block_error_dialog: function() {
|
||||
this.errorTimeoutStart = Date.now();
|
||||
@@ -488,12 +338,6 @@ module.exports = new Vue({
|
||||
toggle_rotary: async function(isActive) {
|
||||
try {
|
||||
await api.put("rotary", {status: isActive});
|
||||
// The /api/rotary endpoint rewrites motors[1]/[2]
|
||||
// in config.json on the server. Refetch so the UI
|
||||
// reflects the new motor config (otherwise the
|
||||
// motor settings page keeps showing pre-toggle
|
||||
// values until the next page reload).
|
||||
await this.update();
|
||||
} catch (error) {
|
||||
console.error(error);
|
||||
alert("Error occured");
|
||||
@@ -528,19 +372,11 @@ module.exports = new Vue({
|
||||
connect: function() {
|
||||
this.sock = new Sock(`//${location.host}/sockjs`);
|
||||
|
||||
let _gotFirstMsg = false;
|
||||
let _gotFirstState = false;
|
||||
|
||||
this.sock.onmessage = (e) => {
|
||||
if (typeof e.data != "object") {
|
||||
return;
|
||||
}
|
||||
|
||||
if (!_gotFirstMsg) {
|
||||
_gotFirstMsg = true;
|
||||
restartTiming.onWsFirstMessage();
|
||||
}
|
||||
|
||||
if (e.data.log && e.data.log.msg !== "Switch not found") {
|
||||
this.$broadcast("log", e.data.log);
|
||||
|
||||
@@ -550,11 +386,6 @@ module.exports = new Vue({
|
||||
}
|
||||
}
|
||||
|
||||
if (!_gotFirstState) {
|
||||
_gotFirstState = true;
|
||||
restartTiming.onFirstState();
|
||||
}
|
||||
|
||||
// Check for session ID change on controller
|
||||
if ("sid" in e.data) {
|
||||
if (typeof this.sid == "undefined") {
|
||||
@@ -579,7 +410,6 @@ module.exports = new Vue({
|
||||
|
||||
this.sock.onopen = () => {
|
||||
this.status = "connected";
|
||||
restartTiming.onWsOpen();
|
||||
this.$emit(this.status);
|
||||
this.$broadcast(this.status);
|
||||
};
|
||||
@@ -591,21 +421,6 @@ module.exports = new Vue({
|
||||
};
|
||||
},
|
||||
|
||||
// Maps a URL hash to (currentView, top_tab, sub_tab, index).
|
||||
// Hash layouts supported (all kept for backward compat):
|
||||
// #control -> control tab
|
||||
// #program[:auto] -> program tab
|
||||
// #console[:mdi|messages|indicators]
|
||||
// -> console tab
|
||||
// #settings -> settings tab home
|
||||
// #admin-general -> settings tab, admin-general inside
|
||||
// #admin-network -> settings tab, admin-network inside
|
||||
// #motor:0..3 -> settings tab, motor 0..3
|
||||
// #tool -> settings tab, tool view
|
||||
// #io -> settings tab, io view
|
||||
// #macros -> settings tab, macros view
|
||||
// #help -> settings tab, help view
|
||||
// #cheat-sheet -> settings tab, cheat sheet view
|
||||
parse_hash: function() {
|
||||
const hash = location.hash.substr(1);
|
||||
|
||||
@@ -615,58 +430,12 @@ module.exports = new Vue({
|
||||
}
|
||||
|
||||
const parts = hash.split(":");
|
||||
const head = parts[0];
|
||||
|
||||
this.index = parts.length > 1 ? parts[1] : -1;
|
||||
|
||||
// Legacy / settings-managed views resolve under the
|
||||
// Settings tab while keeping their existing top-level
|
||||
// hash. This preserves all existing deep links.
|
||||
const settingsViews = [
|
||||
"settings", "probing", "gcode",
|
||||
"admin-general", "admin-network",
|
||||
"motor", "tool", "io", "macros",
|
||||
"help", "cheat-sheet",
|
||||
"a-axis",
|
||||
];
|
||||
|
||||
if (head == "control") {
|
||||
this.top_tab = "control";
|
||||
this.sub_tab = "";
|
||||
this.currentView = "control";
|
||||
} else if (head == "program") {
|
||||
this.top_tab = "program";
|
||||
this.sub_tab = parts[1] || "auto";
|
||||
this.currentView = "program";
|
||||
} else if (head == "console") {
|
||||
this.top_tab = "console";
|
||||
this.sub_tab = parts[1] || "mdi";
|
||||
this.currentView = "console";
|
||||
} else if (settingsViews.indexOf(head) !== -1) {
|
||||
this.top_tab = "settings";
|
||||
this.sub_tab = head;
|
||||
// All settings-family routes mount the same shell;
|
||||
// shell picks inner view from sub_tab. Vary the
|
||||
// currentView token so Vue 1 fully remounts the
|
||||
// shell on every navigation — this avoids stale :class
|
||||
// bindings against the local `sub` data prop.
|
||||
this.currentView = "settings-shell";
|
||||
} else {
|
||||
// Unknown hash: route to settings shell anyway so we
|
||||
// never end up rendering a bare loading screen.
|
||||
this.top_tab = "settings";
|
||||
this.sub_tab = head;
|
||||
this.currentView = "settings-shell";
|
||||
if (parts.length == 2) {
|
||||
this.index = parts[1];
|
||||
}
|
||||
|
||||
// Mark Console messages as seen when we enter that tab.
|
||||
if (this.top_tab == "console" && this.sub_tab == "messages") {
|
||||
this.messages_seen = this.messages_log.length;
|
||||
}
|
||||
},
|
||||
|
||||
toggle_sys_popover: function() {
|
||||
this.sys_open = !this.sys_open;
|
||||
this.currentView = parts[0];
|
||||
},
|
||||
|
||||
save: async function() {
|
||||
@@ -689,13 +458,6 @@ module.exports = new Vue({
|
||||
|
||||
try {
|
||||
await api.put("config/save", this.config);
|
||||
// Notify any embedded Svelte subviews that own their
|
||||
// own persistence (A axis -> aux.json, etc.) that
|
||||
// the user just hit the master Save button. They
|
||||
// listen for `onefin:save-all` and PUT their state.
|
||||
try {
|
||||
window.dispatchEvent(new CustomEvent("onefin:save-all"));
|
||||
} catch (_e) {}
|
||||
this.modified = false;
|
||||
} catch (error) {
|
||||
console.error("Save failed:", error);
|
||||
|
||||
@@ -32,10 +32,6 @@ module.exports = {
|
||||
return this._compute_axis("c");
|
||||
},
|
||||
|
||||
w: function() {
|
||||
return this._compute_aux_axis();
|
||||
},
|
||||
|
||||
axes: function() {
|
||||
return this._compute_axes();
|
||||
}
|
||||
@@ -56,12 +52,7 @@ module.exports = {
|
||||
const abs = this.state[`${axis}p`] || 0;
|
||||
const off = this.state[`offset_${axis}`];
|
||||
const motor_id = this._get_motor_id(axis);
|
||||
// motor_id may be 4 for the synthetic external-axis motor;
|
||||
// there is no entry for it in config.motors so guard with
|
||||
// an empty object to avoid undefined property access.
|
||||
const motor = (motor_id == -1
|
||||
? {}
|
||||
: (this.config.motors[motor_id] || {}));
|
||||
const motor = motor_id == -1 ? {} : this.config.motors[motor_id];
|
||||
const enabled = this._check_is_enabled(axis);
|
||||
const homingMode = motor["homing-mode"];
|
||||
const homed = this.state[`${motor_id}homed`];
|
||||
@@ -194,114 +185,24 @@ module.exports = {
|
||||
_get_motor_id: function(axis) {
|
||||
for (let i = 0; i < this.config.motors.length; i++) {
|
||||
const motor = this.config.motors[i];
|
||||
// motor.axis can be undefined on initial load before
|
||||
// config has streamed in. Guard so the computed does
|
||||
// not throw and bubble a Vue warning into the console.
|
||||
if (motor && typeof motor.axis === "string" &&
|
||||
motor.axis.toLowerCase() == axis) {
|
||||
if (motor.axis.toLowerCase() == axis) {
|
||||
return i;
|
||||
}
|
||||
}
|
||||
|
||||
// Synthetic external motor (index 4) used by ExternalAxis
|
||||
// to expose the auxcnc ESP stepper as a virtual axis.
|
||||
// Its `Nan` lives in state, not config.
|
||||
const axes = { x: 0, y: 1, z: 2, a: 3, b: 4, c: 5 };
|
||||
const wanted = axes[axis];
|
||||
const extAn = this.state && this.state["4an"];
|
||||
if (typeof wanted === "number" && typeof extAn === "number"
|
||||
&& extAn === wanted) {
|
||||
return 4;
|
||||
}
|
||||
|
||||
return -1;
|
||||
},
|
||||
|
||||
_check_is_enabled: function(axis){
|
||||
// Prefer config.motors[i].axis (always present once the
|
||||
// config has loaded). Fall back to the per-motor state
|
||||
// `Nan` field, which is what the legacy UI used. This
|
||||
// avoids hiding axis rows during the brief window after
|
||||
// config has loaded but before the controller has pushed
|
||||
// its first state delta.
|
||||
const axes = { x: 0, y: 1, z: 2, a: 3 };
|
||||
const wanted = axes[axis];
|
||||
for(let i = 0; i < this.config.motors.length; i++){
|
||||
const motor = this.config.motors[i] || {};
|
||||
if (typeof motor.axis === "string" &&
|
||||
motor.axis.toLowerCase() == axis) {
|
||||
return motor.enabled !== false;
|
||||
}
|
||||
// Only use the state Nan fallback for axes we know
|
||||
// about (x/y/z/a). Otherwise undefined == undefined
|
||||
// would mistakenly match every axis (b, c, ...).
|
||||
if (typeof wanted === "number") {
|
||||
const an = this.state[`${i}an`];
|
||||
if (typeof an === "number" && an === wanted) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
}
|
||||
// Synthetic external motor (index 4) - the auxcnc ESP
|
||||
// stepper exposed as A via ExternalAxis.
|
||||
if (typeof wanted === "number") {
|
||||
const extAn = this.state["4an"];
|
||||
const extMe = this.state["4me"];
|
||||
if (typeof extAn === "number" && extAn === wanted
|
||||
&& extMe) {
|
||||
if(this.state[`${i}an`] == axes[axis]){
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
},
|
||||
|
||||
_compute_aux_axis: function() {
|
||||
// Auxiliary axis driven by the auxcnc ESP32 (typically
|
||||
// exposed to gplan as A). Position, homed flag and
|
||||
// presence come from the bbctrl AuxAxis driver via
|
||||
// state.aux_*. No motor mapping, no soft-limit warnings
|
||||
// on toolpath bounds (auxcnc enforces its own).
|
||||
const enabled = !!this.state.aux_enabled;
|
||||
const present = !!this.state.aux_present;
|
||||
const homed = !!this.state.aux_homed;
|
||||
const pos = this.state.aux_pos || 0;
|
||||
|
||||
let klass = `${homed ? "homed" : "unhomed"} axis-w`;
|
||||
let state = present ? "UNHOMED" : "OFFLINE";
|
||||
let icon = present ? "question-circle" : "plug";
|
||||
let title = present
|
||||
? "Click the home button to home the auxiliary axis."
|
||||
: "Aux controller not connected on /dev/ttyUSB0.";
|
||||
if (homed) {
|
||||
state = "HOMED";
|
||||
icon = "check-circle";
|
||||
title = "Auxiliary axis successfully homed.";
|
||||
} else if (!present) {
|
||||
klass += " error";
|
||||
}
|
||||
|
||||
return {
|
||||
pos: pos,
|
||||
abs: pos,
|
||||
off: 0,
|
||||
min: 0, max: 0, dim: 0,
|
||||
pathMin: 0, pathMax: 0, pathDim: 0,
|
||||
motor: -1,
|
||||
enabled: enabled,
|
||||
homingMode: "limit-switch",
|
||||
homed: homed,
|
||||
klass: klass,
|
||||
state: state,
|
||||
icon: icon,
|
||||
title: title,
|
||||
ticon: "check-circle",
|
||||
tstate: "OK",
|
||||
toolmsg: "Auxiliary axis is not constrained by tool path bounds.",
|
||||
tklass: `${homed ? "homed" : "unhomed"} axis-w`,
|
||||
isAux: true,
|
||||
};
|
||||
},
|
||||
|
||||
_compute_axes: function() {
|
||||
let homed = false;
|
||||
|
||||
|
||||
@@ -1,125 +0,0 @@
|
||||
"use strict";
|
||||
|
||||
const api = require("./api");
|
||||
|
||||
// Console tab — MDI command input, message log and live indicators.
|
||||
// Sub-tab state syncs with the URL hash (#console:mdi |
|
||||
// #console:messages | #console:indicators) so deep links work.
|
||||
|
||||
module.exports = {
|
||||
template: "#console-view-template",
|
||||
props: ["config", "template", "state"],
|
||||
|
||||
data: function () {
|
||||
return {
|
||||
mdi: "",
|
||||
history: [],
|
||||
sub: "mdi",
|
||||
// Local mirror of $root.messages_count so Vue 1 reactivity works.
|
||||
unread_messages_local: 0,
|
||||
};
|
||||
},
|
||||
|
||||
watch: {
|
||||
sub: function () {
|
||||
// Switching to messages marks them as seen so the header badge
|
||||
// clears.
|
||||
if (this.sub === "messages") {
|
||||
this.$root.messages_seen = this.$root.messages_log.length;
|
||||
this.unread_messages_local = 0;
|
||||
}
|
||||
},
|
||||
},
|
||||
|
||||
computed: {
|
||||
unread_messages: function () {
|
||||
return this.unread_messages_local;
|
||||
},
|
||||
|
||||
mach_state: function () {
|
||||
const cycle = this.state.cycle;
|
||||
const xx = this.state.xx;
|
||||
if (xx != "ESTOPPED" && (cycle == "jogging" || cycle == "homing")) {
|
||||
return cycle.toUpperCase();
|
||||
}
|
||||
return xx || "";
|
||||
},
|
||||
|
||||
is_idle: function () { return this.state.cycle == "idle"; },
|
||||
|
||||
can_mdi: function () {
|
||||
return this.is_idle || this.state.cycle == "mdi";
|
||||
},
|
||||
|
||||
mach_units: function () {
|
||||
return this.$root.display_units;
|
||||
},
|
||||
},
|
||||
|
||||
ready: function () {
|
||||
this._onHash = () => this.refresh_from_hash();
|
||||
window.addEventListener("hashchange", this._onHash);
|
||||
this.refresh_from_hash();
|
||||
this._poll = setInterval(() => {
|
||||
// Cheap re-poll for unread message count; Vue 1 cannot observe
|
||||
// `$root.messages_count` directly so we mirror it here.
|
||||
const c = this.$root && this.$root.messages_count;
|
||||
if (typeof c === "number" && c !== this.unread_messages_local) {
|
||||
this.unread_messages_local = c;
|
||||
}
|
||||
}, 500);
|
||||
},
|
||||
|
||||
beforeDestroy: function () {
|
||||
if (this._onHash) window.removeEventListener("hashchange", this._onHash);
|
||||
if (this._poll) clearInterval(this._poll);
|
||||
},
|
||||
|
||||
methods: {
|
||||
refresh_from_hash: function () {
|
||||
const hash = location.hash.substr(1);
|
||||
const parts = hash.split(":");
|
||||
const sub = parts[0] === "console" ? (parts[1] || "mdi") : "mdi";
|
||||
this.sub = sub;
|
||||
if (sub === "messages" && this.$root) {
|
||||
this.$root.messages_seen = this.$root.messages_log.length;
|
||||
this.unread_messages_local = 0;
|
||||
}
|
||||
},
|
||||
|
||||
select_sub: function (name) {
|
||||
this.sub = name;
|
||||
// Update URL hash for deep links / back-button.
|
||||
const h = "#console" + (name && name !== "mdi" ? ":" + name : "");
|
||||
if (location.hash !== h) {
|
||||
history.replaceState(null, "", h);
|
||||
}
|
||||
if (name === "messages") {
|
||||
this.$root.messages_seen = this.$root.messages_log.length;
|
||||
this.unread_messages_local = 0;
|
||||
}
|
||||
},
|
||||
|
||||
prepend: function (token) {
|
||||
this.mdi = token + this.mdi.trimStart();
|
||||
},
|
||||
|
||||
append: function (token) {
|
||||
const tail = this.mdi.endsWith(" ") || !this.mdi ? "" : " ";
|
||||
this.mdi = this.mdi + tail + token;
|
||||
},
|
||||
|
||||
submit_mdi: function () {
|
||||
if (!this.mdi) return;
|
||||
this.$dispatch("send", this.mdi);
|
||||
if (!this.history.length || this.history[0] != this.mdi) {
|
||||
this.history.unshift(this.mdi);
|
||||
}
|
||||
this.mdi = "";
|
||||
},
|
||||
|
||||
load_history: function (index) {
|
||||
this.mdi = this.history[index];
|
||||
},
|
||||
},
|
||||
};
|
||||
@@ -1,6 +1,7 @@
|
||||
"use strict";
|
||||
|
||||
const api = require("./api");
|
||||
const utils = require("./utils");
|
||||
const cookie = require("./cookie")("bbctrl-");
|
||||
|
||||
module.exports = {
|
||||
@@ -11,7 +12,15 @@ module.exports = {
|
||||
return {
|
||||
current_time: "",
|
||||
mach_units: this.$root.state.metric ? "METRIC" : "IMPERIAL",
|
||||
mdi: "",
|
||||
last_file: undefined,
|
||||
last_file_time: undefined,
|
||||
toolpath: {},
|
||||
toolpath_progress: 0,
|
||||
axes: "xyzabc",
|
||||
history: [],
|
||||
speed_override: 1,
|
||||
feed_override: 1,
|
||||
jog_incr_amounts: {
|
||||
METRIC: {
|
||||
fine: 0.1,
|
||||
@@ -29,14 +38,34 @@ module.exports = {
|
||||
jog_incr: localStorage.getItem("jog_incr") || "small",
|
||||
jog_step: cookie.get_bool("jog-step"),
|
||||
jog_adjust: parseInt(cookie.get("jog-adjust", 2)),
|
||||
deleteGCode: false,
|
||||
tab: "auto",
|
||||
ask_home: true,
|
||||
folder_name: "",
|
||||
edited: false,
|
||||
uploading_files: false,
|
||||
confirmDelete: false,
|
||||
create_folder: false,
|
||||
showGcodeMessage: false,
|
||||
showNoGcodeMessage: false,
|
||||
macrosLoading: false,
|
||||
show_gcodes: false,
|
||||
GCodeNotFound: false,
|
||||
show_probe_dialog: false,
|
||||
overrides_open: false,
|
||||
filesUploaded: 0,
|
||||
totalFiles: 0,
|
||||
files_sortby: "By Upload Date",
|
||||
selected_items_to_delete: [],
|
||||
search_query: "",
|
||||
filtered_files: [],
|
||||
selected_folder_index: null,
|
||||
};
|
||||
},
|
||||
|
||||
components: {
|
||||
"axis-control": require("./axis-control"),
|
||||
"path-viewer": require("./path-viewer"),
|
||||
"gcode-viewer": require("./gcode-viewer"),
|
||||
},
|
||||
|
||||
watch: {
|
||||
@@ -51,6 +80,16 @@ module.exports = {
|
||||
immediate: true,
|
||||
},
|
||||
|
||||
"state.line": function () {
|
||||
if (this.mach_state != "HOMING") {
|
||||
this.$broadcast("gcode-line", this.state.line);
|
||||
}
|
||||
},
|
||||
|
||||
"state.selected_time": function () {
|
||||
this.load();
|
||||
},
|
||||
|
||||
jog_step: function () {
|
||||
cookie.set_bool("jog-step", this.jog_step);
|
||||
},
|
||||
@@ -88,16 +127,43 @@ module.exports = {
|
||||
return state || "";
|
||||
},
|
||||
|
||||
can_set_axis: function () {
|
||||
return this.state.cycle == "idle";
|
||||
pause_reason: function () {
|
||||
return this.state.pr;
|
||||
},
|
||||
|
||||
is_running: function () {
|
||||
return this.mach_state == "RUNNING" || this.mach_state == "HOMING";
|
||||
},
|
||||
|
||||
is_stopping: function () {
|
||||
return this.mach_state == "STOPPING";
|
||||
},
|
||||
|
||||
is_holding: function () {
|
||||
return this.mach_state == "HOLDING";
|
||||
},
|
||||
|
||||
is_ready: function () {
|
||||
return this.mach_state == "READY";
|
||||
},
|
||||
|
||||
is_idle: function () {
|
||||
return this.state.cycle == "idle";
|
||||
},
|
||||
|
||||
is_ready: function () {
|
||||
return this.mach_state == "READY";
|
||||
is_paused: function () {
|
||||
return this.is_holding && (this.pause_reason == "User pause" || this.pause_reason == "Program pause");
|
||||
},
|
||||
|
||||
can_mdi: function () {
|
||||
return this.is_idle || this.state.cycle == "mdi";
|
||||
},
|
||||
|
||||
can_set_axis: function () {
|
||||
return this.is_idle;
|
||||
|
||||
// TODO allow setting axis position during pause
|
||||
// return this.is_idle || this.is_paused;
|
||||
},
|
||||
|
||||
message: function () {
|
||||
@@ -125,21 +191,57 @@ module.exports = {
|
||||
},
|
||||
|
||||
plan_time_remaining: function () {
|
||||
const stopping = this.mach_state == "STOPPING";
|
||||
const running = this.mach_state == "RUNNING" || this.mach_state == "HOMING";
|
||||
const holding = this.mach_state == "HOLDING";
|
||||
if (!(stopping || running || holding)) return 0;
|
||||
const tp = this.$root && this.$root.toolpath ? this.$root.toolpath.time : 0;
|
||||
return (tp || 0) - this.plan_time;
|
||||
if (!(this.is_stopping || this.is_running || this.is_holding)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
return this.toolpath.time - this.plan_time;
|
||||
},
|
||||
|
||||
state_kpi_class: function () {
|
||||
const s = this.mach_state;
|
||||
if (s == "ESTOPPED" || s == "FAULT" || s == "SHUTDOWN") return "bad";
|
||||
if (s == "HOLDING" || s == "STOPPING") return "warn";
|
||||
if (s == "RUNNING" || s == "HOMING" || s == "JOGGING") return "busy";
|
||||
if (s == "READY") return "ok";
|
||||
eta: function () {
|
||||
if (this.mach_state != "RUNNING") {
|
||||
return "";
|
||||
}
|
||||
|
||||
const remaining = this.plan_time_remaining;
|
||||
const d = new Date();
|
||||
d.setSeconds(d.getSeconds() + remaining);
|
||||
return d.toLocaleString();
|
||||
},
|
||||
|
||||
progress: function () {
|
||||
if (!this.toolpath.time || this.is_ready) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const p = this.plan_time / this.toolpath.time;
|
||||
return Math.min(1, p);
|
||||
},
|
||||
gcode_files: function () {
|
||||
if (!this.state.folder) {
|
||||
return [];
|
||||
}
|
||||
const folder = this.state.gcode_list.find(item => item.name == this.state.folder);
|
||||
if (!folder) {
|
||||
return [];
|
||||
}
|
||||
const files = folder.files.filter(item => this.state.files.includes(item.file_name)).map(item => item.file_name);
|
||||
if (this.files_sortby == "A-Z") {
|
||||
return files.sort();
|
||||
} else if (this.files_sortby == "Z-A") {
|
||||
return files.sort().reverse();
|
||||
} else {
|
||||
return files;
|
||||
}
|
||||
},
|
||||
gcode_filtered_files: function () {
|
||||
return this.filtered_files.filter(file => file.toLowerCase().includes(this.search_query.toLowerCase()));
|
||||
},
|
||||
gcode_folders: function () {
|
||||
return this.state.gcode_list
|
||||
.map(item => item.name)
|
||||
.filter(element => element !== "default")
|
||||
.sort();
|
||||
},
|
||||
},
|
||||
|
||||
@@ -162,9 +264,14 @@ module.exports = {
|
||||
M72
|
||||
`);
|
||||
},
|
||||
folder_name_edited: function () {
|
||||
this.edited = true;
|
||||
},
|
||||
},
|
||||
|
||||
ready: function () {
|
||||
this.load();
|
||||
|
||||
setInterval(() => {
|
||||
this.current_time = new Date().toLocaleTimeString();
|
||||
}, 1000);
|
||||
@@ -180,37 +287,26 @@ module.exports = {
|
||||
},
|
||||
|
||||
methods: {
|
||||
save_config: async function (config) {
|
||||
try {
|
||||
await api.put("config/save", config);
|
||||
this.$dispatch("update");
|
||||
} catch (error) {
|
||||
console.error("Restore Failed: ", error);
|
||||
alert("Restore failed");
|
||||
}
|
||||
},
|
||||
|
||||
populateFiles(index) {
|
||||
this.selected_folder_index = index;
|
||||
this.filtered_files = this.state.gcode_list[index].files.map(item => item.file_name);
|
||||
},
|
||||
|
||||
getJogIncrStyle(value) {
|
||||
const weight = `font-weight:${this.jog_incr === value ? "bold" : "normal"}`;
|
||||
const color = this.jog_incr === value ? "color:#0078e7" : "";
|
||||
return [weight, color].join(";");
|
||||
},
|
||||
|
||||
// Should the macro row render a colored left stripe for this
|
||||
// macro? Only when the user has explicitly picked a color. The
|
||||
// controller seeds new macros with default placeholders like
|
||||
// "#ffffff" or "#dedede"; treat anything that close to white as
|
||||
// "no color".
|
||||
has_macro_color(macros) {
|
||||
if (!macros || typeof macros.color !== "string") return false;
|
||||
const c = macros.color.trim().toLowerCase();
|
||||
if (!c) return false;
|
||||
const defaults = [
|
||||
"#fff", "#ffffff", "#fefefe", "#fdfdfd", "#fcfcfc",
|
||||
"#dedede", "#dddddd", "#cccccc",
|
||||
];
|
||||
if (defaults.indexOf(c) !== -1) return false;
|
||||
// Fallback: if the color is very close to white (sum of RGB
|
||||
// > 690), suppress the stripe.
|
||||
const m = c.match(/^#([0-9a-f]{6})$/);
|
||||
if (m) {
|
||||
const v = parseInt(m[1], 16);
|
||||
const r = (v >> 16) & 0xff;
|
||||
const g = (v >> 8) & 0xff;
|
||||
const b = v & 0xff;
|
||||
if (r + g + b > 690) return false;
|
||||
}
|
||||
return true;
|
||||
return [weight, color].join(";");
|
||||
},
|
||||
|
||||
jog_fn: function (x_jog, y_jog, z_jog, a_jog) {
|
||||
@@ -228,6 +324,426 @@ module.exports = {
|
||||
`);
|
||||
},
|
||||
|
||||
send: function (msg) {
|
||||
this.$dispatch("send", msg);
|
||||
},
|
||||
|
||||
toggle_sorting: function () {
|
||||
if (this.files_sortby === "By Upload Date") {
|
||||
this.files_sortby = "A-Z";
|
||||
} else if (this.files_sortby === "A-Z") {
|
||||
this.files_sortby = "Z-A";
|
||||
} else if (this.files_sortby === "Z-A") {
|
||||
this.files_sortby = "By Upload Date";
|
||||
}
|
||||
},
|
||||
|
||||
load: function () {
|
||||
const file_time = this.state.selected_time;
|
||||
const file = this.state.selected;
|
||||
if (this.last_file == file && this.last_file_time == file_time) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (this.state.selected && !this.state.files.includes(this.state.selected)) {
|
||||
this.GCodeNotFound = true;
|
||||
return;
|
||||
}
|
||||
|
||||
this.last_file = file;
|
||||
this.last_file_time = file_time;
|
||||
|
||||
this.$broadcast("gcode-load", file);
|
||||
this.$broadcast("gcode-line", this.state.line);
|
||||
this.toolpath_progress = 0;
|
||||
this.load_toolpath(file, file_time);
|
||||
},
|
||||
|
||||
load_toolpath: async function (file, file_time) {
|
||||
this.toolpath = {};
|
||||
|
||||
if (!file || this.last_file_time != file_time) {
|
||||
return;
|
||||
}
|
||||
|
||||
this.showGcodeMessage = true;
|
||||
|
||||
while (this.showGcodeMessage) {
|
||||
try {
|
||||
const toolpath = await api.get(`path/${file}`);
|
||||
this.toolpath_progress = toolpath.progress;
|
||||
|
||||
if (toolpath.progress === 1 || typeof toolpath.progress == "undefined") {
|
||||
this.showGcodeMessage = false;
|
||||
|
||||
if (toolpath.bounds) {
|
||||
toolpath.filename = file;
|
||||
this.toolpath_progress = 1;
|
||||
this.toolpath = toolpath;
|
||||
|
||||
const state = this.$root.state;
|
||||
for (const axis of "xyzabc") {
|
||||
Vue.set(state, `path_min_${axis}`, toolpath.bounds.min[axis]);
|
||||
Vue.set(state, `path_max_${axis}`, toolpath.bounds.max[axis]);
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch (error) {
|
||||
console.error(error);
|
||||
}
|
||||
}
|
||||
},
|
||||
|
||||
submit_mdi: function () {
|
||||
this.send(this.mdi);
|
||||
|
||||
if (!this.history.length || this.history[0] != this.mdi) {
|
||||
this.history.unshift(this.mdi);
|
||||
}
|
||||
|
||||
this.mdi = "";
|
||||
},
|
||||
|
||||
mdi_start_pause: function () {
|
||||
if (this.state.xx == "RUNNING") {
|
||||
this.pause();
|
||||
} else if (this.state.xx == "STOPPING" || this.state.xx == "HOLDING") {
|
||||
this.unpause();
|
||||
} else {
|
||||
this.submit_mdi();
|
||||
}
|
||||
},
|
||||
|
||||
load_history: function (index) {
|
||||
this.mdi = this.history[index];
|
||||
},
|
||||
|
||||
open_file: function () {
|
||||
utils.clickFileInput("gcode-file-input");
|
||||
},
|
||||
|
||||
open_folder: function () {
|
||||
utils.clickFileInput("gcode-folder-input");
|
||||
},
|
||||
|
||||
edited_folder_name: function (event) {
|
||||
if (event.target.value.trim() != "") {
|
||||
this.$dispatch("folder_name_edited");
|
||||
}
|
||||
},
|
||||
|
||||
update_config: function () {
|
||||
this.config.gcode_list = [...this.state.gcode_list];
|
||||
this.config.non_macros_list = [...this.state.non_macros_list];
|
||||
this.config.macros_list = [...this.state.macros_list];
|
||||
this.config.macros = [...this.state.macros];
|
||||
},
|
||||
|
||||
reset_gcode: function () {
|
||||
this.state.selected = "";
|
||||
this.last_file = "";
|
||||
this.$broadcast("gcode-load", "");
|
||||
},
|
||||
|
||||
upload_gcode: async function (filename, file) {
|
||||
return new Promise((resolve, reject) => {
|
||||
const xhr = new XMLHttpRequest();
|
||||
|
||||
this.filesUploaded++;
|
||||
if (this.filesUploaded == this.totalFiles) {
|
||||
this.uploading_files = false;
|
||||
}
|
||||
|
||||
xhr.onload = () => {
|
||||
if (xhr.status >= 200 && xhr.status < 300) {
|
||||
resolve("file uploaded");
|
||||
} else {
|
||||
console.error("File upload failed:", xhr.statusText);
|
||||
reject("upload failed");
|
||||
}
|
||||
};
|
||||
|
||||
xhr.onerror = () => {
|
||||
alert("Upload failed.");
|
||||
reject("upload failed");
|
||||
};
|
||||
|
||||
xhr.open("PUT", `/api/file/${encodeURIComponent(filename)}`, true);
|
||||
xhr.send(file);
|
||||
});
|
||||
},
|
||||
|
||||
readFile: function (file) {
|
||||
return new Promise((resolve, reject) => {
|
||||
const reader = new FileReader();
|
||||
|
||||
reader.onload = () => {
|
||||
resolve(reader.result);
|
||||
};
|
||||
|
||||
reader.onerror = error => {
|
||||
reject(error);
|
||||
};
|
||||
|
||||
reader.readAsText(file, "utf-8");
|
||||
});
|
||||
},
|
||||
|
||||
validateFiles: async function (files) {
|
||||
const validFiles = [];
|
||||
for (const file of files) {
|
||||
const extension = file.name.split(".").pop().toLowerCase();
|
||||
const validExtensions = ["nc", "ngc", "gcode", "gc"];
|
||||
|
||||
if (validExtensions.includes(extension)) {
|
||||
validFiles.push(file);
|
||||
} else {
|
||||
alert(`Unsupported file : ${file.name}`);
|
||||
this.filesUploaded++;
|
||||
if (this.filesUploaded == this.totalFiles) {
|
||||
this.uploadFiles = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return validFiles;
|
||||
},
|
||||
|
||||
uploadValidFiles: async function (files, folderName) {
|
||||
const updatedConfig = { ...this.config };
|
||||
|
||||
for (const file of files) {
|
||||
try {
|
||||
const gcode = await this.readFile(file);
|
||||
await this.upload_gcode(file.name, gcode);
|
||||
|
||||
const isAlreadyPresent = updatedConfig.non_macros_list.some(element => element.file_name === file.name);
|
||||
|
||||
if (!isAlreadyPresent) {
|
||||
updatedConfig.non_macros_list.push({ file_name: file.name });
|
||||
}
|
||||
|
||||
if (folderName) {
|
||||
const folder = updatedConfig.gcode_list.find(item => item.type == "folder" && item.name == folderName);
|
||||
if (folder) {
|
||||
if (!folder.files.map(item => item.file_name).includes(file.name)) {
|
||||
folder.files.push({ file_name: file.name });
|
||||
}
|
||||
} else {
|
||||
updatedConfig.gcode_list.push({
|
||||
name: folderName,
|
||||
type: "folder",
|
||||
files: [
|
||||
{
|
||||
file_name: file.name,
|
||||
},
|
||||
],
|
||||
});
|
||||
}
|
||||
} else {
|
||||
var folder_to_add = updatedConfig.gcode_list.find(
|
||||
item => item.type == "folder" && item.name == this.state.folder,
|
||||
);
|
||||
if (!folder_to_add) {
|
||||
folder_to_add = updatedConfig.gcode_list.unshift({
|
||||
name: this.state.folder,
|
||||
type: "folder",
|
||||
files: [
|
||||
{
|
||||
file_name: file.name,
|
||||
},
|
||||
],
|
||||
});
|
||||
folder_to_add = updatedConfig.gcode_list[0];
|
||||
}
|
||||
if (!folder_to_add.files.find(item => item.file_name == file.name)) {
|
||||
folder_to_add.files.push({ file_name: file.name });
|
||||
}
|
||||
}
|
||||
} catch (error) {
|
||||
console.warn(`error uploading file : `, error);
|
||||
}
|
||||
}
|
||||
return updatedConfig;
|
||||
},
|
||||
|
||||
upload_files: async function (files, folderName) {
|
||||
this.update_config();
|
||||
|
||||
const validFiles = await this.validateFiles(files);
|
||||
const updatedConfig = await this.uploadValidFiles(validFiles, folderName);
|
||||
|
||||
await this.save_config(updatedConfig);
|
||||
},
|
||||
|
||||
upload_file: async function (e) {
|
||||
this.uploading_files = true;
|
||||
this.filesUploaded = 0;
|
||||
|
||||
const files = e.target.files || e.dataTransfer.files;
|
||||
if (!files.length) {
|
||||
return;
|
||||
}
|
||||
|
||||
this.totalFiles = files.length;
|
||||
|
||||
await this.upload_files(files);
|
||||
},
|
||||
|
||||
create_new_folder: async function () {
|
||||
const folder_name = this.folder_name.trim();
|
||||
if (folder_name != "") {
|
||||
if (this.state.gcode_list.find(item => item.type == "folder" && item.name == folder_name)) {
|
||||
alert("Folder with the same name already exists!");
|
||||
return;
|
||||
} else {
|
||||
this.update_config();
|
||||
this.config.gcode_list.push({
|
||||
name: folder_name,
|
||||
type: "folder",
|
||||
files: [],
|
||||
});
|
||||
}
|
||||
this.state.folder = folder_name;
|
||||
this.edited = false;
|
||||
this.create_folder = false;
|
||||
this.folder_name = "";
|
||||
this.save_config(this.config);
|
||||
}
|
||||
},
|
||||
|
||||
cancel_new_folder: function () {
|
||||
this.create_folder = false;
|
||||
this.folder_name = "";
|
||||
},
|
||||
|
||||
upload_folder: async function (e) {
|
||||
this.uploading_files = true;
|
||||
this.filesUploaded = 0;
|
||||
|
||||
const files = e.target.files || e.dataTransfer.files;
|
||||
if (!files.length) {
|
||||
return;
|
||||
}
|
||||
this.totalFiles = files.length;
|
||||
const folderName = files[0].webkitRelativePath.split("/")[0];
|
||||
|
||||
this.upload_files(files, folderName);
|
||||
},
|
||||
|
||||
delete_current: async function () {
|
||||
if (!this.state.selected) {
|
||||
this.deleteGCode = false;
|
||||
return;
|
||||
}
|
||||
|
||||
this.update_config();
|
||||
|
||||
this.config.non_macros_list = this.config.non_macros_list.filter(
|
||||
item => !this.selected_items_to_delete.includes(item.file_name),
|
||||
);
|
||||
const folder_to_update = this.config.gcode_list.find(
|
||||
item => item.name == this.config.gcode_list[this.selected_folder_index].name && item.type == "folder",
|
||||
);
|
||||
folder_to_update.files = folder_to_update.files.filter(
|
||||
item => !this.selected_items_to_delete.includes(item.file_name),
|
||||
);
|
||||
|
||||
const exception_list = this.state.macros_list.map(item => item.file_name);
|
||||
let files_to_delete = this.selected_items_to_delete.filter(item => !exception_list.includes(item));
|
||||
|
||||
await api.delete(`file/DINCAIQABiDARixAxiABDIHCAMQABiABDIHCAQQABiABDIH${files_to_delete.toString()}`);
|
||||
|
||||
this.save_config(this.config);
|
||||
this.filtered_files = [];
|
||||
this.search_query = "";
|
||||
this.selected_folder_index = null;
|
||||
this.selected_items_to_delete = [];
|
||||
this.deleteGCode = false;
|
||||
},
|
||||
|
||||
cancel_delete: function () {
|
||||
this.filtered_files = [];
|
||||
this.search_query = "";
|
||||
this.selected_folder_index = null;
|
||||
this.selected_items_to_delete = [];
|
||||
this.deleteGCode = false;
|
||||
},
|
||||
|
||||
delete_all: function () {
|
||||
api.delete("file");
|
||||
this.deleteGCode = false;
|
||||
},
|
||||
|
||||
delete_all_except_macros: async function () {
|
||||
this.update_config();
|
||||
const macrosList = this.state.macros_list.map(item => item.file_name).toString();
|
||||
api.delete(`file/EgZjaHJvbWUqCggBEAAYsQMYgAQyBggAEEUYOTIKCAE${macrosList}`);
|
||||
this.config.non_macros_list = [];
|
||||
this.config.gcode_list = [
|
||||
{
|
||||
name: "default",
|
||||
type: "folder",
|
||||
files: [],
|
||||
},
|
||||
];
|
||||
|
||||
this.save_config(this.config);
|
||||
this.state.folder = "default";
|
||||
this.state.selected = "";
|
||||
this.selected_items_to_delete = [];
|
||||
this.deleteGCode = false;
|
||||
},
|
||||
|
||||
delete_folder: async function () {
|
||||
this.update_config();
|
||||
if (this.state.folder && this.state.folder != "default") {
|
||||
const files_to_move = this.config.gcode_list.find(
|
||||
item => item.type == "folder" && item.name == this.state.folder,
|
||||
);
|
||||
if (files_to_move) {
|
||||
const default_folder = this.config.gcode_list.find(item => item.name == "default");
|
||||
default_folder.files = [...default_folder.files, ...files_to_move.files].sort();
|
||||
this.config.gcode_list = this.config.gcode_list.filter(item => item.name != this.state.folder);
|
||||
this.save_config(this.config);
|
||||
}
|
||||
}
|
||||
this.state.folder = "default";
|
||||
this.confirmDelete = false;
|
||||
},
|
||||
delete_folder_and_files: async function () {
|
||||
if (!this.state.folder) {
|
||||
this.confirmDelete = false;
|
||||
return;
|
||||
}
|
||||
|
||||
this.update_config();
|
||||
|
||||
const selected_folder = this.config.gcode_list.find(
|
||||
item => item.type == "folder" && item.name == this.state.folder,
|
||||
);
|
||||
if (!selected_folder) {
|
||||
return;
|
||||
}
|
||||
const macrosList = this.state.macros_list.map(item => item.file_name);
|
||||
var files_to_delete = selected_folder.files
|
||||
.map(item => item.file_name)
|
||||
.filter(item => !macrosList.includes(item));
|
||||
if (selected_folder.name != "default") {
|
||||
this.config.gcode_list = this.config.gcode_list.filter(item => item.name != this.state.folder);
|
||||
} else {
|
||||
selected_folder.files = [];
|
||||
}
|
||||
|
||||
await api.delete(`file/DINCAIQABiDARixAxiABDIHCAMQABiABDIHCAQQABiABDIH${files_to_delete.toString()}`);
|
||||
this.config.non_macros_list = this.config.non_macros_list.filter(
|
||||
item => !files_to_delete.includes(item.file_name),
|
||||
);
|
||||
this.save_config(this.config);
|
||||
this.state.folder = "default";
|
||||
this.confirmDelete = false;
|
||||
},
|
||||
|
||||
home: function (axis) {
|
||||
this.ask_home = false;
|
||||
|
||||
@@ -249,85 +765,6 @@ module.exports = {
|
||||
api.put(`home/${axis}/clear`);
|
||||
},
|
||||
|
||||
aux_home: function () {
|
||||
api.put("aux/home").catch(function (err) {
|
||||
console.error("Aux home failed:", err);
|
||||
});
|
||||
},
|
||||
|
||||
// Home every enabled axis (legacy Onefinity "Home All"). Sequence:
|
||||
// 1. Z, X, Y (and A/B/C if enabled) via /api/home on the AVR
|
||||
// 2. Auxiliary axis via /api/aux/home on the ESP
|
||||
// ONLY when the auxcnc axis is not integrated as a virtual
|
||||
// machine axis. With the gplan A-axis integration (synthetic
|
||||
// motor 4 enabled), Mach.home() already homes the external
|
||||
// axis as part of the xyzabc pass - calling aux/home
|
||||
// afterwards would home it a second time.
|
||||
// /api/home returns as soon as the request is queued, not when
|
||||
// homing completes, so we have to watch state.cycle:
|
||||
// - first wait for it to *leave* 'idle' (cycle began),
|
||||
// - then wait for it to come *back* to 'idle' (cycle ended).
|
||||
// Only then do we fire the auxiliary home, so the gantry and the
|
||||
// auxcnc ESP never move at the same time.
|
||||
home_all: async function () {
|
||||
this.ask_home = false;
|
||||
try {
|
||||
await api.put("home");
|
||||
} catch (e) {
|
||||
console.error("Home all (XYZ) failed:", e);
|
||||
return;
|
||||
}
|
||||
if (!this.w || !this.w.enabled) return;
|
||||
|
||||
// When the synthetic external motor (index 4) is enabled,
|
||||
// the auxcnc axis is mapped onto a real machine axis letter
|
||||
// (e.g. A) and was already homed by /api/home above.
|
||||
if (this.state && this.state["4me"]) return;
|
||||
|
||||
const wait = (ms) => new Promise(r => setTimeout(r, ms));
|
||||
const cycleNow = () => (this.state && this.state.cycle) || "idle";
|
||||
|
||||
// Phase 1: wait up to 5s for the homing cycle to actually start.
|
||||
// If the request was rejected upstream (e.g. estopped) cycle
|
||||
// never leaves idle and we bail rather than home A in isolation.
|
||||
const startedAt = Date.now();
|
||||
while (Date.now() - startedAt < 5000) {
|
||||
if (cycleNow() != "idle") break;
|
||||
await wait(100);
|
||||
}
|
||||
if (cycleNow() == "idle") {
|
||||
console.warn("home_all: main homing cycle never started; skipping aux");
|
||||
return;
|
||||
}
|
||||
|
||||
// Phase 2: wait up to 2 minutes for the gantry to finish.
|
||||
const settledAt = Date.now();
|
||||
while (Date.now() - settledAt < 120000) {
|
||||
if (cycleNow() == "idle") break;
|
||||
await wait(200);
|
||||
}
|
||||
if (cycleNow() != "idle") {
|
||||
console.warn("home_all: gantry homing did not complete in time");
|
||||
return;
|
||||
}
|
||||
|
||||
api.put("aux/home").catch(function (err) {
|
||||
console.error("Aux home failed:", err);
|
||||
});
|
||||
},
|
||||
|
||||
aux_jog: function (delta_mm) {
|
||||
api.put("aux/jog", { mm: delta_mm }).catch(function (err) {
|
||||
console.error("Aux jog failed:", err);
|
||||
});
|
||||
},
|
||||
|
||||
aux_jog_incr: function (sign) {
|
||||
const amount = this.jog_incr_amounts[this.display_units][this.jog_incr];
|
||||
const delta_mm = sign * (this.metric ? amount : amount * 25.4);
|
||||
this.aux_jog(delta_mm);
|
||||
},
|
||||
|
||||
show_set_position: function (axis) {
|
||||
SvelteComponents.showDialog("SetAxisPosition", { axis });
|
||||
},
|
||||
@@ -353,20 +790,93 @@ module.exports = {
|
||||
},
|
||||
|
||||
zero: function (axis) {
|
||||
if (typeof axis == "undefined") this.zero_all();
|
||||
else this.set_position(axis, 0);
|
||||
if (typeof axis == "undefined") {
|
||||
this.zero_all();
|
||||
} else {
|
||||
this.set_position(axis, 0);
|
||||
}
|
||||
},
|
||||
|
||||
start_pause: function () {
|
||||
this.macrosLoading = false;
|
||||
if (this.state.xx == "RUNNING") {
|
||||
this.pause();
|
||||
} else if (this.state.xx == "STOPPING" || this.state.xx == "HOLDING") {
|
||||
this.unpause();
|
||||
} else {
|
||||
this.start();
|
||||
}
|
||||
},
|
||||
|
||||
start: function () {
|
||||
api.put("start");
|
||||
},
|
||||
|
||||
pause: function () {
|
||||
api.put("pause");
|
||||
},
|
||||
|
||||
unpause: function () {
|
||||
api.put("unpause");
|
||||
},
|
||||
|
||||
optional_pause: function () {
|
||||
api.put("pause/optional");
|
||||
},
|
||||
|
||||
stop: function () {
|
||||
api.put("stop");
|
||||
},
|
||||
|
||||
step: function () {
|
||||
api.put("step");
|
||||
},
|
||||
|
||||
override_feed: function () {
|
||||
api.put(`override/feed/${this.feed_override}`);
|
||||
},
|
||||
|
||||
override_speed: function () {
|
||||
api.put(`override/speed/${this.speed_override}`);
|
||||
},
|
||||
|
||||
current: function (axis, value) {
|
||||
const x = value / 32.0;
|
||||
if (this.state[`${axis}pl`] == x) {
|
||||
return;
|
||||
}
|
||||
|
||||
const data = {};
|
||||
data[`${axis}pl`] = x;
|
||||
this.send(JSON.stringify(data));
|
||||
},
|
||||
|
||||
showProbeDialog: function (probeType) {
|
||||
if(this.show_probe_dialog){
|
||||
this.show_probe_dialog = false;
|
||||
}
|
||||
SvelteComponents.showDialog("Probe", {
|
||||
probeType,
|
||||
isRotaryActive: this.state["2an"] == 3,
|
||||
});
|
||||
SvelteComponents.showDialog("Probe", { probeType, isRotaryActive: this.state["2an"] == 3 });
|
||||
},
|
||||
run_macro: function (id) {
|
||||
if (this.state.macros[id].file_name == "default") {
|
||||
this.showNoGcodeMessage = true;
|
||||
} else {
|
||||
if (this.state.macros[id].file_name != this.state.selected) {
|
||||
this.state.selected = this.state.macros[id].file_name;
|
||||
}
|
||||
try {
|
||||
this.load();
|
||||
if (this.state.macros[id].alert == true) {
|
||||
this.macrosLoading = true;
|
||||
} else {
|
||||
setImmediate(() => this.start_pause());
|
||||
}
|
||||
} catch (error) {
|
||||
console.warn("Error running program: ", error);
|
||||
}
|
||||
}
|
||||
},
|
||||
},
|
||||
|
||||
mixins: [require("./program-mixin"), require("./axis-vars")],
|
||||
mixins: [require("./axis-vars")],
|
||||
};
|
||||
|
||||
@@ -49,17 +49,14 @@ module.exports = {
|
||||
methods: {
|
||||
get_io_state_class: function(active, state) {
|
||||
if (typeof active == "undefined" || typeof state == "undefined") {
|
||||
return "fa-triangle-exclamation warn";
|
||||
return "fa-exclamation-triangle warn";
|
||||
}
|
||||
|
||||
// Tristated: render as the regular (outline) circle to
|
||||
// distinguish from active/inactive solid circles. Adding
|
||||
// `far` switches to the FA6 regular family.
|
||||
if (state == 2) {
|
||||
return "far fa-circle";
|
||||
return "fa-circle-o";
|
||||
}
|
||||
|
||||
const icon = state ? "fa-circle-plus" : "fa-circle-minus";
|
||||
const icon = state ? "fa-plus-circle" : "fa-minus-circle";
|
||||
return `${icon} ${active ? "active" : "inactive"}`;
|
||||
},
|
||||
|
||||
|
||||
@@ -44,16 +44,6 @@ window.onload = function() {
|
||||
cookie_set("client-id", uuid(), 10000);
|
||||
}
|
||||
|
||||
// Vue 1's async queue can drop dependent watcher updates when
|
||||
// data props are mutated outside the normal event flow (e.g. from
|
||||
// a `hashchange` listener that fires before Vue's tick scheduler
|
||||
// has caught up). Disable async batching so every reactive write
|
||||
// synchronously re-evaluates dependents — this matches Vue 1's
|
||||
// older default and is what the legacy UI implicitly relied on.
|
||||
if (Vue.config) {
|
||||
Vue.config.async = false;
|
||||
}
|
||||
|
||||
// Register global components
|
||||
Vue.component("templated-input", require("./templated-input"));
|
||||
Vue.component("message", require("./message"));
|
||||
|
||||
@@ -87,16 +87,100 @@ module.exports = {
|
||||
return this.stallRPM * this.stepsPerRev * ustep / 60;
|
||||
},
|
||||
|
||||
// NOTE: do not add `current_xxx` computed props that mirror
|
||||
// controller state vars (`<idx>vm`, `<idx>am`, …) and pair
|
||||
// them with watchers that copy state -> motor config. The
|
||||
// controller streams those vars continuously over the WS;
|
||||
// any watcher that writes them back into
|
||||
// `config.motors[index]` will clobber whatever the user is
|
||||
// typing into the form between websocket ticks. The form
|
||||
// edits config directly; Save (app.js) PUTs it to the
|
||||
// server. The server-side rotary toggle is handled by
|
||||
// refetching config after the PUT, not by watching state.
|
||||
current_axis: function() {
|
||||
return this.state[this.index + 'an'];
|
||||
},
|
||||
|
||||
current_max_velocity: function() {
|
||||
return this.state[this.index + 'vm'];
|
||||
},
|
||||
|
||||
current_max_soft_limit: function() {
|
||||
return this.state[this.index + 'tm'];
|
||||
},
|
||||
|
||||
current_min_soft_limit: function() {
|
||||
return this.state[this.index + 'tn'];
|
||||
},
|
||||
current_max_accel: function() {
|
||||
return this.state[this.index + 'am'];
|
||||
},
|
||||
current_max_jerk: function() {
|
||||
return this.state[this.index + 'jm'];
|
||||
},
|
||||
current_step_angle: function() {
|
||||
return this.state[this.index + 'sa'];
|
||||
},
|
||||
current_travel_per_rev: function() {
|
||||
return this.state[this.index + 'tr'];
|
||||
},
|
||||
current_microsteps: function() {
|
||||
return this.state[this.index + 'mi'];
|
||||
}
|
||||
},
|
||||
|
||||
attached: function() {
|
||||
// Sync all state values with motor config when component is ready
|
||||
// This ensures UI shows correct values when component is first loaded
|
||||
console.log("Syncing state to motor config for motor index ",this.index);
|
||||
this.syncStateToConfig();
|
||||
},
|
||||
|
||||
watch: {
|
||||
current_axis(new_value) {
|
||||
const motor_axes = ["X", "Y", "Z", "A", "B", "C"]
|
||||
if(motor_axes[new_value] != this.motor['axis']){
|
||||
this.motor['axis'] = motor_axes[new_value];
|
||||
}
|
||||
},
|
||||
|
||||
current_max_velocity(new_value) {
|
||||
if(new_value != this.motor['max-velocity']) {
|
||||
this.motor['max-velocity'] = new_value;
|
||||
}
|
||||
},
|
||||
|
||||
current_max_soft_limit(new_value) {
|
||||
if(new_value != this.motor['max-soft-limit']) {
|
||||
this.motor['max-soft-limit'] = new_value;
|
||||
}
|
||||
},
|
||||
|
||||
current_min_soft_limit(new_value) {
|
||||
if(new_value != this.motor['min-soft-limit']) {
|
||||
this.motor['min-soft-limit'] = new_value;
|
||||
}
|
||||
},
|
||||
|
||||
current_max_accel(new_value) {
|
||||
if(new_value != this.motor['max-accel']) {
|
||||
this.motor['max-accel'] = new_value;
|
||||
}
|
||||
},
|
||||
|
||||
current_max_jerk(new_value) {
|
||||
if(new_value != this.motor['max-jerk']) {
|
||||
this.motor['max-jerk'] = new_value;
|
||||
}
|
||||
},
|
||||
|
||||
current_step_angle(new_value) {
|
||||
if(new_value != this.motor['step-angle']) {
|
||||
this.motor['step-angle'] = new_value;
|
||||
}
|
||||
},
|
||||
|
||||
current_travel_per_rev(new_value) {
|
||||
if(new_value != this.motor['travel-per-rev']) {
|
||||
this.motor['travel-per-rev'] = new_value;
|
||||
}
|
||||
},
|
||||
|
||||
current_microsteps(new_value) {
|
||||
if(new_value != this.motor['microsteps']) {
|
||||
this.motor['microsteps'] = new_value;
|
||||
}
|
||||
}
|
||||
},
|
||||
|
||||
events: {
|
||||
@@ -126,6 +210,45 @@ module.exports = {
|
||||
}
|
||||
|
||||
return templ.hmodes.indexOf(this.motor["homing-mode"]) != -1;
|
||||
},
|
||||
|
||||
syncStateToConfig: function() {
|
||||
// Force sync all state values to motor config
|
||||
// This ensures the UI reflects the current state even if changes happened while component was unmounted
|
||||
|
||||
if(this.state == undefined) {
|
||||
console.log("State is undefined");
|
||||
return;
|
||||
}
|
||||
|
||||
if (this.state[this.index + 'an'] != this.motor['axis']) {
|
||||
const motor_axes = ["X", "Y", "Z", "A", "B", "C"];
|
||||
this.$set('motor["axis"]', motor_axes[this.state[this.index + 'an']]);
|
||||
}
|
||||
if (this.state[this.index + 'vm'] != this.motor['max-velocity']) {
|
||||
this.$set('motor["max-velocity"]', this.state[this.index + 'vm']);
|
||||
}
|
||||
if (this.state[this.index + 'tm'] != this.motor['max-soft-limit']) {
|
||||
this.$set('motor["max-soft-limit"]', this.state[this.index + 'tm']);
|
||||
}
|
||||
if (this.state[this.index + 'tn'] != this.motor['min-soft-limit']) {
|
||||
this.$set('motor["min-soft-limit"]', this.state[this.index + 'tn']);
|
||||
}
|
||||
if (this.state[this.index + 'am'] != this.motor['max-accel']) {
|
||||
this.$set('motor["max-accel"]', this.state[this.index + 'am']);
|
||||
}
|
||||
if (this.state[this.index + 'jm'] != this.motor['max-jerk']) {
|
||||
this.$set('motor["max-jerk"]', this.state[this.index + 'jm']);
|
||||
}
|
||||
if (this.state[this.index + 'sa'] != this.motor['step-angle']) {
|
||||
this.$set('motor["step-angle"]', this.state[this.index + 'sa']);
|
||||
}
|
||||
if (this.state[this.index + 'tr'] != this.motor['travel-per-rev']) {
|
||||
this.$set('motor["travel-per-rev"]', this.state[this.index + 'tr']);
|
||||
}
|
||||
if (this.state[this.index + 'mi'] != this.motor['microsteps']) {
|
||||
this.$set('motor["microsteps"]', this.state[this.index + 'mi']);
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
@@ -683,16 +683,12 @@ const OrbitControls = function(object, domElement) {
|
||||
event.preventDefault();
|
||||
}
|
||||
|
||||
// Chrome treats touch/wheel listeners as passive by default,
|
||||
// which prevents OrbitControls.preventDefault() from suppressing
|
||||
// page panning while interacting with the 3D viewer. Pass
|
||||
// {passive: false} on the events that need to call preventDefault.
|
||||
scope.domElement.addEventListener("contextmenu", onContextMenu, false);
|
||||
scope.domElement.addEventListener("mousedown", onMouseDown, false);
|
||||
scope.domElement.addEventListener("wheel", onMouseWheel, { passive: false });
|
||||
scope.domElement.addEventListener("touchstart", onTouchStart, { passive: false });
|
||||
scope.domElement.addEventListener("wheel", onMouseWheel, false);
|
||||
scope.domElement.addEventListener("touchstart", onTouchStart, false);
|
||||
scope.domElement.addEventListener("touchend", onTouchEnd, false);
|
||||
scope.domElement.addEventListener("touchmove", onTouchMove, { passive: false });
|
||||
scope.domElement.addEventListener("touchmove", onTouchMove, false);
|
||||
window.addEventListener("keydown", onKeyDown, false);
|
||||
|
||||
this.update(); // force an update at start
|
||||
|
||||
@@ -101,13 +101,6 @@ module.exports = {
|
||||
Vue.nextTick(this.update);
|
||||
},
|
||||
|
||||
beforeDestroy: function() {
|
||||
if (this._sizeWatcher) {
|
||||
this._sizeWatcher.disconnect();
|
||||
this._sizeWatcher = null;
|
||||
}
|
||||
},
|
||||
|
||||
methods: {
|
||||
update: async function() {
|
||||
if (!this.webglAvailable) {
|
||||
@@ -208,12 +201,6 @@ module.exports = {
|
||||
}
|
||||
|
||||
const dims = this.get_dims();
|
||||
// Skip layouts where the target has no measurable size.
|
||||
// The render loop guard below will not draw frames until
|
||||
// a real size has been observed at least once.
|
||||
if (!(dims.width > 0 && dims.height > 0)) {
|
||||
return;
|
||||
}
|
||||
|
||||
this.camera.aspect = dims.width / dims.height;
|
||||
this.camera.updateProjectionMatrix();
|
||||
@@ -287,23 +274,12 @@ module.exports = {
|
||||
}
|
||||
|
||||
try {
|
||||
// Renderer. Use an opaque canvas with a clear color
|
||||
// that matches the page-side gradient so the moment
|
||||
// the canvas is appended (and before the first 3D
|
||||
// frame is drawn) the user does not see a flash from
|
||||
// the page background through transparency.
|
||||
this.renderer = new THREE.WebGLRenderer({
|
||||
antialias: true,
|
||||
alpha: false,
|
||||
});
|
||||
// Renderer
|
||||
this.renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
|
||||
this.renderer.setPixelRatio(window.devicePixelRatio);
|
||||
this.renderer.setClearColor(0x222222, 1);
|
||||
// Same color on the DOM element itself so the very
|
||||
// first paint (before the WebGL context has cleared)
|
||||
// is dark too.
|
||||
this.renderer.domElement.style.background = "#222222";
|
||||
this.renderer.domElement.style.display = "block";
|
||||
this.renderer.setClearColor(0, 0);
|
||||
this.target.appendChild(this.renderer.domElement);
|
||||
|
||||
} catch (e) {
|
||||
console.log("WebGL not supported: ", e);
|
||||
return;
|
||||
@@ -357,46 +333,8 @@ module.exports = {
|
||||
// Events
|
||||
window.addEventListener("resize", this.update_view, false);
|
||||
|
||||
// Start the render loop only after the target has a real,
|
||||
// stable size. Without this, the first frame paints into
|
||||
// a 0×0 / collapsed-flex canvas and a second frame paints
|
||||
// again at the right size — visible as a flash on the
|
||||
// very first mount of the Program tab.
|
||||
const startRendering = () => {
|
||||
if (this._rendering) return;
|
||||
this._rendering = true;
|
||||
this.update_view();
|
||||
// Start it
|
||||
this.render();
|
||||
};
|
||||
|
||||
const dims = this.get_dims();
|
||||
if (dims.width > 0 && dims.height > 0) {
|
||||
startRendering();
|
||||
} else if (typeof ResizeObserver !== "undefined") {
|
||||
this._sizeWatcher = new ResizeObserver(entries => {
|
||||
for (const entry of entries) {
|
||||
const r = entry.contentRect;
|
||||
if (r.width > 0 && r.height > 0) {
|
||||
this._sizeWatcher.disconnect();
|
||||
this._sizeWatcher = null;
|
||||
startRendering();
|
||||
return;
|
||||
}
|
||||
}
|
||||
});
|
||||
this._sizeWatcher.observe(this.target);
|
||||
} else {
|
||||
// Old browser fallback: poll for a non-zero size.
|
||||
const tick = () => {
|
||||
const d = this.get_dims();
|
||||
if (d.width > 0 && d.height > 0) {
|
||||
startRendering();
|
||||
} else {
|
||||
requestAnimationFrame(tick);
|
||||
}
|
||||
};
|
||||
requestAnimationFrame(tick);
|
||||
}
|
||||
},
|
||||
|
||||
create_surface_material: function() {
|
||||
@@ -708,14 +646,6 @@ module.exports = {
|
||||
return;
|
||||
}
|
||||
|
||||
// Don't paint frames while the target has no size; this
|
||||
// prevents an initial single-frame clear from painting
|
||||
// before the layout has settled (visible as a dark flash).
|
||||
const dims = this.get_dims();
|
||||
if (!(dims.width > 0 && dims.height > 0)) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (this.controls.update() || this.dirty) {
|
||||
this.dirty = false;
|
||||
this.renderer.render(this.scene, this.camera);
|
||||
|
||||
@@ -1,622 +0,0 @@
|
||||
"use strict";
|
||||
|
||||
// Shared data, computed properties and methods that are used by both
|
||||
// the Control view (for things like start/stop, run-macro, axis state)
|
||||
// and the Program view (RUN/STOP/Upload/Download/Delete + file picker
|
||||
// + gcode/path viewers). Splitting these out lets us mount the same
|
||||
// behaviour under two top-level routes without duplicating code.
|
||||
//
|
||||
// The mixin intentionally does *not* require axis-vars; control-view
|
||||
// keeps that one to itself.
|
||||
|
||||
const api = require("./api");
|
||||
const utils = require("./utils");
|
||||
|
||||
module.exports = {
|
||||
data: function () {
|
||||
return {
|
||||
mdi: "",
|
||||
last_file: undefined,
|
||||
last_file_time: undefined,
|
||||
toolpath: {},
|
||||
toolpath_progress: 0,
|
||||
history: [],
|
||||
speed_override: 1,
|
||||
feed_override: 1,
|
||||
deleteGCode: false,
|
||||
folder_name: "",
|
||||
edited: false,
|
||||
uploading_files: false,
|
||||
confirmDelete: false,
|
||||
create_folder: false,
|
||||
showGcodeMessage: false,
|
||||
showNoGcodeMessage: false,
|
||||
macrosLoading: false,
|
||||
show_gcodes: false,
|
||||
GCodeNotFound: false,
|
||||
filesUploaded: 0,
|
||||
totalFiles: 0,
|
||||
files_sortby: "By Upload Date",
|
||||
selected_items_to_delete: [],
|
||||
search_query: "",
|
||||
filtered_files: [],
|
||||
selected_folder_index: null,
|
||||
};
|
||||
},
|
||||
|
||||
watch: {
|
||||
"state.line": function () {
|
||||
if (this.mach_state != "HOMING") {
|
||||
this.$broadcast("gcode-line", this.state.line);
|
||||
}
|
||||
},
|
||||
|
||||
"state.selected_time": function () {
|
||||
this.load();
|
||||
},
|
||||
},
|
||||
|
||||
computed: {
|
||||
is_running: function () {
|
||||
return this.mach_state == "RUNNING" || this.mach_state == "HOMING";
|
||||
},
|
||||
|
||||
is_stopping: function () {
|
||||
return this.mach_state == "STOPPING";
|
||||
},
|
||||
|
||||
is_holding: function () {
|
||||
return this.mach_state == "HOLDING";
|
||||
},
|
||||
|
||||
is_ready: function () {
|
||||
return this.mach_state == "READY";
|
||||
},
|
||||
|
||||
is_idle: function () {
|
||||
return this.state.cycle == "idle";
|
||||
},
|
||||
|
||||
// True only while a loaded G-code program is actually being
|
||||
// executed (running, paused/holding, or stopping). Excludes
|
||||
// jogging, homing, probing, MDI commands and other one-off
|
||||
// motion that also leave state.xx == "RUNNING" but must not
|
||||
// swap the jog grid out for the "Now Running" panel.
|
||||
//
|
||||
// Distinguishing signal is state.cycle:
|
||||
// - "idle" : nothing happening
|
||||
// - "jogging" : user-initiated jog
|
||||
// - "homing" : home cycle
|
||||
// - "probing" : probe cycle
|
||||
// - "mdi" : single MDI command
|
||||
// - "running" : an actual loaded program is being run
|
||||
// Only "running" (combined with a selected file) is what we want.
|
||||
is_program_executing: function () {
|
||||
if (!this.state) return false;
|
||||
const xx = this.state.xx;
|
||||
const cycle = this.state.cycle;
|
||||
const isExecState = xx == "RUNNING" || xx == "HOLDING" || xx == "STOPPING";
|
||||
if (!isExecState) return false;
|
||||
// The cycle string narrows it to a real program run; anything
|
||||
// else (jogging / homing / probing / mdi) is a one-off.
|
||||
if (cycle && cycle != "running" && cycle != "idle") return false;
|
||||
return !!this.state.selected;
|
||||
},
|
||||
|
||||
is_paused: function () {
|
||||
return this.is_holding && (this.pause_reason == "User pause" || this.pause_reason == "Program pause");
|
||||
},
|
||||
|
||||
can_mdi: function () {
|
||||
return this.is_idle || this.state.cycle == "mdi";
|
||||
},
|
||||
|
||||
pause_reason: function () {
|
||||
return this.state.pr;
|
||||
},
|
||||
|
||||
plan_time: function () {
|
||||
return this.state.plan_time;
|
||||
},
|
||||
|
||||
plan_time_remaining: function () {
|
||||
if (!(this.is_stopping || this.is_running || this.is_holding)) {
|
||||
return 0;
|
||||
}
|
||||
return this.toolpath.time - this.plan_time;
|
||||
},
|
||||
|
||||
eta: function () {
|
||||
if (this.mach_state != "RUNNING") {
|
||||
return "";
|
||||
}
|
||||
const remaining = this.plan_time_remaining;
|
||||
const d = new Date();
|
||||
d.setSeconds(d.getSeconds() + remaining);
|
||||
return d.toLocaleString();
|
||||
},
|
||||
|
||||
progress: function () {
|
||||
if (!this.toolpath.time || this.is_ready) {
|
||||
return 0;
|
||||
}
|
||||
const p = this.plan_time / this.toolpath.time;
|
||||
return Math.min(1, p);
|
||||
},
|
||||
|
||||
gcode_files: function () {
|
||||
if (!this.state.folder) return [];
|
||||
const list = Array.isArray(this.state.gcode_list) ? this.state.gcode_list : [];
|
||||
const folder = list.find(item => item.name == this.state.folder);
|
||||
if (!folder) return [];
|
||||
const stateFiles = Array.isArray(this.state.files) ? this.state.files : [];
|
||||
const files = (folder.files || [])
|
||||
.filter(item => stateFiles.includes(item.file_name))
|
||||
.map(item => item.file_name);
|
||||
if (this.files_sortby == "A-Z") return files.sort();
|
||||
if (this.files_sortby == "Z-A") return files.sort().reverse();
|
||||
return files;
|
||||
},
|
||||
|
||||
gcode_filtered_files: function () {
|
||||
return this.filtered_files.filter(file =>
|
||||
file.toLowerCase().includes(this.search_query.toLowerCase()));
|
||||
},
|
||||
|
||||
gcode_folders: function () {
|
||||
const list = Array.isArray(this.state.gcode_list) ? this.state.gcode_list : [];
|
||||
return list
|
||||
.map(item => item.name)
|
||||
.filter(element => element !== "default")
|
||||
.sort();
|
||||
},
|
||||
},
|
||||
|
||||
methods: {
|
||||
save_config: async function (config) {
|
||||
try {
|
||||
await api.put("config/save", config);
|
||||
this.$dispatch("update");
|
||||
} catch (error) {
|
||||
console.error("Restore Failed: ", error);
|
||||
alert("Restore failed");
|
||||
}
|
||||
},
|
||||
|
||||
populateFiles(index) {
|
||||
this.selected_folder_index = index;
|
||||
this.filtered_files = this.state.gcode_list[index].files.map(item => item.file_name);
|
||||
},
|
||||
|
||||
send: function (msg) {
|
||||
this.$dispatch("send", msg);
|
||||
},
|
||||
|
||||
toggle_sorting: function () {
|
||||
if (this.files_sortby === "By Upload Date") this.files_sortby = "A-Z";
|
||||
else if (this.files_sortby === "A-Z") this.files_sortby = "Z-A";
|
||||
else if (this.files_sortby === "Z-A") this.files_sortby = "By Upload Date";
|
||||
},
|
||||
|
||||
load: function () {
|
||||
const file_time = this.state.selected_time;
|
||||
const file = this.state.selected;
|
||||
if (this.last_file == file && this.last_file_time == file_time) return;
|
||||
|
||||
// state.files can be undefined briefly after connect, before the
|
||||
// controller has pushed its file list. Skip the existence check
|
||||
// until we have a list to consult.
|
||||
const files = Array.isArray(this.state.files) ? this.state.files : null;
|
||||
if (this.state.selected && files && !files.includes(this.state.selected)) {
|
||||
this.GCodeNotFound = true;
|
||||
return;
|
||||
}
|
||||
|
||||
this.last_file = file;
|
||||
this.last_file_time = file_time;
|
||||
|
||||
this.$broadcast("gcode-load", file);
|
||||
this.$broadcast("gcode-line", this.state.line);
|
||||
this.toolpath_progress = 0;
|
||||
this.load_toolpath(file, file_time);
|
||||
},
|
||||
|
||||
load_toolpath: async function (file, file_time) {
|
||||
this.toolpath = {};
|
||||
if (!file || this.last_file_time != file_time) return;
|
||||
|
||||
this.showGcodeMessage = true;
|
||||
|
||||
while (this.showGcodeMessage) {
|
||||
try {
|
||||
const toolpath = await api.get(`path/${file}`);
|
||||
this.toolpath_progress = toolpath.progress;
|
||||
|
||||
// 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;
|
||||
|
||||
if (toolpath.bounds) {
|
||||
toolpath.filename = file;
|
||||
this.toolpath_progress = 1;
|
||||
this.toolpath = toolpath;
|
||||
|
||||
const state = this.$root.state;
|
||||
for (const axis of "xyzabc") {
|
||||
Vue.set(state, `path_min_${axis}`, toolpath.bounds.min[axis]);
|
||||
Vue.set(state, `path_max_${axis}`, toolpath.bounds.max[axis]);
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch (error) {
|
||||
// api.get throws on non-2xx; log and break the loop so the
|
||||
// dialog doesn't stay up forever.
|
||||
console.error(error);
|
||||
this.showGcodeMessage = false;
|
||||
return;
|
||||
}
|
||||
}
|
||||
},
|
||||
|
||||
submit_mdi: function () {
|
||||
this.send(this.mdi);
|
||||
if (!this.history.length || this.history[0] != this.mdi) {
|
||||
this.history.unshift(this.mdi);
|
||||
}
|
||||
this.mdi = "";
|
||||
},
|
||||
|
||||
mdi_start_pause: function () {
|
||||
if (this.state.xx == "RUNNING") this.pause();
|
||||
else if (this.state.xx == "STOPPING" || this.state.xx == "HOLDING") this.unpause();
|
||||
else this.submit_mdi();
|
||||
},
|
||||
|
||||
load_history: function (index) {
|
||||
this.mdi = this.history[index];
|
||||
},
|
||||
|
||||
open_file: function () {
|
||||
utils.clickFileInput("gcode-file-input");
|
||||
},
|
||||
|
||||
open_folder: function () {
|
||||
utils.clickFileInput("gcode-folder-input");
|
||||
},
|
||||
|
||||
edited_folder_name: function (event) {
|
||||
if (event.target.value.trim() != "") {
|
||||
this.$dispatch("folder_name_edited");
|
||||
}
|
||||
},
|
||||
|
||||
update_config: function () {
|
||||
this.config.gcode_list = [...this.state.gcode_list];
|
||||
this.config.non_macros_list = [...this.state.non_macros_list];
|
||||
this.config.macros_list = [...this.state.macros_list];
|
||||
this.config.macros = [...this.state.macros];
|
||||
},
|
||||
|
||||
reset_gcode: function () {
|
||||
this.state.selected = "";
|
||||
this.last_file = "";
|
||||
this.$broadcast("gcode-load", "");
|
||||
},
|
||||
|
||||
upload_gcode: async function (filename, file) {
|
||||
return new Promise((resolve, reject) => {
|
||||
const xhr = new XMLHttpRequest();
|
||||
this.filesUploaded++;
|
||||
if (this.filesUploaded == this.totalFiles) {
|
||||
this.uploading_files = false;
|
||||
}
|
||||
xhr.onload = () => {
|
||||
if (xhr.status >= 200 && xhr.status < 300) resolve("file uploaded");
|
||||
else { console.error("File upload failed:", xhr.statusText); reject("upload failed"); }
|
||||
};
|
||||
xhr.onerror = () => { alert("Upload failed."); reject("upload failed"); };
|
||||
xhr.open("PUT", `/api/file/${encodeURIComponent(filename)}`, true);
|
||||
xhr.send(file);
|
||||
});
|
||||
},
|
||||
|
||||
readFile: function (file) {
|
||||
return new Promise((resolve, reject) => {
|
||||
const reader = new FileReader();
|
||||
reader.onload = () => resolve(reader.result);
|
||||
reader.onerror = error => reject(error);
|
||||
reader.readAsText(file, "utf-8");
|
||||
});
|
||||
},
|
||||
|
||||
validateFiles: async function (files) {
|
||||
const validFiles = [];
|
||||
for (const file of files) {
|
||||
const extension = file.name.split(".").pop().toLowerCase();
|
||||
const validExtensions = ["nc", "ngc", "gcode", "gc"];
|
||||
if (validExtensions.includes(extension)) {
|
||||
validFiles.push(file);
|
||||
} else {
|
||||
alert(`Unsupported file : ${file.name}`);
|
||||
this.filesUploaded++;
|
||||
if (this.filesUploaded == this.totalFiles) {
|
||||
this.uploadFiles = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
return validFiles;
|
||||
},
|
||||
|
||||
uploadValidFiles: async function (files, folderName) {
|
||||
const updatedConfig = { ...this.config };
|
||||
|
||||
for (const file of files) {
|
||||
try {
|
||||
const gcode = await this.readFile(file);
|
||||
await this.upload_gcode(file.name, gcode);
|
||||
|
||||
const isAlreadyPresent = updatedConfig.non_macros_list.some(element => element.file_name === file.name);
|
||||
if (!isAlreadyPresent) {
|
||||
updatedConfig.non_macros_list.push({ file_name: file.name });
|
||||
}
|
||||
|
||||
if (folderName) {
|
||||
const folder = updatedConfig.gcode_list.find(item => item.type == "folder" && item.name == folderName);
|
||||
if (folder) {
|
||||
if (!folder.files.map(item => item.file_name).includes(file.name)) {
|
||||
folder.files.push({ file_name: file.name });
|
||||
}
|
||||
} else {
|
||||
updatedConfig.gcode_list.push({
|
||||
name: folderName,
|
||||
type: "folder",
|
||||
files: [{ file_name: file.name }],
|
||||
});
|
||||
}
|
||||
} else {
|
||||
var folder_to_add = updatedConfig.gcode_list.find(
|
||||
item => item.type == "folder" && item.name == this.state.folder,
|
||||
);
|
||||
if (!folder_to_add) {
|
||||
folder_to_add = updatedConfig.gcode_list.unshift({
|
||||
name: this.state.folder,
|
||||
type: "folder",
|
||||
files: [{ file_name: file.name }],
|
||||
});
|
||||
folder_to_add = updatedConfig.gcode_list[0];
|
||||
}
|
||||
if (!folder_to_add.files.find(item => item.file_name == file.name)) {
|
||||
folder_to_add.files.push({ file_name: file.name });
|
||||
}
|
||||
}
|
||||
} catch (error) {
|
||||
console.warn(`error uploading file : `, error);
|
||||
}
|
||||
}
|
||||
return updatedConfig;
|
||||
},
|
||||
|
||||
upload_files: async function (files, folderName) {
|
||||
this.update_config();
|
||||
const validFiles = await this.validateFiles(files);
|
||||
const updatedConfig = await this.uploadValidFiles(validFiles, folderName);
|
||||
await this.save_config(updatedConfig);
|
||||
},
|
||||
|
||||
upload_file: async function (e) {
|
||||
this.uploading_files = true;
|
||||
this.filesUploaded = 0;
|
||||
const files = e.target.files || e.dataTransfer.files;
|
||||
if (!files.length) return;
|
||||
this.totalFiles = files.length;
|
||||
await this.upload_files(files);
|
||||
},
|
||||
|
||||
create_new_folder: async function () {
|
||||
const folder_name = this.folder_name.trim();
|
||||
if (folder_name != "") {
|
||||
if (this.state.gcode_list.find(item => item.type == "folder" && item.name == folder_name)) {
|
||||
alert("Folder with the same name already exists!");
|
||||
return;
|
||||
}
|
||||
this.update_config();
|
||||
this.config.gcode_list.push({
|
||||
name: folder_name,
|
||||
type: "folder",
|
||||
files: [],
|
||||
});
|
||||
this.state.folder = folder_name;
|
||||
this.edited = false;
|
||||
this.create_folder = false;
|
||||
this.folder_name = "";
|
||||
this.save_config(this.config);
|
||||
}
|
||||
},
|
||||
|
||||
cancel_new_folder: function () {
|
||||
this.create_folder = false;
|
||||
this.folder_name = "";
|
||||
},
|
||||
|
||||
upload_folder: async function (e) {
|
||||
this.uploading_files = true;
|
||||
this.filesUploaded = 0;
|
||||
const files = e.target.files || e.dataTransfer.files;
|
||||
if (!files.length) return;
|
||||
this.totalFiles = files.length;
|
||||
const folderName = files[0].webkitRelativePath.split("/")[0];
|
||||
this.upload_files(files, folderName);
|
||||
},
|
||||
|
||||
delete_current: async function () {
|
||||
if (!this.state.selected) {
|
||||
this.deleteGCode = false;
|
||||
return;
|
||||
}
|
||||
this.update_config();
|
||||
|
||||
this.config.non_macros_list = this.config.non_macros_list.filter(
|
||||
item => !this.selected_items_to_delete.includes(item.file_name),
|
||||
);
|
||||
const folder_to_update = this.config.gcode_list.find(
|
||||
item => item.name == this.config.gcode_list[this.selected_folder_index].name && item.type == "folder",
|
||||
);
|
||||
folder_to_update.files = folder_to_update.files.filter(
|
||||
item => !this.selected_items_to_delete.includes(item.file_name),
|
||||
);
|
||||
|
||||
const exception_list = this.state.macros_list.map(item => item.file_name);
|
||||
let files_to_delete = this.selected_items_to_delete.filter(item => !exception_list.includes(item));
|
||||
|
||||
await api.delete(`file/DINCAIQABiDARixAxiABDIHCAMQABiABDIHCAQQABiABDIH${files_to_delete.toString()}`);
|
||||
|
||||
this.save_config(this.config);
|
||||
this.filtered_files = [];
|
||||
this.search_query = "";
|
||||
this.selected_folder_index = null;
|
||||
this.selected_items_to_delete = [];
|
||||
this.deleteGCode = false;
|
||||
},
|
||||
|
||||
cancel_delete: function () {
|
||||
this.filtered_files = [];
|
||||
this.search_query = "";
|
||||
this.selected_folder_index = null;
|
||||
this.selected_items_to_delete = [];
|
||||
this.deleteGCode = false;
|
||||
},
|
||||
|
||||
delete_all: function () {
|
||||
api.delete("file");
|
||||
this.deleteGCode = false;
|
||||
},
|
||||
|
||||
delete_all_except_macros: async function () {
|
||||
this.update_config();
|
||||
const macrosList = this.state.macros_list.map(item => item.file_name).toString();
|
||||
api.delete(`file/EgZjaHJvbWUqCggBEAAYsQMYgAQyBggAEEUYOTIKCAE${macrosList}`);
|
||||
this.config.non_macros_list = [];
|
||||
this.config.gcode_list = [{ name: "default", type: "folder", files: [] }];
|
||||
this.save_config(this.config);
|
||||
this.state.folder = "default";
|
||||
this.state.selected = "";
|
||||
this.selected_items_to_delete = [];
|
||||
this.deleteGCode = false;
|
||||
},
|
||||
|
||||
delete_folder: async function () {
|
||||
this.update_config();
|
||||
if (this.state.folder && this.state.folder != "default") {
|
||||
const files_to_move = this.config.gcode_list.find(
|
||||
item => item.type == "folder" && item.name == this.state.folder,
|
||||
);
|
||||
if (files_to_move) {
|
||||
const default_folder = this.config.gcode_list.find(item => item.name == "default");
|
||||
default_folder.files = [...default_folder.files, ...files_to_move.files].sort();
|
||||
this.config.gcode_list = this.config.gcode_list.filter(item => item.name != this.state.folder);
|
||||
this.save_config(this.config);
|
||||
}
|
||||
}
|
||||
this.state.folder = "default";
|
||||
this.confirmDelete = false;
|
||||
},
|
||||
|
||||
delete_folder_and_files: async function () {
|
||||
if (!this.state.folder) {
|
||||
this.confirmDelete = false;
|
||||
return;
|
||||
}
|
||||
this.update_config();
|
||||
const selected_folder = this.config.gcode_list.find(
|
||||
item => item.type == "folder" && item.name == this.state.folder,
|
||||
);
|
||||
if (!selected_folder) return;
|
||||
|
||||
const macrosList = this.state.macros_list.map(item => item.file_name);
|
||||
var files_to_delete = selected_folder.files
|
||||
.map(item => item.file_name)
|
||||
.filter(item => !macrosList.includes(item));
|
||||
|
||||
if (selected_folder.name != "default") {
|
||||
this.config.gcode_list = this.config.gcode_list.filter(item => item.name != this.state.folder);
|
||||
} else {
|
||||
selected_folder.files = [];
|
||||
}
|
||||
|
||||
await api.delete(`file/DINCAIQABiDARixAxiABDIHCAMQABiABDIHCAQQABiABDIH${files_to_delete.toString()}`);
|
||||
this.config.non_macros_list = this.config.non_macros_list.filter(
|
||||
item => !files_to_delete.includes(item.file_name),
|
||||
);
|
||||
this.save_config(this.config);
|
||||
this.state.folder = "default";
|
||||
this.confirmDelete = false;
|
||||
},
|
||||
|
||||
start_pause: function () {
|
||||
this.macrosLoading = false;
|
||||
if (this.state.xx == "RUNNING") this.pause();
|
||||
else if (this.state.xx == "STOPPING" || this.state.xx == "HOLDING") this.unpause();
|
||||
else this.start();
|
||||
},
|
||||
|
||||
start: function () { api.put("start"); },
|
||||
pause: function () { api.put("pause"); },
|
||||
unpause: function () { api.put("unpause"); },
|
||||
optional_pause: function () { api.put("pause/optional"); },
|
||||
stop: function () { api.put("stop"); },
|
||||
step: function () { api.put("step"); },
|
||||
|
||||
override_feed: function () { api.put(`override/feed/${this.feed_override}`); },
|
||||
override_speed: function () { api.put(`override/speed/${this.speed_override}`); },
|
||||
|
||||
run_macro: async function (id) {
|
||||
if (this.state.macros[id].file_name == "default") {
|
||||
this.showNoGcodeMessage = true;
|
||||
return;
|
||||
}
|
||||
const file_name = this.state.macros[id].file_name;
|
||||
try {
|
||||
// Selecting a file on the server is a side effect of
|
||||
// GET /api/file/<name>. The macro button used to mutate
|
||||
// state.selected client-side and immediately call start, which
|
||||
// raced the file fetch: if the server hadn't seen the new
|
||||
// selection yet, mach.start() ran whichever file was selected
|
||||
// last. Do it explicitly and await so start always sees the
|
||||
// right file.
|
||||
if (file_name != this.state.selected) {
|
||||
this.state.selected = file_name;
|
||||
// GET /api/file/<name> returns gcode text (not JSON), so use
|
||||
// fetch directly. The server's FileHandler.get sets
|
||||
// state.selected as a side effect; we await the response
|
||||
// before starting so mach.start() reads the right file.
|
||||
const resp = await fetch(
|
||||
`/api/file/${encodeURIComponent(file_name)}`,
|
||||
{ cache: "no-cache" }
|
||||
);
|
||||
if (!resp.ok) {
|
||||
throw new Error(`file fetch failed: ${resp.status}`);
|
||||
}
|
||||
await resp.text();
|
||||
}
|
||||
this.load();
|
||||
if (this.state.macros[id].alert == true) {
|
||||
this.macrosLoading = true;
|
||||
} else {
|
||||
await this.start_pause();
|
||||
}
|
||||
} catch (error) {
|
||||
console.warn("Error running macro: ", error);
|
||||
}
|
||||
},
|
||||
},
|
||||
};
|
||||
@@ -1,62 +0,0 @@
|
||||
"use strict";
|
||||
|
||||
// Program tab — file management, run/stop, gcode listing and 3D
|
||||
// toolpath preview. Reuses the shared mixin (program-mixin) that also
|
||||
// powers the legacy bits of control-view; this view does not host the
|
||||
// jog grid or the DRO.
|
||||
|
||||
module.exports = {
|
||||
template: "#program-view-template",
|
||||
props: ["config", "template", "state"],
|
||||
|
||||
components: {
|
||||
"path-viewer": require("./path-viewer"),
|
||||
"gcode-viewer": require("./gcode-viewer"),
|
||||
},
|
||||
|
||||
data: function () {
|
||||
return {};
|
||||
},
|
||||
|
||||
watch: {
|
||||
"state.metric": {
|
||||
handler: function () {},
|
||||
immediate: true,
|
||||
},
|
||||
},
|
||||
|
||||
computed: {
|
||||
is_kiosk: function () { return !!this.$root.is_kiosk; },
|
||||
|
||||
display_units: {
|
||||
cache: false,
|
||||
get: function () { return this.$root.display_units; },
|
||||
set: function (value) {
|
||||
this.config.settings.units = value;
|
||||
this.$root.display_units = value;
|
||||
this.$dispatch("config-changed");
|
||||
},
|
||||
},
|
||||
|
||||
metric: function () {
|
||||
return this.display_units === "METRIC";
|
||||
},
|
||||
|
||||
mach_state: function () {
|
||||
const cycle = this.state.cycle;
|
||||
const xx = this.state.xx;
|
||||
if (xx != "ESTOPPED" && (cycle == "jogging" || cycle == "homing")) {
|
||||
return cycle.toUpperCase();
|
||||
}
|
||||
return xx || "";
|
||||
},
|
||||
|
||||
can_set_axis: function () { return this.state.cycle == "idle"; },
|
||||
},
|
||||
|
||||
ready: function () {
|
||||
this.load();
|
||||
},
|
||||
|
||||
mixins: [require("./program-mixin")],
|
||||
};
|
||||
@@ -1,80 +0,0 @@
|
||||
// Lightweight UI-side restart/cold-load timing.
|
||||
//
|
||||
// Records a few key marks using performance.now(), then POSTs them to
|
||||
// /api/diag/timing/ui once 'ui.first_state' has fired. Disabled by
|
||||
// setting window.BBCTRL_TRACE = false before this module is loaded.
|
||||
//
|
||||
// Marks collected:
|
||||
// script.load -- this module evaluated
|
||||
// ws.open -- websocket onopen
|
||||
// ws.first_msg -- first message from controller
|
||||
// ui.first_state -- first message that contained controller state
|
||||
// window.load -- window 'load' event
|
||||
//
|
||||
// Aligning these with /api/diag/timing on the server gives the full
|
||||
// picture from systemd start -> bbctrl up -> WS open -> UI rendered.
|
||||
"use strict";
|
||||
|
||||
const _enabled = typeof window !== "undefined" && window.BBCTRL_TRACE !== false;
|
||||
const _t0 = (typeof performance !== "undefined" && performance.now)
|
||||
? performance.now()
|
||||
: Date.now();
|
||||
const _navStart = (typeof performance !== "undefined" && performance.timeOrigin)
|
||||
? performance.timeOrigin
|
||||
: Date.now();
|
||||
|
||||
const marks = [];
|
||||
let posted = false;
|
||||
|
||||
function _now() {
|
||||
return (typeof performance !== "undefined" && performance.now)
|
||||
? performance.now() - _t0
|
||||
: Date.now() - _t0;
|
||||
}
|
||||
|
||||
function mark(name, fields) {
|
||||
if (!_enabled) return;
|
||||
marks.push(Object.assign({ n: name, t: Math.round(_now()) }, fields || {}));
|
||||
}
|
||||
|
||||
function _post() {
|
||||
if (!_enabled || posted) return;
|
||||
posted = true;
|
||||
const body = JSON.stringify({
|
||||
navStart: _navStart,
|
||||
t0_perf: _t0,
|
||||
href: typeof location !== "undefined" ? location.href : "",
|
||||
ua: typeof navigator !== "undefined" ? navigator.userAgent : "",
|
||||
marks: marks,
|
||||
});
|
||||
try {
|
||||
if (typeof fetch === "function") {
|
||||
fetch("/api/diag/timing/ui", {
|
||||
method: "PUT",
|
||||
headers: { "Content-Type": "application/json" },
|
||||
body: body,
|
||||
keepalive: true,
|
||||
}).catch(() => {});
|
||||
}
|
||||
} catch (e) { /* swallow */ }
|
||||
}
|
||||
|
||||
// Record window load too; doesn't block posting.
|
||||
if (_enabled && typeof window !== "undefined") {
|
||||
window.addEventListener("load", () => mark("window.load"));
|
||||
}
|
||||
|
||||
mark("script.load");
|
||||
|
||||
module.exports = {
|
||||
enabled: _enabled,
|
||||
mark: mark,
|
||||
onWsOpen: () => mark("ws.open"),
|
||||
onWsFirstMessage: () => mark("ws.first_msg"),
|
||||
onFirstState: () => {
|
||||
mark("ui.first_state");
|
||||
// Defer slightly so any synchronous render finishes first.
|
||||
setTimeout(_post, 100);
|
||||
},
|
||||
flush: _post,
|
||||
};
|
||||
@@ -1,175 +0,0 @@
|
||||
"use strict";
|
||||
|
||||
// Wrapper that adds a left-rail navigator around the settings family
|
||||
// of views (Settings, Admin General, Admin Network, Tool, IO, Motor,
|
||||
// Macros, Help, Cheat Sheet). The inner view is selected by the URL
|
||||
// hash (parsed in app.js) and exposed as $root.sub_tab.
|
||||
|
||||
// Vue 1 has trouble making child components reactive to `$root.sub_tab`
|
||||
// changes (whether via computed, watch, or prop binding through
|
||||
// `<component :is>`). The shell instead listens to `hashchange`
|
||||
// directly and parses the hash itself, mirroring app.js's logic, then
|
||||
// keeps a local data prop `sub` that the template binds to. This is
|
||||
// the only path that updates the rail's `:class` reactively.
|
||||
module.exports = {
|
||||
template: "#settings-shell-view-template",
|
||||
props: ["config", "template", "state", "index"],
|
||||
|
||||
components: {
|
||||
"settings-view-inner": require("./settings-view"),
|
||||
"admin-general-view": require("./admin-general-view"),
|
||||
"admin-network-view": require("./admin-network-view"),
|
||||
"motor-view": require("./motor-view"),
|
||||
"tool-view": require("./tool-view"),
|
||||
"io-view": require("./io-view"),
|
||||
"macros-view": require("./macros"),
|
||||
"help-view": require("./help-view"),
|
||||
"a-axis-view": require("./a-axis-view"),
|
||||
"cheat-sheet-view": {
|
||||
template: "#cheat-sheet-view-template",
|
||||
data: function () {
|
||||
return { showUnimplemented: false };
|
||||
},
|
||||
},
|
||||
},
|
||||
|
||||
data: function () {
|
||||
return {
|
||||
sub: this.$root.sub_tab || "settings",
|
||||
ridx: this.$root.index, // local copy of the motor index
|
||||
// Whether the controller config has streamed in. The Svelte
|
||||
// settings views crash on first paint with the placeholder
|
||||
// config (settings.units / settings.easy-adapter / motion.*
|
||||
// are all undefined). Gate the inner mount on this flag.
|
||||
config_ready: false,
|
||||
rail_items: [
|
||||
{ sub: "settings", href: "#settings", icon: "fa-display", label: "Display & Units" },
|
||||
{ sub: "probing", href: "#probing", icon: "fa-bullseye", label: "Probing" },
|
||||
{ sub: "gcode", href: "#gcode", icon: "fa-code", label: "G-code & Motion" },
|
||||
{ sub: "macros", href: "#macros", icon: "fa-keyboard", label: "Macros" },
|
||||
{ sub: "cheat-sheet", href: "#cheat-sheet", icon: "fa-book", label: "G-code Cheat Sheet" },
|
||||
{ sub: "admin-network", href: "#admin-network", icon: "fa-network-wired", label: "Network" },
|
||||
{ sub: "admin-general", href: "#admin-general", icon: "fa-shield-halved", label: "General / Firmware" },
|
||||
{ sub: "tool", href: "#tool", icon: "fa-bolt", label: "Spindle & Tool" },
|
||||
{ sub: "io", href: "#io", icon: "fa-plug", label: "I/O" },
|
||||
{ section: "Motors" },
|
||||
{ sub: "motor", motor: 0, href: "#motor:0", icon: "fa-arrows-up-down-left-right", label: "Motor 0" },
|
||||
{ sub: "motor", motor: 1, href: "#motor:1", icon: "fa-arrows-up-down-left-right", label: "Motor 1" },
|
||||
{ sub: "motor", motor: 2, href: "#motor:2", icon: "fa-arrows-up-down-left-right", label: "Motor 2" },
|
||||
{ sub: "motor", motor: 3, href: "#motor:3", icon: "fa-arrows-up-down-left-right", label: "Motor 3" },
|
||||
// Auxiliary axis (auxcnc ESP32 - exposed to gplan as A).
|
||||
// Mounts the AAxisSettings Svelte component on its own page.
|
||||
{ sub: "a-axis", href: "#a-axis", icon: "fa-arrows-up-down", label: "A Axis" },
|
||||
{ section: " " },
|
||||
{ sub: "help", href: "#help", icon: "fa-circle-question", label: "Help" },
|
||||
],
|
||||
};
|
||||
},
|
||||
|
||||
ready: function () {
|
||||
this._onHash = () => this.refresh_from_hash();
|
||||
window.addEventListener("hashchange", this._onHash);
|
||||
this.refresh_from_hash();
|
||||
this._configPoll = setInterval(() => {
|
||||
const c = this.$root && this.$root.config;
|
||||
const ready = !!(c && c.full_version && c.full_version !== "<loading>"
|
||||
&& c.settings && typeof c.settings === "object");
|
||||
if (ready !== this.config_ready) this.config_ready = ready;
|
||||
}, 200);
|
||||
},
|
||||
|
||||
attached: function () {
|
||||
// Vue 1 fires `attached` whenever the component is inserted into
|
||||
// the DOM (which happens on every route change because the outer
|
||||
// <component :is> recreates the instance). Re-bind the listener
|
||||
// here so it works even after detach/attach cycles.
|
||||
if (!this._onHash) {
|
||||
this._onHash = () => this.refresh_from_hash();
|
||||
}
|
||||
window.addEventListener("hashchange", this._onHash);
|
||||
this.refresh_from_hash();
|
||||
},
|
||||
|
||||
detached: function () {
|
||||
if (this._onHash) {
|
||||
window.removeEventListener("hashchange", this._onHash);
|
||||
}
|
||||
},
|
||||
|
||||
beforeDestroy: function () {
|
||||
if (this._onHash) {
|
||||
window.removeEventListener("hashchange", this._onHash);
|
||||
}
|
||||
if (this._configPoll) clearInterval(this._configPoll);
|
||||
},
|
||||
|
||||
methods: {
|
||||
refresh_from_hash: function () {
|
||||
const hash = location.hash.substr(1) || "settings";
|
||||
const parts = hash.split(":");
|
||||
this.sub = parts[0] || "settings";
|
||||
this.ridx = parts[1] !== undefined ? parts[1] : -1;
|
||||
},
|
||||
|
||||
is_active: function (item) {
|
||||
if (!item || item.section) return false;
|
||||
if (item.sub !== this.sub) return false;
|
||||
if (item.sub === "motor") {
|
||||
return "" + item.motor === "" + this.ridx;
|
||||
}
|
||||
return true;
|
||||
},
|
||||
|
||||
on_rail_click: function (item, ev) {
|
||||
if (!item) return;
|
||||
// Always preventDefault on rail clicks. Letting the browser
|
||||
// anchor-scroll to <div id="settings"> etc. inside .app-body
|
||||
// can pull the .app-head out of view; we drive navigation
|
||||
// ourselves through location.hash and our hashchange handler.
|
||||
if (ev && ev.preventDefault) ev.preventDefault();
|
||||
|
||||
if (item.anchor) {
|
||||
// Soft-link rail items use a #settings hash plus an in-page
|
||||
// anchor scroll once the Svelte page has mounted. We scroll
|
||||
// ONLY the .settings-content overflow container by setting
|
||||
// its scrollTop directly — element.scrollIntoView() walks all
|
||||
// ancestor scroll containers and can tug the .app-body / html
|
||||
// layout, which under tablet mode pulls the fixed header out
|
||||
// of view.
|
||||
if (location.hash !== item.href) location.hash = item.href;
|
||||
this._a_axis_focus = (item.sub === "a-axis");
|
||||
const reset = () => {
|
||||
// Force any inadvertent ancestor scroll back to 0 before
|
||||
// we move .settings-content explicitly.
|
||||
window.scrollTo(0, 0);
|
||||
const body = document.querySelector(".app-body");
|
||||
if (body) body.scrollTop = 0;
|
||||
document.documentElement.scrollTop = 0;
|
||||
};
|
||||
setTimeout(() => {
|
||||
reset();
|
||||
const el = document.getElementById(item.anchor);
|
||||
const scroller = document.querySelector(".settings-content");
|
||||
if (el && scroller) {
|
||||
const elTop = el.getBoundingClientRect().top;
|
||||
const scTop = scroller.getBoundingClientRect().top;
|
||||
scroller.scrollTop = scroller.scrollTop + (elTop - scTop) - 12;
|
||||
}
|
||||
// Re-assert ancestor scroll = 0 in case the assignment above
|
||||
// moved things.
|
||||
requestAnimationFrame(reset);
|
||||
}, 320);
|
||||
} else {
|
||||
this._a_axis_focus = false;
|
||||
if (location.hash !== item.href) location.hash = item.href;
|
||||
// Reset .app-body scroll so each route starts at the top.
|
||||
const body = document.querySelector(".app-body");
|
||||
if (body) body.scrollTop = 0;
|
||||
}
|
||||
},
|
||||
|
||||
showShutdownDialog: function () {
|
||||
SvelteComponents.showDialog("Shutdown");
|
||||
},
|
||||
},
|
||||
};
|
||||
@@ -1,60 +1,14 @@
|
||||
// V09 wraps the legacy Svelte SettingsView and filters its big page
|
||||
// down to a single rail section so each rail item shows only the
|
||||
// relevant controls. The Svelte component is left untouched (it is
|
||||
// shared with the legacy UI) — we just hide the `<h2>` and `<fieldset>`
|
||||
// elements whose `data-sec` does not match the active section.
|
||||
|
||||
module.exports = {
|
||||
template: "#settings-view-template",
|
||||
|
||||
props: {
|
||||
// "display" | "probing" | "gcode". Default is "display" which
|
||||
// keeps the rail's "Display & Units" item working unchanged.
|
||||
section: { default: "display" },
|
||||
},
|
||||
|
||||
attached: function() {
|
||||
this.svelteComponent = SvelteComponents.createComponent(
|
||||
"SettingsView",
|
||||
document.getElementById("settings")
|
||||
);
|
||||
// Defer one tick so Svelte has rendered the section markup.
|
||||
setTimeout(() => this.apply_section_filter(), 0);
|
||||
},
|
||||
|
||||
detached: function() {
|
||||
if (this.svelteComponent) this.svelteComponent.$destroy();
|
||||
},
|
||||
|
||||
watch: {
|
||||
section: function () {
|
||||
this.apply_section_filter();
|
||||
},
|
||||
},
|
||||
|
||||
methods: {
|
||||
apply_section_filter: function () {
|
||||
const root = document.getElementById("settings");
|
||||
if (!root) return;
|
||||
const want = this.section || "display";
|
||||
// Hide every section block that does not match.
|
||||
root.querySelectorAll("[data-sec]").forEach(el => {
|
||||
el.style.display = el.dataset.sec === want ? "" : "none";
|
||||
});
|
||||
// Hide the global <h1>Settings</h1> on subsections so the
|
||||
// page reads as a focused panel.
|
||||
const h1 = root.querySelector(".settings-view > h1");
|
||||
if (h1) {
|
||||
if (want === "display") {
|
||||
h1.textContent = "Display & Units";
|
||||
} else if (want === "probing") {
|
||||
h1.textContent = "Probing";
|
||||
} else if (want === "gcode") {
|
||||
h1.textContent = "G-code & Motion";
|
||||
} else {
|
||||
h1.textContent = "Settings";
|
||||
this.svelteComponent.$destroy();
|
||||
}
|
||||
}
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
@@ -8,8 +8,9 @@ html(lang="en")
|
||||
|
||||
|
||||
style: include ../static/css/pure-min.css
|
||||
style: include ../static/css/side-menu.css
|
||||
|
||||
style: include ../static/css/fa6.min.css
|
||||
style: include ../static/css/font-awesome.min.css
|
||||
style: include ../static/css/Audiowide.css
|
||||
style: include ../static/css/clusterize.css
|
||||
style: include ../svelte-components/node_modules/svelte-material-ui/bare.css
|
||||
@@ -18,171 +19,103 @@ html(lang="en")
|
||||
style: include:stylus ../stylus/style.styl
|
||||
|
||||
body(v-cloak)
|
||||
// Tablet (kiosk) mode — pins the .app-shell to 1920x1080 and
|
||||
// scales it to fit the actual viewport so the UI always looks
|
||||
// exactly like the 10.8" 1920x1080 portable monitor.
|
||||
//
|
||||
// Toggle: ?tablet=1 to enable
|
||||
// ?tablet=0 to disable
|
||||
// Sticky in localStorage; once set, no querystring is needed.
|
||||
script.
|
||||
(function () {
|
||||
try {
|
||||
var p = new URLSearchParams(location.search);
|
||||
if (p.has("tablet")) {
|
||||
var on = p.get("tablet") !== "0" && p.get("tablet") !== "false";
|
||||
localStorage.setItem("ui-tablet-mode", on ? "1" : "0");
|
||||
}
|
||||
if (localStorage.getItem("ui-tablet-mode") === "1") {
|
||||
document.documentElement.classList.add("tablet-mode");
|
||||
}
|
||||
function fit() {
|
||||
if (!document.documentElement.classList.contains("tablet-mode")) return;
|
||||
var s = Math.min(window.innerWidth / 1920, window.innerHeight / 1080);
|
||||
document.documentElement.style.setProperty("--tablet-scale", s);
|
||||
}
|
||||
fit();
|
||||
window.addEventListener("resize", fit);
|
||||
|
||||
// Kiosk mode: when the UI is loaded by the controller's
|
||||
// own onboard browser (Chromium pointing at localhost on
|
||||
// the Pi 3B at 1366x768), apply a tighter layout that
|
||||
// packs the V09 UI into the smaller, slower display.
|
||||
// Override with ?kiosk=0 to force the desktop layout.
|
||||
if (p.has("kiosk")) {
|
||||
var k = p.get("kiosk") !== "0" && p.get("kiosk") !== "false";
|
||||
localStorage.setItem("ui-kiosk-mode", k ? "1" : "0");
|
||||
}
|
||||
var stored = localStorage.getItem("ui-kiosk-mode");
|
||||
var auto = location.hostname === "localhost"
|
||||
|| location.hostname === "127.0.0.1"
|
||||
|| location.hostname === "::1";
|
||||
if (stored === "1" || (stored !== "0" && auto)) {
|
||||
document.documentElement.classList.add("kiosk-mode");
|
||||
}
|
||||
} catch (_e) {}
|
||||
})();
|
||||
|
||||
#svelte-dialog-host
|
||||
|
||||
#overlay(v-if="status != 'connected'")
|
||||
span {{status}}
|
||||
|
||||
.app-shell
|
||||
header.app-head
|
||||
.brand-blk
|
||||
.brand-logo
|
||||
.brand-name ONEFINITY
|
||||
#layout
|
||||
a#menuLink.menu-link(href="#menu"): span
|
||||
|
||||
nav.tabs-host(role="tablist")
|
||||
a.ktab(:class="{active: top_tab === 'control'}", href="#control",
|
||||
title="Jog, DRO, macros")
|
||||
.fa.fa-gamepad
|
||||
span Control
|
||||
a.ktab(:class="{active: top_tab === 'program'}", href="#program",
|
||||
title="Run programs, files, toolpath preview")
|
||||
.fa.fa-list-ol
|
||||
span Program
|
||||
a.ktab(:class="{active: top_tab === 'console'}", href="#console",
|
||||
title="MDI, messages, indicators")
|
||||
.fa.fa-terminal
|
||||
span Console
|
||||
span.ktab-badge(v-if="messages_count") {{messages_count}}
|
||||
a.ktab(:class="{active: top_tab === 'settings'}", href="#settings",
|
||||
title="Configuration, network, macros")
|
||||
.fa.fa-sliders
|
||||
span Settings
|
||||
#menu
|
||||
button.save.pure-button.button-success(:disabled="!modified",
|
||||
@click="save") Save
|
||||
|
||||
.head-spacer
|
||||
.pure-menu
|
||||
ul.pure-menu-list
|
||||
li.pure-menu-heading
|
||||
a.pure-menu-link(href="#control") Control
|
||||
|
||||
.sys-btn(@click.stop="toggle_sys_popover", :class="{open: sys_open}")
|
||||
span.pip(:class="sys_class")
|
||||
span.sys-text {{sys_summary}}
|
||||
.fa.fa-chevron-down
|
||||
li.pure-menu-heading
|
||||
a.pure-menu-link(href="#macros") Macros
|
||||
|
||||
.pi-temp-warning(v-if="80 <= state.rpi_temp",
|
||||
title="Raspberry Pi temperature too high.")
|
||||
.fa.fa-temperature-full
|
||||
li.pure-menu-heading
|
||||
a.pure-menu-link(href="#settings") Settings
|
||||
|
||||
span.state-badge(:class="state_class", :title="mach_state_full")
|
||||
span.dot
|
||||
span {{state_label}}
|
||||
li.pure-menu-heading
|
||||
a.pure-menu-link(href="#motor:0") Motors
|
||||
|
||||
.estop(:class="{active: state.es}")
|
||||
estop(@click="estop")
|
||||
li.pure-menu-item(v-for="motor in config.motors")
|
||||
a.pure-menu-link(:href="'#motor:' + $index") Motor {{$index}}
|
||||
|
||||
// System popover (chip-soup destination)
|
||||
.sys-popover(v-if="sys_open", @click.stop="")
|
||||
.sp-row
|
||||
.sp-icon: .fa.fa-microchip
|
||||
.sp-text
|
||||
.sp-label Firmware
|
||||
.sp-val v{{config.full_version}}
|
||||
a.sp-act(v-if="show_upgrade()", href="#admin-general")
|
||||
li.pure-menu-heading
|
||||
a.pure-menu-link(href="#tool") Tool
|
||||
|
||||
li.pure-menu-heading
|
||||
a.pure-menu-link(href="#io") I/O
|
||||
|
||||
li.pure-menu-heading
|
||||
a.pure-menu-link(href="#admin-general") Admin
|
||||
|
||||
li.pure-menu-item
|
||||
a.pure-menu-link(href="#admin-general") General
|
||||
|
||||
li.pure-menu-item
|
||||
a.pure-menu-link(href="#admin-network") Network
|
||||
|
||||
li.pure-menu-heading
|
||||
a.pure-menu-link(href="#cheat-sheet") Cheat Sheet
|
||||
|
||||
li.pure-menu-heading
|
||||
a.pure-menu-link(href="#help") Help
|
||||
|
||||
button.pure-button.pure-button-primary(@click="showShutdownDialog", style="width: 100%")
|
||||
.fa.fa-power-off
|
||||
|
||||
#main
|
||||
.nav-header
|
||||
.brand
|
||||
img(src="/images/onefinity_logo.png")
|
||||
.version
|
||||
div Version: v{{config.full_version}}
|
||||
div IP Address: {{config.ip}}
|
||||
div WiFi: {{config.wifiName}}
|
||||
a.upgrade-link(v-if="show_upgrade()", href="#admin-general")
|
||||
| Upgrade to v{{latestVersion}}
|
||||
.fa.fa-circle-exclamation.upgrade-attention
|
||||
.sp-row
|
||||
.sp-icon: .fa.fa-network-wired
|
||||
.sp-text
|
||||
.sp-label IP Address
|
||||
.sp-val {{config.ip}}
|
||||
.sp-row
|
||||
.sp-icon: .fa.fa-wifi(:class="{'sp-warn': config.wifiName === 'not connected'}")
|
||||
.sp-text
|
||||
.sp-label WiFi
|
||||
.sp-val {{config.wifiName}}
|
||||
a.sp-act(href="#admin-network", @click="sys_open=false") Configure
|
||||
.sp-row(v-if="enable_rotary")
|
||||
.sp-icon: img(src="/images/rotary.svg", alt="rotary")
|
||||
.sp-text
|
||||
.sp-label Rotary
|
||||
.sp-val {{is_rotary_active ? 'Active' : 'Inactive'}}
|
||||
button.sp-act(@click="showSwitchRotaryModeDialog")
|
||||
| {{is_rotary_active ? 'Disable' : 'Enable'}}
|
||||
.sp-row(v-if="is_easy_adapter_active")
|
||||
.sp-icon: .fa.fa-puzzle-piece
|
||||
.sp-text
|
||||
.sp-label Easy Adapter
|
||||
.sp-val Active
|
||||
.sp-row.video-row
|
||||
.sp-icon: .fa.fa-video
|
||||
.sp-text
|
||||
.sp-label Camera
|
||||
.sp-val {{has_camera ? 'Live' : 'Plug camera into USB'}}
|
||||
.sp-act(v-if="has_camera", @click="toggle_video")
|
||||
| {{video_size === 'small' ? 'Enlarge' : 'Shrink'}}
|
||||
.video(v-if="sys_open && has_camera", title="Camera feed",
|
||||
@click="toggle_video", @contextmenu="toggle_crosshair",
|
||||
:class="video_size")
|
||||
.fa.fa-exclamation-circle.upgrade-attention(v-if="show_upgrade()")
|
||||
|
||||
.pi-temp-warning
|
||||
.fa.fa-thermometer-full(class="error",
|
||||
v-if="80 <= state.rpi_temp",
|
||||
title="Raspberry Pi temperature too high.")
|
||||
|
||||
.easy-adapter(v-if="is_easy_adapter_active")
|
||||
.round-dot
|
||||
div.easy-adapter-text Easy Adapter
|
||||
|
||||
.whitespace
|
||||
|
||||
div
|
||||
button.rotary-button(:disabled="!enable_rotary", :class="is_rotary_active && 'active'", @click="showSwitchRotaryModeDialog")
|
||||
img(src="/images/rotary.svg", alt="rotary", :style="is_rotary_active ? 'width:90%;' : 'width:85%;'")
|
||||
div.rotary-text Rotary
|
||||
|
||||
.video(title="Plug camera into USB.\n" +
|
||||
"Left click to toggle video size.\n" +
|
||||
"Right click to toggle crosshair.", @click="toggle_video",
|
||||
@contextmenu="toggle_crosshair", :class="video_size")
|
||||
.crosshair(v-if="crosshair")
|
||||
.vertical
|
||||
.horizontal
|
||||
.box
|
||||
img(src="/api/video", @error="has_camera=false")
|
||||
.sp-foot
|
||||
button.sp-shutdown(@click="showShutdownDialog")
|
||||
.fa.fa-power-off
|
||||
| Shutdown
|
||||
button.sp-save(:disabled="!modified", @click="save")
|
||||
.fa.fa-save
|
||||
| Save{{modified ? '*' : ''}}
|
||||
img(src="/api/video")
|
||||
|
||||
// Routed view. We keep instances alive across tab swaps so:
|
||||
// - The Program tab's WebGL <path-viewer> canvas does not
|
||||
// get destroyed and recreated each time (which caused a
|
||||
// dark flash as the GL context cleared the new canvas
|
||||
// before its first frame).
|
||||
// - The Program tab's clusterize.js gcode list does not
|
||||
// re-virtualize from scratch on every visit.
|
||||
// - The Settings shell's child Svelte components stay
|
||||
// mounted, preserving any in-flight form state.
|
||||
// The settings-shell handles its own inner v-if cascade so
|
||||
// the Vue 1 reactivity quirk that motivated removing
|
||||
// keep-alive earlier no longer applies here.
|
||||
.app-body
|
||||
.estop(:class="{active: state.es}")
|
||||
estop(@click="estop")
|
||||
|
||||
.content(class="{{currentView}}-view")
|
||||
component(:is="currentView + '-view'", :index="index",
|
||||
:config="config", :template="template", :state="state",
|
||||
:sub-tab="sub_tab", keep-alive)
|
||||
:config="config", :template="template", :state="state", keep-alive)
|
||||
|
||||
message.error-message(:show.sync="errorShow")
|
||||
div(slot="header")
|
||||
|
||||
@@ -1,4 +0,0 @@
|
||||
script#a-axis-view-template(type="text/x-template")
|
||||
#a-axis-page
|
||||
h1 A Axis (auxcnc)
|
||||
#a-axis-mount
|
||||
@@ -1,67 +0,0 @@
|
||||
script#console-view-template(type="text/x-template")
|
||||
.console-page
|
||||
.console-card
|
||||
.ptab-bar
|
||||
button.ptab(:class="{active: sub === 'mdi'}", @click="select_sub('mdi')")
|
||||
.fa.fa-keyboard
|
||||
| MDI
|
||||
button.ptab(:class="{active: sub === 'messages'}", @click="select_sub('messages')")
|
||||
.fa.fa-comment-dots
|
||||
| Messages
|
||||
span.ptab-badge(v-if="unread_messages") {{unread_messages}}
|
||||
button.ptab(:class="{active: sub === 'indicators'}", @click="select_sub('indicators')")
|
||||
.fa.fa-bell
|
||||
| Indicators
|
||||
|
||||
// ----- MDI -----
|
||||
.mdi-pane(v-show="sub === 'mdi'")
|
||||
.mdi-input
|
||||
span.prompt G>
|
||||
input(type="text", v-model="mdi", :disabled="!can_mdi",
|
||||
@keyup.enter="submit_mdi", placeholder="enter a G-code command…")
|
||||
button.mdi-send(:disabled="!can_mdi || !mdi", @click="submit_mdi")
|
||||
.fa.fa-paper-plane
|
||||
| SEND
|
||||
.mdi-keys
|
||||
button.mkey(@click="prepend('G0 ')") G0
|
||||
button.mkey(@click="prepend('G1 ')") G1
|
||||
button.mkey(@click="prepend('G2 ')") G2
|
||||
button.mkey(@click="prepend('G3 ')") G3
|
||||
button.mkey(@click="prepend('G28 ')") G28
|
||||
button.mkey(@click="prepend('G92 ')") G92
|
||||
button.mkey(@click="prepend('M3 ')") M3
|
||||
button.mkey(@click="prepend('M5 ')") M5
|
||||
button.mkey(@click="append('X')") X
|
||||
button.mkey(@click="append('Y')") Y
|
||||
button.mkey(@click="append('Z')") Z
|
||||
button.mkey(@click="append('W')") W
|
||||
button.mkey(@click="append('F')") F
|
||||
button.mkey(@click="append('S')") S
|
||||
button.mkey.clear(@click="mdi = ''") CLEAR
|
||||
button.mkey.send(:disabled="!can_mdi || !mdi", @click="submit_mdi") SEND ↵
|
||||
|
||||
em Machine units: #[strong {{mach_units}}]. G20/G21 to switch.
|
||||
|
||||
.mdi-history(:class="{placeholder: !history.length}")
|
||||
span.mdi-empty(v-if="!history.length") MDI history will display here.
|
||||
.h-row(v-for="item in history", @click="load_history($index)",
|
||||
track-by="$index")
|
||||
span.h-cmd {{item}}
|
||||
span.h-status ↻
|
||||
|
||||
// ----- Messages -----
|
||||
.messages-pane(v-show="sub === 'messages'")
|
||||
.msg-empty(v-if="!$root.messages_log.length")
|
||||
.fa.fa-circle-check
|
||||
| No messages.
|
||||
.msg(v-for="m in $root.messages_log",
|
||||
:class="m.level === 'warning' ? 'warn' : 'info'", track-by="$index")
|
||||
.mi
|
||||
.fa(:class="m.level === 'warning' ? 'fa-triangle-exclamation' : 'fa-circle-info'")
|
||||
div
|
||||
.mtitle {{m.text}}
|
||||
.mtime ID {{m.id}}
|
||||
|
||||
// ----- Indicators -----
|
||||
.indicators-pane(v-show="sub === 'indicators'")
|
||||
indicators(:state="state", :template="template")
|
||||
@@ -1,11 +1,12 @@
|
||||
script#control-view-template(type="text/x-template")
|
||||
.control-page
|
||||
// ----- Modal dialogs (kept verbatim from legacy) -----
|
||||
#control
|
||||
message(:show.sync="showGcodeMessage")
|
||||
h3(slot="header") Processing New File
|
||||
|
||||
div(slot="body")
|
||||
h3 Please wait..
|
||||
p Simulating GCode to check for errors, calculate ETA and generate 3D view.
|
||||
|
||||
div(slot="footer")
|
||||
label Simulating {{(toolpath_progress || 0) | percent}}
|
||||
|
||||
@@ -13,6 +14,7 @@ script#control-view-template(type="text/x-template")
|
||||
h3(slot="header") GCode Not Set
|
||||
div(slot="body")
|
||||
p Configure the GCode for the selected macro to use it
|
||||
|
||||
div(slot="footer")
|
||||
button.pure-button(@click="showNoGcodeMessage=false") OK
|
||||
|
||||
@@ -23,6 +25,7 @@ script#control-view-template(type="text/x-template")
|
||||
| The macro file
|
||||
strong {{state.selected}}
|
||||
| is being loaded.
|
||||
|
||||
div(slot="footer")
|
||||
button.pure-button(@click="macrosLoading=false") Cancel
|
||||
button.pure-button.pure-button-primary(@click="start_pause") Run
|
||||
@@ -32,313 +35,441 @@ script#control-view-template(type="text/x-template")
|
||||
div(slot="body")
|
||||
p It seems like the file you selected cannot be found. Try uploading again.
|
||||
div(slot="footer")
|
||||
button.pure-button.button-error(@click="GCodeNotFound=false") OK
|
||||
button.pure-button.button-error(@click="GCodeNotFound=false")
|
||||
| OK
|
||||
|
||||
message(:show.sync="show_probe_dialog")
|
||||
h3(slot="header") Choose probe type
|
||||
h3(slot="header") Probe Rotary
|
||||
div(slot="body")
|
||||
p Pick which probe routine to run.
|
||||
button.pure-button(:class="state['pw'] ? '' : 'load-on'", @click="showProbeDialog('xyz')") Probe XYZ
|
||||
button.pure-button(:class="state['pw'] ? '' : 'load-on'", @click="showProbeDialog('z')") Probe Z
|
||||
div(slot="footer")
|
||||
button.pure-button(@click="show_probe_dialog=false") Cancel
|
||||
|
||||
// ----- Main grid: jog | (DRO + status strip) -----
|
||||
.control-grid
|
||||
|
||||
// ===== JOG =====
|
||||
// Hidden only while a G-code program is running / paused /
|
||||
// stopping. Jogging / homing / MDI moves do not hide it.
|
||||
.jog-card(v-if="!is_program_executing")
|
||||
.jog-head
|
||||
.jog-title
|
||||
| Jog
|
||||
span.step-pre · step
|
||||
span.step {{jog_incr_amounts[display_units][jog_incr]}}#[span.unit {{metric ? 'mm' : 'in'}}]
|
||||
.step-seg
|
||||
button(:class="{active: jog_incr === 'fine'}", @click="jog_incr = 'fine'")
|
||||
| {{jog_incr_amounts[display_units].fine}}
|
||||
button(:class="{active: jog_incr === 'small'}", @click="jog_incr = 'small'")
|
||||
| {{jog_incr_amounts[display_units].small}}
|
||||
button(:class="{active: jog_incr === 'medium'}", @click="jog_incr = 'medium'")
|
||||
| {{jog_incr_amounts[display_units].medium}}
|
||||
button(:class="{active: jog_incr === 'large'}", @click="jog_incr = 'large'")
|
||||
| {{jog_incr_amounts[display_units].large}}
|
||||
table(style="table-layout: fixed; width: 100%;")
|
||||
tr(style="height: fit-content;")
|
||||
td(style="white-space: nowrap; width: 410px;", rowspan="2")
|
||||
table.control-buttons(table-layout="fixed")
|
||||
colgroup
|
||||
col(style="width:100px")
|
||||
col(style="width:100px")
|
||||
col(style="width:100px")
|
||||
col(style="width:100px")
|
||||
tr
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="jog_fn(-1,1,0,0)")
|
||||
.fa.fa-arrow-right(style="transform: rotate(-135deg);")
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="jog_fn(0,1,0,0)") Y+
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="jog_fn(1,1,0,0)")
|
||||
.fa.fa-arrow-right(style="transform: rotate(-45deg);")
|
||||
td(style="height:100px",align="center")
|
||||
button(,@click="jog_fn(0,0,1,0)") Z+
|
||||
tr
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="jog_fn(-1,0,0,0)") X-
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="showMoveToZeroDialog('xy')")
|
||||
| XY
|
||||
br
|
||||
| Origin
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="jog_fn(1,0,0,0)") X+
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="showMoveToZeroDialog('z')")
|
||||
| Z
|
||||
br
|
||||
| Origin
|
||||
tr
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="jog_fn(-1,-1,0,0)")
|
||||
.fa.fa-arrow-right(style="transform: rotate(135deg);")
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="jog_fn(0,-1,0,0)") Y-
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="jog_fn(1,-1,0,0)")
|
||||
.fa.fa-arrow-right(style="transform: rotate(45deg);")
|
||||
td(style="height:100px",align="center")
|
||||
button(@click="jog_fn(0,0,-1,0)") Z-
|
||||
tr
|
||||
td(style="height:100px",align="center")
|
||||
button(:style="getJogIncrStyle('fine')", @click="jog_incr = 'fine'")
|
||||
span {{jog_incr_amounts[display_units].fine}}#[span.jog-units {{metric ? 'mm' : 'in'}}]
|
||||
td(style="height:100px",align="center")
|
||||
button(:style="getJogIncrStyle('small')", @click="jog_incr = 'small'")
|
||||
span {{jog_incr_amounts[display_units].small}}#[span.jog-units {{metric ? 'mm' : 'in'}}]
|
||||
td(style="height:100px",align="center")
|
||||
button(:style="getJogIncrStyle('medium')", @click="jog_incr = 'medium'")
|
||||
span {{jog_incr_amounts[display_units].medium}}#[span.jog-units {{metric ? 'mm' : 'in'}}]
|
||||
td(style="height:100px",align="center")
|
||||
button(:style="getJogIncrStyle('large')", @click="jog_incr = 'large'")
|
||||
span {{jog_incr_amounts[display_units].large}}#[span.jog-units {{metric ? 'mm' : 'in'}}]
|
||||
|
||||
.jog-grid
|
||||
// Row 1
|
||||
button.jbtn.dir(@click="jog_fn(-1, 1, 0, 0)", title="X- Y+")
|
||||
.fa.fa-arrow-up.ico(style="transform: rotate(-45deg)")
|
||||
button.jbtn(@click="jog_fn(0, 1, 0, 0)") Y+
|
||||
button.jbtn.dir(@click="jog_fn(1, 1, 0, 0)", title="X+ Y+")
|
||||
.fa.fa-arrow-up.ico(style="transform: rotate(45deg)")
|
||||
button.jbtn(@click="jog_fn(0, 0, 1, 0)") Z+
|
||||
tr(v-if="state['2an'] == 3")
|
||||
td(style="height:100px", align="center", colspan="1")
|
||||
button(@click="show_probe_dialog=true")
|
||||
| Probe
|
||||
br
|
||||
| Rotary
|
||||
|
||||
// Row 2
|
||||
button.jbtn(@click="jog_fn(-1, 0, 0, 0)") X−
|
||||
button.jbtn(@click="showMoveToZeroDialog('xy')")
|
||||
span.lbl XY
|
||||
span Origin
|
||||
button.jbtn(@click="jog_fn(1, 0, 0, 0)") X+
|
||||
button.jbtn(@click="showMoveToZeroDialog('z')")
|
||||
span.lbl Z
|
||||
span Origin
|
||||
td(style="height:100px", align="center", colspan="1")
|
||||
button(@click="jog_fn(0,0,0,-1)", style="display: grid;justify-content: center;align-items: center;padding: 14px;")
|
||||
| A-
|
||||
.fa.fa-rotate-left
|
||||
|
||||
// Row 3
|
||||
button.jbtn.dir(@click="jog_fn(-1, -1, 0, 0)", title="X- Y-")
|
||||
.fa.fa-arrow-down.ico(style="transform: rotate(45deg)")
|
||||
button.jbtn(@click="jog_fn(0, -1, 0, 0)") Y−
|
||||
button.jbtn.dir(@click="jog_fn(1, -1, 0, 0)", title="X+ Y-")
|
||||
.fa.fa-arrow-down.ico(style="transform: rotate(-45deg)")
|
||||
button.jbtn(@click="jog_fn(0, 0, -1, 0)") Z−
|
||||
td(style="height:100px", align="center", colspan="1")
|
||||
button(@click="showMoveToZeroDialog('a')")
|
||||
| A
|
||||
br
|
||||
| Origin
|
||||
|
||||
// Row 4 — A axis (the auxcnc-driven external axis) when enabled.
|
||||
// A- | A+ | Probe XYZ | Probe Z
|
||||
// "Home A" lives in the DRO table's actions column on the
|
||||
// right, so it doesn't need a tile here. The legacy w.enabled
|
||||
// gate is kept so older installs (where the auxcnc axis still
|
||||
// appears as W via the side-channel) keep working.
|
||||
template(v-if="w.enabled || a.enabled")
|
||||
button.jbtn(@click="aux_jog_incr(-1)",
|
||||
:disabled="!(w.enabled || a.enabled)")
|
||||
.fa.fa-arrow-down.ico
|
||||
span.lbl A−
|
||||
button.jbtn(@click="aux_jog_incr(+1)",
|
||||
:disabled="!(w.enabled || a.enabled)")
|
||||
.fa.fa-arrow-up.ico
|
||||
span.lbl A+
|
||||
button.jbtn(@click="showProbeDialog('xyz')",
|
||||
:class="{'load-on': !state['pw']}")
|
||||
.fa.fa-bullseye.ico
|
||||
span.lbl Probe XYZ
|
||||
button.jbtn(@click="showProbeDialog('z')",
|
||||
:class="{'load-on': !state['pw']}")
|
||||
.fa.fa-bullseye.ico
|
||||
span.lbl Probe Z
|
||||
td(style="height:100px", align="center", colspan="1")
|
||||
button(@click="jog_fn(0,0,0,1)", style="display: grid;justify-content: center;align-items: center;padding: 14px;")
|
||||
| A+
|
||||
.fa.fa-rotate-right
|
||||
|
||||
// Row 4 — A axis (rotary) when no W and rotary is enabled
|
||||
// (Vue 1 has no v-else-if; we negate w.enabled explicitly.)
|
||||
template(v-if="!w.enabled && state['2an'] == 3")
|
||||
button.jbtn.dir(@click="jog_fn(0, 0, 0, -1)")
|
||||
.fa.fa-rotate-left.ico
|
||||
span.lbl A−
|
||||
button.jbtn.ghost(@click="showMoveToZeroDialog('a')")
|
||||
span.lbl A
|
||||
span Origin
|
||||
button.jbtn.dir(@click="jog_fn(0, 0, 0, 1)")
|
||||
.fa.fa-rotate-right.ico
|
||||
span.lbl A+
|
||||
button.jbtn(@click="show_probe_dialog=true",
|
||||
:class="{'load-on': !state['pw']}")
|
||||
.fa.fa-bullseye.ico
|
||||
span.lbl Probe
|
||||
tr(v-else)
|
||||
td(style="height:100px", align="center", colspan="2")
|
||||
button(:class="state['pw'] ? '' : 'load-on'",
|
||||
style="height:100px;width:200px",
|
||||
@click="showProbeDialog('xyz')")
|
||||
| Probe XYZ
|
||||
|
||||
// Row 4 — fallback probe / zero / home shortcuts
|
||||
template(v-if="!w.enabled && state['2an'] != 3")
|
||||
button.jbtn(@click="showProbeDialog('xyz')",
|
||||
:class="{'load-on': !state['pw']}")
|
||||
.fa.fa-bullseye.ico
|
||||
span.lbl Probe XYZ
|
||||
button.jbtn.ghost(@click="zero()", :disabled="!can_set_axis")
|
||||
.fa.fa-location-dot.ico
|
||||
span.lbl Zero all
|
||||
button.jbtn(@click="showProbeDialog('z')",
|
||||
:class="{'load-on': !state['pw']}")
|
||||
.fa.fa-bullseye.ico
|
||||
span.lbl Probe Z
|
||||
button.jbtn.ghost(@click="home()")
|
||||
.fa.fa-home.ico
|
||||
span.lbl Home all
|
||||
td(style="height:100px", align="center", colspan="2")
|
||||
button(:class="state['pw'] ? '' : 'load-on'",
|
||||
style="height:100px;width:200px",
|
||||
@click="showProbeDialog('z')")
|
||||
| Probe Z
|
||||
|
||||
// ===== NOW RUNNING (replaces jog grid only while a G-code
|
||||
// program is actually executing). Jogging is excluded.
|
||||
.running-panel(v-if="is_program_executing")
|
||||
.running-top
|
||||
div
|
||||
.running-file
|
||||
.fa.fa-file-code
|
||||
span(v-if="state.selected") {{state.selected}}
|
||||
span(v-else) {{(mach_state || 'BUSY').toLowerCase()}}
|
||||
.running-meta
|
||||
span(v-if="is_running") {{ (mach_state || 'RUNNING').toLowerCase() }}
|
||||
span(v-if="is_holding") paused
|
||||
span(v-if="is_holding && pause_reason") · {{pause_reason}}
|
||||
span(v-if="is_stopping") stopping
|
||||
span(v-if="toolpath.lines") · line {{state.line || 0 | number}} / {{toolpath.lines | number}}
|
||||
span(v-if="plan_time_remaining") · ETA {{plan_time_remaining | time}}
|
||||
.running-pct
|
||||
| {{((progress || 0) * 100) | fixed 0}}
|
||||
span %
|
||||
.running-progress
|
||||
div(:style="'width:' + ((progress || 0) * 100) + '%'")
|
||||
.running-stats
|
||||
.running-stat
|
||||
.lbl Velocity
|
||||
.val
|
||||
unit-value(:value="state.v", precision="2", unit="", iunit="", scale="0.0254")
|
||||
| {{metric ? 'm/min' : 'IPM'}}
|
||||
.running-stat
|
||||
.lbl Feed
|
||||
.val
|
||||
unit-value(:value="state.feed", precision="0", unit="", iunit="")
|
||||
| {{metric ? 'mm/min' : 'IPM'}}
|
||||
.running-stat
|
||||
.lbl Spindle
|
||||
.val
|
||||
| {{(state.speed || 0) | fixed 0}}
|
||||
span(v-if="state.s != null && !isNaN(state.s)") ({{state.s | fixed 0}})
|
||||
| RPM
|
||||
.running-stat
|
||||
.lbl Tool
|
||||
.val T{{state.tool || 0}}
|
||||
.running-row
|
||||
// While RUNNING the primary action is Pause; while HOLDING / STOPPING it's Resume.
|
||||
button.tx-btn.pause(v-if="is_running", @click="pause()")
|
||||
.fa.fa-pause
|
||||
span.lbl PAUSE
|
||||
button.tx-btn.run(v-if="is_holding || is_stopping", @click="unpause()")
|
||||
.fa.fa-play
|
||||
span.lbl RESUME
|
||||
button.tx-btn.stop(@click="stop()")
|
||||
.fa.fa-stop
|
||||
span.lbl STOP
|
||||
button.tx-btn.step(v-if="is_holding", @click="step()")
|
||||
.fa.fa-forward-step
|
||||
span.lbl STEP
|
||||
td(style="vertical-align: top;")
|
||||
table.axes
|
||||
tr(:class="axes.klass")
|
||||
th.name Axis
|
||||
th.position Position
|
||||
th.absolute Absolute
|
||||
th.offset Offset
|
||||
th.state State
|
||||
th.tstate Toolpath
|
||||
th.actions
|
||||
button.pure-button(disabled, style="height:60px;width:60px;display:none;")
|
||||
|
||||
// ===== DRO + status strip =====
|
||||
.right-col
|
||||
button.pure-button(:disabled="!can_set_axis",
|
||||
title="Zero all axis offsets.", @click="zero()",style="height:60px;width:60px")
|
||||
.fa.fa-map-marker
|
||||
|
||||
.dro-card
|
||||
.dro-head
|
||||
div Axis
|
||||
div Position
|
||||
div Absolute
|
||||
div Offset
|
||||
.actions-cell
|
||||
// Master Home All. Each row's Actions cell has a per-axis
|
||||
// home button; this header-level button homes every
|
||||
// enabled axis (legacy Onefinity behavior). Auto-includes
|
||||
// the auxiliary A axis when it is enabled.
|
||||
button.icon-btn(:disabled="!is_idle",
|
||||
title="Home all axes.", @click="home_all()")
|
||||
.fa.fa-house-chimney
|
||||
button.pure-button(title="Home all axes.", @click="home()",
|
||||
:disabled="!is_idle",style="height:60px;width:60px")
|
||||
.fa.fa-home
|
||||
|
||||
// Per-axis rows — keep unit-value + bindings from axis-vars
|
||||
each axis in 'xyzabc'
|
||||
.dro-row(:class=`${axis}.klass + ' ' + ${axis}.tklass`,
|
||||
v-if=`${axis}.enabled`,
|
||||
:title=`${axis}.toolmsg ? (${axis}.title + ' — ' + ${axis}.toolmsg) : ${axis}.title`)
|
||||
.dro-axis(:class=`'axis-' + '${axis}'`)= axis.toUpperCase()
|
||||
.dro-pos: unit-value(:value=`${axis}.pos`, precision=4)
|
||||
.dro-sec: unit-value(:value=`${axis}.abs`, precision=3)
|
||||
.dro-sec: unit-value(:value=`${axis}.off`, precision=3)
|
||||
.actions-cell
|
||||
button.icon-btn(:disabled="!can_set_axis",
|
||||
:title=`'Set ${axis.toUpperCase()} axis position.'`,
|
||||
@click=`show_set_position('${axis}')`)
|
||||
.fa.fa-gear
|
||||
button.icon-btn(:class=`${axis}.tklass.indexOf('error') !== -1 ? 'state-red' : (${axis}.tklass.indexOf('warn') !== -1 ? 'state-amber' : 'state-green')`,
|
||||
:disabled="!can_set_axis",
|
||||
:title=`${axis}.toolmsg || ('Zero ${axis.toUpperCase()} axis offset.')`,
|
||||
@click=`zero('${axis}')`)
|
||||
.fa.fa-location-dot
|
||||
button.icon-btn(:class=`${axis}.klass.indexOf('error') !== -1 ? 'state-red' : (${axis}.homed ? 'state-green' : 'state-amber')`,
|
||||
:disabled="!is_idle",
|
||||
:title=`${axis}.title`,
|
||||
@click=`home('${axis}')`)
|
||||
tr.axis(:class=`${axis}.klass`, v-if=`${axis}.enabled`,
|
||||
:title=`${axis}.title`)
|
||||
th.name= axis
|
||||
td.position: unit-value(:value=`${axis}.pos`, precision=4)
|
||||
td.absolute: unit-value(:value=`${axis}.abs`, precision=3)
|
||||
td.offset: unit-value(:value=`${axis}.off`, precision=3)
|
||||
td.state
|
||||
.fa(:class=`'fa-' + ${axis}.icon`)
|
||||
| {{#{axis}.state}}
|
||||
td.tstate(:class=`${axis}.tklass`, :title=`${axis}.toolmsg`, @click=`showToolpathMessageDialog('${axis}')`)
|
||||
.fa(:class=`'fa-' + ${axis}.ticon`)
|
||||
| {{#{axis}.tstate}}
|
||||
|
||||
th.actions
|
||||
button.pure-button(:disabled="!can_set_axis",
|
||||
title=`Set {{'${axis}' | upper}} axis position.`,
|
||||
@click=`show_set_position('${axis}')`, style="height:60px;width:60px")
|
||||
.fa.fa-cog
|
||||
|
||||
button.pure-button(:disabled="!can_set_axis",
|
||||
title=`Zero {{'${axis}' | upper}} axis offset.`,
|
||||
@click=`zero('${axis}')`, style="height:60px;width:60px")
|
||||
.fa.fa-map-marker
|
||||
|
||||
button.pure-button(:disabled="!is_idle", @click=`home('${axis}')`,
|
||||
title=`Home {{'${axis}' | upper}} axis.`, style="height:60px;width:60px")
|
||||
.fa.fa-home
|
||||
|
||||
// Legacy auxiliary-axis row - shown only when the auxcnc stepper is
|
||||
// *not* exposed as a virtual A axis. After v2 the standard
|
||||
// A row above renders this axis natively (with full offset
|
||||
// + set-position support); this row only appears on legacy
|
||||
// installs that haven't migrated yet.
|
||||
.dro-row(:class="w.klass + ' ' + w.tklass",
|
||||
v-if="w.enabled && !a.enabled",
|
||||
:title="w.title")
|
||||
.dro-axis.axis-w W
|
||||
.dro-pos: unit-value(:value="w.pos", precision=4)
|
||||
.dro-sec: unit-value(:value="w.abs", precision=3)
|
||||
.dro-sec —
|
||||
.actions-cell
|
||||
button.icon-btn(disabled, style="visibility:hidden")
|
||||
.fa.fa-gear
|
||||
button.icon-btn(disabled, style="visibility:hidden")
|
||||
.fa.fa-location-dot
|
||||
button.icon-btn(:class="w.homed ? 'state-green' : 'state-amber'",
|
||||
:disabled="!w.enabled",
|
||||
title="Home auxiliary axis.", @click="aux_home()")
|
||||
.fa.fa-home
|
||||
tr(style="vertical-align: top;")
|
||||
td
|
||||
table(width="100%")
|
||||
tr
|
||||
td(style="text-align:center")
|
||||
table.info
|
||||
tr
|
||||
th State
|
||||
td(:class="{attention: highlight_state}") {{mach_state}}
|
||||
|
||||
// ----- Status strip -----
|
||||
.status-strip
|
||||
.stat-card
|
||||
.stat-label State
|
||||
.stat-val(:class="state_kpi_class") {{mach_state || '--'}}
|
||||
.stat-sub(v-if="message") {{message.replace(/^#/, '')}}
|
||||
.stat-sub(v-else) No alerts
|
||||
tr
|
||||
th Message
|
||||
td.message(:class="{attention: highlight_state}")
|
||||
| {{message.replace(/^#/, '')}}
|
||||
|
||||
.stat-card
|
||||
.stat-label Velocity / Feed
|
||||
.stat-val
|
||||
tr
|
||||
th Display Units
|
||||
td.units
|
||||
select(v-model="display_units")
|
||||
option(value="METRIC") METRIC
|
||||
option(value="IMPERIAL") IMPERIAL
|
||||
|
||||
tr(title="Active tool")
|
||||
th Tool
|
||||
td {{state.tool || 0}}
|
||||
|
||||
td
|
||||
table.info
|
||||
tr(
|
||||
title="Current velocity in {{metric ? 'meters' : 'inches'}} per minute")
|
||||
th Velocity
|
||||
td
|
||||
unit-value(:value="state.v", precision="2", unit="", iunit="",
|
||||
scale="0.0254")
|
||||
| ·
|
||||
unit-value(:value="state.feed", precision="0", unit="", iunit="")
|
||||
.stat-sub {{metric ? 'm/min · mm/min' : 'IPM · IPM'}}
|
||||
| {{metric ? ' m/min' : ' IPM'}}
|
||||
|
||||
.stat-card.stat-tappable(@click="overrides_open = !overrides_open",
|
||||
:class="{open: overrides_open}", title="Tap to adjust feed/spindle override")
|
||||
.stat-label Spindle
|
||||
.stat-val
|
||||
| {{(state.speed || 0) | fixed 0}}
|
||||
span(v-if="state.s != null && !isNaN(state.s)") ({{state.s | fixed 0}})
|
||||
.stat-sub
|
||||
| RPM (commanded / actual)
|
||||
.fa.fa-sliders.tap-hint(title="Open override drawer")
|
||||
tr(title="Programmed feed rate.")
|
||||
th Feed
|
||||
td
|
||||
unit-value(:value="state.feed", precision="2", unit="", iunit="")
|
||||
| {{metric ? ' mm/min' : ' IPM'}}
|
||||
|
||||
.stat-card
|
||||
.stat-label Job
|
||||
.stat-val
|
||||
tr(title="Programed and actual speed.")
|
||||
th Speed
|
||||
td
|
||||
| {{state.speed || 0 | fixed 0}}
|
||||
span(v-if="!isNaN(state.s)") ({{state.s | fixed 0}})
|
||||
= ' RPM'
|
||||
|
||||
tr(title="Load switch states.")
|
||||
th Loads
|
||||
td
|
||||
span(:class="state['1oa'] ? 'load-on' : ''")
|
||||
| 1:{{state['1oa'] ? 'On' : 'Off'}}
|
||||
|
|
||||
span(:class="state['2oa'] ? 'load-on' : ''")
|
||||
| 2:{{state['2oa'] ? 'On' : 'Off'}}
|
||||
|
||||
td
|
||||
table.info
|
||||
tr
|
||||
th Remaining
|
||||
td(title="Total run time (days:hours:mins:secs)").
|
||||
#[span(v-if="plan_time_remaining") {{plan_time_remaining | time}} of]
|
||||
{{toolpath.time | time}}
|
||||
|
||||
tr
|
||||
th ETA
|
||||
td.eta {{eta}}
|
||||
|
||||
tr
|
||||
th Line
|
||||
td
|
||||
| {{0 <= state.line ? state.line : 0 | number}}
|
||||
span(v-if="toolpath.lines")
|
||||
| / {{toolpath.lines | number}}
|
||||
.stat-sub(v-if="plan_time_remaining || toolpath.time")
|
||||
| Line · {{plan_time_remaining ? (plan_time_remaining | time) : (toolpath.time | time)}} remaining
|
||||
.stat-sub(v-else) Line · ETA --
|
||||
| of {{toolpath.lines | number}}
|
||||
|
||||
// ----- Macro row (slice 0..7); full list lives in Settings → Macros -----
|
||||
// The colored left stripe (.has-color) is suppressed for white,
|
||||
// near-white and other default placeholder colors so unconfigured
|
||||
// macros render as clean slate tiles instead of looking lopsided.
|
||||
.macro-row(v-if="state.macros && state.macros.length")
|
||||
button.macro-btn(v-for="(index, macros) in state.macros.slice(0, 8)",
|
||||
title="Click to run macro",
|
||||
@click="run_macro(index)",
|
||||
:disabled="!is_ready",
|
||||
:class="{'has-color': has_macro_color(macros)}",
|
||||
:style="has_macro_color(macros) ? {borderLeftColor: macros.color} : {}")
|
||||
span.mnum {{index + 1}}
|
||||
span.mname {{macros.name || ('Macro ' + (index + 1))}}
|
||||
tr
|
||||
th Progress
|
||||
td.progress
|
||||
label {{(progress || 0) | percent}}
|
||||
.bar(:style="'width:' + (progress || 0) * 100 + '%'")
|
||||
|
||||
// ----- Override drawer (anchored to bottom; toggled by Spindle KPI tile) -----
|
||||
.override-drawer(:class="{open: overrides_open}")
|
||||
.od-head
|
||||
.od-title
|
||||
.fa.fa-sliders
|
||||
| Overrides
|
||||
button.od-close(@click="overrides_open = false") ✕
|
||||
.od-body
|
||||
.od-row
|
||||
.macros-div(class="present")
|
||||
button.macros-button(title="Click to run Macros",v-for="(index,macros) in state.macros",
|
||||
@click="run_macro(index)",:disabled="!is_ready",v-bind:style="{ backgroundColor: macros.color }") {{macros.name}}
|
||||
|
||||
.tabs
|
||||
|
||||
input#tab1(type="radio", name="tabs",checked="" @click="tab = 'auto'")
|
||||
label(for="tab1", title="Run GCode programs",style="height:50px;width:100px") Auto
|
||||
|
||||
input#tab2(type="radio", name="tabs", @click="tab = 'mdi'")
|
||||
label(for="tab2", title="Manual GCode entry",style="height:50px;width:100px") MDI
|
||||
|
||||
input#tab3(type="radio", name="tabs", @click="tab = 'messages'")
|
||||
label(for="tab3",style="height:50px;width:100px") Messages
|
||||
|
||||
input#tab4(type="radio", name="tabs", @click="tab = 'indicators'")
|
||||
label(for="tab4",style="height:50px;width:100px") Indicators
|
||||
|
||||
|
||||
|
||||
|
||||
section#content1.tab-content.pure-form
|
||||
.toolbar.pure-control-group
|
||||
button.pure-button(:class="{'attention': is_holding}",
|
||||
title="{{is_running ? 'Pause' : 'Start'}} program.",
|
||||
@click="start_pause", :disabled="!state.selected",
|
||||
style="height:100px;width:100px;font-weight:normal")
|
||||
img(v-if="is_running" src="images/pause_gcode.png" style="height: 55px;")
|
||||
img(v-else src="images/play_gcode.png" style="height: 55px;")
|
||||
|
||||
button.pure-button(title="Stop program.", @click="stop", style="height:100px;width:100px;font-weight:normal")
|
||||
img(src="images/stop.png" style="height: 55px;")
|
||||
|
||||
button.pure-button(title="Pause program at next optional stop (M1).",
|
||||
@click="optional_pause", v-if="false", style="height:100px;width:100px;font-weight:normal")
|
||||
.fa.fa-stop-circle-o
|
||||
|
||||
message(:show.sync="uploading_files")
|
||||
h3(slot="header") Files uploading
|
||||
div(slot="body")
|
||||
h3 Please wait...
|
||||
p
|
||||
p The files are currently being uploaded.
|
||||
p Do not close the window.
|
||||
div(slot="footer")
|
||||
|
||||
button.pure-button(title="Execute one program step.", @click="step",
|
||||
:disabled="(!is_ready && !is_holding) || !state.selected",
|
||||
v-if="false", style="height:100px;width:100px;font-weight:normal")
|
||||
.fa.fa-step-forward
|
||||
|
||||
button.pure-button(title="Upload a new GCode folder.", @click="open_folder",
|
||||
:disabled="!is_ready",style="height:100px;width:100px;font-weight:normal")
|
||||
img(src="images/upload_folder.png" style="height: 65px;")
|
||||
|
||||
form.gcode-folder-input.file-upload
|
||||
input#folderInput(type="file", @change="upload_folder", :disabled="!is_ready",
|
||||
webkitdirectory, directory)
|
||||
|
||||
button.pure-button(title="Upload a new GCode program.", @click="open_file",
|
||||
:disabled="!is_ready",style="height:100px;width:100px;font-weight:normal")
|
||||
img(src="images/upload_gcode.png" style="height: 65px;")
|
||||
|
||||
form.gcode-file-input.file-upload
|
||||
input(type="file", @change="upload_file", :disabled="!is_ready",
|
||||
accept=".nc,.ngc,.gcode,.gc", multiple)
|
||||
|
||||
a(:disabled="!state.selected", download,
|
||||
:href="'/api/file/' + state.selected",
|
||||
title="Download the selected GCode program.")
|
||||
button.pure-button(:disabled="!state.selected", style="height:100px;width:100px")
|
||||
img(src="images/download_gcode.png" style="height: 65px;")
|
||||
|
||||
button.pure-button(title="Delete current GCode program.",
|
||||
@click="deleteGCode = true",
|
||||
:disabled="!state.selected || !is_ready",style="height:100px;width:100px;font-weight:normal")
|
||||
img(src="images/delete_gcode.png" style="height: 55px;")
|
||||
|
||||
message.error-message(:show.sync="deleteGCode")
|
||||
h3(slot="header") Select files to delete:
|
||||
div(slot="body")
|
||||
input.search-bar(type="text", v-model="search_query", placeholder="Search Files...")
|
||||
.container
|
||||
.folders
|
||||
h3 Folders
|
||||
div(v-for="(index, folder) in state.gcode_list", :key="index", @click="populateFiles(index)",
|
||||
class="folder-item", :class="{ selected: index === selected_folder_index }") {{ folder.name }}
|
||||
.files
|
||||
h3 Files
|
||||
label.file-item(v-for="item in gcode_filtered_files" :key="item")
|
||||
input(type="checkbox" :value="item" v-model="selected_items_to_delete")
|
||||
| {{ item }}
|
||||
div(slot="footer")
|
||||
button.pure-button(@click="cancel_delete",style="height:50px") Cancel
|
||||
//- button.pure-button.button-error(@click="delete_all_except_macros")
|
||||
//- .fa.fa-trash
|
||||
//- | All
|
||||
button.pure-button.button-success(@click="delete_current",style="height:50px")
|
||||
.fa.fa-trash
|
||||
| Selected
|
||||
|
||||
.drop-down-container
|
||||
message(:show.sync="create_folder")
|
||||
h3(slot="header") Enter folder name:
|
||||
div(slot="body")
|
||||
input.input-name(type="text",minlength='1',maxlength='15',style ="margin-top:1rem;margin-bottom:2rem;",
|
||||
id="folder-name" ,v-model="folder_name",@keypress="edited_folder_name")
|
||||
|
||||
div(slot="footer")
|
||||
button.pure-button(@click="cancel_new_folder") Cancel
|
||||
button.pure-button.button-success(@click="create_new_folder",:disabled="!edited")
|
||||
| Create
|
||||
|
||||
message(:show.sync="confirmDelete")
|
||||
h3(slot="header") Delete Folder?
|
||||
div(slot="body")
|
||||
p Are you sure to delete the folder?
|
||||
|
||||
div(slot="footer")
|
||||
button.pure-button(@click="confirmDelete=false") Cancel
|
||||
button.pure-button.button-error(@click="delete_folder") Folder only
|
||||
button.pure-button.button-success(@click="delete_folder_and_files") Folder and files
|
||||
|
||||
button.pure-button(title="Create a new folder.", @click="create_folder=true",
|
||||
:disabled="!is_ready",style="height:100%")
|
||||
| Create Folder
|
||||
|
||||
button.pure-button(title="Delete a folder.", @click="confirmDelete=true",
|
||||
:disabled="!is_ready",style="height:100%;margin-left:5px")
|
||||
| Delete Folder
|
||||
|
||||
select(title="Select previously uploaded GCode folder.",
|
||||
v-model="state.folder", @change="reset_gcode", :disabled="!is_ready",
|
||||
style="max-width:100%;margin-left:5px")
|
||||
option( selected='' value='default') Default folder
|
||||
option(v-for="file in gcode_folders", :value="file") {{file}}
|
||||
|
||||
select(title="Select previously uploaded GCode programs.",
|
||||
v-model="state.selected", @change="load", :disabled="!is_ready",
|
||||
style="max-width:300px;margin-left:5px")
|
||||
option(v-for="file in gcode_files", :value="file") {{file}}
|
||||
|
||||
button.pure-button(@click="toggle_sorting", :disabled="!is_ready",
|
||||
style="height:75%")
|
||||
| {{files_sortby}}
|
||||
|
||||
.progress(v-if="toolpath_progress && toolpath_progress < 1",
|
||||
title="Simulating GCode to check for errors, calculate ETA and " +
|
||||
"generate 3D view. You can run GCode before the simulation " +
|
||||
"finishes.")
|
||||
div(:style="'width:' + (toolpath_progress || 0) * 100 + '%'")
|
||||
label Simulating {{(toolpath_progress || 0) | percent}}
|
||||
|
||||
path-viewer(:toolpath="toolpath", :state="state", :config="config")
|
||||
gcode-viewer
|
||||
|
||||
section#content2.tab-content
|
||||
.mdi.pure-form(title="Manual GCode entry.")
|
||||
button.pure-button(:disabled="!can_mdi",
|
||||
:class="{'attention': is_holding}",
|
||||
title="{{is_running ? 'Pause' : 'Start'}} command.",
|
||||
@click="mdi_start_pause",style="height:100px;width:100px")
|
||||
.fa(:class="is_running ? 'fa-pause' : 'fa-play'")
|
||||
|
||||
button.pure-button(title="Stop command.", @click="stop",style="height:100px;width:100px")
|
||||
.fa.fa-stop
|
||||
|
||||
input(v-model="mdi", :disabled="!can_mdi", @keyup.enter="submit_mdi")
|
||||
|
||||
div
|
||||
em The machine is currently operating in #[strong {{mach_units}}] units. Use G20/G21 to switch units.
|
||||
|
||||
.history(:class="{placeholder: !history}")
|
||||
span(v-if="!history.length") MDI history displays here.
|
||||
ul
|
||||
li(v-for="item in history", @click="load_history($index)",
|
||||
track-by="$index")
|
||||
| {{item}}
|
||||
|
||||
section#content3.tab-content
|
||||
console
|
||||
|
||||
section#content4.tab-content
|
||||
indicators(:state="state", :template="template")
|
||||
|
||||
.override(title="Feed rate override.")
|
||||
label Feed
|
||||
input(type="range", min="0", max="2", step="0.01",
|
||||
v-model="feed_override", @change="override_feed")
|
||||
.od-val {{feed_override | percent 0}}
|
||||
button.od-reset(@click="feed_override = 1; override_feed()") Reset 100%
|
||||
.od-row
|
||||
label Spindle
|
||||
span.percent {{feed_override | percent 0}}
|
||||
|
||||
.override(title="Spindle speed override.")
|
||||
label Speed
|
||||
input(type="range", min="0", max="2", step="0.01",
|
||||
v-model="speed_override", @change="override_speed")
|
||||
.od-val {{speed_override | percent 0}}
|
||||
button.od-reset(@click="speed_override = 1; override_speed()") Reset 100%
|
||||
span.percent {{speed_override | percent 0}}
|
||||
|
||||
|
||||
|
||||
@@ -2,8 +2,6 @@ script#estop-template(type="text/x-template")
|
||||
svg(version="1.1", xmlns:svg="http://www.w3.org/2000/svg",
|
||||
xmlns="http://www.w3.org/2000/svg",
|
||||
xmlns:xlink="http://www.w3.org/1999/xlink",
|
||||
viewBox="0 0 130 130",
|
||||
preserveAspectRatio="xMidYMid meet",
|
||||
width="130", height="130")
|
||||
defs
|
||||
path#text-path-1(d="m 73.735,673.129 c 0,55.107 44.673,99.780 99.780,99.780 55.107,0 99.780,-44.673 99.780,-99.780 0,-55.107 -44.673,-99.780 -99.780,-99.780 -55.107,0 -99.780,44.673 -99.780,99.780 z")
|
||||
|
||||
@@ -6,11 +6,11 @@ script#indicators-template(type="text/x-template")
|
||||
|
||||
tr
|
||||
td
|
||||
.fa.fa-circle-plus.io
|
||||
.fa.fa-plus-circle.io
|
||||
th Hi/+3.3v
|
||||
th.separator
|
||||
td
|
||||
.fa.fa-circle-minus.io
|
||||
.fa.fa-minus-circle.io
|
||||
th Lo/Gnd
|
||||
th.separator
|
||||
td
|
||||
@@ -22,7 +22,7 @@ script#indicators-template(type="text/x-template")
|
||||
th Inactive
|
||||
th.separator
|
||||
td
|
||||
.far.fa-circle.io
|
||||
.fa.fa-circle-o.io
|
||||
th Tristated/Disabled
|
||||
|
||||
table.inputs
|
||||
@@ -169,14 +169,14 @@ script#indicators-template(type="text/x-template")
|
||||
|
||||
tr
|
||||
th Motor
|
||||
th(title="Overtemperature fault"): .fa.fa-temperature-full
|
||||
th(title="Overtemperature fault"): .fa.fa-thermometer-full
|
||||
th(title="Overcurrent motor channel A") A #[.fa.fa-bolt]
|
||||
th(title="Predriver fault motor channel A")
|
||||
| A #[.fa.fa-triangle-exclamation]
|
||||
| A #[.fa.fa-exclamation-triangle]
|
||||
th(title="Overcurrent motor channel B") B #[.fa.fa-bolt]
|
||||
th(title="Predriver fault motor channel B")
|
||||
| B #[.fa.fa-triangle-exclamation]
|
||||
th(title="Driver communication failure"): .fa.fa-handshake
|
||||
| B #[.fa.fa-exclamation-triangle]
|
||||
th(title="Driver communication failure"): .fa.fa-handshake-o
|
||||
th(title="Reset all motor flags")
|
||||
.fa.fa-eraser(@click="motor_reset()")
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ script#path-viewer-template(type="text/x-template")
|
||||
.path-viewer-toolbar
|
||||
.tool-button(title="Toggle path view size.",
|
||||
@click="small = !small", :class="{active: !small}")
|
||||
.fa.fa-up-down-left-right
|
||||
.fa.fa-arrows-alt
|
||||
|
||||
.tool-button(@click="showTool = !showTool", :class="{active: showTool}",
|
||||
title="Show/hide tool.")
|
||||
|
||||
@@ -1,142 +0,0 @@
|
||||
script#program-view-template(type="text/x-template")
|
||||
.program-page
|
||||
|
||||
// ----- Modal dialogs -----
|
||||
message(:show.sync="showGcodeMessage")
|
||||
h3(slot="header") Processing New File
|
||||
div(slot="body")
|
||||
h3 Please wait..
|
||||
p Simulating GCode to check for errors, calculate ETA and generate 3D view.
|
||||
div(slot="footer")
|
||||
label Simulating {{(toolpath_progress || 0) | percent}}
|
||||
|
||||
message(:show.sync="GCodeNotFound")
|
||||
h3(slot="header") File not found
|
||||
div(slot="body")
|
||||
p It seems like the file you selected cannot be found. Try uploading again.
|
||||
div(slot="footer")
|
||||
button.pure-button.button-error(@click="GCodeNotFound=false") OK
|
||||
|
||||
message(:show.sync="uploading_files")
|
||||
h3(slot="header") Files uploading
|
||||
div(slot="body")
|
||||
h3 Please wait...
|
||||
p
|
||||
p The files are currently being uploaded.
|
||||
p Do not close the window.
|
||||
div(slot="footer")
|
||||
|
||||
message.error-message(:show.sync="deleteGCode")
|
||||
h3(slot="header") Select files to delete:
|
||||
div(slot="body")
|
||||
input.search-bar(type="text", v-model="search_query", placeholder="Search Files...")
|
||||
.container
|
||||
.folders
|
||||
h3 Folders
|
||||
div(v-for="(index, folder) in state.gcode_list", :key="index",
|
||||
@click="populateFiles(index)",
|
||||
class="folder-item",
|
||||
:class="{ selected: index === selected_folder_index }") {{ folder.name }}
|
||||
.files
|
||||
h3 Files
|
||||
label.file-item(v-for="item in gcode_filtered_files", :key="item")
|
||||
input(type="checkbox", :value="item", v-model="selected_items_to_delete")
|
||||
| {{ item }}
|
||||
div(slot="footer")
|
||||
button.pure-button(@click="cancel_delete", style="height:50px") Cancel
|
||||
button.pure-button.button-success(@click="delete_current", style="height:50px")
|
||||
.fa.fa-trash
|
||||
| Selected
|
||||
|
||||
message(:show.sync="create_folder")
|
||||
h3(slot="header") Enter folder name:
|
||||
div(slot="body")
|
||||
input.input-name(type="text", minlength="1", maxlength="15",
|
||||
style="margin-top:1rem;margin-bottom:2rem;",
|
||||
id="folder-name", v-model="folder_name", @keypress="edited_folder_name")
|
||||
div(slot="footer")
|
||||
button.pure-button(@click="cancel_new_folder") Cancel
|
||||
button.pure-button.button-success(@click="create_new_folder", :disabled="!edited") Create
|
||||
|
||||
message(:show.sync="confirmDelete")
|
||||
h3(slot="header") Delete Folder?
|
||||
div(slot="body")
|
||||
p Are you sure to delete the folder?
|
||||
div(slot="footer")
|
||||
button.pure-button(@click="confirmDelete=false") Cancel
|
||||
button.pure-button.button-error(@click="delete_folder") Folder only
|
||||
button.pure-button.button-success(@click="delete_folder_and_files") Folder and files
|
||||
|
||||
.program-card
|
||||
|
||||
// Action bar (RUN / STOP / Upload / Download / Delete)
|
||||
.action-bar
|
||||
button.action-btn.run(:class="{'attention': is_holding}",
|
||||
@click="start_pause", :disabled="!state.selected",
|
||||
:title="is_running ? 'Pause program.' : 'Start program.'")
|
||||
.fa.fa-play.ico(v-if="!is_running")
|
||||
.fa.fa-pause.ico(v-else)
|
||||
span {{is_running ? 'PAUSE' : 'RUN'}}
|
||||
button.action-btn.stop(@click="stop", title="Stop program.")
|
||||
.fa.fa-stop.ico
|
||||
span STOP
|
||||
button.action-btn(@click="open_folder", :disabled="!is_ready",
|
||||
title="Upload a new GCode folder.")
|
||||
.fa.fa-folder-plus.ico
|
||||
span UPLOAD FOLDER
|
||||
form.gcode-folder-input.file-upload
|
||||
input#folderInput(type="file", @change="upload_folder",
|
||||
:disabled="!is_ready", webkitdirectory, directory)
|
||||
button.action-btn(@click="open_file", :disabled="!is_ready",
|
||||
title="Upload a new GCode program.")
|
||||
.fa.fa-file-arrow-up.ico
|
||||
span UPLOAD FILE
|
||||
form.gcode-file-input.file-upload
|
||||
input(type="file", @change="upload_file", :disabled="!is_ready",
|
||||
accept=".nc,.ngc,.gcode,.gc", multiple)
|
||||
a(:href="state.selected ? '/api/file/' + state.selected : '#'",
|
||||
download, :class="{disabled: !state.selected}",
|
||||
title="Download the selected GCode program.")
|
||||
button.action-btn(:disabled="!state.selected")
|
||||
.fa.fa-file-arrow-down.ico
|
||||
span DOWNLOAD FILE
|
||||
button.action-btn.danger(@click="deleteGCode = true",
|
||||
:disabled="!state.selected || !is_ready",
|
||||
title="Delete current GCode program.")
|
||||
.fa.fa-trash.ico
|
||||
span DELETE
|
||||
|
||||
// File / folder selectors
|
||||
.file-bar
|
||||
button.file-btn(@click="create_folder=true", :disabled="!is_ready")
|
||||
.fa.fa-folder-plus
|
||||
| Create Folder
|
||||
button.file-btn(@click="confirmDelete=true", :disabled="!is_ready")
|
||||
.fa.fa-folder-minus
|
||||
| Delete Folder
|
||||
select.file-select(title="Select previously uploaded GCode folder.",
|
||||
v-model="state.folder", @change="reset_gcode", :disabled="!is_ready")
|
||||
option(selected, value="default") Default folder
|
||||
option(v-for="file in gcode_folders", :value="file") {{file}}
|
||||
select.file-select.primary(title="Select previously uploaded GCode programs.",
|
||||
v-model="state.selected", @change="load", :disabled="!is_ready")
|
||||
option(value="") (no file)
|
||||
option(v-for="file in gcode_files", :value="file") {{file}}
|
||||
button.file-btn(@click="toggle_sorting", :disabled="!is_ready")
|
||||
.fa.fa-arrow-down-wide-short
|
||||
| {{files_sortby}}
|
||||
|
||||
// Body: gcode listing on the left, 3D viewer on the right.
|
||||
// The 3D path-viewer is suppressed when the UI is loaded by
|
||||
// the Pi's onboard kiosk browser — the VideoCore IV cannot
|
||||
// run three.js at a usable frame rate. Off-Pi clients still
|
||||
// see the full split.
|
||||
.program-body(:class="{'no-preview': is_kiosk}")
|
||||
gcode-viewer
|
||||
path-viewer(v-if="!is_kiosk", :toolpath="toolpath",
|
||||
:state="state", :config="config")
|
||||
|
||||
.progress-bar(v-if="toolpath_progress && toolpath_progress < 1",
|
||||
title="Simulating GCode to check for errors, calculate ETA and generate 3D view.")
|
||||
div(:style="'width:' + (toolpath_progress || 0) * 100 + '%'")
|
||||
label Simulating {{(toolpath_progress || 0) | percent}}
|
||||
@@ -1,58 +0,0 @@
|
||||
script#settings-shell-view-template(type="text/x-template")
|
||||
.settings-shell
|
||||
aside.settings-rail
|
||||
// Use a single v-for over a data-driven items array so every
|
||||
// rail item shares the same compiled :class binding template.
|
||||
// This sidesteps a Vue 1 quirk where sibling-with-different-
|
||||
// expression :class bindings sometimes fail to re-evaluate on
|
||||
// hash navigation, leaving stale `.active` classes.
|
||||
template(v-for="item in rail_items")
|
||||
.set-section(v-if="item.section") {{item.section}}
|
||||
a.set-item(v-if="!item.section", :class="{active: is_active(item)}",
|
||||
:href="item.href", @click="on_rail_click(item, $event)")
|
||||
.fa(:class="item.icon")
|
||||
| {{item.label}}
|
||||
.set-rail-foot
|
||||
button.sp-shutdown(@click="showShutdownDialog")
|
||||
.fa.fa-power-off
|
||||
| Shutdown
|
||||
button.sp-save(:disabled="!$root.modified", @click="$root.save()")
|
||||
.fa.fa-save
|
||||
| Save{{$root.modified ? '*' : ''}}
|
||||
|
||||
.settings-content
|
||||
// Explicit v-if cascade so the inner template swaps reactively
|
||||
// when sub changes (Vue 1's `<component :is>` does not always
|
||||
// re-evaluate dynamic strings inside a kept-alive parent).
|
||||
// The Svelte settings views read many config keys eagerly on
|
||||
// attach (settings.units, settings.easy-adapter, motion.*),
|
||||
// so we gate the inner mount on config_ready.
|
||||
settings-view-inner(v-if="sub === 'settings' && config_ready",
|
||||
section="display",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
settings-view-inner(v-if="sub === 'probing' && config_ready",
|
||||
section="probing",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
settings-view-inner(v-if="sub === 'gcode' && config_ready",
|
||||
section="gcode",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
admin-general-view(v-if="sub === 'admin-general' && config_ready",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
admin-network-view(v-if="sub === 'admin-network' && config_ready",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
motor-view(v-if="sub === 'motor' && config_ready",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
tool-view(v-if="sub === 'tool' && config_ready",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
io-view(v-if="sub === 'io' && config_ready",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
a-axis-view(v-if="sub === 'a-axis' && config_ready",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
macros-view(v-if="sub === 'macros' && config_ready",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
help-view(v-if="sub === 'help' && config_ready",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
cheat-sheet-view(v-if="sub === 'cheat-sheet' && config_ready",
|
||||
:index="index", :config="config", :template="template", :state="state")
|
||||
.settings-loading(v-if="!config_ready")
|
||||
| Loading configuration…
|
||||
@@ -33,67 +33,22 @@ DEFAULTS = {
|
||||
'enabled': False,
|
||||
'port': '/dev/ttyUSB0',
|
||||
'baud': 115200,
|
||||
'steps_per_mm': 80.0, # logical steps per mm of axis travel
|
||||
'steps_per_mm': 80.0, # logical steps per mm of W travel
|
||||
'dir_sign': 1, # +1 or -1: maps logical+ to motor+ steps
|
||||
# Logical axis letter exposed to gplan. The auxcnc ESP stepper
|
||||
# is presented to the planner as this axis (default 'a' = standard
|
||||
# 4th axis). gcode uses A for moves; the host ExternalAxis layer
|
||||
# forks A motion to the ESP transparently.
|
||||
'axis_letter': 'a',
|
||||
'min_mm': 0.0, # soft limit min (mm), exposed as 4tn
|
||||
'max_mm': 100.0, # soft limit max (mm), exposed as 4tm
|
||||
# Per-axis kinematic limits used to populate the planner's config.
|
||||
# Units match the bbctrl/onefinity per-motor convention so the
|
||||
# values are directly comparable to motors 0-3:
|
||||
# max_velocity_m_per_min m/min (planner sees * 1000 = mm/min)
|
||||
# max_accel_km_per_min2 km/min2 (planner sees * 1e6 = mm/min2)
|
||||
# max_jerk_km_per_min3 km/min3 (planner sees * 1e6 = mm/min3)
|
||||
'max_velocity_m_per_min': 6.0,
|
||||
'max_accel_km_per_min2': 100.0,
|
||||
'max_jerk_km_per_min3': 500.0,
|
||||
# Informational only - rate caps that actually clamp the move
|
||||
# are on the ESP via step_max_sps below.
|
||||
'max_feed_mm_min': 600.0,
|
||||
'min_w': 0.0, # soft limit min (mm)
|
||||
'max_w': 100.0, # soft limit max (mm)
|
||||
'max_feed_mm_min': 600.0, # informational; rate caps are on the ESP
|
||||
'home_dir': '-', # which direction is "toward limit" (host's view)
|
||||
'home_position_mm': 0.0, # mm value to assign at home
|
||||
# ESP-side homing rates (steps/sec). Pushed via HOMECFG on connect.
|
||||
# Speeds tuned for a typical 25 steps/mm aux drive (so 1 step =
|
||||
# 0.04 mm). With the limit-aware ESP firmware these values give
|
||||
# a brisk seek (100 mm/s), enough backoff to clear the switch
|
||||
# hysteresis (16 mm), and a slow re-engage (10 mm/s) that's
|
||||
# accurate without being painfully slow on a longer axis.
|
||||
'home_fast_sps': 2500, # ≈ 100 mm/s @ 25 steps/mm
|
||||
'home_slow_sps': 250, # ≈ 10 mm/s
|
||||
'home_backoff_steps': 400, # ≈ 16 mm
|
||||
'home_fast_sps': 4000,
|
||||
'home_slow_sps': 400,
|
||||
'home_backoff_steps': 200,
|
||||
'home_maxtravel_steps': 200000,
|
||||
# If HOME starts with the limit switch already tripped the ESP
|
||||
# first moves this many steps away from the limit and then
|
||||
# rechecks. If the switch is still active afterward, HOME hard-
|
||||
# fails (refuses to set zero blindly when we may already be past
|
||||
# the home position). Default ≈ 10 mm @ 25 steps/mm. Set to 0 to
|
||||
# disable the preclear move (HOME then fails immediately if the
|
||||
# switch reads active at start, matching the original behaviour).
|
||||
'home_preclear_mm': 10.0,
|
||||
'step_max_sps': 4000, # ≈ 160 mm/s normal-move cap
|
||||
'step_accel_sps2': 12000,
|
||||
'step_max_sps': 4000,
|
||||
'step_accel_sps2': 16000,
|
||||
'step_start_sps': 200,
|
||||
'limit_low': True,
|
||||
# ------------------------------------------------------------------
|
||||
# Z-A coupling interlock
|
||||
# ------------------------------------------------------------------
|
||||
# The auxiliary A axis carries a tool that physically hangs below
|
||||
# the Z-axis spindle nose. Beyond a certain Z descent the two
|
||||
# collide unless A drops with Z. The constraint, in machine coords,
|
||||
# is:
|
||||
# A_machine - Z_machine <= K
|
||||
# where K = (A_home_mm - z_home_mm) + couple_z_clearance_mm.
|
||||
# When enabled this is enforced everywhere motion can be
|
||||
# initiated (planner, MDI, jog, file load) and the AuxPreprocessor
|
||||
# injects pre-position A moves before Z descends past the safe
|
||||
# band.
|
||||
'couple_z_enabled': True,
|
||||
'couple_z_clearance_mm': 22.0, # Z drop allowed before A must follow
|
||||
'z_home_mm': 0.0, # Z's machine position when homed
|
||||
}
|
||||
|
||||
|
||||
@@ -144,61 +99,23 @@ class AuxAxis(object):
|
||||
def _config_path(self):
|
||||
return self.ctrl.get_path(filename='aux.json')
|
||||
|
||||
# Legacy aux.json fields that have been renamed for clarity.
|
||||
# Loaded values are migrated up on every load/save so existing
|
||||
# installs keep working without operator intervention.
|
||||
_LEGACY_FIELD_MAP = {
|
||||
'min_w': 'min_mm',
|
||||
'max_w': 'max_mm',
|
||||
}
|
||||
|
||||
def _migrate_legacy_fields(self, cfg):
|
||||
"""In-place rename of legacy keys in `cfg` (dict). Returns
|
||||
True if anything was migrated, so callers can decide whether
|
||||
to persist the upgraded form.
|
||||
"""
|
||||
migrated = False
|
||||
for old, new in self._LEGACY_FIELD_MAP.items():
|
||||
if old in cfg:
|
||||
if new not in cfg:
|
||||
cfg[new] = cfg[old]
|
||||
del cfg[old]
|
||||
migrated = True
|
||||
return migrated
|
||||
|
||||
def _load_config(self):
|
||||
path = self._config_path()
|
||||
if os.path.exists(path):
|
||||
try:
|
||||
with open(path) as f:
|
||||
user = json.load(f)
|
||||
migrated = self._migrate_legacy_fields(user)
|
||||
# Be permissive; ignore unknown keys.
|
||||
for k, v in user.items():
|
||||
if k in self._cfg:
|
||||
self._cfg[k] = v
|
||||
self.log.info('Loaded aux config from %s' % path)
|
||||
if migrated:
|
||||
# Persist the upgraded form so future restarts
|
||||
# see the new field names directly.
|
||||
try:
|
||||
self.save_config(self._cfg)
|
||||
self.log.info(
|
||||
'Migrated aux.json legacy fields '
|
||||
'(min_w/max_w -> min_mm/max_mm)')
|
||||
except Exception:
|
||||
self.log.warning(
|
||||
'Could not persist aux.json migration')
|
||||
except Exception:
|
||||
self.log.error('Failed to read aux.json: %s'
|
||||
% traceback.format_exc())
|
||||
|
||||
def save_config(self, cfg):
|
||||
merged = dict(DEFAULTS)
|
||||
# Accept legacy keys from callers that may still send the
|
||||
# old names (older UI bundles, hand-edited POSTs).
|
||||
cfg = dict(cfg)
|
||||
self._migrate_legacy_fields(cfg)
|
||||
for k, v in cfg.items():
|
||||
if k in DEFAULTS:
|
||||
merged[k] = v
|
||||
@@ -235,29 +152,24 @@ class AuxAxis(object):
|
||||
def position_mm(self):
|
||||
return self._steps_to_mm(self._pos_steps)
|
||||
|
||||
def set_state_observer(self, fn):
|
||||
"""Register a callback invoked after every _publish_state.
|
||||
Used by ExternalAxis to mirror the homed flag into State."""
|
||||
self._state_observer = fn
|
||||
|
||||
def home(self):
|
||||
"""Run the homing cycle on the ESP. Blocks until done. Raises on
|
||||
failure. Updates aux_homed and aux_pos.
|
||||
|
||||
The ESP's home_zero is pre-loaded via HOMECFG so when the cycle
|
||||
completes the step counter already corresponds to home_position_mm.
|
||||
That way the homed-state survives a bbctrl restart correctly
|
||||
(we don't need a post-home WPOS write, which would clear HOMED)."""
|
||||
failure. Updates aux_homed and aux_pos."""
|
||||
self._require_present()
|
||||
# Make sure home_zero on the ESP matches our current
|
||||
# home_position_mm in case the user just edited config.
|
||||
self._push_homecfg()
|
||||
line = self._rpc('HOME', topic='home', timeout=120.0)
|
||||
# line is the body after '[home] '. Only terminal lines use
|
||||
# the [home] topic now (done / failed); progress is [home_log].
|
||||
# line is the body after '[home] '
|
||||
if line.startswith('done'):
|
||||
self._pos_steps = self._parse_kv_int(line, 'pos', 0)
|
||||
# ESP set its counter to home_zero; mirror that.
|
||||
new_pos = self._parse_kv_int(line, 'pos', 0)
|
||||
self._pos_steps = new_pos
|
||||
self._homed = True
|
||||
# Translate to home_position_mm. Conceptually the host says
|
||||
# "after homing, W is here in mm". We achieve that by setting
|
||||
# the ESP counter (WPOS) so the mm conversion works out.
|
||||
target_pos = self._mm_to_steps(self._cfg['home_position_mm'])
|
||||
if target_pos != new_pos:
|
||||
self._rpc('WPOS %d' % target_pos, topic='ok', timeout=2.0)
|
||||
self._pos_steps = target_pos
|
||||
self._publish_state()
|
||||
return
|
||||
# failure
|
||||
@@ -303,75 +215,6 @@ 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:
|
||||
@@ -382,63 +225,6 @@ class AuxAxis(object):
|
||||
except Exception as e:
|
||||
self.log.warning('ABORT send failed: %s' % e)
|
||||
|
||||
# ---------------------------------------------------------- ATC atoms
|
||||
#
|
||||
# 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.)
|
||||
|
||||
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."""
|
||||
self._require_present()
|
||||
line = self._rpc('RELEASE', topic='release', timeout=timeout)
|
||||
if line.startswith('done'):
|
||||
return
|
||||
reason = line.split('reason=', 1)[1] if 'reason=' in line else line
|
||||
raise AuxAxisError('RELEASE failed: %s' % reason)
|
||||
|
||||
def atc_clamp(self, timeout=10.0):
|
||||
"""Close the collet: V1 off, then dwell for the line to vent
|
||||
and the spring to re-engage. Idempotent."""
|
||||
self._require_present()
|
||||
line = self._rpc('CLAMP', topic='clamp', timeout=timeout)
|
||||
if line.startswith('done'):
|
||||
return
|
||||
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:
|
||||
@@ -456,13 +242,13 @@ class AuxAxis(object):
|
||||
raise AuxAxisError('Aux axis not connected')
|
||||
|
||||
def _check_limits(self, target_mm):
|
||||
lo = float(self._cfg['min_mm'])
|
||||
hi = float(self._cfg['max_mm'])
|
||||
lo = float(self._cfg['min_w'])
|
||||
hi = float(self._cfg['max_w'])
|
||||
if hi <= lo:
|
||||
return # no limits
|
||||
if target_mm < lo - 1e-6 or target_mm > hi + 1e-6:
|
||||
raise AuxAxisError(
|
||||
'A=%.3f out of soft limits [%.3f, %.3f]' % (target_mm, lo, hi))
|
||||
'W=%.3f out of soft limits [%.3f, %.3f]' % (target_mm, lo, hi))
|
||||
|
||||
def _mm_to_steps(self, mm):
|
||||
spm = float(self._cfg['steps_per_mm'])
|
||||
@@ -495,64 +281,6 @@ class AuxAxis(object):
|
||||
raise AuxAxisError('W move aborted by limit switch')
|
||||
raise AuxAxisError('W move aborted: %s' % line)
|
||||
|
||||
def _do_line(self, signed_steps, length_mm,
|
||||
max_accel_mm_min2, max_jerk_mm_min3,
|
||||
entry_vel_mm_min, exit_vel_mm_min,
|
||||
times_min, ignore_limits=False, timeout=300.0):
|
||||
"""Run a 7-segment jerk-limited S-curve on the ESP that mirrors
|
||||
gplan/buildbotics' planner output exactly.
|
||||
|
||||
Parameters are in the same units the AVR/gplan use:
|
||||
- length_mm: absolute travel in mm (>= 0)
|
||||
- max_accel: mm/min^2
|
||||
- max_jerk: mm/min^3
|
||||
- entry/exit_vel: mm/min
|
||||
- times_min: 7-tuple of section durations in minutes
|
||||
|
||||
ignore_limits sets safe=0 on the ESP - used for jog/move
|
||||
endpoints that may run before homing.
|
||||
|
||||
Blocks until the ESP reports done or aborted. Updates the
|
||||
position mirror and re-publishes state on every reply.
|
||||
"""
|
||||
if signed_steps == 0 or length_mm <= 0:
|
||||
return
|
||||
if not any(times_min):
|
||||
raise AuxAxisError('LINE rejected: all section times are zero')
|
||||
# Build the LINE command. Float formatting matches the AVR's
|
||||
# printf precision (6 sig figs) - that's well above what the
|
||||
# ESP needs given it integrates into a few thousand 4 ms
|
||||
# segments per move.
|
||||
parts = [
|
||||
'LINE',
|
||||
'steps=%d' % int(signed_steps),
|
||||
'length=%.6f' % float(length_mm),
|
||||
'max_accel=%.6f' % float(max_accel_mm_min2),
|
||||
'max_jerk=%.6f' % float(max_jerk_mm_min3),
|
||||
'entry_vel=%.6f' % float(entry_vel_mm_min),
|
||||
'exit_vel=%.6f' % float(exit_vel_mm_min),
|
||||
]
|
||||
for i, t in enumerate(times_min):
|
||||
if t and t > 0:
|
||||
parts.append('t%d=%.9f' % (i, float(t)))
|
||||
if ignore_limits:
|
||||
parts.append('safe=0')
|
||||
cmd = ' '.join(parts)
|
||||
line = self._rpc(cmd, topic='line', timeout=timeout)
|
||||
# line: "done pos=P emitted=N" or "aborted pos=P emitted=N reason=..."
|
||||
if line.startswith('done'):
|
||||
self._pos_steps = self._parse_kv_int(line, 'pos', self._pos_steps)
|
||||
self._publish_state()
|
||||
return
|
||||
# aborted
|
||||
self._pos_steps = self._parse_kv_int(line, 'pos', self._pos_steps)
|
||||
self._publish_state()
|
||||
reason = self._parse_kv_str(line, 'reason')
|
||||
if reason == 'limit':
|
||||
self._homed = False
|
||||
raise AuxAxisError('W move aborted by limit switch')
|
||||
raise AuxAxisError('W move aborted: %s' % line)
|
||||
|
||||
# ------------------------------------------------------------ serial I/O
|
||||
|
||||
def _open(self):
|
||||
@@ -584,26 +312,17 @@ class AuxAxis(object):
|
||||
|
||||
def _push_homecfg(self):
|
||||
c = self._cfg
|
||||
zero_steps = self._mm_to_steps(c['home_position_mm'])
|
||||
# preclear: how far (in steps) the ESP backs off if HOME is
|
||||
# invoked while the limit switch is already tripped. Computed
|
||||
# from home_preclear_mm so the operator configures it in mm.
|
||||
spm = float(c.get('steps_per_mm', 1.0)) or 1.0
|
||||
preclear_steps = int(round(abs(float(c['home_preclear_mm'])) * spm))
|
||||
cmd = ('HOMECFG dir=%s fast=%d slow=%d backoff=%d maxtravel=%d '
|
||||
'zero=%d accel=%d step_max=%d step_start=%d limit_low=%d '
|
||||
'preclear=%d') % (
|
||||
'zero=0 accel=%d step_max=%d step_start=%d limit_low=%d') % (
|
||||
c['home_dir'],
|
||||
int(c['home_fast_sps']),
|
||||
int(c['home_slow_sps']),
|
||||
int(c['home_backoff_steps']),
|
||||
int(c['home_maxtravel_steps']),
|
||||
int(zero_steps),
|
||||
int(c['step_accel_sps2']),
|
||||
int(c['step_max_sps']),
|
||||
int(c['step_start_sps']),
|
||||
1 if c['limit_low'] else 0,
|
||||
preclear_steps,
|
||||
)
|
||||
self._rpc(cmd, topic='homecfg', timeout=3.0)
|
||||
|
||||
@@ -613,23 +332,6 @@ class AuxAxis(object):
|
||||
self._pos_steps = int(r.strip())
|
||||
except Exception:
|
||||
pass
|
||||
# Force the host to start unhomed regardless of what the ESP
|
||||
# remembers from a prior session. The ESP's homed flag survives
|
||||
# bbctrl restarts (since the ESP itself wasn't power-cycled),
|
||||
# but the host's planner offsets and DRO position get reset to
|
||||
# zero on bbctrl boot. Trusting the ESP's homed flag would mean
|
||||
# the user thinks A is homed at the wrong work-coord origin
|
||||
# (offset_a=0 but ESP physically at home_position_mm). Sending
|
||||
# UNHOME forces the user to re-home explicitly, which sets up
|
||||
# the offset and gplan state correctly via the homing path in
|
||||
# Mach.home.
|
||||
try:
|
||||
self._rpc('UNHOME', topic='ok', timeout=2.0)
|
||||
self._homed = False
|
||||
except Exception:
|
||||
# Fall back to whatever HOMED? says - but treat any
|
||||
# missing UNHOME support as "trust ESP's flag" so we
|
||||
# don't break older firmware.
|
||||
try:
|
||||
r = self._rpc('HOMED?', topic='homed', timeout=2.0)
|
||||
self._homed = (r.strip() == '1')
|
||||
@@ -671,7 +373,7 @@ class AuxAxis(object):
|
||||
self._present = True
|
||||
self._publish_state()
|
||||
self.ctrl.state.add_message(
|
||||
'Auxiliary axis controller restarted - re-home before use')
|
||||
'W axis controller restarted - re-home before use')
|
||||
return
|
||||
|
||||
# Topic dispatch: "[topic] body..."
|
||||
@@ -692,22 +394,7 @@ 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)
|
||||
@@ -788,11 +475,3 @@ class AuxAxis(object):
|
||||
except Exception:
|
||||
# During very early startup, state may not be ready.
|
||||
pass
|
||||
# Notify the external-axis layer so it can mirror state
|
||||
# (e.g. homed flag) into the synthetic motor vars.
|
||||
observer = getattr(self, '_state_observer', None)
|
||||
if observer is not None:
|
||||
try:
|
||||
observer()
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
@@ -1,41 +1,25 @@
|
||||
################################################################################
|
||||
#
|
||||
# AuxPreprocessor - rewrite ATC M-codes into hook calls
|
||||
# AuxPreprocessor - rewrite W-axis G-code into hook calls
|
||||
#
|
||||
# History
|
||||
# -------
|
||||
# v1: rewrote W tokens into (MSG,HOOK:aux:N) lines because the bbctrl
|
||||
# planner only understood XYZABC and the W axis was driven via a
|
||||
# side-channel.
|
||||
# v2: W is now exposed to gplan as a virtual A axis (see ExternalAxis),
|
||||
# so gplan handles W motion natively. The preprocessor no longer
|
||||
# touches W tokens. ATC pneumatics still go through the hook
|
||||
# channel because they're events, not motion.
|
||||
# v3: ATC primitives split into atoms. The composite DROPTOOL /
|
||||
# GRABTOOL hooks are gone; macros now compose tool changes from
|
||||
# RELEASE / CLAMP / EJECT.
|
||||
# The bbctrl planner only understands xyzabc. We expose a virtual W axis by
|
||||
# rewriting the G-code file *before* it is fed to gplan, replacing each W
|
||||
# move with a (MSG,HOOK:aux:...) line that the host's hook handler turns
|
||||
# into a STEPS or HOME command on the ESP.
|
||||
#
|
||||
# What this still does
|
||||
# --------------------
|
||||
# Maps three user-defined M-codes onto pneumatic-tool-changer atoms:
|
||||
#
|
||||
# M100 EJECT -> (MSG,HOOK:eject:) one V2 ejector pulse
|
||||
# M102 RELEASE -> (MSG,HOOK:release:) open collet (V1 on)
|
||||
# M103 CLAMP -> (MSG,HOOK:clamp:) close collet (V1 off + vent)
|
||||
#
|
||||
# M101 (formerly GRABTOOL) is intentionally unmapped - it's now a
|
||||
# pure host-side macro composed from RELEASE / dwell / CLAMP. If a
|
||||
# legacy file still emits M101 the preprocessor leaves it alone and
|
||||
# the planner ignores it (M101 is in the user-defined range, so it
|
||||
# won't error - it just won't do anything).
|
||||
#
|
||||
# M100-M103 are in LinuxCNC/Buildbotics' user-defined range, so the
|
||||
# planner won't error if the codes leak through unrewritten - it just
|
||||
# won't *do* anything. We strip the recognized ones out and emit the
|
||||
# matching hook line in their place.
|
||||
# Rules:
|
||||
# - Mixed-axis blocks (W together with XYZABC) are split into two
|
||||
# sequential blocks. By default the W move runs first; configurable.
|
||||
# - G90/G91/G20/G21 modal state is tracked so we can convert relative-W
|
||||
# and inch-W into the absolute mm value the hook handler expects.
|
||||
# - G28 W0 / G28.2 W0 -> HOOK:aux_home
|
||||
# - G92 Wx -> HOOK:aux_setzero:<mm>
|
||||
# - G53 + W not specially handled (W only knows machine coords)
|
||||
# - Lines inside parentheses or after `;` are passed through.
|
||||
#
|
||||
# The preprocessor is intentionally conservative: anything it doesn't
|
||||
# understand is left alone.
|
||||
# understand involving W is left alone with a warning, so motion lands in
|
||||
# gplan which will complain loudly rather than silently misbehaving.
|
||||
#
|
||||
################################################################################
|
||||
|
||||
@@ -45,73 +29,18 @@ import shutil
|
||||
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.
|
||||
# Match a word like "W12.5" or "W-3" or "w0". Also matches inside the same
|
||||
# line as XYZ words. We pull W out specifically.
|
||||
_W_TOKEN_RE = re.compile(r'(?<![A-Za-z_0-9])[Ww]\s*([-+]?\d*\.?\d+)')
|
||||
|
||||
# Detect any axis-bearing word (so we can tell mixed-axis lines apart).
|
||||
_AXIS_WORD_RE = re.compile(r'(?<![A-Za-z_0-9])[XYZABCxyzabc]\s*[-+]?\d*\.?\d+')
|
||||
|
||||
# Strip line comments so we don't get fooled by "(W axis)".
|
||||
_PAREN_COMMENT_RE = re.compile(r'\([^)]*\)')
|
||||
|
||||
|
||||
def _strip_comments(line):
|
||||
"""Return `line` with paren comments and the trailing semicolon
|
||||
comment removed. Handles arbitrarily nested parentheses (RS274
|
||||
technically forbids them but real-world gcode comments often
|
||||
contain prose with parens, e.g. `(M102 = RELEASE (V1 on))`).
|
||||
|
||||
Returns just the executable code, with the original whitespace
|
||||
preserved between tokens."""
|
||||
out = []
|
||||
depth = 0
|
||||
i = 0
|
||||
n = len(line)
|
||||
while i < n:
|
||||
c = line[i]
|
||||
if c == ';' and depth == 0:
|
||||
break
|
||||
if c == '(':
|
||||
depth += 1
|
||||
i += 1
|
||||
continue
|
||||
if c == ')':
|
||||
if depth > 0: depth -= 1
|
||||
i += 1
|
||||
continue
|
||||
if depth == 0:
|
||||
out.append(c)
|
||||
i += 1
|
||||
return ''.join(out)
|
||||
|
||||
# ATC pneumatics M-codes mapped onto hook events. M101 is
|
||||
# deliberately unassigned (see header).
|
||||
_ATC_M_CODES = {
|
||||
100: 'eject',
|
||||
102: 'release',
|
||||
103: 'clamp',
|
||||
}
|
||||
_ATC_M_RE = re.compile(
|
||||
r'(?<![A-Za-z_0-9])[Mm]\s*0*(' +
|
||||
'|'.join(str(n) for n in _ATC_M_CODES) +
|
||||
r')(?![\w.])'
|
||||
)
|
||||
|
||||
# Detect a W axis token. We no longer rewrite W to A automatically;
|
||||
# instead we warn so the user knows their old gcode needs migration.
|
||||
# (The W support was removed when the axis was integrated as a real
|
||||
# A axis through gplan.)
|
||||
_W_TOKEN_RE = re.compile(r'(?<![A-Za-z_0-9])[Ww]\s*[-+]?\d*\.?\d+')
|
||||
|
||||
# Match a single axis word (letter + optional whitespace + signed decimal)
|
||||
# for Z, A, X, Y. Used to extract modal targets while preserving the
|
||||
# original line for emission. We deliberately ignore I/J/K/R (arc params)
|
||||
# because they're not endpoints.
|
||||
_AXIS_TOKEN_RES = {
|
||||
'z': re.compile(r'(?<![A-Za-z_0-9])[Zz]\s*([-+]?\d*\.?\d+)'),
|
||||
'a': re.compile(r'(?<![A-Za-z_0-9])[Aa]\s*([-+]?\d*\.?\d+)'),
|
||||
'x': re.compile(r'(?<![A-Za-z_0-9])[Xx]\s*([-+]?\d*\.?\d+)'),
|
||||
'y': re.compile(r'(?<![A-Za-z_0-9])[Yy]\s*([-+]?\d*\.?\d+)'),
|
||||
}
|
||||
_G_CODE_RE = re.compile(r'(?<![A-Za-z_0-9])[Gg]\s*0*(\d+(?:\.\d+)?)')
|
||||
# Modal G-code groups we care about.
|
||||
_MODAL_RE = re.compile(r'(?<![A-Za-z_0-9])[Gg]\s*0*(\d+(?:\.\d+)?)')
|
||||
|
||||
|
||||
class AuxPreprocessorError(Exception):
|
||||
@@ -119,239 +48,79 @@ class AuxPreprocessorError(Exception):
|
||||
|
||||
|
||||
class AuxPreprocessor(object):
|
||||
def __init__(self, log=None, coupling=None):
|
||||
"""`coupling`, when supplied, enables Z-A coupling injection.
|
||||
Expected shape:
|
||||
{
|
||||
'enabled': bool,
|
||||
'clearance_mm': float, # max (A_wc - Z_wc)
|
||||
'a_initial_wc': float, # A's work-coord position at
|
||||
# file start (typically 0 if
|
||||
# operator zeroed at home)
|
||||
'z_initial_wc': float, # Z's work-coord position at
|
||||
# file start (typically 0)
|
||||
}
|
||||
Pass None to disable injection (preprocessor still rewrites
|
||||
ATC M-codes)."""
|
||||
def __init__(self, log=None, w_first=True):
|
||||
self.log = log
|
||||
self._w_warned = False
|
||||
self._coupling = coupling if (coupling and
|
||||
coupling.get('enabled')) else None
|
||||
# Modal state used while scanning the file.
|
||||
if self._coupling is not None:
|
||||
self._a_wc = float(coupling.get('a_initial_wc', 0.0))
|
||||
self._z_wc = float(coupling.get('z_initial_wc', 0.0))
|
||||
self._K = float(coupling.get('clearance_mm', 0.0))
|
||||
else:
|
||||
self._a_wc = 0.0
|
||||
self._z_wc = 0.0
|
||||
self._K = 0.0
|
||||
self._g91_warned = False
|
||||
# Distance mode: True for absolute (G90), False for incremental
|
||||
# (G91). Per RS274 the modal default at start is G90.
|
||||
self._g90 = True
|
||||
# If True, on a mixed-axis line (e.g. G1 X10 W5), emit the W move
|
||||
# first, then the XYZ move. Set False to invert.
|
||||
self.w_first = w_first
|
||||
|
||||
def _info(self, msg):
|
||||
if self.log: self.log.info(msg)
|
||||
if self.log:
|
||||
self.log.info(msg)
|
||||
|
||||
def _warn(self, msg):
|
||||
if self.log: self.log.warning(msg)
|
||||
if self.log:
|
||||
self.log.warning(msg)
|
||||
|
||||
# ------------------------------------------------------------------ scan
|
||||
|
||||
@staticmethod
|
||||
def file_uses_aux(path, coupling=None):
|
||||
"""Quick check: does this file contain anything the preprocessor
|
||||
would rewrite? Returns True for ATC M-codes always, and for
|
||||
any Z/A move if coupling is enabled (we have to scan to know
|
||||
whether injection is needed, so any motion file qualifies)."""
|
||||
couple_active = bool(coupling and coupling.get('enabled'))
|
||||
def file_uses_w(path):
|
||||
"""Quick check: does this file contain any W-axis word? Used to skip
|
||||
preprocessing entirely for files that don't care about W."""
|
||||
try:
|
||||
with open(path, 'r', encoding='utf-8', errors='replace') as f:
|
||||
for line in f:
|
||||
code = _strip_comments(line)
|
||||
if _ATC_M_RE.search(code):
|
||||
return True
|
||||
if couple_active:
|
||||
if _AXIS_TOKEN_RES['z'].search(code) or \
|
||||
_AXIS_TOKEN_RES['a'].search(code):
|
||||
code = _PAREN_COMMENT_RE.sub('', line)
|
||||
code = code.split(';', 1)[0]
|
||||
if _W_TOKEN_RE.search(code):
|
||||
return True
|
||||
except Exception:
|
||||
pass
|
||||
return False
|
||||
|
||||
# Backwards-compat alias.
|
||||
file_uses_w = file_uses_aux
|
||||
# ------------------------------------------------------------------ core
|
||||
|
||||
# ------------------------------------------------------------------ Z-A coupling
|
||||
#
|
||||
# Track modal Z and A targets across the file. Whenever a line
|
||||
# would put A above Z by more than `clearance_mm` (i.e. A_wc -
|
||||
# Z_wc > K), we inject `G0 A<safe>` immediately before it so A is
|
||||
# already at the safe position when Z descends. The injected move
|
||||
# uses G0 (rapid) so it's quick.
|
||||
#
|
||||
# Endpoint-only check: gplan plans line endpoints. As long as
|
||||
# (target_A_wc - target_Z_wc) <= K, the trajectory stays safe
|
||||
# because Z's *minimum* during a single line is its endpoint (Z
|
||||
# moves monotonically along a single line block in absolute
|
||||
# mode) and A is held at the pre-positioned value during the move.
|
||||
def _strip_w(self, line):
|
||||
"""Return (line_without_w, w_value_str_or_None). Only first W kept."""
|
||||
m = _W_TOKEN_RE.search(line)
|
||||
if m is None:
|
||||
return line, None
|
||||
# Remove just the matched W<num> token, preserving surrounding spaces.
|
||||
rewritten = line[:m.start()] + line[m.end():]
|
||||
return rewritten, m.group(1)
|
||||
|
||||
def _extract_g_codes(self, code):
|
||||
"""Return the set of G-codes referenced on `code`. Numeric
|
||||
only, e.g. {0, 1, 90, 17}. Used to track modal state."""
|
||||
out = set()
|
||||
for m in _G_CODE_RE.finditer(code):
|
||||
def _has_other_axis(self, code_no_w):
|
||||
return _AXIS_WORD_RE.search(code_no_w) is not None
|
||||
|
||||
def _detect_modals(self, code, modal):
|
||||
"""Update modal dict in-place from G-codes on this line."""
|
||||
for mm in _MODAL_RE.finditer(code):
|
||||
try:
|
||||
out.add(int(float(m.group(1))))
|
||||
except Exception:
|
||||
pass
|
||||
return out
|
||||
g = float(mm.group(1))
|
||||
except ValueError:
|
||||
continue
|
||||
if g == 90: modal['abs'] = True
|
||||
elif g == 91: modal['abs'] = False
|
||||
elif g == 20: modal['inch'] = True
|
||||
elif g == 21: modal['inch'] = False
|
||||
# G28 / G28.2 / G92 are detected case-by-case below.
|
||||
|
||||
def _extract_axis(self, axis, code):
|
||||
"""Return the last value of `axis` token on `code`, or None."""
|
||||
rx = _AXIS_TOKEN_RES.get(axis)
|
||||
if rx is None:
|
||||
return None
|
||||
last = None
|
||||
for m in rx.finditer(code):
|
||||
try:
|
||||
last = float(m.group(1))
|
||||
except Exception:
|
||||
pass
|
||||
return last
|
||||
@staticmethod
|
||||
def _is_g28_like(code):
|
||||
# Match G28 or G28.2 (homing).
|
||||
return bool(re.search(r'(?<![A-Za-z_0-9])[Gg]\s*0*28(?:\.2)?(?![\w.])', code))
|
||||
|
||||
def _maybe_inject_a_down(self, code, fout):
|
||||
"""Inspect `code` (with comments stripped) for an upcoming Z
|
||||
descent; emit a `G0 A<safe>` line on `fout` if needed and
|
||||
update self._a_wc accordingly. Returns True if anything was
|
||||
injected.
|
||||
|
||||
On a violation that cannot be fixed by lowering A (e.g. the
|
||||
operator wrote `G0 A0` while Z is too deep), raise
|
||||
AuxPreprocessorError so the file load surfaces the problem -
|
||||
per the rule we agreed: error, don't silently insert a Z-up.
|
||||
"""
|
||||
if self._coupling is None:
|
||||
return False
|
||||
|
||||
# Distance mode tracking.
|
||||
gs = self._extract_g_codes(code)
|
||||
if 90 in gs: self._g90 = True
|
||||
if 91 in gs:
|
||||
if self._g90 and not self._g91_warned:
|
||||
self._warn(
|
||||
'AuxPreprocessor: G91 (incremental mode) detected; '
|
||||
'Z-A coupling injection is disabled for the rest of '
|
||||
'the file. The runtime check still applies.')
|
||||
self._g91_warned = True
|
||||
self._g90 = False
|
||||
|
||||
# G92 sets coordinate offsets. The new modal value of an
|
||||
# axis is whatever value follows on the same word (e.g.
|
||||
# G92 A0 sets A_wc = 0). Apply that and skip injection.
|
||||
if 92 in gs:
|
||||
new_a = self._extract_axis('a', code)
|
||||
new_z = self._extract_axis('z', code)
|
||||
if new_a is not None: self._a_wc = new_a
|
||||
if new_z is not None: self._z_wc = new_z
|
||||
return False
|
||||
|
||||
# In incremental mode we can still track approximately, but
|
||||
# the user has been warned; skip injection.
|
||||
if not self._g90:
|
||||
return False
|
||||
|
||||
new_z_target = self._extract_axis('z', code)
|
||||
new_a_target = self._extract_axis('a', code)
|
||||
if new_z_target is None and new_a_target is None:
|
||||
return False
|
||||
|
||||
# Modal values after the line executes.
|
||||
a_after = new_a_target if new_a_target is not None else self._a_wc
|
||||
z_after = new_z_target if new_z_target is not None else self._z_wc
|
||||
|
||||
eps = 1e-4
|
||||
if a_after - z_after <= self._K + eps:
|
||||
# Move is safe as authored. Update modal state.
|
||||
self._a_wc = a_after
|
||||
self._z_wc = z_after
|
||||
return False
|
||||
|
||||
# Violation. Two cases:
|
||||
#
|
||||
# (a) The line lowers Z (z_after < self._z_wc) and A is
|
||||
# held or moved upward, so A needs to drop to keep up.
|
||||
# We can fix this by pre-positioning A at z_after + K
|
||||
# BEFORE the line - at which point gplan's plan for the
|
||||
# line is safe at every point along it.
|
||||
#
|
||||
# (b) The line raises A above the safe band while Z is
|
||||
# held (z_after >= self._z_wc) - i.e. the operator
|
||||
# wrote `G0 A0` while Z is parked deep. Auto-injecting
|
||||
# a Z-up here is unsafe (Z could swing into a fixture
|
||||
# or the part) so we error out and let the operator
|
||||
# author the lift.
|
||||
|
||||
safe_a = z_after + self._K
|
||||
|
||||
# If the line itself targets an A above the safe band, the
|
||||
# endpoint violates the rule no matter what we pre-position.
|
||||
# Refuse rather than emit something that runs the gantry into
|
||||
# the tool.
|
||||
if new_a_target is not None and new_a_target > safe_a + eps:
|
||||
raise AuxPreprocessorError(
|
||||
'Z-A coupling violation: line targets A=%.3f at '
|
||||
'Z=%.3f, but max A allowed is %.3f (clearance %.3f). '
|
||||
'Lower the A target or add a Z-up move first.' % (
|
||||
new_a_target, z_after, safe_a, self._K))
|
||||
|
||||
# If the line raises A above the current safe band but Z
|
||||
# isn't dropping with it (no Z target on the line, or Z stays
|
||||
# put), the violation is the operator's A-up, not a Z-down.
|
||||
# Refuse rather than insert a Z-up (which could swing through
|
||||
# a fixture or part).
|
||||
if (new_a_target is not None and
|
||||
new_a_target > self._a_wc + eps and
|
||||
new_z_target is None):
|
||||
raise AuxPreprocessorError(
|
||||
'Z-A coupling violation at line raising A to %.3f '
|
||||
'while Z is at %.3f (max A allowed is %.3f given '
|
||||
'clearance %.3f). Add a Z-up move first.' % (
|
||||
new_a_target, z_after, safe_a, self._K))
|
||||
|
||||
# Case (a): pre-position A.
|
||||
# Don't move A *up* as part of pre-position - if the safe
|
||||
# value is above where A already is, we'd lift A into a
|
||||
# potential collision elsewhere. In practice safe_a < a_wc
|
||||
# whenever we get here (otherwise no violation), but assert
|
||||
# to be sure.
|
||||
if safe_a > self._a_wc + eps:
|
||||
raise AuxPreprocessorError(
|
||||
'Z-A coupling: cannot fix line by lowering A '
|
||||
'(safe A = %.3f > current A = %.3f).' % (
|
||||
safe_a, self._a_wc))
|
||||
fout.write('(injected by AuxPreprocessor: Z-A coupling)\n')
|
||||
fout.write('G0 A%.4f\n' % safe_a)
|
||||
self._a_wc = safe_a
|
||||
# Don't update z_wc yet - the original line will do that
|
||||
# when it runs. But our modal copy must reflect the post-line
|
||||
# value so subsequent injections compute correctly.
|
||||
self._z_wc = z_after
|
||||
# If the original line also moved A, our pre-positioning
|
||||
# supersedes it (we overwrite a_wc above with safe_a then
|
||||
# the original line's A target may push it back up). Update
|
||||
# a_wc to the line's authored A value so further checks see
|
||||
# the post-line state.
|
||||
if new_a_target is not None:
|
||||
self._a_wc = new_a_target
|
||||
return True
|
||||
@staticmethod
|
||||
def _is_g92(code):
|
||||
return bool(re.search(r'(?<![A-Za-z_0-9])[Gg]\s*0*92(?![\w.])', code))
|
||||
|
||||
# ------------------------------------------------------------------ run
|
||||
|
||||
def process(self, src_path, dst_path):
|
||||
"""Read src_path, write rewritten G-code to dst_path. Returns
|
||||
True if any rewrite happened."""
|
||||
"""Read src_path, write rewritten G-code to dst_path. Returns True
|
||||
if any rewrite happened."""
|
||||
modal = {'abs': True, 'inch': False} # G90 G21 are common defaults
|
||||
rewrote_any = False
|
||||
|
||||
with open(src_path, 'r', encoding='utf-8', errors='replace') as fin, \
|
||||
@@ -360,148 +129,109 @@ 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
|
||||
|
||||
# Warn (once) if the file still uses W tokens. The
|
||||
# standard way is now G1 A<value>; old files must be
|
||||
# migrated by hand.
|
||||
if (not self._w_warned) and _W_TOKEN_RE.search(code):
|
||||
self._warn('Found W axis token in gcode; W is no '
|
||||
'longer recognized by bbctrl. Use A '
|
||||
'instead. (warning suppressed for '
|
||||
'subsequent W tokens in this file)')
|
||||
self._w_warned = True
|
||||
# Update modal from G-codes on this line first (so absolute
|
||||
# vs incremental matches what the planner sees for XYZ).
|
||||
self._detect_modals(code, modal)
|
||||
|
||||
# Z-A coupling injection BEFORE the line is emitted.
|
||||
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))
|
||||
if atc_matches:
|
||||
rewrote_any = True
|
||||
for m in atc_matches:
|
||||
try: num = int(m.group(1))
|
||||
except ValueError: continue
|
||||
event = _ATC_M_CODES.get(num)
|
||||
if event:
|
||||
# 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')
|
||||
if not _W_TOKEN_RE.search(code):
|
||||
fout.write(raw)
|
||||
continue
|
||||
|
||||
# No rewrite needed.
|
||||
fout.write(raw)
|
||||
rewrote_any = True
|
||||
|
||||
# G28[.2] W... -> aux_home (W value is ignored except as
|
||||
# a flag that W is being homed).
|
||||
if self._is_g28_like(code):
|
||||
code_no_w, _ = self._strip_w(line)
|
||||
fout.write('(MSG,HOOK:aux_home:)\n')
|
||||
# Only keep the residual line if other axes were also
|
||||
# present (e.g. G28.2 X0 Y0 W0 still homes X+Y). A bare
|
||||
# "G28" without axis args means "home all" in gcode
|
||||
# which we explicitly DON'T want to trigger from a
|
||||
# W-only home command.
|
||||
rest_code = _PAREN_COMMENT_RE.sub('', code_no_w)
|
||||
rest_code = rest_code.split(';', 1)[0]
|
||||
if self._has_other_axis(rest_code):
|
||||
fout.write(code_no_w + '\n')
|
||||
continue
|
||||
|
||||
# G92 W... -> set W zero (or other value) without motion.
|
||||
if self._is_g92(code):
|
||||
line_no_w, w_val = self._strip_w(line)
|
||||
target_mm = self._w_to_mm(w_val, modal, set_pos=True)
|
||||
fout.write('(MSG,HOOK:aux_setzero:%g)\n' % target_mm)
|
||||
rest_code = _PAREN_COMMENT_RE.sub('', line_no_w)
|
||||
rest_code = rest_code.split(';', 1)[0]
|
||||
if self._has_other_axis(rest_code):
|
||||
fout.write(line_no_w + '\n')
|
||||
continue
|
||||
|
||||
# Plain motion: G0/G1 etc with W word.
|
||||
line_no_w, w_val = self._strip_w(line)
|
||||
target_mm = self._w_to_mm(w_val, modal, set_pos=False)
|
||||
# Distinguish absolute vs relative: encode both, the hook
|
||||
# handler will pick the right operation.
|
||||
if modal['abs']:
|
||||
hook_line = '(MSG,HOOK:aux:%g)' % target_mm
|
||||
else:
|
||||
hook_line = '(MSG,HOOK:aux_rel:%g)' % target_mm
|
||||
|
||||
rest_code = _PAREN_COMMENT_RE.sub('', line_no_w)
|
||||
rest_code = rest_code.split(';', 1)[0]
|
||||
has_xyz = self._has_other_axis(rest_code)
|
||||
|
||||
if not has_xyz:
|
||||
# Pure W move; drop the (now-empty) original line.
|
||||
fout.write(hook_line + '\n')
|
||||
continue
|
||||
|
||||
# Mixed-axis: split. Default order is W first.
|
||||
if self.w_first:
|
||||
fout.write(hook_line + '\n')
|
||||
fout.write(line_no_w + '\n')
|
||||
else:
|
||||
fout.write(line_no_w + '\n')
|
||||
fout.write(hook_line + '\n')
|
||||
|
||||
return rewrote_any
|
||||
|
||||
# ------------------------------------------------------------ unit conv
|
||||
|
||||
def 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 _w_to_mm(self, w_str, modal, set_pos):
|
||||
try:
|
||||
v = float(w_str)
|
||||
except (TypeError, ValueError):
|
||||
raise AuxPreprocessorError('Invalid W value: %r' % w_str)
|
||||
if modal['inch']:
|
||||
v *= 25.4
|
||||
return v
|
||||
|
||||
The original source file is never modified - this is the
|
||||
intentional design: the macro / job file the operator authored
|
||||
is what they see in the macro editor and the file viewer; the
|
||||
rewriting happens only on the in-memory copy that gplan loads.
|
||||
|
||||
Why we rewrite at all: gplan (the camotics planner) treats the
|
||||
user-defined M-codes M100/M102/M103 as no-ops. The only callback
|
||||
channel it exposes during a running program is the (MSG,...)
|
||||
message stream, so the only way for the host to react to those
|
||||
M-codes mid-program is to substitute (MSG,HOOK:<event>:) lines
|
||||
in their place. This rewriting is an implementation detail the
|
||||
operator should never have to know about - hence the tempfile.
|
||||
"""
|
||||
if not AuxPreprocessor.file_uses_aux(src_path, coupling=coupling):
|
||||
return None
|
||||
pre = AuxPreprocessor(log=log, coupling=coupling)
|
||||
def preprocess_file(src_path, log=None, w_first=True):
|
||||
"""Convenience: rewrite src_path in place if it uses W.
|
||||
Returns True if the file was rewritten."""
|
||||
if not AuxPreprocessor.file_uses_w(src_path):
|
||||
return False
|
||||
pre = AuxPreprocessor(log=log, w_first=w_first)
|
||||
fd, tmp = tempfile.mkstemp(prefix='auxpre_', suffix='.nc',
|
||||
dir=os.path.dirname(src_path) or None)
|
||||
os.close(fd)
|
||||
try:
|
||||
rewrote = pre.process(src_path, tmp)
|
||||
if rewrote:
|
||||
return tmp
|
||||
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)
|
||||
return True
|
||||
os.unlink(tmp)
|
||||
return False
|
||||
except Exception:
|
||||
try:
|
||||
os.unlink(tmp)
|
||||
except OSError:
|
||||
pass
|
||||
raise
|
||||
return True
|
||||
|
||||
@@ -223,10 +223,6 @@ class Comm(object):
|
||||
self.ctrl.mach.process_log(msg)
|
||||
elif 'firmware' in msg:
|
||||
self.log.info('AVR firmware rebooted')
|
||||
try:
|
||||
import bbctrl.Trace as _T
|
||||
_T.mark('avr.firmware_rebooted')
|
||||
except Exception: pass
|
||||
self.connect()
|
||||
else:
|
||||
self._update_state(msg)
|
||||
|
||||
@@ -216,32 +216,6 @@ class Config(object):
|
||||
defaults = json.load(f)
|
||||
config['selected-tool-settings'] = defaults['selected-tool-settings'];
|
||||
|
||||
# Auxiliary axis nomenclature: rename W -> A in macro names and
|
||||
# filenames. The auxcnc-driven stepper has been integrated into
|
||||
# gplan as A since the option-b migration; old configs may
|
||||
# still carry W Down/W Up macro entries pointing at
|
||||
# w_down.nc/w_up.nc which were renamed on disk to a_down.nc /
|
||||
# a_up.nc. Migrate idempotently on every load so a stale
|
||||
# in-memory copy can never reintroduce the old names.
|
||||
macros = config.get('macros') if isinstance(config, dict) else None
|
||||
if isinstance(macros, list):
|
||||
renames = {
|
||||
'w_down.nc': 'a_down.nc',
|
||||
'w_up.nc': 'a_up.nc',
|
||||
}
|
||||
display_renames = {
|
||||
'W Down': 'A Down',
|
||||
'W Up': 'A Up',
|
||||
}
|
||||
for m in macros:
|
||||
if not isinstance(m, dict): continue
|
||||
fn = m.get('file_name')
|
||||
if isinstance(fn, str) and fn in renames:
|
||||
m['file_name'] = renames[fn]
|
||||
nm = m.get('name')
|
||||
if isinstance(nm, str) and nm in display_renames:
|
||||
m['name'] = display_renames[nm]
|
||||
|
||||
config['version'] = self.version.split('b')[0]
|
||||
config['full_version'] = self.version
|
||||
|
||||
|
||||
@@ -28,12 +28,10 @@
|
||||
import os
|
||||
import time
|
||||
import bbctrl
|
||||
import bbctrl.Trace as Trace
|
||||
|
||||
|
||||
class Ctrl(object):
|
||||
def __init__(self, args, ioloop, id):
|
||||
Trace.mark('ctrl.init.start', id=id or '<default>')
|
||||
self.args = args
|
||||
self.ioloop = bbctrl.IOLoop(ioloop)
|
||||
self.id = id
|
||||
@@ -45,52 +43,26 @@ class Ctrl(object):
|
||||
if args.demo: log_path = self.get_path(filename = 'bbctrl.log')
|
||||
else: log_path = args.log
|
||||
self.log = bbctrl.log.Log(args, self.ioloop, log_path)
|
||||
Trace.mark('ctrl.log_open')
|
||||
|
||||
self.state = bbctrl.State(self)
|
||||
self.config = bbctrl.Config(self)
|
||||
Trace.mark('ctrl.state_config')
|
||||
|
||||
self.log.get('Ctrl').info('Starting %s' % self.id)
|
||||
|
||||
try:
|
||||
with Trace.span('ctrl.avr'):
|
||||
if args.demo: self.avr = bbctrl.AVREmu(self)
|
||||
else: self.avr = bbctrl.AVR(self)
|
||||
|
||||
with Trace.span('ctrl.i2c'):
|
||||
self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
|
||||
with Trace.span('ctrl.lcd'):
|
||||
self.lcd = bbctrl.LCD(self)
|
||||
with Trace.span('ctrl.mach'):
|
||||
self.mach = bbctrl.Mach(self, self.avr)
|
||||
with Trace.span('ctrl.preplanner'):
|
||||
self.preplanner = bbctrl.Preplanner(self)
|
||||
if not args.demo:
|
||||
with Trace.span('ctrl.jog'):
|
||||
self.jog = bbctrl.Jog(self)
|
||||
with Trace.span('ctrl.pwr'):
|
||||
if not args.demo: self.jog = bbctrl.Jog(self)
|
||||
self.pwr = bbctrl.Pwr(self)
|
||||
with Trace.span('ctrl.hooks'):
|
||||
self.hooks = bbctrl.Hooks(self)
|
||||
with Trace.span('ctrl.aux'):
|
||||
self.aux = bbctrl.AuxAxis(self)
|
||||
with Trace.span('ctrl.ext_axis'):
|
||||
# ExternalAxis exposes the auxcnc ESP stepper as a
|
||||
# virtual A axis that gplan handles natively. Created
|
||||
# unconditionally so State sees the synthetic motor
|
||||
# vars even when aux is disabled (kept inert in that
|
||||
# case via ext_axis.enabled).
|
||||
axis_letter = self.aux._cfg.get('axis_letter', 'a')
|
||||
self.ext_axis = bbctrl.ExternalAxis(
|
||||
self, self.aux, axis_letter=axis_letter)
|
||||
# Hook AuxAxis post-publish callback so homed flag
|
||||
# mirrors into State after homing.
|
||||
self.aux.set_state_observer(
|
||||
self.ext_axis.refresh_homed)
|
||||
self._register_aux_hooks()
|
||||
|
||||
with Trace.span('ctrl.mach.connect'):
|
||||
self.mach.connect()
|
||||
|
||||
self.lcd.add_new_page(bbctrl.MainLCDPage(self))
|
||||
@@ -98,12 +70,7 @@ class Ctrl(object):
|
||||
|
||||
os.environ['GCODE_SCRIPT_PATH'] = self.get_upload()
|
||||
|
||||
Trace.mark('ctrl.init.end')
|
||||
Trace.sd_notify('STATUS=ctrl initialized\n')
|
||||
|
||||
except Exception:
|
||||
Trace.mark('ctrl.init.error')
|
||||
self.log.get('Ctrl').exception('Internal error: Control initialization failed')
|
||||
except Exception: self.log.get('Ctrl').exception('Internal error: Control initialization failed')
|
||||
|
||||
|
||||
def __del__(self): print('Ctrl deleted')
|
||||
@@ -146,66 +113,38 @@ class Ctrl(object):
|
||||
|
||||
|
||||
def _register_aux_hooks(self):
|
||||
"""Wire up auxcnc HOOK: events to AuxAxis methods.
|
||||
|
||||
v2: motion hooks (aux/aux_rel/aux_home/aux_setzero) are
|
||||
retired now that the W axis is integrated through gplan as
|
||||
a virtual A axis (see ExternalAxis). Only the ATC pneumatic
|
||||
hooks remain - those are events, not motion.
|
||||
|
||||
For backwards compatibility with files that still contain
|
||||
(MSG,HOOK:aux_home:) (e.g. older preprocessed gcode), keep
|
||||
an aux_home alias that routes to the standard ext_axis homing
|
||||
path."""
|
||||
"""Wire up the auxcnc HOOK: events to AuxAxis methods."""
|
||||
log = self.log.get('AuxAxis')
|
||||
|
||||
def _hook_aux_home(ctx):
|
||||
# Legacy: route to the standard external-axis homing.
|
||||
if self.ext_axis is not None and self.ext_axis.enabled:
|
||||
self.ext_axis.home()
|
||||
else:
|
||||
def _hook_move(ctx):
|
||||
data = (ctx.get('data') or '').strip()
|
||||
if not data:
|
||||
raise Exception('aux hook missing target')
|
||||
self.aux.move_abs_mm(float(data))
|
||||
|
||||
def _hook_move_rel(ctx):
|
||||
data = (ctx.get('data') or '').strip()
|
||||
if not data:
|
||||
raise Exception('aux_rel hook missing delta')
|
||||
self.aux.move_rel_mm(float(data))
|
||||
|
||||
def _hook_home(ctx):
|
||||
self.aux.home()
|
||||
|
||||
def _hook_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.
|
||||
def _hook_setzero(ctx):
|
||||
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)
|
||||
mm = float(data) if data else 0.0
|
||||
self.aux.set_position_mm(mm)
|
||||
|
||||
# Legacy alias for older gcode that used aux_home.
|
||||
self.hooks.register_internal('aux_home', _hook_aux_home,
|
||||
self.hooks.register_internal('aux', _hook_move,
|
||||
block_unpause=True, auto_resume=True)
|
||||
self.hooks.register_internal('aux_rel', _hook_move_rel,
|
||||
block_unpause=True, auto_resume=True)
|
||||
self.hooks.register_internal('aux_home', _hook_home,
|
||||
block_unpause=True, auto_resume=True,
|
||||
timeout=180)
|
||||
|
||||
# ATC pneumatic atoms. block_unpause + auto_resume so a
|
||||
# program using M100/M102/M103 pauses at the right point and
|
||||
# resumes once each atom finishes. Macros compose drop/grab
|
||||
# sequences from these primitives.
|
||||
self.hooks.register_internal('release', _hook_release,
|
||||
block_unpause=True, auto_resume=True,
|
||||
timeout=10)
|
||||
self.hooks.register_internal('clamp', _hook_clamp,
|
||||
block_unpause=True, auto_resume=True,
|
||||
timeout=15)
|
||||
self.hooks.register_internal('eject', _hook_eject,
|
||||
block_unpause=True, auto_resume=True,
|
||||
timeout=15)
|
||||
self.hooks.register_internal('aux_setzero', _hook_setzero,
|
||||
block_unpause=True, auto_resume=True)
|
||||
log.info('Aux hooks registered')
|
||||
|
||||
|
||||
@@ -214,7 +153,5 @@ class Ctrl(object):
|
||||
self.ioloop.close()
|
||||
self.avr.close()
|
||||
self.mach.planner.close()
|
||||
try: self.ext_axis.close()
|
||||
except Exception: pass
|
||||
try: self.aux.close()
|
||||
except Exception: pass
|
||||
|
||||
@@ -1,677 +0,0 @@
|
||||
################################################################################
|
||||
#
|
||||
# ExternalAxis - bridges a logical motorless axis to step generation on
|
||||
# the auxcnc ESP, so the Buildbotics planner can drive a stepper that
|
||||
# isn't on the AVR.
|
||||
#
|
||||
# Architecture
|
||||
# ------------
|
||||
# The bbctrl planner (camotics gplan) handles parsing, units, modal
|
||||
# state, soft limits, accel ramping and S-curve timing for axes
|
||||
# X, Y, Z, A, B, C. The AVR has 4 motor channels (0-3) and only
|
||||
# generates step pulses for axes that have a motor mapped to them.
|
||||
# An axis with no mapped motor is fully accepted by the AVR - it
|
||||
# updates its internal `ex.position[axis]` and reports `<axis>p` to
|
||||
# the host, but no stepper turns.
|
||||
#
|
||||
# We exploit that: the W stepper is exposed to gplan as A, but no
|
||||
# AVR motor maps to A. The planner does all the gcode-level work
|
||||
# correctly (G90/G91, soft limits, accel, units, modal feed rate);
|
||||
# we intercept the resulting `Cmd.line` blocks in `Planner.__encode`,
|
||||
# strip A out, and forward the A delta to the auxcnc ESP as STEPS.
|
||||
#
|
||||
# To make gplan and State *believe* A is enabled we register a
|
||||
# synthetic motor (index 4) into State.vars, populated from
|
||||
# aux.json, with `4an=3` (axis A), `4me=1` (enabled), and the
|
||||
# usual velocity/accel/jerk/soft-limit vars. State.find_motor and
|
||||
# the snapshot projection are extended to walk index 4. Motor-4
|
||||
# vars never leave the host (they're not in the AVR's schema) so
|
||||
# the AVR is undisturbed.
|
||||
#
|
||||
# v1 coupling: serialize. If a line has any A delta we wait for
|
||||
# the ESP to finish before letting subsequent commands flow. This
|
||||
# matches the behaviour of the previous hook-based approach (no
|
||||
# XYZ+A blending) but with all the planner's correctness guarantees.
|
||||
#
|
||||
# v2 could match ESP move duration to the gplan trapezoid time and
|
||||
# allow concurrent motion; out of scope for v1.
|
||||
#
|
||||
################################################################################
|
||||
|
||||
import threading
|
||||
|
||||
try:
|
||||
from queue import Queue
|
||||
except ImportError:
|
||||
from Queue import Queue # py2 just in case
|
||||
|
||||
|
||||
# Synthetic motor index used to expose the external axis to State.
|
||||
# The AVR has motors 0..3; we use 4 as a host-only sentinel.
|
||||
EXTERNAL_MOTOR_INDEX = 4
|
||||
|
||||
# Axis letters in their canonical order; 'a' is index 3.
|
||||
_AXIS_LETTERS = 'xyzabc'
|
||||
|
||||
|
||||
class ExternalAxisError(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class ExternalAxis(object):
|
||||
"""Bridge between Planner line blocks and AuxAxis serial RPCs.
|
||||
|
||||
Owns no thread; runs RPC calls inline on whatever thread invokes
|
||||
execute_to_mm / home / abort. The Planner runs `__encode` on its
|
||||
own thread which is allowed to block on planner I/O, so blocking
|
||||
inside the interceptor is fine.
|
||||
|
||||
Position tracking: gplan emits absolute targets in mm; the ESP
|
||||
counts steps relative to home_zero. We mirror the last commanded
|
||||
mm position so subsequent line blocks compute the correct delta.
|
||||
`_pos_mm` is also published as `<axis>p` so DRO updates."""
|
||||
|
||||
def __init__(self, ctrl, aux, axis_letter='a'):
|
||||
self.ctrl = ctrl
|
||||
self.aux = aux
|
||||
self.log = ctrl.log.get('ExternalAxis')
|
||||
|
||||
self.axis_letter = (axis_letter or 'a').lower()[:1]
|
||||
if self.axis_letter not in _AXIS_LETTERS:
|
||||
raise ExternalAxisError(
|
||||
'Invalid external axis letter: %r' % axis_letter)
|
||||
# Index in 'xyzabc' (0..5)
|
||||
self.axis_index = _AXIS_LETTERS.index(self.axis_letter)
|
||||
|
||||
self._busy = threading.Event()
|
||||
# Last absolute mm we committed; None until first move /
|
||||
# homing event syncs us up.
|
||||
self._pos_mm = None
|
||||
|
||||
# Single-slot worker queue: __encode posts (target_mm,) tuples
|
||||
# here; the worker thread runs the ESP RPC. Capacity is
|
||||
# intentionally bounded - if it fills it means motion is
|
||||
# outpacing the ESP and we should backpressure the planner.
|
||||
self._work_q = Queue(maxsize=64)
|
||||
self._stop = threading.Event()
|
||||
self._worker = threading.Thread(
|
||||
target=self._worker_loop,
|
||||
name='ExternalAxis-worker', daemon=True)
|
||||
self._worker.start()
|
||||
|
||||
# Push synthetic motor vars into State so the planner sees
|
||||
# this axis as enabled with proper limits/velocity/accel.
|
||||
self._publish_synthetic_motor()
|
||||
# Also seed <axis>p so the DRO has something to render.
|
||||
self.ctrl.state.set(self.axis_letter + 'p', 0.0)
|
||||
|
||||
# -------------------------------------------------------------- enabled
|
||||
|
||||
@property
|
||||
def enabled(self):
|
||||
try:
|
||||
return bool(self.aux is not None
|
||||
and self.aux.enabled
|
||||
and self.aux.present)
|
||||
except Exception:
|
||||
return False
|
||||
|
||||
# -------------------------------------------------------- configuration
|
||||
|
||||
@property
|
||||
def steps_per_mm(self):
|
||||
try:
|
||||
return float(self.aux._cfg.get('steps_per_mm', 25.0))
|
||||
except Exception:
|
||||
return 25.0
|
||||
|
||||
@property
|
||||
def dir_sign(self):
|
||||
try:
|
||||
v = int(self.aux._cfg.get('dir_sign', 1))
|
||||
return -1 if v < 0 else 1
|
||||
except Exception:
|
||||
return 1
|
||||
|
||||
@property
|
||||
def home_position_mm(self):
|
||||
try:
|
||||
return float(self.aux._cfg.get('home_position_mm', 0.0))
|
||||
except Exception:
|
||||
return 0.0
|
||||
|
||||
# ------------------------------------------------------- soft limits
|
||||
|
||||
def _soft_limits(self):
|
||||
"""Return (min_mm, max_mm) in machine coords, or (None, None)
|
||||
if soft limits are disabled (max <= min)."""
|
||||
try:
|
||||
lo = float(self.aux._cfg.get('min_mm', 0.0))
|
||||
hi = float(self.aux._cfg.get('max_mm', 0.0))
|
||||
except Exception:
|
||||
return (None, None)
|
||||
if hi <= lo:
|
||||
return (None, None)
|
||||
return (lo, hi)
|
||||
|
||||
def _check_soft_limit(self, target_abs_mm):
|
||||
"""Raise ExternalAxisError if target_abs_mm is outside the
|
||||
configured soft limits. Skips the check when the axis isn't
|
||||
homed (matching the standard bbctrl convention that soft
|
||||
limits are gated by homing state) - that lets the user jog
|
||||
away from a stuck position before homing without false
|
||||
rejections.
|
||||
|
||||
Called by both planner-driven motion (enqueue_target_mm) and
|
||||
UI motion (execute_to_mm), so this is the single source of
|
||||
truth regardless of which path triggered the move."""
|
||||
# Honour the homing gate.
|
||||
try:
|
||||
homed = bool(self.aux._homed)
|
||||
except Exception:
|
||||
homed = False
|
||||
if not homed:
|
||||
return
|
||||
lo, hi = self._soft_limits()
|
||||
if lo is None:
|
||||
return
|
||||
# Use a tiny epsilon so floating-point round-trip targets
|
||||
# right at the boundary aren't rejected.
|
||||
eps = 1e-4
|
||||
target = float(target_abs_mm)
|
||||
if target < lo - eps or target > hi + eps:
|
||||
raise ExternalAxisError(
|
||||
'%s axis target %.4f mm is outside soft limits '
|
||||
'[%.3f, %.3f] mm' % (
|
||||
self.axis_letter.upper(), target, lo, hi))
|
||||
|
||||
# ----------------------------------------------- Z-A coupling
|
||||
#
|
||||
# The auxiliary tool hangs below the Z spindle. Beyond a small
|
||||
# Z descent the two collide unless A drops with Z. The
|
||||
# constraint, in machine coords, is
|
||||
#
|
||||
# A_machine - Z_machine <= K
|
||||
# K = (A_home_mm - z_home_mm) + couple_z_clearance_mm
|
||||
#
|
||||
# Enforced before any motion (planner blocks, MDI, jogs). The
|
||||
# AuxPreprocessor injects pre-position A moves into uploaded
|
||||
# files so well-formed gcode runs without having to think about
|
||||
# this. Disabled when couple_z_enabled is false.
|
||||
|
||||
@property
|
||||
def couple_z_enabled(self):
|
||||
try:
|
||||
return bool(self.aux._cfg.get('couple_z_enabled', False))
|
||||
except Exception:
|
||||
return False
|
||||
|
||||
@property
|
||||
def couple_K(self):
|
||||
"""Limit constant K (machine-coord units): the maximum value
|
||||
of (A_machine - Z_machine) before the tool collides. Returns
|
||||
None if the rule isn't applicable (coupling disabled or
|
||||
config missing)."""
|
||||
try:
|
||||
cfg = self.aux._cfg
|
||||
clearance = float(cfg.get('couple_z_clearance_mm', 0.0))
|
||||
a_home = float(cfg.get('home_position_mm', 0.0))
|
||||
z_home = float(cfg.get('z_home_mm', 0.0))
|
||||
return (a_home - z_home) + clearance
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
@property
|
||||
def couple_clearance_mm(self):
|
||||
"""Raw clearance from config: how far Z may travel below its
|
||||
home before A has to start dropping with it. Used by the
|
||||
AuxPreprocessor to inject pre-position A moves into uploaded
|
||||
gcode."""
|
||||
try:
|
||||
return float(self.aux._cfg.get('couple_z_clearance_mm', 0.0))
|
||||
except Exception:
|
||||
return 0.0
|
||||
|
||||
def _z_machine_now(self):
|
||||
"""Read Z's current machine position from State, or None if
|
||||
Z isn't homed/reported yet. The AVR reports absolute machine
|
||||
positions in <axis>p; the work-coord display is computed by
|
||||
the UI as zp - offset_z, but here we want machine directly."""
|
||||
try:
|
||||
st = self.ctrl.state
|
||||
zp = st.get('zp', None)
|
||||
if zp is None:
|
||||
return None
|
||||
return float(zp)
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def _a_machine_now(self):
|
||||
"""A's current machine position. ExternalAxis tracks this
|
||||
directly in self._pos_mm (mm in machine coords - we don't
|
||||
apply G92 to A internally; offset_a is informational)."""
|
||||
try:
|
||||
if self._pos_mm is not None:
|
||||
return float(self._pos_mm)
|
||||
# Fall back to whatever the ESP last reported.
|
||||
return float(self.aux.position_mm)
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def coupling_for_preprocessor(self):
|
||||
"""Return the dict the AuxPreprocessor wants for in-file
|
||||
injection, or None when coupling is off. We assume the
|
||||
operator authors gcode in a frame where the at-home position
|
||||
is A_wc=0, Z_wc=0 - which matches our home-zeroed setup.
|
||||
Files that use a different convention will fall through to
|
||||
the runtime check."""
|
||||
if not self.couple_z_enabled:
|
||||
return None
|
||||
return {
|
||||
'enabled': True,
|
||||
'clearance_mm': self.couple_clearance_mm,
|
||||
'a_initial_wc': 0.0,
|
||||
'z_initial_wc': 0.0,
|
||||
}
|
||||
|
||||
def check_coupling(self, target_a_machine=None, target_z_machine=None):
|
||||
"""Validate that a proposed motion respects the Z-A coupling.
|
||||
|
||||
Each argument is a target *machine* mm position; pass None to
|
||||
keep the current value of that axis.
|
||||
|
||||
Improvement-aware: a move is rejected only when it *worsens*
|
||||
an already-violating state (or moves a healthy state into
|
||||
violation). Pure XY jogs that touch neither Z nor A are not
|
||||
passed through here; jogs that hold Z or A at their current
|
||||
value (gplan emits the unchanged value in `target`) pass
|
||||
because (a-z) doesn't change. Z-up moves while in violation
|
||||
also pass because they reduce (a-z) toward the bound.
|
||||
|
||||
Raises ExternalAxisError on violation. Skipped when coupling
|
||||
is disabled, the aux axis isn't homed, or current positions
|
||||
aren't yet known.
|
||||
"""
|
||||
if not self.couple_z_enabled:
|
||||
return
|
||||
try:
|
||||
homed = bool(self.aux._homed)
|
||||
except Exception:
|
||||
homed = False
|
||||
if not homed:
|
||||
return
|
||||
K = self.couple_K
|
||||
if K is None:
|
||||
return
|
||||
a_now = self._a_machine_now()
|
||||
z_now = self._z_machine_now()
|
||||
if a_now is None or z_now is None:
|
||||
return
|
||||
a_after = (float(target_a_machine)
|
||||
if target_a_machine is not None else a_now)
|
||||
z_after = (float(target_z_machine)
|
||||
if target_z_machine is not None else z_now)
|
||||
eps = 1e-4
|
||||
gap_after = a_after - z_after
|
||||
gap_before = a_now - z_now
|
||||
# Only refuse when (a) the resulting state would violate the
|
||||
# constraint AND (b) the move makes things at least as bad
|
||||
# as the current state. This lets the operator escape an
|
||||
# already-violating state by moving in the right direction
|
||||
# (Z up, A down).
|
||||
if gap_after > K + eps and gap_after > gap_before - eps:
|
||||
raise ExternalAxisError(
|
||||
'Z-A coupling violation: A=%.3f mm and Z=%.3f mm '
|
||||
'(machine) would put A above Z by %.3f mm; max '
|
||||
'allowed is %.3f mm. Drop A or raise Z first.' % (
|
||||
a_after, z_after, gap_after, K))
|
||||
|
||||
# ----------------------------------------------------------- conversion
|
||||
|
||||
def mm_to_steps_delta(self, delta_mm):
|
||||
return int(round(float(delta_mm) * self.steps_per_mm * self.dir_sign))
|
||||
|
||||
def steps_to_mm(self, steps):
|
||||
return (float(steps) / self.steps_per_mm) * self.dir_sign
|
||||
|
||||
# ---------------------------------------------------- synthetic motor
|
||||
|
||||
def _publish_synthetic_motor(self):
|
||||
"""Write motor-4 vars into State so find_motor('a') and
|
||||
get_axis_vector('vm') see A as a real axis. The AVR never
|
||||
sees these (motor index 4 is not in its var schema)."""
|
||||
cfg = self.aux._cfg if self.aux is not None else {}
|
||||
st = self.ctrl.state
|
||||
i = str(EXTERNAL_MOTOR_INDEX)
|
||||
|
||||
# Axis assignment: 'an' is the 0-based axis index in xyzabc.
|
||||
st.set(i + 'an', self.axis_index)
|
||||
# Motor enabled.
|
||||
st.set(i + 'me', 1 if (self.aux and self.aux.enabled) else 0)
|
||||
# Homed flag - cleared until aux reports homed.
|
||||
try:
|
||||
homed = bool(self.aux._homed)
|
||||
except Exception:
|
||||
homed = False
|
||||
st.set(i + 'h', 1 if homed else 0)
|
||||
|
||||
# Velocity / accel / jerk: the planner reads these via
|
||||
# state.get_axis_vector('<code>', SCALE) which multiplies the
|
||||
# stored raw value by SCALE. The bbctrl convention (matching
|
||||
# what motors 0-3 store) is:
|
||||
# vm: stored in m/min, planner expects mm/min (scale 1000)
|
||||
# am: stored in km/min^2, planner expects mm/min^2 (scale 1e6)
|
||||
# jm: stored in km/min^3, planner expects mm/min^3 (scale 1e6)
|
||||
# Onefinity defaults for XY are vm=10, am=750, jm=1000. We
|
||||
# follow the same convention; aux.json exposes the values in
|
||||
# those user-facing units so they're directly comparable.
|
||||
st.set(i + 'vm', float(cfg.get('max_velocity_m_per_min', 6.0)))
|
||||
st.set(i + 'am', float(cfg.get('max_accel_km_per_min2', 100.0)))
|
||||
st.set(i + 'jm', float(cfg.get('max_jerk_km_per_min3', 500.0)))
|
||||
|
||||
# Soft limits in machine units (mm). State.get_soft_limit_vector
|
||||
# returns these directly, no scaling.
|
||||
st.set(i + 'tn', float(cfg.get('min_mm', 0.0)))
|
||||
st.set(i + 'tm', float(cfg.get('max_mm', 0.0)))
|
||||
|
||||
# home_position / home_travel are exposed as callbacks for
|
||||
# motors 0..3 (see State.__init__). Register the same lazy
|
||||
# callbacks for motor 4 so gplan's resolver lookup
|
||||
# (_<axis>_home_position / _<axis>_home_travel) returns the
|
||||
# right values for the external axis.
|
||||
st.set_callback(
|
||||
i + 'home_position', lambda name: self.home_position_mm)
|
||||
st.set_callback(
|
||||
i + 'home_travel',
|
||||
lambda name: float(self.aux._cfg.get('max_mm', 0.0))
|
||||
- self.home_position_mm)
|
||||
|
||||
# Misc fields that other code paths might query. Defaults
|
||||
# mirror what the AVR pushes for motors 0-3.
|
||||
st.set(i + 'sa', 1.8)
|
||||
st.set(i + 'mi', 16)
|
||||
st.set(i + 'tr', 4.0)
|
||||
st.set(i + 'sp', 200)
|
||||
st.set(i + 'ic', 0.0)
|
||||
st.set(i + 'dc', 0.0)
|
||||
st.set(i + 'rv', False)
|
||||
st.set(i + 'tc', 1)
|
||||
st.set(i + 'lb', 5)
|
||||
st.set(i + 'ho', 0)
|
||||
st.set(i + 'os', 0)
|
||||
st.set(i + 'oa', False)
|
||||
st.set(i + 'lm', 8)
|
||||
st.set(i + 'lv', 0.1)
|
||||
st.set(i + 'sv', 1.688)
|
||||
st.set(i + 'tv', 1.997)
|
||||
st.set(i + 'lw', 2) # min-switch
|
||||
st.set(i + 'xw', 2) # max-switch
|
||||
st.set(i + 'ls', 0)
|
||||
st.set(i + 'xs', 0)
|
||||
st.set(i + 'df', 0)
|
||||
|
||||
def refresh_homed(self):
|
||||
"""Called when AuxAxis updates its homed flag. Mirrors into
|
||||
State so is_axis_homed('a') returns the right answer.
|
||||
|
||||
Updates several places at once because different layers read
|
||||
the homed state via different keys:
|
||||
- synthetic motor flag: 4h (used by snapshot -> a_h)
|
||||
- axis-level flag: a_homed (used by State.is_axis_homed
|
||||
and gplan _a_homed resolver)"""
|
||||
try:
|
||||
homed = bool(self.aux._homed)
|
||||
except Exception:
|
||||
homed = False
|
||||
st = self.ctrl.state
|
||||
st.set(str(EXTERNAL_MOTOR_INDEX) + 'h', 1 if homed else 0)
|
||||
st.set(self.axis_letter + '_homed', bool(homed))
|
||||
|
||||
# ----------------------------------------------------------- line split
|
||||
|
||||
def split_target(self, target):
|
||||
"""Pop the external axis out of a target dict and return
|
||||
(target_without_ext, ext_mm_or_None). Both case variants
|
||||
accepted defensively."""
|
||||
if not target:
|
||||
return target, None
|
||||
ax = self.axis_letter
|
||||
new_target = dict(target)
|
||||
ext_mm = new_target.pop(ax, None)
|
||||
if ext_mm is None:
|
||||
ext_mm = new_target.pop(ax.upper(), None)
|
||||
return new_target, ext_mm
|
||||
|
||||
# -------------------------------------------------------- execution API
|
||||
|
||||
def is_busy(self):
|
||||
return self._busy.is_set()
|
||||
|
||||
def execute_to_mm(self, ext_mm):
|
||||
"""Synchronously run an external move. Blocks until the ESP
|
||||
reports done. Used by the legacy /api/aux/move and /api/aux/jog
|
||||
endpoints which may want to wait. Most planner-driven motion
|
||||
goes through enqueue_target_mm instead, which is non-blocking.
|
||||
|
||||
Soft limits are enforced here (not just in gplan) because the
|
||||
UI jog/move endpoints don't go through the planner.
|
||||
|
||||
Updates state.<axis>p immediately on completion. For the
|
||||
planner-driven path that goes through enqueue_target_mm, the
|
||||
AVR's own ap reports drive state.<axis>p instead."""
|
||||
if not self.enabled:
|
||||
raise ExternalAxisError(
|
||||
'External axis %r not available (aux disabled or '
|
||||
'not connected)' % self.axis_letter)
|
||||
|
||||
self._check_soft_limit(ext_mm)
|
||||
# Coupling: A is in machine coords directly (we don't apply
|
||||
# a G92 offset to A), so target_a_machine == ext_mm.
|
||||
self.check_coupling(target_a_machine=ext_mm)
|
||||
steps, abs_mm = self._compute_move(ext_mm)
|
||||
if steps == 0:
|
||||
self._pos_mm = abs_mm
|
||||
self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
|
||||
return
|
||||
|
||||
self._busy.set()
|
||||
try:
|
||||
self.aux._do_steps(steps, ignore_limits=True)
|
||||
self._pos_mm = abs_mm
|
||||
self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
|
||||
finally:
|
||||
self._busy.clear()
|
||||
|
||||
def enqueue_target_mm(self, ext_mm):
|
||||
"""Legacy non-blocking variant: post a fixed-rate STEPS move
|
||||
to the worker queue. No longer used by Planner.__encode (which
|
||||
uses enqueue_line for full S-curve mirroring), but kept for
|
||||
UI jog endpoints that don't have planner timing data.
|
||||
|
||||
Soft limits are enforced here (defense in depth on top of
|
||||
gplan)."""
|
||||
if not self.enabled:
|
||||
raise ExternalAxisError(
|
||||
'External axis %r not available' % self.axis_letter)
|
||||
self._check_soft_limit(ext_mm)
|
||||
self.check_coupling(target_a_machine=ext_mm)
|
||||
steps, abs_mm = self._compute_move(ext_mm)
|
||||
# Internal mirror only - drives subsequent delta computation.
|
||||
# state.<axis>p is left to the AVR's status reports.
|
||||
self._pos_mm = abs_mm
|
||||
if steps == 0:
|
||||
return
|
||||
self._work_q.put(('move', steps))
|
||||
|
||||
def enqueue_line(self, ext_mm, max_accel_mm_min2, max_jerk_mm_min3,
|
||||
entry_vel_mm_min, exit_vel_mm_min, times_ms):
|
||||
"""Post a full S-curve LINE block to the ESP worker. Mirrors
|
||||
gplan's planned trajectory exactly (same 7-segment math, same
|
||||
unit system) so the ESP's move duration matches what the AVR
|
||||
would have produced for an A motor.
|
||||
|
||||
Called by Planner.__encode for every line block that touches
|
||||
the external axis.
|
||||
|
||||
Parameters:
|
||||
ext_mm: absolute target in mm (gplan target['a'])
|
||||
max_accel_mm_min2:from block['max-accel']
|
||||
max_jerk_mm_min3: from block['max-jerk']
|
||||
entry_vel_mm_min: from block['entry-vel'] (typically 0 for
|
||||
the first block, exit_vel of the prior
|
||||
block otherwise)
|
||||
exit_vel_mm_min: from block['exit-vel']
|
||||
times_ms: 7-tuple of section durations in ms
|
||||
(block['times'] - the same units gplan uses)
|
||||
"""
|
||||
if not self.enabled:
|
||||
raise ExternalAxisError(
|
||||
'External axis %r not available' % self.axis_letter)
|
||||
self._check_soft_limit(ext_mm)
|
||||
self.check_coupling(target_a_machine=ext_mm)
|
||||
steps, abs_mm = self._compute_move(ext_mm)
|
||||
delta_mm = abs(abs_mm - (self._pos_mm if self._pos_mm is not None
|
||||
else 0.0))
|
||||
# Update internal mirror; AVR drives state.<axis>p.
|
||||
self._pos_mm = abs_mm
|
||||
if steps == 0 or delta_mm <= 0:
|
||||
return
|
||||
# ms -> minutes (the unit gplan/AVR/ESP use internally for
|
||||
# SCurve math).
|
||||
times_min = tuple((t / 60000.0) if t else 0.0 for t in times_ms)
|
||||
self._work_q.put(('line', steps, delta_mm,
|
||||
float(max_accel_mm_min2),
|
||||
float(max_jerk_mm_min3),
|
||||
float(entry_vel_mm_min),
|
||||
float(exit_vel_mm_min),
|
||||
times_min))
|
||||
|
||||
def _compute_move(self, ext_mm):
|
||||
"""Return (signed_steps, absolute_mm) for a target in mm.
|
||||
Caches first-time position from the ESP."""
|
||||
if self._pos_mm is None:
|
||||
self._pos_mm = self._read_esp_position_mm()
|
||||
delta_mm = float(ext_mm) - self._pos_mm
|
||||
return self.mm_to_steps_delta(delta_mm), float(ext_mm)
|
||||
|
||||
def _worker_loop(self):
|
||||
"""Background thread that drains the work queue. RPCs to the
|
||||
ESP are slow (multi-second moves) and must not run on the
|
||||
ioloop thread. We serialize ESP commands here so multiple
|
||||
line-block enqueues for the external axis are processed in
|
||||
the order the planner emitted them."""
|
||||
while not self._stop.is_set():
|
||||
try:
|
||||
op = self._work_q.get(timeout=0.5)
|
||||
except Exception:
|
||||
continue
|
||||
if op is None:
|
||||
continue
|
||||
kind = op[0]
|
||||
try:
|
||||
self._busy.set()
|
||||
if kind == 'move':
|
||||
steps = op[1]
|
||||
self.aux._do_steps(steps, ignore_limits=True)
|
||||
elif kind == 'line':
|
||||
(_, steps, length_mm,
|
||||
max_accel, max_jerk,
|
||||
entry_vel, exit_vel,
|
||||
times_min) = op
|
||||
self.aux._do_line(
|
||||
steps, length_mm, max_accel, max_jerk,
|
||||
entry_vel, exit_vel, times_min,
|
||||
ignore_limits=True)
|
||||
elif kind == 'home':
|
||||
self.aux.home()
|
||||
# _pos_mm and DRO updated by the caller's enqueue.
|
||||
except Exception as e:
|
||||
self.log.error('External axis worker failed on %s: %s'
|
||||
% (kind, e))
|
||||
finally:
|
||||
self._busy.clear()
|
||||
self._work_q.task_done()
|
||||
|
||||
def wait_idle(self, timeout=None):
|
||||
"""Block until the worker queue is empty. Used by callers
|
||||
that need post-motion state to be settled (e.g. homing,
|
||||
stop/abort handlers)."""
|
||||
try:
|
||||
# Queue.join blocks until task_done has been called for
|
||||
# every item put. It does not honour a timeout, so we
|
||||
# poll instead when one is requested.
|
||||
if timeout is None:
|
||||
self._work_q.join()
|
||||
return True
|
||||
import time
|
||||
deadline = time.time() + float(timeout)
|
||||
while time.time() < deadline:
|
||||
if self._work_q.unfinished_tasks == 0:
|
||||
return True
|
||||
time.sleep(0.05)
|
||||
return False
|
||||
except Exception:
|
||||
return False
|
||||
|
||||
def close(self):
|
||||
self._stop.set()
|
||||
try:
|
||||
self._work_q.put(None, block=False)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def home(self):
|
||||
"""Run the ESP homing cycle and sync our recorded position
|
||||
to the configured home_position_mm. Blocks; called from
|
||||
Mach.home (which already runs synchronously per axis)."""
|
||||
if not self.enabled:
|
||||
raise ExternalAxisError(
|
||||
'External axis %r not available' % self.axis_letter)
|
||||
# Drain pending moves so we don't home into stale work.
|
||||
self.wait_idle(timeout=30.0)
|
||||
self._busy.set()
|
||||
try:
|
||||
self.aux.home()
|
||||
self._pos_mm = self.home_position_mm
|
||||
self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
|
||||
self.refresh_homed()
|
||||
finally:
|
||||
self._busy.clear()
|
||||
|
||||
def abort(self):
|
||||
"""Cancel the ESP move and drop pending queued work.
|
||||
Caller (estop / stop handler) is responsible for the
|
||||
planner-side cleanup."""
|
||||
try:
|
||||
if self.aux is not None:
|
||||
self.aux.abort()
|
||||
finally:
|
||||
self._busy.clear()
|
||||
# Drain any pending ops so resume after an abort doesn't
|
||||
# replay stale targets.
|
||||
try:
|
||||
while True:
|
||||
self._work_q.get_nowait()
|
||||
self._work_q.task_done()
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# ------------------------------------------------------- ESP introspection
|
||||
|
||||
def _read_esp_position_mm(self):
|
||||
"""Convert AuxAxis._pos_steps mirror to mm. Falls back to 0."""
|
||||
try:
|
||||
steps = int(self.aux._pos_steps)
|
||||
except Exception:
|
||||
steps = 0
|
||||
return self.steps_to_mm(steps)
|
||||
|
||||
# ---------------------------------------------------------- DRO update
|
||||
|
||||
def sync_dro(self):
|
||||
"""Push the current position to State as <axis>p so the DRO
|
||||
reflects what we believe gplan/ESP agreed on. Called after
|
||||
moves; also safe to call from external code."""
|
||||
if self._pos_mm is None:
|
||||
return
|
||||
self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
|
||||
@@ -99,38 +99,18 @@ class FileHandler(bbctrl.APIHandler):
|
||||
|
||||
del (self.uploadFile)
|
||||
|
||||
# If the uploaded G-code uses ATC M-codes (M100..M103),
|
||||
# rewrite them into (MSG,HOOK:droptool:) etc so the hook
|
||||
# layer can dispatch them at runtime. The planner accepts
|
||||
# M100-M103 in user-defined range but doesn't *do* anything
|
||||
# with them. Motion in A goes through gplan unchanged - the
|
||||
# auxcnc stepper is exposed as a virtual A axis (see
|
||||
# ExternalAxis).
|
||||
# If the uploaded G-code uses the virtual W axis, rewrite the
|
||||
# file in place so the planner sees (MSG,HOOK:aux:*) lines
|
||||
# instead of W tokens it can't parse.
|
||||
try:
|
||||
from bbctrl.AuxPreprocessor import (
|
||||
preprocess_file, 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):
|
||||
log.info('Rewrote W-axis tokens in %s' %
|
||||
self.uploadFilename)
|
||||
except Exception:
|
||||
self.get_log('AuxPreprocessor').exception(
|
||||
'Aux preprocess failed; uploading unchanged')
|
||||
'W-axis preprocess failed; uploading unchanged')
|
||||
|
||||
self.get_ctrl().preplanner.invalidate(self.uploadFilename)
|
||||
self.get_ctrl().state.add_file(self.uploadFilename)
|
||||
|
||||
@@ -201,15 +201,7 @@ class Hooks:
|
||||
# Cancel any running hook on estop. The hook thread
|
||||
# cannot be killed from Python, but we can ask the
|
||||
# AuxAxis to send ABORT to the ESP so its in-flight
|
||||
# motion stops. Also drain the external-axis
|
||||
# worker queue so resume after clear doesn't replay
|
||||
# stale moves.
|
||||
try:
|
||||
ext = getattr(self.ctrl, 'ext_axis', None)
|
||||
if ext is not None:
|
||||
ext.abort()
|
||||
except Exception:
|
||||
pass
|
||||
# motion stops.
|
||||
if self._hook_busy:
|
||||
self.log.warning('E-stop: cancelling hook "%s"' %
|
||||
self._hook_busy_event)
|
||||
@@ -257,23 +249,6 @@ class Hooks:
|
||||
|
||||
# -- Hook execution --
|
||||
|
||||
def dispatch_hook_message(self, text):
|
||||
"""Direct entry point for HOOK:<event>:<data> messages emitted
|
||||
by the planner via (MSG,HOOK:...) comments. Bypasses the
|
||||
state.messages list (which the UI also reads), so callers can
|
||||
suppress popup display without losing the hook dispatch.
|
||||
|
||||
Returns True if the text matched a HOOK: line and was
|
||||
dispatched, False otherwise."""
|
||||
if not isinstance(text, str) or not text.startswith('HOOK:'):
|
||||
return False
|
||||
parts = text[5:].split(':', 1)
|
||||
event = parts[0]
|
||||
data = parts[1] if len(parts) > 1 else ''
|
||||
self._fire('custom', {'event': event, 'data': data},
|
||||
custom_name=event)
|
||||
return True
|
||||
|
||||
def register_internal(self, name, fn, block_unpause=True,
|
||||
auto_resume=True, timeout=120):
|
||||
"""Register an in-process handler for HOOK:<name> events.
|
||||
|
||||
@@ -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]
|
||||
|
||||
@@ -182,11 +182,4 @@ class Log(object):
|
||||
if n == 16: os.unlink(fullpath)
|
||||
else: self._rotate(path, nextN)
|
||||
|
||||
# The recursive call may have unlinked or rotated this
|
||||
# path; tolerate a missing source rather than crashing
|
||||
# bbctrl on startup. This also tolerates concurrent
|
||||
# logrotate runs from /etc/cron.reboot.
|
||||
try:
|
||||
os.rename(fullpath, '%s.%d' % (path, nextN))
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
|
||||
@@ -95,10 +95,6 @@ class Mach(Comm):
|
||||
self.planner = bbctrl.Planner(ctrl)
|
||||
self.unpausing = False
|
||||
self.stopping = False
|
||||
# Guard against overlapping deferred-external-homing threads
|
||||
# if the user clicks Home (All) again while the previous run
|
||||
# is still waiting for the AVR cycle to finish.
|
||||
self._ext_home_thread = None
|
||||
|
||||
ctrl.state.set('cycle', 'idle')
|
||||
|
||||
@@ -260,12 +256,9 @@ class Mach(Comm):
|
||||
if cmd[0] == '$': self._query_var(cmd)
|
||||
elif cmd[0] == '\\': super().queue_command(cmd[1:])
|
||||
else:
|
||||
# Rewrite ATC M-codes in MDI input the same way the
|
||||
# FileHandler rewrites uploaded files. Motion (X/Y/Z/A)
|
||||
# is left unchanged: the planner handles it natively
|
||||
# now that the auxcnc stepper is exposed as a virtual
|
||||
# A axis (see ExternalAxis).
|
||||
cmd = self._rewrite_aux_mdi(cmd)
|
||||
# Rewrite W-axis tokens in MDI input the same way the
|
||||
# FileHandler rewrites uploaded files.
|
||||
cmd = self._rewrite_w_mdi(cmd)
|
||||
self._begin_cycle('mdi')
|
||||
self.planner.mdi(cmd, with_limits)
|
||||
super().resume()
|
||||
@@ -273,12 +266,12 @@ class Mach(Comm):
|
||||
self.mlog.info("Exception during MDI: %s" % err)
|
||||
pass
|
||||
|
||||
def _rewrite_aux_mdi(self, cmd):
|
||||
"""Apply the ATC M-code preprocessor to a single MDI line.
|
||||
Returns possibly-multi-line G-code with HOOK: comments inserted."""
|
||||
def _rewrite_w_mdi(self, cmd):
|
||||
"""Apply the W-axis preprocessor to a single MDI line. Returns
|
||||
possibly-multi-line G-code with HOOK: comments inserted."""
|
||||
try:
|
||||
from bbctrl.AuxPreprocessor import AuxPreprocessor, _ATC_M_RE
|
||||
if not _ATC_M_RE.search(cmd):
|
||||
from bbctrl.AuxPreprocessor import AuxPreprocessor, _W_TOKEN_RE
|
||||
if not _W_TOKEN_RE.search(cmd):
|
||||
return cmd
|
||||
import io, tempfile, os
|
||||
# AuxPreprocessor.process is file-based; route through
|
||||
@@ -299,7 +292,7 @@ class Mach(Comm):
|
||||
except OSError: pass
|
||||
return rewritten
|
||||
except Exception as e:
|
||||
self.mlog.warning('Aux MDI rewrite failed: %s' % e)
|
||||
self.mlog.warning('W-axis MDI rewrite failed: %s' % e)
|
||||
return cmd
|
||||
|
||||
def set(self, code, value):
|
||||
@@ -307,17 +300,6 @@ class Mach(Comm):
|
||||
|
||||
|
||||
def jog(self, axes):
|
||||
# Strip the external axis from the jog request before sending
|
||||
# to the AVR. v1 doesn't support continuous-rate jogging on
|
||||
# the ESP-driven axis - users jog A via /api/aux/jog (relative
|
||||
# mm steps) instead. Sending A to the AVR is harmless (no
|
||||
# motor maps to it) but cleaner to strip.
|
||||
ext = getattr(self.ctrl, 'ext_axis', None)
|
||||
if ext is not None and isinstance(axes, dict):
|
||||
axes = {k: v for k, v in axes.items()
|
||||
if k.lower() != ext.axis_letter}
|
||||
if not axes:
|
||||
return
|
||||
self._begin_cycle('jogging')
|
||||
self.planner.position_change()
|
||||
super().queue_command(Cmd.jog(axes))
|
||||
@@ -331,52 +313,10 @@ class Mach(Comm):
|
||||
axes = 'zxybc' if is_rotary_active else 'zxyabc' # TODO This should be configurable
|
||||
else: axes = '%c' % axis
|
||||
|
||||
# Collect external axes here and process them *after* every
|
||||
# AVR axis above has finished its homing cycle. Without this,
|
||||
# the AVR is still running Z/X/Y homing G-code in the
|
||||
# planner queue while ext.home() synchronously drives the ESP
|
||||
# to home A in parallel - which is unsafe (the gantry and W
|
||||
# axis can move at the same time) and visually confusing.
|
||||
# We defer external homing to a background thread that
|
||||
# polls cycle until the AVR cycle completes.
|
||||
external_pending = []
|
||||
|
||||
for axis in axes:
|
||||
enabled = state.is_axis_enabled(axis)
|
||||
mode = state.axis_homing_mode(axis)
|
||||
|
||||
# External axes (e.g. the auxcnc-driven A axis) home via
|
||||
# their own ESP-side homing routine; the standard
|
||||
# G28.2 / G38.6 / latch sequence doesn't apply.
|
||||
#
|
||||
# After homing we want a deterministic outcome regardless
|
||||
# of where the user was before:
|
||||
# physical position = home_position_mm (e.g. 134 mm)
|
||||
# work-coord origin = home position (user A = 0)
|
||||
# work offset = home_position_mm (so abs - off = 0)
|
||||
#
|
||||
# ext.home() blocks on the ESP and updates state.ap to
|
||||
# home_position_mm. We then need to tell the AVR (so its
|
||||
# ex.position[A] matches physical reality) and gplan
|
||||
# (so trajectory planning sees abs at home).
|
||||
#
|
||||
# We deliberately avoid G28.3 here: gplan's G28.3 keeps the
|
||||
# current user-coord position fixed and adjusts the offset
|
||||
# to match the new abs, which means re-homing after a move
|
||||
# accumulates offset (134 -> 268 -> ...). Using G92 a0
|
||||
# *after* syncing abs gives the desired "user A = 0 here"
|
||||
# outcome with offset = home_position every time.
|
||||
ext = getattr(self.ctrl, 'ext_axis', None)
|
||||
if ext is not None and ext.enabled \
|
||||
and ext.axis_letter == axis.lower():
|
||||
if 1 < len(axes) and not enabled:
|
||||
continue
|
||||
# Defer until AVR axes are done. We capture the axis
|
||||
# letter and ext reference; the actual homing runs
|
||||
# in _run_external_homing below.
|
||||
external_pending.append((axis, ext))
|
||||
continue
|
||||
|
||||
# If this is not a request to home a specific axis and the
|
||||
# axis is disabled or in manual homing mode, don't show any
|
||||
# warnings
|
||||
@@ -407,138 +347,8 @@ class Mach(Comm):
|
||||
self.planner.mdi(gcode, False)
|
||||
super().resume()
|
||||
|
||||
# Kick off the deferred external-axis homing on a background
|
||||
# thread so we don't block the HTTP handler (which is on the
|
||||
# IOLoop) waiting for the AVR cycle to finish.
|
||||
if external_pending:
|
||||
prev = self._ext_home_thread
|
||||
if prev is not None and prev.is_alive():
|
||||
self.mlog.info(
|
||||
'External homing already in progress; ignoring '
|
||||
'duplicate request')
|
||||
else:
|
||||
import threading
|
||||
t = threading.Thread(
|
||||
target=self._run_external_homing,
|
||||
args=(list(external_pending),),
|
||||
name='ext-home-deferred',
|
||||
daemon=True)
|
||||
self._ext_home_thread = t
|
||||
t.start()
|
||||
|
||||
def _run_external_homing(self, pending):
|
||||
"""Background worker: wait for the AVR cycle to drop to idle
|
||||
(meaning all queued AVR-side homing is done), then run each
|
||||
deferred external-axis home in order.
|
||||
|
||||
We split the work between two threads:
|
||||
- this background thread blocks on the ESP serial RPC
|
||||
(ext.home(), which can take 5-10 seconds while the
|
||||
carriage seeks the limit and backs off twice);
|
||||
- small bookkeeping operations that touch gplan, the AVR
|
||||
command queue, or shared State are scheduled back onto
|
||||
the IOLoop via ctrl.ioloop.add_callback() so we don't
|
||||
race with the rest of the controller.
|
||||
"""
|
||||
import time
|
||||
# Wait up to 5 minutes for the AVR cycle to leave 'homing'.
|
||||
# Long enough for any reasonable Onefinity full-travel home
|
||||
# (Y axis at slow rate covers ~800 mm).
|
||||
deadline = time.time() + 300.0
|
||||
while time.time() < deadline:
|
||||
cycle = self._get_cycle()
|
||||
# 'homing' is the AVR's homing cycle; we wait for it to
|
||||
# return to idle. If the user estopped or the cycle was
|
||||
# aborted, cycle goes to idle too - we still proceed and
|
||||
# the external home will fail-soft if conditions are wrong.
|
||||
if cycle == 'idle':
|
||||
break
|
||||
time.sleep(0.1)
|
||||
else:
|
||||
self.mlog.error(
|
||||
'External axis homing aborted: AVR cycle did not '
|
||||
'return to idle within timeout')
|
||||
return
|
||||
|
||||
for axis, ext in pending:
|
||||
self.mlog.info('Homing external %s axis via auxcnc' %
|
||||
axis.upper())
|
||||
# Begin the cycle on the IOLoop so cycle-state writes go
|
||||
# through the same thread that all other state writes do.
|
||||
self.ctrl.ioloop.add_callback(self._begin_cycle, 'homing')
|
||||
try:
|
||||
# ext.home() runs on this background thread - it
|
||||
# blocks on serial I/O and is fully thread-safe (the
|
||||
# AuxAxis driver has its own RPC lock).
|
||||
ext.home()
|
||||
home_mm = ext.home_position_mm
|
||||
# All of the post-home bookkeeping touches gplan and
|
||||
# the AVR command queue, both of which run on the
|
||||
# IOLoop. Schedule it there in a single callback so
|
||||
# the steps run in order without intervening events.
|
||||
self.ctrl.ioloop.add_callback(
|
||||
self._finish_external_home, axis, home_mm)
|
||||
except Exception as e:
|
||||
self.mlog.error(
|
||||
'External axis homing failed: %s' % e)
|
||||
# Cycle reset must also happen on the IOLoop. Without
|
||||
# this the UI stays locked at 'homing' since the AVR
|
||||
# never moved (no state change to drive _update's
|
||||
# cycle-end path).
|
||||
self.ctrl.ioloop.add_callback(
|
||||
self._abort_external_home_cycle)
|
||||
|
||||
def _finish_external_home(self, axis, home_mm):
|
||||
"""IOLoop-side completion of an external axis home.
|
||||
Synchronizes AVR position, refreshes the planner, and emits
|
||||
a G92 to set the user-coord origin at the home position.
|
||||
"""
|
||||
try:
|
||||
# 1) Update AVR: no motor steps, just position sync.
|
||||
super().queue_command(Cmd.set_axis(axis, home_mm))
|
||||
# 2) Force planner to resync abs from State on the next
|
||||
# planner call (which is the MDI below).
|
||||
self.planner.position_change()
|
||||
# 3) G92 <axis>0: with abs already at home_mm, sets
|
||||
# user-coord A = 0 and offset = home_mm. Use
|
||||
# planner.mdi (not Mach.mdi) so we don't flip cycle
|
||||
# to 'mdi' inside the 'homing' cycle.
|
||||
self.planner.mdi('G92 %c0' % axis, False)
|
||||
super().resume()
|
||||
except Exception:
|
||||
self.mlog.exception(
|
||||
'Post-home bookkeeping failed for external axis')
|
||||
self._abort_external_home_cycle()
|
||||
|
||||
def _abort_external_home_cycle(self):
|
||||
"""Reset cycle to idle from the IOLoop after a failed
|
||||
external axis home. The AVR never moved so _update's normal
|
||||
cycle-end path won't fire; do it explicitly here.
|
||||
"""
|
||||
if self._get_cycle() == 'homing':
|
||||
try:
|
||||
self._set_cycle('idle')
|
||||
except Exception:
|
||||
self.mlog.exception(
|
||||
'Failed to reset cycle to idle after external '
|
||||
'homing error')
|
||||
|
||||
|
||||
def unhome(self, axis):
|
||||
# External axes don't have AVR-side homed state to clear; the
|
||||
# ESP holds its own homed flag. We don't have an explicit
|
||||
# "unhome" verb on the ESP, but a stale homed flag is harmless
|
||||
# because the next absolute move will fail-soft via
|
||||
# ExternalAxis._pos_mm sync. Still mirror the cleared flag
|
||||
# into State for the UI.
|
||||
ext = getattr(self.ctrl, 'ext_axis', None)
|
||||
if ext is not None and ext.enabled \
|
||||
and chr(axis).lower() == ext.axis_letter:
|
||||
from bbctrl.ExternalAxis import EXTERNAL_MOTOR_INDEX
|
||||
self.ctrl.state.set('%dh' % EXTERNAL_MOTOR_INDEX, 0)
|
||||
self.ctrl.state.set(ext.axis_letter + '_homed', False)
|
||||
return
|
||||
self.mdi('G28.2 %c0' % axis)
|
||||
def unhome(self, axis): self.mdi('G28.2 %c0' % axis)
|
||||
def estop(self): super().estop()
|
||||
|
||||
|
||||
@@ -565,12 +375,6 @@ class Mach(Comm):
|
||||
def stop(self):
|
||||
if self._get_state() != 'jogging': self.stopping = True
|
||||
super().i2c_command(Cmd.STOP)
|
||||
# Drain the external-axis worker queue so post-stop resumption
|
||||
# doesn't replay queued moves that the user wanted cancelled.
|
||||
ext = getattr(self.ctrl, 'ext_axis', None)
|
||||
if ext is not None:
|
||||
try: ext.abort()
|
||||
except Exception: pass
|
||||
|
||||
def pause(self): super().pause()
|
||||
|
||||
|
||||
@@ -27,26 +27,10 @@
|
||||
|
||||
import json
|
||||
import math
|
||||
import os
|
||||
import re
|
||||
import time
|
||||
from collections import deque
|
||||
# camotics.gplan is heavy (loads a C++ extension that pulls in libstdc++,
|
||||
# boost::python, etc.). Defer it: bbctrl can listen on HTTP and serve
|
||||
# the UI without ever touching the planner. Lazy-load the first time
|
||||
# Planner.init() runs, which is when the user actually queues motion.
|
||||
gplan = None
|
||||
def _load_gplan():
|
||||
global gplan
|
||||
if gplan is None:
|
||||
try:
|
||||
import bbctrl.Trace as _T
|
||||
with _T.span('imports.camotics_gplan'):
|
||||
import camotics.gplan as _gplan # pylint: disable=no-name-in-module,import-error
|
||||
except Exception:
|
||||
import camotics.gplan as _gplan # pylint: disable=no-name-in-module,import-error
|
||||
gplan = _gplan
|
||||
return gplan
|
||||
import camotics.gplan as gplan # pylint: disable=no-name-in-module,import-error
|
||||
import bbctrl.Cmd as Cmd
|
||||
from bbctrl.CommandQueue import CommandQueue
|
||||
|
||||
@@ -77,10 +61,6 @@ 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)
|
||||
|
||||
@@ -201,23 +181,12 @@ class Planner():
|
||||
|
||||
|
||||
def _add_message(self, text):
|
||||
self.ctrl.state.add_message(text)
|
||||
|
||||
line = self.ctrl.state.get('line', 0)
|
||||
if 0 <= line: where = '%s:%d' % (self.where, line)
|
||||
else: where = self.where
|
||||
|
||||
# HOOK:<event>:<data> messages are an internal IPC channel
|
||||
# between the gcode preprocessor and Hooks; bypass the user
|
||||
# message list so they don't surface as popups, and dispatch
|
||||
# the hook directly. Routing through state.messages would
|
||||
# only deliver it after the 0.25s state-change debounce, by
|
||||
# which point we'd have to keep it visible to ensure Hooks
|
||||
# could see it.
|
||||
hooks = getattr(self.ctrl, 'hooks', None)
|
||||
if hooks is not None and hooks.dispatch_hook_message(text):
|
||||
self.log.info('HOOK msg: %s' % text, where = where)
|
||||
return
|
||||
|
||||
self.ctrl.state.add_message(text)
|
||||
self.log.message(text, where = where)
|
||||
|
||||
|
||||
@@ -275,54 +244,6 @@ class Planner():
|
||||
if type != 'set': self.log.info('Cmd:' + log_json(block))
|
||||
|
||||
if type == 'line':
|
||||
# Z-A coupling check: every line block that touches Z (or
|
||||
# A) is validated against the projected (A,Z) machine
|
||||
# pair. The ExternalAxis check is improvement-aware: it
|
||||
# only refuses moves that worsen an existing violation
|
||||
# or push a healthy state into one. So pure-XY jogs and
|
||||
# recovery moves (Z up, A down) are not rejected even
|
||||
# when (A-Z) is currently above the bound.
|
||||
ext_check = getattr(self.ctrl, 'ext_axis', None)
|
||||
if ext_check is not None:
|
||||
from bbctrl.ExternalAxis import ExternalAxisError
|
||||
target = block.get('target') or {}
|
||||
z_target = target.get('z')
|
||||
if z_target is None: z_target = target.get('Z')
|
||||
a_letter = ext_check.axis_letter
|
||||
a_target = target.get(a_letter)
|
||||
if a_target is None:
|
||||
a_target = target.get(a_letter.upper())
|
||||
if z_target is not None or a_target is not None:
|
||||
try:
|
||||
ext_check.check_coupling(
|
||||
target_a_machine=a_target,
|
||||
target_z_machine=z_target)
|
||||
except ExternalAxisError as e:
|
||||
# Convert the raw error into a clean abort:
|
||||
# surface the message to the operator, stop
|
||||
# the cycle, and skip this block. Returning
|
||||
# None drops the block from the AVR queue;
|
||||
# mach.stop() halts further planner output
|
||||
# so the rest of an offending program can't
|
||||
# leak through. The planner stays usable
|
||||
# for new MDI / jog commands.
|
||||
self.log.warning('Z-A coupling refused: %s' % e)
|
||||
try:
|
||||
self.ctrl.state.add_message(
|
||||
'Z-A coupling refused move: ' + str(e))
|
||||
except Exception: pass
|
||||
try:
|
||||
self.ctrl.mach.stop()
|
||||
except Exception: pass
|
||||
return None
|
||||
|
||||
ext = self._external_axis_for_line(block)
|
||||
if ext is not None:
|
||||
# Side effect: enqueue the ESP move on the external-
|
||||
# axis worker. The AVR still receives the full target
|
||||
# (including A) so ex.position[A] tracks gplan; no
|
||||
# motor steps for A because no motor maps to it.
|
||||
self._dispatch_external_line(block, ext)
|
||||
self._enqueue_line_time(block)
|
||||
return Cmd.line(block['target'], block['exit-vel'],
|
||||
block['max-accel'], block['max-jerk'],
|
||||
@@ -353,17 +274,8 @@ class Planner():
|
||||
|
||||
if name[2:] == '_homed':
|
||||
motor = self.ctrl.state.find_motor(name[1])
|
||||
# Synthetic external motor (index 4) doesn't exist
|
||||
# on the AVR; mirror the homed flag in State only.
|
||||
from bbctrl.ExternalAxis import EXTERNAL_MOTOR_INDEX
|
||||
if motor is not None and motor < EXTERNAL_MOTOR_INDEX:
|
||||
if motor is not None:
|
||||
return Cmd.set_sync('%dh' % motor, value)
|
||||
if motor == EXTERNAL_MOTOR_INDEX:
|
||||
# Update synthetic motor flag and the<axis>_homed
|
||||
# projection consumed by the DRO.
|
||||
self.cmdq.enqueue(
|
||||
id, self.ctrl.state.set,
|
||||
'%dh' % EXTERNAL_MOTOR_INDEX, value)
|
||||
|
||||
return
|
||||
|
||||
@@ -412,74 +324,12 @@ class Planner():
|
||||
self.planner.set_logger(None)
|
||||
|
||||
|
||||
# ----------------------------------------------- external-axis routing
|
||||
#
|
||||
# When an axis is exposed to gplan via a synthetic motor (no AVR
|
||||
# channel), we need to fork its motion off to the ESP at line
|
||||
# encode time and let the rest of the line proceed to the AVR.
|
||||
# The split is done here rather than in gplan because gplan
|
||||
# treats all six axes uniformly and just emits target dicts; we
|
||||
# don't want to teach it about the ESP.
|
||||
|
||||
def _external_axis_for_line(self, block):
|
||||
"""Return the ExternalAxis instance for whichever axis in
|
||||
block['target'] is external, or None."""
|
||||
ext = getattr(self.ctrl, 'ext_axis', None)
|
||||
if ext is None or not ext.enabled:
|
||||
return None
|
||||
target = block.get('target') or {}
|
||||
if ext.axis_letter in target or ext.axis_letter.upper() in target:
|
||||
return ext
|
||||
return None
|
||||
|
||||
def _dispatch_external_line(self, block, ext):
|
||||
"""Side-effect: enqueue the ESP move on the external-axis
|
||||
worker thread (non-blocking). Returns the block (possibly
|
||||
unchanged) for the AVR.
|
||||
|
||||
We do NOT strip the external axis target from the AVR line.
|
||||
The AVR's exec_move_to_target updates ex.position[axis] for
|
||||
every axis in the target dict regardless of motor mapping,
|
||||
and reports it back via the `p` indexed var. Leaving A in
|
||||
the target keeps state.ap in sync with gplan's idea of A
|
||||
(otherwise the AVR's stale ex.position[A] would clobber
|
||||
ExternalAxis's state.ap=N update on the next status report).
|
||||
|
||||
The AVR doesn't step any motor for the external axis (no
|
||||
motor maps to it) - so leaving A in the target is
|
||||
physically a no-op for the steppers, while keeping the
|
||||
host-side state coherent.
|
||||
|
||||
We pass the full S-curve parameters to the ESP so its move
|
||||
duration matches the AVR's exactly. The ESP runs the same
|
||||
7-segment jerk-limited trajectory the AVR would have run
|
||||
if A had been a real motor."""
|
||||
target = block.get('target') or {}
|
||||
# Read the external target (case-insensitive) without modifying
|
||||
# the dict so the AVR still sees A.
|
||||
ext_mm = target.get(ext.axis_letter)
|
||||
if ext_mm is None:
|
||||
ext_mm = target.get(ext.axis_letter.upper())
|
||||
try:
|
||||
ext.enqueue_line(
|
||||
ext_mm,
|
||||
block.get('max-accel', 0.0),
|
||||
block.get('max-jerk', 0.0),
|
||||
block.get('entry-vel', 0.0),
|
||||
block.get('exit-vel', 0.0),
|
||||
block.get('times', [0]*7),
|
||||
)
|
||||
except Exception as e:
|
||||
self.log.error('External axis enqueue failed: %s' % e)
|
||||
raise
|
||||
return block
|
||||
|
||||
def reset(self, *args, **kwargs):
|
||||
stop = kwargs.get('stop', True)
|
||||
if stop:
|
||||
self.ctrl.mach.stop()
|
||||
|
||||
self.planner = _load_gplan().Planner()
|
||||
self.planner = gplan.Planner()
|
||||
self.planner.set_resolver(self._get_var_cb)
|
||||
# TODO logger is global and will not work correctly in demo mode
|
||||
self.planner.set_logger(self._log_cb, 1, 'LinePlanner:3')
|
||||
@@ -487,16 +337,6 @@ class Planner():
|
||||
self.cmdq.clear()
|
||||
self.reset_times()
|
||||
|
||||
# Drain the external-axis worker queue and force the next
|
||||
# move to re-sync position from the ESP (since State.reset
|
||||
# below will zero <axis>p which makes ext._pos_mm stale).
|
||||
ext = getattr(self.ctrl, 'ext_axis', None)
|
||||
if ext is not None:
|
||||
try: ext.abort()
|
||||
except Exception: pass
|
||||
try: ext._pos_mm = None
|
||||
except Exception: pass
|
||||
|
||||
resetState = kwargs.get('resetState', True)
|
||||
if resetState:
|
||||
self.ctrl.state.reset()
|
||||
@@ -512,57 +352,12 @@ 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
|
||||
try:
|
||||
from bbctrl.AuxPreprocessor import preprocess_to_tempfile
|
||||
ext = getattr(self.ctrl, 'ext_axis', None)
|
||||
coupling = (ext.coupling_for_preprocessor()
|
||||
if ext is not None else None)
|
||||
tmp = preprocess_to_tempfile(
|
||||
src_path, log=self.log, coupling=coupling)
|
||||
if tmp is not None:
|
||||
self._aux_tempfile = tmp
|
||||
load_path = tmp
|
||||
self.log.info(
|
||||
'Rewrote (ATC / Z-A coupling) for gplan: %s -> %s'
|
||||
% (src_path, tmp))
|
||||
except Exception:
|
||||
self.log.exception('Aux preprocess at load failed; '
|
||||
'attempting to load file unchanged')
|
||||
path = self.ctrl.get_path('upload', path)
|
||||
self.log.info('GCode:' + path)
|
||||
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:
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -107,14 +107,8 @@ class State(object):
|
||||
|
||||
|
||||
def reset(self):
|
||||
# Unhome all motors (real AVR motors 0..3 and the synthetic
|
||||
# external-axis motor at index 4 used by ExternalAxis).
|
||||
# Both <motor>homed and <motor>h are cleared - they're set
|
||||
# by different code paths (gplan emits homed via _<axis>_homed
|
||||
# set blocks, AVR reports h directly).
|
||||
for i in range(5):
|
||||
self.set('%dhomed' % i, False)
|
||||
self.set('%dh' % i, 0)
|
||||
# Unhome all motors
|
||||
for i in range(4): self.set('%dhomed' % i, False)
|
||||
|
||||
# Zero offsets and positions
|
||||
for axis in 'xyzabc':
|
||||
@@ -286,11 +280,8 @@ class State(object):
|
||||
axis_motors = {axis: self.find_motor(axis) for axis in 'xyzabc'}
|
||||
axis_vars = {}
|
||||
|
||||
# NOTE: motor index '4' is a host-only synthetic motor used
|
||||
# by ExternalAxis to expose the auxcnc ESP-driven stepper as
|
||||
# an additional axis. Real AVR motors are 0..3.
|
||||
for name, value in vars.items():
|
||||
if name[0] in '01234':
|
||||
if name[0] in '0123':
|
||||
motor = int(name[0])
|
||||
|
||||
for axis in 'xyzabc':
|
||||
@@ -339,9 +330,6 @@ class State(object):
|
||||
def get_axis_vector(self, name, scale = 1):
|
||||
v = {}
|
||||
|
||||
# 0..3 are AVR motor channels. 4 is the host-side synthetic
|
||||
# motor used by ExternalAxis. find_motor returns the right
|
||||
# index regardless of whether the axis is physical or external.
|
||||
for axis in 'xyzabc':
|
||||
motor = self.find_motor(axis)
|
||||
|
||||
@@ -363,10 +351,7 @@ class State(object):
|
||||
|
||||
|
||||
def find_motor(self, axis):
|
||||
# Walk 0..4: 0..3 are real AVR motors, 4 is the synthetic
|
||||
# host-side motor used to expose the auxcnc ESP stepper as
|
||||
# an external axis.
|
||||
for motor in range(5):
|
||||
for motor in range(4):
|
||||
if not ('%dan' % motor) in self.vars: continue
|
||||
motor_axis = 'xyzabc'[self.vars['%dan' % motor]]
|
||||
if motor_axis == axis.lower() and self.vars.get('%dme' % motor, 0):
|
||||
|
||||
@@ -1,185 +0,0 @@
|
||||
################################################################################
|
||||
# #
|
||||
# Lightweight phase tracing for bbctrl restart / boot timing. #
|
||||
# #
|
||||
# Anchored at module import time. All timestamps are seconds since the #
|
||||
# process anchor (monotonic). A wall-clock anchor is captured once so the #
|
||||
# timeline can be aligned with journalctl / systemd-analyze. #
|
||||
# #
|
||||
# Set BBCTRL_TRACE=0 in the environment to disable all marks (no-op). #
|
||||
# #
|
||||
# Exposed by /api/diag/timing as JSON. #
|
||||
# #
|
||||
################################################################################
|
||||
"""Bbctrl restart / startup tracing.
|
||||
|
||||
Usage:
|
||||
import bbctrl.Trace as T
|
||||
T.mark('proc.start')
|
||||
with T.span('ctrl.avr.init'):
|
||||
...
|
||||
|
||||
The timeline is also dumped on demand via /api/diag/timing.
|
||||
"""
|
||||
|
||||
import os
|
||||
import time
|
||||
import json
|
||||
import threading
|
||||
|
||||
|
||||
_ENABLED = os.environ.get('BBCTRL_TRACE', '1') != '0'
|
||||
|
||||
_t0_monotonic = time.monotonic()
|
||||
_t0_wall = time.time()
|
||||
_lock = threading.Lock()
|
||||
_events = [] # list of dicts: {t, name, fields}
|
||||
_ui_timing = None # last timeline POSTed by the browser
|
||||
|
||||
|
||||
def _read_kernel_anchors():
|
||||
"""Return (btime_wall, uptime_at_anchor) so we can express bbctrl events
|
||||
in seconds since kernel boot.
|
||||
|
||||
btime_wall: wall-clock epoch seconds when the kernel booted (from
|
||||
/proc/stat 'btime').
|
||||
uptime_at_anchor: monotonic offset (seconds since kernel boot) at the
|
||||
moment Trace was imported. Equivalent to (Trace anchor) - btime
|
||||
in wall time, but read directly from /proc/uptime so it isn't
|
||||
sensitive to wall-clock skew.
|
||||
"""
|
||||
btime = None
|
||||
uptime_at_anchor = None
|
||||
try:
|
||||
with open('/proc/stat') as f:
|
||||
for line in f:
|
||||
if line.startswith('btime '):
|
||||
btime = int(line.split()[1])
|
||||
break
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
with open('/proc/uptime') as f:
|
||||
uptime_at_anchor = float(f.read().split()[0])
|
||||
except Exception:
|
||||
pass
|
||||
return btime, uptime_at_anchor
|
||||
|
||||
|
||||
_btime_wall, _uptime_at_anchor = _read_kernel_anchors()
|
||||
|
||||
|
||||
def now():
|
||||
return time.monotonic() - _t0_monotonic
|
||||
|
||||
|
||||
def mark(name, **fields):
|
||||
"""Record a single named event at the current monotonic time."""
|
||||
if not _ENABLED:
|
||||
return
|
||||
t = now()
|
||||
ev = {'t': round(t, 4), 'name': name}
|
||||
if fields:
|
||||
ev['fields'] = fields
|
||||
with _lock:
|
||||
_events.append(ev)
|
||||
# Also surface in the regular log stream so journalctl shows it.
|
||||
try:
|
||||
extras = ''
|
||||
if fields:
|
||||
extras = ' ' + ' '.join('%s=%s' % (k, v) for k, v in fields.items())
|
||||
print('TRACE +%.3fs %s%s' % (t, name, extras), flush=True)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
class span(object):
|
||||
"""Context manager that emits <name>.start / <name>.end with duration."""
|
||||
|
||||
def __init__(self, name, **fields):
|
||||
self.name = name
|
||||
self.fields = fields
|
||||
self._t = None
|
||||
|
||||
def __enter__(self):
|
||||
if _ENABLED:
|
||||
self._t = time.monotonic()
|
||||
mark(self.name + '.start', **self.fields)
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc, tb):
|
||||
if _ENABLED and self._t is not None:
|
||||
dur_ms = int((time.monotonic() - self._t) * 1000)
|
||||
extra = dict(self.fields)
|
||||
extra['dur_ms'] = dur_ms
|
||||
if exc_type is not None:
|
||||
extra['error'] = exc_type.__name__
|
||||
mark(self.name + '.end', **extra)
|
||||
return False
|
||||
|
||||
|
||||
def set_ui_timing(data):
|
||||
global _ui_timing
|
||||
_ui_timing = data
|
||||
|
||||
|
||||
def _current_uptime():
|
||||
try:
|
||||
with open('/proc/uptime') as f:
|
||||
return float(f.read().split()[0])
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def timeline():
|
||||
with _lock:
|
||||
events = list(_events)
|
||||
return {
|
||||
'enabled': _ENABLED,
|
||||
't0_wall': _t0_wall,
|
||||
't0_iso': time.strftime('%Y-%m-%dT%H:%M:%S', time.localtime(_t0_wall)),
|
||||
'now': now(),
|
||||
'pid': os.getpid(),
|
||||
'events': events,
|
||||
'ui': _ui_timing,
|
||||
# Kernel-boot anchors so the timeline can be expressed in
|
||||
# "seconds since power on".
|
||||
'btime_wall': _btime_wall,
|
||||
'uptime_at_anchor': _uptime_at_anchor,
|
||||
'uptime_now': _current_uptime(),
|
||||
}
|
||||
|
||||
|
||||
def dump(path):
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
json.dump(timeline(), f, indent=2)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
# Sd_notify helper -------------------------------------------------------------
|
||||
#
|
||||
# Allows bbctrl to tell systemd "I am ready" / "current status is X" so
|
||||
# `systemctl status bbctrl` and `systemd-analyze critical-chain` reflect the
|
||||
# actual application state instead of just exec start.
|
||||
def sd_notify(state):
|
||||
"""Send a status line to systemd. Safe no-op when not under systemd."""
|
||||
addr = os.environ.get('NOTIFY_SOCKET')
|
||||
if not addr:
|
||||
return
|
||||
try:
|
||||
import socket
|
||||
sock = socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM)
|
||||
try:
|
||||
# Abstract socket if it starts with '@'
|
||||
target = '\0' + addr[1:] if addr.startswith('@') else addr
|
||||
sock.sendto(state.encode('utf-8'), target)
|
||||
finally:
|
||||
sock.close()
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
# Mark module-import time so even importing bbctrl shows up.
|
||||
mark('trace.import')
|
||||
@@ -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
|
||||
@@ -823,12 +812,8 @@ class AuxStatusHandler(bbctrl.APIHandler):
|
||||
|
||||
class AuxHomeHandler(bbctrl.APIHandler):
|
||||
def put_ok(self):
|
||||
# Run synchronously. Route through ExternalAxis so the
|
||||
# synthetic motor's homed flag and DRO update.
|
||||
ext = getattr(self.get_ctrl(), 'ext_axis', None)
|
||||
if ext is not None and ext.enabled:
|
||||
ext.home()
|
||||
else:
|
||||
# Run synchronously via the AuxAxis' own RPC; this blocks the
|
||||
# request. Fine because the UI shows a spinner.
|
||||
self.get_ctrl().aux.home()
|
||||
|
||||
|
||||
@@ -839,22 +824,12 @@ class AuxAbortHandler(bbctrl.APIHandler):
|
||||
|
||||
class AuxJogHandler(bbctrl.APIHandler):
|
||||
"""Body: {"mm": 1.5} for relative-mm move,
|
||||
{"steps": 200} for raw step move (bypasses soft limits).
|
||||
|
||||
Note: with the gplan-integrated W axis, jog-by-mm goes through
|
||||
ExternalAxis so the DRO updates and gplan's idea of A's position
|
||||
stays in sync. jog-by-steps still bypasses everything for the
|
||||
homing/setup workflow where the axis isn't homed yet."""
|
||||
{"steps": 200} for raw step move (bypasses soft limits)."""
|
||||
def put_ok(self):
|
||||
body = self.json or {}
|
||||
aux = self.get_ctrl().aux
|
||||
ext = getattr(self.get_ctrl(), 'ext_axis', None)
|
||||
if 'mm' in body:
|
||||
delta_mm = float(body['mm'])
|
||||
if ext is not None and ext.enabled and ext._pos_mm is not None:
|
||||
ext.execute_to_mm(ext._pos_mm + delta_mm)
|
||||
else:
|
||||
aux.move_rel_mm(delta_mm)
|
||||
aux.move_rel_mm(float(body['mm']))
|
||||
elif 'steps' in body:
|
||||
aux.jog_steps(int(body['steps']))
|
||||
else:
|
||||
@@ -867,10 +842,6 @@ class AuxMoveHandler(bbctrl.APIHandler):
|
||||
body = self.json or {}
|
||||
if 'mm' not in body:
|
||||
raise HTTPError(400, 'mm required')
|
||||
ext = getattr(self.get_ctrl(), 'ext_axis', None)
|
||||
if ext is not None and ext.enabled:
|
||||
ext.execute_to_mm(float(body['mm']))
|
||||
else:
|
||||
self.get_ctrl().aux.move_abs_mm(float(body['mm']))
|
||||
|
||||
|
||||
@@ -914,31 +885,6 @@ class RemoteDiagnosticsHandler(bbctrl.APIHandler):
|
||||
'message': e.reason or "Unknown"
|
||||
})
|
||||
|
||||
class TimingHandler(bbctrl.APIHandler):
|
||||
"""Return the bbctrl process startup timeline as JSON.
|
||||
|
||||
Includes monotonic-anchored events from bbctrl.Trace, the wall
|
||||
clock anchor (so the timeline can be aligned with journalctl /
|
||||
systemd-analyze output), and the most recent UI-side timing
|
||||
payload posted by the browser.
|
||||
"""
|
||||
def get(self):
|
||||
import bbctrl.Trace as _T
|
||||
self.write_json(_T.timeline())
|
||||
|
||||
|
||||
class UITimingHandler(bbctrl.APIHandler):
|
||||
"""Browser posts its performance.now() marks here once per load."""
|
||||
def put_ok(self):
|
||||
import bbctrl.Trace as _T
|
||||
# self.json is parsed in APIHandler.prepare()
|
||||
try:
|
||||
_T.set_ui_timing(self.json)
|
||||
_T.mark('ui.posted_timing',
|
||||
marks=len(self.json.get('marks', []) or []))
|
||||
except Exception: pass
|
||||
|
||||
|
||||
# Base class for Web Socket connections
|
||||
class ClientConnection(object):
|
||||
def __init__(self, app):
|
||||
@@ -1014,12 +960,6 @@ class SockJSConnection(ClientConnection, sockjs.tornado.SockJSConnection):
|
||||
ip = info.ip
|
||||
if 'X-Real-IP' in info.headers: ip = info.headers['X-Real-IP']
|
||||
self.app.get_ctrl(id).log.get('Web').info('Connection from %s' % ip)
|
||||
try:
|
||||
if not getattr(self.app, '_first_ws', False):
|
||||
self.app._first_ws = True
|
||||
import bbctrl.Trace as _T
|
||||
_T.mark('ws.first_open', ip=ip)
|
||||
except Exception: pass
|
||||
super().on_open(id)
|
||||
|
||||
|
||||
@@ -1028,23 +968,6 @@ class StaticFileHandler(tornado.web.StaticFileHandler):
|
||||
self.set_header('Cache-Control',
|
||||
'no-store, no-cache, must-revalidate, max-age=0')
|
||||
|
||||
def prepare(self):
|
||||
# Mark the first request for the index page so we can see when
|
||||
# chromium actually started fetching the UI on cold boot.
|
||||
try:
|
||||
app = self.application
|
||||
if not getattr(app, '_first_root_get', False):
|
||||
# Treat any GET '/' or '/index.html' as the root fetch.
|
||||
p = self.request.path
|
||||
if p in ('/', '/index.html', ''):
|
||||
app._first_root_get = True
|
||||
import bbctrl.Trace as _T
|
||||
_T.mark('web.first_root_get',
|
||||
ip=self.request.remote_ip,
|
||||
ua=(self.request.headers.get('User-Agent') or '')[:60])
|
||||
except Exception: pass
|
||||
return super().prepare()
|
||||
|
||||
class Web(tornado.web.Application):
|
||||
def __init__(self, args, ioloop):
|
||||
self.args = args
|
||||
@@ -1066,8 +989,6 @@ class Web(tornado.web.Application):
|
||||
|
||||
handlers = [
|
||||
(r'/websocket', WSConnection),
|
||||
(r'/api/diag/timing', TimingHandler),
|
||||
(r'/api/diag/timing/ui', UITimingHandler),
|
||||
(r'/api/log', LogHandler),
|
||||
(r'/api/message/(\d+)/ack', MessageAckHandler),
|
||||
(r'/api/bugreport', BugReportHandler),
|
||||
|
||||
@@ -36,13 +36,6 @@ import datetime
|
||||
|
||||
from pkg_resources import Requirement, resource_filename
|
||||
|
||||
# Trace must be imported before the rest of bbctrl so its monotonic
|
||||
# anchor is the earliest reasonable point and so import-time costs of
|
||||
# heavy submodules (camotics gplan.so, sockjs, tornado, etc.) are
|
||||
# attributable in /api/diag/timing.
|
||||
import bbctrl.Trace as Trace
|
||||
Trace.mark('imports.bbctrl.start')
|
||||
|
||||
from bbctrl.RequestHandler import RequestHandler
|
||||
from bbctrl.APIHandler import APIHandler
|
||||
from bbctrl.FileHandler import FileHandler
|
||||
@@ -68,14 +61,11 @@ from bbctrl.IOLoop import IOLoop
|
||||
from bbctrl.MonitorTemp import MonitorTemp
|
||||
from bbctrl.Hooks import Hooks
|
||||
from bbctrl.AuxAxis import AuxAxis
|
||||
from bbctrl.ExternalAxis import ExternalAxis
|
||||
import bbctrl.Cmd as Cmd
|
||||
import bbctrl.v4l2 as v4l2
|
||||
import bbctrl.Log as log
|
||||
import bbctrl.ObjGraph as ObjGraph
|
||||
|
||||
Trace.mark('imports.bbctrl.end')
|
||||
|
||||
|
||||
ctrl = None
|
||||
|
||||
@@ -179,28 +169,19 @@ def parse_args():
|
||||
def run():
|
||||
global ctrl
|
||||
|
||||
Trace.mark('run.enter')
|
||||
args = parse_args()
|
||||
Trace.mark('args.parsed')
|
||||
|
||||
# Set signal handler
|
||||
signal.signal(signal.SIGTERM, on_exit)
|
||||
|
||||
# Create ioloop
|
||||
ioloop = tornado.ioloop.IOLoop.current()
|
||||
Trace.mark('ioloop.created')
|
||||
|
||||
# Set ObjGraph signal handler
|
||||
if args.debug: Debugger(ioloop, args.debug)
|
||||
|
||||
# Start server
|
||||
with Trace.span('web.init'):
|
||||
web = Web(args, ioloop)
|
||||
Trace.mark('listen', port=args.port, addr=args.addr)
|
||||
|
||||
# Notify systemd we are ready (no-op when not under systemd).
|
||||
Trace.sd_notify('READY=1\nSTATUS=listening on %s:%d\n' %
|
||||
(args.addr, args.port))
|
||||
|
||||
try:
|
||||
ioloop.start()
|
||||
|
||||
BIN
src/resources/fonts/fontawesome-webfont.ttf
Normal file
BIN
src/resources/fonts/fontawesome-webfont.ttf
Normal file
Binary file not shown.
BIN
src/resources/fonts/fontawesome-webfont.woff
Normal file
BIN
src/resources/fonts/fontawesome-webfont.woff
Normal file
Binary file not shown.
BIN
src/resources/fonts/fontawesome-webfont.woff2
Normal file
BIN
src/resources/fonts/fontawesome-webfont.woff2
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -2,5 +2,5 @@
|
||||
font-family: 'Audiowide';
|
||||
font-style: normal;
|
||||
font-weight: 400;
|
||||
src: local('Audiowide'), local('Audiowide-Regular'), url(https://fonts.gstatic.com/s/audiowide/v4/8XtYtNKEyyZh481XVWfVOqCWcynf_cDxXwCLxiixG1c.ttf) format('truetype');
|
||||
src: local('Audiowide'), local('Audiowide-Regular'), url(http://fonts.gstatic.com/s/audiowide/v4/8XtYtNKEyyZh481XVWfVOqCWcynf_cDxXwCLxiixG1c.ttf) format('truetype');
|
||||
}
|
||||
|
||||
9
src/static/css/fa6.min.css
vendored
9
src/static/css/fa6.min.css
vendored
File diff suppressed because one or more lines are too long
4
src/static/css/font-awesome.min.css
vendored
Normal file
4
src/static/css/font-awesome.min.css
vendored
Normal file
File diff suppressed because one or more lines are too long
@@ -1,37 +1,35 @@
|
||||
// V09 redesign: the legacy side menu was removed. Keep this file
|
||||
// shipped in case anything still references it, but no-op the click
|
||||
// handler that used to wire up the burger menu so it does not throw
|
||||
// "Cannot set properties of null" on the Settings tab.
|
||||
(function (window, document) {
|
||||
var menuLink = document.getElementById("menuLink");
|
||||
if (!menuLink) {
|
||||
return;
|
||||
}
|
||||
|
||||
var layout = document.getElementById("layout");
|
||||
var menu = document.getElementById("menu");
|
||||
var layout = document.getElementById('layout'),
|
||||
menu = document.getElementById('menu'),
|
||||
menuLink = document.getElementById('menuLink');
|
||||
|
||||
function toggleClass(element, className) {
|
||||
if (!element) return;
|
||||
var classes = element.className.split(/\s+/);
|
||||
var i;
|
||||
for (i = 0; i < classes.length; i++) {
|
||||
var classes = element.className.split(/\s+/),
|
||||
length = classes.length,
|
||||
i = 0;
|
||||
|
||||
for(; i < length; i++) {
|
||||
if (classes[i] === className) {
|
||||
classes.splice(i, 1);
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (i === classes.length) {
|
||||
// The className is not found
|
||||
if (length === classes.length) {
|
||||
classes.push(className);
|
||||
}
|
||||
element.className = classes.join(" ");
|
||||
|
||||
element.className = classes.join(' ');
|
||||
}
|
||||
|
||||
menuLink.onclick = function (e) {
|
||||
var active = "active";
|
||||
var active = 'active';
|
||||
|
||||
e.preventDefault();
|
||||
toggleClass(layout, active);
|
||||
toggleClass(menu, active);
|
||||
toggleClass(menuLink, active);
|
||||
};
|
||||
|
||||
}(this, this.document));
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,336 +0,0 @@
|
||||
<script lang="ts">
|
||||
import { onMount } from "svelte";
|
||||
import Button, { Label } from "@smui/button";
|
||||
import * as api from "$lib/api";
|
||||
|
||||
// Mirrors the DEFAULTS in src/py/bbctrl/AuxAxis.py. The "enabled"
|
||||
// flag is read-only here; toggling the auxiliary A axis on/off
|
||||
// is done via aux.json on disk, so adding/removing the hardware
|
||||
// doesn't have a surprise UI that bricks bring-up. Legacy aux.json
|
||||
// files using min_w/max_w are migrated up to min_mm/max_mm by
|
||||
// AuxAxis._migrate_legacy_fields on load.
|
||||
type AuxConfig = {
|
||||
enabled: boolean;
|
||||
port: string;
|
||||
baud: number;
|
||||
steps_per_mm: number;
|
||||
dir_sign: number;
|
||||
axis_letter: string;
|
||||
min_mm: number;
|
||||
max_mm: number;
|
||||
max_feed_mm_min: number;
|
||||
max_velocity_m_per_min: number;
|
||||
max_accel_km_per_min2: number;
|
||||
max_jerk_km_per_min3: number;
|
||||
home_dir: string;
|
||||
home_position_mm: number;
|
||||
home_fast_sps: number;
|
||||
home_slow_sps: number;
|
||||
home_backoff_steps: number;
|
||||
home_maxtravel_steps: number;
|
||||
step_max_sps: number;
|
||||
step_accel_sps2: number;
|
||||
step_start_sps: number;
|
||||
limit_low: boolean;
|
||||
couple_z_enabled: boolean;
|
||||
couple_z_clearance_mm: number;
|
||||
z_home_mm: number;
|
||||
};
|
||||
|
||||
let cfg: AuxConfig | null = null;
|
||||
let status: { enabled: boolean; present: boolean; homed: boolean; pos_mm: number } | null = null;
|
||||
let busy = false;
|
||||
|
||||
// Listen for the global "save-all" event the Vue root dispatches
|
||||
// when the user clicks the master Save button. We persist our
|
||||
// current cfg the same way the in-form button used to. This way
|
||||
// the user only ever needs one Save button.
|
||||
function onGlobalSave() {
|
||||
save().catch(e => console.error("aux save failed:", e));
|
||||
}
|
||||
|
||||
onMount(async () => {
|
||||
await refresh();
|
||||
window.addEventListener("onefin:save-all", onGlobalSave);
|
||||
return () => window.removeEventListener("onefin:save-all", onGlobalSave);
|
||||
});
|
||||
|
||||
async function refresh() {
|
||||
try {
|
||||
cfg = await api.GET("aux/config");
|
||||
status = await api.GET("aux/status");
|
||||
} catch (e) {
|
||||
console.error("Failed to load aux config/status:", e);
|
||||
}
|
||||
}
|
||||
|
||||
async function save() {
|
||||
if (!cfg) return;
|
||||
busy = true;
|
||||
try {
|
||||
await api.PUT("aux/config/save", cfg);
|
||||
await refresh();
|
||||
} catch (e) {
|
||||
console.error("Failed to save aux config:", e);
|
||||
throw e;
|
||||
} finally {
|
||||
busy = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Mark the root config as modified whenever an auxiliary axis
|
||||
// field is edited, so the master Save button highlights and
|
||||
// the user knows there are unsaved changes.
|
||||
function markDirty() {
|
||||
try {
|
||||
const root = (window as any).$root || (window as any).Vue?.root;
|
||||
if (root && "modified" in root) root.modified = true;
|
||||
} catch (_e) {}
|
||||
// Also dispatch a generic event the Vue root listens for.
|
||||
window.dispatchEvent(new CustomEvent("onefin:dirty"));
|
||||
}
|
||||
</script>
|
||||
|
||||
<div class="a-axis-settings">
|
||||
{#if !cfg}
|
||||
<p class="tip">Loading A axis configuration...</p>
|
||||
{:else}
|
||||
<div class="status">
|
||||
{#if status}
|
||||
<span>
|
||||
Status:
|
||||
{#if !status.enabled}
|
||||
disabled
|
||||
{:else if !status.present}
|
||||
offline
|
||||
{:else if status.homed}
|
||||
homed at {status.pos_mm.toFixed(3)} mm
|
||||
{:else}
|
||||
connected, unhomed
|
||||
{/if}
|
||||
</span>
|
||||
{/if}
|
||||
</div>
|
||||
|
||||
<div class="pure-form pure-form-aligned" on:input={markDirty} on:change={markDirty}>
|
||||
<fieldset>
|
||||
<div class="pure-control-group" title="Enable the auxiliary axis (auxcnc-driven A). Edit aux.json to toggle.">
|
||||
<label for="enabled">enabled</label>
|
||||
<input id="enabled" type="checkbox" checked={cfg.enabled} disabled />
|
||||
<label for="" class="units">(edit aux.json)</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Serial port for the auxcnc ESP32.">
|
||||
<label for="port">serial port</label>
|
||||
<input id="port" type="text" bind:value={cfg.port} />
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Serial baud rate.">
|
||||
<label for="baud">baud</label>
|
||||
<input id="baud" type="number" bind:value={cfg.baud} min={1200} step={1} />
|
||||
</div>
|
||||
</fieldset>
|
||||
|
||||
<h3>Mechanics</h3>
|
||||
<fieldset>
|
||||
<div class="pure-control-group" title="Logical steps per mm of axis travel.">
|
||||
<label for="steps_per_mm">steps per mm</label>
|
||||
<input id="steps_per_mm" type="number" bind:value={cfg.steps_per_mm} step="any" />
|
||||
<label for="" class="units">steps/mm</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Direction sign: +1 or -1. Flip if A+ moves the wrong way.">
|
||||
<label for="dir_sign">direction sign</label>
|
||||
<select id="dir_sign" bind:value={cfg.dir_sign}>
|
||||
<option value={1}>+1</option>
|
||||
<option value={-1}>-1</option>
|
||||
</select>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="gcode axis letter exposed to the planner. Default 'a' (the standard 4th axis).">
|
||||
<label for="axis_letter">axis letter</label>
|
||||
<select id="axis_letter" bind:value={cfg.axis_letter}>
|
||||
<option value="a">A</option>
|
||||
<option value="b">B</option>
|
||||
<option value="c">C</option>
|
||||
</select>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Soft-limit minimum in mm.">
|
||||
<label for="min_mm">soft min</label>
|
||||
<input id="min_mm" type="number" bind:value={cfg.min_mm} step="any" />
|
||||
<label for="" class="units">mm</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Soft-limit maximum in mm.">
|
||||
<label for="max_mm">soft max</label>
|
||||
<input id="max_mm" type="number" bind:value={cfg.max_mm} step="any" />
|
||||
<label for="" class="units">mm</label>
|
||||
</div>
|
||||
</fieldset>
|
||||
|
||||
<h3>Z-A Coupling</h3>
|
||||
<p class="tip">
|
||||
The auxiliary tool hangs below the Z spindle. Beyond a small
|
||||
Z descent the two collide unless A drops with Z. The rule
|
||||
in machine coordinates is
|
||||
<code>A − Z ≤ (A_home − Z_home) + clearance</code>.
|
||||
When enabled, the planner refuses moves that would violate
|
||||
it and the gcode preprocessor injects pre-position A moves
|
||||
into uploaded files.
|
||||
</p>
|
||||
<fieldset>
|
||||
<div class="pure-control-group" title="Master switch for the Z-A interlock. When off, no checks are performed.">
|
||||
<label for="couple_z_enabled">enable coupling</label>
|
||||
<input id="couple_z_enabled" type="checkbox" bind:checked={cfg.couple_z_enabled} />
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="How far Z may descend below its home position before A must move with it.">
|
||||
<label for="couple_z_clearance_mm">Z clearance</label>
|
||||
<input id="couple_z_clearance_mm" type="number" bind:value={cfg.couple_z_clearance_mm} step="any" />
|
||||
<label for="" class="units">mm</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Z's machine position when homed. Almost always 0.">
|
||||
<label for="z_home_mm">Z home position</label>
|
||||
<input id="z_home_mm" type="number" bind:value={cfg.z_home_mm} step="any" />
|
||||
<label for="" class="units">mm</label>
|
||||
</div>
|
||||
</fieldset>
|
||||
|
||||
<h3>Planner Limits</h3>
|
||||
<fieldset>
|
||||
<div class="pure-control-group" title="Maximum velocity used by gplan trajectory planning.">
|
||||
<label for="max_velocity_m_per_min">max velocity</label>
|
||||
<input id="max_velocity_m_per_min" type="number" bind:value={cfg.max_velocity_m_per_min} step="any" />
|
||||
<label for="" class="units">m/min</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Maximum acceleration used by gplan trajectory planning.">
|
||||
<label for="max_accel_km_per_min2">max acceleration</label>
|
||||
<input id="max_accel_km_per_min2" type="number" bind:value={cfg.max_accel_km_per_min2} step="any" />
|
||||
<label for="" class="units">km/min²</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Maximum jerk used by gplan trajectory planning.">
|
||||
<label for="max_jerk_km_per_min3">max jerk</label>
|
||||
<input id="max_jerk_km_per_min3" type="number" bind:value={cfg.max_jerk_km_per_min3} step="any" />
|
||||
<label for="" class="units">km/min³</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Informational max feed; rate caps live on the ESP via step_max_sps.">
|
||||
<label for="max_feed_mm_min">max feed</label>
|
||||
<input id="max_feed_mm_min" type="number" bind:value={cfg.max_feed_mm_min} step="any" />
|
||||
<label for="" class="units">mm/min</label>
|
||||
</div>
|
||||
</fieldset>
|
||||
|
||||
<h3>Homing</h3>
|
||||
<fieldset>
|
||||
<div class="pure-control-group" title="Direction the axis moves when looking for the home limit switch.">
|
||||
<label for="home_dir">home direction</label>
|
||||
<select id="home_dir" bind:value={cfg.home_dir}>
|
||||
<option value="-">- (toward A-)</option>
|
||||
<option value="+">+ (toward A+)</option>
|
||||
</select>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Axis position assigned when homing completes.">
|
||||
<label for="home_position_mm">home position</label>
|
||||
<input id="home_position_mm" type="number" bind:value={cfg.home_position_mm} step="any" />
|
||||
<label for="" class="units">mm</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Fast seek rate during homing search.">
|
||||
<label for="home_fast_sps">fast seek</label>
|
||||
<input id="home_fast_sps" type="number" bind:value={cfg.home_fast_sps} step={1} min={1} />
|
||||
<label for="" class="units">steps/s</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Slow seek rate during homing latch.">
|
||||
<label for="home_slow_sps">slow seek</label>
|
||||
<input id="home_slow_sps" type="number" bind:value={cfg.home_slow_sps} step={1} min={1} />
|
||||
<label for="" class="units">steps/s</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Backoff after the limit triggers, before the slow seek.">
|
||||
<label for="home_backoff_steps">backoff</label>
|
||||
<input id="home_backoff_steps" type="number" bind:value={cfg.home_backoff_steps} step={1} min={0} />
|
||||
<label for="" class="units">steps</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Maximum travel before homing aborts as a runaway.">
|
||||
<label for="home_maxtravel_steps">max travel</label>
|
||||
<input id="home_maxtravel_steps" type="number" bind:value={cfg.home_maxtravel_steps} step={1} min={1} />
|
||||
<label for="" class="units">steps</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Limit switch active-low? Off = active-high.">
|
||||
<label for="limit_low">limit active low</label>
|
||||
<input id="limit_low" type="checkbox" bind:checked={cfg.limit_low} />
|
||||
</div>
|
||||
</fieldset>
|
||||
|
||||
<h3>Step Profile</h3>
|
||||
<fieldset>
|
||||
<div class="pure-control-group" title="Maximum step rate during normal moves.">
|
||||
<label for="step_max_sps">max rate</label>
|
||||
<input id="step_max_sps" type="number" bind:value={cfg.step_max_sps} step={1} min={1} />
|
||||
<label for="" class="units">steps/s</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Acceleration in steps per second squared.">
|
||||
<label for="step_accel_sps2">acceleration</label>
|
||||
<input id="step_accel_sps2" type="number" bind:value={cfg.step_accel_sps2} step={1} min={1} />
|
||||
<label for="" class="units">steps/s²</label>
|
||||
</div>
|
||||
|
||||
<div class="pure-control-group" title="Initial step rate at the start of a move.">
|
||||
<label for="step_start_sps">start rate</label>
|
||||
<input id="step_start_sps" type="number" bind:value={cfg.step_start_sps} step={1} min={1} />
|
||||
<label for="" class="units">steps/s</label>
|
||||
</div>
|
||||
</fieldset>
|
||||
|
||||
<div class="tip">
|
||||
Changes are written to aux.json when you click the
|
||||
master <strong>Save</strong> button at the bottom of the
|
||||
settings rail. Homing rates and the limit polarity are
|
||||
pushed to the ESP immediately; any running motion is
|
||||
unaffected. Re-home the auxiliary axis after changing direction,
|
||||
sign, or step settings.
|
||||
</div>
|
||||
</div>
|
||||
{/if}
|
||||
</div>
|
||||
|
||||
<style lang="scss">
|
||||
.a-axis-settings {
|
||||
.status {
|
||||
margin-bottom: 1em;
|
||||
font-size: 90%;
|
||||
opacity: 0.8;
|
||||
}
|
||||
|
||||
.actions {
|
||||
margin-left: 210px;
|
||||
margin-top: 1em;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 1em;
|
||||
}
|
||||
|
||||
.save-msg {
|
||||
font-style: italic;
|
||||
}
|
||||
|
||||
.tip {
|
||||
margin-left: 210px;
|
||||
margin-top: 1em;
|
||||
margin-bottom: 15px;
|
||||
font-style: italic;
|
||||
font-size: 90%;
|
||||
line-height: 1.5;
|
||||
}
|
||||
}
|
||||
</style>
|
||||
@@ -2,10 +2,6 @@
|
||||
import configTemplate from "../../../resources/config-template.json";
|
||||
import ScreenRotationDialog from "$dialogs/ScreenRotationDialog.svelte";
|
||||
import ConfigTemplatedInput from "./ConfigTemplatedInput.svelte";
|
||||
// AAxisSettings is mounted directly by the V09 settings shell at
|
||||
// #a-axis instead of being embedded here — see
|
||||
// src/pug/templates/a-axis-view.pug.
|
||||
// import AAxisSettings from "./AAxisSettings.svelte";
|
||||
import SetTimeDialog from "$dialogs/SetTimeDialog.svelte";
|
||||
import Button, { Label } from "@smui/button";
|
||||
|
||||
@@ -22,8 +18,8 @@
|
||||
<h1>Settings</h1>
|
||||
|
||||
<div class="pure-form pure-form-aligned">
|
||||
<h2 id="sec-display" data-sec="display">User Interface</h2>
|
||||
<fieldset data-sec="display">
|
||||
<h2>User Interface</h2>
|
||||
<fieldset>
|
||||
<div class="pure-control-group">
|
||||
<label for="screen-rotation" />
|
||||
<Button
|
||||
@@ -49,8 +45,8 @@
|
||||
</div> -->
|
||||
</fieldset>
|
||||
|
||||
<h2 id="sec-units" data-sec="display">Units</h2>
|
||||
<fieldset data-sec="display">
|
||||
<h2>Units</h2>
|
||||
<fieldset>
|
||||
<ConfigTemplatedInput key={`settings.units`} />
|
||||
<div class="tip">
|
||||
Note, units sets both the machine default units and the units used in motor configuration. GCode program-start,
|
||||
@@ -58,13 +54,13 @@
|
||||
</div>
|
||||
</fieldset>
|
||||
|
||||
<h2 id="sec-easy-adapter" data-sec="display">Easy Adapter</h2>
|
||||
<fieldset data-sec="display">
|
||||
<h2>Easy Adapter</h2>
|
||||
<fieldset>
|
||||
<ConfigTemplatedInput key={`settings.easy-adapter`} />
|
||||
</fieldset>
|
||||
|
||||
<h2 id="sec-probing" data-sec="probing">Probing</h2>
|
||||
<fieldset data-sec="probing">
|
||||
<h2>Probing</h2>
|
||||
<fieldset>
|
||||
<ConfigTemplatedInput key={`settings.probing-prompts`} />
|
||||
<div class="tip">
|
||||
Onefinity highly recommends that you keep the safety prompts
|
||||
@@ -91,19 +87,15 @@
|
||||
{/each}
|
||||
</fieldset>
|
||||
|
||||
<fieldset data-sec="gcode">
|
||||
<h2 id="sec-gcode" data-sec="gcode">GCode</h2>
|
||||
<fieldset>
|
||||
<h2>GCode</h2>
|
||||
{#each Object.keys(configTemplate.gcode) as key}
|
||||
<ConfigTemplatedInput key={`gcode.${key}`} />
|
||||
{/each}
|
||||
</fieldset>
|
||||
|
||||
<!-- W Axis (auxcnc) is now its own routed page in the V09
|
||||
settings shell (#a-axis). Keep the SettingsView free of
|
||||
that section so we don't render it twice. -->
|
||||
|
||||
<h2 id="sec-path-accuracy" data-sec="gcode">Path Accuracy</h2>
|
||||
<fieldset data-sec="gcode">
|
||||
<h2>Path Accuracy</h2>
|
||||
<fieldset>
|
||||
<ConfigTemplatedInput key={`settings.max-deviation`} />
|
||||
|
||||
<div class="tip">
|
||||
@@ -126,8 +118,8 @@
|
||||
</div>
|
||||
</fieldset>
|
||||
|
||||
<h2 id="sec-cornering" data-sec="gcode">Cornering Speed (Advanced)</h2>
|
||||
<fieldset data-sec="gcode">
|
||||
<h2>Cornering Speed (Advanced)</h2>
|
||||
<fieldset>
|
||||
<ConfigTemplatedInput key={`settings.junction-accel`} />
|
||||
<div class="tip">
|
||||
Junction acceleration limits the cornering speed the planner
|
||||
|
||||
@@ -51,7 +51,7 @@
|
||||
>
|
||||
<div slot="trailingIcon">
|
||||
{#if valid}
|
||||
<Icon class="fa fa-circle-check" style="color: green;" />
|
||||
<Icon class="fa fa-check-circle-o" style="color: green;" />
|
||||
{/if}
|
||||
</div>
|
||||
<HelperText persistent slot="helper">{helperText}</HelperText>
|
||||
|
||||
@@ -6,7 +6,6 @@ matchAll.shim();
|
||||
import AdminNetworkView from "$components/AdminNetworkView.svelte";
|
||||
import SettingsView from "$components/SettingsView.svelte";
|
||||
import HelpView from "$components/HelpView.svelte";
|
||||
import AAxisSettings from "$components/AAxisSettings.svelte";
|
||||
import DialogHost, { showDialog } from "$dialogs/DialogHost.svelte";
|
||||
import { handleConfigUpdate, setDisplayUnits } from "$lib/ConfigStore";
|
||||
import { handleControllerStateUpdate } from "$lib/ControllerState";
|
||||
@@ -23,9 +22,6 @@ export function createComponent(component: string, target: HTMLElement, props: R
|
||||
case "HelpView":
|
||||
return new HelpView({ target, props });
|
||||
|
||||
case "AAxisSettings":
|
||||
return new AAxisSettings({ target, props });
|
||||
|
||||
case "DialogHost":
|
||||
return new DialogHost({ target, props });
|
||||
|
||||
|
||||
Reference in New Issue
Block a user