c7cf9483b3
Rather than rebuild gplan + the AVR firmware to add a true 7th axis,
we treat W as a synchronous out-of-band axis that moves between G-code
blocks. The pipeline:
upload -> AuxPreprocessor rewrites W tokens into (MSG,HOOK:aux:N)
comments -> planner sees only XYZ + messages -> Hooks fires the
registered internal handler -> AuxAxis sends STEPS/HOME over serial
to the ESP and blocks the planner until done.
New files:
src/py/bbctrl/AuxAxis.py serial worker + RPC layer
src/py/bbctrl/AuxPreprocessor.py G-code rewriter
docs/AUX_W_AXIS.md design + ops notes
Changed:
Hooks.py register_internal(); fix the (MSG,HOOK:...) listener
to read the 'messages' state list (was broken before)
Ctrl.py instantiate AuxAxis, register aux/aux_rel/aux_home/
aux_setzero hooks
FileHandler.py rewrite uploads in place when they use W
Mach.py rewrite W tokens in MDI input the same way
Web.py REST endpoints under /api/aux/*
The ESP firmware in ../auxcnc was extended in lockstep: HOME, HOMECFG
(NVS-persisted), WPOS, HOMED?, LIMIT?, abortable STEPS with
limit-aware abort, trapezoidal ramps, deterministic [topic] reply
tokens, [boot] banner.
Real-time decisions (limit switch, step pulses) live on the ESP. The
host owns mm units, soft limits, and aux_homed bookkeeping. ESP
reboot mid-job clears aux_homed and surfaces a message; per design
manual jogs are still allowed without homing.
44 lines
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44 lines
532 B
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.sconf_temp/
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.sconsign.dblite
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/build
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/dist
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/crap
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/pkg
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/mnt
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/demo
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/bbctrl-*
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node_modules
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*~
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\#*
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*.pyc
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__pycache__
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*.egg-info
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/upload
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/*.img
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*.so
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*.deb
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*.zip
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/rpi-share
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/rpi-root
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/package-lock.json
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/src/bbserial/linux-rpi-raspberrypi-kernel*
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/src/bbserial/raspberrypi-kernel*
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*.rej
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*.elf
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*.hex
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.idea/deployment.xml
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# Demo mode artifacts
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bbctrl.log*
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hooks.json
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/*/bbctrl.log*
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src/py/camotics/__init__.py
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src/py/camotics/gplan.so
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src/avr/emu/bbemu
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src/avr/emu/build/
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.pi/pi-python35.tar.gz
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src/py/camotics/gplan.so.built
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tmp/
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backup/
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