Claude Ultracode Fixes

logs/gcode_commands.log

@@ -10219,3 +10219,17 @@
 2026-06-08T15:25:42.319Z ::ffff:127.0.0.1: M114
 2026-06-08T15:25:53.707Z ::ffff:127.0.0.1: M114
 2026-06-08T15:25:59.281Z ::ffff:127.0.0.1: M114
+2026-06-08T16:15:02.308Z ::ffff:127.0.0.1: M114
+2026-06-08T16:15:02.316Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
+2026-06-08T16:15:09.917Z ::ffff:127.0.0.1: M114
+2026-06-08T16:15:09.925Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
+2026-06-08T16:15:18.670Z ::ffff:127.0.0.1: M114
+2026-06-08T16:15:18.679Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
+2026-06-08T16:15:23.488Z ::ffff:127.0.0.1: M114
+2026-06-08T16:15:23.495Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
+2026-06-08T16:15:31.077Z ::ffff:127.0.0.1: M114
+2026-06-08T16:15:31.094Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
+2026-06-08T16:16:38.041Z ::ffff:127.0.0.1: M114
+2026-06-08T16:16:38.051Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
+2026-06-08T16:17:00.361Z ::ffff:127.0.0.1: M114
+2026-06-08T16:17:00.370Z ::ffff:127.0.0.1: G1 X1 Y2 Z3

logs/pings.log

@@ -14559,3 +14559,10 @@
 2026-06-08T15:25:42.307Z ::ffff:127.0.0.1 : Ping
 2026-06-08T15:25:53.690Z ::ffff:127.0.0.1 : Ping
 2026-06-08T15:25:59.273Z ::ffff:127.0.0.1 : Ping
+2026-06-08T16:15:02.289Z ::ffff:127.0.0.1 : Ping
+2026-06-08T16:15:09.896Z ::ffff:127.0.0.1 : Ping
+2026-06-08T16:15:18.652Z ::ffff:127.0.0.1 : Ping
+2026-06-08T16:15:23.464Z ::ffff:127.0.0.1 : Ping
+2026-06-08T16:15:31.061Z ::ffff:127.0.0.1 : Ping
+2026-06-08T16:16:38.024Z ::ffff:127.0.0.1 : Ping
+2026-06-08T16:17:00.351Z ::ffff:127.0.0.1 : Ping

public/app.js

@@ -57,8 +57,10 @@ document.addEventListener('DOMContentLoaded', function() {
                 sendersUl.innerHTML = '';
                 data.senders.forEach(sender => {
                     const li = document.createElement('li');
-                    li.textContent = `${sender.name}: ${sender.state}`;
+                    const state = sender.state || 'disconnected';
-                    li.classList.add((sender.health || 'disconnected').toLowerCase());
+                    const label = sender.url ? `${sender.name} (${sender.url}): ${state}` : `${sender.name}: ${state}`;
+                    li.textContent = label;
+                    li.classList.add(state.toLowerCase());
                     sendersUl.appendChild(li);
                 });
 

public/style.css

@@ -121,6 +121,12 @@ h1 {
     content: "⛔";
 }
 
+/* 🟡 CONNECTING / RECONNECTING */
+.section#senders li.connecting::before,
+.section#senders li.reconnecting::before {
+    content: "🟡";
+}
+
 .state-grid {
     display: grid;
     grid-template-columns: repeat(auto-fit, minmax(25px, 1fr));

robot/TelnetSenderGRBL.js

@@ -387,7 +387,7 @@ module.exports = class TelnetSenderGRBL extends SenderInterface {
                 // abhngig vom FluidNC und dessen speed interpretation ist.
             }
 
-            if(data.indexOf("G90") == -1 && data.indexOf("G1 ") > 0){
+            if(data.indexOf("G90") == -1 && data.indexOf("G1 ") !== -1){
                 data = "G90 " + data;
             }
             

robot/WSSenderGrbl.js

@@ -387,8 +387,8 @@ module.exports = class WSSenderGrbl extends SenderInterface {
 
         data += " f" + (this.maxSpeedF.toFixed(2).toString());
 
-        if (data.length > 3) {
+        if (this.ws && data.length > 3) {
-            if (data.indexOf("G90") == -1) {
+            if (data.indexOf("G90") == -1 && data.indexOf("G1 ") !== -1) {
                 data = "G90 " + data;
             }
             console.log("Driver send to 🤖  " + this.urlGRBLstr + " the message: " + data);

server/InputWS.js

@@ -29,6 +29,7 @@ function initInputWS(server, robot, GCode, sharedState) {
       /* ---------- GCode ---------- */
       if (GCode.containsCommand(message)) {
         console.log("🔵 GCode.receiveGCode: Incoming command: " + message);
+        logCommand(sharedState, clientIP, message);
         GCode.receiveGCode(robot, message);
         broadcast(wss, GCode.getM114(robot));
         return;

startRobot.js

@@ -99,11 +99,13 @@ function createApp(options = {}) {
     consoleObj.warn(`Startup warning: ${disconnectedSenders.length} sender(s) disconnected at startup.`);
   }
 
-  setTimeoutFn(() => {
+  // Register all senders as command receivers immediately and permanently.
-    senders.forEach(s => {
+  // Each sender's execCommand() guards internally against sending while it is
-      if (s.instance?.tSocket) robot.cmdReceivers.push(s.instance);
+  // disconnected, and resumes automatically once it (re)connects — so there is
-    });
+  // no need to wait for a socket or to re-register after a reconnect. The old
-  }, 5000);
+  // 5s one-shot registration silently dropped senders that connected later
+  // (e.g. after EHOSTUNREACH backoff) and never registered WebSocket senders.
+  senders.forEach(s => robot.cmdReceivers.push(s.instance));
 
   const port = Number(processEnv.PORT) || 2095;
   httpsServer.listen(port);

test/Sender.Telnet.test.js

@@ -25,8 +25,8 @@ describe("TelnetSenderGRBL.execCommand", () => {
 
         sender.execCommand("G1", mOld, mNew);
 
-        // ✅ verify output
+        // ✅ verify output — G1 moves must be sent in absolute mode (G90 prefix)
-        expect(sender.tSocket.written).toBe("G1 x12.34 y90.00 z-90.00 f2300.00\r\n");
+        expect(sender.tSocket.written).toBe("G90 G1 x12.34 y90.00 z-90.00 f2300.00\r\n");
     });
 
 
@@ -54,8 +54,8 @@ describe("TelnetSenderGRBL.execCommand", () => {
 
         sender.execCommand("G1", mOld, mNew);
 
-        // ✅ verify output
+        // ✅ verify output — G1 moves must be sent in absolute mode (G90 prefix)
-        expect(sender.tSocket.written).toBe("G1 x22.50 f2300.00\r\n");
+        expect(sender.tSocket.written).toBe("G90 G1 x22.50 f2300.00\r\n");
     });
 
      test("writes correct G-code G92 to mocked tSocket", () => {