Auto unlock when fluidnc is in alarm state

modules/connection/connection_manager.py

@@ -204,7 +204,13 @@ def connect_device(homing=True):
     else:
         logger.error("Auto connect failed.")
         # state.conn = WebSocketConnection('ws://fluidnc.local:81')
+
     if (state.conn.is_connected() if state.conn else False):
+        # Check for alarm state and unlock if needed before initializing
+        if not check_and_unlock_alarm():
+            logger.error("Failed to unlock device from alarm state")
+            # Still proceed with device_init but log the issue
+
         device_init(homing)
 
     # Show connected effect, then transition to configured idle effect
@@ -215,6 +221,63 @@ def connect_device(homing=True):
         logger.info(f"Setting LED to idle effect: {state.dw_led_idle_effect}")
         state.led_controller.effect_idle(state.dw_led_idle_effect)
 
+def check_and_unlock_alarm():
+    """
+    Check if GRBL is in alarm state and unlock it with $X if needed.
+    Returns True if device is ready (unlocked or no alarm), False on error.
+    """
+    try:
+        logger.info("Checking device status for alarm state...")
+
+        # Send status query
+        state.conn.send('?\n')
+        time.sleep(0.1)
+
+        # Read response with timeout
+        max_attempts = 5
+        response = None
+
+        for attempt in range(max_attempts):
+            if state.conn.in_waiting() > 0:
+                response = state.conn.readline()
+                logger.debug(f"Status response: {response}")
+                break
+            time.sleep(0.1)
+
+        if not response:
+            logger.warning("No status response received, proceeding anyway")
+            return True
+
+        # Check for alarm state
+        if "Alarm" in response:
+            logger.warning(f"Device in ALARM state: {response}")
+            logger.info("Sending $X to unlock...")
+
+            # Send unlock command
+            state.conn.send('$X\n')
+            time.sleep(0.5)
+
+            # Verify unlock succeeded
+            state.conn.send('?\n')
+            time.sleep(0.1)
+
+            verify_response = state.conn.readline()
+            logger.debug(f"Verification response: {verify_response}")
+
+            if "Alarm" in verify_response:
+                logger.error("Failed to unlock device from alarm state")
+                return False
+            else:
+                logger.info("Device successfully unlocked")
+                return True
+        else:
+            logger.info("Device not in alarm state, proceeding normally")
+            return True
+
+    except Exception as e:
+        logger.error(f"Error checking/unlocking alarm: {e}")
+        return False
+
 def get_status_response() -> str:
     """
     Send a status query ('?') and return the response if available.