grandixximo · Oct 2, 2026 · Oct 2, 2026
diff --git a/docs/src/gui/halui.adoc b/docs/src/gui/halui.adoc
@@ -129,6 +129,44 @@ Or see http://linuxcnc.org/docs/devel/html/man/man1/halui.1.html
 * 'halui.flood.off' (bool, in) - pin for requesting flood off
 * 'halui.flood.on' (bool, in) - pin for requesting flood on
 
+=== GUI Bridge
+
+halui optionally works together with an external GUI bridge component, for
+example a network bridge connecting a GUI's operator panel. The bridge is a
+separate userspace component; all communication goes through HAL pins, no
+pin wiring by the user is needed.
+
+Request pins are polled by the bridge and forwarded to the GUI; halui itself
+does not act on them:
+
+* 'halui.gui.cycle-start' (bool, in) - cycle start request
+* 'halui.gui.cycle-pause' (bool, in) - cycle pause request
+* 'halui.gui.softkey._NN_' (bool, in) - softkey request, 00 to 19
+* 'halui.gui.response.ok' (bool, in) - dialog ok response
+* 'halui.gui.response.cancel' (bool, in) - dialog cancel response
+* 'halui.gui.reload-preview' (bool, in) - reload preview request
+* 'halui.gui.shutdown' (bool, in) - shutdown request
+* 'halui.gui.mdi-command._<name>_' (bool, in) - MDI/macro call request. One
+  pin is created for each entry found in the INI file: `MDI_COMMAND_<name>`
+  keys in the [MDI_COMMAND_LIST] section and `MACRO_COMMAND_<name>` keys in
+  the [MACROS] section (legacy: [DISPLAY]). Repeated `MDI_COMMAND` or
+  `MACRO` keys produce pins named by index. If no such entries exist, no
+  pins are created.
+
+Jog rate pins let the bridge track and override the jog rates:
+
+* 'halui.gui.jog-rate' (real, out) - effective linear jog rate
+* 'halui.gui.jog-rate-angular' (real, out) - effective angular jog rate
+
+When the bridge component is loaded it owns the 'gui_bridge.jog-rate' and
+'gui_bridge.jog-rate-angular' pins (HAL_IO). halui looks these pins up by
+name and arbitrates them against 'halui.axis.jog-speed' and
+'halui.axis.jog-speed-angular': the value that changed most recently wins
+and is used for jogging and published on the halui.gui.jog-rate pins. When
+the bridge appears, its current value is adopted as the baseline so the rate
+does not jump until the GUI actually changes it. When no bridge is loaded,
+the halui.axis.jog-speed pins behave exactly as before.
+
 === Homing
 
 * 'halui.home-all' (bool, in) - pin for requesting all axis to home. This
@@ -227,6 +265,7 @@ _L_ = axis letter (xyzabcuvw)
 
 * 'halui.axis.jog-deadband' (real in) - pin for setting jog analog deadband (jog analog inputs smaller/slower than this (in absolute value) are ignored)
 * 'halui.axis.jog-speed' (real in) - pin for setting jog speed for plus/minus jogging.
+* 'halui.axis.jog-speed-angular' (real in) - pin for setting jog speed for plus/minus jogging of rotary axes ([AXIS_x]TYPE=ANGULAR).
 * 'halui.axis._L_.analog' (real in) - pin for jogging the axis _L_ using a real value (e.g. joystick). The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier.
 * 'halui.axis._L_.increment' (real in) - pin for setting the jog increment for axis _L_ when using increment-plus/minus
 * 'halui.axis._L_.increment-minus' (bool in) - a rising edge will will make axis _L_ jog in the negative direction by the increment amount

diff --git a/docs/src/man/man1/halui.1.adoc b/docs/src/man/man1/halui.1.adoc
@@ -336,6 +336,9 @@ _L_ = axis letter (xyzabcuvw)
   than this (in absolute value) are ignored)
 *halui.axis.jog-speed* real in::
   pin for setting jog speed for plus/minus jogging.
+*halui.axis.jog-speed-angular* real in::
+  pin for setting jog speed for plus/minus jogging of rotary axes
+  ([AXIS_x]TYPE=ANGULAR).
 **halui.axis.**L**.analog** real in::
   pin for jogging the axis L using a real value (e.g. joystick). The
   value, typically set between 0.0 and ±1.0, is used as a jog-speed
@@ -426,6 +429,53 @@ _L_ = axis letter (xyzabcuvw)
 *halui.estop.reset* bool in::
   pin for resetting E-stop (LinuxCNC internal) Off
 
+=== GUI Bridge (optional)
+
+halui optionally works together with an external GUI bridge component, for
+example a network bridge connecting a GUI's operator panel. The bridge is a
+separate userspace component; all communication goes through HAL pins, no
+pin wiring by the user is needed.
+
+Request pins are polled by the bridge and forwarded to the GUI; halui
+itself does not act on them:
+
+*halui.gui.cycle-start* bool in::
+  cycle start request
+*halui.gui.cycle-pause* bool in::
+  cycle pause request
+**halui.gui.softkey.**_NN_ bool in::
+  softkey request, 00 to 19
+*halui.gui.response.ok* bool in::
+  dialog ok response
+*halui.gui.response.cancel* bool in::
+  dialog cancel response
+*halui.gui.reload-preview* bool in::
+  reload preview request
+*halui.gui.shutdown* bool in::
+  shutdown request
+**halui.gui.mdi-command.**_<name>_ bool in::
+  MDI/macro call request. One pin is created for each entry found in the
+  INI file: `MDI_COMMAND_<name>` keys in the [MDI_COMMAND_LIST] section
+  and `MACRO_COMMAND_<name>` keys in the [MACROS] section (legacy:
+  [DISPLAY]). Repeated `MDI_COMMAND` or `MACRO` keys produce pins named by
+  index. If no such entries exist, no pins are created.
+
+Jog rate pins let the bridge track and override the jog rates:
+
+*halui.gui.jog-rate* real out::
+  effective linear jog rate
+*halui.gui.jog-rate-angular* real out::
+  effective angular jog rate
+
+When the bridge component is loaded it owns the *gui_bridge.jog-rate* and
+*gui_bridge.jog-rate-angular* pins (HAL_IO). halui looks these pins up by
+name and arbitrates them against *halui.axis.jog-speed* and
+*halui.axis.jog-speed-angular*: the value that changed most recently wins
+and is used for jogging and published on the halui.gui.jog-rate pins. When
+the bridge appears, its current value is adopted as the baseline so the
+rate does not jump until the GUI actually changes it. When no bridge is
+loaded, the halui.axis.jog-speed pins behave exactly as before.
+
 === Homing
 
 *halui.home-all* bool in::