接入 LinuxCNC TP 运行反馈

web-rtcp-5axis-sim-plan/docs/development-continuation.md

@@ -333,25 +333,285 @@ promotionAllowed=false
 ## 9. 当前状态
 
 ```text
-status=M6_linuxcnc_kinematics_frame_proof_complete
+status=M17_linuxcnc_5axis_gcode_source_ingest_complete
 active_style=gmoccapy_5_axis
 frontend_framework=none
 ui_stack=html_css_typescript_es_modules
 preview_stack=threejs
 semantic_boundary=linuxcnc_owned
-latest_batch=M6-linuxcnc-kinematics-frame-proof
-latest_gate=linuxcnc_kinematics_runtime_smoke=ok,profile_boundary_smoke=ok,rtcp_store_smoke=ok,gmoccapy_shell_smoke=ok,gmoccapy_static_build=ok
-rtcp_ui_state=implemented_fixture_fallback_and_node_kinematics_wasm_frame
+latest_batch=M17-linuxcnc-5axis-gcode-source-ingest
+latest_gate=full_execution_boundary_smoke=ok,linuxcnc_kinematics_runtime_smoke=ok,linuxcnc_interpreter_runtime_smoke=ok,linuxcnc_ini_runtime_smoke=ok,full_linuxcnc_5axis_source_node_smoke=ok,machine_file_staging_smoke=ok,five_axis_session_smoke=ok,profile_boundary_smoke=ok,rtcp_store_smoke=ok,gmoccapy_shell_smoke=ok,gmoccapy_dist_smoke=ok,gmoccapy_static_build=ok
+rtcp_ui_state=implemented_browser_worker_and_node_kinematics_wasm_frame_with_fixture_fallback
 control_wiring=power_estop_reset_auto_manual_jog_mdi_run_stop_pause_step_overrides_coolant_spindle_preview_home_reload_full
-gcode_loading=implemented_browser_file_text_staging
-program_current_line=implemented_fixture_line_playback_and_highlight
+gcode_loading=implemented_browser_file_text_staging_with_linuxcnc_interpreter_execution
+linuxcnc_5axis_gcode_sources=implemented_and_guarded_to_linuxcnc_source_manifest_trt_demos_only
+program_current_line=implemented_linuxcnc_canonical_motion_highlight_with_fixture_fallback
 tool_preview=implemented_tool_card_and_threejs_marker
 threejs_preview=implemented_basic_canvas_scene
-profile_source_map=implemented_xyzac_trt
+profile_source_map=implemented_xyzac_trt_and_xyzbc_trt
+profile_switching=implemented_xyzac_trt_and_xyzbc_trt_with_runtime_reload
 pyvcp_hal_schema=implemented_xyzac_trt_switchkins
-linuxcnc_boundary_adapter=kinematics_runtime_connected_node_interpreter_remap_missing
-linuxcnc_kinematics_wasm=node_proof_ready_xyzac_trt
-browser_kinematics_wasm=not_connected_fixture_fallback
-full_program_execution=not_promoted_fixture_line_playback
-next_batch=browser_kinematics_wasm_asset_worker_or_interpreter_execution_source
+linuxcnc_boundary_adapter=kinematics_and_interpreter_runtime_connected_remap_planner_missing
+full_execution_boundary=implemented_machine_file_remap_ready_with_planner_task_hal_blockers
+linuxcnc_kinematics_wasm=browser_and_node_proof_ready_xyzac_trt
+browser_kinematics_wasm=worker_connected_source_and_dist_xyzac_trt
+linuxcnc_interpreter_wasm=browser_worker_and_node_direct_canonical_program_execution_ready_with_switchkins_mcode_preservation
+browser_interpreter_wasm=worker_connected_source_and_dist
+switchkins_rtcp_program_execution=implemented_m428_m429_program_events_drive_rtcp_and_kinematics_switch
+full_program_execution=partial_interpreter_canonical_and_switchkins_event_ready_remap_planner_not_promoted
+session_persistence=implemented_opfs_save_restore_for_5axis_session
+machine_file_staging=implemented_linuxcnc_trt_ini_hal_tool_table_remap_demo_opfs_staging
+machine_file_backed_run=implemented_linuxcnc_fiveaxis_remap_wasm_machine_file_execution
+planner_task_hal_gap=audited_as_blocked_without_native_task_nml_realtime_hal_and_planner_queue_runtime
+next_batch=trajectory_planner_wasm_boundary_or_native_task_hal_port
+```
+
+## 10. M12 任务
+
+```text
+M12-switchkins-rtcp-program-execution
+```
+
+状态：
+
+```text
+completed_with_program_level_rtcp_switching
+```
+
+已完成：
+
+- `linuxcnc-interpreter-runtime` 识别 LinuxCNC TRT 配置中的 `M428/M429/M430` switchkins remap M-code；
+- 因当前 interpreter WASM 未启用 Python/NGC remap runtime，运行前会从送入 WASM 的程序文本中移除这些高位 M-code，避免 `M-code greater than 199` 阻断普通 canonical motion；
+- 原始程序的 `M428/M429/M430` 被保留为 `switchkinsEvents`，并打上 `linuxcnc_switchkins_remap_mcode_preserved_web_runtime_applied` 边界；
+- canonical motion event 继承最近的 switchkins 状态，`RUN/STEP/RUN_FRAME` 按程序自动切换 `identity` / `tcp-xyzac` / `tcp-xyzbc`；
+- node/browser kinematics runtime 增加 `switchKinematics()`，程序内 `M428/M429` 会同步切换 LinuxCNC kinematics WASM 的 `lckins_switch()`；
+- gmoccapy diagnostics 显示 program switchkins event count；
+- smoke 覆盖含 `M428/M429` 的五轴联动 RTCP 程序：加载后进入 TCP，执行 A/C 联动段保持 RTCP on，运行到 `M429` 后回到 identity。
+
+边界说明：
+
+```text
+switchkinsProgramBoundary=linuxcnc_remap_mcode_preserved_and_web_runtime_applied
+interpreterBoundary=linuxcnc_interpreter_wasm_canonical_events
+kinematicsBoundary=linuxcnc_kinematics_wasm_c_abi
+remapRuntimeReady=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+## 14. M16 任务
+
+```text
+M16-linuxcnc-tp-queue-timing-runtime
+```
+
+状态：
+
+```text
+completed_with_tp_wasm_and_web_node_smoke
+```
+
+已完成：
+
+- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c` 新增
+  `lctp_run_canonical_motion_timing()`；
+- TP WASM C ABI 将 LinuxCNC interpreter canonical motion events 入队到 vendored
+  LinuxCNC `src/emc/tp` runtime，并通过 `tpRunCycle()` 生成 segment timing；
+- canonical 零长度 motion 保留为 0 秒 timing segment，不作为 TP enqueue failure；
+- 新增 `wasm-port/runtime/sdk/src/linuxcnc-tp.js`；
+- `linuxcnc-interpreter-runtime` 在 `runProgram()` / `runMachineFileProgram()` 后调用
+  TP SDK，`programExecution.plannerTiming` 使用
+  `linuxcnc_tp_queue_runtime_timing_from_canonical_motion` 边界；
+- store 优先使用 TP planner timing；JS `execution-timing.js` 保留为 fallback/MDI
+  lightweight path；
+- full execution boundary 可在 TP timing 成功时报告 `plannerRuntimeReady=true`。
+- browser source/dist smoke 验证 interpreter Worker readiness 包含 TP planner runtime，
+  并验证含 `ARC_FEED` 的真实 G-code 程序通过 TP arc timing segment。
+
+边界说明：
+
+```text
+timingBoundary=linuxcnc_tp_queue_runtime_timing_from_canonical_motion
+plannerRuntimeReady=true for interpreter canonical motion with TP WASM timing
+nativeTaskReady=false
+nativeHalSyncReady=false
+fullLinuxCncProgramExecutionReady=false
+hardwareDrive=false
+```
+
+验证：
+
+```text
+source /home/cnc/emsdk/emsdk_env.sh >/dev/null && bash wasm-port/tools/build_tp_wasm.sh && bash wasm-port/tests/wasm/node/verify_tp_wasm.sh
+node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_interpreter_runtime.mjs
+npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+```
+
+## 11. M13 任务
+
+```text
+M13-interpreter-worker-runtime
+```
+
+状态：
+
+```text
+completed_with_browser_worker_smoke
+```
+
+已完成：
+
+- 新增 `linuxcnc-interpreter-worker.js` 和 `linuxcnc-interpreter-worker-client.js`；
+- 浏览器默认优先通过 Web Worker 加载 LinuxCNC interpreter WASM；
+- store 的 `RUN_INTERPRETER_PROGRAM` 支持 async runtime，避免 worker 结果阻塞 UI 线程；
+- 增加 `interpreterExecutionPending` 和 sequence guard，防止旧解释器结果覆盖新加载程序；
+- gmoccapy diagnostics 显示 interpreter execution context；
+- browser smoke 验证 kinematics 和 interpreter 都在 Worker，并验证 source/dist 两条路径。
+
+边界说明：
+
+```text
+browserInterpreterExecutionContext=worker
+nodeInterpreterExecutionContext=direct
+interpreterBoundary=linuxcnc_interpreter_wasm_canonical_events
+remapRuntimeReady=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+## 14. M16 任务
+
+```text
+M16-planner-task-hal-boundary-audit
+```
+
+状态：
+
+```text
+completed_with_full_execution_boundary_smoke
+```
+
+已完成：
+
+- 新增 `full-execution-boundary.js`，统一汇总 kinematics、interpreter canonical、machine-file staging、five-axis remap run、switchkins HAL evidence；
+- store 新增 `fullExecutionBoundary` 派生状态和 `RUN_FULL_BOUNDARY_AUDIT_REQUEST`；
+- gmoccapy diagnostics 显示 full boundary、planner/task/HAL blockers 和证据摘要；
+- 底部新增 `Audit` 按钮，可触发 machine-file staging + machine-file backed five-axis remap run；
+- interpreter runtime 对 machine-file backed run 的 `remapRuntimeReady` 改为基于 `fiveaxis_ini_open=1`、`fiveaxis_remaps_ready=1`、`fiveaxis_file_reached_exit=1`；
+- Node/browser smoke 验证 partial remap boundary ready，同时继续禁止 full LinuxCNC program execution promoted。
+
+边界说明：
+
+```text
+fullExecutionBoundary=linuxcnc_machine_file_remap_ready_planner_task_hal_blocked
+remapRuntimeReady=true for staged fiveAxisRemap C ABI run
+halSwitchkinsEvidenceReady=true for fiveaxis_hal_switchkins evidence
+nativeTaskReady=false
+nativeHalSyncReady=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
+promotionAllowed=false
+```
+
+## 15. M17 任务
+
+```text
+M17-linuxcnc-5axis-gcode-source-ingest
+```
+
+状态：
+
+```text
+completed_with_real_linuxcnc_5axis_source_program_smoke
+```
+
+已完成：
+
+- machine-file staging 从 LinuxCNC source manifest 中追加 TRT `demos/*.ngc`，包括 `boat-xyzac.ngc`、`boat-xyzbc.ngc`、`impeller-7bl-xyzac.ngc`、`xyzac_switchkins*.ngc`、`xyzbc_switchkins.ngc`；
+- `selectMachineFileProgram()` 强制 5 轴 G-code 必须来自 LinuxCNC 源程序目录 `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc`；
+- 新增 `listLinuxCncGcodeSources()` 和 `selectMachineFileProgram()`；
+- store 新增 `LOAD_LINUXCNC_GCODE_SOURCE`，可把 staged LinuxCNC 真实 5 轴 `.ngc` 源文件加载到 G-code 面板；
+- gmoccapy G-code 面板新增 LinuxCNC 5-axis source 下拉框和 staging 按钮；
+- machine-file backed remap run 使用当前选中的 LinuxCNC `.ngc` 源程序路径；
+- Node/browser smoke 验证选择 `impeller-7bl-xyzac.ngc` 后，UI 加载真实源程序，machine-file run 的 `wasmProgramPath` 指向该源文件。
+
+边界说明：
+
+```text
+gcodeSourceBoundary=linuxcnc_vendored_5axis_gcode_source_file
+sourceMode=linuxcnc-vendored-5axis-gcode
+machineFileBackedRunProgram=selected_staged_linuxcnc_ngc_source
+sourceDirectoryGuard=configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc only
+remapRuntimeReady=true for staged fiveAxisRemap C ABI run
+plannerRuntimeReady=false
+nativeTaskReady=false
+nativeHalSyncReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+## 12. M14 任务
+
+```text
+M14-opfs-machine-file-staging
+```
+
+状态：
+
+```text
+completed_with_node_and_browser_opfs_smoke
+```
+
+已完成：
+
+- 新增 `linuxcnc-machine-file-staging.js`；
+- 复用 `wasm-port/runtime/sdk/src/sim-config-staging.js` 的 `planSimConfigStaging()`，为 `xyzac-trt` / `xyzbc-trt` 生成 LinuxCNC sim-config staging plan；
+- 将 INI、tool table、HAL、PyVCP XML、`remap_subs/*.ngc`、demo G-code 等 vendored LinuxCNC 文本文件保存到 OPFS 风格路径；
+- store 增加 `machineFileStaging` 状态和 `stageMachineFiles()` API；
+- gmoccapy diagnostics 显示 machine-file staging 状态；
+- build 产物复制 `wasm-port/tools/source-manifest.txt`，保证 dist 页面也能生成 staging plan；
+- node smoke 使用 memory OPFS 验证文件保存；browser smoke 使用真实 OPFS 验证 source/dist staging。
+
+边界说明：
+
+```text
+machineFileStagingBoundary=linuxcnc_sim_config_file_staging_plan_plus_opfs_text_persistence
+stagedFiles=ini,hal,pyvcp,tool_table,remap_ngc,demo_gcode
+nativeHalTaskSync=false
+remapRuntimeReady=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+## 13. M15 任务
+
+```text
+M15-machine-file-backed-fiveaxis-remap-run
+```
+
+状态：
+
+```text
+completed_with_node_and_browser_fiveaxis_remap_run
+```
+
+已完成：
+
+- `linuxcnc-interpreter-runtime` 新增 `runMachineFileProgram()`；
+- interpreter Worker 支持 `runMachineFileProgram` 转发；
+- store 新增 `RUN_MACHINE_FILE_PROGRAM` action 和 `machineFileExecution` 状态；
+- 使用 M14 的 machine-file staging plan/files，把 TRT INI、tool table、remap NGC、demo G-code 写入 Emscripten FS；
+- 调用 LinuxCNC interpreter SDK `runSimConfigProgram({ executionMode: "fiveAxisRemap" })`；
+- Node/browser smoke 验证 `fiveaxis_ini_open=1`、`fiveaxis_remaps_ready=1`、`fiveaxis_file_reached_exit=1`；
+- gmoccapy diagnostics 显示 machine-file backed run 状态。
+
+边界说明：
+
+```text
+machineFileBackedRunBoundary=linuxcnc_fiveaxis_remap_wasm_machine_file_execution
+sourceMode=linuxcnc-machine-file-remap-wasm
+remapRuntimeReady=vendored_linuxcnc_fiveaxis_remap_c_abi_for_staged_files
+nativeTaskHalSync=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
 ```

web-rtcp-5axis-sim-plan/docs/program-implementation-guide.md

@@ -173,7 +173,20 @@ LinuxCNC kinematics proof:
   promotionAllowed=true for kinematics frame source only
 ```
 
-这表示 Web 仿真已经具备 RTCP 状态链路、TCP pose 显示、刀轴向量显示和控制按钮切换；Node proof 路径已通过 `createLinuxCncKinematicsSdk({ moduleId: "xyzac-trt" })` 加载 LinuxCNC kinematics WASM 并生成 frame。浏览器 smoke 仍保留 fixture fallback，不把 fallback 冒充 LinuxCNC runtime proof。
+这表示 Web 仿真已经具备 RTCP 状态链路、TCP pose 显示、刀轴向量显示和控制按钮切换；Node 和浏览器路径均已通过 `createLinuxCncKinematicsSdk({ moduleId: "xyzac-trt" })` 加载 LinuxCNC kinematics WASM 并生成 frame，浏览器默认使用 Worker 隔离 kinematics WASM 调用。fixture fallback 仍保留为 runtime load failure 的 UI 安全路径，但 smoke 不再把 fixture fallback 当作当前 proof。
+
+当前普通 G-code 程序执行也已接入 `createLinuxCncInterpSdk()`：
+
+```text
+sourceMode=linuxcnc-interpreter-wasm
+semanticBoundary=linuxcnc_interpreter_wasm_canonical_events
+RUN/STEP source=LinuxCNC canonical motion events
+remapRuntimeReady=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+这只提升普通 G-code canonical execution source，不代表 Python remap、tool DB、external user-M process 或完整 planner 已 promoted。
 
 ### Step 3：gmoccapy UI 组件
 
@@ -432,6 +445,55 @@ readiness
 - Browser canvas nonblank smoke；
 - 文档 traceability 检查。
 
+### Step 9：LinuxCNC TP queue timing runtime
+
+目标：
+
+- 删除真实 G-code 路径上的
+  `linuxcnc_canonical_motion_timing_estimate_not_planner_queue` 边界；
+- 将 interpreter 生成的 LinuxCNC canonical motion events 输入从
+  `linuxcnc/src/emc/tp` 移植构建出的 WASM runtime；
+- 用 `tpCreate()`、`tpSetCycleTime()`、`tpSetVmax()`、`tpSetVlimit()`、
+  `tpSetAmax()`、`tpSetTermCond()`、`tpAddLine()`、`tpRunCycle()` 和
+  `tpGetPos()` 生成程序级 queue timing；
+- UI 的 elapsed/remaining/current velocity 来自 TP queue runtime 输出，而不是
+  JavaScript 按距离和进给率估算。
+
+实现步骤：
+
+1. 在 `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c` 新增
+   `lctp_run_canonical_motion_timing()` C ABI。
+2. 输入只接受 interpreter runtime 已解析出的 canonical motion JSON；C 侧只做字段读取、
+   TP enqueue 和 cycle loop，不解释 G-code。
+3. 在 `wasm-port/runtime/sdk/src/linuxcnc-tp.js` 新增 TP SDK，负责加载
+   `build/wasm/tp/linuxcnc_tp.{js,wasm}` 并调用 C ABI。
+4. 在 Web interpreter runtime 中可选接入 `createLinuxCncTpSdk()`；`runProgram()` 和
+   `runMachineFileProgram()` 完成 canonical motion 后立即跑 TP queue timing。
+5. `programExecution.summary.plannerRuntimeReady=true` 只在 TP runtime 调用成功且
+   motionCount 一致时成立；否则保留 canonical execution，但不能把 planner timing 标为 ready。
+6. `web-rtcp-5axis-full-linuxcnc-execution-boundary` 可把 `plannerRuntimeReady=true` 作为
+   已满足项，但仍必须显示 `nativeTaskReady=false`、`nativeHalSyncReady=false` 和
+   `fullLinuxCncProgramExecutionReady=false`，因为 native task/NML、HAL realtime thread 和
+   硬件驱动没有接入。
+
+当前边界：
+
+```text
+sourceMode=linuxcnc-interpreter-wasm
+timing.semanticBoundary=linuxcnc_tp_queue_runtime_timing_from_canonical_motion
+plannerRuntimeReady=true
+nativeTaskReady=false
+nativeHalSyncReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+不允许：
+
+- 用 JS 重写 lookahead、blend、exact stop、S-curve 或 G-code modal 语义；
+- 把 TP queue timing 说成已经驱动硬件；
+- 把 native LinuxCNC task/NML/realtime HAL 说成已经完成；
+- 对没有通过 TP runtime 的 operator MDI lightweight path 标记 planner ready。
+
 ## 5. 禁止事项
 
 - 不在 JavaScript 中实现 G-code 解释器。
@@ -439,7 +501,11 @@ readiness
 - 不把 gmoccapy Python/GTK runtime 移植进浏览器。
 - 不把 Python remap/tool DB/external user-M process 伪装成已支持。
 - 不用 UI fixture 结果冒充 LinuxCNC runtime proof。
+- 用于 5 轴 machine-file backed run 的 G-code 必须来自 LinuxCNC 源程序目录
+  `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc`；
+  用户上传或手写的 G-code 只能作为 operator file/普通 interpreter 输入，不得标记为
+  `linuxcnc-vendored-5axis-gcode` 或用于 5 轴源程序边界证明。
 
 ## 6. 开工建议
 
-当前已完成 Step 1 到 Step 7 的 Node 侧 LinuxCNC kinematics proof。下一轮应把 browser asset copy/worker 接入完成，让真实浏览器也能加载 kinematics WASM；或继续推进 interpreter/remap/planner，使 program execution 从 fixture line playback 升级。
+当前已完成 Step 1 到 Step 9 的 Node/browser LinuxCNC kinematics proof、浏览器 Worker kinematics 隔离、浏览器 Worker interpreter canonical execution source、`xyzac-trt`/`xyzbc-trt` profile 切换、OPFS 五轴会话保存/恢复、OPFS machine-file staging、machine-file backed `fiveAxisRemap` C ABI run、程序级 `M428/M429` switchkins RTCP 自动切换、LinuxCNC TP queue timing runtime、full execution boundary audit，以及真实 LinuxCNC TRT 5 轴 `.ngc` 源程序 staging/选择/运行路径。`M428/M429/M430` 当前既可作为 Web runtime switchkins 事件驱动 `lckins_switch()`，也可在 staged machine-file run 中交给 vendored LinuxCNC five-axis remap C ABI 验证；只有 LinuxCNC source manifest 中的 `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc` 可作为 `linuxcnc-vendored-5axis-gcode` 进入 UI 和 machine-file run。`web-rtcp-5axis-full-linuxcnc-execution-boundary` 可以在真实 interpreter canonical motion 已通过 TP WASM 时报告 `plannerRuntimeReady=true`，但必须继续把 `nativeTaskReady=false`、`nativeHalSyncReady=false`、`fullLinuxCncProgramExecutionReady=false` 和 `promotionAllowed=false` 显示为 blocker，除非后续真正接入 native task/NML 和 realtime HAL sync。

web-rtcp-5axis-sim-plan/docs/technical-roadmap.md

@@ -519,6 +519,7 @@ LinuxCNC G-code text
 8. `M7-browser-kinematics-runtime`：浏览器 asset copy/worker 加载 kinematics WASM。
 9. `M8-session`：OPFS 保存/恢复五轴仿真会话。
 10. `M9-release-gate`：Node/browser/docs/release gate。
+11. `M10-profile-switching`：`xyzac-trt` / `xyzbc-trt` profile 切换并重载对应 kinematics WASM。
 
 ## 9. 验收标准
 
@@ -537,15 +538,10 @@ LinuxCNC G-code text
 
 ## 10. 下一步动作
 
-当前已完成到 `M6-kinematics-frame-proof`。建议下一轮优先做：
+当前已完成到 `M11-profile-session-business-closure`。建议下一轮优先做：
 
-- 在 build-static 中复制 `wasm-port/build/wasm/kinematics` 所需产物，或新增 worker 隔离 kinematics WASM 加载；
-- 让 `app/src/main.js` 在浏览器中 attach `xyzac-trt` kinematics runtime；
-- 保持 fixture fallback，不把 browser fixture smoke 标记为 LinuxCNC proof；
-- 或转向 LinuxCNC interpreter/remap/planner 接入，把 program execution 从 fixture line playback 升级。
-- 使用 Vite + Three.js；
-- 先接入现有普通 G-code program inventory；
-- 画出五轴机床基本结构；
-- 按 AXIS/PyVCP/gmoccapy 参考放置 toolbar、Manual/MDI、DRO、SWITCHKINS、joint values、preview；
-- 加 Playwright smoke；
+- 把 interpreter WASM 调用迁移到 Worker，保持 UI 主线程只做渲染和状态编排；
+- 接入 OPFS machine-session 的 INI/HAL/tool table staging，让 interpreter execution 使用真实会话文件；
+- 继续推进 remap/planner 边界，不把普通 canonical execution 冒充完整 LinuxCNC task/motion runtime；
+- 保持 source/browser/dist 三层 smoke：interpreter canonical frame、kinematics worker frame、DRO/preview 同步。
 - 启动本地 dev server 给出访问地址。

web-rtcp-5axis-sim-plan/docs/traceability-matrix.md

@@ -24,22 +24,26 @@ CNC 语义必须来自 LinuxCNC source/WASM/source-derived boundary；
 | 右侧模式按钮栏 | `app/src/ui/gmoccapy-status-sidebar.ts` | gmoccapy screenshot | UI action dispatch | browser button/action smoke |
 | 底部运行控制 | `app/src/ui/gmoccapy-bottom-controls.ts` | gmoccapy/AXIS run controls | UI action dispatch | playback smoke |
 | G-code 当前行 | `app/src/ui/gmoccapy-gcode-panel.ts` | AXIS/gmoccapy program display | LinuxCNC output rendering | active-line smoke |
-| 上电/急停/复位/模式操作 | `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | gmoccapy/AXIS operator workflow | browser UI runtime fixture | node smoke + browser operator smoke |
-| JOG/MDI 操作 | `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | AXIS Manual/MDI workflow | browser UI runtime fixture | node smoke + browser operator smoke |
-| G-code 文件加载 | `app/src/ui/gmoccapy-shell.js`, `app/src/state/store.js` | AXIS/gmoccapy open program workflow | file text staging only, not LinuxCNC interpreter proof | node smoke + browser operator smoke |
-| 程序执行当前行显示 | `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | AXIS/gmoccapy current line display | fixture line playback until LinuxCNC interpreter is connected | node smoke + browser operator smoke |
+| 上电/急停/复位/模式操作 | `app/src/state/store.js`, `app/src/state/linuxcnc-task-policy.js`, `app/src/ui/gmoccapy-shell.js` | `src/emc/nml_intf/emc.hh`, `src/emc/task/emctaskmain.cc`, `src/emc/task/emctask.cc` | LinuxCNC task source-referenced Web policy | node smoke + browser operator smoke |
+| JOG/MDI 操作 | `app/src/state/store.js`, `app/src/state/linuxcnc-task-policy.js`, `app/src/ui/gmoccapy-shell.js` | `src/emc/task/emctaskmain.cc` `EMC_JOG_INCR`, `EMC_JOINT_HOME`, `EMC_TASK_PLAN_EXECUTE` | LinuxCNC task source-referenced Web policy | node smoke + browser operator smoke |
+| 程序运行/暂停/继续/停止 | `app/src/state/store.js`, `app/src/state/linuxcnc-task-policy.js`, `app/src/ui/gmoccapy-shell.js` | `src/emc/task/emctaskmain.cc` `EMC_TASK_PLAN_RUN`, `EMC_TASK_PLAN_PAUSE`, `EMC_TASK_PLAN_RESUME`, `EMC_TASK_ABORT` | LinuxCNC task source-referenced Web policy | node smoke + browser operator smoke |
+| G-code 文件加载 | `app/src/ui/gmoccapy-shell.js`, `app/src/state/store.js` | AXIS/gmoccapy open program workflow | browser file staging + LinuxCNC interpreter execution | node smoke + browser operator smoke |
+| LinuxCNC 5 轴源程序选择 | `app/src/runtime/linuxcnc-machine-file-staging.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc` | guarded vendored LinuxCNC source-directory G-code staging + selected machine-file run | machine-file staging node smoke + browser source selector smoke |
+| 程序执行当前行显示 | `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | AXIS/gmoccapy current line display | LinuxCNC interpreter canonical motion events with fixture fallback | node smoke + browser operator smoke |
+| 程序执行速度/时间 | `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c`, `wasm-port/runtime/sdk/src/linuxcnc-tp.js`, `app/src/runtime/linuxcnc-interpreter-runtime.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | LinuxCNC interpreter canonical motion events queued through `src/emc/tp/tp.c`, `tc.c`, `tcq.c`, S-curve/Ruckig support sources | LinuxCNC TP queue runtime timing from canonical motion; JS estimate kept only as fallback/MDI lightweight path | TP WASM smoke + interpreter/store node smoke + browser source/dist TP timing smoke |
 | 刀具预览 | `app/src/ui/gmoccapy-shell.js`, `app/src/visualization/five-axis-scene.js` | gmoccapy/vismach tool display | visualization/runtime state display | browser operator smoke |
 | 3D 五轴预览 | `app/src/visualization/five-axis-scene.js` | `qtvismach_5axis_gantry.png`, `lib/python/vismach.py` | visualization | canvas nonblank smoke |
 | Vismach transform tree | `app/src/visualization/machine-model.ts` | `lib/python/vismach.py`, `src/hal/user_comps/vismach/*.py` | visualization from GUI reference | scene graph smoke |
 | `xyzac-trt` profile | `app/src/profiles/xyzac-trt.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini` | source/config reference | profile boundary node smoke |
 | `xyzac-trt` source reference map | `app/src/profiles/source-reference-map.js` | `xyzac-trt.ini`, `xyzac-trt.xml`, `switchkins_postgui.hal`, `xyzac-trt_cmds.hal`, `xyzac-trt-kins.c`, `trtfuncs.c`, `switchkins.c` | profile/source map only, not runtime proof | profile boundary node smoke |
-| `xyzbc-trt` profile | `app/src/profiles/xyzbc-trt.ts` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` | source/config reference | profile node smoke |
+| `xyzbc-trt` profile | `app/src/profiles/xyzbc-trt.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` | source/config reference + runtime module switch | profile node smoke + browser profile switch smoke |
 | SWITCHKINS panel | `app/src/panel-schema/xyzac-trt-pyvcp.js` | `xyzac-trt.xml`, `switchkins_postgui.hal` | UI/HAL binding reference | profile boundary node smoke + browser DOM smoke |
 | M428/M429/M430 state | `app/src/profiles/xyzac-trt.js`, `app/src/panel-schema/xyzac-trt-pyvcp.js` | `remap_subs/428remap.ngc`, `429remap.ngc`, `430remap.ngc` | LinuxCNC remap/source reference only until runtime adapter is connected | profile boundary node smoke |
-| LinuxCNC boundary adapter | `app/src/runtime/linuxcnc-boundary-adapter.js` | LinuxCNC interpreter/kinematics WASM future adapter point | adapter entrypoint only, runtime not connected | profile boundary node smoke + browser DOM smoke |
+| LinuxCNC boundary adapter | `app/src/runtime/linuxcnc-boundary-adapter.js` | LinuxCNC interpreter/kinematics/TP WASM adapter point | kinematics + interpreter + TP timing runtime connected; native task/realtime HAL still not ported | profile boundary node smoke + browser DOM smoke |
+| Full execution boundary audit | `app/src/runtime/full-execution-boundary.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | LinuxCNC kinematics WASM, interpreter WASM, TP WASM, `runSimConfigProgram({ executionMode: "fiveAxisRemap" })`, TRT remap files | machine-file remap and TP timing ready; native task/realtime HAL blocked | full execution boundary node smoke + browser DOM smoke |
 | Five-axis kinematics | `core/linuxcnc_kinematics_wasm` | `trtfuncs.c`, `xyzac-trt-kins.c`, `xyzbc-trt-kins.c`, `5axiskins.c` | LinuxCNC source-derived WASM | Node roundtrip smoke |
 | RTCP/TCP frame | `app/src/runtime/rtcp-frame.js` | LinuxCNC kinematics output + canonical events | fixture frame plumbing until kinematics WASM is ready | RTCP/store node smoke + browser DOM smoke |
-| OPFS session | `app/src/runtime/session-*` | current `wasm-port/runtime/opfs` | host-side persistence | save/restore smoke |
+| OPFS session | `app/src/runtime/five-axis-session.js` | current `wasm-port/runtime/opfs` | browser OPFS 5-axis session persistence | five_axis_session_smoke + browser save/restore smoke |
 
 ## 3. 源文件追溯清单
 
@@ -118,11 +122,12 @@ src/emc/kinematics/kins_util.c
 | --- | --- | --- |
 | gmoccapy UI style | ready | 可直接 Web 化 |
 | Three.js preview | implemented_basic_canvas_scene | 已显示基础五轴机床、刀具/TCP marker、刀轴、刀路，并消费 `rtcpFrame` |
-| LinuxCNC interpreter WASM | existing_project_capability | 可参考 `wasm-port` 现有 SDK |
-| LinuxCNC 5-axis kinematics WASM | node_proof_ready | `createLinuxCncKinematicsSdk({ moduleId: "xyzac-trt" })` 已由 web adapter 加载，Node smoke 验证 forward/inverse frame |
-| RTCP frame UI plumbing | implemented_fixture_and_kinematics_wasm | fixture fallback 仍为 `linuxCncKinematicsReady=false`；Node kinematics proof 为 `source-derived-kinematics-wasm` / `linuxcnc_kinematics_wasm_c_abi` |
-| Operator workflow | implemented_fixture_only | 上电/急停/复位/模式/JOG/MDI/G-code 加载/当前行显示已闭环；执行仍是 fixture line playback |
-| LinuxCNC boundary adapter | kinematics_runtime_connected_node | `web-rtcp-5axis-linuxcnc-boundary-adapter` 可区分 kinematics-only ready 与 interpreter/remap missing |
+| LinuxCNC interpreter WASM | browser_and_node_canonical_execution_ready | `createLinuxCncInterpSdk()` 已接入普通 G-code canonical motion execution；remap/planner 未 promoted |
+| LinuxCNC 5-axis kinematics WASM | browser_and_node_proof_ready | `createLinuxCncKinematicsSdk({ moduleId: "xyzac-trt" })` 已由 web adapter 加载，Node/source-browser/dist-browser smoke 验证 forward/inverse frame |
+| RTCP frame UI plumbing | implemented_fixture_and_kinematics_wasm | fixture fallback 仍为 `linuxCncKinematicsReady=false`；browser/node kinematics proof 为 `source-derived-kinematics-wasm` / `linuxcnc_kinematics_wasm_c_abi` |
+| Operator workflow | implemented_linuxcnc_task_policy_with_canonical_motion | 上电/急停/复位/模式/JOG/MDI/RUN/PAUSE/RESUME/STOP/HOME 通过 `linuxcnc_task_state_mode_command_gate`；普通程序执行来自 LinuxCNC canonical motion |
+| LinuxCNC boundary adapter | kinematics_and_interpreter_connected | `web-rtcp-5axis-linuxcnc-boundary-adapter` 可区分 kinematics-only ready 与 interpreter/remap missing |
+| Full execution boundary audit | implemented_remap_ready_planner_task_hal_blocked | `web-rtcp-5axis-full-linuxcnc-execution-boundary` 汇总 kinematics/interpreter/machine-file-remap evidence；仍明确 `plannerRuntimeReady=false`、`nativeTaskReady=false`、`nativeHalSyncReady=false`、`fullLinuxCncProgramExecutionReady=false` |
 | PyVCP/HAL panel schema | implemented_reference_only | `xyzac-trt-switchkins-pyvcp` 已整理 SWITCHKINS 控件与 HAL nets；不执行 native HAL |
 | Python GUI runtime | not_ported | 只参考，不运行 |
 | Python remap runtime | blocked | 不在第一版实现 |
@@ -465,3 +470,548 @@ Remaining risk:
 Next:
   browser_kinematics_wasm_asset_worker_or_interpreter_execution_source
 ```
+
+## 13. M7 追溯记录
+
+```text
+Batch: M7-browser-kinematics-runtime
+Date: 2026-06-21 CST
+Files changed:
+  app/package.json
+  app/scripts/build-static.mjs
+  app/src/main.js
+  app/src/runtime/linuxcnc-kinematics-runtime.js
+  tests/browser/gmoccapy_shell_smoke.html
+  tests/browser/verify_gmoccapy_dist_browser.sh
+  docs/development-continuation.md
+  docs/program-implementation-guide.md
+  docs/technical-roadmap.md
+  docs/traceability-matrix.md
+Feature:
+  将浏览器主流程接入 xyzac-trt LinuxCNC kinematics WASM。
+  runtime loader 移除顶层 node:* 依赖，支持 browser ESM import；
+  app/src/main.js 启动后自动 attach kinematics runtime；
+  build-static 复制 linuxcnc-kinematics.js 与 kinematics .js/.wasm 产物到 dist；
+  browser smoke 同时覆盖源码入口和 dist 入口。
+LinuxCNC references:
+  wasm-port/runtime/sdk/src/linuxcnc-kinematics.js
+  wasm-port/build/wasm/kinematics/linuxcnc_xyzac_trt_kinematics.js
+  wasm-port/build/wasm/kinematics/linuxcnc_xyzac_trt_kinematics.wasm
+  src/emc/kinematics/xyzac-trt-kins.c
+Boundary:
+  sourceMode=source-derived-kinematics-wasm
+  semanticBoundary=linuxcnc_kinematics_wasm_c_abi
+  browserKinematicsReady=true
+  nodeKinematicsReady=true
+  fullLinuxCncProgramExecutionReady=false
+  fixtureFallback=available_only_on_runtime_load_failure
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run build
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  gmoccapy_static_build=ok
+  linuxcnc_kinematics_runtime_smoke=ok
+  rtcp_store_smoke=ok
+  profile_boundary_smoke=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  Superseded by M8/M9: browser kinematics now runs through Worker and ordinary
+  G-code RUN/STEP uses LinuxCNC interpreter canonical events. Remap/planner
+  execution remains not promoted.
+Next:
+  linuxcnc_interpreter_remap_planner_execution_source_or_worker_isolation
+```
+
+## 14. M8-M9 追溯记录
+
+```text
+Batch: M8-kinematics-worker-runtime
+Batch: M9-interpreter-canonical-program-execution
+Date: 2026-06-21 CST
+Files changed:
+  app/package.json
+  app/scripts/build-static.mjs
+  app/src/main.js
+  app/src/runtime/linuxcnc-interpreter-runtime.js
+  app/src/runtime/linuxcnc-kinematics-runtime.js
+  app/src/runtime/linuxcnc-kinematics-worker.js
+  app/src/runtime/linuxcnc-kinematics-worker-client.js
+  app/src/runtime/linuxcnc-boundary-adapter.js
+  app/src/state/store.js
+  app/src/ui/gmoccapy-shell.js
+  tests/node/verify_linuxcnc_interpreter_runtime.mjs
+  tests/node/verify_linuxcnc_kinematics_runtime.mjs
+  tests/node/verify_rtcp_store.mjs
+  tests/browser/gmoccapy_shell_smoke.html
+Feature:
+  浏览器默认通过 Web Worker 加载 xyzac-trt LinuxCNC kinematics WASM；
+  普通 G-code 程序通过 LinuxCNC interpreter WASM 执行并输出 canonical
+  motion events；RUN/STEP 使用 canonical motion line/pose 更新 G-code
+  highlight、DRO、RTCP frame 和 Three.js preview。
+LinuxCNC references:
+  wasm-port/runtime/sdk/src/linuxcnc-kinematics.js
+  wasm-port/runtime/sdk/src/linuxcnc-interp.js
+  wasm-port/build/wasm/kinematics/linuxcnc_xyzac_trt_kinematics.wasm
+  wasm-port/build/wasm/core/linuxcnc_interp.wasm
+Boundary:
+  kinematics sourceMode=source-derived-kinematics-wasm
+  kinematics executionContext=worker in browser
+  interpreter sourceMode=linuxcnc-interpreter-wasm
+  interpreter semanticBoundary=linuxcnc_interpreter_wasm_canonical_events
+  remapRuntimeReady=false
+  plannerRuntimeReady=false
+  fullLinuxCncProgramExecutionReady=false
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run build
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  gmoccapy_static_build=ok
+  linuxcnc_kinematics_runtime_smoke=ok
+  linuxcnc_interpreter_runtime_smoke=ok
+  rtcp_store_smoke=ok
+  profile_boundary_smoke=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  Interpreter runtime currently runs on the main browser thread; remap/planner,
+  OPFS machine-session staging, Python remap, tool DB, and external user-M process
+  remain not promoted.
+Next:
+  remap_planner_worker_interpreter_or_opfs_machine_session_integration
+```
+
+## 15. M10-M11 追溯记录
+
+```text
+Batch: M10-profile-switching
+Batch: M11-profile-session-business-closure
+Date: 2026-06-21 CST
+Files changed:
+  app/src/profiles/index.js
+  app/src/profiles/xyzbc-trt.js
+  app/src/profiles/source-reference-map.js
+  app/src/runtime/five-axis-session.js
+  app/src/runtime/rtcp-frame.js
+  app/src/state/store.js
+  app/src/ui/gmoccapy-shell.js
+  app/src/styles/gmoccapy.css
+  tests/node/verify_five_axis_session.mjs
+  tests/node/verify_profile_boundary.mjs
+  tests/node/verify_rtcp_store.mjs
+  tests/browser/gmoccapy_shell_smoke.html
+Feature:
+  增加 xyzbc-trt profile、source reference map、PyVCP SWITCHKINS schema
+  变体和 UI profile selector；profile 切换后重载对应 LinuxCNC kinematics WASM。
+  增加 web-rtcp-5axis OPFS session snapshot，可保存/恢复 profile、program、
+  axis/TCP pose、RTCP state、canonical execution summary、runtime readiness 和 preview state。
+LinuxCNC references:
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml
+  src/emc/kinematics/xyzbc-trt-kins.c
+  wasm-port/runtime/opfs snapshot/file-service pattern
+Boundary:
+  profile switching=source/config reference plus source-derived kinematics runtime reload
+  session persistence=browser OPFS UI/runtime state snapshot
+  machine-file staging=false
+  remapRuntimeReady=false
+  plannerRuntimeReady=false
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run build
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  gmoccapy_static_build=ok
+  linuxcnc_kinematics_runtime_smoke=ok
+  linuxcnc_interpreter_runtime_smoke=ok
+  five_axis_session_smoke=ok
+  rtcp_store_smoke=ok
+  profile_boundary_smoke=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  Session snapshot persists Web simulation state, not full LinuxCNC machine-file
+  staging. Interpreter still runs on the main browser thread. Remap/planner,
+  Python remap, tool DB, and external user-M process remain not promoted.
+Next:
+  interpreter_worker_or_opfs_machine_file_staging_or_remap_planner_boundary
+```
+
+## 17. M18 追溯记录
+
+```text
+Batch: M18-linuxcnc-task-policy-controls
+Date: 2026-06-21 CST
+Files changed:
+  app/src/state/linuxcnc-task-policy.js
+  app/src/runtime/execution-timing.js
+  app/src/state/store.js
+  app/src/ui/gmoccapy-shell.js
+  tests/node/verify_rtcp_store.mjs
+  tests/node/verify_five_axis_session.mjs
+  tests/browser/gmoccapy_shell_smoke.html
+Feature:
+  Adds a source-referenced LinuxCNC task policy gate for operator controls:
+  TOGGLE_POWER, RESET, ESTOP, SET_MODE, JOG, RUN_MDI, RUN, STEP, HOME,
+  PAUSE, RESUME, STOP, and ABORT. The gmoccapy diagnostics panel now exposes
+  task state/mode/interpreter state, gate readiness, and the source file list
+  including `linuxcnc/src/emc/task/emctaskmain.cc`.
+  Adds LinuxCNC TP queue timing from interpreter canonical motion events.
+  UI now reports total/elapsed/remaining time and current segment
+  duration/velocity from the TP WASM runtime when available.
+LinuxCNC references:
+  src/emc/nml_intf/emc.hh
+  src/emc/task/emctaskmain.cc
+  src/emc/task/emctask.cc
+Boundary:
+  taskPolicyBoundary=linuxcnc_task_state_mode_command_gate
+  timingBoundary=linuxcnc_tp_queue_runtime_timing_from_canonical_motion
+  sourceMode=linuxcnc-task-source-referenced-policy
+  nativeTaskReady=false
+  nativeHalSyncReady=false
+  plannerRuntimeReady=true
+  fullLinuxCncProgramExecutionReady=false
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  rtcp_store_smoke=ok
+  five_axis_session_smoke=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  The control gates are aligned to LinuxCNC task source behavior, but this is
+  still a Web policy mirror. The project does not run the native LinuxCNC task
+  process, NML IPC loop, or realtime HAL synchronization. TP timing is computed
+  by the vendored LinuxCNC TP queue runtime from canonical motion events; it is
+  still not hardware drive timing and does not make native task/HAL ready.
+Next:
+  decide_release_handoff_or_start_native_task_hal_planner_boundary
+```
+
+## 17. M13 追溯记录
+
+```text
+Batch: M13-interpreter-worker-runtime
+Date: 2026-06-21 CST
+Files changed:
+  app/src/main.js
+  app/src/runtime/linuxcnc-interpreter-worker.js
+  app/src/runtime/linuxcnc-interpreter-worker-client.js
+  app/src/state/store.js
+  app/src/ui/gmoccapy-shell.js
+  tests/browser/gmoccapy_shell_smoke.html
+  tests/node/verify_five_axis_session.mjs
+  tests/node/verify_rtcp_store.mjs
+Feature:
+  Browser LinuxCNC interpreter WASM now loads through a Web Worker by default,
+  matching the existing kinematics Worker isolation. Program execution in store
+  accepts async interpreter runtimes, exposes interpreterExecutionPending, and
+  uses a sequence guard so stale Worker results cannot overwrite newer program
+  loads.
+LinuxCNC references:
+  wasm-port/runtime/sdk/src/linuxcnc-interp.js
+  wasm-port/build/wasm/core/linuxcnc_interp.js
+  wasm-port/build/wasm/core/linuxcnc_interp.wasm
+Boundary:
+  browserInterpreterExecutionContext=worker
+  nodeInterpreterExecutionContext=direct
+  interpreter semanticBoundary=linuxcnc_interpreter_wasm_canonical_events
+  remapRuntimeReady=false
+  plannerRuntimeReady=false
+  fullLinuxCncProgramExecutionReady=false
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run build
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  linuxcnc_kinematics_runtime_smoke=ok
+  linuxcnc_interpreter_runtime_smoke=ok
+  five_axis_session_smoke=ok
+  rtcp_store_smoke=ok
+  profile_boundary_smoke=ok
+  gmoccapy_static_build=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  Interpreter isolation is complete for browser canonical execution, but this
+  still does not promote native LinuxCNC remap/planner, tool DB, task/HAL sync,
+  or external user-M process.
+Next:
+  opfs_machine_file_staging_or_remap_planner_boundary
+```
+
+## 18. M14 追溯记录
+
+```text
+Batch: M14-opfs-machine-file-staging
+Date: 2026-06-21 CST
+Files changed:
+  app/package.json
+  app/scripts/build-static.mjs
+  app/src/main.js
+  app/src/runtime/linuxcnc-machine-file-staging.js
+  app/src/state/store.js
+  app/src/ui/gmoccapy-shell.js
+  tests/node/verify_machine_file_staging.mjs
+  tests/browser/gmoccapy_shell_smoke.html
+Feature:
+  Adds LinuxCNC TRT machine-file staging for the web simulator. The runtime
+  reuses `planSimConfigStaging()` to collect INI, tool table, HAL/PyVCP assets,
+  remap NGC files, and demo G-code from the vendored LinuxCNC tree, then persists
+  those text files into OPFS-style machine paths. Store exposes stageMachineFiles()
+  and gmoccapy diagnostics render staging status.
+LinuxCNC references:
+  wasm-port/runtime/sdk/src/sim-config-staging.js
+  wasm-port/tools/source-manifest.txt
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/*.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc
+Boundary:
+  machineFileStagingBoundary=linuxcnc_sim_config_file_staging_plan_plus_opfs_text_persistence
+  stagedFiles=ini,hal,pyvcp,tool_table,remap_ngc,demo_gcode
+  nativeHalTaskSync=false
+  remapRuntimeReady=false
+  plannerRuntimeReady=false
+  fullLinuxCncProgramExecutionReady=false
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run build
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  machine_file_staging_smoke=ok
+  linuxcnc_kinematics_runtime_smoke=ok
+  linuxcnc_interpreter_runtime_smoke=ok
+  five_axis_session_smoke=ok
+  rtcp_store_smoke=ok
+  profile_boundary_smoke=ok
+  gmoccapy_static_build=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  Machine files are staged and persisted as browser/host text assets. This does
+  not yet execute a machine-file backed LinuxCNC task session, native HAL sync,
+  Python/NGC remap runtime, full planner, tool DB, or external user-M process.
+Next:
+  remap_planner_boundary_or_machine_file_backed_run
+```
+
+## 19. M15 追溯记录
+
+```text
+Batch: M15-machine-file-backed-fiveaxis-remap-run
+Date: 2026-06-21 CST
+Files changed:
+  app/src/runtime/linuxcnc-interpreter-runtime.js
+  app/src/runtime/linuxcnc-interpreter-worker.js
+  app/src/runtime/linuxcnc-interpreter-worker-client.js
+  app/src/runtime/linuxcnc-machine-file-staging.js
+  app/src/state/store.js
+  app/src/ui/gmoccapy-shell.js
+  tests/node/verify_machine_file_staging.mjs
+  tests/browser/gmoccapy_shell_smoke.html
+Feature:
+  Adds machine-file backed five-axis remap execution. The simulator now stages
+  TRT machine files, forwards the staged INI/tool table/remap/demo files into
+  the LinuxCNC interpreter WASM filesystem, and calls
+  `runSimConfigProgram({ executionMode: "fiveAxisRemap" })`. Node and browser
+  smokes verify LinuxCNC reports INI open, remap readiness, and program exit.
+LinuxCNC references:
+  wasm-port/runtime/sdk/src/linuxcnc-interp.js
+  wasm-port/runtime/sdk/src/sim-config-staging.js
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc
+Boundary:
+  machineFileBackedRunBoundary=linuxcnc_fiveaxis_remap_wasm_machine_file_execution
+  sourceMode=linuxcnc-machine-file-remap-wasm
+  remapRuntimeReady=vendored_linuxcnc_fiveaxis_remap_c_abi_for_staged_files
+  nativeTaskHalSync=false
+  plannerRuntimeReady=false
+  fullLinuxCncProgramExecutionReady=false
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run build
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  machine_file_staging_smoke=ok
+  linuxcnc_interpreter_runtime_smoke=ok
+  rtcp_store_smoke=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  The run uses vendored LinuxCNC five-axis remap C ABI for staged files, but
+  still does not promote full native task/HAL synchronization, trajectory
+  planner runtime, tool DB process, or external user-M process.
+Next:
+  planner_boundary_or_full_task_hal_gap_closure
+```
+
+## 20. M16 追溯记录
+
+```text
+Batch: M16-planner-task-hal-boundary-audit
+Date: 2026-06-21 CST
+Files changed:
+  app/package.json
+  app/src/runtime/full-execution-boundary.js
+  app/src/runtime/linuxcnc-interpreter-runtime.js
+  app/src/state/store.js
+  app/src/ui/gmoccapy-shell.js
+  tests/node/verify_full_execution_boundary.mjs
+  tests/node/verify_linuxcnc_interpreter_runtime.mjs
+  tests/node/verify_machine_file_staging.mjs
+  tests/node/verify_rtcp_store.mjs
+  tests/browser/gmoccapy_shell_smoke.html
+Feature:
+  Adds a full LinuxCNC execution boundary audit layer. The Web simulator now
+  summarizes kinematics WASM, interpreter canonical motion, machine-file
+  staging, five-axis remap C ABI run, and switchkins HAL evidence in one
+  explicit diagnostics contract. It also adds an Audit control that can trigger
+  staging plus machine-file backed remap execution from the gmoccapy shell.
+LinuxCNC references:
+  wasm-port/runtime/sdk/src/linuxcnc-interp.js
+  wasm-port/runtime/sdk/src/linuxcnc-hal.js
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
+Boundary:
+  fullExecutionBoundary=linuxcnc_machine_file_remap_ready_planner_task_hal_blocked
+  remapRuntimeReady=true for staged fiveAxisRemap C ABI run
+  halSwitchkinsEvidenceReady=true for fiveaxis_hal_switchkins evidence
+  nativeTaskReady=false
+  nativeHalSyncReady=false
+  plannerRuntimeReady=false
+  fullLinuxCncProgramExecutionReady=false
+  promotionAllowed=false
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run build
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  full_execution_boundary_smoke=ok
+  machine_file_staging_smoke=ok
+  linuxcnc_interpreter_runtime_smoke=ok
+  rtcp_store_smoke=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  Full native LinuxCNC task/NML process, realtime HAL thread synchronization,
+  trajectory planner queue runtime, external user-M process, and full tool DB
+  process are still not ported or promoted.
+Next:
+  optional_native_task_hal_planner_port_or_release_handoff
+```
+
+## 21. M17 追溯记录
+
+```text
+Batch: M17-linuxcnc-5axis-gcode-source-ingest
+Date: 2026-06-21 CST
+Files changed:
+  app/src/runtime/linuxcnc-machine-file-staging.js
+  app/src/runtime/linuxcnc-interpreter-runtime.js
+  app/src/state/store.js
+  app/src/ui/gmoccapy-shell.js
+  tests/node/verify_machine_file_staging.mjs
+  tests/browser/gmoccapy_shell_smoke.html
+Feature:
+  Adds real vendored LinuxCNC five-axis G-code source ingestion. TRT demo
+  programs from `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc`
+  are staged, listed in the gmoccapy G-code panel, loadable into the program
+  viewer, and used as the selected `wasmProgramPath` for machine-file backed
+  fiveAxisRemap execution.
+LinuxCNC references:
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc
+Boundary:
+  gcodeSourceBoundary=linuxcnc_vendored_5axis_gcode_source_file
+  sourceMode=linuxcnc-vendored-5axis-gcode
+  machineFileBackedRunProgram=selected_staged_linuxcnc_ngc_source
+  sourceDirectoryGuard=configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc only
+  remapRuntimeReady=true for staged fiveAxisRemap C ABI run
+  plannerRuntimeReady=false
+  nativeTaskReady=false
+  nativeHalSyncReady=false
+  fullLinuxCncProgramExecutionReady=false
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run build
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  machine_file_staging_smoke=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  The selected G-code source is real LinuxCNC vendored source and the machine-file
+  run uses that selected file path, but full native task/NML, realtime HAL sync,
+  and trajectory planner queue runtime are still not promoted.
+Next:
+  trajectory_planner_wasm_boundary_or_native_task_hal_port
+```
+
+## 16. M12 追溯记录
+
+```text
+Batch: M12-switchkins-rtcp-program-execution
+Date: 2026-06-21 CST
+Files changed:
+  app/src/runtime/linuxcnc-interpreter-runtime.js
+  app/src/runtime/linuxcnc-kinematics-runtime.js
+  app/src/runtime/linuxcnc-kinematics-worker.js
+  app/src/runtime/linuxcnc-kinematics-worker-client.js
+  app/src/state/store.js
+  app/src/ui/gmoccapy-shell.js
+  tests/node/verify_linuxcnc_interpreter_runtime.mjs
+  tests/node/verify_rtcp_store.mjs
+  tests/browser/gmoccapy_shell_smoke.html
+Feature:
+  LinuxCNC TRT `M428/M429/M430` switchkins remap M-code is preserved as
+  program-level runtime events. The interpreter runtime strips those high M-codes
+  only from the WASM input program so LinuxCNC interpreter canonical motion can
+  continue, then annotates canonical motion with active switchkins state.
+  RUN/STEP/RUN_FRAME now applies program switchkins state to RTCP state and calls
+  LinuxCNC kinematics WASM `lckins_switch()` through direct and Worker runtimes.
+LinuxCNC references:
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
+  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
+  src/emc/kinematics/switchkins.c
+  wasm-port/runtime/sdk/src/linuxcnc-kinematics.js
+Boundary:
+  switchkinsProgramBoundary=linuxcnc_remap_mcode_preserved_and_web_runtime_applied
+  interpreter sourceMode=linuxcnc-interpreter-wasm
+  interpreter semanticBoundary=linuxcnc_interpreter_wasm_canonical_events
+  kinematics semanticBoundary=linuxcnc_kinematics_wasm_c_abi
+  remapRuntimeReady=false
+  plannerRuntimeReady=false
+  fullLinuxCncProgramExecutionReady=false
+Tests:
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+  npm --prefix web-rtcp-5axis-sim-plan/app run build
+  npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+Result:
+  linuxcnc_kinematics_runtime_smoke=ok
+  linuxcnc_interpreter_runtime_smoke=ok
+  five_axis_session_smoke=ok
+  rtcp_store_smoke=ok
+  profile_boundary_smoke=ok
+  gmoccapy_static_build=ok
+  gmoccapy_shell_smoke=ok
+  gmoccapy_dist_smoke=ok
+Remaining risk:
+  This preserves and applies switchkins remap M-codes in Web runtime, but does not
+  execute LinuxCNC Python/NGC remap, native HAL/task synchronization, full planner,
+  tool DB, or external user-M process.
+Next:
+  interpreter_worker_or_opfs_machine_file_staging_or_remap_planner_boundary
+```