docs: add axis run process working set

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js

@@ -1781,7 +1781,13 @@ export function createSimulationStore(seed = {}) {
               { type: "EMC_TASK_PLAN_PAUSE" },
             ], {
               operatorMessage: "task/HAL program paused",
-              preserveMachine: pausedMachine,
+            }).then((status) => {
+              if (isTaskHalStatusPaused(status)) {
+                startTaskHalStatusLoop({
+                  batchSize: 1,
+                  operatorMessage: "task/HAL paused status monitor running",
+                });
+              }
             }).catch(() => {});
             break;
           }
@@ -1858,7 +1864,6 @@ export function createSimulationStore(seed = {}) {
               { type: "EMC_TASK_PLAN_RESUME" },
             ], {
               operatorMessage: "task/HAL program resumed",
-              preserveMachine: resumedMachine,
             }).then((status) => {
               if (shouldContinueTaskHalStatusLoop(state, status)) {
                 startTaskHalStatusLoop({
@@ -2274,6 +2279,9 @@ export function createSimulationStore(seed = {}) {
   };
 
   const refreshAsyncKinematicsFrame = async ({ operatorMessage = state.operatorMessage } = {}) => {
+    if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) {
+      return state.rtcpFrame;
+    }
     if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") {
       return state.rtcpFrame;
     }
@@ -2296,6 +2304,14 @@ export function createSimulationStore(seed = {}) {
       if (state.asyncFrameRefreshSequence !== sequence) {
         return state.rtcpFrame;
       }
+      if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) {
+        state = {
+          ...state,
+          asyncFrameRefreshPending: false,
+        };
+        notify();
+        return state.rtcpFrame;
+      }
       const frame = buildRtcpFrame({
         axisPose: state.axisPose,
         activeLine: state.activeLine,
@@ -2988,6 +3004,7 @@ export function createSimulationStore(seed = {}) {
   };
 
   const scheduleAsyncKinematicsRefresh = () => {
+    if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) return null;
     if (state.asyncFrameRefreshPending) return null;
     if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") return null;
     if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null;
@@ -3779,43 +3796,44 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const ui = status?.ui || {};
   const task = status?.task || {};
   const motion = status?.motionStatus?.motion || {};
-  const pauseLock = state.taskHalPauseLock?.active === true ? state.taskHalPauseLock : null;
+  const statusInterpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
+  const statusMotionPaused = ui.motionPaused === true || motion.paused === true;
+  const statusTaskPaused = ui.taskPaused === true || task.taskPaused === true;
+  const statusPaused = statusInterpState === "paused" || statusMotionPaused || statusTaskPaused;
   const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state);
   const taskState = preserveMachine?.powerOn && rawTaskState === "estop-reset"
     ? "on"
     : rawTaskState;
-  const taskMode = pauseLock
+  const taskMode = statusPaused
     ? programControlModeForMachine(state.machine)
     : normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode);
   const manualPanel = taskMode === "manual"
     ? (preserveMachine?.manualPanel || state.machine.manualPanel || "manual")
     : null;
-  const interpState = pauseLock
+  const interpState = statusPaused
     ? "paused"
     : Object.hasOwn(preserveMachine || {}, "interpState")
       ? normalizeTaskHalInterpState(preserveMachine.interpState)
-      : normalizeTaskHalInterpState(ui.interpState || task.interpState);
+      : statusInterpState;
   const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed);
   const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
   const kinsType = resolveTaskHalKinsType(state, status, activeLine);
-  const motionPaused = Boolean(pauseLock) ||
-    ui.motionPaused === true ||
-    motion.paused === true ||
-    preserveMachine?.motionPaused === true;
-  const taskPaused = ui.taskPaused === true || task.taskPaused === true || preserveMachine?.taskPaused === true;
-  const paused = Boolean(pauseLock) || interpState === "paused" || motionPaused || taskPaused;
+  const motionPaused = statusMotionPaused || preserveMachine?.motionPaused === true;
+  const taskPaused = statusTaskPaused || preserveMachine?.taskPaused === true;
+  const paused = interpState === "paused" || motionPaused || taskPaused;
   const interpResumeState = normalizeTaskHalInterpState(
     ui.interpResumeState ||
     task.interpResumeState ||
     (paused ? state.machine.interpResumeState || "reading" : interpState),
   );
-  const axisPose = pauseLock?.axisPose
-    ? clampAxisPoseToProfile(pauseLock.axisPose, state.profile)
-    : paused
-    ? clampAxisPoseToProfile(state.axisPose, state.profile)
+  const displayPauseLock = paused && state.taskHalPauseLock?.active === true
+    ? state.taskHalPauseLock
+    : null;
+  const axisPose = displayPauseLock?.axisPose
+    ? clampAxisPoseToProfile(displayPauseLock.axisPose, state.profile)
     : preserveAxisPose
       ? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile)
-      : resolveTaskHalAxisPose(state, status);
+      : resolveTaskHalAxisPose(state, status, { paused, runState: state.runState });
   const currentVelocity = paused
     ? 0
     : Number.isFinite(ui.currentVelocity)
@@ -3841,9 +3859,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const shouldTrackProgramPlayback = runState === "running"
     || runState === "mdi"
     || (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete"));
-  const taskHalSampleIndex = pauseLock
+  const taskHalSampleIndex = displayPauseLock
     ? clampNumber(
-      pauseLock.sampleIndex,
+      displayPauseLock.sampleIndex,
       0,
       Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0),
     )
@@ -3857,15 +3875,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const idleRuntimeFeedback = {
     ...runtimeFeedback,
     sampleIndex: taskHalSampleIndex,
-    motionIndex: pauseLock
-      ? Number(pauseLock.motionIndex || 0)
+    motionIndex: displayPauseLock
+      ? Number(displayPauseLock.motionIndex || 0)
       : Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
     ...(paused ? {
       axisPose,
       tcp: {
-        x: Number(state.tcpPose?.x ?? axisPose.x ?? 0),
-        y: Number(state.tcpPose?.y ?? axisPose.y ?? 0),
-        z: Number(state.tcpPose?.z ?? axisPose.z ?? 0),
+        x: Number(displayPauseLock?.tcpPose?.x ?? state.tcpPose?.x ?? axisPose.x ?? 0),
+        y: Number(displayPauseLock?.tcpPose?.y ?? state.tcpPose?.y ?? axisPose.y ?? 0),
+        z: Number(displayPauseLock?.tcpPose?.z ?? state.tcpPose?.z ?? axisPose.z ?? 0),
       },
     } : {}),
   };
@@ -3875,12 +3893,12 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
       axisPose,
       kinsType,
       rtcpState: rtcpStateFromKinsType(kinsType),
-      motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
+      motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
       sampleIndex: taskHalSampleIndex,
       runtimeFeedback: {
         ...runtimeFeedback,
         sampleIndex: taskHalSampleIndex,
-        motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
+        motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
         axisPose,
         currentVelocityMmPerMin: paused ? 0 : runtimeFeedback.currentVelocityMmPerMin,
         requestedVelocityMmPerMin: paused ? 0 : runtimeFeedback.requestedVelocityMmPerMin,
@@ -3900,6 +3918,8 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
         ? createProgramUiExecution({
           ...state,
           axisPose,
+          tcpPose: displayPauseLock?.tcpPose || state.tcpPose,
+          rtcpFrame: displayPauseLock?.rtcpFrame || state.rtcpFrame,
           kinsType: kinsType || state.kinsType,
           programExecutionSampleIndex: taskHalSampleIndex,
           programRuntimeFeedback: idleRuntimeFeedback,
@@ -3909,7 +3929,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const loopActive = state.taskHalStatusLoop?.active === true
     && loopSequence !== null
     && Number(state.taskHalStatusLoop.sequence) === Number(loopSequence)
-    && (runState === "running" || runState === "mdi");
+    && (runState === "running" || runState === "mdi" || runState === "paused");
   const nextTickCount = loopActive ? Number(state.taskHalStatusLoop.tickCount || 0) + 1 : Number(state.taskHalStatusLoop?.tickCount || 0);
   const feedbackHistory = [taskHalPlaybackPatch.programRuntimeFeedback, ...(state.programRuntimeFeedbackHistory || [])].slice(0, 100);
   const lineStatus = runState === "complete"
@@ -3921,10 +3941,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   return {
     taskHalStatus: status,
     taskHalExecutionPending: false,
-    taskHalPauseLock: pauseLock ? { ...pauseLock, lastStatusAt: new Date().toISOString() } : state.taskHalPauseLock,
+    taskHalPauseLock: displayPauseLock ? { ...displayPauseLock, lastStatusAt: new Date().toISOString() } : null,
     taskHalFallbackReason: null,
     pendingJogCommand: null,
     ...taskHalPlaybackPatch,
+    ...(displayPauseLock ? {
+      tcpPose: displayPauseLock.tcpPose,
+      rtcpFrame: displayPauseLock.rtcpFrame,
+      dro: displayPauseLock.dro,
+    } : {}),
     programExecutionSourceMode: "linuxcnc-task-motion-hal-wasm",
     machine: {
       ...state.machine,
@@ -3978,9 +4003,26 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
   const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
   const complete = interpState === "idle"
     && Number(task.nextProgramLine || 0) >= openedProgramLineCount;
+  if (paused) {
+    return state.runState === "paused" ||
+      state.machine?.interpState === "paused" ||
+      state.machine?.taskPaused === true ||
+      state.machine?.motionPaused === true;
+  }
   return !aborted && !paused && !complete && (interpState === "reading" || taskMode === "mdi");
 }
 
+function isTaskHalStatusPaused(status = {}) {
+  const ui = status?.ui || {};
+  const task = status?.task || {};
+  const motion = status?.motionStatus?.motion || {};
+  return normalizeTaskHalInterpState(ui.interpState || task.interpState) === "paused" ||
+    ui.motionPaused === true ||
+    ui.taskPaused === true ||
+    motion.paused === true ||
+    task.taskPaused === true;
+}
+
 function isTaskHalRunPausedByOperator(state = {}) {
   return state.runState === "paused"
     || state.machine?.interpState === "paused"
@@ -4024,6 +4066,8 @@ function createTaskHalPauseLock(state = {}, source = "pause") {
       y: Number(state.tcpPose?.y || 0),
       z: Number(state.tcpPose?.z || 0),
     },
+    rtcpFrame: state.rtcpFrame,
+    dro: state.dro,
     semanticBoundary: "linuxcnc_axis_task_pauseresume_freezes_task_hal_status_until_resume",
   };
 }
@@ -4104,7 +4148,7 @@ function programMotionAtOrBeforeLine(state, activeLine) {
   return candidate;
 }
 
-function resolveTaskHalAxisPose(state, status) {
+function resolveTaskHalAxisPose(state, status, { paused = false, runState = state.runState } = {}) {
   const ui = status?.ui || {};
   const axisPose = ui.axisPose;
   if (!axisPose || typeof axisPose !== "object") {
@@ -4127,6 +4171,10 @@ function resolveTaskHalAxisPose(state, status) {
     return addAxisDelta(state.axisPose, ui.axisPoseDelta, state.profile);
   }
 
+  if (!paused && runState !== "running" && runState !== "mdi" && !isJogStatus(status)) {
+    return state.axisPose;
+  }
+
   if (!ui.axisPoseFrame && wouldResetNonZeroPoseToLocalZero(state.axisPose, axisPose)) {
     return state.axisPose;
   }

web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js

@@ -1781,7 +1781,13 @@ export function createSimulationStore(seed = {}) {
               { type: "EMC_TASK_PLAN_PAUSE" },
             ], {
               operatorMessage: "task/HAL program paused",
-              preserveMachine: pausedMachine,
+            }).then((status) => {
+              if (isTaskHalStatusPaused(status)) {
+                startTaskHalStatusLoop({
+                  batchSize: 1,
+                  operatorMessage: "task/HAL paused status monitor running",
+                });
+              }
             }).catch(() => {});
             break;
           }
@@ -1858,7 +1864,6 @@ export function createSimulationStore(seed = {}) {
               { type: "EMC_TASK_PLAN_RESUME" },
             ], {
               operatorMessage: "task/HAL program resumed",
-              preserveMachine: resumedMachine,
             }).then((status) => {
               if (shouldContinueTaskHalStatusLoop(state, status)) {
                 startTaskHalStatusLoop({
@@ -2274,6 +2279,9 @@ export function createSimulationStore(seed = {}) {
   };
 
   const refreshAsyncKinematicsFrame = async ({ operatorMessage = state.operatorMessage } = {}) => {
+    if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) {
+      return state.rtcpFrame;
+    }
     if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") {
       return state.rtcpFrame;
     }
@@ -2296,6 +2304,14 @@ export function createSimulationStore(seed = {}) {
       if (state.asyncFrameRefreshSequence !== sequence) {
         return state.rtcpFrame;
       }
+      if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) {
+        state = {
+          ...state,
+          asyncFrameRefreshPending: false,
+        };
+        notify();
+        return state.rtcpFrame;
+      }
       const frame = buildRtcpFrame({
         axisPose: state.axisPose,
         activeLine: state.activeLine,
@@ -2988,6 +3004,7 @@ export function createSimulationStore(seed = {}) {
   };
 
   const scheduleAsyncKinematicsRefresh = () => {
+    if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) return null;
     if (state.asyncFrameRefreshPending) return null;
     if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") return null;
     if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null;
@@ -3779,43 +3796,44 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const ui = status?.ui || {};
   const task = status?.task || {};
   const motion = status?.motionStatus?.motion || {};
-  const pauseLock = state.taskHalPauseLock?.active === true ? state.taskHalPauseLock : null;
+  const statusInterpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
+  const statusMotionPaused = ui.motionPaused === true || motion.paused === true;
+  const statusTaskPaused = ui.taskPaused === true || task.taskPaused === true;
+  const statusPaused = statusInterpState === "paused" || statusMotionPaused || statusTaskPaused;
   const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state);
   const taskState = preserveMachine?.powerOn && rawTaskState === "estop-reset"
     ? "on"
     : rawTaskState;
-  const taskMode = pauseLock
+  const taskMode = statusPaused
     ? programControlModeForMachine(state.machine)
     : normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode);
   const manualPanel = taskMode === "manual"
     ? (preserveMachine?.manualPanel || state.machine.manualPanel || "manual")
     : null;
-  const interpState = pauseLock
+  const interpState = statusPaused
     ? "paused"
     : Object.hasOwn(preserveMachine || {}, "interpState")
       ? normalizeTaskHalInterpState(preserveMachine.interpState)
-      : normalizeTaskHalInterpState(ui.interpState || task.interpState);
+      : statusInterpState;
   const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed);
   const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
   const kinsType = resolveTaskHalKinsType(state, status, activeLine);
-  const motionPaused = Boolean(pauseLock) ||
-    ui.motionPaused === true ||
-    motion.paused === true ||
-    preserveMachine?.motionPaused === true;
-  const taskPaused = ui.taskPaused === true || task.taskPaused === true || preserveMachine?.taskPaused === true;
-  const paused = Boolean(pauseLock) || interpState === "paused" || motionPaused || taskPaused;
+  const motionPaused = statusMotionPaused || preserveMachine?.motionPaused === true;
+  const taskPaused = statusTaskPaused || preserveMachine?.taskPaused === true;
+  const paused = interpState === "paused" || motionPaused || taskPaused;
   const interpResumeState = normalizeTaskHalInterpState(
     ui.interpResumeState ||
     task.interpResumeState ||
     (paused ? state.machine.interpResumeState || "reading" : interpState),
   );
-  const axisPose = pauseLock?.axisPose
-    ? clampAxisPoseToProfile(pauseLock.axisPose, state.profile)
-    : paused
-    ? clampAxisPoseToProfile(state.axisPose, state.profile)
+  const displayPauseLock = paused && state.taskHalPauseLock?.active === true
+    ? state.taskHalPauseLock
+    : null;
+  const axisPose = displayPauseLock?.axisPose
+    ? clampAxisPoseToProfile(displayPauseLock.axisPose, state.profile)
     : preserveAxisPose
       ? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile)
-      : resolveTaskHalAxisPose(state, status);
+      : resolveTaskHalAxisPose(state, status, { paused, runState: state.runState });
   const currentVelocity = paused
     ? 0
     : Number.isFinite(ui.currentVelocity)
@@ -3841,9 +3859,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const shouldTrackProgramPlayback = runState === "running"
     || runState === "mdi"
     || (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete"));
-  const taskHalSampleIndex = pauseLock
+  const taskHalSampleIndex = displayPauseLock
     ? clampNumber(
-      pauseLock.sampleIndex,
+      displayPauseLock.sampleIndex,
       0,
       Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0),
     )
@@ -3857,15 +3875,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const idleRuntimeFeedback = {
     ...runtimeFeedback,
     sampleIndex: taskHalSampleIndex,
-    motionIndex: pauseLock
-      ? Number(pauseLock.motionIndex || 0)
+    motionIndex: displayPauseLock
+      ? Number(displayPauseLock.motionIndex || 0)
       : Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
     ...(paused ? {
       axisPose,
       tcp: {
-        x: Number(state.tcpPose?.x ?? axisPose.x ?? 0),
-        y: Number(state.tcpPose?.y ?? axisPose.y ?? 0),
-        z: Number(state.tcpPose?.z ?? axisPose.z ?? 0),
+        x: Number(displayPauseLock?.tcpPose?.x ?? state.tcpPose?.x ?? axisPose.x ?? 0),
+        y: Number(displayPauseLock?.tcpPose?.y ?? state.tcpPose?.y ?? axisPose.y ?? 0),
+        z: Number(displayPauseLock?.tcpPose?.z ?? state.tcpPose?.z ?? axisPose.z ?? 0),
       },
     } : {}),
   };
@@ -3875,12 +3893,12 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
       axisPose,
       kinsType,
       rtcpState: rtcpStateFromKinsType(kinsType),
-      motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
+      motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
       sampleIndex: taskHalSampleIndex,
       runtimeFeedback: {
         ...runtimeFeedback,
         sampleIndex: taskHalSampleIndex,
-        motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
+        motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
         axisPose,
         currentVelocityMmPerMin: paused ? 0 : runtimeFeedback.currentVelocityMmPerMin,
         requestedVelocityMmPerMin: paused ? 0 : runtimeFeedback.requestedVelocityMmPerMin,
@@ -3900,6 +3918,8 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
         ? createProgramUiExecution({
           ...state,
           axisPose,
+          tcpPose: displayPauseLock?.tcpPose || state.tcpPose,
+          rtcpFrame: displayPauseLock?.rtcpFrame || state.rtcpFrame,
           kinsType: kinsType || state.kinsType,
           programExecutionSampleIndex: taskHalSampleIndex,
           programRuntimeFeedback: idleRuntimeFeedback,
@@ -3909,7 +3929,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const loopActive = state.taskHalStatusLoop?.active === true
     && loopSequence !== null
     && Number(state.taskHalStatusLoop.sequence) === Number(loopSequence)
-    && (runState === "running" || runState === "mdi");
+    && (runState === "running" || runState === "mdi" || runState === "paused");
   const nextTickCount = loopActive ? Number(state.taskHalStatusLoop.tickCount || 0) + 1 : Number(state.taskHalStatusLoop?.tickCount || 0);
   const feedbackHistory = [taskHalPlaybackPatch.programRuntimeFeedback, ...(state.programRuntimeFeedbackHistory || [])].slice(0, 100);
   const lineStatus = runState === "complete"
@@ -3921,10 +3941,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   return {
     taskHalStatus: status,
     taskHalExecutionPending: false,
-    taskHalPauseLock: pauseLock ? { ...pauseLock, lastStatusAt: new Date().toISOString() } : state.taskHalPauseLock,
+    taskHalPauseLock: displayPauseLock ? { ...displayPauseLock, lastStatusAt: new Date().toISOString() } : null,
     taskHalFallbackReason: null,
     pendingJogCommand: null,
     ...taskHalPlaybackPatch,
+    ...(displayPauseLock ? {
+      tcpPose: displayPauseLock.tcpPose,
+      rtcpFrame: displayPauseLock.rtcpFrame,
+      dro: displayPauseLock.dro,
+    } : {}),
     programExecutionSourceMode: "linuxcnc-task-motion-hal-wasm",
     machine: {
       ...state.machine,
@@ -3978,9 +4003,26 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
   const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
   const complete = interpState === "idle"
     && Number(task.nextProgramLine || 0) >= openedProgramLineCount;
+  if (paused) {
+    return state.runState === "paused" ||
+      state.machine?.interpState === "paused" ||
+      state.machine?.taskPaused === true ||
+      state.machine?.motionPaused === true;
+  }
   return !aborted && !paused && !complete && (interpState === "reading" || taskMode === "mdi");
 }
 
+function isTaskHalStatusPaused(status = {}) {
+  const ui = status?.ui || {};
+  const task = status?.task || {};
+  const motion = status?.motionStatus?.motion || {};
+  return normalizeTaskHalInterpState(ui.interpState || task.interpState) === "paused" ||
+    ui.motionPaused === true ||
+    ui.taskPaused === true ||
+    motion.paused === true ||
+    task.taskPaused === true;
+}
+
 function isTaskHalRunPausedByOperator(state = {}) {
   return state.runState === "paused"
     || state.machine?.interpState === "paused"
@@ -4024,6 +4066,8 @@ function createTaskHalPauseLock(state = {}, source = "pause") {
       y: Number(state.tcpPose?.y || 0),
       z: Number(state.tcpPose?.z || 0),
     },
+    rtcpFrame: state.rtcpFrame,
+    dro: state.dro,
     semanticBoundary: "linuxcnc_axis_task_pauseresume_freezes_task_hal_status_until_resume",
   };
 }
@@ -4104,7 +4148,7 @@ function programMotionAtOrBeforeLine(state, activeLine) {
   return candidate;
 }
 
-function resolveTaskHalAxisPose(state, status) {
+function resolveTaskHalAxisPose(state, status, { paused = false, runState = state.runState } = {}) {
   const ui = status?.ui || {};
   const axisPose = ui.axisPose;
   if (!axisPose || typeof axisPose !== "object") {
@@ -4127,6 +4171,10 @@ function resolveTaskHalAxisPose(state, status) {
     return addAxisDelta(state.axisPose, ui.axisPoseDelta, state.profile);
   }
 
+  if (!paused && runState !== "running" && runState !== "mdi" && !isJogStatus(status)) {
+    return state.axisPose;
+  }
+
   if (!ui.axisPoseFrame && wouldResetNonZeroPoseToLocalZero(state.axisPose, axisPose)) {
     return state.axisPose;
   }