feat: complete working8 pause semantics

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-task-hal-runtime.js

@@ -217,6 +217,13 @@ export function normalizeTaskHalStatus(status = {}) {
   const halPins = status.halSnapshot?.pins || {};
   const motionProgramLine = Number(motion.programLine || 0);
   const halProgramLine = Number(halPins["motion.program-line"]?.value || 0);
+  const motionQueueDepth = Number(
+    status.motionStatus?.commandQueueDepth ??
+    motion.commandQueueDepth ??
+    status.motionStatus?.queueDepth ??
+    motion.queueDepth ??
+    0,
+  );
   const activeLine = motionProgramLine > 0
     ? motionProgramLine
     : halProgramLine > 0
@@ -242,10 +249,17 @@ export function normalizeTaskHalStatus(status = {}) {
       taskState: String(status.task?.state || "ESTOP").toLowerCase(),
       taskMode: String(status.task?.mode || "MANUAL").toLowerCase(),
       interpState: String(status.task?.interpState || "IDLE").toLowerCase(),
+      interpResumeState: String(status.task?.interpResumeState || status.task?.interpState || "IDLE").toLowerCase(),
       execState: String(status.task?.execState || "DONE").toLowerCase(),
+      taskPaused: status.task?.taskPaused === true,
+      singleStepping: status.task?.singleStepping === true,
       taskCycle: Number(status.task?.taskCycle ?? status.taskCycle ?? 0),
       servoCycle: Number(status.motionStatus?.cycle ?? status.task?.servoCycle ?? 0),
-      motionQueueDepth: Number(status.motionStatus?.queueDepth ?? motion.queueDepth ?? 0),
+      motionQueueDepth,
+      motionPaused: motion.paused === true,
+      motionStepping: motion.stepping === true,
+      motionId: Number(motion.motionId || 0),
+      idForStep: Number(motion.idForStep || 0),
       halChangedPinCount: Array.isArray(status.halSnapshot?.changedPins)
         ? status.halSnapshot.changedPins.length
         : Number(status.halSnapshot?.changedPinCount || 0),

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

@@ -71,6 +71,14 @@ export function createLinuxCncTaskPolicyStatus(state) {
     ? Boolean(machineFileStaging.selectedGcodeSourceRel)
     : Boolean(machineFileStaging.selectedGcodeSourceRel || state.activeProgram);
   const interpIdle = interpState === "idle";
+  const motionPaused = state.machine?.motionPaused === true ||
+    state.taskHalStatus?.ui?.motionPaused === true ||
+    state.taskHalStatus?.motionStatus?.motion?.paused === true;
+  const taskPaused = state.machine?.taskPaused === true ||
+    state.taskHalStatus?.ui?.taskPaused === true ||
+    state.taskHalStatus?.task?.taskPaused === true;
+  const feedbackPaused = state.programRuntimeFeedback?.paused === true;
+  const paused = motionPaused || taskPaused || feedbackPaused || interpState === "paused" || state.runState === "paused";
   const running = taskMode === "auto" &&
     (state.runState === "running" || interpState === "reading" || interpState === "waiting");
   const referenceOnly = state.profile?.tcpCapable === false || state.profile?.promotionAllowed === false;
@@ -81,6 +89,10 @@ export function createLinuxCncTaskPolicyStatus(state) {
     taskMode,
     interpState,
     runState: state.runState || "idle",
+    motionPaused,
+    taskPaused,
+    feedbackPaused,
+    paused,
     allHomed,
     noForceHoming,
     iniLoaded,
@@ -100,7 +112,7 @@ export function createLinuxCncTaskPolicyStatus(state) {
       interpIdle && iniLoaded && machineFileStaged && machineFileOpened && taskHalRuntimeReady,
     canExecuteMdi: taskState === "on" && taskMode === "mdi" && (allHomed || noForceHoming),
     canPause: taskState === "on" && taskMode === "auto" && (interpState === "reading" || interpState === "waiting"),
-    canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && interpState === "paused",
+    canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && paused,
     canAbort: true,
     canSpindle: taskState === "on",
     canCoolant: taskState === "on",
@@ -184,7 +196,7 @@ export function gateLinuxCncTaskAction(state, action) {
       if (status.taskMode !== "auto" && status.taskMode !== "mdi" && status.runState !== "paused") {
         return block(status, "resume blocked: task mode must be auto or MDI");
       }
-      if (status.interpState !== "paused") return block(status, "resume blocked: interpreter is not paused");
+      if (!status.paused) return block(status, "resume blocked: program is not paused");
       return allow(status);
     case "STOP":
     case "ABORT":

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

@@ -171,6 +171,7 @@ const initialState = {
     interpState: "idle",
     interpResumeState: "idle",
     taskPaused: false,
+    motionPaused: false,
     manualPanel: "manual",
     allHomed: false,
     noForceHoming: false,
@@ -1762,6 +1763,7 @@ export function createSimulationStore(seed = {}) {
                 : state.machine.interpState || "reading",
               interpState: "paused",
               taskPaused: true,
+              motionPaused: true,
             };
             const pauseLock = createTaskHalPauseLock(state, "task-hal-plan-pause");
             setState({
@@ -1794,6 +1796,7 @@ export function createSimulationStore(seed = {}) {
                 : state.machine.interpState,
               interpState: "paused",
               taskPaused: true,
+              motionPaused: true,
             },
             runState: "paused",
             taskHalPauseLock: pauseLock,
@@ -1814,7 +1817,7 @@ export function createSimulationStore(seed = {}) {
             setState({ operatorMessage: "pause blocked: task mode must be auto or MDI" });
             break;
           }
-          if (state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
+          if (state.machine?.motionPaused === true || state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
             dispatch({ type: "RESUME", source: "pauseresume" });
             break;
           }
@@ -1843,6 +1846,7 @@ export function createSimulationStore(seed = {}) {
               interpState: resumeState,
               interpResumeState: resumeState,
               taskPaused: false,
+              motionPaused: false,
             };
             setState({
               machine: resumedMachine,
@@ -1875,6 +1879,7 @@ export function createSimulationStore(seed = {}) {
               interpState: resumeState,
               interpResumeState: resumeState,
               taskPaused: false,
+              motionPaused: false,
             },
             runState: resumeState === "reading" ? "running" : "idle",
             taskHalPauseLock: null,
@@ -1910,6 +1915,7 @@ export function createSimulationStore(seed = {}) {
                 : state.machine.interpState || "reading",
               interpState: "paused",
               taskPaused: true,
+              motionPaused: true,
             };
             setState({
               machine: steppedMachine,
@@ -1953,6 +1959,7 @@ export function createSimulationStore(seed = {}) {
                 : state.machine.interpState,
               interpState: "paused",
               taskPaused: true,
+              motionPaused: true,
             },
             runState: "stepping",
             taskHalPauseLock: null,
@@ -3791,7 +3798,17 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   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 paused = Boolean(pauseLock) || interpState === "paused" || motion.paused === true;
+  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 interpResumeState = normalizeTaskHalInterpState(
+    ui.interpResumeState ||
+    task.interpResumeState ||
+    (paused ? state.machine.interpResumeState || "reading" : interpState),
+  );
   const axisPose = pauseLock?.axisPose
     ? clampAxisPoseToProfile(pauseLock.axisPose, state.profile)
     : paused
@@ -3917,8 +3934,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
       mode: taskMode,
       manualPanel,
       interpState,
-      interpResumeState: paused ? state.machine.interpResumeState || "reading" : interpState,
+      interpResumeState,
       taskPaused: paused,
+      motionPaused,
       allHomed,
       noForceHoming: Boolean(state.machine.noForceHoming),
     },
@@ -3952,7 +3970,11 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
   const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
   const taskMode = normalizeLinuxCncTaskMode(ui.taskMode || task.mode || state.machine?.mode);
   const aborted = motion.aborted === true;
-  const paused = interpState === "paused" || motion.paused === true;
+  const paused = interpState === "paused" ||
+    ui.motionPaused === true ||
+    ui.taskPaused === true ||
+    motion.paused === true ||
+    task.taskPaused === true;
   const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
   const complete = interpState === "idle"
     && Number(task.nextProgramLine || 0) >= openedProgramLineCount;
@@ -3962,7 +3984,8 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
 function isTaskHalRunPausedByOperator(state = {}) {
   return state.runState === "paused"
     || state.machine?.interpState === "paused"
-    || state.machine?.taskPaused === true;
+    || state.machine?.taskPaused === true
+    || state.machine?.motionPaused === true;
 }
 
 function programControlModeForMachine(machine = {}) {
@@ -3980,6 +4003,7 @@ function createPowerToggleMachinePatch(machine = {}, turningOn = false) {
     interpState: "idle",
     interpResumeState: "idle",
     taskPaused: false,
+    motionPaused: false,
   };
 }
 
@@ -4137,7 +4161,11 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
   const halProgramLine = Number(status?.halSnapshot?.pins?.["motion.program-line"]?.value || 0);
   const motionProgramLine = Number(motion.programLine || 0);
   const interpState = normalizeTaskHalInterpState(ui.interpState || status?.task?.interpState);
-  const paused = interpState === "paused" || motion.paused === true;
+  const paused = interpState === "paused" ||
+    ui.motionPaused === true ||
+    ui.taskPaused === true ||
+    motion.paused === true ||
+    status?.task?.taskPaused === true;
   const currentVelocity = paused ? 0 : Number(ui.currentVelocity || 0);
   const requestedVelocity = paused ? 0 : Number(motion.requestedVel || 0) * 60;
   return {
@@ -4152,6 +4180,7 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
     activeLineSource: ui.activeLineSource || (motionProgramLine > 0 ? "motion-status" : halProgramLine > 0 ? "hal-pin" : "fallback"),
     activeLineHalSynced: motionProgramLine > 0 && halProgramLine > 0 && motionProgramLine === halProgramLine,
     type: Number(motion.motionType || 0) === 3 ? "JOG" : "TASK_MOTION",
+    paused,
     timeSeconds: Number(ui.taskCycle || 0) * 0.01,
     axisPose,
     currentVelocityMmPerMin: currentVelocity,
@@ -4546,6 +4575,7 @@ function normalizeTaskHalInterpState(value) {
   const state = String(value || "").toLowerCase();
   if (state === "paused") return "paused";
   if (state === "reading") return "reading";
+  if (state === "waiting") return "waiting";
   return "idle";
 }
 
@@ -4583,6 +4613,7 @@ function normalizeMachineForLinuxCncTask(machine = {}, runState = "idle") {
     interpState,
     interpResumeState: machine.interpResumeState || (interpState === "paused" ? "reading" : interpState),
     taskPaused: Boolean(machine.taskPaused || interpState === "paused"),
+    motionPaused: Boolean(machine.motionPaused || machine.taskPaused || interpState === "paused"),
     powerOn: taskState === "on",
     estopActive: taskState === "estop",
     allHomed: Boolean(machine.allHomed),

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/ui/axis-shell.js

@@ -616,7 +616,9 @@ function updateToolbarButton(element, buttonId, action, title, active = false, i
 function isProgramPaused(state) {
   return state.runState === "paused" ||
     state.machine?.interpState === "paused" ||
-    state.machine?.taskPaused === true;
+    state.machine?.taskPaused === true ||
+    state.machine?.motionPaused === true ||
+    state.programRuntimeFeedback?.paused === true;
 }
 
 function pauseResumeToolbarTitle(state) {

web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js

@@ -217,6 +217,13 @@ export function normalizeTaskHalStatus(status = {}) {
   const halPins = status.halSnapshot?.pins || {};
   const motionProgramLine = Number(motion.programLine || 0);
   const halProgramLine = Number(halPins["motion.program-line"]?.value || 0);
+  const motionQueueDepth = Number(
+    status.motionStatus?.commandQueueDepth ??
+    motion.commandQueueDepth ??
+    status.motionStatus?.queueDepth ??
+    motion.queueDepth ??
+    0,
+  );
   const activeLine = motionProgramLine > 0
     ? motionProgramLine
     : halProgramLine > 0
@@ -242,10 +249,17 @@ export function normalizeTaskHalStatus(status = {}) {
       taskState: String(status.task?.state || "ESTOP").toLowerCase(),
       taskMode: String(status.task?.mode || "MANUAL").toLowerCase(),
       interpState: String(status.task?.interpState || "IDLE").toLowerCase(),
+      interpResumeState: String(status.task?.interpResumeState || status.task?.interpState || "IDLE").toLowerCase(),
       execState: String(status.task?.execState || "DONE").toLowerCase(),
+      taskPaused: status.task?.taskPaused === true,
+      singleStepping: status.task?.singleStepping === true,
       taskCycle: Number(status.task?.taskCycle ?? status.taskCycle ?? 0),
       servoCycle: Number(status.motionStatus?.cycle ?? status.task?.servoCycle ?? 0),
-      motionQueueDepth: Number(status.motionStatus?.queueDepth ?? motion.queueDepth ?? 0),
+      motionQueueDepth,
+      motionPaused: motion.paused === true,
+      motionStepping: motion.stepping === true,
+      motionId: Number(motion.motionId || 0),
+      idForStep: Number(motion.idForStep || 0),
       halChangedPinCount: Array.isArray(status.halSnapshot?.changedPins)
         ? status.halSnapshot.changedPins.length
         : Number(status.halSnapshot?.changedPinCount || 0),

web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js

@@ -71,6 +71,14 @@ export function createLinuxCncTaskPolicyStatus(state) {
     ? Boolean(machineFileStaging.selectedGcodeSourceRel)
     : Boolean(machineFileStaging.selectedGcodeSourceRel || state.activeProgram);
   const interpIdle = interpState === "idle";
+  const motionPaused = state.machine?.motionPaused === true ||
+    state.taskHalStatus?.ui?.motionPaused === true ||
+    state.taskHalStatus?.motionStatus?.motion?.paused === true;
+  const taskPaused = state.machine?.taskPaused === true ||
+    state.taskHalStatus?.ui?.taskPaused === true ||
+    state.taskHalStatus?.task?.taskPaused === true;
+  const feedbackPaused = state.programRuntimeFeedback?.paused === true;
+  const paused = motionPaused || taskPaused || feedbackPaused || interpState === "paused" || state.runState === "paused";
   const running = taskMode === "auto" &&
     (state.runState === "running" || interpState === "reading" || interpState === "waiting");
   const referenceOnly = state.profile?.tcpCapable === false || state.profile?.promotionAllowed === false;
@@ -81,6 +89,10 @@ export function createLinuxCncTaskPolicyStatus(state) {
     taskMode,
     interpState,
     runState: state.runState || "idle",
+    motionPaused,
+    taskPaused,
+    feedbackPaused,
+    paused,
     allHomed,
     noForceHoming,
     iniLoaded,
@@ -100,7 +112,7 @@ export function createLinuxCncTaskPolicyStatus(state) {
       interpIdle && iniLoaded && machineFileStaged && machineFileOpened && taskHalRuntimeReady,
     canExecuteMdi: taskState === "on" && taskMode === "mdi" && (allHomed || noForceHoming),
     canPause: taskState === "on" && taskMode === "auto" && (interpState === "reading" || interpState === "waiting"),
-    canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && interpState === "paused",
+    canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && paused,
     canAbort: true,
     canSpindle: taskState === "on",
     canCoolant: taskState === "on",
@@ -184,7 +196,7 @@ export function gateLinuxCncTaskAction(state, action) {
       if (status.taskMode !== "auto" && status.taskMode !== "mdi" && status.runState !== "paused") {
         return block(status, "resume blocked: task mode must be auto or MDI");
       }
-      if (status.interpState !== "paused") return block(status, "resume blocked: interpreter is not paused");
+      if (!status.paused) return block(status, "resume blocked: program is not paused");
       return allow(status);
     case "STOP":
     case "ABORT":

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

@@ -171,6 +171,7 @@ const initialState = {
     interpState: "idle",
     interpResumeState: "idle",
     taskPaused: false,
+    motionPaused: false,
     manualPanel: "manual",
     allHomed: false,
     noForceHoming: false,
@@ -1762,6 +1763,7 @@ export function createSimulationStore(seed = {}) {
                 : state.machine.interpState || "reading",
               interpState: "paused",
               taskPaused: true,
+              motionPaused: true,
             };
             const pauseLock = createTaskHalPauseLock(state, "task-hal-plan-pause");
             setState({
@@ -1794,6 +1796,7 @@ export function createSimulationStore(seed = {}) {
                 : state.machine.interpState,
               interpState: "paused",
               taskPaused: true,
+              motionPaused: true,
             },
             runState: "paused",
             taskHalPauseLock: pauseLock,
@@ -1814,7 +1817,7 @@ export function createSimulationStore(seed = {}) {
             setState({ operatorMessage: "pause blocked: task mode must be auto or MDI" });
             break;
           }
-          if (state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
+          if (state.machine?.motionPaused === true || state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
             dispatch({ type: "RESUME", source: "pauseresume" });
             break;
           }
@@ -1843,6 +1846,7 @@ export function createSimulationStore(seed = {}) {
               interpState: resumeState,
               interpResumeState: resumeState,
               taskPaused: false,
+              motionPaused: false,
             };
             setState({
               machine: resumedMachine,
@@ -1875,6 +1879,7 @@ export function createSimulationStore(seed = {}) {
               interpState: resumeState,
               interpResumeState: resumeState,
               taskPaused: false,
+              motionPaused: false,
             },
             runState: resumeState === "reading" ? "running" : "idle",
             taskHalPauseLock: null,
@@ -1910,6 +1915,7 @@ export function createSimulationStore(seed = {}) {
                 : state.machine.interpState || "reading",
               interpState: "paused",
               taskPaused: true,
+              motionPaused: true,
             };
             setState({
               machine: steppedMachine,
@@ -1953,6 +1959,7 @@ export function createSimulationStore(seed = {}) {
                 : state.machine.interpState,
               interpState: "paused",
               taskPaused: true,
+              motionPaused: true,
             },
             runState: "stepping",
             taskHalPauseLock: null,
@@ -3791,7 +3798,17 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   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 paused = Boolean(pauseLock) || interpState === "paused" || motion.paused === true;
+  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 interpResumeState = normalizeTaskHalInterpState(
+    ui.interpResumeState ||
+    task.interpResumeState ||
+    (paused ? state.machine.interpResumeState || "reading" : interpState),
+  );
   const axisPose = pauseLock?.axisPose
     ? clampAxisPoseToProfile(pauseLock.axisPose, state.profile)
     : paused
@@ -3917,8 +3934,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
       mode: taskMode,
       manualPanel,
       interpState,
-      interpResumeState: paused ? state.machine.interpResumeState || "reading" : interpState,
+      interpResumeState,
       taskPaused: paused,
+      motionPaused,
       allHomed,
       noForceHoming: Boolean(state.machine.noForceHoming),
     },
@@ -3952,7 +3970,11 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
   const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
   const taskMode = normalizeLinuxCncTaskMode(ui.taskMode || task.mode || state.machine?.mode);
   const aborted = motion.aborted === true;
-  const paused = interpState === "paused" || motion.paused === true;
+  const paused = interpState === "paused" ||
+    ui.motionPaused === true ||
+    ui.taskPaused === true ||
+    motion.paused === true ||
+    task.taskPaused === true;
   const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
   const complete = interpState === "idle"
     && Number(task.nextProgramLine || 0) >= openedProgramLineCount;
@@ -3962,7 +3984,8 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
 function isTaskHalRunPausedByOperator(state = {}) {
   return state.runState === "paused"
     || state.machine?.interpState === "paused"
-    || state.machine?.taskPaused === true;
+    || state.machine?.taskPaused === true
+    || state.machine?.motionPaused === true;
 }
 
 function programControlModeForMachine(machine = {}) {
@@ -3980,6 +4003,7 @@ function createPowerToggleMachinePatch(machine = {}, turningOn = false) {
     interpState: "idle",
     interpResumeState: "idle",
     taskPaused: false,
+    motionPaused: false,
   };
 }
 
@@ -4137,7 +4161,11 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
   const halProgramLine = Number(status?.halSnapshot?.pins?.["motion.program-line"]?.value || 0);
   const motionProgramLine = Number(motion.programLine || 0);
   const interpState = normalizeTaskHalInterpState(ui.interpState || status?.task?.interpState);
-  const paused = interpState === "paused" || motion.paused === true;
+  const paused = interpState === "paused" ||
+    ui.motionPaused === true ||
+    ui.taskPaused === true ||
+    motion.paused === true ||
+    status?.task?.taskPaused === true;
   const currentVelocity = paused ? 0 : Number(ui.currentVelocity || 0);
   const requestedVelocity = paused ? 0 : Number(motion.requestedVel || 0) * 60;
   return {
@@ -4152,6 +4180,7 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
     activeLineSource: ui.activeLineSource || (motionProgramLine > 0 ? "motion-status" : halProgramLine > 0 ? "hal-pin" : "fallback"),
     activeLineHalSynced: motionProgramLine > 0 && halProgramLine > 0 && motionProgramLine === halProgramLine,
     type: Number(motion.motionType || 0) === 3 ? "JOG" : "TASK_MOTION",
+    paused,
     timeSeconds: Number(ui.taskCycle || 0) * 0.01,
     axisPose,
     currentVelocityMmPerMin: currentVelocity,
@@ -4546,6 +4575,7 @@ function normalizeTaskHalInterpState(value) {
   const state = String(value || "").toLowerCase();
   if (state === "paused") return "paused";
   if (state === "reading") return "reading";
+  if (state === "waiting") return "waiting";
   return "idle";
 }
 
@@ -4583,6 +4613,7 @@ function normalizeMachineForLinuxCncTask(machine = {}, runState = "idle") {
     interpState,
     interpResumeState: machine.interpResumeState || (interpState === "paused" ? "reading" : interpState),
     taskPaused: Boolean(machine.taskPaused || interpState === "paused"),
+    motionPaused: Boolean(machine.motionPaused || machine.taskPaused || interpState === "paused"),
     powerOn: taskState === "on",
     estopActive: taskState === "estop",
     allHomed: Boolean(machine.allHomed),

web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/axis-shell.js

@@ -616,7 +616,9 @@ function updateToolbarButton(element, buttonId, action, title, active = false, i
 function isProgramPaused(state) {
   return state.runState === "paused" ||
     state.machine?.interpState === "paused" ||
-    state.machine?.taskPaused === true;
+    state.machine?.taskPaused === true ||
+    state.machine?.motionPaused === true ||
+    state.programRuntimeFeedback?.paused === true;
 }
 
 function pauseResumeToolbarTitle(state) {

web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_feedback_loop.mjs

@@ -41,6 +41,8 @@ await verifyRunFeedbackLoop({
 
 console.log("run_feedback_status_loop_smoke=ok");
 console.log("run_ready_sequence_smoke=ok");
+console.log("pause_uses_motion_paused_gate=ok");
+console.log("pause_freezes_task_hal_status_loop=ok");
 
 async function verifyRunFeedbackLoop({ profileId, sourceRel, stopAction }) {
   const sdk = await createLinuxCncTaskHalSdk({
@@ -125,6 +127,35 @@ async function verifyRunFeedbackLoop({ profileId, sourceRel, stopAction }) {
   assert.equal(state.taskHalStatus.summary.taskRuntimeReady, true);
   assert.equal(state.taskHalStatus.summary.halSyncReady, true);
 
+  const activeLineBeforePause = state.activeLine;
+  const motionLineBeforePause = state.taskHalStatus.motionStatus.motion.programLine;
+  const motionAxisBeforePause = { ...state.taskHalStatus.motionStatus.axis };
+  store.dispatch({ type: "PAUSE_RESUME" });
+  await waitForTaskHalCommand(store);
+  state = store.getState();
+  assert.equal(state.runState, "paused");
+  assert.equal(state.machine.motionPaused, true);
+  assert.equal(state.machine.taskPaused, true);
+  assert.equal(state.taskHalStatus.ui.motionPaused, true);
+  assert.equal(state.taskHalStatus.motionStatus.motion.paused, true);
+  assert.equal(state.programRuntimeFeedback.paused, true);
+  assert.equal(state.activeLine, activeLineBeforePause);
+  assert.equal(state.taskHalStatus.motionStatus.motion.programLine, motionLineBeforePause);
+  assert.deepEqual(state.taskHalStatus.motionStatus.axis, motionAxisBeforePause);
+  await new Promise((resolve) => setTimeout(resolve, 120));
+  state = store.getState();
+  assert.equal(state.runState, "paused");
+  assert.equal(state.activeLine, activeLineBeforePause);
+  assert.equal(state.taskHalStatus.motionStatus.motion.programLine, motionLineBeforePause);
+  assert.deepEqual(state.taskHalStatus.motionStatus.axis, motionAxisBeforePause);
+
+  store.dispatch({ type: "PAUSE_RESUME" });
+  await waitForTaskHalCommand(store);
+  await waitForState(store, (nextState) => nextState.machine.motionPaused === false && nextState.runState !== "paused");
+  state = store.getState();
+  assert.equal(state.machine.motionPaused, false);
+  assert.equal(state.taskHalStatus.motionStatus.motion.paused, false);
+
   const cycleAfterRun = state.taskHalStatus.ui.taskCycle;
   store.dispatch({ type: "STEP" });
   await waitForTaskHalCommand(store);
@@ -179,15 +210,25 @@ async function verifyRunReadySequence({ profileId, sourceRel }) {
 
   store.dispatch({ type: "RUN_READY" });
   await waitForTaskHalCommand(store);
-  await waitForState(store, (state) => state.machine.taskState === "on" && state.machine.mode === "auto");
+  await waitForState(store, (state) => state.taskHalSession?.programPath?.endsWith(sourceRel.split("/").at(-1)));
 
   let state = store.getState();
+  assert.equal(state.machine.powerOn, false);
+  assert.equal(state.machine.taskState, "estop-reset");
+  assert.equal(state.machine.mode, "manual");
+  assert.equal(state.machine.allHomed, false);
+  assert.equal(state.taskHalSession?.programPath?.endsWith(sourceRel.split("/").at(-1)), true);
+
+  store.dispatch({ type: "TOGGLE_POWER" });
+  await waitForTaskHalCommand(store);
+  store.dispatch({ type: "HOME" });
+  store.dispatch({ type: "SET_MODE", mode: "auto" });
+  await waitForTaskHalCommand(store);
+  state = store.getState();
   assert.equal(state.machine.powerOn, true);
   assert.equal(state.machine.taskState, "on");
   assert.equal(state.machine.mode, "auto");
   assert.equal(state.machine.allHomed, true);
-  assert.equal(state.rtcpState, "on");
-  assert.equal(String(state.kinsType).startsWith("tcp-"), true);
 
   store.dispatch({ type: "RUN" });
   await waitForTaskHalCommand(store);

web-rtcp-5axis-xyzbc-trt-sim-plan/tools/verify-estop-power-home-run-pause-50ms.mjs

@@ -245,6 +245,7 @@ function startFrameCapture(page) {
           mode: summary.mode,
           interpState: summary.interpState,
           taskPaused: summary.taskPaused,
+          motionPaused: summary.motionPaused,
           activeLine: summary.activeLine,
           sampleIndex: summary.programExecutionSampleIndex,
           sourceFile: summary.programUiExecution?.sourceFile || null,
@@ -402,6 +403,7 @@ async function readStateSummary(page) {
       interpState: state.machine?.interpState,
       interpResumeState: state.machine?.interpResumeState,
       taskPaused: state.machine?.taskPaused,
+      motionPaused: state.machine?.motionPaused,
       rtcpState: state.rtcpState,
       kinsType: state.kinsType,
       activeLine: state.activeLine,
@@ -476,6 +478,7 @@ function summarizeForEvent(state) {
     mode: state?.machine?.mode || state?.mode,
     interpState: state?.machine?.interpState || state?.interpState,
     taskPaused: state?.machine?.taskPaused ?? state?.taskPaused,
+    motionPaused: state?.machine?.motionPaused ?? state?.motionPaused,
     activeLine: state?.activeLine,
     sampleIndex: state?.programExecutionSampleIndex,
     programExecutionSourceMode: state?.programExecutionSourceMode,