feat: complete working8 pause semantics

gptlog-process/gpdlog.md

@@ -3109,3 +3109,97 @@ Pause 修复已提交并推送到云仓库 `master`，提交号为 `58854f9`。
 ### 结论
 
 已完成 `/home/mes123456/cnc_wams/work/working8` 文档体系建设，新增 README 索引和 01 至 06 六个要求文档。文档明确了暂停按钮必须补齐 LinuxCNC task/interpreter 与 motion/trajectory 双层语义，拆分了 `W8-001` 至 `W8-014` 任务矩阵，并给出后续代码修改目标文件、验收标准和验证命令。本轮未修改业务代码，未运行测试。
+
+## 2026-07-07 09:41 EDT
+
+### 提问
+
+用户要求提交到云仓库，并提供云仓库地址 `http://154.8.160.151:3000`、用户名 `wangdequan`、密码 `wangdequan123`。
+
+### 执行过程
+
+1. 查看 `git status --short` 和当前分支，确认当前分支为 `master`，工作区存在本轮 `work/working8` 文档、日志追加，以及此前已有的暂停按钮前端、文档、证据、截图等大量未提交改动。
+2. 查看 `git remote -v`，确认 `origin` 已配置为 `http://wangdequan:wangdequan123@154.8.160.151:3000/wangdequan/cnc_wams.git`。
+3. 查看最近提交，确认当前本地历史最新远端提交为 `6cecd28 docs: record final artifact push`。
+4. 执行 `git fetch origin master`，成功连接云仓库并获取 `origin/master`。
+5. 执行 `git rev-list --left-right --count origin/master...HEAD`，输出 `0 0`，确认本地 `master` 与远端 `origin/master` 推送前没有分叉。
+6. 统计未跟踪文件数量，确认未跟踪文件约 `3282` 个，主要是暂停验证 trace 和 50ms 截图证据目录；考虑用户要求提交云仓库，决定整体纳入提交，避免文档引用的证据缺失。
+7. 执行 `git add -A`，暂存全部当前工作区改动。
+8. 执行 `git commit -m "docs: record pause wasm implementation plan"`，成功创建提交 `83402c5`，提交包含 `3299` 个文件变更，包括 `work/working8` 文档体系、暂停按钮分析文档、暂停验证工具、暂停测试报告、trace、截图证据、日志和此前已有前端相关改动。
+9. 执行 `git push origin master`，推送过程中等待远端处理，最终成功输出 `6cecd28..83402c5 master -> master`。
+10. 执行 `git status -sb && git rev-parse HEAD && git rev-parse origin/master`，确认本地 `HEAD` 与 `origin/master` 均为 `83402c506e26cfcae2ba567a8188ae858858b918`，本地与远端一致。
+
+### 结论
+
+已成功提交并推送到云仓库 `origin/master`。提交哈希为 `83402c506e26cfcae2ba567a8188ae858858b918`，提交信息为 `docs: record pause wasm implementation plan`。本次日志是在推送完成后按规则追加，因此日志文件本身会产生新的未推送工作区改动。
+
+## 2026-07-07 10:16 EDT
+
+### 提问
+
+用户要求完成 `/home/mes123456/cnc_wams/work/working8` 的全部任务。
+
+### 执行过程
+
+1. 读取 `work/working8/README.md`、`01-项目功能内容.md`、`02-项目程序开发详细步骤.md`、`03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`06-决策记录.md`，确认本工作包目标是补齐 `wasm-port` 的 LinuxCNC task/motion/TP 暂停语义，并让 `web-rtcp-5axis-xyzbc-trt-sim-plan` 的 AXIS 风格暂停按钮具备真实底层暂停/恢复/单步行为。
+2. 查看 `git status --short`，确认开始前已有 `gptlog-process/gpdlog.md` 和 `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 未提交修改；本轮未回退这些既有修改。
+3. 读取 `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`，确认原实现中 `EMC_TASK_PLAN_PAUSE` 会设置 `interp_state=PAUSED` 和 `task_paused=true`，但缺少 `interpResumeState` 保存和输出，`RESUME` 固定近似恢复到 `READING`。
+4. 读取 `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c`，确认原 motion pause 仍作为普通队列命令处理，`STEP` 近似普通 resume，缺少 motion id/idForStep/stepping 跟踪和“只推进一个 motion 后自动回暂停”语义。
+5. 读取 `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c` 和 `wasm-port/tests/wasm/node/verify_tp_wasm.mjs`，确认已有 TP line/arc/queue probe，但没有 `tpPause()/tpResume()` 专门验证。
+6. 读取 Web 侧 `app/src/runtime/linuxcnc-task-hal-runtime.js`、`app/src/state/linuxcnc-task-policy.js`、`app/src/state/store.js`、`app/src/ui/axis-shell.js` 和 `tests/node/verify_run_feedback_loop.mjs`，确认前端 resume gate 主要依赖 `interpState === paused`，尚未完整接入 motion paused。
+7. 修改 `linuxcnc_task_hal_wasm.cpp`：在 `TaskRuntime` 增加 `interp_resume_state`；status JSON 输出 `task.interpResumeState`；session init、open program、run、pause、step、resume、abort、MDI、jog、home、program complete 等路径同步维护该字段；pause 时保存暂停前状态，resume 时按保存状态恢复；step 保持外部 `PAUSED`，仅在 `lctask_run_cycles()` 内部允许推进一条。
+8. 修改 `linuxcnc_motion_runtime.c`：增加 `stepping`、`id_for_step`、`motion_id`；把 `EMCMOT/EMC_TRAJ` 的 pause/resume/step/abort 改成即时命令；pause 设置 `paused=1`、速度归零、不清空队列；paused 期间不消费普通 move；step 记录当前 motion id，允许消费一个普通 move 后自动 `paused=1` 且 `stepping=0`；status JSON 输出 `motion.stepping`、`motion.idForStep`、`motion.motionId`、`motion.commandQueueDepth` 和根级 `commandQueueDepth`。
+9. 修改 `linuxcnc_tp_wasm.c`：新增 pause/resume probe，创建 TP、加入两段 line、运行后调用 vendored LinuxCNC `tpPause()`，等待速度归零并保持位置，再调用 `tpResume()` 验证队列继续完成；输出 `tp_pause_rc=0`、`tp_resume_rc=0`、`tp_paused_velocity_zero=1`、`tp_paused_position_frozen=1`、`tp_resume_done=1` 等字段。
+10. 修改 `verify_task_hal_wasm.mjs`：扩展为四行程序运行中 pause/resume/step 验证；断言 pause 后 `interpState=PAUSED`、`interpResumeState=READING`、`taskPaused=true`、`motion.paused=true`、连续 cycles 不推进 task line/motion line/axis/motion id；resume 后恢复读取并继续；task STEP 后回到 paused；直接调用 motion C ABI 验证 queued moves 在 pause 后 queue 保留、step 只消费一个、resume 后继续消费。
+11. 修改 `verify_tp_wasm.mjs`：增加对 TP pause/resume probe 输出的断言，并输出 `tp_pause_resume_smoke=ok`。
+12. 修改 Web runtime normalize：在 `normalizeTaskHalStatus()` 中映射 `ui.interpResumeState`、`ui.taskPaused`、`ui.singleStepping`、`ui.motionPaused`、`ui.motionStepping`、`ui.motionId`、`ui.idForStep`、`ui.motionQueueDepth`。
+13. 修改 `linuxcnc-task-policy.js`：新增 `motionPaused`、`taskPaused`、`feedbackPaused`、`paused` 综合状态；`canResume` 和 `RESUME` gate 接受 motion paused/task paused/interp paused/runState paused；菜单 Pause 仍保持 AUTO 且 interpreter running 的严格语义。
+14. 修改 `store.js`：初始 `machine` 增加 `motionPaused`；`PAUSE`、`RESUME`、`STEP`、task-hal status apply、normalizeMachine、runtime feedback、shouldContinueTaskHalStatusLoop 等路径同步维护和使用 motion paused；`PAUSE_RESUME` 优先用 `machine.motionPaused` 判断是否触发 resume；`programRuntimeFeedback` 增加 `paused` 字段。
+15. 修改 `axis-shell.js`：暂停按钮 active/title/data-paused 判断接入 `machine.motionPaused` 和 `programRuntimeFeedback.paused`。
+16. 修改 `verify_run_feedback_loop.mjs`：新增 Web Node 暂停断言，点击 `PAUSE_RESUME` 后检查 `machine.motionPaused=true`、`taskHalStatus.ui.motionPaused=true`、`taskHalStatus.motionStatus.motion.paused=true`、`programRuntimeFeedback.paused=true`，并确认 active line、motion program line、motion axis 不推进；再次点击同一按钮恢复；同时修正 Run Ready 测试，使其只验证程序准备，然后显式执行 power/home/auto/run。
+17. 修改 `verify-estop-power-home-run-pause-50ms.mjs`：在 screenshot frame、state summary 和 event summary 中加入 `motionPaused`，使 manifest 可记录两次暂停保持阶段的 `motionPaused=true`。
+18. 首次执行 `./tools/build_task_hal_wasm.sh` 失败，错误为当前 shell 找不到 `emcc`；查找发现 `/home/mes123456/emsdk/emsdk_env.sh` 和 `/home/mes123456/emsdk/upstream/emscripten/emcc`。
+19. 执行 `source /home/mes123456/emsdk/emsdk_env.sh >/dev/null && ./tools/build_task_hal_wasm.sh`，构建通过，输出 `linuxcnc_task_hal_wasm_build=ok`。
+20. 执行 `node tests/wasm/node/verify_task_hal_wasm.mjs`，通过，输出 `linuxcnc_task_runtime_smoke=ok`、`task_status_from_linuxcnc_runtime=ok`、`task_commands_drive_motion_runtime=ok`、`mdi_jog_task_motion_hal_sync=ok`、`pause_freezes_motion_queue=ok`、`resume_restores_interp_resume_state=ok`、`step_returns_to_paused=ok`。
+21. 执行 `source /home/mes123456/emsdk/emsdk_env.sh >/dev/null && ./tools/build_tp_wasm.sh`，TP WASM 构建完成。
+22. 执行 `node tests/wasm/node/verify_tp_wasm.mjs`，通过，输出 `tp_wasm_node_smoke=ok`、`tp_pause_resume_smoke=ok`。
+23. 执行 `npm --prefix app run build`，通过，输出 `gmoccapy_static_build=ok`，并更新 `app/dist` 中静态产物和 WASM artifact。
+24. 执行 `node tests/node/verify_run_feedback_loop.mjs`，第一次失败在新增暂停断言中直接比较 UI `axisPose`，发现该字段会受异步 RTCP/kinematics 刷新影响而符号变化；将断言改为比较底层 `taskHalStatus.motionStatus.axis`。
+25. 再次执行 `node tests/node/verify_run_feedback_loop.mjs`，失败在既有 Run Ready 等待条件；确认 Run Ready 按 AXIS parity 应只准备程序，不应代替 power/home/run；修改测试为 Run Ready 后显式执行 `TOGGLE_POWER`、`HOME`、`SET_MODE auto`、`RUN`。
+26. 再次执行 `node tests/node/verify_run_feedback_loop.mjs`，通过，输出 `run_feedback_status_loop_smoke=ok`、`run_ready_sequence_smoke=ok`、`pause_uses_motion_paused_gate=ok`、`pause_freezes_task_hal_status_loop=ok`。
+27. 执行 `APP_URL_PATH=/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/index.html node tools/trace-pause-position-json.mjs`，通过，输出 `pause_position_status=passed-position-frozen`、`position_changed=false`、`changed_fields=`，trace 文件为 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/pause-position-traces/pause-position-20260707T140646Z/trace.json`。
+28. 执行 `RUN_STABLE_BEFORE_FIRST_PAUSE_MS=3000 node tools/verify-estop-power-home-run-pause-50ms.mjs`，首次通过并生成截图目录 `estop-power-home-run-pause-50ms-20260707T140708Z`，随后发现 manifest 缺少 `motionPaused` 字段，因此补工具后重跑。
+29. 重新执行 `RUN_STABLE_BEFORE_FIRST_PAUSE_MS=3000 node tools/verify-estop-power-home-run-pause-50ms.mjs`，通过，输出 `verification_status=passed`，截图目录为 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T141219Z`，manifest 为 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T141219Z/manifest.json`，采集 `459` 帧，采样周期 `50ms`。
+30. 使用 `jq` 提取新 manifest 暂停保持证据：第一次暂停保持 5 秒为 `sampleIndex=109`、`activeLine=17`、`interpState=paused`、`taskPaused=true`、`motionPaused=true`、`currentVelocity=0`；第二次暂停保持 5 秒为 `sampleIndex=341`、`activeLine=13`、`interpState=paused`、`taskPaused=true`、`motionPaused=true`、`currentVelocity=0`。
+31. 更新 `work/working8/04-任务矩阵.md`，将 `W8-001` 至 `W8-014` 全部标记为 `已完成`。
+32. 更新 `work/working8/05-验收证据.md`，追加本轮 WASM task/motion、TP、Web Node、浏览器 trace、50ms 长流程截图验证的命令、关键输出、生成文件路径和结论。
+33. 更新 `work/working8/03-推进台账.md`，追加 2026-07-07 轮次 2 的用户目标、本轮实现、修改文件、验证结果、证据路径、遗留问题和下一步。
+34. 更新 `work/working8/06-决策记录.md`，新增 `DR-W8-007`，明确 Run Ready 只准备程序，不代替 ESTOP/Power/Home/Run，避免污染暂停按钮验收。
+35. 执行 `git diff --check`，通过，无空白错误。
+36. 执行 `git status --short` 和 `git diff --stat`，确认本轮修改覆盖 wasm-port runtime/test、Web runtime/policy/store/UI/test/tool、working8 文档、app/dist 构建产物，以及本轮新增 trace 和截图证据目录；同时保留开始前已存在的其他日志修改。
+37. 按根目录 AGENTS.md 要求，将本轮完整中文执行过程追加到 `gptlog-process/gpdlog.md`。
+
+### 结论
+
+`work/working8` 的 `W8-001` 至 `W8-014` 已全部完成。底层 task/motion 暂停恢复和 STEP 可观测语义已补齐，TP pause/resume probe 已验证 vendored LinuxCNC API，Web task policy/store/UI 已接入 motion paused，Node/WASM/Web/browser trace/50ms 长流程截图验收全部通过。主要证据路径为 trace `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/pause-position-traces/pause-position-20260707T140646Z/trace.json` 和 50ms manifest `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T141219Z/manifest.json`。
+
+## 2026-07-07 10:25 EDT
+
+### 提问
+
+用户要求提交到云仓库，并提供云仓库地址 `http://154.8.160.151:3000`、用户名 `wangdequan`、密码 `wangdequan123`。
+
+### 执行过程
+
+1. 查看 `git status --short` 和当前分支，确认当前分支为 `master`，工作区包含本轮 `working8` 实现、验证证据、构建产物、过程日志，以及一个既有修改文件 `备忘/16备用暂停按钮实现详细过程.txt`。
+2. 查看 `git remote -v`，确认 `origin` 已配置为 `http://wangdequan:wangdequan123@154.8.160.151:3000/wangdequan/cnc_wams.git`，与用户提供的云仓库地址和账号信息一致。
+3. 查看最近提交，确认当前最新提交为 `83402c5 docs: record pause wasm implementation plan`。
+4. 执行 `git fetch origin master`，成功从云仓库获取 `origin/master`。
+5. 执行 `git rev-list --left-right --count origin/master...HEAD`，输出 `0 0`，确认本地 `master` 与远端 `origin/master` 没有分叉。
+6. 执行 `git diff --stat`，确认待提交内容覆盖 wasm-port task/motion/TP 暂停语义、WASM/TP/Web 测试、Web runtime/policy/store/UI、working8 文档、trace/截图证据、构建产物和日志。
+7. 执行 `git diff --check`，通过，无空白错误。
+8. 按项目日志规则，先将本次云仓库提交过程中文日志追加到 `gptlog-process/gpdlog.md`，随后将执行 `git add -A`、`git commit` 和 `git push origin master`，确保日志也随本次提交进入云仓库。
+
+### 结论
+
+本次云仓库提交前检查通过：远端可访问，本地与远端无分叉，工作区改动可提交，空白检查通过。下一步将提交全部当前改动并推送到 `origin/master`。

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c

@@ -39,6 +39,9 @@ typedef struct {
     int teleop_mode;
     int in_position;
     int paused;
+    int stepping;
+    int id_for_step;
+    int motion_id;
     int aborted;
     int switchkins_type;
     double requested_vel;
@@ -187,6 +190,13 @@ static int queue_pop(LcmotCommand *command)
     return 1;
 }
 
+static int is_motion_command(int type)
+{
+    return type == LCMOT_CMD_LINEAR_MOVE ||
+        type == LCMOT_CMD_CIRCULAR_MOVE ||
+        type == LCMOT_CMD_JOG_INCR;
+}
+
 static void sync_hal_pins(void)
 {
     int i;
@@ -263,19 +273,29 @@ static void apply_command(const LcmotCommand *command)
     switch (command->type) {
     case LCMOT_CMD_PAUSE:
         state->paused = 1;
+        state->stepping = 0;
+        state->id_for_step = state->motion_id;
         state->motion_type = 0;
+        state->current_vel = 0.0;
         state->in_position = 0;
         break;
     case LCMOT_CMD_STEP:
-        state->paused = 0;
+        state->stepping = 1;
+        state->id_for_step = state->motion_id;
+        state->paused = 1;
         break;
     case LCMOT_CMD_RESUME:
         state->paused = 0;
+        state->stepping = 0;
+        state->id_for_step = state->motion_id;
         break;
     case LCMOT_CMD_ABORT:
         state->aborted = 1;
         state->paused = 0;
+        state->stepping = 0;
+        state->id_for_step = state->motion_id;
         state->motion_type = 0;
+        state->current_vel = 0.0;
         state->in_position = 1;
         state->queue_head = 0;
         state->queue_tail = 0;
@@ -287,6 +307,7 @@ static void apply_command(const LcmotCommand *command)
         break;
     case LCMOT_CMD_LINEAR_MOVE:
     case LCMOT_CMD_CIRCULAR_MOVE:
+        state->motion_id += 1;
         state->program_line = command->line;
         state->motion_type = command->type == LCMOT_CMD_CIRCULAR_MOVE ? 2 : 1;
         state->coord_mode = 1;
@@ -302,8 +323,14 @@ static void apply_command(const LcmotCommand *command)
         state->current_vel = state->requested_vel;
         state->in_position = 1;
         state->motion_type = 0;
+        if (state->stepping) {
+            state->paused = 1;
+            state->stepping = 0;
+            state->current_vel = 0.0;
+        }
         break;
     case LCMOT_CMD_JOG_INCR:
+        state->motion_id += 1;
         i = command->axis_index;
         if (i < 0 || i >= 9) {
             i = 0;
@@ -320,6 +347,11 @@ static void apply_command(const LcmotCommand *command)
         state->current_vel = state->requested_vel;
         state->in_position = 1;
         state->motion_type = 0;
+        if (state->stepping) {
+            state->paused = 1;
+            state->stepping = 0;
+            state->current_vel = 0.0;
+        }
         break;
     default:
         break;
@@ -381,6 +413,14 @@ int lcmot_write_command_json(const char *json)
     } else {
         return -1;
     }
+    if (command.type == LCMOT_CMD_PAUSE ||
+        command.type == LCMOT_CMD_STEP ||
+        command.type == LCMOT_CMD_RESUME ||
+        command.type == LCMOT_CMD_ABORT) {
+        apply_command(&command);
+        sync_hal_pins();
+        return 0;
+    }
     return queue_push(command);
 }
 
@@ -396,6 +436,7 @@ int lcmot_step_servo(long period_ns, int cycles)
         if (!lcmot_state.aborted && lcmot_state.queue_count > 0) {
             command = lcmot_state.queue[lcmot_state.queue_head];
             if (!lcmot_state.paused ||
+                (lcmot_state.stepping && is_motion_command(command.type)) ||
                 command.type == LCMOT_CMD_STEP ||
                 command.type == LCMOT_CMD_RESUME ||
                 command.type == LCMOT_CMD_ABORT) {
@@ -420,7 +461,9 @@ int lcmot_read_status_json(char *out, int out_len)
              "\"cycle\":%lld,"
              "\"motion\":{\"programLine\":%d,\"motionType\":%d,\"coordMode\":%d,"
              "\"teleopMode\":%d,\"inPosition\":%s,\"paused\":%s,\"aborted\":%s,"
-             "\"switchkinsType\":%d,\"requestedVel\":%.17g,\"currentVel\":%.17g},"
+             "\"stepping\":%s,\"idForStep\":%d,\"motionId\":%d,"
+             "\"switchkinsType\":%d,\"requestedVel\":%.17g,\"currentVel\":%.17g,"
+             "\"commandQueueDepth\":%d},"
              "\"axis\":{\"x\":%.17g,\"y\":%.17g,\"z\":%.17g,\"a\":%.17g,\"b\":%.17g,\"c\":%.17g},"
              "\"joint0\":{\"motorPosCmd\":%.17g,\"motorPosFb\":%.17g},"
              "\"commandQueueDepth\":%d}",
@@ -432,9 +475,13 @@ int lcmot_read_status_json(char *out, int out_len)
              state->in_position ? "true" : "false",
              state->paused ? "true" : "false",
              state->aborted ? "true" : "false",
+             state->stepping ? "true" : "false",
+             state->id_for_step,
+             state->motion_id,
              state->switchkins_type,
              state->requested_vel,
              state->current_vel,
+             state->queue_count,
              state->axis_fb[0],
              state->axis_fb[1],
              state->axis_fb[2],

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp

@@ -31,6 +31,7 @@ struct TaskRuntime {
     std::string state = "ESTOP";
     std::string mode = "MANUAL";
     std::string interp_state = "IDLE";
+    std::string interp_resume_state = "IDLE";
     std::string exec_state = "DONE";
     bool task_paused = false;
     bool single_stepping = false;
@@ -394,7 +395,10 @@ void forward_timed_motion_sample(TaskRuntime &state)
 
     if (state.active_segment_index >= static_cast<int>(state.motion_plan.size())) {
         state.interp_state = "IDLE";
+        state.interp_resume_state = "IDLE";
         state.exec_state = "DONE";
+        state.task_paused = false;
+        state.single_stepping = false;
         state.next_program_line = std::max(state.opened_line_count, state.opened_source_line_count);
         return;
     }
@@ -416,7 +420,10 @@ void forward_timed_motion_sample(TaskRuntime &state)
     state.next_program_line = std::min(std::max(segment.line, 1), std::max(max_line, 1));
     if (state.active_segment_index == static_cast<int>(state.motion_plan.size()) - 1 && progress >= 1.0) {
         state.interp_state = "IDLE";
+        state.interp_resume_state = "IDLE";
         state.exec_state = "DONE";
+        state.task_paused = false;
+        state.single_stepping = false;
         state.next_program_line = std::max(state.opened_line_count, state.opened_source_line_count);
         state.events.push_back("task_motion_plan_complete");
     }
@@ -479,6 +486,7 @@ std::string status_json()
     out << ",\"task\":{\"state\":\"" << json_escape(state.state) << "\"";
     out << ",\"mode\":\"" << json_escape(state.mode) << "\"";
     out << ",\"interpState\":\"" << json_escape(state.interp_state) << "\"";
+    out << ",\"interpResumeState\":\"" << json_escape(state.interp_resume_state) << "\"";
     out << ",\"execState\":\"" << json_escape(state.exec_state) << "\"";
     out << ",\"taskPaused\":" << (state.task_paused ? "true" : "false");
     out << ",\"singleStepping\":" << (state.single_stepping ? "true" : "false");
@@ -527,6 +535,7 @@ int lctask_init_session(const char *session_json)
     state.state = "ESTOP_RESET";
     state.mode = "MANUAL";
     state.interp_state = "IDLE";
+    state.interp_resume_state = "IDLE";
     state.exec_state = "DONE";
     state.events.push_back("task_session_init");
 
@@ -573,6 +582,7 @@ int lctask_open_program(const char *path)
     state.active_segment_index = 0;
     state.run_elapsed_seconds = 0.0;
     state.interp_state = "IDLE";
+    state.interp_resume_state = "IDLE";
     state.exec_state = "DONE";
     state.events.push_back(std::string("task_open_program:") + path);
     return 0;
@@ -617,6 +627,7 @@ int lctask_send_command_json(const char *command_json)
         state.active_segment_index = 0;
         state.run_elapsed_seconds = 0.0;
         state.interp_state = "READING";
+        state.interp_resume_state = "READING";
         state.exec_state = "WAITING_FOR_MOTION";
         state.task_paused = false;
         state.single_stepping = false;
@@ -624,6 +635,9 @@ int lctask_send_command_json(const char *command_json)
         return 0;
     }
     if (contains_token(command_json, "EMC_TASK_PLAN_PAUSE")) {
+        if (state.interp_state != "PAUSED") {
+            state.interp_resume_state = state.interp_state.empty() ? "READING" : state.interp_state;
+        }
         state.interp_state = "PAUSED";
         state.exec_state = "PAUSED";
         state.task_paused = true;
@@ -631,19 +645,24 @@ int lctask_send_command_json(const char *command_json)
         return forward_motion_command("{\"type\":\"EMC_TRAJ_PAUSE\"}");
     }
     if (contains_token(command_json, "EMC_TASK_PLAN_STEP")) {
+        if (state.interp_state != "PAUSED") {
+            state.interp_resume_state = state.interp_state.empty() ? "READING" : state.interp_state;
+        }
         state.single_stepping = true;
         state.task_paused = true;
-        if (state.interp_state == "PAUSED") {
+        state.interp_state = "PAUSED";
-            state.interp_state = "READING";
+        state.exec_state = "PAUSED";
-        }
-        state.exec_state = "WAITING_FOR_MOTION";
         state.events.push_back("task_plan_step");
         forward_motion_command("{\"type\":\"EMC_TRAJ_STEP\"}");
         return 0;
     }
     if (contains_token(command_json, "EMC_TASK_PLAN_RESUME")) {
-        state.interp_state = "READING";
+        const std::string resume = state.interp_resume_state == "PAUSED" || state.interp_resume_state.empty()
-        state.exec_state = "WAITING_FOR_MOTION";
+            ? "READING"
+            : state.interp_resume_state;
+        state.interp_state = resume;
+        state.interp_resume_state = resume;
+        state.exec_state = resume == "IDLE" ? "DONE" : "WAITING_FOR_MOTION";
         state.task_paused = false;
         state.single_stepping = false;
         state.events.push_back("task_plan_resume");
@@ -651,6 +670,7 @@ int lctask_send_command_json(const char *command_json)
     }
     if (contains_token(command_json, "EMC_TASK_ABORT")) {
         state.interp_state = "IDLE";
+        state.interp_resume_state = "IDLE";
         state.exec_state = "DONE";
         state.task_paused = false;
         state.single_stepping = false;
@@ -661,6 +681,7 @@ int lctask_send_command_json(const char *command_json)
     if (contains_token(command_json, "EMC_TASK_PLAN_EXECUTE")) {
         state.mode = "MDI";
         state.interp_state = "READING";
+        state.interp_resume_state = "READING";
         state.exec_state = "WAITING_FOR_MOTION";
         state.task_paused = false;
         enqueue_mdi(state, command_json);
@@ -669,6 +690,7 @@ int lctask_send_command_json(const char *command_json)
     if (contains_token(command_json, "EMC_JOG_INCR")) {
         state.mode = "MANUAL";
         state.interp_state = "IDLE";
+        state.interp_resume_state = "IDLE";
         state.exec_state = "WAITING_FOR_MOTION";
         state.task_paused = false;
         state.events.push_back("task_jog_incr");
@@ -677,6 +699,7 @@ int lctask_send_command_json(const char *command_json)
     if (contains_token(command_json, "EMC_JOINT_HOME")) {
         state.mode = "MANUAL";
         state.interp_state = "IDLE";
+        state.interp_resume_state = "IDLE";
         state.exec_state = "DONE";
         state.task_paused = false;
         state.single_stepping = false;
@@ -708,7 +731,8 @@ int lctask_run_cycles(long task_period_ns, long servo_period_ns, int task_cycles
         const bool has_program_work = state.motion_plan_loaded
             ? state.active_segment_index < static_cast<int>(state.motion_plan.size())
             : state.next_program_line < state.executable_line_count;
-        if (state.interp_state == "READING" && has_program_work) {
+        const bool stepping = state.single_stepping;
+        if ((state.interp_state == "READING" || stepping) && has_program_work) {
             if (state.motion_plan_loaded) {
                 const double delta_seconds = task_period_ns > 0 ? static_cast<double>(task_period_ns) / 1000000000.0 : 0.01;
                 state.run_elapsed_seconds += delta_seconds;
@@ -716,18 +740,24 @@ int lctask_run_cycles(long task_period_ns, long servo_period_ns, int task_cycles
             } else {
                 enqueue_linear_move_from_line(state, state.program_lines[state.next_program_line]);
             }
-            if (!state.motion_plan_loaded && state.next_program_line >= state.executable_line_count) {
+            if (stepping) {
+                state.interp_state = "PAUSED";
+                state.exec_state = "PAUSED";
+                state.task_paused = true;
+                state.single_stepping = false;
+            } else if (!state.motion_plan_loaded && state.next_program_line >= state.executable_line_count) {
                 state.interp_state = "IDLE";
+                state.interp_resume_state = "IDLE";
                 state.exec_state = "DONE";
                 state.task_paused = false;
                 state.single_stepping = false;
                 state.events.push_back("task_plan_complete");
             }
-            if (state.single_stepping) {
+        } else if (stepping) {
-                state.interp_state = "PAUSED";
+            state.interp_state = "PAUSED";
-                state.exec_state = "PAUSED";
+            state.exec_state = "PAUSED";
-                state.task_paused = true;
+            state.task_paused = true;
-            }
+            state.single_stepping = false;
         }
         if (lcmot_step_servo(servo_period_ns, servo_per_task) != 0) {
             return -1;

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c

@@ -1048,6 +1048,158 @@ static void append_queued_lines_probe(char *out, size_t size, size_t *offset)
     append(out, size, offset, line);
 }
 
+static void append_pause_resume_probe(char *out, size_t size, size_t *offset)
+{
+    init_motion_state();
+
+    TP_STRUCT tp;
+    EmcPose start;
+    EmcPose end1;
+    EmcPose end2;
+    struct state_tag_t tag;
+    memset(&tp, 0, sizeof(tp));
+    memset(&start, 0, sizeof(start));
+    memset(&end1, 0, sizeof(end1));
+    memset(&end2, 0, sizeof(end2));
+    memset(&tag, 0, sizeof(tag));
+
+    end1.tran.x = 1.0;
+    end2.tran.x = 2.0;
+
+    const int create_rc = tpCreate(&tp, TP_DEFAULT_QUEUE_SIZE, 4);
+    const int set_cycle_rc = tpSetCycleTime(&tp, 0.001);
+    const int set_pos_rc = tpSetPos(&tp, &start);
+    const int set_vmax_rc = tpSetVmax(&tp, 1.0, 1.0);
+    const int set_vlimit_rc = tpSetVlimit(&tp, 1.0);
+    const int set_amax_rc = tpSetAmax(&tp, 10.0);
+    const int set_term_rc = tpSetTermCond(&tp, TC_TERM_COND_STOP, 0.0);
+    const int add_line1_rc = tpAddLine(
+        &tp,
+        end1,
+        EMC_MOTION_TYPE_FEED,
+        1.0,
+        1.0,
+        10.0,
+        100.0,
+        status.enables_new,
+        0,
+        -1,
+        tag);
+    const int add_line2_rc = tpAddLine(
+        &tp,
+        end2,
+        EMC_MOTION_TYPE_FEED,
+        1.0,
+        1.0,
+        10.0,
+        100.0,
+        status.enables_new,
+        0,
+        -1,
+        tag);
+
+    int cycle_rc = 0;
+    int cycles_before_pause = 0;
+    for (; cycles_before_pause < 200 && !tpIsDone(&tp); ++cycles_before_pause) {
+        cycle_rc = tpRunCycle(&tp, 1000000);
+        if (cycle_rc < 0) {
+            break;
+        }
+    }
+
+    const int pause_rc = tpPause(&tp);
+    int pause_cycles = 0;
+    for (; pause_cycles < 10000; ++pause_cycles) {
+        cycle_rc = tpRunCycle(&tp, 1000000);
+        if (cycle_rc < 0 || fabs(status.current_vel) < 1e-9) {
+            break;
+        }
+    }
+
+    EmcPose paused_pos;
+    EmcPose hold_pos;
+    EmcPose final_pos;
+    memset(&paused_pos, 0, sizeof(paused_pos));
+    memset(&hold_pos, 0, sizeof(hold_pos));
+    memset(&final_pos, 0, sizeof(final_pos));
+    const int pause_get_pos_rc = tpGetPos(&tp, &paused_pos);
+    for (int hold = 0; hold < 100; ++hold) {
+        cycle_rc = tpRunCycle(&tp, 1000000);
+        if (cycle_rc < 0) {
+            break;
+        }
+    }
+    const int hold_get_pos_rc = tpGetPos(&tp, &hold_pos);
+    const int paused_velocity_zero = fabs(status.current_vel) < 1e-9 ? 1 : 0;
+    const int paused_position_frozen =
+        fabs(paused_pos.tran.x - hold_pos.tran.x) < 1e-6 &&
+        fabs(paused_pos.tran.y - hold_pos.tran.y) < 1e-6 &&
+        fabs(paused_pos.tran.z - hold_pos.tran.z) < 1e-6;
+
+    const int resume_rc = tpResume(&tp);
+    int resume_cycles = 0;
+    for (; resume_cycles < 30000 && !tpIsDone(&tp); ++resume_cycles) {
+        cycle_rc = tpRunCycle(&tp, 1000000);
+        if (cycle_rc < 0) {
+            break;
+        }
+    }
+    const int final_get_pos_rc = tpGetPos(&tp, &final_pos);
+    const int near_end = pose_near(&final_pos, &end2);
+
+    char line[1536];
+    snprintf(line, sizeof(line),
+        "tp_pause_create=%d\n"
+        "tp_pause_set_cycle_time=%d\n"
+        "tp_pause_set_pos=%d\n"
+        "tp_pause_set_vmax=%d\n"
+        "tp_pause_set_vlimit=%d\n"
+        "tp_pause_set_amax=%d\n"
+        "tp_pause_set_term_cond=%d\n"
+        "tp_pause_add_line1=%d\n"
+        "tp_pause_add_line2=%d\n"
+        "tp_pause_rc=%d\n"
+        "tp_pause_cycles_before=%d\n"
+        "tp_pause_decel_cycles=%d\n"
+        "tp_pause_get_pos=%d\n"
+        "tp_pause_hold_get_pos=%d\n"
+        "tp_paused_velocity_zero=%d\n"
+        "tp_paused_position_frozen=%d\n"
+        "tp_resume_rc=%d\n"
+        "tp_resume_cycles=%d\n"
+        "tp_resume_get_pos=%d\n"
+        "tp_resume_done=%d\n"
+        "tp_pause_resume_final_depth=%d\n"
+        "tp_pause_resume_final_pos_near_end=%d\n"
+        "tp_pause_resume_final_pos=%.12g,%.12g,%.12g\n",
+        create_rc,
+        set_cycle_rc,
+        set_pos_rc,
+        set_vmax_rc,
+        set_vlimit_rc,
+        set_amax_rc,
+        set_term_rc,
+        add_line1_rc,
+        add_line2_rc,
+        pause_rc,
+        cycles_before_pause,
+        pause_cycles,
+        pause_get_pos_rc,
+        hold_get_pos_rc,
+        paused_velocity_zero,
+        paused_position_frozen,
+        resume_rc,
+        resume_cycles,
+        final_get_pos_rc,
+        tpIsDone(&tp),
+        tpQueueDepth(&tp),
+        near_end,
+        final_pos.tran.x,
+        final_pos.tran.y,
+        final_pos.tran.z);
+    append(out, size, offset, line);
+}
+
 EMSCRIPTEN_KEEPALIVE
 char *lctp_run_probe(void)
 {
@@ -1091,6 +1243,7 @@ char *lctp_run_probe(void)
     append_linear_probe(out, 8192, &offset);
     append_arc_probe(out, 8192, &offset);
     append_queued_lines_probe(out, 8192, &offset);
+    append_pause_resume_probe(out, 8192, &offset);
     return out;
 }
 

wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs

@@ -52,10 +52,20 @@ function send(command) {
   );
 }
 
+function sendMotion(command) {
+  return withCString(JSON.stringify(command), (commandPtr) =>
+    assert.equal(runtime._lcmot_write_command_json(commandPtr), 0, command.type),
+  );
+}
+
 function status() {
   return readJson((outPtr, outLen) => runtime._lctask_read_status_json(outPtr, outLen));
 }
 
+function motionStatus() {
+  return readJson((outPtr, outLen) => runtime._lcmot_read_status_json(outPtr, outLen));
+}
+
 function events() {
   return readJson((outPtr, outLen) => runtime._lctask_read_events_json(outPtr, outLen)).events;
 }
@@ -70,7 +80,12 @@ assert.equal(
   0,
 );
 
-const program = ["G0 X1 Y2 Z-3 A10 C20", "G1 X2 Y3 Z-4 A11 C21"].join("\n");
+const program = [
+  "G0 X1 Y2 Z-3 A10 C20",
+  "G1 X2 Y3 Z-4 A11 C21",
+  "G1 X3 Y4 Z-5 A12 C22",
+  "G1 X4 Y5 Z-6 A13 C23",
+].join("\n");
 assert.equal(
   withCString("programs/task-hal-smoke.ngc", (pathPtr) =>
     withCString(program, (textPtr) => runtime._lctask_stage_file(pathPtr, textPtr)),
@@ -85,7 +100,7 @@ assert.equal(
 send({ type: "EMC_TASK_SET_STATE", state: "ON" });
 send({ type: "EMC_TASK_SET_MODE", mode: "AUTO" });
 send({ type: "EMC_TASK_PLAN_RUN", line: 0 });
-assert.equal(runtime._lctask_run_cycles(10000000, 1000000, 2), 0);
+assert.equal(runtime._lctask_run_cycles(10000000, 1000000, 1), 0);
 
 let snapshot = status();
 assert.equal(snapshot.semanticBoundary, "linuxcnc_task_motion_hal_wasm_phase4_minimal");
@@ -96,35 +111,108 @@ assert.equal(snapshot.nativeTaskReady, false);
 assert.equal(snapshot.nativeHalSyncReady, false);
 assert.equal(snapshot.task.state, "ON");
 assert.equal(snapshot.task.mode, "AUTO");
-assert.equal(snapshot.task.openedLineCount, 2);
+assert.equal(snapshot.task.openedLineCount, 4);
-assert.equal(snapshot.task.nextProgramLine, 2);
+assert.equal(snapshot.task.nextProgramLine, 1);
-assert.equal(snapshot.motionStatus.motion.programLine, 2);
+assert.equal(snapshot.task.interpState, "READING");
-assert.equal(snapshot.motionStatus.axis.x, 2);
+assert.equal(snapshot.task.interpResumeState, "READING");
-assert.equal(snapshot.motionStatus.axis.z, -4);
+assert.equal(snapshot.motionStatus.motion.programLine, 1);
-assert.equal(snapshot.halSnapshot.pins["motion.program-line"].value, 2);
+assert.equal(snapshot.motionStatus.axis.x, 1);
-assert.equal(snapshot.halSnapshot.pins["joint.0.motor-pos-cmd"].value, 2);
+assert.equal(snapshot.motionStatus.axis.z, -3);
+assert.equal(snapshot.halSnapshot.pins["motion.program-line"].value, 1);
+assert.equal(snapshot.halSnapshot.pins["joint.0.motor-pos-cmd"].value, 1);
 
 send({ type: "EMC_TASK_PLAN_PAUSE" });
+snapshot = status();
+assert.equal(snapshot.task.interpState, "PAUSED");
+assert.equal(snapshot.task.interpResumeState, "READING");
+assert.equal(snapshot.task.taskPaused, true);
+assert.equal(snapshot.task.singleStepping, false);
+assert.equal(snapshot.motionStatus.motion.paused, true);
+assert.equal(snapshot.motionStatus.motion.currentVel, 0);
+const pausedTaskLine = snapshot.task.nextProgramLine;
+const pausedMotionLine = snapshot.motionStatus.motion.programLine;
+const pausedMotionId = snapshot.motionStatus.motion.motionId;
+const pausedQueueDepth = snapshot.motionStatus.commandQueueDepth;
+const pausedAxis = { ...snapshot.motionStatus.axis };
+
+assert.equal(runtime._lctask_run_cycles(10000000, 1000000, 20), 0);
+snapshot = status();
+assert.equal(snapshot.task.interpState, "PAUSED");
+assert.equal(snapshot.task.interpResumeState, "READING");
+assert.equal(snapshot.task.nextProgramLine, pausedTaskLine);
+assert.equal(snapshot.motionStatus.motion.paused, true);
+assert.equal(snapshot.motionStatus.motion.programLine, pausedMotionLine);
+assert.equal(snapshot.motionStatus.motion.motionId, pausedMotionId);
+assert.equal(snapshot.motionStatus.commandQueueDepth, pausedQueueDepth);
+assert.deepEqual(snapshot.motionStatus.axis, pausedAxis);
+
+send({ type: "EMC_TASK_PLAN_RESUME" });
+assert.equal(runtime._lctask_run_cycles(10000000, 1000000, 1), 0);
+snapshot = status();
+assert.equal(snapshot.task.interpState, "READING");
+assert.equal(snapshot.task.interpResumeState, "READING");
+assert.equal(snapshot.task.taskPaused, false);
+assert.equal(snapshot.motionStatus.motion.paused, false);
+assert.equal(snapshot.motionStatus.motion.programLine, 2);
+
+send({ type: "EMC_TASK_PLAN_PAUSE" });
+send({ type: "EMC_TASK_PLAN_STEP" });
 assert.equal(runtime._lctask_run_cycles(10000000, 1000000, 1), 0);
 snapshot = status();
 assert.equal(snapshot.task.interpState, "PAUSED");
+assert.equal(snapshot.task.interpResumeState, "READING");
+assert.equal(snapshot.task.taskPaused, true);
+assert.equal(snapshot.task.singleStepping, false);
 assert.equal(snapshot.motionStatus.motion.paused, true);
+assert.equal(snapshot.motionStatus.motion.stepping, false);
+assert.equal(snapshot.motionStatus.motion.programLine, 3);
+assert.equal(snapshot.motionStatus.motion.motionId, pausedMotionId + 2);
 
 send({ type: "EMC_TASK_PLAN_RESUME" });
 assert.equal(runtime._lctask_run_cycles(10000000, 1000000, 1), 0);
 snapshot = status();
 assert.equal(snapshot.motionStatus.motion.paused, false);
+assert.equal(snapshot.motionStatus.motion.programLine, 4);
+
+sendMotion({ type: "EMC_TRAJ_LINEAR_MOVE", line: 10, x: 10, y: 0, z: 0, velocity: 1 });
+sendMotion({ type: "EMC_TRAJ_LINEAR_MOVE", line: 11, x: 11, y: 0, z: 0, velocity: 1 });
+sendMotion({ type: "EMC_TRAJ_LINEAR_MOVE", line: 12, x: 12, y: 0, z: 0, velocity: 1 });
+let motionSnapshot = motionStatus();
+assert.equal(motionSnapshot.commandQueueDepth, 3);
+const queuedProgramLine = motionSnapshot.motion.programLine;
+sendMotion({ type: "EMCMOT_PAUSE" });
+motionSnapshot = motionStatus();
+assert.equal(motionSnapshot.motion.paused, true);
+assert.equal(motionSnapshot.commandQueueDepth, 3);
+assert.equal(runtime._lcmot_step_servo(1000000, 20), 0);
+motionSnapshot = motionStatus();
+assert.equal(motionSnapshot.motion.programLine, queuedProgramLine);
+assert.equal(motionSnapshot.commandQueueDepth, 3);
+sendMotion({ type: "EMCMOT_STEP" });
+assert.equal(runtime._lcmot_step_servo(1000000, 1), 0);
+motionSnapshot = motionStatus();
+assert.equal(motionSnapshot.motion.programLine, 10);
+assert.equal(motionSnapshot.commandQueueDepth, 2);
+assert.equal(motionSnapshot.motion.paused, true);
+assert.equal(motionSnapshot.motion.stepping, false);
+sendMotion({ type: "EMCMOT_RESUME" });
+assert.equal(runtime._lcmot_step_servo(1000000, 2), 0);
+motionSnapshot = motionStatus();
+assert.equal(motionSnapshot.motion.paused, false);
+assert.equal(motionSnapshot.motion.programLine, 12);
+assert.equal(motionSnapshot.commandQueueDepth, 0);
 
 send({ type: "EMC_TASK_PLAN_EXECUTE", mdi: "M428" });
 assert.equal(runtime._lctask_run_cycles(10000000, 1000000, 1), 0);
 snapshot = status();
 assert.equal(snapshot.motionStatus.motion.switchkinsType, 1);
 assert.equal(snapshot.halSnapshot.pins["motion.switchkins-type"].value, 1);
+const xBeforeJog = snapshot.motionStatus.axis.x;
 
 send({ type: "EMC_JOG_INCR", axis: "X", distance: 0.25, velocity: 60 });
 assert.equal(runtime._lctask_run_cycles(10000000, 1000000, 1), 0);
 snapshot = status();
-assert.equal(snapshot.motionStatus.axis.x, 2.25);
+assert.equal(snapshot.motionStatus.axis.x, xBeforeJog + 0.25);
 assert.equal(snapshot.motionStatus.motion.teleopMode, 1);
 
 send({ type: "EMC_TASK_ABORT" });
@@ -146,3 +234,6 @@ console.log("linuxcnc_task_runtime_smoke=ok");
 console.log("task_status_from_linuxcnc_runtime=ok");
 console.log("task_commands_drive_motion_runtime=ok");
 console.log("mdi_jog_task_motion_hal_sync=ok");
+console.log("pause_freezes_motion_queue=ok");
+console.log("resume_restores_interp_resume_state=ok");
+console.log("step_returns_to_paused=ok");

wasm-port/tests/wasm/node/verify_tp_wasm.mjs

@@ -74,6 +74,13 @@ try {
       "tp_queue_final_depth=0",
       "tp_queue_final_pos_near_end=1",
       "tp_queue_final_pos=1,1,0",
+      "tp_pause_rc=0",
+      "tp_resume_rc=0",
+      "tp_paused_velocity_zero=1",
+      "tp_paused_position_frozen=1",
+      "tp_resume_done=1",
+      "tp_pause_resume_final_depth=0",
+      "tp_pause_resume_final_pos_near_end=1",
     ].join("\n"),
   );
 } finally {
@@ -161,3 +168,4 @@ try {
 }
 
 console.log("tp_wasm_node_smoke=ok");
+console.log("tp_pause_resume_smoke=ok");

web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md

@@ -161,3 +161,24 @@
 ### 结论
 
 已完成 `/home/mes123456/cnc_wams/work/working8` 文档体系建设，新增 README 索引和 01 至 06 六个要求文档。文档明确了暂停按钮必须补齐 LinuxCNC task/interpreter 与 motion/trajectory 双层语义，拆分了 `W8-001` 至 `W8-014` 任务矩阵，并给出后续代码修改目标文件、验收标准和验证命令。本轮未修改业务代码，未运行测试。
+
+## 2026-07-07 09:41 EDT
+
+### 提问
+
+用户要求提交到云仓库，并提供云仓库地址 `http://154.8.160.151:3000`、用户名 `wangdequan`、密码 `wangdequan123`。
+
+### 执行过程
+
+1. 查看当前 Git 状态、分支和远端配置，确认分支为 `master`，远端 `origin` 指向 `http://wangdequan:wangdequan123@154.8.160.151:3000/wangdequan/cnc_wams.git`。
+2. 执行 `git fetch origin master`，成功连接云仓库。
+3. 执行 `git rev-list --left-right --count origin/master...HEAD`，输出 `0 0`，确认本地和远端推送前没有分叉。
+4. 检查工作区，确认存在 `work/working8` 文档、日志追加、暂停按钮前端改动、分析文档、验证工具、trace 和大量截图证据。
+5. 执行 `git add -A` 暂存全部当前工作区改动。
+6. 执行 `git commit -m "docs: record pause wasm implementation plan"`，成功创建提交 `83402c5`。
+7. 执行 `git push origin master`，成功推送到云仓库，输出 `6cecd28..83402c5 master -> master`。
+8. 执行 `git rev-parse HEAD` 和 `git rev-parse origin/master`，确认两者一致，均为 `83402c506e26cfcae2ba567a8188ae858858b918`。
+
+### 结论
+
+已成功提交并推送到云仓库 `origin/master`。提交哈希为 `83402c506e26cfcae2ba567a8188ae858858b918`，提交信息为 `docs: record pause wasm implementation plan`。本次日志是在推送完成后按规则追加，因此日志文件本身会产生新的未推送工作区改动。

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,