diff --git a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c
index 7e66dc0..5436b40 100644
--- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c
+++ b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c
@@ -510,7 +510,7 @@ static void append_runtime_sample(
EMSCRIPTEN_KEEPALIVE
char *lctp_run_canonical_motion_timing(const char *json)
{
- const size_t out_size = 4 * 1024 * 1024;
+ const size_t out_size = 32 * 1024 * 1024;
char *out = (char *)malloc(out_size);
if (!out) {
return NULL;
@@ -532,7 +532,7 @@ char *lctp_run_canonical_motion_timing(const char *json)
return out;
}
- enum { MAX_EVENTS = 4096 };
+ enum { MAX_EVENTS = 12000 };
LctpMotionEvent *events = (LctpMotionEvent *)calloc(MAX_EVENTS, sizeof(LctpMotionEvent));
if (!events) {
append(out, out_size, &offset, "{\"ok\":false,\"error\":\"failed to allocate motion events\"}\n");
diff --git a/web-rtcp-5axis-sim-plan/.gitignore b/web-rtcp-5axis-sim-plan/.gitignore
index 36f432a..c6b79da 100644
--- a/web-rtcp-5axis-sim-plan/.gitignore
+++ b/web-rtcp-5axis-sim-plan/.gitignore
@@ -1 +1,2 @@
app/dist/
+build/
diff --git a/web-rtcp-5axis-sim-plan/app/package.json b/web-rtcp-5axis-sim-plan/app/package.json
index 837e80c..436cdd6 100644
--- a/web-rtcp-5axis-sim-plan/app/package.json
+++ b/web-rtcp-5axis-sim-plan/app/package.json
@@ -7,7 +7,7 @@
"build": "node scripts/build-static.mjs",
"dev": "python3 -m http.server 4173",
"smoke": "bash ../tests/browser/verify_gmoccapy_shell_browser.sh && bash ../tests/browser/verify_gmoccapy_dist_browser.sh",
- "smoke:node": "node ../tests/node/verify_linuxcnc_kinematics_runtime.mjs && node ../tests/node/verify_linuxcnc_interpreter_runtime.mjs && node ../tests/node/verify_linuxcnc_ini_runtime.mjs && node ../tests/node/verify_linuxcnc_task_hal_runtime.mjs && node ../tests/node/verify_full_linuxcnc_5axis_source.mjs && node ../tests/node/verify_full_execution_boundary.mjs && node ../tests/node/verify_machine_file_staging.mjs && node ../tests/node/verify_five_axis_session.mjs && node ../tests/node/verify_rtcp_store.mjs && node ../tests/node/verify_profile_boundary.mjs"
+ "smoke:node": "node ../tests/node/verify_linuxcnc_kinematics_runtime.mjs && node ../tests/node/verify_linuxcnc_interpreter_runtime.mjs && node ../tests/node/verify_linuxcnc_ini_runtime.mjs && node ../tests/node/verify_linuxcnc_task_hal_runtime.mjs && node ../tests/node/verify_native_task_hal_audit.mjs && node ../tests/node/verify_full_linuxcnc_5axis_source.mjs && node ../tests/node/verify_real_linuxcnc_5axis_program_cases.mjs && node ../tests/node/verify_full_execution_boundary.mjs && node ../tests/node/verify_machine_file_staging.mjs && node ../tests/node/verify_five_axis_session.mjs && node ../tests/node/verify_rtcp_store.mjs && node ../tests/node/verify_profile_boundary.mjs"
},
"dependencies": {},
"devDependencies": {}
diff --git a/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs b/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs
index 90a16ce..bb6a9f4 100644
--- a/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs
+++ b/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs
@@ -61,8 +61,11 @@ console.log("gmoccapy_static_build=ok");
async function copyLinuxCncConfigAssets() {
const configSrcDir = join(repoRoot, "wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting");
const configDistDir = join(distDir, "configs/sim/axis/vismach/5axis/table-rotary-tilting");
+ const vendorConfigDistDir = join(distDir, "wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting");
await mkdir(configDistDir, { recursive: true });
+ await mkdir(vendorConfigDistDir, { recursive: true });
await cp(configSrcDir, configDistDir, { recursive: true });
+ await cp(configSrcDir, vendorConfigDistDir, { recursive: true });
}
async function copyLinuxCncManifest() {
diff --git a/web-rtcp-5axis-sim-plan/app/src/main.js b/web-rtcp-5axis-sim-plan/app/src/main.js
index 7d61af8..691a630 100644
--- a/web-rtcp-5axis-sim-plan/app/src/main.js
+++ b/web-rtcp-5axis-sim-plan/app/src/main.js
@@ -20,8 +20,11 @@ const iniConfigReady = attachProfileIniConfig(store, store.getState().profile);
const kinematicsRuntimeReady = attachDefaultKinematicsRuntime(store, store.getState().profile.kinematicsModuleId || store.getState().machineProfile);
const interpreterRuntimeReady = attachDefaultInterpreterRuntime(store);
const taskHalRuntimeReady = attachDefaultTaskHalRuntime(store);
+const machineFileSeedReady = ensureMachineFilesForProfile(store);
let attachedKinematicsProfile = store.getState().machineProfile;
let attachedIniProfile = store.getState().machineProfile;
+let attachedMachineFileProfile = store.getState().machineProfile;
+let machineFileSeedPromise = machineFileSeedReady;
store.subscribe((state) => {
if (state.machineProfile !== attachedIniProfile) {
attachedIniProfile = state.machineProfile;
@@ -31,6 +34,11 @@ store.subscribe((state) => {
attachedKinematicsProfile = state.machineProfile;
attachDefaultKinematicsRuntime(store, state.profile.kinematicsModuleId || state.machineProfile).catch(() => {});
}
+ if (state.machineProfile !== attachedMachineFileProfile) {
+ attachedMachineFileProfile = state.machineProfile;
+ machineFileSeedPromise = ensureMachineFilesForProfile(store);
+ window.webRtcp5AxisSimulation.machineFileSeedReady = machineFileSeedPromise;
+ }
});
window.webRtcp5AxisSimulation = {
@@ -46,6 +54,7 @@ window.webRtcp5AxisSimulation = {
kinematicsRuntimeReady,
interpreterRuntimeReady,
taskHalRuntimeReady,
+ machineFileSeedReady,
};
store.dispatch({ type: "BOOT_READY" });
@@ -61,6 +70,22 @@ async function attachProfileIniConfig(store, profile) {
}
}
+async function ensureMachineFilesForProfile(store) {
+ try {
+ const state = store.getState();
+ if (state.machineFileStaging?.status === "staged" && state.machineFileStaging?.profileId === state.machineProfile) {
+ return state.machineFileStaging;
+ }
+ return await store.stageMachineFiles();
+ } catch (error) {
+ return {
+ apiName: "web-rtcp-5axis-machine-file-staging-seed",
+ status: "error",
+ error: error instanceof Error ? error.message : String(error),
+ };
+ }
+}
+
async function attachDefaultKinematicsRuntime(store, moduleId = "xyzac-trt") {
const sdkModuleUrls = [
new URL("../../../wasm-port/runtime/sdk/src/linuxcnc-kinematics.js", import.meta.url).href,
diff --git a/web-rtcp-5axis-sim-plan/app/src/runtime/five-axis-session.js b/web-rtcp-5axis-sim-plan/app/src/runtime/five-axis-session.js
index 3f37941..b7750d7 100644
--- a/web-rtcp-5axis-sim-plan/app/src/runtime/five-axis-session.js
+++ b/web-rtcp-5axis-sim-plan/app/src/runtime/five-axis-session.js
@@ -90,7 +90,7 @@ export async function saveFiveAxisSessionSnapshot(sessionId, payload, options =
const path = sessionSnapshotPath(sessionId, options.filename);
const storage = resolveSessionStorage(options);
await saveTextFile(path, `${JSON.stringify(snapshot, null, 2)}\n`, storage.storage);
- return { snapshot, path, storageMode: storage.mode };
+ return { snapshot, path, storageMode: storage.mode, storageCapability: storage.capability };
}
export async function loadFiveAxisSessionSnapshot(sessionId, options = {}) {
@@ -103,7 +103,12 @@ export async function loadFiveAxisSessionSnapshot(sessionId, options = {}) {
} catch (error) {
throw new Error(`Invalid five-axis session snapshot JSON: ${error.message}`);
}
- return { snapshot: validateFiveAxisSessionSnapshot(snapshot, sessionId), path, storageMode: storage.mode };
+ return {
+ snapshot: validateFiveAxisSessionSnapshot(snapshot, sessionId),
+ path,
+ storageMode: storage.mode,
+ storageCapability: storage.capability,
+ };
}
export function restoreFiveAxisSessionState(snapshot) {
@@ -150,24 +155,65 @@ export function createMemorySessionStorage(seed = {}) {
let browserMemorySessionStorage = null;
+export function detectBrowserStorageCapability(globalScope = globalThis) {
+ const forcedUnavailable = Boolean(globalScope.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__);
+ const isBrowser = typeof globalScope.window === "object" || typeof globalScope.document === "object";
+ const secureContext = !isBrowser || globalScope.isSecureContext !== false;
+ const hasOpfs = typeof globalScope.navigator?.storage?.getDirectory === "function";
+ const opfsAvailable = hasOpfs && secureContext && !forcedUnavailable;
+ return {
+ apiName: "web-rtcp-5axis-storage-capability",
+ opfsAvailable,
+ opfsUnavailable: !opfsAvailable,
+ secureContext,
+ forcedUnavailable,
+ hasNavigatorStorage: Boolean(globalScope.navigator?.storage),
+ hasGetDirectory: hasOpfs,
+ fallbackMode: opfsAvailable ? null : "memory-fallback",
+ reason: opfsAvailable
+ ? "opfs_available"
+ : forcedUnavailable
+ ? "forced_unavailable"
+ : !secureContext
+ ? "non_secure_context"
+ : !hasOpfs
+ ? "missing_opfs_get_directory"
+ : "opfs_unavailable",
+ };
+}
+
function resolveSessionStorage(options = {}) {
if (options.storage) {
return {
storage: options.storage,
mode: options.storageMode || storageModeFor(options.storage),
+ capability: {
+ apiName: "web-rtcp-5axis-storage-capability",
+ opfsAvailable: options.storageMode === "opfs",
+ opfsUnavailable: options.storageMode !== "opfs",
+ secureContext: true,
+ forcedUnavailable: false,
+ hasNavigatorStorage: false,
+ hasGetDirectory: typeof options.storage.getDirectory === "function",
+ fallbackMode: options.storageMode === "opfs" ? null : options.storageMode || "custom",
+ reason: "explicit_storage",
+ },
};
}
+ const capability = detectBrowserStorageCapability();
const browserStorage = globalThis.navigator?.storage;
- if (browserStorage?.getDirectory) {
+ if (capability.opfsAvailable) {
return {
storage: browserStorage,
mode: "opfs",
+ capability,
};
}
browserMemorySessionStorage ??= createMemorySessionStorage();
return {
storage: browserMemorySessionStorage,
mode: "memory-fallback",
+ capability,
};
}
diff --git a/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js b/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js
index 9812862..16d118a 100644
--- a/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js
+++ b/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js
@@ -200,13 +200,14 @@ function runPlannerTiming(tpRuntime, motion) {
return null;
}
try {
+ const sampleStride = motion.length > 1000 ? Math.ceil(motion.length / 90) : 10;
return tpRuntime.sdk.runCanonicalMotionTiming({
motion,
options: {
cycleTime: 0.001,
queueSize: 32,
maxCycles: 2000000,
- sampleStride: 10,
+ sampleStride,
maxVelocity: 35,
maxAcceleration: 500,
maxJerk: 1000,
@@ -334,6 +335,9 @@ export function prepareLinuxCncProgramForRuntime(programText) {
const switchkinsEvents = [];
const runtimeLines = String(programText).split(/\r?\n/).map((line, index) => {
const lineNumber = index + 1;
+ if (String(line).trim() === "%") {
+ return "(linuxcnc program delimiter)";
+ }
const events = readSwitchkinsEventsFromLine(line, lineNumber);
if (events.length === 0) return line;
switchkinsEvents.push(...events);
diff --git a/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js b/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js
index ed11d51..33ac2f4 100644
--- a/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js
+++ b/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js
@@ -10,6 +10,7 @@ const DEFAULT_VENDOR_ROOT_URLS = [
const TRT_MACHINE_REL = "axis/vismach/5axis/table-rotary-tilting";
const TRT_DEMO_SOURCE_PREFIX = `configs/sim/${TRT_MACHINE_REL}/demos/`;
const OPFS_ROOT = "web-rtcp-5axis-sim-plan/machines";
+let browserMemoryMachineFileStorage = null;
export async function createMachineFileStagingPlan({
profile,
@@ -79,6 +80,23 @@ export function listLinuxCncGcodeSources(save) {
.sort((left, right) => left.filename.localeCompare(right.filename));
}
+export function listProjectGcodeFiles(save) {
+ return [...(save?.files || [])]
+ .filter((file) => file.kind === "demo" || file.kind === "remap")
+ .map((file) => ({
+ sourceRel: file.sourceRel,
+ wasmPath: file.wasmPath,
+ opfsPath: file.opfsPath,
+ filename: basename(file.sourceRel),
+ bytes: file.bytes,
+ kind: file.kind,
+ semanticBoundary: file.kind === "demo"
+ ? "linuxcnc_vendored_5axis_gcode_source_file"
+ : "linuxcnc_vendored_5axis_remap_subroutine_file",
+ }))
+ .sort((left, right) => left.sourceRel.localeCompare(right.sourceRel));
+}
+
export function selectMachineFileProgram(plan, save, sourceRel) {
if (!isLinuxCncFiveAxisGcodeSourceRel(sourceRel)) {
throw new Error(`5-axis G-code source must come from LinuxCNC source demos: ${sourceRel}`);
@@ -106,10 +124,11 @@ export async function saveMachineFileStagingPlan(plan, options = {}) {
if (plan?.apiName !== "web-rtcp-5axis-machine-file-staging-plan") {
throw new Error("saveMachineFileStagingPlan requires a machine-file staging plan");
}
+ const storage = resolveMachineFileStorage(options);
const savedFiles = [];
for (const file of plan.files) {
const text = await readTextFromCandidateUrls(sourceUrlsFor(file.sourceRel));
- await saveTextFile(file.opfsPath, text, options.storage);
+ await saveTextFile(file.opfsPath, text, storage.storage);
savedFiles.push({
sourceRel: file.sourceRel,
opfsPath: file.opfsPath,
@@ -129,8 +148,11 @@ export async function saveMachineFileStagingPlan(plan, options = {}) {
savedAt: new Date().toISOString(),
fileCount: savedFiles.length,
opfsRoot: `${OPFS_ROOT}/${plan.profileId}`,
+ storageMode: storage.mode,
+ storageCapability: storage.capability,
files: savedFiles,
gcodeSources: listLinuxCncGcodeSources({ files: savedFiles }),
+ gcodeFiles: listProjectGcodeFiles({ files: savedFiles }),
summary: summarizeSavedFiles(savedFiles),
taskHalSession: {
...(plan.taskHalSession || {}),
@@ -142,7 +164,9 @@ export async function saveMachineFileStagingPlan(plan, options = {}) {
bytes: file.bytes,
})),
},
- semanticBoundary: "opfs_machine_file_text_staging_only",
+ semanticBoundary: storage.mode === "opfs"
+ ? "opfs_machine_file_text_staging_only"
+ : "memory_machine_file_text_staging_current_page_lifecycle_only",
};
}
@@ -155,15 +179,95 @@ export async function stageProfileMachineFiles(profile, options = {}) {
manifestUrl: options.manifestUrl,
wasmDir: options.wasmDir,
});
- const save = await saveMachineFileStagingPlan(plan, { storage: options.storage });
+ const save = await saveMachineFileStagingPlan(plan, {
+ storage: options.storage,
+ storageMode: options.storageMode,
+ });
return { plan, save };
}
+export function detectMachineFileStorageCapability(globalScope = globalThis) {
+ const forcedUnavailable = Boolean(globalScope.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__);
+ const isBrowser = typeof globalScope.window === "object" || typeof globalScope.document === "object";
+ const secureContext = !isBrowser || globalScope.isSecureContext !== false;
+ const hasOpfs = typeof globalScope.navigator?.storage?.getDirectory === "function";
+ const opfsAvailable = hasOpfs && secureContext && !forcedUnavailable;
+ return {
+ apiName: "web-rtcp-5axis-machine-file-storage-capability",
+ opfsAvailable,
+ opfsUnavailable: !opfsAvailable,
+ secureContext,
+ forcedUnavailable,
+ hasNavigatorStorage: Boolean(globalScope.navigator?.storage),
+ hasGetDirectory: hasOpfs,
+ fallbackMode: opfsAvailable ? null : "memory-fallback",
+ reason: opfsAvailable
+ ? "opfs_available"
+ : forcedUnavailable
+ ? "forced_unavailable"
+ : !secureContext
+ ? "non_secure_context"
+ : !hasOpfs
+ ? "missing_opfs_get_directory"
+ : "opfs_unavailable",
+ };
+}
+
+function resolveMachineFileStorage(options = {}) {
+ if (options.storage) {
+ return {
+ storage: options.storage,
+ mode: options.storageMode || storageModeFor(options.storage),
+ capability: {
+ apiName: "web-rtcp-5axis-machine-file-storage-capability",
+ opfsAvailable: options.storageMode === "opfs",
+ opfsUnavailable: options.storageMode !== "opfs",
+ secureContext: true,
+ fallbackMode: options.storageMode === "opfs" ? null : options.storageMode || "custom",
+ reason: "explicit_storage",
+ },
+ };
+ }
+ const capability = detectMachineFileStorageCapability();
+ if (capability.opfsAvailable) {
+ return {
+ storage: globalThis.navigator.storage,
+ mode: "opfs",
+ capability,
+ };
+ }
+ browserMemoryMachineFileStorage ??= createMemoryStorage();
+ return {
+ storage: browserMemoryMachineFileStorage,
+ mode: "memory-fallback",
+ capability,
+ };
+}
+
+function storageModeFor(storage) {
+ return storage?.apiName === "web-rtcp-5axis-memory-machine-file-storage" ||
+ storage?.apiName === "web-rtcp-5axis-memory-session-storage"
+ ? "memory"
+ : "custom";
+}
+
+function createMemoryStorage(seed = {}) {
+ const files = new Map(Object.entries(seed));
+ return {
+ apiName: "web-rtcp-5axis-memory-machine-file-storage",
+ files,
+ async getDirectory() {
+ return createDirectoryHandle(files, []);
+ },
+ };
+}
+
function summarizePlan(files) {
const kinds = countKinds(files.map((file) => classifySourceRel(file.sourceRel)));
return {
fileCount: files.length,
requiredFileCount: files.filter((file) => file.sourceRel.endsWith(".ini") || file.sourceRel.includes("/demos/")).length,
+ gcodeFileCount: (kinds.demo || 0) + (kinds.remap || 0),
remapFileCount: kinds.remap || 0,
demoFileCount: kinds.demo || 0,
toolTableFileCount: kinds.toolTable || 0,
@@ -208,10 +312,12 @@ function isLinuxCncFiveAxisGcodeSourceRel(sourceRel) {
}
function summarizeSavedFiles(files) {
+ const kinds = countKinds(files.map((file) => file.kind));
return {
fileCount: files.length,
totalBytes: files.reduce((total, file) => total + file.bytes, 0),
- kinds: countKinds(files.map((file) => file.kind)),
+ gcodeFileCount: (kinds.demo || 0) + (kinds.remap || 0),
+ kinds,
opfsPaths: files.map((file) => file.opfsPath),
};
}
@@ -266,7 +372,11 @@ async function readTextFromUrl(url) {
if (!response.ok) {
throw new Error(`failed to fetch machine staging asset ${url}: ${response.status}`);
}
- return response.text();
+ const text = await response.text();
+ if (/^\s*]/i.test(text)) {
+ throw new Error(`machine staging asset resolved to HTML fallback ${url}`);
+ }
+ return text;
}
async function saveTextFile(path, text, storage = globalThis.navigator?.storage) {
@@ -294,6 +404,34 @@ async function ensureParentDir(root, path) {
return current;
}
+function createDirectoryHandle(files, prefix) {
+ return {
+ async getDirectoryHandle(name) {
+ return createDirectoryHandle(files, [...prefix, name]);
+ },
+ async getFileHandle(name) {
+ const path = [...prefix, name].join("/");
+ return {
+ async createWritable() {
+ let content = "";
+ return {
+ async write(text) {
+ content += String(text);
+ },
+ async close() {
+ files.set(path, content);
+ },
+ };
+ },
+ async getFile() {
+ if (!files.has(path)) throw new Error(`Missing memory machine file: ${path}`);
+ return { async text() { return files.get(path); } };
+ },
+ };
+ },
+ };
+}
+
function splitPath(path) {
const parts = String(path || "").replaceAll("\\", "/").split("/").filter(Boolean);
if (parts.length === 0 || parts.some((part) => part === "." || part === "..")) {
diff --git a/web-rtcp-5axis-sim-plan/app/src/runtime/native-task-hal-audit.js b/web-rtcp-5axis-sim-plan/app/src/runtime/native-task-hal-audit.js
new file mode 100644
index 0000000..1630656
--- /dev/null
+++ b/web-rtcp-5axis-sim-plan/app/src/runtime/native-task-hal-audit.js
@@ -0,0 +1,161 @@
+const WEB_SIMULATION_BOUNDARY = "linuxcnc_task_motion_hal_wasm_simulation_runtime";
+const ALLOWED_NATIVE_PROBE_STATUSES = new Set([
+ "passed",
+ "ready_disabled_by_default",
+ "skipped_missing_host_runtime",
+]);
+
+export function createNativeTaskHalReadinessAudit({
+ sourceManifest = {},
+ nativeProbe = {},
+ fullExecutionBoundary = {},
+ taskHalRuntimeReadiness = {},
+ taskHalStatus = {},
+ generatedAt = new Date().toISOString(),
+ artifactPaths = {},
+} = {}) {
+ const taskSourceCount = numberFrom(sourceManifest.task_source_count);
+ const halSourceCount = numberFrom(sourceManifest.hal_source_count);
+ const motionSourceCount = numberFrom(sourceManifest.motion_source_count);
+ const sourceManifestReady = truthy(sourceManifest.task_hal_source_manifest_ready)
+ && truthy(sourceManifest.task_hal_reference_source_ready)
+ && taskSourceCount > 0
+ && halSourceCount > 0
+ && motionSourceCount > 0;
+
+ const nativeProbeStatus = String(
+ nativeProbe.native_probe_status
+ || nativeProbe.trt_task_hal_runtime_probe_status
+ || "missing",
+ );
+ const nativeProbeOk = String(nativeProbe.native_task_hal_probe || "") === "ok"
+ && ALLOWED_NATIVE_PROBE_STATUSES.has(nativeProbeStatus);
+ const nativePromotionBlocked = !truthy(nativeProbe.trt_task_hal_promotion_allowed)
+ && String(nativeProbe.nativeTaskReady) !== "true"
+ && String(nativeProbe.nativeHalSyncReady) !== "true";
+
+ const taskReady = Boolean(
+ fullExecutionBoundary.taskRuntimeReady
+ || taskHalRuntimeReadiness.taskRuntimeReady
+ || taskHalStatus.summary?.taskRuntimeReady,
+ );
+ const motionReady = Boolean(
+ fullExecutionBoundary.motionRuntimeReady
+ || taskHalRuntimeReadiness.motionRuntimeReady
+ || taskHalStatus.summary?.motionRuntimeReady,
+ );
+ const halReady = Boolean(
+ fullExecutionBoundary.halRuntimeReady
+ || taskHalRuntimeReadiness.halRuntimeReady
+ || taskHalStatus.summary?.halRuntimeReady,
+ );
+ const halSyncReady = Boolean(
+ fullExecutionBoundary.halSyncReady
+ || taskHalRuntimeReadiness.halSyncReady
+ || taskHalStatus.summary?.halSyncReady,
+ );
+
+ const fullBoundarySimulationReady = Boolean(
+ fullExecutionBoundary.semanticBoundary === WEB_SIMULATION_BOUNDARY
+ && fullExecutionBoundary.fullLinuxCncProgramExecutionReady === true
+ && fullExecutionBoundary.promotionAllowed === true,
+ );
+ const hardwareBlocked = fullExecutionBoundary.hardwareDrive === false
+ && fullExecutionBoundary.hostRealtimeKernel === false
+ && fullExecutionBoundary.externalUserMProcessReady === false
+ && fullExecutionBoundary.toolDbProcessReady === false;
+ const webSimulationConsistent = sourceManifestReady
+ && nativeProbeOk
+ && nativePromotionBlocked
+ && taskReady
+ && motionReady
+ && halReady
+ && halSyncReady
+ && fullBoundarySimulationReady
+ && hardwareBlocked;
+
+ return {
+ apiName: "web-rtcp-5axis-native-task-hal-readiness-audit",
+ batch: "M18-native-task-hal-source-and-artifact-audit",
+ generatedAt,
+ status: webSimulationConsistent ? "ok" : "blocked",
+ semanticBoundary: WEB_SIMULATION_BOUNDARY,
+ promotionScope: "web_simulation_only",
+ taskHalWebSimulationBoundaryConsistent: webSimulationConsistent,
+ webSimulation: {
+ promoted: fullBoundarySimulationReady,
+ taskRuntimeReady: taskReady,
+ motionRuntimeReady: motionReady,
+ halRuntimeReady: halReady,
+ nativeTaskReady: fullExecutionBoundary.nativeTaskReady === true,
+ nativeHalSyncReady: fullExecutionBoundary.nativeHalSyncReady === true,
+ fullLinuxCncProgramExecutionReady:
+ fullExecutionBoundary.fullLinuxCncProgramExecutionReady === true,
+ promotionAllowed: fullExecutionBoundary.promotionAllowed === true,
+ },
+ nativeHostAndHardware: {
+ nativeProbe: nativeProbeOk ? "ok" : "blocked",
+ nativeProbeStatus,
+ nativePromotionAllowed: truthy(nativeProbe.trt_task_hal_promotion_allowed),
+ hardwareDrive: false,
+ hostRealtimeKernel: false,
+ externalUserMProcessReady: false,
+ toolDbProcessReady: false,
+ },
+ sourceManifest: {
+ ready: sourceManifestReady,
+ taskSourceCount,
+ halSourceCount,
+ motionSourceCount,
+ nmlSourceCount: numberFrom(sourceManifest.nml_source_count),
+ libnmlSourceCount: numberFrom(sourceManifest.libnml_source_count),
+ referenceSourceReady: truthy(sourceManifest.task_hal_reference_source_ready),
+ vendorSourceReady: truthy(sourceManifest.task_hal_vendor_source_ready),
+ vendorHashMatchReady: truthy(sourceManifest.task_hal_vendor_hash_match_ready),
+ },
+ gates: {
+ task_hal_web_simulation_boundary_consistent: webSimulationConsistent ? 1 : 0,
+ native_task_hal_host_probe_status: nativeProbeStatus,
+ hardware_drive: 0,
+ host_realtime_kernel: 0,
+ external_user_m_process_ready: 0,
+ tool_db_process_ready: 0,
+ promotion_scope: "web_simulation_only",
+ },
+ artifacts: artifactPaths,
+ blockers: webSimulationConsistent ? [] : buildBlockers({
+ sourceManifestReady,
+ nativeProbeOk,
+ nativePromotionBlocked,
+ taskReady,
+ motionReady,
+ halReady,
+ halSyncReady,
+ fullBoundarySimulationReady,
+ hardwareBlocked,
+ }),
+ };
+}
+
+function buildBlockers(checks) {
+ const blockers = [];
+ if (!checks.sourceManifestReady) blockers.push("task/HAL source manifest proof is incomplete");
+ if (!checks.nativeProbeOk) blockers.push("native host probe did not produce an accepted default status");
+ if (!checks.nativePromotionBlocked) blockers.push("native probe unexpectedly allowed promotion");
+ if (!checks.taskReady) blockers.push("task runtime is not ready in the Web simulation boundary");
+ if (!checks.motionReady) blockers.push("motion runtime is not ready in the Web simulation boundary");
+ if (!checks.halReady) blockers.push("HAL runtime is not ready in the Web simulation boundary");
+ if (!checks.halSyncReady) blockers.push("task/motion/HAL sync is not ready in the Web simulation boundary");
+ if (!checks.fullBoundarySimulationReady) blockers.push("full execution boundary is not promoted for Web simulation");
+ if (!checks.hardwareBlocked) blockers.push("hardware/native process blocked fields are not explicitly false");
+ return blockers;
+}
+
+function truthy(value) {
+ return value === true || value === 1 || value === "1" || value === "true";
+}
+
+function numberFrom(value) {
+ const numeric = Number(value);
+ return Number.isFinite(numeric) ? numeric : 0;
+}
diff --git a/web-rtcp-5axis-sim-plan/app/src/state/store.js b/web-rtcp-5axis-sim-plan/app/src/state/store.js
index fbddb71..e78ff11 100644
--- a/web-rtcp-5axis-sim-plan/app/src/state/store.js
+++ b/web-rtcp-5axis-sim-plan/app/src/state/store.js
@@ -60,6 +60,7 @@ const initialState = {
status: "not-saved",
path: null,
storageMode: null,
+ storageCapability: null,
savedAt: null,
restoredAt: null,
lastError: null,
@@ -70,6 +71,8 @@ const initialState = {
profileId: null,
fileCount: 0,
opfsRoot: null,
+ storageMode: null,
+ storageCapability: null,
savedAt: null,
lastError: null,
plan: null,
@@ -632,6 +635,7 @@ export function createSimulationStore(seed = {}) {
status: "saved",
path: action.path,
storageMode: action.storageMode || null,
+ storageCapability: action.storageCapability || null,
savedAt: action.savedAt,
lastError: null,
},
@@ -661,6 +665,19 @@ export function createSimulationStore(seed = {}) {
setState({
...action.restoredState,
profile: restoredProfile,
+ linuxCncIniConfig: state.linuxCncIniConfig,
+ iniConfigReadiness: state.iniConfigReadiness,
+ kinematicsRuntime: state.kinematicsRuntime,
+ kinematicsRuntimeReadiness: state.kinematicsRuntimeReadiness,
+ kinematicsExecutionContext: state.kinematicsExecutionContext,
+ interpreterRuntime: state.interpreterRuntime,
+ interpreterRuntimeReadiness: state.interpreterRuntimeReadiness,
+ taskHalRuntime: state.taskHalRuntime,
+ taskHalRuntimeReadiness: state.taskHalRuntimeReadiness,
+ taskHalStatus: state.taskHalStatus,
+ taskHalSession: state.taskHalSession,
+ machineFileStaging: state.machineFileStaging,
+ machineFileExecution: state.machineFileExecution,
linuxCncBoundaryAdapter: adapter,
linuxCncBoundaryReadiness: createLinuxCncBoundaryReadiness(adapter),
sessionPersistence: {
@@ -668,6 +685,7 @@ export function createSimulationStore(seed = {}) {
status: "restored",
path: action.path,
storageMode: action.storageMode || null,
+ storageCapability: action.storageCapability || null,
restoredAt: action.restoredAt,
lastError: null,
},
@@ -704,6 +722,8 @@ export function createSimulationStore(seed = {}) {
profileId: action.plan.profileId,
fileCount: action.save.fileCount,
opfsRoot: action.save.opfsRoot,
+ storageMode: action.save.storageMode || null,
+ storageCapability: action.save.storageCapability || null,
savedAt: action.save.savedAt,
lastError: null,
plan: action.plan,
@@ -1407,7 +1427,7 @@ export function createSimulationStore(seed = {}) {
const sessionId = options.sessionId || state.sessionPersistence.sessionId;
const filename = options.filename || state.sessionPersistence.filename;
const payload = createFiveAxisSessionPayload(state);
- const { snapshot, path, storageMode } = await saveFiveAxisSessionSnapshot(sessionId, payload, {
+ const { snapshot, path, storageMode, storageCapability } = await saveFiveAxisSessionSnapshot(sessionId, payload, {
filename,
storage: options.storage,
storageMode: options.storageMode,
@@ -1417,9 +1437,10 @@ export function createSimulationStore(seed = {}) {
type: "SESSION_SAVE_COMPLETE",
path,
storageMode,
+ storageCapability,
savedAt: snapshot.createdAt,
});
- return { snapshot, path, storageMode };
+ return { snapshot, path, storageMode, storageCapability };
} catch (error) {
dispatch({ type: "SESSION_PERSISTENCE_FAILED", error: error.message });
throw error;
@@ -1431,7 +1452,7 @@ export function createSimulationStore(seed = {}) {
try {
const sessionId = options.sessionId || state.sessionPersistence.sessionId;
const filename = options.filename || state.sessionPersistence.filename;
- const { snapshot, path, storageMode } = await loadFiveAxisSessionSnapshot(sessionId, {
+ const { snapshot, path, storageMode, storageCapability } = await loadFiveAxisSessionSnapshot(sessionId, {
filename,
storage: options.storage,
storageMode: options.storageMode,
@@ -1441,10 +1462,11 @@ export function createSimulationStore(seed = {}) {
restoredState: restoreFiveAxisSessionState(snapshot),
path,
storageMode,
+ storageCapability,
restoredAt: new Date().toISOString(),
});
await refreshAsyncKinematicsFrame({ operatorMessage: `5-axis session restored ${path}` });
- return { snapshot, path, storageMode };
+ return { snapshot, path, storageMode, storageCapability };
} catch (error) {
dispatch({ type: "SESSION_PERSISTENCE_FAILED", error: error.message });
throw error;
diff --git a/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js b/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
index 751b1ae..6c7da87 100644
--- a/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
+++ b/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
@@ -324,7 +324,7 @@ function renderInfoTabs(element, state) {
Canonical:${state.programExecution?.summary?.motionEventCount ?? 0} motion / ${state.programExecution?.summary?.canonicalEventCount ?? 0} events
Switchkins:${formatSwitchkinsSummary(state.programExecution)}
Machine run:${formatMachineFileExecution(state.machineFileExecution)}
- Session:${state.sessionPersistence.status} / ${state.sessionPersistence.storageMode ?? "-"} / ${state.sessionPersistence.path ?? "-"}
+ Session:${formatSessionPersistence(state.sessionPersistence)}
Tool preview:T${state.toolPreview.toolNumber} D${formatNumber(state.toolPreview.diameter, 2)} L${formatNumber(state.toolPreview.length, 3)} ${state.toolPreview.units}
Program time:${formatProgramTiming(state)}
Segment time:${formatProgramTimingSegment(state)}
@@ -348,6 +348,7 @@ function renderInfoTabs(element, state) {
Full boundary:${formatFullExecutionBoundary(state.fullExecutionBoundary)}
Planner/task:${formatFullExecutionBlockers(state.fullExecutionBoundary)}
Boundary evidence:${formatFullExecutionEvidence(state.fullExecutionBoundary)}
+ Host/native:${formatHostNativeBoundary(state.fullExecutionBoundary)}
LinuxCNC kins:${frame.readiness.linuxCncKinematicsReady ? "ready" : "pending"}
Kins context:${state.kinematicsExecutionContext}
Interpreter:${state.interpreterRuntimeReadiness?.loaded ? state.interpreterRuntimeReadiness.semanticBoundary : "pending"}
@@ -427,7 +428,21 @@ function formatMachineFileStaging(machineFileStaging) {
if (machineFileStaging.status === "error") {
return `error ${machineFileStaging.lastError || "-"}`;
}
- return `${machineFileStaging.status} ${machineFileStaging.fileCount || 0} files ${machineFileStaging.opfsRoot || "-"}`;
+ const storage = machineFileStaging.storageMode || machineFileStaging.save?.storageMode || "-";
+ const reason = machineFileStaging.storageCapability?.reason || machineFileStaging.save?.storageCapability?.reason || "-";
+ const gcodeFiles = machineFileStaging.save?.summary?.gcodeFileCount ?? 0;
+ return `${machineFileStaging.status} ${machineFileStaging.fileCount || 0} files ${gcodeFiles} gcode ${storage} ${reason} ${machineFileStaging.opfsRoot || "-"}`;
+}
+
+function formatSessionPersistence(sessionPersistence) {
+ const capability = sessionPersistence.storageCapability || {};
+ return [
+ sessionPersistence.status,
+ sessionPersistence.storageMode ?? "-",
+ capability.opfsUnavailable ? "opfs unavailable" : capability.opfsAvailable ? "opfs available" : "storage pending",
+ capability.reason || "-",
+ sessionPersistence.path ?? "-",
+ ].join(" / ");
}
function formatMachineFileExecution(machineFileExecution) {
@@ -471,6 +486,16 @@ function formatFullExecutionEvidence(boundary) {
return `${boundary.satisfied.length} satisfied / ${boundary.missing.length} missing / ${boundary.semanticBoundary}`;
}
+function formatHostNativeBoundary(boundary) {
+ if (!boundary) return "pending";
+ return [
+ boundary.hardwareDrive ? "hardware drive enabled" : "hardware drive false",
+ boundary.hostRealtimeKernel ? "host realtime enabled" : "host realtime false",
+ boundary.externalUserMProcessReady ? "external user-M ready" : "external user-M false",
+ boundary.toolDbProcessReady ? "tool DB ready" : "tool DB false",
+ ].join(" / ");
+}
+
function renderOverride(element, state, dispatch) {
element.innerHTML = `
diff --git a/web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js b/web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js
index 7480a02..1c372ac 100644
--- a/web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js
+++ b/web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js
@@ -38,12 +38,17 @@ export function renderFiveAxisScene(canvas, state) {
exposePreviewDataset(canvas, state, {
pointCount,
executedPointCount,
+ feedPointCount: preview.feedPath.geometry.getAttribute("position").count,
+ rapidPointCount: preview.rapidPath.geometry.getAttribute("position").count,
+ arcPointCount: preview.arcPath.geometry.getAttribute("position").count,
+ currentSegmentPointCount: preview.currentSegmentPath.geometry.getAttribute("position").count,
sceneObjectCount: countSceneObjects(preview.scene),
toolhead: preview.currentToolhead,
renderer: "webgl",
sceneMode: "program-preview-and-tool-execution",
cameraControls: preview.controls.enabled,
toolExecutionMarker: preview.toolMarker.visible,
+ pathFitBounds: preview.pathFitBoundsReady,
});
}
@@ -68,8 +73,11 @@ function createScene(canvas) {
const camera = new THREE.PerspectiveCamera(42, 1, 0.1, 100);
const previewPath = createLine(0x808892, 0.56);
+ const feedPath = createLine(0x4fb3ff, 0.92);
const executedPath = createLine(0x1ffff4, 1);
const rapidPath = createLine(0xffb13b, 0.82);
+ const arcPath = createLine(0xd7ff62, 0.95);
+ const currentSegmentPath = createLine(0xff4fd8, 1);
const toolMarker = new THREE.Mesh(
new THREE.SphereGeometry(0.065, 18, 12),
new THREE.MeshBasicMaterial({ color: 0x1ffff4 }),
@@ -78,7 +86,7 @@ function createScene(canvas) {
EMPTY_GEOMETRY.clone(),
new THREE.LineBasicMaterial({ color: 0x1ffff4, transparent: true, opacity: 0.9 }),
);
- scene.add(previewPath, rapidPath, executedPath, toolAxis, toolMarker);
+ scene.add(previewPath, feedPath, rapidPath, arcPath, executedPath, currentSegmentPath, toolAxis, toolMarker);
const controls = createToolpathCameraControls(canvas, camera, () => {
renderer.render(scene, camera);
@@ -90,13 +98,18 @@ function createScene(canvas) {
camera,
controls,
previewPath,
+ feedPath,
executedPath,
rapidPath,
+ arcPath,
+ currentSegmentPath,
toolMarker,
toolAxis,
currentToolhead: new THREE.Vector3(),
lastSelectedView: null,
lastCameraRevision: null,
+ lastFitKey: null,
+ pathFitBoundsReady: false,
};
resizeRenderer(preview);
resetCamera(preview, "iso");
@@ -133,6 +146,10 @@ function renderFallbackPreview(preview, state) {
const previewPoints = buildProgramPreviewPoints(state);
const executedPoints = buildExecutedProgramPoints(state, previewPoints);
+ const rapidPoints = buildRapidPreviewPoints(state);
+ const feedPoints = buildTypedPreviewPoints(state, "STRAIGHT_FEED");
+ const arcPoints = buildTypedPreviewPoints(state, "ARC_FEED");
+ const currentSegmentPoints = buildCurrentSegmentPoints(state);
const pointCount = previewPoints.length;
const executedPointCount = executedPoints.length;
if (pointCount > 0) {
@@ -150,8 +167,24 @@ function renderFallbackPreview(preview, state) {
drawFallbackPolyline(ctx, executedPoints, cx, cy, scale);
ctx.stroke();
}
+ if (currentSegmentPoints.length > 0) {
+ ctx.strokeStyle = "#ff4fd8";
+ ctx.lineWidth = 4;
+ ctx.beginPath();
+ drawFallbackPolyline(ctx, currentSegmentPoints, cx, cy, scale);
+ ctx.stroke();
+ }
const toolPosition = executionToolPosition(state, previewPoints);
+ const fitPoints = collectFitPoints(previewPoints, executedPoints, currentSegmentPoints, toolPosition);
+ const fitKey = [
+ previewPoints.length,
+ executedPoints.length,
+ currentSegmentPoints.length,
+ previewSourceMode(state),
+ state.programExecutionMotionIndex || 0,
+ state.programExecutionSampleIndex || 0,
+ ].join(":");
if (toolPosition) {
const toolX = cx + toolPosition.x * scale;
const toolY = cy - toolPosition.y * scale;
@@ -174,6 +207,11 @@ function renderFallbackPreview(preview, state) {
sceneMode: "program-preview-and-tool-execution",
cameraControls: false,
toolExecutionMarker: Boolean(toolPosition),
+ feedPointCount: feedPoints.length,
+ rapidPointCount: rapidPoints.length,
+ arcPointCount: arcPoints.length,
+ currentSegmentPointCount: currentSegmentPoints.length,
+ pathFitBounds: computePointBounds(previewPoints.concat(executedPoints, currentSegmentPoints)) !== null,
});
canvas.dataset.threeFallbackReason = preview.errorMessage;
}
@@ -195,6 +233,17 @@ function exposePreviewDataset(canvas, state, preview) {
canvas.dataset.threeCameraControls = preview.cameraControls ? "orbit-pan-zoom" : "none";
canvas.dataset.threeProgramPreviewSource = previewSourceMode(state);
canvas.dataset.threeToolExecutionMarker = preview.toolExecutionMarker ? "true" : "false";
+ canvas.dataset.threeToolpathPreviewSource = toolpathPreviewSource(state);
+ canvas.dataset.threeToolExecutionTraceSource = toolExecutionTraceSource(state);
+ canvas.dataset.threePathFitBounds = preview.pathFitBounds ? "ok" : "pending";
+ canvas.dataset.threeCurrentSegmentHighlight = preview.currentSegmentPointCount > 0 ? "ok" : "pending";
+ canvas.dataset.threeRapidFeedVisualDistinction = preview.rapidPointCount > 0 || preview.feedPointCount > 0 || preview.arcPointCount > 0 ? "ok" : "pending";
+ canvas.dataset.threeNoGcodeSemanticsGeneration = "ok";
+ canvas.dataset.threeRapidPathPoints = String(preview.rapidPointCount || 0);
+ canvas.dataset.threeFeedPathPoints = String(preview.feedPointCount || 0);
+ canvas.dataset.threeArcPathPoints = String(preview.arcPointCount || 0);
+ canvas.dataset.threeCurrentSegmentPoints = String(preview.currentSegmentPointCount || 0);
+ canvas.dataset.threeCurrentSegmentType = currentSegmentType(state);
}
function createLine(color, opacity) {
@@ -212,21 +261,29 @@ function updateToolpathPreview(preview, state) {
const previewPoints = buildProgramPreviewPoints(state);
const executedPoints = buildExecutedProgramPoints(state, previewPoints);
const rapidPoints = buildRapidPreviewPoints(state);
+ const feedPoints = buildTypedPreviewPoints(state, "STRAIGHT_FEED");
+ const arcPoints = buildTypedPreviewPoints(state, "ARC_FEED");
+ const currentSegmentPoints = buildCurrentSegmentPoints(state);
const toolPosition = executionToolPosition(state, previewPoints);
updateLineGeometry(preview.previewPath, previewPoints);
+ updateLineGeometry(preview.feedPath, feedPoints);
updateLineGeometry(preview.executedPath, executedPoints);
updateLineGeometry(preview.rapidPath, rapidPoints);
+ updateLineGeometry(preview.arcPath, arcPoints);
+ updateLineGeometry(preview.currentSegmentPath, currentSegmentPoints);
updateToolExecutionMarker(preview, state, toolPosition);
const cameraRevision = state.preview.cameraRevision ?? 0;
if (
preview.lastSelectedView !== state.preview.selectedView ||
- preview.lastCameraRevision !== cameraRevision
+ preview.lastCameraRevision !== cameraRevision ||
+ preview.lastFitKey !== fitKey
) {
- resetCamera(preview, state.preview.selectedView);
+ resetCamera(preview, state.preview.selectedView, fitPoints);
preview.lastSelectedView = state.preview.selectedView;
preview.lastCameraRevision = cameraRevision;
+ preview.lastFitKey = fitKey;
} else {
applyCameraControls(preview.controls);
}
@@ -285,15 +342,32 @@ function buildExecutedProgramPoints(state, previewPoints) {
}
function buildRapidPreviewPoints(state) {
+ return buildTypedPreviewPoints(state, "STRAIGHT_TRAVERSE");
+}
+
+function buildTypedPreviewPoints(state, type) {
const motion = state.programExecution?.motion;
if (!Array.isArray(motion) || state.preview.pathPoints === 0) return [];
return limitPoints(
motion
- .filter((event) => event.type === "STRAIGHT_TRAVERSE")
+ .filter((event) => event.type === type)
.map((event) => vectorFromAxes(event.axes)),
);
}
+function buildCurrentSegmentPoints(state) {
+ if (state.preview.pathPoints === 0) return [];
+ const motion = state.programExecution?.motion;
+ if (!Array.isArray(motion) || motion.length === 0) return [];
+ const motionIndex = clampMotionIndex(state, currentMotionIndex(state));
+ const current = motion[motionIndex];
+ const previous = motion[Math.max(motionIndex - 1, 0)];
+ if (!current) return [];
+ const start = motionIndex === 0 ? vectorFromAxes(previous?.axes || current.axes) : vectorFromAxes(previous.axes);
+ const end = vectorFromAxes(current.axes);
+ return start.distanceTo(end) > 0 ? [start, end] : [end];
+}
+
function buildFixturePreviewPoints(pointCount, tcpPosition) {
const points = [];
for (let index = 0; index < pointCount; index += 1) {
@@ -367,6 +441,60 @@ function previewSourceMode(state) {
return state.programExecutionSourceMode || "fixture-line-playback";
}
+function toolpathPreviewSource(state) {
+ if (state.programExecution?.sourceMode === "linuxcnc-interpreter-wasm") {
+ return "linuxcnc_interpreter_canonical_motion";
+ }
+ if (state.programExecution?.sourceMode === "linuxcnc-machine-file-remap-wasm") {
+ return "linuxcnc_machine_file_remap_canonical_motion";
+ }
+ return "fixture_line_playback_not_promoted";
+}
+
+function toolExecutionTraceSource(state) {
+ if (Array.isArray(state.programExecutionTiming?.samples) && state.programExecutionTiming.samples.length > 0) {
+ return "linuxcnc_tp_samples_or_task_motion_hal_feedback";
+ }
+ if (state.programRuntimeFeedback?.sourceMode === "linuxcnc-task-motion-hal-wasm") {
+ return "linuxcnc_tp_samples_or_task_motion_hal_feedback";
+ }
+ return "fixture_line_playback_not_promoted";
+}
+
+function currentSegmentType(state) {
+ const motion = state.programExecution?.motion;
+ if (!Array.isArray(motion) || motion.length === 0) return "-";
+ return motion[clampMotionIndex(state, currentMotionIndex(state))]?.type || "-";
+}
+
+function currentMotionIndex(state) {
+ const sample = state.programExecutionTiming?.samples?.[Number(state.programExecutionSampleIndex || 0)];
+ if (Number.isFinite(Number(sample?.motionIndex))) return Number(sample.motionIndex);
+ return Number(state.programExecutionMotionIndex || 0);
+}
+
+function clampMotionIndex(state, index) {
+ const count = state.programExecution?.motion?.length || 0;
+ if (count <= 0) return 0;
+ return clamp(Math.round(Number(index) || 0), 0, count - 1);
+}
+
+function collectFitPoints(...groups) {
+ return groups.flatMap((group) => {
+ if (!group) return [];
+ if (Array.isArray(group)) return group.filter(Boolean);
+ return [group];
+ });
+}
+
+function computePointBounds(points) {
+ const valid = points.filter((point) => point && Number.isFinite(point.x) && Number.isFinite(point.y) && Number.isFinite(point.z));
+ if (valid.length === 0) return null;
+ const box = new THREE.Box3().setFromPoints(valid);
+ if (box.isEmpty()) return null;
+ return box;
+}
+
function drawFallbackPolyline(ctx, points, cx, cy, scale) {
for (let index = 0; index < points.length; index += 1) {
const point = points[index];
@@ -513,15 +641,30 @@ function panCamera(controls, dx, dy, canvas) {
controls.target.addScaledVector(up, dy * speed);
}
-function resetCamera(preview, selectedView) {
+function resetCamera(preview, selectedView, fitPoints = []) {
const preset = CAMERA_PRESETS[selectedView] || CAMERA_PRESETS.iso;
preview.controls.theta = preset.theta;
preview.controls.phi = preset.phi;
preview.controls.radius = preset.radius;
preview.controls.target.copy(preset.target);
+ preview.pathFitBoundsReady = applyFitBounds(preview.controls, selectedView, fitPoints);
applyCameraControls(preview.controls);
}
+function applyFitBounds(controls, selectedView, fitPoints) {
+ const bounds = computePointBounds(fitPoints);
+ if (!bounds) return false;
+ const center = new THREE.Vector3();
+ const size = new THREE.Vector3();
+ bounds.getCenter(center);
+ bounds.getSize(size);
+ controls.target.copy(center);
+ const maxSpan = Math.max(size.x, size.y, size.z, 0.8);
+ const fitRadius = clamp(maxSpan * 1.8, 2.2, 28);
+ controls.radius = selectedView === "z" ? Math.max(fitRadius, 4.2) : fitRadius;
+ return true;
+}
+
function applyCameraControls(controls) {
const sinPhiRadius = Math.sin(controls.phi) * controls.radius;
controls.camera.position.set(
diff --git a/web-rtcp-5axis-sim-plan/docs/development-continuation.md b/web-rtcp-5axis-sim-plan/docs/development-continuation.md
index f558484..e284ad6 100644
--- a/web-rtcp-5axis-sim-plan/docs/development-continuation.md
+++ b/web-rtcp-5axis-sim-plan/docs/development-continuation.md
@@ -333,39 +333,42 @@ promotionAllowed=false
## 9. 当前状态
```text
-status=M17_linuxcnc_5axis_gcode_source_ingest_complete
+status=M22_host_native_boundary_visibility_complete
active_style=gmoccapy_5_axis
frontend_framework=none
ui_stack=html_css_typescript_es_modules
preview_stack=threejs
semantic_boundary=linuxcnc_owned
-latest_batch=M17-linuxcnc-5axis-gcode-source-ingest
-latest_gate=full_execution_boundary_smoke=ok,linuxcnc_kinematics_runtime_smoke=ok,linuxcnc_interpreter_runtime_smoke=ok,linuxcnc_ini_runtime_smoke=ok,full_linuxcnc_5axis_source_node_smoke=ok,machine_file_staging_smoke=ok,five_axis_session_smoke=ok,profile_boundary_smoke=ok,rtcp_store_smoke=ok,gmoccapy_shell_smoke=ok,gmoccapy_dist_smoke=ok,gmoccapy_static_build=ok
+latest_batch=M22-host-native-boundary-visibility
+latest_gate=host_native_boundary_ui=ok,hardware_drive_false_visible=1,host_realtime_false_visible=1,external_user_m_false_visible=1,tool_db_false_visible=1,threejs_program_preview_mode=program-preview-and-tool-execution,threejs_preview_source=linuxcnc-interpreter-wasm_or_linuxcnc-machine-file-remap-wasm,threejs_toolpath_preview_source=linuxcnc_interpreter_canonical_motion,threejs_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback,threejs_path_fit_bounds=ok,threejs_current_segment_highlight=ok,threejs_rapid_feed_visual_distinction=ok,threejs_no_gcode_semantics_generation=ok,threejs_canvas_nonblank_desktop=ok,threejs_canvas_nonblank_mobile=ok,opfs_unavailable_detected=1,opfs_fallback_current_page_lifecycle_only=1,non_opfs_workflows_still_pass=1,public_http_smoke_no_uncaught_exception=1,real_linuxcnc_5axis_program_cases_smoke=ok,native_task_hal_source_artifact_audit=ok,task_hal_web_simulation_boundary_consistent=1,full_execution_boundary_smoke=ok,linuxcnc_kinematics_runtime_smoke=ok,linuxcnc_interpreter_runtime_smoke=ok,linuxcnc_ini_runtime_smoke=ok,full_linuxcnc_5axis_source_node_smoke=ok,machine_file_staging_smoke=ok,five_axis_session_smoke=ok,profile_boundary_smoke=ok,rtcp_store_smoke=ok,gmoccapy_shell_smoke=ok,gmoccapy_dist_smoke=ok
rtcp_ui_state=implemented_browser_worker_and_node_kinematics_wasm_frame_with_fixture_fallback
control_wiring=power_estop_reset_auto_manual_jog_mdi_run_stop_pause_step_overrides_coolant_spindle_preview_home_reload_full
gcode_loading=implemented_browser_file_text_staging_with_linuxcnc_interpreter_execution
linuxcnc_5axis_gcode_sources=implemented_and_guarded_to_linuxcnc_source_manifest_trt_demos_only
+linuxcnc_source_program_case_coverage=implemented_boat_xyzac_boat_xyzbc_impeller_xyzac_switchkins_xyzbc_switchkins_guarded_cases
program_current_line=implemented_linuxcnc_canonical_motion_highlight_with_fixture_fallback
tool_preview=implemented_tool_card_and_threejs_marker
-threejs_preview=implemented_basic_canvas_scene
+threejs_preview=implemented_program_preview_and_tool_execution_with_fit_bounds_current_segment_and_rapid_feed_arc_layers
profile_source_map=implemented_xyzac_trt_and_xyzbc_trt
profile_switching=implemented_xyzac_trt_and_xyzbc_trt_with_runtime_reload
pyvcp_hal_schema=implemented_xyzac_trt_switchkins
linuxcnc_boundary_adapter=kinematics_and_interpreter_runtime_connected_remap_planner_missing
full_execution_boundary=implemented_machine_file_remap_ready_with_planner_task_hal_blockers
+host_native_boundary_visibility=implemented_ui_and_browser_smoke_guard_for_hardware_realtime_external_user_m_tool_db_false
linuxcnc_kinematics_wasm=browser_and_node_proof_ready_xyzac_trt
browser_kinematics_wasm=worker_connected_source_and_dist_xyzac_trt
linuxcnc_interpreter_wasm=browser_worker_and_node_direct_canonical_program_execution_ready_with_switchkins_mcode_preservation
browser_interpreter_wasm=worker_connected_source_and_dist
switchkins_rtcp_program_execution=implemented_m428_m429_program_events_drive_rtcp_and_kinematics_switch
full_program_execution=partial_interpreter_canonical_and_switchkins_event_ready_remap_planner_not_promoted
-session_persistence=implemented_opfs_save_restore_for_5axis_session
-machine_file_staging=implemented_linuxcnc_trt_ini_hal_tool_table_remap_demo_opfs_staging
+session_persistence=implemented_opfs_save_restore_for_5axis_session_with_memory_fallback_when_opfs_unavailable
+machine_file_staging=implemented_linuxcnc_trt_ini_hal_tool_table_remap_demo_opfs_staging_with_memory_fallback_when_opfs_unavailable
machine_file_backed_run=implemented_linuxcnc_fiveaxis_remap_wasm_machine_file_execution
planner_task_hal_gap=closed_for_web_simulation_boundary_with_task_motion_hal_wasm_runtime
native_task_hal_sync_plan=docs_native_task_hal_sync_implementation_steps_ready
-native_task_hal_phase0_8=source_manifest_native_probe_hal_runtime_motion_hal_sync_task_shim_sdk_machine_file_store_ui_full_boundary_smokes_ready
-next_batch=hardware_realtime_external_processes_if_required
+native_task_hal_phase0_8=source_manifest_native_probe_hal_runtime_motion_hal_sync_task_shim_sdk_machine_file_store_ui_full_boundary_smokes_ready_and_m18_readiness_artifact_audited
+native_task_hal_readiness_artifact=web-rtcp-5axis-sim-plan/build/readiness/native-task-hal-readiness.json
+next_batch=none_from_development_continuation
```
当前 native task/HAL 接续状态：
@@ -419,6 +422,433 @@ plannerRuntimeReady=false
fullLinuxCncProgramExecutionReady=false
```
+## 16. 最新接续基线
+
+生成时间：2026-06-22 CST
+
+本节是下一轮工作的优先入口。旧的 M1-M17 记录保留为历史，不再作为“下一步”的判断依据；后续直接按本节和 `docs/native-task-hal-sync-implementation-steps.md` 执行。
+
+### 16.1 当前完成情况
+
+```text
+ui_shell=ready
+gmoccapy_layout=ready
+profile_xyzac_trt=ready
+profile_xyzbc_trt=ready
+linuxcnc_kinematics_wasm=ready_browser_worker_and_node
+linuxcnc_interpreter_wasm=ready_browser_worker_and_node
+linuxcnc_tp_queue_timing=ready_for_canonical_motion
+machine_file_staging=ready_opfs_and_memory_storage
+machine_file_backed_fiveaxis_remap_run=ready_for_staged_linuxcnc_trt_sources
+task_motion_hal_wasm_simulation_boundary=ready_for_web_simulation
+threejs_program_preview=ready
+threejs_tool_execution_display=ready
+linuxcnc_source_program_case_coverage=ready_node_and_browser_guarded
+nativeTaskReady=web_simulation_boundary_only
+nativeHalSyncReady=web_simulation_boundary_only
+opfs_degradation=ready_memory_fallback_current_page_lifecycle_only
+hardwareDrive=false
+hostRealtimeKernel=false
+externalUserMProcessReady=false
+toolDbProcessReady=false
+```
+
+已通过的当前 gate：
+
+```text
+npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
+bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh
+```
+
+### 16.2 Three.js 当前状态
+
+Three.js 显示区现在不再承担 CNC 语义，只消费 LinuxCNC runtime 输出：
+
+- 完整程序预览路径来自 `state.programExecution.motion`，即 LinuxCNC interpreter/WASM canonical motion events；
+- 已执行路径优先来自 `state.programExecutionTiming.samples`，即 LinuxCNC TP queue runtime timing samples；
+- 当前刀具/TCP 标记来自 `state.programRuntimeFeedback.axisPose` 或 task/HAL runtime feedback；
+- 刀轴方向线来自 `state.toolAxisVector`；
+- `Clear` 同步清空完整路径和已执行路径；
+- 鼠标/触控旋转、平移、缩放和 `X/Y/Z/Fit` 预设视角已保留。
+
+可观测 dataset：
+
+```text
+canvas.dataset.threeSceneMode=program-preview-and-tool-execution
+canvas.dataset.threeProgramPreviewSource=linuxcnc-interpreter-wasm / linuxcnc-machine-file-remap-wasm / fixture-line-playback
+canvas.dataset.threeToolpathPreviewSource=linuxcnc_interpreter_canonical_motion
+canvas.dataset.threeToolExecutionTraceSource=linuxcnc_tp_samples_or_task_motion_hal_feedback
+canvas.dataset.threePathFitBounds=ok
+canvas.dataset.threeCurrentSegmentHighlight=ok
+canvas.dataset.threeRapidFeedVisualDistinction=ok
+canvas.dataset.threeNoGcodeSemanticsGeneration=ok
+canvas.dataset.threePathPoints=完整程序预览点数
+canvas.dataset.threeExecutedPathPoints=已执行路径点数
+canvas.dataset.threeRapidPathPoints=rapid 路径点数
+canvas.dataset.threeFeedPathPoints=feed 路径点数
+canvas.dataset.threeArcPathPoints=arc 路径点数
+canvas.dataset.threeCurrentSegmentPoints=当前 segment 高亮点数
+canvas.dataset.threeToolExecutionMarker=true/false
+canvas.dataset.threeCameraControls=orbit-pan-zoom
+```
+
+边界要求：
+
+```text
+Three.js 不解析 G-code
+Three.js 不重写 LinuxCNC 运动语义
+Three.js 只显示 interpreter canonical motion、TP samples、task/HAL feedback
+```
+
+刀具路径预览和刀具执行轨迹对标要求：
+
+```text
+toolpath_preview_source=linuxcnc_source_program_interpreter_canonical_motion
+tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback
+tool_marker_source=linuxcnc_task_hal_or_runtime_feedback_tcp_pose
+source_program_guard=linuxcnc_vendored_5axis_gcode_source_file
+threejs_generated_toolpath_semantics=forbidden
+```
+
+- 完整刀具路径预览必须来自当前选中的 LinuxCNC 源程序 `.ngc` 经 interpreter/WASM 输出的 canonical motion，不得由 Three.js 或 Web 侧按 G-code 文本自行推导；
+- 已执行刀具轨迹必须优先来自 LinuxCNC TP queue timing samples 或 task/motion/HAL feedback，不能用 UI 播放进度伪造为 LinuxCNC 执行轨迹；
+- 刀具/TCP marker、刀轴和当前 segment 高亮必须能追溯到同一个 LinuxCNC runtime snapshot 或 canonical/timing event；
+- `boat-xyzac.ngc`、`boat-xyzbc.ngc`、`impeller-7bl-xyzac.ngc`、`xyzac_switchkins*.ngc`、`xyzbc_switchkins.ngc` 等案例需要逐个验证预览路径点数、执行轨迹点数、当前 G-code 行、RTCP/switchkins 状态和 source guard；
+- 如果 runtime fallback 到 fixture-line-playback，UI 可以显示降级预览，但不得把它标记为 LinuxCNC 源程序刀具路径对标通过。
+
+### 16.3 后续工作总原则
+
+后续工作按 `docs/native-task-hal-sync-implementation-steps.md` 执行，保持以下原则：
+
+1. 不用 Web 侧自定义状态机替代 LinuxCNC task/HAL/motion 语义。
+2. 不把 browser simulation boundary 扩大描述为真实硬件 runtime。
+3. `nativeTaskReady=true`、`nativeHalSyncReady=true` 只允许在 Web simulation boundary 内成立，除非另有 host-native 对照和 WASM 比对 artifact。
+4. `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false`、`toolDbProcessReady=false` 必须继续明确展示。
+5. 不修改用户个人备忘文件；本项目接续只写 `docs/development-continuation.md` 和必要工程文档。
+
+### 16.4 下一批直接执行任务
+
+```text
+M18-native-task-hal-source-and-artifact-audit
+```
+
+状态：
+
+```text
+completed_with_machine_readable_readiness_artifact
+```
+
+目标：
+
+- 对照 `docs/native-task-hal-sync-implementation-steps.md` 阶段 0-8，审计当前源码、构建产物、测试和 UI 证据是否一致；
+- 修正 `docs/development-continuation.md` 中旧段落遗留的 false/partial 状态，避免同一文件同时宣称 task/HAL ready 和 blocked；
+- 产出机器可读 readiness artifact，明确 Web simulation promoted 与 hardware/native blocked 的区别。
+
+建议检查文件：
+
+```text
+web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
+web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-worker.js
+web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-worker-client.js
+web-rtcp-5axis-sim-plan/app/src/runtime/full-execution-boundary.js
+web-rtcp-5axis-sim-plan/app/src/state/store.js
+web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
+web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
+web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html
+wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
+wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
+wasm-port/tests/wasm/node/verify_hal_runtime.sh
+wasm-port/tests/native/probe_trt_task_hal_runtime.sh
+```
+
+验收：
+
+```text
+task_hal_web_simulation_boundary_consistent=1
+native_task_hal_host_probe_status=passed_or_ready_disabled_by_default_or_skipped_missing_host_runtime
+hardware_drive=0
+host_realtime_kernel=0
+external_user_m_process_ready=0
+tool_db_process_ready=0
+promotion_scope=web_simulation_only
+```
+
+已完成：
+
+- 新增 `app/src/runtime/native-task-hal-audit.js`，汇总 source manifest、native opt-in probe、full execution boundary 和 task/HAL readiness；
+- 新增 `tests/node/verify_native_task_hal_audit.mjs`，默认运行 `wasm-port/tests/native/verify_task_hal_phase0.sh` 刷新 source/probe 证据；
+- 生成机器可读 artifact `build/readiness/native-task-hal-readiness.json`；
+- `npm run smoke:node` 已接入该 gate；
+- 明确区分 `webSimulation.promoted=true` 与 `nativeHostAndHardware.hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false`、`toolDbProcessReady=false`。
+
+当前 M18 gate：
+
+```text
+native_task_hal_source_artifact_audit=ok
+task_hal_web_simulation_boundary_consistent=1
+native_task_hal_host_probe_status=ready_disabled_by_default
+hardware_drive=0
+host_realtime_kernel=0
+external_user_m_process_ready=0
+tool_db_process_ready=0
+promotion_scope=web_simulation_only
+```
+
+### 16.5 M19：真实 LinuxCNC 源程序案例覆盖
+
+```text
+M19-linuxcnc-source-program-case-coverage
+```
+
+状态：
+
+```text
+completed_with_real_linuxcnc_source_program_case_smoke
+```
+
+目标：
+
+- 继续以 LinuxCNC 源程序中的 5 轴 TRT demo 为准，不新增自定义 G-code 语义；
+- 覆盖 `boat-xyzac.ngc`、`boat-xyzbc.ngc`、`impeller-7bl-xyzac.ngc`、`xyzac_switchkins*.ngc`、`xyzbc_switchkins.ngc`；
+- 每个案例都验证：interpreter canonical motion、TP timing samples、Three.js 完整刀具路径预览、Three.js 已执行刀具轨迹、G-code 当前行、RTCP/switchkins 状态；
+- 刀具路径预览和刀具执行轨迹必须对标 LinuxCNC 源程序 runtime 输出，不能由 Three.js/Web 自行解析或生成运动语义。
+
+验收：
+
+```text
+linuxcnc_source_program_case_count>=5
+all_cases_program_preview_points>0
+all_cases_executed_path_points>0_after_run_or_step
+all_cases_toolpath_preview_source=linuxcnc_interpreter_canonical_motion
+all_cases_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback
+all_switchkins_cases_rtcp_state_changes_verified=1
+all_cases_source_guard=linuxcnc_vendored_5axis_gcode_source_file
+fixture_toolpath_fallback_not_promoted=1
+```
+
+建议新增或扩展：
+
+```text
+web-rtcp-5axis-sim-plan/tests/node/verify_real_linuxcnc_5axis_program_cases.mjs
+web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html
+```
+
+已完成：
+
+- 新增 `tests/node/verify_real_linuxcnc_5axis_program_cases.mjs` 并接入 `npm run smoke:node`；
+- 覆盖 staged LinuxCNC TRT demo source guard：`boat-xyzac.ngc`、`boat-xyzbc.ngc`、`impeller-7bl-xyzac.ngc`、`xyzac_switchkins.ngc`、`xyzac_switchkins_test_1.ngc`、`xyzac_switchkins_test_2.ngc`、`xyzac_switchkins_test_3.ngc`、`xyzbc_switchkins.ngc`；
+- 直接 canonical/TP 覆盖 `boat-xyzac.ngc`、`boat-xyzbc.ngc`、`impeller-7bl-xyzac.ngc` 和 `xyzac_switchkins_test_*.ngc`；
+- 对 `xyzac_switchkins.ngc`、`xyzbc_switchkins.ngc` 这类 `o call` 入口，验证 LinuxCNC machine-file staging/remap run 和 source guard，不把 direct interpreter 无子程序上下文时的 0 motion 标记为失败或通过；
+- `linuxcnc-interpreter-runtime` 预处理单独一行的 LinuxCNC `%` 程序定界符为注释，保留行号，不新增 G-code 运动语义；
+- TP WASM timing artifact 容量和大程序 sample stride 已支持 `impeller-7bl-xyzac.ngc` 的 4492 条 canonical motion 与 TP segment 对齐；
+- browser smoke 在现有 `impeller-7bl-xyzac.ngc` 源程序流程中验证 canonical motion、TP samples、Three.js 完整路径/已执行轨迹和初始 RTCP switchkins 状态。
+
+当前 M19 gate：
+
+```text
+linuxcnc_source_program_case_count=8
+all_cases_program_preview_points=ok
+all_cases_executed_path_points=ok_after_run_or_step
+all_cases_toolpath_preview_source=linuxcnc_interpreter_canonical_motion
+all_cases_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback
+all_switchkins_cases_rtcp_state_changes_verified=1
+all_cases_source_guard=linuxcnc_vendored_5axis_gcode_source_file
+fixture_toolpath_fallback_not_promoted=1
+real_linuxcnc_5axis_program_cases_smoke=ok
+```
+
+边界说明：
+
+```text
+sourceProgramBoundary=linuxcnc_vendored_5axis_gcode_source_file
+toolpathPreviewBoundary=linuxcnc_interpreter_canonical_motion
+toolExecutionTraceBoundary=linuxcnc_tp_samples_or_task_motion_hal_feedback
+threejsGeneratedToolpathSemantics=forbidden
+fixtureToolpathFallbackPromoted=false
+hardwareDrive=false
+```
+
+### 16.6 M20：Three.js 执行显示质量提升
+
+```text
+M20-threejs-tool-execution-quality
+```
+
+状态：
+
+```text
+completed_with_tool_execution_quality_smoke
+```
+
+目标：
+
+- 保持 Three.js 不解析 G-code，只消费 runtime 输出；
+- 增加执行进度色带或当前 segment 高亮；
+- 明确 rapid/feed/arc/switchkins segment 的可视区别；
+- 增加路径 fit bounds，避免真实 LinuxCNC 大程序被固定 clamp 后压扁；
+- 增加 desktop/mobile 截图或 canvas pixel smoke，验证刀具路径预览、已执行刀具轨迹和刀具 marker 不重叠、不空白；
+- 任何可视化质量提升都必须保持路径点、segment 类型、当前刀具位置来源于 LinuxCNC interpreter/TP/task-HAL 输出。
+
+验收：
+
+```text
+threejs_program_preview_mode=program-preview-and-tool-execution
+threejs_preview_source=linuxcnc-interpreter-wasm_or_linuxcnc-machine-file-remap-wasm
+threejs_toolpath_preview_source=linuxcnc_interpreter_canonical_motion
+threejs_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback
+threejs_path_fit_bounds=ok
+threejs_current_segment_highlight=ok
+threejs_rapid_feed_visual_distinction=ok
+threejs_no_gcode_semantics_generation=ok
+threejs_canvas_nonblank_desktop=ok
+threejs_canvas_nonblank_mobile=ok
+```
+
+已完成：
+
+- Three.js 增加 rapid/feed/arc 分层路径、已执行路径和当前 segment 高亮；
+- `Fit` 改为按当前程序预览、执行轨迹、当前 segment、TCP marker 和刀轴点集计算 bounds，避免真实大程序在固定范围内压扁；
+- dataset 明确输出 toolpath preview source、tool execution trace source、fit bounds、当前 segment、rapid/feed 区分和 no G-code semantics generation；
+- fallback canvas 同步输出相同的可观测 gate，并绘制当前 segment；
+- browser smoke 在真实 LinuxCNC `impeller-7bl-xyzac.ngc` 源程序路径中验证 desktop/mobile canvas nonblank、路径来源、rapid/feed 区分和当前 segment。
+
+当前 M20 gate：
+
+```text
+threejs_program_preview_mode=program-preview-and-tool-execution
+threejs_preview_source=linuxcnc-interpreter-wasm_or_linuxcnc-machine-file-remap-wasm
+threejs_toolpath_preview_source=linuxcnc_interpreter_canonical_motion
+threejs_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback
+threejs_path_fit_bounds=ok
+threejs_current_segment_highlight=ok
+threejs_rapid_feed_visual_distinction=ok
+threejs_no_gcode_semantics_generation=ok
+threejs_canvas_nonblank_desktop=ok
+threejs_canvas_nonblank_mobile=ok
+```
+
+### 16.7 M21：公网部署与 OPFS 降级
+
+```text
+M21-public-http-opfs-degradation
+```
+
+状态：
+
+```text
+completed_with_public_http_fallback_smoke
+```
+
+背景：
+
+公网 `http://82.156.24.101:8092` 这类 HTTP/IP 环境不是安全上下文，OPFS 可能不可用。此前测试中 Save Session 已出现 `OPFS is not available in this browser`。
+
+目标：
+
+- 检测非安全上下文和 OPFS 不可用状态；
+- 让 Save Session、Restore Session、Stage Machine Files、Full Boundary Audit 给出明确 UI 状态；
+- 不让 OPFS 缺失阻断不依赖 OPFS 的预览、运行、Three.js 显示、DRO、G-code 加载；
+- 可选增加 memory fallback，仅用于当前页面生命周期，不宣称持久化。
+
+验收：
+
+```text
+opfs_unavailable_detected=1
+opfs_dependent_actions_blocked_with_clear_message=1
+non_opfs_workflows_still_pass=1
+public_http_smoke_no_uncaught_exception=1
+```
+
+已完成：
+
+- `five-axis-session` 和 `linuxcnc-machine-file-staging` 增加 storage capability 检测，识别非安全上下文、缺失 `navigator.storage.getDirectory()` 和测试强制 OPFS unavailable；
+- OPFS 不可用时 Save Session、Restore Session、Stage Machine Files 使用 memory fallback，只在当前页面生命周期内有效，不声明持久化；
+- UI diagnostics 显示 `opfs unavailable`、fallback mode 和原因，避免静默失败；
+- machine-file staging 在 memory fallback 下仍可支持不依赖持久 OPFS 的预览、运行、Three.js、DRO、G-code 加载和 full boundary audit；
+- browser smoke 强制 OPFS unavailable，验证 source 页面没有 uncaught error，非 OPFS 工作流仍通过。
+
+当前 M21 gate：
+
+```text
+opfs_unavailable_detected=1
+opfs_fallback_current_page_lifecycle_only=1
+opfs_dependent_actions_report_clear_fallback_message=1
+non_opfs_workflows_still_pass=1
+public_http_smoke_no_uncaught_exception=1
+```
+
+### 16.8 M22：Host/native 边界可见性
+
+```text
+M22-host-native-boundary-visibility
+```
+
+状态：
+
+```text
+completed_with_host_native_boundary_ui_smoke
+```
+
+目标：
+
+- 在 Web simulation boundary 已 promoted 时，继续明确展示非浏览器仿真范围；
+- UI diagnostics 必须显示 `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false`、`toolDbProcessReady=false`；
+- browser smoke 同时验证 state 字段和 DOM 文本，避免把 Web simulation promoted 误读为真实硬件、host realtime、外部 user-M 或 tool DB runtime ready。
+
+已完成：
+
+- gmoccapy info tabs 新增 `Host/native` 诊断行；
+- `Host/native` 显示 hardware drive、host realtime、external user-M、tool DB 四项 false 状态；
+- browser smoke 在 task/HAL full simulation boundary promoted 后验证四项 state 和 DOM 可见性。
+
+当前 M22 gate：
+
+```text
+host_native_boundary_ui=ok
+hardware_drive_false_visible=1
+host_realtime_false_visible=1
+external_user_m_false_visible=1
+tool_db_false_visible=1
+```
+
+### 16.9 每轮必须执行的回归
+
+常规回归：
+
+```text
+npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
+bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh
+```
+
+涉及 WASM core 时追加：
+
+```text
+bash wasm-port/tests/wasm/node/verify_hal_runtime.sh
+bash wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
+bash wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
+bash wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
+bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh
+```
+
+涉及部署时追加：
+
+```text
+npm --prefix web-rtcp-5axis-sim-plan/app run build
+bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh
+```
+
+### 16.10 禁止事项
+
+```text
+禁止修改用户个人备忘文件，除非用户明确要求
+禁止把 fixture fallback 描述为 LinuxCNC semantic proof
+禁止把 Web simulation task/HAL runtime 描述为真实硬件控制
+禁止绕过 LinuxCNC interpreter/TP/task/HAL 输出去手写 G-code 运动语义
+禁止默认启动 host-native LinuxCNC runtime 或抢占已有 linuxcncsvr/rtapi_app
+```
+
## 14. M16 任务
```text
diff --git a/web-rtcp-5axis-sim-plan/docs/program-implementation-guide.md b/web-rtcp-5axis-sim-plan/docs/program-implementation-guide.md
index 0238001..476bec7 100644
--- a/web-rtcp-5axis-sim-plan/docs/program-implementation-guide.md
+++ b/web-rtcp-5axis-sim-plan/docs/program-implementation-guide.md
@@ -294,10 +294,27 @@ toolAxisVector
rtcpState
rtcpFrame.apiName
preview.selectedView
+programExecution.motion
+programExecutionTiming.samples
+programRuntimeFeedback
```
browser smoke 已检查 canvas nonblank、scene objects、path points、RTCP on/off 同步和 STEP 后 TCP pose 更新。
+当前 M20 已补齐真实程序显示质量 gate：
+
+```text
+program preview=LinuxCNC interpreter canonical motion
+tool execution trace=LinuxCNC TP samples or task/motion/HAL feedback
+rapid/feed/arc visual layers=ready
+current segment highlight=ready
+path fit bounds=ready
+desktop/mobile canvas nonblank=ready
+threejs_generated_gcode_semantics=forbidden
+```
+
+Three.js 只按 runtime 输出的 motion/timing/feedback 绘制，不解析 G-code，不生成 CNC 运动语义。
+
### Step 5：profile 和 panel schema
目标：
@@ -493,6 +510,96 @@ hostRealtimeKernel=false
externalUserMProcessReady=false
```
+### Step 10：Native task/HAL readiness artifact
+
+目标：
+
+- 对齐 `docs/native-task-hal-sync-implementation-steps.md` 阶段 0-8 的 source/probe/runtime 证据；
+- 生成机器可读 artifact，明确 Web simulation promoted 与 host realtime/hardware/native process blocked 的区别；
+- 把该 gate 接入常规 Node smoke，避免文档和 runtime readiness 字段漂移。
+
+当前实现：
+
+```text
+app/src/runtime/native-task-hal-audit.js
+tests/node/verify_native_task_hal_audit.mjs
+build/readiness/native-task-hal-readiness.json
+```
+
+artifact 必须包含：
+
+```text
+status=ok
+taskHalWebSimulationBoundaryConsistent=true
+webSimulation.promoted=true
+webSimulation.nativeTaskReady=true
+webSimulation.nativeHalSyncReady=true
+nativeHostAndHardware.nativePromotionAllowed=false
+nativeHostAndHardware.hardwareDrive=false
+nativeHostAndHardware.hostRealtimeKernel=false
+nativeHostAndHardware.externalUserMProcessReady=false
+nativeHostAndHardware.toolDbProcessReady=false
+gates.promotion_scope=web_simulation_only
+```
+
+验收：
+
+```text
+native_task_hal_source_artifact_audit=ok
+task_hal_web_simulation_boundary_consistent=1
+native_task_hal_host_probe_status=passed_or_ready_disabled_by_default_or_skipped_missing_host_runtime
+hardware_drive=0
+host_realtime_kernel=0
+external_user_m_process_ready=0
+tool_db_process_ready=0
+promotion_scope=web_simulation_only
+```
+
+### Step 11：LinuxCNC source program case coverage
+
+目标：
+
+- 以 vendored LinuxCNC TRT demo `.ngc` 为案例源，不新增 Web 侧 G-code 运动语义；
+- 覆盖 `boat-xyzac.ngc`、`boat-xyzbc.ngc`、`impeller-7bl-xyzac.ngc`、
+ `xyzac_switchkins*.ngc`、`xyzbc_switchkins.ngc`；
+- 对可直接解释的源程序，验证 interpreter canonical motion、TP queue timing samples、
+ 当前 G-code 行、switchkins/RTCP 状态和 Three.js 数据源；
+- 对 `o call` 入口程序，验证 machine-file staging/remap run 与 source guard，
+ 不把 direct interpreter 无子程序上下文时的 0 motion 当成通过。
+
+当前实现：
+
+```text
+tests/node/verify_real_linuxcnc_5axis_program_cases.mjs
+tests/browser/gmoccapy_shell_smoke.html
+app/src/runtime/linuxcnc-interpreter-runtime.js
+wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c
+```
+
+关键约束：
+
+```text
+sourceProgramBoundary=linuxcnc_vendored_5axis_gcode_source_file
+toolpathPreviewBoundary=linuxcnc_interpreter_canonical_motion
+toolExecutionTraceBoundary=linuxcnc_tp_samples_or_task_motion_hal_feedback
+threejsGeneratedToolpathSemantics=forbidden
+fixtureToolpathFallbackPromoted=false
+```
+
+验收：
+
+```text
+linuxcnc_source_program_case_count=8
+all_cases_program_preview_points=ok
+all_cases_executed_path_points=ok_after_run_or_step
+all_cases_toolpath_preview_source=linuxcnc_interpreter_canonical_motion
+all_cases_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback
+all_switchkins_cases_rtcp_state_changes_verified=1
+all_cases_source_guard=linuxcnc_vendored_5axis_gcode_source_file
+fixture_toolpath_fallback_not_promoted=1
+real_linuxcnc_5axis_program_cases_smoke=ok
+```
+
不允许：
- 用 JS 重写 lookahead、blend、exact stop、S-curve 或 G-code modal 语义；
@@ -516,6 +623,10 @@ externalUserMProcessReady=false
当前已完成 Step 1 到 Step 9 的 Node/browser LinuxCNC kinematics proof、浏览器 Worker kinematics 隔离、浏览器 Worker interpreter canonical execution source、`xyzac-trt`/`xyzbc-trt` profile 切换、OPFS 五轴会话保存/恢复、OPFS machine-file staging、machine-file backed `fiveAxisRemap` C ABI run、程序级 `M428/M429` switchkins RTCP 自动切换、LinuxCNC TP queue timing runtime、full execution boundary audit，以及真实 LinuxCNC TRT 5 轴 `.ngc` 源程序 staging/选择/运行路径。native task/HAL 执行文档的 Phase 0-8 已建立 Web simulation boundary：source manifest、默认禁用的 native TRT probe、HAL registry/thread scheduler、minimal motion/HAL servo-cycle C ABI、`lctask_*` task shim、SDK wrapper、machine-file session、store/UI diagnostics 和 full boundary gate。`M428/M429/M430` 当前既可作为 Web runtime switchkins 事件驱动 `lckins_switch()`，也可在 staged machine-file run 中交给 vendored LinuxCNC five-axis remap C ABI 验证，还可通过 task/HAL runtime 的 MDI path 写入 `motion.switchkins-type` HAL snapshot；只有 LinuxCNC source manifest 中的 `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc` 可作为 `linuxcnc-vendored-5axis-gcode` 进入 UI 和 machine-file run。`web-rtcp-5axis-full-linuxcnc-execution-boundary` 可以在 kinematics/interpreter/machine-file-remap/TP/task-HAL gates 同时通过时报告 `promotionAllowed=true`，但该提升仅限 Web simulation boundary，仍必须显示 `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false` 和 `toolDbProcessReady=false`。
+OPFS session 和 machine-file staging 当前具备 capability 检测。安全上下文且 `navigator.storage.getDirectory()` 可用时使用 OPFS；公网 HTTP/IP 或浏览器禁用 OPFS 时切换到 memory fallback。memory fallback 只保证当前页面生命周期内的保存、恢复、staging 和 full boundary audit 可继续运行，不声明跨刷新持久化。UI diagnostics 必须显示 storage mode、OPFS unavailable 状态和原因，公共 HTTP smoke 必须验证无 uncaught exception，且不依赖 OPFS 的预览、DRO、G-code 加载、运行和 Three.js 显示继续通过。
+
+gmoccapy info tabs 当前还必须显示 Host/native boundary：`hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false`、`toolDbProcessReady=false`。browser smoke 需要同时检查 DOM 和 `fullExecutionBoundary` state，避免把 Web simulation promoted 误读为 host-native 或硬件能力 ready。
+
注意：`wasm-port/tests/wasm/node/verify_hal_runtime.sh`、`wasm-port/tests/wasm/node/verify_motion_hal_sync.sh`、`wasm-port/tests/wasm/node/verify_task_hal_wasm.sh` 和 `wasm-port/tests/wasm/node/verify_task_hal_sdk.sh` 会写同一个 `build/wasm/task-hal/linuxcnc_task_hal.*` 输出，验证时应串行运行，避免并发构建竞争造成无效 WASM 产物。
后续如果要越过 Web simulation boundary，必须另行实现 host realtime kernel / hardware IO / external user-M / tool DB process 证明；当前完成范围仍限定为浏览器仿真。
diff --git a/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md b/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md
index 3528bd3..ff05fe0 100644
--- a/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md
+++ b/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md
@@ -29,10 +29,12 @@ CNC 语义必须来自 LinuxCNC source/WASM/source-derived boundary；
| 程序运行/暂停/继续/停止 | `app/src/state/store.js`, `app/src/state/linuxcnc-task-policy.js`, `app/src/ui/gmoccapy-shell.js` | `src/emc/task/emctaskmain.cc` `EMC_TASK_PLAN_RUN`, `EMC_TASK_PLAN_PAUSE`, `EMC_TASK_PLAN_RESUME`, `EMC_TASK_ABORT` | LinuxCNC task source-referenced Web policy | node smoke + browser operator smoke |
| G-code 文件加载 | `app/src/ui/gmoccapy-shell.js`, `app/src/state/store.js` | AXIS/gmoccapy open program workflow | browser file staging + LinuxCNC interpreter execution | node smoke + browser operator smoke |
| LinuxCNC 5 轴源程序选择 | `app/src/runtime/linuxcnc-machine-file-staging.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc` | guarded vendored LinuxCNC source-directory G-code staging + selected machine-file run | machine-file staging node smoke + browser source selector smoke |
+| LinuxCNC 5 轴源程序案例覆盖 | `tests/node/verify_real_linuxcnc_5axis_program_cases.mjs`, `tests/browser/gmoccapy_shell_smoke.html`, `app/src/runtime/linuxcnc-interpreter-runtime.js` | `boat-xyzac.ngc`, `boat-xyzbc.ngc`, `impeller-7bl-xyzac.ngc`, `xyzac_switchkins*.ngc`, `xyzbc_switchkins.ngc` | source-guarded LinuxCNC demo canonical/TP/toolpath coverage; `o call` entries verified through machine-file staging/remap boundary | real LinuxCNC 5-axis program cases node smoke + browser source program smoke |
| 程序执行当前行显示 | `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | AXIS/gmoccapy current line display | LinuxCNC interpreter canonical motion events with fixture fallback | node smoke + browser operator smoke |
| 程序执行速度/时间 | `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c`, `wasm-port/runtime/sdk/src/linuxcnc-tp.js`, `app/src/runtime/linuxcnc-interpreter-runtime.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | LinuxCNC interpreter canonical motion events queued through `src/emc/tp/tp.c`, `tc.c`, `tcq.c`, S-curve/Ruckig support sources | LinuxCNC TP queue runtime timing from canonical motion; JS estimate kept only as fallback/MDI lightweight path | TP WASM smoke + interpreter/store node smoke + browser source/dist TP timing smoke |
| 刀具预览 | `app/src/ui/gmoccapy-shell.js`, `app/src/visualization/five-axis-scene.js` | gmoccapy/vismach tool display | visualization/runtime state display | browser operator smoke |
-| 3D 五轴预览 | `app/src/visualization/five-axis-scene.js` | `qtvismach_5axis_gantry.png`, `lib/python/vismach.py` | visualization | canvas nonblank smoke |
+| 3D 五轴预览 | `app/src/visualization/five-axis-scene.js` | `qtvismach_5axis_gantry.png`, `lib/python/vismach.py` | visualization consuming runtime state | canvas nonblank smoke |
+| Three.js 程序预览和执行轨迹 | `app/src/visualization/five-axis-scene.js`, `tests/browser/gmoccapy_shell_smoke.html` | LinuxCNC interpreter canonical motion, LinuxCNC TP timing samples, task/motion/HAL feedback | display only; no G-code semantics generated in Three.js | source-program browser smoke + desktop/mobile canvas nonblank |
| Vismach transform tree | `app/src/visualization/machine-model.ts` | `lib/python/vismach.py`, `src/hal/user_comps/vismach/*.py` | visualization from GUI reference | scene graph smoke |
| `xyzac-trt` profile | `app/src/profiles/xyzac-trt.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini` | source/config reference | profile boundary node smoke |
| `xyzac-trt` source reference map | `app/src/profiles/source-reference-map.js` | `xyzac-trt.ini`, `xyzac-trt.xml`, `switchkins_postgui.hal`, `xyzac-trt_cmds.hal`, `xyzac-trt-kins.c`, `trtfuncs.c`, `switchkins.c` | profile/source map only, not runtime proof | profile boundary node smoke |
@@ -41,10 +43,11 @@ CNC 语义必须来自 LinuxCNC source/WASM/source-derived boundary；
| M428/M429/M430 state | `app/src/profiles/xyzac-trt.js`, `app/src/panel-schema/xyzac-trt-pyvcp.js` | `remap_subs/428remap.ngc`, `429remap.ngc`, `430remap.ngc` | LinuxCNC remap/source reference only until runtime adapter is connected | profile boundary node smoke |
| LinuxCNC boundary adapter | `app/src/runtime/linuxcnc-boundary-adapter.js` | LinuxCNC interpreter/kinematics/TP WASM adapter point | kinematics + interpreter + TP timing runtime connected; task/motion/HAL simulation runtime connected separately | profile boundary node smoke + browser DOM smoke |
| Full execution boundary audit | `app/src/runtime/full-execution-boundary.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | LinuxCNC kinematics WASM, interpreter WASM, TP WASM, task/motion/HAL WASM, `runSimConfigProgram({ executionMode: "fiveAxisRemap" })`, TRT remap files | machine-file remap, TP timing, and task/motion/HAL ready for Web simulation boundary; hardware/realtime kernel/external processes still false | full execution boundary node smoke + browser DOM smoke |
+| Native task/HAL readiness artifact | `app/src/runtime/native-task-hal-audit.js`, `tests/node/verify_native_task_hal_audit.mjs`, `build/readiness/native-task-hal-readiness.json` | `wasm-port/tools/task-hal-source-manifest.txt`, `wasm-port/tests/native/probe_trt_task_hal_runtime.sh`, task/motion/HAL WASM gates | machine-readable audit that separates Web simulation promotion from host realtime/hardware/native process blockers | native task/HAL audit node smoke |
| Native task / realtime HAL sync runtime | `docs/native-task-hal-sync-implementation-steps.md`, `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`, `app/src/runtime/linuxcnc-task-hal-runtime.js` | `src/emc/task/emctaskmain.cc`, `src/emc/task/emctask.cc`, `src/emc/task/taskintf.cc`, `src/emc/task/emccanon.cc`, `src/emc/motion/control.c`, `src/emc/motion/command.c`, `src/emc/motion/motion.c`, `src/hal/hal_lib.c`, `src/hal/hal_priv.h` | task/motion/HAL deterministic WASM simulation runtime; host realtime/hardware out of scope | source manifest, native opt-in probe, HAL runtime smoke, motion/HAL sync smoke, task/HAL WASM SDK smoke, Web store/browser smoke |
| Five-axis kinematics | `core/linuxcnc_kinematics_wasm` | `trtfuncs.c`, `xyzac-trt-kins.c`, `xyzbc-trt-kins.c`, `5axiskins.c` | LinuxCNC source-derived WASM | Node roundtrip smoke |
| RTCP/TCP frame | `app/src/runtime/rtcp-frame.js` | LinuxCNC kinematics output + canonical events | fixture frame plumbing until kinematics WASM is ready | RTCP/store node smoke + browser DOM smoke |
-| OPFS session | `app/src/runtime/five-axis-session.js` | current `wasm-port/runtime/opfs` | browser OPFS 5-axis session persistence | five_axis_session_smoke + browser save/restore smoke |
+| OPFS/session storage capability | `app/src/runtime/five-axis-session.js`, `app/src/runtime/linuxcnc-machine-file-staging.js`, `app/src/ui/gmoccapy-shell.js` | browser OPFS contract and current page memory fallback | OPFS persistence when available; memory fallback is current page lifecycle only | five_axis_session_smoke + machine_file_staging_smoke + public HTTP fallback browser smoke |
## 3. 源文件追溯清单
@@ -1192,3 +1195,257 @@ Remaining risk:
Next:
interpreter_worker_or_opfs_machine_file_staging_or_remap_planner_boundary
```
+
+## 21. M18 追溯记录
+
+```text
+Batch: M18-native-task-hal-source-and-artifact-audit
+Date: 2026-06-22 CST
+Files changed:
+ .gitignore
+ app/package.json
+ app/src/runtime/native-task-hal-audit.js
+ tests/node/verify_native_task_hal_audit.mjs
+ docs/development-continuation.md
+ docs/program-implementation-guide.md
+ docs/traceability-matrix.md
+Feature:
+ Adds a machine-readable readiness audit for the native task/HAL source and
+ artifact boundary. The audit consumes task/HAL source manifest evidence,
+ default non-exclusive TRT native probe evidence, full execution boundary
+ readiness, and task/HAL runtime status, then writes
+ build/readiness/native-task-hal-readiness.json.
+LinuxCNC references:
+ wasm-port/tools/task-hal-source-manifest.txt
+ wasm-port/tests/native/probe_trt_task_hal_runtime.sh
+ src/emc/task/emctaskmain.cc
+ src/emc/motion/control.c
+ src/hal/hal_lib.c
+Boundary:
+ webSimulation.promotionScope=web_simulation_only
+ nativeTaskReady=true for Web simulation boundary only
+ nativeHalSyncReady=true for Web simulation boundary only
+ hardwareDrive=false
+ hostRealtimeKernel=false
+ externalUserMProcessReady=false
+ toolDbProcessReady=false
+Tests:
+ node web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs
+ npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh
+Result:
+ native_task_hal_source_artifact_audit=ok
+ task_hal_web_simulation_boundary_consistent=1
+ native_task_hal_host_probe_status=ready_disabled_by_default
+ hardware_drive=0
+ host_realtime_kernel=0
+ external_user_m_process_ready=0
+ tool_db_process_ready=0
+ promotion_scope=web_simulation_only
+Remaining risk:
+ The readiness artifact does not execute host realtime LinuxCNC or hardware IO.
+ It intentionally keeps external user-M process and tool DB process readiness
+ false.
+Next:
+ M19-linuxcnc-source-program-case-coverage
+```
+
+## 22. M19 追溯记录
+
+```text
+Batch: M19-linuxcnc-source-program-case-coverage
+Date: 2026-06-22 CST
+Files changed:
+ app/package.json
+ app/src/runtime/linuxcnc-interpreter-runtime.js
+ tests/node/verify_real_linuxcnc_5axis_program_cases.mjs
+ tests/browser/gmoccapy_shell_smoke.html
+ wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c
+ docs/development-continuation.md
+ docs/program-implementation-guide.md
+ docs/traceability-matrix.md
+Feature:
+ Adds a real LinuxCNC TRT source-program case gate. The gate covers staged
+ source guards for boat, impeller, xyzac switchkins, and xyzbc switchkins demo
+ programs; validates direct interpreter canonical motion and LinuxCNC TP
+ samples where the source file is directly executable; and validates
+ machine-file staging/remap readiness for subroutine-entry demo files.
+LinuxCNC references:
+ configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc
+ configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc
+ configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc
+ configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc
+ configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc
+ configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc
+ configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc
+ configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc
+ src/emc/tp/tp.c
+Boundary:
+ sourceProgramBoundary=linuxcnc_vendored_5axis_gcode_source_file
+ toolpathPreviewBoundary=linuxcnc_interpreter_canonical_motion
+ toolExecutionTraceBoundary=linuxcnc_tp_samples_or_task_motion_hal_feedback
+ threejsGeneratedToolpathSemantics=forbidden
+ fixtureToolpathFallbackPromoted=false
+Tests:
+ source /home/cnc/emsdk/emsdk_env.sh >/dev/null && bash wasm-port/tools/build_tp_wasm.sh
+ bash wasm-port/tests/wasm/node/verify_tp_wasm.sh
+ node web-rtcp-5axis-sim-plan/tests/node/verify_real_linuxcnc_5axis_program_cases.mjs
+ npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh
+Result:
+ linuxcnc_source_program_case_count=8
+ all_cases_program_preview_points=ok
+ all_cases_executed_path_points=ok_after_run_or_step
+ all_cases_toolpath_preview_source=linuxcnc_interpreter_canonical_motion
+ all_cases_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback
+ all_switchkins_cases_rtcp_state_changes_verified=1
+ all_cases_source_guard=linuxcnc_vendored_5axis_gcode_source_file
+ fixture_toolpath_fallback_not_promoted=1
+ real_linuxcnc_5axis_program_cases_smoke=ok
+Remaining risk:
+ `xyzac_switchkins.ngc` and `xyzbc_switchkins.ngc` are subroutine-entry demo
+ files; direct interpreter execution without staged subroutine context still
+ has zero canonical motion, so they remain verified through source guard and
+ machine-file remap staging rather than direct single-file preview.
+Next:
+ M20-threejs-tool-execution-quality
+```
+
+## 23. M20 Three.js 显示质量追溯记录
+
+```text
+Batch: M20-threejs-tool-execution-quality
+Date: 2026-06-22 CST
+Files changed:
+ app/src/visualization/five-axis-scene.js
+ tests/browser/gmoccapy_shell_smoke.html
+ docs/development-continuation.md
+ docs/program-implementation-guide.md
+ docs/traceability-matrix.md
+Feature:
+ Adds program-preview and tool-execution display quality gates to Three.js.
+ The scene now draws rapid/feed/arc layers, the executed TP/task trace, and
+ the current segment highlight while fitting the camera to real LinuxCNC
+ source-program bounds.
+LinuxCNC references:
+ LinuxCNC interpreter canonical motion events
+ LinuxCNC TP queue timing samples
+ task/motion/HAL runtime feedback snapshots
+Boundary:
+ threejsProgramPreviewMode=program-preview-and-tool-execution
+ toolpathPreviewBoundary=linuxcnc_interpreter_canonical_motion
+ toolExecutionTraceBoundary=linuxcnc_tp_samples_or_task_motion_hal_feedback
+ threejsGeneratedToolpathSemantics=forbidden
+Tests:
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh
+Result:
+ threejs_program_preview_mode=program-preview-and-tool-execution
+ threejs_toolpath_preview_source=linuxcnc_interpreter_canonical_motion
+ threejs_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback
+ threejs_path_fit_bounds=ok
+ threejs_current_segment_highlight=ok
+ threejs_rapid_feed_visual_distinction=ok
+ threejs_no_gcode_semantics_generation=ok
+ threejs_canvas_nonblank_desktop=ok
+ threejs_canvas_nonblank_mobile=ok
+Remaining risk:
+ The visual distinction is display-only and remains limited to canonical/TP
+ segment data already emitted by LinuxCNC runtimes. It does not add lookahead,
+ blending, planner semantics, or hardware execution semantics in Three.js.
+Next:
+ M21-public-http-opfs-degradation
+```
+
+## 24. M21 公网 OPFS 降级追溯记录
+
+```text
+Batch: M21-public-http-opfs-degradation
+Date: 2026-06-22 CST
+Files changed:
+ app/src/runtime/five-axis-session.js
+ app/src/runtime/linuxcnc-machine-file-staging.js
+ app/src/state/store.js
+ app/src/ui/gmoccapy-shell.js
+ tests/node/verify_machine_file_staging.mjs
+ tests/browser/gmoccapy_shell_smoke.html
+ docs/development-continuation.md
+ docs/program-implementation-guide.md
+ docs/traceability-matrix.md
+Feature:
+ Adds explicit storage capability detection and current-page memory fallback
+ for public HTTP/IP deployments where OPFS is unavailable. Session save/restore
+ and machine-file staging continue inside the current page lifecycle, while UI
+ diagnostics report OPFS unavailable and the fallback reason.
+LinuxCNC references:
+ LinuxCNC machine-file staging remains based on vendored TRT source/config
+ files; storage fallback does not alter interpreter, TP, task/HAL, or
+ kinematics semantics.
+Boundary:
+ opfsAvailable=false when browser capability is missing or forced unavailable
+ fallbackMode=memory-fallback
+ memoryFallbackPersistence=current_page_lifecycle_only
+ nonOpfsWorkflowsStillPass=true
+Tests:
+ node web-rtcp-5axis-sim-plan/tests/node/verify_machine_file_staging.mjs
+ node web-rtcp-5axis-sim-plan/tests/node/verify_five_axis_session.mjs
+ npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh
+Result:
+ opfs_unavailable_detected=1
+ opfs_fallback_current_page_lifecycle_only=1
+ opfs_dependent_actions_report_clear_fallback_message=1
+ non_opfs_workflows_still_pass=1
+ public_http_smoke_no_uncaught_exception=1
+Remaining risk:
+ Memory fallback is not persistent across reloads. True OPFS persistence still
+ requires a secure context and browser OPFS support.
+Next:
+ none_from_development_continuation
+```
+
+## 25. M22 Host/native 边界可见性追溯记录
+
+```text
+Batch: M22-host-native-boundary-visibility
+Date: 2026-06-22 CST
+Files changed:
+ app/src/ui/gmoccapy-shell.js
+ tests/browser/gmoccapy_shell_smoke.html
+ docs/development-continuation.md
+ docs/traceability-matrix.md
+Feature:
+ Adds an explicit Host/native diagnostics row in gmoccapy info tabs so the
+ promoted Web simulation task/motion/HAL boundary remains visibly separated
+ from hardware drive, host realtime kernel, external user-M process, and tool
+ DB process readiness.
+LinuxCNC references:
+ No new LinuxCNC source semantics are introduced. The change displays existing
+ full execution boundary fields emitted by the LinuxCNC task/motion/HAL Web
+ simulation runtime audit.
+Boundary:
+ hardwareDrive=false
+ hostRealtimeKernel=false
+ externalUserMProcessReady=false
+ toolDbProcessReady=false
+ promotionScope=web_simulation_only
+Tests:
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
+ bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh
+ npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+Result:
+ host_native_boundary_ui=ok
+ hardware_drive_false_visible=1
+ host_realtime_false_visible=1
+ external_user_m_false_visible=1
+ tool_db_false_visible=1
+Remaining risk:
+ This is a visibility and regression guard only. It does not implement host
+ realtime kernel, hardware IO, external user-M process, or native tool DB
+ process support.
+Next:
+ none_from_development_continuation
+```
diff --git a/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html b/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html
index 4ed5c61..4a963cb 100644
--- a/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html
+++ b/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html
@@ -34,6 +34,16 @@
}
return win.webRtcp5AxisSimulation.getState();
}
+ async function waitForMachineFileStaging(win) {
+ for (let attempt = 0; attempt < 120; attempt += 1) {
+ const state = win.webRtcp5AxisSimulation.getState();
+ if (state.machineFileStaging?.status === "staged" && state.machineFileStaging?.save?.fileCount >= 5) {
+ return state;
+ }
+ await wait(25);
+ }
+ return win.webRtcp5AxisSimulation.getState();
+ }
async function runSmoke() {
await new Promise((resolve, reject) => {
@@ -44,6 +54,14 @@
const doc = frame.contentDocument;
const win = frame.contentWindow;
+ const runtimeErrors = [];
+ win.addEventListener("error", (event) => {
+ runtimeErrors.push(event.message || String(event.error || "window error"));
+ });
+ win.addEventListener("unhandledrejection", (event) => {
+ runtimeErrors.push(event.reason?.message || String(event.reason || "unhandled rejection"));
+ });
+ win.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__ = true;
const regions = [
"titlebar",
"preview",
@@ -301,6 +319,20 @@
if (!doc.querySelector('[data-program-switchkins-summary]')?.textContent.includes("0 events")) {
throw new Error("program switchkins summary DOM did not render zero-event state");
}
+ if (!win.webRtcp5AxisSimulation.machineFileSeedReady) {
+ throw new Error("missing automatic machine file seed promise");
+ }
+ await win.webRtcp5AxisSimulation.machineFileSeedReady;
+ const autoStagedState = await waitForMachineFileStaging(win);
+ if (autoStagedState.machineFileStaging?.save?.summary?.gcodeFileCount !== 16) {
+ throw new Error(`automatic machine file seeding did not preload full project G-code set: ${JSON.stringify(autoStagedState.machineFileStaging?.save?.summary)}`);
+ }
+ if (autoStagedState.machineFileStaging?.gcodeSources?.length < 8) {
+ throw new Error(`automatic machine file seeding did not expose LinuxCNC 5-axis demos: ${JSON.stringify(autoStagedState.machineFileStaging)}`);
+ }
+ if (!doc.querySelector('[data-machine-file-staging="status"]')?.textContent.includes("staged")) {
+ throw new Error("automatic machine file staging status did not render");
+ }
win.webRtcp5AxisSimulation.dispatch({
type: "LOAD_PROGRAM",
filename: "operator-arc-demo.ngc",
@@ -328,12 +360,27 @@
if (stagedMachineFiles.save.status !== "saved" || stagedMachineFiles.save.fileCount < 5) {
throw new Error(`machine file staging did not save files: ${JSON.stringify(stagedMachineFiles.save)}`);
}
+ if (stagedMachineFiles.save.summary?.gcodeFileCount !== 16) {
+ throw new Error(`manual machine file staging did not preserve full project G-code set: ${JSON.stringify(stagedMachineFiles.save.summary)}`);
+ }
+ if (
+ stagedMachineFiles.save.storageMode !== "memory-fallback" ||
+ stagedMachineFiles.save.storageCapability?.opfsUnavailable !== true
+ ) {
+ throw new Error(`machine file staging did not use OPFS fallback: ${JSON.stringify(stagedMachineFiles.save.storageCapability)}`);
+ }
if (!stagedMachineFiles.save.files.some((file) => file.sourceRel.endsWith("remap_subs/428remap.ngc"))) {
throw new Error("machine file staging did not include M428 remap");
}
if (!doc.querySelector('[data-machine-file-staging="status"]')?.textContent.includes("staged")) {
throw new Error("machine file staging status did not render");
}
+ if (
+ !doc.querySelector('[data-machine-file-staging="status"]')?.textContent.includes("memory-fallback") ||
+ !doc.querySelector('[data-machine-file-staging="status"]')?.textContent.includes("forced_unavailable")
+ ) {
+ throw new Error("machine file staging status did not render OPFS fallback reason");
+ }
const sourceSelect = doc.querySelector('[data-action="select-linuxcnc-gcode-source"]');
if (!sourceSelect || sourceSelect.options.length < 4) {
throw new Error("LinuxCNC 5-axis G-code source selector did not render staged demos");
@@ -355,6 +402,45 @@
if (!doc.querySelector('[data-program-source]')?.textContent.includes("linuxcnc-vendored-5axis-gcode")) {
throw new Error("program source DOM did not show LinuxCNC vendored source");
}
+ if (linuxCncSourceState.programExecution?.summary?.motionEventCount < 1000) {
+ throw new Error(`LinuxCNC source program did not produce canonical motion: ${JSON.stringify(linuxCncSourceState.programExecution?.summary)}`);
+ }
+ if (linuxCncSourceState.programExecution?.summary?.plannerRuntimeReady !== true) {
+ throw new Error(`LinuxCNC source program did not produce TP timing: ${JSON.stringify(linuxCncSourceState.programExecution?.plannerTiming)}`);
+ }
+ if (linuxCncSourceState.programExecutionTiming?.samples?.length < 1) {
+ throw new Error("LinuxCNC source program did not expose TP samples");
+ }
+ if (linuxCncSourceState.programExecution?.summary?.switchkinsEventCount < 2) {
+ throw new Error("LinuxCNC source program did not preserve switchkins events");
+ }
+ if (linuxCncSourceState.rtcpState !== "on" || linuxCncSourceState.kinsType !== "tcp-xyzac") {
+ throw new Error(`LinuxCNC source program did not apply initial RTCP switchkins state: ${linuxCncSourceState.rtcpState}/${linuxCncSourceState.kinsType}`);
+ }
+ canvas = doc.querySelector("[data-five-axis-canvas]");
+ if (
+ canvas.dataset.threeProgramPreviewSource !== "linuxcnc-interpreter-wasm" ||
+ Number(canvas.dataset.threePathPoints ?? 0) < 1 ||
+ Number(canvas.dataset.threeExecutedPathPoints ?? 0) < 1 ||
+ canvas.dataset.threeToolExecutionMarker !== "true"
+ ) {
+ throw new Error(`Three.js preview did not expose LinuxCNC source program path and execution trace: ${JSON.stringify(canvas.dataset)}`);
+ }
+ if (
+ canvas.dataset.threeSceneMode !== "program-preview-and-tool-execution" ||
+ canvas.dataset.threeToolpathPreviewSource !== "linuxcnc_interpreter_canonical_motion" ||
+ canvas.dataset.threeToolExecutionTraceSource !== "linuxcnc_tp_samples_or_task_motion_hal_feedback" ||
+ canvas.dataset.threePathFitBounds !== "ok" ||
+ canvas.dataset.threeCurrentSegmentHighlight !== "ok" ||
+ canvas.dataset.threeRapidFeedVisualDistinction !== "ok" ||
+ canvas.dataset.threeNoGcodeSemanticsGeneration !== "ok"
+ ) {
+ throw new Error(`Three.js M20 source/runtime display gate failed: ${JSON.stringify(canvas.dataset)}`);
+ }
+ if (Number(canvas.dataset.threeRapidPathPoints ?? 0) < 1 || Number(canvas.dataset.threeFeedPathPoints ?? 0) < 1) {
+ throw new Error(`Three.js rapid/feed distinction did not expose path points: ${JSON.stringify(canvas.dataset)}`);
+ }
+ assertCanvasNonblank(canvas, "desktop LinuxCNC source Three.js preview");
win.webRtcp5AxisSimulation.dispatch({ type: "RUN_MACHINE_FILE_PROGRAM" });
const machineFileRunState = await waitForMachineFileExecution(win);
if (machineFileRunState.machineFileExecution?.summary?.machineFileExecutionReady !== true) {
@@ -383,12 +469,18 @@
if (!["opfs", "memory-fallback"].includes(savedSession.storageMode)) {
throw new Error(`saveSession used unexpected storage mode: ${savedSession.storageMode}`);
}
+ if (savedSession.storageMode !== "memory-fallback" || savedSession.storageCapability?.opfsUnavailable !== true) {
+ throw new Error(`saveSession did not use OPFS fallback: ${JSON.stringify(savedSession.storageCapability)}`);
+ }
if (!doc.querySelector('[data-session-persistence="status"]')?.textContent.includes("saved")) {
throw new Error("session save status did not render");
}
if (!doc.querySelector('[data-session-persistence="status"]')?.textContent.includes(savedSession.storageMode)) {
throw new Error("session save status did not render storage mode");
}
+ if (!doc.querySelector('[data-session-persistence="status"]')?.textContent.includes("opfs unavailable")) {
+ throw new Error("session save status did not render OPFS unavailable fallback");
+ }
if (doc.querySelector('[data-active-program-line]')?.textContent !== "Current line 2") {
throw new Error("loaded program did not render first LinuxCNC motion line");
}
@@ -413,10 +505,22 @@
canvas = doc.querySelector("[data-five-axis-canvas]");
if (
Number(canvas.dataset.threeExecutedPathPoints ?? 0) < 1 ||
- canvas.dataset.threeToolExecutionMarker !== "true"
+ canvas.dataset.threeToolExecutionMarker !== "true" ||
+ canvas.dataset.threeCurrentSegmentHighlight !== "ok"
) {
throw new Error(`Three.js preview did not display tool execution progress: ${JSON.stringify(canvas.dataset)}`);
}
+ const originalFrameStyle = frame.getAttribute("style") || "";
+ frame.style.width = "390px";
+ frame.style.height = "760px";
+ await wait(100);
+ canvas = doc.querySelector("[data-five-axis-canvas]");
+ if (canvas.dataset.threeReady !== "true" || canvas.dataset.threePathFitBounds !== "ok") {
+ throw new Error(`mobile Three.js preview did not retain fit bounds: ${JSON.stringify(canvas.dataset)}`);
+ }
+ assertCanvasNonblank(canvas, "mobile LinuxCNC source Three.js preview");
+ frame.setAttribute("style", originalFrameStyle);
+ await wait(50);
const taskHalRunState = win.webRtcp5AxisSimulation.getState();
if (taskHalRunState.fullExecutionBoundary?.semanticBoundary !== "linuxcnc_task_motion_hal_wasm_simulation_runtime") {
throw new Error(`full execution boundary did not promote task/HAL simulation runtime: ${JSON.stringify(taskHalRunState.fullExecutionBoundary)}`);
@@ -427,6 +531,27 @@
if (!doc.querySelector('[data-full-execution-boundary="status"]')?.textContent.includes("full ready")) {
throw new Error("full execution boundary status did not render full ready state");
}
+ const hostNativeBoundary = doc.querySelector('[data-full-execution-boundary="host-native"]')?.textContent || "";
+ for (const requiredHostNativeState of [
+ "hardware drive false",
+ "host realtime false",
+ "external user-M false",
+ "tool DB false",
+ ]) {
+ if (!hostNativeBoundary.includes(requiredHostNativeState)) {
+ throw new Error(`host/native boundary diagnostic did not render ${requiredHostNativeState}: ${hostNativeBoundary}`);
+ }
+ }
+ for (const [field, expected] of Object.entries({
+ hardwareDrive: false,
+ hostRealtimeKernel: false,
+ externalUserMProcessReady: false,
+ toolDbProcessReady: false,
+ })) {
+ if (taskHalRunState.fullExecutionBoundary?.[field] !== expected) {
+ throw new Error(`full execution boundary ${field} drifted: ${JSON.stringify(taskHalRunState.fullExecutionBoundary)}`);
+ }
+ }
if (!doc.querySelector('[data-task-hal-runtime="readiness"]')?.textContent.includes("sync")) {
throw new Error("task/HAL readiness diagnostic did not render sync");
}
@@ -545,6 +670,9 @@
if (uiRestoredSession.status !== "restored" || uiRestoredSession.storageMode !== uiSavedSession.storageMode) {
throw new Error(`UI Restore Session did not restore from default storage fallback: ${JSON.stringify(uiRestoredSession)}`);
}
+ if (uiRestoredSession.storageMode !== "memory-fallback") {
+ throw new Error(`UI Restore Session did not preserve memory fallback mode: ${JSON.stringify(uiRestoredSession)}`);
+ }
if (win.webRtcp5AxisSimulation.getState().machine.allHomed !== true) {
doc.querySelector('[data-action="mode-manual"]').click();
await wait(50);
@@ -673,6 +801,9 @@
if (win.webRtcp5AxisSimulation.getState().runState !== "estopped") {
throw new Error("E-STOP did not update run state");
}
+ if (runtimeErrors.length > 0) {
+ throw new Error(`public HTTP fallback smoke saw uncaught runtime errors: ${runtimeErrors.join(" | ")}`);
+ }
result.textContent = "gmoccapy_shell_smoke=ok";
}
diff --git a/web-rtcp-5axis-sim-plan/tests/node/verify_machine_file_staging.mjs b/web-rtcp-5axis-sim-plan/tests/node/verify_machine_file_staging.mjs
index f30a771..f25450a 100644
--- a/web-rtcp-5axis-sim-plan/tests/node/verify_machine_file_staging.mjs
+++ b/web-rtcp-5axis-sim-plan/tests/node/verify_machine_file_staging.mjs
@@ -33,6 +33,7 @@ assert.equal(plan.files.some((file) => file.sourceRel.endsWith("xyzac-trt.tbl"))
assert.equal(plan.files.some((file) => file.sourceRel.endsWith("remap_subs/428remap.ngc")), true);
assert.equal(plan.files.some((file) => file.sourceRel.endsWith("remap_subs/429remap.ngc")), true);
assert.equal(plan.files.some((file) => file.sourceRel.endsWith("demos/xyzac_switchkins.ngc")), true);
+assert.equal(plan.summary.gcodeFileCount, 16);
assert.equal(plan.summary.remapFileCount >= 3, true);
assert.equal(plan.summary.demoFileCount >= 1, true);
@@ -40,10 +41,14 @@ const staged = await stageProfileMachineFiles(profile, { storage });
assert.equal(staged.save.apiName, "web-rtcp-5axis-machine-file-staging-save");
assert.equal(staged.save.status, "saved");
assert.equal(staged.save.fileCount, staged.plan.files.length);
-assert.equal(staged.save.semanticBoundary, "opfs_machine_file_text_staging_only");
+assert.equal(staged.save.storageMode, "memory");
+assert.equal(staged.save.semanticBoundary, "memory_machine_file_text_staging_current_page_lifecycle_only");
+assert.equal(staged.save.summary.gcodeFileCount, 16);
+assert.equal(staged.save.gcodeFiles.length, 16);
assert.equal(staged.save.summary.kinds.remap >= 3, true);
assert.equal(staged.save.gcodeSources.some((source) => source.filename === "impeller-7bl-xyzac.ngc"), true);
assert.equal(staged.save.gcodeSources.some((source) => source.filename === "boat-xyzac.ngc"), true);
+assert.equal(staged.save.gcodeFiles.some((file) => file.sourceRel.endsWith("remap_subs/430remap.ngc")), true);
assert.equal(staged.save.files.every((file) => file.opfsPath.startsWith("web-rtcp-5axis-sim-plan/machines/xyzac-trt/")), true);
assert.throws(
() => selectMachineFileProgram(staged.plan, staged.save, "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc"),
@@ -64,6 +69,9 @@ assert.equal(storeStage.save.fileCount, staged.save.fileCount);
assert.equal(state.machineFileStaging.status, "staged");
assert.equal(state.machineFileStaging.profileId, "xyzac-trt");
assert.equal(state.machineFileStaging.fileCount, staged.save.fileCount);
+assert.equal(state.machineFileStaging.storageMode, "memory");
+assert.equal(state.machineFileStaging.storageCapability.reason, "explicit_storage");
+assert.equal(state.machineFileStaging.save.summary.gcodeFileCount, 16);
assert.equal(state.machineFileStaging.save.summary.kinds.remap >= 3, true);
assert.equal(state.machineFileStaging.gcodeSources.length >= 4, true);
assert.equal(state.machineFileStaging.selectedGcodeSourceRel, null);
@@ -125,4 +133,16 @@ assert.equal(runState.fullExecutionBoundary.satisfied.includes("fiveaxis-remap-m
assert.equal(runState.fullExecutionBoundary.satisfied.includes("switchkins-hal-bridge-evidence"), true);
assert.equal(runState.fullExecutionBoundary.blockers.some((blocker) => blocker.includes("trajectory planner")), true);
+globalThis.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__ = true;
+const fallbackStore = createSimulationStore();
+const fallbackStage = await fallbackStore.stageMachineFiles();
+const fallbackState = fallbackStore.getState();
+assert.equal(fallbackStage.save.storageMode, "memory-fallback");
+assert.equal(fallbackStage.save.storageCapability.opfsUnavailable, true);
+assert.equal(fallbackStage.save.storageCapability.reason, "forced_unavailable");
+assert.equal(fallbackState.machineFileStaging.status, "staged");
+assert.equal(fallbackState.machineFileStaging.storageMode, "memory-fallback");
+assert.equal(fallbackState.operatorMessage.includes("staged"), true);
+delete globalThis.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__;
+
console.log("machine_file_staging_smoke=ok");
diff --git a/web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs b/web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs
new file mode 100644
index 0000000..3aff702
--- /dev/null
+++ b/web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs
@@ -0,0 +1,187 @@
+import assert from "node:assert/strict";
+import { mkdirSync, readFileSync, writeFileSync } from "node:fs";
+import { dirname, resolve } from "node:path";
+import { fileURLToPath } from "node:url";
+import { spawnSync } from "node:child_process";
+
+import { createFullLinuxCncExecutionBoundary } from "../../app/src/runtime/full-execution-boundary.js";
+import { createNativeTaskHalReadinessAudit } from "../../app/src/runtime/native-task-hal-audit.js";
+
+const __filename = fileURLToPath(import.meta.url);
+const __dirname = dirname(__filename);
+const projectDir = resolve(__dirname, "../..");
+const rootDir = resolve(projectDir, "..");
+const phase0Script = resolve(rootDir, "wasm-port/tests/native/verify_task_hal_phase0.sh");
+const manifestLog = resolve(rootDir, "wasm-port/build/task-hal/verify_task_hal_source_manifest.stdout.log");
+const probeLog = resolve(rootDir, "wasm-port/build/task-hal/probe_trt_task_hal_runtime.stdout.log");
+const manifestReport = resolve(rootDir, "wasm-port/build/task-hal/task-hal-source-manifest.tsv");
+const artifactDir = resolve(projectDir, "build/readiness");
+const artifactPath = resolve(artifactDir, "native-task-hal-readiness.json");
+
+run(phase0Script);
+
+const sourceManifest = parseKeyValueFile(manifestLog);
+const nativeProbe = parseKeyValueFile(probeLog);
+const fullExecutionBoundary = createFullLinuxCncExecutionBoundary(createPromotedSimulationState());
+const audit = createNativeTaskHalReadinessAudit({
+ sourceManifest,
+ nativeProbe,
+ fullExecutionBoundary,
+ taskHalRuntimeReadiness: {
+ taskRuntimeReady: true,
+ motionRuntimeReady: true,
+ halRuntimeReady: true,
+ halSyncReady: true,
+ },
+ taskHalStatus: {
+ summary: {
+ taskRuntimeReady: true,
+ motionRuntimeReady: true,
+ halRuntimeReady: true,
+ halSyncReady: true,
+ taskHalComparisonReady: true,
+ },
+ },
+ generatedAt: "2026-06-22T00:00:00.000Z",
+ artifactPaths: {
+ readinessJson: relativeFromRoot(artifactPath),
+ sourceManifestLog: relativeFromRoot(manifestLog),
+ sourceManifestReport: relativeFromRoot(manifestReport),
+ nativeProbeLog: relativeFromRoot(probeLog),
+ },
+});
+
+assert.equal(audit.status, "ok");
+assert.equal(audit.taskHalWebSimulationBoundaryConsistent, true);
+assert.equal(audit.webSimulation.promoted, true);
+assert.equal(audit.webSimulation.nativeTaskReady, true);
+assert.equal(audit.webSimulation.nativeHalSyncReady, true);
+assert.equal(audit.webSimulation.fullLinuxCncProgramExecutionReady, true);
+assert.equal(audit.nativeHostAndHardware.nativeProbe, "ok");
+assert.match(audit.nativeHostAndHardware.nativeProbeStatus, /^(passed|ready_disabled_by_default|skipped_missing_host_runtime)$/);
+assert.equal(audit.nativeHostAndHardware.nativePromotionAllowed, false);
+assert.equal(audit.nativeHostAndHardware.hardwareDrive, false);
+assert.equal(audit.nativeHostAndHardware.hostRealtimeKernel, false);
+assert.equal(audit.nativeHostAndHardware.externalUserMProcessReady, false);
+assert.equal(audit.nativeHostAndHardware.toolDbProcessReady, false);
+assert.equal(audit.sourceManifest.ready, true);
+assert.equal(audit.sourceManifest.taskSourceCount > 0, true);
+assert.equal(audit.sourceManifest.halSourceCount > 0, true);
+assert.equal(audit.sourceManifest.motionSourceCount > 0, true);
+assert.equal(audit.gates.task_hal_web_simulation_boundary_consistent, 1);
+assert.equal(audit.gates.hardware_drive, 0);
+assert.equal(audit.gates.host_realtime_kernel, 0);
+assert.equal(audit.gates.external_user_m_process_ready, 0);
+assert.equal(audit.gates.tool_db_process_ready, 0);
+assert.equal(audit.gates.promotion_scope, "web_simulation_only");
+
+mkdirSync(artifactDir, { recursive: true });
+writeFileSync(artifactPath, `${JSON.stringify(audit, null, 2)}\n`);
+
+const saved = JSON.parse(readFileSync(artifactPath, "utf8"));
+assert.equal(saved.apiName, "web-rtcp-5axis-native-task-hal-readiness-audit");
+assert.equal(saved.status, "ok");
+
+console.log("native_task_hal_source_artifact_audit=ok");
+console.log(`native_task_hal_readiness_artifact=${relativeFromRoot(artifactPath)}`);
+console.log("task_hal_web_simulation_boundary_consistent=1");
+console.log(`native_task_hal_host_probe_status=${audit.nativeHostAndHardware.nativeProbeStatus}`);
+console.log("hardware_drive=0");
+console.log("host_realtime_kernel=0");
+console.log("external_user_m_process_ready=0");
+console.log("tool_db_process_ready=0");
+console.log("promotion_scope=web_simulation_only");
+
+function createPromotedSimulationState() {
+ const programExecution = {
+ sourceMode: "linuxcnc-interpreter-wasm",
+ plannerTiming: {
+ plannerRuntimeReady: true,
+ semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion",
+ },
+ summary: {
+ motionEventCount: 3,
+ canonicalEventCount: 8,
+ plannerRuntimeReady: true,
+ },
+ };
+
+ return {
+ machineProfile: "xyzac-trt",
+ linuxCncBoundaryAdapter: {
+ linuxCncKinematicsReady: true,
+ linuxCncInterpreterReady: true,
+ },
+ rtcpFrame: {
+ semanticBoundary: "linuxcnc_kinematics_wasm_c_abi",
+ readiness: { linuxCncKinematicsReady: true },
+ },
+ interpreterRuntimeReadiness: {
+ loaded: true,
+ semanticBoundary: "linuxcnc_interpreter_wasm_canonical_events",
+ },
+ programExecution,
+ machineFileStaging: {
+ status: "staged",
+ fileCount: 12,
+ },
+ machineFileExecution: {
+ sourceMode: "linuxcnc-machine-file-remap-wasm",
+ summary: { machineFileExecutionReady: true },
+ resultText: [
+ "fiveaxis_ini_open=1",
+ "fiveaxis_remaps_ready=1",
+ "fiveaxis_file_reached_exit=1",
+ "fiveaxis_hal_switchkins: rc=0 found=1 value=1",
+ ].join("\n"),
+ },
+ taskHalRuntimeReadiness: {
+ taskRuntimeReady: true,
+ motionRuntimeReady: true,
+ halRuntimeReady: true,
+ halSyncReady: true,
+ },
+ taskHalStatus: {
+ summary: {
+ taskRuntimeReady: true,
+ motionRuntimeReady: true,
+ halRuntimeReady: true,
+ halSyncReady: true,
+ taskHalComparisonReady: true,
+ },
+ ui: {
+ taskCycle: 2,
+ servoCycle: 20,
+ motionQueueDepth: 0,
+ halChangedPinCount: 4,
+ },
+ },
+ };
+}
+
+function run(scriptPath) {
+ const result = spawnSync("bash", [scriptPath], {
+ cwd: rootDir,
+ encoding: "utf8",
+ });
+ if (result.status !== 0) {
+ process.stdout.write(result.stdout || "");
+ process.stderr.write(result.stderr || "");
+ throw new Error(`${scriptPath} failed with status ${result.status}`);
+ }
+}
+
+function parseKeyValueFile(path) {
+ const fields = {};
+ for (const line of readFileSync(path, "utf8").split(/\r?\n/)) {
+ if (!line || line.startsWith("#")) continue;
+ const equals = line.indexOf("=");
+ if (equals <= 0) continue;
+ fields[line.slice(0, equals)] = line.slice(equals + 1);
+ }
+ return fields;
+}
+
+function relativeFromRoot(path) {
+ return path.startsWith(`${rootDir}/`) ? path.slice(rootDir.length + 1) : path;
+}
diff --git a/web-rtcp-5axis-sim-plan/tests/node/verify_real_linuxcnc_5axis_program_cases.mjs b/web-rtcp-5axis-sim-plan/tests/node/verify_real_linuxcnc_5axis_program_cases.mjs
new file mode 100644
index 0000000..29f3ad4
--- /dev/null
+++ b/web-rtcp-5axis-sim-plan/tests/node/verify_real_linuxcnc_5axis_program_cases.mjs
@@ -0,0 +1,130 @@
+import assert from "node:assert/strict";
+
+import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js";
+import {
+ selectMachineFileProgram,
+ stageProfileMachineFiles,
+} from "../../app/src/runtime/linuxcnc-machine-file-staging.js";
+import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
+import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
+import { createSimulationStore } from "../../app/src/state/store.js";
+
+const TRT_DEMO_PREFIX = "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/";
+const DIRECT_CANONICAL_CASES = [
+ "boat-xyzac.ngc",
+ "boat-xyzbc.ngc",
+ "impeller-7bl-xyzac.ngc",
+ "xyzac_switchkins_test_1.ngc",
+ "xyzac_switchkins_test_2.ngc",
+ "xyzac_switchkins_test_3.ngc",
+];
+const ENTRY_MACHINE_FILE_CASES = [
+ "xyzac_switchkins.ngc",
+ "xyzbc_switchkins.ngc",
+];
+
+const runtime = await createLinuxCncInterpreterRuntime();
+const staged = await stageProfileMachineFiles(getFiveAxisProfile("xyzac-trt"), {
+ storage: createMemorySessionStorage(),
+});
+const sourceByFilename = new Map(staged.save.gcodeSources.map((source) => [source.filename, source]));
+
+for (const filename of [...DIRECT_CANONICAL_CASES, ...ENTRY_MACHINE_FILE_CASES]) {
+ const source = sourceByFilename.get(filename);
+ assert.ok(source, `${filename} must be present in staged LinuxCNC demo sources`);
+ assert.equal(source.sourceRel, `${TRT_DEMO_PREFIX}${filename}`);
+ assert.equal(source.sourceMode, "linuxcnc-vendored-5axis-gcode");
+ assert.equal(source.semanticBoundary, "linuxcnc_vendored_5axis_gcode_source_file");
+}
+
+const canonicalReports = [];
+for (const filename of DIRECT_CANONICAL_CASES) {
+ const source = sourceByFilename.get(filename);
+ const file = staged.save.files.find((candidate) => candidate.sourceRel === source.sourceRel);
+ const execution = runtime.runProgram(file.text);
+
+ assert.equal(execution.sourceMode, "linuxcnc-interpreter-wasm", `${filename} source mode`);
+ assert.equal(execution.semanticBoundary, "linuxcnc_interpreter_wasm_canonical_events", `${filename} boundary`);
+ assert.equal(execution.summary.motionEventCount > 0, true, `${filename} canonical motion`);
+ assert.equal(execution.summary.ready, true, `${filename} ready`);
+ assert.equal(execution.summary.plannerRuntimeReady, true, `${filename} TP timing ready`);
+ assert.equal(execution.plannerTiming.semanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion");
+ assert.equal(execution.plannerTiming.motionCount, execution.motion.length, `${filename} TP motion count`);
+ assert.equal(execution.plannerTiming.segments.length, execution.motion.length, `${filename} TP segment count`);
+ assert.equal(execution.plannerTiming.samples.length > 0, true, `${filename} TP samples`);
+
+ const firstMotionLine = execution.motion.find((event) => Number.isFinite(Number(event.line)))?.line;
+ assert.equal(Number.isFinite(Number(firstMotionLine)), true, `${filename} current source line`);
+ assert.equal(execution.motion.every((event) => event.statement !== undefined), true, `${filename} source statements`);
+
+ if (execution.summary.switchkinsEventCount > 0) {
+ assert.equal(
+ execution.switchkinsEvents.some((event) => event.switchkinsType === 1),
+ true,
+ `${filename} switchkins TCP event`,
+ );
+ assert.equal(
+ execution.switchkinsEvents.some((event) => event.switchkinsType === 0),
+ true,
+ `${filename} switchkins identity event`,
+ );
+ assert.equal(
+ execution.summary.switchkinsRemapBoundary,
+ "linuxcnc_switchkins_remap_mcode_preserved_web_runtime_applied",
+ `${filename} switchkins boundary`,
+ );
+ }
+
+ canonicalReports.push({
+ filename,
+ previewPoints: execution.motion.length,
+ executedPathPoints: execution.plannerTiming.samples.length,
+ currentLine: firstMotionLine,
+ switchkinsEvents: execution.summary.switchkinsEventCount,
+ });
+}
+
+for (const filename of ENTRY_MACHINE_FILE_CASES) {
+ const source = sourceByFilename.get(filename);
+ const selectedPlan = selectMachineFileProgram(staged.plan, staged.save, source.sourceRel);
+ const execution = runtime.runMachineFileProgram({
+ plan: selectedPlan,
+ files: staged.save.files,
+ executionMode: "fiveAxisRemap",
+ });
+
+ assert.equal(execution.sourceMode, "linuxcnc-machine-file-remap-wasm", `${filename} machine-file source`);
+ assert.equal(execution.summary.machineFileExecutionReady, true, `${filename} machine-file ready`);
+ assert.equal(execution.summary.remapRuntimeReady, true, `${filename} remap ready`);
+ assert.equal(execution.resultText.includes("fiveaxis_ini_open=1"), true, `${filename} INI proof`);
+ assert.equal(execution.resultText.includes("fiveaxis_remaps_ready=1"), true, `${filename} remap proof`);
+ assert.equal(execution.resultText.includes("fiveaxis_file_reached_exit=1"), true, `${filename} exit proof`);
+ assert.equal(execution.machineFilePlan.selectedProgramFilename, filename);
+ assert.equal(execution.machineFilePlan.selectedProgramSourceRel, source.sourceRel);
+}
+
+const store = createSimulationStore();
+assert.equal(store.getState().programExecutionSourceMode, "fixture-line-playback");
+assert.equal(store.getState().programExecution, null);
+assert.equal(store.getState().fullExecutionBoundary.promotionAllowed, false);
+
+assert.equal(canonicalReports.length >= 5, true);
+assert.equal(canonicalReports.every((report) => report.previewPoints > 0), true);
+assert.equal(canonicalReports.every((report) => report.executedPathPoints > 0), true);
+assert.equal(canonicalReports.every((report) => Number.isFinite(Number(report.currentLine))), true);
+assert.equal(canonicalReports.some((report) => report.filename === "boat-xyzac.ngc"), true);
+assert.equal(canonicalReports.some((report) => report.filename === "boat-xyzbc.ngc"), true);
+assert.equal(canonicalReports.some((report) => report.filename === "impeller-7bl-xyzac.ngc"), true);
+assert.equal(canonicalReports.some((report) => report.filename.startsWith("xyzac_switchkins")), true);
+assert.equal(sourceByFilename.has("xyzbc_switchkins.ngc"), true);
+assert.equal(canonicalReports.some((report) => report.switchkinsEvents > 0), true);
+
+console.log(`linuxcnc_source_program_case_count=${canonicalReports.length + ENTRY_MACHINE_FILE_CASES.length}`);
+console.log("all_cases_program_preview_points=ok");
+console.log("all_cases_executed_path_points=ok_after_run_or_step");
+console.log("all_cases_toolpath_preview_source=linuxcnc_interpreter_canonical_motion");
+console.log("all_cases_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback");
+console.log("all_switchkins_cases_rtcp_state_changes_verified=1");
+console.log("all_cases_source_guard=linuxcnc_vendored_5axis_gcode_source_file");
+console.log("fixture_toolpath_fallback_not_promoted=1");
+console.log("real_linuxcnc_5axis_program_cases_smoke=ok");