Add OPFS G-code staging and browser simulation checks

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");

web-rtcp-5axis-sim-plan/.gitignore

@@ -1 +1,2 @@
 app/dist/
+build/

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": {}

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() {

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,

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,
   };
 }
 

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);

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*<!doctype html/i.test(text) || /^\s*<html[\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 === "..")) {

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;
+}

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;

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

@@ -324,7 +324,7 @@ function renderInfoTabs(element, state) {
       <dt>Canonical:</dt><dd data-program-execution-summary="${state.programExecution?.summary?.motionEventCount ?? 0}">${state.programExecution?.summary?.motionEventCount ?? 0} motion / ${state.programExecution?.summary?.canonicalEventCount ?? 0} events</dd>
       <dt>Switchkins:</dt><dd data-program-switchkins-summary="${state.programExecution?.summary?.switchkinsEventCount ?? 0}">${formatSwitchkinsSummary(state.programExecution)}</dd>
       <dt>Machine run:</dt><dd data-machine-file-execution="status">${formatMachineFileExecution(state.machineFileExecution)}</dd>
-      <dt>Session:</dt><dd data-session-persistence="status">${state.sessionPersistence.status} / ${state.sessionPersistence.storageMode ?? "-"} / ${state.sessionPersistence.path ?? "-"}</dd>
+      <dt>Session:</dt><dd data-session-persistence="status">${formatSessionPersistence(state.sessionPersistence)}</dd>
       <dt>Tool preview:</dt><dd data-tool-preview="detail">T${state.toolPreview.toolNumber} D${formatNumber(state.toolPreview.diameter, 2)} L${formatNumber(state.toolPreview.length, 3)} ${state.toolPreview.units}</dd>
       <dt>Program time:</dt><dd data-program-timing="summary">${formatProgramTiming(state)}</dd>
       <dt>Segment time:</dt><dd data-program-timing="segment">${formatProgramTimingSegment(state)}</dd>
@@ -348,6 +348,7 @@ function renderInfoTabs(element, state) {
       <dt>Full boundary:</dt><dd data-full-execution-boundary="status">${formatFullExecutionBoundary(state.fullExecutionBoundary)}</dd>
       <dt>Planner/task:</dt><dd data-full-execution-boundary="blockers">${formatFullExecutionBlockers(state.fullExecutionBoundary)}</dd>
       <dt>Boundary evidence:</dt><dd data-full-execution-boundary="evidence">${formatFullExecutionEvidence(state.fullExecutionBoundary)}</dd>
+      <dt>Host/native:</dt><dd data-full-execution-boundary="host-native">${formatHostNativeBoundary(state.fullExecutionBoundary)}</dd>
       <dt>LinuxCNC kins:</dt><dd data-rtcp-diagnostic="kinematics-ready">${frame.readiness.linuxCncKinematicsReady ? "ready" : "pending"}</dd>
       <dt>Kins context:</dt><dd data-rtcp-diagnostic="execution-context">${state.kinematicsExecutionContext}</dd>
       <dt>Interpreter:</dt><dd data-linuxcnc-boundary="interpreter">${state.interpreterRuntimeReadiness?.loaded ? state.interpreterRuntimeReadiness.semanticBoundary : "pending"}</dd>
@@ -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 = `
     <section class="meter-card">

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(

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_batch=M22-host-native-boundary-visibility
-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_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
+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
+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
+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
-next_batch=hardware_realtime_external_processes_if_required
+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<sub> 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

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<sub> 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。

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<sub> 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
+```

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";
       }

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");

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;
+}

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");