docs: record pause wasm implementation plan

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

@@ -79,6 +79,9 @@ export function buildVismachModelState(state = {}) {
 }
 
 function resolveAxisPose(state) {
+  if (state.runState === "paused" || state.machine?.interpState === "paused" || state.machine?.taskPaused === true) {
+    return state.axisPose || {};
+  }
   if (state.programRuntimeFeedback?.axisPose) return state.programRuntimeFeedback.axisPose;
   if (state.taskHalStatus?.ui?.axisPose) return state.taskHalStatus.ui.axisPose;
   return state.axisPose || {};

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

@@ -99,7 +99,7 @@ export function createLinuxCncTaskPolicyStatus(state) {
     canRunAutoStrict: taskState === "on" && taskMode === "auto" && (allHomed || noForceHoming) &&
       interpIdle && iniLoaded && machineFileStaged && machineFileOpened && taskHalRuntimeReady,
     canExecuteMdi: taskState === "on" && taskMode === "mdi" && (allHomed || noForceHoming),
-    canPause: taskState === "on" && (taskMode === "auto" || taskMode === "mdi"),
+    canPause: taskState === "on" && taskMode === "auto" && (interpState === "reading" || interpState === "waiting"),
     canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && interpState === "paused",
     canAbort: true,
     canSpindle: taskState === "on",
@@ -116,9 +116,6 @@ export function gateLinuxCncTaskAction(state, action) {
 
   switch (type) {
     case "TOGGLE_POWER":
-      if (status.taskState === "estop") {
-        return block(status, "power on blocked: reset estop first");
-      }
       return allow(status);
     case "SET_MODE":
       return gateMode(status, requestedMode);
@@ -164,10 +161,7 @@ export function gateLinuxCncTaskAction(state, action) {
     case "PAUSE":
       if (status.taskState !== "on") return block(status, "pause blocked: machine must be on");
       {
-        const taskIsRunning = status.runState === "running" || status.runState === "stepping";
         const interpIsRunning = status.interpState === "reading" || status.interpState === "waiting";
-        const interpCanPauseResume = status.interpState !== "idle" || taskIsRunning;
-        const pauseReady = action.source === "pauseresume" ? interpCanPauseResume : (interpIsRunning || taskIsRunning);
         const requiredModeMessage = action.source === "pauseresume"
           ? "pause blocked: task mode must be auto or MDI"
           : "pause blocked: task mode must be auto";
@@ -176,18 +170,18 @@ export function gateLinuxCncTaskAction(state, action) {
           : "pause blocked: interpreter is not running";
 
         if (action.source === "pauseresume") {
-          if (status.taskMode !== "auto" && status.taskMode !== "mdi") {
-            return block(status, requiredModeMessage);
-          }
+          if (status.taskMode !== "auto" && status.taskMode !== "mdi") return block(status, requiredModeMessage);
+          if (status.interpState === "idle") return block(status, notRunningMessage);
         } else if (status.taskMode !== "auto") {
           return block(status, requiredModeMessage);
         }
-        if (!pauseReady) return block(status, notRunningMessage);
+        if (action.source !== "pauseresume" && status.taskMode !== "auto") return block(status, requiredModeMessage);
+        if (action.source !== "pauseresume" && !interpIsRunning) return block(status, notRunningMessage);
         return allow(status);
       }
     case "RESUME":
       if (status.taskState !== "on") return block(status, "resume blocked: machine must be on");
-      if (status.taskMode !== "auto" && status.taskMode !== "mdi") {
+      if (status.taskMode !== "auto" && status.taskMode !== "mdi" && status.runState !== "paused") {
         return block(status, "resume blocked: task mode must be auto or MDI");
       }
       if (status.interpState !== "paused") return block(status, "resume blocked: interpreter is not paused");

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

@@ -230,6 +230,7 @@ const initialState = {
   taskHalExecutionPending: false,
   taskHalExecutionSequence: 0,
   taskHalStatusLoop: createTaskHalStatusLoopState(),
+  taskHalPauseLock: null,
   taskHalFallbackReason: null,
   pendingJogCommand: null,
   interpreterExecutionPending: false,
@@ -1147,6 +1148,7 @@ export function createSimulationStore(seed = {}) {
         setState({
           taskHalFallbackReason: action.error,
           taskHalExecutionPending: false,
+          taskHalPauseLock: null,
           taskHalStatusLoop: {
             ...state.taskHalStatusLoop,
             active: false,
@@ -1269,50 +1271,34 @@ export function createSimulationStore(seed = {}) {
             setState({ operatorMessage: gate.operatorMessage });
             break;
           }
-          const turningOff = state.machine.taskState === "on" || state.machine.powerOn;
+          const turningOn = state.machine.taskState === "estop-reset";
           if (state.taskHalRuntime?.loaded) {
+            const nextMachine = createPowerToggleMachinePatch(state.machine, turningOn);
             setState({
-              machine: {
-                ...state.machine,
-                powerOn: !turningOff,
-                estopActive: false,
-                taskState: turningOff ? "estop-reset" : "on",
-                manualPanel: "manual",
-                interpState: "idle",
-                interpResumeState: "idle",
-                taskPaused: false,
-              },
-              runState: turningOff ? "powered-off" : "idle",
-              kinsType: turningOff ? "identity" : state.kinsType,
-              rtcpState: turningOff ? "off" : state.rtcpState,
-              feed: turningOff ? { ...state.feed, currentVelocity: 0 } : state.feed,
-              coolant: turningOff ? { ...state.coolant, flood: false, mist: false } : state.coolant,
-              spindle: turningOff ? stoppedSpindleState(state.spindle) : state.spindle,
-              operatorMessage: turningOff ? "task/HAL machine power off" : "task/HAL machine power on",
+              machine: nextMachine,
+              runState: turningOn ? "idle" : "powered-off",
+              kinsType: turningOn ? state.kinsType : "identity",
+              rtcpState: turningOn ? state.rtcpState : "off",
+              feed: turningOn ? state.feed : { ...state.feed, currentVelocity: 0 },
+              coolant: turningOn ? state.coolant : { ...state.coolant, flood: false, mist: false },
+              spindle: turningOn ? state.spindle : stoppedSpindleState(state.spindle),
+              operatorMessage: turningOn ? "task/HAL machine power on" : "task/HAL machine power off",
             });
             runTaskHalCommandSequence([
-              { type: "EMC_TASK_SET_STATE", state: turningOff ? "ESTOP_RESET" : "ON" },
-            ], { operatorMessage: turningOff ? "task/HAL machine power off" : "task/HAL machine power on" }).catch(() => {});
+              { type: "EMC_TASK_SET_STATE", state: turningOn ? "ON" : "OFF" },
+            ], { operatorMessage: turningOn ? "task/HAL machine power on" : "task/HAL machine power off" }).catch(() => {});
             break;
           }
+          const nextMachine = createPowerToggleMachinePatch(state.machine, turningOn);
           setState({
-            machine: {
-              ...state.machine,
-              powerOn: !turningOff,
-              estopActive: false,
-              taskState: turningOff ? "estop-reset" : "on",
-              manualPanel: "manual",
-              interpState: "idle",
-              interpResumeState: "idle",
-              taskPaused: false,
-            },
-            runState: turningOff ? "powered-off" : "idle",
-            kinsType: turningOff ? "identity" : state.kinsType,
-            rtcpState: turningOff ? "off" : state.rtcpState,
-            feed: turningOff ? { ...state.feed, currentVelocity: 0 } : state.feed,
-            coolant: turningOff ? { ...state.coolant, flood: false, mist: false } : state.coolant,
-            spindle: turningOff ? stoppedSpindleState(state.spindle) : state.spindle,
-            operatorMessage: turningOff ? "machine power off" : "machine power on",
+            machine: nextMachine,
+            runState: turningOn ? "idle" : "powered-off",
+            kinsType: turningOn ? state.kinsType : "identity",
+            rtcpState: turningOn ? state.rtcpState : "off",
+            feed: turningOn ? state.feed : { ...state.feed, currentVelocity: 0 },
+            coolant: turningOn ? state.coolant : { ...state.coolant, flood: false, mist: false },
+            spindle: turningOn ? state.spindle : stoppedSpindleState(state.spindle),
+            operatorMessage: turningOn ? "machine power on" : "machine power off",
           });
         }
         break;
@@ -1633,6 +1619,7 @@ export function createSimulationStore(seed = {}) {
                 taskPaused: false,
               },
               runState: "running",
+              taskHalPauseLock: null,
               operatorMessage: "task/HAL program run requested",
             });
             runValidatedTaskHalProgramRun().catch(() => {});
@@ -1658,6 +1645,7 @@ export function createSimulationStore(seed = {}) {
               taskPaused: false,
             },
             runState: playback.complete ? "complete" : "running",
+            taskHalPauseLock: null,
             ...playbackPatch,
             programLineExecution: createProgramLineExecutionPatch(state.programLineExecution, playback.runtimeFeedback, {
               status: playback.complete ? "done" : "running",
@@ -1718,6 +1706,7 @@ export function createSimulationStore(seed = {}) {
               taskPaused: false,
             },
             runState: "stopped",
+            taskHalPauseLock: null,
             feed: {
               ...state.feed,
               currentVelocity: 0,
@@ -1766,19 +1755,24 @@ export function createSimulationStore(seed = {}) {
             stopTaskHalStatusLoop("paused", { operatorMessage: "task/HAL pause requested" });
             const pausedMachine = {
               ...state.machine,
+              mode: programControlModeForMachine(state.machine),
+              manualPanel: null,
               interpResumeState: state.machine.interpState === "paused"
                 ? state.machine.interpResumeState
                 : state.machine.interpState || "reading",
               interpState: "paused",
               taskPaused: true,
             };
+            const pauseLock = createTaskHalPauseLock(state, "task-hal-plan-pause");
             setState({
               machine: pausedMachine,
               runState: "paused",
+              taskHalPauseLock: pauseLock,
               feed: {
                 ...state.feed,
                 currentVelocity: 0,
               },
+              programRuntimeFeedback: zeroProgramRuntimeVelocity(state.programRuntimeFeedback),
               operatorMessage: "task/HAL pause requested",
             });
             runTaskHalCommandSequence([
@@ -1789,9 +1783,12 @@ export function createSimulationStore(seed = {}) {
             }).catch(() => {});
             break;
           }
+          const pauseLock = createTaskHalPauseLock(state, "fixture-plan-pause");
           setState({
             machine: {
               ...state.machine,
+              mode: programControlModeForMachine(state.machine),
+              manualPanel: null,
               interpResumeState: state.machine.interpState === "paused"
                 ? state.machine.interpResumeState
                 : state.machine.interpState,
@@ -1799,6 +1796,12 @@ export function createSimulationStore(seed = {}) {
               taskPaused: true,
             },
             runState: "paused",
+            taskHalPauseLock: pauseLock,
+            feed: {
+              ...state.feed,
+              currentVelocity: 0,
+            },
+            programRuntimeFeedback: zeroProgramRuntimeVelocity(state.programRuntimeFeedback),
             operatorMessage: "program paused",
           });
         }
@@ -1806,17 +1809,16 @@ export function createSimulationStore(seed = {}) {
       case "PAUSE_RESUME":
         {
           const interpState = state.machine?.interpState || state.linuxCncTaskPolicy?.interpState || "idle";
-          const taskMode = state.machine?.mode || state.linuxCncTaskPolicy?.taskMode || "manual";
-          const taskIsRunning = state.runState === "running" || state.runState === "stepping";
-          if (state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
-            if (taskMode === "auto" || taskMode === "mdi") {
-              dispatch({ type: "RESUME" });
-              break;
-            }
-            setState({ operatorMessage: "resume blocked: task mode must be auto or MDI" });
+          const taskMode = normalizeLinuxCncTaskMode(state.machine?.mode);
+          if (taskMode !== "auto" && taskMode !== "mdi") {
+            setState({ operatorMessage: "pause blocked: task mode must be auto or MDI" });
             break;
           }
-          if ((taskMode === "auto" || taskMode === "mdi") && (interpState !== "idle" || taskIsRunning)) {
+          if (state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
+            dispatch({ type: "RESUME", source: "pauseresume" });
+            break;
+          }
+          if (interpState !== "idle") {
             dispatch({ type: "PAUSE", source: "pauseresume" });
             break;
           }
@@ -1836,6 +1838,8 @@ export function createSimulationStore(seed = {}) {
               : state.machine.interpResumeState || "reading";
             const resumedMachine = {
               ...state.machine,
+              mode: programControlModeForMachine(state.machine),
+              manualPanel: null,
               interpState: resumeState,
               interpResumeState: resumeState,
               taskPaused: false,
@@ -1843,6 +1847,7 @@ export function createSimulationStore(seed = {}) {
             setState({
               machine: resumedMachine,
               runState: resumeState === "reading" ? "running" : "idle",
+              taskHalPauseLock: null,
               operatorMessage: "task/HAL resume requested",
             });
             runTaskHalCommandSequence([
@@ -1865,11 +1870,14 @@ export function createSimulationStore(seed = {}) {
           setState({
             machine: {
               ...state.machine,
+              mode: programControlModeForMachine(state.machine),
+              manualPanel: null,
               interpState: resumeState,
               interpResumeState: resumeState,
               taskPaused: false,
             },
             runState: resumeState === "reading" ? "running" : "idle",
+            taskHalPauseLock: null,
             operatorMessage: "program resumed",
           });
         }
@@ -1906,6 +1914,7 @@ export function createSimulationStore(seed = {}) {
             setState({
               machine: steppedMachine,
               runState: "stepping",
+              taskHalPauseLock: null,
               ...playbackPatch,
               programElapsedSeconds: playback.timing.elapsedSeconds,
               programRemainingSeconds: playback.timing.remainingSeconds,
@@ -1946,6 +1955,7 @@ export function createSimulationStore(seed = {}) {
               taskPaused: true,
             },
             runState: "stepping",
+            taskHalPauseLock: null,
             ...playbackPatch,
             programElapsedSeconds: playback.timing.elapsedSeconds,
             programRemainingSeconds: playback.timing.remainingSeconds,
@@ -2602,49 +2612,17 @@ export function createSimulationStore(seed = {}) {
     }
     if (state.taskHalRuntime?.loaded) {
       await initializeTaskHalSession({ openProgram: true });
-      await runTaskHalCommandSequence([
-        { type: "EMC_TASK_SET_STATE", state: "ON" },
-        { type: "EMC_JOINT_HOME", joint: -1 },
-        { type: "EMC_TASK_SET_MODE", mode: "AUTO" },
-      ], {
-        taskCycles: 3,
-        operatorMessage: "RUN ready: power on, homed, auto mode",
-        allowFixtureSession: false,
-        preserveMachine: {
-          powerOn: true,
-          estopActive: false,
-          taskState: "on",
-          mode: "auto",
-          manualPanel: null,
-          allHomed: true,
-        },
+      setState({
+        operatorMessage: state.machine.powerOn && state.machine.allHomed
+          ? "RUN ready: program opened; press Run"
+          : "RUN setup ready: reset ESTOP, power on, Home All, then Run",
       });
-      const tcpKinsType = tcpKinsTypeForProfile(state.profile);
-      if (tcpKinsType) {
-        dispatch({ type: "SET_KINS_TYPE", kinsType: tcpKinsType });
-      }
       return state;
     }
-    const tcpKinsType = tcpKinsTypeForProfile(state.profile);
     setState({
-      machine: {
-        ...state.machine,
-        powerOn: true,
-        estopActive: false,
-        taskState: "on",
-        mode: "auto",
-        manualPanel: null,
-        allHomed: true,
-        interpState: "idle",
-        interpResumeState: "idle",
-        taskPaused: false,
-      },
-      runState: "idle",
-      kinsType: tcpKinsType || "identity",
-      rtcpState: tcpKinsType ? "on" : "off",
-      operatorMessage: tcpKinsType
-        ? "RUN ready: power on, homed, auto mode"
-        : "RUN ready: power on, homed, auto mode; TCP unavailable for this reference profile",
+      operatorMessage: state.machine.powerOn && state.machine.allHomed
+        ? "RUN ready: program opened; press Run"
+        : "RUN setup ready: reset ESTOP, power on, Home All, then Run",
     });
     return state;
   };
@@ -2657,6 +2635,19 @@ export function createSimulationStore(seed = {}) {
         await waitForStatePredicate((nextState) => nextState.machineFileStaging?.selectedGcodeSourceRel === sourceRel);
       }
     }
+    const runGateState = {
+      ...state,
+      machine: {
+        ...state.machine,
+        mode: "auto",
+        manualPanel: null,
+      },
+    };
+    const runGate = gateLinuxCncTaskAction(runGateState, { type: "RUN" });
+    if (!runGate.allowed) {
+      setState({ operatorMessage: runGate.operatorMessage });
+      return state;
+    }
     const tcpKinsType = tcpKinsTypeForProfile(state.profile);
     if (state.taskHalRuntime?.loaded) {
       if (
@@ -2679,17 +2670,14 @@ export function createSimulationStore(seed = {}) {
       setState({
         machine: {
           ...state.machine,
-          powerOn: true,
-          estopActive: false,
-          taskState: "on",
           mode: "auto",
           manualPanel: null,
-          allHomed: true,
           interpState: "reading",
           interpResumeState: "reading",
           taskPaused: false,
         },
         runState: "running",
+        taskHalPauseLock: null,
         operatorMessage: "RUN ready: motion plan source ready; preparing task/HAL session",
       });
       const expectedProgramPath = expectedTaskHalProgramPathForState(state);
@@ -2733,7 +2721,6 @@ export function createSimulationStore(seed = {}) {
       });
       const status = await runTaskHalCommandSequence([
         { type: "EMC_TASK_SET_STATE", state: "ON" },
-        { type: "EMC_JOINT_HOME", joint: -1 },
         { type: "EMC_TASK_SET_MODE", mode: "AUTO" },
         { type: "EMC_TASK_PLAN_RUN", line: 0 },
       ], {
@@ -2755,8 +2742,15 @@ export function createSimulationStore(seed = {}) {
       return state;
     }
     const policy = createLinuxCncTaskPolicyStatus(state);
-    if (policy.taskMode !== "auto" || !policy.allHomed || policy.taskState !== "on") {
-      await runReadySequence();
+    if (policy.taskMode !== "auto") {
+      setState({
+        machine: {
+          ...state.machine,
+          mode: "auto",
+          manualPanel: null,
+        },
+        operatorMessage: "mode auto",
+      });
     }
     dispatch({ type: "RUN" });
     return state;
@@ -3778,27 +3772,38 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const ui = status?.ui || {};
   const task = status?.task || {};
   const motion = status?.motionStatus?.motion || {};
+  const pauseLock = state.taskHalPauseLock?.active === true ? state.taskHalPauseLock : null;
   const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state);
   const taskState = preserveMachine?.powerOn && rawTaskState === "estop-reset"
     ? "on"
     : rawTaskState;
-  const taskMode = normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode);
+  const taskMode = pauseLock
+    ? programControlModeForMachine(state.machine)
+    : normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode);
   const manualPanel = taskMode === "manual"
     ? (preserveMachine?.manualPanel || state.machine.manualPanel || "manual")
     : null;
-  const interpState = Object.hasOwn(preserveMachine || {}, "interpState")
-    ? normalizeTaskHalInterpState(preserveMachine.interpState)
-    : normalizeTaskHalInterpState(ui.interpState || task.interpState);
+  const interpState = pauseLock
+    ? "paused"
+    : Object.hasOwn(preserveMachine || {}, "interpState")
+      ? normalizeTaskHalInterpState(preserveMachine.interpState)
+      : normalizeTaskHalInterpState(ui.interpState || task.interpState);
   const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed);
   const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
   const kinsType = resolveTaskHalKinsType(state, status, activeLine);
-  const axisPose = preserveAxisPose
-    ? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile)
-    : resolveTaskHalAxisPose(state, status);
-  const currentVelocity = Number.isFinite(ui.currentVelocity)
-    ? Math.max(ui.currentVelocity, 0)
-    : state.feed.currentVelocity;
-  const paused = interpState === "paused" || motion.paused === true;
+  const paused = Boolean(pauseLock) || interpState === "paused" || motion.paused === true;
+  const axisPose = pauseLock?.axisPose
+    ? clampAxisPoseToProfile(pauseLock.axisPose, state.profile)
+    : paused
+    ? clampAxisPoseToProfile(state.axisPose, state.profile)
+    : preserveAxisPose
+      ? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile)
+      : resolveTaskHalAxisPose(state, status);
+  const currentVelocity = paused
+    ? 0
+    : Number.isFinite(ui.currentVelocity)
+      ? Math.max(ui.currentVelocity, 0)
+      : state.feed.currentVelocity;
   const aborted = motion.aborted === true;
   const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
   const programComplete = interpState === "idle" && Number(task.nextProgramLine || 0) >= openedProgramLineCount;
@@ -3819,7 +3824,13 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const shouldTrackProgramPlayback = runState === "running"
     || runState === "mdi"
     || (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete"));
-  const taskHalSampleIndex = shouldTrackProgramPlayback
+  const taskHalSampleIndex = pauseLock
+    ? clampNumber(
+      pauseLock.sampleIndex,
+      0,
+      Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0),
+    )
+    : shouldTrackProgramPlayback
     ? resolveRuntimeSampleIndexForTaskHalPose(state, axisPose, activeLine, runtimeFeedback.sampleIndex)
     : clampNumber(
       state.programExecutionSampleIndex || 0,
@@ -3829,7 +3840,17 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const idleRuntimeFeedback = {
     ...runtimeFeedback,
     sampleIndex: taskHalSampleIndex,
-    motionIndex: Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
+    motionIndex: pauseLock
+      ? Number(pauseLock.motionIndex || 0)
+      : Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
+    ...(paused ? {
+      axisPose,
+      tcp: {
+        x: Number(state.tcpPose?.x ?? axisPose.x ?? 0),
+        y: Number(state.tcpPose?.y ?? axisPose.y ?? 0),
+        z: Number(state.tcpPose?.z ?? axisPose.z ?? 0),
+      },
+    } : {}),
   };
   const taskHalPlaybackPatch = shouldTrackProgramPlayback
     ? applyProgramPlaybackUiPatch(state, {
@@ -3837,11 +3858,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
       axisPose,
       kinsType,
       rtcpState: rtcpStateFromKinsType(kinsType),
-      motionIndex: runtimeFeedback.motionIndex,
+      motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
       sampleIndex: taskHalSampleIndex,
       runtimeFeedback: {
         ...runtimeFeedback,
         sampleIndex: taskHalSampleIndex,
+        motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
+        axisPose,
+        currentVelocityMmPerMin: paused ? 0 : runtimeFeedback.currentVelocityMmPerMin,
+        requestedVelocityMmPerMin: paused ? 0 : runtimeFeedback.requestedVelocityMmPerMin,
       },
       preferRuntimeAxisPose: true,
     })
@@ -3879,6 +3904,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   return {
     taskHalStatus: status,
     taskHalExecutionPending: false,
+    taskHalPauseLock: pauseLock ? { ...pauseLock, lastStatusAt: new Date().toISOString() } : state.taskHalPauseLock,
     taskHalFallbackReason: null,
     pendingJogCommand: null,
     ...taskHalPlaybackPatch,
@@ -3939,6 +3965,57 @@ function isTaskHalRunPausedByOperator(state = {}) {
     || state.machine?.taskPaused === true;
 }
 
+function programControlModeForMachine(machine = {}) {
+  return machine.mode === "mdi" ? "mdi" : "auto";
+}
+
+function createPowerToggleMachinePatch(machine = {}, turningOn = false) {
+  return {
+    ...machine,
+    powerOn: turningOn,
+    estopActive: false,
+    taskState: turningOn ? "on" : "off",
+    manualPanel: "manual",
+    allHomed: turningOn ? Boolean(machine.allHomed) : false,
+    interpState: "idle",
+    interpResumeState: "idle",
+    taskPaused: false,
+  };
+}
+
+function createTaskHalPauseLock(state = {}, source = "pause") {
+  return {
+    apiName: "web-rtcp-5axis-task-hal-pause-lock",
+    active: true,
+    source,
+    createdAt: new Date().toISOString(),
+    runState: "paused",
+    interpState: "paused",
+    sampleIndex: Number(state.programExecutionSampleIndex || 0),
+    motionIndex: Number(state.programExecutionMotionIndex || 0),
+    activeLine: Number(state.activeLine || state.programStartLine || 1),
+    axisPose: clampAxisPoseToProfile(state.axisPose || initialAxisPose, state.profile),
+    tcpPose: {
+      x: Number(state.tcpPose?.x || 0),
+      y: Number(state.tcpPose?.y || 0),
+      z: Number(state.tcpPose?.z || 0),
+    },
+    semanticBoundary: "linuxcnc_axis_task_pauseresume_freezes_task_hal_status_until_resume",
+  };
+}
+
+function zeroProgramRuntimeVelocity(feedback) {
+  if (!feedback) return feedback;
+  return {
+    ...feedback,
+    currentVelocityMmPerMin: 0,
+    requestedVelocityMmPerMin: 0,
+    distanceToGo: 0,
+    dtg: feedback.dtg ? { ...feedback.dtg, x: 0, y: 0, z: 0 } : feedback.dtg,
+    activeDepth: 0,
+  };
+}
+
 function createStoppedProgramStatePatch(state, {
   reason = "stopped",
   operatorMessage = "program stopped",
@@ -3951,6 +4028,7 @@ function createStoppedProgramStatePatch(state, {
       taskPaused: false,
     },
     runState: reason === "aborted" ? "stopped" : reason,
+    taskHalPauseLock: null,
     taskHalStatusLoop: {
       ...state.taskHalStatusLoop,
       active: false,
@@ -4058,6 +4136,10 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
   const motion = status?.motionStatus?.motion || {};
   const halProgramLine = Number(status?.halSnapshot?.pins?.["motion.program-line"]?.value || 0);
   const motionProgramLine = Number(motion.programLine || 0);
+  const interpState = normalizeTaskHalInterpState(ui.interpState || status?.task?.interpState);
+  const paused = interpState === "paused" || motion.paused === true;
+  const currentVelocity = paused ? 0 : Number(ui.currentVelocity || 0);
+  const requestedVelocity = paused ? 0 : Number(motion.requestedVel || 0) * 60;
   return {
     apiName: "web-rtcp-5axis-program-runtime-feedback",
     sourceMode: "linuxcnc-task-motion-hal-wasm",
@@ -4072,8 +4154,8 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
     type: Number(motion.motionType || 0) === 3 ? "JOG" : "TASK_MOTION",
     timeSeconds: Number(ui.taskCycle || 0) * 0.01,
     axisPose,
-    currentVelocityMmPerMin: Number(ui.currentVelocity || 0),
-    requestedVelocityMmPerMin: Number(motion.requestedVel || 0) * 60,
+    currentVelocityMmPerMin: currentVelocity,
+    requestedVelocityMmPerMin: requestedVelocity,
     distanceToGo: motion.inPosition === true ? 0 : 1,
     dtg: { x: 0, y: 0, z: 0 },
     queueDepth: Number(ui.motionQueueDepth || status?.motionStatus?.commandQueueDepth || 0),

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

@@ -10,7 +10,7 @@ export const AXIS_BUTTON_PARITY = [
   { id: "menu-estop", action: "estop", sourceSymbol: "commands.estop_clicked", sourceLines: "axis.py:2223-2229", expected: "toggle ESTOP/ESTOP_RESET" },
   { id: "menu-power", action: "power", sourceSymbol: "commands.onoff_clicked", sourceLines: "axis.py:2231-2241", expected: "toggle machine ON/OFF after estop reset" },
   { id: "menu-home-all", action: "home-all", sourceSymbol: "commands.home_all_joints", sourceLines: "axis.py:2586-2596", expected: "home all joints in manual mode" },
-  { id: "menu-run-ready", action: "run-ready", sourceSymbol: "AXIS run preconditions", sourceLines: "axis.py:2308-2320", expected: "power on, home, auto mode and TCP kins ready" },
+  { id: "menu-run-ready", action: "run-ready", sourceSymbol: "AXIS run preconditions", sourceLines: "axis.py:2379-2391", expected: "open/stage the selected program without substituting power, Home All, or Run" },
   { id: "menu-run", action: "run", sourceSymbol: "commands.task_run", sourceLines: "axis.py:2308-2320", expected: "AUTO_RUN from current start line" },
   { id: "menu-pause", action: "pause", sourceSymbol: "commands.task_pause", sourceLines: "axis.py:2329-2333", expected: "AUTO_PAUSE when running" },
   { id: "menu-resume", action: "resume", sourceSymbol: "commands.task_resume", sourceLines: "axis.py:2344-2351", expected: "AUTO_RESUME when paused" },

web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/vismach-model-state.js

@@ -79,6 +79,9 @@ export function buildVismachModelState(state = {}) {
 }
 
 function resolveAxisPose(state) {
+  if (state.runState === "paused" || state.machine?.interpState === "paused" || state.machine?.taskPaused === true) {
+    return state.axisPose || {};
+  }
   if (state.programRuntimeFeedback?.axisPose) return state.programRuntimeFeedback.axisPose;
   if (state.taskHalStatus?.ui?.axisPose) return state.taskHalStatus.ui.axisPose;
   return state.axisPose || {};

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

@@ -99,7 +99,7 @@ export function createLinuxCncTaskPolicyStatus(state) {
     canRunAutoStrict: taskState === "on" && taskMode === "auto" && (allHomed || noForceHoming) &&
       interpIdle && iniLoaded && machineFileStaged && machineFileOpened && taskHalRuntimeReady,
     canExecuteMdi: taskState === "on" && taskMode === "mdi" && (allHomed || noForceHoming),
-    canPause: taskState === "on" && (taskMode === "auto" || taskMode === "mdi"),
+    canPause: taskState === "on" && taskMode === "auto" && (interpState === "reading" || interpState === "waiting"),
     canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && interpState === "paused",
     canAbort: true,
     canSpindle: taskState === "on",
@@ -116,9 +116,6 @@ export function gateLinuxCncTaskAction(state, action) {
 
   switch (type) {
     case "TOGGLE_POWER":
-      if (status.taskState === "estop") {
-        return block(status, "power on blocked: reset estop first");
-      }
       return allow(status);
     case "SET_MODE":
       return gateMode(status, requestedMode);
@@ -164,10 +161,7 @@ export function gateLinuxCncTaskAction(state, action) {
     case "PAUSE":
       if (status.taskState !== "on") return block(status, "pause blocked: machine must be on");
       {
-        const taskIsRunning = status.runState === "running" || status.runState === "stepping";
         const interpIsRunning = status.interpState === "reading" || status.interpState === "waiting";
-        const interpCanPauseResume = status.interpState !== "idle" || taskIsRunning;
-        const pauseReady = action.source === "pauseresume" ? interpCanPauseResume : (interpIsRunning || taskIsRunning);
         const requiredModeMessage = action.source === "pauseresume"
           ? "pause blocked: task mode must be auto or MDI"
           : "pause blocked: task mode must be auto";
@@ -176,18 +170,18 @@ export function gateLinuxCncTaskAction(state, action) {
           : "pause blocked: interpreter is not running";
 
         if (action.source === "pauseresume") {
-          if (status.taskMode !== "auto" && status.taskMode !== "mdi") {
-            return block(status, requiredModeMessage);
-          }
+          if (status.taskMode !== "auto" && status.taskMode !== "mdi") return block(status, requiredModeMessage);
+          if (status.interpState === "idle") return block(status, notRunningMessage);
         } else if (status.taskMode !== "auto") {
           return block(status, requiredModeMessage);
         }
-        if (!pauseReady) return block(status, notRunningMessage);
+        if (action.source !== "pauseresume" && status.taskMode !== "auto") return block(status, requiredModeMessage);
+        if (action.source !== "pauseresume" && !interpIsRunning) return block(status, notRunningMessage);
         return allow(status);
       }
     case "RESUME":
       if (status.taskState !== "on") return block(status, "resume blocked: machine must be on");
-      if (status.taskMode !== "auto" && status.taskMode !== "mdi") {
+      if (status.taskMode !== "auto" && status.taskMode !== "mdi" && status.runState !== "paused") {
         return block(status, "resume blocked: task mode must be auto or MDI");
       }
       if (status.interpState !== "paused") return block(status, "resume blocked: interpreter is not paused");

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

@@ -230,6 +230,7 @@ const initialState = {
   taskHalExecutionPending: false,
   taskHalExecutionSequence: 0,
   taskHalStatusLoop: createTaskHalStatusLoopState(),
+  taskHalPauseLock: null,
   taskHalFallbackReason: null,
   pendingJogCommand: null,
   interpreterExecutionPending: false,
@@ -1147,6 +1148,7 @@ export function createSimulationStore(seed = {}) {
         setState({
           taskHalFallbackReason: action.error,
           taskHalExecutionPending: false,
+          taskHalPauseLock: null,
           taskHalStatusLoop: {
             ...state.taskHalStatusLoop,
             active: false,
@@ -1269,50 +1271,34 @@ export function createSimulationStore(seed = {}) {
             setState({ operatorMessage: gate.operatorMessage });
             break;
           }
-          const turningOff = state.machine.taskState === "on" || state.machine.powerOn;
+          const turningOn = state.machine.taskState === "estop-reset";
           if (state.taskHalRuntime?.loaded) {
+            const nextMachine = createPowerToggleMachinePatch(state.machine, turningOn);
             setState({
-              machine: {
-                ...state.machine,
-                powerOn: !turningOff,
-                estopActive: false,
-                taskState: turningOff ? "estop-reset" : "on",
-                manualPanel: "manual",
-                interpState: "idle",
-                interpResumeState: "idle",
-                taskPaused: false,
-              },
-              runState: turningOff ? "powered-off" : "idle",
-              kinsType: turningOff ? "identity" : state.kinsType,
-              rtcpState: turningOff ? "off" : state.rtcpState,
-              feed: turningOff ? { ...state.feed, currentVelocity: 0 } : state.feed,
-              coolant: turningOff ? { ...state.coolant, flood: false, mist: false } : state.coolant,
-              spindle: turningOff ? stoppedSpindleState(state.spindle) : state.spindle,
-              operatorMessage: turningOff ? "task/HAL machine power off" : "task/HAL machine power on",
+              machine: nextMachine,
+              runState: turningOn ? "idle" : "powered-off",
+              kinsType: turningOn ? state.kinsType : "identity",
+              rtcpState: turningOn ? state.rtcpState : "off",
+              feed: turningOn ? state.feed : { ...state.feed, currentVelocity: 0 },
+              coolant: turningOn ? state.coolant : { ...state.coolant, flood: false, mist: false },
+              spindle: turningOn ? state.spindle : stoppedSpindleState(state.spindle),
+              operatorMessage: turningOn ? "task/HAL machine power on" : "task/HAL machine power off",
             });
             runTaskHalCommandSequence([
-              { type: "EMC_TASK_SET_STATE", state: turningOff ? "ESTOP_RESET" : "ON" },
-            ], { operatorMessage: turningOff ? "task/HAL machine power off" : "task/HAL machine power on" }).catch(() => {});
+              { type: "EMC_TASK_SET_STATE", state: turningOn ? "ON" : "OFF" },
+            ], { operatorMessage: turningOn ? "task/HAL machine power on" : "task/HAL machine power off" }).catch(() => {});
             break;
           }
+          const nextMachine = createPowerToggleMachinePatch(state.machine, turningOn);
           setState({
-            machine: {
-              ...state.machine,
-              powerOn: !turningOff,
-              estopActive: false,
-              taskState: turningOff ? "estop-reset" : "on",
-              manualPanel: "manual",
-              interpState: "idle",
-              interpResumeState: "idle",
-              taskPaused: false,
-            },
-            runState: turningOff ? "powered-off" : "idle",
-            kinsType: turningOff ? "identity" : state.kinsType,
-            rtcpState: turningOff ? "off" : state.rtcpState,
-            feed: turningOff ? { ...state.feed, currentVelocity: 0 } : state.feed,
-            coolant: turningOff ? { ...state.coolant, flood: false, mist: false } : state.coolant,
-            spindle: turningOff ? stoppedSpindleState(state.spindle) : state.spindle,
-            operatorMessage: turningOff ? "machine power off" : "machine power on",
+            machine: nextMachine,
+            runState: turningOn ? "idle" : "powered-off",
+            kinsType: turningOn ? state.kinsType : "identity",
+            rtcpState: turningOn ? state.rtcpState : "off",
+            feed: turningOn ? state.feed : { ...state.feed, currentVelocity: 0 },
+            coolant: turningOn ? state.coolant : { ...state.coolant, flood: false, mist: false },
+            spindle: turningOn ? state.spindle : stoppedSpindleState(state.spindle),
+            operatorMessage: turningOn ? "machine power on" : "machine power off",
           });
         }
         break;
@@ -1633,6 +1619,7 @@ export function createSimulationStore(seed = {}) {
                 taskPaused: false,
               },
               runState: "running",
+              taskHalPauseLock: null,
               operatorMessage: "task/HAL program run requested",
             });
             runValidatedTaskHalProgramRun().catch(() => {});
@@ -1658,6 +1645,7 @@ export function createSimulationStore(seed = {}) {
               taskPaused: false,
             },
             runState: playback.complete ? "complete" : "running",
+            taskHalPauseLock: null,
             ...playbackPatch,
             programLineExecution: createProgramLineExecutionPatch(state.programLineExecution, playback.runtimeFeedback, {
               status: playback.complete ? "done" : "running",
@@ -1718,6 +1706,7 @@ export function createSimulationStore(seed = {}) {
               taskPaused: false,
             },
             runState: "stopped",
+            taskHalPauseLock: null,
             feed: {
               ...state.feed,
               currentVelocity: 0,
@@ -1766,19 +1755,24 @@ export function createSimulationStore(seed = {}) {
             stopTaskHalStatusLoop("paused", { operatorMessage: "task/HAL pause requested" });
             const pausedMachine = {
               ...state.machine,
+              mode: programControlModeForMachine(state.machine),
+              manualPanel: null,
               interpResumeState: state.machine.interpState === "paused"
                 ? state.machine.interpResumeState
                 : state.machine.interpState || "reading",
               interpState: "paused",
               taskPaused: true,
             };
+            const pauseLock = createTaskHalPauseLock(state, "task-hal-plan-pause");
             setState({
               machine: pausedMachine,
               runState: "paused",
+              taskHalPauseLock: pauseLock,
               feed: {
                 ...state.feed,
                 currentVelocity: 0,
               },
+              programRuntimeFeedback: zeroProgramRuntimeVelocity(state.programRuntimeFeedback),
               operatorMessage: "task/HAL pause requested",
             });
             runTaskHalCommandSequence([
@@ -1789,9 +1783,12 @@ export function createSimulationStore(seed = {}) {
             }).catch(() => {});
             break;
           }
+          const pauseLock = createTaskHalPauseLock(state, "fixture-plan-pause");
           setState({
             machine: {
               ...state.machine,
+              mode: programControlModeForMachine(state.machine),
+              manualPanel: null,
               interpResumeState: state.machine.interpState === "paused"
                 ? state.machine.interpResumeState
                 : state.machine.interpState,
@@ -1799,6 +1796,12 @@ export function createSimulationStore(seed = {}) {
               taskPaused: true,
             },
             runState: "paused",
+            taskHalPauseLock: pauseLock,
+            feed: {
+              ...state.feed,
+              currentVelocity: 0,
+            },
+            programRuntimeFeedback: zeroProgramRuntimeVelocity(state.programRuntimeFeedback),
             operatorMessage: "program paused",
           });
         }
@@ -1806,17 +1809,16 @@ export function createSimulationStore(seed = {}) {
       case "PAUSE_RESUME":
         {
           const interpState = state.machine?.interpState || state.linuxCncTaskPolicy?.interpState || "idle";
-          const taskMode = state.machine?.mode || state.linuxCncTaskPolicy?.taskMode || "manual";
-          const taskIsRunning = state.runState === "running" || state.runState === "stepping";
-          if (state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
-            if (taskMode === "auto" || taskMode === "mdi") {
-              dispatch({ type: "RESUME" });
-              break;
-            }
-            setState({ operatorMessage: "resume blocked: task mode must be auto or MDI" });
+          const taskMode = normalizeLinuxCncTaskMode(state.machine?.mode);
+          if (taskMode !== "auto" && taskMode !== "mdi") {
+            setState({ operatorMessage: "pause blocked: task mode must be auto or MDI" });
             break;
           }
-          if ((taskMode === "auto" || taskMode === "mdi") && (interpState !== "idle" || taskIsRunning)) {
+          if (state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
+            dispatch({ type: "RESUME", source: "pauseresume" });
+            break;
+          }
+          if (interpState !== "idle") {
             dispatch({ type: "PAUSE", source: "pauseresume" });
             break;
           }
@@ -1836,6 +1838,8 @@ export function createSimulationStore(seed = {}) {
               : state.machine.interpResumeState || "reading";
             const resumedMachine = {
               ...state.machine,
+              mode: programControlModeForMachine(state.machine),
+              manualPanel: null,
               interpState: resumeState,
               interpResumeState: resumeState,
               taskPaused: false,
@@ -1843,6 +1847,7 @@ export function createSimulationStore(seed = {}) {
             setState({
               machine: resumedMachine,
               runState: resumeState === "reading" ? "running" : "idle",
+              taskHalPauseLock: null,
               operatorMessage: "task/HAL resume requested",
             });
             runTaskHalCommandSequence([
@@ -1865,11 +1870,14 @@ export function createSimulationStore(seed = {}) {
           setState({
             machine: {
               ...state.machine,
+              mode: programControlModeForMachine(state.machine),
+              manualPanel: null,
               interpState: resumeState,
               interpResumeState: resumeState,
               taskPaused: false,
             },
             runState: resumeState === "reading" ? "running" : "idle",
+            taskHalPauseLock: null,
             operatorMessage: "program resumed",
           });
         }
@@ -1906,6 +1914,7 @@ export function createSimulationStore(seed = {}) {
             setState({
               machine: steppedMachine,
               runState: "stepping",
+              taskHalPauseLock: null,
               ...playbackPatch,
               programElapsedSeconds: playback.timing.elapsedSeconds,
               programRemainingSeconds: playback.timing.remainingSeconds,
@@ -1946,6 +1955,7 @@ export function createSimulationStore(seed = {}) {
               taskPaused: true,
             },
             runState: "stepping",
+            taskHalPauseLock: null,
             ...playbackPatch,
             programElapsedSeconds: playback.timing.elapsedSeconds,
             programRemainingSeconds: playback.timing.remainingSeconds,
@@ -2602,49 +2612,17 @@ export function createSimulationStore(seed = {}) {
     }
     if (state.taskHalRuntime?.loaded) {
       await initializeTaskHalSession({ openProgram: true });
-      await runTaskHalCommandSequence([
-        { type: "EMC_TASK_SET_STATE", state: "ON" },
-        { type: "EMC_JOINT_HOME", joint: -1 },
-        { type: "EMC_TASK_SET_MODE", mode: "AUTO" },
-      ], {
-        taskCycles: 3,
-        operatorMessage: "RUN ready: power on, homed, auto mode",
-        allowFixtureSession: false,
-        preserveMachine: {
-          powerOn: true,
-          estopActive: false,
-          taskState: "on",
-          mode: "auto",
-          manualPanel: null,
-          allHomed: true,
-        },
+      setState({
+        operatorMessage: state.machine.powerOn && state.machine.allHomed
+          ? "RUN ready: program opened; press Run"
+          : "RUN setup ready: reset ESTOP, power on, Home All, then Run",
       });
-      const tcpKinsType = tcpKinsTypeForProfile(state.profile);
-      if (tcpKinsType) {
-        dispatch({ type: "SET_KINS_TYPE", kinsType: tcpKinsType });
-      }
       return state;
     }
-    const tcpKinsType = tcpKinsTypeForProfile(state.profile);
     setState({
-      machine: {
-        ...state.machine,
-        powerOn: true,
-        estopActive: false,
-        taskState: "on",
-        mode: "auto",
-        manualPanel: null,
-        allHomed: true,
-        interpState: "idle",
-        interpResumeState: "idle",
-        taskPaused: false,
-      },
-      runState: "idle",
-      kinsType: tcpKinsType || "identity",
-      rtcpState: tcpKinsType ? "on" : "off",
-      operatorMessage: tcpKinsType
-        ? "RUN ready: power on, homed, auto mode"
-        : "RUN ready: power on, homed, auto mode; TCP unavailable for this reference profile",
+      operatorMessage: state.machine.powerOn && state.machine.allHomed
+        ? "RUN ready: program opened; press Run"
+        : "RUN setup ready: reset ESTOP, power on, Home All, then Run",
     });
     return state;
   };
@@ -2657,6 +2635,19 @@ export function createSimulationStore(seed = {}) {
         await waitForStatePredicate((nextState) => nextState.machineFileStaging?.selectedGcodeSourceRel === sourceRel);
       }
     }
+    const runGateState = {
+      ...state,
+      machine: {
+        ...state.machine,
+        mode: "auto",
+        manualPanel: null,
+      },
+    };
+    const runGate = gateLinuxCncTaskAction(runGateState, { type: "RUN" });
+    if (!runGate.allowed) {
+      setState({ operatorMessage: runGate.operatorMessage });
+      return state;
+    }
     const tcpKinsType = tcpKinsTypeForProfile(state.profile);
     if (state.taskHalRuntime?.loaded) {
       if (
@@ -2679,17 +2670,14 @@ export function createSimulationStore(seed = {}) {
       setState({
         machine: {
           ...state.machine,
-          powerOn: true,
-          estopActive: false,
-          taskState: "on",
           mode: "auto",
           manualPanel: null,
-          allHomed: true,
           interpState: "reading",
           interpResumeState: "reading",
           taskPaused: false,
         },
         runState: "running",
+        taskHalPauseLock: null,
         operatorMessage: "RUN ready: motion plan source ready; preparing task/HAL session",
       });
       const expectedProgramPath = expectedTaskHalProgramPathForState(state);
@@ -2733,7 +2721,6 @@ export function createSimulationStore(seed = {}) {
       });
       const status = await runTaskHalCommandSequence([
         { type: "EMC_TASK_SET_STATE", state: "ON" },
-        { type: "EMC_JOINT_HOME", joint: -1 },
         { type: "EMC_TASK_SET_MODE", mode: "AUTO" },
         { type: "EMC_TASK_PLAN_RUN", line: 0 },
       ], {
@@ -2755,8 +2742,15 @@ export function createSimulationStore(seed = {}) {
       return state;
     }
     const policy = createLinuxCncTaskPolicyStatus(state);
-    if (policy.taskMode !== "auto" || !policy.allHomed || policy.taskState !== "on") {
-      await runReadySequence();
+    if (policy.taskMode !== "auto") {
+      setState({
+        machine: {
+          ...state.machine,
+          mode: "auto",
+          manualPanel: null,
+        },
+        operatorMessage: "mode auto",
+      });
     }
     dispatch({ type: "RUN" });
     return state;
@@ -3778,27 +3772,38 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const ui = status?.ui || {};
   const task = status?.task || {};
   const motion = status?.motionStatus?.motion || {};
+  const pauseLock = state.taskHalPauseLock?.active === true ? state.taskHalPauseLock : null;
   const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state);
   const taskState = preserveMachine?.powerOn && rawTaskState === "estop-reset"
     ? "on"
     : rawTaskState;
-  const taskMode = normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode);
+  const taskMode = pauseLock
+    ? programControlModeForMachine(state.machine)
+    : normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode);
   const manualPanel = taskMode === "manual"
     ? (preserveMachine?.manualPanel || state.machine.manualPanel || "manual")
     : null;
-  const interpState = Object.hasOwn(preserveMachine || {}, "interpState")
-    ? normalizeTaskHalInterpState(preserveMachine.interpState)
-    : normalizeTaskHalInterpState(ui.interpState || task.interpState);
+  const interpState = pauseLock
+    ? "paused"
+    : Object.hasOwn(preserveMachine || {}, "interpState")
+      ? normalizeTaskHalInterpState(preserveMachine.interpState)
+      : normalizeTaskHalInterpState(ui.interpState || task.interpState);
   const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed);
   const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
   const kinsType = resolveTaskHalKinsType(state, status, activeLine);
-  const axisPose = preserveAxisPose
-    ? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile)
-    : resolveTaskHalAxisPose(state, status);
-  const currentVelocity = Number.isFinite(ui.currentVelocity)
-    ? Math.max(ui.currentVelocity, 0)
-    : state.feed.currentVelocity;
-  const paused = interpState === "paused" || motion.paused === true;
+  const paused = Boolean(pauseLock) || interpState === "paused" || motion.paused === true;
+  const axisPose = pauseLock?.axisPose
+    ? clampAxisPoseToProfile(pauseLock.axisPose, state.profile)
+    : paused
+    ? clampAxisPoseToProfile(state.axisPose, state.profile)
+    : preserveAxisPose
+      ? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile)
+      : resolveTaskHalAxisPose(state, status);
+  const currentVelocity = paused
+    ? 0
+    : Number.isFinite(ui.currentVelocity)
+      ? Math.max(ui.currentVelocity, 0)
+      : state.feed.currentVelocity;
   const aborted = motion.aborted === true;
   const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
   const programComplete = interpState === "idle" && Number(task.nextProgramLine || 0) >= openedProgramLineCount;
@@ -3819,7 +3824,13 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const shouldTrackProgramPlayback = runState === "running"
     || runState === "mdi"
     || (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete"));
-  const taskHalSampleIndex = shouldTrackProgramPlayback
+  const taskHalSampleIndex = pauseLock
+    ? clampNumber(
+      pauseLock.sampleIndex,
+      0,
+      Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0),
+    )
+    : shouldTrackProgramPlayback
     ? resolveRuntimeSampleIndexForTaskHalPose(state, axisPose, activeLine, runtimeFeedback.sampleIndex)
     : clampNumber(
       state.programExecutionSampleIndex || 0,
@@ -3829,7 +3840,17 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   const idleRuntimeFeedback = {
     ...runtimeFeedback,
     sampleIndex: taskHalSampleIndex,
-    motionIndex: Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
+    motionIndex: pauseLock
+      ? Number(pauseLock.motionIndex || 0)
+      : Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
+    ...(paused ? {
+      axisPose,
+      tcp: {
+        x: Number(state.tcpPose?.x ?? axisPose.x ?? 0),
+        y: Number(state.tcpPose?.y ?? axisPose.y ?? 0),
+        z: Number(state.tcpPose?.z ?? axisPose.z ?? 0),
+      },
+    } : {}),
   };
   const taskHalPlaybackPatch = shouldTrackProgramPlayback
     ? applyProgramPlaybackUiPatch(state, {
@@ -3837,11 +3858,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
       axisPose,
       kinsType,
       rtcpState: rtcpStateFromKinsType(kinsType),
-      motionIndex: runtimeFeedback.motionIndex,
+      motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
       sampleIndex: taskHalSampleIndex,
       runtimeFeedback: {
         ...runtimeFeedback,
         sampleIndex: taskHalSampleIndex,
+        motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
+        axisPose,
+        currentVelocityMmPerMin: paused ? 0 : runtimeFeedback.currentVelocityMmPerMin,
+        requestedVelocityMmPerMin: paused ? 0 : runtimeFeedback.requestedVelocityMmPerMin,
       },
       preferRuntimeAxisPose: true,
     })
@@ -3879,6 +3904,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
   return {
     taskHalStatus: status,
     taskHalExecutionPending: false,
+    taskHalPauseLock: pauseLock ? { ...pauseLock, lastStatusAt: new Date().toISOString() } : state.taskHalPauseLock,
     taskHalFallbackReason: null,
     pendingJogCommand: null,
     ...taskHalPlaybackPatch,
@@ -3939,6 +3965,57 @@ function isTaskHalRunPausedByOperator(state = {}) {
     || state.machine?.taskPaused === true;
 }
 
+function programControlModeForMachine(machine = {}) {
+  return machine.mode === "mdi" ? "mdi" : "auto";
+}
+
+function createPowerToggleMachinePatch(machine = {}, turningOn = false) {
+  return {
+    ...machine,
+    powerOn: turningOn,
+    estopActive: false,
+    taskState: turningOn ? "on" : "off",
+    manualPanel: "manual",
+    allHomed: turningOn ? Boolean(machine.allHomed) : false,
+    interpState: "idle",
+    interpResumeState: "idle",
+    taskPaused: false,
+  };
+}
+
+function createTaskHalPauseLock(state = {}, source = "pause") {
+  return {
+    apiName: "web-rtcp-5axis-task-hal-pause-lock",
+    active: true,
+    source,
+    createdAt: new Date().toISOString(),
+    runState: "paused",
+    interpState: "paused",
+    sampleIndex: Number(state.programExecutionSampleIndex || 0),
+    motionIndex: Number(state.programExecutionMotionIndex || 0),
+    activeLine: Number(state.activeLine || state.programStartLine || 1),
+    axisPose: clampAxisPoseToProfile(state.axisPose || initialAxisPose, state.profile),
+    tcpPose: {
+      x: Number(state.tcpPose?.x || 0),
+      y: Number(state.tcpPose?.y || 0),
+      z: Number(state.tcpPose?.z || 0),
+    },
+    semanticBoundary: "linuxcnc_axis_task_pauseresume_freezes_task_hal_status_until_resume",
+  };
+}
+
+function zeroProgramRuntimeVelocity(feedback) {
+  if (!feedback) return feedback;
+  return {
+    ...feedback,
+    currentVelocityMmPerMin: 0,
+    requestedVelocityMmPerMin: 0,
+    distanceToGo: 0,
+    dtg: feedback.dtg ? { ...feedback.dtg, x: 0, y: 0, z: 0 } : feedback.dtg,
+    activeDepth: 0,
+  };
+}
+
 function createStoppedProgramStatePatch(state, {
   reason = "stopped",
   operatorMessage = "program stopped",
@@ -3951,6 +4028,7 @@ function createStoppedProgramStatePatch(state, {
       taskPaused: false,
     },
     runState: reason === "aborted" ? "stopped" : reason,
+    taskHalPauseLock: null,
     taskHalStatusLoop: {
       ...state.taskHalStatusLoop,
       active: false,
@@ -4058,6 +4136,10 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
   const motion = status?.motionStatus?.motion || {};
   const halProgramLine = Number(status?.halSnapshot?.pins?.["motion.program-line"]?.value || 0);
   const motionProgramLine = Number(motion.programLine || 0);
+  const interpState = normalizeTaskHalInterpState(ui.interpState || status?.task?.interpState);
+  const paused = interpState === "paused" || motion.paused === true;
+  const currentVelocity = paused ? 0 : Number(ui.currentVelocity || 0);
+  const requestedVelocity = paused ? 0 : Number(motion.requestedVel || 0) * 60;
   return {
     apiName: "web-rtcp-5axis-program-runtime-feedback",
     sourceMode: "linuxcnc-task-motion-hal-wasm",
@@ -4072,8 +4154,8 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
     type: Number(motion.motionType || 0) === 3 ? "JOG" : "TASK_MOTION",
     timeSeconds: Number(ui.taskCycle || 0) * 0.01,
     axisPose,
-    currentVelocityMmPerMin: Number(ui.currentVelocity || 0),
-    requestedVelocityMmPerMin: Number(motion.requestedVel || 0) * 60,
+    currentVelocityMmPerMin: currentVelocity,
+    requestedVelocityMmPerMin: requestedVelocity,
     distanceToGo: motion.inPosition === true ? 0 : 1,
     dtg: { x: 0, y: 0, z: 0 },
     queueDepth: Number(ui.motionQueueDepth || status?.motionStatus?.commandQueueDepth || 0),

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

@@ -10,7 +10,7 @@ export const AXIS_BUTTON_PARITY = [
   { id: "menu-estop", action: "estop", sourceSymbol: "commands.estop_clicked", sourceLines: "axis.py:2223-2229", expected: "toggle ESTOP/ESTOP_RESET" },
   { id: "menu-power", action: "power", sourceSymbol: "commands.onoff_clicked", sourceLines: "axis.py:2231-2241", expected: "toggle machine ON/OFF after estop reset" },
   { id: "menu-home-all", action: "home-all", sourceSymbol: "commands.home_all_joints", sourceLines: "axis.py:2586-2596", expected: "home all joints in manual mode" },
-  { id: "menu-run-ready", action: "run-ready", sourceSymbol: "AXIS run preconditions", sourceLines: "axis.py:2308-2320", expected: "power on, home, auto mode and TCP kins ready" },
+  { id: "menu-run-ready", action: "run-ready", sourceSymbol: "AXIS run preconditions", sourceLines: "axis.py:2379-2391", expected: "open/stage the selected program without substituting power, Home All, or Run" },
   { id: "menu-run", action: "run", sourceSymbol: "commands.task_run", sourceLines: "axis.py:2308-2320", expected: "AUTO_RUN from current start line" },
   { id: "menu-pause", action: "pause", sourceSymbol: "commands.task_pause", sourceLines: "axis.py:2329-2333", expected: "AUTO_PAUSE when running" },
   { id: "menu-resume", action: "resume", sourceSymbol: "commands.task_resume", sourceLines: "axis.py:2344-2351", expected: "AUTO_RESUME when paused" },