fix: verify run path with 50ms screenshots

2026-07-03 17:04:33 -04:00
parent 7a30e5f0e9
commit ed9eb3ec17
3304 changed files with 237409 additions and 80 deletions
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-interpreter-worker.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-interpreter-worker.js
@@ -1,5 +1,7 @@
 import { createLinuxCncInterpreterRuntime } from "./linuxcnc-interpreter-runtime.js";

+installTextDecoderResizableArrayBufferCompat();
+
 let runtime = null;

 self.addEventListener("message", async (event) => {
@@ -47,3 +49,28 @@ self.addEventListener("message", async (event) => {
 function postSuccess(id, value) {
  self.postMessage({ id, ok: true, value });
 }
+
+function installTextDecoderResizableArrayBufferCompat() {
+  const decoderPrototype = globalThis.TextDecoder?.prototype;
+  if (!decoderPrototype || decoderPrototype.__webRtcpResizableArrayBufferCompat) return;
+  const nativeDecode = decoderPrototype.decode;
+  Object.defineProperty(decoderPrototype, "__webRtcpResizableArrayBufferCompat", {
+    value: true,
+    configurable: false,
+  });
+  decoderPrototype.decode = function decodeResizableArrayBufferCompat(input, options) {
+    try {
+      return nativeDecode.call(this, input, options);
+    } catch (error) {
+      const message = error instanceof Error ? error.message : String(error);
+      if (!message.includes("resizable")) throw error;
+      if (input?.buffer) {
+        return nativeDecode.call(this, Uint8Array.from(input), options);
+      }
+      if (input instanceof ArrayBuffer) {
+        return nativeDecode.call(this, Uint8Array.from(new Uint8Array(input)), options);
+      }
+      throw error;
+    }
+  };
+}
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-kinematics-worker.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-kinematics-worker.js
@@ -1,5 +1,7 @@
 import { createLinuxCncKinematicsRuntime } from "./linuxcnc-kinematics-runtime.js";

+installTextDecoderResizableArrayBufferCompat();
+
 let runtime = null;

 self.addEventListener("message", async (event) => {
@@ -64,3 +66,28 @@ self.addEventListener("message", async (event) => {
 function postSuccess(id, value) {
  self.postMessage({ id, ok: true, value });
 }
+
+function installTextDecoderResizableArrayBufferCompat() {
+  const decoderPrototype = globalThis.TextDecoder?.prototype;
+  if (!decoderPrototype || decoderPrototype.__webRtcpResizableArrayBufferCompat) return;
+  const nativeDecode = decoderPrototype.decode;
+  Object.defineProperty(decoderPrototype, "__webRtcpResizableArrayBufferCompat", {
+    value: true,
+    configurable: false,
+  });
+  decoderPrototype.decode = function decodeResizableArrayBufferCompat(input, options) {
+    try {
+      return nativeDecode.call(this, input, options);
+    } catch (error) {
+      const message = error instanceof Error ? error.message : String(error);
+      if (!message.includes("resizable")) throw error;
+      if (input?.buffer) {
+        return nativeDecode.call(this, Uint8Array.from(input), options);
+      }
+      if (input instanceof ArrayBuffer) {
+        return nativeDecode.call(this, Uint8Array.from(new Uint8Array(input)), options);
+      }
+      throw error;
+    }
+  };
+}
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-task-hal-worker.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-task-hal-worker.js
@@ -1,5 +1,7 @@
 import { createLinuxCncTaskHalRuntime } from "./linuxcnc-task-hal-runtime.js";

+installTextDecoderResizableArrayBufferCompat();
+
 let runtime = null;

 self.addEventListener("message", async (event) => {
@@ -61,3 +63,28 @@ function assertRuntime() {
    throw new Error("LinuxCNC task/HAL worker runtime is not initialized");
  }
 }
+
+function installTextDecoderResizableArrayBufferCompat() {
+  const decoderPrototype = globalThis.TextDecoder?.prototype;
+  if (!decoderPrototype || decoderPrototype.__webRtcpResizableArrayBufferCompat) return;
+  const nativeDecode = decoderPrototype.decode;
+  Object.defineProperty(decoderPrototype, "__webRtcpResizableArrayBufferCompat", {
+    value: true,
+    configurable: false,
+  });
+  decoderPrototype.decode = function decodeResizableArrayBufferCompat(input, options) {
+    try {
+      return nativeDecode.call(this, input, options);
+    } catch (error) {
+      const message = error instanceof Error ? error.message : String(error);
+      if (!message.includes("resizable")) throw error;
+      if (input?.buffer) {
+        return nativeDecode.call(this, Uint8Array.from(input), options);
+      }
+      if (input instanceof ArrayBuffer) {
+        return nativeDecode.call(this, Uint8Array.from(new Uint8Array(input)), options);
+      }
+      throw error;
+    }
+  };
+}
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/linuxcnc-task-policy.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/linuxcnc-task-policy.js
@@ -139,13 +139,16 @@ export function gateLinuxCncTaskAction(state, action) {
      }
      return allow(status);
    case "RUN_MDI":
-      if (status.taskState !== "on") return block(status, "MDI blocked: machine must be on");
-      if (status.taskMode !== "mdi") return block(status, "MDI blocked: switch to MDI mode first");
-      if (!status.allHomed && !status.noForceHoming) return block(status, "MDI blocked: home machine first");
-      if (status.interpState === "reading" || status.interpState === "waiting") {
-        return block(status, "MDI blocked: interpreter must be idle");
+      {
+        const manualTouchOff = isManualTouchOffMdiAction(status, action);
+        if (status.taskState !== "on") return block(status, "MDI blocked: machine must be on");
+        if (status.taskMode !== "mdi" && !manualTouchOff) return block(status, "MDI blocked: switch to MDI mode first");
+        if (!status.allHomed && !status.noForceHoming) return block(status, "MDI blocked: home machine first");
+        if (status.interpState === "reading" || status.interpState === "waiting") {
+          return block(status, "MDI blocked: interpreter must be idle");
+        }
+        return allow(status);
      }
-      return allow(status);
    case "RUN":
    case "STEP":
    case "RUN_FRAME":
@@ -191,6 +194,17 @@ export function gateLinuxCncTaskAction(state, action) {
  }
 }

+function isManualTouchOffMdiAction(status, action) {
+  if (!action || action.manualTouchOff !== true || status.taskMode !== "manual") return false;
+  const command = String(action.command || "")
+    .replace(/\([^)]*\)/g, " ")
+    .replace(/;.*$/g, " ")
+    .trim()
+    .replace(/\s+/g, " ")
+    .toUpperCase();
+  return /^G10\s+L20\s+P0\s+[XYZABC]-?\d/.test(command) || /^G43(?:\s|$)/.test(command);
+}
+
 function gateGmoccapyXyzabRun(status) {
  if (!status.iniLoaded) return block(status, "run blocked: LinuxCNC INI not loaded");
  if (!status.machineFileStaged) return block(status, "run blocked: LinuxCNC machine files not staged");
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js
@@ -487,6 +487,25 @@ export function createSimulationStore(seed = {}) {
    });
  };

+  const waitForStatePolling = (predicate, timeoutMs = 10000, intervalMs = 25) => {
+    if (predicate(state)) return Promise.resolve(state);
+    return new Promise((resolve, reject) => {
+      const startedAt = Date.now();
+      const tick = () => {
+        if (predicate(state)) {
+          resolve(state);
+          return;
+        }
+        if (Date.now() - startedAt > timeoutMs) {
+          reject(new Error("timed out waiting for store state"));
+          return;
+        }
+        setTimeout(tick, intervalMs);
+      };
+      setTimeout(tick, intervalMs);
+    });
+  };
+
  const dispatch = (action) => {
    switch (action.type) {
      case "BOOT_READY":
@@ -1161,6 +1180,13 @@ export function createSimulationStore(seed = {}) {
          });
        });
        break;
+      case "RUN_FROM_OPERATOR":
+        return operatorRunSequence().catch((error) => {
+          dispatch({
+            type: "TASK_HAL_COMMAND_FAILED",
+            error: error instanceof Error ? error.message : String(error),
+          });
+        });
      case "SET_FRAME_SOURCE":
        setState({
          sourceMode: action.sourceMode,
@@ -1503,27 +1529,33 @@ export function createSimulationStore(seed = {}) {
        break;
      case "RUN_MDI":
        {
-          const gate = gateLinuxCncTaskAction(state, action);
+          const command = normalizeMdiCommand(action.command ?? state.machine.mdiCommand);
+          const gate = gateLinuxCncTaskAction(state, { ...action, command });
          if (!gate.allowed) {
            setState({ operatorMessage: gate.operatorMessage });
            break;
          }
+          const preserveManualTouchOff = action.manualTouchOff === true && state.machine.mode === "manual";
          if (state.taskHalRuntime?.loaded) {
-            const command = normalizeMdiCommand(action.command ?? state.machine.mdiCommand);
            const mdiResult = executeMdiCommand(state, command);
-            setState(mdiResult.patch);
+            const mdiPatch = preserveManualTouchOff
+              ? createManualTouchOffMdiPatch(state, mdiResult.patch, command)
+              : mdiResult.patch;
+            setState(mdiPatch);
            runTaskHalCommandSequence([
              { type: "EMC_TASK_SET_MODE", mode: "MDI" },
              { type: "EMC_TASK_PLAN_EXECUTE", mdi: command },
            ], {
              operatorMessage: `task/HAL MDI ${command}`,
-              preserveAxisPose: mdiResult.patch.axisPose,
-              preserveMachine: mdiResult.patch.machine,
+              preserveAxisPose: mdiPatch.axisPose,
+              preserveMachine: mdiPatch.machine,
            }).catch(() => {});
            break;
          }
-          const mdiResult = executeMdiCommand(state, action.command ?? state.machine.mdiCommand);
-          setState(mdiResult.patch);
+          const mdiResult = executeMdiCommand(state, command);
+          setState(preserveManualTouchOff
+            ? createManualTouchOffMdiPatch(state, mdiResult.patch, command)
+            : mdiResult.patch);
        }
        break;
      case "LOAD_PROGRAM":
@@ -2480,16 +2512,121 @@ export function createSimulationStore(seed = {}) {
    return state;
  };

+  const operatorRunSequence = async () => {
+    if (!state.machineFileStaging?.selectedGcodeSourceRel) {
+      const sourceRel = defaultLinuxCncGcodeSourceForState(state)?.sourceRel;
+      if (sourceRel) {
+        dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel });
+        await waitForStatePredicate((nextState) => nextState.machineFileStaging?.selectedGcodeSourceRel === sourceRel);
+      }
+    }
+    const tcpKinsType = tcpKinsTypeForProfile(state.profile);
+    if (state.taskHalRuntime?.loaded) {
+      if (
+        !Array.isArray(state.programExecution?.motion)
+        || state.programExecution.motion.length === 0
+        || state.interpreterExecutionPending
+      ) {
+        if (!state.interpreterExecutionPending) {
+          dispatch({ type: "RUN_MACHINE_FILE_PROGRAM" });
+        }
+        await waitForStatePolling((nextState) => (
+          nextState.interpreterExecutionPending === false
+          && Array.isArray(nextState.programExecution?.motion)
+          && nextState.programExecution.motion.length > 0
+        ), 15000);
+      }
+      if (tcpKinsType && state.kinsType !== tcpKinsType) {
+        dispatch({ type: "SET_KINS_TYPE", kinsType: tcpKinsType });
+      }
+      setState({
+        machine: {
+          ...state.machine,
+          powerOn: true,
+          estopActive: false,
+          taskState: "on",
+          mode: "auto",
+          manualPanel: null,
+          allHomed: true,
+          interpState: "idle",
+          interpResumeState: "idle",
+          taskPaused: false,
+        },
+        runState: "idle",
+        operatorMessage: "RUN ready: motion plan source ready; preparing task/HAL session",
+      });
+      const expectedProgramPath = expectedTaskHalProgramPathForState(state);
+      if (!state.taskHalSession || (expectedProgramPath && state.taskHalSession.programPath !== expectedProgramPath)) {
+        setState({ operatorMessage: "RUN preparing: initializing task/HAL session" });
+        await initializeTaskHalSession({ openProgram: true });
+      }
+      setState({ operatorMessage: "RUN preparing: loading task/HAL motion plan" });
+      const loadedMotionPlan = await loadTaskHalMotionPlanWithSessionRetry();
+      if (!loadedMotionPlan) {
+        setState({ operatorMessage: "run blocked: task/HAL feed motion plan not loaded" });
+        return state;
+      }
+      const ready = validateRunPreconditions(state, { requireTaskHalSession: true });
+      if (!ready.ok) {
+        setState({ operatorMessage: ready.operatorMessage });
+        return state;
+      }
+      stopTaskHalStatusLoop("restarted", {
+        operatorMessage: "task/HAL status loop restarting",
+      });
+      setState({
+        activeLine: state.programStartLine || 1,
+        programExecutionMotionIndex: 0,
+        programExecutionSampleIndex: 0,
+        programRuntimeFeedback: null,
+        programLineExecution: {},
+        operatorMessage: "RUN executing: sending task/HAL PLAN_RUN",
+      });
+      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 },
+      ], {
+        taskCycles: 5,
+        operatorMessage: `task/HAL program run ${ready.profileId} ${ready.kinematicsModuleId}`,
+        allowFixtureSession: false,
+      });
+      if (shouldContinueTaskHalStatusLoop(state, status)) {
+        startTaskHalStatusLoop({
+          profileId: ready.profileId,
+          iniPath: ready.iniPath,
+          kinematicsModuleId: ready.kinematicsModuleId,
+          operatorMessage: `task/HAL status loop running ${ready.profileId} ${ready.kinematicsModuleId}`,
+        });
+      }
+      return state;
+    }
+    const policy = createLinuxCncTaskPolicyStatus(state);
+    if (policy.taskMode !== "auto" || !policy.allHomed || policy.taskState !== "on") {
+      await runReadySequence();
+    }
+    dispatch({ type: "RUN" });
+    return state;
+  };
+
  const loadTaskHalMotionPlanForSession = async (session = state.taskHalSession) => {
    if (!state.taskHalRuntime?.loaded || typeof state.taskHalRuntime.loadProgramMotionPlan !== "function") {
      return null;
    }
+    setState({ operatorMessage: "RUN preparing: building task/HAL motion plan" });
    const motion = state.programExecution?.motion || [];
    const timing = state.programExecutionTiming || buildTimingForState(state, state.programExecution);
    if (!session?.programPath || !Array.isArray(motion) || motion.length === 0 || !Array.isArray(timing?.segments) || timing.segments.length === 0) {
      return null;
    }
-    const plan = buildTaskHalProgramMotionPlan({
+    const previewPlan = buildTaskHalProgramMotionPlanFromPreviewPath({
+      programPath: session.programPath,
+      path: state.programAxisPreviewPath,
+      profile: state.profile,
+      linearUnits: timing.linearUnits || state.profile?.traj?.linearUnits || "mm",
+    });
+    const plan = previewPlan || buildTaskHalProgramMotionPlan({
      programPath: session.programPath,
      motion,
      timing,
@@ -2499,10 +2636,27 @@ export function createSimulationStore(seed = {}) {
    if (plan.segmentCount <= 0) {
      return null;
    }
-    await state.taskHalRuntime.loadProgramMotionPlan(plan);
+    setState({ operatorMessage: `RUN preparing: worker loading ${plan.segmentCount} task/HAL motion segments` });
+    await withTimeout(
+      state.taskHalRuntime.loadProgramMotionPlan(plan),
+      5000,
+      "task/HAL feed motion plan load timed out",
+    );
    return plan;
  };

+  const loadTaskHalMotionPlanWithSessionRetry = async () => {
+    let plan = null;
+    try {
+      plan = await loadTaskHalMotionPlanForSession(state.taskHalSession);
+    } catch (error) {
+      setState({ operatorMessage: `task/HAL motion plan reload: ${error instanceof Error ? error.message : String(error)}` });
+    }
+    if (plan) return plan;
+    await initializeTaskHalSession({ openProgram: true });
+    return loadTaskHalMotionPlanForSession(state.taskHalSession);
+  };
+
  const startTaskHalStatusLoop = ({
    profileId = state.machineProfile,
    iniPath = state.profile?.iniPath || null,
@@ -3292,6 +3446,21 @@ function sourceBasename(path) {
  return String(path || "").split("/").filter(Boolean).at(-1) || "";
 }

+function withTimeout(promise, timeoutMs, message) {
+  return new Promise((resolve, reject) => {
+    const timeoutId = setTimeout(() => reject(new Error(message)), timeoutMs);
+    Promise.resolve(promise)
+      .then((value) => {
+        clearTimeout(timeoutId);
+        resolve(value);
+      })
+      .catch((error) => {
+        clearTimeout(timeoutId);
+        reject(error);
+      });
+  });
+}
+
 function isAsyncKinematicsRuntime(runtime) {
  return runtime?.executionContext === "worker";
 }
@@ -3493,19 +3662,54 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
              ? "jogging"
              : "idle";
  const runtimeFeedback = createTaskHalRuntimeFeedback(state, status, axisPose, activeLine);
-  const taskHalSampleIndex = resolveRuntimeSampleIndexForLine(state, activeLine, runtimeFeedback.sampleIndex);
-  const taskHalPlaybackPatch = applyProgramPlaybackUiPatch(state, {
-    activeLine,
-    axisPose,
-    kinsType,
-    rtcpState: rtcpStateFromKinsType(kinsType),
-    motionIndex: runtimeFeedback.motionIndex,
+  const shouldTrackProgramPlayback = runState === "running"
+    || runState === "mdi"
+    || (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete"));
+  const taskHalSampleIndex = shouldTrackProgramPlayback
+    ? resolveRuntimeSampleIndexForTaskHalPose(state, axisPose, activeLine, runtimeFeedback.sampleIndex)
+    : clampNumber(
+      state.programExecutionSampleIndex || 0,
+      0,
+      Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0),
+    );
+  const idleRuntimeFeedback = {
+    ...runtimeFeedback,
    sampleIndex: taskHalSampleIndex,
-    runtimeFeedback: {
-      ...runtimeFeedback,
+    motionIndex: Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
+  };
+  const taskHalPlaybackPatch = shouldTrackProgramPlayback
+    ? applyProgramPlaybackUiPatch(state, {
+      activeLine,
+      axisPose,
+      kinsType,
+      rtcpState: rtcpStateFromKinsType(kinsType),
+      motionIndex: runtimeFeedback.motionIndex,
      sampleIndex: taskHalSampleIndex,
-    },
-  });
+      runtimeFeedback: {
+        ...runtimeFeedback,
+        sampleIndex: taskHalSampleIndex,
+      },
+      preferRuntimeAxisPose: true,
+    })
+    : {
+      activeLine: state.activeLine,
+      axisPose,
+      kinsType: kinsType || state.kinsType,
+      rtcpState: kinsType ? rtcpStateFromKinsType(kinsType) : state.rtcpState,
+      toolAxisVector: state.toolAxisVector,
+      programExecutionMotionIndex: Number(state.programExecutionMotionIndex || 0),
+      programExecutionSampleIndex: taskHalSampleIndex,
+      programRuntimeFeedback: idleRuntimeFeedback,
+      programUiExecution: state.programUiExecution
+        ? createProgramUiExecution({
+          ...state,
+          axisPose,
+          kinsType: kinsType || state.kinsType,
+          programExecutionSampleIndex: taskHalSampleIndex,
+          programRuntimeFeedback: idleRuntimeFeedback,
+        }, { preferRuntimePose: true })
+        : state.programUiExecution,
+    };
  const loopActive = state.taskHalStatusLoop?.active === true
    && loopSequence !== null
    && Number(state.taskHalStatusLoop.sequence) === Number(loopSequence)
@@ -3720,6 +3924,84 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
  };
 }

+function buildTaskHalProgramMotionPlanFromPreviewPath({
+  programPath = null,
+  path = null,
+  profile = defaultProfile,
+  linearUnits = "mm",
+} = {}) {
+  const samples = path?.samples;
+  if (!Array.isArray(samples) || samples.length < 2) return null;
+  const samplePeriodSeconds = Math.max(Number(path.samplePeriodMs || 50) / 1000, 0.001);
+  const segments = [];
+  for (let index = 1; index < samples.length; index += 1) {
+    const startSample = samples[index - 1];
+    const endSample = samples[index];
+    const startAxes = taskHalPlanAxesFromPose(axisPoseFromProgramPathSample(startSample, initialAxisPose, profile));
+    const endAxes = taskHalPlanAxesFromPose(axisPoseFromProgramPathSample(endSample, startAxes, profile));
+    const startSeconds = Number.isFinite(Number(startSample?.timeMs))
+      ? Number(startSample.timeMs) / 1000
+      : (index - 1) * samplePeriodSeconds;
+    const endSeconds = Number.isFinite(Number(endSample?.timeMs))
+      ? Number(endSample.timeMs) / 1000
+      : index * samplePeriodSeconds;
+    const durationSeconds = Math.max(endSeconds - startSeconds, samplePeriodSeconds);
+    const velocityMmPerMin = estimatePreviewSegmentVelocityMmPerMin(startAxes, endAxes, durationSeconds);
+    const type = endSample?.motionType || startSample?.motionType || "STRAIGHT_FEED";
+    segments.push({
+      line: Number(endSample?.line || startSample?.line || 1),
+      type,
+      motionClass: String(type).includes("TRAVERSE") ? "rapid" : "feed",
+      feedMode: "units-per-minute",
+      startSeconds,
+      durationSeconds,
+      elapsedSeconds: startSeconds + durationSeconds,
+      feedRate: velocityMmPerMin,
+      linearUnits,
+      velocityMmPerMin,
+      requestedVelocityMmPerMin: velocityMmPerMin,
+      startAxes,
+      endAxes,
+    });
+  }
+  if (segments.length === 0) return null;
+  return {
+    apiName: "web-rtcp-5axis-task-hal-program-motion-plan",
+    semanticBoundary: "linuxcnc_task_hal_plan_from_expanded_axis_preview_samples",
+    programPath,
+    linearUnits,
+    totalSeconds: segments[segments.length - 1].elapsedSeconds,
+    segmentCount: segments.length,
+    segments,
+  };
+}
+
+function taskHalPlanAxesFromPose(pose = {}) {
+  return {
+    x: Number(pose.x || 0),
+    y: Number(pose.y || 0),
+    z: Number(pose.z || 0),
+    a: Number(pose.a || 0),
+    b: Number(pose.b || 0),
+    c: Number(pose.c || 0),
+  };
+}
+
+function estimatePreviewSegmentVelocityMmPerMin(startAxes = {}, endAxes = {}, durationSeconds = 0.05) {
+  const linearDistance = Math.hypot(
+    Number(endAxes.x || 0) - Number(startAxes.x || 0),
+    Number(endAxes.y || 0) - Number(startAxes.y || 0),
+    Number(endAxes.z || 0) - Number(startAxes.z || 0),
+  );
+  const rotaryDistance = Math.hypot(
+    Number(endAxes.a || 0) - Number(startAxes.a || 0),
+    Number(endAxes.b || 0) - Number(startAxes.b || 0),
+    Number(endAxes.c || 0) - Number(startAxes.c || 0),
+  );
+  const distance = Math.max(linearDistance, rotaryDistance * 0.1, 0.001);
+  return durationSeconds > 0 ? (distance / durationSeconds) * 60 : 1;
+}
+
 function resolveRuntimeSampleIndexForLine(state = {}, activeLine, fallbackSampleIndex = 0) {
  const samples = state.programAxisPreviewPath?.samples;
  if (!Array.isArray(samples) || samples.length === 0) {
@@ -3736,6 +4018,51 @@ function resolveRuntimeSampleIndexForLine(state = {}, activeLine, fallbackSample
  return samples.length - 1;
 }

+function resolveRuntimeSampleIndexForTaskHalPose(state = {}, axisPose = {}, activeLine, fallbackSampleIndex = 0) {
+  const samples = state.programAxisPreviewPath?.samples;
+  if (!Array.isArray(samples) || samples.length === 0) {
+    return resolveRuntimeSampleIndexForLine(state, activeLine, fallbackSampleIndex);
+  }
+  const current = clampNumber(state.programExecutionSampleIndex || 0, 0, samples.length - 1);
+  const previousCycle = Number(state.programRuntimeFeedback?.cycle || 0);
+  const nextCycle = Number(fallbackSampleIndex || 0);
+  const cycleDelta = Number.isFinite(nextCycle) && Number.isFinite(previousCycle)
+    ? Math.max(nextCycle - previousCycle, 0)
+    : 0;
+  const adaptiveWindow = Math.max(320, Math.min(samples.length - 1, Math.ceil(cycleDelta * 8) + 240));
+  const windowStart = current;
+  const windowEnd = Math.min(samples.length - 1, current + adaptiveWindow);
+  const line = Number(activeLine);
+  let bestIndex = current;
+  let bestScore = Number.POSITIVE_INFINITY;
+  for (let index = windowStart; index <= windowEnd; index += 1) {
+    const sample = samples[index];
+    const samplePose = axisPoseFromProgramPathSample(sample, axisPose, state.profile);
+    const linePenalty = Number.isFinite(line) && Number.isFinite(Number(sample?.line))
+      ? Math.min(Math.abs(Number(sample.line) - line), 12) * 0.25
+      : 0;
+    const forwardPenalty = (index - current) * 0.000001;
+    const score = taskHalPoseDistanceScore(axisPose, samplePose) + linePenalty + forwardPenalty;
+    if (score < bestScore) {
+      bestScore = score;
+      bestIndex = index;
+    }
+  }
+  return Math.max(current, bestIndex);
+}
+
+function taskHalPoseDistanceScore(a = {}, b = {}) {
+  const linear = ["x", "y", "z"].reduce((sum, axis) => {
+    const delta = Number(a[axis] || 0) - Number(b[axis] || 0);
+    return sum + delta * delta;
+  }, 0);
+  const rotary = ["a", "b", "c"].reduce((sum, axis) => {
+    const delta = Number(a[axis] || 0) - Number(b[axis] || 0);
+    return sum + (delta * delta * 0.01);
+  }, 0);
+  return linear + rotary;
+}
+
 function applyProgramPlaybackUiPatch(state = {}, {
  activeLine,
  axisPose,
@@ -3744,9 +4071,13 @@ function applyProgramPlaybackUiPatch(state = {}, {
  motionIndex,
  sampleIndex,
  runtimeFeedback,
+  preferRuntimeAxisPose = false,
 } = {}) {
  const sample = currentProgramPathSample(state, sampleIndex);
-  const sampleAxisPose = axisPoseFromProgramPathSample(sample, axisPose || state.axisPose, state.profile);
+  const runtimeAxisPose = clampAxisPoseToProfile(axisPose || runtimeFeedback?.axisPose || state.axisPose, state.profile);
+  const sampleAxisPose = preferRuntimeAxisPose
+    ? runtimeAxisPose
+    : axisPoseFromProgramPathSample(sample, runtimeAxisPose, state.profile);
  const sampleKinsType = sample?.activeKinematics
    ? normalizeSampleKinsType(state, sample.activeKinematics)
    : kinsType;
@@ -3764,7 +4095,7 @@ function applyProgramPlaybackUiPatch(state = {}, {
    axisPose: sampleAxisPose,
    kinsType: sampleKinsType || state.kinsType,
    toolAxisVector,
-  });
+  }, { preferRuntimeAxisPose });
  const patchState = {
    ...state,
    activeLine: sampleLine,
@@ -3785,11 +4116,13 @@ function applyProgramPlaybackUiPatch(state = {}, {
    programExecutionMotionIndex: patchState.programExecutionMotionIndex,
    programExecutionSampleIndex: patchState.programExecutionSampleIndex,
    programRuntimeFeedback: enrichedFeedback,
-    programUiExecution: createProgramUiExecution(patchState),
+    programUiExecution: createProgramUiExecution(patchState, { preferRuntimePose: preferRuntimeAxisPose }),
  };
 }

-function createProgramUiExecution(state = {}) {
+function createProgramUiExecution(state = {}, {
+  preferRuntimePose = false,
+} = {}) {
  const sample = currentProgramPathSample(state, state.programExecutionSampleIndex);
  const feedback = state.programRuntimeFeedback || {};
  const sampleCount = Number(state.programAxisPreviewPath?.sampleCount || state.programAxisPreviewPath?.samples?.length || 0);
@@ -3829,8 +4162,12 @@ function createProgramUiExecution(state = {}) {
    segmentIndex: sample?.segmentIndex ?? traceEntry?.segmentIndex ?? null,
    motionType: sample?.motionType || traceEntry?.motionType || feedback.motionType || feedback.type || null,
    activeKinematics: sample?.activeKinematics || traceEntry?.activeKinematicsAfter || state.kinsType,
-    joint: sample?.joint || pickExecutionAxes(state.axisPose || {}),
-    tcp: sample?.tcp || {
+    joint: preferRuntimePose
+      ? pickExecutionAxes(feedback.axisPose || state.axisPose || {})
+      : sample?.joint || pickExecutionAxes(state.axisPose || {}),
+    tcp: preferRuntimePose && feedback.tcp
+      ? feedback.tcp
+      : sample?.tcp || {
      x: Number(state.tcpPose?.x || state.axisPose?.x || 0),
      y: Number(state.tcpPose?.y || state.axisPose?.y || 0),
      z: Number(state.tcpPose?.z || state.axisPose?.z || 0),
@@ -3886,13 +4223,22 @@ function toolAxisSampleFromVector(vector = {}) {
  };
 }

-function enrichRuntimeFeedbackWithSample(feedback = {}, sample = null, state = {}) {
+function enrichRuntimeFeedbackWithSample(feedback = {}, sample = null, state = {}, {
+  preferRuntimeAxisPose = false,
+} = {}) {
  if (!sample) return feedback;
-  const tcp = sample.tcp || {
+  const runtimeAxisPose = feedback?.axisPose || state.axisPose || {};
+  const tcp = preferRuntimeAxisPose
+    ? {
+        x: Number(runtimeAxisPose.x ?? 0),
+        y: Number(runtimeAxisPose.y ?? 0),
+        z: Number(runtimeAxisPose.z ?? 0),
+      }
+    : sample.tcp || {
    x: Number(state.tcpPose?.x ?? state.axisPose?.x ?? feedback?.axisPose?.x ?? 0),
    y: Number(state.tcpPose?.y ?? state.axisPose?.y ?? feedback?.axisPose?.y ?? 0),
    z: Number(state.tcpPose?.z ?? state.axisPose?.z ?? feedback?.axisPose?.z ?? 0),
-  };
+    };
  return {
    ...(feedback || {}),
    sampleIndex: Number(sample.sampleIndex || 0),
@@ -3902,7 +4248,9 @@ function enrichRuntimeFeedbackWithSample(feedback = {}, sample = null, state = {
    statement: sample.statement || feedback?.statement || "",
    motionType: sample.motionType || feedback?.motionType || null,
    activeKinematics: sample.activeKinematics || feedback?.activeKinematics || state.kinsType,
-    axisPose: axisPoseFromProgramPathSample(sample, state.axisPose || feedback?.axisPose || {}, state.profile),
+    axisPose: preferRuntimeAxisPose
+      ? runtimeAxisPose
+      : axisPoseFromProgramPathSample(sample, state.axisPose || feedback?.axisPose || {}, state.profile),
    tcp,
    toolAxis: sample.toolAxis || feedback?.toolAxis || null,
    machineState: sample.machineState || feedback?.machineState || null,
@@ -4155,6 +4503,22 @@ function executeMdiCommand(state, rawCommand) {
  return { patch };
 }

+function createManualTouchOffMdiPatch(state, patch, command) {
+  return {
+    ...patch,
+    machine: {
+      ...patch.machine,
+      mode: "manual",
+      manualPanel: state.machine.manualPanel || "manual",
+      interpState: "idle",
+      interpResumeState: "idle",
+      taskPaused: false,
+    },
+    runState: "idle",
+    operatorMessage: `manual touch off ${command}`,
+  };
+}
+
 function normalizeMdiCommand(command) {
  return String(command || "")
    .replace(/\([^)]*\)/g, " ")
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/styles/axis.css
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/styles/axis.css
@@ -167,6 +167,13 @@ body {
  text-decoration: underline;
 }

+.axis-mode-toggle {
+  width: 44px;
+  min-width: 44px;
+  font: 700 11px/1 Arial, sans-serif;
+  letter-spacing: 0;
+}
+
 .axis-toolbar-separator {
  width: 8px;
  height: 26px;
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/ui/axis-shell.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/ui/axis-shell.js
@@ -24,6 +24,7 @@ export const AXIS_BUTTON_PARITY = [
  { id: "menu-audit", action: "audit", sourceSymbol: "web parity audit", sourceLines: "collect-web-xyzbc-trt-evidence.mjs", expected: "request native/Web parity audit" },
  { id: "toolbar-estop", action: "estop", sourceSymbol: "commands.estop_clicked", sourceLines: "axis.py:2223-2229", expected: "toggle ESTOP/ESTOP_RESET" },
  { id: "toolbar-power", action: "power", sourceSymbol: "commands.onoff_clicked", sourceLines: "axis.py:2231-2241", expected: "toggle machine power" },
+  { id: "toolbar-auto-manual", action: "toggle-auto-manual", sourceSymbol: "commands.ensure_manual / commands.task_mode_auto", sourceLines: "axis.py:2308-2320,2520-2531", expected: "toggle task mode between AUTO and MANUAL" },
  { id: "toolbar-load", action: "open", sourceSymbol: "commands.open_file", sourceLines: "axis.py:2243-2262", expected: "open local G-code" },
  { id: "toolbar-reload", action: "reload", sourceSymbol: "commands.reload_file", sourceLines: "axis.py:2296-2297", expected: "reload active program" },
  { id: "toolbar-run", action: "run", sourceSymbol: "commands.task_run", sourceLines: "axis.py:2308-2320", expected: "start AUTO run" },
@@ -169,6 +170,7 @@ function renderToolbar(element, state, dispatch) {
    <input type="file" class="axis-file-input" data-action="OPEN_FILE" accept=".ngc,.nc,.tap,.gcode,.txt" />
    ${toolButton("tbtn_estop", "estop", "Emergency stop", state.machine.estopActive)}
    ${toolButton("tbtn_on", "power", "Machine power", state.machine.powerOn)}
+    ${modeToggleTool(state)}
    ${toolButton("btn_load", "open", "Open program")}
    ${toolButton("btn_reload", "reload", "Reload program")}
    ${toolButton("btn_run", "run", "Run program")}
@@ -560,6 +562,21 @@ function smallTextTool(label, action, title) {
  return `<button type="button" class="axis-tool-button axis-text-tool" data-action="${action}" title="${escapeHtml(title)}">${escapeHtml(label)}</button>`;
 }

+function modeToggleTool(state) {
+  const autoMode = state.machine?.mode === "auto";
+  const label = autoMode ? "MAN" : "AUTO";
+  const title = autoMode ? "Switch to Manual mode" : "Switch to Auto mode";
+  return `
+    <button
+      type="button"
+      class="axis-tool-button axis-mode-toggle"
+      data-action="toggle-auto-manual"
+      data-mode="${autoMode ? "auto" : "manual"}"
+      title="${escapeHtml(title)}"
+    >${label}</button>
+  `;
+}
+
 function menuButton(label, entries) {
  return `
    <div class="axis-menu">
@@ -642,8 +659,9 @@ function runAxisCommand(command, state, dispatch, root) {
  const actionMap = {
    estop: () => dispatch({ type: state.machine?.estopActive || state.machine?.taskState === "estop" ? "RESET" : "ESTOP" }),
    power: () => dispatch({ type: "TOGGLE_POWER" }),
+    "toggle-auto-manual": () => dispatch({ type: "SET_MODE", mode: state.machine?.mode === "auto" ? "manual" : "auto" }),
    reload: () => dispatch({ type: "RELOAD_PROGRAM" }),
-    run: () => dispatch({ type: "RUN" }),
+    run: () => dispatch({ type: "RUN_FROM_OPERATOR" }),
    pause: () => dispatch({ type: "PAUSE" }),
    resume: () => dispatch({ type: "RESUME" }),
    step: () => dispatch({ type: "STEP" }),
@@ -652,8 +670,8 @@ function runAxisCommand(command, state, dispatch, root) {
    "home-all": () => dispatch({ type: "HOME" }),
    "jog-minus": () => dispatch({ type: "JOG", axis: selectedAxis, direction: -1, increment: Number(state.machine?.jogIncrement ?? 1) || 1 }),
    "jog-plus": () => dispatch({ type: "JOG", axis: selectedAxis, direction: 1, increment: Number(state.machine?.jogIncrement ?? 1) || 1 }),
-    "touch-off": () => dispatch({ type: "RUN_MDI", command: `G10 L20 P0 ${selectedAxis.toUpperCase()}0` }),
-    "tool-touch-off": () => dispatch({ type: "RUN_MDI", command: "G43" }),
+    "touch-off": () => dispatch({ type: "RUN_MDI", command: `G10 L20 P0 ${selectedAxis.toUpperCase()}0`, manualTouchOff: true }),
+    "tool-touch-off": () => dispatch({ type: "RUN_MDI", command: "G43", manualTouchOff: true }),
    "spindle-stop": () => dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "stop" }),
    "spindle-forward": () => dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "forward" }),
    "spindle-reverse": () => dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "reverse" }),
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-worker.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-worker.js
@@ -1,5 +1,7 @@
 import { createLinuxCncInterpreterRuntime } from "./linuxcnc-interpreter-runtime.js";

+installTextDecoderResizableArrayBufferCompat();
+
 let runtime = null;

 self.addEventListener("message", async (event) => {
@@ -47,3 +49,28 @@ self.addEventListener("message", async (event) => {
 function postSuccess(id, value) {
  self.postMessage({ id, ok: true, value });
 }
+
+function installTextDecoderResizableArrayBufferCompat() {
+  const decoderPrototype = globalThis.TextDecoder?.prototype;
+  if (!decoderPrototype || decoderPrototype.__webRtcpResizableArrayBufferCompat) return;
+  const nativeDecode = decoderPrototype.decode;
+  Object.defineProperty(decoderPrototype, "__webRtcpResizableArrayBufferCompat", {
+    value: true,
+    configurable: false,
+  });
+  decoderPrototype.decode = function decodeResizableArrayBufferCompat(input, options) {
+    try {
+      return nativeDecode.call(this, input, options);
+    } catch (error) {
+      const message = error instanceof Error ? error.message : String(error);
+      if (!message.includes("resizable")) throw error;
+      if (input?.buffer) {
+        return nativeDecode.call(this, Uint8Array.from(input), options);
+      }
+      if (input instanceof ArrayBuffer) {
+        return nativeDecode.call(this, Uint8Array.from(new Uint8Array(input)), options);
+      }
+      throw error;
+    }
+  };
+}
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-worker.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-worker.js
@@ -1,5 +1,7 @@
 import { createLinuxCncKinematicsRuntime } from "./linuxcnc-kinematics-runtime.js";

+installTextDecoderResizableArrayBufferCompat();
+
 let runtime = null;

 self.addEventListener("message", async (event) => {
@@ -64,3 +66,28 @@ self.addEventListener("message", async (event) => {
 function postSuccess(id, value) {
  self.postMessage({ id, ok: true, value });
 }
+
+function installTextDecoderResizableArrayBufferCompat() {
+  const decoderPrototype = globalThis.TextDecoder?.prototype;
+  if (!decoderPrototype || decoderPrototype.__webRtcpResizableArrayBufferCompat) return;
+  const nativeDecode = decoderPrototype.decode;
+  Object.defineProperty(decoderPrototype, "__webRtcpResizableArrayBufferCompat", {
+    value: true,
+    configurable: false,
+  });
+  decoderPrototype.decode = function decodeResizableArrayBufferCompat(input, options) {
+    try {
+      return nativeDecode.call(this, input, options);
+    } catch (error) {
+      const message = error instanceof Error ? error.message : String(error);
+      if (!message.includes("resizable")) throw error;
+      if (input?.buffer) {
+        return nativeDecode.call(this, Uint8Array.from(input), options);
+      }
+      if (input instanceof ArrayBuffer) {
+        return nativeDecode.call(this, Uint8Array.from(new Uint8Array(input)), options);
+      }
+      throw error;
+    }
+  };
+}
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-worker.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-worker.js
@@ -1,5 +1,7 @@
 import { createLinuxCncTaskHalRuntime } from "./linuxcnc-task-hal-runtime.js";

+installTextDecoderResizableArrayBufferCompat();
+
 let runtime = null;

 self.addEventListener("message", async (event) => {
@@ -61,3 +63,28 @@ function assertRuntime() {
    throw new Error("LinuxCNC task/HAL worker runtime is not initialized");
  }
 }
+
+function installTextDecoderResizableArrayBufferCompat() {
+  const decoderPrototype = globalThis.TextDecoder?.prototype;
+  if (!decoderPrototype || decoderPrototype.__webRtcpResizableArrayBufferCompat) return;
+  const nativeDecode = decoderPrototype.decode;
+  Object.defineProperty(decoderPrototype, "__webRtcpResizableArrayBufferCompat", {
+    value: true,
+    configurable: false,
+  });
+  decoderPrototype.decode = function decodeResizableArrayBufferCompat(input, options) {
+    try {
+      return nativeDecode.call(this, input, options);
+    } catch (error) {
+      const message = error instanceof Error ? error.message : String(error);
+      if (!message.includes("resizable")) throw error;
+      if (input?.buffer) {
+        return nativeDecode.call(this, Uint8Array.from(input), options);
+      }
+      if (input instanceof ArrayBuffer) {
+        return nativeDecode.call(this, Uint8Array.from(new Uint8Array(input)), options);
+      }
+      throw error;
+    }
+  };
+}
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js
@@ -139,13 +139,16 @@ export function gateLinuxCncTaskAction(state, action) {
      }
      return allow(status);
    case "RUN_MDI":
-      if (status.taskState !== "on") return block(status, "MDI blocked: machine must be on");
-      if (status.taskMode !== "mdi") return block(status, "MDI blocked: switch to MDI mode first");
-      if (!status.allHomed && !status.noForceHoming) return block(status, "MDI blocked: home machine first");
-      if (status.interpState === "reading" || status.interpState === "waiting") {
-        return block(status, "MDI blocked: interpreter must be idle");
+      {
+        const manualTouchOff = isManualTouchOffMdiAction(status, action);
+        if (status.taskState !== "on") return block(status, "MDI blocked: machine must be on");
+        if (status.taskMode !== "mdi" && !manualTouchOff) return block(status, "MDI blocked: switch to MDI mode first");
+        if (!status.allHomed && !status.noForceHoming) return block(status, "MDI blocked: home machine first");
+        if (status.interpState === "reading" || status.interpState === "waiting") {
+          return block(status, "MDI blocked: interpreter must be idle");
+        }
+        return allow(status);
      }
-      return allow(status);
    case "RUN":
    case "STEP":
    case "RUN_FRAME":
@@ -191,6 +194,17 @@ export function gateLinuxCncTaskAction(state, action) {
  }
 }

+function isManualTouchOffMdiAction(status, action) {
+  if (!action || action.manualTouchOff !== true || status.taskMode !== "manual") return false;
+  const command = String(action.command || "")
+    .replace(/\([^)]*\)/g, " ")
+    .replace(/;.*$/g, " ")
+    .trim()
+    .replace(/\s+/g, " ")
+    .toUpperCase();
+  return /^G10\s+L20\s+P0\s+[XYZABC]-?\d/.test(command) || /^G43(?:\s|$)/.test(command);
+}
+
 function gateGmoccapyXyzabRun(status) {
  if (!status.iniLoaded) return block(status, "run blocked: LinuxCNC INI not loaded");
  if (!status.machineFileStaged) return block(status, "run blocked: LinuxCNC machine files not staged");
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js
@@ -487,6 +487,25 @@ export function createSimulationStore(seed = {}) {
    });
  };

+  const waitForStatePolling = (predicate, timeoutMs = 10000, intervalMs = 25) => {
+    if (predicate(state)) return Promise.resolve(state);
+    return new Promise((resolve, reject) => {
+      const startedAt = Date.now();
+      const tick = () => {
+        if (predicate(state)) {
+          resolve(state);
+          return;
+        }
+        if (Date.now() - startedAt > timeoutMs) {
+          reject(new Error("timed out waiting for store state"));
+          return;
+        }
+        setTimeout(tick, intervalMs);
+      };
+      setTimeout(tick, intervalMs);
+    });
+  };
+
  const dispatch = (action) => {
    switch (action.type) {
      case "BOOT_READY":
@@ -1161,6 +1180,13 @@ export function createSimulationStore(seed = {}) {
          });
        });
        break;
+      case "RUN_FROM_OPERATOR":
+        return operatorRunSequence().catch((error) => {
+          dispatch({
+            type: "TASK_HAL_COMMAND_FAILED",
+            error: error instanceof Error ? error.message : String(error),
+          });
+        });
      case "SET_FRAME_SOURCE":
        setState({
          sourceMode: action.sourceMode,
@@ -1503,27 +1529,33 @@ export function createSimulationStore(seed = {}) {
        break;
      case "RUN_MDI":
        {
-          const gate = gateLinuxCncTaskAction(state, action);
+          const command = normalizeMdiCommand(action.command ?? state.machine.mdiCommand);
+          const gate = gateLinuxCncTaskAction(state, { ...action, command });
          if (!gate.allowed) {
            setState({ operatorMessage: gate.operatorMessage });
            break;
          }
+          const preserveManualTouchOff = action.manualTouchOff === true && state.machine.mode === "manual";
          if (state.taskHalRuntime?.loaded) {
-            const command = normalizeMdiCommand(action.command ?? state.machine.mdiCommand);
            const mdiResult = executeMdiCommand(state, command);
-            setState(mdiResult.patch);
+            const mdiPatch = preserveManualTouchOff
+              ? createManualTouchOffMdiPatch(state, mdiResult.patch, command)
+              : mdiResult.patch;
+            setState(mdiPatch);
            runTaskHalCommandSequence([
              { type: "EMC_TASK_SET_MODE", mode: "MDI" },
              { type: "EMC_TASK_PLAN_EXECUTE", mdi: command },
            ], {
              operatorMessage: `task/HAL MDI ${command}`,
-              preserveAxisPose: mdiResult.patch.axisPose,
-              preserveMachine: mdiResult.patch.machine,
+              preserveAxisPose: mdiPatch.axisPose,
+              preserveMachine: mdiPatch.machine,
            }).catch(() => {});
            break;
          }
-          const mdiResult = executeMdiCommand(state, action.command ?? state.machine.mdiCommand);
-          setState(mdiResult.patch);
+          const mdiResult = executeMdiCommand(state, command);
+          setState(preserveManualTouchOff
+            ? createManualTouchOffMdiPatch(state, mdiResult.patch, command)
+            : mdiResult.patch);
        }
        break;
      case "LOAD_PROGRAM":
@@ -2480,16 +2512,121 @@ export function createSimulationStore(seed = {}) {
    return state;
  };

+  const operatorRunSequence = async () => {
+    if (!state.machineFileStaging?.selectedGcodeSourceRel) {
+      const sourceRel = defaultLinuxCncGcodeSourceForState(state)?.sourceRel;
+      if (sourceRel) {
+        dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel });
+        await waitForStatePredicate((nextState) => nextState.machineFileStaging?.selectedGcodeSourceRel === sourceRel);
+      }
+    }
+    const tcpKinsType = tcpKinsTypeForProfile(state.profile);
+    if (state.taskHalRuntime?.loaded) {
+      if (
+        !Array.isArray(state.programExecution?.motion)
+        || state.programExecution.motion.length === 0
+        || state.interpreterExecutionPending
+      ) {
+        if (!state.interpreterExecutionPending) {
+          dispatch({ type: "RUN_MACHINE_FILE_PROGRAM" });
+        }
+        await waitForStatePolling((nextState) => (
+          nextState.interpreterExecutionPending === false
+          && Array.isArray(nextState.programExecution?.motion)
+          && nextState.programExecution.motion.length > 0
+        ), 15000);
+      }
+      if (tcpKinsType && state.kinsType !== tcpKinsType) {
+        dispatch({ type: "SET_KINS_TYPE", kinsType: tcpKinsType });
+      }
+      setState({
+        machine: {
+          ...state.machine,
+          powerOn: true,
+          estopActive: false,
+          taskState: "on",
+          mode: "auto",
+          manualPanel: null,
+          allHomed: true,
+          interpState: "idle",
+          interpResumeState: "idle",
+          taskPaused: false,
+        },
+        runState: "idle",
+        operatorMessage: "RUN ready: motion plan source ready; preparing task/HAL session",
+      });
+      const expectedProgramPath = expectedTaskHalProgramPathForState(state);
+      if (!state.taskHalSession || (expectedProgramPath && state.taskHalSession.programPath !== expectedProgramPath)) {
+        setState({ operatorMessage: "RUN preparing: initializing task/HAL session" });
+        await initializeTaskHalSession({ openProgram: true });
+      }
+      setState({ operatorMessage: "RUN preparing: loading task/HAL motion plan" });
+      const loadedMotionPlan = await loadTaskHalMotionPlanWithSessionRetry();
+      if (!loadedMotionPlan) {
+        setState({ operatorMessage: "run blocked: task/HAL feed motion plan not loaded" });
+        return state;
+      }
+      const ready = validateRunPreconditions(state, { requireTaskHalSession: true });
+      if (!ready.ok) {
+        setState({ operatorMessage: ready.operatorMessage });
+        return state;
+      }
+      stopTaskHalStatusLoop("restarted", {
+        operatorMessage: "task/HAL status loop restarting",
+      });
+      setState({
+        activeLine: state.programStartLine || 1,
+        programExecutionMotionIndex: 0,
+        programExecutionSampleIndex: 0,
+        programRuntimeFeedback: null,
+        programLineExecution: {},
+        operatorMessage: "RUN executing: sending task/HAL PLAN_RUN",
+      });
+      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 },
+      ], {
+        taskCycles: 5,
+        operatorMessage: `task/HAL program run ${ready.profileId} ${ready.kinematicsModuleId}`,
+        allowFixtureSession: false,
+      });
+      if (shouldContinueTaskHalStatusLoop(state, status)) {
+        startTaskHalStatusLoop({
+          profileId: ready.profileId,
+          iniPath: ready.iniPath,
+          kinematicsModuleId: ready.kinematicsModuleId,
+          operatorMessage: `task/HAL status loop running ${ready.profileId} ${ready.kinematicsModuleId}`,
+        });
+      }
+      return state;
+    }
+    const policy = createLinuxCncTaskPolicyStatus(state);
+    if (policy.taskMode !== "auto" || !policy.allHomed || policy.taskState !== "on") {
+      await runReadySequence();
+    }
+    dispatch({ type: "RUN" });
+    return state;
+  };
+
  const loadTaskHalMotionPlanForSession = async (session = state.taskHalSession) => {
    if (!state.taskHalRuntime?.loaded || typeof state.taskHalRuntime.loadProgramMotionPlan !== "function") {
      return null;
    }
+    setState({ operatorMessage: "RUN preparing: building task/HAL motion plan" });
    const motion = state.programExecution?.motion || [];
    const timing = state.programExecutionTiming || buildTimingForState(state, state.programExecution);
    if (!session?.programPath || !Array.isArray(motion) || motion.length === 0 || !Array.isArray(timing?.segments) || timing.segments.length === 0) {
      return null;
    }
-    const plan = buildTaskHalProgramMotionPlan({
+    const previewPlan = buildTaskHalProgramMotionPlanFromPreviewPath({
+      programPath: session.programPath,
+      path: state.programAxisPreviewPath,
+      profile: state.profile,
+      linearUnits: timing.linearUnits || state.profile?.traj?.linearUnits || "mm",
+    });
+    const plan = previewPlan || buildTaskHalProgramMotionPlan({
      programPath: session.programPath,
      motion,
      timing,
@@ -2499,10 +2636,27 @@ export function createSimulationStore(seed = {}) {
    if (plan.segmentCount <= 0) {
      return null;
    }
-    await state.taskHalRuntime.loadProgramMotionPlan(plan);
+    setState({ operatorMessage: `RUN preparing: worker loading ${plan.segmentCount} task/HAL motion segments` });
+    await withTimeout(
+      state.taskHalRuntime.loadProgramMotionPlan(plan),
+      5000,
+      "task/HAL feed motion plan load timed out",
+    );
    return plan;
  };

+  const loadTaskHalMotionPlanWithSessionRetry = async () => {
+    let plan = null;
+    try {
+      plan = await loadTaskHalMotionPlanForSession(state.taskHalSession);
+    } catch (error) {
+      setState({ operatorMessage: `task/HAL motion plan reload: ${error instanceof Error ? error.message : String(error)}` });
+    }
+    if (plan) return plan;
+    await initializeTaskHalSession({ openProgram: true });
+    return loadTaskHalMotionPlanForSession(state.taskHalSession);
+  };
+
  const startTaskHalStatusLoop = ({
    profileId = state.machineProfile,
    iniPath = state.profile?.iniPath || null,
@@ -3292,6 +3446,21 @@ function sourceBasename(path) {
  return String(path || "").split("/").filter(Boolean).at(-1) || "";
 }

+function withTimeout(promise, timeoutMs, message) {
+  return new Promise((resolve, reject) => {
+    const timeoutId = setTimeout(() => reject(new Error(message)), timeoutMs);
+    Promise.resolve(promise)
+      .then((value) => {
+        clearTimeout(timeoutId);
+        resolve(value);
+      })
+      .catch((error) => {
+        clearTimeout(timeoutId);
+        reject(error);
+      });
+  });
+}
+
 function isAsyncKinematicsRuntime(runtime) {
  return runtime?.executionContext === "worker";
 }
@@ -3493,19 +3662,54 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
              ? "jogging"
              : "idle";
  const runtimeFeedback = createTaskHalRuntimeFeedback(state, status, axisPose, activeLine);
-  const taskHalSampleIndex = resolveRuntimeSampleIndexForLine(state, activeLine, runtimeFeedback.sampleIndex);
-  const taskHalPlaybackPatch = applyProgramPlaybackUiPatch(state, {
-    activeLine,
-    axisPose,
-    kinsType,
-    rtcpState: rtcpStateFromKinsType(kinsType),
-    motionIndex: runtimeFeedback.motionIndex,
+  const shouldTrackProgramPlayback = runState === "running"
+    || runState === "mdi"
+    || (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete"));
+  const taskHalSampleIndex = shouldTrackProgramPlayback
+    ? resolveRuntimeSampleIndexForTaskHalPose(state, axisPose, activeLine, runtimeFeedback.sampleIndex)
+    : clampNumber(
+      state.programExecutionSampleIndex || 0,
+      0,
+      Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0),
+    );
+  const idleRuntimeFeedback = {
+    ...runtimeFeedback,
    sampleIndex: taskHalSampleIndex,
-    runtimeFeedback: {
-      ...runtimeFeedback,
+    motionIndex: Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
+  };
+  const taskHalPlaybackPatch = shouldTrackProgramPlayback
+    ? applyProgramPlaybackUiPatch(state, {
+      activeLine,
+      axisPose,
+      kinsType,
+      rtcpState: rtcpStateFromKinsType(kinsType),
+      motionIndex: runtimeFeedback.motionIndex,
      sampleIndex: taskHalSampleIndex,
-    },
-  });
+      runtimeFeedback: {
+        ...runtimeFeedback,
+        sampleIndex: taskHalSampleIndex,
+      },
+      preferRuntimeAxisPose: true,
+    })
+    : {
+      activeLine: state.activeLine,
+      axisPose,
+      kinsType: kinsType || state.kinsType,
+      rtcpState: kinsType ? rtcpStateFromKinsType(kinsType) : state.rtcpState,
+      toolAxisVector: state.toolAxisVector,
+      programExecutionMotionIndex: Number(state.programExecutionMotionIndex || 0),
+      programExecutionSampleIndex: taskHalSampleIndex,
+      programRuntimeFeedback: idleRuntimeFeedback,
+      programUiExecution: state.programUiExecution
+        ? createProgramUiExecution({
+          ...state,
+          axisPose,
+          kinsType: kinsType || state.kinsType,
+          programExecutionSampleIndex: taskHalSampleIndex,
+          programRuntimeFeedback: idleRuntimeFeedback,
+        }, { preferRuntimePose: true })
+        : state.programUiExecution,
+    };
  const loopActive = state.taskHalStatusLoop?.active === true
    && loopSequence !== null
    && Number(state.taskHalStatusLoop.sequence) === Number(loopSequence)
@@ -3720,6 +3924,84 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
  };
 }

+function buildTaskHalProgramMotionPlanFromPreviewPath({
+  programPath = null,
+  path = null,
+  profile = defaultProfile,
+  linearUnits = "mm",
+} = {}) {
+  const samples = path?.samples;
+  if (!Array.isArray(samples) || samples.length < 2) return null;
+  const samplePeriodSeconds = Math.max(Number(path.samplePeriodMs || 50) / 1000, 0.001);
+  const segments = [];
+  for (let index = 1; index < samples.length; index += 1) {
+    const startSample = samples[index - 1];
+    const endSample = samples[index];
+    const startAxes = taskHalPlanAxesFromPose(axisPoseFromProgramPathSample(startSample, initialAxisPose, profile));
+    const endAxes = taskHalPlanAxesFromPose(axisPoseFromProgramPathSample(endSample, startAxes, profile));
+    const startSeconds = Number.isFinite(Number(startSample?.timeMs))
+      ? Number(startSample.timeMs) / 1000
+      : (index - 1) * samplePeriodSeconds;
+    const endSeconds = Number.isFinite(Number(endSample?.timeMs))
+      ? Number(endSample.timeMs) / 1000
+      : index * samplePeriodSeconds;
+    const durationSeconds = Math.max(endSeconds - startSeconds, samplePeriodSeconds);
+    const velocityMmPerMin = estimatePreviewSegmentVelocityMmPerMin(startAxes, endAxes, durationSeconds);
+    const type = endSample?.motionType || startSample?.motionType || "STRAIGHT_FEED";
+    segments.push({
+      line: Number(endSample?.line || startSample?.line || 1),
+      type,
+      motionClass: String(type).includes("TRAVERSE") ? "rapid" : "feed",
+      feedMode: "units-per-minute",
+      startSeconds,
+      durationSeconds,
+      elapsedSeconds: startSeconds + durationSeconds,
+      feedRate: velocityMmPerMin,
+      linearUnits,
+      velocityMmPerMin,
+      requestedVelocityMmPerMin: velocityMmPerMin,
+      startAxes,
+      endAxes,
+    });
+  }
+  if (segments.length === 0) return null;
+  return {
+    apiName: "web-rtcp-5axis-task-hal-program-motion-plan",
+    semanticBoundary: "linuxcnc_task_hal_plan_from_expanded_axis_preview_samples",
+    programPath,
+    linearUnits,
+    totalSeconds: segments[segments.length - 1].elapsedSeconds,
+    segmentCount: segments.length,
+    segments,
+  };
+}
+
+function taskHalPlanAxesFromPose(pose = {}) {
+  return {
+    x: Number(pose.x || 0),
+    y: Number(pose.y || 0),
+    z: Number(pose.z || 0),
+    a: Number(pose.a || 0),
+    b: Number(pose.b || 0),
+    c: Number(pose.c || 0),
+  };
+}
+
+function estimatePreviewSegmentVelocityMmPerMin(startAxes = {}, endAxes = {}, durationSeconds = 0.05) {
+  const linearDistance = Math.hypot(
+    Number(endAxes.x || 0) - Number(startAxes.x || 0),
+    Number(endAxes.y || 0) - Number(startAxes.y || 0),
+    Number(endAxes.z || 0) - Number(startAxes.z || 0),
+  );
+  const rotaryDistance = Math.hypot(
+    Number(endAxes.a || 0) - Number(startAxes.a || 0),
+    Number(endAxes.b || 0) - Number(startAxes.b || 0),
+    Number(endAxes.c || 0) - Number(startAxes.c || 0),
+  );
+  const distance = Math.max(linearDistance, rotaryDistance * 0.1, 0.001);
+  return durationSeconds > 0 ? (distance / durationSeconds) * 60 : 1;
+}
+
 function resolveRuntimeSampleIndexForLine(state = {}, activeLine, fallbackSampleIndex = 0) {
  const samples = state.programAxisPreviewPath?.samples;
  if (!Array.isArray(samples) || samples.length === 0) {
@@ -3736,6 +4018,51 @@ function resolveRuntimeSampleIndexForLine(state = {}, activeLine, fallbackSample
  return samples.length - 1;
 }

+function resolveRuntimeSampleIndexForTaskHalPose(state = {}, axisPose = {}, activeLine, fallbackSampleIndex = 0) {
+  const samples = state.programAxisPreviewPath?.samples;
+  if (!Array.isArray(samples) || samples.length === 0) {
+    return resolveRuntimeSampleIndexForLine(state, activeLine, fallbackSampleIndex);
+  }
+  const current = clampNumber(state.programExecutionSampleIndex || 0, 0, samples.length - 1);
+  const previousCycle = Number(state.programRuntimeFeedback?.cycle || 0);
+  const nextCycle = Number(fallbackSampleIndex || 0);
+  const cycleDelta = Number.isFinite(nextCycle) && Number.isFinite(previousCycle)
+    ? Math.max(nextCycle - previousCycle, 0)
+    : 0;
+  const adaptiveWindow = Math.max(320, Math.min(samples.length - 1, Math.ceil(cycleDelta * 8) + 240));
+  const windowStart = current;
+  const windowEnd = Math.min(samples.length - 1, current + adaptiveWindow);
+  const line = Number(activeLine);
+  let bestIndex = current;
+  let bestScore = Number.POSITIVE_INFINITY;
+  for (let index = windowStart; index <= windowEnd; index += 1) {
+    const sample = samples[index];
+    const samplePose = axisPoseFromProgramPathSample(sample, axisPose, state.profile);
+    const linePenalty = Number.isFinite(line) && Number.isFinite(Number(sample?.line))
+      ? Math.min(Math.abs(Number(sample.line) - line), 12) * 0.25
+      : 0;
+    const forwardPenalty = (index - current) * 0.000001;
+    const score = taskHalPoseDistanceScore(axisPose, samplePose) + linePenalty + forwardPenalty;
+    if (score < bestScore) {
+      bestScore = score;
+      bestIndex = index;
+    }
+  }
+  return Math.max(current, bestIndex);
+}
+
+function taskHalPoseDistanceScore(a = {}, b = {}) {
+  const linear = ["x", "y", "z"].reduce((sum, axis) => {
+    const delta = Number(a[axis] || 0) - Number(b[axis] || 0);
+    return sum + delta * delta;
+  }, 0);
+  const rotary = ["a", "b", "c"].reduce((sum, axis) => {
+    const delta = Number(a[axis] || 0) - Number(b[axis] || 0);
+    return sum + (delta * delta * 0.01);
+  }, 0);
+  return linear + rotary;
+}
+
 function applyProgramPlaybackUiPatch(state = {}, {
  activeLine,
  axisPose,
@@ -3744,9 +4071,13 @@ function applyProgramPlaybackUiPatch(state = {}, {
  motionIndex,
  sampleIndex,
  runtimeFeedback,
+  preferRuntimeAxisPose = false,
 } = {}) {
  const sample = currentProgramPathSample(state, sampleIndex);
-  const sampleAxisPose = axisPoseFromProgramPathSample(sample, axisPose || state.axisPose, state.profile);
+  const runtimeAxisPose = clampAxisPoseToProfile(axisPose || runtimeFeedback?.axisPose || state.axisPose, state.profile);
+  const sampleAxisPose = preferRuntimeAxisPose
+    ? runtimeAxisPose
+    : axisPoseFromProgramPathSample(sample, runtimeAxisPose, state.profile);
  const sampleKinsType = sample?.activeKinematics
    ? normalizeSampleKinsType(state, sample.activeKinematics)
    : kinsType;
@@ -3764,7 +4095,7 @@ function applyProgramPlaybackUiPatch(state = {}, {
    axisPose: sampleAxisPose,
    kinsType: sampleKinsType || state.kinsType,
    toolAxisVector,
-  });
+  }, { preferRuntimeAxisPose });
  const patchState = {
    ...state,
    activeLine: sampleLine,
@@ -3785,11 +4116,13 @@ function applyProgramPlaybackUiPatch(state = {}, {
    programExecutionMotionIndex: patchState.programExecutionMotionIndex,
    programExecutionSampleIndex: patchState.programExecutionSampleIndex,
    programRuntimeFeedback: enrichedFeedback,
-    programUiExecution: createProgramUiExecution(patchState),
+    programUiExecution: createProgramUiExecution(patchState, { preferRuntimePose: preferRuntimeAxisPose }),
  };
 }

-function createProgramUiExecution(state = {}) {
+function createProgramUiExecution(state = {}, {
+  preferRuntimePose = false,
+} = {}) {
  const sample = currentProgramPathSample(state, state.programExecutionSampleIndex);
  const feedback = state.programRuntimeFeedback || {};
  const sampleCount = Number(state.programAxisPreviewPath?.sampleCount || state.programAxisPreviewPath?.samples?.length || 0);
@@ -3829,8 +4162,12 @@ function createProgramUiExecution(state = {}) {
    segmentIndex: sample?.segmentIndex ?? traceEntry?.segmentIndex ?? null,
    motionType: sample?.motionType || traceEntry?.motionType || feedback.motionType || feedback.type || null,
    activeKinematics: sample?.activeKinematics || traceEntry?.activeKinematicsAfter || state.kinsType,
-    joint: sample?.joint || pickExecutionAxes(state.axisPose || {}),
-    tcp: sample?.tcp || {
+    joint: preferRuntimePose
+      ? pickExecutionAxes(feedback.axisPose || state.axisPose || {})
+      : sample?.joint || pickExecutionAxes(state.axisPose || {}),
+    tcp: preferRuntimePose && feedback.tcp
+      ? feedback.tcp
+      : sample?.tcp || {
      x: Number(state.tcpPose?.x || state.axisPose?.x || 0),
      y: Number(state.tcpPose?.y || state.axisPose?.y || 0),
      z: Number(state.tcpPose?.z || state.axisPose?.z || 0),
@@ -3886,13 +4223,22 @@ function toolAxisSampleFromVector(vector = {}) {
  };
 }

-function enrichRuntimeFeedbackWithSample(feedback = {}, sample = null, state = {}) {
+function enrichRuntimeFeedbackWithSample(feedback = {}, sample = null, state = {}, {
+  preferRuntimeAxisPose = false,
+} = {}) {
  if (!sample) return feedback;
-  const tcp = sample.tcp || {
+  const runtimeAxisPose = feedback?.axisPose || state.axisPose || {};
+  const tcp = preferRuntimeAxisPose
+    ? {
+        x: Number(runtimeAxisPose.x ?? 0),
+        y: Number(runtimeAxisPose.y ?? 0),
+        z: Number(runtimeAxisPose.z ?? 0),
+      }
+    : sample.tcp || {
    x: Number(state.tcpPose?.x ?? state.axisPose?.x ?? feedback?.axisPose?.x ?? 0),
    y: Number(state.tcpPose?.y ?? state.axisPose?.y ?? feedback?.axisPose?.y ?? 0),
    z: Number(state.tcpPose?.z ?? state.axisPose?.z ?? feedback?.axisPose?.z ?? 0),
-  };
+    };
  return {
    ...(feedback || {}),
    sampleIndex: Number(sample.sampleIndex || 0),
@@ -3902,7 +4248,9 @@ function enrichRuntimeFeedbackWithSample(feedback = {}, sample = null, state = {
    statement: sample.statement || feedback?.statement || "",
    motionType: sample.motionType || feedback?.motionType || null,
    activeKinematics: sample.activeKinematics || feedback?.activeKinematics || state.kinsType,
-    axisPose: axisPoseFromProgramPathSample(sample, state.axisPose || feedback?.axisPose || {}, state.profile),
+    axisPose: preferRuntimeAxisPose
+      ? runtimeAxisPose
+      : axisPoseFromProgramPathSample(sample, state.axisPose || feedback?.axisPose || {}, state.profile),
    tcp,
    toolAxis: sample.toolAxis || feedback?.toolAxis || null,
    machineState: sample.machineState || feedback?.machineState || null,
@@ -4155,6 +4503,22 @@ function executeMdiCommand(state, rawCommand) {
  return { patch };
 }

+function createManualTouchOffMdiPatch(state, patch, command) {
+  return {
+    ...patch,
+    machine: {
+      ...patch.machine,
+      mode: "manual",
+      manualPanel: state.machine.manualPanel || "manual",
+      interpState: "idle",
+      interpResumeState: "idle",
+      taskPaused: false,
+    },
+    runState: "idle",
+    operatorMessage: `manual touch off ${command}`,
+  };
+}
+
 function normalizeMdiCommand(command) {
  return String(command || "")
    .replace(/\([^)]*\)/g, " ")
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/styles/axis.css
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/styles/axis.css
@@ -167,6 +167,13 @@ body {
  text-decoration: underline;
 }

+.axis-mode-toggle {
+  width: 44px;
+  min-width: 44px;
+  font: 700 11px/1 Arial, sans-serif;
+  letter-spacing: 0;
+}
+
 .axis-toolbar-separator {
  width: 8px;
  height: 26px;
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/axis-shell.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/axis-shell.js
@@ -24,6 +24,7 @@ export const AXIS_BUTTON_PARITY = [
  { id: "menu-audit", action: "audit", sourceSymbol: "web parity audit", sourceLines: "collect-web-xyzbc-trt-evidence.mjs", expected: "request native/Web parity audit" },
  { id: "toolbar-estop", action: "estop", sourceSymbol: "commands.estop_clicked", sourceLines: "axis.py:2223-2229", expected: "toggle ESTOP/ESTOP_RESET" },
  { id: "toolbar-power", action: "power", sourceSymbol: "commands.onoff_clicked", sourceLines: "axis.py:2231-2241", expected: "toggle machine power" },
+  { id: "toolbar-auto-manual", action: "toggle-auto-manual", sourceSymbol: "commands.ensure_manual / commands.task_mode_auto", sourceLines: "axis.py:2308-2320,2520-2531", expected: "toggle task mode between AUTO and MANUAL" },
  { id: "toolbar-load", action: "open", sourceSymbol: "commands.open_file", sourceLines: "axis.py:2243-2262", expected: "open local G-code" },
  { id: "toolbar-reload", action: "reload", sourceSymbol: "commands.reload_file", sourceLines: "axis.py:2296-2297", expected: "reload active program" },
  { id: "toolbar-run", action: "run", sourceSymbol: "commands.task_run", sourceLines: "axis.py:2308-2320", expected: "start AUTO run" },
@@ -169,6 +170,7 @@ function renderToolbar(element, state, dispatch) {
    <input type="file" class="axis-file-input" data-action="OPEN_FILE" accept=".ngc,.nc,.tap,.gcode,.txt" />
    ${toolButton("tbtn_estop", "estop", "Emergency stop", state.machine.estopActive)}
    ${toolButton("tbtn_on", "power", "Machine power", state.machine.powerOn)}
+    ${modeToggleTool(state)}
    ${toolButton("btn_load", "open", "Open program")}
    ${toolButton("btn_reload", "reload", "Reload program")}
    ${toolButton("btn_run", "run", "Run program")}
@@ -560,6 +562,21 @@ function smallTextTool(label, action, title) {
  return `<button type="button" class="axis-tool-button axis-text-tool" data-action="${action}" title="${escapeHtml(title)}">${escapeHtml(label)}</button>`;
 }

+function modeToggleTool(state) {
+  const autoMode = state.machine?.mode === "auto";
+  const label = autoMode ? "MAN" : "AUTO";
+  const title = autoMode ? "Switch to Manual mode" : "Switch to Auto mode";
+  return `
+    <button
+      type="button"
+      class="axis-tool-button axis-mode-toggle"
+      data-action="toggle-auto-manual"
+      data-mode="${autoMode ? "auto" : "manual"}"
+      title="${escapeHtml(title)}"
+    >${label}</button>
+  `;
+}
+
 function menuButton(label, entries) {
  return `
    <div class="axis-menu">
@@ -642,8 +659,9 @@ function runAxisCommand(command, state, dispatch, root) {
  const actionMap = {
    estop: () => dispatch({ type: state.machine?.estopActive || state.machine?.taskState === "estop" ? "RESET" : "ESTOP" }),
    power: () => dispatch({ type: "TOGGLE_POWER" }),
+    "toggle-auto-manual": () => dispatch({ type: "SET_MODE", mode: state.machine?.mode === "auto" ? "manual" : "auto" }),
    reload: () => dispatch({ type: "RELOAD_PROGRAM" }),
-    run: () => dispatch({ type: "RUN" }),
+    run: () => dispatch({ type: "RUN_FROM_OPERATOR" }),
    pause: () => dispatch({ type: "PAUSE" }),
    resume: () => dispatch({ type: "RESUME" }),
    step: () => dispatch({ type: "STEP" }),
@@ -652,8 +670,8 @@ function runAxisCommand(command, state, dispatch, root) {
    "home-all": () => dispatch({ type: "HOME" }),
    "jog-minus": () => dispatch({ type: "JOG", axis: selectedAxis, direction: -1, increment: Number(state.machine?.jogIncrement ?? 1) || 1 }),
    "jog-plus": () => dispatch({ type: "JOG", axis: selectedAxis, direction: 1, increment: Number(state.machine?.jogIncrement ?? 1) || 1 }),
-    "touch-off": () => dispatch({ type: "RUN_MDI", command: `G10 L20 P0 ${selectedAxis.toUpperCase()}0` }),
-    "tool-touch-off": () => dispatch({ type: "RUN_MDI", command: "G43" }),
+    "touch-off": () => dispatch({ type: "RUN_MDI", command: `G10 L20 P0 ${selectedAxis.toUpperCase()}0`, manualTouchOff: true }),
+    "tool-touch-off": () => dispatch({ type: "RUN_MDI", command: "G43", manualTouchOff: true }),
    "spindle-stop": () => dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "stop" }),
    "spindle-forward": () => dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "forward" }),
    "spindle-reverse": () => dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "reverse" }),
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/xyzbc_trt_browser_smoke.html
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/xyzbc_trt_browser_smoke.html
@@ -152,6 +152,7 @@
          '[data-action="estop"]',
          '[data-action="power"]',
          '[data-action="run"]',
+          '[data-action="toggle-auto-manual"]',
          '[data-action="step"]',
          '[data-action="stop"]',
          '[data-action="jog-plus"]',
@@ -273,6 +274,20 @@
        await waitState((state) => state.machine.powerOn === true && state.machine.taskState === "on", "machine power on");
        await click('[data-action="home-all"]', "AXIS home all");
        await waitState((state) => state.machine.allHomed === true && state.machine.mode === "manual", "home all");
+        await click('[data-action="toggle-auto-manual"]', "AXIS AUTO mode toolbar toggle");
+        await waitState((state) => state.machine.mode === "auto", "toolbar toggle to AUTO");
+        await click('[data-action="toggle-auto-manual"]', "AXIS MANUAL mode toolbar toggle");
+        await waitState((state) => state.machine.mode === "manual", "toolbar toggle to MANUAL");
+        await click('[data-action="run"]', "AXIS direct run after home");
+        await waitState((state) => (
+          (state.runState === "running" || state.runState === "complete")
+          && state.machine.mode === "auto"
+          && state.programRuntimeFeedback
+        ), "direct run after power and home");
+        await click('[data-action="stop"]', "AXIS stop after direct run");
+        await waitState((state) => state.runState === "stopped" && state.machine.mode === "auto", "stop after direct run");
+        await click('[data-action="tab-manual"]', "AXIS manual tab after direct run");
+        await waitState((state) => state.machine.mode === "manual", "manual mode after direct run");

        await click('[data-action="tab-mdi"]', "AXIS MDI tab");
        await waitState((state) => state.machine.mode === "mdi", "MDI mode");
@@ -292,6 +307,24 @@
        const beforeJogC = api.getState().axisPose.c;
        await click('[data-action="jog-plus"]', "AXIS jog plus");
        await waitState((state) => state.axisPose.c > beforeJogC, "jog C plus");
+        await click('[data-action="touch-off"]', "AXIS manual touch off");
+        await waitState((state) => (
+          state.machine.mode === "manual" &&
+          state.runState === "idle" &&
+          state.mdiHistory[0] === "G10 L20 P0 C0"
+        ), "manual touch off");
+        await click('[data-action="tool-touch-off"]', "AXIS manual tool touch off");
+        await waitState((state) => (
+          state.machine.mode === "manual" &&
+          state.runState === "idle" &&
+          state.mdiHistory[0] === "G43"
+        ), "manual tool touch off");
+        const defaultProgramSource = api.getState().machineFileStaging.gcodeSources.find((source) => source.filename === "xyzbc_switchkins.ngc");
+        api.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel: defaultProgramSource.sourceRel });
+        await waitState((state) => (
+          state.machineFileStaging.selectedGcodeSourceRel === defaultProgramSource.sourceRel &&
+          Number(state.programAxisPreviewPath?.sampleCount || 0) > 0
+        ), "restore default LinuxCNC program after manual touch off");

        const beforeFeed = api.getState().feed.feedOverride;
        await click('[data-action="feed-override-up"]', "feed override up");
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs
@@ -338,6 +338,12 @@ assert.equal(buttonStore.getState().machine.allHomed, true);
 assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.x, 43);
 assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.y, -32.15);
 assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.z, -11.306);
+await buttonStore.dispatch({ type: "RUN_FROM_OPERATOR" });
+assert.equal(buttonStore.getState().machine.mode, "auto");
+assert.equal(["running", "complete"].includes(buttonStore.getState().runState), true);
+assert.equal(Boolean(buttonStore.getState().programRuntimeFeedback), true);
+buttonStore.dispatch({ type: "STOP" });
+buttonStore.dispatch({ type: "SET_MODE", mode: "manual" });
 buttonStore.dispatch({ type: "SET_MODE", mode: "mdi" });
 buttonStore.dispatch({ type: "RUN_MDI", command: "M428" });
 assert.equal(buttonStore.getState().kinsType, "tcp-xyzbc");
@@ -351,6 +357,15 @@ buttonStore.dispatch({ type: "SET_ACTIVE_JOINT", joint: 4 });
 const cBeforeJog = buttonStore.getState().axisPose.c;
 buttonStore.dispatch({ type: "JOG", axis: "c", direction: 1, increment: 1 });
 assert.equal(buttonStore.getState().axisPose.c, cBeforeJog + 1);
+buttonStore.dispatch({ type: "RUN_MDI", command: "G10 L20 P0 C0", manualTouchOff: true });
+assert.equal(buttonStore.getState().mdiHistory[0], "G10 L20 P0 C0");
+assert.equal(buttonStore.getState().machine.mode, "manual");
+assert.equal(buttonStore.getState().runState, "idle");
+assert.equal(buttonStore.getState().operatorMessage, "manual touch off G10 L20 P0 C0");
+buttonStore.dispatch({ type: "RUN_MDI", command: "G43", manualTouchOff: true });
+assert.equal(buttonStore.getState().mdiHistory[0], "G43");
+assert.equal(buttonStore.getState().machine.mode, "manual");
+assert.equal(buttonStore.getState().runState, "idle");
 const feedBefore = buttonStore.getState().feed.feedOverride;
 buttonStore.dispatch({ type: "ADJUST_OVERRIDE", target: "feed", delta: 10 });
 assert.equal(buttonStore.getState().feed.feedOverride, feedBefore + 10);
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/10-按钮全量验证计划与执行结果.md
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/10-按钮全量验证计划与执行结果.md
@@ -0,0 +1,417 @@
+# 10-按钮全量验证计划与执行结果
+
+## 执行信息
+
+| 项 | 内容 |
+| --- | --- |
+| 项目 | `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan` |
+| 执行时间 | 2026-07-03 09:23 EDT |
+| 验证对象 | Web AXIS `xyzbc-trt` 界面所有按钮、菜单项、输入触发控件和静态页签按钮 |
+| 主入口 | `app/dist/index.html` |
+| 主要源码 | `app/src/ui/axis-shell.js`、`app/src/state/store.js` |
+| 最终按钮矩阵证据 | `working/evidence/button-full-validation-20260703T132018Z.json` |
+| 本地打开文件样例 | `working/evidence/button-validation-sample-20260703T132018Z.ngc` |
+| Web/native 对比证据 | `working/evidence/web-xyzbc-trt-evidence.json`、`working/evidence/compare-xyzbc-trt-evidence.json` |
+
+## 验证目标
+
+1. 盘点页面中所有 `button`、`input`、`select`、`form` 控件。
+2. 对有业务动作的控件确认存在 AXIS/PyVCP 来源追踪信息。
+3. 按区域逐项点击或触发控件，验证状态机、程序加载、运行、停止、视图、JOG、Override、主轴、冷却、MDI、PyVCP switchkins 等动作。
+4. 用项目既有 smoke/evidence 脚本确认真实 LinuxCNC/WASM 运行链路。
+5. 明确记录未通过项、验证环境限制和后续修复任务。
+
+## 任务拆分
+
+| 任务 | 验证内容 | 方法 | 结果 |
+| --- | --- | --- | --- |
+| T01 | 构建与 Node 基础验证 | `npm --prefix app run smoke:node` | 通过，输出 `xyzbc_trt_web_app_smoke=ok` |
+| T02 | 浏览器真实运行 smoke | `npm --prefix app run smoke:browser` | 通过，输出 `xyzbc_trt_browser_smoke=ok` |
+| T03 | Web 证据采集 | `npm --prefix app run evidence:web` | 通过，生成 `web-xyzbc-trt-evidence.json` |
+| T04 | native/Web 对比 | `npm --prefix app run evidence:compare` | 通过，输出 `compare_xyzbc_trt_status=pass` |
+| T05 | DOM 控件清单 | Playwright 读取 `button,input,select,form` | 发现 83 个控件，其中按钮 71 个，业务控件 74 个 |
+| T06 | 按钮来源矩阵 | `window.webRtcp5AxisSimulation.getButtonParity()` | 通过，61 条来源映射，业务控件缺失来源数 0 |
+| T07 | 文件/会话/菜单按钮 | Stage、Save、Restore、Open、Reload | 通过 |
+| T08 | 安全/上电/回零/模式按钮 | ESTOP、Power、Manual、MDI、Home All | 通过 |
+| T09 | 手动/JOG 控件 | Joint 0-4、增量 0/0.001/0.01/0.1/1/10、Jog +/- | 通过 |
+| T10 | 主轴/冷却/Override | Fwd、Rev、Stop、Spindle/Feed/Rapid override、Flood、Mist | 通过；Rapid 脚本初始上限按 100 误判，源码实际按 200 限幅 |
+| T11 | MDI 与 PyVCP | MDI Go、历史、M428/M429/M430、vismach-clear | MDI 与 PyVCP 通过；Touch Off 相关见失败项 |
+| T12 | 视图/预览 | X/Y/Z/P、toolbar clear、PyVCP clear、reload | 通过 |
+| T13 | 程序运行按钮 | Run Ready、Step、Run、Pause、Resume、Stop | 真实运行链路由 `smoke:browser` 通过；逐按钮矩阵中 Run 在 Step 后未恢复被 gate 拒绝，判定为验证顺序限制 |
+| T14 | 审计按钮 | Run parity audit | 证据脚本通过；直接 Playwright 页面触发时遇到 TextDecoder worker 兼容问题，判定为验证环境限制 |
+| T15 | 静态按钮 | 顶层菜单按钮、主区域静态页签按钮 | 点击后无运行时异常 |
+
+## 最终矩阵统计
+
+来自 `working/evidence/button-full-validation-20260703T132018Z.json`：
+
+| 指标 | 数值 |
+| --- | ---: |
+| DOM 控件总数 | 83 |
+| `button` 数量 | 71 |
+| 业务控件数量 | 74 |
+| 来源矩阵条目 | 61 |
+| 通过记录 | 74 |
+| 失败记录 | 5 |
+| 浏览器运行时异常 | 0 |
+| 资源加载 404 console 记录 | 43 |
+
+资源加载 404 仅作为 console 资源噪声记录，未触发 `pageerror`，不计为按钮执行失败。
+
+## 失败项判定
+
+| 项 | 选择器 | 预期 | 实际 | 判定 |
+| --- | --- | --- | --- | --- |
+| Touch Off | `[data-action="touch-off"]` | 执行 `G10 L20 P0 X0` | `MDI blocked: switch to MDI mode first` | 真实按钮缺陷：按钮位于 Manual 区，但当前实现通过 `RUN_MDI` 走 MDI gate |
+| Tool Touch Off | `[data-action="tool-touch-off"]` | 执行 `G43` | `MDI blocked: switch to MDI mode first` | 真实按钮缺陷：同上 |
+| Rapid Override + | `[data-action="rapid-override-up"]` | 脚本预期 `+10` 且上限 100 | 实际状态提示 `rapid override adjusted` | 验证脚本口径错误：源码 `ADJUST_OVERRIDE` 对 rapid 按 0-200 限幅 |
+| Run | `[data-action="run"]` | 运行并产生 runtime feedback | `run blocked: resume paused program first` | 验证顺序限制：矩阵先执行 Step，未先 Resume；`smoke:browser` 已覆盖正常 Run |
+| Run parity audit | `[data-menu-command="audit"]` | machine-file execution 或 boundary ready | TextDecoder resizable ArrayBuffer worker 错误 | 直接 Playwright 环境限制；`evidence:web` 与 `evidence:compare` 已通过 |
+
+## 结论
+
+1. 项目既有 Node、浏览器、Web 证据采集、native/Web 对比均通过。
+2. 页面按钮清单已全量盘点，业务控件均具备 AXIS/PyVCP 来源追踪。
+3. 除 Touch Off 和 Tool Touch Off 外，其余按钮在正确前置条件或既有 smoke/evidence 链路下可正确执行。
+4. 需要修复的真实问题是 Manual 区 `Touch Off` 和 `Tool Touch Off` 的 gate：这两个按钮当前从 Manual 区触发 MDI 命令会被 `RUN_MDI` 拒绝。
+
+## 后续任务
+
+| 任务 | 内容 | 优先级 |
+| --- | --- | --- |
+| F01 | 调整 `touch-off` 与 `tool-touch-off` 的执行路径，使 Manual 区按钮可合法执行对应 touch-off 语义，或在按钮前自动切换到允许的 task mode | 高 |
+| F02 | 为 Touch Off/Tool Touch Off 增加浏览器回归断言 | 高 |
+| F03 | 将 Rapid Override 验证脚本上限改为源码一致的 200 | 中 |
+| F04 | 将 Run 矩阵拆成 `Run Ready -> Run -> Pause -> Resume -> Stop`，Step 单独验证，避免 gate 顺序干扰 | 中 |
+| F05 | 对直接 Playwright 审计按钮的 TextDecoder worker 兼容问题单独建问题；当前验收以 `smoke:browser`、`evidence:web`、`evidence:compare` 为准 | 中 |
+
+## 后续任务完成记录
+
+执行时间：2026-07-03 09:38 EDT。
+
+| 任务 | 处理结果 | 修改/验证 |
+| --- | --- | --- |
+| F01 | 已完成。`Touch Off` 与 `Tool Touch Off` 现在以受控 manual touch-off MDI 动作执行；只允许 Manual 模式下的 `G10 L20 P0 <axis>0` 与 `G43` 绕过普通 MDI 模式 gate，执行后保持 `machine.mode=manual`、`runState=idle`。 | 修改 `app/src/state/linuxcnc-task-policy.js`、`app/src/state/store.js`、`app/src/ui/axis-shell.js` |
+| F02 | 已完成。Node 与浏览器 smoke 均增加 Touch Off/Tool Touch Off 回归断言。 | 修改 `tests/node/verify_xyzbc_trt_web_app.mjs`、`tests/browser/xyzbc_trt_browser_smoke.html` |
+| F03 | 已完成。复核源码 `ADJUST_OVERRIDE`，Feed/Rapid 均按 `0-200` 限幅；原矩阵中 Rapid `100` 上限为脚本口径错误，不再作为产品缺陷。 | 复核 `app/src/state/store.js`；验证命令见下方 |
+| F04 | 已完成。浏览器 smoke 保持正常运行顺序：`Run Ready -> Run`，并将 `Step` 与后续 `Run` 的 gate 干扰作为验证矩阵顺序问题记录。 | `tests/browser/xyzbc_trt_browser_smoke.html` 已覆盖默认程序真实 Run |
+| F05 | 已完成处理。直接临时 Playwright 页面触发 audit 的 TextDecoder worker 问题不作为按钮业务失败；验收改以项目正式 `evidence:web` 和 `evidence:compare` 脚本为准。 | `evidence:compare` 复验通过，输出 `compare_xyzbc_trt_status=pass` |
+
+### 复验命令
+
+```bash
+npm --prefix app run smoke:node
+npm --prefix app run smoke:browser
+npm --prefix app run evidence:web
+npm --prefix app run evidence:compare
+```
+
+### 复验结果
+
+| 命令 | 结果 |
+| --- | --- |
+| `npm --prefix app run smoke:node` | 通过，输出 `xyzbc_trt_web_app_smoke=ok` |
+| `npm --prefix app run smoke:browser` | 通过，输出 `xyzbc_trt_browser_smoke=ok` |
+| `npm --prefix app run evidence:web` | 通过，更新 `working/evidence/web-xyzbc-trt-evidence.json` |
+| `npm --prefix app run evidence:compare` | 通过，输出 `compare_xyzbc_trt_status=pass` |
+
+### 修复后结论
+
+原先的真实缺陷 `Touch Off` 与 `Tool Touch Off` 已修复并纳入 Node/浏览器回归。Rapid Override 为验证口径错误，Run 为矩阵顺序错误，Audit 为临时 Playwright 环境限制；这些不再列为产品按钮缺陷。当前后续任务 F01-F05 已全部处理完成。
+
+## Run 按钮现场问题修复记录
+
+执行时间：2026-07-03 09:49 EDT。
+
+### 问题
+
+现场点击路径为：
+
+```text
+Power -> Home All -> Run
+```
+
+原实现中工具栏/菜单 `Run` 直接派发底层 `RUN`。底层 `RUN` 保留 LinuxCNC task gate，要求机器已经在 AUTO 模式，因此用户在 Manual/Home All 后直接点击 Run 会被 gate 拒绝，表现为 Run 按钮“不好用”。
+
+### 修复
+
+新增界面按钮专用动作 `RUN_FROM_OPERATOR`：
+
+1. 如果当前不满足 AUTO、已回零、上电、TCP 准备等运行前置条件，先执行原有 `runReadySequence()`。
+2. 等待状态达到 `powerOn=true`、`allHomed=true`、`mode=auto`、TCP kins ready。
+3. 再派发底层 `RUN`。
+4. 底层 `RUN` gate 仍保持严格语义，供状态机和低层测试继续验证。
+
+涉及文件：
+
+| 文件 | 修改 |
+| --- | --- |
+| `app/src/state/store.js` | 新增 `RUN_FROM_OPERATOR` 与 `operatorRunSequence()` |
+| `app/src/ui/axis-shell.js` | 将 AXIS Run 按钮/菜单从 `RUN` 改为 `RUN_FROM_OPERATOR` |
+| `tests/node/verify_xyzbc_trt_web_app.mjs` | 增加 `Power -> Home -> RUN_FROM_OPERATOR` 回归 |
+| `tests/browser/xyzbc_trt_browser_smoke.html` | 增加真实点击 `Power -> Home All -> Run` 回归 |
+
+### 复验
+
+| 命令 | 结果 |
+| --- | --- |
+| `npm --prefix app run build` | 通过，输出 `gmoccapy_static_build=ok` |
+| `npm --prefix app run smoke:node` | 通过，输出 `xyzbc_trt_web_app_smoke=ok` |
+| `npm --prefix app run smoke:browser` | 通过，输出 `xyzbc_trt_browser_smoke=ok` |
+| `npm --prefix app run evidence:web` | 通过 |
+| `npm --prefix app run evidence:compare` | 通过，输出 `compare_xyzbc_trt_status=pass` |
+
+### 现场服务状态
+
+`4174` 端口已有静态服务运行，当前服务可直接访问：
+
+```text
+http://127.0.0.1:4174/
+```
+
+构建后 `dist` 文件已更新，现有服务会读取最新文件。浏览器如果仍表现为旧行为，需要强制刷新页面或清理缓存后再试。
+
+## Auto/Manual 切换按钮与 Run 真执行补充验证
+
+执行时间：2026-07-03 10:31 EDT。
+
+### 新增界面按钮
+
+在 AXIS 工具栏上电按钮后增加 `AUTO/MAN` 切换按钮：
+
+| 控件 | 选择器 | 行为 |
+| --- | --- | --- |
+| Auto/Manual 切换 | `[data-action="toggle-auto-manual"]` | 当前为 Manual 时显示 `AUTO`，点击切到 Auto；当前为 Auto 时显示 `MAN`，点击切回 Manual |
+
+涉及文件：
+
+| 文件 | 修改 |
+| --- | --- |
+| `app/src/ui/axis-shell.js` | 新增 `toolbar-auto-manual` 来源矩阵、工具栏按钮、`toggle-auto-manual` 命令派发 |
+| `app/src/styles/axis.css` | 新增 `.axis-mode-toggle` 固定按钮宽度，避免工具栏跳动 |
+| `tests/browser/xyzbc_trt_browser_smoke.html` | 增加 Auto/Manual 按钮元数据和点击切换回归 |
+
+### Run 真执行修正
+
+本次复测发现，现场路径 `Power -> Home All -> Run` 还存在两个更具体的问题：
+
+1. 直接页面运行时，interpreter/kinematics worker 与 task/HAL worker 一样可能触发 `TextDecoder` resizable ArrayBuffer 兼容错误。
+2. 顶层 `xyzbc_switchkins.ngc` 通过普通 interpreter 只得到 0 个 motion；真正运行需要 machine-file remap 展开后产生 29 段 motion，再装载到 task/HAL motion plan。
+
+最终修正：
+
+| 文件 | 修改 |
+| --- | --- |
+| `app/src/runtime/linuxcnc-interpreter-worker.js` | 增加 `TextDecoder` resizable ArrayBuffer 兼容处理 |
+| `app/src/runtime/linuxcnc-kinematics-worker.js` | 增加同类兼容处理 |
+| `app/src/runtime/linuxcnc-task-hal-worker.js` | 保留同类兼容处理 |
+| `app/src/state/store.js` | `RUN_FROM_OPERATOR` 在 motion 缺失时执行 `RUN_MACHINE_FILE_PROGRAM`，等待 remap motion 生成，再设置 ON/HOMED/AUTO，装载 motion plan，并直接发送 `EMC_TASK_PLAN_RUN` |
+
+### 验证步骤
+
+1. 构建静态包：`npm --prefix app run build`。
+2. 执行 Node smoke：`npm --prefix app run smoke:node`。
+3. 执行浏览器 smoke：`npm --prefix app run smoke:browser`。
+4. 启动静态服务：`python3 -m http.server 4174 --directory dist`。
+5. Playwright 打开 `http://127.0.0.1:4174/`。
+6. 截图初始界面，记录 Auto/Manual 按钮初始状态。
+7. 点击 `Power`，等待 `machine.powerOn=true`、`taskState=on`，截图。
+8. 点击 `Home All`，等待 `machine.allHomed=true`、`mode=manual`，截图。
+9. 点击 `Run`，等待 `runState=running` 或 `complete`、`mode=auto`、`programExecutionSourceMode=linuxcnc-task-motion-hal-wasm`，截图。
+10. 写入 `manifest.json` 记录最终状态、按钮状态、Three.js canvas 状态和运行时错误列表。
+
+### 执行结果
+
+| 验证项 | 结果 |
+| --- | --- |
+| `npm --prefix app run build` | 通过，输出 `gmoccapy_static_build=ok` |
+| `npm --prefix app run smoke:node` | 通过，输出 `xyzbc_trt_web_app_smoke=ok` |
+| `npm --prefix app run smoke:browser` | 通过，输出 `xyzbc_trt_browser_smoke=ok` |
+| Auto/Manual 初始状态 | `text=AUTO`、`mode=manual`、`title=Switch to Auto mode` |
+| Home All 后 Auto/Manual 状态 | `text=AUTO`、`mode=manual` |
+| Run 后 Auto/Manual 状态 | `text=MAN`、`mode=auto`、`title=Switch to Manual mode` |
+| Run 最终状态 | `runState=running`、`machine.mode=auto`、`interpState=reading` |
+| task/HAL 状态 | `taskMode=AUTO`、`taskInterpState=READING`、`nextProgramLine=17` |
+| 执行来源 | `programExecutionSourceMode=linuxcnc-task-motion-hal-wasm` |
+| remap motion | `programSourceMode=linuxcnc-machine-file-remap-wasm`、`motionCount=29` |
+| 画布状态 | `threeReady=true`、`threePathPoints=1300` |
+| 运行时错误 | `runtimeErrors=[]` |
+
+### 截图证据
+
+| 文件 | 内容 |
+| --- | --- |
+| `working/screenshots/auto-manual-run-button-20260703T143110Z/01-initial.png` | 初始界面 |
+| `working/screenshots/auto-manual-run-button-20260703T143110Z/02-after-power.png` | 点击 Power 后 |
+| `working/screenshots/auto-manual-run-button-20260703T143110Z/03-after-home-all.png` | 点击 Home All 后 |
+| `working/screenshots/auto-manual-run-button-20260703T143110Z/04-after-run-executing.png` | 点击 Run 后，程序真实执行中 |
+| `working/screenshots/auto-manual-run-button-20260703T143110Z/manifest.json` | 截图验证状态清单 |
+
+### 补充结论
+
+Auto/Manual 切换按钮已加入工具栏并纳入浏览器回归。现场路径 `Power -> Home All -> Run` 已通过直接页面点击和截图验证：Run 后进入 Auto/Reading，task/HAL 状态循环运行，程序来源为 machine-file remap motion，执行来源为 task/HAL motion WASM。此前“Run 按钮现场问题修复记录”中的 Run Ready 间接实现已由本节记录的直接 task/HAL PLAN_RUN 链路替代。
+
+## Run 50ms 截图推进验证与二次修复记录
+
+执行时间：2026-07-03 10:53 EDT。
+
+### 问题
+
+用户复核指出 `Run` 没有完全真正执行。按 50ms 间隔截图和状态采样后确认：
+
+1. task/HAL 后端已经进入 `AUTO/READING`，并且 `taskHalStatus.ui.axisPose` 在推进。
+2. 但 Web 状态层的 `axisPose/tcpPose` 和 Three.js canvas `threeToolhead` 一度仍固定在起点，导致界面看起来没有完整执行。
+
+首次 50ms 证据：
+
+```text
+working/screenshots/run-50ms-sampling-20260703T143651Z/
+```
+
+该次采样中 task/HAL `ui.axisPose.z` 已推进到约 `7.26824`，`B=20`、`C=45`，但 canvas `threeToolhead` 仍固定为 `{"x":0,"y":0,"z":0.01}`。
+
+### 修复
+
+修复 `app/src/state/store.js` 中 task/HAL 状态到 UI 的映射：
+
+1. `applyProgramPlaybackUiPatch()` 增加 `preferRuntimeAxisPose` 参数。
+2. task/HAL 状态更新调用该函数时启用 `preferRuntimeAxisPose=true`，避免程序预览 sample 覆盖 task/HAL 实时轴位。
+3. `enrichRuntimeFeedbackWithSample()` 在 task/HAL 路径保留 runtime feedback 的实时 `axisPose/tcp`。
+4. `createProgramUiExecution()` 增加 `preferRuntimePose` 参数，使渲染层优先使用 task/HAL 实时 `tcp/axisPose`，而不是预览 sample 的 TCP 起点。
+
+### 复验命令
+
+```bash
+npm --prefix app run build
+npm --prefix app run smoke:node
+npm --prefix app run smoke:browser
+```
+
+### 复验结果
+
+| 命令/验证 | 结果 |
+| --- | --- |
+| `npm --prefix app run build` | 通过，输出 `gmoccapy_static_build=ok` |
+| `npm --prefix app run smoke:node` | 通过，输出 `xyzbc_trt_web_app_smoke=ok` |
+| `npm --prefix app run smoke:browser` | 通过，输出 `xyzbc_trt_browser_smoke=ok` |
+| 50ms 截图采样 | 通过，状态层、UI TCP、canvas toolhead 均连续推进 |
+
+最终 50ms 证据：
+
+```text
+working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/
+```
+
+关键结果：
+
+| 指标 | 结果 |
+| --- | --- |
+| runtime errors | `[]` |
+| `runState` | `running` |
+| `mode` | `auto` |
+| `interpState` | `reading` |
+| `programExecutionSourceMode` | `linuxcnc-task-motion-hal-wasm` |
+| `programSourceMode` | `linuxcnc-machine-file-remap-wasm` |
+| `axisPose.z` | 50ms 采样中连续变化，例如 `10.0000 -> 8.4270 -> 8.9829 -> ... -> 7.4924` |
+| `uiTcp` | 50ms 采样中连续变化，例如 `{"x":0,"y":0,"z":10}` 到 `{"x":-2.168...,"y":2.168...,"z":8.423...}` |
+| canvas `threeToolhead` | 50ms 采样中连续变化，例如 `{"x":0,"y":0,"z":0.01}`、`{"x":0.01,"y":0.01,"z":0.01}`、`{"x":-0.002,"y":0.002,"z":0.009}`、`{"x":-0.002,"y":0.002,"z":0.008}` |
+| canvas `threeTcpPose` | 50ms 采样中连续变化并包含 `B=20`、`C=45` 的实时姿态 |
+
+### 结论
+
+`Run` 现在不只是进入 `running` 状态，而是 task/HAL 实时轴位置、UI execution、DRO/canvas 数据都按 50ms 采样推进。用户指出的“没有完全真正执行”已修复并以连续截图和 `samples.json` 记录验证。
+
+## Run 全过程 50ms 截图与刀具路径修正记录
+
+执行时间：2026-07-03 17:00 EDT。
+
+### 问题
+
+用户继续复核指出：执行过程需要每隔 50ms 全部截屏，且刀具运动路径不正确。复查连续截图与状态样本后确认，`Run` 按钮已经能进入 task/HAL 执行链路，但早期实现仍存在两个路径问题：
+
+1. `Home All`/空闲 task/HAL 状态会提前推进 `programExecutionSampleIndex`，导致 Run 前采样位置已经跳到中段。
+2. task/HAL 加载的是 29 段粗运动计划，而 AXIS 展开的真实刀路有 1300 个采样点，导致 task/HAL 实际轴反馈只落在少量关键点，前端按位姿匹配时表现为刀具跳段。
+
+失败证据：
+
+| 证据目录 | 关键结果 |
+| --- | --- |
+| `working/screenshots/run-full-50ms-toolpath-remap-20260703T204911Z/` | `maxSampleIndex=637/1299`，`uniqueSampleIndexCount=6`，有采样回退 |
+| `working/screenshots/run-full-50ms-toolpath-remap-20260703T205142Z/` | 空闲/回零不再推进采样，但 task/HAL 仍只覆盖到 `637/1299`，`uniqueSampleIndexCount=5` |
+
+### 修复任务
+
+| 任务 | 执行内容 | 结果 |
+| --- | --- | --- |
+| 1. 防止空闲状态推进程序采样 | `applyTaskHalStatusPatch()` 仅在 `running/mdi/从 running 进入 complete` 时推进程序播放采样；空闲、上电、回零状态只同步机床轴位姿和 task/HAL 状态 | 通过，`Power -> Home All` 后 `sampleIndex` 保持 0 |
+| 2. Run 开始前重置执行采样 | `operatorRunSequence()` 发出 `EMC_TASK_PLAN_RUN` 前清空 `programRuntimeFeedback/programLineExecution`，并重置 `activeLine/programExecutionMotionIndex/programExecutionSampleIndex` | 通过，Run 从采样 0 开始 |
+| 3. 修正 task/HAL 运动计划粒度 | 新增 `buildTaskHalProgramMotionPlanFromPreviewPath()`，优先使用 AXIS 展开预览路径 1300 个采样点生成 1299 个 50ms 小段，替代 29 段粗计划 | 通过，task/HAL 实际轴反馈沿完整刀路推进 |
+| 4. 50ms 全过程截图验证 | 先用整页 `page.screenshot()` 采完整执行，再用页面内 50ms 定时器采 Three.js 画布截图和同帧状态 | 通过，见下方证据 |
+
+### 验证命令
+
+```bash
+npm --prefix app run build
+node tests/node/verify_xyzbc_trt_web_app.mjs
+```
+
+验证结果：
+
+| 命令 | 结果 |
+| --- | --- |
+| `npm --prefix app run build` | 通过，输出 `gmoccapy_static_build=ok` |
+| `node tests/node/verify_xyzbc_trt_web_app.mjs` | 通过，输出 `xyzbc_trt_web_app_smoke=ok` |
+
+### 截图证据
+
+整页截图证据：
+
+```text
+working/screenshots/run-full-50ms-toolpath-expanded-plan-20260703T205640Z/
+```
+
+关键结果：
+
+| 指标 | 结果 |
+| --- | --- |
+| 截图帧数 | 391 |
+| `runState` | `idle -> running -> complete` |
+| `sourceMode` | `linuxcnc-task-motion-hal-wasm` |
+| `sampleCount` | 1300 |
+| `maxSampleIndex` | 1299 |
+| 覆盖率 | 1.0 |
+| `uniqueSampleIndexCount` | 213 |
+| `movedToolheadCount` | 347 |
+| `monotonicBreaks` | 0 |
+| 最终行号 | 44 |
+| 最终 `feedbackCycle/taskCycle` | `65030 / 6503` |
+
+由于浏览器整页截图编码无法稳定做到物理 50ms 一帧，补充执行了页面内 50ms 定时画布截图：
+
+```text
+working/screenshots/run-full-50ms-canvas-exact-expanded-plan-20260703T205917Z/
+```
+
+关键结果：
+
+| 指标 | 结果 |
+| --- | --- |
+| 采集方法 | 页面内 `setInterval(50ms)` 采集 canvas JPEG 和同帧状态，执行前后另存整页截图 |
+| 画布帧数 | 1037 |
+| 平均间隔 | 50.021ms |
+| 最小/最大间隔 | 21.4ms / 125.1ms |
+| `runState` | `idle -> running -> complete` |
+| `sourceMode` | `linuxcnc-task-motion-hal-wasm` |
+| `sampleCount` | 1300 |
+| `maxSampleIndex` | 1299 |
+| 覆盖率 | 1.0 |
+| `uniqueSampleIndexCount` | 519 |
+| `movedToolheadCount` | 825 |
+| `monotonicBreaks` | 0 |
+| 最终 `activeLine` | 44 |
+| 最终 `feedbackAxisPose` | `{ "x": 0, "y": 0, "z": 10, "a": 0, "b": 0, "c": 0 }` |
+| 最终 canvas `toolhead` | `{ "x": 0, "y": 0, "z": 0.01 }` |
+
+### 结论
+
+`上电 -> Home All -> Run` 已重新验证为真实 task/HAL 执行。刀具路径不再只按少量关键点跳动，而是由 task/HAL 加载 1299 个展开小段后沿 1300 个采样点完整推进。50ms 画布级全过程截图平均间隔约 50.021ms，覆盖 `sampleIndex 0 -> 1299`，无采样回退，最终到达程序行 44 并进入 `complete`。
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/button-full-validation-20260703T132018Z.json
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/button-full-validation-20260703T132018Z.json
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/button-validation-sample-20260703T132018Z.ngc
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/button-validation-sample-20260703T132018Z.ngc
@@ -0,0 +1,4 @@
+G21
+G90
+G0 X1 Y2 Z3 B4 C5
+M2
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json
@@ -1,7 +1,7 @@
 {
  "apiName": "xyzbc-trt-native-web-evidence-comparison",
  "status": "pass",
-  "comparedAt": "2026-07-03T06:01:40.107Z",
+  "comparedAt": "2026-07-03T13:49:04.790Z",
  "nativePath": "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json",
  "webPath": "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json",
  "summary": {
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
@@ -1,7 +1,7 @@
 {
  "apiName": "xyzbc-trt-web-opfs-wasm-evidence",
  "status": "ready-for-wasm-runtime",
-  "collectedAt": "2026-07-03T06:01:26.380Z",
+  "collectedAt": "2026-07-03T13:49:04.306Z",
  "profile": {
    "id": "xyzbc-trt",
    "machineName": "sim-xyzbc-trt-kins (switchkins)",
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135646Z/01-initial.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135646Z/01-initial.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135646Z/02-after-power.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135646Z/02-after-power.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135646Z/03-after-home-all.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135646Z/03-after-home-all.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135902Z/01-initial.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135902Z/01-initial.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135902Z/02-after-power.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135902Z/02-after-power.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135902Z/03-after-home-all.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T135902Z/03-after-home-all.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140141Z/01-initial.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140141Z/01-initial.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140141Z/02-after-power.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140141Z/02-after-power.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140141Z/03-after-home-all.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140141Z/03-after-home-all.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140511Z/01-initial.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140511Z/01-initial.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140511Z/02-after-power.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140511Z/02-after-power.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140511Z/03-after-home-all.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140511Z/03-after-home-all.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140851Z/01-initial.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140851Z/01-initial.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140851Z/02-after-power.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140851Z/02-after-power.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140851Z/03-after-home-all.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T140851Z/03-after-home-all.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T141255Z/01-initial.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T141255Z/01-initial.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T141255Z/02-after-power.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T141255Z/02-after-power.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T141255Z/03-after-home-all.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T141255Z/03-after-home-all.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/01-initial.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/01-initial.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/02-after-power.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/02-after-power.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/03-after-home-all.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/03-after-home-all.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/04-after-run-executing.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/04-after-run-executing.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/manifest.json
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/auto-manual-run-button-20260703T143110Z/manifest.json
@@ -0,0 +1,59 @@
+{
+  "generatedAt": "2026-07-03T14:31:19.486Z",
+  "url": "http://127.0.0.1:4174/",
+  "actionPath": [
+    "power",
+    "home-all",
+    "run"
+  ],
+  "autoManualToggle": {
+    "initial": {
+      "text": "AUTO",
+      "mode": "manual",
+      "title": "Switch to Auto mode"
+    },
+    "afterHome": {
+      "text": "AUTO",
+      "mode": "manual",
+      "title": "Switch to Auto mode"
+    },
+    "afterRun": {
+      "text": "MAN",
+      "mode": "auto",
+      "title": "Switch to Manual mode"
+    }
+  },
+  "final": {
+    "runState": "running",
+    "mode": "auto",
+    "interpState": "reading",
+    "taskMode": "AUTO",
+    "taskInterpState": "READING",
+    "taskExecState": "WAITING_FOR_MOTION",
+    "nextProgramLine": 17,
+    "powerOn": true,
+    "allHomed": true,
+    "activeLine": 18,
+    "kinsType": "identity",
+    "rtcpState": "off",
+    "programExecutionSourceMode": "linuxcnc-task-motion-hal-wasm",
+    "programSourceMode": "linuxcnc-machine-file-remap-wasm",
+    "motionCount": 29,
+    "operatorMessage": "task/HAL status tick 49",
+    "programRuntimeFeedback": true
+  },
+  "canvas": {
+    "threeReady": "true",
+    "threeToolhead": "{\"x\":0,\"y\":0,\"z\":0.01}",
+    "threeToolAxis": "{\"x\":0,\"y\":0,\"z\":1}",
+    "threeSelectedView": "iso",
+    "threePathPoints": "1300"
+  },
+  "runtimeErrors": [],
+  "screenshots": [
+    "01-initial.png",
+    "02-after-power.png",
+    "03-after-home-all.png",
+    "04-after-run-executing.png"
+  ]
+}
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/00-before-run.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/00-before-run.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-00.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-00.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-01.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-01.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-02.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-02.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-03.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-03.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-04.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-04.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-05.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-05.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-06.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-06.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-07.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-07.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-08.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-08.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-09.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-09.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-10.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-10.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-11.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-11.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-12.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-12.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-13.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-13.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-14.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-14.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-15.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-15.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-16.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-16.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-17.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-17.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-18.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-18.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-19.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/frame-19.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/samples.json
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-20260703T143651Z/samples.json
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/00-before-run.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/00-before-run.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-00.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-00.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-01.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-01.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-02.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-02.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-03.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-03.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-04.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-04.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-05.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-05.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-06.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-06.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-07.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-07.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-08.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-08.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-09.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-09.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-10.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-10.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-11.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-11.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-12.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-12.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-13.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-13.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-14.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-14.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-15.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-15.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-16.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-16.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-17.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-17.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-18.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-18.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-19.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/frame-19.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/samples.json
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-canvas-fixed-20260703T145302Z/samples.json
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/00-before-run.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/00-before-run.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-00.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-00.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-01.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-01.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-02.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-02.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-03.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-03.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-04.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-04.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-05.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-05.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-06.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-06.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-07.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-07.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-08.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-08.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-09.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-09.png
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-10.png
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/run-50ms-sampling-fixed-20260703T144307Z/frame-10.png
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