Validate AXIS task state flow

2026-07-09 18:12:01 -04:00
parent f99ba2bbe8
commit f4b9911d45
57 changed files with 195248 additions and 647 deletions
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-task-hal-runtime.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-task-hal-runtime.js
@@ -212,15 +212,22 @@ export function buildTaskHalProgramMotionPlan({
 }

 export function normalizeTaskHalStatus(status = {}) {
-  const motion = status.motionStatus?.motion || {};
-  const axis = status.motionStatus?.axis || {};
+  rejectLegacyTaskHalStatusFields(status);
+  const emcStatus = requireStandaloneEmcStatus(status);
+  const emcTask = emcStatus.task;
+  const emcMotion = emcStatus.motion;
+  const emcTraj = emcMotion.traj || {};
+  const task = normalizeStatusTask(emcTask);
+  const axis = normalizeStatusAxis(emcMotion);
+  const motion = normalizeStatusMotion(emcMotion, emcTraj, task);
+  const commandQueueDepth = firstDefined(emcMotion.commandQueueDepth, emcTraj.queue, 0);
+  const statusCycle = firstDefined(emcMotion.cycle, emcTraj.cycle, Number(task.cycle || 0) * 10, 0);
  const halPins = status.halSnapshot?.pins || {};
  const motionProgramLine = Number(motion.programLine || 0);
  const halProgramLine = Number(halPins["motion.program-line"]?.value || 0);
  const motionQueueDepth = Number(
-    status.motionStatus?.commandQueueDepth ??
+    commandQueueDepth ??
    motion.commandQueueDepth ??
-    status.motionStatus?.queueDepth ??
    motion.queueDepth ??
    0,
  );
@@ -229,45 +236,49 @@ export function normalizeTaskHalStatus(status = {}) {
    : halProgramLine > 0
      ? halProgramLine
      : 1;
+  const taskRuntimeReady = true;
+  const taskMotionReady = emcMotion.valid === true;
+  const halProgramLineReady = Boolean(halPins["motion.program-line"]);
+  const halRuntimeReady = Boolean(status.halSnapshot?.halRuntimeReady ?? status.halSnapshot?.ready ?? true);
  return {
    ...status,
    semanticBoundary: SEMANTIC_BOUNDARY,
    summary: {
-      taskRuntimeReady: status.taskRuntimeReady === true,
-      motionRuntimeReady: status.motionStatus?.motionHalSyncReady === true || status.taskCommandsDriveMotionRuntime === true,
-      halRuntimeReady: Boolean(status.halSnapshot?.halRuntimeReady ?? status.halSnapshot?.ready ?? true),
-      halSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]),
-      taskHalComparisonReady: status.taskRuntimeReady === true && status.taskCommandsDriveMotionRuntime === true,
+      taskRuntimeReady,
+      motionRuntimeReady: taskMotionReady,
+      halRuntimeReady,
+      halSyncReady: taskMotionReady && halProgramLineReady,
+      taskHalComparisonReady: taskRuntimeReady && taskMotionReady,
      switchkinsRemapHalSync: Boolean(halPins["motion.switchkins-type"]),
-      nativeTaskReady: status.taskRuntimeReady === true,
-      nativeHalSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]),
+      nativeTaskReady: taskRuntimeReady,
+      nativeHalSyncReady: taskMotionReady && halProgramLineReady,
      fullLinuxCncProgramExecutionReady: false,
      hardwareDrive: false,
      hostRealtimeKernel: false,
    },
    ui: {
-      taskState: String(status.task?.state || "ESTOP").toLowerCase(),
-      taskMode: String(status.task?.mode || "MANUAL").toLowerCase(),
-      interpState: String(status.task?.interpState || "IDLE").toLowerCase(),
-      interpResumeState: String(status.task?.interpResumeState || status.task?.interpState || "IDLE").toLowerCase(),
-      execState: String(status.task?.execState || "DONE").toLowerCase(),
-      taskPaused: status.task?.taskPaused === true,
-      singleStepping: status.task?.singleStepping === true,
-      taskCycle: Number(status.task?.taskCycle ?? status.taskCycle ?? 0),
-      programOpen: status.task?.programOpen === true,
-      programFile: status.task?.file || status.task?.openProgram || null,
-      programStartLine: Number(status.task?.programStartLine || 0),
-      planId: Number(status.task?.planId || 0),
-      motionPlanLoaded: status.task?.motionPlanLoaded === true,
-      errorText: status.task?.errorText || null,
-      allHomed: status.task?.allHomed === true,
-      homed: normalizeTaskHalHomed(status.task?.homed, status.task?.allHomed === true),
-      noForceHoming: status.task?.noForceHoming === true,
-      homing: status.task?.homing === true,
-      homeState: String(status.task?.homeState || "UNHOMED").toLowerCase(),
-      motionEnabled: String(status.task?.state || "").toUpperCase() === "ON" || motion.enabled === true,
-      resumeInhibit: status.task?.resumeInhibit === true,
-      servoCycle: Number(status.motionStatus?.cycle ?? status.task?.servoCycle ?? 0),
+      taskState: String(task.state || "ESTOP").toLowerCase(),
+      taskMode: String(task.mode || "MANUAL").toLowerCase(),
+      interpState: String(task.interpState || "IDLE").toLowerCase(),
+      interpResumeState: String(task.interpResumeState || task.interpState || "IDLE").toLowerCase(),
+      execState: String(task.execState || "DONE").toLowerCase(),
+      taskPaused: task.taskPaused === true,
+      singleStepping: task.singleStepping === true,
+      taskCycle: Number(task.taskCycle ?? 0),
+      programOpen: task.programOpen === true,
+      programFile: task.file || task.openProgram || null,
+      programStartLine: Number(task.programStartLine || 0),
+      planId: Number(task.planId || 0),
+      motionPlanLoaded: task.motionPlanLoaded === true,
+      errorText: task.errorText || null,
+      allHomed: task.allHomed === true,
+      homed: normalizeTaskHalHomed(task.homed, task.allHomed === true),
+      noForceHoming: task.noForceHoming === true,
+      homing: task.homing === true,
+      homeState: String(task.homeState || "UNHOMED").toLowerCase(),
+      motionEnabled: String(task.state || "").toUpperCase() === "ON" || motion.enabled === true,
+      resumeInhibit: task.resumeInhibit === true,
+      servoCycle: Number(statusCycle ?? task.servoCycle ?? 0),
      motionQueueDepth,
      motionPaused: motion.paused === true,
      motionStepping: motion.stepping === true,
@@ -279,25 +290,92 @@ export function normalizeTaskHalStatus(status = {}) {
      activeLine,
      motionProgramLine,
      halProgramLine,
-      activeLineSource: motionProgramLine > 0 ? "motion-status" : halProgramLine > 0 ? "hal-pin" : "fallback",
+      activeLineSource: motionProgramLine > 0 ? "emc-status" : halProgramLine > 0 ? "hal-pin" : "fallback",
      activeLineHalSynced: motionProgramLine > 0 && halProgramLine > 0
        ? motionProgramLine === halProgramLine
        : false,
      switchkinsType: Number(motion.switchkinsType ?? halPins["motion.switchkins-type"]?.value ?? 0),
      axisPose: {
-        x: Number(axis.x ?? halPins["axis.0.pos-cmd"]?.value ?? 0),
-        y: Number(axis.y ?? halPins["axis.1.pos-cmd"]?.value ?? 0),
-        z: Number(axis.z ?? halPins["axis.2.pos-cmd"]?.value ?? 0),
-        a: Number(axis.a ?? halPins["axis.3.pos-cmd"]?.value ?? 0),
-        b: Number(axis.b ?? halPins["axis.4.pos-cmd"]?.value ?? 0),
-        c: Number(axis.c ?? halPins["axis.5.pos-cmd"]?.value ?? 0),
+        x: Number(axis.x ?? 0),
+        y: Number(axis.y ?? 0),
+        z: Number(axis.z ?? 0),
+        a: Number(axis.a ?? 0),
+        b: Number(axis.b ?? 0),
+        c: Number(axis.c ?? 0),
      },
      axisPoseFrame: isJogMotion(motion) ? "task-local" : "work",
-      currentVelocity: Number(motion.currentVel || motion.currentVelocity || 0) * 60,
+      currentVelocity: Number(motion.currentVel ?? motion.currentVelocity ?? 0) * 60,
    },
  };
 }

+function rejectLegacyTaskHalStatusFields(status = {}) {
+  const legacyFields = ["taskTopLevelStatus", "rcsStatus", "task", "servoCycle", "motionStatus"];
+  const present = legacyFields.filter((field) => Object.hasOwn(status, field));
+  if (present.length > 0) {
+    throw new Error(`Task/HAL status contains removed legacy fields: ${present.join(", ")}`);
+  }
+}
+
+function requireStandaloneEmcStatus(status = {}) {
+  const emcStatus = status.emcStatus;
+  if (!emcStatus || typeof emcStatus !== "object") {
+    throw new Error("Task/HAL status requires StandaloneEmcStatus emcStatus");
+  }
+  if (!emcStatus.task || typeof emcStatus.task !== "object") {
+    throw new Error("Task/HAL status requires StandaloneEmcStatus emcStatus.task");
+  }
+  if (!emcStatus.motion || typeof emcStatus.motion !== "object") {
+    throw new Error("Task/HAL status requires StandaloneEmcStatus emcStatus.motion");
+  }
+  return emcStatus;
+}
+
+function normalizeStatusTask(emcTask = {}) {
+  return {
+    ...emcTask,
+    taskCycle: firstDefined(emcTask.taskCycle, emcTask.cycle, 0),
+  };
+}
+
+function normalizeStatusMotion(emcMotion = {}, emcTraj = {}, task = {}) {
+  return {
+    ...emcMotion,
+    enabled: firstDefined(emcMotion.enabled, emcTraj.enabled),
+    inPosition: firstDefined(emcMotion.inPosition, emcTraj.inpos),
+    queueDepth: firstDefined(emcMotion.queueDepth, emcTraj.queue),
+    commandQueueDepth: firstDefined(emcMotion.commandQueueDepth, emcTraj.queue),
+    activeDepth: firstDefined(emcMotion.activeDepth, emcTraj.activeQueue),
+    queueFull: firstDefined(emcMotion.queueFull, emcTraj.queueFull),
+    id: firstDefined(emcTraj.id, emcMotion.motionId),
+    motionId: firstDefined(emcMotion.motionId, emcTraj.id),
+    paused: firstDefined(emcTraj.paused, emcMotion.paused),
+    stepping: firstDefined(emcTraj.singleStepping, emcMotion.stepping),
+    currentVel: firstDefined(emcTraj.currentVel, emcMotion.currentVel),
+    programLine: firstDefined(emcMotion.programLine, task.motionLine),
+  };
+}
+
+function normalizeStatusAxis(emcMotion = {}) {
+  const axisByName = emcMotion.axisByName || {};
+  const actualPosition = emcMotion.traj?.actualPosition || {};
+  const position = emcMotion.traj?.position || {};
+  const axisArray = Array.isArray(emcMotion.axis) ? emcMotion.axis : [];
+  const byLetter = new Map(axisArray.map((axis) => [String(axis.letter || "").toLowerCase(), axis]));
+  return {
+    x: firstDefined(axisByName.x, actualPosition.x, byLetter.get("x")?.posFb, position.x),
+    y: firstDefined(axisByName.y, actualPosition.y, byLetter.get("y")?.posFb, position.y),
+    z: firstDefined(axisByName.z, actualPosition.z, byLetter.get("z")?.posFb, position.z),
+    a: firstDefined(axisByName.a, actualPosition.a, byLetter.get("a")?.posFb, position.a),
+    b: firstDefined(axisByName.b, actualPosition.b, byLetter.get("b")?.posFb, position.b),
+    c: firstDefined(axisByName.c, actualPosition.c, byLetter.get("c")?.posFb, position.c),
+  };
+}
+
+function firstDefined(...values) {
+  return values.find((value) => value !== undefined && value !== null);
+}
+
 function normalizeTaskHalHomed(value, allHomed = false) {
  if (Array.isArray(value)) {
    return value.map(Boolean);
--- 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
@@ -80,28 +80,28 @@ export function createLinuxCncTaskPolicyStatus(state) {
  const machineFileOpened = profileId === "gmoccapy-xyzab"
    ? Boolean(machineFileStaging.selectedGcodeSourceRel)
    : Boolean(machineFileStaging.selectedGcodeSourceRel || state.activeProgram);
-  const taskProgramOpen = Boolean(state.taskHalStatus?.ui?.programOpen || state.taskHalStatus?.task?.programOpen);
-  const taskMotionPlanLoaded = Boolean(state.taskHalStatus?.ui?.motionPlanLoaded || state.taskHalStatus?.task?.motionPlanLoaded);
+  const taskProgramOpen = Boolean(state.taskHalStatus?.ui?.programOpen || state.taskHalStatus?.emcStatus?.task?.programOpen);
+  const taskMotionPlanLoaded = Boolean(state.taskHalStatus?.ui?.motionPlanLoaded || state.taskHalStatus?.emcStatus?.task?.motionPlanLoaded);
  const interpIdle = interpState === "idle";
  const motionPaused = state.machine?.motionPaused === true ||
    state.taskHalStatus?.ui?.motionPaused === true ||
-    state.taskHalStatus?.motionStatus?.motion?.paused === true;
+    state.taskHalStatus?.emcStatus?.motion?.paused === true;
  const taskPaused = state.machine?.taskPaused === true ||
    state.taskHalStatus?.ui?.taskPaused === true ||
-    state.taskHalStatus?.task?.taskPaused === true;
+    state.taskHalStatus?.emcStatus?.task?.taskPaused === true;
  const motionEnabled = taskState === "on" ||
    state.machine?.motionEnabled === true ||
    state.taskHalStatus?.ui?.motionEnabled === true ||
-    state.taskHalStatus?.motionStatus?.motion?.enabled === true;
+    state.taskHalStatus?.emcStatus?.motion?.enabled === true;
  const singleStepping = state.machine?.singleStepping === true ||
    state.taskHalStatus?.ui?.singleStepping === true ||
-    state.taskHalStatus?.task?.singleStepping === true;
+    state.taskHalStatus?.emcStatus?.task?.singleStepping === true;
  const motionStepping = state.machine?.motionStepping === true ||
    state.taskHalStatus?.ui?.motionStepping === true ||
-    state.taskHalStatus?.motionStatus?.motion?.stepping === true;
+    state.taskHalStatus?.emcStatus?.motion?.stepping === true;
  const resumeInhibit = state.machine?.resumeInhibit === true ||
    state.taskHalStatus?.ui?.resumeInhibit === true ||
-    state.taskHalStatus?.task?.resumeInhibit === true;
+    state.taskHalStatus?.emcStatus?.task?.resumeInhibit === true;
  const feedbackPaused = state.programRuntimeFeedback?.paused === true;
  const paused = motionPaused || taskPaused || feedbackPaused || interpState === "paused" || state.runState === "paused";
  const running = taskMode === "auto" &&
--- 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
@@ -1625,7 +1625,11 @@ export function createSimulationStore(seed = {}) {
            ], {
              operatorMessage: `task/HAL MDI ${command}`,
              preserveAxisPose: mdiPatch.axisPose,
-              preserveMachine: mdiPatch.machine,
+              preserveMachine: {
+                ...mdiPatch.machine,
+                kinsType: mdiPatch.kinsType,
+                rtcpState: mdiPatch.rtcpState,
+              },
            }).catch(() => {});
            break;
          }
@@ -3459,7 +3463,7 @@ function createLinuxCncProcessMonitor(state = {}) {
  const uiExecution = state.programUiExecution || createProgramUiExecution(state);
  const status = state.taskHalStatus || {};
  const ui = status.ui || {};
-  const motion = status.motionStatus?.motion || {};
+  const motion = taskHalMotion(status);
  const halPins = status.halSnapshot?.pins || {};
  const toolRuntime = state.toolRuntimeState || {};
  const toolDb = state.toolDbSimulation || {};
@@ -3487,7 +3491,7 @@ function createLinuxCncProcessMonitor(state = {}) {
    ? state.programLines?.[sourceLine - Number(state.programStartLine || 1)] || ""
    : "");
  const currentVelocity = Number(feedback.currentVelocityMmPerMin ?? state.feed?.currentVelocity ?? ui.currentVelocity ?? 0);
-  const requestedVelocity = Number(feedback.requestedVelocityMmPerMin ?? motion.requestedVel * 60 ?? currentVelocity);
+  const requestedVelocity = Number(feedback.requestedVelocityMmPerMin ?? (Number(motion.requestedVel || 0) * 60) ?? currentVelocity);
  const feedRate = Number(state.feed?.feedRate || currentVelocity || 0);
  const spindleCommandRpm = Number(state.spindle?.rpm || 0);
  const spindleActualRpm = state.spindle?.enabled
@@ -3929,11 +3933,13 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
  preserveMachine = null,
  preserveAxisPose = null,
 } = {}) {
+  rejectLegacyTaskHalStatusFields(status);
  const ui = status?.ui || {};
-  const task = status?.task || {};
-  const motion = status?.motionStatus?.motion || {};
+  const task = taskHalTask(status);
+  const motion = taskHalMotion(status);
+  const traj = motion.traj || {};
  const statusInterpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
-  const statusMotionPaused = ui.motionPaused === true || motion.paused === true;
+  const statusMotionPaused = ui.motionPaused === true || motion.paused === true || traj.paused === true;
  const statusTaskPaused = ui.taskPaused === true || task.taskPaused === true;
  const statusPaused = statusInterpState === "paused" || statusMotionPaused || statusTaskPaused;
  const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state);
@@ -3981,7 +3987,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
    (allHomed ? "homed" : "unhomed"),
  );
  const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
-  const kinsType = resolveTaskHalKinsType(state, status, activeLine);
+  const kinsType = resolveTaskHalKinsType(state, status, activeLine, preserveMachine?.kinsType);
  const motionPaused = statusMotionPaused || preserveMachine?.motionPaused === true;
  const taskPaused = statusTaskPaused || preserveMachine?.taskPaused === true;
  const paused = interpState === "paused" || motionPaused || taskPaused;
@@ -3990,6 +3996,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
    preserveMachine?.singleStepping === true;
  const motionStepping = ui.motionStepping === true ||
    motion.stepping === true ||
+    traj.singleStepping === true ||
    preserveMachine?.motionStepping === true;
  const interpResumeState = normalizeTaskHalInterpState(
    ui.interpResumeState ||
@@ -4166,8 +4173,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {

 function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
  const ui = status?.ui || {};
-  const task = status?.task || {};
-  const motion = status?.motionStatus?.motion || {};
+  const task = taskHalTask(status);
+  const motion = taskHalMotion(status);
+  const traj = motion.traj || {};
  const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
  const taskMode = normalizeLinuxCncTaskMode(ui.taskMode || task.mode || state.machine?.mode);
  const aborted = motion.aborted === true;
@@ -4175,6 +4183,7 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
    ui.motionPaused === true ||
    ui.taskPaused === true ||
    motion.paused === true ||
+    traj.paused === true ||
    task.taskPaused === true;
  const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
  const complete = interpState === "idle"
@@ -4190,12 +4199,14 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {

 function isTaskHalStatusPaused(status = {}) {
  const ui = status?.ui || {};
-  const task = status?.task || {};
-  const motion = status?.motionStatus?.motion || {};
+  const task = taskHalTask(status);
+  const motion = taskHalMotion(status);
+  const traj = motion.traj || {};
  return normalizeTaskHalInterpState(ui.interpState || task.interpState) === "paused" ||
    ui.motionPaused === true ||
    ui.taskPaused === true ||
    motion.paused === true ||
+    traj.paused === true ||
    task.taskPaused === true;
 }

@@ -4301,7 +4312,10 @@ function createStoppedProgramStatePatch(state, {
  };
 }

-function resolveTaskHalKinsType(state, status, activeLine) {
+function resolveTaskHalKinsType(state, status, activeLine, preserveKinsType = null) {
+  if (preserveKinsType) {
+    return preserveKinsType;
+  }
  const ui = status?.ui || {};
  const numeric = Number(ui.switchkinsType);
  if (Number.isFinite(numeric) && numeric !== 0) {
@@ -4381,7 +4395,7 @@ function addAxisDelta(axisPose, delta, profile) {
 }

 function isJogStatus(status) {
-  const motion = status?.motionStatus?.motion || {};
+  const motion = taskHalMotion(status);
  return Number(motion.motionType) === 3 || Number(motion.teleopMode) === 1 || motion.teleopMode === true;
 }

@@ -4394,17 +4408,21 @@ function wouldResetNonZeroPoseToLocalZero(currentPose = {}, nextPose = {}) {

 function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
  const ui = status?.ui || {};
-  const motion = status?.motionStatus?.motion || {};
+  const task = taskHalTask(status);
+  const motion = taskHalMotion(status);
+  const traj = motion.traj || {};
  const halProgramLine = Number(status?.halSnapshot?.pins?.["motion.program-line"]?.value || 0);
  const motionProgramLine = Number(motion.programLine || 0);
-  const interpState = normalizeTaskHalInterpState(ui.interpState || status?.task?.interpState);
+  const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
  const paused = interpState === "paused" ||
    ui.motionPaused === true ||
    ui.taskPaused === true ||
    motion.paused === true ||
-    status?.task?.taskPaused === true;
+    traj.paused === true ||
+    task.taskPaused === true;
  const currentVelocity = paused ? 0 : Number(ui.currentVelocity || 0);
  const requestedVelocity = paused ? 0 : Number(motion.requestedVel || 0) * 60;
+  const motionInPosition = motion.inPosition === true || traj.inpos === true;
  return {
    apiName: "web-rtcp-5axis-program-runtime-feedback",
    sourceMode: "linuxcnc-task-motion-hal-wasm",
@@ -4414,7 +4432,7 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
    line: activeLine,
    motionProgramLine,
    halProgramLine,
-    activeLineSource: ui.activeLineSource || (motionProgramLine > 0 ? "motion-status" : halProgramLine > 0 ? "hal-pin" : "fallback"),
+    activeLineSource: ui.activeLineSource || (motionProgramLine > 0 ? "emc-status" : halProgramLine > 0 ? "hal-pin" : "fallback"),
    activeLineHalSynced: motionProgramLine > 0 && halProgramLine > 0 && motionProgramLine === halProgramLine,
    type: Number(motion.motionType || 0) === 3 ? "JOG" : "TASK_MOTION",
    paused,
@@ -4422,16 +4440,32 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
    axisPose,
    currentVelocityMmPerMin: currentVelocity,
    requestedVelocityMmPerMin: requestedVelocity,
-    distanceToGo: motion.inPosition === true ? 0 : 1,
+    distanceToGo: motionInPosition ? 0 : 1,
    dtg: { x: 0, y: 0, z: 0 },
-    queueDepth: Number(ui.motionQueueDepth || status?.motionStatus?.commandQueueDepth || 0),
-    activeDepth: motion.inPosition === true ? 0 : 1,
-    cycle: Number(ui.servoCycle || status?.servoCycle || 0),
-    taskCycle: Number(ui.taskCycle || status?.task?.cycle || 0),
+    queueDepth: Number(ui.motionQueueDepth || motion.commandQueueDepth || traj.queue || 0),
+    activeDepth: motionInPosition ? 0 : 1,
+    cycle: Number(ui.servoCycle || 0),
+    taskCycle: Number(ui.taskCycle || task.cycle || 0),
    halChangedPinCount: Number(ui.halChangedPinCount || 0),
  };
 }

+function taskHalTask(status = {}) {
+  return status?.emcStatus?.task || {};
+}
+
+function taskHalMotion(status = {}) {
+  return status?.emcStatus?.motion || {};
+}
+
+function rejectLegacyTaskHalStatusFields(status = {}) {
+  const legacyFields = ["taskTopLevelStatus", "rcsStatus", "task", "servoCycle", "motionStatus"];
+  const present = legacyFields.filter((field) => Object.hasOwn(status, field));
+  if (present.length > 0) {
+    throw new Error(`Task/HAL status contains removed legacy fields: ${present.join(", ")}`);
+  }
+}
+
 function buildTaskHalProgramMotionPlanFromPreviewPath({
  programPath = null,
  path = null,
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/package.json
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/package.json
@@ -9,6 +9,7 @@
    "smoke": "npm run smoke:node",
    "smoke:node": "node ../tests/node/verify_xyzbc_trt_web_app.mjs",
    "smoke:browser": "bash ../tests/browser/verify_xyzbc_trt_browser.sh",
+    "smoke:buttons": "bash ../tests/browser/verify_xyzbc_trt_all_buttons.sh",
    "evidence:web": "node ../tools/collect-web-xyzbc-trt-evidence.mjs",
    "evidence:compare": "node ../tools/compare-xyzbc-trt-evidence.mjs"
  },
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
@@ -212,15 +212,22 @@ export function buildTaskHalProgramMotionPlan({
 }

 export function normalizeTaskHalStatus(status = {}) {
-  const motion = status.motionStatus?.motion || {};
-  const axis = status.motionStatus?.axis || {};
+  rejectLegacyTaskHalStatusFields(status);
+  const emcStatus = requireStandaloneEmcStatus(status);
+  const emcTask = emcStatus.task;
+  const emcMotion = emcStatus.motion;
+  const emcTraj = emcMotion.traj || {};
+  const task = normalizeStatusTask(emcTask);
+  const axis = normalizeStatusAxis(emcMotion);
+  const motion = normalizeStatusMotion(emcMotion, emcTraj, task);
+  const commandQueueDepth = firstDefined(emcMotion.commandQueueDepth, emcTraj.queue, 0);
+  const statusCycle = firstDefined(emcMotion.cycle, emcTraj.cycle, Number(task.cycle || 0) * 10, 0);
  const halPins = status.halSnapshot?.pins || {};
  const motionProgramLine = Number(motion.programLine || 0);
  const halProgramLine = Number(halPins["motion.program-line"]?.value || 0);
  const motionQueueDepth = Number(
-    status.motionStatus?.commandQueueDepth ??
+    commandQueueDepth ??
    motion.commandQueueDepth ??
-    status.motionStatus?.queueDepth ??
    motion.queueDepth ??
    0,
  );
@@ -229,45 +236,49 @@ export function normalizeTaskHalStatus(status = {}) {
    : halProgramLine > 0
      ? halProgramLine
      : 1;
+  const taskRuntimeReady = true;
+  const taskMotionReady = emcMotion.valid === true;
+  const halProgramLineReady = Boolean(halPins["motion.program-line"]);
+  const halRuntimeReady = Boolean(status.halSnapshot?.halRuntimeReady ?? status.halSnapshot?.ready ?? true);
  return {
    ...status,
    semanticBoundary: SEMANTIC_BOUNDARY,
    summary: {
-      taskRuntimeReady: status.taskRuntimeReady === true,
-      motionRuntimeReady: status.motionStatus?.motionHalSyncReady === true || status.taskCommandsDriveMotionRuntime === true,
-      halRuntimeReady: Boolean(status.halSnapshot?.halRuntimeReady ?? status.halSnapshot?.ready ?? true),
-      halSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]),
-      taskHalComparisonReady: status.taskRuntimeReady === true && status.taskCommandsDriveMotionRuntime === true,
+      taskRuntimeReady,
+      motionRuntimeReady: taskMotionReady,
+      halRuntimeReady,
+      halSyncReady: taskMotionReady && halProgramLineReady,
+      taskHalComparisonReady: taskRuntimeReady && taskMotionReady,
      switchkinsRemapHalSync: Boolean(halPins["motion.switchkins-type"]),
-      nativeTaskReady: status.taskRuntimeReady === true,
-      nativeHalSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]),
+      nativeTaskReady: taskRuntimeReady,
+      nativeHalSyncReady: taskMotionReady && halProgramLineReady,
      fullLinuxCncProgramExecutionReady: false,
      hardwareDrive: false,
      hostRealtimeKernel: false,
    },
    ui: {
-      taskState: String(status.task?.state || "ESTOP").toLowerCase(),
-      taskMode: String(status.task?.mode || "MANUAL").toLowerCase(),
-      interpState: String(status.task?.interpState || "IDLE").toLowerCase(),
-      interpResumeState: String(status.task?.interpResumeState || status.task?.interpState || "IDLE").toLowerCase(),
-      execState: String(status.task?.execState || "DONE").toLowerCase(),
-      taskPaused: status.task?.taskPaused === true,
-      singleStepping: status.task?.singleStepping === true,
-      taskCycle: Number(status.task?.taskCycle ?? status.taskCycle ?? 0),
-      programOpen: status.task?.programOpen === true,
-      programFile: status.task?.file || status.task?.openProgram || null,
-      programStartLine: Number(status.task?.programStartLine || 0),
-      planId: Number(status.task?.planId || 0),
-      motionPlanLoaded: status.task?.motionPlanLoaded === true,
-      errorText: status.task?.errorText || null,
-      allHomed: status.task?.allHomed === true,
-      homed: normalizeTaskHalHomed(status.task?.homed, status.task?.allHomed === true),
-      noForceHoming: status.task?.noForceHoming === true,
-      homing: status.task?.homing === true,
-      homeState: String(status.task?.homeState || "UNHOMED").toLowerCase(),
-      motionEnabled: String(status.task?.state || "").toUpperCase() === "ON" || motion.enabled === true,
-      resumeInhibit: status.task?.resumeInhibit === true,
-      servoCycle: Number(status.motionStatus?.cycle ?? status.task?.servoCycle ?? 0),
+      taskState: String(task.state || "ESTOP").toLowerCase(),
+      taskMode: String(task.mode || "MANUAL").toLowerCase(),
+      interpState: String(task.interpState || "IDLE").toLowerCase(),
+      interpResumeState: String(task.interpResumeState || task.interpState || "IDLE").toLowerCase(),
+      execState: String(task.execState || "DONE").toLowerCase(),
+      taskPaused: task.taskPaused === true,
+      singleStepping: task.singleStepping === true,
+      taskCycle: Number(task.taskCycle ?? 0),
+      programOpen: task.programOpen === true,
+      programFile: task.file || task.openProgram || null,
+      programStartLine: Number(task.programStartLine || 0),
+      planId: Number(task.planId || 0),
+      motionPlanLoaded: task.motionPlanLoaded === true,
+      errorText: task.errorText || null,
+      allHomed: task.allHomed === true,
+      homed: normalizeTaskHalHomed(task.homed, task.allHomed === true),
+      noForceHoming: task.noForceHoming === true,
+      homing: task.homing === true,
+      homeState: String(task.homeState || "UNHOMED").toLowerCase(),
+      motionEnabled: String(task.state || "").toUpperCase() === "ON" || motion.enabled === true,
+      resumeInhibit: task.resumeInhibit === true,
+      servoCycle: Number(statusCycle ?? task.servoCycle ?? 0),
      motionQueueDepth,
      motionPaused: motion.paused === true,
      motionStepping: motion.stepping === true,
@@ -279,25 +290,92 @@ export function normalizeTaskHalStatus(status = {}) {
      activeLine,
      motionProgramLine,
      halProgramLine,
-      activeLineSource: motionProgramLine > 0 ? "motion-status" : halProgramLine > 0 ? "hal-pin" : "fallback",
+      activeLineSource: motionProgramLine > 0 ? "emc-status" : halProgramLine > 0 ? "hal-pin" : "fallback",
      activeLineHalSynced: motionProgramLine > 0 && halProgramLine > 0
        ? motionProgramLine === halProgramLine
        : false,
      switchkinsType: Number(motion.switchkinsType ?? halPins["motion.switchkins-type"]?.value ?? 0),
      axisPose: {
-        x: Number(axis.x ?? halPins["axis.0.pos-cmd"]?.value ?? 0),
-        y: Number(axis.y ?? halPins["axis.1.pos-cmd"]?.value ?? 0),
-        z: Number(axis.z ?? halPins["axis.2.pos-cmd"]?.value ?? 0),
-        a: Number(axis.a ?? halPins["axis.3.pos-cmd"]?.value ?? 0),
-        b: Number(axis.b ?? halPins["axis.4.pos-cmd"]?.value ?? 0),
-        c: Number(axis.c ?? halPins["axis.5.pos-cmd"]?.value ?? 0),
+        x: Number(axis.x ?? 0),
+        y: Number(axis.y ?? 0),
+        z: Number(axis.z ?? 0),
+        a: Number(axis.a ?? 0),
+        b: Number(axis.b ?? 0),
+        c: Number(axis.c ?? 0),
      },
      axisPoseFrame: isJogMotion(motion) ? "task-local" : "work",
-      currentVelocity: Number(motion.currentVel || motion.currentVelocity || 0) * 60,
+      currentVelocity: Number(motion.currentVel ?? motion.currentVelocity ?? 0) * 60,
    },
  };
 }

+function rejectLegacyTaskHalStatusFields(status = {}) {
+  const legacyFields = ["taskTopLevelStatus", "rcsStatus", "task", "servoCycle", "motionStatus"];
+  const present = legacyFields.filter((field) => Object.hasOwn(status, field));
+  if (present.length > 0) {
+    throw new Error(`Task/HAL status contains removed legacy fields: ${present.join(", ")}`);
+  }
+}
+
+function requireStandaloneEmcStatus(status = {}) {
+  const emcStatus = status.emcStatus;
+  if (!emcStatus || typeof emcStatus !== "object") {
+    throw new Error("Task/HAL status requires StandaloneEmcStatus emcStatus");
+  }
+  if (!emcStatus.task || typeof emcStatus.task !== "object") {
+    throw new Error("Task/HAL status requires StandaloneEmcStatus emcStatus.task");
+  }
+  if (!emcStatus.motion || typeof emcStatus.motion !== "object") {
+    throw new Error("Task/HAL status requires StandaloneEmcStatus emcStatus.motion");
+  }
+  return emcStatus;
+}
+
+function normalizeStatusTask(emcTask = {}) {
+  return {
+    ...emcTask,
+    taskCycle: firstDefined(emcTask.taskCycle, emcTask.cycle, 0),
+  };
+}
+
+function normalizeStatusMotion(emcMotion = {}, emcTraj = {}, task = {}) {
+  return {
+    ...emcMotion,
+    enabled: firstDefined(emcMotion.enabled, emcTraj.enabled),
+    inPosition: firstDefined(emcMotion.inPosition, emcTraj.inpos),
+    queueDepth: firstDefined(emcMotion.queueDepth, emcTraj.queue),
+    commandQueueDepth: firstDefined(emcMotion.commandQueueDepth, emcTraj.queue),
+    activeDepth: firstDefined(emcMotion.activeDepth, emcTraj.activeQueue),
+    queueFull: firstDefined(emcMotion.queueFull, emcTraj.queueFull),
+    id: firstDefined(emcTraj.id, emcMotion.motionId),
+    motionId: firstDefined(emcMotion.motionId, emcTraj.id),
+    paused: firstDefined(emcTraj.paused, emcMotion.paused),
+    stepping: firstDefined(emcTraj.singleStepping, emcMotion.stepping),
+    currentVel: firstDefined(emcTraj.currentVel, emcMotion.currentVel),
+    programLine: firstDefined(emcMotion.programLine, task.motionLine),
+  };
+}
+
+function normalizeStatusAxis(emcMotion = {}) {
+  const axisByName = emcMotion.axisByName || {};
+  const actualPosition = emcMotion.traj?.actualPosition || {};
+  const position = emcMotion.traj?.position || {};
+  const axisArray = Array.isArray(emcMotion.axis) ? emcMotion.axis : [];
+  const byLetter = new Map(axisArray.map((axis) => [String(axis.letter || "").toLowerCase(), axis]));
+  return {
+    x: firstDefined(axisByName.x, actualPosition.x, byLetter.get("x")?.posFb, position.x),
+    y: firstDefined(axisByName.y, actualPosition.y, byLetter.get("y")?.posFb, position.y),
+    z: firstDefined(axisByName.z, actualPosition.z, byLetter.get("z")?.posFb, position.z),
+    a: firstDefined(axisByName.a, actualPosition.a, byLetter.get("a")?.posFb, position.a),
+    b: firstDefined(axisByName.b, actualPosition.b, byLetter.get("b")?.posFb, position.b),
+    c: firstDefined(axisByName.c, actualPosition.c, byLetter.get("c")?.posFb, position.c),
+  };
+}
+
+function firstDefined(...values) {
+  return values.find((value) => value !== undefined && value !== null);
+}
+
 function normalizeTaskHalHomed(value, allHomed = false) {
  if (Array.isArray(value)) {
    return value.map(Boolean);
--- 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
@@ -80,28 +80,28 @@ export function createLinuxCncTaskPolicyStatus(state) {
  const machineFileOpened = profileId === "gmoccapy-xyzab"
    ? Boolean(machineFileStaging.selectedGcodeSourceRel)
    : Boolean(machineFileStaging.selectedGcodeSourceRel || state.activeProgram);
-  const taskProgramOpen = Boolean(state.taskHalStatus?.ui?.programOpen || state.taskHalStatus?.task?.programOpen);
-  const taskMotionPlanLoaded = Boolean(state.taskHalStatus?.ui?.motionPlanLoaded || state.taskHalStatus?.task?.motionPlanLoaded);
+  const taskProgramOpen = Boolean(state.taskHalStatus?.ui?.programOpen || state.taskHalStatus?.emcStatus?.task?.programOpen);
+  const taskMotionPlanLoaded = Boolean(state.taskHalStatus?.ui?.motionPlanLoaded || state.taskHalStatus?.emcStatus?.task?.motionPlanLoaded);
  const interpIdle = interpState === "idle";
  const motionPaused = state.machine?.motionPaused === true ||
    state.taskHalStatus?.ui?.motionPaused === true ||
-    state.taskHalStatus?.motionStatus?.motion?.paused === true;
+    state.taskHalStatus?.emcStatus?.motion?.paused === true;
  const taskPaused = state.machine?.taskPaused === true ||
    state.taskHalStatus?.ui?.taskPaused === true ||
-    state.taskHalStatus?.task?.taskPaused === true;
+    state.taskHalStatus?.emcStatus?.task?.taskPaused === true;
  const motionEnabled = taskState === "on" ||
    state.machine?.motionEnabled === true ||
    state.taskHalStatus?.ui?.motionEnabled === true ||
-    state.taskHalStatus?.motionStatus?.motion?.enabled === true;
+    state.taskHalStatus?.emcStatus?.motion?.enabled === true;
  const singleStepping = state.machine?.singleStepping === true ||
    state.taskHalStatus?.ui?.singleStepping === true ||
-    state.taskHalStatus?.task?.singleStepping === true;
+    state.taskHalStatus?.emcStatus?.task?.singleStepping === true;
  const motionStepping = state.machine?.motionStepping === true ||
    state.taskHalStatus?.ui?.motionStepping === true ||
-    state.taskHalStatus?.motionStatus?.motion?.stepping === true;
+    state.taskHalStatus?.emcStatus?.motion?.stepping === true;
  const resumeInhibit = state.machine?.resumeInhibit === true ||
    state.taskHalStatus?.ui?.resumeInhibit === true ||
-    state.taskHalStatus?.task?.resumeInhibit === true;
+    state.taskHalStatus?.emcStatus?.task?.resumeInhibit === true;
  const feedbackPaused = state.programRuntimeFeedback?.paused === true;
  const paused = motionPaused || taskPaused || feedbackPaused || interpState === "paused" || state.runState === "paused";
  const running = taskMode === "auto" &&
--- 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
@@ -1625,7 +1625,11 @@ export function createSimulationStore(seed = {}) {
            ], {
              operatorMessage: `task/HAL MDI ${command}`,
              preserveAxisPose: mdiPatch.axisPose,
-              preserveMachine: mdiPatch.machine,
+              preserveMachine: {
+                ...mdiPatch.machine,
+                kinsType: mdiPatch.kinsType,
+                rtcpState: mdiPatch.rtcpState,
+              },
            }).catch(() => {});
            break;
          }
@@ -3459,7 +3463,7 @@ function createLinuxCncProcessMonitor(state = {}) {
  const uiExecution = state.programUiExecution || createProgramUiExecution(state);
  const status = state.taskHalStatus || {};
  const ui = status.ui || {};
-  const motion = status.motionStatus?.motion || {};
+  const motion = taskHalMotion(status);
  const halPins = status.halSnapshot?.pins || {};
  const toolRuntime = state.toolRuntimeState || {};
  const toolDb = state.toolDbSimulation || {};
@@ -3487,7 +3491,7 @@ function createLinuxCncProcessMonitor(state = {}) {
    ? state.programLines?.[sourceLine - Number(state.programStartLine || 1)] || ""
    : "");
  const currentVelocity = Number(feedback.currentVelocityMmPerMin ?? state.feed?.currentVelocity ?? ui.currentVelocity ?? 0);
-  const requestedVelocity = Number(feedback.requestedVelocityMmPerMin ?? motion.requestedVel * 60 ?? currentVelocity);
+  const requestedVelocity = Number(feedback.requestedVelocityMmPerMin ?? (Number(motion.requestedVel || 0) * 60) ?? currentVelocity);
  const feedRate = Number(state.feed?.feedRate || currentVelocity || 0);
  const spindleCommandRpm = Number(state.spindle?.rpm || 0);
  const spindleActualRpm = state.spindle?.enabled
@@ -3929,11 +3933,13 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
  preserveMachine = null,
  preserveAxisPose = null,
 } = {}) {
+  rejectLegacyTaskHalStatusFields(status);
  const ui = status?.ui || {};
-  const task = status?.task || {};
-  const motion = status?.motionStatus?.motion || {};
+  const task = taskHalTask(status);
+  const motion = taskHalMotion(status);
+  const traj = motion.traj || {};
  const statusInterpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
-  const statusMotionPaused = ui.motionPaused === true || motion.paused === true;
+  const statusMotionPaused = ui.motionPaused === true || motion.paused === true || traj.paused === true;
  const statusTaskPaused = ui.taskPaused === true || task.taskPaused === true;
  const statusPaused = statusInterpState === "paused" || statusMotionPaused || statusTaskPaused;
  const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state);
@@ -3981,7 +3987,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
    (allHomed ? "homed" : "unhomed"),
  );
  const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
-  const kinsType = resolveTaskHalKinsType(state, status, activeLine);
+  const kinsType = resolveTaskHalKinsType(state, status, activeLine, preserveMachine?.kinsType);
  const motionPaused = statusMotionPaused || preserveMachine?.motionPaused === true;
  const taskPaused = statusTaskPaused || preserveMachine?.taskPaused === true;
  const paused = interpState === "paused" || motionPaused || taskPaused;
@@ -3990,6 +3996,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
    preserveMachine?.singleStepping === true;
  const motionStepping = ui.motionStepping === true ||
    motion.stepping === true ||
+    traj.singleStepping === true ||
    preserveMachine?.motionStepping === true;
  const interpResumeState = normalizeTaskHalInterpState(
    ui.interpResumeState ||
@@ -4166,8 +4173,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {

 function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
  const ui = status?.ui || {};
-  const task = status?.task || {};
-  const motion = status?.motionStatus?.motion || {};
+  const task = taskHalTask(status);
+  const motion = taskHalMotion(status);
+  const traj = motion.traj || {};
  const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
  const taskMode = normalizeLinuxCncTaskMode(ui.taskMode || task.mode || state.machine?.mode);
  const aborted = motion.aborted === true;
@@ -4175,6 +4183,7 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
    ui.motionPaused === true ||
    ui.taskPaused === true ||
    motion.paused === true ||
+    traj.paused === true ||
    task.taskPaused === true;
  const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
  const complete = interpState === "idle"
@@ -4190,12 +4199,14 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {

 function isTaskHalStatusPaused(status = {}) {
  const ui = status?.ui || {};
-  const task = status?.task || {};
-  const motion = status?.motionStatus?.motion || {};
+  const task = taskHalTask(status);
+  const motion = taskHalMotion(status);
+  const traj = motion.traj || {};
  return normalizeTaskHalInterpState(ui.interpState || task.interpState) === "paused" ||
    ui.motionPaused === true ||
    ui.taskPaused === true ||
    motion.paused === true ||
+    traj.paused === true ||
    task.taskPaused === true;
 }

@@ -4301,7 +4312,10 @@ function createStoppedProgramStatePatch(state, {
  };
 }

-function resolveTaskHalKinsType(state, status, activeLine) {
+function resolveTaskHalKinsType(state, status, activeLine, preserveKinsType = null) {
+  if (preserveKinsType) {
+    return preserveKinsType;
+  }
  const ui = status?.ui || {};
  const numeric = Number(ui.switchkinsType);
  if (Number.isFinite(numeric) && numeric !== 0) {
@@ -4381,7 +4395,7 @@ function addAxisDelta(axisPose, delta, profile) {
 }

 function isJogStatus(status) {
-  const motion = status?.motionStatus?.motion || {};
+  const motion = taskHalMotion(status);
  return Number(motion.motionType) === 3 || Number(motion.teleopMode) === 1 || motion.teleopMode === true;
 }

@@ -4394,17 +4408,21 @@ function wouldResetNonZeroPoseToLocalZero(currentPose = {}, nextPose = {}) {

 function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
  const ui = status?.ui || {};
-  const motion = status?.motionStatus?.motion || {};
+  const task = taskHalTask(status);
+  const motion = taskHalMotion(status);
+  const traj = motion.traj || {};
  const halProgramLine = Number(status?.halSnapshot?.pins?.["motion.program-line"]?.value || 0);
  const motionProgramLine = Number(motion.programLine || 0);
-  const interpState = normalizeTaskHalInterpState(ui.interpState || status?.task?.interpState);
+  const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
  const paused = interpState === "paused" ||
    ui.motionPaused === true ||
    ui.taskPaused === true ||
    motion.paused === true ||
-    status?.task?.taskPaused === true;
+    traj.paused === true ||
+    task.taskPaused === true;
  const currentVelocity = paused ? 0 : Number(ui.currentVelocity || 0);
  const requestedVelocity = paused ? 0 : Number(motion.requestedVel || 0) * 60;
+  const motionInPosition = motion.inPosition === true || traj.inpos === true;
  return {
    apiName: "web-rtcp-5axis-program-runtime-feedback",
    sourceMode: "linuxcnc-task-motion-hal-wasm",
@@ -4414,7 +4432,7 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
    line: activeLine,
    motionProgramLine,
    halProgramLine,
-    activeLineSource: ui.activeLineSource || (motionProgramLine > 0 ? "motion-status" : halProgramLine > 0 ? "hal-pin" : "fallback"),
+    activeLineSource: ui.activeLineSource || (motionProgramLine > 0 ? "emc-status" : halProgramLine > 0 ? "hal-pin" : "fallback"),
    activeLineHalSynced: motionProgramLine > 0 && halProgramLine > 0 && motionProgramLine === halProgramLine,
    type: Number(motion.motionType || 0) === 3 ? "JOG" : "TASK_MOTION",
    paused,
@@ -4422,16 +4440,32 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
    axisPose,
    currentVelocityMmPerMin: currentVelocity,
    requestedVelocityMmPerMin: requestedVelocity,
-    distanceToGo: motion.inPosition === true ? 0 : 1,
+    distanceToGo: motionInPosition ? 0 : 1,
    dtg: { x: 0, y: 0, z: 0 },
-    queueDepth: Number(ui.motionQueueDepth || status?.motionStatus?.commandQueueDepth || 0),
-    activeDepth: motion.inPosition === true ? 0 : 1,
-    cycle: Number(ui.servoCycle || status?.servoCycle || 0),
-    taskCycle: Number(ui.taskCycle || status?.task?.cycle || 0),
+    queueDepth: Number(ui.motionQueueDepth || motion.commandQueueDepth || traj.queue || 0),
+    activeDepth: motionInPosition ? 0 : 1,
+    cycle: Number(ui.servoCycle || 0),
+    taskCycle: Number(ui.taskCycle || task.cycle || 0),
    halChangedPinCount: Number(ui.halChangedPinCount || 0),
  };
 }

+function taskHalTask(status = {}) {
+  return status?.emcStatus?.task || {};
+}
+
+function taskHalMotion(status = {}) {
+  return status?.emcStatus?.motion || {};
+}
+
+function rejectLegacyTaskHalStatusFields(status = {}) {
+  const legacyFields = ["taskTopLevelStatus", "rcsStatus", "task", "servoCycle", "motionStatus"];
+  const present = legacyFields.filter((field) => Object.hasOwn(status, field));
+  if (present.length > 0) {
+    throw new Error(`Task/HAL status contains removed legacy fields: ${present.join(", ")}`);
+  }
+}
+
 function buildTaskHalProgramMotionPlanFromPreviewPath({
  programPath = null,
  path = null,