{
  "generatedAt": "2026-06-22T22:10:40.219Z",
  "targetUrl": "http://127.0.0.1:45757/web-rtcp-5axis-sim-plan/app/index.html",
  "caseName": "07-run-preconditions-and-feedback",
  "summary": "浏览器 RUN 证据：INI/profile/kinematics/task-HAL 同一上下文，taskHalStatusLoop 持续推进，UI 消费 task/HAL/motion feedback",
  "status": "PASS",
  "checks": [
    {
      "name": "INI ready",
      "pass": true,
      "detail": "iniReady=true,true,true,true,true"
    },
    {
      "name": "selected LinuxCNC G-code",
      "pass": true,
      "detail": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc"
    },
    {
      "name": "task/HAL session opened selected G-code",
      "pass": true,
      "detail": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_1.ngc"
    },
    {
      "name": "taskHalStatusLoop 新 RUN sequence",
      "pass": true,
      "detail": "baselineSequence=1, sequences=2,2,2,2,2"
    },
    {
      "name": "taskHalStatusLoop 本次 RUN tickCount",
      "pass": true,
      "detail": "ticks=4,4,4,4,4"
    },
    {
      "name": "programRuntimeFeedbackHistory 本次 RUN 采样",
      "pass": true,
      "detail": "history=5,5,5,5,5"
    },
    {
      "name": "feedback sourceMode 来自 task/HAL",
      "pass": true,
      "detail": "sourceModes=linuxcnc-task-motion-hal-wasm,linuxcnc-task-motion-hal-wasm,linuxcnc-task-motion-hal-wasm,linuxcnc-task-motion-hal-wasm,linuxcnc-task-motion-hal-wasm"
    },
    {
      "name": "无 fixture-line-playback feedback",
      "pass": true,
      "detail": "sourceModes=linuxcnc-task-motion-hal-wasm,linuxcnc-task-motion-hal-wasm,linuxcnc-task-motion-hal-wasm,linuxcnc-task-motion-hal-wasm,linuxcnc-task-motion-hal-wasm"
    },
    {
      "name": "semantic boundary",
      "pass": true,
      "detail": "linuxcnc_task_motion_hal_wasm_simulation_runtime,linuxcnc_task_motion_hal_wasm_simulation_runtime,linuxcnc_task_motion_hal_wasm_simulation_runtime,linuxcnc_task_motion_hal_wasm_simulation_runtime,linuxcnc_task_motion_hal_wasm_simulation_runtime"
    },
    {
      "name": "activeLine 等于 UI 高亮行",
      "pass": true,
      "detail": "active=29/29,29/29,29/29,29/29,29/29"
    },
    {
      "name": "DRO 等于 runtime feedback axisPose",
      "pass": true,
      "detail": "droMatchesFeedback=true for all samples"
    },
    {
      "name": "RTCP canvas 与 state 一致",
      "pass": true,
      "detail": "off/off,off/off,off/off,off/off,off/off"
    },
    {
      "name": "runtime cycle 可见",
      "pass": true,
      "detail": "33/330,33/330,33/330,33/330,33/330"
    },
    {
      "name": "canvas 执行轨迹",
      "pass": true,
      "detail": "true/1/ok,true/1/ok,true/1/ok,true/1/ok,true/1/ok"
    }
  ],
  "baseline": {
    "elapsedMs": 0,
    "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/run-preconditions-feedback/07-run-preconditions-and-feedback-0000ms-before-run.png",
    "canvas": {
      "threeReady": "true",
      "rtcpState": "off",
      "executedPathPoints": 1,
      "currentSegmentHighlight": "ok",
      "toolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback"
    },
    "state": {
      "profileId": "xyzac-trt",
      "iniReady": true,
      "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
      "coordinates": "XYZAC",
      "kinematicsModuleId": "xyzac-trt",
      "selectedGcodeSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
      "taskHalSessionProgramPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_1.ngc",
      "taskHalStatusLoop": {
        "apiName": "web-rtcp-5axis-task-hal-status-loop",
        "active": false,
        "sequence": 1,
        "profileId": "xyzac-trt",
        "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
        "kinematicsModuleId": "xyzac-trt",
        "tickCount": 12,
        "batchSize": 5,
        "intervalMs": 25,
        "taskPeriodNs": 10000000,
        "servoPeriodNs": 1000000,
        "lastStatusAt": "2026-06-22T22:10:27.362Z",
        "lastError": null,
        "stopReason": "running",
        "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status"
      },
      "runState": "idle",
      "activeLine": 1,
      "activeRowLine": 1,
      "activeLineMatchesUi": true,
      "droAxisPose": {
        "x": 0,
        "y": 0,
        "z": 0,
        "a": 0,
        "b": 0,
        "c": 0
      },
      "feedbackAxisPose": {
        "x": 0,
        "y": 0,
        "z": 0,
        "a": 0,
        "b": 0,
        "c": 0
      },
      "droMatchesFeedback": true,
      "rtcpState": "off",
      "kinsType": "identity",
      "feedback": {
        "sourceMode": "linuxcnc-task-motion-hal-wasm",
        "semanticBoundary": "linuxcnc_task_motion_hal_wasm_simulation_runtime",
        "line": 1,
        "taskCycle": 3,
        "servoCycle": 30,
        "velocity": 0,
        "distanceToGo": 0
      },
      "feedbackHistoryLength": 18,
      "feedbackHistorySourceModes": [
        "linuxcnc-task-motion-hal-wasm"
      ],
      "taskHalStatus": {
        "taskState": "on",
        "taskMode": "auto",
        "interpState": "idle",
        "taskCycle": null,
        "servoCycle": 30
      }
    }
  },
  "samples": [
    {
      "elapsedMs": 200,
      "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/run-preconditions-feedback/07-run-preconditions-and-feedback-200ms.png",
      "canvas": {
        "threeReady": "true",
        "rtcpState": "off",
        "executedPathPoints": 1,
        "currentSegmentHighlight": "ok",
        "toolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback"
      },
      "state": {
        "profileId": "xyzac-trt",
        "iniReady": true,
        "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
        "coordinates": "XYZAC",
        "kinematicsModuleId": "xyzac-trt",
        "selectedGcodeSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
        "taskHalSessionProgramPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_1.ngc",
        "taskHalStatusLoop": {
          "apiName": "web-rtcp-5axis-task-hal-status-loop",
          "active": false,
          "sequence": 2,
          "profileId": "xyzac-trt",
          "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
          "kinematicsModuleId": "xyzac-trt",
          "tickCount": 4,
          "batchSize": 5,
          "intervalMs": 25,
          "taskPeriodNs": 10000000,
          "servoPeriodNs": 1000000,
          "lastStatusAt": "2026-06-22T22:10:35.152Z",
          "lastError": null,
          "stopReason": "complete",
          "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status"
        },
        "runState": "complete",
        "activeLine": 29,
        "activeRowLine": 29,
        "activeLineMatchesUi": true,
        "droAxisPose": {
          "x": 0,
          "y": 0,
          "z": 0,
          "a": 0,
          "b": 0,
          "c": 0
        },
        "feedbackAxisPose": {
          "x": 0,
          "y": 0,
          "z": 0,
          "a": 0,
          "b": 0,
          "c": 0
        },
        "droMatchesFeedback": true,
        "rtcpState": "off",
        "kinsType": "identity",
        "feedback": {
          "sourceMode": "linuxcnc-task-motion-hal-wasm",
          "semanticBoundary": "linuxcnc_task_motion_hal_wasm_simulation_runtime",
          "line": 29,
          "taskCycle": 33,
          "servoCycle": 330,
          "velocity": 3600,
          "distanceToGo": 0
        },
        "feedbackHistoryLength": 5,
        "feedbackHistorySourceModes": [
          "linuxcnc-task-motion-hal-wasm"
        ],
        "taskHalStatus": {
          "taskState": "on",
          "taskMode": "auto",
          "interpState": "idle",
          "taskCycle": null,
          "servoCycle": 330
        }
      }
    },
    {
      "elapsedMs": 500,
      "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/run-preconditions-feedback/07-run-preconditions-and-feedback-500ms.png",
      "canvas": {
        "threeReady": "true",
        "rtcpState": "off",
        "executedPathPoints": 1,
        "currentSegmentHighlight": "ok",
        "toolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback"
      },
      "state": {
        "profileId": "xyzac-trt",
        "iniReady": true,
        "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
        "coordinates": "XYZAC",
        "kinematicsModuleId": "xyzac-trt",
        "selectedGcodeSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
        "taskHalSessionProgramPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_1.ngc",
        "taskHalStatusLoop": {
          "apiName": "web-rtcp-5axis-task-hal-status-loop",
          "active": false,
          "sequence": 2,
          "profileId": "xyzac-trt",
          "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
          "kinematicsModuleId": "xyzac-trt",
          "tickCount": 4,
          "batchSize": 5,
          "intervalMs": 25,
          "taskPeriodNs": 10000000,
          "servoPeriodNs": 1000000,
          "lastStatusAt": "2026-06-22T22:10:35.152Z",
          "lastError": null,
          "stopReason": "complete",
          "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status"
        },
        "runState": "complete",
        "activeLine": 29,
        "activeRowLine": 29,
        "activeLineMatchesUi": true,
        "droAxisPose": {
          "x": 0,
          "y": 0,
          "z": 0,
          "a": 0,
          "b": 0,
          "c": 0
        },
        "feedbackAxisPose": {
          "x": 0,
          "y": 0,
          "z": 0,
          "a": 0,
          "b": 0,
          "c": 0
        },
        "droMatchesFeedback": true,
        "rtcpState": "off",
        "kinsType": "identity",
        "feedback": {
          "sourceMode": "linuxcnc-task-motion-hal-wasm",
          "semanticBoundary": "linuxcnc_task_motion_hal_wasm_simulation_runtime",
          "line": 29,
          "taskCycle": 33,
          "servoCycle": 330,
          "velocity": 3600,
          "distanceToGo": 0
        },
        "feedbackHistoryLength": 5,
        "feedbackHistorySourceModes": [
          "linuxcnc-task-motion-hal-wasm"
        ],
        "taskHalStatus": {
          "taskState": "on",
          "taskMode": "auto",
          "interpState": "idle",
          "taskCycle": null,
          "servoCycle": 330
        }
      }
    },
    {
      "elapsedMs": 1000,
      "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/run-preconditions-feedback/07-run-preconditions-and-feedback-1000ms.png",
      "canvas": {
        "threeReady": "true",
        "rtcpState": "off",
        "executedPathPoints": 1,
        "currentSegmentHighlight": "ok",
        "toolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback"
      },
      "state": {
        "profileId": "xyzac-trt",
        "iniReady": true,
        "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
        "coordinates": "XYZAC",
        "kinematicsModuleId": "xyzac-trt",
        "selectedGcodeSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
        "taskHalSessionProgramPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_1.ngc",
        "taskHalStatusLoop": {
          "apiName": "web-rtcp-5axis-task-hal-status-loop",
          "active": false,
          "sequence": 2,
          "profileId": "xyzac-trt",
          "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
          "kinematicsModuleId": "xyzac-trt",
          "tickCount": 4,
          "batchSize": 5,
          "intervalMs": 25,
          "taskPeriodNs": 10000000,
          "servoPeriodNs": 1000000,
          "lastStatusAt": "2026-06-22T22:10:35.152Z",
          "lastError": null,
          "stopReason": "complete",
          "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status"
        },
        "runState": "complete",
        "activeLine": 29,
        "activeRowLine": 29,
        "activeLineMatchesUi": true,
        "droAxisPose": {
          "x": 0,
          "y": 0,
          "z": 0,
          "a": 0,
          "b": 0,
          "c": 0
        },
        "feedbackAxisPose": {
          "x": 0,
          "y": 0,
          "z": 0,
          "a": 0,
          "b": 0,
          "c": 0
        },
        "droMatchesFeedback": true,
        "rtcpState": "off",
        "kinsType": "identity",
        "feedback": {
          "sourceMode": "linuxcnc-task-motion-hal-wasm",
          "semanticBoundary": "linuxcnc_task_motion_hal_wasm_simulation_runtime",
          "line": 29,
          "taskCycle": 33,
          "servoCycle": 330,
          "velocity": 3600,
          "distanceToGo": 0
        },
        "feedbackHistoryLength": 5,
        "feedbackHistorySourceModes": [
          "linuxcnc-task-motion-hal-wasm"
        ],
        "taskHalStatus": {
          "taskState": "on",
          "taskMode": "auto",
          "interpState": "idle",
          "taskCycle": null,
          "servoCycle": 330
        }
      }
    },
    {
      "elapsedMs": 2000,
      "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/run-preconditions-feedback/07-run-preconditions-and-feedback-2000ms.png",
      "canvas": {
        "threeReady": "true",
        "rtcpState": "off",
        "executedPathPoints": 1,
        "currentSegmentHighlight": "ok",
        "toolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback"
      },
      "state": {
        "profileId": "xyzac-trt",
        "iniReady": true,
        "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
        "coordinates": "XYZAC",
        "kinematicsModuleId": "xyzac-trt",
        "selectedGcodeSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
        "taskHalSessionProgramPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_1.ngc",
        "taskHalStatusLoop": {
          "apiName": "web-rtcp-5axis-task-hal-status-loop",
          "active": false,
          "sequence": 2,
          "profileId": "xyzac-trt",
          "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
          "kinematicsModuleId": "xyzac-trt",
          "tickCount": 4,
          "batchSize": 5,
          "intervalMs": 25,
          "taskPeriodNs": 10000000,
          "servoPeriodNs": 1000000,
          "lastStatusAt": "2026-06-22T22:10:35.152Z",
          "lastError": null,
          "stopReason": "complete",
          "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status"
        },
        "runState": "complete",
        "activeLine": 29,
        "activeRowLine": 29,
        "activeLineMatchesUi": true,
        "droAxisPose": {
          "x": 0,
          "y": 0,
          "z": 0,
          "a": 0,
          "b": 0,
          "c": 0
        },
        "feedbackAxisPose": {
          "x": 0,
          "y": 0,
          "z": 0,
          "a": 0,
          "b": 0,
          "c": 0
        },
        "droMatchesFeedback": true,
        "rtcpState": "off",
        "kinsType": "identity",
        "feedback": {
          "sourceMode": "linuxcnc-task-motion-hal-wasm",
          "semanticBoundary": "linuxcnc_task_motion_hal_wasm_simulation_runtime",
          "line": 29,
          "taskCycle": 33,
          "servoCycle": 330,
          "velocity": 3600,
          "distanceToGo": 0
        },
        "feedbackHistoryLength": 5,
        "feedbackHistorySourceModes": [
          "linuxcnc-task-motion-hal-wasm"
        ],
        "taskHalStatus": {
          "taskState": "on",
          "taskMode": "auto",
          "interpState": "idle",
          "taskCycle": null,
          "servoCycle": 330
        }
      }
    },
    {
      "elapsedMs": 5000,
      "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/run-preconditions-feedback/07-run-preconditions-and-feedback-5000ms.png",
      "canvas": {
        "threeReady": "true",
        "rtcpState": "off",
        "executedPathPoints": 1,
        "currentSegmentHighlight": "ok",
        "toolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback"
      },
      "state": {
        "profileId": "xyzac-trt",
        "iniReady": true,
        "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
        "coordinates": "XYZAC",
        "kinematicsModuleId": "xyzac-trt",
        "selectedGcodeSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
        "taskHalSessionProgramPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_1.ngc",
        "taskHalStatusLoop": {
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          "active": false,
          "sequence": 2,
          "profileId": "xyzac-trt",
          "iniPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
          "kinematicsModuleId": "xyzac-trt",
          "tickCount": 4,
          "batchSize": 5,
          "intervalMs": 25,
          "taskPeriodNs": 10000000,
          "servoPeriodNs": 1000000,
          "lastStatusAt": "2026-06-22T22:10:35.152Z",
          "lastError": null,
          "stopReason": "complete",
          "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status"
        },
        "runState": "complete",
        "activeLine": 29,
        "activeRowLine": 29,
        "activeLineMatchesUi": true,
        "droAxisPose": {
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          "y": 0,
          "z": 0,
          "a": 0,
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        },
        "feedbackAxisPose": {
          "x": 0,
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          "a": 0,
          "b": 0,
          "c": 0
        },
        "droMatchesFeedback": true,
        "rtcpState": "off",
        "kinsType": "identity",
        "feedback": {
          "sourceMode": "linuxcnc-task-motion-hal-wasm",
          "semanticBoundary": "linuxcnc_task_motion_hal_wasm_simulation_runtime",
          "line": 29,
          "taskCycle": 33,
          "servoCycle": 330,
          "velocity": 3600,
          "distanceToGo": 0
        },
        "feedbackHistoryLength": 5,
        "feedbackHistorySourceModes": [
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        ],
        "taskHalStatus": {
          "taskState": "on",
          "taskMode": "auto",
          "interpState": "idle",
          "taskCycle": null,
          "servoCycle": 330
        }
      }
    }
  ],
  "consoleErrors": [
    "Failed to load resource: the server responded with a status of 404 (Not Found)",
    "Failed to load resource: the server responded with a status of 404 (Not Found)"
  ]
}