Complete XYZAC switchkins transitions

doc-rtcp/xyzac-panel-button-parity-test-report.md

@@ -87,6 +87,7 @@ AXIS 源控件清单：菜单 80、工具栏 20、快捷键 10，共 110 条，
 | Tool | Prepare、Prepared、Change、Changed | iocontrol/tool handler | WASM IO tool state | 通过 |
 | Probe | Arm、Disarm、Trip | probe canonical/HAL | WASM IO + HAL | 通过 |
 | Switchkins | Identity/M429、TCP: XYZAC/M428、User K/M430 | `switchkins_postgui.hal` + remap files | WASM kinematics `active_type` | 通过 |
+| Switchkins | IDENTITY <-> TCP: XYZAC <-> USERK 任意切换 | `KINEMATICS_SELECT` / `M429` / `M428` / `M430` | 当前 WASM TP pose + WASM inverse/forward | 通过 |
 | Preview | Preview、DRO、路径/实时/限位/速度/偏置/范围 | `glcanon.py` draw layers | WASM pose/joints/toolpath | 通过投影 |
 | Preview | 缩放、平移、旋转、原点坐标系 | AXIS view handlers | React/Three display-only state | 通过显示 |
 | Diagnostics | 状态、门控、错误、恢复 | AXIS status/error channel | Worker snapshot/ledger | 通过 |
@@ -117,6 +118,7 @@ AXIS 源控件清单：菜单 80、工具栏 20、快捷键 10，共 110 条，
 - 主轴：CW、signed increase/decrease、Stop、Brake engage/release；
 - Coolant、Tool prepare/change ack、Probe arm/disarm、ESTOP recovery；
 - M428/M429/M430、VISUAL_CLEAR 和诊断快照。
+- Switchkins 直接按钮在非零姿态下 `0 -> 1 -> 2 -> 0 -> 1 -> 2 -> 0` 循环切换；每一步的 kinematics pose 与 TP pose 逐轴一致。
 
 8 条错误路径是刻意验证的拒绝：OFF 状态 Run/HOME/JOG/MDI/M428、Feed 201%、非法 MDI、运行中 MDI。它们均返回 LinuxCNC/WASM 可读原因，没有把拒绝当成成功。
 
@@ -149,6 +151,7 @@ ledger_audit_window: 32
 scripts/build-wasm.sh
 npm run build --prefix web/react
 node --experimental-strip-types web/worker/test_xyzac_panel_buttons.mjs
+node --experimental-strip-types web/worker/test_xyzac_trt_case.mjs
 node --experimental-strip-types web/worker/test_xyzac_button_constraints.mjs
 node --experimental-strip-types web/worker/test_xyzac_workflow.mjs
 node --experimental-strip-types web/worker/test_xyzac_manual_control.mjs
@@ -191,6 +194,19 @@ screenshots: /tmp/published-r6-authority.png (e58205228a04b386c7b7514bf03c71df7b
              /tmp/published-r6-running.png (7fc474d0cb31a0fdd4afb198061e9812c753684e3d2963cc004ec4483c5c4990)
 ```
 
+发布站点 r7（IDENTITY/TCP: XYZAC/USERK 切换版本）浏览器验收：
+
+```text
+url: https://49.232.250.35:58010/
+release: 20260902-linuxcnc-wasm-switchkins-r7
+startup: WASM authority ready, initial machine OFF
+power -> HOME ALL -> IDENTITY -> TCP: XYZAC -> USERK -> IDENTITY -> TCP: XYZAC -> USERK: verified
+active modes: 0 -> 1 -> 2 -> 0 -> 1 -> 2
+browser_errors: 0
+screenshot: /tmp/published-switchkins-r7.png
+screenshot_sha256: 920b85ad7fd6451dfb134255ffdcc4f03a7aa615ebf486c63cde8582e17af195
+```
+
 ## 证据哈希
 
 ```text
@@ -201,6 +217,7 @@ feed_authority_output deab4a51ee0e56d4f8134efba4b7a97a2b88f37d9165cf730207f71886
 wasm_io_source           1cb066d185dd2c5bbf435e022c2518483bd44962e5a0303248757b2da51740f7
 wasm_io_c_source         09bce1430d6f71702ca0b3bf29ac50db377a6f232ce0d1a9b2c1eaac7ea2162e
 panel_button_test_source 80782fc1f85f88beb48ec3dfaf638a93f2edb912e694840199dbff504477fe74
+switchkins_direct_test_output 24e6cb8ec1195a97f71294b49217db0cbc0d7c3ecfa4bc8aa244ba3921c816a7
 ```
 
 报告对应提交前工作树保留了既有 coverage 大文件和 LinuxCNC 子模块改动；本轮提交包含 WASM TP/IO/HOME authority、无 JS JOG 运动计算、前端 pending 投影、长程序快照性能修正、聚合测试和本报告。