Use native LinuxCNC homing and consolidate web panel status

doc-rtcp/xyzac-native-homing-status-validation.md

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+# Native Homing and Status Validation
+
+Date: 2026-09-09. Local URL: http://127.0.0.1:5175/.
+This records local execution, not deployment or a full LinuxCNC port.
+
+## Implementation
+
+- The selected XYZAC case compiles the pinned `homing.c` and `simple_tp.c`.
+- HAL allocation and ideal motor feedback are adapted; the homing state
+  machine is not rewritten in JavaScript.
+- `task.state` is machine state; interpreter state is `task.interpState`.
+- `motion.traj.mode` is FREE/COORD/TELEOP; `motion_type` is separate.
+- `home_state` comes from homemod's state underlying `joint.N.home-state`.
+- The monitor displays task mode/state, interpreter state, motion mode/type
+  and Homing. Per-joint status and history remain in the snapshot; their table
+  and history list were removed from the visible panel at the user's request.
+- Numeric Home Joint replaces the world-axis-to-joint alias. Original control
+  ID `manual-home-axis` is retained; `manual-home-joint-select` selects 0..4.
+- Home acceptance is asynchronous. Completion is determined by homemod,
+  not by the coordinated planner queue.
+
+## Verified
+
+- Native C test: `ctest --test-dir build-native -R sim_native_homing_test`.
+- WASM/Worker: `node web/worker/test_native_homing.mjs`.
+- All five joints: Jog then native no-search re-home resets joint coordinates
+  while preserving simulated physical motor position and updating motor offset.
+- A test INI with HOME=5 executes the original free_tp final move; intermediate
+  positions are nonzero, homed stays false until completion, coordinated TP
+  queue remains empty.
+- Partial home remains FREE; the native all-homed edge switches to TELEOP.
+- AUTO+PAUSED rejects switching to MANUAL; abort and E-stop cancel homemod
+  without marking interrupted joints homed; subsequent re-home works.
+- Native state save/restore preserves positions and offsets.
+- Existing Step, WAITING/MDI Pause/Resume, rerun, touch-off, source widget gates
+  and Live Plot lifecycle regression tests pass with asynchronous Home setup.
+- Source Tcl oracle: 576 scenarios, 7488 assertions. Control inventory: 83 IDs.
+- Visible Chrome tests: `scripts/test_xyzac_home_reset_browser.mjs` and
+  `scripts/test_xyzac_panel_buttons_browser.mjs` with `HEADED=1`.
+- Desktop/mobile screenshots and canvas pixel checks pass. General browser
+  audit covers 51 buttons with no page errors.
+- React type checking and production build pass.
+
+Screenshots: `/tmp/axis-native-home-desktop.png`,
+`/tmp/axis-native-home-mobile.png`.
+
+## Remaining Boundaries
+
+Task/interpreter status still uses the existing WASM adapter. Physical switch,
+encoder and unlock hardware have not been validated; the selected INI uses
+zero search/latch velocities. Full Joint/World jogging is not exposed.
+General recovery retains the existing planner/HAL endpoint differences and
+large RECOVER envelope stack limitation documented in the source-flow contract.