Use native LinuxCNC homing and consolidate web panel status

docs/linuxcnc-axis-web-control-panel-source-logic.dot

@@ -45,12 +45,12 @@ digraph LinuxCncAxisWebControlLogic {
 
     source [label="LinuxCNC 源程序\naxis.py · axis.tcl\nemctaskmain.cc · HAL/INI", fillcolor="#f7f1df", color="#b08a2e"];
     contract [label="源程序锁定契约\nSOURCE_EXACT · SOURCE_ADAPTER\nSOURCE_BLOCKED · WEB_EXTENSION", fillcolor="#fff5c9", color="#b08a2e", penwidth=2.2];
-    gesture [label="浏览器控件手势\ndata-axis-control\n82 个文档控制 ID", fillcolor="#edf6f8", color="#3c8091"];
+    gesture [label="浏览器控件手势\ndata-axis-control\n83 个文档控制 ID", fillcolor="#edf6f8", color="#3c8091"];
     react [label="React handler\n只发意图，不是状态权威", fillcolor="#edf6f8", color="#3c8091"];
     operation [label="AxisOperationController\noperation_id · ledger\nWeb 通道暂停仍接收合法连续 seq", fillcolor="#eef2fb", color="#526da8"];
     gate [label="SimSession command gate\n最终门控与稳定拒绝原因", fillcolor="#fcebdc", color="#bd6a28", penwidth=2.2];
     wasm [label="LinuxCNC/WASM 权威\nTask · Interpreter · TP\nIO · Home/Limit · Kinematics", fillcolor="#e9f5e8", color="#43844b", penwidth=2.2];
-    snapshot [label="Canonical snapshot\naxis_state · ui_gates / gates · motion\nprogram · devices · visual", fillcolor="#e9f5e8", color="#43844b"];
+    snapshot [label="Canonical snapshot\naxis_state · ui_gates / gates · motion\nprogram · devices · visual · source_status", fillcolor="#e9f5e8", color="#43844b"];
     projection [label="React projection\n按钮 enabled/pressed\nDRO · Preview · Diagnostics", fillcolor="#edf6f8", color="#3c8091"];
 
     { rank=same; source; contract; gesture; react; operation; }
@@ -106,7 +106,10 @@ digraph LinuxCncAxisWebControlLogic {
 
     estop -> off [label="ESTOP active=false"];
     off -> on_unhomed [label="POWER active=true"];
-    on_unhomed -> idle [label="HOME all=true"];
+    homing [label="MANUAL · HOMING\\ntraj.mode=FREE · interpState=IDLE\\nhoming.c + simple_tp.c\\njoint homing / homed / home-state", fillcolor="#e9f5e8"];
+    on_unhomed -> homing [label="HOME all/joint"];
+    homing -> idle [label="全部 homed -> TELEOP"];
+    homing -> on_unhomed [label="部分回零 / 中止", style=dashed];
     idle -> running [label="PROGRAM_RUN"];
     running -> paused [label="PROGRAM_PAUSE"];
     paused -> running [label="PROGRAM_RESUME"];
@@ -135,7 +138,7 @@ digraph LinuxCncAxisWebControlLogic {
     ];
 
     manual_controls [
-      label="手动控制\n\nmanual-axis-x / y / z / a / c  (本地选择)\nmanual-jog-increment  (本地选择)\nmanual-jog-negative / positive  (JOG_START -> release JOG_STOP)\nmanual-home-axis  (BOTH: world-axis 拒绝)\nmanual-touch-off  (TOUCH_OFF / G10 L20)\nmanual-tool-touch-off  (blocked_by_abi_tool_offsets)\nmanual-override-limits  (blocked_by_abi)\nmanual-spindle-ccw / stop / cw  (SPINDLE_COMMAND)\nmanual-spindle-decrease / increase\n  (SPINDLE_COMMAND -> release SPINDLE_CONSTANT)\nmanual-spindle-brake  (SPINDLE_BRAKE)\nmanual-coolant-mist / flood  (COOLANT_COMMAND)",
+      label="手动控制\n\nmanual-axis-x / y / z / a / c  (本地选择)\nmanual-jog-increment  (本地选择)\nmanual-jog-negative / positive  (JOG_START -> release JOG_STOP)\nmanual-home-joint-select  (数字关节选择)\nmanual-home-axis  (HOME joint; 原生 homemod)\nmanual-touch-off  (TOUCH_OFF / G10 L20)\nmanual-tool-touch-off  (blocked_by_abi_tool_offsets)\nmanual-override-limits  (blocked_by_abi)\nmanual-spindle-ccw / stop / cw  (SPINDLE_COMMAND)\nmanual-spindle-decrease / increase\n  (SPINDLE_COMMAND -> release SPINDLE_CONSTANT)\nmanual-spindle-brake  (SPINDLE_BRAKE)\nmanual-coolant-mist / flood  (COOLANT_COMMAND)",
       fontname="Noto Sans Mono CJK SC",
       fillcolor="#e9f5e8",
       color="#43844b"

docs/linuxcnc-axis-web-control-panel-source-logic.md

@@ -91,6 +91,8 @@ fingerprinted so the audit fails on an unreviewed source drift:
 | `lib/python/glnav.py` | `b2d811a21954966655a40f107c2af217cc7d57bae0dc308dc4698f5859ed3f11` | Orthographic/perspective presets, rotation, camera framing |
 | `src/emc/task/emctask.cc` | pinned by submodule commit | Machine state edges and observed `ESTOP`/`ESTOP_RESET`/`ON` state |
 | `src/emc/task/emctaskmain.cc` | pinned by submodule commit | Task command acceptance, homing enforcement, run/pause/resume/abort and task-plan reopen/close |
+| `src/emc/motion/homing.c` | `ee73d38f2feb8d5523b9a733cb17d635d3904667aaa219f8a02d7fbffee1ba39` | Native joint homing and sequence state machines, compiled into WASM |
+| `src/emc/motion/simple_tp.c` | `5a0026f4d5bdd9d1bc55290c6ea9c399abd664633b69413c307f7353953d2603` | Native free-mode joint motion during homing |
 | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini` plus `remap_subs/{428,429,430}remap.ngc` | pinned by submodule commit | Selected axes, limits, speeds, startup file and switchkins remaps |
 
 The current local LinuxCNC tree contains unrelated heartbeat instrumentation
@@ -155,7 +157,7 @@ families because their cardinality comes from the selected INI.
 | Optional Stop and Block Delete | `toggle_optional_stop`, `toggle_block_delete` | Visible `SOURCE_BLOCKED`; block delete's source wait, MANUAL switch and preview reload must not be approximated by a local checkbox |
 | MDI history clear/copy/paste/select/double-click/Up/Down | `clear_mdi_history`, `mdi_history_hist2clip`, `mdi_history_clip2hist`, `mdi_history_butt_1`, `mdi_history_double_butt_1`, `mdi_up_cmd`, `mdi_down_cmd` | Select/Up/Down/local history: `SOURCE_ADAPTER`; clipboard/file persistence variants are browser/host boundaries |
 | Calibration, HAL Configuration, HAL Meter, HAL Scope, LinuxCNC Status, Debug Level | external `exec` commands in Machine menu | Desktop-process boundary; not rendered and never mapped to Diagnostics as though it were the same action |
-| Home all/joint and Unhome all/joint | `home_all_joints`, `home_joint_number`, `unhome_all_joints`, `unhome_joint_number` | Home all: `SOURCE_ADAPTER`; Web Home Axis maps the fixed XYZAC axis selection to a numeric joint and retains the source KINEMATICS_BOTH restriction; individual joint selection and Unhome remain `SOURCE_BLOCKED` |
+| Home all/joint and Unhome all/joint | `home_all_joints`, `home_joint_number`, `unhome_all_joints`, `unhome_joint_number` | Home All and numeric Home Joint: `SOURCE_ADAPTER`, native homemod execution. World-axis requests reject for BOTH. Unhome remains unavailable. |
 | Zero P1..P9 and G92 coordinate systems | `clear_offset` | `SOURCE_BLOCKED`; Touch Off is not an alias for clearing a coordinate system |
 | Tool touch-off target workpiece/fixture | `toggle_tto_g11` selecting `G10 L10`/`G10 L11` | `SOURCE_BLOCKED` with Tool Touch Off; no local target state is exposed |
 | Top/Z2/Side/Front/Y2/Perspective, zoom and rotate | `set_view_*`, `zoomin`, `zoomout`, rotate Tcl command | `SOURCE_ADAPTER`; Y2 is toolbar-only in the native layout |
@@ -163,9 +165,9 @@ families because their cardinality comes from the selected INI.
 | Show program, rapids, alpha, live plot, tool, extents, offsets, limits, velocity, DTG | `toggle_show_*`, `toggle_program_alpha` | Program/live/extents/offsets/limits/velocity have adapters; rapids, alpha, tool toggle and DTG are not rendered |
 | Grid Off/custom/INI increments, large DRO font, PyVCP, Joint/World | `set_grid_size`, `set_grid_size_custom`, `toggle_dro_large_font`, `toggle_show_pyvcppanel`, `set_teleop_mode` | Not rendered; Joint/World is `SOURCE_BLOCKED`, presentation-only settings are not aliased |
 | Clear Live Plot | `clear_live_plot` -> `LivePlotter.clear` -> `positionlogger.clear` | `SOURCE_ADAPTER`; this is the only native live-trace deletion action |
-| Axis/joint selection and jog increment | `ja_rbutton`, `jogincrement`, `activate_ja_widget` | XYZAC axis and increment selection: `SOURCE_ADAPTER`; native joint selection is `SOURCE_BLOCKED` |
+| Axis/joint selection and jog increment | `ja_rbutton`, `jogincrement`, `activate_ja_widget` | XYZAC axis/increment selection and dedicated numeric homing-joint selection: `SOURCE_ADAPTER`; full joint-mode jogging remains unavailable |
 | Jog negative/positive and key jog | `jog_minus`, `jog_plus`, `jog_on`, `jog_off` | `SOURCE_ADAPTER`; press/release semantics and Manual-tab guard apply |
-| Home Axis, Touch Off, Tool Touch Off, Override Limits | corresponding `zerohome`/`override` widgets | Home Axis: fixed XYZAC axis-to-joint `SOURCE_ADAPTER` with source mode transaction; Touch Off: selected-coordinate adapter; Tool Touch Off/Override Limits: visible `SOURCE_BLOCKED` |
+| Home Axis, Touch Off, Tool Touch Off, Override Limits | `home_joint`, `home_joint_number`, touch-off/override widgets | Home Joint uses explicit numeric selection and native homemod. Touch Off is a coordinate adapter; Tool Touch Off/Override Limits remain blocked. |
 | Spindle CCW/Stop/CW, slower/faster, brake | `spindle`, `spindle_decrease`, `spindle_increase`, `spindle_constant`, `brake` | `SOURCE_ADAPTER`; button-state formulas and press/release ordering apply |
 | Mist and Flood | `mist`, `flood`, `mist_toggle`, `flood_toggle` | `SOURCE_ADAPTER`; independent canonical IO bits |
 | MDI entry, Go, Enter, history activation | `send_mdi`, `send_mdi_command` | `SOURCE_ADAPTER`; source trim, mode and adjacent-history de-duplication apply |
@@ -184,7 +186,7 @@ command are blocked instead of being silently mapped to another operation.
 | --- | --- | --- |
 | `F1`, `F2`, lowercase `o`, `r`, `t`, `p`, `s`, `Escape`, `Ctrl-r`, `F7`-`F12` | E-stop, power, open, run, step, pause, resume, stop, reload, coolant and spindle handlers | Worker-backed commands where the corresponding control is supported. Display labels remain `O/R/T/P/S`. |
 | uppercase `R`, `F` | `task_reverse`, `task_forward` | Source controls are recorded as blocked because the selected WASM program ABI has no reverse/forward command; they are never mapped to Run. |
-| `Home`, `Ctrl-Home`, `Shift-Home`, `End`, `Ctrl-End` | selected joint home, home all, zero selected G54 axis, system touch off, tool touch off | Home uses the fixed XYZAC axis-to-joint adapter (and Home All uses the all-joint transaction); system Touch Off has an adapter; zero-G54 and Tool Touch Off are blocked. |
+| `Home`, `Ctrl-Home`, `Shift-Home`, `End`, `Ctrl-End` | selected joint home, home all, zero selected G54 axis, system touch off, tool touch off | Home uses numeric joint selection (and Home All uses the native configured joint sequences); system Touch Off has an adapter; zero-G54 and Tool Touch Off are blocked. |
 | lowercase `x`, `y`, `z`, `a` | Select the first four source axes | Axis selection adapter. Native AXIS does **not** bind lowercase `c` to C-axis selection; `c` selects continuous jog. C remains selectable only through its radio control. |
 | `-`, `=`, arrows/Page keys/`[`/`]` and their Shift variants | `jog_on_map`/`jog_off_map` or selected-axis `jog_minus`/`jog_plus` | Jog key semantics require keydown start and keyup stop. Pointer controls are supported; unavailable key bindings are not reassigned. |
 | lowercase `c`, lowercase `i`, uppercase `I` | Continuous, next incremental and previous incremental jog modes | Represented by the jog increment selector; no second machine-mode state is created. |
@@ -219,15 +221,12 @@ command are blocked instead of being silently mapped to another operation.
    `motion/control.c:2186` 在执行 ID 改变后暂停 TP，不能“解析一行后永久
    冻结”，也不能一次 Step 把全部已排队运动执行完。Web 单步的源码行解析
    与原生 NML 指令细分仍是需单独验证的适配边界，不能用行数相同替代运动断言。
-5. **回零类型不能混同。** `switchkins.c::kinematicsType()` 始终返回
-   `KINEMATICS_BOTH`；M429 的 `active_type=0` 不代表 KINEMATICS_IDENTITY。
-   原生 `home_joint` 在这种配置下只接受数字 joint；直接把世界坐标字母传给
-   `home_joint` 会被源码拒绝。固定的 XYZAC TRT Web 面板没有原生 joint
-   单选组，因此 `Home Axis` 使用明确记录的 Web 适配：
-   `X/Y/Z/A/C -> joint 0/1/2/3/4`，Worker 只把这个映射后的数字 joint
-   交给 WASM home-limit authority，并在结果中回显 `source_axis`、
-   `joint` 和 `motion_mode`。它不是把 `KINEMATICS_BOTH` 冒充成
-   `KINEMATICS_IDENTITY`，也不是用坐标轴字母绕过 joint 约束。
+5. **回零采用原生 homemod。** `switchkins.c::kinematicsType()` 始终返回
+   `KINEMATICS_BOTH`，M429 不改变这一类型。世界轴字母不能作为回零目标；
+   `manual-home-joint-select` 明确选择数字关节，`manual-home-axis` 保留 ID，
+   按钮显示 Home Joint，提交 `HOME {joint:0..4}`。Home All 提交
+   `HOME {all:true}`。WASM 直接编译源 `homing.c` 和 `simple_tp.c`，
+   不再预览 home-limit 后排一条协调 TP 回零直线。完整语义见下方 Native Homing。
 6. **自动恢复标签模式。** `axis.tcl::update_state` 在 ON+IDLE 的状态边沿，
    当前 task_mode 为 AUTO 时调用 `set_mode_from_tab`；显式 Open/Reload 完成后
    也调用它。Web 必须通过排队的 `SET_MODE` 恢复所选 Manual/MDI 页，不能只
@@ -254,7 +253,7 @@ command are blocked instead of being silently mapped to another operation.
 | 功能 | 原生行为 / 当前边界 | 禁止的错误结论 |
 | --- | --- | --- |
 | Run 警告 | `run_warn` 对 XYZ 预览边界给出确认；当前 WASM 没有完整含刀偏 extents 警告事务 | 不得声称已复制 run_warn 的确认/取消交互 |
-| Joint/World、Home Axis | KINEMATICS_BOTH 需要 joint 数字选择与 FREE/TELEOP 状态；固定 XYZAC Web 面板以 X/Y/Z/A/C 的明确一对一映射提供 Home Axis 适配，执行时仍切入 FREE/joint 并由 WASM 返回数字 joint 结果 | 不得用 switchkins 编号判断 kinematics 类型，不得把世界轴字母直接交给 `home_joint`，不得把本地坐标归零冒充 joint home |
+| Joint/World、Home Axis | 回零执行使用原生 FREE/homemod；数字关节选择用于 Home Joint，轴选择仍用于世界坐标 Jog/Touch Off | 不得用 X/Y/Z/A/C 偷换 joint，也不得把 M429 当作 KINEMATICS_IDENTITY。完整 Joint/World 点动切换尚未提供。 |
 | 速度滑块 | 原生线性/角速度独立，显示物理单位；当前 Jog/Max 的百分比与 6% 下限属于已公开的 Web 适配 | 不得把单一比例视为独立 angular jog 控制 |
 | 预览图层 | limits 现从 WASM XYZ 软限位 getter 读取；offsets 使用已实现的 G5x 平移；extents 使用 canonical 采样包围框 | G92/旋转/刀具偏置范围与原生文字标注仍未全量覆盖，不能称完整原生图层复刻 |
 | commanded/actual | 仿真当前两者相同，需要分别存在的 canonical 字段才可声明跟随误差显示 | 不得从 React 标签推导真实反馈差异 |
@@ -354,10 +353,10 @@ safety adaptation, not attributed to AXIS.
 | DRO coordinate/display/units | local projection | Maps AXIS `coord_type`, `display_type` and `metric` variables; values remain Worker snapshot projections. |
 | Preview layers | local projection | `SOURCE_ADAPTER` only where the source variable exists: path=`show_program`, live=`show_live_plot`, limits=`show_machine_limits`, velocity=`show_machine_speed`, offsets=`show_offsets`, extents=`show_extents`. AXIS also has rapids, alpha, tool and DTG controls that the Web does not expose. Toggling visibility never deletes layer data. |
 | Manual / MDI tabs | `SET_MODE` | `SOURCE_ADAPTER`: native tab callbacks are `ensure_manual` and `ensure_mdi`, including `set_motion_teleop` transitions. `axis.tcl::update_state` calls `set_mode_from_tab` only when returning to ON+IDLE from a non-idle/task-state transition while task mode is AUTO. No unrelated React effect may force a mode. |
-| Joint/World (teleop) mode | not exposed | AXIS View menu calls `set_teleop_mode`/`c.teleop_enable`; the selected WASM motion ABI has no canonical teleop setter, so Web does not pretend its coordinate mode is a joint/world toggle. |
+| Joint/World (teleop) mode | not exposed | AXIS View menu calls `set_teleop_mode`/`c.teleop_enable`; WASM now exposes motion mode for homing and task transitions; the full joint/world jog toggle is still not rendered. |
 | Jog `-` / `+` | `JOG_START`, `SIM_STEP`, `JOG_STOP` | `SOURCE_ADAPTER`: source requires `manual_ok` and the visible Manual tab. Incremental sends one `JOG_INCREMENT`; Continuous sends one `JOG_CONTINUOUS` and motion continues until the deferred release issues `JOG_STOP`. Web servo sampling is transport/runtime work, not repeated user jog commands. |
-| Home Axis | `HOME {axis,joint}` | `SOURCE_ADAPTER`: UI uses the fixed map `x/y/z/a/c -> 0/1/2/3/4`; Worker validates the pair, applies the source `manual_ok` gate, enters MANUAL, switches to FREE/joint for the `c.home(joint)` equivalent, waits for the WASM home-limit result, then publishes the canonical joint mask. An unmapped axis, mismatched joint or invalid numeric joint is rejected before any mode/home mutation. |
-| Home All / Re-home All | `HOME {all:true}` | `SOURCE_ADAPTER`: `manual_ok`, ensure MANUAL, if `all_homed()` ask the native re-home confirmation, then switch to FREE/joint, call the WASM equivalent of `c.home(-1)`, wait, and publish all five homed bits. The fixed Web axis adapter restores its prior world-axis presentation mode after the completed transaction; the source mode used for homing is still recorded. Native text remains Home All; the Web `RE-HOME ALL` label is presentation-only and cannot trigger a hidden home during load. |
+| Home Axis / Home Joint | `HOME {joint}` | `SOURCE_ADAPTER`: select numeric joint, confirm re-home if applicable, ensure MANUAL, native FREE + `do_home_joint(j)`, then servo-driven `do_homing`/`simple_tp_update`. Letter-axis requests reject for BOTH. |
+| Home All / Re-home All | `HOME {all:true}` | `SOURCE_ADAPTER`: manual_ok, ensure MANUAL, re-home confirmation, native FREE + `do_home_joint(-1)`. ACK means accepted; only native homing/homed/home_state establish completion. HOME_SEQUENCE comes from INI. |
 | Touch Off | `TOUCH_OFF {axis,value,system,units}` | `SOURCE_ADAPTER`: source UI condition is the Touch Off formula above; task-layer MDI additionally enforces homing unless `NO_FORCE_HOMING`. Prompt for `P0 Current` through `P9 G59.3`, save mode, ensure MDI, scale linear units, issue `G10 L20 <P-token> <axis>[value*scale]`, wait, redraw/reload, restore saved mode and TELEOP. |
 | Tool Touch Off | `TOOL_TOUCH_OFF {axis,value,system,units}` | LinuxCNC source requires `G10 L10/L11` plus `G43`, but the selected WASM interpreter does not expose canonical tool-offset storage. The control is therefore disabled with `blocked_by_abi_tool_offsets`; it never sends a fake fixed `G43`. |
 | Override limits | disabled | `SOURCE_BLOCKED`: widget enable requires `on_any_limit`; handler separately requires interpreter IDLE. If already overridden it ensures AUTO; otherwise it ensures MANUAL and calls `c.override_limits()`. The selected WASM ABI cannot represent this canonical path. |
@@ -404,15 +403,16 @@ history rows intentionally share the family ID `mdi-history-select`.
 | `toolbar-clear-live-plot` | `clear_live_plot` -> `positionlogger.clear()` | Worker `VISUAL_CLEAR`; always visual-only | Advances `live_path_epoch`, clears Live Plot only and retains static preview |
 | `workspace-case-select` | Web selection of the INI/configuration input | Local selection; selected catalog is restricted to supported XYZAC case | Does not load or change machine state until `toolbar-load-case` |
 | `workspace-load-3d-chips` | Web packaged-file equivalent of `open_file_guts` | Fetch published `3D_Chips.ngc`, then `PROGRAM_LOAD`; IDLE only | Same replacement path as Open; retains Live Plot, no automatic Run/Home |
-| `manual-home-all` | Machine Homing menu -> `home_all_joints` | `HOME {all:true}`; `manual_ok`, MANUAL, FREE/joint home, wait, canonical snapshot | Repeat asks source confirmation; Web Re-home label is non-authoritative presentation only; response records the mode phase and five-joint homed mask |
+| `manual-home-all` | `home_all_joints` | `HOME {all:true}`; ON+IDLE, no concurrent homing/jog | Native homemod selects the configured sequences. No artificial coordinated return-to-zero motion. |
 | `switchkins-0`, `switchkins-1`, `switchkins-2` | `M429`, `M428`, `M430` remaps and `motion.switchkins-type` | `KINEMATICS_SELECT`; ON, homed, IDLE, empty TP | Identity/XYZAC/User K canonical type, or stable gate reason |
-| `tab-manual`, `tab-mdi` | AXIS notebook F3/F5 `ensure_manual`/`ensure_mdi` | `SET_MODE` adapter under `manual_ok` | Acknowledged MANUAL/MDI task mode. The Web does not expose a separate Joint/World toggle; Home transactions use an internal FREE/joint phase and restore the selected fixed XYZAC world-axis presentation mode after completion. |
+| `tab-manual`, `tab-mdi` | `ensure_manual` / `ensure_mdi` | `SET_MODE`; manual_ok and motion exclusion | Task mode acknowledgement and WASM motion mode are monitored separately; no local tab is mode authority. |
 | `tab-diagnostics` | Web diagnostics boundary | Local tab only | Reads Worker state/gates; sends no command |
 | `tab-preview`, `tab-dro` | AXIS preview/DRO presentation | Local tab only | Changes visible projection; machine state unchanged |
-| `manual-axis-x`, `manual-axis-y`, `manual-axis-z`, `manual-axis-a`, `manual-axis-c` | AXIS axis radio group / `ja_rbutton` | Local axis selection; source manualgroup ON+IDLE | Supplies the selected axis to Jog/Home/Touch Off; sends no motion by itself |
+| `manual-axis-x`, `manual-axis-y`, `manual-axis-z`, `manual-axis-a`, `manual-axis-c` | AXIS axis radio group / `ja_rbutton` | Local axis selection; source manualgroup ON+IDLE | Supplies the selected world axis to Jog/Touch Off; sends no motion by itself |
 | `manual-jog-increment` | `jogincrement` combobox | Local choice: Continuous or configured increment | Determines `JOG_CONTINUOUS` versus `JOG_INCREMENT` payload only |
 | `manual-jog-negative`, `manual-jog-positive` | `jogminus`, `jogplus` -> `jog_on` | `JOG_START`; visible Manual tab and `manual_ok`; source chooses joint/teleop mode from kinematics+homing | Incremental submits once; Continuous remains active until one release/cancel `JOG_STOP` |
-| `manual-home-axis` | `home_joint` | UI ON+IDLE; `HOME {axis,joint}` validates the fixed XYZAC mapping, then follows the source MANUAL -> FREE/joint -> home transaction | Selected axis is homed through its mapped numeric joint; already-homed joint asks for explicit re-home confirmation; invalid mapping is rejected without mode/home mutation |
+| `manual-home-joint-select` | Native numeric joint Homing selection | Local integer 0..4; same homing gate | Selects only the target joint; no motion command. |
+| `manual-home-axis` | `home_joint` / numeric Homing menu | `HOME {joint}`; ON+IDLE and no concurrent motion | Label Home Joint; numeric target only. Native state and motor offset determine the result. |
 | `manual-touch-off` | `touch_off_system` | `TOUCH_OFF`; exact Touch Off UI formula, `manual_ok`, valid axis/value/system, plus task-layer homing policy | MDI `G10 L20`, wait, reload and restore saved task/motion mode |
 | `manual-tool-touch-off` | `touch_off_tool` | Permanently disabled for selected ABI | `blocked_by_abi_tool_offsets`; never approximated with `G92`/fixed `G43` |
 | `manual-override-limits` | `toggle_override_limits` | Permanently disabled for selected ABI | No state mutation; explanatory ABI title |
@@ -449,10 +449,10 @@ React must derive its button gates from that state on the next snapshot.
 | `ESTOP(active=false)` | Source toggle requires current status ESTOP | IO E-stop clears; observed source task state becomes `ESTOP_RESET`; Web may display `STOPPED` only as an adapter label | Power is enabled; motion/manual/MDI remain disabled until ON |
 | `POWER(active=true)` | Source ON edge is valid only from `ESTOP_RESET`; it does not require interpreter IDLE | Trajectory enables and observed task state becomes ON | Manual group requires ON+IDLE; program Run still meets UI/taskfile adapter and task-layer homing rules |
 | `POWER(active=false)` | Source toolbar allows the toggle whenever status is not ESTOP, including active execution | Motion/task/IO abort, trajectory disables, volatile-home joints unhome, task plan synchronizes; taskfile retained | Observed state returns to ESTOP_RESET; nonvolatile homing is not falsely cleared by the UI |
-| `HOME(all/axis)` | AXIS homing UI: ON+IDLE; handler `manual_ok`, then MANUAL; `go_home()` selects FREE/joint before `c.home()` | Home authority updates the canonical five-joint `homed[]`; Web axis selection is validated and mapped to one numeric joint for this fixed one-to-one XYZAC case | AUTO's task layer may run only when all required joints are homed unless `NO_FORCE_HOMING=1`; an invalid axis/joint pair never changes mode or home state |
+| `HOME(all/joint)` | ON+IDLE, no concurrent homing or jog; ensure MANUAL | FREE mode, original homing sequence and joint state machines; `homing`, `homed`, `home_state`, motor offset and position from WASM | Home is not AUTO execution. INTERP_IDLE does not mean homing is inactive. |
 | `PROGRAM_LOAD` | Native Open/Reload requires interpreter IDLE; Web additionally excludes active TP/MDI queue and concurrent parse | Save mode, ensure MANUAL, restore mode, set line 0, synchronize, open/replace taskfile and canon, parse status-derived preview, then apply tab mode | New taskfile/preview replace the old selection. Static preview replacement is independent of Live Plot data. |
 | `KINEMATICS_SELECT` | Machine on, homed, idle, TP queue empty, valid type 0/1/2 | M429/M428/M430 selection updates canonical kinematics and the HAL switchkins type | KINEMATICS_BOTH remains unchanged; a non-empty queue blocks selection |
-| `SET_MODE(MANUAL)` | Source task rejects leaving active AUTO; tab handler also requires `manual_ok` | Task mode MANUAL acknowledged; explicit joint/teleop switching remains the stated boundary | Manual widgets are still controlled by ON+IDLE, not mode alone |
+| `SET_MODE(MANUAL)` | Source task rejects leaving active AUTO; tab handler also requires `manual_ok` | Task mode MANUAL acknowledged; motion mode selects TELEOP when homed, FREE otherwise | Manual widgets are still controlled by ON+IDLE, not mode alone |
 | `SET_MODE(MDI)` | Tab handler requires `manual_ok`; task mode transition follows source motion-mode calls | Task mode MDI | MDI widgets use ON+queue-capacity; submission still calls `manual_ok` |
 | `PROGRAM_RUN` | Native toolbar formula is ON+IDLE and does not test taskfile. Web adds current-taskfile validation; task acceptance adds all-homed unless `NO_FORCE_HOMING=1`. Completed/aborted are valid idle starts. | `task_run`: warning, ensure AUTO, `AUTO_RUN(start_line)`, reset next start line to 0. Task layer reopens the retained file when plan is closed. | During non-IDLE, native Run relief is pressed and Open/Reload/Run/manual controls disable; on IDLE, direct Run is available again. |
 | `PROGRAM_PAUSE` | Source handler: AUTO plus READING/WAITING; combined toolbar: AUTO/MDI plus non-IDLE and not currently paused | Trajectory pauses, previous interpreter state is saved, interpreter becomes PAUSED | Combined toolbar remains enabled and becomes Resume; Stop, E-stop and Power remain enabled by their own formulas |
@@ -628,7 +628,7 @@ Run 仍需用户单独操作，不能因加载文件而自动上电、回零或
 | Open、Reload、案例和打包程序 | 四条入口共用 `gates.load`，包含 PAUSED 与活动 TP 队列；Reload 还要求已有 taskfile | 文件读取完成后再次检查门控，再提交一次 `PROGRAM_LOAD` | 用户取消文件选择不发命令；门控已变化则不替换编辑器文本、路径或预览；解析失败属于已选新文件的源码错误 |
 | 点动和主轴调速按住按钮 | 主指针按下或聚焦按钮的 Space/Enter 按下；重复 keydown/第二指针不重复提交 | 记录本次手势的 axis/direction/increment 与 release 操作；按下和释放有固定命令顺序 | pointerup/cancel/leave/lost capture、keyup、窗口失焦、页面隐藏、离开 Manual 页只结束同一手势一次；release 早于 ACK 时仍按 start→stop 顺序处理 |
 | 坐标轴、步长、DRO、视图、图层、选项卡 | 使用表内本地显示状态；切换 Manual/MDI 另走 `SET_MODE` | 更新选择或投影，不能变更 canonical machine state | 每个选项均验证显示变化；隐藏 Live Plot 不得删除轨迹；旋转、平移和缩放须验证实际画布变化 |
-| 系统对刀、重复回零 | 源码门控通过后显示参数/确认对话框 | 确认后只发送一次 `TOUCH_OFF` 或 `HOME` | 取消不发运动/对刀命令；Home All 的原生 ensure MANUAL 在确认之前，Web 确认前模式处理属于适配差异；空白/非有限数字/非法 P 或 G 系统标识不提交 |
+| 系统对刀、重复回零 | 源码门控通过后显示参数/确认对话框 | 确认后只发送一次 `TOUCH_OFF` 或 `HOME` | 取消不发运动/对刀命令；Home All 在确认前 ensure MANUAL，单关节重复回零在确认后 ensure MANUAL；空白/非有限数字/非法 P 或 G 系统标识不提交 |
 | About 和菜单 | 本地打开、关闭、Escape；About 打开时焦点进入，关闭后返回入口 | 显示/隐藏相应内容 | 弹窗打开期间不触发普通机器快捷键；F1 急停仍可用；关闭动作不触发 Stop |
 | ABI/桌面边界控件 | 原生 disabled 属性与明确原因 | 无成功路径 | `SOURCE_BLOCKED` 不得出现机器命令或本地假开关；全部在浏览器清单中检查 |
 
@@ -792,38 +792,83 @@ block whose target already equals the current canonical pose is a zero-motion
 block: it advances the interpreter line but must not enqueue an invalid
 zero-length TP segment.
 
-### Homing must execute through the WASM trajectory
+### Native Homing and State Monitoring (2026-09-09)
 
-`sim_kinematics_home_limit_home()` and
-`sim_kinematics_home_limit_home_joint()` are home-state authorities. They
-calculate and commit the canonical homed mask, joint values and forward pose;
-they are not a substitute for the LinuxCNC `c.home()` motion command. The Web
-must therefore use a two-phase transaction whenever the current pose differs
-from the home target:
+This section supersedes the former axis-to-joint alias and coordinated-TP
+return-to-zero implementation. The reference is the pinned native source,
+including the selected INI, not the previous browser tests.
+
+| Requested status | Correct native field / source | Web snapshot |
+| --- | --- | --- |
+| Task mode | `emcStatus->task.mode` | `source_status.task.mode`: MANUAL/MDI/AUTO |
+| Machine state | `emcStatus->task.state` | `source_status.task.state`: STATE_ESTOP/STATE_ESTOP_RESET/STATE_ON |
+| Interpreter state | `emcStatus->task.interpState` | `source_status.task.interpState`: INTERP_IDLE/READING/WAITING/PAUSED |
+| Motion mode | `emcStatus->motion.traj.mode` | `source_status.traj.mode`: FREE/COORD/TELEOP |
+| Motion type | `emcStatus->motion.traj.motion_type` | `source_status.traj.motion_type`: motion classification, not mode |
+| Joint homing/homed | `get_homing(j)` / `get_homed(j)`, reflected in joint status | `source_status.joint[j].homing/homed` |
+| Joint home state | `homing.c::H[j].home_state`, HAL `joint.N.home-state` | `source_status.joint[j].home_state/home_state_name` |
+
+The native NML joint status does not directly expose a `home_state` member.
+WASM reads the original homemod state that drives the HAL pin. Task status
+remains the existing WASM task/interpreter adapter; this is not a claim that
+the entire NML task process has been ported. Motion mode is stored in WASM.
+
+The visible monitor retains only Task mode, Task state, Interpreter, Motion
+mode, Motion type and Homing. Per-joint status, positions, motor offsets and
+bounded servo transition history remain in the Worker snapshot for logic and
+diagnostics, but their table and history list are not rendered on the panel.
+The detailed status strip is the single visible machine-state summary. The
+duplicate footer and header operation badge are removed. Connection status
+remains separately labelled. The case strip shows the current program basename
+with its full path in a tooltip, and renders the command result once. Existing
+machine/operation values remain on the main element as data attributes for
+browser diagnostics; no control command or gate changes with this layout.
+Home Joint, the numeric joint selector and Home All are rendered in the Manual
+tab's action area; the standalone Machine sequence heading is not rendered.
 
 ```text
-HOME click
- -> validate ON+IDLE/manual_ok and axis-to-joint mapping
- -> ensure MANUAL -> select FREE/joint homing phase
- -> WASM kinematics computes target pose without committing home state
- -> enqueue one LinuxCNC TP homing move to that target
- -> return HOME {homing.phase:"moving"}; keep current pose and homed state
- -> browser scheduler sends SIM_STEP task/servo ticks
- -> TP reaches target and queue becomes empty
- -> commit sim_kinematics_home(_joint)
- -> synchronize interpreter/TP canonical position
- -> restore the prior Web presentation mode
- -> publish HOME {homing.phase:"complete", wasm_home_limit, pose}
+HOME(all/joint)
+ -> ON+IDLE and no active motion; ensure MANUAL
+ -> native FREE, do_home_joint(-1 or numeric joint)
+ -> ACK: accepted; does not mean homed
+ -> servo cycle: original do_homing() then simple_tp_update()
+ -> forward kinematics of resulting joint coordinates
+ -> synchronize coordinated planner coordinate origin to native result
+ -> publish homing/homed/home_state and motor position
+ -> native all-homed edge: control.c switches to TELEOP; partial home remains FREE
+ -> native homing inactive: synchronize interpreter
 ```
 
-When the current pose already equals the target, the transaction may commit in
-the same command because there is no motion segment to execute. A Home request
-must never call `setPosition()` to jump the TP to zero, must never change the
-React pose locally, and must never advance `home_sequence` before the queued
-motion has completed. `HOME ALL` targets all five configured joint home values;
-`Home Axis` targets only the mapped joint and lets the selected XYZAC
-kinematics calculate the resulting world pose. A pending home blocks another
-Home until its queue has completed or an ESTOP/Power Off aborts it.
+`HOME_SEARCH_VEL=0` and default `HOME_LATCH_VEL=0` select home-at-current-
+position (`homing.c:805`). `HOME_SET_SWITCH_POSITION` adjusts joint coordinates
+and motor offset without moving the motor. The final move targets INI HOME
+through the joint `free_tp` (`homing.c:1248`). In the selected XYZAC INI,
+HOME and HOME_OFFSET are zero; re-home after Jog can therefore reset displayed
+joint coordinates with unchanged physical motor position. This is native
+behavior. It must not be replaced by G0, G53 or a coordinated TP line to zero.
+
+A nonzero HOME relative to HOME_OFFSET executes a real native free_tp final
+move. Search/index inputs use homemod inputs; the selected browser fixture
+has no physical switches. Unlock hardware is unsupported and configurations
+requiring it are rejected, rather than faking an unlocked device.
+
+Home completion never follows coordinated queue depth. Abort, ESTOP and power
+off cancel homemod; aborted joints do not become homed. Power off additionally
+applies VOLATILE_HOME. During homing, conflicting Run/MDI/Jog/Load/mode/recovery
+requests reject, while status sampling and abort remain available. These extra
+Web UI exclusions are explicit adapters around the native button formulas.
+
+`visual.pose_epoch` follows native home command sequence. It invalidates stale
+display playback without clearing Live Plot. Neither this sequence nor the
+displayed zero value is evidence of homing completion.
+
+Validation boundary: the native homing state round-trip preserves joint/motor
+positions and offsets. The existing general recovery audit still reports
+`endpoint_at_checkpoint_equal=false` for planner/HAL fields; a roughly 7.7 MB
+full-history RECOVER envelope also exceeds the existing ccall-array stack
+boundary. These are not closed by this homing change and must not be included
+in claims of full recovery parity. Native homing checkpoint bytes are stored
+sparsely to avoid copying unused joint compensation tables into JSON.
 
 ### Touch-off command encoding
 
@@ -902,7 +947,7 @@ caller with its obsolete flag. Clear Live Plot is an explicit user operation.
 
 1. `web/worker/sim-session.mjs` is the command gate and transaction boundary.
 2. `web/worker/wasm-linuxcnc-tp.mjs`, `wasm-program-runtime.mjs`,
-   `wasm-xyzac-io.mjs` and `wasm-xyzac-device-io.mjs` are the only authorities
+   `wasm-native-homing.mjs`, `wasm-xyzac-io.mjs` and `wasm-xyzac-device-io.mjs` are the only authorities
    for selected-case motion, interpreter and device state.
 3. `web/react/src/App.tsx` may render a button disabled from a gate snapshot,
    but a Worker gate is still mandatory because UI state can be stale.
@@ -930,14 +975,14 @@ caller with its obsolete flag. Clear Live Plot is an explicit user operation.
 
 Focused evidence for this contract is kept in
 `web/worker/test_xyzac_touch_off_source_flow.mjs`,
-`web/worker/test_xyzac_home_source_flow.mjs`,
+`web/worker/test_native_homing.mjs`,
 `web/worker/test_xyzac_panel_buttons.mjs` and
 `scripts/test_xyzac_panel_buttons_browser.mjs`. The completed/aborted direct
-rerun contract is covered by `web/worker/test_xyzac_program_rerun.mjs` and the
-direct visible Jog -> Home Axis/Home All sequence at
-`scripts/test_xyzac_home_reset_browser.mjs` records the in-flight TP pose,
-queue depth and final zero pose on the local `:5175` panel.
-published-site execution sequence is covered by
+rerun contract is covered by `web/worker/test_xyzac_program_rerun.mjs`. The
+direct visible Jog -> Home Joint/Home All sequence at
+`scripts/test_xyzac_home_reset_browser.mjs` records native homing transitions,
+joint coordinates and unchanged motor positions for no-search homing on the local `:5175` panel.
+The published-site execution sequence is covered by
 `scripts/test_xyzac_program_execution_browser_strict.mjs`.
 The source-surface audit is enforced by `scripts/test_axis_control_contract.mjs`.
 The press/release, focus-loss, MDI history, modal keyboard and desktop/mobile
@@ -948,8 +993,8 @@ OFF/ESTOP overrides and the source mode transitions against real WASM.
 `update_state` procedure across 576 combinations and compares 13 widget
 predicates (7488 assertions), rather than comparing two rewritten formulas.
 `web/worker/test_axis_source_execution.mjs` verifies repeated Step, queued
-motion Step, WAITING/MDI Pause-Resume, source OFF state, fixed XYZAC
-axis-to-joint Home Axis mapping and spindle override 0-to-100 restoration using
+motion Step, WAITING/MDI Pause-Resume, source OFF state, KINEMATICS_BOTH
+world-axis rejection and spindle override 0-to-100 restoration using
 the actual WASM runtime.
 The exhaustive control-ID audit is enforced by
 `scripts/test_axis_control_inventory.mjs` and