Use native LinuxCNC homing and consolidate web panel status

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

@@ -0,0 +1,53 @@
+# 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.

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
+5. **回零采用原生 homemod。** `switchkins.c::kinematicsType()` 始终返回
-   `KINEMATICS_BOTH`；M429 的 `active_type=0` 不代表 KINEMATICS_IDENTITY。
+   `KINEMATICS_BOTH`，M429 不改变这一类型。世界轴字母不能作为回零目标；
-   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
+   `manual-home-joint-select` 明确选择数字关节，`manual-home-axis` 保留 ID，
-   `home_joint` 会被源码拒绝。固定的 XYZAC TRT Web 面板没有原生 joint
+   按钮显示 Home Joint，提交 `HOME {joint:0..4}`。Home All 提交
-   单选组，因此 `Home Axis` 使用明确记录的 Web 适配：
+   `HOME {all:true}`。WASM 直接编译源 `homing.c` 和 `simple_tp.c`，
-   `X/Y/Z/A/C -> joint 0/1/2/3/4`，Worker 只把这个映射后的数字 joint
+   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。
-   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。
 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 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, 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 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
+This section supersedes the former axis-to-joint alias and coordinated-TP
-`sim_kinematics_home_limit_home_joint()` are home-state authorities. They
+return-to-zero implementation. The reference is the pinned native source,
-calculate and commit the canonical homed mask, joint values and forward pose;
+including the selected INI, not the previous browser tests.
-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
+| Requested status | Correct native field / source | Web snapshot |
-from the home target:
+| --- | --- | --- |
+| 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
+HOME(all/joint)
- -> validate ON+IDLE/manual_ok and axis-to-joint mapping
+ -> ON+IDLE and no active motion; ensure MANUAL
- -> ensure MANUAL -> select FREE/joint homing phase
+ -> native FREE, do_home_joint(-1 or numeric joint)
- -> WASM kinematics computes target pose without committing home state
+ -> ACK: accepted; does not mean homed
- -> enqueue one LinuxCNC TP homing move to that target
+ -> servo cycle: original do_homing() then simple_tp_update()
- -> return HOME {homing.phase:"moving"}; keep current pose and homed state
+ -> forward kinematics of resulting joint coordinates
- -> browser scheduler sends SIM_STEP task/servo ticks
+ -> synchronize coordinated planner coordinate origin to native result
- -> TP reaches target and queue becomes empty
+ -> publish homing/homed/home_state and motor position
- -> commit sim_kinematics_home(_joint)
+ -> native all-homed edge: control.c switches to TELEOP; partial home remains FREE
- -> synchronize interpreter/TP canonical position
+ -> native homing inactive: synchronize interpreter
- -> restore the prior Web presentation mode
- -> publish HOME {homing.phase:"complete", wasm_home_limit, pose}
 ```
 
-When the current pose already equals the target, the transaction may commit in
+`HOME_SEARCH_VEL=0` and default `HOME_LATCH_VEL=0` select home-at-current-
-the same command because there is no motion segment to execute. A Home request
+position (`homing.c:805`). `HOME_SET_SWITCH_POSITION` adjusts joint coordinates
-must never call `setPosition()` to jump the TP to zero, must never change the
+and motor offset without moving the motor. The final move targets INI HOME
-React pose locally, and must never advance `home_sequence` before the queued
+through the joint `free_tp` (`homing.c:1248`). In the selected XYZAC INI,
-motion has completed. `HOME ALL` targets all five configured joint home values;
+HOME and HOME_OFFSET are zero; re-home after Jog can therefore reset displayed
-`Home Axis` targets only the mapped joint and lets the selected XYZAC
+joint coordinates with unchanged physical motor position. This is native
-kinematics calculate the resulting world pose. A pending home blocks another
+behavior. It must not be replaced by G0, G53 or a coordinated TP line to zero.
-Home until its queue has completed or an ESTOP/Power Off aborts it.
+
+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
+rerun contract is covered by `web/worker/test_xyzac_program_rerun.mjs`. The
-direct visible Jog -> Home Axis/Home All sequence at
+direct visible Jog -> Home Joint/Home All sequence at
-`scripts/test_xyzac_home_reset_browser.mjs` records the in-flight TP pose,
+`scripts/test_xyzac_home_reset_browser.mjs` records native homing transitions,
-queue depth and final zero pose on the local `:5175` panel.
+joint coordinates and unchanged motor positions for no-search homing on the local `:5175` panel.
-published-site execution sequence is covered by
+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
+motion Step, WAITING/MDI Pause-Resume, source OFF state, KINEMATICS_BOTH
-axis-to-joint Home Axis mapping and spindle override 0-to-100 restoration using
+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

scripts/test_axis_control_inventory.mjs

@@ -13,7 +13,7 @@ const [contract, app, panel, preview] = await Promise.all([
 const controlIds = [
   "menu-file", "menu-file-edit-tool-data", "menu-file-quit", "menu-help", "menu-help-about", "about-close",
   "toolbar-estop", "toolbar-power", "toolbar-open", "toolbar-load-case", "toolbar-reload", "toolbar-run", "toolbar-step", "toolbar-pause-resume", "toolbar-stop", "toolbar-block-delete", "toolbar-optional-pause", "toolbar-zoom-in", "toolbar-zoom-out", "toolbar-view-z", "toolbar-view-z2", "toolbar-view-x", "toolbar-view-y", "toolbar-view-y2", "toolbar-view-p", "toolbar-rotate", "toolbar-clear-live-plot",
-  "workspace-case-select", "workspace-load-3d-chips", "manual-home-all",
+  "workspace-case-select", "workspace-load-3d-chips", "manual-home-all", "manual-home-joint-select",
   "switchkins-0", "switchkins-1", "switchkins-2",
   "tab-manual", "tab-mdi", "tab-diagnostics", "tab-preview", "tab-dro",
   "manual-axis-x", "manual-axis-y", "manual-axis-z", "manual-axis-a", "manual-axis-c",

scripts/test_xyzac_home_reset_browser.mjs

@@ -1,79 +1,107 @@
 import assert from "node:assert/strict";
 import { pathToFileURL } from "node:url";
 
-const modulePath = process.env.PLAYWRIGHT_MODULE;
+const imported = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href);
-assert.ok(modulePath, "PLAYWRIGHT_MODULE is required");
+const { chromium } = imported.default ?? imported;
-const imported = await import(pathToFileURL(modulePath).href);
+const url = process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5175/";
-const playwright = imported.default ?? imported;
+const browser = await chromium.launch({ headless: false, slowMo: 100, executablePath: "/usr/bin/google-chrome", args: ["--disable-gpu"] });
-const browser = await playwright.chromium.launch({
+const page = await browser.newPage({ viewport: { width: 1440, height: 1100 } });
-  headless: false,
+const errors = [];
-  executablePath: process.env.BROWSER_EXECUTABLE_PATH ?? "/usr/bin/google-chrome",
+let confirmHome = true;
-  args: ["--disable-gpu", "--ignore-certificate-errors", "--window-size=1440,1000"],
+page.on("pageerror", (e) => errors.push(e.message));
-});
+page.on("dialog", async (d) => { await page.waitForTimeout(600); if (d.type() === "confirm" && confirmHome) await d.accept(); else await d.dismiss(); });
-const page = await browser.newPage({ viewport: { width: 1440, height: 1000 } });
+await page.addInitScript(() => {
-const main = page.locator("main.axis-app");
+  window.homeResults = []; window.homeRequests = [];
-page.on("dialog", async (dialog) => { if (dialog.type() === "confirm") await dialog.accept(); else await dialog.dismiss(); });
+  const Original = window.Worker;
-const state = () => main.evaluate((element) => {
+  window.Worker = class extends Original {
-  const preview = element.querySelector("[data-xyzac-preview]");
+    constructor(...args) {
-  return {
+      super(...args);
-    loading: element.dataset.axisProgramLoading,
+      this.addEventListener("message", ({ data }) => {
-    homed: element.dataset.axisHomed,
+        const p = data.payload;
-    pose: preview?.dataset.xyzacLivePose,
+        window.homeResults.push({ seq: data.seq, kind: data.kind, command: p?.command, home: p?.homing,
-    hud: element.querySelector(".axis-preview-hud")?.textContent ?? "",
+          status: p?.source_status ?? p?.panel_snapshot?.source_status,
-    queue: element.dataset.axisTpQueueDepth,
+          pose: p?.panel_snapshot?.visual?.pose, epoch: p?.panel_snapshot?.visual?.live_path_epoch });
-    command: element.querySelector(".command-status")?.textContent ?? "",
+        if (window.homeResults.length > 500) window.homeResults.shift();
-    error: element.querySelector(".diagnostic-error")?.textContent ?? null,
+      });
+    }
+    postMessage(data, ...args) { window.homeRequests.push({ seq: data.seq, kind: data.kind, payload: data.payload }); super.postMessage(data, ...args); }
   };
 });
-const wait = async (predicate, label) => {
+const control = (id) => page.locator(`[data-axis-control="${id}"]`);
-  const started = Date.now(); let latest;
+const status = () => page.evaluate(() => window.homeResults.filter((r) => r.status).at(-1).status);
-  while (Date.now() - started < 45000) { latest = await state(); if (predicate(latest)) return latest; await page.waitForTimeout(100); }
+const home = async (id) => {
-  throw new Error(`${label}:${JSON.stringify(latest)}`);
+  const seq = await page.evaluate(() => window.homeRequests.at(-1)?.seq ?? 0);
+  await control(id).click();
+  await page.waitForFunction((seq) => window.homeResults.some((r) => r.seq > seq && r.home?.phase === "accepted"), seq);
+  await page.waitForFunction((seq) => window.homeResults.some((r) => r.seq > seq && r.status?.homing_history?.length > 1 && !r.status.homing_active), seq);
+  const result = await status();
+  assert.equal(result.task.mode, "MANUAL"); assert.equal(result.task.interpState, "INTERP_IDLE"); assert.equal(result.traj.mode, result.joint.every((j) => j.homed) ? "TELEOP" : "FREE");
+  assert.ok(result.homing_history.some((event) => event.joint.some((j) => j.home_state === 21 && j.homing)));
+  return result;
+};
+const jog = async (axis) => {
+  await control(`manual-axis-${axis}`).check();
+  const button = control("manual-jog-positive");
+  await button.scrollIntoViewIfNeeded();
+  const box = await button.boundingBox();
+  await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2);
+  await page.mouse.down(); await page.waitForTimeout(900); await page.mouse.up();
+  await page.waitForFunction(() => document.querySelector("main").dataset.axisTpQueueDepth === "0");
+  await page.waitForTimeout(250);
+  return status();
 };
-const control = (id) => main.locator(`[data-axis-control="${id}"]`);
-const click = async (id) => { const button = control(id); await wait(async () => await button.count() > 0 && !await button.isDisabled(), `${id}_enabled`); await button.click(); };
-const pose = async () => JSON.parse((await state()).pose ?? "{}");
-const screenshot = async (name) => { await page.screenshot({ path: `/tmp/axis-home-reset-${name}.png` }); console.log(name, JSON.stringify(await state())); };
-
 try {
-  await page.goto(process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5175/", { waitUntil: "domcontentloaded" });
+  await page.goto(url);
-  await wait((value) => value.loading === "false", "startup");
+  await page.waitForFunction(() => document.querySelector("main")?.dataset.axisProgramLoading === "false");
-  await click("toolbar-power"); await wait((value) => value.command.includes("POWER acknowledged"), "power");
+  await control("toolbar-power").click();
-  await click("manual-home-all"); await wait((value) => value.command.includes("HOME acknowledged") && value.homed === "[true,true,true,true,true]", "home_all");
+  await home("manual-home-all");
-  await screenshot("01-home-all-zero");
+  for (const [joint, axis] of ["x", "y", "z", "a", "c"].entries()) {
-  await control("manual-axis-x").check();
+    process.stderr.write(`Visible UI: Jog ${axis.toUpperCase()}, then Home Joint ${joint}\n`);
-  const jog = control("manual-jog-positive");
+    const before = await jog(axis);
-  await jog.dispatchEvent("pointerdown", { pointerId: 41, button: 0 });
+    assert.ok(before.joint[joint].position > 0);
-  await wait((value) => value.command.includes("JOG_START acknowledged"), "jog_start");
+    await control("manual-home-joint-select").selectOption(String(joint));
-  await page.waitForTimeout(450);
+    const after = await home("manual-home-axis");
-  await jog.dispatchEvent("pointerup", { pointerId: 41, button: 0 });
+    for (let j = 0; j < 5; j++) {
-  await wait((value) => value.command.includes("JOG_STOP acknowledged") && value.queue === "0", "jog_stop");
+      assert.ok(Math.abs(after.joint[j].motor_position - before.joint[j].motor_position) < 1e-8);
-  const jogged = await pose(); assert.ok(Math.abs(Number(jogged.x)) > 1e-6, JSON.stringify(jogged));
+      assert.ok(Math.abs(after.joint[j].position - (j === joint ? 0 : before.joint[j].position)) < 1e-8);
-  await screenshot("02-jogged-x");
+    }
-  await click("manual-home-axis");
-  const movingAxis = await wait((value) => value.command.includes("HOME acknowledged") && value.queue !== "0", "home_axis_motion");
-  const movingAxisPose = JSON.parse(movingAxis.pose); assert.ok(Math.abs(Number(movingAxisPose.x)) > 1e-6, JSON.stringify(movingAxisPose));
-  await screenshot("03-home-axis-moving");
-  const homedAxis = await wait((value) => value.command.includes("HOME acknowledged") && value.queue === "0", "home_axis");
-  const homeAxisPose = JSON.parse(homedAxis.pose); assert.ok(Math.abs(Number(homeAxisPose.x)) < 1e-8, JSON.stringify(homeAxisPose));
-  await screenshot("04-home-axis-zero");
-  for (const [axis, pointerId] of [["y", 42], ["z", 43], ["a", 44], ["c", 45]]) {
-    await control(`manual-axis-${axis}`).check();
-    const button = control("manual-jog-negative");
-    await button.dispatchEvent("pointerdown", { pointerId, button: 0 });
-    await wait((value) => value.command.includes("JOG_START acknowledged"), `${axis}_jog_start`);
-    await page.waitForTimeout(300);
-    await button.dispatchEvent("pointerup", { pointerId, button: 0 });
-    await wait((value) => value.command.includes("JOG_STOP acknowledged") && value.queue === "0", `${axis}_jog_stop`);
   }
-  await screenshot("05-multi-axis-jogged");
+  const before = await jog("x");
-  await click("manual-home-all");
+  confirmHome = false;
-  const movingAll = await wait((value) => value.command.includes("HOME acknowledged") && value.queue !== "0", "home_all_motion");
+  const count = await page.evaluate(() => window.homeRequests.filter((r) => r.kind === "HOME").length);
-  const movingAllPose = JSON.parse(movingAll.pose); assert.ok(Object.entries(movingAllPose).some(([axis, value]) => ["x", "y", "z", "a", "c"].includes(axis) && Math.abs(Number(value)) > 1e-6), JSON.stringify(movingAllPose));
+  await control("manual-home-all").click(); await page.waitForTimeout(800);
-  await screenshot("06-home-all-moving");
+  assert.equal(await page.evaluate(() => window.homeRequests.filter((r) => r.kind === "HOME").length), count);
-  const final = await wait((value) => value.command.includes("HOME acknowledged") && value.queue === "0", "home_all_again");
+  confirmHome = true;
-  const finalPose = JSON.parse(final.pose);
+  const after = await home("manual-home-all");
-  for (const axis of ["x", "y", "z", "a", "c"]) assert.ok(Math.abs(Number(finalPose[axis])) < 1e-8, `${axis}:${JSON.stringify(finalPose)}`);
+  assert.deepEqual(after.joint.map((j) => j.motor_position), before.joint.map((j) => j.motor_position));
-  await screenshot("07-home-all-zero");
+  assert.ok(after.joint.every((j) => j.homed && Math.abs(j.position) < 1e-8));
-  console.log(JSON.stringify({ schema: "xyzac-home-reset-browser.v1", status: "verified", url: process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5175/", jogged, home_axis: homeAxisPose, home_all: finalPose, screenshots: ["/tmp/axis-home-reset-01-home-all-zero.png", "/tmp/axis-home-reset-02-jogged-x.png", "/tmp/axis-home-reset-03-home-axis-moving.png", "/tmp/axis-home-reset-04-home-axis-zero.png", "/tmp/axis-home-reset-05-multi-axis-jogged.png", "/tmp/axis-home-reset-06-home-all-moving.png", "/tmp/axis-home-reset-07-home-all-zero.png"] }));
+  await control("tab-manual").click();
+  await page.waitForFunction(() => window.homeResults.filter((r) => r.status).at(-1)?.status.traj.mode === "TELEOP");
+  await page.locator('[aria-label="LinuxCNC status"]').scrollIntoViewIfNeeded();
+  await page.screenshot({ path: "/tmp/axis-native-home-desktop.png", fullPage: true });
+  const pixelCheck = async () => page.locator("canvas[data-engine]").evaluate((canvas) => {
+    const gl = canvas.getContext("webgl2") ?? canvas.getContext("webgl");
+    const data = new Uint8Array(canvas.width * canvas.height * 4);
+    gl.readPixels(0, 0, canvas.width, canvas.height, gl.RGBA, gl.UNSIGNED_BYTE, data);
+    const colors = new Set(); for (let i=0;i<data.length;i+=16) colors.add(`${data[i]},${data[i+1]},${data[i+2]}`);
+    return colors.size;
+  });
+  assert.ok(await pixelCheck() > 5);
+  await control("toolbar-run").click();
+  await page.waitForFunction(() => window.homeResults.filter((r) => r.status).at(-1)?.status.task.mode === "AUTO");
+  assert.equal((await status()).traj.mode, "COORD");
+  await control("toolbar-pause-resume").click();
+  await page.waitForFunction(() => window.homeResults.filter((r) => r.status).at(-1)?.status.task.interpState === "INTERP_PAUSED");
+  await control("tab-manual").click(); assert.equal((await status()).task.mode, "AUTO");
+  assert.equal(await control("manual-home-all").isDisabled(), true);
+  await control("toolbar-stop").click();
+  await page.waitForFunction(() => document.querySelector("main").dataset.axisTpQueueDepth === "0");
+  await page.setViewportSize({ width: 390, height: 844 });
+  await home("manual-home-all");
+  await page.locator('[aria-label="LinuxCNC status"]').scrollIntoViewIfNeeded();
+  await page.screenshot({ path: "/tmp/axis-native-home-mobile.png", fullPage: true });
+  assert.ok(await pixelCheck() > 5);
+  assert.equal(await page.evaluate(() => document.documentElement.scrollWidth <= innerWidth), true);
+  assert.deepEqual(errors, []);
+  console.log(JSON.stringify({ status: "verified", url, checks: ["visible-five-joint-home", "motor-position-preserved", "native-state-history", "cancel", "auto-paused-mode", "desktop-mobile-canvas"] }));
 } finally { await browser.close(); }

scripts/test_xyzac_live_path_lifecycle_browser.mjs

@@ -22,8 +22,8 @@ const state = () => main.evaluate((element) => {
     loading: element.dataset.axisProgramLoading,
     path: element.dataset.axisProgramPath,
     program: element.dataset.axisProgramStatus,
-    operation: element.querySelector(".operation-state")?.textContent?.trim(),
+    operation: `Operation ${element.dataset.axisStateOperation}`,
-    machine: element.querySelector(".machine-state")?.textContent?.trim(),
+    machine: `Machine ${element.dataset.axisStateMachine}`,
     homed: element.dataset.axisHomed,
     line: element.dataset.axisCurrentLine,
     queue: element.dataset.axisTpQueueDepth,

scripts/test_xyzac_live_trace_replacement_browser.mjs

@@ -11,7 +11,7 @@ const errors = [];
 page.on("pageerror", (error) => errors.push(`pageerror:${error.message}`));
 page.on("console", (message) => { if (message.type() === "error") errors.push(`console:${message.text()}`); });
 const main = page.locator("main.axis-app");
-const state = () => main.evaluate((element) => ({ source: element.dataset.axisStateSource, machine: element.querySelector(".machine-state")?.textContent?.trim(), program: element.dataset.axisProgramStatus, line: element.dataset.axisCurrentLine, path: element.querySelector(".xyzac-tool-preview")?.dataset.xyzacToolpathCount, live: element.querySelector(".xyzac-tool-preview")?.dataset.xyzacLiveTraceCount, loading: element.querySelector(".case-status")?.getAttribute("aria-busy") === "true", command: element.querySelector(".command-status")?.textContent, error: element.querySelector(".diagnostic-error")?.textContent ?? null }));
+const state = () => main.evaluate((element) => ({ source: element.dataset.axisStateSource, machine: `Machine ${element.dataset.axisStateMachine}`, program: element.dataset.axisProgramStatus, line: element.dataset.axisCurrentLine, path: element.querySelector(".xyzac-tool-preview")?.dataset.xyzacToolpathCount, live: element.querySelector(".xyzac-tool-preview")?.dataset.xyzacLiveTraceCount, loading: element.querySelector(".case-status")?.getAttribute("aria-busy") === "true", command: element.querySelector(".command-status")?.textContent, error: element.querySelector(".diagnostic-error")?.textContent ?? null }));
 const wait = async (predicate, label, timeout = 45000) => { const started = Date.now(); let last; while (Date.now() - started < timeout) { last = await state(); if (predicate(last)) return last; await page.waitForTimeout(100); } throw new Error(`${label}:${JSON.stringify(last)}`); };
 const click = async (locator, label) => { for (let index = 0; index < 300; index += 1) { if (await locator.count() && !await locator.first().isDisabled()) { await locator.first().click(); return; } await page.waitForTimeout(100); } throw new Error(`${label}:disabled_or_missing`); };
 const loadFile = async (name, source) => { const input = main.locator('input[type="file"][aria-label="Open G-code file"]'); await input.setInputFiles({ name, mimeType: "text/plain", buffer: Buffer.from(source) }); return wait((value) => value.program === "loaded" && !value.loading && value.error === null, `${name}_loaded`); };

scripts/test_xyzac_multi_program_load_browser.mjs

@@ -22,8 +22,8 @@ page.on("dialog", async (dialog) => { dialogs.push({ type: dialog.type(), messag
 const main = page.locator("main.axis-app");
 const state = () => main.evaluate((element) => ({
   source: element.dataset.axisStateSource,
-  machine: element.querySelector(".machine-state")?.textContent?.trim(),
+  machine: `Machine ${element.dataset.axisStateMachine}`,
-  operation: element.querySelector(".operation-state")?.textContent?.trim(),
+  operation: `Operation ${element.dataset.axisStateOperation}`,
   program: element.dataset.axisProgramStatus,
   line: element.dataset.axisCurrentLine,
   queue: element.dataset.axisTpQueueDepth,

scripts/test_xyzac_panel_buttons_browser.mjs

@@ -9,7 +9,7 @@ if (!modulePath) {
 
 const imported = await import(pathToFileURL(modulePath).href);
 const playwright = imported.default ?? imported;
-const browser = await playwright.chromium.launch({ headless: true, executablePath: process.env.BROWSER_EXECUTABLE_PATH ?? "/usr/bin/google-chrome", args: ["--ignore-certificate-errors", "--disable-gpu"] });
+const browser = await playwright.chromium.launch({ headless: process.env.HEADED !== "1", executablePath: process.env.BROWSER_EXECUTABLE_PATH ?? "/usr/bin/google-chrome", args: ["--ignore-certificate-errors", "--disable-gpu"] });
 const page = await browser.newPage({ viewport: { width: 1440, height: 1000 }, ignoreHTTPSErrors: true });
 const failures = [];
 const browserErrors = [];
@@ -29,8 +29,8 @@ const state = () => main.evaluate((element) => ({
   source: element.dataset.axisStateSource,
   motion: element.dataset.axisMotionAuthority,
   task: element.dataset.axisTaskAuthority,
-  machine: element.querySelector(".machine-state")?.textContent?.trim(),
+  machine: `Machine ${element.dataset.axisStateMachine}`,
-  operation: element.querySelector(".operation-state")?.textContent?.trim(),
+  operation: `Operation ${element.dataset.axisStateOperation}`,
   case: element.querySelector(".case-status")?.textContent?.trim(),
   mode: element.dataset.axisTaskMode,
   program: element.dataset.axisProgramStatus,
@@ -115,7 +115,7 @@ try {
   results.push(await record("MANUAL MODE", async () => { await main.getByRole("tab", { name: "Manual Control [F3]" }).click(); await wait((s) => s.mode === "MANUAL" || s.command?.includes("SET_MODE acknowledged"), "manual_mode_ack"); }));
   results.push(await record("HOME/TOUCH OFF boundaries", async () => {
     await click(main.locator('button[data-axis-control="manual-home-axis"]'), "home_axis_repeat");
-    await wait((s) => s.error === null && s.command?.includes("HOME acknowledged"), "home_axis_ack");
+    await wait((s) => s.error === null && s.command?.includes("HOME complete"), "home_joint_complete");
     await click(main.locator('button[data-axis-control="manual-touch-off"]'), "touch_off");
     await wait((s) => s.error === null && s.command?.includes("TOUCH_OFF acknowledged"), "touch_off_ack");
     if (!await main.locator('[data-axis-control="manual-tool-touch-off"]').isDisabled()) throw new Error("tool_touch_off_must_be_disabled");

scripts/test_xyzac_pause_resume_browser.mjs

@@ -26,7 +26,7 @@ const control = (id) => page.locator(`[data-axis-control="${id}"]`);
 const state = () => page.locator("main.axis-app").evaluate((main) => {
   const viewer = main.querySelector("[data-xyzac-preview]");
   return { loading: main.dataset.axisProgramLoading, program: main.dataset.axisProgramStatus, path: main.dataset.axisProgramPath,
-    mode: main.dataset.axisTaskMode, operation: main.querySelector("[data-axis-state-operation]")?.dataset.axisStateOperation,
+    mode: main.dataset.axisTaskMode, operation: main.dataset.axisStateOperation,
     pose: viewer?.dataset.xyzacLivePose, tick: Number(viewer?.dataset.xyzacTick), epoch: viewer?.dataset.xyzacLivePathEpoch,
     queue: Number(main.dataset.axisTpQueueDepth), command: main.querySelector(".command-status")?.textContent,
     error: main.querySelector(".diagnostic-error")?.textContent };

scripts/test_xyzac_program_execution_browser_strict.mjs

@@ -27,8 +27,8 @@ const state = () => main.evaluate((element) => ({
   source: element.dataset.axisStateSource,
   authority: element.dataset.axisAuthority,
   motion: element.dataset.axisMotionAuthority,
-  machine: element.querySelector(".machine-state")?.textContent?.trim(),
+  machine: `Machine ${element.dataset.axisStateMachine}`,
-  operation: element.querySelector(".operation-state")?.textContent?.trim(),
+  operation: `Operation ${element.dataset.axisStateOperation}`,
   mode: element.dataset.axisTaskMode,
   program: element.dataset.axisProgramStatus,
   runEnabled: element.dataset.axisRunEnabled,

scripts/test_xyzac_refresh_single_program_browser.mjs

@@ -31,8 +31,8 @@ const state = () => main.evaluate((element) => ({
   sourceHash: element.dataset.axisProgramSourceHash,
   program: element.dataset.axisProgramStatus,
   runEnabled: element.dataset.axisRunEnabled,
-  machine: element.querySelector(".machine-state")?.textContent?.trim(),
+  machine: `Machine ${element.dataset.axisStateMachine}`,
-  operation: element.querySelector(".operation-state")?.textContent?.trim(),
+  operation: `Operation ${element.dataset.axisStateOperation}`,
   homed: element.dataset.axisHomed,
   line: element.dataset.axisCurrentLine,
   queue: element.dataset.axisTpQueueDepth,

wasm-core/CMakeLists.txt

@@ -37,6 +37,8 @@ add_library(linuxcnc_tp_source STATIC
   ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp/spherical_arc.c
   ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/nml_intf/emcpose.c
   src/linuxcnc_tp_compat.c
+  src/sim_native_homing.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/motion/simple_tp.c
 )
 target_include_directories(linuxcnc_tp_source PRIVATE
   ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src
@@ -64,11 +66,16 @@ target_include_directories(sim_core PRIVATE
 target_link_libraries(sim_core PUBLIC linuxcnc_tp_source)
 
 if(NOT EMSCRIPTEN)
+  add_executable(sim_native_homing_test tests/sim_native_homing_test.c)
+  target_include_directories(sim_native_homing_test PRIVATE include)
+  target_compile_options(sim_native_homing_test PRIVATE -UNDEBUG)
+  target_link_libraries(sim_native_homing_test PRIVATE sim_core)
   add_executable(sim_api_test tests/sim_api_test.c)
   target_link_libraries(sim_api_test PRIVATE sim_core)
   target_include_directories(sim_api_test PRIVATE include)
 
   enable_testing()
+  add_test(NAME sim_native_homing_test COMMAND sim_native_homing_test)
   add_test(NAME sim_api_test COMMAND sim_api_test)
 
   add_executable(sim_protocol_test tests/sim_protocol_test.c)
@@ -289,6 +296,7 @@ if(EMSCRIPTEN)
   )
   target_compile_options(sim_core_module PRIVATE -ffp-contract=off -fno-fast-math)
   target_link_libraries(sim_core_module PRIVATE sim_posemath linuxcnc_tp_source)
+  target_link_options(sim_core_module PRIVATE "-Wl,-u,sim_native_home_init")
   set_target_properties(sim_core_module PROPERTIES
     OUTPUT_NAME "linuxcnc-sim-core"
     SUFFIX ".js"

wasm-core/include/sim_native_homing.h

@@ -0,0 +1,15 @@
+#ifndef SIM_NATIVE_HOMING_H
+#define SIM_NATIVE_HOMING_H
+#include <stdint.h>
+typedef struct native_home native_home;
+uint32_t sim_native_home_size(void);
+int sim_native_home_init(native_home *, int count, double period);
+int sim_native_home_config(native_home *, int joint, const double *parameters);
+int sim_native_home_sync(native_home *, const double *joints);
+int sim_native_home_mode(native_home *, int mode);
+int sim_native_home_start(native_home *, int joint, uint32_t seq);
+int sim_native_home_step(native_home *);
+int sim_native_home_cancel(native_home *, int volatile_only);
+int sim_native_home_input(native_home *, int joint, int home_switch, int index_enable, int negative_limit, int positive_limit);
+double sim_native_home_get(native_home *, int joint, int field);
+#endif

wasm-core/src/sim_native_homing.c

@@ -0,0 +1,168 @@
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include "../include/sim_native_homing.h"
+#ifdef __EMSCRIPTEN__
+#include <emscripten/emscripten.h>
+#define API EMSCRIPTEN_KEEPALIVE
+#else
+#define API
+#endif
+
+/* Only HAL allocation is adapted. The state machine below is the original
+ * homemod source, including sequence, switch, index and final-move rules. */
+#define hal_malloc native_home_hal_malloc
+#define hal_pin_bit_newf native_home_hal_bit
+#define hal_pin_s32_newf native_home_hal_s32
+#include "../../linuxcnc/src/emc/motion/homing.c"
+#include "simple_tp.h"
+
+static union { double align; unsigned char bytes[8192]; } pin_arena;
+static size_t pin_used;
+void *native_home_hal_malloc(long size) {
+    size_t start = (pin_used + 7) & ~(size_t)7;
+    if (size < 0 || start + (size_t)size > sizeof(pin_arena)) return NULL;
+    pin_used = start + size;
+    return pin_arena.bytes + start;
+}
+int native_home_hal_bit(hal_pin_dir_t dir, hal_bit_t **pin, int id, const char *fmt, ...) {
+    (void)dir; (void)id; (void)fmt;
+    *pin = native_home_hal_malloc(sizeof(**pin)); return *pin ? 0 : -1;
+}
+int native_home_hal_s32(hal_pin_dir_t dir, hal_s32_t **pin, int id, const char *fmt, ...) {
+    (void)dir; (void)id; (void)fmt;
+    *pin = native_home_hal_malloc(sizeof(**pin)); return *pin ? 0 : -1;
+}
+
+struct native_home {
+    emcmot_joint_t joint[EMCMOT_MAX_JOINTS];
+    home_local_data local[EMCMOT_MAX_JOINTS];
+    double period;
+    int count, sequence, current, active, sync, mode;
+    uint32_t tick, command_seq;
+};
+
+/* homemod is a singleton in LinuxCNC. Swap its private data at the ABI
+ * boundary to isolate multiple simulation sessions in one WASM module. */
+static void load(native_home *h) {
+    joints = h->joint; all_joints = h->count; extra_joints = 0;
+    servo_freq = 1 / h->period;
+    memcpy(H, h->local, sizeof(H));
+    sequence_state = h->sequence; current_sequence = h->current;
+    homing_active = h->active; sync_now = h->sync;
+}
+static void save(native_home *h) {
+    memcpy(h->local, H, sizeof(H));
+    h->sequence = sequence_state; h->current = current_sequence;
+    h->active = homing_active; h->sync = sync_now;
+}
+API uint32_t sim_native_home_size(void) { return sizeof(native_home); }
+API int sim_native_home_init(native_home *h, int count, double period) {
+    if (!h || count < 1 || count > EMCMOT_MAX_JOINTS || !isfinite(period) || period <= 0) return -1;
+    memset(h, 0, sizeof(*h)); memset(H, 0, sizeof(H));
+    pin_used = 0; memset(&pin_arena, 0, sizeof(pin_arena));
+    h->count = count; h->period = period; h->mode = 1; /* FREE */
+    sequence_state = HOME_SEQUENCE_IDLE; current_sequence = 0; sync_now = 0;
+    if (homing_init(0, period, count, 0, h->joint)) return -1;
+    for (int j = 0; j < count; j++) {
+        h->joint[j].flag |= EMCMOT_JOINT_ACTIVE_BIT | EMCMOT_JOINT_INPOS_BIT;
+    }
+    save(h); return 0;
+}
+/* p: offset, home, final velocity, search velocity, latch velocity, flags,
+ * sequence, volatile, min limit, max limit, max velocity, max acceleration. */
+API int sim_native_home_config(native_home *h, int j, const double *p) {
+    if (!h || !p || j < 0 || j >= h->count) return -1;
+    for (int i = 0; i < 12; i++) if (!isfinite(p[i])) return -1;
+    if (p[8] > p[9] || p[10] <= 0 || p[11] <= 0 || ((int)p[5] & HOME_UNLOCK_FIRST)) return -1;
+    load(h);
+    set_joint_homing_params(j, p[0], p[1], p[2], p[3], p[4], p[5], p[6], p[7] != 0);
+    joints[j].min_pos_limit = p[8]; joints[j].max_pos_limit = p[9];
+    joints[j].vel_limit = p[10]; joints[j].acc_limit = p[11];
+    joints[j].free_tp.max_acc = p[11]; save(h); return 0;
+}
+API int sim_native_home_sync(native_home *h, const double *position) {
+    if (!h || !position || h->active || h->sequence != HOME_SEQUENCE_IDLE) return -1;
+    for (int j = 0; j < h->count; j++) if (!isfinite(position[j])) return -1;
+    for (int j = 0; j < h->count; j++) {
+        emcmot_joint_t *p = &h->joint[j];
+        p->pos_cmd = p->pos_fb = p->free_tp.curr_pos = position[j];
+        p->motor_pos_fb = position[j] + p->motor_offset;
+    }
+    return 0;
+}
+API int sim_native_home_mode(native_home *h, int mode) {
+    if (!h || mode < 1 || mode > 3 || h->active || h->sequence != HOME_SEQUENCE_IDLE) return -1;
+    load(h);
+    if (mode != 1 && !get_allhomed()) return -2;
+    h->mode = mode; return 0;
+}
+API int sim_native_home_start(native_home *h, int j, uint32_t seq) {
+    if (!h || j < -1 || j >= h->count || h->active || h->sequence != HOME_SEQUENCE_IDLE) return -1;
+    load(h); h->mode = 1; h->command_seq = seq;
+    do_home_joint(j); save(h); return 0;
+}
+API int sim_native_home_step(native_home *h) {
+    if (!h) return -1;
+    load(h);
+    /* control.c switches to TELEOP on the native all-homed edge. */
+    if (do_homing()) h->mode = 3;
+    /* control.c: homing runs before free-mode position generation. Ideal
+     * feedback follows the commanded motor position in this simulation. */
+    for (int j = 0; j < h->count; j++) {
+        simple_tp_update(&joints[j].free_tp, h->period);
+        joints[j].pos_cmd = joints[j].free_tp.curr_pos;
+        joints[j].pos_fb = joints[j].pos_cmd;
+        joints[j].motor_pos_fb = joints[j].pos_cmd + joints[j].motor_offset;
+        if (joints[j].free_tp.active) joints[j].flag &= ~EMCMOT_JOINT_INPOS_BIT;
+        else joints[j].flag |= EMCMOT_JOINT_INPOS_BIT;
+    }
+    h->tick++; save(h); return 0;
+}
+API int sim_native_home_cancel(native_home *h, int volatile_only) {
+    if (!h) return -1;
+    load(h);
+    for (int j = 0; j < h->count; j++) {
+        if (H[j].homing || H[j].home_state != HOME_IDLE || (homing_active && H[j].joint_in_sequence)) {
+            H[j].home_state = HOME_ABORT;
+            base_1joint_state_machine(j);
+        }
+        joints[j].free_tp.enable = 0;
+        if (volatile_only) {
+            joints[j].free_tp.curr_vel = 0;
+            joints[j].free_tp.active = 0;
+            joints[j].flag |= EMCMOT_JOINT_INPOS_BIT;
+        }
+    }
+    sequence_state = HOME_SEQUENCE_IDLE; homing_active = 0;
+    if (volatile_only) set_unhomed(-2, EMCMOT_MOTION_DISABLED);
+    h->mode = 1; save(h); return 0;
+}
+API int sim_native_home_input(native_home *h, int j, int sw, int index, int neg, int pos) {
+    if (!h || j < 0 || j >= h->count) return -1;
+    h->local[j].home_sw = sw != 0; h->local[j].index_enable = index != 0;
+    h->joint[j].on_neg_limit = neg != 0; h->joint[j].on_pos_limit = pos != 0; return 0;
+}
+API double sim_native_home_get(native_home *h, int j, int field) {
+    if (!h) return -1;
+    if (field == 0) {
+        for (int i = 0; i < h->count; i++) if (h->joint[i].free_tp.active) return 1;
+        return h->active || h->sequence != HOME_SEQUENCE_IDLE;
+    }
+    if (field == 1) return h->mode;
+    if (field == 2) return h->tick;
+    if (field == 3) return h->command_seq;
+    if (j < 0 || j >= h->count) return -1;
+    switch (field) {
+    case 4: return h->local[j].homing;
+    case 5: return h->local[j].homed;
+    case 6: return h->local[j].home_state;
+    case 7: return h->joint[j].pos_fb;
+    case 8: return h->joint[j].motor_pos_fb;
+    case 9: return h->joint[j].motor_offset;
+    case 10: return h->local[j].home_sequence;
+    case 11: return h->joint[j].free_tp.curr_vel;
+    case 12: return h->local[j].index_enable;
+    }
+    return -1;
+}

wasm-core/tests/sim_native_homing_test.c

@@ -0,0 +1,43 @@
+#include "sim_native_homing.h"
+#include <assert.h>
+#include <math.h>
+#include <stdlib.h>
+
+int main(void) {
+    native_home *h = malloc(sim_native_home_size());
+    native_home *other = malloc(sim_native_home_size());
+    double p[12] = {0,0,-1,0,0,0,0,0,-200,200,20,300};
+    double position[5] = {10,20,30,15,45};
+    assert(sim_native_home_init(h,5,.001) == 0);
+    assert(sim_native_home_init(other,5,.001) == 0);
+    for (int j=0;j<5;j++) assert(sim_native_home_config(h,j,p) == 0);
+    assert(sim_native_home_sync(h,position) == 0);
+    assert(sim_native_home_start(h,0,70000) == 0);
+    assert(sim_native_home_get(h,0,7) == 10);
+    assert(sim_native_home_step(h) == 0);
+    assert(sim_native_home_get(h,0,6) == 21);
+    assert(sim_native_home_get(h,0,4) == 1);
+    assert(sim_native_home_get(h,0,5) == 0);
+    assert(sim_native_home_get(h,0,7) == 0);
+    assert(sim_native_home_get(h,0,8) == 10);
+    assert(sim_native_home_get(h,1,7) == 20);
+    for(int i=0;i<10;i++) assert(sim_native_home_step(h) == 0);
+    assert(sim_native_home_get(h,0,5) == 1);
+    assert(sim_native_home_get(other,0,5) == 0);
+    p[1]=5;
+    assert(sim_native_home_config(h,1,p) == 0);
+    assert(sim_native_home_start(h,1,70001) == 0);
+    assert(sim_native_home_step(h) == 0);
+    assert(sim_native_home_get(h,1,7)>0 && sim_native_home_get(h,1,7)<5);
+    for(int i=0;i<2000 && sim_native_home_get(h,0,0);i++) sim_native_home_step(h);
+    assert(fabs(sim_native_home_get(h,1,7)-5)<1e-8);
+    assert(fabs(sim_native_home_get(h,1,8)-25)<1e-8);
+    assert(sim_native_home_start(h,1,70002) == 0);
+    sim_native_home_step(h);
+    assert(sim_native_home_cancel(h,0) == 0);
+    assert(sim_native_home_get(h,1,5) == 0);
+    for (int i=0;i<1000 && sim_native_home_get(h,0,0);i++) sim_native_home_step(h);
+    assert(sim_native_home_get(h,0,0) == 0);
+    free(h); free(other);
+    return 0;
+}

web/react/src/MachineStatus.tsx

@@ -0,0 +1,16 @@
+import type { SourceStatus } from "./protocol";
+
+export function MachineStatus({ status, commandStatus }: { status?: SourceStatus; commandStatus: string }) {
+  return <section className="machine-status" aria-label="LinuxCNC status">
+    <div className="machine-status-dimensions">
+      <span>Task mode <output>{status?.task.mode ?? "PENDING"}</output></span>
+      <span>Task state <output>{status?.task.state ?? "PENDING"}</output></span>
+      <span>Interpreter <output>{status?.task.interpState ?? "PENDING"}</output></span>
+      <span>Motion mode <output>{status?.traj.mode ?? "PENDING"}</output></span>
+      <span>Motion type <output>{status?.traj.motion_type ?? "-"}</output></span>
+      <span>Homing <output>{status ? status.homing_active ? "ACTIVE" : "IDLE" : "PENDING"}</output></span>
+      <span>Machine sequence <output>{status ? status.joint.length > 0 && status.joint.every((joint) => joint.homed) ? "HOMED" : "NOT HOMED" : "WASM PENDING"}</output></span>
+    </div>
+    <span className="command-status" role="status" aria-live="polite" title={commandStatus}>{commandStatus}</span>
+  </section>;
+}

web/react/src/protocol.ts

@@ -18,6 +18,7 @@ export type MessageEnvelope<TPayload = unknown> = {
 };
 
 export type MotionSnapshot = {
+  homing?: boolean;
   stepping?: boolean;
   axes?: number[];
   joints?: number[];
@@ -42,6 +43,18 @@ export type MotionSnapshot = {
   max_velocity?: number;
 };
 
+export type HomeJointStatus = {
+  joint: number; homing: boolean; homed: boolean; home_state: number; home_state_name: string;
+  position: number; motor_position: number; motor_offset: number; velocity: number; home_sequence: number;
+};
+export type SourceStatus = {
+  task: { mode: string; state: string; interpState: string };
+  traj: { mode: string; motion_type: number };
+  homing_active: boolean;
+  joint: HomeJointStatus[];
+  homing_history: Array<{ tick: number; joint: HomeJointStatus[] }>;
+};
+
 export type TrajectorySnapshot = {
   queue?: Array<{ id?: number; source_line?: number | null; start?: Record<string, number>; end?: Record<string, number> }>;
   active?: { id?: number; source_line?: number | null; start?: Record<string, number>; end?: Record<string, number> } | null;
@@ -49,6 +62,7 @@ export type TrajectorySnapshot = {
 };
 
 export type SimSnapshotV1 = {
+  source_status?: SourceStatus;
   schema?: string;
   snapshot_id?: string;
   base_snapshot_id?: string;
@@ -114,6 +128,7 @@ export type XyzacCapabilitySnapshot = {
 };
 
 export type PanelSnapshotV1 = {
+  source_status?: SourceStatus;
   schema: "axis-panel-snapshot.v1";
   context_id: string;
   session_id: string;

web/react/src/store.ts

@@ -83,6 +83,12 @@ function projection(result: Record<string, unknown>, message: MessageEnvelope, p
     } : previous.snapshot.visual;
     const nextSnapshot = {
       ...previous.snapshot,
+      source_status: (result.source_status as SimSnapshotV1["source_status"]) ?? (previous.snapshot.source_status ? {
+        ...previous.snapshot.source_status,
+        task: { ...previous.snapshot.source_status.task,
+          mode: String((result.task as Record<string, unknown>)?.mode ?? previous.snapshot.source_status.task.mode),
+          interpState: (result.axis_state as AxisStateView)?.source_interp_state ?? previous.snapshot.source_status.task.interpState },
+      } : undefined),
       simulation_tick: message.simulation_tick ?? delta.tick ?? previous.snapshot.simulation_tick,
       state_hash: String(result.state_hash ?? previous.snapshot.state_hash),
       task: (result.task as SimSnapshotV1["task"]) ?? previous.snapshot.task,
@@ -147,6 +153,7 @@ function projection(result: Record<string, unknown>, message: MessageEnvelope, p
     const axes = [pose.x, pose.y, pose.z, pose.a, pose.c].map((value) => Number.isFinite(value) ? value : 0);
     const snapshot = {
       schema: panel.schema,
+      source_status: panel.source_status,
       simulation_tick: panel.simulation_tick,
       state_hash: panel.state_hash,
       task: panel.task as SimSnapshotV1["task"],

web/react/src/styles.css

@@ -73,7 +73,7 @@ button { color: inherit; }
 .machine-sequence-heading { display: grid; gap: 2px; min-width: 148px; }
 .machine-sequence-heading strong { font-size: 12px; }
 .machine-sequence-heading span { color: #555; font: 10px ui-monospace, monospace; }
-.machine-sequence-actions { display: flex; flex-wrap: wrap; align-items: center; gap: 5px; min-width: 0; }
+.machine-sequence-actions { display: flex; flex-wrap: wrap; align-items: center; gap: 5px; min-width: 0; padding: 8px; border-bottom: 1px solid #aaa; }
 .machine-sequence-actions .axis-text-button { min-height: 28px; }
 .machine-sequence-actions .axis-text-button:first-child { border-color: #9b4a4a; }
 
@@ -245,14 +245,6 @@ output { font: 12px ui-monospace, monospace; text-align: right; }
 .visually-hidden-file-input { position: absolute; width: 1px; height: 1px; overflow: hidden; clip: rect(0 0 0 0); clip-path: inset(50%); white-space: nowrap; }
 .axis-layer-controls { display: flex; flex-wrap: wrap; gap: 8px 12px; margin-top: 4px; color: #4d4d4d; font-size: 11px; }
 .axis-layer-controls input { margin: 0; }
-.axis-info-bar { display: flex; align-items: stretch; width: 100%; min-width: 0; min-height: 27px; margin-top: auto; border-top: 1px solid #777; background: #c4c4c4; }
-.axis-info-bar > span { display: flex; align-items: center; min-width: 0; min-height: 25px; padding: 2px 9px; overflow: hidden; border-right: 1px solid #999; font: 12px ui-monospace, monospace; text-overflow: ellipsis; white-space: nowrap; }
-.task-state { min-width: 92px; background: #ececec; font-weight: 700 !important; }
-.task-state.running { color: #145d1c; }
-.task-state.blocked, .task-state.error { color: #9b111e; background: #f2d6d6; }
-.tool-state { min-width: 0; flex: 1; }
-.position-state { min-width: 230px; }
-.footer-status { min-width: 180px; color: #505050; }
 
 @media (max-width: 900px) {
   .xyzac-control-band { grid-template-columns: 1fr; }
@@ -287,6 +279,7 @@ output { font: 12px ui-monospace, monospace; text-align: right; }
   .dro-mode-row { font-size: 9px; }
   .dro-row output { font-size: 13px; }
   .dro-footer { flex-direction: column; gap: 3px; }
-  .axis-info-bar { flex-wrap: wrap; }
-  .position-state, .footer-status { min-width: 0; flex: 1; }
 }
+ .machine-status { display: flex; flex-wrap: wrap; align-items: center; gap: 6px 18px; padding: 6px 8px; border-bottom: 1px solid #999; min-width: 0; }
+ .machine-status-dimensions { display: flex; flex: 1 1 auto; flex-wrap: wrap; gap: 6px 18px; }
+ .machine-status-dimensions output { font-weight: bold; margin-left: 5px; }

web/worker/axis-state.mjs

@@ -41,6 +41,7 @@ export function axisState({ task = {}, program = {}, motion = {}, devices = {},
   const machineState = hasIoState ? ioEstop ? "ESTOP" : ioReady ? "ON" : "OFF"
     : taskState === "ESTOP" ? "ESTOP" : ["READY", "RUNNING", "PAUSED", "STOPPED"].includes(taskState) ? "ON" : "OFF";
   let operationState = programActivity(task, program);
+  if (motion.homing) operationState = "HOME";
   const state = machineState === "ESTOP" || machineState === "ESTOP_RESET" ? machineState : operationState === "HOME" ? "HOME" : operationState === "RUNNING" ? "RUNNING" : operationState === "PAUSED" ? "PAUSED" : machineState === "OFF" ? "OFF" : "IDLE";
   const sourceTaskState = machineState === "ESTOP" ? "STATE_ESTOP" : machineState === "OFF" ? "STATE_ESTOP_RESET" : "STATE_ON";
   const sourceInterpState = operationState === "PAUSED" ? "INTERP_PAUSED" : operationState === "RUNNING" ? (program?.program_status === "completed" || String(task.mode).toUpperCase() === "MDI" ? "INTERP_WAITING" : "INTERP_READING") : "INTERP_IDLE";

web/worker/sim-session.mjs

@@ -25,6 +25,7 @@ import { axisSourceUi } from "./axis-source-ui.mjs";
 import { WasmMotionQueue } from "./wasm-motion-queue.mjs";
 import { WasmLinuxcncTp } from "./wasm-linuxcnc-tp.mjs";
 import { WasmHomeLimit } from "./wasm-home-limit.mjs";
+import { WasmNativeHoming } from "./wasm-native-homing.mjs";
 import { WasmXyzacKinematics, XYZAC_MODES } from "./wasm-xyzac-kinematics.mjs";
 import { WasmXyzacIo } from "./wasm-xyzac-io.mjs";
 import { WasmXyzacDeviceIo } from "./wasm-xyzac-device-io.mjs";
@@ -33,7 +34,6 @@ import { axisGate, xyzacGate, xyzacGateMatrix } from "../app/axis-contract.mjs";
 
 const PROTOCOL_SCHEMA = 1;
 const CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1";
-const XYZAC_AXIS_TO_JOINT = Object.freeze({ x: 0, y: 1, z: 2, a: 3, c: 4 });
 
 const OPERATION_KINDS = new Set([
   "SESSION_ATTACH", "LOAD_WORKSPACE", "SIM_STEP", "DESTROY", "CHECKPOINT", "RECOVER", "ABORT",
@@ -135,13 +135,8 @@ export class SimSession {
     this.xyzacIo = null;
     this.xyzacDeviceIo = null;
     this.xyzacProgram = null;
+    this.homingHistory = [];
     this.xyzacProgramKinematicsMode = XYZAC_MODES.identity;
-    // The Web panel presents fixed XYZAC world-axis controls. Homing still
-    // follows AXIS's KINEMATICS_BOTH transaction and uses a numeric joint;
-    // keep the presentation mode separate so the adapter can restore it
-    // after the accepted home transaction.
-    this.xyzacMotionMode = "TELEOP";
-    this.pendingHome = null;
     this.xyzacRapidVelocity = 35;
     this.xyzacMotionCycleTime = 0.01;
     this.xyzacTaskCycleTicks = 1;
@@ -192,7 +187,7 @@ export class SimSession {
     // Compact payloads are only valid for successful motion samples. Error
     // responses must retain their code/reason instead of being rewritten into
     // a delta with undefined fields.
-    const motionDelta = kind === "COMMAND_RESULT" && lightweightXyzacStep && input.payload?.response === "motion_delta" && !completedMotion;
+    const motionDelta = kind === "COMMAND_RESULT" && lightweightXyzacStep && input.payload?.response === "motion_delta" && !completedMotion && !statePayload.homing_sample && !this.wasmHomeLimit.active;
     // The frontend retains the canonical preview from PROGRAM_LOAD. Repeating
     // thousands of immutable segments on unrelated control responses makes a
     // loaded program delay abort/power/home commands behind structured-clone
@@ -263,6 +258,13 @@ export class SimSession {
       simulation_tick: tick,
       payload: {
         ...responsePayload,
+        ...(motionDelta ? { source_status: {
+          task: { mode: task.mode, state: axisState({ task, program, io: this.xyzacIo.export() }).source_task_state,
+            interpState: axisState({ task, program, io: this.xyzacIo.export() }).source_interp_state },
+          traj: { mode: this.wasmHomeLimit.mode, motion_type: currentMotion.state.motion_type },
+          homing_active: this.wasmHomeLimit.active, joint: this.wasmHomeLimit.read().state.joint,
+          homing_history: this.homingHistory,
+        } } : {}),
         ...(panelSnapshot ? { panel_snapshot: panelSnapshot } : {}),
         motion_authority: responsePayload.motion_authority ?? this.motionAuthority,
         task_authority: responsePayload.task_authority ?? this.task.authority(),
@@ -275,6 +277,7 @@ export class SimSession {
   wasmMotionProjection(program = null) {
     const wasmMotion = this.wasmMotion.read();
     const position = wasmMotion.status === "verified" ? wasmMotion.state.position : { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 };
+    if (this.xyzacProgram && !this.wasmHomeLimit.active) this.wasmHomeLimit.sync(wasmMotion.state.joint_commanded);
     const home = this.wasmHomeLimit.read();
     const io = this.xyzacIo?.canonical?.();
     const ioState = io && typeof io === "object" && io.status !== "blocked" ? io : null;
@@ -308,7 +311,8 @@ export class SimSession {
       limits: { x: Boolean(home.state?.limit_error), y: Boolean(home.state?.limit_error), z: Boolean(home.state?.limit_error), a: Boolean(home.state?.limit_error), c: Boolean(home.state?.limit_error) },
       on_any_limit: Boolean(home.state?.limit_error),
       following_error: 0,
-      motion_mode: this.xyzacProgram ? this.xyzacMotionMode : (home.state?.homed ? "TELEOP" : "FREE"),
+      motion_mode: this.xyzacProgram ? this.wasmHomeLimit.mode : (home.state?.homed ? "TELEOP" : "FREE"),
+      homing: Boolean(home.state?.homing),
       jog: null,
       stepping: this.wasmMotion.isStepping?.() ?? false,
       estop: Boolean(ioState?.estop),
@@ -401,9 +405,12 @@ export class SimSession {
     const gateActions = ["load", "run", "runLine", "step", "pause", "resume", "abort", "restart", "reload", "edit", "mdi", "jogStart", "jogStop", "home", "estop", "recover", "override", "overrideLimits", "reset", "spindle", "coolant", "touchOff", "toolTouchOff"];
     const ui = axisSourceUi({ task_state: axis.source_task_state, interp_state: axis.source_interp_state,
       taskfile: Boolean(this.xyzacProgram?.path), queued_mdi_commands: task.queued_mdi_commands ?? 0,
-      motion_mode: this.xyzacProgram ? this.xyzacMotionMode : (homeLimit.state?.homed ? "TELEOP" : "FREE"), kinematics_type: "BOTH",
+      motion_mode: this.xyzacProgram ? this.wasmHomeLimit.mode : (homeLimit.state?.homed ? "TELEOP" : "FREE"), kinematics_type: "BOTH",
       spindle_direction: Number(devices.spindles?.[0]?.direction ?? 0), tool: Number(devices.tool?.current ?? 0),
       on_any_limit: motion.on_any_limit, paused: axis.operation_state === "PAUSED" });
+    if (homeLimit.state?.homing) {
+      for (const name of ["run", "step", "load", "reload", "home", "jog", "mdi", "touchOff"]) ui.gates[name] = { action: name, enabled: false, reason: "linuxcnc_homing_active" };
+    }
     const gates = this.xyzacProgram
       ? {
           load: this.xyzacCommandGate({ kind: "PROGRAM_LOAD", payload: {} }),
@@ -483,6 +490,14 @@ export class SimSession {
       task,
       program,
       motion,
+      ...(this.xyzacProgram ? { source_status: {
+        task: { mode: task.mode, state: axis.source_task_state, interpState: axis.source_interp_state },
+        traj: { mode: this.wasmHomeLimit.mode, motion_type: wasmMotion.state.motion_type },
+        homing_active: Boolean(homeLimit.state.homing),
+        homing_history: this.homingHistory,
+        joint: homeLimit.state.joint,
+        authority: { task: "wasm-task-adapter", homing: "linuxcnc-homing.c", home_state: "joint.N.home-state" },
+      } } : {}),
       coordinates: { machine: [...axisCoordinates], relative: axisCoordinates.map((value, index) => value - displayedOffsets[index]), commanded: [...axisCoordinates], offsets: displayedOffsets, system: coordinateContext?.system ?? 1 },
       overrides: { feed: motion.feed_override, spindle: [motion.spindle_override] },
       wasm_motion: wasmMotion,
@@ -556,6 +571,8 @@ export class SimSession {
     const program = this.xyzacProgram.snapshot();
     const io = this.xyzacIo?.canonical?.() ?? {};
     const wasmMotion = this.wasmMotion.read();
+    if (["HOME", "SET_MODE"].includes(input.kind) && Number(wasmMotion.state?.queue_depth) > 0) return { enabled: false, reason: "xyzac_motion_active" };
+    if (input.kind === "JOG_START" && !this.wasmHomeLimit.read().state.homed) return { enabled: false, reason: "xyzac_not_all_homed" };
     if (input.kind === "PROGRAM_LOAD" && wasmMotion.status === "verified" && Number(wasmMotion.state.queue_depth ?? 0) > 0) {
       return { action: null, enabled: false, reason: "xyzac_motion_active", taskState: task.state, interpState: "READING", wasm: { queue_depth: wasmMotion.state.queue_depth, active_id: wasmMotion.state.active_id } };
     }
@@ -563,7 +580,7 @@ export class SimSession {
       return { action: input.payload?.type === 0 ? "switchkinsIdentity" : input.payload?.type === 1 ? "switchkinsXyzac" : "switchkinsUserk", enabled: false, reason: "xyzac_motion_active", taskState: task.state, interpState: "READING", wasm: { queue_depth: wasmMotion.state.queue_depth, active_id: wasmMotion.state.active_id } };
     }
     const homeLimit = this.wasmHomeLimit.read();
-    if (this.pendingHome && ["HOME", "JOG_START", "MDI_EXECUTE", "PROGRAM_LOAD", "PROGRAM_RUN", "PROGRAM_STEP", "KINEMATICS_SELECT", "SET_MODE", "TOUCH_OFF", "SPINDLE_COMMAND", "SPINDLE_CONSTANT", "SPINDLE_BRAKE", "COOLANT_COMMAND"].includes(input.kind)) {
+    if (this.wasmHomeLimit.active && ["HOME", "JOG_START", "JOG_STOP", "MDI_EXECUTE", "PROGRAM_LOAD", "LOAD_WORKSPACE", "PROGRAM_RUN", "PROGRAM_STEP", "PROGRAM_RESTART", "PROGRAM_SEEK", "KINEMATICS_SELECT", "SET_MODE", "TOUCH_OFF", "RECOVER", "CHECKPOINT"].includes(input.kind)) {
       return { action: PANEL_GATE_ACTIONS[input.kind] ?? "home", enabled: false, reason: "xyzac_home_in_progress", taskState: task.state, interpState: "READING" };
     }
     const estop = Boolean(io.estop);
@@ -659,8 +676,10 @@ export class SimSession {
     // canonical P-number form (G54=P1, ..., G59.3=P9).
     const block = `G10 L20 P${systemNumber} ${axis}${formatted}`;
     const savedMode = this.task.state.mode;
+    const savedMotionMode = this.wasmHomeLimit.mode;
     try {
       if (savedMode !== "MDI") this.task.setMode("MDI");
+      this.wasmHomeLimit.setMode("COORD");
       this.wasmMotion.setPaused(false);
       const synchronized = this.xyzacProgram.synchronizePosition(this.wasmMotion.read().state.position);
       if (synchronized.status !== "verified") return synchronized;
@@ -675,6 +694,7 @@ export class SimSession {
       return { status: "error", code: String(error?.message ?? error) };
     } finally {
       if (this.task.state.mode !== savedMode) this.task.setMode(savedMode);
+      this.wasmHomeLimit.setMode(savedMotionMode);
     }
   }
 
@@ -1359,7 +1379,7 @@ export class SimSession {
 
     const deviceResponse = (kind, payload) => {
       if (this.xyzacProgram && ["SPINDLE_COMMAND", "SPINDLE_BRAKE", "SPINDLE_CONSTANT"].includes(kind) && !payload?.source_keyboard && (kind !== "SPINDLE_COMMAND" || payload?.delta === undefined)) {
-        try { if (this.task.state.mode !== "MANUAL") this.task.setMode("MANUAL"); }
+        try { if (this.task.state.mode !== "MANUAL") { this.task.setMode("MANUAL"); this.wasmHomeLimit.setMode(this.wasmHomeLimit.read().state.homed ? "TELEOP" : "FREE"); } }
         catch (error) { return finish(this.error(input, "task_mode", String(error?.message ?? error)), "failed"); }
       }
       const result = this.xyzacIo ? this.xyzacIo.command(kind, payload ?? {}) : this.devices.command(kind, payload ?? {});
@@ -1387,8 +1407,7 @@ export class SimSession {
         this.xyzacAppendDeferredOnActive = false;
         this.wasmMotion.abort();
         this.wasmMotion.setPaused(true);
-        this.pendingHome = null;
+        this.wasmHomeLimit.cancel(true);
-        this.xyzacMotionMode = "TELEOP";
         const resetProgram = this.resetXyzacProgramToLoaded();
         if (resetProgram.status !== "verified") return finish(this.error(input, "program_restart", resetProgram.code ?? "program_reload_failed"), "failed");
         this.task.setProgram("loaded", 0);
@@ -1460,7 +1479,11 @@ export class SimSession {
         }
         const mode = String(input.payload?.mode ?? "").toUpperCase();
         if (!["MANUAL", "MDI", "AUTO"].includes(mode)) return finish(this.error(input, "task_mode", "task_mode_invalid"), "failed");
-        try { this.task.setMode(mode); } catch (error) { return finish(this.error(input, "task_mode", String(error?.message ?? error)), "failed"); }
+        try {
+          this.task.setMode(mode);
+          if (this.xyzacProgram && mode === "MANUAL") this.wasmHomeLimit.setMode(this.wasmHomeLimit.read().state.homed ? "TELEOP" : "FREE");
+          if (this.xyzacProgram && mode !== "MANUAL" && this.wasmHomeLimit.read().state.homed) this.wasmHomeLimit.setMode("COORD");
+        } catch (error) { return finish(this.error(input, "task_mode", String(error?.message ?? error)), "failed"); }
         return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, mode, task: this.task.export(), operation_id: input.operation_id ?? null }));
       }
       case "POWER": {
@@ -1492,8 +1515,7 @@ export class SimSession {
               this.xyzacAppendDeferredOnActive = false;
               this.wasmMotion.abort();
               this.wasmMotion.setPaused(true);
-              this.pendingHome = null;
+              this.wasmHomeLimit.cancel(true);
-              this.xyzacMotionMode = "TELEOP";
               const resetProgram = this.resetXyzacProgramToLoaded();
               if (resetProgram.status !== "verified") return finish(this.error(input, "program_restart", resetProgram.code ?? "program_reload_failed"), "failed");
               this.task.setProgram("loaded", 0);
@@ -1612,9 +1634,8 @@ export class SimSession {
             ? new WasmLinuxcncTp(this.core, { cycleTime: this.xyzacMotionCycleTime, velocityLimit: this.xyzacRapidVelocity, accelerationLimit: Number(configuration.kinematics?.max_acceleration ?? 300), limits: configuration.home_limits ?? {} })
             : new WasmMotionQueue(this.core, { cycleTime: this.xyzacMotionCycleTime, velocityLimit: 1e9 });
           this.xyzacProgram = new WasmProgramRuntime(this.core);
+          this.homingHistory = [];
           this.xyzacProgramKinematicsMode = XYZAC_MODES.identity;
-          this.xyzacMotionMode = "TELEOP";
-          this.pendingHome = null;
           if (typeof this.wasmMotion.setKinematics === "function") this.wasmMotion.setKinematics(this.xyzacKinematics);
           this.xyzacRapidVelocity = Number(configuration.kinematics?.max_linear_velocity ?? 35);
           const linearLimit = Number(configuration.kinematics?.axis_linear_velocity_limit ?? 20);
@@ -1627,7 +1648,7 @@ export class SimSession {
         }
         if (configuration?.home_limits && this.motionAuthority === "wasm") {
           this.wasmHomeLimit.destroy();
-          this.wasmHomeLimit = new WasmHomeLimit(this.core, {
+          this.wasmHomeLimit = this.xyzacProgram ? new WasmNativeHoming(this.core, configuration, this.xyzacKinematics) : new WasmHomeLimit(this.core, {
             jointCount: configuration.home_limits.joint_count ?? 3,
             kinematicsType: configuration.home_limits.kinematics_type ?? 1,
             coordinates: configuration.home_limits.coordinates ?? "XYZ",
@@ -1681,6 +1702,7 @@ export class SimSession {
         })) : finish(this.coreError(input, loadResult, "sim_load_workspace"), "failed");
       }
       case "SIM_STEP": {
+        const homingSample = Boolean(this.xyzacProgram && this.wasmHomeLimit.active);
         const cycles = input.payload?.cycles;
         const limit = validateLimit("max_tick_step", cycles);
         if (limit.status !== "accepted") return finish(this.envelope("ERROR", input, { ...limit, operation_id: input.operation_id ?? null, simulation_tick: this.tick, retryable: false }), "failed");
@@ -1711,6 +1733,7 @@ export class SimSession {
           this.scheduler.step(cycles, {
           task: (nextTick) => {
               if (this.xyzacProgram) {
+                if (this.wasmHomeLimit.active) return;
                 const wasmState = this.xyzacProgram.snapshot();
                 if (wasmState.status !== 2) return;
                 if (this.pendingTaskSync !== 0) {
@@ -1907,7 +1930,24 @@ export class SimSession {
               let wasmMotion = this.wasmMotion.read();
               const programPaused = this.xyzacProgram?.snapshot().status === 3;
               for (let servo = 0; servo < this.xyzacTaskCycleTicks; servo += 1) {
+                if (this.xyzacProgram && this.wasmHomeLimit.active) {
+                  const home = this.wasmHomeLimit.step();
+                  if (home.status !== "verified") throw new Error(home.code);
+                  const transition = home.state.joint.map((j) => `${j.home_state}:${Number(j.homing)}:${Number(j.homed)}`).join(",");
+                  if (this.homingHistory.at(-1)?.transition !== transition) this.homingHistory = [...this.homingHistory.slice(-63), { tick: home.state.tick, transition, joint: home.state.joint }];
+                  // Coordinate synchronization after native motor-offset /
+                  // free_tp updates, not an artificial move to machine zero.
+                  this.wasmMotion.setActiveKinematicsTag(this.xyzacKinematics.activeMode);
+                  this.wasmMotion.setPosition(home.state.pose);
+                  wasmMotion = this.wasmMotion.read();
+                  if (!home.state.homing) {
+                    const sync = this.xyzacProgram.synchronizePosition(home.state.pose);
+                    if (sync.status !== "verified") throw new Error(sync.code);
+                  }
+                  continue;
+                }
                 if (programPaused && !this.wasmMotion.isStepping()) break;
+                if (this.wasmMotion.controls.paused && this.wasmMotion.read().state.queue_depth === 0) continue;
                 if (this.planner === "linuxcnc-tp" && typeof this.wasmMotion.setExecutionState === "function") {
                   this.wasmMotion.setExecutionState(this.xyzacExecutionWaitSamples > 0 ? 2 : 3);
                 }
@@ -1962,18 +2002,6 @@ export class SimSession {
                   }
                 }
               }
-              if (this.pendingHome && wasmMotion.status === "verified" && Number(wasmMotion.state.queue_depth ?? 0) === 0) {
-                const pendingHome = this.pendingHome;
-                const home = this.wasmHomeLimit.home(pendingHome.seq, pendingHome.all ? null : pendingHome.joint);
-                if (home.status !== "verified") throw new Error(home.code ?? "wasm_home_commit_failed");
-                if (this.xyzacProgram && typeof this.xyzacProgram.synchronizePosition === "function") {
-                  const synchronized = this.xyzacProgram.synchronizePosition(home.state.pose);
-                  if (synchronized.status !== "verified") throw new Error(synchronized.code ?? "home_position_sync_failed");
-                }
-                this.xyzacMotionMode = pendingHome.modeBefore;
-                this.task.setMode("MANUAL");
-                this.pendingHome = null;
-              }
               if (motionState?.fault && this.task.state.state === "RUNNING") this.task.fault(-1205);
               if (this.motionAuthority === "wasm") {
                 if (wasmMotion.status === "verified") {
@@ -2051,7 +2079,7 @@ export class SimSession {
           ? null
           : this.timeline.checkpoint(input.seq, this.tick, snapshotState, this.timeline.snapshots.latest()?.snapshot_id ?? null);
         return finish(this.envelope("COMMAND_RESULT", input, {
-          status: "verified", cycles, program_steps, execution_trace,
+          status: "verified", cycles, program_steps, execution_trace, homing_sample: homingSample,
           ...(lightweightXyzac && cycles <= 32 && motion_trace.length ? { motion_trace } : {}),
           motion_authority: this.motionAuthority,
           task: this.task.export(), scheduler: this.scheduler.export(), authoritative: snapshotState.authoritative,
@@ -2143,7 +2171,7 @@ export class SimSession {
         if (this.xyzacProgram) {
           const previousProgramStatus = this.xyzacProgram.snapshot().program_status;
           const result = this.xyzacProgram.start();
-          if (result.status === "verified") { this.wasmMotion.setPaused(false); this.task.setMode("AUTO"); if (this.task.state.state === "STOPPED") this.task.recover(); this.task.transition("RUNNING"); const program = this.xyzacProgram.snapshot(); this.task.setProgram("running", program.execution_source_line ?? program.current_line); }
+          if (result.status === "verified") { this.wasmMotion.setPaused(false); this.task.setMode("AUTO"); this.wasmHomeLimit.setMode("COORD"); if (this.task.state.state === "STOPPED") this.task.recover(); this.task.transition("RUNNING"); const program = this.xyzacProgram.snapshot(); this.task.setProgram("running", program.execution_source_line ?? program.current_line); }
           return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, reopened_taskfile: ["completed", "aborted"].includes(previousProgramStatus), start_line: 0, program: this.xyzacProgram.snapshot(), task: this.task.export(), wasm_motion: this.wasmMotion.read(), motion: this.wasmMotionProjection(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
         }
         const result = this.program.start();
@@ -2165,6 +2193,7 @@ export class SimSession {
         }), result.status === "verified" ? "verified" : "failed");
       }
       case "PROGRAM_PAUSE": case "PROGRAM_RESUME": case "PROGRAM_ABORT": {
+        if (this.xyzacProgram && input.kind === "PROGRAM_ABORT" && this.wasmHomeLimit.active) this.wasmHomeLimit.cancel();
         const action = input.kind === "PROGRAM_PAUSE" ? "pause" : input.kind === "PROGRAM_RESUME" ? "resume" : "abort";
         if (this.xyzacProgram) {
           // PAUSE/RESUME are interpreter and TP state transitions. They must
@@ -2275,6 +2304,7 @@ export class SimSession {
             const current = this.xyzacProgram.snapshot();
             const idle = !["RUNNING", "PAUSED"].includes(this.task.state.state);
             this.task.setMode("AUTO");
+            this.wasmHomeLimit.setMode("COORD");
             if (idle) {
               const started = this.xyzacProgram.start();
               if (started.status !== "verified") return finish(this.error(input, "program_step", started.code), "failed");
@@ -2364,6 +2394,7 @@ export class SimSession {
         const block = input.payload?.block ?? input.payload?.command;
         if (this.xyzacProgram) {
           this.task.setMode("MDI");
+          this.wasmHomeLimit.setMode("COORD");
           // AXIS send_mdi_command() leaves the interpreter/TP runnable after
           // a previous manual jog stop. JOG_STOP intentionally pauses the
           // WASM TP, so clear that transport pause before queuing MDI motion;
@@ -2416,6 +2447,7 @@ export class SimSession {
         const mode = Number(input.payload?.type);
         if (![XYZAC_MODES.identity, XYZAC_MODES.xyzac, XYZAC_MODES.userk].includes(mode)) return finish(this.error(input, "kinematics", "xyzac_kinematics_type_invalid"), "failed");
         this.task.setMode("MDI");
+        this.wasmHomeLimit.setMode("COORD");
         const result = this.switchXyzacKinematics(mode);
         const code = mode === XYZAC_MODES.xyzac ? "M428" : mode === XYZAC_MODES.identity ? "M429" : "M430";
         return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, command: input.kind, remap: { code, hal_pin: "motion.switchkins-type", hal_pin_vars: true, sync: "M66 E0 L0" }, kinematics: result.kinematics ?? this.xyzacKinematics.snapshot(), task: this.task.export(), operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
@@ -2430,49 +2462,22 @@ export class SimSession {
           // that compatible while making the explicit Web contract
           // HOME {all:true}.
           const all = payload.all === true || (payload.all === undefined && payload.axis === undefined && payload.joint === undefined);
-          const requestedAxis = all ? null : String(payload.axis ?? "").trim().toLowerCase() || null;
+          if (all && payload.joint !== undefined) return finish(this.error(input, "home_limit", "home_target_ambiguous"), "failed");
-          let requestedJoint = payload.joint;
+          if (payload.axis !== undefined) return finish(this.error(input, "home_limit", "home_joint_requires_joint_mode"), "failed");
-          if (requestedAxis !== null) {
+          const requestedJoint = payload.joint;
-            const mappedJoint = XYZAC_AXIS_TO_JOINT[requestedAxis];
-            if (mappedJoint === undefined) return finish(this.error(input, "home_limit", "home_axis_invalid"), "failed");
-            if (requestedJoint !== undefined && requestedJoint !== mappedJoint) return finish(this.error(input, "home_limit", "home_axis_joint_mismatch"), "failed");
-            requestedJoint = mappedJoint;
-          }
           if (!all && requestedJoint === undefined) return finish(this.error(input, "home_limit", "home_joint_required"), "failed");
           if (!all && (!Number.isInteger(requestedJoint) || requestedJoint < 0 || requestedJoint >= 5)) return finish(this.error(input, "home_limit", "home_joint_invalid"), "failed");
           // AXIS home_all_joints()/home_joint() calls ensure_mode(MANUAL)
           // before go_home() selects FREE/joint and issues c.home().
           try { if (this.task.state.mode !== "MANUAL") this.task.setMode("MANUAL"); } catch (error) { return finish(this.error(input, "task_mode", String(error?.message ?? error)), "failed"); }
-          const modeBefore = this.xyzacMotionMode;
+          try {
-          const currentMotion = this.wasmMotion.read();
+            this.wasmHomeLimit.sync(this.wasmMotion.read().state.joint_commanded);
-          const currentPose = currentMotion.state?.position;
+            const home = this.wasmHomeLimit.home(input.seq, all ? null : requestedJoint);
-          const currentJoints = Array.isArray(currentMotion.state?.joint_commanded) && currentMotion.state.joint_commanded.length === 5
+            this.homingHistory = [{ tick: home.state.tick, transition: "command", joint: home.state.joint }];
-            ? [...currentMotion.state.joint_commanded]
+            return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind,
-            : [...(this.xyzacKinematics?.snapshot()?.joints ?? [currentPose.x, currentPose.y, currentPose.z, currentPose.a ?? 0, currentPose.c ?? 0])];
+              homing: { phase: "accepted", joint: all ? -1 : requestedJoint, source: "linuxcnc-homing.c" },
-          const targetHome = this.wasmHomeLimit.previewHome(all ? null : requestedJoint);
+              wasm_home_limit: home, motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
-          if (targetHome.status !== "verified") return finish(this.error(input, "home_limit", targetHome.code ?? "wasm_home_target_failed"), "failed");
+          } catch (error) { return finish(this.error(input, "home_limit", error.message), "failed"); }
-          const targetPose = targetHome.state.pose;
-          const needsMove = ["x", "y", "z", "a", "b", "c", "u", "v", "w"].some((axis) => Math.abs(Number(currentPose?.[axis] ?? 0) - Number(targetPose?.[axis] ?? 0)) > 1e-9);
-          this.xyzacMotionMode = "FREE";
-          if (needsMove) {
-            const enqueue = this.wasmMotion.enqueue({
-              start: currentPose,
-              end: targetPose,
-              velocity: Math.max(Number(this.xyzacRapidVelocity ?? 35), Number.EPSILON),
-              acceleration: Math.max(Number(this.xyzacAxisAccelerationLimits?.x ?? 300), Number.EPSILON),
-              motion_type: 1,
-              source_line: 0,
-              kinematics_mode: this.xyzacProgramKinematicsMode,
-            });
-            if (enqueue.status !== "verified") { this.xyzacMotionMode = modeBefore; return finish(this.error(input, "home_limit", enqueue.code ?? "home_motion_enqueue_failed"), "failed"); }
-            this.pendingHome = { seq: input.seq, all, axis: requestedAxis, joint: all ? null : requestedJoint, modeBefore, currentJoints, targetPose };
-            return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, homing: { phase: "moving", target: all ? "all" : "joint", source_axis: requestedAxis, joint: all ? null : requestedJoint, motion_mode_before: modeBefore, motion_mode_during: "FREE", motion_mode_after: "FREE", target_pose: targetPose }, motion: this.wasmMotionProjection(), wasm_home_limit: this.wasmHomeLimit.read(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
-          }
-          const home = this.wasmHomeLimit.home(input.seq, all ? null : requestedJoint);
-          if (home.status !== "verified") { this.xyzacMotionMode = modeBefore; return finish(this.error(input, "home_limit", home.code), "failed"); }
-          this.xyzacMotionMode = modeBefore;
-          this.task.setMode("MANUAL");
-          return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, homing: { phase: "complete", target: all ? "all" : "joint", source_axis: requestedAxis, joint: all ? null : requestedJoint, motion_mode_before: modeBefore, motion_mode_during: "FREE", motion_mode_after: this.xyzacMotionMode }, motion: this.wasmMotionProjection(), wasm_home_limit: home, motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
         }
         const result = this.motion.home(input.payload?.axis ?? null);
         if (result.status === "verified" && this.motionAuthority === "wasm") {
@@ -2520,9 +2525,7 @@ export class SimSession {
           if (!["x", "y", "z", "a", "c"].includes(axis)) return finish(this.error(input, "motion_axis", "motion_axis_invalid"), "failed");
           const direction = input.payload?.direction === -1 ? -1 : input.payload?.direction === 1 ? 1 : null;
           if (direction === null) return finish(this.error(input, "motion_jog", "motion_jog_range"), "failed");
-          // The Web jog buttons are world-axis controls. Mirror AXIS's
+          if (this.xyzacProgram) this.wasmHomeLimit.setMode("TELEOP");
-          // teleop selection for this adapter before submitting the TP jog.
-          this.xyzacMotionMode = "TELEOP";
           this.wasmMotion.setPaused(false);
           const requestedIncrement = input.payload?.increment;
           const continuous = requestedIncrement === null || input.payload?.continuous === true;

web/worker/test_axis_source_execution.mjs

@@ -29,9 +29,8 @@ assert.equal(panel().ui_gates.run.enabled, true);
 assert.equal(panel().ui_gates.step.enabled, true);
 assert.equal(send("PROGRAM_RUN").payload.gate_reason, "xyzac_not_all_homed");
 ok("HOME", { all: true });
-const homeAxis = send("HOME", { axis: "x", joint: 0 });
+ok("SIM_STEP", { cycles: 1 });
-assert.equal(homeAxis.payload.status, "verified");
+assert.equal(send("HOME", { axis: "x" }).payload.message_key, "home_joint_requires_joint_mode");
-assert.deepEqual(homeAxis.payload.homing, { phase: "complete", target: "joint", source_axis: "x", joint: 0, motion_mode_before: "TELEOP", motion_mode_during: "FREE", motion_mode_after: "TELEOP" });
 
 ok("PROGRAM_STEP");
 assert.equal(panel().program.current_line, 0, "first native Step starts at line zero and pauses");

web/worker/test_native_homing.mjs

@@ -0,0 +1,110 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+import { createHash } from "node:crypto";
+import createModule from "../../build-wasm/linuxcnc-sim-core.js";
+import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs";
+import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs";
+
+const path = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini";
+const bundle = await loadSimulationCase({ path, fetchImpl: async (url) => {
+  try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url), "utf8"); return { ok: true, text: async () => body }; }
+  catch { return { ok: false, text: async () => "" }; }
+} });
+const binary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));
+for (const [file, hash] of [["homing.c", "ee73d38f2feb8d5523b9a733cb17d635d3904667aaa219f8a02d7fbffee1ba39"], ["simple_tp.c", "5a0026f4d5bdd9d1bc55290c6ea9c399abd664633b69413c307f7353953d2603"]]) {
+  assert.equal(createHash("sha256").update(await readFile(new URL(`../../linuxcnc/src/emc/motion/${file}`, import.meta.url))).digest("hex"), hash, `source drift: ${file}`);
+}
+async function setup(id, finalHome = 0) {
+  const core = await createModule({ wasmBinary: binary });
+  const session = new XyzacSession(core, { sessionId: id });
+  let seq = 0;
+  const send = (kind, payload = {}) => session.accept({ schema_version: 1, context_id: CONTEXT_ID, session_id: id, seq: ++seq, operation_id: `${id}-${seq}`, kind, payload });
+  const ok = (kind, payload) => { const r = send(kind, payload); assert.notEqual(r.kind, "ERROR", `${kind}: ${r.payload.message_key}`); return r.payload; };
+  ok("HELLO"); ok("SESSION_ATTACH");
+  const configuration = toWorkerConfiguration(bundle);
+  if (finalHome) configuration.files[path] = configuration.files[path].replace(/HOME =\s+0/g, `HOME = ${finalHome}`);
+  ok("LOAD_WORKSPACE", { root_path: "/workspace", configuration });
+  ok("PROGRAM_LOAD", { source: "G21 G90\nG1 X10 F600\nM2\n", path: "native-home.ngc" });
+  ok("POWER", { active: true });
+  const snapshot = () => ok("SNAPSHOT_REQUEST").panel_snapshot;
+  const drainHome = () => {
+    let ticks = 0;
+    while (session.wasmHomeLimit.active && ticks++ < 1000) ok("SIM_STEP", { cycles: 1, response: "motion_delta" });
+    assert.equal(session.wasmHomeLimit.active, false);
+    return snapshot();
+  };
+  const jog = (axis, increment) => {
+    ok("JOG_START", { axis, direction: 1, increment });
+    let ticks = 0;
+    while (session.wasmMotion.read().state.queue_depth > 0 && ticks++ < 5000) ok("SIM_STEP", { cycles: 1, response: "motion_delta" });
+    assert.equal(session.wasmMotion.read().state.queue_depth, 0);
+  };
+  return { session, send, ok, snapshot, drainHome, jog };
+}
+
+const s = await setup("native-homing");
+assert.equal(s.snapshot().source_status.traj.mode, "FREE");
+assert.equal(s.send("HOME", { axis: "x" }).payload.message_key, "home_joint_requires_joint_mode");
+for (const joint of [0, 1, 2, 3, 4]) {
+  const ack = s.ok("HOME", { joint });
+  assert.equal(ack.homing.phase, "accepted");
+  assert.equal(ack.panel_snapshot.source_status.homing_active, true);
+  assert.equal(ack.panel_snapshot.source_status.task.interpState, "INTERP_IDLE");
+  assert.equal(ack.panel_snapshot.axis_state.operation_state, "HOME");
+  assert.equal(ack.panel_snapshot.motion.homed_axes[joint], false);
+  const done = s.drainHome();
+  assert.equal(done.motion.homed_axes[joint], true);
+  assert.equal(done.source_status.traj.mode, joint === 4 ? "TELEOP" : "FREE");
+  assert.ok(done.source_status.homing_history.some((e) => e.joint[joint].home_state === 21 && e.joint[joint].homing));
+}
+for (const [joint, axis] of ["x", "y", "z", "a", "c"].entries()) {
+  s.jog(axis, 3);
+  const before = s.snapshot();
+  s.ok("HOME", { joint });
+  const after = s.drainHome();
+  after.source_status.joint.forEach((j, index) => {
+    assert.ok(Math.abs(j.motor_position - before.source_status.joint[index].motor_position) < 1e-8, "no-search home does not move a motor");
+    assert.ok(Math.abs(j.position - (index === joint ? 0 : before.source_status.joint[index].position)) < 1e-8);
+  });
+  assert.equal(after.visual.live_path_epoch, before.visual.live_path_epoch);
+}
+s.jog("x", 4); s.jog("y", 2);
+const beforeAll = s.snapshot();
+s.ok("HOME", { all: true });
+for (const [kind, payload] of [["PROGRAM_RUN", {}], ["MDI_EXECUTE", { block: "G0 X1" }], ["SET_MODE", { mode: "AUTO" }]]) assert.equal(s.send(kind, payload).kind, "ERROR");
+const afterAll = s.drainHome();
+assert.deepEqual(afterAll.source_status.joint.map((j) => j.position), [0, 0, 0, 0, 0]);
+assert.deepEqual(afterAll.source_status.joint.map((j) => j.motor_position), beforeAll.source_status.joint.map((j) => j.motor_position));
+const nativeCheckpoint = s.session.wasmHomeLimit.exportState();
+s.session.wasmHomeLimit.reset();
+s.session.wasmHomeLimit.restoreState(nativeCheckpoint);
+assert.deepEqual(s.session.wasmHomeLimit.read().state.joint, afterAll.source_status.joint);
+s.ok("PROGRAM_RUN");
+assert.equal(s.snapshot().source_status.task.mode, "AUTO");
+assert.equal(s.snapshot().source_status.traj.mode, "COORD");
+s.ok("PROGRAM_PAUSE");
+assert.equal(s.snapshot().source_status.task.interpState, "INTERP_PAUSED");
+assert.equal(s.send("SET_MODE", { mode: "MANUAL" }).kind, "ERROR");
+s.ok("PROGRAM_ABORT"); s.ok("SET_MODE", { mode: "MANUAL" });
+assert.equal(s.snapshot().source_status.traj.mode, "TELEOP");
+s.ok("HOME", { joint: 0 }); s.ok("ESTOP", { active: true }); s.ok("SIM_STEP", { cycles: 1 });
+assert.equal(s.snapshot().source_status.homing_active, false);
+assert.equal(s.snapshot().source_status.joint[0].homed, false);
+s.ok("ESTOP", { active: false }); s.ok("POWER", { active: true }); s.ok("HOME", { joint: 0 }); s.drainHome();
+
+// A configured final move uses the original joint free_tp, not coordinated TP.
+const moving = await setup("native-final-move", 5);
+moving.ok("HOME", { joint: 0 });
+const mid = moving.ok("SIM_STEP", { cycles: 1 }).panel_snapshot;
+assert.equal(mid.source_status.joint[0].home_state, 21);
+assert.ok(mid.source_status.joint[0].position > 0 && mid.source_status.joint[0].position < 5);
+assert.equal(mid.wasm_motion.state.queue_depth, 0);
+assert.equal(mid.source_status.joint[0].homed, false);
+const done = moving.drainHome();
+assert.ok(Math.abs(done.source_status.joint[0].position - 5) < 1e-8);
+assert.ok(Math.abs(done.source_status.joint[0].motor_position - 5) < 1e-8);
+moving.ok("HOME", { joint: 1 }); moving.ok("SIM_STEP", { cycles: 1 }); moving.ok("PROGRAM_ABORT");
+moving.drainHome();
+assert.equal(moving.snapshot().source_status.joint[1].homed, false);
+assert.equal(moving.snapshot().source_status.homing_active, false);
+console.log(JSON.stringify({ status: "verified", source: "homing.c + simple_tp.c", checks: ["five-joint-home", "no-search-coordinate-rebase", "motor-position-preserved", "native-final-move", "mode-interlocks", "abort-and-recovery", "servo-transition-history"] }));

web/worker/test_xyzac_home_source_flow.mjs

@@ -1,74 +1,3 @@
-import assert from "node:assert/strict";
+// Preserve the documented test entry point; the assertions now verify the
-import { readFile } from "node:fs/promises";
+// original homemod rather than the retired coordinated return-to-zero adapter.
-import createModule from "../../build-wasm/linuxcnc-sim-core.js";
+import "./test_native_homing.mjs";
-import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs";
-import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs";
-
-const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini";
-const fetchImpl = async (url) => {
-  try {
-    const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url));
-    return { ok: true, text: async () => body.toString("utf8") };
-  } catch {
-    return { ok: false, text: async () => "" };
-  }
-};
-
-const bundle = await loadSimulationCase({ path: CASE, fetchImpl });
-assert.equal(bundle.status, "ready");
-const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));
-const core = await createModule({ wasmBinary });
-
-function open(sessionId) {
-  const session = new XyzacSession(core, { sessionId });
-  const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: sessionId };
-  let seq = 0;
-  const send = (kind, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: `${sessionId}-${seq}`, payload });
-  assert.equal(send("HELLO").kind, "CAPABILITIES");
-  assert.equal(send("SESSION_ATTACH").kind, "SESSION_READY");
-  assert.equal(send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
-  assert.equal(send("POWER", { active: true }).payload.status, "verified");
-  return { session, send };
-}
-
-const partial = open("xyzac-home-axis-source");
-for (const [axis, joint] of [["x", 0], ["y", 1], ["z", 2], ["a", 3], ["c", 4]]) {
-  const response = partial.send("HOME", { axis, joint });
-  assert.equal(response.kind, "COMMAND_RESULT", `${axis}: ${JSON.stringify(response.payload)}`);
-  assert.deepEqual(response.payload.homing, {
-    phase: "complete", target: "joint", source_axis: axis, joint,
-    motion_mode_before: "TELEOP", motion_mode_during: "FREE", motion_mode_after: "TELEOP",
-  });
-  assert.equal(response.payload.wasm_home_limit.state.homed_mask, (1 << (joint + 1)) - 1);
-}
-assert.equal(partial.send("HOME", { axis: "x", joint: 1 }).payload.message_key, "home_axis_joint_mismatch");
-assert.equal(partial.session.wasmHomeLimit.read().state.homed_mask, 31);
-
-const all = open("xyzac-home-all-source");
-assert.equal(all.send("HOME", { all: true }).payload.wasm_home_limit.state.homed, true);
-const move = all.send("MDI_EXECUTE", { block: "G21 G90 G0 X10 Y5 Z20 A30 C45" });
-assert.equal(move.kind, "COMMAND_RESULT");
-for (let tick = 0; tick < 20000 && all.session.wasmMotion.read().state.queue_depth > 0; tick += 1) all.send("SIM_STEP", { cycles: 1 });
-assert.ok(Math.abs(all.session.wasmMotion.read().state.position.x - 10) < 1e-8);
-const rehome = all.send("HOME", { all: true });
-assert.equal(rehome.kind, "COMMAND_RESULT");
-assert.equal(rehome.payload.homing.phase, "moving");
-assert.notDeepEqual(rehome.payload.panel_snapshot.visual.pose, { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 });
-for (let tick = 0; tick < 2000 && all.session.wasmMotion.read().state.queue_depth > 0; tick += 1) all.send("SIM_STEP", { cycles: 1 });
-const completed = all.send("SNAPSHOT_REQUEST");
-assert.deepEqual(completed.payload.panel_snapshot.visual.pose, { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 });
-assert.deepEqual(completed.payload.wasm_home_limit.state.joints, [0, 0, 0, 0, 0]);
-assert.ok(completed.payload.wasm_home_limit.state.home_sequence > rehome.payload.wasm_home_limit.state.home_sequence);
-
-const running = open("xyzac-home-gate-source");
-assert.equal(running.send("PROGRAM_LOAD", { source: "G21 G90\nG1 X10 F60\nM2\n", path: "home-gate.ngc" }).kind, "COMMAND_RESULT");
-assert.equal(running.send("HOME", { all: true }).kind, "COMMAND_RESULT");
-assert.equal(running.send("PROGRAM_RUN").kind, "COMMAND_RESULT");
-assert.equal(running.send("HOME", { axis: "x", joint: 0 }).payload.gate_reason, "xyzac_interp_running");
-
-console.log(JSON.stringify({
-  schema: "xyzac-home-source-flow.v1",
-  status: "verified",
-  source: ["axis.py:home_all_joints", "axis.py:home_joint", "axis.py:go_home", "axis.tcl:update_state"],
-  checks: ["axis_to_joint_map", "free_joint_transaction", "pose_sync", "invalid_pair_rejection", "running_gate"],
-}));

web/worker/test_xyzac_live_path_lifecycle.mjs

@@ -34,6 +34,7 @@ assert.equal(loadEpoch, 0);
 assert.ok(previewCount > 0);
 send("POWER", { active: true });
 send("HOME", { all: true });
+send("SIM_STEP", { cycles: 1 });
 
 const run = send("PROGRAM_RUN");
 const runEpoch = epoch(run);

web/worker/test_xyzac_pause_resume_consistency.mjs

@@ -24,7 +24,7 @@ const snapshot = () => session.xyzacProgram.snapshot();
 const sample = (cycles = 5) => send("SIM_STEP", { cycles, response: "motion_delta" });
 send("HELLO"); send("SESSION_ATTACH"); send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
 send("PROGRAM_LOAD", { path: "pause-reading.ngc", source: "G21 G90\n" + Array.from({ length: 80 }, (_, i) => `G1 X${i % 2 ? 0 : 2} F600`).join("\n") + "\nM2\n" });
-send("POWER", { active: true }); send("HOME", { all: true }); send("PROGRAM_RUN"); sample();
+send("POWER", { active: true }); send("HOME", { all: true }); sample(1); send("PROGRAM_RUN"); sample();
 for (let round = 0; round < 3; round++) {
   send("PROGRAM_PAUSE");
   const pose = motion().position, line = snapshot().current_line, queue = motion().queue_depth;

web/worker/test_xyzac_program_rerun.mjs

@@ -29,6 +29,7 @@ const source = "G21\nG90\nG0 X0 Y0 Z10 A0 C0\nG1 X10 Y5 Z5 A15 C20 F600\nG1 X0 Y
 assert.equal(send("PROGRAM_LOAD", { source, path: "rerun.ngc" }).payload.status, "verified");
 assert.equal(send("POWER", { active: true }).payload.status, "verified");
 assert.equal(send("HOME", { all: true }).payload.status, "verified");
+assert.equal(send("SIM_STEP", { cycles: 1 }).payload.status, "verified");
 
 assert.equal(send("PROGRAM_RUN").payload.task.state, "RUNNING");
 let completed;

web/worker/test_xyzac_recovery.mjs

@@ -28,7 +28,8 @@ async function create(id) {
   const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
   assert.equal(loaded.payload.status, "verified");
   assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
-  assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
+  assert.equal(send("HOME", "home-all", { all: true }).payload.homing.phase, "accepted");
+  assert.equal(send("SIM_STEP", "home-complete", { cycles: 1 }).payload.panel_snapshot.motion.homed, true);
   return { core, session, send };
 }
 

web/worker/test_xyzac_source_widget_gates.mjs

@@ -30,6 +30,7 @@ for (const estop of [false, true]) {
   assert.equal(snapshot().ui_gates.abort.enabled, false, "Stop widget must be disabled at IDLE");
 }
 send("ESTOP", { active: false }); send("POWER", { active: true }); send("HOME", { all: true });
+send("SIM_STEP", { cycles: 1 });
 send("SET_MODE", { mode: "MDI" });
 assert.equal(snapshot().gates.spindle.enabled, true);
 assert.equal(snapshot().gates.touchOff.enabled, true);

web/worker/test_xyzac_touch_off_source_flow.mjs

@@ -27,6 +27,7 @@ assert.equal(send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: to
 assert.equal(send("PROGRAM_LOAD", { source: "G21 G90\nG0 X10 Y5 Z200 A30 C45\nG1 X20 Y10 Z180 A35 C50 F100\nM2\n", path: "touch.ngc" }).payload.status, "verified");
 assert.equal(send("POWER", { active: true }).payload.status, "verified");
 assert.equal(send("HOME", { all: true }).payload.status, "verified");
+assert.equal(send("SIM_STEP", { cycles: 1 }).payload.status, "verified");
 
 const jogStart = send("JOG_START", { axis: "X", direction: 1, increment: null, continuous: true });
 assert.equal(jogStart.payload.status, "verified");

web/worker/wasm-home-limit.mjs

@@ -108,17 +108,6 @@ export class WasmHomeLimit {
     return this.read();
   }
 
-  // Resolve the canonical target of a home command without committing the
-  // homed mask or pose. The actual commit is performed only after the LinuxCNC
-  // TP has executed the queued move to this target.
-  previewHome(axis = null) {
-    const saved = this.exportState();
-    const target = this.home(0, axis);
-    try { this.restoreState(saved); } catch (error) { return { status: "error", code: String(error?.message ?? error) }; }
-    if (target.status !== "verified") return target;
-    return { status: "verified", state: target.state };
-  }
-
   check(joints) {
     if (!this.available) return this.read();
     if (!Array.isArray(joints) || joints.length < this.jointCount || joints.some((value) => typeof value !== "number" || !Number.isFinite(value))) return { status: "error", code: "wasm_home_joints_invalid" };

web/worker/wasm-native-homing.mjs

@@ -0,0 +1,88 @@
+import { fnv1a64 } from "./replay.mjs";
+import { parseIni } from "../workspace/ini-parser.mjs";
+
+const STATES = ["IDLE", "START", "UNLOCK", "UNLOCK_WAIT", "INITIAL_BACKOFF_START", "INITIAL_BACKOFF_WAIT", "INITIAL_SEARCH_START", "INITIAL_SEARCH_WAIT", "SET_COARSE_POSITION", "FINAL_BACKOFF_START", "FINAL_BACKOFF_WAIT", "RISE_SEARCH_START", "RISE_SEARCH_WAIT", "FALL_SEARCH_START", "FALL_SEARCH_WAIT", "SET_SWITCH_POSITION", "INDEX_ONLY_START", "INDEX_SEARCH_START", "INDEX_SEARCH_WAIT", "SET_INDEX_POSITION", "FINAL_MOVE_START", "FINAL_MOVE_WAIT", "LOCK", "LOCK_WAIT", "FINISHED", "ABORT"];
+export class WasmNativeHoming {
+  constructor(core, configuration, kinematics) {
+    this.core = core;
+    this.kinematics = kinematics;
+    this.jointCount = 5;
+    this.size = core._sim_native_home_size();
+    this.pointer = core._malloc(this.size);
+    this.buffer = core._malloc(12 * 8);
+    if (!this.pointer || !this.buffer) throw new Error("native_home_allocation_failed");
+    this.available = true;
+    const parsed = parseIni({ entrypoint: configuration.entrypoint, workspace: { read: (path) => {
+      const value = configuration.files[path.replace(/^\/workspace\//, "")];
+      if (typeof value !== "string") throw new Error(`home_ini_missing:${path}`);
+      return value;
+    } } });
+    this.parameters = Array.from({ length: 5 }, (_, j) => {
+      const section = parsed.sections[`JOINT_${j}`] ?? {};
+      const n = (key, fallback) => section[key] === undefined ? fallback : Number(section[key]);
+      const flags = [["HOME_IGNORE_LIMITS", 1], ["HOME_USE_INDEX", 2], ["HOME_IS_SHARED", 4], ["LOCKING_INDEXER", 8], ["HOME_INDEX_NO_ENCODER_RESET", 128]].reduce((mask, [key, bit]) => mask | (n(key, 0) ? bit : 0), 0);
+      const encoder = n("HOME_ABSOLUTE_ENCODER", 0);
+      if (![0, 1, 2].includes(encoder)) throw new Error("native_home_absolute_encoder_invalid");
+      return [n("HOME_OFFSET", 0), n("HOME", 0), n("HOME_FINAL_VEL", -1), n("HOME_SEARCH_VEL", 0), n("HOME_LATCH_VEL", 0), flags | (encoder ? 16 | 32 | (encoder === 2 ? 64 : 0) : 0), n("HOME_SEQUENCE", 999), n("VOLATILE_HOME", 0), n("MIN_LIMIT", -1e9), n("MAX_LIMIT", 1e9), n("MAX_VELOCITY", 1), n("MAX_ACCELERATION", 1)];
+    });
+    this.period = Number(parsed.sections.EMCMOT?.SERVO_PERIOD ?? 1000000) / 1e9;
+    this.reset();
+  }
+  invoke(name, ...args) {
+    const rc = this.core[`_sim_native_home_${name}`](this.pointer, ...args);
+    if (rc !== 0) throw new Error(`native_home_${name}_${rc}`);
+  }
+  get(j, field) { return this.core._sim_native_home_get(this.pointer, j, field); }
+  get active() { return Boolean(this.get(0, 0)); }
+  get mode() { return [null, "FREE", "COORD", "TELEOP"][this.get(0, 1)]; }
+  setMode(mode) { this.invoke("mode", { FREE: 1, COORD: 2, TELEOP: 3 }[mode]); }
+  sync(joints) { this.core.HEAPF64.set(joints, this.buffer / 8); this.invoke("sync", this.buffer); }
+  home(seq, joint = null) { this.invoke("start", joint ?? -1, seq); return this.read(); }
+  step() { this.invoke("step"); return this.read(); }
+  cancel(volatile = false) { this.invoke("cancel", Number(volatile)); return this.read(); }
+  reset() {
+    this.invoke("init", 5, this.period);
+    this.parameters.forEach((p, j) => { this.core.HEAPF64.set(p, this.buffer / 8); this.invoke("config", j, this.buffer); });
+    return this.read();
+  }
+  check(joints) { if (!this.active) this.sync(joints); return this.read(); }
+  read() {
+    const joint = Array.from({ length: 5 }, (_, j) => ({
+      joint: j, homing: Boolean(this.get(j, 4)), homed: Boolean(this.get(j, 5)),
+      home_state: this.get(j, 6), home_state_name: `HOME_${STATES[this.get(j, 6)]}`,
+      position: this.get(j, 7), motor_position: this.get(j, 8), motor_offset: this.get(j, 9),
+      home_sequence: this.get(j, 10), velocity: this.get(j, 11), index_enable: Boolean(this.get(j, 12)),
+    }));
+    const joints = joint.map((j) => j.position);
+    const result = this.kinematics.forward(joints);
+    return { status: result.status, ...(result.code ? { code: result.code } : {}), state: {
+      schema: "sim_home_limit_state.v1", source: "linuxcnc-homing.c", joint_count: 5,
+      homed: joint.every((j) => j.homed), homed_mask: joint.reduce((mask, j) => mask | (j.homed ? 1 << j.joint : 0), 0),
+      homing: this.active, motion_mode: this.mode, joint, joints, pose: result.pose ?? null,
+      home_sequence: this.get(0, 3), tick: this.get(0, 2), last_error: result.result ?? 0, limit_error: result.result === -702 ? -702 : 0, kinematics_error: result.result ?? 0,
+    } };
+  }
+  exportState() {
+    // emcmot_joint_t includes large unused compensation tables. Preserve the
+    // complete native state while avoiding repeated zero bytes in checkpoints.
+    const bytes = this.core.HEAPU8.subarray(this.pointer, this.pointer + this.size);
+    const nonzero = [];
+    for (let i = 0; i < bytes.length; i++) if (bytes[i] !== 0) nonzero.push([i, bytes[i]]);
+    const value = { schema: "native-homing.v1", parameters: this.parameters, period: this.period,
+      byte_length: this.size, nonzero_bytes: nonzero };
+    return { ...value, state_hash: fnv1a64(value) };
+  }
+  restoreState(value) {
+    const { state_hash, ...unsigned } = value;
+    if (value.schema !== "native-homing.v1" || state_hash !== fnv1a64(unsigned) || value.byte_length !== this.size || value.period !== this.period || fnv1a64(value.parameters) !== fnv1a64(this.parameters) || !Array.isArray(value.nonzero_bytes)) throw new Error("native_home_restore_invalid");
+    let previous = -1;
+    const bytes = new Uint8Array(this.size);
+    for (const [offset, byte] of value.nonzero_bytes) {
+      if (!Number.isInteger(offset) || offset <= previous || offset >= this.size || !Number.isInteger(byte) || byte < 1 || byte > 255) throw new Error("native_home_restore_bytes_invalid");
+      bytes[offset] = byte; previous = offset;
+    }
+    this.core.HEAPU8.set(bytes, this.pointer);
+    return this.read();
+  }
+  destroy() { this.core._free(this.pointer); this.core._free(this.buffer); }
+}