Unblock native XYZAC TP oracle

coverage/task-packets/TP-PARITY-00.handoff.json

@@ -2,30 +2,34 @@
   "schema": "task-handoff.v1",
   "task_id": "TP-PARITY-00",
   "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
-  "status": "blocked",
+  "status": "verified",
   "scope": "xyzac_only",
-  "result": "run-5axis-rtcp.sh launches native LinuxCNC services and AXIS, but linuxcnc.stat cannot attach to the launcher status buffer on this host; no native per-tick oracle was generated",
+  "result": "run-5axis-rtcp.sh launches the source LinuxCNC XYZAC case and the source Python NML extension captures a strictly monotonic native task-heartbeat trace with pose, joints, queue, current-line and dynamics fields",
-  "report": {"path": "coverage/xyzac-native-tick-trace.report.json", "status": "blocked", "sha256": "86d13e1a715c20b2a7bfc243301b46780a9f2942bd96d928c5ae24a53dbcca71"},
+  "report": {"path": "coverage/xyzac-native-tick-trace.report.json", "status": "verified", "sha256": "881571d0c75017a9610023a2d022d26606e653a0c62575563c0da7ada600e9a2"},
+  "parity_report": {"path": "coverage/xyzac-native-wasm-tick-parity.report.json", "status": "diverged", "sha256": "3ce76d65aee5405c01efca36b859b63da476f5f4d3bc4666be93691458fb86b3"},
+  "wasm_report": {"path": "coverage/xyzac-wasm-tick-trace.report.json", "status": "verified", "sha256": "21cbdaa8eaa1eda94ca107095ba7931cb5bd151c80e75c9b7dd9ec6149a71c73"},
   "outputs": [
-    {"path": "scripts/run_xyzac_native_tick_trace.py", "status": "created"},
+    {"path": "scripts/run_xyzac_native_tick_trace.py", "status": "verified"},
-    {"path": "doc-rtcp/xyzac-trt-full-tp-parity-plan.md", "status": "created"},
+    {"path": "scripts/run_xyzac_wasm_tick_trace.mjs", "status": "verified"},
-    {"path": "coverage/task-packets/TP-PARITY-00.json", "status": "created"}
+    {"path": "scripts/compare_xyzac_native_wasm_tick_trace.py", "status": "verified"},
+    {"path": "doc-rtcp/xyzac-trt-full-tp-parity-plan.md", "status": "updated"},
+    {"path": "coverage/task-packets/TP-PARITY-00.json", "status": "verified"}
   ],
   "checks": {
     "launcher": "run-5axis-rtcp.sh started native linuxcncsvr/io/halui/milltask/axis",
     "axis_window": "visible during manual probe",
-    "stat_attach": "blocked: emcStatusBuffer invalid err=3 / taskbeat invalid",
+    "stat_attach": "verified: source extension attaches after AXIS/NML startup",
-    "python_module": "blocked: installed 2.10.0~pre1 extension differs from source 2.10.0~pre0 launcher",
+    "python_module": "verified: source extension matches run-in-place launcher",
-    "native_trace": "blocked",
+    "native_trace": "verified: 201 native heartbeat rows",
+    "wasm_trace": "verified: same XYZAC source/config loaded through linuxcnc-wasm worker",
+    "native_wasm_compare": "diverged: first difference $.rows[1].exec_state; release remains STOP_RELEASE",
     "source_hashes": "recorded by collector",
     "full_parity_claim": "forbidden"
   },
   "failure_samples": [
-    {"code": "NATIVE_STAT_BUFFER_INVALID", "detail": "linuxcnc.stat().poll() returned emcStatusBuffer invalid err=3 or SystemError without exception while run-5axis-rtcp.sh services were alive"},
+    {"code": "ACTIVE_SEGMENT_GEOMETRY_UNAVAILABLE", "detail": "public linuxcnc.stat exposes motion_id but not TP segment geometry; collector retains explicit null instead of fabricating geometry"}
-    {"code": "NATIVE_TASKBEAT_INVALID", "detail": "taskbeat remained 4294967296 and no valid native tick could be selected"},
-    {"code": "NATIVE_PYTHON_MODULE_MISMATCH", "detail": "collector imported /usr/lib/python3/dist-packages/linuxcnc.cpython-312-x86_64-linux-gnu.so while run-5axis-rtcp.sh uses the source 2.10.0~pre0 launcher"}
   ],
   "next_task": "TP-PARITY-01",
-  "next_task_status": "blocked_by_TP-PARITY-00",
+  "next_task_status": "in_progress",
   "release_status": "STOP_RELEASE"
 }

coverage/task-packets/TP-PARITY-00.json

@@ -1,7 +1,7 @@
 {
   "schema": "task-packet.v1",
   "task_id": "TP-PARITY-00",
-  "status": "blocked",
+  "status": "verified",
   "title": "Native LinuxCNC XYZAC per-tick oracle",
   "milestone": "M7-TP-NUMERICAL-PARITY",
   "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
@@ -22,14 +22,21 @@
   ],
   "required_outputs": [
     "scripts/run_xyzac_native_tick_trace.py",
+    "scripts/run_xyzac_wasm_tick_trace.mjs",
+    "scripts/compare_xyzac_native_wasm_tick_trace.py",
     "coverage/xyzac-native-tick-trace.report.json",
+    "coverage/xyzac-wasm-tick-trace.report.json",
+    "coverage/xyzac-native-wasm-tick-parity.report.json",
     "coverage/task-packets/TP-PARITY-00.handoff.json"
   ],
   "observed": {
     "report": "coverage/xyzac-native-tick-trace.report.json",
-    "report_sha256": "86d13e1a715c20b2a7bfc243301b46780a9f2942bd96d928c5ae24a53dbcca71",
+    "report_sha256": "881571d0c75017a9610023a2d022d26606e653a0c62575563c0da7ada600e9a2",
-    "row_count": 0,
+    "row_count": 201,
-    "first_blocker": "NATIVE_STAT_BUFFER_INVALID"
+    "first_blocker": null,
+    "tick_source": "linuxcnc.stat.task_heartbeat",
+    "tick_integrity": "strictly_monotonic",
+    "wasm_comparator": {"status": "diverged", "first_divergent_tick": 1, "difference_path": "$.rows[1].exec_state", "report": "coverage/xyzac-native-wasm-tick-parity.report.json"}
   },
   "acceptance": [
     "run-5axis-rtcp.sh launches native LinuxCNC",
@@ -53,7 +60,8 @@
   "known_blockers": [
     "native stat API may not expose TP segment geometry; map motion_id and retain explicit unavailable field",
     "native GUI process requires DISPLAY and cleanup",
-    "full LinuxCNC TP source integration may require ABI-compatible C port rather than simplified queue extension"
+    "full LinuxCNC TP source integration may require ABI-compatible C port rather than simplified queue extension",
+    "native/WASM comparator currently diverges at current-line scheduling before TP numeric parity can be promoted"
   ],
   "release_status": "STOP_RELEASE"
 }

coverage/tp-parity-release-state.report.json

@@ -0,0 +1,20 @@
+{
+  "schema": "tp-parity-release-state.v1",
+  "scope": "xyzac_only",
+  "tasks": [
+    {"task_id": "TP-PARITY-00", "status": "verified", "evidence": "coverage/xyzac-native-tick-trace.report.json"},
+    {"task_id": "TP-PARITY-01", "status": "in_progress", "evidence": "coverage/xyzac-native-wasm-tick-parity.report.json"},
+    {"task_id": "TP-PARITY-02", "status": "in_progress", "evidence": "wasm-core/src/sim_program.c"},
+    {"task_id": "TP-PARITY-03", "status": "blocked_by_TP-PARITY-01", "evidence": null},
+    {"task_id": "TP-PARITY-04", "status": "blocked_by_TP-PARITY-01", "evidence": null},
+    {"task_id": "TP-PARITY-05", "status": "blocked_by_TP-PARITY-01", "evidence": null},
+    {"task_id": "TP-PARITY-06", "status": "diverged", "evidence": "coverage/xyzac-native-wasm-tick-parity.report.json"},
+    {"task_id": "TP-PARITY-07", "status": "blocked_by_TP-PARITY-06", "evidence": null},
+    {"task_id": "TP-PARITY-08", "status": "blocked_by_TP-PARITY-06", "evidence": null}
+  ],
+  "first_blocker": null,
+  "first_divergent_tick": 1,
+  "difference_path": "$.rows[1].exec_state",
+  "release_status": "STOP_RELEASE",
+  "reason": "The native oracle is available, but the existing WASM planner diverges from source LinuxCNC before full TP field parity is established."
+}

coverage/xyzac-native-wasm-tick-parity.report.json

@@ -0,0 +1,39 @@
+{
+  "candidate_eligible": false,
+  "case": {
+    "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
+    "scope": "xyzac_only"
+  },
+  "comparison": {
+    "difference_path": "$.rows[1].exec_state",
+    "first_divergent_tick": 1,
+    "native": 3,
+    "status": "diverged",
+    "wasm": 2
+  },
+  "difference_path": "$.rows[1].exec_state",
+  "first_divergent_tick": 1,
+  "known_boundaries": [
+    "native public stat does not expose TP segment geometry",
+    "WASM public snapshot does not expose acceleration/active blend geometry",
+    "verified oracle availability is not a full TP numerical parity claim"
+  ],
+  "native": {
+    "report": "coverage/xyzac-native-tick-trace.report.json",
+    "report_sha256": "881571d0c75017a9610023a2d022d26606e653a0c62575563c0da7ada600e9a2",
+    "row_count": 201,
+    "trace_sha256": "173b5a5644254adef9ca5fd3b4fb2919889cce938d3aae7079c5004a4bfb364f"
+  },
+  "release_status": "STOP_RELEASE",
+  "report_sha256": "3ce76d65aee5405c01efca36b859b63da476f5f4d3bc4666be93691458fb86b3",
+  "schema": "xyzac-native-wasm-tick-parity.v1",
+  "status": "diverged",
+  "wasm": {
+    "report": "coverage/xyzac-wasm-tick-trace.report.json",
+    "report_sha256": "21cbdaa8eaa1eda94ca107095ba7931cb5bd151c80e75c9b7dd9ec6149a71c73",
+    "row_count": 202,
+    "runner_output_sha256": "5f493d9e726ec7bf656f738f92b61a17e0b6455562e68c85199c282d58817843",
+    "runner_returncode": 0,
+    "trace_sha256": "4202692d7f92ad9d4bfacb0ec1bb88eaad9e5b308e3a016c670f8fc4a73a5612"
+  }
+}

doc-rtcp/xyzac-trt-full-tp-parity-plan.md

@@ -1,6 +1,13 @@
 # XYZAC TRT 完整 TP/前瞻数值对标任务轨道
 
-状态：`TP-PARITY-00` 已建立，完整 LinuxCNC 数值对标尚未完成。
+状态：`TP-PARITY-00` 已 verified，完整 LinuxCNC 数值对标尚未完成。
+
+当前 oracle 证据：`coverage/xyzac-native-tick-trace.report.json` 已由源
+`run-5axis-rtcp.sh` 产生连续 task-heartbeat tick；源 Python NML 扩展暴露
+`task_heartbeat`，并记录 XYZAC pose/joints、queue、current-line、速度和加速度。
+`scripts/compare_xyzac_native_wasm_tick_trace.py` 已接入同一 case 的 WASM trace，
+当前首个差异保留为 `$.rows[1].exec_state`，因此不得把 TP-PARITY-01..08 写成
+数值 parity verified。
 
 目标不是证明页面能绘制一条曲线，而是对同一 `xyzac-trt.ini`、同一 G-code、同一初始状态，比较 native LinuxCNC 与 WASM Worker 的每个运动 tick：
 
@@ -44,6 +51,9 @@ Web 端只有在该链路和 native trace 逐字段一致后，才能声明 `PAR
 
 ### TP-PARITY-01：锁定 LinuxCNC TP 数据模型和 C ABI
 
+状态：`in_progress`。native tick oracle 已可用；当前 comparator 显示现有
+WASM queue 与源 TP 的执行顺序/速度尚未一致。
+
 来源：`linuxcnc/src/emc/tp/{tp.c,tp.h,tp_types.h,tc.c,tcq.c,tc_types.h,blendmath.c,blendmath.h,spherical_arc.c}`。
 
 工作：
@@ -56,6 +66,9 @@ Web 端只有在该链路和 native trace 逐字段一致后，才能声明 `PAR
 
 ### TP-PARITY-02：G64/G61/G61.1 完整路径控制
 
+状态：`in_progress`，WASM interpreter 侧已闭合指令模式和容差状态，numeric
+blend 仍待 TP port 和 comparator 通过。
+
 来源：
 
 - `linuxcnc/src/emc/rs274ngc/interp_convert.cc` 的 G64/G61 处理
@@ -68,6 +81,11 @@ Web 端只有在该链路和 native trace 逐字段一致后，才能声明 `PAR
 - 保存 modal 状态、每个 canonical motion 的 termination condition 和 tolerance。
 - 增加直线-直线、直线-圆弧、圆弧-直线、圆弧-圆弧、急转角、短段、零容差和非法 P/Q 样本。
 
+当前 WASM C interpreter 已输出三种模式及 P/Q 容差到 `sim_program.v1`，Worker
+在入队前应用对应 queue profile；LinuxCNC exact-path 与 exact-stop 的细微
+差别、P/Q 驱动的 corner blend 仍由 TP-PARITY-03/06 的 native tick comparator
+验证，尚未标记完成。
+
 退出条件：native/WASM 每条 TC 的 termination mode、tolerance、blend point、速度和完成 tick 一致。
 
 ### TP-PARITY-03：Lookahead、corner blending、acceleration/jerk
@@ -144,6 +162,12 @@ state_hash
 - 浮点使用固定绝对/相对容差，并记录原始值和差异值。
 - 列表长度、字段缺失、状态顺序不允许静默忽略。
 - 保存 `first_divergent_tick`、`difference_path`、native/WASM 两侧样本。
+
+已提供可重复入口：
+
+- `scripts/run_xyzac_wasm_tick_trace.mjs`
+- `scripts/compare_xyzac_native_wasm_tick_trace.py`
+- `coverage/xyzac-native-wasm-tick-parity.report.json`
 - 最终坐标相同但中间 tick 不同必须判定为 `diverged`。
 
 ### TP-PARITY-07：预览和实际执行一致性

patches/linuxcnc/0001-export-native-task-heartbeat.patch

@@ -0,0 +1,26 @@
+diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc
+--- a/src/emc/task/emctaskmain.cc
++++ b/src/emc/task/emctaskmain.cc
+@@ -3490,4 +3490,9 @@ int main(int argc, char *argv[])
+ 	// since emcStatus was passed to the WM init functions, it
+ 	// will be updated in the _update() functions above. There's
+ 	// no need to call the individual functions on all WM items.
++	// EMC_TASK_STAT_MSG::heartbeat is the native task-cycle oracle used by
++	// external clients.  Keep it monotonic and publish it with this cycle's
++	// status image so a reader can identify every task tick without relying on
++	// wall-clock sampling.
++	emcStatus->task.heartbeat++;
+ 	emcStatusBuffer->write(emcStatus);
+
+diff --git a/src/emc/usr_intf/axis/extensions/emcmodule.cc b/src/emc/usr_intf/axis/extensions/emcmodule.cc
+--- a/src/emc/usr_intf/axis/extensions/emcmodule.cc
++++ b/src/emc/usr_intf/axis/extensions/emcmodule.cc
+@@ -409,4 +409,7 @@ static PyMemberDef Stat_members[] = {
+     {(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
+     {(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
+     {(char*)"state", T_INT, O(status), READONLY},
++    {(char*)"task_heartbeat", T_UINT, O(task.heartbeat), READONLY,
++        "Native EMC task-loop heartbeat.  This counter is incremented by the "
++        "LinuxCNC task thread and is suitable for identifying native status ticks."},
+
+ // task

scripts/compare_xyzac_native_wasm_tick_trace.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+"""Compare the source LinuxCNC XYZAC oracle with the WASM worker trace."""
+
+from __future__ import annotations
+
+import hashlib
+import json
+import subprocess
+from pathlib import Path
+from typing import Any
+
+ROOT = Path(__file__).resolve().parents[1]
+NATIVE_REPORT = ROOT / "coverage/xyzac-native-tick-trace.report.json"
+WASM_REPORT = ROOT / "coverage/xyzac-wasm-tick-trace.report.json"
+REPORT = ROOT / "coverage/xyzac-native-wasm-tick-parity.report.json"
+
+
+def canonical(value: Any) -> str:
+    return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
+
+
+def digest(value: Any) -> str:
+    return hashlib.sha256((value if isinstance(value, bytes) else canonical(value).encode())).hexdigest()
+
+
+def first_difference(left: Any, right: Any, path: str = "$") -> str | None:
+    if type(left) is not type(right):
+        return path
+    if isinstance(left, dict):
+        for key in sorted(set(left) | set(right)):
+            if key not in left or key not in right:
+                return f"{path}.{key}"
+            difference = first_difference(left[key], right[key], f"{path}.{key}")
+            if difference:
+                return difference
+        return None
+    if isinstance(left, list):
+        for index in range(max(len(left), len(right))):
+            if index >= len(left) or index >= len(right):
+                return f"{path}[{index}]"
+            difference = first_difference(left[index], right[index], f"{path}[{index}]")
+            if difference:
+                return difference
+        return None
+    return None if left == right else path
+
+
+def canonical_row(row: dict[str, Any]) -> dict[str, Any]:
+    result = dict(row)
+    for key in ("joint_actual", "joint_commanded", "homed", "limits"):
+        if isinstance(result.get(key), list):
+            result[key] = result[key][:5]
+    return result
+
+
+def compare_rows(native: list[dict[str, Any]], wasm: list[dict[str, Any]]) -> dict[str, Any]:
+    fields = ("task_state", "task_mode", "interp_state", "exec_state", "current_line", "motion_line", "actual_pose", "commanded_pose", "joint_actual", "joint_commanded", "velocity", "queue_depth", "motion_id", "active_segment_id", "position", "homed", "limits", "kinematics_type", "motion_type", "paused")
+    for index in range(max(len(native), len(wasm))):
+        if index >= len(native) or index >= len(wasm):
+            return {"status": "diverged", "first_divergent_tick": index, "difference_path": f"$.rows[{index}]", "native": native[index] if index < len(native) else None, "wasm": wasm[index] if index < len(wasm) else None}
+        native_row = canonical_row(native[index])
+        wasm_row = canonical_row(wasm[index])
+        for field in fields:
+            if native_row.get(field) != wasm_row.get(field):
+                return {"status": "diverged", "first_divergent_tick": index, "difference_path": f"$.rows[{index}].{field}", "native": native_row.get(field), "wasm": wasm_row.get(field)}
+    return {"status": "verified", "first_divergent_tick": None, "difference_path": None}
+
+
+def main() -> int:
+    native = json.loads(NATIVE_REPORT.read_text(encoding="utf-8"))
+    wasm_ticks = max(1, min(1000, int(native.get("row_count") or 1)))
+    build = subprocess.run(["node", "scripts/run_xyzac_wasm_tick_trace.mjs", "--ticks", str(wasm_ticks), "--output", str(WASM_REPORT)], cwd=ROOT, text=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, check=False, timeout=120)
+    wasm = json.loads(WASM_REPORT.read_text(encoding="utf-8")) if WASM_REPORT.is_file() else {"status": "blocked", "rows": []}
+    comparison = compare_rows(native.get("rows", []), wasm.get("rows", [])) if native.get("status") == "verified" and wasm.get("status") == "verified" else {"status": "blocked", "first_divergent_tick": None, "difference_path": None}
+    report = {
+        "schema": "xyzac-native-wasm-tick-parity.v1",
+        "status": comparison["status"],
+        "candidate_eligible": comparison["status"] == "verified",
+        "case": native.get("case"),
+        "native": {"report": str(NATIVE_REPORT.relative_to(ROOT)), "report_sha256": native.get("report_sha256"), "trace_sha256": native.get("trace_sha256"), "row_count": native.get("row_count")},
+        "wasm": {"report": str(WASM_REPORT.relative_to(ROOT)), "report_sha256": wasm.get("report_sha256"), "trace_sha256": wasm.get("trace_sha256"), "row_count": wasm.get("row_count"), "runner_returncode": build.returncode, "runner_output_sha256": digest(build.stdout)},
+        "comparison": comparison,
+        "first_divergent_tick": comparison.get("first_divergent_tick"),
+        "difference_path": comparison.get("difference_path"),
+        "known_boundaries": ["native public stat does not expose TP segment geometry", "WASM public snapshot does not expose acceleration/active blend geometry", "verified oracle availability is not a full TP numerical parity claim"],
+        "release_status": "STOP_RELEASE",
+    }
+    report["report_sha256"] = digest({key: value for key, value in report.items() if key != "report_sha256"})
+    REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8")
+    print(json.dumps({"schema": report["schema"], "status": report["status"], "first_divergent_tick": report["first_divergent_tick"], "difference_path": report["difference_path"], "report_sha256": report["report_sha256"]}, ensure_ascii=False))
+    return 0 if report["status"] == "verified" else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

scripts/run_axis3_tutorial_native.py

@@ -100,10 +100,20 @@ def cleanup_linuxcnc_services() -> dict[str, object]:
             pass
     lock = Path("/tmp/linuxcnc.lock")
     lock_removed = False
+    lock_backup = None
     if lock.exists() and not any(service_pattern.search(command) for _, command in process_rows()):
-        lock.unlink()
+        # Preserve stale lock evidence for post-mortem inspection.  A lock is
+        # runtime state, not a repository artifact, so moving it is sufficient
+        # and recoverable while allowing the next source launcher to start.
+        lock_backup_path = Path(f"/tmp/linuxcnc.lock.stale-{time.strftime('%Y%m%d-%H%M%S')}")
+        suffix = 1
+        while lock_backup_path.exists():
+            lock_backup_path = Path(f"/tmp/linuxcnc.lock.stale-{time.strftime('%Y%m%d-%H%M%S')}-{suffix}")
+            suffix += 1
+        lock.rename(lock_backup_path)
         lock_removed = True
-    return {"commands": commands, "killed_pids": killed, "lock_path": lock.as_posix(), "lock_removed": lock_removed, "remaining_services": [command for _, command in process_rows() if service_pattern.search(command)]}
+        lock_backup = lock_backup_path.as_posix()
+    return {"commands": commands, "killed_pids": killed, "lock_path": lock.as_posix(), "lock_removed": lock_removed, "lock_backup": lock_backup, "remaining_services": [command for _, command in process_rows() if service_pattern.search(command)]}
 
 
 def run(screenshot_path: Path | None = None) -> dict[str, object]:

scripts/run_xyzac_native_tick_trace.py

@@ -16,16 +16,22 @@ import os
 import re
 import signal
 import subprocess
+import sys
 import time
 from pathlib import Path
 from typing import Any
 
+# The oracle must bind to the same source build that run-5axis-rtcp.sh starts.
+# In particular, importing the distro linuxcnc extension would silently bind to
+# a different NML ABI/version and produce plausible but unusable status values.
+ROOT = Path(__file__).resolve().parents[1]
+SOURCE_PYTHON_DIR = ROOT / "linuxcnc/lib/python"
+sys.path.insert(0, str(SOURCE_PYTHON_DIR))
 import linuxcnc
 
 from run_axis3_tutorial_native import cleanup_linuxcnc_services
 
 
-ROOT = Path(__file__).resolve().parents[1]
 CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"
 PROGRAM = ROOT / "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc"
 SCHEMA = "xyzac-native-linuxcnc-tick-trace.v1"
@@ -58,10 +64,13 @@ def scalar(value: Any) -> float | int | bool | str | None:
 
 def stat_row(stat: Any, sample_index: int, previous_taskbeat: int | None) -> dict[str, Any]:
     stat.poll()
-    taskbeat = scalar(getattr(stat, "taskbeat", None))
+    taskbeat = scalar(getattr(stat, "task_heartbeat", None))
+    commanded_pose = finite_list(getattr(stat, "position", None))
+    distance_to_go = finite_list(getattr(stat, "dtg", None))
     return {
         "sample_index": sample_index,
         "taskbeat": taskbeat,
+        "task_heartbeat": taskbeat,
         "taskbeat_changed": previous_taskbeat is None or taskbeat != previous_taskbeat,
         "task_state": scalar(getattr(stat, "task_state", None)),
         "task_mode": scalar(getattr(stat, "task_mode", None)),
@@ -71,7 +80,7 @@ def stat_row(stat: Any, sample_index: int, previous_taskbeat: int | None) -> dic
         "motion_line": scalar(getattr(stat, "motion_line", None)),
         "read_line": scalar(getattr(stat, "read_line", None)),
         "actual_pose": finite_list(getattr(stat, "actual_position", None)),
-        "commanded_pose": finite_list(getattr(stat, "command_position", None)),
+        "commanded_pose": commanded_pose,
         "joint_actual": finite_list(getattr(stat, "joint_actual_position", None)),
         "joint_commanded": finite_list(getattr(stat, "joint_position", None)),
         "velocity": scalar(getattr(stat, "current_vel", None)),
@@ -86,7 +95,7 @@ def stat_row(stat: Any, sample_index: int, previous_taskbeat: int | None) -> dic
         "active_segment_id": scalar(getattr(stat, "motion_id", None)),
         "active_segment_geometry": None,
         "active_segment_geometry_status": "unavailable_linuxcnc_stat_api",
-        "distance_to_go": finite_list(getattr(stat, "distance_to_go", None)),
+        "distance_to_go": distance_to_go,
         "position": finite_list(getattr(stat, "position", None)),
         "homed": list(getattr(stat, "homed", [])) if getattr(stat, "homed", None) is not None else None,
         "limits": list(getattr(stat, "limit", [])) if getattr(stat, "limit", None) is not None else None,
@@ -150,6 +159,7 @@ def run(duration: float) -> dict[str, Any]:
     output_lines: list[str] = []
     rows: list[dict[str, Any]] = []
     errors: list[str] = []
+    stage = "launch"
     stat: Any = None
     control: Any = None
     connected = False
@@ -161,34 +171,56 @@ def run(duration: float) -> dict[str, Any]:
             if not window:
                 time.sleep(0.1)
                 continue
-            try:
+            # The AXIS toplevel is created only after linuxcncsvr/milltask have
-                stat = linuxcnc.stat()
+            # opened the NML buffers. Creating linuxcnc.stat before that point
-                control = linuxcnc.command()
+            # permanently binds an invalid channel, so wait for the real
-                stat.poll()
+            # window first and create fresh channels afterwards.
-                if getattr(stat, "task_state", None) in (linuxcnc.STATE_ESTOP, linuxcnc.STATE_ESTOP_RESET, linuxcnc.STATE_OFF, linuxcnc.STATE_ON):
+            time.sleep(0.1)
+        if stat is None or control is None or not connected:
+            if not window:
+                raise RuntimeError("native_linuxcnc_window_unavailable")
+            stat = None
+            control = None
+            attach_deadline = time.monotonic() + 10
+            while time.monotonic() < attach_deadline and process.poll() is None:
+                try:
+                    candidate_stat = linuxcnc.stat()
+                    candidate_stat.poll()
+                    stat = candidate_stat
+                    control = linuxcnc.command()
                     connected = True
                     break
-            except Exception:
+                except BaseException:
-                time.sleep(0.1)
+                    stat = None
-        if stat is None or control is None or not connected:
+                    control = None
-            raise RuntimeError("native_linuxcnc_stat_unavailable")
+                    time.sleep(0.1)
+            if stat is None or control is None or not connected:
+                raise RuntimeError("native_linuxcnc_stat_unavailable")
 
+        stage = "state_estop_reset"
         control.state(linuxcnc.STATE_ESTOP_RESET)
         control.wait_complete(5)
         wait_stat(stat, lambda item: item.task_state != linuxcnc.STATE_ESTOP, 5)
+        stage = "state_on"
         control.state(linuxcnc.STATE_ON)
         control.wait_complete(5)
         wait_stat(stat, lambda item: item.task_state == linuxcnc.STATE_ON, 5)
+        stage = "mode_manual"
         control.mode(linuxcnc.MODE_MANUAL)
         control.wait_complete(5)
         for joint in range(5):
+            stage = f"home_joint_{joint}"
             control.home(joint)
             control.wait_complete(5)
+        stage = "wait_home_all"
         wait_stat(stat, lambda item: all(bool(value) for value in list(getattr(item, "homed", []))[:5]), 10)
+        stage = "program_open"
         control.program_open(str(PROGRAM))
         control.wait_complete(5)
+        stage = "mode_auto"
         control.mode(linuxcnc.MODE_AUTO)
         control.wait_complete(5)
+        stage = "program_run"
         control.auto(linuxcnc.AUTO_RUN, 0)
 
         start = time.monotonic()
@@ -208,10 +240,11 @@ def run(duration: float) -> dict[str, Any]:
             sample_index += 1
             time.sleep(0.005)
         final = stat_row(stat, sample_index + 1, previous_taskbeat)
-        final["native_elapsed_ms"] = round((time.monotonic() - start) * 1000.0, 3)
+        if final["taskbeat_changed"]:
-        rows.append(final)
+            final["native_elapsed_ms"] = round((time.monotonic() - start) * 1000.0, 3)
+            rows.append(final)
     except Exception as error:
-        errors.append(f"{type(error).__name__}:{error}")
+        errors.append(f"{stage}:{type(error).__name__}:{error}")
     finally:
         terminate_process(process)
         try:
@@ -222,12 +255,19 @@ def run(duration: float) -> dict[str, Any]:
         cleanup_linuxcnc_services()
 
     source_bytes = PROGRAM.read_bytes()
+    ini_path = ROOT / CASE
+    launcher_path = ROOT / "run-5axis-rtcp.sh"
+    heartbeat_values = [row.get("task_heartbeat") for row in rows]
+    valid_heartbeats = [value for value in heartbeat_values if isinstance(value, int)]
+    heartbeat_monotonic = all(left < right for left, right in zip(valid_heartbeats, valid_heartbeats[1:]))
     trace_hash = sha256_bytes(canonical(rows).encode())
     python_module = getattr(linuxcnc, "__file__", None)
     source_python_module = str(ROOT / "linuxcnc/lib/python/linuxcnc.so")
     if python_module != source_python_module:
         errors.append("NATIVE_PYTHON_MODULE_MISMATCH")
-    status = "verified" if rows and not errors else "blocked"
+    status = "verified" if rows and not errors and heartbeat_monotonic and len(valid_heartbeats) == len(set(valid_heartbeats)) else "blocked"
+    if rows and not heartbeat_monotonic:
+        errors.append("NATIVE_TASK_HEARTBEAT_NON_MONOTONIC")
     return {
         "schema": SCHEMA,
         "status": status,
@@ -235,8 +275,15 @@ def run(duration: float) -> dict[str, Any]:
         "launcher": command,
         "native_axis_window": window,
         "program": {"path": PROGRAM.relative_to(ROOT).as_posix(), "sha256": sha256_bytes(source_bytes)},
-        "native_linuxcnc": {"python_module": python_module, "expected_source_python_module": source_python_module, "display": environment["DISPLAY"]},
+        "native_linuxcnc": {"python_module": python_module, "expected_source_python_module": source_python_module, "display": environment["DISPLAY"], "python_module_sha256": sha256_bytes(Path(python_module).read_bytes()) if python_module and Path(python_module).is_file() else None},
-        "tick_source": "linuxcnc.stat.taskbeat",
+        "inputs": {
+            "case_ini": {"path": CASE, "sha256": sha256_bytes(ini_path.read_bytes())},
+            "launcher": {"path": "run-5axis-rtcp.sh", "sha256": sha256_bytes(launcher_path.read_bytes())},
+            "program": {"path": PROGRAM.relative_to(ROOT).as_posix(), "sha256": sha256_bytes(source_bytes)},
+            "source_python_module": {"path": source_python_module, "sha256": sha256_bytes(Path(source_python_module).read_bytes()) if Path(source_python_module).is_file() else None},
+        },
+        "tick_source": "linuxcnc.stat.task_heartbeat",
+        "tick_integrity": {"first": valid_heartbeats[0] if valid_heartbeats else None, "last": valid_heartbeats[-1] if valid_heartbeats else None, "row_count": len(valid_heartbeats), "unique_count": len(set(valid_heartbeats)), "strictly_monotonic": heartbeat_monotonic},
         "rows": rows,
         "row_count": len(rows),
         "trace_sha256": trace_hash,

scripts/run_xyzac_wasm_tick_trace.mjs

@@ -0,0 +1,145 @@
+#!/usr/bin/env node
+
+import { readFile, writeFile } from "node:fs/promises";
+import { createHash } from "node:crypto";
+import { join, resolve } from "node:path";
+import createModule from "../build-wasm/linuxcnc-sim-core.js";
+import { loadSimulationCase, toWorkerConfiguration } from "../web/workspace/sim-case-loader.mjs";
+import { XyzacSession, CONTEXT_ID } from "../web/worker/xyzac-session.mjs";
+
+const ROOT = resolve(process.cwd());
+const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini";
+const PROGRAM = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc";
+const SCHEMA = "xyzac-wasm-linuxcnc-tick-trace.v1";
+const AXES = ["x", "y", "z", "a", "b", "c", "u", "v", "w"];
+
+const sha256 = (value) => createHash("sha256").update(value).digest("hex");
+const canonical = (value) => JSON.stringify(value, Object.keys(value).sort());
+const poseArray = (pose) => AXES.map((axis) => Number(pose?.[axis] ?? 0));
+const modeCode = (mode) => ({ MANUAL: 1, AUTO: 2, MDI: 3 }[mode] ?? null);
+const taskStateCode = (state) => ({ ESTOP: 1, ESTOP_RESET: 2, OFF: 3, READY: 4, RUNNING: 4, PAUSED: 4, STOPPED: 4 }[state] ?? null);
+const interpCode = (status) => ({ idle: 1, loaded: 1, running: 2, paused: 3, completed: 1, aborted: 1, fault: 1 }[status] ?? null);
+const execCode = (status, queueDepth) => (Number(queueDepth) > 0 ? 3 : ({ running: 2, paused: 2, loaded: 2, completed: 2, aborted: 2, idle: 2, fault: 4 }[status] ?? null));
+
+function rowFrom(state, task, program, tick) {
+  const position = state?.position ?? {};
+  const motion = task?.motion ?? {};
+  const visual = task?.visual ?? {};
+  const limits = motion.limits ?? {};
+  const joints = Array.isArray(visual.joints) ? visual.joints : Array.isArray(motion.joints) ? motion.joints : [];
+  const homedAxes = Array.isArray(motion.homed_axes) ? motion.homed_axes : [];
+  return {
+    sample_index: tick,
+    taskbeat: tick,
+    task_heartbeat: tick,
+    taskbeat_changed: true,
+    task_state: taskStateCode(task?.state),
+    task_mode: modeCode(task?.mode),
+    interp_state: interpCode(program?.program_status),
+    exec_state: execCode(program?.program_status, state?.queue_depth),
+    current_line: Number(program?.current_line ?? 0),
+    motion_line: Number(program?.current_line ?? 0),
+    read_line: Number(program?.current_line ?? 0),
+    actual_pose: poseArray(position),
+    commanded_pose: poseArray(position),
+    joint_actual: joints,
+    joint_commanded: joints,
+    velocity: Number(state?.velocity ?? 0),
+    acceleration: null,
+    feed_override: Number(motion.feed_override ?? 1),
+    rapid_override: 1,
+    feed_override_enabled: true,
+    queue_depth: Number(state?.queue_depth ?? 0),
+    active_queue: null,
+    queue_full: null,
+    motion_id: Number(state?.active_id ?? 0),
+    active_segment_id: Number(state?.active_id ?? 0),
+    active_segment_geometry: null,
+    active_segment_geometry_status: "unavailable_wasm_public_snapshot",
+    distance_to_go: null,
+    position: poseArray(position),
+    homed: homedAxes.map((value) => (value ? 1 : 0)),
+    limits: ["x", "y", "z", "a", "b", "c", "u", "v", "w"].map((axis) => limits[axis] ? 1 : 0),
+    kinematics_type: 4,
+    motion_type: Number(state?.motion_type ?? 0),
+    feed_hold_enabled: null,
+    paused: program?.program_status === "paused",
+    wasm_tick: tick,
+  };
+}
+
+const fetchImpl = async (url) => {
+  try {
+    const body = await readFile(join(ROOT, String(url).replace(/^\//, "")));
+    return { ok: true, text: async () => body.toString("utf8") };
+  } catch {
+    return { ok: false, text: async () => "" };
+  }
+};
+
+async function run(maxTicks) {
+  const bundle = await loadSimulationCase({ path: CASE, fetchImpl });
+  if (bundle.status !== "ready") throw new Error(`case_load_${bundle.code ?? bundle.status}`);
+  const source = bundle.files?.[PROGRAM];
+  if (typeof source !== "string") throw new Error("program_source_missing");
+  const wasmBinary = await readFile(join(ROOT, "build-wasm/linuxcnc-sim-core.wasm"));
+  const core = await createModule({ wasmBinary });
+  const session = new XyzacSession(core, { sessionId: "xyzac-native-wasm-oracle" });
+  let seq = 0;
+  const send = (kind, payload = {}) => session.accept({ schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId, kind, seq: ++seq, operation_id: `oracle-${seq}`, payload });
+  send("HELLO");
+  send("SESSION_ATTACH");
+  const loadedWorkspace = send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
+  if (loadedWorkspace.payload?.status !== "verified") throw new Error("workspace_load_failed");
+  for (const [kind, payload] of [["POWER", { active: true }], ["HOME", { all: true }], ["PROGRAM_LOAD", { source, path: PROGRAM }], ["PROGRAM_RUN"]]) {
+    const result = send(kind, payload);
+    if (result.payload?.status !== "verified") throw new Error(`${kind.toLowerCase()}_${result.payload?.code ?? "failed"}`);
+  }
+  const rows = [];
+  let state = session.wasmMotion.read().state;
+  let task = { ...session.task.export(), motion: session.motionProjection(), visual: { joints: state.joints } };
+  let program = session.xyzacProgram.snapshot();
+  rows.push(rowFrom(state, task, program, 0));
+  for (let tick = 1; tick <= maxTicks; tick += 1) {
+    const response = send("SIM_STEP", { cycles: 1 });
+    if (response.payload?.status !== "verified") throw new Error(`sim_step_${response.payload?.code ?? "failed"}`);
+    state = response.payload.wasm_motion?.state ?? session.wasmMotion.read().state;
+    task = { ...response.payload.task, motion: response.payload.motion, visual: response.payload.panel_snapshot?.visual };
+    program = response.payload.program ?? session.xyzacProgram.snapshot();
+    rows.push(rowFrom(state, task, program, tick));
+    if (program.program_status === "completed" && Number(state.queue_depth) === 0) break;
+  }
+  const traceHash = sha256(JSON.stringify(rows));
+  const sourceHash = sha256(source);
+  return {
+    schema: SCHEMA,
+    status: "verified",
+    case: { path: CASE, scope: "xyzac_only" },
+    native_equivalent_inputs: { case_ini: sha256(await readFile(join(ROOT, CASE))), program: sourceHash },
+    wasm: { module: "build-wasm/linuxcnc-sim-core.wasm", module_sha256: sha256(wasmBinary), authority: "linuxcnc-wasm-worker" },
+    tick_source: "wasm_simulation_tick",
+    tick_integrity: { first: rows[0]?.wasm_tick ?? null, last: rows.at(-1)?.wasm_tick ?? null, row_count: rows.length, unique_count: new Set(rows.map((row) => row.wasm_tick)).size, strictly_monotonic: rows.every((row, index) => index === 0 || row.wasm_tick > rows[index - 1].wasm_tick) },
+    rows,
+    row_count: rows.length,
+    trace_sha256: traceHash,
+    errors: [],
+    release_status: "STOP_RELEASE",
+  };
+}
+
+const args = process.argv.slice(2);
+const ticksIndex = args.indexOf("--ticks");
+const outputIndex = args.indexOf("--output");
+const maxTicks = Math.max(1, Math.min(100000, Number(ticksIndex >= 0 ? args[ticksIndex + 1] : 3000)));
+const output = outputIndex >= 0 ? resolve(args[outputIndex + 1]) : join(ROOT, "coverage/xyzac-wasm-tick-trace.report.json");
+try {
+  const report = await run(maxTicks);
+  const unsigned = { ...report, report_sha256: undefined };
+  delete unsigned.report_sha256;
+  report.report_sha256 = sha256(JSON.stringify(unsigned));
+  await writeFile(output, `${JSON.stringify(report, null, 2)}\n`);
+  console.log(JSON.stringify({ schema: report.schema, status: report.status, row_count: report.row_count, trace_sha256: report.trace_sha256, report_sha256: report.report_sha256 }));
+} catch (error) {
+  console.error(JSON.stringify({ schema: SCHEMA, status: "blocked", error: String(error?.message ?? error) }));
+  process.exitCode = 1;
+}

wasm-core/include/sim_program.h

@@ -37,6 +37,12 @@ enum sim_program_status {
     SIM_PROGRAM_ERROR = 6,
 };
 
+enum sim_program_motion_control {
+    SIM_PROGRAM_MOTION_CONTINUOUS = 0,
+    SIM_PROGRAM_MOTION_EXACT_PATH = 1,
+    SIM_PROGRAM_MOTION_EXACT_STOP = 2,
+};
+
 typedef struct sim_program_subroutine {
     char name[SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY];
     uint32_t body_line;
@@ -70,6 +76,9 @@ typedef struct sim_program {
     uint32_t has_control;
     int32_t control_code;
     double rapid_velocity;
+    int motion_control_mode;
+    double path_tolerance;
+    double naive_cam_tolerance;
 } sim_program;
 
 uint32_t sim_program_size(void);

wasm-core/src/sim_interpreter.c

@@ -85,6 +85,10 @@ static int code_is(double value, int integer_code) {
     return isfinite(value) && fabs(value - (double)integer_code) <= 1e-12;
 }
 
+static int code_is_value(double value, double expected) {
+    return isfinite(value) && fabs(value - expected) <= 1e-12;
+}
+
 static int axis_index(char letter) {
     switch (letter) {
         case 'X': return 0; case 'Y': return 1; case 'Z': return 2;
@@ -346,7 +350,7 @@ static int apply_g(sim_interpreter_state *state, interpreter_meta *meta, double
     if (code_is(code, 40) || code_is(code, 41) || code_is(code, 42)) { if (++groups[4] > 1) return SIM_INTERP_ERR_STATE; if (meta) meta->cutter_comp = (int)code; return SIM_INTERP_OK; }
     if (code_is(code, 43) || code_is(code, 49)) { if (++groups[5] > 1) return SIM_INTERP_ERR_STATE; if (meta && code_is(code, 49)) meta->tool_length = 0.0; return SIM_INTERP_OK; }
     if (code_is(code, 80) || (code >= 81.0 && code <= 89.0 && floor(code) == code)) { if (meta) meta->cycle_mode = (int)code; return SIM_INTERP_OK; }
-    if (code_is(code, 64)) return SIM_INTERP_OK;
+    if (code_is(code, 61) || code_is_value(code, 61.1) || code_is(code, 64)) { if (++groups[7] > 1) return SIM_INTERP_ERR_STATE; return SIM_INTERP_OK; }
     if (code_is(code, 54) || code_is(code, 55) || code_is(code, 56) || code_is(code, 57) || code_is(code, 58) || code_is(code, 59)) { if (meta) meta->coordinate_system = (int)code - 53; return SIM_INTERP_OK; }
     if (code_is(code, 53)) return SIM_INTERP_OK;
     if (code_is(code, 10)) return SIM_INTERP_OK;
@@ -444,7 +448,7 @@ int sim_interpreter_init(sim_interpreter *interpreter) { return sim_interpreter_
 
 int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uint32_t length) {
     sim_interpreter_state previous; sim_interpreter_state next; interpreter_meta *meta; expression_parser parser; const char *end;
-    int groups[7] = {0}, seen_axis[9] = {0}, seen_feed = 0, seen_speed = 0, seen_line = 0, seen_p = 0, seen_r = 0, seen_l = 0, seen_g10 = 0, seen_g53 = 0, result = SIM_INTERP_OK;
+    int groups[8] = {0}, seen_axis[9] = {0}, seen_feed = 0, seen_speed = 0, seen_line = 0, seen_p = 0, seen_r = 0, seen_l = 0, seen_g10 = 0, seen_g53 = 0, result = SIM_INTERP_OK;
     int seen_center[3] = {0};
     double axis_values[9] = {0}, center_values[3] = {0}, feed_value = 0.0, speed_value = 0.0, p_value = 0.0, r_value = 0.0, l_value = 0.0;
     if (interpreter == NULL || block == NULL || length == 0) return SIM_INTERP_ERR_ARGUMENT;

wasm-core/src/sim_program.c

@@ -253,6 +253,45 @@ static int switch_mcode(const char *block, uint32_t length) {
     return 0;
 }
 
+static int parse_motion_control(sim_program *program, const char *block, uint32_t length) {
+    const char *cursor = block;
+    const char *end = block + length;
+    int active = 0;
+    double path = 0.0;
+    double naive = 0.0;
+    while (cursor < end) {
+        char letter;
+        char *number_end;
+        double value;
+        while (cursor < end && isspace((unsigned char)*cursor)) ++cursor;
+        if (cursor >= end || *cursor == ';') break;
+        if (*cursor == '(') { while (cursor < end && *cursor++ != ')') {} continue; }
+        if (!isalpha((unsigned char)*cursor)) { ++cursor; continue; }
+        letter = (char)toupper((unsigned char)*cursor++);
+        value = strtod(cursor, &number_end);
+        if (number_end == cursor) continue;
+        cursor = number_end;
+        if (letter == 'G') {
+            if (fabs(value - 61.0) <= 1e-12) active = SIM_PROGRAM_MOTION_EXACT_PATH;
+            else if (fabs(value - 61.1) <= 1e-12) active = SIM_PROGRAM_MOTION_EXACT_STOP;
+            else if (fabs(value - 64.0) <= 1e-12) active = SIM_PROGRAM_MOTION_CONTINUOUS;
+            else active = 0;
+            if (active != 0 || fabs(value - 64.0) <= 1e-12) {
+                program->motion_control_mode = active;
+                path = 0.0;
+                naive = 0.0;
+            }
+        } else if (active == SIM_PROGRAM_MOTION_CONTINUOUS && (letter == 'P' || letter == 'Q')) {
+            if (!isfinite(value) || value < 0.0) return SIM_PROGRAM_ERR_RANGE;
+            if (letter == 'P') path = value;
+            else naive = value;
+            program->path_tolerance = path;
+            program->naive_cam_tolerance = naive;
+        }
+    }
+    return SIM_PROGRAM_OK;
+}
+
 static void reset_runtime(sim_program *program) {
     sim_interpreter_reset(&program->interpreter);
     program->source_length = 0;
@@ -268,6 +307,9 @@ static void reset_runtime(sim_program *program) {
     program->has_control = 0;
     program->control_code = 0;
     program->rapid_velocity = 35.0;
+    program->motion_control_mode = SIM_PROGRAM_MOTION_CONTINUOUS;
+    program->path_tolerance = 0.0;
+    program->naive_cam_tolerance = 0.0;
     memset(&program->motion, 0, sizeof(program->motion));
     memset(program->subroutines, 0, sizeof(program->subroutines));
     memset(program->call_stack, 0, sizeof(program->call_stack));
@@ -356,6 +398,8 @@ int32_t sim_program_execute_block(sim_program *program, const char *block, uint3
     int result;
     if (program == NULL || block == NULL || length == 0) return SIM_PROGRAM_ERR_ARGUMENT;
     if (control_line(block)) return SIM_PROGRAM_ERR_CONTROL;
+    result = parse_motion_control(program, block, length);
+    if (result != SIM_PROGRAM_OK) return result;
     program->has_control = 0;
     program->control_code = switch_mcode(block, length);
     if (program->control_code != 0) program->has_control = 1;
@@ -449,8 +493,8 @@ uint32_t sim_program_canonical(const sim_program *program, char *output, uint32_
     int written;
     if (program == NULL) return 0;
     written = snprintf(destination, destination_capacity,
-        "{\"call_depth\":%u,\"control_code\":%d,\"current_line\":%u,\"error_line\":%u,\"feed\":%.17g,\"has_control\":%u,\"has_motion\":%u,\"last_error\":%d,\"line_count\":%u,\"main_line_count\":%u,\"motion_mode\":%d,\"plane\":%d,\"rapid_velocity\":%.17g,\"schema\":\"sim_program.v1\",\"speed\":%.17g,\"spindle_mode\":%d,\"status\":%u,\"subroutine_count\":%u,\"source_length\":%u,\"units\":%d,\"distance_mode\":%d,\"interpreter_state_hash\":\"%llu\"}",
+        "{\"call_depth\":%u,\"control_code\":%d,\"current_line\":%u,\"error_line\":%u,\"feed\":%.17g,\"has_control\":%u,\"has_motion\":%u,\"last_error\":%d,\"line_count\":%u,\"main_line_count\":%u,\"motion_control_mode\":%d,\"path_tolerance\":%.17g,\"naive_cam_tolerance\":%.17g,\"motion_mode\":%d,\"plane\":%d,\"rapid_velocity\":%.17g,\"schema\":\"sim_program.v1\",\"speed\":%.17g,\"spindle_mode\":%d,\"status\":%u,\"subroutine_count\":%u,\"source_length\":%u,\"units\":%d,\"distance_mode\":%d,\"interpreter_state_hash\":\"%llu\"}",
-        program->call_depth, program->control_code, program->current_line, program->error_line, program->interpreter.state.feed, program->has_control, program->has_motion, program->last_error, program->line_count, program->main_line_count, program->interpreter.state.motion_mode, program->interpreter.state.plane, program->rapid_velocity, program->interpreter.state.speed, program->interpreter.state.spindle_mode, program->status, program->subroutine_count, program->source_length, program->interpreter.state.units, program->interpreter.state.distance_mode,
+        program->call_depth, program->control_code, program->current_line, program->error_line, program->interpreter.state.feed, program->has_control, program->has_motion, program->last_error, program->line_count, program->main_line_count, program->motion_control_mode, program->path_tolerance, program->naive_cam_tolerance, program->interpreter.state.motion_mode, program->interpreter.state.plane, program->rapid_velocity, program->interpreter.state.speed, program->interpreter.state.spindle_mode, program->status, program->subroutine_count, program->source_length, program->interpreter.state.units, program->interpreter.state.distance_mode,
         (unsigned long long)sim_interpreter_state_hash(&program->interpreter));
     return written < 0 ? 0 : (uint32_t)written + 1u;
 }

web/worker/sim-session.mjs

@@ -1436,6 +1436,13 @@ export class SimSession {
                 }
                 const step = this.xyzacProgram.step();
                 if (step.status !== "verified") throw new Error(step.code);
+                // Path control is produced by the WASM interpreter and applied
+                // to the WASM trajectory queue before the block's motion is
+                // enqueued.  G61/G61.1 conservatively use the queue's exact
+                // profile; G64 restores the continuous lookahead profile.
+                const motionControlMode = Number(step.program?.motion_control_mode ?? 0);
+                const queueProfile = motionControlMode === 0 ? 0 : 1;
+                if (this.wasmMotion.controls.profile !== queueProfile) this.wasmMotion.setProfile(queueProfile);
                 if (step.has_control && [428, 429, 430].includes(step.control_code)) {
                   this.pendingProgramControl = step.control_code;
                   if (this.wasmMotion.read().state.queue_depth === 0) {

web/worker/wasm-program-runtime.mjs

@@ -266,8 +266,9 @@ export class WasmProgramRuntime {
       const state = JSON.parse(readString(this.core, buffer, required));
       const hash = call(this.core, "sim_program_state_hash", "number", ["number"], [this.pointer]);
       const programStatus = { 0: "idle", 1: "loaded", 2: "running", 3: "paused", 4: "completed", 5: "aborted", 6: "fault" }[state.status] ?? "idle";
+      const motionControl = { 0: "continuous", 1: "exact_path", 2: "exact_stop" }[state.motion_control_mode] ?? "continuous";
       const executionLineText = state.current_line > 0 ? (this.executionLines[state.current_line - 1] ?? "").trim() : "";
-      return { schema: SCHEMA, source: "linuxcnc-wasm-sim_program", ...state, active_gcodes: activeGcodes(state), loaded: state.status !== 0, line: state.current_line, currentLine: state.current_line, execution_line: state.current_line, execution_line_text: executionLineText, program_status: programStatus, path: this.path, subroutines: this.subroutines.map((subroutine) => subroutine.name), state_hash: `fnv1a64:${BigInt.asUintN(64, BigInt(hash >>> 0)).toString(16).padStart(16, "0")}`, source_hash: this.source ? fnv1a64(this.source) : null };
+      return { schema: SCHEMA, source: "linuxcnc-wasm-sim_program", ...state, motion_control: { mode: motionControl, path_tolerance: Number(state.path_tolerance ?? 0), naive_cam_tolerance: Number(state.naive_cam_tolerance ?? 0) }, active_gcodes: activeGcodes(state), loaded: state.status !== 0, line: state.current_line, currentLine: state.current_line, execution_line: state.current_line, execution_line_text: executionLineText, program_status: programStatus, path: this.path, subroutines: this.subroutines.map((subroutine) => subroutine.name), state_hash: `fnv1a64:${BigInt.asUintN(64, BigInt(hash >>> 0)).toString(16).padStart(16, "0")}`, source_hash: this.source ? fnv1a64(this.source) : null };
     } finally { this.core._free(buffer); }
   }