Complete 3axis tutorial native and Web/WASM parity tools

web/worker/sim-session.mjs

@@ -21,6 +21,9 @@ import { createTrace, validateTrace } from "./trace-export.mjs";
 import { ConfigurationBatchRuntime } from "../workspace/configuration-batch.mjs";
 import { AuthoritativeRuntime } from "./authoritative-runtime.mjs";
 import { axisState } from "./axis-state.mjs";
+import { WasmMotionQueue } from "./wasm-motion-queue.mjs";
+import { WasmHomeLimit } from "./wasm-home-limit.mjs";
+import { axisGate } from "../app/axis-contract.mjs";
 
 const PROTOCOL_SCHEMA = 1;
 const CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1";
@@ -40,6 +43,13 @@ const OPERATION_KINDS = new Set([
   "REMAP_REGISTER", "REMAP_CALL", "VCP_REGISTER", "VCP_UPDATE", "FILTER_EXEC",
 ]);
 
+const PANEL_GATE_ACTIONS = Object.freeze({
+  PROGRAM_RUN: "run", PROGRAM_STEP: "step", PROGRAM_PAUSE: "pause",
+  PROGRAM_RESUME: "resume", PROGRAM_ABORT: "abort", PROGRAM_RESTART: "restart",
+  JOG_START: "jogStart", JOG_STOP: "jogStop", HOME: "home", SET_OVERRIDE: "override",
+  ESTOP: "estop", IO_RECOVER: "recover",
+});
+
 function text(value) {
   return typeof value === "string" && value.length > 0 ? value : null;
 }
@@ -90,10 +100,14 @@ export class SimSession {
     this.python = new PythonBridge();
     this.program = new ProgramRunner(core);
     this.authoritative = new AuthoritativeRuntime();
+    this.wasmMotion = new WasmMotionQueue(core);
+    this.wasmHomeLimit = new WasmHomeLimit(core);
+    this.motionAuthority = "js";
     this.task = new SimTask(core, { contextId, sessionId: sessionId || null });
     this.scheduler = new SimScheduler(core);
     this.configurationState = null;
     this.halState = null;
+    this.previewState = null;
     call(core, "sim_protocol_reset");
     if (typeof core.ccall === "function") core.ccall("sim_event_reset", null, [], []);
   }
@@ -102,6 +116,7 @@ export class SimSession {
     const statePayload = payload && typeof payload === "object" ? payload : {};
     const program = statePayload.program ?? (this.program.loaded ? this.program.snapshot() : {});
     const task = statePayload.task ?? this.task.export();
+    const panelSnapshot = this.panelSnapshot({ task, program, input, tick });
     return {
       schema_version: PROTOCOL_SCHEMA,
       kind,
@@ -110,10 +125,70 @@ export class SimSession {
       seq: input.seq,
       ...(text(input.operation_id) ? { operation_id: input.operation_id } : {}),
       simulation_tick: tick,
-      payload: { ...statePayload, axis_state: axisState({ task, program, action: input.kind, payload: input.payload ?? {} }) },
+      payload: {
+        ...statePayload,
+        panel_snapshot: panelSnapshot,
+        motion_authority: statePayload.motion_authority ?? this.motionAuthority,
+        task_authority: statePayload.task_authority ?? this.task.authority(),
+        wasm_home_limit: statePayload.wasm_home_limit ?? this.wasmHomeLimit.read(),
+        axis_state: axisState({ task, program, action: input.kind, payload: input.payload ?? {} }),
+      },
     };
   }
 
+  panelSnapshot({ task = this.task.export(), program = this.program.loaded ? this.program.snapshot() : null, input = {}, tick = this.tick } = {}) {
+    const motion = this.motion.export();
+    const wasmMotion = this.wasmMotion.read();
+    const homeLimit = this.wasmHomeLimit.read();
+    const devices = this.devices.export();
+    const deviceIo = this.deviceIo.export();
+    const halRuntime = this.hal.export();
+    const authoritative = this.authoritative.export();
+    const axis = axisState({ task, program: program ?? {}, action: input.kind, payload: input.payload ?? {} });
+    const gateInput = { task, program: program ?? {}, motion, devices, taskfile: Boolean(this.program.loaded), kinematicsIdentity: this.motionAuthority === "wasm" };
+    const gateActions = ["load", "run", "step", "pause", "resume", "abort", "restart", "mdi", "jogStart", "jogStop", "home", "estop", "recover", "override", "reset", "spindle", "coolant"];
+    const gates = Object.fromEntries(gateActions.map((action) => [action, axisGate(action, gateInput)]));
+    const position = this.motionAuthority === "wasm" && wasmMotion.status === "verified"
+      ? wasmMotion.state.position
+      : authoritative.kinematics.pose;
+    const joints = this.motionAuthority === "wasm" && wasmMotion.status === "verified"
+      ? [position.x, position.y, position.z]
+      : authoritative.kinematics.joints;
+    const preview = this.previewState?.status === "verified" ? this.previewState : null;
+    const visual = {
+      schema: "axis-visual.v1",
+      pose: { x: position.x, y: position.y, z: position.z },
+      joints: Array.isArray(joints) ? [...joints] : [],
+      toolpath: (preview?.segments ?? []).map((segment, index) => ({ id: index + 1, ...segment })),
+      active_segment_id: wasmMotion.status === "verified" ? wasmMotion.state.active_id : authoritative.planner.active_id,
+      source: "wasm_canonical_motion",
+    };
+    const unsigned = {
+      schema: "axis-panel-snapshot.v1",
+      context_id: this.contextId,
+      session_id: this.sessionId,
+      simulation_tick: tick,
+      task,
+      program,
+      motion,
+      coordinates: { machine: [position.x, position.y, position.z], relative: [position.x, position.y, position.z], commanded: [position.x, position.y, position.z] },
+      overrides: { feed: motion.feed_override, spindle: [motion.spindle_override] },
+      wasm_motion: wasmMotion,
+      home_limit: homeLimit,
+      hal: { configuration: this.halState, runtime: halRuntime },
+      devices,
+      device_io: deviceIo,
+      configuration: this.configurationState,
+      axis_state: axis,
+      gates,
+      visual,
+      authoritative,
+      motion_authority: this.motionAuthority,
+      task_authority: this.task.authority(),
+    };
+    return { ...unsigned, state_hash: fnv1a64(unsigned) };
+  }
+
   error(input, code, messageKey, retryable = false) {
     return this.envelope("ERROR", input, {
       status: "error",
@@ -135,6 +210,23 @@ export class SimSession {
     return this.operations.get(input.operation_id) ?? null;
   }
 
+  commandGate(input) {
+    const action = PANEL_GATE_ACTIONS[input.kind];
+    if (!action) return { action: null, enabled: true, reason: "axis_internal_command" };
+    const task = this.task.export();
+    const program = this.program.loaded ? this.program.snapshot() : {};
+    const motion = this.motion.export();
+    const devices = this.devices.export();
+    return axisGate(action, {
+      task,
+      program,
+      motion,
+      devices,
+      taskfile: Boolean(this.program.loaded),
+      kinematicsIdentity: this.motionAuthority === "wasm",
+    });
+  }
+
   stateForCheckpoint() {
     const state = {
       context_id: this.contextId,
@@ -153,6 +245,11 @@ export class SimSession {
       configuration: this.configurationState,
       hal: this.halState,
       python: this.python.exportState(),
+      motion_authority: this.motionAuthority,
+      wasm_motion: this.wasmMotion.exportState(),
+      task_authority: this.task.authority(),
+      wasm_home_limit: this.wasmHomeLimit.exportState(),
+      preview: this.previewState,
       task: this.task.export(),
       scheduler: this.scheduler.export(),
       authoritative: this.authoritative.export(),
@@ -182,6 +279,10 @@ export class SimSession {
       task: this.task.export(),
       scheduler: this.scheduler.export(),
       authoritative: this.authoritative.export(),
+      motion_authority: this.motionAuthority,
+      wasm_motion: this.wasmMotion.exportState(),
+      task_authority: this.task.authority(),
+      wasm_home_limit: this.wasmHomeLimit.exportState(),
     };
     if (this.program.loaded) value.program = this.program.exportState();
     return { ...value, state_hash: fnv1a64(value) };
@@ -221,7 +322,17 @@ export class SimSession {
     if (trace.state?.task) this.task.restore(trace.state.task);
     if (trace.state?.scheduler) this.scheduler.restore(trace.state.scheduler);
     if (trace.state?.authoritative) this.authoritative.restore(trace.state.authoritative);
+    if (trace.state?.motion_authority) this.motionAuthority = trace.state.motion_authority;
+    if (trace.state?.wasm_motion) this.wasmMotion.restoreState(trace.state.wasm_motion);
+    if (trace.state?.wasm_home_limit) this.wasmHomeLimit.restoreState(trace.state.wasm_home_limit);
     if (trace.state?.motion) this.motion.restore(trace.state.motion);
+    if (trace.state?.program) {
+      this.program = new ProgramRunner(this.core);
+      this.program.restoreState(trace.state.program);
+    }
+    if (trace.state?.configuration !== undefined) this.configurationState = trace.state.configuration;
+    if (trace.state?.hal !== undefined) this.halState = trace.state.hal;
+    if (trace.state?.preview !== undefined) this.previewState = trace.state.preview;
     if (trace.state?.plc) this.plc.restore(trace.state.plc);
     if (trace.state?.hal_runtime) this.hal.restore(trace.state.hal_runtime);
     if (trace.state?.device_io) this.deviceIo.restore(trace.state.device_io);
@@ -235,6 +346,10 @@ export class SimSession {
   }
 
   restoreCheckpoint(checkpoint, events = null, reconcile = undefined) {
+    const replayMotionAuthority = checkpoint?.state?.motion_authority ?? this.motionAuthority;
+    if (replayMotionAuthority === "wasm" && !checkpoint?.state?.wasm_motion) {
+      return { schema: "simulation-recovery.v1", status: "blocked", context_id: this.contextId, checkpoint_hash: checkpoint?.checkpoint_hash ?? null, blocked: [{ reason: "wasm_motion_checkpoint_missing" }] };
+    }
     const replayDevices = new VirtualDevices({ state: checkpoint?.state?.devices });
     const replayMotion = new MotionState();
     if (checkpoint?.state?.motion) replayMotion.restore(checkpoint.state.motion);
@@ -256,6 +371,20 @@ export class SimSession {
     if (checkpoint?.state?.python) replayPython.restoreState(checkpoint.state.python);
     const replayAuthoritative = new AuthoritativeRuntime();
     if (checkpoint?.state?.authoritative) replayAuthoritative.restore(checkpoint.state.authoritative);
+    let replayWasmMotion = null;
+    let replayHomeLimit = null;
+    try {
+      if (replayMotionAuthority === "wasm") {
+        replayWasmMotion = new WasmMotionQueue(this.core);
+        replayWasmMotion.restoreState(checkpoint.state.wasm_motion);
+        if (checkpoint.state.wasm_home_limit) {
+          replayHomeLimit = new WasmHomeLimit(this.core);
+          replayHomeLimit.restoreState(checkpoint.state.wasm_home_limit);
+        }
+      }
+    } catch (error) {
+      return { schema: "simulation-recovery.v1", status: "blocked", context_id: this.contextId, checkpoint_hash: checkpoint?.checkpoint_hash ?? null, blocked: [{ reason: String(error?.message ?? error) }] };
+    }
     const result = recoverSimulation({
       checkpoint,
       contextId: this.contextId,
@@ -263,7 +392,11 @@ export class SimSession {
       reconcile,
       apply: (state, event) => {
         if (DEVICE_COMMANDS.has(event.kind)) replayDevices.applyEvent(event.kind, event.payload);
-        if (event.kind === "HOME") replayMotion.home(event.payload?.axis ?? null);
+        if (event.kind === "HOME") {
+          replayMotion.home(event.payload?.axis ?? null);
+          const home = replayHomeLimit?.home(event.seq);
+          if (home?.status === "error") throw new Error(home.code);
+        }
         if (event.kind === "JOG_START") replayMotion.startJog(event.payload);
         if (event.kind === "JOG_STOP") replayMotion.stopJog();
         if (event.kind === "SET_OVERRIDE") replayMotion.setOverride(event.payload?.feed ?? event.payload?.feed_override, event.payload?.spindle ?? event.payload?.spindle_override);
@@ -273,23 +406,61 @@ export class SimSession {
         if (event.kind === "IO_RECOVER") replayDeviceIo.interlockReset();
         if (event.kind === "SIM_STEP") replayMotion.step(event.tick);
         if (event.kind === "PROGRAM_LOAD") replayProgram.load(event.payload?.source ?? event.payload?.text ?? event.payload?.program_source, event.payload?.path ?? null);
-        if (event.kind === "PROGRAM_RUN") replayProgram.start();
-        if (event.kind === "PROGRAM_PAUSE") replayProgram.pause();
-        if (event.kind === "PROGRAM_RESUME") replayProgram.resume();
-        if (event.kind === "PROGRAM_ABORT") replayProgram.abort();
-        if (event.kind === "PROGRAM_RESTART") replayProgram.restart();
+        if (event.kind === "PROGRAM_RUN") { replayProgram.start(); replayWasmMotion?.setPaused(false); }
+        if (event.kind === "PROGRAM_PAUSE") { replayProgram.pause(); replayWasmMotion?.setPaused(true); }
+        if (event.kind === "PROGRAM_RESUME") { replayProgram.resume(); replayWasmMotion?.setPaused(false); }
+        if (event.kind === "PROGRAM_ABORT") { replayProgram.abort(); replayWasmMotion?.abort(); }
+        if (event.kind === "PROGRAM_RESTART") { replayProgram.restart(); replayWasmMotion?.reset(); }
         if (event.kind === "SIM_STEP" && replayProgram.loaded) {
-          if (replayProgram.status === "paused" && state.task?.program_status === "running") replayProgram.resume();
-          for (let replayTick = replayAuthoritative.state.tick + 1; replayTick <= event.tick; replayTick += 1) {
-            replayProgram.tick(1);
-            const synced = replayAuthoritative.syncProgram(replayProgram.snapshot());
-            if (synced.status === "blocked") throw new Error(synced.code);
-            const stepped = replayAuthoritative.step(replayTick);
-            if (stepped.status === "error") throw new Error(stepped.code);
+          // PROGRAM_LOAD resets the planner clock, while the session clock is
+          // monotonic. Recovery must start this replay at the checkpoint tick
+          // or one logical step would consume the whole historical interval.
+          if (replayMotionAuthority === "wasm") {
+            if (!replayWasmMotion) throw new Error("wasm_motion_replay_unavailable");
+            const queueTick = replayWasmMotion.read().state.tick;
+            if (replayProgram.status === "paused" && state.task?.program_status === "running") replayProgram.resume();
+            const cycles = Number.isSafeInteger(event.payload?.cycles) && event.payload.cycles >= 0 ? event.payload.cycles : 1;
+            for (let cycle = 0; cycle < cycles; cycle += 1) {
+              const replayTick = queueTick + cycle + 1;
+              const steps = replayProgram.tick(1);
+              for (const step of steps) {
+                if (!step.motion) continue;
+                const linearNoop = step.motion.motion_type === 1 && ["x", "y", "z", "a", "b", "c", "u", "v", "w"].every((axis) => step.motion.start[axis] === step.motion.end[axis]);
+                if (!linearNoop) {
+                  const enqueue = replayWasmMotion.enqueue(step.motion);
+                  if (enqueue.status === "error") throw new Error(enqueue.code);
+                }
+              }
+              const stepped = replayWasmMotion.step();
+              if (stepped.status === "error" && stepped.code !== "wasm_motion_step_-605") throw new Error(stepped.code);
+              if (stepped.status === "verified") {
+                const projected = replayMotion.applyWasmPosition(stepped.state.position, stepped.state.velocity, replayTick);
+                if (projected.status === "error") throw new Error(projected.code);
+                if (replayHomeLimit?.read().state.homed) {
+                  const checked = replayHomeLimit.check([stepped.state.position.x, stepped.state.position.y, stepped.state.position.z]);
+                  if (checked.status === "error") throw new Error(checked.code);
+                }
+              }
+            }
+          } else {
+            if (Number.isSafeInteger(state.tick) && replayAuthoritative.state.tick < state.tick) replayAuthoritative.state.tick = state.tick;
+            if (replayProgram.status === "paused" && state.task?.program_status === "running") replayProgram.resume();
+            for (let replayTick = replayAuthoritative.state.tick + 1; replayTick <= event.tick; replayTick += 1) {
+              replayProgram.tick(1);
+              const synced = replayAuthoritative.syncProgram(replayProgram.snapshot());
+              if (synced.status === "blocked") throw new Error(synced.code);
+              const stepped = replayAuthoritative.step(replayTick);
+              if (stepped.status === "error") throw new Error(stepped.code);
+            }
           }
         } else if (event.kind === "SIM_STEP") {
-          const stepped = replayAuthoritative.step(event.tick);
-          if (stepped.status === "error") throw new Error(stepped.code);
+          if (replayMotionAuthority === "wasm") {
+            const stepped = replayWasmMotion?.step();
+            if (stepped?.status === "error" && stepped.code !== "wasm_motion_step_-605") throw new Error(stepped.code);
+          } else {
+            const stepped = replayAuthoritative.step(event.tick);
+            if (stepped.status === "error") throw new Error(stepped.code);
+          }
         }
         if (event.kind === "PLC_CONFIG") replayPlc.configure(event.payload);
         if (event.kind === "PLC_SET") replayPlc.setRegister(event.payload?.register, event.payload?.value);
@@ -352,7 +523,7 @@ export class SimSession {
           const programStatus = replayProgram.status === "completed" ? "completed" : replayProgram.status === "running" ? "running" : replayProgram.status === "paused" ? "paused" : replayProgram.status === "aborted" ? "aborted" : "loaded";
           task.current_line = replayProgram.currentLine;
           task.program_status = programStatus;
-          if (programStatus === "completed" && task.state === "RUNNING") task.state = "STOPPED";
+          if (programStatus === "completed" && task.state === "RUNNING" && (replayMotionAuthority !== "wasm" || replayWasmMotion?.read().state.queue_depth === 0)) task.state = "STOPPED";
         }
         const schedulerUnsigned = {
           schema: "sim_scheduler.v1",
@@ -365,11 +536,16 @@ export class SimSession {
           last_cycles: event.kind === "SIM_STEP" && Number.isSafeInteger(event.payload?.cycles) ? event.payload.cycles : (state.scheduler?.last_cycles ?? 0),
           state_hash: fnv1a64(schedulerUnsigned),
         };
-        return { ...state, tick: event.tick, task: { ...task, state_hash: fnv1a64(task) }, scheduler, devices: replayDevices.export(), motion: replayMotion.export(), authoritative: replayAuthoritative.export(), plc: replayPlc.export(), hal_runtime: replayHal.export(), device_io: replayDeviceIo.export(), configuration_batch: replayConfigurationBatch.export(), io_ack: replayIoAck.export(), callbacks: replayCallbacks.export(), python: replayPython.exportState(), ...(replayProgram.loaded ? { program: replayProgram.exportState() } : {}) };
+        return { ...state, tick: event.tick, motion_authority: replayMotionAuthority, task_authority: replayMotionAuthority === "wasm" ? "wasm_task_canonical" : "js_compat", task: { ...task, state_hash: fnv1a64(task) }, scheduler, devices: replayDevices.export(), motion: replayMotion.export(), ...(replayWasmMotion ? { wasm_motion: replayWasmMotion.exportState() } : {}), ...(replayHomeLimit ? { wasm_home_limit: replayHomeLimit.exportState() } : {}), authoritative: replayAuthoritative.export(), plc: replayPlc.export(), hal_runtime: replayHal.export(), device_io: replayDeviceIo.export(), configuration_batch: replayConfigurationBatch.export(), io_ack: replayIoAck.export(), callbacks: replayCallbacks.export(), python: replayPython.exportState(), ...(replayProgram.loaded ? { program: replayProgram.exportState() } : {}) };
       },
     });
+    replayWasmMotion?.destroy();
+    replayHomeLimit?.destroy();
     if (result.status === "recovered" || result.status === "aborted") {
       this.tick = result.simulation_tick;
+      this.motionAuthority = result.state?.motion_authority ?? checkpoint?.state?.motion_authority ?? this.motionAuthority;
+      if (this.motionAuthority === "wasm" && result.state?.wasm_motion) this.wasmMotion.restoreState(result.state.wasm_motion);
+      if (this.motionAuthority === "wasm" && result.state?.wasm_home_limit) this.wasmHomeLimit.restoreState(result.state.wasm_home_limit);
       if (result.state?.task) this.task.restore(result.state.task);
       if (result.state?.scheduler) this.scheduler.restore(result.state.scheduler);
       this.authoritative = new AuthoritativeRuntime();
@@ -377,7 +553,11 @@ export class SimSession {
       this.devices = new VirtualDevices({ state: result.state?.devices ?? checkpoint?.state?.devices });
       this.motion = new MotionState();
       if (result.state?.motion) this.motion.restore(result.state.motion);
-      this.authoritative.applyMotion(this.motion);
+      if (this.motionAuthority !== "wasm") this.authoritative.applyMotion(this.motion);
+      if (this.motionAuthority === "wasm") {
+        const wasmMotion = this.wasmMotion.read();
+        if (wasmMotion.status !== "verified" || !result.state?.motion || fnv1a64(result.state.motion.axes) !== fnv1a64(wasmMotion.state.position)) throw new Error("wasm_motion_recovery_projection_mismatch");
+      }
       this.plc = new PlcRuntime();
       if (result.state?.plc) this.plc.restore(result.state.plc);
       this.hal = new HalRuntime();
@@ -392,6 +572,7 @@ export class SimSession {
       if (result.state?.callbacks) this.callbacks.restore(result.state.callbacks);
       this.configurationState = result.state?.configuration ?? checkpoint?.state?.configuration ?? null;
       this.halState = result.state?.hal ?? checkpoint?.state?.hal ?? null;
+      this.previewState = result.state?.preview ?? checkpoint?.state?.preview ?? null;
       this.python = new PythonBridge();
       if (result.state?.python) this.python.restoreState(result.state.python);
       this.program = new ProgramRunner(this.core);
@@ -478,6 +659,28 @@ export class SimSession {
     if (text(input.operation_id) && OPERATION_KINDS.has(input.kind)) {
       this.operations.set(input.operation_id, { operation_id: input.operation_id, status: "executing", seq: input.seq, kind: input.kind, result_hash: null });
     }
+    const gate = this.commandGate(input);
+    const handlerOwnsFault = (input.kind === "JOG_START" || input.kind === "JOG_STOP") && Boolean(this.motion.state.fault);
+    const restartAfterCompletion = input.kind === "PROGRAM_RESTART" && this.program.status === "completed";
+    if (!gate.enabled && !handlerOwnsFault && !restartAfterCompletion) {
+      if (text(input.operation_id)) this.operations.delete(input.operation_id);
+      const rejectedPayload = { command: input.kind, gate_reason: gate.reason, payload: input.payload ?? {} };
+      try {
+        this.timeline.appendEvent(input.seq, this.tick, "COMMAND_REJECTED", rejectedPayload);
+        const rejectedEvent = appendCoreEvent(this.core, input.seq, this.tick, "COMMAND_REJECTED", rejectedPayload);
+        if (rejectedEvent !== 0) return this.error(input, "event_log", "core_event_append_failed");
+      } catch (error) {
+        return this.error(input, "event_log", String(error?.message ?? error));
+      }
+      return this.envelope("ERROR", input, {
+        status: "blocked",
+        code: "axis_gate",
+        message_key: gate.reason,
+        gate_reason: gate.reason,
+        retryable: false,
+        operation_id: input.operation_id ?? null,
+      });
+    }
     if (Number.isSafeInteger(input.simulation_tick) && input.simulation_tick >= this.tick) this.tick = input.simulation_tick;
     const eventTick = input.kind === "SIM_STEP" && Number.isSafeInteger(input.payload?.cycles)
       ? this.tick + input.payload.cycles : this.tick;
@@ -560,6 +763,19 @@ export class SimSession {
         }
         try { this.task.transition("READY"); } catch (error) { return finish(this.error(input, "task_state", String(error?.message ?? error)), "failed"); }
         return finish(this.envelope("SESSION_READY", input, { state_hash: this.task.hash(), task: this.task.export(), subscriptions: [] }), "verified");
+      case "SET_MODE": {
+        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"); }
+        return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, mode, task: this.task.export(), operation_id: input.operation_id ?? null }));
+      }
+      case "RESET": {
+        if (["RUNNING", "PAUSED"].includes(this.task.state.state)) return finish(this.error(input, "task_state", "reset_while_program_active"), "failed");
+        const result = this.motion.resetFault();
+        if (result.status !== "verified") return finish(this.envelope("ERROR", input, { ...result, command: input.kind, task: this.task.export() }), "failed");
+        if (this.task.state.state === "FAULT" || this.task.state.state === "STOPPED") this.task.recover();
+        return finish(this.envelope("COMMAND_RESULT", input, { ...result, command: input.kind, task: this.task.export(), motion: this.motion.export(), operation_id: input.operation_id ?? null }));
+      }
       case "LOAD_WORKSPACE": {
         const rootPath = input.payload?.root_path;
         if (!text(rootPath) || !rootPath.startsWith("/") || rootPath.includes("..")) return finish(this.error(input, "workspace_path", "invalid_workspace_path"), "failed");
@@ -588,7 +804,7 @@ export class SimSession {
                 startup: startupReport,
               }), "failed");
             }
-            this.configurationState = startupReport;
+          this.configurationState = startupReport;
             this.created = true;
             startupLoaded = true;
           } else {
@@ -610,6 +826,11 @@ export class SimSession {
             };
           }
         }
+        this.motionAuthority = configuration?.entrypoint?.includes("3axis-tutorial") ? "wasm" : "js";
+        if (configuration?.home_limits && this.motionAuthority === "wasm") {
+          this.wasmHomeLimit.destroy();
+          this.wasmHomeLimit = new WasmHomeLimit(this.core, { limits: configuration.home_limits });
+        }
         if (input.payload?.hal) {
           const preflight = preflightHalConfiguration(input.payload.hal);
           if (preflight.status !== "ready") {
@@ -636,6 +857,7 @@ export class SimSession {
         return loadResult === 0 ? finish(this.envelope("COMMAND_RESULT", input, {
           status: "verified",
           command: input.kind,
+          motion_authority: this.motionAuthority,
           state_hash: this.task.hash(),
           task: this.task.export(),
           ...(this.configurationState?.schema === "configuration-startup-runtime.v1" ? { configuration: this.configurationState } : {}),
@@ -648,19 +870,30 @@ export class SimSession {
         let program_steps = [];
         try {
           this.scheduler.step(cycles, {
-            task: () => {
-              program_steps.push(...this.program.tick(1));
+          task: () => {
+              const steps = this.program.tick(1);
+              program_steps.push(...steps);
+              for (const step of steps) {
+                if (!step.motion) continue;
+                const linearNoop = step.motion.motion_type === 1 && ["x", "y", "z", "a", "b", "c", "u", "v", "w"].every((axis) => step.motion.start[axis] === step.motion.end[axis]);
+                if (!linearNoop) {
+                  const enqueue = this.wasmMotion.enqueue(step.motion);
+                  if (enqueue.status === "error") throw new Error(enqueue.code);
+                }
+              }
             },
             tp: (nextTick) => {
-              if (this.program.loaded) {
+              if (this.motionAuthority !== "wasm" && this.program.loaded) {
                 const sync = this.authoritative.syncProgram(this.program.snapshot());
                 if (sync.status === "blocked") throw new Error(sync.code);
               }
-              const planner = this.authoritative.step(nextTick);
-              if (planner.status === "error") throw new Error(planner.code);
+              if (this.motionAuthority !== "wasm") {
+                const planner = this.authoritative.step(nextTick);
+                if (planner.status === "error") throw new Error(planner.code);
+              }
             },
             kinematics: () => {
-              if (!["trivkins", "corexy", "tripod", "lineardelta", "rotarydelta"].includes(this.authoritative.state.kinematics.type)) throw new Error("authoritative_kinematics_unsupported");
+              if (this.motionAuthority !== "wasm" && !["trivkins", "corexy", "tripod", "lineardelta", "rotarydelta"].includes(this.authoritative.state.kinematics.type)) throw new Error("authoritative_kinematics_unsupported");
             },
             motion: (nextTick) => {
               const stepResult = call(this.core, "sim_step", 1);
@@ -668,8 +901,19 @@ export class SimSession {
               this.tick = nextTick;
               this.task.setTick(nextTick);
               const motionState = this.motion.step(nextTick);
+              const wasmMotion = this.wasmMotion.step();
+              if (wasmMotion.status === "error" && wasmMotion.code !== "wasm_motion_step_-605") throw new Error(wasmMotion.code);
               if (motionState.fault && this.task.state.state === "RUNNING") this.task.fault(-1205);
-              if (this.program.loaded) this.authoritative.applyMotion(this.motion);
+              if (this.motionAuthority === "wasm") {
+                if (wasmMotion.status === "verified") {
+                  const position = this.motion.applyWasmPosition(wasmMotion.state.position, wasmMotion.state.velocity, nextTick);
+                  if (position.status === "error") throw new Error(position.code);
+                }
+              } else if (this.program.loaded) this.authoritative.applyMotion(this.motion);
+              if (this.motionAuthority === "wasm" && this.wasmHomeLimit.read().state.homed && !motionState.fault) {
+                const homeCheck = this.wasmHomeLimit.check(this.motion.state.joints);
+                if (homeCheck.status === "error") throw new Error(homeCheck.code);
+              }
               const halState = this.hal.step(nextTick);
               if (halState.status === "error") throw new Error(halState.code);
               const deviceIoState = this.deviceIo.step(nextTick);
@@ -692,12 +936,12 @@ export class SimSession {
         if (program) {
           const status = program.program_status === "completed" ? "completed" : program.program_status === "running" ? "running" : program.program_status;
           this.task.setProgram(status, program.line);
-          if (status === "completed" && this.task.state.state === "RUNNING") this.task.transition("STOPPED");
+          if (status === "completed" && this.task.state.state === "RUNNING" && (this.motionAuthority !== "wasm" || this.wasmMotion.read().state.queue_depth === 0)) this.task.transition("STOPPED");
         }
-        const snapshotState = { tick: this.tick, cycles, task: this.task.export(), scheduler: this.scheduler.export(), authoritative: this.authoritative.export(), motion: this.motion.export(), plc: this.plc.export(), hal_runtime: this.hal.export(), device_io: this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export() };
+        const snapshotState = { tick: this.tick, cycles, motion_authority: this.motionAuthority, task: this.task.export(), scheduler: this.scheduler.export(), authoritative: this.authoritative.export(), wasm_motion: this.wasmMotion.read(), motion: this.motion.export(), plc: this.plc.export(), hal_runtime: this.hal.export(), device_io: this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export() };
         if (program) snapshotState.program = program;
         const snapshot = 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, task: this.task.export(), scheduler: this.scheduler.export(), authoritative: this.authoritative.export(), motion: this.motion.export(), plc: this.plc.export(), hal_runtime: this.hal.export(), device_io: this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export(), ...(program ? { program } : {}), state_hash: snapshot.state_hash, snapshot }));
+        return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", cycles, program_steps, motion_authority: this.motionAuthority, task: this.task.export(), scheduler: this.scheduler.export(), authoritative: this.authoritative.export(), wasm_motion: this.wasmMotion.read(), motion: this.motion.export(), plc: this.plc.export(), hal_runtime: this.hal.export(), device_io: this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export(), ...(program ? { program } : {}), state_hash: snapshot.state_hash, snapshot }));
       }
       case "PROGRAM_LOAD": {
         if (["RUNNING", "PAUSED"].includes(this.task.state.state)) return finish(this.error(input, "task_state", "program_load_while_active"), "failed");
@@ -705,11 +949,20 @@ export class SimSession {
         const result = this.program.load(source, input.payload?.path ?? null);
         if (result.status === "verified") {
           this.authoritative.reset();
+          this.wasmMotion.reset();
+          this.wasmMotion.setPaused(false);
+          this.motion.applyWasmPosition(this.wasmMotion.read().state.position, 0, this.tick);
           this.task.setProgram("loaded", 0);
+          const preview = this.program.preview();
+          result.preview = preview.preview ?? { status: "error", code: preview.code ?? "program_preview_failed" };
+          this.previewState = result.preview;
         }
         return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, {
           ...result,
           task: this.task.export(),
+          motion_authority: this.motionAuthority,
+          wasm_motion: this.wasmMotion.read(),
+          motion: this.motion.export(),
           command: input.kind,
           operation_id: input.operation_id ?? null,
         }), result.status === "verified" ? "verified" : "failed");
@@ -719,12 +972,16 @@ export class SimSession {
         if (result.status === "verified") {
           this.task.setMode("AUTO");
           if (this.task.state.state === "STOPPED") this.task.recover();
+          if (this.motionAuthority === "wasm") this.wasmMotion.setPaused(false);
           this.task.transition("RUNNING");
           this.task.setProgram("running", this.program.currentLine);
         }
         return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, {
           ...result,
           task: this.task.export(),
+          motion_authority: this.motionAuthority,
+          wasm_motion: this.wasmMotion.read(),
+          motion: this.motion.export(),
           command: input.kind,
           operation_id: input.operation_id ?? null,
         }), result.status === "verified" ? "verified" : "failed");
@@ -733,13 +990,25 @@ export class SimSession {
         const action = input.kind === "PROGRAM_PAUSE" ? "pause" : input.kind === "PROGRAM_RESUME" ? "resume" : "abort";
         const result = this.program[action]();
         if (result.status === "verified") {
-          if (action === "pause") this.task.transition("PAUSED");
-          else if (action === "resume") this.task.transition("RUNNING");
-          else { this.authoritative.abort(); this.task.transition("STOPPED"); this.task.setProgram("aborted", this.program.currentLine); }
+          if (action === "pause") {
+            if (this.motionAuthority === "wasm") this.wasmMotion.setPaused(true);
+            this.task.transition("PAUSED");
+          } else if (action === "resume") {
+            if (this.motionAuthority === "wasm") this.wasmMotion.setPaused(false);
+            this.task.transition("RUNNING");
+          } else {
+            if (this.motionAuthority === "wasm") this.wasmMotion.abort();
+            else this.authoritative.abort();
+            this.task.transition("STOPPED");
+            this.task.setProgram("aborted", this.program.currentLine);
+          }
         }
         return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, {
           ...result,
           task: this.task.export(),
+          motion_authority: this.motionAuthority,
+          wasm_motion: this.wasmMotion.read(),
+          motion: this.motion.export(),
           command: input.kind,
           operation_id: input.operation_id ?? null,
         }), result.status === "verified" ? "verified" : "failed");
@@ -748,9 +1017,13 @@ export class SimSession {
         const result = this.program.restart();
         if (result.status === "verified") {
           if (["ESTOP", "FAULT"].includes(this.task.state.state)) return finish(this.error(input, "task_state", "program_restart_faulted"), "failed");
+          if (["RUNNING", "PAUSED"].includes(this.task.state.state)) this.task.transition("STOPPED");
           if (this.task.state.state === "STOPPED") this.task.recover();
           this.task.setMode("AUTO");
           this.authoritative.reset();
+          this.wasmMotion.reset();
+          this.wasmMotion.setPaused(false);
+          this.motion.applyWasmPosition(this.wasmMotion.read().state.position, 0, this.tick);
           this.task.setProgram("loaded", 0);
         }
         return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, {
@@ -767,14 +1040,26 @@ export class SimSession {
         }
         const result = this.program.step();
         if (result.status === "verified") {
+          if (this.motionAuthority === "wasm" && result.motion) {
+            const linearNoop = result.motion.motion_type === 1 && ["x", "y", "z", "a", "b", "c", "u", "v", "w"].every((axis) => result.motion.start[axis] === result.motion.end[axis]);
+            if (!linearNoop) {
+              const enqueue = this.wasmMotion.enqueue(result.motion);
+              if (enqueue.status === "error") return finish(this.error(input, "motion_queue", enqueue.code), "failed");
+            }
+            this.wasmMotion.setPaused(true);
+          }
           this.task.setProgram(result.program_status === "completed" ? "completed" : "paused", result.line);
           if (result.program_status === "completed") {
-            if (this.task.state.state === "RUNNING") this.task.transition("STOPPED");
+            const pending = this.motionAuthority === "wasm" ? this.wasmMotion.read().state.queue_depth > 0 : this.authoritative.state.planner.queue_depth > 0;
+            if (this.task.state.state === "RUNNING") this.task.transition(pending ? "PAUSED" : "STOPPED");
           } else if (this.task.state.state === "RUNNING") this.task.transition("PAUSED");
         }
         return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, {
           ...result,
           task: this.task.export(),
+          motion_authority: this.motionAuthority,
+          wasm_motion: this.wasmMotion.read(),
+          motion: this.motion.export(),
           command: input.kind,
           operation_id: input.operation_id ?? null,
         }), result.status === "verified" ? "verified" : "failed");
@@ -803,16 +1088,21 @@ export class SimSession {
       }
       case "HOME": {
         const result = this.motion.home(input.payload?.axis ?? null);
-        return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
+        if (result.status === "verified" && this.motionAuthority === "wasm") {
+          const home = this.wasmHomeLimit.home(input.seq);
+          if (home.status === "error") return finish(this.error(input, "home_limit", home.code), "failed");
+        }
+        return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, motion: this.motion.export(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
       }
       case "JOG_START": case "JOG_STOP": case "SET_OVERRIDE": case "FOLLOWING_ERROR": {
         let result;
+        if (input.kind === "JOG_START" && this.motionAuthority === "wasm" && !this.wasmHomeLimit.read().state.homed) return finish(this.error(input, "motion_state", "motion_unhomed"), "failed");
         if (input.kind === "JOG_START") result = this.motion.startJog(input.payload);
         else if (input.kind === "JOG_STOP") result = this.motion.stopJog();
         else if (input.kind === "SET_OVERRIDE") result = this.motion.setOverride(input.payload?.feed ?? input.payload?.feed_override, input.payload?.spindle ?? input.payload?.spindle_override);
         else result = this.motion.setFollowingError(input.payload?.value ?? input.payload?.following_error);
         if (result.status === "error" && result.state?.fault && this.task.state.state === "RUNNING") this.task.fault(-1205);
-        return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
+        return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, motion: this.motion.export(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
       }
       case "SPINDLE_COMMAND": case "SPINDLE_FAULT": case "SPINDLE_INHIBIT":
       case "SPINDLE_ORIENT": case "SPINDLE_ORIENTED": case "IO_STEP":