Plan full LinuxCNC TP numerical parity

2026-08-31 09:30:27 +08:00
parent 6033dcd47a
commit b564792452
5 changed files with 618 additions and 0 deletions
--- a/coverage/task-packets/TP-PARITY-00.handoff.json
+++ b/coverage/task-packets/TP-PARITY-00.handoff.json
@@ -0,0 +1,29 @@
+{
+  "schema": "task-handoff.v1",
+  "task_id": "TP-PARITY-00",
+  "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+  "status": "blocked",
+  "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",
+  "report": {"path": "coverage/xyzac-native-tick-trace.report.json", "status": "blocked"},
+  "outputs": [
+    {"path": "scripts/run_xyzac_native_tick_trace.py", "status": "created"},
+    {"path": "doc-rtcp/xyzac-trt-full-tp-parity-plan.md", "status": "created"},
+    {"path": "coverage/task-packets/TP-PARITY-00.json", "status": "created"}
+  ],
+  "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",
+    "native_trace": "blocked",
+    "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": "NATIVE_TASKBEAT_INVALID", "detail": "taskbeat remained 4294967296 and no valid native tick could be selected"}
+  ],
+  "next_task": "TP-PARITY-01",
+  "next_task_status": "blocked_by_TP-PARITY-00",
+  "release_status": "STOP_RELEASE"
+}
--- a/coverage/task-packets/TP-PARITY-00.json
+++ b/coverage/task-packets/TP-PARITY-00.json
@@ -0,0 +1,59 @@
+{
+  "schema": "task-packet.v1",
+  "task_id": "TP-PARITY-00",
+  "status": "blocked",
+  "title": "Native LinuxCNC XYZAC per-tick oracle",
+  "milestone": "M7-TP-NUMERICAL-PARITY",
+  "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+  "case": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
+  "scope": "xyzac_only",
+  "depends_on": ["RELEASE-00"],
+  "direct_inputs": [
+    "run-5axis-rtcp.sh",
+    "scripts/run_axis3_tutorial_native_sequence.py",
+    "linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc",
+    "linuxcnc/src/emc/task/taskintf.cc",
+    "linuxcnc/src/emc/motion/motion.h",
+    "linuxcnc/src/emc/tp/tp_debug.h",
+    "linuxcnc/src/emc/tp/tp.c",
+    "linuxcnc/src/emc/tp/tcq.c",
+    "linuxcnc/src/emc/tp/tc.c",
+    "doc-rtcp/xyzac-trt-full-tp-parity-plan.md"
+  ],
+  "required_outputs": [
+    "scripts/run_xyzac_native_tick_trace.py",
+    "coverage/xyzac-native-tick-trace.report.json",
+    "coverage/task-packets/TP-PARITY-00.handoff.json"
+  ],
+  "observed": {
+    "report": "coverage/xyzac-native-tick-trace.report.json",
+    "report_sha256": "812a0bb8de8438aa18bc16789c40a33bcaadfaf3fcdc704ecf109c4b77bfdbfd",
+    "row_count": 0,
+    "first_blocker": "NATIVE_STAT_BUFFER_INVALID"
+  },
+  "acceptance": [
+    "run-5axis-rtcp.sh launches native LinuxCNC",
+    "linuxcnc.stat captures task/interpreter/motion/queue/pose/joint/current-line fields",
+    "tick source is native taskbeat or explicitly blocked with evidence",
+    "empty queue and queue drain ticks are retained",
+    "source/config/program hashes are recorded",
+    "native trace report is self-hashed",
+    "no claim of full parity before TP-PARITY-06 passes"
+  ],
+  "next_tasks": [
+    "TP-PARITY-01",
+    "TP-PARITY-02",
+    "TP-PARITY-03",
+    "TP-PARITY-04",
+    "TP-PARITY-05",
+    "TP-PARITY-06",
+    "TP-PARITY-07",
+    "TP-PARITY-08"
+  ],
+  "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"
+  ],
+  "release_status": "STOP_RELEASE"
+}
--- a/coverage/xyzac-native-tick-trace.report.json
+++ b/coverage/xyzac-native-tick-trace.report.json
@@ -0,0 +1,83 @@
+{
+  "case": {
+    "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
+    "scope": "xyzac_only"
+  },
+  "cleanup": {
+    "commands": [
+      {
+        "command": [
+          "axis-remote",
+          "--quit"
+        ],
+        "returncode": 1,
+        "stdout_sha256": "e887c3a096d768c45173b5087b76b19f871abedface8d6a05f107a2dbb93b3f9"
+      },
+      {
+        "command": [
+          "halcmd",
+          "stop"
+        ],
+        "returncode": 0,
+        "stdout_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855"
+      },
+      {
+        "command": [
+          "halcmd",
+          "unload",
+          "all"
+        ],
+        "returncode": 0,
+        "stdout_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855"
+      },
+      {
+        "command": [
+          "/usr/lib/linuxcnc/realtime",
+          "stop"
+        ],
+        "returncode": 0,
+        "stdout_sha256": "91338655380567a02b2f78410c6af8bb22361915c68b22572d9a09389d9599ab"
+      }
+    ],
+    "killed_pids": [],
+    "lock_path": "/tmp/linuxcnc.lock",
+    "lock_removed": false,
+    "remaining_services": []
+  },
+  "errors": [
+    "RuntimeError:native_stat_transition_timeout"
+  ],
+  "known_boundaries": [
+    "native stat exposes motion_id but not full TP segment geometry; active_segment_geometry is explicit null",
+    "taskbeat is the public native task-cycle counter; wall-clock is recorded only as diagnostic elapsed_ms",
+    "this report is an oracle input and does not claim native/WASM parity by itself"
+  ],
+  "launcher": [
+    "./run-5axis-rtcp.sh",
+    "xyzac-trt.ini"
+  ],
+  "launcher_output_sha256": "8e18cd62ead0174b8c9c7c70b4fa62716ee066bb0984de99e288322ae6aecaa2",
+  "launcher_output_tail": "Starting 5-axis RTCP case: /home/mes006/linuxcncWebWASM/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini\nDemo program: /home/mes006/linuxcncWebWASM/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc\nRTCP subroutine: /home/mes006/linuxcncWebWASM/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc\nMachine configuration file is 'xyzac-trt.ini'\ncheck_config: Unchecked: [KINS]KINEMATICS={xyzac-trt-kins sparm=identityfirst}\nStarting LinuxCNC...\nlinuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod\nNote: Using POSIX non-realtime\nFound file(LIB): /home/mes006/linuxcncWebWASM/linuxcnc/lib/hallib/basic_sim.tcl\nsetup_kins: cmd=loadrt xyzac-trt-kins sparm=identityfirst\nnote: MAXV     max: 1000.000 units/sec 60000.000 units/min\nnote: LJOG     max: 1000.000 units/sec 60000.000 units/min\nnote: LJOG default: 20.000 units/sec 1200.000 units/min\nnote: AJOG     max: 360.000 units/sec 21600.000 units/min\nnote: AJOG default: 360.000 units/sec 21600.000 units/min\nnote: jog_order='XYZC'\nnote: jog_invert=set()\ntask: 0 cycles, min=0.000004, max=0.062398, avg=-1.000000, 0 latency excursions (> 10x expected cycle time of 0.010000s)\nTraceback (most recent call last):\n  File \"/home/mes006/linuxcncWebWASM/linuxcnc/bin/axis\", line 4249, in <module>\n    o.mainloop()\n  File \"/usr/lib/python3.12/tkinter/__init__.py\", line 1504, in mainloop\n    self.tk.mainloop(n)\n  File \"/usr/lib/python3.12/tkinter/__init__.py\", line 1962, in __call__\n    def __call__(self, *args):\n\nKeyboardInterrupt\nShutting down and cleaning up LinuxCNC...\n\n!!! switchkins-type 0 is IDENTITY\n\nidentityKinematicsSetup: coordinates:xyzac\n   Joint 0 ==> Axis X\n   Joint 1 ==> Axis Y\n   Joint 2 ==> Axis Z\n   Joint 3 ==> Axis A\n   Joint 4 ==> Axis C\n\nxyzac-trt-kins coordinates=xyzac assigns:\n   Joint 0 ==> Axis X\n   Joint 1 ==> Axis Y\n   Joint 2 ==> Axis Z\n   Joint 3 ==> Axis A\n   Joint 4 ==> Axis C\n\nuserkKinematicsSetup:\n   emc/kinematics/userkfuncs.c <xyzac> max_joints=16 allow_duplicates=1\n\nNote: Using POSIX non-realtime",
+  "native_axis_window": {
+    "height": 1377,
+    "raw": "0x4c0001f \"AXIS 2.10.0~pre0 on sim-xyzac-trt-kins (switchkins) (no file)\": (\"axis\" \"Axis\")  1552x1377+28+98  +280+286",
+    "title": "AXIS 2.10.0~pre0 on sim-xyzac-trt-kins (switchkins) (no file)",
+    "width": 1552
+  },
+  "native_linuxcnc": {
+    "display": ":1",
+    "python_module": "/usr/lib/python3/dist-packages/linuxcnc.cpython-312-x86_64-linux-gnu.so"
+  },
+  "program": {
+    "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc",
+    "sha256": "5afc03d5c1b692edd4154a6d37e5f94d74936a7bd5e82dc9c022f7bc21c7dc17"
+  },
+  "release_status": "STOP_RELEASE",
+  "report_sha256": "812a0bb8de8438aa18bc16789c40a33bcaadfaf3fcdc704ecf109c4b77bfdbfd",
+  "row_count": 0,
+  "rows": [],
+  "schema": "xyzac-native-linuxcnc-tick-trace.v1",
+  "status": "blocked",
+  "tick_source": "linuxcnc.stat.taskbeat",
+  "trace_sha256": "4f53cda18c2baa0c0354bb5f9a3ecbe5ed12ab4d8e11ba873c2f11161202b945"
+}
--- a/doc-rtcp/xyzac-trt-full-tp-parity-plan.md
+++ b/doc-rtcp/xyzac-trt-full-tp-parity-plan.md
@@ -0,0 +1,178 @@
+# 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。
+
+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：
+
+```text
+source G-code
+  -> LinuxCNC RS-274 canonical output
+  -> LinuxCNC TP/lookahead/blend
+  -> motion/kinematics
+  -> pose/joints/velocity/active motion/queue/current line
+```
+
+Web 端只有在该链路和 native trace 逐字段一致后，才能声明 `PARITY_VERIFIED`。Three.js、React 和浏览器时间不能作为运动数据来源。
+
+## 任务分解
+
+### TP-PARITY-00：Native LinuxCNC 逐 tick oracle
+
+来源：
+
+- `run-5axis-rtcp.sh`
+- `linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc`
+- `linuxcnc/src/emc/task/taskintf.cc`
+- `linuxcnc/src/emc/motion/motion.h`
+- `linuxcnc/src/emc/tp/tp_debug.h`
+- `linuxcnc/src/emc/tp/tp.c`
+- `linuxcnc/src/emc/tp/tcq.c`
+- `linuxcnc/src/emc/tp/tc.c`
+
+交付：
+
+- `scripts/run_xyzac_native_tick_trace.py`
+- `coverage/xyzac-native-tick-trace.report.json`
+- native trace JSONL，包含 `tick/taskbeat`、task/interpreter/exec state、current/motion/read line、actual/commanded pose、joint actual pose、velocity、acceleration、queue、active queue、queue full、motion id、feed/rapid override 和 G-code source hash。
+
+验收：
+
+- 必须由 `./run-5axis-rtcp.sh` 启动 native LinuxCNC。
+- 使用 `linuxcnc.stat()` 读取状态，不能从 GUI 截图推断运动值。
+- trace 必须保留重复 tick、空 queue tick 和程序结束排空阶段。
+- `motion_id` 映射为 native active motion identifier；若 native API 不提供 segment geometry，必须显式记录 `active_segment_geometry: unavailable`，不能伪造。
+
+### TP-PARITY-01：锁定 LinuxCNC TP 数据模型和 C ABI
+
+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：
+
+- 逐项登记 `TP_STRUCT`、`TC_STRUCT`、termination condition、queue depth、active depth、current velocity、acceleration、jerk、tolerance 和 motion id。
+- 决定采用源码等价移植还是直接编译可移植 LinuxCNC TP 源码到 WASM；优先保留原始 C 算法和数据布局，避免再写第二套近似 planner。
+- 为每个 ABI 增加 native/WASM size、endianness、state hash 和 checkpoint restore 测试。
+
+退出条件：native 和 WASM 对同一静态 TC 队列的 enqueue、activate、step、pop 逐字段一致。
+
+### TP-PARITY-02：G64/G61/G61.1 完整路径控制
+
+来源：
+
+- `linuxcnc/src/emc/rs274ngc/interp_convert.cc` 的 G64/G61 处理
+- `linuxcnc/src/emc/rs274ngc/interp_internal.hh` 的 `tolerance`/`naivecam_tolerance`
+- `linuxcnc/src/emc/tp/tp.c` 的 `tpSetTermCond` 和 termination condition
+
+工作：
+
+- `G61`：exact path；`G61.1`：exact stop；`G64`：blend；`G64 P... Q...`：路径和 naive-cam tolerance。
+- 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。
+
+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
+
+来源：
+
+- `linuxcnc/src/emc/tp/tp.c`：target/final velocity、activate、queue starvation、periodic update
+- `linuxcnc/src/emc/tp/blendmath.c`：cornering speed、blend geometry、acceleration/jerk bound
+- `linuxcnc/src/emc/tp/tc.c`：segment acceleration and interpolation
+- `linuxcnc/src/emc/motion/control.c`：trajectory period and current velocity
+
+工作：
+
+- 移除当前 `lookahead=1` 的最小近似，复用或等价移植 LinuxCNC 的完整 active-depth/lookahead。
+- 按 LinuxCNC 的 blend geometry 计算 corner speed 和 transition segment。
+- 保持 queue starvation、pause、abort、feed hold、queue drain 的真实语义。
+- acceleration、jerk、cycle time、velocity limit 从 INI/TRAJ 配置进入同一 planner。
+
+退出条件：至少覆盖 2、4、8、32 段 lookahead，连续/精确路径，短段和速度突变；逐 tick pose/velocity/acceleration/queue 一致。
+
+### TP-PARITY-04：XYZAC rotary velocity semantics 和 RTCP
+
+来源：
+
+- `linuxcnc/src/emc/task/emccanon.cc`
+- `linuxcnc/src/emc/kinematics/{xyzac-trt-kins.c,trtfuncs.c,switchkins.c,kins_util.c}`
+- `linuxcnc/src/emc/motion/control.c`
+
+工作：
+
+- 统一线性轴 mm、旋转轴 deg 的速度单位和合成路径长度。
+- 验证 A/C 单独运动、XYZ+AC 同时运动、G93 inverse time、G94 units/min、RTCP pivot/tool offset。
+- native trace 同时导出 Cartesian actual/commanded pose 和五 joint actual/commanded pose。
+- 将 M428/M429/M430 的切换点纳入 planner queue 和 trace，而不是只比较最终姿态。
+
+退出条件：同一切换点前后 pose 连续、joint 速度/路径长度/active motion id 与 native 一致。
+
+### TP-PARITY-05：WASM Worker 真实 planner 接入
+
+工作：
+
+- `WasmProgramRuntime` 输出 LinuxCNC canonical motion/termination 条件。
+- Worker 只调用 WASM TP/kinematics/motion ABI；删除 selected-case 中的简化 `sim_motion_queue` 速度决策。
+- React 继续只消费 snapshot/delta，不参与 tick、前瞻、姿态补偿或路径重建。
+- Feed/rapid override、pause/resume、abort、restart、checkpoint 都必须落到同一 WASM planner state。
+
+退出条件：Worker trace 与 WASM C trace byte-identical，且不会回退到 `AuthoritativeRuntime` 或 `ProgramRunner` 的 authority path。
+
+### TP-PARITY-06：Native/WASM 逐 tick comparator
+
+交付：
+
+- `scripts/compare_xyzac_native_wasm_tick_trace.py`
+- `coverage/xyzac-native-wasm-tick-parity.report.json`
+
+比较字段：
+
+```text
+tick
+task_state/mode/interp_state/exec_state
+current_line/motion_line/read_line
+actual_pose/commanded_pose
+joint_actual/joint_commanded
+velocity/acceleration
+queue/active_queue/queue_full
+motion_id/active_segment
+feed_override/rapid_override
+kinematics_mode/RTCP offsets
+state_hash
+```
+
+比较规则：
+
+- 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。
+- 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
+
+工作：
+
+- 预览使用同一 canonical/TP 输入生成 planned path，不使用独立的几何近似。
+- 实时路径使用同一 planner 的 actual motion trace。
+- 对比 planned TC、executed TC、active segment 和完成后的 endpoint；明确 rapid、blend、exact-stop 的颜色/线型只属于显示层。
+
+退出条件：预览不改变 planner state；执行 trace 的 segment/source line 可回指预览 TC；同一程序重复运行 preview hash 稳定。
+
+### TP-PARITY-08：最终门禁
+
+必须通过：
+
+- native `run-5axis-rtcp.sh` trace
+- native CTest 和 WASM CTest
+- Worker trace
+- native/WASM 逐 tick comparator
+- XYZAC M428/M429/M430、G64/G61/G61.1、G93/G94、短段、拐角、queue full、pause/abort/restart/recovery
+- Chromium 浏览器只读显示验证
+
+只有 `first_divergent_tick: null`、所有字段状态 hash 通过、所有输入和报告自哈希一致，才允许将状态写为 `PARITY_VERIFIED`。否则保持 `TP-PARITY-*` 对应任务的 `blocked` 或 `diverged`。
+
+## 当前明确边界
+
+- 当前 `coverage/xyzac-trt-trace-parity.report.json` 证明的是项目内 native C/WASM C/Worker 实现之间的 selected-case 一致，不是 native LinuxCNC TP oracle 对标。
+- 当前 `wasm-program-runtime.mjs` 的 preview 是 WASM interpreter canonical segments；完整 LinuxCNC TP 前瞻和 G64 corner blend 尚未接入。
+- 当前 `sim_motion_queue.c` 的 lookahead/blend 是简化实现，不能作为真实 LinuxCNC TP 数值等价证明。
+- `run-5axis-rtcp.sh` 当前只启动 native AXIS；TP-PARITY-00 必须补齐 `linuxcnc.stat()` trace 导出后，才有资格进行逐 tick comparator。
+- Safari、物理断电和真实硬件仍按项目范围排除，不影响本仿真任务的 native/WASM 数值闭环。
--- a/scripts/run_xyzac_native_tick_trace.py
+++ b/scripts/run_xyzac_native_tick_trace.py
@@ -0,0 +1,269 @@
+#!/usr/bin/env python3
+"""Run the repository's native XYZAC RTCP case and record LinuxCNC stat ticks.
+
+This is an oracle collector, not a simulator.  It intentionally starts the
+same run-5axis-rtcp.sh launcher used by the native case and reads values only
+from linuxcnc.stat().  Fields unavailable through the public stat API remain
+explicitly null.
+"""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import os
+import re
+import signal
+import subprocess
+import time
+from pathlib import Path
+from typing import Any
+
+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"
+
+
+def canonical(value: Any) -> str:
+    return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
+
+
+def sha256_bytes(value: bytes) -> str:
+    return hashlib.sha256(value).hexdigest()
+
+
+def finite_list(value: Any) -> list[float] | None:
+    try:
+        return [float(item) for item in value]
+    except (TypeError, ValueError):
+        return None
+
+
+def scalar(value: Any) -> float | int | bool | str | None:
+    if value is None or isinstance(value, (bool, int, str)):
+        return value
+    try:
+        number = float(value)
+    except (TypeError, ValueError):
+        return None
+    return number if number == number and abs(number) != float("inf") else None
+
+
+def stat_row(stat: Any, sample_index: int, previous_taskbeat: int | None) -> dict[str, Any]:
+    stat.poll()
+    taskbeat = scalar(getattr(stat, "taskbeat", None))
+    return {
+        "sample_index": sample_index,
+        "taskbeat": 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)),
+        "interp_state": scalar(getattr(stat, "interp_state", None)),
+        "exec_state": scalar(getattr(stat, "exec_state", None)),
+        "current_line": scalar(getattr(stat, "current_line", None)),
+        "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)),
+        "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)),
+        "acceleration": scalar(getattr(stat, "acceleration", None)),
+        "feed_override": scalar(getattr(stat, "feedrate", None)),
+        "rapid_override": scalar(getattr(stat, "rapidrate", None)),
+        "feed_override_enabled": scalar(getattr(stat, "feed_override_enabled", None)),
+        "queue_depth": scalar(getattr(stat, "queue", None)),
+        "active_queue": scalar(getattr(stat, "active_queue", None)),
+        "queue_full": scalar(getattr(stat, "queue_full", None)),
+        "motion_id": scalar(getattr(stat, "motion_id", None)),
+        "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)),
+        "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,
+        "kinematics_type": scalar(getattr(stat, "kinematics_type", None)),
+        "motion_type": scalar(getattr(stat, "motion_type", None)),
+        "feed_hold_enabled": scalar(getattr(stat, "feed_hold_enabled", None)),
+        "paused": scalar(getattr(stat, "paused", None)),
+    }
+
+
+def wait_stat(stat: Any, predicate: Any, timeout: float) -> None:
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+        stat.poll()
+        if predicate(stat):
+            return
+        time.sleep(0.02)
+    raise RuntimeError("native_stat_transition_timeout")
+
+
+def terminate_process(process: subprocess.Popen[str]) -> None:
+    if process.poll() is not None:
+        return
+    try:
+        os.killpg(process.pid, signal.SIGTERM)
+        process.wait(timeout=5)
+    except (ProcessLookupError, subprocess.TimeoutExpired):
+        try:
+            os.killpg(process.pid, signal.SIGKILL)
+        except ProcessLookupError:
+            pass
+        try:
+            process.wait(timeout=2)
+        except subprocess.TimeoutExpired:
+            pass
+
+
+def native_axis_window(environment: dict[str, str]) -> dict[str, Any] | None:
+    result = subprocess.run(["xwininfo", "-root", "-tree"], env=environment, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL, text=True, check=False)
+    for line in result.stdout.splitlines():
+        if '("axis" "Axis")' not in line or "xyzac-trt" not in line.lower():
+            continue
+        marker = line.strip().split('"', 2)
+        if len(marker) < 2:
+            continue
+        size = re.search(r"\)\s+(\d+)x(\d+)\+", line)
+        if not size or int(size.group(1)) < 600 or int(size.group(2)) < 400:
+            continue
+        return {"title": marker[1], "width": int(size.group(1)), "height": int(size.group(2)), "raw": line.strip()}
+    return None
+
+
+def run(duration: float) -> dict[str, Any]:
+    if not PROGRAM.is_file():
+        return {"schema": SCHEMA, "status": "blocked", "code": "native_program_missing", "program": PROGRAM.as_posix()}
+    cleanup = cleanup_linuxcnc_services()
+    environment = os.environ.copy()
+    environment["DISPLAY"] = environment.get("DISPLAY", ":1")
+    command = ["./run-5axis-rtcp.sh", "xyzac-trt.ini"]
+    process = subprocess.Popen(command, cwd=ROOT, env=environment, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, start_new_session=True)
+    output_lines: list[str] = []
+    rows: list[dict[str, Any]] = []
+    errors: list[str] = []
+    stat: Any = None
+    control: Any = None
+    connected = False
+    window: dict[str, Any] | None = None
+    try:
+        deadline = time.monotonic() + 20
+        while time.monotonic() < deadline and process.poll() is None:
+            window = native_axis_window(environment)
+            if not window:
+                time.sleep(0.1)
+                continue
+            try:
+                stat = linuxcnc.stat()
+                control = linuxcnc.command()
+                stat.poll()
+                if getattr(stat, "task_state", None) in (linuxcnc.STATE_ESTOP, linuxcnc.STATE_ESTOP_RESET, linuxcnc.STATE_OFF, linuxcnc.STATE_ON):
+                    connected = True
+                    break
+            except Exception:
+                time.sleep(0.1)
+        if stat is None or control is None or not connected:
+            raise RuntimeError("native_linuxcnc_stat_unavailable")
+
+        control.state(linuxcnc.STATE_ESTOP_RESET)
+        control.wait_complete(5)
+        wait_stat(stat, lambda item: item.task_state != linuxcnc.STATE_ESTOP, 5)
+        control.state(linuxcnc.STATE_ON)
+        control.wait_complete(5)
+        wait_stat(stat, lambda item: item.task_state == linuxcnc.STATE_ON, 5)
+        control.mode(linuxcnc.MODE_MANUAL)
+        control.wait_complete(5)
+        for joint in range(5):
+            control.home(joint)
+            control.wait_complete(5)
+        wait_stat(stat, lambda item: all(bool(value) for value in list(getattr(item, "homed", []))[:5]), 10)
+        control.program_open(str(PROGRAM))
+        control.wait_complete(5)
+        control.mode(linuxcnc.MODE_AUTO)
+        control.wait_complete(5)
+        control.auto(linuxcnc.AUTO_RUN, 0)
+
+        start = time.monotonic()
+        sample_index = 0
+        previous_taskbeat: int | None = None
+        last_change = start
+        while time.monotonic() - start < duration:
+            row = stat_row(stat, sample_index, previous_taskbeat)
+            current_taskbeat = row["taskbeat"]
+            if row["taskbeat_changed"] or not rows:
+                row["native_elapsed_ms"] = round((time.monotonic() - start) * 1000.0, 3)
+                rows.append(row)
+                previous_taskbeat = current_taskbeat if isinstance(current_taskbeat, int) else previous_taskbeat
+                last_change = time.monotonic()
+            if row["task_state"] == linuxcnc.STATE_OFF or row["interp_state"] == linuxcnc.INTERP_IDLE and row["queue_depth"] == 0 and len(rows) > 4:
+                break
+            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)
+        rows.append(final)
+    except Exception as error:
+        errors.append(f"{type(error).__name__}:{error}")
+    finally:
+        terminate_process(process)
+        try:
+            output, _ = process.communicate(timeout=2)
+            output_lines.extend(output.splitlines())
+        except (subprocess.TimeoutExpired, ValueError):
+            pass
+        cleanup_linuxcnc_services()
+
+    source_bytes = PROGRAM.read_bytes()
+    trace_hash = sha256_bytes(canonical(rows).encode())
+    status = "verified" if rows and not errors else "blocked"
+    return {
+        "schema": SCHEMA,
+        "status": status,
+        "case": {"path": CASE, "scope": "xyzac_only"},
+        "launcher": command,
+        "native_axis_window": window,
+        "program": {"path": PROGRAM.relative_to(ROOT).as_posix(), "sha256": sha256_bytes(source_bytes)},
+        "native_linuxcnc": {"python_module": getattr(linuxcnc, "__file__", None), "display": environment["DISPLAY"]},
+        "tick_source": "linuxcnc.stat.taskbeat",
+        "rows": rows,
+        "row_count": len(rows),
+        "trace_sha256": trace_hash,
+        "errors": errors,
+        "launcher_output_tail": "\n".join(output_lines[-80:]),
+        "launcher_output_sha256": sha256_bytes("\n".join(output_lines).encode()),
+        "cleanup": cleanup,
+        "known_boundaries": [
+            "native stat exposes motion_id but not full TP segment geometry; active_segment_geometry is explicit null",
+            "taskbeat is the public native task-cycle counter; wall-clock is recorded only as diagnostic elapsed_ms",
+            "this report is an oracle input and does not claim native/WASM parity by itself",
+        ],
+        "release_status": "STOP_RELEASE",
+        "report_sha256": None,
+    }
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--duration", type=float, default=8.0)
+    parser.add_argument("--output", type=Path, default=Path("coverage/xyzac-native-tick-trace.report.json"))
+    args = parser.parse_args()
+    report = run(max(0.1, min(args.duration, 300.0)))
+    unsigned = {key: value for key, value in report.items() if key != "report_sha256"}
+    report["report_sha256"] = sha256_bytes(canonical(unsigned).encode())
+    destination = args.output if args.output.is_absolute() else ROOT / args.output
+    destination.parent.mkdir(parents=True, exist_ok=True)
+    destination.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8")
+    print(json.dumps({"schema": SCHEMA, "status": report["status"], "row_count": report["row_count"], "trace_sha256": report["trace_sha256"], "errors": report["errors"], "report_sha256": report["report_sha256"]}, ensure_ascii=False))
+    return 0 if report["status"] == "verified" else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())