Programmable metamaterials are suitable for their dynamic and real-time control capabilities of electromagnetic (EM) functions in radars and antenna communications, but it remains a challenge to achieve dynamic modulation of arbitrary transmission phase with high transmission efficiency. Here, we propose a paradigm to tailor transmission phase shift in real time by switching modes between waveguide and SSPP based on the voltage-driven PIN diodes. Step-like phase shift is achieved by the "ON" and "OFF" states of PIN diodes, while continuous phase regulation is by the characteristic of the nonlinear region between those two states. As validations, three systems with programmable functionalities are implemented, including the multibeam generator, the dual-beam scanner, and the active phased-array antenna. The experimental results are consistent with simulation, which verify the feasibility of the proposed approach. Our work offers an alternative route for transmission full-phase modulation and provides unprecedented potential for high-gain, real-time, and multidimensional EM capabilities in applications such as active phased array radars, self-adaption radomes, smart beam shaping.