按推荐建议，继续执行

结论：继续按 LinuxCNC 源码直接复用路线推进，新增 linear delta、rotary delta、scorbot 三类运动学源码的 vendored 同步、native 探针、source probe 覆盖和复用文档，并通过 native 验证。

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_lineardelta_kinematics_probe.cpp

@@ -0,0 +1,93 @@
+#include <cmath>
+#include <iostream>
+
+#include "emc/kinematics/kinematics.h"
+
+int rtapi_app_main(void);
+void rtapi_app_exit(void);
+
+namespace {
+
+int near(double actual, double expected)
+{
+    return std::fabs(actual - expected) < 1e-9;
+}
+
+int near_pose(const EmcPose &actual, const EmcPose &expected)
+{
+    return near(actual.tran.x, expected.tran.x) &&
+           near(actual.tran.y, expected.tran.y) &&
+           near(actual.tran.z, expected.tran.z) &&
+           near(actual.a, expected.a) &&
+           near(actual.b, expected.b) &&
+           near(actual.c, expected.c) &&
+           near(actual.u, expected.u) &&
+           near(actual.v, expected.v) &&
+           near(actual.w, expected.w);
+}
+
+void print_pose(const char *prefix, const EmcPose &pose)
+{
+    std::cout << prefix << "_xyz="
+              << pose.tran.x << ","
+              << pose.tran.y << ","
+              << pose.tran.z << "\n";
+    std::cout << prefix << "_abcuvw="
+              << pose.a << ","
+              << pose.b << ","
+              << pose.c << ","
+              << pose.u << ","
+              << pose.v << ","
+              << pose.w << "\n";
+}
+
+void print_joints(const char *prefix, const double *joints)
+{
+    std::cout << prefix << "_xyzabcuvw="
+              << joints[0] << ","
+              << joints[1] << ","
+              << joints[2] << ","
+              << joints[3] << ","
+              << joints[4] << ","
+              << joints[5] << ","
+              << joints[6] << ","
+              << joints[7] << ","
+              << joints[8] << "\n";
+}
+
+}  // namespace
+
+int main()
+{
+    const int init_rc = rtapi_app_main();
+    std::cout << "lineardelta_init=" << init_rc << "\n";
+    std::cout << "lineardelta_type=" << kinematicsType() << "\n";
+    std::cout << "lineardelta_switchable=" << kinematicsSwitchable() << "\n";
+
+    EmcPose pose{};
+    pose.tran.x = 10.0;
+    pose.tran.y = 20.0;
+    pose.tran.z = -30.0;
+    pose.a = 1.0;
+    pose.b = 2.0;
+    pose.c = 3.0;
+    pose.u = 4.0;
+    pose.v = 5.0;
+    pose.w = 6.0;
+
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    double inverse_joints[9]{};
+    const int inverse_rc = kinematicsInverse(&pose, inverse_joints, &iflags, &fflags);
+    std::cout << "lineardelta_inverse=" << inverse_rc << "\n";
+    print_joints("lineardelta_inverse", inverse_joints);
+
+    EmcPose forward_pose{};
+    const int forward_rc = kinematicsForward(inverse_joints, &forward_pose, &fflags, &iflags);
+    std::cout << "lineardelta_forward=" << forward_rc << "\n";
+    print_pose("lineardelta_forward", forward_pose);
+    std::cout << "lineardelta_roundtrip_pose=" << near_pose(forward_pose, pose) << "\n";
+
+    rtapi_app_exit();
+    return 0;
+}

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_rotarydelta_kinematics_probe.cpp

@@ -0,0 +1,93 @@
+#include <cmath>
+#include <iostream>
+
+#include "emc/kinematics/kinematics.h"
+
+int rtapi_app_main(void);
+void rtapi_app_exit(void);
+
+namespace {
+
+int near(double actual, double expected)
+{
+    return std::fabs(actual - expected) < 1e-9;
+}
+
+int near_pose(const EmcPose &actual, const EmcPose &expected)
+{
+    return near(actual.tran.x, expected.tran.x) &&
+           near(actual.tran.y, expected.tran.y) &&
+           near(actual.tran.z, expected.tran.z) &&
+           near(actual.a, expected.a) &&
+           near(actual.b, expected.b) &&
+           near(actual.c, expected.c) &&
+           near(actual.u, expected.u) &&
+           near(actual.v, expected.v) &&
+           near(actual.w, expected.w);
+}
+
+void print_pose(const char *prefix, const EmcPose &pose)
+{
+    std::cout << prefix << "_xyz="
+              << pose.tran.x << ","
+              << pose.tran.y << ","
+              << pose.tran.z << "\n";
+    std::cout << prefix << "_abcuvw="
+              << pose.a << ","
+              << pose.b << ","
+              << pose.c << ","
+              << pose.u << ","
+              << pose.v << ","
+              << pose.w << "\n";
+}
+
+void print_joints(const char *prefix, const double *joints)
+{
+    std::cout << prefix << "_xyzabcuvw="
+              << joints[0] << ","
+              << joints[1] << ","
+              << joints[2] << ","
+              << joints[3] << ","
+              << joints[4] << ","
+              << joints[5] << ","
+              << joints[6] << ","
+              << joints[7] << ","
+              << joints[8] << "\n";
+}
+
+}  // namespace
+
+int main()
+{
+    const int init_rc = rtapi_app_main();
+    std::cout << "rotarydelta_init=" << init_rc << "\n";
+    std::cout << "rotarydelta_type=" << kinematicsType() << "\n";
+    std::cout << "rotarydelta_switchable=" << kinematicsSwitchable() << "\n";
+
+    EmcPose pose{};
+    pose.tran.x = 0.0;
+    pose.tran.y = 0.0;
+    pose.tran.z = -12.0;
+    pose.a = 1.0;
+    pose.b = 2.0;
+    pose.c = 3.0;
+    pose.u = 4.0;
+    pose.v = 5.0;
+    pose.w = 6.0;
+
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    double inverse_joints[9]{};
+    const int inverse_rc = kinematicsInverse(&pose, inverse_joints, &iflags, &fflags);
+    std::cout << "rotarydelta_inverse=" << inverse_rc << "\n";
+    print_joints("rotarydelta_inverse", inverse_joints);
+
+    EmcPose forward_pose{};
+    const int forward_rc = kinematicsForward(inverse_joints, &forward_pose, &fflags, &iflags);
+    std::cout << "rotarydelta_forward=" << forward_rc << "\n";
+    print_pose("rotarydelta_forward", forward_pose);
+    std::cout << "rotarydelta_roundtrip_pose=" << near_pose(forward_pose, pose) << "\n";
+
+    rtapi_app_exit();
+    return 0;
+}

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_scorbot_kinematics_probe.cpp

@@ -0,0 +1,82 @@
+#include <cmath>
+#include <iostream>
+
+#include "emc/kinematics/kinematics.h"
+
+int rtapi_app_main(void);
+void rtapi_app_exit(void);
+
+namespace {
+
+int near(double actual, double expected)
+{
+    return std::fabs(actual - expected) < 1e-9;
+}
+
+int near_pose(const EmcPose &actual, const EmcPose &expected)
+{
+    return near(actual.tran.x, expected.tran.x) &&
+           near(actual.tran.y, expected.tran.y) &&
+           near(actual.tran.z, expected.tran.z) &&
+           near(actual.a, expected.a) &&
+           near(actual.b, expected.b);
+}
+
+void print_pose(const char *prefix, const EmcPose &pose)
+{
+    std::cout << prefix << "_xyz="
+              << pose.tran.x << ","
+              << pose.tran.y << ","
+              << pose.tran.z << "\n";
+    std::cout << prefix << "_ab="
+              << pose.a << ","
+              << pose.b << "\n";
+}
+
+void print_joints(const char *prefix, const double *joints)
+{
+    std::cout << prefix << "_xyzab="
+              << joints[0] << ","
+              << joints[1] << ","
+              << joints[2] << ","
+              << joints[3] << ","
+              << joints[4] << "\n";
+}
+
+}  // namespace
+
+int main()
+{
+    const int init_rc = rtapi_app_main();
+    std::cout << "scorbot_init=" << init_rc << "\n";
+    std::cout << "scorbot_type=" << kinematicsType() << "\n";
+    std::cout << "scorbot_switchable=" << kinematicsSwitchable() << "\n";
+
+    double joints[9]{};
+    joints[0] = 25.0;
+    joints[1] = 20.0;
+    joints[2] = 10.0;
+    joints[3] = 4.0;
+    joints[4] = 5.0;
+
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    EmcPose forward_pose{};
+    const int forward_rc = kinematicsForward(joints, &forward_pose, &fflags, &iflags);
+    std::cout << "scorbot_forward=" << forward_rc << "\n";
+    print_pose("scorbot_forward", forward_pose);
+
+    double inverse_joints[9]{};
+    const int inverse_rc = kinematicsInverse(&forward_pose, inverse_joints, &iflags, &fflags);
+    std::cout << "scorbot_inverse=" << inverse_rc << "\n";
+    print_joints("scorbot_inverse", inverse_joints);
+
+    EmcPose roundtrip_pose{};
+    const int roundtrip_rc = kinematicsForward(inverse_joints, &roundtrip_pose, &fflags, &iflags);
+    std::cout << "scorbot_roundtrip_forward=" << roundtrip_rc << "\n";
+    print_pose("scorbot_roundtrip", roundtrip_pose);
+    std::cout << "scorbot_roundtrip_pose=" << near_pose(roundtrip_pose, forward_pose) << "\n";
+
+    rtapi_app_exit();
+    return 0;
+}