按规划持续工作

结论：新增 vendored LinuxCNC trajectory planner WASM 构建和 Node smoke，覆盖线段、圆弧、队列规划探针，并纳入 host 聚合验证。

wasm-port/tests/wasm/node/verify_tp_wasm.mjs

@@ -0,0 +1,83 @@
+import { readFileSync } from "node:fs";
+import { fileURLToPath } from "node:url";
+import { dirname, resolve } from "node:path";
+import assert from "node:assert/strict";
+
+import createLinuxCncTpModule from "../../../build/wasm/tp/linuxcnc_tp.js";
+
+function verifyExpectedOutput(fixtureName, output, expectedText) {
+  const expectedLines = expectedText.split("\n").filter(Boolean);
+
+  for (const expectedLine of expectedLines) {
+    assert.equal(
+      output.includes(expectedLine),
+      true,
+      `${fixtureName}: ${expectedLine}`,
+    );
+  }
+}
+
+const __filename = fileURLToPath(import.meta.url);
+const __dirname = dirname(__filename);
+const rootDir = resolve(__dirname, "../../..");
+const wasmPath = resolve(rootDir, "build/wasm/tp/linuxcnc_tp.wasm");
+
+const tp = await createLinuxCncTpModule({
+  wasmBinary: readFileSync(wasmPath),
+  print() {},
+  printErr(message) {
+    console.error(message);
+  },
+});
+
+const resultPtr = tp._lctp_run_probe();
+assert.notEqual(resultPtr, 0);
+try {
+  const output = tp.UTF8ToString(resultPtr);
+  verifyExpectedOutput(
+    "tp_wasm_probe",
+    output,
+    [
+      "tp_default_queue_size=32",
+      "tp_err_ok=0",
+      "tc_linear=1",
+      "tc_circular=2",
+      "pose_xyz=1,2,3",
+      "tp_create=0",
+      "tp_set_cycle_time=0",
+      "tp_set_pos=0",
+      "tp_set_vmax=0",
+      "tp_set_vlimit=0",
+      "tp_set_amax=0",
+      "tp_set_term_cond=0",
+      "tp_add_line=0",
+      "tp_cycle_rc=4",
+      "tp_get_pos=0",
+      "tp_done_after_line=1",
+      "tp_queue_depth=0",
+      "tp_final_pos=1,0,0",
+      "tp_arc_create=0",
+      "tp_add_circle=0",
+      "tp_arc_cycle_rc=4",
+      "tp_arc_get_pos=0",
+      "tp_done_after_arc=1",
+      "tp_arc_queue_depth=0",
+      "tp_arc_final_pos_near_end=1",
+      "tp_queue_create=0",
+      "tp_queue_add_line1=0",
+      "tp_queue_depth_after_line1=1",
+      "tp_queue_add_line2=0",
+      "tp_queue_depth_after_line2=2",
+      "tp_queue_cycle_rc=4",
+      "tp_queue_get_pos=0",
+      "tp_done_after_queued_lines=1",
+      "tp_queue_final_depth=0",
+      "tp_queue_final_pos_near_end=1",
+      "tp_queue_final_pos=1,1,0",
+    ].join("\n"),
+  );
+} finally {
+  tp._lctp_free_string(resultPtr);
+}
+
+console.log("tp_wasm_node_smoke=ok");

wasm-port/tests/wasm/node/verify_tp_wasm.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "$0")/../../.." && pwd)"
+
+if [[ "${SKIP_TP_BUILD:-0}" != "1" ]]; then
+  "$ROOT_DIR/tools/build_tp_wasm.sh"
+fi
+node "$ROOT_DIR/tests/wasm/node/verify_tp_wasm.mjs"