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/tools/build_tp_wasm.sh

@@ -0,0 +1,108 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
+VENDOR_DIR="$ROOT_DIR/vendor/linuxcnc"
+WRAP_DIR="$ROOT_DIR/runtime/core/linuxcnc_wrap"
+SHIM_DIR="$ROOT_DIR/runtime/core/shims"
+INCLUDE_DIR="$ROOT_DIR/runtime/core/include"
+OUT_DIR="$ROOT_DIR/build/wasm/tp"
+OBJ_DIR="$OUT_DIR/obj"
+
+source "$ROOT_DIR/tools/wasm_incremental_build_lib.sh"
+
+mkdir -p "$OUT_DIR" "$OBJ_DIR"
+
+TARGET="linuxcnc_tp_wasm"
+: > "$OUT_DIR/$TARGET.stdout.log"
+: > "$OUT_DIR/$TARGET.stderr.log"
+
+COMMON_FLAGS=(
+  -O2
+  -D_GNU_SOURCE
+  -DM_PI=3.14159265358979323846
+  -I"$WRAP_DIR"
+  -I"$SHIM_DIR"
+  -I"$INCLUDE_DIR"
+  -I"$VENDOR_DIR/src"
+  -I"$VENDOR_DIR/src/rtapi"
+  -I"$VENDOR_DIR/src/emc"
+  -I"$VENDOR_DIR/src/emc/nml_intf"
+  -I"$VENDOR_DIR/src/emc/motion"
+  -I"$VENDOR_DIR/src/emc/tp"
+  -I"$VENDOR_DIR/src/emc/kinematics"
+  -I"$VENDOR_DIR/src/libnml/posemath"
+)
+
+C_FLAGS=(
+  -std=gnu11
+  "${COMMON_FLAGS[@]}"
+)
+
+CXX_FLAGS=(
+  -std=c++20
+  -fpermissive
+  "${COMMON_FLAGS[@]}"
+)
+
+SOURCES=(
+  "$VENDOR_DIR/src/emc/tp/tp.c"
+  "$VENDOR_DIR/src/emc/tp/tc.c"
+  "$VENDOR_DIR/src/emc/tp/tcq.c"
+  "$VENDOR_DIR/src/emc/tp/spherical_arc.c"
+  "$VENDOR_DIR/src/emc/tp/blendmath.c"
+  "$VENDOR_DIR/src/emc/tp/sp_scurve.c"
+  "$VENDOR_DIR/src/emc/tp/ruckig_wrapper.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/block.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/brake.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/calculator.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/cruckig.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/input_parameter.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/output_parameter.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/profile.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/roots.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/trajectory.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_first_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_first_step2.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_second_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_second_step2.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_third_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_third_step2.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/velocity_second_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/velocity_second_step2.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/velocity_third_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/velocity_third_step2.c"
+  "$VENDOR_DIR/src/emc/nml_intf/emcpose.c"
+  "$VENDOR_DIR/src/libnml/posemath/posemath.cc"
+  "$VENDOR_DIR/src/libnml/posemath/_posemath.c"
+  "$VENDOR_DIR/src/libnml/posemath/sincos.c"
+  "$WRAP_DIR/linuxcnc_tp_wasm.c"
+)
+
+OBJECTS=()
+for source in "${SOURCES[@]}"; do
+  obj="$(source_object_path "$source" "$ROOT_DIR" "$OBJ_DIR")"
+  OBJECTS+=("$obj")
+  case "$source" in
+    *.cc|*.cpp|*.cxx)
+      compile_wasm_object "$TARGET" "$source" "$obj" "$OUT_DIR" "${CXX_FLAGS[@]}"
+      ;;
+    *)
+      compile_wasm_object "$TARGET" "$source" "$obj" "$OUT_DIR" "${C_FLAGS[@]}"
+      ;;
+  esac
+done
+
+link_wasm_module \
+  "$TARGET" \
+  "$OUT_DIR/linuxcnc_tp.js" \
+  "$OUT_DIR" \
+  -O2 \
+  "${OBJECTS[@]}" \
+  -s MODULARIZE=1 \
+  -s EXPORT_ES6=1 \
+  -s ENVIRONMENT=web,node \
+  -s ALLOW_MEMORY_GROWTH=1 \
+  -s NO_EXIT_RUNTIME=1 \
+  -s EXPORTED_FUNCTIONS='["_malloc","_free","_lctp_run_probe","_lctp_free_string"]' \
+  -s EXPORTED_RUNTIME_METHODS='["UTF8ToString"]'