按推荐建议，继续执行

结论：已继续补齐 LinuxCNC 源码派生的 genhexkins 与 pentakins 原生 runtime baseline，构建、vendor 同步、语义守卫和 native probe 验证均通过。

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

@@ -0,0 +1,110 @@
+#include <cmath>
+#include <iostream>
+
+#include "emc/kinematics/kinematics.h"
+#include "emc/motion/emcmotcfg.h"
+
+int rtapi_app_main(void);
+void rtapi_app_exit(void);
+
+namespace {
+
+int near(double actual, double expected)
+{
+    return std::fabs(actual - expected) < 1e-6;
+}
+
+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);
+}
+
+int near_identity_pose(const EmcPose &actual, const double *joints)
+{
+    return near(actual.tran.x, joints[0]) &&
+           near(actual.tran.y, joints[1]) &&
+           near(actual.tran.z, joints[2]) &&
+           near(actual.a, joints[3]) &&
+           near(actual.b, joints[4]) &&
+           near(actual.c, joints[5]);
+}
+
+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 << "_abc="
+              << pose.a << ","
+              << pose.b << ","
+              << pose.c << "\n";
+}
+
+void print_joints(const char *prefix, const double *joints)
+{
+    std::cout << prefix << "_struts="
+              << joints[0] << ","
+              << joints[1] << ","
+              << joints[2] << ","
+              << joints[3] << ","
+              << joints[4] << ","
+              << joints[5] << "\n";
+}
+
+}  // namespace
+
+int main()
+{
+    const int init_rc = rtapi_app_main();
+    std::cout << "genhex_init=" << init_rc << "\n";
+    std::cout << "genhex_type=" << kinematicsType() << "\n";
+    std::cout << "genhex_switchable=" << kinematicsSwitchable() << "\n";
+
+    EmcPose pose{};
+    pose.tran.x = 1.25;
+    pose.tran.y = -2.5;
+    pose.tran.z = 3.75;
+    pose.a = 1.0;
+    pose.b = -2.0;
+    pose.c = 3.0;
+
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    double inverse_joints[EMCMOT_MAX_JOINTS]{};
+    const int inverse_rc = kinematicsInverse(&pose, inverse_joints, &iflags, &fflags);
+    std::cout << "genhex_inverse=" << inverse_rc << "\n";
+    print_joints("genhex_inverse", inverse_joints);
+
+    EmcPose warmup_pose = pose;
+    const int warmup_rc = kinematicsForward(inverse_joints, &warmup_pose, &fflags, &iflags);
+    std::cout << "genhex_forward_warmup=" << warmup_rc << "\n";
+
+    EmcPose forward_pose = pose;
+    const int forward_rc = kinematicsForward(inverse_joints, &forward_pose, &fflags, &iflags);
+    std::cout << "genhex_forward=" << forward_rc << "\n";
+    print_pose("genhex_forward", forward_pose);
+    std::cout << "genhex_roundtrip_pose=" << near_pose(forward_pose, pose) << "\n";
+
+    const int switch_rc = kinematicsSwitch(1);
+    std::cout << "genhex_switch_identity=" << switch_rc << "\n";
+    double identity_joints[EMCMOT_MAX_JOINTS]{};
+    for (int index = 0; index < 6; ++index) {
+        identity_joints[index] = inverse_joints[index];
+    }
+    EmcPose identity_pose{};
+    const int identity_forward_rc = kinematicsForward(
+        identity_joints, &identity_pose, &fflags, &iflags);
+    std::cout << "genhex_identity_forward=" << identity_forward_rc << "\n";
+    print_pose("genhex_identity", identity_pose);
+    std::cout << "genhex_identity_near="
+              << near_identity_pose(identity_pose, identity_joints) << "\n";
+
+    rtapi_app_exit();
+    return 0;
+}

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

@@ -0,0 +1,89 @@
+#include <cmath>
+#include <iostream>
+
+#include "emc/kinematics/kinematics.h"
+#include "emc/motion/emcmotcfg.h"
+
+int rtapi_app_main(void);
+void rtapi_app_exit(void);
+
+namespace {
+
+int near(double actual, double expected)
+{
+    return std::fabs(actual - expected) < 1e-6;
+}
+
+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);
+}
+
+int positive_struts(const double *joints)
+{
+    for (int index = 0; index < 5; ++index) {
+        if (joints[index] <= 0.0) {
+            return 0;
+        }
+    }
+    return 1;
+}
+
+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 << "_struts="
+              << joints[0] << ","
+              << joints[1] << ","
+              << joints[2] << ","
+              << joints[3] << ","
+              << joints[4] << "\n";
+}
+
+}  // namespace
+
+int main()
+{
+    const int init_rc = rtapi_app_main();
+    std::cout << "pentakins_init=" << init_rc << "\n";
+    std::cout << "pentakins_type=" << kinematicsType() << "\n";
+    std::cout << "pentakins_switchable=" << kinematicsSwitchable() << "\n";
+
+    EmcPose pose{};
+    pose.tran.x = 12.5;
+    pose.tran.y = -8.25;
+    pose.tran.z = 25.0;
+    pose.a = 2.0;
+    pose.b = -1.5;
+
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    double inverse_joints[EMCMOT_MAX_JOINTS]{};
+    const int inverse_rc = kinematicsInverse(&pose, inverse_joints, &iflags, &fflags);
+    std::cout << "pentakins_inverse=" << inverse_rc << "\n";
+    print_joints("pentakins_inverse", inverse_joints);
+    std::cout << "pentakins_positive_struts=" << positive_struts(inverse_joints) << "\n";
+
+    EmcPose forward_pose = pose;
+    const int forward_rc = kinematicsForward(inverse_joints, &forward_pose, &fflags, &iflags);
+    std::cout << "pentakins_forward=" << forward_rc << "\n";
+    print_pose("pentakins_forward", forward_pose);
+    std::cout << "pentakins_roundtrip_pose=" << near_pose(forward_pose, pose) << "\n";
+
+    rtapi_app_exit();
+    return 0;
+}