是的

结论：已将 LinuxCNC identity/trivial kinematics 源码纳入 WASM port 的 vendored manifest、native probe 和文档验证链，完整 native 验证通过。

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

@@ -91,6 +91,11 @@ int hal_ready(int)
     return 0;
 }
 
+int hal_exit(int)
+{
+    return 0;
+}
+
 int hal_get_pin_value_by_name(const char *name, hal_type_t *type, hal_data_u **ptr,
                               bool *connected)
 {

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

@@ -0,0 +1,81 @@
+#include <iostream>
+
+#include "emc/kinematics/kinematics.h"
+#include "emc/motion/emcmotcfg.h"
+
+int rtapi_app_main(void);
+void rtapi_app_exit(void);
+
+namespace {
+
+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 << "_xyz="
+              << joints[0] << ","
+              << joints[1] << ","
+              << joints[2] << "\n";
+    std::cout << prefix << "_abcuvw="
+              << 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 << "kinematics_init=" << init_rc << "\n";
+    std::cout << "kinematics_type=" << kinematicsType() << "\n";
+    std::cout << "kinematics_switchable=" << kinematicsSwitchable() << "\n";
+    std::cout << "kinematics_switch=" << kinematicsSwitch(0) << "\n";
+
+    double joints[EMCMOT_MAX_JOINTS]{};
+    for (int index = 0; index < 9; ++index) {
+        joints[index] = index + 1;
+    }
+
+    EmcPose forward_pose{};
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    const int forward_rc = kinematicsForward(joints, &forward_pose, &fflags, &iflags);
+    std::cout << "kinematics_forward=" << forward_rc << "\n";
+    print_pose("kinematics_forward", forward_pose);
+
+    EmcPose inverse_pose{};
+    inverse_pose.tran.x = 10.0;
+    inverse_pose.tran.y = 20.0;
+    inverse_pose.tran.z = 30.0;
+    inverse_pose.a = 40.0;
+    inverse_pose.b = 50.0;
+    inverse_pose.c = 60.0;
+    inverse_pose.u = 70.0;
+    inverse_pose.v = 80.0;
+    inverse_pose.w = 90.0;
+
+    double inverse_joints[EMCMOT_MAX_JOINTS]{};
+    const int inverse_rc = kinematicsInverse(&inverse_pose, inverse_joints, &iflags, &fflags);
+    std::cout << "kinematics_inverse=" << inverse_rc << "\n";
+    print_joints("kinematics_inverse", inverse_joints);
+
+    rtapi_app_exit();
+    return 0;
+}

wasm-port/runtime/core/shims/hal.h

@@ -32,6 +32,7 @@ typedef unsigned long long hal_u64_t;
 
 int hal_init(const char *);
 int hal_ready(int);
+int hal_exit(int);
 int hal_get_pin_value_by_name(const char *, hal_type_t *, hal_data_u **, bool *);
 int hal_get_signal_value_by_name(const char *, hal_type_t *, hal_data_u **, bool *);
 int hal_get_param_value_by_name(const char *, hal_type_t *, hal_data_u **);

wasm-port/runtime/core/shims/rtapi.h

@@ -30,6 +30,58 @@
 #define EXPORT_SYMBOL(symbol)
 #endif
 
+#ifndef EXPORT_SYMBOL_GPL
+#define EXPORT_SYMBOL_GPL(symbol)
+#endif
+
+#ifndef MODULE_LICENSE
+#define MODULE_LICENSE(value)
+#endif
+
+#ifndef MODULE_AUTHOR
+#define MODULE_AUTHOR(value)
+#endif
+
+#ifndef MODULE_DESCRIPTION
+#define MODULE_DESCRIPTION(value)
+#endif
+
+#ifndef MODULE_SUPPORTED_DEVICE
+#define MODULE_SUPPORTED_DEVICE(value)
+#endif
+
+#ifndef MODULE_DEVICE_TABLE
+#define MODULE_DEVICE_TABLE(type, name)
+#endif
+
+#ifndef MODULE_INFO
+#define MODULE_INFO(tag, value)
+#endif
+
+#ifndef RTAPI_MP_INT
+#define RTAPI_MP_INT(var, descr)
+#endif
+
+#ifndef RTAPI_MP_LONG
+#define RTAPI_MP_LONG(var, descr)
+#endif
+
+#ifndef RTAPI_MP_STRING
+#define RTAPI_MP_STRING(var, descr)
+#endif
+
+#ifndef RTAPI_MP_ARRAY_INT
+#define RTAPI_MP_ARRAY_INT(var, num, descr)
+#endif
+
+#ifndef RTAPI_MP_ARRAY_LONG
+#define RTAPI_MP_ARRAY_LONG(var, num, descr)
+#endif
+
+#ifndef RTAPI_MP_ARRAY_STRING
+#define RTAPI_MP_ARRAY_STRING(var, num, descr)
+#endif
+
 typedef enum {
     RTAPI_MSG_NONE = 0,
     RTAPI_MSG_ERR,