数控系统仿真软件，从linuxcnc移植过来的。主要程序的功能，必须直接来源于linuxcnc的源程序。不要自己编写。这是一条铁的纪律。持续推进

结论：已在 TP native probe 中新增直接调用 LinuxCNC tpAddCircle/tpRunCycle 的圆弧运动验证，并通过 native probes 全量验证。

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

@@ -1,3 +1,4 @@
+#include <cmath>
 #include <iostream>
 
 #include "emc/motion/motion.h"
@@ -122,6 +123,79 @@ void run_linear_probe()
               << final_pos.tran.z << "\n";
 }
 
+void run_arc_probe()
+{
+    init_motion_state();
+
+    TP_STRUCT tp{};
+    EmcPose start{};
+    EmcPose end{};
+    PmCartesian center{};
+    PmCartesian normal{};
+    struct state_tag_t tag {};
+
+    start.tran.x = 1.0;
+    end.tran.y = 1.0;
+    normal.z = 1.0;
+
+    const int create_rc = tpCreate(&tp, TP_DEFAULT_QUEUE_SIZE, 2);
+    const int set_cycle_rc = tpSetCycleTime(&tp, 0.001);
+    const int set_pos_rc = tpSetPos(&tp, &start);
+    const int set_vmax_rc = tpSetVmax(&tp, 1.0, 1.0);
+    const int set_vlimit_rc = tpSetVlimit(&tp, 1.0);
+    const int set_amax_rc = tpSetAmax(&tp, 10.0);
+    const int set_term_rc = tpSetTermCond(&tp, TC_TERM_COND_STOP, 0.0);
+    const int add_circle_rc = tpAddCircle(
+        &tp,
+        end,
+        center,
+        normal,
+        0,
+        EMC_MOTION_TYPE_ARC,
+        1.0,
+        1.0,
+        10.0,
+        100.0,
+        status.enables_new,
+        0,
+        tag);
+
+    int cycle_rc = 0;
+    int cycles = 0;
+    for (; cycles < 10000 && !tpIsDone(&tp); ++cycles) {
+        cycle_rc = tpRunCycle(&tp, 1000000);
+        if (cycle_rc < 0) {
+            break;
+        }
+    }
+
+    EmcPose final_pos{};
+    const int get_pos_rc = tpGetPos(&tp, &final_pos);
+    const int near_end =
+        std::fabs(final_pos.tran.x - end.tran.x) < 1e-9 &&
+        std::fabs(final_pos.tran.y - end.tran.y) < 1e-9 &&
+        std::fabs(final_pos.tran.z - end.tran.z) < 1e-9;
+
+    std::cout << "tp_arc_create=" << create_rc << "\n";
+    std::cout << "tp_arc_set_cycle_time=" << set_cycle_rc << "\n";
+    std::cout << "tp_arc_set_pos=" << set_pos_rc << "\n";
+    std::cout << "tp_arc_set_vmax=" << set_vmax_rc << "\n";
+    std::cout << "tp_arc_set_vlimit=" << set_vlimit_rc << "\n";
+    std::cout << "tp_arc_set_amax=" << set_amax_rc << "\n";
+    std::cout << "tp_arc_set_term_cond=" << set_term_rc << "\n";
+    std::cout << "tp_add_circle=" << add_circle_rc << "\n";
+    std::cout << "tp_arc_cycle_rc=" << cycle_rc << "\n";
+    std::cout << "tp_arc_cycles=" << cycles << "\n";
+    std::cout << "tp_arc_get_pos=" << get_pos_rc << "\n";
+    std::cout << "tp_done_after_arc=" << tpIsDone(&tp) << "\n";
+    std::cout << "tp_arc_queue_depth=" << tpQueueDepth(&tp) << "\n";
+    std::cout << "tp_arc_final_pos_near_end=" << near_end << "\n";
+    std::cout << "tp_arc_final_pos="
+              << final_pos.tran.x << ","
+              << final_pos.tran.y << ","
+              << final_pos.tran.z << "\n";
+}
+
 } // namespace
 
 int main()
@@ -142,5 +216,6 @@ int main()
     std::cout << "tc_circular=" << TC_CIRCULAR << "\n";
     std::cout << "pose_xyz=" << pose.tran.x << "," << pose.tran.y << "," << pose.tran.z << "\n";
     run_linear_probe();
+    run_arc_probe();
     return 0;
 }

wasm-port/tests/native/verify_native_probes.sh

@@ -95,6 +95,9 @@ grep -Fq "tp_set_cycle_time=0" "$TP_API_STDOUT"
 grep -Fq "tp_add_line=0" "$TP_API_STDOUT"
 grep -Fq "tp_done_after_line=1" "$TP_API_STDOUT"
 grep -Fq "tp_final_pos=1,0,0" "$TP_API_STDOUT"
+grep -Fq "tp_add_circle=0" "$TP_API_STDOUT"
+grep -Fq "tp_done_after_arc=1" "$TP_API_STDOUT"
+grep -Fq "tp_arc_final_pos_near_end=1" "$TP_API_STDOUT"
 
 check_fixture_output() {
   local fixture="$1"