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：已新增直接调用 LinuxCNC tpAddLine/tpRunCycle 的多段队列验证，覆盖两段线性运动排队、执行完成、队列清空和终点到达，并通过 native probes 全量验证。

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

@@ -28,6 +28,9 @@ double axis_acc_limit(int axis)
 
 void init_motion_state()
 {
+    status = {};
+    config = {};
+
     config.numJoints = 3;
     config.numSpindles = 1;
     config.numDIO = 4;
@@ -61,6 +64,13 @@ void init_motion_state()
         axis_acc_limit);
 }
 
+int pose_near(EmcPose const &actual, EmcPose const &expected)
+{
+    return std::fabs(actual.tran.x - expected.tran.x) < 1e-9 &&
+        std::fabs(actual.tran.y - expected.tran.y) < 1e-9 &&
+        std::fabs(actual.tran.z - expected.tran.z) < 1e-9;
+}
+
 void run_linear_probe()
 {
     init_motion_state();
@@ -171,10 +181,7 @@ void run_arc_probe()
 
     EmcPose final_pos{};
     const int get_pos_rc = tpGetPos(&tp, &final_pos);
-    const int near_end =
+    const int near_end = pose_near(final_pos, 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";
@@ -196,6 +203,90 @@ void run_arc_probe()
               << final_pos.tran.z << "\n";
 }
 
+void run_queued_lines_probe()
+{
+    init_motion_state();
+
+    TP_STRUCT tp{};
+    EmcPose start{};
+    EmcPose end1{};
+    EmcPose end2{};
+    struct state_tag_t tag {};
+
+    end1.tran.x = 1.0;
+    end2.tran.x = 1.0;
+    end2.tran.y = 1.0;
+
+    const int create_rc = tpCreate(&tp, TP_DEFAULT_QUEUE_SIZE, 3);
+    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_line1_rc = tpAddLine(
+        &tp,
+        end1,
+        EMC_MOTION_TYPE_FEED,
+        1.0,
+        1.0,
+        10.0,
+        100.0,
+        status.enables_new,
+        0,
+        -1,
+        tag);
+    const int depth_after_line1 = tpQueueDepth(&tp);
+    const int add_line2_rc = tpAddLine(
+        &tp,
+        end2,
+        EMC_MOTION_TYPE_FEED,
+        1.0,
+        1.0,
+        10.0,
+        100.0,
+        status.enables_new,
+        0,
+        -1,
+        tag);
+    const int depth_after_line2 = tpQueueDepth(&tp);
+
+    int cycle_rc = 0;
+    int cycles = 0;
+    for (; cycles < 20000 && !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 = pose_near(final_pos, end2);
+
+    std::cout << "tp_queue_create=" << create_rc << "\n";
+    std::cout << "tp_queue_set_cycle_time=" << set_cycle_rc << "\n";
+    std::cout << "tp_queue_set_pos=" << set_pos_rc << "\n";
+    std::cout << "tp_queue_set_vmax=" << set_vmax_rc << "\n";
+    std::cout << "tp_queue_set_vlimit=" << set_vlimit_rc << "\n";
+    std::cout << "tp_queue_set_amax=" << set_amax_rc << "\n";
+    std::cout << "tp_queue_set_term_cond=" << set_term_rc << "\n";
+    std::cout << "tp_queue_add_line1=" << add_line1_rc << "\n";
+    std::cout << "tp_queue_depth_after_line1=" << depth_after_line1 << "\n";
+    std::cout << "tp_queue_add_line2=" << add_line2_rc << "\n";
+    std::cout << "tp_queue_depth_after_line2=" << depth_after_line2 << "\n";
+    std::cout << "tp_queue_cycle_rc=" << cycle_rc << "\n";
+    std::cout << "tp_queue_cycles=" << cycles << "\n";
+    std::cout << "tp_queue_get_pos=" << get_pos_rc << "\n";
+    std::cout << "tp_done_after_queued_lines=" << tpIsDone(&tp) << "\n";
+    std::cout << "tp_queue_final_depth=" << tpQueueDepth(&tp) << "\n";
+    std::cout << "tp_queue_final_pos_near_end=" << near_end << "\n";
+    std::cout << "tp_queue_final_pos="
+              << final_pos.tran.x << ","
+              << final_pos.tran.y << ","
+              << final_pos.tran.z << "\n";
+}
+
 } // namespace
 
 int main()
@@ -217,5 +308,6 @@ int main()
     std::cout << "pose_xyz=" << pose.tran.x << "," << pose.tran.y << "," << pose.tran.z << "\n";
     run_linear_probe();
     run_arc_probe();
+    run_queued_lines_probe();
     return 0;
 }

wasm-port/tests/native/verify_native_probes.sh

@@ -98,6 +98,13 @@ 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"
+grep -Fq "tp_queue_add_line1=0" "$TP_API_STDOUT"
+grep -Fq "tp_queue_depth_after_line1=1" "$TP_API_STDOUT"
+grep -Fq "tp_queue_add_line2=0" "$TP_API_STDOUT"
+grep -Fq "tp_queue_depth_after_line2=2" "$TP_API_STDOUT"
+grep -Fq "tp_done_after_queued_lines=1" "$TP_API_STDOUT"
+grep -Fq "tp_queue_final_depth=0" "$TP_API_STDOUT"
+grep -Fq "tp_queue_final_pos_near_end=1" "$TP_API_STDOUT"
 
 check_fixture_output() {
   local fixture="$1"