按推荐建议，继续执行

结论：继续按 LinuxCNC 源码直接复用路线推进，新增 tripod 运动学源码的 vendored 同步、native 探针、source probe 覆盖和复用文档，并通过 native 验证。

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

@@ -0,0 +1,78 @@
+#include <cmath>
+#include <iostream>
+
+#include "emc/kinematics/kinematics.h"
+
+int rtapi_app_main(void);
+void rtapi_app_exit(void);
+
+namespace {
+
+int near(double actual, double expected)
+{
+    return std::fabs(actual - expected) < 1e-9;
+}
+
+int near_xyz(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);
+}
+
+void print_pose(const char *prefix, const EmcPose &pose)
+{
+    std::cout << prefix << "_xyz="
+              << pose.tran.x << ","
+              << pose.tran.y << ","
+              << pose.tran.z << "\n";
+}
+
+void print_joints(const char *prefix, const double *joints)
+{
+    std::cout << prefix << "_abc="
+              << joints[0] << ","
+              << joints[1] << ","
+              << joints[2] << "\n";
+}
+
+}  // namespace
+
+int main()
+{
+    const int init_rc = rtapi_app_main();
+    std::cout << "tripod_init=" << init_rc << "\n";
+    std::cout << "tripod_type=" << kinematicsType() << "\n";
+    std::cout << "tripod_switchable=" << kinematicsSwitchable() << "\n";
+
+    EmcPose pose{};
+    pose.tran.x = 0.25;
+    pose.tran.y = 0.25;
+    pose.tran.z = 0.5;
+
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    double inverse_joints[9]{};
+    const int inverse_rc = kinematicsInverse(&pose, inverse_joints, &iflags, &fflags);
+    std::cout << "tripod_inverse=" << inverse_rc << "\n";
+    std::cout << "tripod_inverse_flags=" << fflags << "\n";
+    print_joints("tripod_inverse", inverse_joints);
+
+    EmcPose forward_pose{};
+    const int forward_rc = kinematicsForward(inverse_joints, &forward_pose, &fflags, &iflags);
+    std::cout << "tripod_forward=" << forward_rc << "\n";
+    print_pose("tripod_forward", forward_pose);
+    std::cout << "tripod_roundtrip_xyz=" << near_xyz(forward_pose, pose) << "\n";
+
+    pose.tran.z = -0.5;
+    const int inverse_below_rc = kinematicsInverse(&pose, inverse_joints, &iflags, &fflags);
+    std::cout << "tripod_inverse_below=" << inverse_below_rc << "\n";
+    std::cout << "tripod_inverse_below_flags=" << fflags << "\n";
+    const int forward_below_rc = kinematicsForward(inverse_joints, &forward_pose, &fflags, &iflags);
+    std::cout << "tripod_forward_below=" << forward_below_rc << "\n";
+    print_pose("tripod_forward_below", forward_pose);
+    std::cout << "tripod_roundtrip_below_xyz=" << near_xyz(forward_pose, pose) << "\n";
+
+    rtapi_app_exit();
+    return 0;
+}