规范模块目录和第三方依赖结构

2026-06-01 16:57:39 +08:00
parent e8e485b115
commit c2ce29d874
1758 changed files with 187 additions and 102 deletions
--- a/scripts/build.ps1
+++ b/scripts/build.ps1
@@ -94,27 +94,24 @@ $compileResult = emcc `
    src/utils.cpp `
    src/math_utils.cpp `
    src/smart_json_wrapper.cpp `
-    src/kdl_parser/src/kdl_parser.cpp `
-    src/kdl_parser/src/joint.cpp `
-    src/kdl_parser/src/link.cpp `
-    src/kdl_parser/src/model.cpp `
-    src/kdl_parser/src/pose.cpp `
-    src/kdl_parser/src/tinystr.cpp `
-    src/kdl_parser/src/tinyxml.cpp `
-    src/kdl_parser/src/tinyxml2.cpp `
-    src/kdl_parser/src/tinyxmlerror.cpp `
-    src/kdl_parser/src/tinyxmlparser.cpp `
-    src/kdl_parser/src/twist.cpp `
-    src/kdl_parser/src/world.cpp `
-    -I./inc `
-    -I./inc/QuadrupedRobotSimulation `
-    -I./inc/FourBarMechanism `
-    -I./inc/SharedGeometry `
-    -I./src/kdl_parser/include `
-    -I./KDL/install_wasm/include `
-    -I./Eigen3 `
-    -I./Eigen3/eigen3 `
-    -L./KDL/install_wasm/lib `
+    third_party/kdl_parser/src/kdl_parser.cpp `
+    third_party/kdl_parser/src/joint.cpp `
+    third_party/kdl_parser/src/link.cpp `
+    third_party/kdl_parser/src/model.cpp `
+    third_party/kdl_parser/src/pose.cpp `
+    third_party/kdl_parser/src/tinystr.cpp `
+    third_party/kdl_parser/src/tinyxml.cpp `
+    third_party/kdl_parser/src/tinyxml2.cpp `
+    third_party/kdl_parser/src/tinyxmlerror.cpp `
+    third_party/kdl_parser/src/tinyxmlparser.cpp `
+    third_party/kdl_parser/src/twist.cpp `
+    third_party/kdl_parser/src/world.cpp `
+    -I./include `
+    -I./third_party `
+    -I./third_party/kdl_parser/include `
+    -I./third_party/orocos_kdl/install_wasm/include `
+    -I./third_party/eigen3 `
+    -L./third_party/orocos_kdl/install_wasm/lib `
    -lorocos-kdl `
    -std=c++17 `
    -s WASM=1 `
--- a/scripts/rebuild_with_fixes.ps1
+++ b/scripts/rebuild_with_fixes.ps1
@@ -3,8 +3,42 @@
 Write-Host "=== 重新构建 WASM 模块 ===" -ForegroundColor Cyan

 # 设置环境
-$EmsdkPath = "E:\emsdk"
-if (-not (Test-Path $EmsdkPath)) {
+$emsdkCandidates = @()
+
+if ($env:EMSDK) {
+    $emsdkCandidates += $env:EMSDK
+}
+
+$emsdkCandidates += "E:\emsdk"
+$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "..\emsdk")
+$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "emsdk")
+
+$emccCommand = Get-Command emcc -ErrorAction SilentlyContinue
+if ($emccCommand -and $emccCommand.Source) {
+    $emccSourceDir = Split-Path $emccCommand.Source -Parent
+    if (Test-Path (Join-Path $emccSourceDir "emcc.ps1")) {
+        $emsdkCandidates += (Split-Path (Split-Path $emccSourceDir -Parent) -Parent)
+    }
+}
+
+$EmsdkPath = $null
+foreach ($candidate in $emsdkCandidates | Select-Object -Unique) {
+    if (-not [string]::IsNullOrWhiteSpace($candidate)) {
+        try {
+            if (Test-Path $candidate) {
+                $resolvedCandidate = [System.IO.Path]::GetFullPath($candidate)
+                if (Test-Path (Join-Path $resolvedCandidate "upstream\emscripten\emcc.ps1")) {
+                    $EmsdkPath = $resolvedCandidate
+                    break
+                }
+            }
+        } catch {
+            continue
+        }
+    }
+}
+
+if (-not $EmsdkPath) {
    Write-Host "[错误] 未找到 Emscripten" -ForegroundColor Red
    exit 1
 }
@@ -18,7 +52,7 @@ Write-Host "[ ] 编译 WASM 模块（包含完整的运行时方法）..." -Fore

 # 完整的编译命令
 $compileCmd = @'
-emcc src/math_utils.cpp src/smart_json_wrapper.cpp src/main.cpp -I./src -std=c++17 -s WASM=1 -s EXPORTED_FUNCTIONS='["_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_main"]' -s EXPORTED_RUNTIME_METHODS='["ccall","cwrap","UTF8ToString","stringToUTF8","lengthBytesUTF8","allocateUTF8","allocate","ALLOC_NORMAL","getValue","setValue"]' -s MODULARIZE=1 -s EXPORT_NAME="createSmartMathModule" -s ALLOW_MEMORY_GROWTH=1 -s ASSERTIONS=1 -O3 -o public/wasm/smart_math.js
+emcc src/math_utils.cpp src/smart_json_wrapper.cpp src/main.cpp -I./include -I./third_party -I./third_party/kdl_parser/include -I./third_party/orocos_kdl/install_wasm/include -I./third_party/eigen3 -std=c++17 -s WASM=1 -s EXPORTED_FUNCTIONS='["_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_main"]' -s EXPORTED_RUNTIME_METHODS='["ccall","cwrap","UTF8ToString","stringToUTF8","lengthBytesUTF8","allocateUTF8","allocate","ALLOC_NORMAL","getValue","setValue"]' -s MODULARIZE=1 -s EXPORT_NAME="createSmartMathModule" -s ALLOW_MEMORY_GROWTH=1 -s ASSERTIONS=1 -O3 -o public/wasm/smart_math.js
 '@

 Write-Host "执行命令: $compileCmd" -ForegroundColor Gray
--- a/scripts/test_compile.ps1
+++ b/scripts/test_compile.ps1
@@ -3,17 +3,60 @@
 Write-Host "=== 测试编译 ===" -ForegroundColor Cyan

 # 设置环境
-$EmsdkPath = "E:\emsdk"
-if (-not (Test-Path $EmsdkPath)) {
+$emsdkCandidates = @()
+
+if ($env:EMSDK) {
+    $emsdkCandidates += $env:EMSDK
+}
+
+$emsdkCandidates += "E:\emsdk"
+$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "..\emsdk")
+$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "emsdk")
+
+$emccCommand = Get-Command emcc -ErrorAction SilentlyContinue
+if ($emccCommand -and $emccCommand.Source) {
+    $emccSourceDir = Split-Path $emccCommand.Source -Parent
+    if (Test-Path (Join-Path $emccSourceDir "emcc.ps1")) {
+        $emsdkCandidates += (Split-Path (Split-Path $emccSourceDir -Parent) -Parent)
+    }
+}
+
+$EmsdkPath = $null
+foreach ($candidate in $emsdkCandidates | Select-Object -Unique) {
+    if (-not [string]::IsNullOrWhiteSpace($candidate)) {
+        try {
+            if (Test-Path $candidate) {
+                $resolvedCandidate = [System.IO.Path]::GetFullPath($candidate)
+                if (Test-Path (Join-Path $resolvedCandidate "upstream\emscripten\emcc.ps1")) {
+                    $EmsdkPath = $resolvedCandidate
+                    break
+                }
+            }
+        } catch {
+            continue
+        }
+    }
+}
+
+if (-not $EmsdkPath) {
    Write-Host "[错误] 未找到 Emscripten" -ForegroundColor Red
    exit 1
 }

 $env:PATH = "$EmsdkPath\upstream\emscripten;$env:PATH"

+# 公共包含目录
+$includeArgs = @(
+    '-I./include',
+    '-I./third_party',
+    '-I./third_party/kdl_parser/include',
+    '-I./third_party/orocos_kdl/install_wasm/include',
+    '-I./third_party/eigen3'
+)
+
 # 测试 1: 编译 math_utils.cpp
 Write-Host "[ ] 测试编译 math_utils.cpp..." -ForegroundColor Cyan
-emcc src/math_utils.cpp -I./src -s WASM=1 -c -o test_math.o 2>&1
+emcc src/math_utils.cpp @includeArgs -s WASM=1 -c -o test_math.o 2>&1
 if ($LASTEXITCODE -eq 0) {
    Write-Host "[✓] math_utils.cpp 编译成功" -ForegroundColor Green
 } else {
@@ -22,7 +65,7 @@ if ($LASTEXITCODE -eq 0) {

 # 测试 2: 编译 smart_json_wrapper.cpp
 Write-Host "[ ] 测试编译 smart_json_wrapper.cpp..." -ForegroundColor Cyan
-emcc src/smart_json_wrapper.cpp -I./src -s WASM=1 -c -o test_wrapper.o 2>&1
+emcc src/smart_json_wrapper.cpp @includeArgs -s WASM=1 -c -o test_wrapper.o 2>&1
 if ($LASTEXITCODE -eq 0) {
    Write-Host "[✓] smart_json_wrapper.cpp 编译成功" -ForegroundColor Green
 } else {
@@ -31,7 +74,7 @@ if ($LASTEXITCODE -eq 0) {

 # 测试 3: 编译 main.cpp
 Write-Host "[ ] 测试编译 main.cpp..." -ForegroundColor Cyan
-emcc src/main.cpp -I./src -s WASM=1 -c -o test_main.o 2>&1
+emcc src/main.cpp @includeArgs -s WASM=1 -c -o test_main.o 2>&1
 if ($LASTEXITCODE -eq 0) {
    Write-Host "[✓] main.cpp 编译成功" -ForegroundColor Green
 } else {