emcc ` src/KinematicsWebAPI.cpp ` src/main.cpp ` src/Robot.cpp ` src/RobotManager.cpp ` 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./src/kdl_parser/include ` -I./KDL/install_wasm/include ` -I./Eigen3 ` -I./Eigen3/eigen3 ` -L./KDL/install_wasm/lib ` -lorocos-kdl ` -g4 ` -O0 ` --source-map-base http://localhost:8000/ ` -s WASM=1 ` -s ASSERTIONS=2 ` -s SAFE_HEAP=1 ` -s STACK_OVERFLOW_CHECK=2 ` -s DEMANGLE_SUPPORT=1 ` -s GL_DEBUG=1 ` -s WASM_ASYNC_COMPILATION=0 ` -s ERROR_ON_UNDEFINED_SYMBOLS=0 ` -s WARN_ON_UNDEFINED_SYMBOLS=1 ` -s EXCEPTION_CATCHING_ALLOWED=['main'] ` -s DISABLE_EXCEPTION_CATCHING=0 ` -fexceptions ` -fwasm-exceptions ` -s EXCEPTION_DEBUG=1 ` -s EMULATE_FUNCTION_POINTER_CASTS=1 ` -s EMULATE_FUNCTION_POINTER_CAST_MEMORY_WARNING=0 ` -s ALLOW_MEMORY_GROWTH=1 ` -s INITIAL_MEMORY=67108864 ` -s MAXIMUM_MEMORY=268435456 ` -s USE_PTHREADS=0 ` -s MODULARIZE=1 ` -s EXPORT_NAME='createSmartMathModule' ` -s EXPORTED_FUNCTIONS='["_init_func","_func","_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_malloc","_free","_main"]' ` -s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","ccall","cwrap","getValue","setValue","stackSave","stackRestore","stackAlloc","addFunction","removeFunction","FS","PROXYFS","WORKERFS","NODEFS","IDBFS","MEMFS","TTY","allocate","intArrayFromString","AsciiToString","stringToAscii","ALLOC_NORMAL","allocateUTF8","allocateUTF8OnStack"]' ` -o public/wasm/smart_math.js python -m http.server 8080 emcc ` src/KinematicsWebAPI.cpp ` src/main.cpp ` src/Robot.cpp ` src/RobotManager.cpp ` 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./src/kdl_parser/include ` -I./KDL/install_wasm/include ` -I./Eigen3 ` -I./Eigen3/eigen3 ` -L./KDL/install_wasm/lib ` -lorocos-kdl ` -g4 ` # 最大调试信息 -O0 ` # 禁用优化 --source-map-base http://localhost:8000/ ` -s WASM=1 ` -s ASSERTIONS=2 ` # 启用断言 -s SAFE_HEAP=1 ` # 堆安全检查 -s STACK_OVERFLOW_CHECK=2 ` # 栈溢出检查 -s DEMANGLE_SUPPORT=1 ` # 支持 C++ 名称还原 -s GL_DEBUG=1 ` # OpenGL 调试 -s WASM_ASYNC_COMPILATION=0 ` # 同步编译，便于调试 -s ERROR_ON_UNDEFINED_SYMBOLS=0 ` -s WARN_ON_UNDEFINED_SYMBOLS=1 ` -s EXCEPTION_CATCHING_ALLOWED=['main'] ` -s DISABLE_EXCEPTION_CATCHING=0 ` -fexceptions ` # 启用异常 -fwasm-exceptions ` # WASM 异常支持 -s EXCEPTION_DEBUG=1 ` # 异常调试 -s EMULATE_FUNCTION_POINTER_CASTS=1 ` -s EMULATE_FUNCTION_POINTER_CAST_MEMORY_WARNING=0 ` -s ALLOW_MEMORY_GROWTH=1 ` -s INITIAL_MEMORY=67108864 ` -s MAXIMUM_MEMORY=268435456 ` -s USE_PTHREADS=0 ` -s MODULARIZE=1 ` -s EXPORT_NAME='createSmartMathModule' ` -s EXPORTED_FUNCTIONS='["_init_func","_func","_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_malloc","_free","_main"]' ` -s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","ccall","cwrap","getValue","setValue","stackSave","stackRestore","stackAlloc","addFunction","removeFunction","FS","PROXYFS","WORKERFS","NODEFS","IDBFS","MEMFS","TTY","allocate","intArrayFromString","AsciiToString","stringToAscii","ALLOC_NORMAL","allocateUTF8","allocateUTF8OnStack"]' ` -o public/wasm/smart_math.js python -m http.server 8080