439 lines
14 KiB
PowerShell
439 lines
14 KiB
PowerShell
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# build.ps1 - 智能 WASM 构建脚本
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param(
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[switch]$Clean,
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[switch]$Serve,
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[switch]$Test,
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[string]$BuildType = "Release"
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)
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Write-Host "=========================================" -ForegroundColor Cyan
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Write-Host " 智能 JSON-WASM 项目构建系统 " -ForegroundColor Cyan
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Write-Host "=========================================" -ForegroundColor Cyan
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Write-Host ""
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# 1. 设置环境变量
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$emsdkCandidates = @()
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if ($env:EMSDK) {
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$emsdkCandidates += $env:EMSDK
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}
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$emsdkCandidates += "E:\emsdk"
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$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "..\emsdk")
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$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "emsdk")
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$emccCommand = Get-Command emcc -ErrorAction SilentlyContinue
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if ($emccCommand -and $emccCommand.Source) {
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$emccSourceDir = Split-Path $emccCommand.Source -Parent
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if (Test-Path (Join-Path $emccSourceDir "emcc.ps1")) {
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$emsdkCandidates += (Split-Path (Split-Path $emccSourceDir -Parent) -Parent)
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}
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}
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$EmsdkPath = $null
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foreach ($candidate in $emsdkCandidates | Select-Object -Unique) {
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if (-not [string]::IsNullOrWhiteSpace($candidate)) {
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try {
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if (Test-Path $candidate) {
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$resolvedCandidate = [System.IO.Path]::GetFullPath($candidate)
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if (Test-Path (Join-Path $resolvedCandidate "upstream\emscripten\emcc.ps1")) {
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$EmsdkPath = $resolvedCandidate
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break
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}
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}
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} catch {
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continue
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}
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}
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}
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if (-not $EmsdkPath) {
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Write-Host "[错误] 未找到 Emscripten" -ForegroundColor Red
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Write-Host "请设置 EMSDK 环境变量，或确认 emsdk 已安装。" -ForegroundColor Yellow
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exit 1
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}
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# 设置 PATH
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$env:PATH = "$EmsdkPath\upstream\emscripten;$env:PATH"
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Write-Host "[✓] 设置 Emscripten 环境: $EmsdkPath" -ForegroundColor Green
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# 2. 清理旧构建
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if ($Clean) {
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Write-Host "[ ] 清理构建文件..." -ForegroundColor Cyan
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Remove-Item -Path "build", "public/wasm" -Recurse -Force -ErrorAction SilentlyContinue
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Write-Host "[✓] 清理完成" -ForegroundColor Green
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}
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# 3. 创建目录
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New-Item -Path "build", "public/wasm" -ItemType Directory -Force | Out-Null
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# 4. 编译 WASM
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Write-Host "[ ] 编译智能 WASM 模块..." -ForegroundColor Cyan
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$startTime = Get-Date
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# 编译命令 - 使用当前真实业务模块源码
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$compileResult = emcc `
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src/api/KinematicsWebAPI.Core.cpp `
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src/api/KinematicsWebAPI.RobotCommands.cpp `
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src/api/KinematicsWebAPI.SpcCommands.cpp `
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src/api/KinematicsWebAPI.FourBarCommands.cpp `
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src/api/KinematicsWebAPI.QuadrupedCommands.cpp `
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src/main.cpp `
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src/Robot.cpp `
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src/spc_core.cpp `
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src/QuadrupedRobotSimulation/RobotConfig.cpp `
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src/QuadrupedRobotSimulation/BaseClass.cpp `
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src/QuadrupedRobotSimulation/KinematicsSimulation.cpp `
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src/QuadrupedRobotSimulation/CompleteJsonExporter.cpp `
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src/QuadrupedRobotSimulation/KinematicsReverse.cpp `
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src/QuadrupedRobotSimulation/KinematicsHelper.cpp `
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src/QuadrupedRobotSimulation/SharedGeometry.cpp `
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src/FourBarMechanism/CrankSliderMechanism.cpp `
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src/FourBarMechanism/CrankRockingBlockMechanism_Forward.cpp `
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src/FourBarMechanism/CrankRockingBlockMechanism_Inverse.cpp `
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src/FourBarMechanism/FourBarMechanism.cpp `
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src/FourBarMechanism/SliderCrankMechanism.cpp `
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src/RobotManager.cpp `
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src/utils.cpp `
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src/math_utils.cpp `
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src/smart_json_wrapper.cpp `
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third_party/kdl_parser/src/kdl_parser.cpp `
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third_party/kdl_parser/src/joint.cpp `
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third_party/kdl_parser/src/link.cpp `
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third_party/kdl_parser/src/model.cpp `
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third_party/kdl_parser/src/pose.cpp `
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third_party/kdl_parser/src/tinystr.cpp `
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third_party/kdl_parser/src/tinyxml.cpp `
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third_party/kdl_parser/src/tinyxml2.cpp `
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third_party/kdl_parser/src/tinyxmlerror.cpp `
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third_party/kdl_parser/src/tinyxmlparser.cpp `
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third_party/kdl_parser/src/twist.cpp `
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third_party/kdl_parser/src/world.cpp `
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-I./include `
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-I./third_party `
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-I./third_party/kdl_parser/include `
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-I./third_party/orocos_kdl/install_wasm/include `
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-I./third_party/eigen3 `
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-L./third_party/orocos_kdl/install_wasm/lib `
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-lorocos-kdl `
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-std=c++17 `
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-s WASM=1 `
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-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","_add","_subtract","_multiply","_divide","_fibonacci","_create_buffer","_destroy_buffer","_compute_sum","_get_greeting","_main"]' `
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-s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","lengthBytesUTF8","ccall","cwrap","HEAPU8","HEAP8","HEAPF32","HEAPF64"]' `
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-s MODULARIZE=1 `
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-s EXPORT_NAME='createSmartMathModule' `
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-s ALLOW_MEMORY_GROWTH=1 `
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-s ENVIRONMENT='web,node,worker' `
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-s ASSERTIONS=1 `
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-s DISABLE_EXCEPTION_CATCHING=0 `
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-s INITIAL_MEMORY=67108864 `
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-s MAXIMUM_MEMORY=268435456 `
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-s STACK_SIZE=5242880 `
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-s USE_PTHREADS=0 `
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-O3 `
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-Wno-deprecated-literal-operator `
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-Wno-deprecated-declarations `
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-o public/wasm/smart_math.js 2>&1
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$endTime = Get-Date
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$duration = ($endTime - $startTime).TotalSeconds
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if ($LASTEXITCODE -ne 0) {
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Write-Host "[✗] 编译失败" -ForegroundColor Red
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Write-Host $compileResult -ForegroundColor Red
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exit 1
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}
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Write-Host "[✓] 编译完成" -ForegroundColor Green
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# 5. 检查生成的文件
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$jsFile = Get-Item "public/wasm/smart_math.js" -ErrorAction SilentlyContinue
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$wasmFile = Get-Item "public/wasm/smart_math.wasm" -ErrorAction SilentlyContinue
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if (-not $jsFile -or -not $wasmFile) {
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Write-Host "[✗] 未找到生成文件" -ForegroundColor Red
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exit 1
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}
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$jsSize = $jsFile.Length / 1KB
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$wasmSize = $wasmFile.Length / 1KB
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# 6. 显示构建结果
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Write-Host ""
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Write-Host "构建成功" -ForegroundColor Green
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Write-Host ("=" * 50) -ForegroundColor DarkGray
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Write-Host "生成文件:" -ForegroundColor White
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Write-Host " - smart_math.js ($($jsSize.ToString('F1')) KB)" -ForegroundColor Gray
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Write-Host " - smart_math.wasm ($($wasmSize.ToString('F1')) KB)" -ForegroundColor Gray
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Write-Host ""
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Write-Host "功能特性:" -ForegroundColor White
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Write-Host " - 机器人正逆解业务接口 (func/init_func)" -ForegroundColor Gray
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Write-Host " - SPC / 四足机器人 / 连杆机构业务接口" -ForegroundColor Gray
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Write-Host " - 智能 JSON 数学测试接口" -ForegroundColor Gray
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Write-Host " - Node / Web 双环境加载" -ForegroundColor Gray
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Write-Host " - 与 Emscripten 内存管理兼容" -ForegroundColor Gray
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Write-Host " - 批量回归测试可直接调用" -ForegroundColor Gray
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Write-Host ""
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Write-Host "输出目录: $((Get-Location).Path)\public\wasm" -ForegroundColor Gray
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Write-Host "编译耗时: $($duration.ToString('F2')) 秒" -ForegroundColor Gray
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Write-Host ""
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# 7. 生成 JavaScript 包装器（可选）
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Write-Host "[ ] 生成 JavaScript 包装器..." -ForegroundColor Cyan
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$jsWrapper = @'
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// Smart WASM JSON API JavaScript 包装器
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class SmartWasmAPI {
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constructor() {
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this.module = null;
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this.initialized = false;
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}
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allocString(value) {
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const size = this.module.lengthBytesUTF8(value) + 1;
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const ptr = this.module._malloc(size);
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this.module.stringToUTF8(value, ptr, size);
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return ptr;
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}
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async initialize() {
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if (this.initialized) return;
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// 加载 WASM 模块
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this.module = await createSmartMathModule();
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this.initialized = true;
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console.log('Smart WASM API 初始化完成');
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return this;
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}
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async initializeBusinessApi() {
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if (!this.initialized) {
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await this.initialize();
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}
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let responsePtr = null;
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try {
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responsePtr = this.module._init_func();
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const responseStr = this.module.UTF8ToString(responsePtr);
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return JSON.parse(responseStr);
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} finally {
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if (responsePtr) {
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this.module._smart_free_string(responsePtr);
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}
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}
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}
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async processBusinessRequest(jsonRequest) {
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if (!this.initialized) {
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await this.initialize();
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}
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let requestPtr = null;
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let responsePtr = null;
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try {
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requestPtr = this.allocString(JSON.stringify(jsonRequest));
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responsePtr = this.module._func(requestPtr);
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const responseStr = this.module.UTF8ToString(responsePtr);
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return JSON.parse(responseStr);
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} catch (error) {
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console.error('处理业务 JSON 请求时出错:', error);
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throw error;
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} finally {
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if (requestPtr) {
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this.module._free(requestPtr);
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}
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if (responsePtr) {
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this.module._smart_free_string(responsePtr);
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}
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}
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}
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// 处理 JSON 请求
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async processJsonRequest(jsonRequest) {
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if (!this.initialized) {
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await this.initialize();
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}
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let requestPtr = null;
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let responsePtr = null;
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try {
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// 将 JSON 字符串转换为 WASM 内存中的字符串
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requestPtr = this.allocString(JSON.stringify(jsonRequest));
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// 调用 WASM 函数
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responsePtr = this.module._smart_process_json(requestPtr);
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// 将结果转换回 JavaScript 字符串
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const responseStr = this.module.UTF8ToString(responsePtr);
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// 解析 JSON 结果
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return JSON.parse(responseStr);
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} catch (error) {
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console.error('处理 JSON 请求时出错:', error);
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throw error;
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} finally {
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// 释放内存
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if (requestPtr) {
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this.module._free(requestPtr);
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}
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if (responsePtr) {
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this.module._smart_free_string(responsePtr);
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}
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}
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}
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// 获取函数列表
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async getFunctionList() {
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if (!this.initialized) {
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await this.initialize();
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}
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let responsePtr = null;
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try {
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responsePtr = this.module._smart_get_function_list();
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const responseStr = this.module.UTF8ToString(responsePtr);
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return JSON.parse(responseStr);
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} catch (error) {
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console.error('获取函数列表时出错:', error);
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throw error;
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} finally {
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if (responsePtr) {
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this.module._smart_free_string(responsePtr);
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}
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}
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}
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// 调用特定函数
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async callFunction(funcName, params = {}) {
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const request = {
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req_cmd: funcName,
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...params
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};
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return await this.processJsonRequest(request);
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}
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// 测试智能匹配
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async testSmartMatch(jsonRequest) {
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if (!this.initialized) {
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await this.initialize();
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}
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let requestPtr = null;
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let responsePtr = null;
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try {
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requestPtr = this.allocString(JSON.stringify(jsonRequest));
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responsePtr = this.module._smart_test_match(requestPtr);
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const responseStr = this.module.UTF8ToString(responsePtr);
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return JSON.parse(responseStr);
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} catch (error) {
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console.error('测试智能匹配时出错:', error);
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throw error;
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} finally {
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if (requestPtr) {
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this.module._free(requestPtr);
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}
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if (responsePtr) {
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this.module._smart_free_string(responsePtr);
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}
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}
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}
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// 获取版本信息
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async getVersion() {
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if (!this.initialized) {
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await this.initialize();
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}
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let responsePtr = null;
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try {
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responsePtr = this.module._smart_get_version();
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const responseStr = this.module.UTF8ToString(responsePtr);
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return JSON.parse(responseStr);
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} catch (error) {
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console.error('获取版本信息时出错:', error);
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throw error;
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} finally {
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if (responsePtr) {
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this.module._smart_free_string(responsePtr);
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}
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}
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}
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// 直接调用数学函数（绕过 JSON 处理）
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callMathFunction(name, ...args) {
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if (!this.initialized) {
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throw new Error('WASM 模块未初始化');
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}
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switch (name.toLowerCase()) {
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case 'add':
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return this.module._add(args[0] || 0, args[1] || 0);
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case 'subtract':
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return this.module._subtract(args[0] || 0, args[1] || 0);
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case 'multiply':
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return this.module._multiply(args[0] || 0, args[1] || 0);
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case 'divide':
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return this.module._divide(args[0] || 0, args[1] || 1);
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case 'fibonacci':
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return this.module._fibonacci(args[0] || 0);
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default:
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throw new Error('未知的数学函数: ' + name);
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}
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}
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}
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// 创建全局实例
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if (typeof window !== 'undefined') {
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window.SmartWasmAPI = SmartWasmAPI;
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}
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export default SmartWasmAPI;
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'@
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$jsWrapper | Out-File -FilePath "public/wasm/smart_api_wrapper.js" -Encoding UTF8
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Write-Host "[✓] 生成 JavaScript 包装器" -ForegroundColor Green
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# 8. 本地测试（可选）
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if ($Test) {
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Write-Host "[ ] 运行本地测试..." -ForegroundColor Cyan
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try {
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node --version 2>&1 | Out-Null
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if ($LASTEXITCODE -eq 0) {
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Write-Host "[ ] 执行 WASM 回归测试..." -ForegroundColor Cyan
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node scripts/run_wasm_tests.js
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}
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} catch {
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Write-Host "[!] 本地测试跳过（需要 Node.js）" -ForegroundColor Yellow
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}
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}
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# 9. 启动开发服务器（可选）
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if ($Serve) {
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Write-Host "[ ] 启动开发服务器..." -ForegroundColor Cyan
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Write-Host " 访问: http://localhost:8080/smart_test.html" -ForegroundColor Yellow
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Write-Host " 按 Ctrl+C 停止服务器" -ForegroundColor Yellow
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Write-Host ""
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Set-Location "public"
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python -m http.server 8080
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}
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Write-Host ""
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Write-Host "使用提示:" -ForegroundColor White
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Write-Host " - 在 VS Code 中按 F5 启动调试" -ForegroundColor Gray
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Write-Host " - 使用 Ctrl+Shift+B 快速构建" -ForegroundColor Gray
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Write-Host " - 查看 public/wasm/smart_api_wrapper.js 了解 JavaScript API 使用" -ForegroundColor Gray
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Write-Host " - 运行 npm run serve 启动开发服务器" -ForegroundColor Gray
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Write-Host ""
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