Initial wasm simulator checkpoint

web/src/wasm-core.js

@@ -0,0 +1,148 @@
+const DIALECT = {
+  linuxcnc: 0,
+  fanuc: 1,
+  siemens: 2,
+};
+
+const EVENT_TYPE = {
+  1: "error",
+  2: "comment",
+  3: "set-units",
+  4: "set-plane",
+  5: "set-feed",
+  6: "set-spindle",
+  7: "tool-change",
+  8: "dwell",
+  9: "rapid",
+  10: "linear-feed",
+  11: "arc-feed",
+  12: "probe",
+  13: "program-end",
+  14: "rtcp-pivot",
+  15: "kinematics-switch",
+  16: "rtcp-state",
+  17: "set-g5x-offset",
+  18: "set-g92-offset",
+  19: "set-xy-rotation",
+};
+
+const EVENT_OFFSETS = {
+  type: 4,
+  line: 8,
+  plane: 12,
+  tool: 16,
+  feed: 24,
+  spindle: 32,
+  dwellSeconds: 40,
+  start: 48,
+  end: 120,
+  center: 192,
+  arcTurns: 264,
+  reserved: 268,
+};
+
+function readPose(view, offset) {
+  return {
+    x: view.getFloat64(offset + 0, true),
+    y: view.getFloat64(offset + 8, true),
+    z: view.getFloat64(offset + 16, true),
+    a: view.getFloat64(offset + 24, true),
+    b: view.getFloat64(offset + 32, true),
+    c: view.getFloat64(offset + 40, true),
+    u: view.getFloat64(offset + 48, true),
+    v: view.getFloat64(offset + 56, true),
+    w: view.getFloat64(offset + 64, true),
+  };
+}
+
+function readEvent(module, ptr) {
+  const view = new DataView(module.HEAPU8.buffer, ptr, 272);
+  return {
+    type: EVENT_TYPE[view.getInt32(EVENT_OFFSETS.type, true)] ?? "unknown",
+    line: view.getInt32(EVENT_OFFSETS.line, true),
+    plane: view.getInt32(EVENT_OFFSETS.plane, true),
+    tool: view.getInt32(EVENT_OFFSETS.tool, true),
+    feed: view.getFloat64(EVENT_OFFSETS.feed, true),
+    spindle: view.getFloat64(EVENT_OFFSETS.spindle, true),
+    dwellSeconds: view.getFloat64(EVENT_OFFSETS.dwellSeconds, true),
+    start: readPose(view, EVENT_OFFSETS.start),
+    end: readPose(view, EVENT_OFFSETS.end),
+    center: readPose(view, EVENT_OFFSETS.center),
+    arcTurns: view.getInt32(EVENT_OFFSETS.arcTurns, true),
+    reserved: view.getInt32(EVENT_OFFSETS.reserved, true),
+  };
+}
+
+async function loadModuleFactory() {
+  const module = await import("/cnc_sim.js");
+  return module.default ?? module.createCncSimModule ?? globalThis.createCncSimModule;
+}
+
+export async function createWasmSimulator() {
+  const createModule = await loadModuleFactory();
+  if (!createModule) {
+    throw new Error("cnc_sim.js did not export createCncSimModule");
+  }
+
+  const module = await createModule();
+  const create = module.cwrap("cnc_sim_create", "number", []);
+  const destroy = module.cwrap("cnc_sim_destroy", null, ["number"]);
+  const reset = module.cwrap("cnc_sim_reset", null, ["number"]);
+  const setDialect = module.cwrap("cnc_sim_set_dialect", "number", ["number", "number"]);
+  const setCallback = module.cwrap("cnc_sim_set_event_callback", "number", ["number", "number", "number"]);
+  const loadConfig = module.cwrap("cnc_sim_load_config_json", "number", ["number", "number", "number"]);
+  const parseProgram = module.cwrap("cnc_sim_parse_program", "number", ["number", "number", "number"]);
+  const lastError = module.cwrap("cnc_sim_last_error", "number", ["number"]);
+
+  const handle = create();
+  let callbackPtr = 0;
+
+  return {
+    parse(program, dialect = "linuxcnc", options = {}) {
+      const events = [];
+      reset(handle);
+      setDialect(handle, DIALECT[dialect] ?? DIALECT.linuxcnc);
+
+      const config = JSON.stringify({
+        backend: options.backend ?? "smoke",
+        ...(options.rtcp ? { rtcp: options.rtcp } : {}),
+      });
+      const configBytes = module.lengthBytesUTF8(config) + 1;
+      const configPtr = module._malloc(configBytes);
+      module.stringToUTF8(config, configPtr, configBytes);
+      const configRc = loadConfig(handle, configPtr, configBytes - 1);
+      module._free(configPtr);
+      if (configRc !== 0) {
+        throw new Error(module.UTF8ToString(lastError(handle)));
+      }
+
+      if (callbackPtr) {
+        module.removeFunction(callbackPtr);
+      }
+      callbackPtr = module.addFunction((eventPtr) => {
+        events.push(readEvent(module, eventPtr));
+        return 0;
+      }, "iii");
+      setCallback(handle, callbackPtr, 0);
+
+      const bytes = module.lengthBytesUTF8(program) + 1;
+      const ptr = module._malloc(bytes);
+      module.stringToUTF8(program, ptr, bytes);
+      const rc = parseProgram(handle, ptr, bytes - 1);
+      module._free(ptr);
+
+      if (rc !== 0) {
+        throw new Error(module.UTF8ToString(lastError(handle)));
+      }
+      return events;
+    },
+
+    dispose() {
+      if (callbackPtr) {
+        module.removeFunction(callbackPtr);
+        callbackPtr = 0;
+      }
+      destroy(handle);
+    },
+  };
+}