wasm-simulator/web/src/wasm-core.js

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() {
  if (globalThis.createCncSimModule) {
    return globalThis.createCncSimModule;
  }
  const module = await import("/cnc_sim.js");
  return module.default ?? module.createCncSimModule ?? globalThis.createCncSimModule;
}

export async function createWasmSimulator(moduleOptions = {}) {
  const createModule = await loadModuleFactory();
  if (!createModule) {
    throw new Error("cnc_sim.js did not export createCncSimModule");
  }

  const module = await createModule(moduleOptions);
  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 ?? "linuxcnc-rs274",
        ...(options.rtcp ? { rtcp: options.rtcp } : {}),
        ...(options.blockDelete !== undefined ? { blockDelete: options.blockDelete } : {}),
        ...(options.block_delete !== undefined ? { block_delete: options.block_delete } : {}),
        ...(options.switchkins ? { switchkins: options.switchkins } : {}),
        ...(options.remap ? { remap: options.remap } : {}),
        ...(options.machine ? { machine: options.machine } : {}),
        ...(options.config ? { config: options.config } : {}),
        ...(options.configPath ? { configPath: options.configPath } : {}),
        ...(options.config_path ? { config_path: options.config_path } : {}),
        ...(options.halfile ? { halfile: options.halfile } : {}),
        ...(options.hal_file ? { hal_file: options.hal_file } : {}),
        ...(options.kinematics ? { kinematics: options.kinematics } : {}),
        ...(options.trt ? { trt: options.trt } : {}),
        ...(options.pivotLength !== undefined ? { pivotLength: options.pivotLength } : {}),
        ...(options.pivot_length !== undefined ? { pivot_length: options.pivot_length } : {}),
        ...(options.kinematicsType !== undefined ? { kinematicsType: options.kinematicsType } : {}),
        ...(options.kinematics_type !== undefined ? { kinematics_type: options.kinematics_type } : {}),
        ...(options.fiveaxisKinematicsType !== undefined
          ? { fiveaxisKinematicsType: options.fiveaxisKinematicsType }
          : {}),
        ...(options.fiveaxis_kinematics_type !== undefined
          ? { fiveaxis_kinematics_type: options.fiveaxis_kinematics_type }
          : {}),
        ...(options.xyzbcTrt ? { xyzbcTrt: options.xyzbcTrt } : {}),
      });
      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);
    },
  };
}