继续完成 web-rtcp-5axis-sim-plan

结论：完成 LinuxCNC kinematics WASM ABI 覆盖，并将 web-rtcp-5axis-sim-plan 的 RTCP frame/boundary adapter 接到 xyzac-trt kinematics SDK；Node、build、browser smoke 验证通过。
2026-06-21 16:44:29 +08:00
parent a6eda3fbff
commit 626bcfe8e3
101 changed files with 101586 additions and 770 deletions
--- a/wasm-port/tools/build_kinematics_wasm.sh
+++ b/wasm-port/tools/build_kinematics_wasm.sh
@@ -0,0 +1,226 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
+VENDOR_DIR="$ROOT_DIR/vendor/linuxcnc"
+WRAP_DIR="$ROOT_DIR/runtime/core/linuxcnc_wrap"
+SHIM_DIR="$ROOT_DIR/runtime/core/shims"
+INCLUDE_DIR="$ROOT_DIR/runtime/core/include"
+OUT_DIR="$ROOT_DIR/build/wasm/kinematics"
+OBJ_DIR="$OUT_DIR/obj"
+
+source "$ROOT_DIR/tools/wasm_incremental_build_lib.sh"
+
+mkdir -p "$OUT_DIR" "$OBJ_DIR"
+
+COMMON_FLAGS=(
+  -O2
+  -D_GNU_SOURCE
+  -DM_PI=3.14159265358979323846
+  -I"$WRAP_DIR"
+  -I"$SHIM_DIR"
+  -I"$INCLUDE_DIR"
+  -I"$VENDOR_DIR/src"
+  -I"$VENDOR_DIR/src/rtapi"
+  -I"$VENDOR_DIR/src/emc"
+  -I"$VENDOR_DIR/src/emc/nml_intf"
+  -I"$VENDOR_DIR/src/emc/motion"
+  -I"$VENDOR_DIR/src/emc/tp"
+  -I"$VENDOR_DIR/src/emc/kinematics"
+  -I"$VENDOR_DIR/src/libnml/posemath"
+)
+
+C_FLAGS=(
+  -std=gnu11
+  "${COMMON_FLAGS[@]}"
+)
+
+CXX_FLAGS=(
+  -std=c++20
+  -fpermissive
+  -include "$SHIM_DIR/linuxcnc_wasm_compat.hh"
+  "${COMMON_FLAGS[@]}"
+)
+
+build_kinematics_module() {
+  local target="$1"
+  local output="$2"
+  shift 2
+
+  local sources=("$@")
+  local target_obj_dir="$OBJ_DIR/$target"
+  mkdir -p "$target_obj_dir"
+  : > "$OUT_DIR/$target.stdout.log"
+  : > "$OUT_DIR/$target.stderr.log"
+
+  local objects=()
+  local source obj
+  for source in "${sources[@]}"; do
+    obj="$(source_object_path "$source" "$ROOT_DIR" "$target_obj_dir")"
+    objects+=("$obj")
+    case "$source" in
+      *.cc|*.cpp|*.cxx)
+        compile_wasm_object "$target" "$source" "$obj" "$OUT_DIR" "${CXX_FLAGS[@]}"
+        ;;
+      *)
+        compile_wasm_object "$target" "$source" "$obj" "$OUT_DIR" "${C_FLAGS[@]}"
+        ;;
+    esac
+  done
+
+  link_wasm_module \
+    "$target" \
+    "$OUT_DIR/$output.js" \
+    "$OUT_DIR" \
+    -O2 \
+    "${objects[@]}" \
+    -s MODULARIZE=1 \
+    -s EXPORT_ES6=1 \
+    -s ENVIRONMENT=web,node \
+    -s ALLOW_MEMORY_GROWTH=1 \
+    -s NO_EXIT_RUNTIME=1 \
+    -s EXPORTED_FUNCTIONS='["_malloc","_free","_lckins_init","_lckins_exit","_lckins_type","_lckins_switchable","_lckins_switch","_lckins_forward","_lckins_inverse","_lckins_run_probe","_lckins_free_string"]' \
+    -s EXPORTED_RUNTIME_METHODS='["UTF8ToString"]'
+}
+
+TRT_COMMON_SOURCES=(
+  "$VENDOR_DIR/src/emc/kinematics/kins_util.c"
+  "$VENDOR_DIR/src/emc/kinematics/switchkins.c"
+  "$VENDOR_DIR/src/emc/kinematics/userkfuncs.c"
+  "$VENDOR_DIR/src/emc/kinematics/trtfuncs.c"
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp"
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+)
+
+SWITCHKINS_COMMON_SOURCES=(
+  "$VENDOR_DIR/src/emc/kinematics/kins_util.c"
+  "$VENDOR_DIR/src/emc/kinematics/switchkins.c"
+  "$VENDOR_DIR/src/emc/kinematics/userkfuncs.c"
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp"
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+)
+
+POSEMATH_SOURCES=(
+  "$VENDOR_DIR/src/libnml/posemath/posemath.cc"
+  "$VENDOR_DIR/src/libnml/posemath/_posemath.c"
+  "$VENDOR_DIR/src/libnml/posemath/sincos.c"
+)
+
+build_kinematics_module \
+  linuxcnc_trivkins_kinematics_wasm \
+  linuxcnc_trivkins_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/kins_util.c" \
+  "$VENDOR_DIR/src/emc/kinematics/trivkins.c" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+
+build_kinematics_module \
+  linuxcnc_5axiskins_kinematics_wasm \
+  linuxcnc_5axiskins_kinematics \
+  "${SWITCHKINS_COMMON_SOURCES[@]}" \
+  "$VENDOR_DIR/src/emc/kinematics/5axiskins.c"
+
+build_kinematics_module \
+  linuxcnc_xyzac_trt_kinematics_wasm \
+  linuxcnc_xyzac_trt_kinematics \
+  "${TRT_COMMON_SOURCES[@]}" \
+  "$VENDOR_DIR/src/emc/kinematics/xyzac-trt-kins.c"
+
+build_kinematics_module \
+  linuxcnc_xyzbc_trt_kinematics_wasm \
+  linuxcnc_xyzbc_trt_kinematics \
+  "${TRT_COMMON_SOURCES[@]}" \
+  "$VENDOR_DIR/src/emc/kinematics/xyzbc-trt-kins.c"
+
+build_kinematics_module \
+  linuxcnc_corexy_kinematics_wasm \
+  linuxcnc_corexy_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/corexykins.c" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+
+build_kinematics_module \
+  linuxcnc_rotate_kinematics_wasm \
+  linuxcnc_rotate_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/rotatekins.c" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+
+build_kinematics_module \
+  linuxcnc_rose_kinematics_wasm \
+  linuxcnc_rose_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/rosekins.c" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+
+build_kinematics_module \
+  linuxcnc_max_kinematics_wasm \
+  linuxcnc_max_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/maxkins.c" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+
+build_kinematics_module \
+  linuxcnc_lineardelta_kinematics_wasm \
+  linuxcnc_lineardelta_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/lineardeltakins.c" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+
+build_kinematics_module \
+  linuxcnc_rotarydelta_kinematics_wasm \
+  linuxcnc_rotarydelta_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/rotarydeltakins.c" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+
+build_kinematics_module \
+  linuxcnc_scorbot_kinematics_wasm \
+  linuxcnc_scorbot_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/scorbot-kins.c" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+
+build_kinematics_module \
+  linuxcnc_tripod_kinematics_wasm \
+  linuxcnc_tripod_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/tripodkins.c" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"
+
+build_kinematics_module \
+  linuxcnc_scara_kinematics_wasm \
+  linuxcnc_scara_kinematics \
+  "${SWITCHKINS_COMMON_SOURCES[@]}" \
+  "$VENDOR_DIR/src/emc/kinematics/scarakins.c"
+
+build_kinematics_module \
+  linuxcnc_puma_kinematics_wasm \
+  linuxcnc_puma_kinematics \
+  "${SWITCHKINS_COMMON_SOURCES[@]}" \
+  "$VENDOR_DIR/src/emc/kinematics/pumakins.c" \
+  "${POSEMATH_SOURCES[@]}"
+
+build_kinematics_module \
+  linuxcnc_genser_kinematics_wasm \
+  linuxcnc_genser_kinematics \
+  "${SWITCHKINS_COMMON_SOURCES[@]}" \
+  "$VENDOR_DIR/src/emc/kinematics/genserfuncs.c" \
+  "$VENDOR_DIR/src/emc/kinematics/genserkins.c" \
+  "$VENDOR_DIR/src/libnml/posemath/gomath.c" \
+  "$VENDOR_DIR/src/libnml/posemath/sincos.c"
+
+build_kinematics_module \
+  linuxcnc_genhex_kinematics_wasm \
+  linuxcnc_genhex_kinematics \
+  "${SWITCHKINS_COMMON_SOURCES[@]}" \
+  "$VENDOR_DIR/src/emc/kinematics/genhexkins.c" \
+  "${POSEMATH_SOURCES[@]}"
+
+build_kinematics_module \
+  linuxcnc_pentakins_kinematics_wasm \
+  linuxcnc_pentakins_kinematics \
+  "$VENDOR_DIR/src/emc/kinematics/pentakins.c" \
+  "${POSEMATH_SOURCES[@]}" \
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp" \
+  "$WRAP_DIR/linuxcnc_kinematics_wasm.c"