接入 task HAL Web 仿真运行时

wasm-port/tools/build_task_hal_wasm.sh

@@ -0,0 +1,58 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
+WRAP_DIR="$ROOT_DIR/runtime/core/linuxcnc_wrap"
+SHIM_DIR="$ROOT_DIR/runtime/core/shims"
+INCLUDE_DIR="$ROOT_DIR/runtime/core/include"
+OUT_DIR="$ROOT_DIR/build/wasm/task-hal"
+OBJ_DIR="$OUT_DIR/obj"
+
+source "$ROOT_DIR/tools/wasm_incremental_build_lib.sh"
+
+mkdir -p "$OUT_DIR" "$OBJ_DIR"
+
+TARGET="linuxcnc_task_hal_wasm"
+: > "$OUT_DIR/$TARGET.stdout.log"
+: > "$OUT_DIR/$TARGET.stderr.log"
+
+COMMON_FLAGS=(
+  -O2
+  -D_GNU_SOURCE
+  -I"$WRAP_DIR"
+  -I"$SHIM_DIR"
+  -I"$INCLUDE_DIR"
+)
+
+SOURCES=(
+  "$WRAP_DIR/linuxcnc_hal_runtime.cpp"
+  "$WRAP_DIR/linuxcnc_motion_runtime.c"
+  "$WRAP_DIR/linuxcnc_task_hal_wasm.cpp"
+)
+
+OBJECTS=()
+for source in "${SOURCES[@]}"; do
+  obj="$(source_object_path "$source" "$ROOT_DIR" "$OBJ_DIR")"
+  OBJECTS+=("$obj")
+  if [[ "$source" == *.c ]]; then
+    compile_wasm_object "$TARGET" "$source" "$obj" "$OUT_DIR" -std=c11 "${COMMON_FLAGS[@]}"
+  else
+    compile_wasm_object "$TARGET" "$source" "$obj" "$OUT_DIR" -std=c++20 "${COMMON_FLAGS[@]}"
+  fi
+done
+
+link_wasm_module \
+  "$TARGET" \
+  "$OUT_DIR/linuxcnc_task_hal.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","_hal_init","_hal_ready","_hal_exit","_hal_malloc","_hal_pin_bit_new","_hal_pin_float_new","_hal_pin_s32_new","_hal_pin_u32_new","_hal_pin_s64_new","_hal_pin_u64_new","_hal_pin_bit_newf","_hal_pin_float_newf","_hal_pin_s32_newf","_hal_pin_u32_newf","_hal_pin_s64_newf","_hal_pin_u64_newf","_hal_param_bit_new","_hal_param_float_new","_hal_param_s32_new","_hal_param_u32_new","_hal_param_s64_new","_hal_param_u64_new","_hal_param_bit_newf","_hal_param_float_newf","_hal_param_s32_newf","_hal_param_u32_newf","_hal_param_s64_newf","_hal_param_u64_newf","_hal_get_pin_value_by_name","_hal_get_signal_value_by_name","_hal_get_param_value_by_name","_hal_link","_hal_unlink","_hal_set_p","_hal_get_p","_hal_create_thread","_hal_add_funct_to_thread","_hal_del_funct_from_thread","_hal_start_threads","_hal_stop_threads","_lchal_init_runtime","_lchal_load_hal_file","_lchal_set_pin_float","_lchal_set_pin_s32","_lchal_set_pin_bit","_lchal_get_pin_json","_lchal_get_snapshot_json","_lchal_step_threads","_lchal_reset_runtime","_lcmot_init_from_ini","_lcmot_write_command_json","_lcmot_step_servo","_lcmot_read_status_json","_lcmot_read_hal_snapshot_json","_lcmot_reset","_lctask_init_session","_lctask_stage_file","_lctask_open_program","_lctask_send_command_json","_lctask_run_cycles","_lctask_read_status_json","_lctask_read_events_json","_lctask_reset_session"]' \
+  -s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","lengthBytesUTF8","getValue","setValue"]'
+
+echo "linuxcnc_task_hal_wasm_build=ok"