wangdequan
19687c3268
结论：新增 vendored LinuxCNC trajectory planner WASM 构建和 Node smoke，覆盖线段、圆弧、队列规划探针，并纳入 host 聚合验证。
109 lines
3.1 KiB
Bash
Executable File
109 lines
3.1 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
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VENDOR_DIR="$ROOT_DIR/vendor/linuxcnc"
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WRAP_DIR="$ROOT_DIR/runtime/core/linuxcnc_wrap"
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SHIM_DIR="$ROOT_DIR/runtime/core/shims"
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INCLUDE_DIR="$ROOT_DIR/runtime/core/include"
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OUT_DIR="$ROOT_DIR/build/wasm/tp"
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OBJ_DIR="$OUT_DIR/obj"
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source "$ROOT_DIR/tools/wasm_incremental_build_lib.sh"
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mkdir -p "$OUT_DIR" "$OBJ_DIR"
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TARGET="linuxcnc_tp_wasm"
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: > "$OUT_DIR/$TARGET.stdout.log"
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: > "$OUT_DIR/$TARGET.stderr.log"
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COMMON_FLAGS=(
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-O2
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-D_GNU_SOURCE
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-DM_PI=3.14159265358979323846
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-I"$WRAP_DIR"
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-I"$SHIM_DIR"
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-I"$INCLUDE_DIR"
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-I"$VENDOR_DIR/src"
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-I"$VENDOR_DIR/src/rtapi"
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-I"$VENDOR_DIR/src/emc"
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-I"$VENDOR_DIR/src/emc/nml_intf"
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-I"$VENDOR_DIR/src/emc/motion"
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-I"$VENDOR_DIR/src/emc/tp"
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-I"$VENDOR_DIR/src/emc/kinematics"
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-I"$VENDOR_DIR/src/libnml/posemath"
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)
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C_FLAGS=(
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-std=gnu11
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"${COMMON_FLAGS[@]}"
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)
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CXX_FLAGS=(
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-std=c++20
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-fpermissive
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"${COMMON_FLAGS[@]}"
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)
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SOURCES=(
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"$VENDOR_DIR/src/emc/tp/tp.c"
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"$VENDOR_DIR/src/emc/tp/tc.c"
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"$VENDOR_DIR/src/emc/tp/tcq.c"
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"$VENDOR_DIR/src/emc/tp/spherical_arc.c"
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"$VENDOR_DIR/src/emc/tp/blendmath.c"
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"$VENDOR_DIR/src/emc/tp/sp_scurve.c"
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"$VENDOR_DIR/src/emc/tp/ruckig_wrapper.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/block.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/brake.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/calculator.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/cruckig.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/input_parameter.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/output_parameter.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/profile.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/roots.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/trajectory.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/position_first_step1.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/position_first_step2.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/position_second_step1.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/position_second_step2.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/position_third_step1.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/position_third_step2.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/velocity_second_step1.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/velocity_second_step2.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/velocity_third_step1.c"
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"$VENDOR_DIR/src/emc/tp/cruckig/velocity_third_step2.c"
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"$VENDOR_DIR/src/emc/nml_intf/emcpose.c"
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"$VENDOR_DIR/src/libnml/posemath/posemath.cc"
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"$VENDOR_DIR/src/libnml/posemath/_posemath.c"
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"$VENDOR_DIR/src/libnml/posemath/sincos.c"
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"$WRAP_DIR/linuxcnc_tp_wasm.c"
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)
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OBJECTS=()
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for source in "${SOURCES[@]}"; do
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obj="$(source_object_path "$source" "$ROOT_DIR" "$OBJ_DIR")"
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OBJECTS+=("$obj")
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case "$source" in
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*.cc|*.cpp|*.cxx)
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compile_wasm_object "$TARGET" "$source" "$obj" "$OUT_DIR" "${CXX_FLAGS[@]}"
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;;
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*)
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compile_wasm_object "$TARGET" "$source" "$obj" "$OUT_DIR" "${C_FLAGS[@]}"
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;;
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esac
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done
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link_wasm_module \
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"$TARGET" \
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"$OUT_DIR/linuxcnc_tp.js" \
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"$OUT_DIR" \
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-O2 \
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"${OBJECTS[@]}" \
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-s MODULARIZE=1 \
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-s EXPORT_ES6=1 \
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-s ENVIRONMENT=web,node \
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-s ALLOW_MEMORY_GROWTH=1 \
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-s NO_EXIT_RUNTIME=1 \
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-s EXPORTED_FUNCTIONS='["_malloc","_free","_lctp_run_probe","_lctp_free_string"]' \
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-s EXPORTED_RUNTIME_METHODS='["UTF8ToString"]'
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