cnc_wams/wasm-port/tools/build_kinematics_wasm.sh

#!/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","HEAPF64","HEAPU32"]'
}

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"