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Dynamically allocate large WASM G-code sources

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wangdequan
2026-08-30 14:20:48 +08:00
parent a72971129a
commit 1a92d3b5b8
4 changed files with 75 additions and 12 deletions
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2
wasm-core/CMakeLists.txt
View File

@@ -247,7 +247,7 @@ if(EMSCRIPTEN)
)
get_target_property(_sim_module_link_flags sim_core_module LINK_FLAGS)
string(REPLACE "_sim_task_recover','_sim_task_restore" "_sim_task_recover','_sim_task_command_gate','_sim_task_restore" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_interpreter_size" "_sim_program_size','_sim_program_requires_subroutines','_sim_program_init','_sim_program_reset','_sim_program_load','_sim_program_add_subroutine','_sim_program_set_rapid_velocity','_sim_program_start','_sim_program_pause','_sim_program_resume','_sim_program_abort','_sim_program_step','_sim_program_execute_block','_sim_program_seek','_sim_program_read_motion','_sim_program_clear_motion','_sim_program_canonical','_sim_program_state_hash','_sim_interpreter_size" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_interpreter_size" "_sim_program_size','_sim_program_requires_subroutines','_sim_program_init','_sim_program_reset','_sim_program_destroy','_sim_program_load','_sim_program_add_subroutine','_sim_program_set_rapid_velocity','_sim_program_start','_sim_program_pause','_sim_program_resume','_sim_program_abort','_sim_program_step','_sim_program_execute_block','_sim_program_seek','_sim_program_read_motion','_sim_program_clear_motion','_sim_program_canonical','_sim_program_state_hash','_sim_interpreter_size" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_hal_set_pin" "_sim_hal_set_pin_scalar','_sim_hal_set_pin" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_hal_set_param" "_sim_hal_set_param_scalar','_sim_hal_set_param" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_io_init" "_sim_io_size','_sim_io_init" _sim_module_link_flags "${_sim_module_link_flags}")

9
wasm-core/include/sim_program.h
View File

@@ -9,6 +9,8 @@ extern "C" {
#define SIM_PROGRAM_SOURCE_CAPACITY 524288u
#define SIM_PROGRAM_LINE_CAPACITY 16384u
#define SIM_PROGRAM_MAX_SOURCE_BYTES (64u * 1024u * 1024u)
#define SIM_PROGRAM_MAX_LINE_COUNT 1048576u
#define SIM_PROGRAM_CANONICAL_CAPACITY 4096u
#define SIM_PROGRAM_SUBROUTINE_CAPACITY 16u
#define SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY 48u
@@ -48,8 +50,10 @@ typedef struct sim_program_call_frame {
typedef struct sim_program {
sim_interpreter interpreter;
char source[SIM_PROGRAM_SOURCE_CAPACITY];
uint32_t line_offsets[SIM_PROGRAM_LINE_CAPACITY + 1u];
char *source;
uint32_t *line_offsets;
uint32_t source_capacity;
uint32_t line_capacity;
uint32_t source_length;
uint32_t line_count;
uint32_t main_line_count;
@@ -72,6 +76,7 @@ uint32_t sim_program_size(void);
int32_t sim_program_requires_subroutines(const char *source, uint32_t length);
int32_t sim_program_init(sim_program *program);
int32_t sim_program_reset(sim_program *program);
void sim_program_destroy(sim_program *program);
int32_t sim_program_load(sim_program *program, const char *source, uint32_t length);
int32_t sim_program_add_subroutine(sim_program *program, const char *source, uint32_t length);
int32_t sim_program_set_rapid_velocity(sim_program *program, double velocity);

68
wasm-core/src/sim_program.c
View File

@@ -60,7 +60,8 @@ static int parse_oword(const char *line, uint32_t length, char *name, size_t nam
int32_t sim_program_requires_subroutines(const char *source, uint32_t length) {
uint32_t offset = 0;
if (source == NULL || length == 0 || length >= SIM_PROGRAM_SOURCE_CAPACITY) return SIM_PROGRAM_ERR_ARGUMENT;
if (source == NULL || length == 0) return SIM_PROGRAM_ERR_ARGUMENT;
if (length > SIM_PROGRAM_MAX_SOURCE_BYTES) return SIM_PROGRAM_ERR_RANGE;
while (offset < length) {
uint32_t available = length - offset;
uint32_t line_size = line_length(source + offset, available);
@@ -74,25 +75,65 @@ int32_t sim_program_requires_subroutines(const char *source, uint32_t length) {
return 0;
}
static void reindex_source(sim_program *program) {
static int ensure_source_capacity(sim_program *program, uint32_t required) {
uint32_t capacity;
char *source;
if (required <= program->source_capacity) return SIM_PROGRAM_OK;
capacity = program->source_capacity == 0 ? SIM_PROGRAM_SOURCE_CAPACITY : program->source_capacity;
while (capacity < required) {
if (capacity >= SIM_PROGRAM_MAX_SOURCE_BYTES / 2u) { capacity = SIM_PROGRAM_MAX_SOURCE_BYTES; break; }
capacity *= 2u;
}
if (capacity < required || capacity > SIM_PROGRAM_MAX_SOURCE_BYTES) return SIM_PROGRAM_ERR_RANGE;
source = (char *)realloc(program->source, capacity);
if (source == NULL) return SIM_PROGRAM_ERR_RANGE;
program->source = source;
program->source_capacity = capacity;
return SIM_PROGRAM_OK;
}
static int ensure_line_capacity(sim_program *program, uint32_t required) {
uint32_t capacity;
uint32_t *offsets;
if (required <= program->line_capacity) return SIM_PROGRAM_OK;
capacity = program->line_capacity == 0 ? SIM_PROGRAM_LINE_CAPACITY + 1u : program->line_capacity;
while (capacity < required) {
if (capacity >= SIM_PROGRAM_MAX_LINE_COUNT / 2u) { capacity = SIM_PROGRAM_MAX_LINE_COUNT + 1u; break; }
capacity *= 2u;
}
if (capacity > SIM_PROGRAM_MAX_LINE_COUNT + 1u) return SIM_PROGRAM_ERR_RANGE;
offsets = (uint32_t *)realloc(program->line_offsets, (size_t)capacity * sizeof(*offsets));
if (offsets == NULL) return SIM_PROGRAM_ERR_RANGE;
program->line_offsets = offsets;
program->line_capacity = capacity;
return SIM_PROGRAM_OK;
}
static int reindex_source(sim_program *program) {
uint32_t index;
if (ensure_line_capacity(program, 2u) != SIM_PROGRAM_OK) return SIM_PROGRAM_ERR_RANGE;
program->line_count = program->source_length == 0 ? 0 : 1;
program->line_offsets[0] = 0;
for (index = 0; index < program->source_length; ++index) if (program->source[index] == '\n' && index + 1u < program->source_length) {
if (program->line_count < SIM_PROGRAM_LINE_CAPACITY) program->line_offsets[program->line_count++] = index + 1u;
if (program->line_count >= SIM_PROGRAM_MAX_LINE_COUNT || ensure_line_capacity(program, program->line_count + 2u) != SIM_PROGRAM_OK) return SIM_PROGRAM_ERR_RANGE;
program->line_offsets[program->line_count++] = index + 1u;
}
program->line_offsets[program->line_count] = program->source_length;
return SIM_PROGRAM_OK;
}
static int append_source(sim_program *program, const char *source, uint32_t length) {
uint32_t separator = program->source_length > 0 && program->source[program->source_length - 1u] != '\n' ? 1u : 0u;
if (source == NULL || length == 0 || program->source_length + separator + length >= SIM_PROGRAM_SOURCE_CAPACITY) return SIM_PROGRAM_ERR_RANGE;
uint32_t separator;
uint64_t required;
if (source == NULL || length == 0) return SIM_PROGRAM_ERR_ARGUMENT;
separator = program->source_length > 0 && program->source[program->source_length - 1u] != '\n' ? 1u : 0u;
required = (uint64_t)program->source_length + separator + length + 1u;
if (required > SIM_PROGRAM_MAX_SOURCE_BYTES + 1ull || ensure_source_capacity(program, (uint32_t)required) != SIM_PROGRAM_OK) return SIM_PROGRAM_ERR_RANGE;
if (separator) program->source[program->source_length++] = '\n';
memcpy(program->source + program->source_length, source, length);
program->source_length += length;
program->source[program->source_length] = '\0';
reindex_source(program);
return SIM_PROGRAM_OK;
return reindex_source(program);
}
static int scan_subroutines(sim_program *program) {
@@ -245,13 +286,24 @@ int32_t sim_program_init(sim_program *program) {
int32_t sim_program_reset(sim_program *program) {
if (program == NULL) return SIM_PROGRAM_ERR_ARGUMENT;
if (sim_interpreter_reset(&program->interpreter) != SIM_INTERP_OK) return SIM_PROGRAM_ERR_INTERPRETER;
free(program->source);
free(program->line_offsets);
program->source = NULL;
program->line_offsets = NULL;
program->source_capacity = 0;
program->line_capacity = 0;
reset_runtime(program);
return SIM_PROGRAM_OK;
}
void sim_program_destroy(sim_program *program) {
if (program == NULL) return;
(void)sim_program_reset(program);
}
int32_t sim_program_load(sim_program *program, const char *source, uint32_t length) {
if (program == NULL || source == NULL) return SIM_PROGRAM_ERR_ARGUMENT;
if (length == 0 || length >= SIM_PROGRAM_SOURCE_CAPACITY) return SIM_PROGRAM_ERR_RANGE;
if (length == 0 || length > SIM_PROGRAM_MAX_SOURCE_BYTES) return SIM_PROGRAM_ERR_RANGE;
if (sim_program_reset(program) != SIM_PROGRAM_OK) return SIM_PROGRAM_ERR_INTERPRETER;
if (append_source(program, source, length) != SIM_PROGRAM_OK) return SIM_PROGRAM_ERR_RANGE;
program->main_line_count = program->line_count;

8
web/worker/wasm-program-runtime.mjs
View File

@@ -271,5 +271,11 @@ export class WasmProgramRuntime {
} finally { this.core._free(buffer); }
}
destroy() { for (const pointer of [this.pointer, this.motionPointer, this.samplePointer, this.samplePosePointer]) if (pointer && typeof this.core?._free === "function") this.core._free(pointer); this.pointer = this.motionPointer = this.samplePointer = this.samplePosePointer = 0; this.executionSource = ""; this.executionLines = []; }
destroy() {
if (this.pointer && (typeof this.core?._sim_program_destroy === "function" || typeof this.core?.sim_program_destroy === "function")) call(this.core, "sim_program_destroy", "number", ["number"], [this.pointer]);
for (const pointer of [this.pointer, this.motionPointer, this.samplePointer, this.samplePosePointer]) if (pointer && typeof this.core?._free === "function") this.core._free(pointer);
this.pointer = this.motionPointer = this.samplePointer = this.samplePosePointer = 0;
this.executionSource = "";
this.executionLines = [];
}
}